@ -254,54 +254,7 @@ class CarState(CarStateBase):
if CP . carFingerprint in PQ_CARS :
return CarState . get_can_parser_pq ( CP )
signals = [
# sig_name, sig_address
( " LWI_Lenkradwinkel " , " LWI_01 " ) , # Absolute steering angle
( " LWI_VZ_Lenkradwinkel " , " LWI_01 " ) , # Steering angle sign
( " LWI_Lenkradw_Geschw " , " LWI_01 " ) , # Absolute steering rate
( " LWI_VZ_Lenkradw_Geschw " , " LWI_01 " ) , # Steering rate sign
( " ESP_VL_Radgeschw_02 " , " ESP_19 " ) , # ABS wheel speed, front left
( " ESP_VR_Radgeschw_02 " , " ESP_19 " ) , # ABS wheel speed, front right
( " ESP_HL_Radgeschw_02 " , " ESP_19 " ) , # ABS wheel speed, rear left
( " ESP_HR_Radgeschw_02 " , " ESP_19 " ) , # ABS wheel speed, rear right
( " ESP_Gierrate " , " ESP_02 " ) , # Absolute yaw rate
( " ESP_VZ_Gierrate " , " ESP_02 " ) , # Yaw rate sign
( " ZV_FT_offen " , " Gateway_72 " ) , # Door open, driver
( " ZV_BT_offen " , " Gateway_72 " ) , # Door open, passenger
( " ZV_HFS_offen " , " Gateway_72 " ) , # Door open, rear left
( " ZV_HBFS_offen " , " Gateway_72 " ) , # Door open, rear right
( " ZV_HD_offen " , " Gateway_72 " ) , # Trunk or hatch open
( " Comfort_Signal_Left " , " Blinkmodi_02 " ) , # Left turn signal including comfort blink interval
( " Comfort_Signal_Right " , " Blinkmodi_02 " ) , # Right turn signal including comfort blink interval
( " AB_Gurtschloss_FA " , " Airbag_02 " ) , # Seatbelt status, driver
( " AB_Gurtschloss_BF " , " Airbag_02 " ) , # Seatbelt status, passenger
( " ESP_Fahrer_bremst " , " ESP_05 " ) , # Driver applied brake pressure over threshold
( " MO_Fahrer_bremst " , " Motor_14 " ) , # Brake pedal switch
( " ESP_Bremsdruck " , " ESP_05 " ) , # Brake pressure
( " MO_Fahrpedalrohwert_01 " , " Motor_20 " ) , # Accelerator pedal value
( " EPS_Lenkmoment " , " LH_EPS_03 " ) , # Absolute driver torque input
( " EPS_VZ_Lenkmoment " , " LH_EPS_03 " ) , # Driver torque input sign
( " EPS_HCA_Status " , " LH_EPS_03 " ) , # EPS HCA control status
( " ESP_Tastung_passiv " , " ESP_21 " ) , # Stability control disabled
( " ESP_Haltebestaetigung " , " ESP_21 " ) , # ESP hold confirmation
( " KBI_Handbremse " , " Kombi_01 " ) , # Manual handbrake applied
( " KBI_Variante " , " Kombi_03 " ) , # Digital/full-screen instrument cluster installed
( " TSK_Status " , " TSK_06 " ) , # ACC engagement status from drivetrain coordinator
( " GRA_Hauptschalter " , " GRA_ACC_01 " ) , # ACC button, on/off
( " GRA_Abbrechen " , " GRA_ACC_01 " ) , # ACC button, cancel
( " GRA_Tip_Setzen " , " GRA_ACC_01 " ) , # ACC button, set
( " GRA_Tip_Hoch " , " GRA_ACC_01 " ) , # ACC button, increase or accel
( " GRA_Tip_Runter " , " GRA_ACC_01 " ) , # ACC button, decrease or decel
( " GRA_Tip_Wiederaufnahme " , " GRA_ACC_01 " ) , # ACC button, resume
( " GRA_Verstellung_Zeitluecke " , " GRA_ACC_01 " ) , # ACC button, time gap adj
( " GRA_Typ_Hauptschalter " , " GRA_ACC_01 " ) , # ACC main button type
( " GRA_Codierung " , " GRA_ACC_01 " ) , # ACC button configuration/coding
( " GRA_Tip_Stufe_2 " , " GRA_ACC_01 " ) , # unknown related to stalk type
( " GRA_ButtonTypeInfo " , " GRA_ACC_01 " ) , # unknown related to stalk type
( " COUNTER " , " GRA_ACC_01 " ) , # GRA_ACC_01 CAN message counter
]
checks = [
messages = [
# sig_address, frequency
( " LWI_01 " , 100 ) , # From J500 Steering Assist with integrated sensors
( " LH_EPS_03 " , 100 ) , # From J500 Steering Assist with integrated sensors
@ -321,108 +274,41 @@ class CarState(CarStateBase):
]
if CP . transmissionType == TransmissionType . automatic :
signals . append ( ( " GE_Fahrstufe " , " Getriebe_11 " ) ) # Auto trans gear selector position
checks . append ( ( " Getriebe_11 " , 20 ) ) # From J743 Auto transmission control module
messages . append ( ( " Getriebe_11 " , 20 ) ) # From J743 Auto transmission control module
elif CP . transmissionType == TransmissionType . direct :
signals . append ( ( " GearPosition " , " EV_Gearshift " ) ) # EV gear selector position
