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Main merge of VW community changes

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x-archive-community-master-merge
Jason Young 5 years ago
parent 3418978569
commit de91881318
5 changed files with 139 additions and 42 deletions
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  1. 9
      selfdrive/car/volkswagen/carcontroller.py
  2. 64
      selfdrive/car/volkswagen/carstate.py
  3. 46
      selfdrive/car/volkswagen/interface.py
  4. 32
      selfdrive/car/volkswagen/values.py
  5. 30
      selfdrive/car/volkswagen/volkswagencan.py

9
selfdrive/car/volkswagen/carcontroller.py
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@ -1,7 +1,7 @@
from cereal import car
from selfdrive.car import apply_std_steer_torque_limits
from selfdrive.car.volkswagen import volkswagencan
from selfdrive.car.volkswagen.values import DBC, CANBUS, MQB_LDW_MESSAGES, BUTTON_STATES, CarControllerParams
from selfdrive.car.volkswagen.values import DBC, CANBUS, NWL, MQB_LDW_MESSAGES, BUTTON_STATES, CarControllerParams
from opendbc.can.packer import CANPacker
@ -10,6 +10,7 @@ class CarController():
self.apply_steer_last = 0
self.packer_pt = CANPacker(DBC[CP.carFingerprint]['pt'])
self.acc_bus = CANBUS.pt if CP.networkLocation == NWL.fwdCamera else CANBUS.cam
self.hcaSameTorqueCount = 0
self.hcaEnabledFrameCount = 0
@ -119,7 +120,9 @@ class CarController():
can_sends.append(volkswagencan.create_mqb_hud_control(self.packer_pt, CANBUS.pt, hcaEnabled,
CS.out.steeringPressed, hud_alert, leftLaneVisible,
rightLaneVisible))
rightLaneVisible, CS.ldw_lane_warning_left,
CS.ldw_lane_warning_right, CS.ldw_side_dlc_tlc,
CS.ldw_dlc, CS.ldw_tlc))
#--------------------------------------------------------------------------
# #
@ -176,7 +179,7 @@ class CarController():
if self.graMsgSentCount == 0:
self.graMsgStartFramePrev = frame
idx = (CS.graMsgBusCounter + 1) % 16
can_sends.append(volkswagencan.create_mqb_acc_buttons_control(self.packer_pt, CANBUS.pt, self.graButtonStatesToSend, CS, idx))
can_sends.append(volkswagencan.create_mqb_acc_buttons_control(self.packer_pt, self.acc_bus, self.graButtonStatesToSend, CS, idx))
self.graMsgSentCount += 1
if self.graMsgSentCount >= P.GRA_VBP_COUNT:
self.graButtonStatesToSend = None

