IQ.Pilot Prebuilt Release @ 27f668a

artifacts/package_runtime/iqdbc/lvbs/car/chrysler/aol.py

@@ -0,0 +1,73 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+
+Always-on-Lateral adapter for Chrysler. CarState reads the LKAS toggle button
+(and the forwarded LKAS heartbeat); CarController tracks the AOL state and, when
+AOL is available, drives the LKAS_DISABLED bit the dash reads from the heartbeat.
+"""
+from enum import StrEnum
+from collections import namedtuple
+
+from iqdbc.car import Bus, structs
+from iqdbc.car.chrysler.values import RAM_CARS
+from iqdbc.lvbs.aol_base import AolCarStateBase
+from iqdbc.can.parser import CANParser
+
+AolDataIQ = namedtuple("AolDataIQ", ["enable_aol", "paused", "lkas_disabled"])
+ButtonType = structs.CarState.ButtonEvent.Type
+
+_HEARTBIT_FIELDS = ("LKAS_DISABLED", "AUTO_HIGH_BEAM", "FORWARD_1", "FORWARD_2", "FORWARD_3")
+
+
+class AolCarController:
+  def __init__(self):
+    self.aol = AolDataIQ(False, False, False)
+
+  @staticmethod
+  def create_lkas_heartbit(packer, lkas_heartbit, aol):
+    values = {name: lkas_heartbit[name] for name in _HEARTBIT_FIELDS}
+    if aol.enable_aol:
+      values["LKAS_DISABLED"] = 1 if aol.lkas_disabled else 0
+    return packer.make_can_msg("LKAS_HEARTBIT", 0, values)
+
+  @staticmethod
+  def aol_status_update(CC: structs.CarControl, CC_IQ: structs.IQCarControl, CS) -> AolDataIQ:
+    enable_aol = CC_IQ.aol.available
+    paused = CC_IQ.aol.enabled and not CC.latActive
+    # A tap of the LKAS button flips the driver's "LKAS disabled" preference.
+    if any(be.type == ButtonType.lkas and be.pressed for be in CS.out.buttonEvents):
+      CS.lkas_disabled = not CS.lkas_disabled
+    return AolDataIQ(enable_aol, paused, CS.lkas_disabled)
+
+  def update(self, CC: structs.CarControl, CC_IQ: structs.IQCarControl, CS) -> None:
+    self.aol = self.aol_status_update(CC, CC_IQ, CS)
+
+
+class AolCarState(AolCarStateBase):
+  def __init__(self, CP: structs.CarParams, CP_IQ: structs.IQCarParams):
+    super().__init__(CP, CP_IQ)
+    self.lkas_heartbit = 0
+    self.init_lkas_disabled = False
+    self.lkas_disabled = False
+
+  @staticmethod
+  def get_parser(CP, pt_messages, cam_messages) -> None:
+    if CP.carFingerprint in RAM_CARS:
+      pt_messages.append(("Center_Stack_2", 1))
+    else:
+      pt_messages.append(("TRACTION_BUTTON", 1))
+      cam_messages.append(("LKAS_HEARTBIT", 1))
+
+  def _read_lkas_button(self, cp, cp_cam) -> int:
+    if self.CP.carFingerprint in RAM_CARS:
+      return cp.vl["Center_Stack_2"]["LKAS_Button"]
+
+    self.lkas_heartbit = cp_cam.vl["LKAS_HEARTBIT"]
+    if not self.init_lkas_disabled:
+      self.lkas_disabled = cp_cam.vl["LKAS_HEARTBIT"]["LKAS_DISABLED"]
+      self.init_lkas_disabled = True
+    return cp.vl["TRACTION_BUTTON"]["TOGGLE_LKAS"]
+
+  def update_aol(self, ret: structs.CarState, can_parsers: dict[StrEnum, CANParser]) -> None:
+    self.prev_lkas_button = self.lkas_button
+    self.lkas_button = self._read_lkas_button(can_parsers[Bus.pt], can_parsers[Bus.cam])

