VW MQB: Fix bug with HCA state handling (#21104)

* Improved HCA state and fault handling

* Apparently opendbc does an upper() on everything

* Update EPS HCA init state

* Make initial state "ready"
old-commit-hash: 3a2893f11a

selfdrive/car/volkswagen/carcontroller.py

@@ -43,7 +43,7 @@ class CarController():
 
       # FAULT AVOIDANCE: HCA must not be enabled at standstill. Also stop
       # commanding HCA if there's a fault, so the steering rack recovers.
-      if enabled and not (CS.out.standstill or CS.steeringFault):
+      if enabled and not (CS.out.standstill or CS.out.steerError or CS.out.steerWarning):
 
         # FAULT AVOIDANCE: Requested HCA torque must not exceed 3.0 Nm. This
         # is inherently handled by scaling to STEER_MAX. The rack doesn't seem

selfdrive/car/volkswagen/carstate.py

@@ -14,6 +14,7 @@ class CarState(CarStateBase):
       self.shifter_values = can_define.dv["Getriebe_11"]["GE_Fahrstufe"]
     elif CP.transmissionType == TransmissionType.direct:
       self.shifter_values = can_define.dv["EV_Gearshift"]["GearPosition"]
+    self.hca_status_values = can_define.dv["LH_EPS_03"]["EPS_HCA_Status"]
     self.buttonStates = BUTTON_STATES.copy()
 
   def update(self, pt_cp, cam_cp, trans_type):
@@ -37,6 +38,11 @@ class CarState(CarStateBase):
     ret.steeringPressed = abs(ret.steeringTorque) > CarControllerParams.STEER_DRIVER_ALLOWANCE
     ret.yawRate = pt_cp.vl["ESP_02"]["ESP_Gierrate"] * (1, -1)[int(pt_cp.vl["ESP_02"]["ESP_VZ_Gierrate"])] * CV.DEG_TO_RAD
 
+    # Verify EPS readiness to accept steering commands
+    hca_status = self.hca_status_values.get(pt_cp.vl["LH_EPS_03"]["EPS_HCA_Status"])
+    ret.steerError = hca_status in ["DISABLED", "FAULT"]
+    ret.steerWarning = hca_status in ["INITIALIZING", "REJECTED"]
+
     # Update gas, brakes, and gearshift.
     ret.gas = pt_cp.vl["Motor_20"]["MO_Fahrpedalrohwert_01"] / 100.0
     ret.gasPressed = ret.gas > 0
@@ -141,10 +147,6 @@ class CarState(CarStateBase):
     # later cruise-control button spamming.
     self.graMsgBusCounter = pt_cp.vl["GRA_ACC_01"]["COUNTER"]
 
-    # Check to make sure the electric power steering rack is configured to
-    # accept and respond to HCA_01 messages and has not encountered a fault.
-    self.steeringFault = not pt_cp.vl["LH_EPS_03"]["EPS_HCA_Status"]
-
     # Additional safety checks performed in CarInterface.
     self.parkingBrakeSet = bool(pt_cp.vl["Kombi_01"]["KBI_Handbremse"])  # FIXME: need to include an EPB check as well
     ret.espDisabled = pt_cp.vl["ESP_21"]["ESP_Tastung_passiv"] != 0
@@ -181,7 +183,7 @@ class CarState(CarStateBase):
       ("MO_Kuppl_schalter", "Motor_14", 0),         # Clutch switch
       ("EPS_Lenkmoment", "LH_EPS_03", 0),           # Absolute driver torque input
       ("EPS_VZ_Lenkmoment", "LH_EPS_03", 0),        # Driver torque input sign
-      ("EPS_HCA_Status", "LH_EPS_03", 0),           # Steering rack HCA support configured
+      ("EPS_HCA_Status", "LH_EPS_03", 3),           # EPS HCA control status
       ("ESP_Tastung_passiv", "ESP_21", 0),          # Stability control disabled
       ("KBI_MFA_v_Einheit_02", "Einheiten_01", 0),  # MPH vs KMH speed display
       ("KBI_Handbremse", "Kombi_01", 0),            # Manual handbrake applied

selfdrive/car/volkswagen/interface.py

@@ -167,8 +167,6 @@ class CarInterface(CarInterfaceBase):
     # Vehicle health and operation safety checks
     if self.CS.parkingBrakeSet:
       events.add(EventName.parkBrake)
-    if self.CS.steeringFault:
-      events.add(EventName.steerTempUnavailable)
 
     ret.events = events.to_msg()
     ret.buttonEvents = buttonEvents