VW MQB: Support for other transmission types (#20253)

* Support pieces for e-Golf and manual trans

* Support pieces for e-Golf and manual trans

* Support pieces for e-Golf and manual trans

* Support pieces for e-Golf and manual trans

* Support pieces for e-Golf and manual trans

* Support pieces for e-Golf and manual trans

* Support pieces for e-Golf and manual trans

* Fix comment typo

* TRANS->TransmissionType, GEAR->GearShifter

* TRANS->TransmissionType, GEAR->GearShifter
old-commit-hash: bee0cc6dac

selfdrive/car/volkswagen/carstate.py

@@ -4,16 +4,19 @@ from selfdrive.config import Conversions as CV
 from selfdrive.car.interfaces import CarStateBase
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
-from selfdrive.car.volkswagen.values import DBC, CANBUS, BUTTON_STATES, CarControllerParams
+from selfdrive.car.volkswagen.values import DBC, CANBUS, TransmissionType, GearShifter, BUTTON_STATES, CarControllerParams
 
 class CarState(CarStateBase):
   def __init__(self, CP):
     super().__init__(CP)
     can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
-    self.shifter_values = can_define.dv["Getriebe_11"]['GE_Fahrstufe']
+    if CP.transmissionType == TransmissionType.automatic:
+      self.shifter_values = can_define.dv["Getriebe_11"]['GE_Fahrstufe']
+    elif CP.transmissionType == TransmissionType.direct:
+      self.shifter_values = can_define.dv["EV_Gearshift"]['GearPosition']
     self.buttonStates = BUTTON_STATES.copy()
 
-  def update(self, pt_cp):
+  def update(self, pt_cp, trans_type):
     ret = car.CarState.new_message()
     # Update vehicle speed and acceleration from ABS wheel speeds.
     ret.wheelSpeeds.fl = pt_cp.vl["ESP_19"]['ESP_VL_Radgeschw_02'] * CV.KPH_TO_MS
@@ -42,8 +45,16 @@ class CarState(CarStateBase):
     ret.brakeLights = bool(pt_cp.vl["ESP_05"]['ESP_Status_Bremsdruck'])
 
     # Update gear and/or clutch position data.
-    can_gear_shifter = int(pt_cp.vl["Getriebe_11"]['GE_Fahrstufe'])
-    ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear_shifter, None))
+    if trans_type == TransmissionType.automatic:
+      ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["Getriebe_11"]['GE_Fahrstufe'], None))
+    elif trans_type == TransmissionType.direct:
+      ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["EV_Gearshift"]['GearPosition'], None))
+    elif trans_type == TransmissionType.manual:
+      ret.clutchPressed = not pt_cp.vl["Motor_14"]['MO_Kuppl_schalter']
+      if bool(pt_cp.vl["Gateway_72"]['BCM1_Rueckfahrlicht_Schalter']):
+        ret.gearShifter = GearShifter.reverse
+      else:
+        ret.gearShifter = GearShifter.drive
 
     # Update door and trunk/hatch lid open status.
     ret.doorOpen = any([pt_cp.vl["Gateway_72"]['ZV_FT_offen'],
@@ -154,7 +165,6 @@ class CarState(CarStateBase):
       ("ZV_HD_offen", "Gateway_72", 0),             # Trunk or hatch open
       ("BH_Blinker_li", "Gateway_72", 0),           # Left turn signal on
       ("BH_Blinker_re", "Gateway_72", 0),           # Right turn signal on
-      ("GE_Fahrstufe", "Getriebe_11", 0),           # Auto trans gear selector position
       ("AB_Gurtschloss_FA", "Airbag_02", 0),        # Seatbelt status, driver
       ("AB_Gurtschloss_BF", "Airbag_02", 0),        # Seatbelt status, passenger
       ("ESP_Fahrer_bremst", "ESP_05", 0),           # Brake pedal pressed
@@ -206,7 +216,6 @@ class CarState(CarStateBase):
       ("TSK_06", 50),       # From J623 Engine control module
       ("GRA_ACC_01", 33),   # From J??? steering wheel control buttons
       ("ACC_02", 17),       # From J428 ACC radar control module
-      ("Getriebe_11", 20),  # From J743 Auto transmission control module
       ("Gateway_72", 10),   # From J533 CAN gateway (aggregated data)
       ("Motor_14", 10),     # From J623 Engine control module
       ("Airbag_02", 5),     # From J234 Airbag control module
@@ -215,6 +224,17 @@ class CarState(CarStateBase):
       ("Einheiten_01", 1),  # From J??? not known if gateway, cluster, or BCM
     ]
 
