mirror of https://github.com/commaai/panda.git
81 lines
2.9 KiB
Python
81 lines
2.9 KiB
Python
import panda.tests.libpanda.libpanda_py as libpanda_py
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from panda import Panda
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def to_signed(d, bits):
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ret = d
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if d >= (1 << (bits - 1)):
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ret = d - (1 << bits)
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return ret
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def is_steering_msg(mode, param, addr):
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ret = False
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if mode in (Panda.SAFETY_HONDA_NIDEC, Panda.SAFETY_HONDA_BOSCH):
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ret = (addr == 0xE4) or (addr == 0x194) or (addr == 0x33D) or (addr == 0x33DA) or (addr == 0x33DB)
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elif mode == Panda.SAFETY_TOYOTA:
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ret = addr == (0x191 if param & Panda.FLAG_TOYOTA_LTA else 0x2E4)
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elif mode == Panda.SAFETY_GM:
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ret = addr == 384
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elif mode == Panda.SAFETY_HYUNDAI:
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ret = addr == 832
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elif mode == Panda.SAFETY_CHRYSLER:
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ret = addr == 0x292
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elif mode == Panda.SAFETY_SUBARU:
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ret = addr == 0x122
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elif mode == Panda.SAFETY_FORD:
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ret = addr == 0x3d3
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elif mode == Panda.SAFETY_NISSAN:
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ret = addr == 0x169
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return ret
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def get_steer_value(mode, param, to_send):
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torque, angle = 0, 0
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if mode in (Panda.SAFETY_HONDA_NIDEC, Panda.SAFETY_HONDA_BOSCH):
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torque = (to_send.data[0] << 8) | to_send.data[1]
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torque = to_signed(torque, 16)
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elif mode == Panda.SAFETY_TOYOTA:
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if param & Panda.FLAG_TOYOTA_LTA:
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angle = (to_send.data[1] << 8) | to_send.data[2]
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angle = to_signed(angle, 16)
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else:
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torque = (to_send.data[1] << 8) | (to_send.data[2])
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torque = to_signed(torque, 16)
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elif mode == Panda.SAFETY_GM:
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torque = ((to_send.data[0] & 0x7) << 8) | to_send.data[1]
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torque = to_signed(torque, 11)
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elif mode == Panda.SAFETY_HYUNDAI:
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torque = (((to_send.data[3] & 0x7) << 8) | to_send.data[2]) - 1024
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elif mode == Panda.SAFETY_CHRYSLER:
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torque = (((to_send.data[0] & 0x7) << 8) | to_send.data[1]) - 1024
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elif mode == Panda.SAFETY_SUBARU:
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torque = ((to_send.data[3] & 0x1F) << 8) | to_send.data[2]
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torque = -to_signed(torque, 13)
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elif mode == Panda.SAFETY_FORD:
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angle = ((to_send.data[0] << 3) | (to_send.data[1] >> 5)) - 1000
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elif mode == Panda.SAFETY_NISSAN:
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angle = (to_send.data[0] << 10) | (to_send.data[1] << 2) | (to_send.data[2] >> 6)
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angle = -angle + (1310 * 100)
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return torque, angle
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def package_can_msg(msg):
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return libpanda_py.make_CANPacket(msg.address, msg.src % 4, msg.dat)
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def init_segment(safety, lr, mode, param):
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sendcan = (msg for msg in lr if msg.which() == 'sendcan')
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steering_msgs = (can for msg in sendcan for can in msg.sendcan if is_steering_msg(mode, param, can.address))
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msg = next(steering_msgs, None)
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if msg is None:
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# no steering msgs
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return
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to_send = package_can_msg(msg)
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torque, angle = get_steer_value(mode, param, to_send)
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if torque != 0:
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safety.set_controls_allowed(1)
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safety.set_desired_torque_last(torque)
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elif angle != 0:
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safety.set_controls_allowed(1)
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safety.set_desired_angle_last(angle)
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safety.set_angle_meas(angle, angle)
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assert safety.safety_tx_hook(to_send), "failed to initialize panda safety for segment"
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