VW PQ: Volkswagen Passat NMS (#24768)
* VW PQ: Volkswagen Passat NMS * regen CARS.md * vEgo from Bremse_1 vehicle speed * sync opendbc to master * handle checksums and counters in opendbc * LDW HUD message handling * GRA_Neu_Zaehler -> COUNTER * bump opendbc * stub in till we find platform ACC standstill * bump opendbc * bump opendbc * placeholder lateral accel data * regen CARS.md * counters now directly supported in opendbc * additional door-open signals * add trunk lid state * add doors and trunk lid to signals list * LDW_Status updates and passthrough * bump opendbc for typo fix * update AWV comment * another comment update * regen CARS.md with PQ in dashcam only * don't show NMS footnotes while still in dashcam * polish * add stubbed-out dashcamOnly prep * VW MQB: Cleanup stock ACC button handling * bump opendbc and panda * use controls resume output as trigger * these can wait until taco bell * bump opendbc * pass through of previously fixed value * retry CI * checks already done in carcontroller * don't need these anymore * reduce diff for now * slightly better abstraction * more engine and trans FW * turn signal is instantaneous stalk position * weak sauce :( * better clarity * try torque tune * add test route references * bump opendbc and panda for OP long * don't show steering faults for 3 seconds after start * longitudinal control senders * a little more torque * test hax to torque control * test a little more delay * allow use of manufacturer ramp-up rate * soften wheel-touch threshold * Revert "test hax to torque control" This reverts committacod1af459c29. * punch it Chewie * better ACC state and mainswitch handling * a little more * tweak max accel gradient * oops * also oops * stuff * srsly * that's not how this works * regen CARS.md * footnotes now properly excluded for dashcam cars * this wasn't a problem * update network location detection * bump submodules for ACC main switch * clean up DBC references and long flag * bump one more time * one more time * follow CANPacker counter refactor * bump opendbc * sync opendbc to master * bump panda to fix Subaru tests * DBC handling cleanup * fix * model-year stretch * cleanup and rate bugfixes * better abstractions * simplify create_lka_hud_control * volkswagencan -> mqbcan * bump panda * fix doc data bug, regen CARS.md * style updates; diff reduction * use common button enable logic * not needed anymore * refactor TSK and HUD enum values * make common button events function * consistency * bump panda * bump panda * dashcam only * don't need process_replay yet * regen CARS.md with Passat NMS in dashcam * can't handle dashcam-orphaned footnotes yet * remove outdated standstill handling * editor tried to be too helpful at some point * don't need to import this anymore * Apply suggestions from code review Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * follow parkingBrake refactor Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> old-commit-hash:c27d7913f2
Jason Young
3 years ago
committed by
GitHub
parent
d0523a69eb
commit
b1590ae851
10 changed files with 456 additions and 9 deletions
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Subproject commit 5e0dde7b480a930d3c3a164331c930541e905d71 |
Subproject commit 199bc10db3a937fab0c50d9b708f6c76234f5c3a |
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def create_steering_control(packer, bus, apply_steer, lkas_enabled): |
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values = { |
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"LM_Offset": abs(apply_steer), |
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"LM_OffSign": 1 if apply_steer < 0 else 0, |
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"HCA_Status": 5 if (lkas_enabled and apply_steer != 0) else 3, |
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"Vib_Freq": 16, |
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} |
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return packer.make_can_msg("HCA_1", bus, values) |
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def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pressed, hud_alert, hud_control): |
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values = ldw_stock_values.copy() |
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values.update({ |
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"LDW_Lampe_gelb": 1 if enabled and steering_pressed else 0, |
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"LDW_Lampe_gruen": 1 if enabled and not steering_pressed else 0, |
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"LDW_Lernmodus_links": 3 if hud_control.leftLaneDepart else 1 + hud_control.leftLaneVisible, |
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"LDW_Lernmodus_rechts": 3 if hud_control.rightLaneDepart else 1 + hud_control.rightLaneVisible, |
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"LDW_Textbits": hud_alert, |
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}) |
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return packer.make_can_msg("LDW_Status", bus, values) |
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def create_acc_buttons_control(packer, bus, gra_stock_values, idx, cancel=False, resume=False): |
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values = gra_stock_values.copy() |
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values.update({ |
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"COUNTER": idx, |
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"GRA_Abbrechen": cancel, |
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"GRA_Recall": resume, |
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}) |
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return packer.make_can_msg("GRA_Neu", bus, values) |
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def tsk_status_value(main_switch_on, acc_faulted, long_active): |
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if long_active: |
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tsk_status = 1 |
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elif main_switch_on: |
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tsk_status = 2 |
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else: |
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tsk_status = 0 |
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return tsk_status |
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def acc_hud_status_value(main_switch_on, acc_faulted, long_active): |
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if acc_faulted: |
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hud_status = 6 |
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elif long_active: |
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hud_status = 3 |
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elif main_switch_on: |
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hud_status = 2 |
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else: |
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hud_status = 0 |
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return hud_status |
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def create_acc_accel_control(packer, bus, adr_status, accel): |
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values = { |
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"ACS_Sta_ADR": adr_status, |
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"ACS_StSt_Info": adr_status != 1, |
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"ACS_Typ_ACC": 0, # TODO: this is ACC "basic", find a way to detect FtS support (1) |
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"ACS_Sollbeschl": accel if adr_status == 1 else 3.01, |
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"ACS_zul_Regelabw": 0.2 if adr_status == 1 else 1.27, |
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"ACS_max_AendGrad": 3.0 if adr_status == 1 else 5.08, |
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} |
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return packer.make_can_msg("ACC_System", bus, values) |
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def create_acc_hud_control(packer, bus, acc_status, set_speed, lead_visible): |
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values = { |
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"ACA_StaACC": acc_status, |
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"ACA_Zeitluecke": 2, |
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"ACA_V_Wunsch": set_speed, |
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"ACA_gemZeitl": 8 if lead_visible else 0, |
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} |
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# TODO: ACA_ID_StaACC, ACA_AnzDisplay, ACA_kmh_mph, ACA_PrioDisp, ACA_Aend_Zeitluecke |
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return packer.make_can_msg("ACC_GRA_Anziege", bus, values) |
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