You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
128 lines
2.8 KiB
128 lines
2.8 KiB
from selfdrive.car.mazda.values import GEN1, Buttons
|
|
|
|
|
|
def create_steering_control(packer, car_fingerprint, frame, apply_steer, lkas):
|
|
|
|
tmp = apply_steer + 2048
|
|
|
|
lo = tmp & 0xFF
|
|
hi = tmp >> 8
|
|
|
|
# copy values from camera
|
|
b1 = int(lkas["BIT_1"])
|
|
er1 = int(lkas["ERR_BIT_1"])
|
|
lnv = 0
|
|
ldw = 0
|
|
er2 = int(lkas["ERR_BIT_2"])
|
|
|
|
# Some older models do have these, newer models don't.
|
|
# Either way, they all work just fine if set to zero.
|
|
steering_angle = 0
|
|
b2 = 0
|
|
|
|
tmp = steering_angle + 2048
|
|
ahi = tmp >> 10
|
|
amd = (tmp & 0x3FF) >> 2
|
|
amd = (amd >> 4) | (( amd & 0xF) << 4)
|
|
alo = (tmp & 0x3) << 2
|
|
|
|
ctr = frame % 16
|
|
# bytes: [ 1 ] [ 2 ] [ 3 ] [ 4 ]
|
|
csum = 249 - ctr - hi - lo - (lnv << 3) - er1 - (ldw << 7) - ( er2 << 4) - (b1 << 5)
|
|
|
|
# bytes [ 5 ] [ 6 ] [ 7 ]
|
|
csum = csum - ahi - amd - alo - b2
|
|
|
|
if ahi == 1:
|
|
csum = csum + 15
|
|
|
|
if csum < 0:
|
|
if csum < -256:
|
|
csum = csum + 512
|
|
else:
|
|
csum = csum + 256
|
|
|
|
csum = csum % 256
|
|
|
|
values = {}
|
|
if car_fingerprint in GEN1:
|
|
values = {
|
|
"LKAS_REQUEST": apply_steer,
|
|
"CTR": ctr,
|
|
"ERR_BIT_1": er1,
|
|
"LINE_NOT_VISIBLE" : lnv,
|
|
"LDW": ldw,
|
|
"BIT_1": b1,
|
|
"ERR_BIT_2": er2,
|
|
"STEERING_ANGLE": steering_angle,
|
|
"ANGLE_ENABLED": b2,
|
|
"CHKSUM": csum
|
|
}
|
|
|
|
return packer.make_can_msg("CAM_LKAS", 0, values)
|
|
|
|
|
|
def create_alert_command(packer, cam_msg: dict, ldw: bool, steer_required: bool):
|
|
values = {s: cam_msg[s] for s in [
|
|
"LINE_VISIBLE",
|
|
"LINE_NOT_VISIBLE",
|
|
"LANE_LINES",
|
|
"BIT1",
|
|
"BIT2",
|
|
"BIT3",
|
|
"NO_ERR_BIT",
|
|
"S1",
|
|
"S1_HBEAM",
|
|
]}
|
|
values.update({
|
|
# TODO: what's the difference between all these? do we need to send all?
|
|
"HANDS_WARN_3_BITS": 0b111 if steer_required else 0,
|
|
"HANDS_ON_STEER_WARN": steer_required,
|
|
"HANDS_ON_STEER_WARN_2": steer_required,
|
|
|
|
# TODO: right lane works, left doesn't
|
|
# TODO: need to do something about L/R
|
|
"LDW_WARN_LL": 0,
|
|
"LDW_WARN_RL": 0,
|
|
})
|
|
return packer.make_can_msg("CAM_LANEINFO", 0, values)
|
|
|
|
|
|
def create_button_cmd(packer, car_fingerprint, counter, button):
|
|
|
|
can = int(button == Buttons.CANCEL)
|
|
res = int(button == Buttons.RESUME)
|
|
|
|
if car_fingerprint in GEN1:
|
|
values = {
|
|
"CAN_OFF": can,
|
|
"CAN_OFF_INV": (can + 1) % 2,
|
|
|
|
"SET_P": 0,
|
|
"SET_P_INV": 1,
|
|
|
|
"RES": res,
|
|
"RES_INV": (res + 1) % 2,
|
|
|
|
"SET_M": 0,
|
|
"SET_M_INV": 1,
|
|
|
|
"DISTANCE_LESS": 0,
|
|
"DISTANCE_LESS_INV": 1,
|
|
|
|
"DISTANCE_MORE": 0,
|
|
"DISTANCE_MORE_INV": 1,
|
|
|
|
"MODE_X": 0,
|
|
"MODE_X_INV": 1,
|
|
|
|
"MODE_Y": 0,
|
|
"MODE_Y_INV": 1,
|
|
|
|
"BIT1": 1,
|
|
"BIT2": 1,
|
|
"BIT3": 1,
|
|
"CTR": (counter + 1) % 16,
|
|
}
|
|
|
|
return packer.make_can_msg("CRZ_BTNS", 0, values)
|
|
|