openpilot_comma/selfdrive/car/volkswagen/volkswagencan.py

# CAN controls for MQB platform Volkswagen, Audi, Skoda, and SEAT.
# PQ35/PQ46/NMS, and any future MLB, to come later.

def create_mqb_steering_control(packer, bus, apply_steer, lkas_enabled):
  values = {
    "SET_ME_0X3": 0x3,
    "Assist_Torque": abs(apply_steer),
    "Assist_Requested": lkas_enabled,
    "Assist_VZ": 1 if apply_steer < 0 else 0,
    "HCA_Available": 1,
    "HCA_Standby": not lkas_enabled,
    "HCA_Active": lkas_enabled,
    "SET_ME_0XFE": 0xFE,
    "SET_ME_0X07": 0x07,
  }
  return packer.make_can_msg("HCA_01", bus, values)

def create_mqb_hud_control(packer, bus, enabled, steering_pressed, hud_alert, left_lane_visible, right_lane_visible,
                           ldw_stock_values, left_lane_depart, right_lane_depart):
  # Lane color reference:
  # 0 (LKAS disabled) - off
  # 1 (LKAS enabled, no lane detected) - dark gray
  # 2 (LKAS enabled, lane detected) - light gray on VW, green or white on Audi depending on year or virtual cockpit.  On a color MFD on a 2015 A3 TDI it is white, virtual cockpit on a 2018 A3 e-Tron its green.
  # 3 (LKAS enabled, lane departure detected) - white on VW, red on Audi
  values = ldw_stock_values.copy()
  values.update({
    "LDW_Status_LED_gelb": 1 if enabled and steering_pressed else 0,
    "LDW_Status_LED_gruen": 1 if enabled and not steering_pressed else 0,
    "LDW_Lernmodus_links": 3 if left_lane_depart else 1 + left_lane_visible,
    "LDW_Lernmodus_rechts": 3 if right_lane_depart else 1 + right_lane_visible,
    "LDW_Texte": hud_alert,
  })
  return packer.make_can_msg("LDW_02", bus, values)

def create_mqb_acc_buttons_control(packer, bus, buttonStatesToSend, CS, idx):
  values = {
    "COUNTER": idx,
    "GRA_Hauptschalter": CS.graHauptschalter,
    "GRA_Abbrechen": buttonStatesToSend["cancel"],
    "GRA_Tip_Setzen": buttonStatesToSend["setCruise"],
    "GRA_Tip_Hoch": buttonStatesToSend["accelCruise"],
    "GRA_Tip_Runter": buttonStatesToSend["decelCruise"],
    "GRA_Tip_Wiederaufnahme": buttonStatesToSend["resumeCruise"],
    "GRA_Verstellung_Zeitluecke": 3 if buttonStatesToSend["gapAdjustCruise"] else 0,
    "GRA_Typ_Hauptschalter": CS.graTypHauptschalter,
    "GRA_Codierung": 2,
    "GRA_Tip_Stufe_2": CS.graTipStufe2,
    "GRA_ButtonTypeInfo": CS.graButtonTypeInfo
  }
  return packer.make_can_msg("GRA_ACC_01", bus, values)