IQ.Pilot Release Commit @ 5bc9cd3

iqdbc_repo/iqdbc/car/body/bodycan.py

@@ -0,0 +1,17 @@
+from iqdbc.car.crc import CRC8BODY
+
+
+def create_control(packer, torque_l, torque_r):
+  values = {
+    "TORQUE_L": torque_l,
+    "TORQUE_R": torque_r,
+  }
+
+  return packer.make_can_msg("TORQUE_CMD", 0, values)
+
+
+def body_checksum(address: int, sig, d: bytearray) -> int:
+  crc = 0xFF
+  for i in range(len(d) - 2, -1, -1):
+    crc = CRC8BODY[crc ^ d[i]]
+  return crc