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61 lines
2.2 KiB
61 lines
2.2 KiB
import copy
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import crcmod
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from selfdrive.config import Conversions as CV
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from selfdrive.car.tesla.values import CANBUS, CarControllerParams
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class TeslaCAN:
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def __init__(self, packer, pt_packer):
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self.packer = packer
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self.pt_packer = pt_packer
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self.crc = crcmod.mkCrcFun(0x11d, initCrc=0x00, rev=False, xorOut=0xff)
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@staticmethod
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def checksum(msg_id, dat):
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# TODO: get message ID from name instead
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ret = (msg_id & 0xFF) + ((msg_id >> 8) & 0xFF)
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ret += sum(dat)
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return ret & 0xFF
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def create_steering_control(self, angle, enabled, frame):
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values = {
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"DAS_steeringAngleRequest": -angle,
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"DAS_steeringHapticRequest": 0,
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"DAS_steeringControlType": 1 if enabled else 0,
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"DAS_steeringControlCounter": (frame % 16),
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}
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data = self.packer.make_can_msg("DAS_steeringControl", CANBUS.chassis, values)[2]
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values["DAS_steeringControlChecksum"] = self.checksum(0x488, data[:3])
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return self.packer.make_can_msg("DAS_steeringControl", CANBUS.chassis, values)
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def create_action_request(self, msg_stw_actn_req, cancel, bus, counter):
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values = copy.copy(msg_stw_actn_req)
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if cancel:
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values["SpdCtrlLvr_Stat"] = 1
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values["MC_STW_ACTN_RQ"] = counter
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data = self.packer.make_can_msg("STW_ACTN_RQ", bus, values)[2]
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values["CRC_STW_ACTN_RQ"] = self.crc(data[:7])
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return self.packer.make_can_msg("STW_ACTN_RQ", bus, values)
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def create_longitudinal_commands(self, acc_state, speed, min_accel, max_accel, cnt):
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messages = []
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values = {
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"DAS_setSpeed": speed * CV.MS_TO_KPH,
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"DAS_accState": acc_state,
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"DAS_aebEvent": 0,
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"DAS_jerkMin": CarControllerParams.JERK_LIMIT_MIN,
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"DAS_jerkMax": CarControllerParams.JERK_LIMIT_MAX,
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"DAS_accelMin": min_accel,
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"DAS_accelMax": max_accel,
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"DAS_controlCounter": (cnt % 8),
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"DAS_controlChecksum": 0,
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}
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for packer, bus in [(self.packer, CANBUS.chassis), (self.pt_packer, CANBUS.powertrain)]:
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data = packer.make_can_msg("DAS_control", bus, values)[2]
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values["DAS_controlChecksum"] = self.checksum(0x2b9, data[:7])
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messages.append(packer.make_can_msg("DAS_control", bus, values))
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return messages
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