mawei/StarPilot
1
0
Fork 0
mirror of https://github.com/firestar5683/StarPilot.git synced 2026-09-09 09:43:47 +08:00
Code Issues Packages Projects Releases Wiki Activity

FrogPilot community - Added Realfast Tweaks and New Ram HDs

Browse Source 
Co-Authored-By: Vincent Wright <1850511+vincentw56@users.noreply.github.com>
This commit is contained in:
FrogAi
2024-07-05 17:20:42 -07:00
parent 146d4ee3e5
commit d00a3a0ff8
8 changed files with 75 additions and 19 deletions
Download Patch File Download Diff File Expand all files Collapse all files
panda/board/safety/safety_chrysler.h
+7 -1
View File
@@ -37,6 +37,7 @@ typedef struct {
const int DAS_6;
const int LKAS_COMMAND;
const int CRUISE_BUTTONS;
const int CRUISE_BUTTONS_ALT;
} ChryslerAddrs;
// CAN messages for Chrysler/Jeep platforms
@@ -49,6 +50,7 @@ const ChryslerAddrs CHRYSLER_ADDRS = {
.DAS_6 = 0x2A6, // LKAS HUD and auto headlight control from DASM
.LKAS_COMMAND = 0x292, // LKAS controls from DASM
.CRUISE_BUTTONS = 0x23B, // Cruise control buttons
.CRUISE_BUTTONS_ALT = 0x23B, // Cruise control buttons
};
// CAN messages for the 5th gen RAM DT platform
@@ -61,6 +63,7 @@ const ChryslerAddrs CHRYSLER_RAM_DT_ADDRS = {
.DAS_6 = 0xFA, // LKAS HUD and auto headlight control from DASM
.LKAS_COMMAND = 0xA6, // LKAS controls from DASM
.CRUISE_BUTTONS = 0xB1, // Cruise control buttons
.CRUISE_BUTTONS_ALT = 0xB1, // Cruise control buttons
};
// CAN messages for the 5th gen RAM HD platform
@@ -73,6 +76,7 @@ const ChryslerAddrs CHRYSLER_RAM_HD_ADDRS = {
.DAS_6 = 0x275, // LKAS HUD and auto headlight control from DASM
.LKAS_COMMAND = 0x276, // LKAS controls from DASM
.CRUISE_BUTTONS = 0x23A, // Cruise control buttons
.CRUISE_BUTTONS_ALT = 0x23B, // Cruise control buttons
};
const CanMsg CHRYSLER_TX_MSGS[] = {
@@ -83,12 +87,14 @@ const CanMsg CHRYSLER_TX_MSGS[] = {
const CanMsg CHRYSLER_RAM_DT_TX_MSGS[] = {
{CHRYSLER_RAM_DT_ADDRS.CRUISE_BUTTONS, 2, 3},
{CHRYSLER_RAM_DT_ADDRS.CRUISE_BUTTONS_ALT, 2, 3},
{CHRYSLER_RAM_DT_ADDRS.LKAS_COMMAND, 0, 8},
{CHRYSLER_RAM_DT_ADDRS.DAS_6, 0, 8},
};
const CanMsg CHRYSLER_RAM_HD_TX_MSGS[] = {
{CHRYSLER_RAM_HD_ADDRS.CRUISE_BUTTONS, 2, 3},
{CHRYSLER_RAM_HD_ADDRS.CRUISE_BUTTONS_ALT, 2, 3},
{CHRYSLER_RAM_HD_ADDRS.LKAS_COMMAND, 0, 8},
{CHRYSLER_RAM_HD_ADDRS.DAS_6, 0, 8},
};
@@ -234,7 +240,7 @@ static bool chrysler_tx_hook(const CANPacket_t *to_send) {
}
// FORCE CANCEL: only the cancel button press is allowed
if (addr == chrysler_addrs->CRUISE_BUTTONS) {
if ((addr == chrysler_addrs->CRUISE_BUTTONS) || (addr == CHRYSLER_RAM_HD_ADDRS.CRUISE_BUTTONS_ALT)) {
const bool is_cancel = GET_BYTE(to_send, 0) == 1U;
const bool is_resume = GET_BYTE(to_send, 0) == 0x10U;
const bool allowed = is_cancel || (is_resume && controls_allowed);