@ -6,98 +6,6 @@ from opendbc.can.parser import CANParser
from opendbc . can . can_define import CANDefine from opendbc . can . can_define import CANDefine
from selfdrive . car . volkswagen . values import DBC , CANBUS , BUTTON_STATES , CarControllerParams from selfdrive . car . volkswagen . values import DBC , CANBUS , BUTTON_STATES , CarControllerParams
def get_mqb_pt_can_parser ( CP ) :
# this function generates lists for signal, messages and initial values
signals = [
# sig_name, sig_address, default
( " LWI_Lenkradwinkel " , " LWI_01 " , 0 ) , # Absolute steering angle
( " LWI_VZ_Lenkradwinkel " , " LWI_01 " , 0 ) , # Steering angle sign
( " LWI_Lenkradw_Geschw " , " LWI_01 " , 0 ) , # Absolute steering rate
( " LWI_VZ_Lenkradw_Geschw " , " LWI_01 " , 0 ) , # Steering rate sign
( " ESP_VL_Radgeschw_02 " , " ESP_19 " , 0 ) , # ABS wheel speed, front left
( " ESP_VR_Radgeschw_02 " , " ESP_19 " , 0 ) , # ABS wheel speed, front right
( " ESP_HL_Radgeschw_02 " , " ESP_19 " , 0 ) , # ABS wheel speed, rear left
( " ESP_HR_Radgeschw_02 " , " ESP_19 " , 0 ) , # ABS wheel speed, rear right
( " ESP_Gierrate " , " ESP_02 " , 0 ) , # Absolute yaw rate
( " ESP_VZ_Gierrate " , " ESP_02 " , 0 ) , # Yaw rate sign
( " ZV_FT_offen " , " Gateway_72 " , 0 ) , # Door open, driver
( " ZV_BT_offen " , " Gateway_72 " , 0 ) , # Door open, passenger
( " ZV_HFS_offen " , " Gateway_72 " , 0 ) , # Door open, rear left
( " ZV_HBFS_offen " , " Gateway_72 " , 0 ) , # Door open, rear right
( " ZV_HD_offen " , " Gateway_72 " , 0 ) , # Trunk or hatch open
( " BH_Blinker_li " , " Gateway_72 " , 0 ) , # Left turn signal on
( " BH_Blinker_re " , " Gateway_72 " , 0 ) , # Right turn signal on
( " GE_Fahrstufe " , " Getriebe_11 " , 0 ) , # Auto trans gear selector position
( " AB_Gurtschloss_FA " , " Airbag_02 " , 0 ) , # Seatbelt status, driver
( " AB_Gurtschloss_BF " , " Airbag_02 " , 0 ) , # Seatbelt status, passenger
( " ESP_Fahrer_bremst " , " ESP_05 " , 0 ) , # Brake pedal pressed
( " ESP_Status_Bremsdruck " , " ESP_05 " , 0 ) , # Brakes applied
( " ESP_Bremsdruck " , " ESP_05 " , 0 ) , # Brake pressure applied
( " MO_Fahrpedalrohwert_01 " , " Motor_20 " , 0 ) , # Accelerator pedal value
( " MO_Kuppl_schalter " , " Motor_14 " , 0 ) , # Clutch switch
( " Driver_Strain " , " EPS_01 " , 0 ) , # Absolute driver torque input
( " Driver_Strain_VZ " , " EPS_01 " , 0 ) , # Driver torque input sign
( " HCA_Ready " , " EPS_01 " , 0 ) , # Steering rack HCA support configured
( " 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
( " TSK_Fahrzeugmasse_02 " , " Motor_16 " , 0 ) , # Estimated vehicle mass from drivetrain coordinator
( " ACC_Status_ACC " , " ACC_06 " , 0 ) , # ACC engagement status
( " ACC_Typ " , " ACC_06 " , 0 ) , # ACC type (follow to stop, stop&go)
( " SetSpeed " , " ACC_02 " , 0 ) , # ACC set speed
( " GRA_Hauptschalter " , " GRA_ACC_01 " , 0 ) , # ACC button, on/off
( " GRA_Abbrechen " , " GRA_ACC_01 " , 0 ) , # ACC button, cancel
( " GRA_Tip_Setzen " , " GRA_ACC_01 " , 0 ) , # ACC button, set
( " GRA_Tip_Hoch " , " GRA_ACC_01 " , 0 ) , # ACC button, increase or accel
( " GRA_Tip_Runter " , " GRA_ACC_01 " , 0 ) , # ACC button, decrease or decel
( " GRA_Tip_Wiederaufnahme " , " GRA_ACC_01 " , 0 ) , # ACC button, resume
( " GRA_Verstellung_Zeitluecke " , " GRA_ACC_01 " , 0 ) , # ACC button, time gap adj
( " GRA_Typ_Hauptschalter " , " GRA_ACC_01 " , 0 ) , # ACC main button type
( " GRA_Tip_Stufe_2 " , " GRA_ACC_01 " , 0 ) , # unknown related to stalk type
( " GRA_ButtonTypeInfo " , " GRA_ACC_01 " , 0 ) , # unknown related to stalk type