checks . append ( ( " EV_Gearshift " , 10 ) ) # From J??? unknown EV control module
elif CP . transmissionType == TransmissionType . manual :
signals + = [ ( " MO_Kuppl_schalter " , " Motor_14 " ) , # Clutch switch
( " BCM1_Rueckfahrlicht_Schalter " , " Gateway_72 " ) ] # Reverse light from BCM
messages . append ( ( " EV_Gearshift " , 10 ) ) # From J??? unknown EV control module
if CP . networkLocation == NetworkLocation . fwdCamera :
# Radars are here on CANBUS.pt
signals + = MqbExtraSignals . fwd_radar_signals
checks + = MqbExtraSignals . fwd_radar_checks
messages + = MqbExtraSignals . fwd_radar_messages
if CP . enableBsm :
signals + = MqbExtraSignals . bsm_radar_signals
checks + = MqbExtraSignals . bsm_radar_checks
messages + = MqbExtraSignals . bsm_radar_messages
return CANParser ( DBC [ CP . carFingerprint ] [ " pt " ] , signals , check s, CANBUS . pt )
return CANParser ( DBC [ CP . carFingerprint ] [ " pt " ] , message s, CANBUS . pt )
@staticmethod
def get_cam_can_parser ( CP ) :
if CP . carFingerprint in PQ_CARS :
return CarState . get_cam_can_parser_pq ( CP )
signals = [ ]
checks = [ ]
messages = [ ]
if CP . networkLocation == NetworkLocation . fwdCamera :
signals + = [
# sig_name, sig_address
( " LDW_SW_Warnung_links " , " LDW_02 " ) , # Blind spot in warning mode on left side due to lane departure
( " LDW_SW_Warnung_rechts " , " LDW_02 " ) , # Blind spot in warning mode on right side due to lane departure
( " LDW_Seite_DLCTLC " , " LDW_02 " ) , # Direction of most likely lane departure (left or right)
( " LDW_DLC " , " LDW_02 " ) , # Lane departure, distance to line crossing
( " LDW_TLC " , " LDW_02 " ) , # Lane departure, time to line crossing
]
checks + = [
messages + = [
# sig_address, frequency
( " LDW_02 " , 10 ) # From R242 Driver assistance camera
]
else :
# Radars are here on CANBUS.cam
signals + = MqbExtraSignals . fwd_radar_signals
checks + = MqbExtraSignals . fwd_radar_checks
messages + = MqbExtraSignals . fwd_radar_messages
if CP . enableBsm :
signals + = MqbExtraSignals . bsm_radar_signals
checks + = MqbExtraSignals . bsm_radar_checks
messages + = MqbExtraSignals . bsm_radar_messages
return CANParser ( DBC [ CP . carFingerprint ] [ " pt " ] , signals , check s, CANBUS . cam )
return CANParser ( DBC [ CP . carFingerprint ] [ " pt " ] , message s, CANBUS . cam )
@staticmethod
def get_can_parser_pq ( CP ) :
signals = [
# sig_name, sig_address, default
( " LH3_BLW " , " Lenkhilfe_3 " ) , # Absolute steering angle
( " LH3_BLWSign " , " Lenkhilfe_3 " ) , # Steering angle sign
( " LH3_LM " , " Lenkhilfe_3 " ) , # Absolute driver torque input
( " LH3_LMSign " , " Lenkhilfe_3 " ) , # Driver torque input sign
( " LH2_Sta_HCA " , " Lenkhilfe_2 " ) , # Steering rack HCA status
( " Lenkradwinkel_Geschwindigkeit " , " Lenkwinkel_1 " ) , # Absolute steering rate
( " Lenkradwinkel_Geschwindigkeit_S " , " Lenkwinkel_1 " ) , # Steering rate sign
( " Geschwindigkeit_neu__Bremse_1_ " , " Bremse_1 " ) , # Vehicle speed from ABS
( " Radgeschw__VL_4_1 " , " Bremse_3 " ) , # ABS wheel speed, front left
( " Radgeschw__VR_4_1 " , " Bremse_3 " ) , # ABS wheel speed, front right
( " Radgeschw__HL_4_1 " , " Bremse_3 " ) , # ABS wheel speed, rear left
( " Radgeschw__HR_4_1 " , " Bremse_3 " ) , # ABS wheel speed, rear right
( " Giergeschwindigkeit " , " Bremse_5 " ) , # Absolute yaw rate
( " Vorzeichen_der_Giergeschwindigk " , " Bremse_5 " ) , # Yaw rate sign
( " Gurtschalter_Fahrer " , " Airbag_1 " ) , # Seatbelt status, driver
( " Gurtschalter_Beifahrer " , " Airbag_1 " ) , # Seatbelt status, passenger
( " Bremstestschalter " , " Motor_2 " ) , # Brake pedal pressed (brake light test switch)
( " Bremslichtschalter " , " Motor_2 " ) , # Brakes applied (brake light switch)
( " Bremsdruck " , " Bremse_5 " ) , # Brake pressure applied
( " Vorzeichen_Bremsdruck " , " Bremse_5 " ) , # Brake pressure applied sign (???)
