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103 lines
2.3 KiB
103 lines
2.3 KiB
import struct
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# *** Toyota specific ***
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def fix(msg, addr):
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checksum = 0
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idh = (addr & 0xff00) >> 8
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idl = (addr & 0xff)
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checksum = idh + idl + len(msg) + 1
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for d_byte in msg:
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checksum += ord(d_byte)
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#return msg + chr(checksum & 0xFF)
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return msg + struct.pack("B", checksum & 0xFF)
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def make_can_msg(addr, dat, alt, cks=False):
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if cks:
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dat = fix(dat, addr)
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return [addr, 0, dat, alt]
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def create_video_target(frame, addr):
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counter = frame & 0xff
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msg = struct.pack("!BBBBBBB", counter, 0x03, 0xff, 0x00, 0x00, 0x00, 0x00)
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return make_can_msg(addr, msg, 1, True)
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def create_ipas_steer_command(packer, steer, enabled, apgs_enabled):
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"""Creates a CAN message for the Toyota Steer Command."""
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if steer < 0:
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direction = 3
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elif steer > 0:
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direction = 1
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else:
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direction = 2
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mode = 3 if enabled else 1
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values = {
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"STATE": mode,
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"DIRECTION_CMD": direction,
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"ANGLE": steer,
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"SET_ME_X10": 0x10,
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"SET_ME_X40": 0x40
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}
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if apgs_enabled:
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return packer.make_can_msg("STEERING_IPAS", 0, values)
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else:
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return packer.make_can_msg("STEERING_IPAS_COMMA", 0, values)
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def create_steer_command(packer, steer, raw_cnt):
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"""Creates a CAN message for the Toyota Steer Command."""
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values = {
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"STEER_REQUEST": abs(steer) > 0.001,
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"STEER_TORQUE_CMD": steer,
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"COUNTER": raw_cnt,
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"SET_ME_1": 1,
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}
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return packer.make_can_msg("STEERING_LKA", 0, values)
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def create_accel_command(packer, accel, pcm_cancel, standstill_req):
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# TODO: find the exact canceling bit
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values = {
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"ACCEL_CMD": accel,
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"SET_ME_X63": 0x63,
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"SET_ME_1": 1,
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"RELEASE_STANDSTILL": not standstill_req,
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"CANCEL_REQ": pcm_cancel,
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}
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return packer.make_can_msg("ACC_CONTROL", 0, values)
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def create_fcw_command(packer, fcw):
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values = {
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"FCW": fcw,
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"SET_ME_X20": 0x20,
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"SET_ME_X10": 0x10,
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"SET_ME_X80": 0x80,
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}
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return packer.make_can_msg("ACC_HUD", 0, values)
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def create_ui_command(packer, steer, sound1, sound2):
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values = {
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"RIGHT_LINE": 1,
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"LEFT_LINE": 1,
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"SET_ME_X0C": 0x0c,
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"SET_ME_X2C": 0x2c,
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"SET_ME_X38": 0x38,
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"SET_ME_X02": 0x02,
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"SET_ME_X01": 1,
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"SET_ME_X01_2": 1,
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"REPEATED_BEEPS": sound1,
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"TWO_BEEPS": sound2,
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"LDA_ALERT": steer,
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}
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return packer.make_can_msg("LKAS_HUD", 0, values)
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