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99 lines
3.2 KiB
99 lines
3.2 KiB
from selfdrive.config import Conversions as CV
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from selfdrive.car.honda.values import HONDA_BOSCH
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def get_pt_bus(car_fingerprint, has_relay):
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return 1 if car_fingerprint in HONDA_BOSCH and has_relay else 0
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def get_lkas_cmd_bus(car_fingerprint, has_relay):
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return 2 if car_fingerprint in HONDA_BOSCH and not has_relay else 0
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def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, idx, car_fingerprint, has_relay, stock_brake):
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# TODO: do we loose pressure if we keep pump off for long?
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brakelights = apply_brake > 0
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brake_rq = apply_brake > 0
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pcm_fault_cmd = False
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values = {
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"COMPUTER_BRAKE": apply_brake,
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"BRAKE_PUMP_REQUEST": pump_on,
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"CRUISE_OVERRIDE": pcm_override,
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"CRUISE_FAULT_CMD": pcm_fault_cmd,
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"CRUISE_CANCEL_CMD": pcm_cancel_cmd,
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"COMPUTER_BRAKE_REQUEST": brake_rq,
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"SET_ME_1": 1,
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"BRAKE_LIGHTS": brakelights,
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"CHIME": stock_brake["CHIME"] if fcw else 0, # send the chime for stock fcw
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"FCW": fcw << 1, # TODO: Why are there two bits for fcw?
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"AEB_REQ_1": 0,
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"AEB_REQ_2": 0,
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"AEB_STATUS": 0,
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}
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bus = get_pt_bus(car_fingerprint, has_relay)
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return packer.make_can_msg("BRAKE_COMMAND", bus, values, idx)
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def create_steering_control(packer, apply_steer, lkas_active, car_fingerprint, idx, has_relay):
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values = {
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"STEER_TORQUE": apply_steer if lkas_active else 0,
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"STEER_TORQUE_REQUEST": lkas_active,
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}
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bus = get_lkas_cmd_bus(car_fingerprint, has_relay)
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return packer.make_can_msg("STEERING_CONTROL", bus, values, idx)
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def create_bosch_supplemental_1(packer, car_fingerprint, idx, has_relay):
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# non-active params
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values = {
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"SET_ME_X04": 0x04,
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"SET_ME_X80": 0x80,
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"SET_ME_X10": 0x10,
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}
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bus = get_lkas_cmd_bus(car_fingerprint, has_relay)
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return packer.make_can_msg("BOSCH_SUPPLEMENTAL_1", bus, values, idx)
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def create_ui_commands(packer, pcm_speed, hud, car_fingerprint, is_metric, idx, has_relay, stock_hud):
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commands = []
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bus_pt = get_pt_bus(car_fingerprint, has_relay)
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bus_lkas = get_lkas_cmd_bus(car_fingerprint, has_relay)
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if car_fingerprint not in HONDA_BOSCH:
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acc_hud_values = {
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'PCM_SPEED': pcm_speed * CV.MS_TO_KPH,
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'PCM_GAS': hud.pcm_accel,
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'CRUISE_SPEED': hud.v_cruise,
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'ENABLE_MINI_CAR': 1,
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'HUD_LEAD': hud.car,
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'HUD_DISTANCE': 3, # max distance setting on display
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'IMPERIAL_UNIT': int(not is_metric),
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'SET_ME_X01_2': 1,
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'SET_ME_X01': 1,
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"FCM_OFF": stock_hud["FCM_OFF"],
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"FCM_OFF_2": stock_hud["FCM_OFF_2"],
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"FCM_PROBLEM": stock_hud["FCM_PROBLEM"],
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"ICONS": stock_hud["ICONS"],
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}
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commands.append(packer.make_can_msg("ACC_HUD", bus_pt, acc_hud_values, idx))
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lkas_hud_values = {
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'SET_ME_X41': 0x41,
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'SET_ME_X48': 0x48,
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'STEERING_REQUIRED': hud.steer_required,
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'SOLID_LANES': hud.lanes,
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'BEEP': 0,
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}
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commands.append(packer.make_can_msg('LKAS_HUD', bus_lkas, lkas_hud_values, idx))
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return commands
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def spam_buttons_command(packer, button_val, idx, car_fingerprint, has_relay):
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values = {
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'CRUISE_BUTTONS': button_val,
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'CRUISE_SETTING': 0,
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}
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bus = get_pt_bus(car_fingerprint, has_relay)
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return packer.make_can_msg("SCM_BUTTONS", bus, values, idx)
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