114 lines
2.7 KiB
Python
114 lines
2.7 KiB
Python
from opendbc.car import structs
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from opendbc.car.crc import CRC8J1850
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from opendbc.car.chrysler.values import RAM_CARS
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GearShifter = structs.CarState.GearShifter
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VisualAlert = structs.CarControl.HUDControl.VisualAlert
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def create_lkas_hud(packer, CP, lkas_active, hud_alert, hud_count, car_model, auto_high_beam):
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# LKAS_HUD - Controls what lane-keeping icon is displayed
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# == Color ==
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# 0 hidden?
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# 1 white
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# 2 green
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# 3 ldw
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# == Lines ==
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# 03 white Lines
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# 04 grey lines
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# 09 left lane close
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# 0A right lane close
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# 0B left Lane very close
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# 0C right Lane very close
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# 0D left cross cross
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# 0E right lane cross
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# == Alerts ==
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# 7 Normal
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# 6 lane departure place hands on wheel
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color = 2 if lkas_active else 1
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lines = 3 if lkas_active else 0
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alerts = 7 if lkas_active else 0
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if hud_count < (1 * 4): # first 3 seconds, 4Hz
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alerts = 1
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if hud_alert in (VisualAlert.ldw, VisualAlert.steerRequired):
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color = 4
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lines = 0
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alerts = 6
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values = {
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"LKAS_ICON_COLOR": color,
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"CAR_MODEL": car_model,
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"LKAS_LANE_LINES": lines,
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"LKAS_ALERTS": alerts,
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}
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if CP.carFingerprint in RAM_CARS:
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values['AUTO_HIGH_BEAM_ON'] = auto_high_beam
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return packer.make_can_msg("DAS_6", 0, values)
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def create_lkas_command(packer, CP, apply_torque, lkas_control_bit):
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# LKAS_COMMAND Lane-keeping signal to turn the wheel
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enabled_val = 2 if CP.carFingerprint in RAM_CARS else 1
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values = {
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"STEERING_TORQUE": apply_torque,
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"LKAS_CONTROL_BIT": enabled_val if lkas_control_bit else 0,
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}
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return packer.make_can_msg("LKAS_COMMAND", 0, values)
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def create_cruise_buttons(packer, frame, bus, cancel=False, resume=False):
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values = {
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"ACC_Cancel": cancel,
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"ACC_Resume": resume,
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"COUNTER": frame % 0x10,
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}
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return packer.make_can_msg("CRUISE_BUTTONS", bus, values)
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def chrysler_checksum(address: int, sig, d: bytearray) -> int:
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checksum = 0xFF
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for j in range(len(d) - 1):
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curr = d[j]
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shift = 0x80
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for _ in range(8):
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bit_sum = curr & shift
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temp_chk = checksum & 0x80
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if bit_sum:
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bit_sum = 0x1C
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if temp_chk:
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bit_sum = 1
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checksum = (checksum << 1) & 0xFF
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temp_chk = checksum | 1
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bit_sum ^= temp_chk
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else:
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if temp_chk:
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bit_sum = 0x1D
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checksum = (checksum << 1) & 0xFF
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bit_sum ^= checksum
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checksum = bit_sum & 0xFF
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shift >>= 1
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return (~checksum) & 0xFF
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def fca_giorgio_checksum(address: int, sig, d: bytearray) -> int:
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crc = 0
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for i in range(len(d) - 1):
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crc ^= d[i]
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crc = CRC8J1850[crc]
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if address == 0xDE:
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return crc ^ 0x10
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elif address == 0x106:
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return crc ^ 0xF6
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elif address == 0x122:
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return crc ^ 0xF1
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else:
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return crc ^ 0x0A
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