( " Fahrpedal_Rohsignal " , " Motor_3 " ) , # Accelerator pedal value
( " ESP_Passiv_getastet " , " Bremse_1 " ) , # Stability control disabled
( " GRA_Hauptschalter " , " Motor_5 " ) , # ACC main switch
( " GRA_Status " , " Motor_2 " ) , # ACC engagement status
( " GK1_Fa_Tuerkont " , " Gate_Komf_1 " ) , # Door open, driver
( " BSK_BT_geoeffnet " , " Gate_Komf_1 " ) , # Door open, passenger
( " BSK_HL_geoeffnet " , " Gate_Komf_1 " ) , # Door open, rear left
( " BSK_HR_geoeffnet " , " Gate_Komf_1 " ) , # Door open, rear right
( " BSK_HD_Hauptraste " , " Gate_Komf_1 " ) , # Trunk or hatch open
( " GK1_Blinker_li " , " Gate_Komf_1 " ) , # Left turn signal on
( " GK1_Blinker_re " , " Gate_Komf_1 " ) , # Right turn signal on
( " Bremsinfo " , " Kombi_1 " ) , # Manual handbrake applied
( " GRA_Hauptschalt " , " GRA_Neu " ) , # ACC button, on/off
( " GRA_Typ_Hauptschalt " , " GRA_Neu " ) , # ACC button, momentary vs latching
( " GRA_Kodierinfo " , " GRA_Neu " ) , # ACC button, configuration
( " GRA_Abbrechen " , " GRA_Neu " ) , # ACC button, cancel
( " GRA_Neu_Setzen " , " GRA_Neu " ) , # ACC button, set
( " GRA_Up_lang " , " GRA_Neu " ) , # ACC button, increase or accel, long press
( " GRA_Down_lang " , " GRA_Neu " ) , # ACC button, decrease or decel, long press
( " GRA_Up_kurz " , " GRA_Neu " ) , # ACC button, increase or accel, short press
( " GRA_Down_kurz " , " GRA_Neu " ) , # ACC button, decrease or decel, short press
( " GRA_Recall " , " GRA_Neu " ) , # ACC button, resume
( " GRA_Zeitluecke " , " GRA_Neu " ) , # ACC button, time gap adj
( " COUNTER " , " GRA_Neu " ) , # ACC button, message counter
( " GRA_Sender " , " GRA_Neu " ) , # ACC button, CAN message originator
]
checks = [
messages = [
# sig_address, frequency
( " Bremse_1 " , 100 ) , # From J104 ABS/ESP controller
( " Bremse_3 " , 100 ) , # From J104 ABS/ESP controller
@ -440,95 +326,55 @@ class CarState(CarStateBase):
]
if CP . transmissionType == TransmissionType . automatic :
signals + = [ ( " Waehlhebelposition__Getriebe_1_ " , " Getriebe_1 " , 0 ) ] # Auto trans gear selector position
checks + = [ ( " Getriebe_1 " , 100 ) ] # From J743 Auto transmission control module
messages + = [ ( " Getriebe_1 " , 100 ) ] # From J743 Auto transmission control module
elif CP . transmissionType == TransmissionType . manual :
signals + = [ ( " Kupplungsschalter " , " Motor_1 " , 0 ) , # Clutch switch
( " GK1_Rueckfahr " , " Gate_Komf_1 " , 0 ) ] # Reverse light from BCM
checks + = [ ( " Motor_1 " , 100 ) ] # From J623 Engine control module
messages + = [ ( " Motor_1 " , 100 ) ] # From J623 Engine control module
if CP . networkLocation == NetworkLocation . fwdCamera :
# Extended CAN devices other than the camera are here on CANBUS.pt
signals + = PqExtraSignals . fwd_radar_signals
checks + = PqExtraSignals . fwd_radar_checks
messages + = PqExtraSignals . fwd_radar_messages
if CP . enableBsm :
signals + = PqExtraSignals . bsm_radar_signals
checks + = PqExtraSignals . bsm_radar_checks
messages + = PqExtraSignals . bsm_radar_messages
return CANParser ( DBC [ CP . carFingerprint ] [ " pt " ] , signals , check s, CANBUS . pt )
return CANParser ( DBC [ CP . carFingerprint ] [ " pt " ] , message s, CANBUS . pt )
@staticmethod
def get_cam_can_parser_pq ( CP ) :
signals = [ ]
checks = [ ]
messages = [ ]
if CP . networkLocation == NetworkLocation . fwdCamera :
