VW MQB: Fixes for network location detection (#22174)

* VW MQB: Fixes for network location detection

* apply review suggestion

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* FP back to 100ms; VIN state poll at 50Hz

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

selfdrive/boardd/boardd.cc

@@ -61,7 +61,7 @@ void safety_setter_thread(Panda *panda) {
       LOGW("got CarVin %s", value_vin.c_str());
       break;
     }
-    util::sleep_for(100);
+    util::sleep_for(20);
   }
 
   // VIN query done, stop listening to OBDII
@@ -170,7 +170,7 @@ static Panda *usb_retry_connect() {
       LOGW("connected to board");
       return panda;
     }
-    util::sleep_for(100); 
+    util::sleep_for(100);
   };
   return nullptr;
 }

selfdrive/car/volkswagen/interface.py

@@ -30,18 +30,18 @@ class CarInterface(CarInterfaceBase):
     if True:  # pylint: disable=using-constant-test
       # Set global MQB parameters
       ret.safetyModel = car.CarParams.SafetyModel.volkswagen
-      ret.enableBsm = 0x30F in fingerprint[0]
+      ret.enableBsm = 0x30F in fingerprint[0]  # SWA_01
 
       if 0xAD in fingerprint[0]:  # Getriebe_11
         ret.transmissionType = TransmissionType.automatic
       elif 0x187 in fingerprint[0]:  # EV_Gearshift
         ret.transmissionType = TransmissionType.direct
-      else:  # No trans message at all, must be a true stick-shift manual
+      else:
         ret.transmissionType = TransmissionType.manual
 
-      if 0x86 in fingerprint[1]:  # LWI_01 seen on bus 1, we're wired to the CAN gateway
+      if any(msg in fingerprint[1] for msg in [0x40, 0x86, 0xB2]):  # Airbag_01, LWI_01, ESP_19
         ret.networkLocation = NetworkLocation.gateway
-      else:  # We're wired to the LKAS camera
+      else:
         ret.networkLocation = NetworkLocation.fwdCamera
 
     # Global tuning defaults, can be overridden per-vehicle