support both analog and digital clusters

selfdrive/car/volkswagen/carcontroller.py

@@ -77,9 +77,14 @@ class CarController():
                                                                  acc_hold_type, stopping_distance, idx))
 
       if frame % P.ACC_HUD_STEP == 0:
+        if lead_visible:
+          lead_distance = 512 if CS.digital_cluster_installed else 8  # TODO: look up actual distance to lead
+        else:
+          lead_distance = 0
+
         idx = (frame / P.ACC_HUD_STEP) % 16
         can_sends.append(volkswagencan.create_mqb_acc_02_control(self.packer_pt, CANBUS.pt, CS.tsk_status,
-                                                                 set_speed * CV.MS_TO_KPH, speed_visible, lead_visible,
+                                                                 set_speed * CV.MS_TO_KPH, speed_visible, lead_distance,
                                                                  idx))
         can_sends.append(volkswagencan.create_mqb_acc_04_control(self.packer_pt, CANBUS.pt, CS.acc_04_stock_values,
                                                                  idx))

selfdrive/car/volkswagen/carstate.py

@@ -16,6 +16,7 @@ class CarState(CarStateBase):
       self.shifter_values = can_define.dv["EV_Gearshift"]["GearPosition"]
     self.hca_status_values = can_define.dv["LH_EPS_03"]["EPS_HCA_Status"]
     self.buttonStates = BUTTON_STATES.copy()
+    self.digital_cluster_installed = False
 
   def update(self, pt_cp, cam_cp, ext_cp, trans_type):
     ret = car.CarState.new_message()
@@ -145,6 +146,9 @@ class CarState(CarStateBase):
     # Additional safety checks performed in CarInterface.
     ret.espDisabled = pt_cp.vl["ESP_21"]["ESP_Tastung_passiv"] != 0
 
+    # Update misc car configuration/equipment info
+    self.digital_cluster_installed = bool(pt_cp.vl["Kombi_03"]["KBI_Variante"])
+
     return ret
 
   @staticmethod
@@ -180,6 +184,7 @@ class CarState(CarStateBase):
       ("ESP_Haltebestaetigung", "ESP_21"),       # ESP hold confirmation
       ("KBI_MFA_v_Einheit_02", "Einheiten_01"),  # MPH vs KMH speed display
       ("KBI_Handbremse", "Kombi_01"),            # Manual handbrake applied
+      ("KBI_Variante", "Kombi_03"),              # Digital/full-screen instrument cluster installed
       ("TSK_Status", "TSK_06"),                  # ACC engagement status from drivetrain coordinator
       ("GRA_Hauptschalter", "GRA_ACC_01"),       # ACC button, on/off
       ("GRA_Abbrechen", "GRA_ACC_01"),           # ACC button, cancel
@@ -210,6 +215,7 @@ class CarState(CarStateBase):
       ("Kombi_01", 2),      # From J285 Instrument cluster
       ("Blinkmodi_02", 1),  # From J519 BCM (sent at 1Hz when no lights active, 50Hz when active)
       ("Einheiten_01", 1),  # From J??? not known if gateway, cluster, or BCM
+      ("Kombi_03", 1),      # From J285 instrument cluster
     ]
 
     if CP.transmissionType == TransmissionType.automatic:

selfdrive/car/volkswagen/volkswagencan.py

@@ -48,13 +48,13 @@ def create_mqb_acc_buttons_control(packer, bus, buttonStatesToSend, CS, idx):
   }
   return packer.make_can_msg("GRA_ACC_01", bus, values, idx)
 
-def create_mqb_acc_02_control(packer, bus, acc_status, set_speed, speed_visible, lead_visible, idx):
+def create_mqb_acc_02_control(packer, bus, acc_status, set_speed, speed_visible, lead_distance, idx):
   values = {
     "ACC_Status_Anzeige": 3 if acc_status == 5 else acc_status,
     "ACC_Wunschgeschw": 327.36 if not speed_visible else set_speed,
     "ACC_Gesetzte_Zeitluecke": 3,
     "ACC_Display_Prio": 3,
-    "ACC_Abstandsindex": 637 if lead_visible else 0,
+    "ACC_Abstandsindex": lead_distance,
   }
 
   return packer.make_can_msg("ACC_02", bus, values, idx)