Release 260111

opendbc_repo/opendbc/car/body/bodycan.py

@@ -0,0 +1,20 @@
+def create_control(packer, torque_l, torque_r):
+  values = {
+    "TORQUE_L": torque_l,
+    "TORQUE_R": torque_r,
+  }
+
+  return packer.make_can_msg("TORQUE_CMD", 0, values)
+
+
+def body_checksum(address: int, sig, d: bytearray) -> int:
+  crc = 0xFF
+  poly = 0xD5
+  for i in range(len(d) - 2, -1, -1):
+    crc ^= d[i]
+    for _ in range(8):
+      if crc & 0x80:
+        crc = ((crc << 1) ^ poly) & 0xFF
+      else:
+        crc = (crc << 1) & 0xFF
+  return crc