artifacts/package_runtime/iqdbc/lvbs/car/chrysler/iq_carcontroller.py

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+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+
+Chrysler low-speed steering gate: overrides the stock LKAS control bit when the
+no-min-steering-speed option is set, and holds the RAM DT engagement window.
+"""
+from iqdbc.car import structs
+from iqdbc.car.interfaces import CarStateBase
+from iqdbc.car.chrysler.values import RAM_DT
+from iqdbc.lvbs.car.chrysler.iq_values import ChryslerFlagsIQ
+
+GearShifter = structs.CarState.GearShifter
+
+
+class IQCarController:
+  def __init__(self, CP: structs.CarParams, CP_IQ: structs.IQCarParams):
+    self.CP = CP
+    self.CP_IQ = CP_IQ
+
+  def get_lkas_control_bit(self, CS: CarStateBase, CC: structs.CarControl, lkas_control_bit: bool) -> bool:
+    if self.CP_IQ.flags & ChryslerFlagsIQ.NO_MIN_STEERING_SPEED:
+      return CC.latActive
+
+    if self.CP.carFingerprint in RAM_DT:
+      if self.CP.minEnableSpeed <= CS.out.vEgo <= self.CP.minEnableSpeed + 0.5:
+        lkas_control_bit = True
+      if self.CP.minEnableSpeed >= 14.5 and CS.out.gearShifter != GearShifter.drive:
+        lkas_control_bit = False
+
+    return lkas_control_bit

artifacts/package_runtime/iqdbc/lvbs/car/chrysler/iq_carstate.py

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+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+
+Chrysler cruise-button reader: emits edge ButtonEvents for the ACC steering-wheel
+buttons so IQ.Pilot can react to accel/decel/cancel/resume.
+"""
+from enum import StrEnum
+
+from iqdbc.car import Bus, structs
+from iqdbc.can.parser import CANParser
+from iqdbc.lvbs.car.chrysler.iq_values import BUTTONS
+
+
+class IQCarState:
+  def __init__(self, CP, CP_IQ):
+    self.CP = CP
+    self.CP_IQ = CP_IQ
+    self.button_events: list = []
+    self.button_states = {button.event_type: False for button in BUTTONS}
+
+  def update(self, ret: structs.CarState, ret_iq: structs.IQCarState, can_parsers: dict[StrEnum, CANParser]) -> None:
+    cp = can_parsers[Bus.pt]
+    events = []
+    for button in BUTTONS:
+      pressed = cp.vl[button.can_addr][button.can_msg] in button.values
+      if pressed != self.button_states[button.event_type]:
+        event = structs.CarState.ButtonEvent.new_message()
+        event.type = button.event_type
+        event.pressed = pressed
+        events.append(event)
+      self.button_states[button.event_type] = pressed
+    self.button_events = events

artifacts/package_runtime/iqdbc/lvbs/car/chrysler/iq_fingerprints.py

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+from iqdbc.car.structs import CarParams
+from iqdbc.car.chrysler.values import CAR
+
+Ecu = CarParams.Ecu
+
+
+FW_VERSIONS_EXT = {
+  CAR.RAM_1500_5TH_GEN: {
+    (Ecu.combinationMeter, 0x742, None): [
+      b'68453485AC',
+      b'68510283AH',
+    ],
+    (Ecu.eps, 0x75a, None): [
+      b'68552791AA',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'05149390AA ',
+      b'68378696AI ',
+      b'68500631AF',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'68360085AF',
+      b'68360086AL',
+      b'68502996AC',
+    ],
+  },
+}

artifacts/package_runtime/iqdbc/lvbs/car/chrysler/iq_values.py

@@ -0,0 +1,24 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+
+IQ.Pilot Chrysler extension flags + the cruise-button table read by the AOL
+cruise-button reader.
+"""
+from collections import namedtuple
+from enum import IntFlag
+
+from iqdbc.car import structs
+
+ButtonType = structs.CarState.ButtonEvent.Type
+Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
+
+BUTTONS = [
+  Button(ButtonType.accelCruise, "CRUISE_BUTTONS", "ACC_Accel", [1]),
+  Button(ButtonType.decelCruise, "CRUISE_BUTTONS", "ACC_Decel", [1]),
+  Button(ButtonType.cancel, "CRUISE_BUTTONS", "ACC_Cancel", [1]),
+  Button(ButtonType.resumeCruise, "CRUISE_BUTTONS", "ACC_Resume", [1]),
+]
+
+
+class ChryslerFlagsIQ(IntFlag):
+  NO_MIN_STEERING_SPEED = 1