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