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106 lines
2.4 KiB
106 lines
2.4 KiB
from selfdrive.car.mazda.values import GEN1, Buttons
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def create_steering_control(packer, car_fingerprint, frame, apply_steer, lkas):
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tmp = apply_steer + 2048
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lo = tmp & 0xFF
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hi = tmp >> 8
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b1 = int(lkas["BIT_1"])
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ldw = int(lkas["LDW"])
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er1 = int(lkas["ERR_BIT_1"])
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lnv = 0
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er2 = int(lkas["ERR_BIT_2"])
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# Some older models do have these, newer models don't.
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# Either way, they all work just fine if set to zero.
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steering_angle = 0
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b2 = 0
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tmp = steering_angle + 2048
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ahi = tmp >> 10
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amd = (tmp & 0x3FF) >> 2
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amd = (amd >> 4) | (( amd & 0xF) << 4)
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alo = (tmp & 0x3) << 2
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ctr = frame % 16
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# bytes: [ 1 ] [ 2 ] [ 3 ] [ 4 ]
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csum = 249 - ctr - hi - lo - (lnv << 3) - er1 - (ldw << 7) - ( er2 << 4) - (b1 << 5)
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#bytes [ 5 ] [ 6 ] [ 7 ]
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csum = csum - ahi - amd - alo - b2
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if ahi == 1:
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csum = csum + 15
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if csum < 0:
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if csum < -256:
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csum = csum + 512
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else:
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csum = csum + 256
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csum = csum % 256
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if car_fingerprint in GEN1:
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values = {
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"LKAS_REQUEST" : apply_steer,
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"CTR" : ctr,
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"ERR_BIT_1" : er1,
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"LINE_NOT_VISIBLE" : lnv,
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"LDW" : ldw,
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"BIT_1" : b1,
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"ERR_BIT_2" : er2,
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"STEERING_ANGLE" : steering_angle,
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"ANGLE_ENABLED" : b2,
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"CHKSUM" : csum
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}
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return packer.make_can_msg("CAM_LKAS", 0, values)
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def create_button_cmd(packer, car_fingerprint, button):
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if button == Buttons.CANCEL:
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can = 1
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res = 0
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elif button == Buttons.RESUME:
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can = 0
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res = 1
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else:
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can = 0
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res = 0
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if car_fingerprint in GEN1:
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values = {
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"CAN_OFF" : can,
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"CAN_OFF_INV" : (can + 1) % 2,
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"SET_P" : 0,
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"SET_P_INV" : 1,
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"RES" : res,
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"RES_INV" : (res + 1) % 2,
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"SET_M" : 0,
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"SET_M_INV" : 1,
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"DISTANCE_LESS" : 0,
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"DISTANCE_LESS_INV" : 1,
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"DISTANCE_MORE" : 0,
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"DISTANCE_MORE_INV" : 1,
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"MODE_X" : 0,
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"MODE_X_INV" : 1,
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"MODE_Y" : 0,
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"MODE_Y_INV" : 1,
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"BIT1" : 1,
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"BIT2" : 1,
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"BIT3" : 1,
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"CTR" : 0
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}
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return packer.make_can_msg("CRZ_BTNS", 0, values)
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