+    if CP.transmissionType == TransmissionType.automatic:
+      signals += [("GE_Fahrstufe", "Getriebe_11", 0)]  # Auto trans gear selector position
+      checks += [("Getriebe_11", 20)]  # From J743 Auto transmission control module
+    elif CP.transmissionType == TransmissionType.direct:
+      signals += [("GearPosition", "EV_Gearshift", 0)]  # EV gear selector position
+      checks += [("EV_Gearshift", 10)]  # From J??? unknown EV control module
+    elif CP.transmissionType == TransmissionType.manual:
+      signals += [("MO_Kuppl_schalter", "Motor_14", 0),  # Clutch switch
+                  ("BCM1_Rueckfahrlicht_Schalter", "Gateway_72", 0)]  # Reverse light from BCM
+      checks += [("Motor_14", 10)]  # From J623 Engine control module
+
     return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, CANBUS.pt)
 
   # A single signal is monitored from the camera CAN bus, and then ignored,

selfdrive/car/volkswagen/interface.py

@@ -1,9 +1,9 @@
 from cereal import car
-from selfdrive.car.volkswagen.values import CAR, BUTTON_STATES
+from selfdrive.swaglog import cloudlog
+from selfdrive.car.volkswagen.values import CAR, BUTTON_STATES, TransmissionType, GearShifter
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
 from selfdrive.car.interfaces import CarInterfaceBase
 
-GEAR = car.CarState.GearShifter
 EventName = car.CarEvent.EventName
 
 
@@ -49,7 +49,17 @@ class CarInterface(CarInterfaceBase):
       tire_stiffness_factor = 1.0
 
     ret.enableCamera = True  # Stock camera detection doesn't apply to VW
-    ret.transmissionType = car.CarParams.TransmissionType.automatic
+
+    if 0xAD in fingerprint[0]:
+      # Getriebe_11 detected: traditional automatic or DSG gearbox
+      ret.transmissionType = TransmissionType.automatic
+    elif 0x187 in fingerprint[0]:
+      # EV_Gearshift detected: e-Golf or similar direct-drive electric
+      ret.transmissionType = TransmissionType.direct
+    else:
+      # No trans message at all, must be a true stick-shift manual
+      ret.transmissionType = TransmissionType.manual
+    cloudlog.info("Detected transmission type: %s", ret.transmissionType)
 
     # TODO: get actual value, for now starting with reasonable value for
     # civic and scaling by mass and wheelbase
@@ -72,7 +82,7 @@ class CarInterface(CarInterfaceBase):
     self.cp.update_strings(can_strings)
     self.cp_cam.update_strings(can_strings)
 
-    ret = self.CS.update(self.cp)
+    ret = self.CS.update(self.cp, self.CP.transmissionType)
     ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
     ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
 
@@ -91,7 +101,7 @@ class CarInterface(CarInterfaceBase):
         be.pressed = self.CS.buttonStates[button]
         buttonEvents.append(be)
 
-    events = self.create_common_events(ret, extra_gears=[GEAR.eco, GEAR.sport])
+    events = self.create_common_events(ret, extra_gears=[GearShifter.eco, GearShifter.sport])
 
     # Vehicle health and operation safety checks
     if self.CS.parkingBrakeSet:

selfdrive/car/volkswagen/values.py

@@ -1,5 +1,6 @@
 # flake8: noqa
 
+from cereal import car
 from selfdrive.car import dbc_dict
 
 class CarControllerParams:
@@ -24,6 +25,9 @@ class CANBUS:
   pt = 0
   cam = 2
 
+TransmissionType = car.CarParams.TransmissionType
+GearShifter = car.CarState.GearShifter
+
 BUTTON_STATES = {
   "accelCruise": False,
   "decelCruise": False,