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125 lines
4.1 KiB
125 lines
4.1 KiB
from selfdrive.car import make_can_msg
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def create_steering_control(packer, bus, apply_steer, idx, lkas_active):
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values = {
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"LKASteeringCmdActive": lkas_active,
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"LKASteeringCmd": apply_steer,
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"RollingCounter": idx,
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"LKASteeringCmdChecksum": 0x1000 - (lkas_active << 11) - (apply_steer & 0x7ff) - idx
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}
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return packer.make_can_msg("ASCMLKASteeringCmd", bus, values)
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def create_adas_keepalive(bus):
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dat = b"\x00\x00\x00\x00\x00\x00\x00"
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return [make_can_msg(0x409, dat, bus), make_can_msg(0x40a, dat, bus)]
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def create_gas_regen_command(packer, bus, throttle, idx, acc_engaged, at_full_stop):
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values = {
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"GasRegenCmdActive": acc_engaged,
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"RollingCounter": idx,
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"GasRegenCmdActiveInv": 1 - acc_engaged,
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"GasRegenCmd": throttle,
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"GasRegenFullStopActive": at_full_stop,
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"GasRegenAlwaysOne": 1,
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"GasRegenAlwaysOne2": 1,
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"GasRegenAlwaysOne3": 1,
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}
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dat = packer.make_can_msg("ASCMGasRegenCmd", bus, values)[2]
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values["GasRegenChecksum"] = (((0xff - dat[1]) & 0xff) << 16) | \
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(((0xff - dat[2]) & 0xff) << 8) | \
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((0x100 - dat[3] - idx) & 0xff)
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return packer.make_can_msg("ASCMGasRegenCmd", bus, values)
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def create_friction_brake_command(packer, bus, apply_brake, idx, near_stop, at_full_stop):
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mode = 0x1
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if apply_brake > 0:
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mode = 0xa
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if at_full_stop:
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mode = 0xd
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# TODO: this is to have GM bringing the car to complete stop,
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# but currently it conflicts with OP controls, so turned off.
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#elif near_stop:
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# mode = 0xb
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brake = (0x1000 - apply_brake) & 0xfff
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checksum = (0x10000 - (mode << 12) - brake - idx) & 0xffff
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values = {
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"RollingCounter" : idx,
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"FrictionBrakeMode" : mode,
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"FrictionBrakeChecksum": checksum,
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"FrictionBrakeCmd" : -apply_brake
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}
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return packer.make_can_msg("EBCMFrictionBrakeCmd", bus, values)
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def create_acc_dashboard_command(packer, bus, acc_engaged, target_speed_kph, lead_car_in_sight, fcw):
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# Not a bit shift, dash can round up based on low 4 bits.
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target_speed = int(target_speed_kph * 16) & 0xfff
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values = {
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"ACCAlwaysOne" : 1,
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"ACCResumeButton" : 0,
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"ACCSpeedSetpoint" : target_speed,
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"ACCGapLevel" : 3 * acc_engaged, # 3 "far", 0 "inactive"
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"ACCCmdActive" : acc_engaged,
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"ACCAlwaysOne2" : 1,
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"ACCLeadCar" : lead_car_in_sight,
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"FCWAlert": 0x3 if fcw else 0
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}
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return packer.make_can_msg("ASCMActiveCruiseControlStatus", bus, values)
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def create_adas_time_status(bus, tt, idx):
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dat = [(tt >> 20) & 0xff, (tt >> 12) & 0xff, (tt >> 4) & 0xff,
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((tt & 0xf) << 4) + (idx << 2)]
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chksum = 0x1000 - dat[0] - dat[1] - dat[2] - dat[3]
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chksum = chksum & 0xfff
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dat += [0x40 + (chksum >> 8), chksum & 0xff, 0x12]
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return make_can_msg(0xa1, bytes(dat), bus)
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def create_adas_steering_status(bus, idx):
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dat = [idx << 6, 0xf0, 0x20, 0, 0, 0]
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chksum = 0x60 + sum(dat)
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dat += [chksum >> 8, chksum & 0xff]
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return make_can_msg(0x306, bytes(dat), bus)
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def create_adas_accelerometer_speed_status(bus, speed_ms, idx):
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spd = int(speed_ms * 16) & 0xfff
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accel = 0 & 0xfff
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# 0 if in park/neutral, 0x10 if in reverse, 0x08 for D/L
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#stick = 0x08
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near_range_cutoff = 0x27
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near_range_mode = 1 if spd <= near_range_cutoff else 0
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far_range_mode = 1 - near_range_mode
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dat = [0x08, spd >> 4, ((spd & 0xf) << 4) | (accel >> 8), accel & 0xff, 0]
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chksum = 0x62 + far_range_mode + (idx << 2) + dat[0] + dat[1] + dat[2] + dat[3] + dat[4]
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dat += [(idx << 5) + (far_range_mode << 4) + (near_range_mode << 3) + (chksum >> 8), chksum & 0xff]
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return make_can_msg(0x308, bytes(dat), bus)
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def create_adas_headlights_status(packer, bus):
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values = {
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"Always42": 0x42,
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"Always4": 0x4,
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}
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return packer.make_can_msg("ASCMHeadlight", bus, values)
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def create_lka_icon_command(bus, active, critical, steer):
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if active and steer == 1:
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if critical:
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dat = b"\x50\xc0\x14"
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else:
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dat = b"\x50\x40\x18"
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elif active:
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if critical:
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dat = b"\x40\xc0\x14"
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else:
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dat = b"\x40\x40\x18"
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else:
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dat = b"\x00\x00\x00"
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return make_can_msg(0x104c006c, dat, bus)
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