github-actions[bot]
de77c89cf6
version: sunnypilot v2026.002.000 (staging) date: 2026-07-21T07:44:02 master commit: 2c334ede443d7391d27575af8c854a095ba702a8
72 lines
2.3 KiB
Python
72 lines
2.3 KiB
Python
from opendbc.car.volkswagen.mqbcan import (volkswagen_mqb_meb_checksum, xor_checksum,
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create_lka_hud_control as mqb_create_lka_hud_control)
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# TODO: Parameterize the hca control type (5 vs 7) and consolidate with MQB (and PQ?)
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def create_steering_control(packer, bus, apply_steer, lkas_enabled):
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values = {
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"HCA_01_Status_HCA": 7 if lkas_enabled else 3,
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"HCA_01_LM_Offset": abs(apply_steer),
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"HCA_01_LM_OffSign": 1 if apply_steer < 0 else 0,
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"HCA_01_Vib_Freq": 18,
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"HCA_01_Sendestatus": 1 if lkas_enabled else 0,
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"EA_ACC_Wunschgeschwindigkeit": 327.36,
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}
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return packer.make_can_msg("HCA_01", bus, values)
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def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pressed, hud_alert, hud_control):
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return mqb_create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pressed, hud_alert, hud_control)
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def create_acc_buttons_control(packer, bus, gra_stock_values, cancel=False, resume=False):
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values = {s: gra_stock_values[s] for s in [
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"LS_Hauptschalter",
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"LS_Typ_Hauptschalter",
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"LS_Codierung",
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"LS_Tip_Stufe_2",
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]}
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values.update({
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"COUNTER": (gra_stock_values["COUNTER"] + 1) % 16,
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"LS_Abbrechen": cancel,
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"LS_Tip_Wiederaufnahme": resume,
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})
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return packer.make_can_msg("LS_01", bus, values)
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def acc_control_value(main_switch_on, acc_faulted, long_active):
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return 0
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def acc_hud_status_value(main_switch_on, acc_faulted, long_active):
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return 0
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def create_acc_accel_control(packer, bus, acc_type, acc_enabled, accel, acc_control, stopping, starting, esp_hold):
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values = {}
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return packer.make_can_msg("ACC_05", bus, values)
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def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_distance, distance):
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values = {}
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return packer.make_can_msg("ACC_02", bus, values)
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def volkswagen_mlb_checksum(address: int, sig, d: bytearray) -> int:
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xor_starting_value = {
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0x109: 0x08, # ACC_01
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0x111: 0x10, # TSK_05
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0x30C: 0x0F, # ACC_02
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0x324: 0x27, # ACC_04
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0x10B: 0xA, # LS_01
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0x10D: 0x0C, # ACC_05
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0x10F: 0x0E, # ACC_0x10F
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0x311: 0x12, # ACC_0x311
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0x397: 0x94, # LDW_02
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0x10C: 0x0D, # TSK_02
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}
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if address in xor_starting_value:
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return xor_checksum(address, sig, d, xor_starting_value[address])
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else:
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return volkswagen_mqb_meb_checksum(address, sig, d)
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