IQ.Pilot Prebuilt Release @ 27f668a

artifacts/package_runtime/iqdbc/car/chrysler/chryslercan.py

@@ -0,0 +1,118 @@
+from iqdbc.car import structs
+from iqdbc.car.crc import CRC8J1850
+from iqdbc.car.chrysler.values import RAM_CARS
+
+GearShifter = structs.CarState.GearShifter
+VisualAlert = structs.CarControl.HUDControl.VisualAlert
+
+
+def create_lkas_hud(packer, CP, lkas_active, hud_alert, hud_count, car_model, auto_high_beam, aol):
+  # LKAS_HUD - Controls what lane-keeping icon is displayed
+
+  # == Color ==
+  # 0 hidden?
+  # 1 white
+  # 2 green
+  # 3 ldw
+
+  # == Lines ==
+  # 03 white Lines
+  # 04 grey lines
+  # 09 left lane close
+  # 0A right lane close
+  # 0B left Lane very close
+  # 0C right Lane very close
+  # 0D left cross cross
+  # 0E right lane cross
+
+  # == Alerts ==
+  # 7 Normal
+  # 6 lane departure place hands on wheel
+
+  if aol.enable_aol:
+    color = 2 if lkas_active else 1 if aol.paused else 0
+  else:
+    color = 2 if lkas_active else 1
+  lines = 3 if lkas_active else 0
+  alerts = 7 if lkas_active else 0
+
+  if hud_count < (1 * 4):  # first 3 seconds, 4Hz
+    alerts = 1
+
+  if hud_alert in (VisualAlert.ldw, VisualAlert.steerRequired):
+    color = 4
+    lines = 0
+    alerts = 6
+
+  values = {
+    "LKAS_ICON_COLOR": color,
+    "CAR_MODEL": car_model,
+    "LKAS_LANE_LINES": lines,
+    "LKAS_ALERTS": alerts,
+  }
+
+  if CP.carFingerprint in RAM_CARS:
+    values['AUTO_HIGH_BEAM_ON'] = auto_high_beam
+
+  return packer.make_can_msg("DAS_6", 0, values)
+
+
+def create_lkas_command(packer, CP, apply_torque, lkas_control_bit):
+  # LKAS_COMMAND Lane-keeping signal to turn the wheel
+  enabled_val = 2 if CP.carFingerprint in RAM_CARS else 1
+  values = {
+    "STEERING_TORQUE": apply_torque,
+    "LKAS_CONTROL_BIT": enabled_val if lkas_control_bit else 0,
+  }
+  return packer.make_can_msg("LKAS_COMMAND", 0, values)
+
+
+def create_cruise_buttons(packer, frame, bus, cancel=False, resume=False, accel=False, decel=False):
+  values = {
+    "ACC_Cancel": cancel,
+    "ACC_Resume": resume,
+    "ACC_Accel": accel,
+    "ACC_Decel": decel,
+    "COUNTER": frame % 0x10,
+  }
+  return packer.make_can_msg("CRUISE_BUTTONS", bus, values)
+
+
+def chrysler_checksum(address: int, sig, d: bytearray) -> int:
+  checksum = 0xFF
+  for j in range(len(d) - 1):
+    curr = d[j]
+    shift = 0x80
+    for _ in range(8):
+      bit_sum = curr & shift
+      temp_chk = checksum & 0x80
+      if bit_sum:
+        bit_sum = 0x1C
+        if temp_chk:
+          bit_sum = 1
+        checksum = (checksum << 1) & 0xFF
+        temp_chk = checksum | 1
+        bit_sum ^= temp_chk
+      else:
+        if temp_chk:
+          bit_sum = 0x1D
+        checksum = (checksum << 1) & 0xFF
+        bit_sum ^= checksum
+      checksum = bit_sum & 0xFF
+      shift >>= 1
+  return (~checksum) & 0xFF
+
+
+def fca_giorgio_checksum(address: int, sig, d: bytearray) -> int:
+  crc = 0
+  for i in range(len(d) - 1):
+    crc ^= d[i]
+    crc = CRC8J1850[crc]
+  if address == 0xDE:
+    return crc ^ 0x10
+  elif address == 0x106:
+    return crc ^ 0xF6
+  elif address == 0x122:
+    return crc ^ 0xF1
+  else:
+    return crc ^ 0x0A