github-actions[bot]
de77c89cf6
version: sunnypilot v2026.002.000 (staging) date: 2026-07-21T07:44:02 master commit: 2c334ede443d7391d27575af8c854a095ba702a8
61 lines
2.0 KiB
Python
61 lines
2.0 KiB
Python
from opendbc.car.common.conversions import Conversions as CV
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from opendbc.car.tesla.values import CANBUS, CarControllerParams, TeslaFlags
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def get_steer_ctrl_type(flags: int, ctrl_type: int) -> int:
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# Returns the flipped signal value for DAS_steeringControlType on FSD 14
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if flags & TeslaFlags.FSD_14:
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return {1: 2, 2: 1}.get(ctrl_type, ctrl_type)
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else:
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return ctrl_type
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class TeslaCAN:
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def __init__(self, CP, packer):
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self.CP = CP
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self.packer = packer
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def create_steering_control(self, angle, enabled, control_type):
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# On FSD 14+, ANGLE_CONTROL behavior changed to allow user winddown while actuating.
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# with openpilot, after overriding w/ ANGLE_CONTROL the wheel snaps back to the original angle abruptly
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# so we now use LANE_KEEP_ASSIST to match stock FSD.
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# see carstate.py for more details
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values = {
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"DAS_steeringAngleRequest": -angle,
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"DAS_steeringHapticRequest": 0,
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"DAS_steeringControlType": get_steer_ctrl_type(self.CP.flags, control_type if enabled else 0),
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}
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return self.packer.make_can_msg("DAS_steeringControl", CANBUS.party, values)
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def create_longitudinal_command(self, acc_state, accel, counter, v_ego, active):
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set_speed = min(max(v_ego + accel, 0) * CV.MS_TO_KPH, 400)
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values = {
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"DAS_setSpeed": set_speed,
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"DAS_accState": acc_state,
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"DAS_aebEvent": 0,
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"DAS_jerkMin": CarControllerParams.JERK_LIMIT_MIN,
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"DAS_jerkMax": CarControllerParams.JERK_LIMIT_MAX,
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"DAS_accelMin": accel,
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"DAS_accelMax": max(accel, 0),
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"DAS_controlCounter": counter,
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}
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return self.packer.make_can_msg("DAS_control", CANBUS.party, values)
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def create_steering_allowed(self):
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values = {
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"APS_eacAllow": 1,
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}
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return self.packer.make_can_msg("APS_eacMonitor", CANBUS.party, values)
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def tesla_checksum(address: int, sig, d: bytearray) -> int:
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checksum = (address & 0xFF) + ((address >> 8) & 0xFF)
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checksum_byte = sig.start_bit // 8
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for i in range(len(d)):
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if i != checksum_byte:
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checksum += d[i]
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return checksum & 0xFF
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