18 lines
367 B
Python
18 lines
367 B
Python
from opendbc.car.crc import CRC8BODY
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def create_control(packer, torque_l, torque_r):
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values = {
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"TORQUE_L": torque_l,
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"TORQUE_R": torque_r,
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}
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return packer.make_can_msg("TORQUE_CMD", 0, values)
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def body_checksum(address: int, sig, d: bytearray) -> int:
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crc = 0xFF
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for i in range(len(d) - 2, -1, -1):
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crc = CRC8BODY[crc ^ d[i]]
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return crc
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