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104 lines
4.0 KiB
104 lines
4.0 KiB
from cereal import car
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from panda import Panda
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from openpilot.selfdrive.car import get_safety_config
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from openpilot.selfdrive.car.interfaces import CarInterfaceBase
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from openpilot.selfdrive.car.volkswagen.values import CAR, CANBUS, NetworkLocation, TransmissionType, VolkswagenFlags
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class CarInterface(CarInterfaceBase):
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def __init__(self, CP, CarController, CarState):
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super().__init__(CP, CarController, CarState)
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if CP.networkLocation == NetworkLocation.fwdCamera:
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self.ext_bus = CANBUS.pt
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self.cp_ext = self.cp
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else:
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self.ext_bus = CANBUS.cam
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self.cp_ext = self.cp_cam
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@staticmethod
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def _get_params(ret, candidate: CAR, fingerprint, car_fw, experimental_long, docs):
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ret.carName = "volkswagen"
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ret.radarUnavailable = True
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if ret.flags & VolkswagenFlags.PQ:
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# Set global PQ35/PQ46/NMS parameters
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ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.volkswagenPq)]
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ret.enableBsm = 0x3BA in fingerprint[0] # SWA_1
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if 0x440 in fingerprint[0] or docs: # Getriebe_1
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ret.transmissionType = TransmissionType.automatic
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else:
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ret.transmissionType = TransmissionType.manual
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if any(msg in fingerprint[1] for msg in (0x1A0, 0xC2)): # Bremse_1, Lenkwinkel_1
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ret.networkLocation = NetworkLocation.gateway
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else:
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ret.networkLocation = NetworkLocation.fwdCamera
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# The PQ port is in dashcam-only mode due to a fixed six-minute maximum timer on HCA steering. An unsupported
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# EPS flash update to work around this timer, and enable steering down to zero, is available from:
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# https://github.com/pd0wm/pq-flasher
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# It is documented in a four-part blog series:
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# https://blog.willemmelching.nl/carhacking/2022/01/02/vw-part1/
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# Panda ALLOW_DEBUG firmware required.
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ret.dashcamOnly = True
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else:
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# Set global MQB parameters
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ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.volkswagen)]
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ret.enableBsm = 0x30F in fingerprint[0] # SWA_01
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if 0xAD in fingerprint[0] or docs: # Getriebe_11
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ret.transmissionType = TransmissionType.automatic
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elif 0x187 in fingerprint[0]: # EV_Gearshift
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ret.transmissionType = TransmissionType.direct
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else:
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ret.transmissionType = TransmissionType.manual
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if any(msg in fingerprint[1] for msg in (0x40, 0x86, 0xB2, 0xFD)): # Airbag_01, LWI_01, ESP_19, ESP_21
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ret.networkLocation = NetworkLocation.gateway
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else:
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ret.networkLocation = NetworkLocation.fwdCamera
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if 0x126 in fingerprint[2]: # HCA_01
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ret.flags |= VolkswagenFlags.STOCK_HCA_PRESENT.value
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# Global lateral tuning defaults, can be overridden per-vehicle
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ret.steerLimitTimer = 0.4
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if ret.flags & VolkswagenFlags.PQ:
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ret.steerActuatorDelay = 0.2
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CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
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else:
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ret.steerActuatorDelay = 0.1
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ret.lateralTuning.pid.kpBP = [0.]
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ret.lateralTuning.pid.kiBP = [0.]
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ret.lateralTuning.pid.kf = 0.00006
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ret.lateralTuning.pid.kpV = [0.6]
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ret.lateralTuning.pid.kiV = [0.2]
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# Global longitudinal tuning defaults, can be overridden per-vehicle
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ret.experimentalLongitudinalAvailable = ret.networkLocation == NetworkLocation.gateway or docs
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if experimental_long:
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# Proof-of-concept, prep for E2E only. No radar points available. Panda ALLOW_DEBUG firmware required.
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ret.openpilotLongitudinalControl = True
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ret.safetyConfigs[0].safetyParam |= Panda.FLAG_VOLKSWAGEN_LONG_CONTROL
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if ret.transmissionType == TransmissionType.manual:
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ret.minEnableSpeed = 4.5
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ret.pcmCruise = not ret.openpilotLongitudinalControl
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ret.stoppingControl = True
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ret.stopAccel = -0.55
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ret.vEgoStarting = 0.1
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ret.vEgoStopping = 0.5
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ret.autoResumeSng = ret.minEnableSpeed == -1
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return ret
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# returns a car.CarState
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def _update(self):
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ret = self.CS.update(self.cp, self.cp_cam, self.cp_ext, self.CP.transmissionType)
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return ret
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