diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py index f6b8e0fdff..59702d8c9c 100644 --- a/selfdrive/car/volkswagen/carcontroller.py +++ b/selfdrive/car/volkswagen/carcontroller.py @@ -10,7 +10,7 @@ class CarController(): def __init__(self, dbc_name, CP, VM): self.apply_steer_last = 0 - self.packer_pt = CANPacker(DBC[CP.carFingerprint]['pt']) + self.packer_pt = CANPacker(DBC.mqb) self.hcaSameTorqueCount = 0 self.hcaEnabledFrameCount = 0 diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py index fb8b4255f0..7549eb7466 100644 --- a/selfdrive/car/volkswagen/carstate.py +++ b/selfdrive/car/volkswagen/carstate.py @@ -9,7 +9,7 @@ from selfdrive.car.volkswagen.values import DBC, CANBUS, TransmissionType, GearS class CarState(CarStateBase): def __init__(self, CP): super().__init__(CP) - can_define = CANDefine(DBC[CP.carFingerprint]["pt"]) + can_define = CANDefine(DBC.mqb) if CP.transmissionType == TransmissionType.automatic: self.shifter_values = can_define.dv["Getriebe_11"]["GE_Fahrstufe"] elif CP.transmissionType == TransmissionType.direct: @@ -239,7 +239,7 @@ class CarState(CarStateBase): signals += MqbExtraSignals.bsm_radar_signals checks += MqbExtraSignals.bsm_radar_checks - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CANBUS.pt) + return CANParser(DBC.mqb, signals, checks, CANBUS.pt) @staticmethod def get_cam_can_parser(CP): @@ -258,7 +258,7 @@ class CarState(CarStateBase): ("LDW_02", 10) # From R242 Driver assistance camera ] - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CANBUS.cam) + return CANParser(DBC.mqb, signals, checks, CANBUS.cam) class MqbExtraSignals: # Additional signal and message lists for optional or bus-portable controllers diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 29c9d71a62..bd3eebd834 100644 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -1,6 +1,5 @@ # flake8: noqa -from selfdrive.car import dbc_dict from cereal import car Ecu = car.CarParams.Ecu @@ -26,6 +25,9 @@ class CANBUS: pt = 0 cam = 2 +class DBC: + mqb = "vw_mqb_2010" # Used for all cars with MQB-style CAN messaging + TransmissionType = car.CarParams.TransmissionType GearShifter = car.CarState.GearShifter @@ -517,20 +519,3 @@ FW_VERSIONS = { ], }, } - -DBC = { - CAR.ATLAS_MK1: dbc_dict('vw_mqb_2010', None), - CAR.GOLF_MK7: dbc_dict('vw_mqb_2010', None), - CAR.JETTA_MK7: dbc_dict('vw_mqb_2010', None), - CAR.PASSAT_MK8: dbc_dict('vw_mqb_2010', None), - CAR.TIGUAN_MK2: dbc_dict('vw_mqb_2010', None), - CAR.TOURAN_MK2: dbc_dict('vw_mqb_2010', None), - CAR.AUDI_A3_MK3: dbc_dict('vw_mqb_2010', None), - CAR.AUDI_Q2_MK1: dbc_dict('vw_mqb_2010', None), - CAR.SEAT_ATECA_MK1: dbc_dict('vw_mqb_2010', None), - CAR.SEAT_LEON_MK3: dbc_dict('vw_mqb_2010', None), - CAR.SKODA_KODIAQ_MK1: dbc_dict('vw_mqb_2010', None), - CAR.SKODA_OCTAVIA_MK3: dbc_dict('vw_mqb_2010', None), - CAR.SKODA_SCALA_MK1: dbc_dict('vw_mqb_2010', None), - CAR.SKODA_SUPERB_MK3: dbc_dict('vw_mqb_2010', None), -}