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Ford: add some missing types

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This commit is contained in:
Cameron Clough
2023-06-22 12:14:26 +01:00
parent af42caa394
commit a485e474c8
1 changed files with 3 additions and 3 deletions
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selfdrive/car/ford/fordcan.py
+3 -3
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@@ -13,15 +13,15 @@ class CanBus(CanBusBase):
return self.offset
@property
def radar(self):
def radar(self) -> int:
return self.offset + 1
@property
def camera(self):
def camera(self) -> int:
return self.offset + 2
def calculate_lat_ctl2_checksum(mode: int, counter: int, dat: bytearray):
def calculate_lat_ctl2_checksum(mode: int, counter: int, dat: bytearray) -> int:
curvature = (dat[2] << 3) | ((dat[3]) >> 5)
curvature_rate = (dat[6] << 3) | ((dat[7]) >> 5)
path_angle = ((dat[3] & 0x1F) << 6) | ((dat[4]) >> 2)