( " COUNTER " , " GRA_ACC_01 " , 0 ) , # GRA_ACC_01 CAN message counter
]
checks = [
# sig_address, frequency
( " LWI_01 " , 100 ) , # From J500 Steering Assist with integrated sensors
( " EPS_01 " , 100 ) , # From J500 Steering Assist with integrated sensors
( " ESP_19 " , 100 ) , # From J104 ABS/ESP controller
( " ESP_05 " , 50 ) , # From J104 ABS/ESP controller
( " ESP_21 " , 50 ) , # From J104 ABS/ESP controller
( " ACC_06 " , 50 ) , # From J428 ACC radar control module
( " Motor_20 " , 50 ) , # From J623 Engine control module
( " GRA_ACC_01 " , 33 ) , # From J??? steering wheel control buttons
( " ACC_02 " , 17 ) , # From J428 ACC radar control module
( " Getriebe_11 " , 20 ) , # From J743 Auto transmission control module
( " Gateway_72 " , 10 ) , # From J533 CAN gateway (aggregated data)
( " Motor_14 " , 10 ) , # From J623 Engine control module
( " Airbag_02 " , 5 ) , # From J234 Airbag control module
( " Kombi_01 " , 2 ) , # From J285 Instrument cluster
( " Motor_16 " , 2 ) , # From J623 Engine control module
( " Einheiten_01 " , 1 ) , # From J??? not known if gateway, cluster, or BCM
]
return CANParser ( DBC [ CP . carFingerprint ] [ ' pt ' ] , signals , checks , CANBUS . pt )
# A single signal is monitored from the camera CAN bus, and then ignored,
# so the presence of CAN traffic can be verified with cam_cp.valid.
def get_mqb_cam_can_parser ( CP ) :
signals = [
# sig_name, sig_address, default
( " Kombi_Lamp_Green " , " LDW_02 " , 0 ) , # Lane Assist status LED
]
checks = [
# sig_address, frequency
( " LDW_02 " , 10 ) # From R242 Driver assistance camera
]
return CANParser ( DBC [ CP . carFingerprint ] [ ' pt ' ] , signals , checks , CANBUS . cam )
class CarState ( CarStateBase ) : class CarState ( CarStateBase ) :
def __init__ ( self , CP ) : def __init__ ( self , CP ) :
super ( ) . __init__ ( CP ) super ( ) . __init__ ( CP )
@ -211,3 +119,96 @@ class CarState(CarStateBase):
self . stabilityControlDisabled = pt_cp . vl [ " ESP_21 " ] [ ' ESP_Tastung_passiv ' ] self . stabilityControlDisabled = pt_cp . vl [ " ESP_21 " ] [ ' ESP_Tastung_passiv ' ]
return ret return ret
@staticmethod
def get_can_parser ( CP ) :
# this function generates lists for signal, messages and initial values
signals = [
# sig_name, sig_address, default
( " LWI_Lenkradwinkel " , " LWI_01 " , 0 ) , # Absolute steering angle
( " LWI_VZ_Lenkradwinkel " , " LWI_01 " , 0 ) , # Steering angle sign
( " LWI_Lenkradw_Geschw " , " LWI_01 " , 0 ) , # Absolute steering rate
( " LWI_VZ_Lenkradw_Geschw " , " LWI_01 " , 0 ) , # Steering rate sign
( " ESP_VL_Radgeschw_02 " , " ESP_19 " , 0 ) , # ABS wheel speed, front left
( " ESP_VR_Radgeschw_02 " , " ESP_19 " , 0 ) , # ABS wheel speed, front right
( " ESP_HL_Radgeschw_02 " , " ESP_19 " , 0 ) , # ABS wheel speed, rear left
( " ESP_HR_Radgeschw_02 " , " ESP_19 " , 0 ) , # ABS wheel speed, rear right
( " ESP_Gierrate " , " ESP_02 " , 0 ) , # Absolute yaw rate
( " ESP_VZ_Gierrate " , " ESP_02 " , 0 ) , # Yaw rate sign
( " ZV_FT_offen " , " Gateway_72 " , 0 ) , # Door open, driver
( " ZV_BT_offen " , " Gateway_72 " , 0 ) , # Door open, passenger
( " ZV_HFS_offen " , " Gateway_72 " , 0 ) , # Door open, rear left
( " ZV_HBFS_offen " , " Gateway_72 " , 0 ) , # Door open, rear right
( " ZV_HD_offen " , " Gateway_72 " , 0 ) , # Trunk or hatch open
( " BH_Blinker_li " , " Gateway_72 " , 0 ) , # Left turn signal on
( " BH_Blinker_re " , " Gateway_72 " , 0 ) , # Right turn signal on
( " GE_Fahrstufe " , " Getriebe_11 " , 0 ) , # Auto trans gear selector position