64
selfdrive/car/volkswagen/carstate.py
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@ -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, NWL, TRANS, GEAR, 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 == TRANS.automatic:
self.shifter_values = can_define.dv["Getriebe_11"]['GE_Fahrstufe']
elif CP.transmissionType == TRANS.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, cam_cp, acc_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
@ -212,22 +215,67 @@ class CarState(CarStateBase):
("Einheiten_01", 1), # From J??? not known if gateway, cluster, or BCM
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, CANBUS.pt)
if CP.transmissionType == TRANS.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 == TRANS.direct:
signals += [("GearPosition", "EV_Gearshift", 0)] # EV gear selector position
checks += [("EV_Gearshift", 10)] # From J??? unknown EV control module
elif CP.transmissionType == TRANS.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
if CP.networkLocation == NWL.fwdCamera:
# Extended CAN devices other than the camera are here on CANBUS.pt
# FIXME: gate SWA_01 checks on module being detected, and reduce duplicate network location code
signals += [("AWV2_Priowarnung", "ACC_10", 0), # FCW related
("AWV2_Freigabe", "ACC_10", 0), # FCW related
("ANB_Teilbremsung_Freigabe", "ACC_10", 0), # AEB related
("ANB_Zielbremsung_Freigabe", "ACC_10", 0), # AEB related
("SWA_Infostufe_SWA_li", "SWA_01", 0), # Blindspot object info, left
("SWA_Warnung_SWA_li", "SWA_01", 0), # Blindspot object warning, left
("SWA_Infostufe_SWA_re", "SWA_01", 0), # Blindspot object info, right
("SWA_Warnung_SWA_re", "SWA_01", 0), # Blindspot object warning, right
("ACC_Wunschgeschw", "ACC_02", 0)] # ACC set speed
checks += [("ACC_10", 50), # From J428 ACC radar control module
("SWA_01", 20), # From J1086 Lane Change Assist module
("ACC_02", 17)] # From J428 ACC radar control module
# A single signal is monitored from the camera CAN bus, and then ignored,
# so the presence of CAN traffic can be verified with cam_cp.valid.
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, CANBUS.pt)
@staticmethod
def get_cam_can_parser(CP):
# FIXME: gate LDW_02 checks on module being detected
signals = [
# sig_name, sig_address, default
("Kombi_Lamp_Green", "LDW_02", 0), # Lane Assist status LED
("LDW_SW_Warnung_links", "LDW_02", 0), # Blind spot in warning mode on left side due to lane departure
("LDW_SW_Warnung_rechts", "LDW_02", 0), # Blind spot in warning mode on right side due to lane departure
("LDW_Seite_DLCTLC", "LDW_02", 0), # Direction of most likely lane departure (left or right)
("LDW_DLC", "LDW_02", 0), # Lane departure, distance to line crossing
("LDW_TLC", "LDW_02", 0), # Lane departure, time to line crossing
]
checks = [
# sig_address, frequency
("LDW_02", 10) # From R242 Driver assistance camera
("LDW_02", 10), # From R242 Driver assistance camera
]
if CP.networkLocation == NWL.gateway:
# All Extended CAN devices are here on CANBUS.cam
# FIXME: gate SWA_01 checks on module being detected, and reduce duplicate network location code
signals += [("AWV2_Priowarnung", "ACC_10", 0), # FCW related
("AWV2_Freigabe", "ACC_10", 0), # FCW related
("ANB_Teilbremsung_Freigabe", "ACC_10", 0), # AEB related
("ANB_Zielbremsung_Freigabe", "ACC_10", 0), # AEB related
("SWA_Infostufe_SWA_li", "SWA_01", 0), # Blindspot object info, left
("SWA_Warnung_SWA_li", "SWA_01", 0), # Blindspot object warning, left
("SWA_Infostufe_SWA_re", "SWA_01", 0), # Blindspot object info, right
("SWA_Warnung_SWA_re", "SWA_01", 0), # Blindspot object warning, right
("ACC_Wunschgeschw", "ACC_02", 0)] # ACC set speed
checks += [("ACC_10", 50), # From J428 ACC radar control module
("SWA_01", 20), # From J1086 Lane Change Assist module
("ACC_02", 17)] # From J428 ACC radar control module
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, CANBUS.cam)

46
selfdrive/car/volkswagen/interface.py
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@ -1,5 +1,7 @@
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, NWL, TRANS, GEAR
#from common.params import put_nonblocking
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
from selfdrive.car.interfaces import CarInterfaceBase
@ -12,6 +14,9 @@ class CarInterface(CarInterfaceBase):
self.displayMetricUnitsPrev = None
self.buttonStatesPrev = BUTTON_STATES.copy()
# Set up an alias to PT/CAM parser for ACC depending on its detected network location
self.cp_acc = self.cp if CP.networkLocation == NWL.fwdCamera else self.cp_cam
@staticmethod
def compute_gb(accel, speed):
return float(accel) / 4.0
@ -20,23 +25,24 @@ class CarInterface(CarInterfaceBase):
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
# VW port is a community feature, since we don't own one to test
ret.communityFeature = True
ret.enableCamera = True # Stock camera detection doesn't apply to VW
ret.carName = "volkswagen"
ret.radarOffCan = True
if candidate == CAR.GOLF:
if candidate == CAR.GENERICMQB:
# Set common MQB parameters that will apply globally
ret.carName = "volkswagen"
ret.radarOffCan = True
ret.safetyModel = car.CarParams.SafetyModel.volkswagen
# Additional common MQB parameters that may be overridden per-vehicle
ret.steerRateCost = 1.0
ret.steerActuatorDelay = 0.05 # Hopefully all MQB racks are similar here
ret.steerActuatorDelay = 0.1 # Hopefully all MQB racks are similar here
ret.steerLimitTimer = 0.4
ret.lateralTuning.pid.kpBP = [0.]
ret.lateralTuning.pid.kiBP = [0.]
# FIXME: Per-vehicle parameters need to be reintegrated.
# Until that time, defaulting to VW Golf Mk7 as a baseline.
ret.mass = 1500 + STD_CARGO_KG
ret.wheelbase = 2.64
ret.centerToFront = ret.wheelbase * 0.45
@ -46,8 +52,26 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kiV = [0.2]
tire_stiffness_factor = 1.0
ret.enableCamera = True # Stock camera detection doesn't apply to VW
ret.transmissionType = car.CarParams.TransmissionType.automatic
# Determine installed network location by checking for radar-camera
# sensor fusion messages on bus 1.
if 0x238 in fingerprint[1]:
ret.networkLocation = NWL.fwdCamera
else:
ret.networkLocation = NWL.gateway
# Determine transmission type by CAN message(s) present on the bus
if 0xAD in fingerprint[0]:
# Getribe_11 message detected: traditional automatic or DSG gearbox
ret.transmissionType = TRANS.automatic
elif 0x187 in fingerprint[0]:
# EV_Gearshift message detected: e-Golf or similar direct-drive electric
ret.transmissionType = TRANS.direct
else:
# No trans message at all, must be a true stick-shift manual
ret.transmissionType = TRANS.manual
cloudlog.warning("Detected network location: %s", ret.networkLocation)
cloudlog.warning("Detected transmission type: %s", ret.transmissionType)
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
@ -70,8 +94,8 @@ class CarInterface(CarInterfaceBase):
self.cp.update_strings(can_strings)
self.cp_cam.update_strings(can_strings)
ret = self.CS.update(self.cp)
ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
ret = self.CS.update(self.cp, self.cp_cam, self.cp_acc, self.CP.transmissionType)
ret.canValid = self.cp.can_valid # FIXME: Restore cp_cam valid check after proper LKAS camera detect
ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
# TODO: add a field for this to carState, car interface code shouldn't write params

