IQ.Pilot Prebuilt Release @ 7a91404

artifacts/package_runtime/iqdbc/car/psa/psacan.py

@@ -0,0 +1,18 @@
+def psa_checksum(address: int, sig, d: bytearray) -> int:
+  chk_ini = {0x452: 0x4, 0x38D: 0x7, 0x42D: 0xC}.get(address, 0xB)
+  byte = sig.start_bit // 8
+  d[byte] &= 0x0F if sig.start_bit % 8 >= 4 else 0xF0
+  checksum = sum((b >> 4) + (b & 0xF) for b in d)
+  return (chk_ini - checksum) & 0xF
+
+
+def create_lka_steering(packer, lat_active: bool, apply_angle: float, status: int):
+  values = {
+    'DRIVE': 1,
+    'STATUS': status,
+    'LXA_ACTIVATION': 1,
+    'TORQUE_FACTOR': lat_active * 100,
+    'SET_ANGLE': apply_angle,
+  }
+
+  return packer.make_can_msg('LANE_KEEP_ASSIST', 0, values)