( " AB_Gurtschloss_FA " , " Airbag_02 " , 0 ) , # Seatbelt status, driver
( " AB_Gurtschloss_BF " , " Airbag_02 " , 0 ) , # Seatbelt status, passenger
( " ESP_Fahrer_bremst " , " ESP_05 " , 0 ) , # Brake pedal pressed
( " ESP_Status_Bremsdruck " , " ESP_05 " , 0 ) , # Brakes applied
( " ESP_Bremsdruck " , " ESP_05 " , 0 ) , # Brake pressure applied
( " MO_Fahrpedalrohwert_01 " , " Motor_20 " , 0 ) , # Accelerator pedal value
( " MO_Kuppl_schalter " , " Motor_14 " , 0 ) , # Clutch switch
( " Driver_Strain " , " EPS_01 " , 0 ) , # Absolute driver torque input
( " Driver_Strain_VZ " , " EPS_01 " , 0 ) , # Driver torque input sign
( " HCA_Ready " , " EPS_01 " , 0 ) , # Steering rack HCA support configured
( " 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
( " TSK_Fahrzeugmasse_02 " , " Motor_16 " , 0 ) , # Estimated vehicle mass from drivetrain coordinator
( " ACC_Status_ACC " , " ACC_06 " , 0 ) , # ACC engagement status
( " ACC_Typ " , " ACC_06 " , 0 ) , # ACC type (follow to stop, stop&go)
( " SetSpeed " , " ACC_02 " , 0 ) , # ACC set speed
( " GRA_Hauptschalter " , " GRA_ACC_01 " , 0 ) , # ACC button, on/off
( " GRA_Abbrechen " , " GRA_ACC_01 " , 0 ) , # ACC button, cancel
( " GRA_Tip_Setzen " , " GRA_ACC_01 " , 0 ) , # ACC button, set
( " GRA_Tip_Hoch " , " GRA_ACC_01 " , 0 ) , # ACC button, increase or accel
( " GRA_Tip_Runter " , " GRA_ACC_01 " , 0 ) , # ACC button, decrease or decel
( " GRA_Tip_Wiederaufnahme " , " GRA_ACC_01 " , 0 ) , # ACC button, resume
( " GRA_Verstellung_Zeitluecke " , " GRA_ACC_01 " , 0 ) , # ACC button, time gap adj
( " GRA_Typ_Hauptschalter " , " GRA_ACC_01 " , 0 ) , # ACC main button type
( " GRA_Tip_Stufe_2 " , " GRA_ACC_01 " , 0 ) , # unknown related to stalk type
( " GRA_ButtonTypeInfo " , " GRA_ACC_01 " , 0 ) , # unknown related to stalk type
( " COUNTER " , " GRA_ACC_01 " , 0 ) , # GRA_ACC_01 CAN message counter
]
checks = [
# sig_address, frequency
( " LWI_01 " , 100 ) , # From J500 Steering Assist with integrated sensors
( " EPS_01 " , 100 ) , # From J500 Steering Assist with integrated sensors
( " ESP_19 " , 100 ) , # From J104 ABS/ESP controller
( " ESP_05 " , 50 ) , # From J104 ABS/ESP controller
( " ESP_21 " , 50 ) , # From J104 ABS/ESP controller
( " ACC_06 " , 50 ) , # From J428 ACC radar control module
( " Motor_20 " , 50 ) , # From J623 Engine control module
( " GRA_ACC_01 " , 33 ) , # From J??? steering wheel control buttons
( " ACC_02 " , 17 ) , # From J428 ACC radar control module
( " Getriebe_11 " , 20 ) , # From J743 Auto transmission control module
( " Gateway_72 " , 10 ) , # From J533 CAN gateway (aggregated data)
( " Motor_14 " , 10 ) , # From J623 Engine control module
( " Airbag_02 " , 5 ) , # From J234 Airbag control module
( " Kombi_01 " , 2 ) , # From J285 Instrument cluster
( " Motor_16 " , 2 ) , # From J623 Engine control module
( " Einheiten_01 " , 1 ) , # From J??? not known if gateway, cluster, or BCM
]
return CANParser ( DBC [ CP . carFingerprint ] [ ' pt ' ] , signals , checks , CANBUS . pt )
# A single signal is monitored from the camera CAN bus, and then ignored,
# so the presence of CAN traffic can be verified with cam_cp.valid.
@staticmethod
def get_cam_can_parser ( CP ) :
signals = [
# sig_name, sig_address, default
( " Kombi_Lamp_Green " , " LDW_02 " , 0 ) , # Lane Assist status LED
]
checks = [
# sig_address, frequency
( " LDW_02 " , 10 ) # From R242 Driver assistance camera
]
return CANParser ( DBC [ CP . carFingerprint ] [ ' pt ' ] , signals , checks , CANBUS . cam )
rbiasini
5 years ago
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