VW MQB: Updated message and signal data, round 1 (#20297)

* EPS_01 -> LH_EPS_03

* LDW_02 signal naming updates

* LDW_02 signal naming updates

* Copypasta repair

* New garbage, same as the old garbage

* Bump opendbc
old-commit-hash: 042c877393

opendbc

@@ -1 +1 @@
-Subproject commit 890780c288b13a38763adf7ea80b92ced7131e1b
+Subproject commit d3a793e619f36e61b379e8dc7b9495d4f7e6a86c

selfdrive/car/volkswagen/carstate.py

@@ -31,9 +31,9 @@ class CarState(CarStateBase):
 
     # Update steering angle, rate, yaw rate, and driver input torque. VW send
     # the sign/direction in a separate signal so they must be recombined.
-    ret.steeringAngleDeg = pt_cp.vl["EPS_01"]['Steering_Wheel_Angle'] * (1, -1)[int(pt_cp.vl["EPS_01"]['Steering_Wheel_Angle_VZ'])]
+    ret.steeringAngleDeg = pt_cp.vl["LH_EPS_03"]['EPS_Berechneter_LW'] * (1, -1)[int(pt_cp.vl["LH_EPS_03"]['EPS_VZ_BLW'])]
     ret.steeringRateDeg = pt_cp.vl["LWI_01"]['LWI_Lenkradw_Geschw'] * (1, -1)[int(pt_cp.vl["LWI_01"]['LWI_VZ_Lenkradw_Geschw'])]
-    ret.steeringTorque = pt_cp.vl["EPS_01"]['Driver_Strain'] * (1, -1)[int(pt_cp.vl["EPS_01"]['Driver_Strain_VZ'])]
+    ret.steeringTorque = pt_cp.vl["LH_EPS_03"]['EPS_Lenkmoment'] * (1, -1)[int(pt_cp.vl["LH_EPS_03"]['EPS_VZ_Lenkmoment'])]
     ret.steeringPressed = abs(ret.steeringTorque) > CarControllerParams.STEER_DRIVER_ALLOWANCE
     ret.yawRate = pt_cp.vl["ESP_02"]['ESP_Gierrate'] * (1, -1)[int(pt_cp.vl["ESP_02"]['ESP_VZ_Gierrate'])] * CV.DEG_TO_RAD
 
@@ -135,7 +135,7 @@ class CarState(CarStateBase):
 
     # Check to make sure the electric power steering rack is configured to
     # accept and respond to HCA_01 messages and has not encountered a fault.
-    self.steeringFault = not pt_cp.vl["EPS_01"]["HCA_Ready"]
+    self.steeringFault = not pt_cp.vl["LH_EPS_03"]["EPS_HCA_Status"]
 
     # Additional safety checks performed in CarInterface.
     self.parkingBrakeSet = bool(pt_cp.vl["Kombi_01"]['KBI_Handbremse'])  # FIXME: need to include an EPB check as well
@@ -148,8 +148,8 @@ class CarState(CarStateBase):
     # this function generates lists for signal, messages and initial values
     signals = [
       # sig_name, sig_address, default
-      ("Steering_Wheel_Angle", "EPS_01", 0),        # Absolute steering angle
-      ("Steering_Wheel_Angle_VZ", "EPS_01", 0),     # Steering angle sign
+      ("EPS_Berechneter_LW", "LH_EPS_03", 0),       # Absolute steering angle
+      ("EPS_VZ_BLW", "LH_EPS_03", 0),               # Steering angle sign
       ("LWI_Lenkradw_Geschw", "LWI_01", 0),         # Absolute steering rate
       ("LWI_VZ_Lenkradw_Geschw", "LWI_01", 0),      # Steering rate sign
       ("ESP_VL_Radgeschw_02", "ESP_19", 0),         # ABS wheel speed, front left
@@ -172,9 +172,9 @@ class CarState(CarStateBase):
       ("ESP_Bremsdruck", "ESP_05", 0),              # Brake pressure applied
       ("MO_Fahrpedalrohwert_01", "Motor_20", 0),    # Accelerator pedal value
       ("MO_Kuppl_schalter", "Motor_14", 0),         # Clutch switch
-      ("Driver_Strain", "EPS_01", 0),               # Absolute driver torque input
-      ("Driver_Strain_VZ", "EPS_01", 0),            # Driver torque input sign
-      ("HCA_Ready", "EPS_01", 0),                   # Steering rack HCA support configured
+      ("EPS_Lenkmoment", "LH_EPS_03", 0),           # Absolute driver torque input
+      ("EPS_VZ_Lenkmoment", "LH_EPS_03", 0),        # Driver torque input sign
+      ("EPS_HCA_Status", "LH_EPS_03", 0),           # Steering rack HCA support configured
       ("ESP_Tastung_passiv", "ESP_21", 0),          # Stability control disabled
       ("KBI_MFA_v_Einheit_02", "Einheiten_01", 0),  # MPH vs KMH speed display
       ("KBI_Handbremse", "Kombi_01", 0),            # Manual handbrake applied
@@ -206,7 +206,7 @@ class CarState(CarStateBase):
     checks = [
       # sig_address, frequency
       ("LWI_01", 100),      # From J500 Steering Assist with integrated sensors
-      ("EPS_01", 100),      # From J500 Steering Assist with integrated sensors
+      ("LH_EPS_03", 100),   # From J500 Steering Assist with integrated sensors
       ("ESP_19", 100),      # From J104 ABS/ESP controller
       ("ESP_05", 50),       # From J104 ABS/ESP controller
       ("ESP_21", 50),       # From J104 ABS/ESP controller
@@ -245,7 +245,7 @@ class CarState(CarStateBase):
 
     signals = [
       # sig_name, sig_address, default
-      ("Kombi_Lamp_Green", "LDW_02", 0),            # Lane Assist status LED
+      ("LDW_Status_LED_gruen", "LDW_02", 0),            # Lane Assist status LED
     ]
 
     checks = [

selfdrive/car/volkswagen/volkswagencan.py

@@ -25,12 +25,13 @@ def create_mqb_hud_control(packer, bus, hca_enabled, steering_pressed, hud_alert
     rightlanehud = 2 if rightLaneVisible else 1
 
   values = {
-    "LDW_Unknown": 2,  # FIXME: possible speed or attention relationship
-    "Kombi_Lamp_Orange": 1 if hca_enabled and steering_pressed else 0,
-    "Kombi_Lamp_Green": 1 if hca_enabled and not steering_pressed else 0,
-    "Left_Lane_Status": leftlanehud,
-    "Right_Lane_Status": rightlanehud,
-    "Alert_Message": hud_alert,
+    "LDW_SW_Warnung_links": 0,  # FIXME: to be store-and-forwarded from the stock camera
+    "LDW_SW_Warnung_rechts": 1,  # FIXME: to be store-and-forwarded from the stock camera
+    "LDW_Status_LED_gelb": 1 if hca_enabled and steering_pressed else 0,
+    "LDW_Status_LED_gruen": 1 if hca_enabled and not steering_pressed else 0,
+    "LDW_Lernmodus_links": leftlanehud,
+    "LDW_Lernmodus_rechts": rightlanehud,
+    "LDW_Texte": hud_alert,
   }
   return packer.make_can_msg("LDW_02", bus, values)