32
selfdrive/car/volkswagen/values.py
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@ -1,5 +1,4 @@
# flake8: noqa
from cereal import car
from selfdrive.car import dbc_dict
class CarControllerParams:
@ -24,6 +23,10 @@ class CANBUS:
pt = 0
cam = 2
NWL = car.CarParams.NetworkLocation
TRANS = car.CarParams.TransmissionType
GEAR = car.CarState.GearShifter
BUTTON_STATES = {
"accelCruise": False,
"decelCruise": False,
@ -46,15 +49,28 @@ MQB_LDW_MESSAGES = {
}
class CAR:
GOLF = "VOLKSWAGEN GOLF"
GENERICMQB = "Generic Volkswagen MQB Platform Vehicle"
# Mega-fingerprint used to identify any and all MQB platform vehicles. Specific
# make and model characteristics are looked up from the VIN later.
# Note: 1471:8 observed as 1471:4 on a 2019 Jetta, and we can't carry both in one FP, effect TBD
FINGERPRINTS = {
CAR.GOLF: [
# 76b83eb0245de90e|2019-10-21--17-40-42 - jyoung8607 car
{64: 8, 134: 8, 159: 8, 173: 8, 178: 8, 253: 8, 257: 8, 260: 8, 262: 8, 264: 8, 278: 8, 279: 8, 283: 8, 286: 8, 288: 8, 289: 8, 290: 8, 294: 8, 299: 8, 302: 8, 346: 8, 385: 8, 418: 8, 427: 8, 668: 8, 679: 8, 681: 8, 695: 8, 779: 8, 780: 8, 783: 8, 792: 8, 795: 8, 804: 8, 806: 8, 807: 8, 808: 8, 809: 8, 870: 8, 896: 8, 897: 8, 898: 8, 901: 8, 917: 8, 919: 8, 949: 8, 958: 8, 960: 4, 981: 8, 987: 8, 988: 8, 991: 8, 997: 8, 1000: 8, 1019: 8, 1120: 8, 1122: 8, 1123: 8, 1124: 8, 1153: 8, 1162: 8, 1175: 8, 1312: 8, 1385: 8, 1413: 8, 1440: 5, 1514: 8, 1515: 8, 1520: 8, 1600: 8, 1601: 8, 1603: 8, 1605: 8, 1624: 8, 1626: 8, 1629: 8, 1631: 8, 1646: 8, 1648: 8, 1712: 6, 1714: 8, 1716: 8, 1717: 8, 1719: 8, 1720: 8, 1721: 8
}],
CAR.GENERICMQB: [
{178: 8, 1600: 8, 1601: 8, 1603: 8, 1605: 8, 695: 8, 1624: 8, 1626: 8, 1629: 8, 1631: 8, 1122: 8, 1123: 8,
1124: 8, 1646: 8, 1648: 8, 1153: 8, 134: 8, 1162: 8, 1175: 8, 159: 8, 795: 8, 679: 8, 681: 8, 173: 8, 1712: 6,
1714: 8, 1716: 8, 1717: 8, 1719: 8, 1720: 8, 1721: 8, 1312: 8, 806: 8, 253: 8, 1792: 8, 257: 8, 260: 8, 262: 8,
897: 8, 264: 8, 779: 8, 780: 8, 783: 8, 278: 8, 279: 8, 792: 8, 283: 8, 285: 8, 286: 8, 901: 8, 288: 8, 289: 8,
290: 8, 804: 8, 294: 8, 807: 8, 808: 8, 809: 8, 299: 8, 302: 8, 1351: 8, 346: 8, 870: 8, 1385: 8, 896: 8, 64: 8,
898: 8, 1413: 8, 917: 8, 919: 8, 927: 8, 1440: 5, 929: 8, 930: 8, 427: 8, 949: 8, 958: 8, 960: 4, 418: 8, 981: 8,
987: 8, 988: 8, 991: 8, 997: 8, 1000: 8, 1514: 8, 1515: 8, 1520: 8, 1019: 8, 385: 8, 668: 8, 1120: 8,
1438: 8, 1461: 8, 391: 8, 1511: 8, 1516: 8, 568: 8, 569: 8, 826: 8, 827: 8, 1156: 8, 1157: 8, 1158: 8, 1471: 8,
1635: 8, 376: 8, 295: 8, 791: 8, 799: 8, 838: 8, 389: 8, 840: 8, 841: 8, 842: 8, 843: 8, 844: 8, 845: 8,
314: 8, 787: 8, 788: 8, 789: 8, 802: 8, 839: 8, 1332: 8, 1872: 8, 1976: 8, 1977: 8, 1985: 8, 2015: 8, 592: 8,
593: 8, 594: 8, 595: 8, 596: 8, 684: 8
},
],
}
DBC = {
CAR.GOLF: dbc_dict('vw_mqb_2010', None),
CAR.GENERICMQB: dbc_dict('vw_mqb_2010', None),
}

