github-actions[bot]
de77c89cf6
version: sunnypilot v2026.002.000 (staging) date: 2026-07-21T07:44:02 master commit: 2c334ede443d7391d27575af8c854a095ba702a8
42 lines
1.0 KiB
Python
42 lines
1.0 KiB
Python
"""
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Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
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This file is part of sunnypilot and is licensed under the MIT License.
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See the LICENSE.md file in the root directory for more details.
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"""
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def crc8_pedal(data):
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crc = 0xFF # standard init value
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poly = 0xD5 # standard crc8: x8+x7+x6+x4+x2+1
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size = len(data)
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for i in range(size - 1, -1, -1):
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crc ^= data[i]
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for _ in range(8):
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if (crc & 0x80) != 0:
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crc = ((crc << 1) ^ poly) & 0xFF
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else:
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crc <<= 1
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return crc
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def create_gas_interceptor_command(packer, gas_amount, idx):
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# Common gas pedal msg generator
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enable = gas_amount > 0.001
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values = {
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"ENABLE": enable,
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"PEDAL_COUNTER": idx & 0xF,
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}
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if enable:
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values["GAS_COMMAND"] = gas_amount * 255.
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values["GAS_COMMAND2"] = gas_amount * 255.
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dat = packer.make_can_msg("GAS_COMMAND", 0, values)[1]
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checksum = crc8_pedal(dat[:-1])
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values["PEDAL_CHECKSUM"] = checksum
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return packer.make_can_msg("GAS_COMMAND", 0, values)
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