signals + = [
# sig_name, sig_address
( " LDW_SW_Warnung_links " , " LDW_Status " ) , # Blind spot in warning mode on left side due to lane departure
( " LDW_SW_Warnung_rechts " , " LDW_Status " ) , # Blind spot in warning mode on right side due to lane departure
( " LDW_Seite_DLCTLC " , " LDW_Status " ) , # Direction of most likely lane departure (left or right)
( " LDW_DLC " , " LDW_Status " ) , # Lane departure, distance to line crossing
( " LDW_TLC " , " LDW_Status " ) , # Lane departure, time to line crossing
]
checks + = [
messages + = [
# sig_address, frequency
( " LDW_Status " , 10 ) # From R242 Driver assistance camera
]
if CP . networkLocation == NetworkLocation . gateway :
# Radars are here on CANBUS.cam
signals + = PqExtraSignals . fwd_radar_signals
checks + = PqExtraSignals . fwd_radar_checks
messages + = PqExtraSignals . fwd_radar_messages
if CP . enableBsm :
signals + = PqExtraSignals . bsm_radar_signals
checks + = PqExtraSignals . bsm_radar_checks
messages + = PqExtraSignals . bsm_radar_messages
return CANParser ( DBC [ CP . carFingerprint ] [ " pt " ] , signals , check s, CANBUS . cam )
return CANParser ( DBC [ CP . carFingerprint ] [ " pt " ] , message s, CANBUS . cam )
class MqbExtraSignals :
# Additional signal and message lists for optional or bus-portable controllers
fwd_radar_signals = [
( " ACC_Wunschgeschw_02 " , " ACC_02 " ) , # ACC set speed
( " ACC_Typ " , " ACC_06 " ) , # Basic vs FtS vs SnG
( " AWV2_Freigabe " , " ACC_10 " ) , # FCW brake jerk release
( " ANB_Teilbremsung_Freigabe " , " ACC_10 " ) , # AEB partial braking release
( " ANB_Zielbremsung_Freigabe " , " ACC_10 " ) , # AEB target braking release
]
fwd_radar_checks = [
fwd_radar_messages = [
( " ACC_06 " , 50 ) , # From J428 ACC radar control module
( " ACC_10 " , 50 ) , # From J428 ACC radar control module
( " ACC_02 " , 17 ) , # From J428 ACC radar control module
]
bsm_radar_signals = [
( " SWA_Infostufe_SWA_li " , " SWA_01 " ) , # Blind spot object info, left
( " SWA_Warnung_SWA_li " , " SWA_01 " ) , # Blind spot object warning, left
( " SWA_Infostufe_SWA_re " , " SWA_01 " ) , # Blind spot object info, right
( " SWA_Warnung_SWA_re " , " SWA_01 " ) , # Blind spot object warning, right
]
bsm_radar_checks = [
bsm_radar_messages = [
( " SWA_01 " , 20 ) , # From J1086 Lane Change Assist
]
class PqExtraSignals :
# Additional signal and message lists for optional or bus-portable controllers
fwd_radar_signals = [
( " ACS_Typ_ACC " , " ACC_System " ) , # Basic vs FtS (no SnG support on PQ)
( " ACA_StaACC " , " ACC_GRA_Anzeige " ) , # ACC drivetrain coordinator status
( " ACA_V_Wunsch " , " ACC_GRA_Anzeige " ) , # ACC set speed
]
fwd_radar_checks = [
fwd_radar_messages = [
( " ACC_System " , 50 ) , # From J428 ACC radar control module
( " ACC_GRA_Anzeige " , 25 ) , # From J428 ACC radar control module
]
bsm_radar_signals = [
( " SWA_Infostufe_SWA_li " , " SWA_1 " ) , # Blind spot object info, left
( " SWA_Warnung_SWA_li " , " SWA_1 " ) , # Blind spot object warning, left
( " SWA_Infostufe_SWA_re " , " SWA_1 " ) , # Blind spot object info, right
( " SWA_Warnung_SWA_re " , " SWA_1 " ) , # Blind spot object warning, right
]
bsm_radar_checks = [
bsm_radar_messages = [
( " SWA_1 " , 20 ) , # From J1086 Lane Change Assist
]
Shane Smiskol
2 years ago
committed by
GitHub