30
selfdrive/car/volkswagen/volkswagencan.py
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@ -15,22 +15,26 @@ def create_mqb_steering_control(packer, bus, apply_steer, idx, lkas_enabled):
}
return packer.make_can_msg("HCA_01", bus, values, idx)
def create_mqb_hud_control(packer, bus, hca_enabled, steering_pressed, hud_alert, leftLaneVisible, rightLaneVisible):
def create_mqb_hud_control(packer, bus, hca_enabled, steering_pressed, hud_alert, left_lane_visible, right_lane_visible,
ldw_lane_warning_left, ldw_lane_warning_right, ldw_side_dlc_tlc, ldw_dlc, ldw_tlc):
if hca_enabled:
leftlanehud = 3 if leftLaneVisible else 1
rightlanehud = 3 if rightLaneVisible else 1
left_lane_hud = 3 if left_lane_visible else 1
right_lane_hud = 3 if right_lane_visible else 1
else:
leftlanehud = 2 if leftLaneVisible else 1
rightlanehud = 2 if rightLaneVisible else 1
left_lane_hud = 2 if left_lane_visible else 1
right_lane_hud = 2 if right_lane_visible 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_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_SW_Info_links": left_lane_hud,
"LDW_SW_Info_rechts": right_lane_hud,
"LDW_Texte": hud_alert,
"LDW_SW_Warnung_links": ldw_lane_warning_left,
"LDW_SW_Warnung_rechts": ldw_lane_warning_right,
"LDW_Seite_DLCTLC": ldw_side_dlc_tlc,
"LDW_DLC": ldw_dlc,
"LDW_TLC": ldw_tlc
}
return packer.make_can_msg("LDW_02", bus, values)
@ -46,6 +50,8 @@ def create_mqb_acc_buttons_control(packer, bus, buttonStatesToSend, CS, idx):
"GRA_Typ_Hauptschalter": CS.graTypHauptschalter,
"GRA_Codierung": 2,
"GRA_Tip_Stufe_2": CS.graTipStufe2,
"GRA_Typ468": CS.graTyp468,
"GRA_ButtonTypeInfo": CS.graButtonTypeInfo
}
return packer.make_can_msg("GRA_ACC_01", bus, values, idx)

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