ACC_04 Charisma profiles and HUD alerts

opendbc

@@ -1 +1 @@
-Subproject commit f64f4694516c0cd0e792fe8663a2c556c0a4d652
+Subproject commit c331be696a7ae8b569efc0a580427fe0623186ed

panda

@@ -1 +1 @@
-Subproject commit ae9f23fdb1c49be6e478165f79c3ec7de2c0b3bb
+Subproject commit 76dc825ad8329bdc3fff97583ad88a7af81c7e2e

selfdrive/car/volkswagen/carcontroller.py

@@ -77,8 +77,9 @@ class CarController():
 
       if frame % P.ACC_HUD_STEP == 0:
         idx = (frame / P.ACC_HUD_STEP) % 16
-        can_sends.append(volkswagencan.create_mqb_acc_hud_control(self.packer_pt, CANBUS.pt, CS.tsk_status,
+        can_sends.append(volkswagencan.create_mqb_acc_02_control(self.packer_pt, CANBUS.pt, CS.tsk_status,
                                                                   set_speed * CV.MS_TO_KPH, speed_visible, lead_visible, idx))
+        can_sends.append(volkswagencan.create_mqb_acc_04_control(self.packer_pt, CANBUS.pt, CS.acc_04_stock_values))
 
     # **** Steering Controls ************************************************ #
 

selfdrive/car/volkswagen/carstate.py

@@ -95,13 +95,14 @@ class CarState(CarStateBase):
     ret.stockAeb = bool(ext_cp.vl["ACC_10"]["ANB_Teilbremsung_Freigabe"]) or bool(ext_cp.vl["ACC_10"]["ANB_Zielbremsung_Freigabe"])
 
     # Update ACC radar status.
+    self.acc_04_stock_values = ext_cp.vl["ACC_04"]
     self.tsk_status = pt_cp.vl["TSK_06"]["TSK_Status"]
     if self.tsk_status == 2:
       # ACC okay and enabled, but not currently engaged
       ret.cruiseState.available = True
       ret.cruiseState.enabled = False
     elif self.tsk_status in [3, 4, 5]:
-      # ACC okay and enabled, currently regulating speed (3) or driver accel override (4) or overrun coast-down (5)
+      # ACC okay and enabled, currently regulating speed (3) or driver accel override (4) or brake only (5)
       ret.cruiseState.available = True
       ret.cruiseState.enabled = True
     else:
@@ -263,12 +264,17 @@ class MqbExtraSignals:
   # Additional signal and message lists for optional or bus-portable controllers
   fwd_radar_signals = [
     ("ACC_Wunschgeschw", "ACC_02", 0),              # ACC set speed
+    ("ACC_Charisma_FahrPr", "ACC_04", 0),           # Driving profile selection
+    ("ACC_Charisma_Status", "ACC_04", 0),           # Driving profile status
+    ("ACC_Charisma_Umschaltung", "ACC_04", 0),      # Driving profile switching
+    ("ACC_Texte_braking_guard","ACC_04",0),         # Part of ACC driver alerts in instrument cluster
     ("AWV2_Freigabe", "ACC_10", 0),                 # FCW brake jerk release
     ("ANB_Teilbremsung_Freigabe", "ACC_10", 0),     # AEB partial braking release
     ("ANB_Zielbremsung_Freigabe", "ACC_10", 0),     # AEB target braking release
   ]
   fwd_radar_checks = [
     ("ACC_10", 50),                                 # From J428 ACC radar control module
+    ("ACC_04", 17),                                 # From J428 ACC radar control module
     ("ACC_02", 17),                                 # From J428 ACC radar control module
   ]
   bsm_radar_signals = [

selfdrive/car/volkswagen/volkswagencan.py

@@ -48,6 +48,27 @@ def create_mqb_acc_buttons_control(packer, bus, buttonStatesToSend, CS, idx):
   }
   return packer.make_can_msg("GRA_ACC_01", bus, values, idx)
 
+
+def create_mqb_acc_02_control(packer, bus, acc_status, set_speed, speed_visible, lead_visible, idx):
+  values = {
+    "ACC_Status_Anzeige": acc_status,
+    "ACC_Wunschgeschw": 327.36 if not speed_visible else set_speed,
+    "ACC_Gesetzte_Zeitluecke": 3,
+    "ACC_Display_Prio": 3,
+    "ACC_Abstandsindex": 637 if lead_visible else 0,
+  }
+
+  return packer.make_can_msg("ACC_02", bus, values, idx)
+
+def create_mqb_acc_04_control(packer, bus, acc_04_stock_values):
+  values = acc_04_stock_values.copy()
+
+  # Suppress disengagement alert from stock radar when OP long is in use, but passthru FCW/AEB alerts
+  if values["ACC_Texte_braking_guard"] == 4:
+    values["ACC_Texte_braking_guard"] = 0
+
+  return packer.make_can_msg("ACC_04", bus, values)
+
 def create_mqb_acc_06_control(packer, bus, enabled, acc_status, accel, acc_stopping, acc_starting,
                               cb_pos, cb_neg, idx):
   values = {
@@ -74,18 +95,7 @@ def create_mqb_acc_07_control(packer, bus, enabled, accel, acc_hold_request, acc
     "ACC_Hold_Type": acc_hold_type,
     "ACC_Hold_Release": acc_hold_release,
     "ACC_Accel_Secondary": accel+0.01 if enabled else 3.02,
-    "ACC_Accel_Primary": accel if enabled else 3.01,
+    "ACC_Accel_TSK": accel if enabled else 3.01,
   }
 
   return packer.make_can_msg("ACC_07", bus, values, idx)
-
-def create_mqb_acc_hud_control(packer, bus, acc_status, set_speed, speed_visible, lead_visible, idx):
-  values = {
-    "ACC_Status_Anzeige": acc_status,
-    "ACC_Wunschgeschw": 327.36 if not speed_visible else set_speed,
-    "ACC_Gesetzte_Zeitluecke": 3,
-    "ACC_Display_Prio": 3,
-    "ACC_Abstandsindex": 637 if lead_visible else 0,
-  }
-
-  return packer.make_can_msg("ACC_02", bus, values, idx)