openpilot v0.9.6 release

date: 2024-02-21T23:02:42
master commit: 0b4d08fab8e35a264bc7383e878538f8083c33e5

selfdrive/car/chrysler/chryslercan.py

@@ -0,0 +1,71 @@
+from cereal import car
+from openpilot.selfdrive.car.chrysler.values import RAM_CARS
+
+GearShifter = car.CarState.GearShifter
+VisualAlert = car.CarControl.HUDControl.VisualAlert
+
+def create_lkas_hud(packer, CP, lkas_active, hud_alert, hud_count, car_model, auto_high_beam):
+  # LKAS_HUD - Controls what lane-keeping icon is displayed
+
+  # == Color ==
+  # 0 hidden?
+  # 1 white
+  # 2 green
+  # 3 ldw
+
+  # == Lines ==
+  # 03 white Lines
+  # 04 grey lines
+  # 09 left lane close
+  # 0A right lane close
+  # 0B left Lane very close
+  # 0C right Lane very close
+  # 0D left cross cross
+  # 0E right lane cross
+
+  # == Alerts ==
+  # 7 Normal
+  # 6 lane departure place hands on wheel
+
+  color = 2 if lkas_active else 1
+  lines = 3 if lkas_active else 0
+  alerts = 7 if lkas_active else 0
+
+  if hud_count < (1 * 4):  # first 3 seconds, 4Hz
+    alerts = 1
+
+  if hud_alert in (VisualAlert.ldw, VisualAlert.steerRequired):
+    color = 4
+    lines = 0
+    alerts = 6
+
+  values = {
+    "LKAS_ICON_COLOR": color,
+    "CAR_MODEL": car_model,
+    "LKAS_LANE_LINES": lines,
+    "LKAS_ALERTS": alerts,
+  }
+
+  if CP.carFingerprint in RAM_CARS:
+    values['AUTO_HIGH_BEAM_ON'] = auto_high_beam
+
+  return packer.make_can_msg("DAS_6", 0, values)
+
+
+def create_lkas_command(packer, CP, apply_steer, lkas_control_bit):
+  # LKAS_COMMAND Lane-keeping signal to turn the wheel
+  enabled_val = 2 if CP.carFingerprint in RAM_CARS else 1
+  values = {
+    "STEERING_TORQUE": apply_steer,
+    "LKAS_CONTROL_BIT": enabled_val if lkas_control_bit else 0,
+  }
+  return packer.make_can_msg("LKAS_COMMAND", 0, values)
+
+
+def create_cruise_buttons(packer, frame, bus, cancel=False, resume=False):
+  values = {
+    "ACC_Cancel": cancel,
+    "ACC_Resume": resume,
+    "COUNTER": frame % 0x10,
+  }
+  return packer.make_can_msg("CRUISE_BUTTONS", bus, values)