import crcmod
from openpilot.common.conversions import Conversions as CV
from openpilot.selfdrive.car.tesla.values import CANBUS, CarControllerParams
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class TeslaCAN:
def __init__(self, packer, pt_packer):
self.packer = packer
self.pt_packer = pt_packer
self.crc = crcmod.mkCrcFun(0x11d, initCrc=0x00, rev=False, xorOut=0xff)
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@staticmethod
def checksum(msg_id, dat):
# TODO: get message ID from name instead
ret = (msg_id & 0xFF) + ((msg_id >> 8) & 0xFF)
ret += sum(dat)
return ret & 0xFF
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def create_steering_control(self, angle, enabled, counter):
values = {
"DAS_steeringAngleRequest": -angle,
"DAS_steeringHapticRequest": 0,
"DAS_steeringControlType": 1 if enabled else 0,
"DAS_steeringControlCounter": counter,
}
data = self.packer.make_can_msg("DAS_steeringControl", CANBUS.chassis, values)[2]
values["DAS_steeringControlChecksum"] = self.checksum(0x488, data[:3])
return self.packer.make_can_msg("DAS_steeringControl", CANBUS.chassis, values)
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def create_action_request(self, msg_stw_actn_req, cancel, bus, counter):
# We copy this whole message when spamming cancel
values = {s: msg_stw_actn_req[s] for s in [
"SpdCtrlLvr_Stat",
"VSL_Enbl_Rq",
"SpdCtrlLvrStat_Inv",
"DTR_Dist_Rq",
"TurnIndLvr_Stat",
"HiBmLvr_Stat",
"WprWashSw_Psd",
"WprWash_R_Sw_Posn_V2",
"StW_Lvr_Stat",
"StW_Cond_Flt",
"StW_Cond_Psd",
"HrnSw_Psd",
"StW_Sw00_Psd",
"StW_Sw01_Psd",
"StW_Sw02_Psd",
"StW_Sw03_Psd",
"StW_Sw04_Psd",
"StW_Sw05_Psd",
"StW_Sw06_Psd",
"StW_Sw07_Psd",
"StW_Sw08_Psd",
"StW_Sw09_Psd",
"StW_Sw10_Psd",
"StW_Sw11_Psd",
"StW_Sw12_Psd",
"StW_Sw13_Psd",
"StW_Sw14_Psd",
"StW_Sw15_Psd",
"WprSw6Posn",
"MC_STW_ACTN_RQ",
"CRC_STW_ACTN_RQ",
]}
if cancel:
values["SpdCtrlLvr_Stat"] = 1
values["MC_STW_ACTN_RQ"] = counter
data = self.packer.make_can_msg("STW_ACTN_RQ", bus, values)[2]
values["CRC_STW_ACTN_RQ"] = self.crc(data[:7])
return self.packer.make_can_msg("STW_ACTN_RQ", bus, values)
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def create_longitudinal_commands(self, acc_state, speed, min_accel, max_accel, cnt):
messages = []
values = {
"DAS_setSpeed": speed * CV.MS_TO_KPH,
"DAS_accState": acc_state,
"DAS_aebEvent": 0,
"DAS_jerkMin": CarControllerParams.JERK_LIMIT_MIN,
"DAS_jerkMax": CarControllerParams.JERK_LIMIT_MAX,
"DAS_accelMin": min_accel,
"DAS_accelMax": max_accel,
"DAS_controlCounter": cnt,
"DAS_controlChecksum": 0,
}
for packer, bus in [(self.packer, CANBUS.chassis), (self.pt_packer, CANBUS.powertrain)]:
data = packer.make_can_msg("DAS_control", bus, values)[2]
values["DAS_controlChecksum"] = self.checksum(0x2b9, data[:7])
messages.append(packer.make_can_msg("DAS_control", bus, values))
return messages