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.
84 lines
2.4 KiB
84 lines
2.4 KiB
def create_steering_control(packer, bus, apply_steer, lkas_enabled):
|
|
values = {
|
|
"LM_Offset": abs(apply_steer),
|
|
"LM_OffSign": 1 if apply_steer < 0 else 0,
|
|
"HCA_Status": 5 if (lkas_enabled and apply_steer != 0) else 3,
|
|
"Vib_Freq": 16,
|
|
}
|
|
|
|
return packer.make_can_msg("HCA_1", bus, values)
|
|
|
|
|
|
def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pressed, hud_alert, hud_control):
|
|
values = ldw_stock_values.copy()
|
|
|
|
values.update({
|
|
"LDW_Lampe_gelb": 1 if enabled and steering_pressed else 0,
|
|
"LDW_Lampe_gruen": 1 if enabled and not steering_pressed else 0,
|
|
"LDW_Lernmodus_links": 3 if hud_control.leftLaneDepart else 1 + hud_control.leftLaneVisible,
|
|
"LDW_Lernmodus_rechts": 3 if hud_control.rightLaneDepart else 1 + hud_control.rightLaneVisible,
|
|
"LDW_Textbits": hud_alert,
|
|
})
|
|
|
|
return packer.make_can_msg("LDW_Status", bus, values)
|
|
|
|
|
|
def create_acc_buttons_control(packer, bus, gra_stock_values, idx, cancel=False, resume=False):
|
|
values = gra_stock_values.copy()
|
|
|
|
values.update({
|
|
"COUNTER": idx,
|
|
"GRA_Abbrechen": cancel,
|
|
"GRA_Recall": resume,
|
|
})
|
|
|
|
return packer.make_can_msg("GRA_Neu", bus, values)
|
|
|
|
|
|
def tsk_status_value(main_switch_on, acc_faulted, long_active):
|
|
if long_active:
|
|
tsk_status = 1
|
|
elif main_switch_on:
|
|
tsk_status = 2
|
|
else:
|
|
tsk_status = 0
|
|
|
|
return tsk_status
|
|
|
|
|
|
def acc_hud_status_value(main_switch_on, acc_faulted, long_active):
|
|
if acc_faulted:
|
|
hud_status = 6
|
|
elif long_active:
|
|
hud_status = 3
|
|
elif main_switch_on:
|
|
hud_status = 2
|
|
else:
|
|
hud_status = 0
|
|
|
|
return hud_status
|
|
|
|
|
|
def create_acc_accel_control(packer, bus, adr_status, accel):
|
|
values = {
|
|
"ACS_Sta_ADR": adr_status,
|
|
"ACS_StSt_Info": adr_status != 1,
|
|
"ACS_Typ_ACC": 0, # TODO: this is ACC "basic", find a way to detect FtS support (1)
|
|
"ACS_Sollbeschl": accel if adr_status == 1 else 3.01,
|
|
"ACS_zul_Regelabw": 0.2 if adr_status == 1 else 1.27,
|
|
"ACS_max_AendGrad": 3.0 if adr_status == 1 else 5.08,
|
|
}
|
|
|
|
return packer.make_can_msg("ACC_System", bus, values)
|
|
|
|
|
|
def create_acc_hud_control(packer, bus, acc_status, set_speed, lead_visible):
|
|
values = {
|
|
"ACA_StaACC": acc_status,
|
|
"ACA_Zeitluecke": 2,
|
|
"ACA_V_Wunsch": set_speed,
|
|
"ACA_gemZeitl": 8 if lead_visible else 0,
|
|
}
|
|
# TODO: ACA_ID_StaACC, ACA_AnzDisplay, ACA_kmh_mph, ACA_PrioDisp, ACA_Aend_Zeitluecke
|
|
|
|
return packer.make_can_msg("ACC_GRA_Anziege", bus, values)
|
|
|