sadmen
/
openpilot_comma
mirror of https://github.com/commaai/openpilot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

VW MQB: Misc bugfixes and cleanup (#20540)

Browse Source 
* Add LDW->SWA signal pass-through

* GC currently unused ACC_06 and LDW_02 signal data

* Split out Jetta GLI

* Pass in camera CAN parser now that we use it

* GC unused CarController param, camelCase->PEP8

* CAN valid should pass for VW now

* update refs

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
pull/20489/head
Jason Young 4 years ago committed by GitHub
parent 0adfc931b9
commit e181fd7f0a
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
7 changed files with 36 additions and 23 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 3
      README.md
  2. 8
      selfdrive/car/volkswagen/carcontroller.py
  3. 19
      selfdrive/car/volkswagen/carstate.py
  4. 3
      selfdrive/car/volkswagen/interface.py
  5. 23
      selfdrive/car/volkswagen/volkswagencan.py
  6. 2
      selfdrive/test/process_replay/ref_commit
  7. 1
      selfdrive/test/test_models.py

3
README.md
Unescape View File

@ -183,7 +183,8 @@ Community Maintained Cars and Features
| Volkswagen| Golf GTI 2018-19 | Driver Assistance | Stock | 0mph | 0mph |
| Volkswagen| Golf R 2016-19 | Driver Assistance | Stock | 0mph | 0mph |
| Volkswagen| Golf SportsVan 2016 | Driver Assistance | Stock | 0mph | 0mph |
| Volkswagen| Jetta 2018-21 | Driver Assistance | Stock | 0mph | 0mph |
| Volkswagen| Jetta 2018-20 | Driver Assistance | Stock | 0mph | 0mph |
| Volkswagen| Jetta GLI 2021 | Driver Assistance | Stock | 0mph | 0mph |
| Volkswagen| Passat 2016-17<sup>2</sup> | Driver Assistance | Stock | 0mph | 0mph |
| Volkswagen| Tiguan 2020 | Driver Assistance | Stock | 0mph | 0mph |

8
selfdrive/car/volkswagen/carcontroller.py
Unescape View File

@ -20,7 +20,7 @@ class CarController():
self.steer_rate_limited = False
def update(self, enabled, CS, frame, actuators, visual_alert, audible_alert, leftLaneVisible, rightLaneVisible):
def update(self, enabled, CS, frame, actuators, visual_alert, left_lane_visible, right_lane_visible):
""" Controls thread """
P = CarControllerParams
@ -118,8 +118,10 @@ class CarController():
hud_alert = MQB_LDW_MESSAGES["none"]
can_sends.append(volkswagencan.create_mqb_hud_control(self.packer_pt, CANBUS.pt, hcaEnabled,
CS.out.steeringPressed, hud_alert, leftLaneVisible,
rightLaneVisible))
CS.out.steeringPressed, hud_alert, left_lane_visible,
right_lane_visible, CS.ldw_lane_warning_left,
CS.ldw_lane_warning_right, CS.ldw_side_dlc_tlc,
CS.ldw_dlc, CS.ldw_tlc))
#--------------------------------------------------------------------------
# #

19
selfdrive/car/volkswagen/carstate.py
Unescape View File

@ -16,7 +16,7 @@ class CarState(CarStateBase):
self.shifter_values = can_define.dv["EV_Gearshift"]['GearPosition']
self.buttonStates = BUTTON_STATES.copy()
def update(self, pt_cp, trans_type):
def update(self, pt_cp, cam_cp, trans_type):
ret = car.CarState.new_message()
# Update vehicle speed and acceleration from ABS wheel speeds.
ret.wheelSpeeds.fl = pt_cp.vl["ESP_19"]['ESP_VL_Radgeschw_02'] * CV.KPH_TO_MS
@ -83,6 +83,14 @@ class CarState(CarStateBase):
ret.leftBlindspot = bool(pt_cp.vl["SWA_01"]["SWA_Infostufe_SWA_li"]) or bool(pt_cp.vl["SWA_01"]["SWA_Warnung_SWA_li"])
ret.rightBlindspot = bool(pt_cp.vl["SWA_01"]["SWA_Infostufe_SWA_re"]) or bool(pt_cp.vl["SWA_01"]["SWA_Warnung_SWA_re"])
# Consume factory LDW data relevant for factory SWA (Lane Change Assist)
# and capture it for forwarding to the blind spot radar controller
self.ldw_lane_warning_left = bool(cam_cp.vl["LDW_02"]["LDW_SW_Warnung_links"])
self.ldw_lane_warning_right = bool(cam_cp.vl["LDW_02"]["LDW_SW_Warnung_rechts"])
self.ldw_side_dlc_tlc = bool(cam_cp.vl["LDW_02"]["LDW_Seite_DLCTLC"])
self.ldw_dlc = cam_cp.vl["LDW_02"]["LDW_DLC"]
self.ldw_tlc = cam_cp.vl["LDW_02"]["LDW_TLC"]
# Stock FCW is considered active if the release bit for brake-jerk warning
# is set. Stock AEB considered active if the partial braking or target
# braking release bits are set.
@ -180,8 +188,6 @@ class CarState(CarStateBase):
("KBI_Handbremse", "Kombi_01", 0), # Manual handbrake applied
("TSK_Status", "TSK_06", 0), # ACC engagement status from drivetrain coordinator
("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)
("ACC_Wunschgeschw", "ACC_02", 0), # ACC set speed
("AWV2_Freigabe", "ACC_10", 0), # FCW brake jerk release
("ANB_Teilbremsung_Freigabe", "ACC_10", 0), # AEB partial braking release
@ -210,7 +216,6 @@ class CarState(CarStateBase):
("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
("ACC_10", 50), # From J428 ACC radar control module
("Motor_20", 50), # From J623 Engine control module
("TSK_06", 50), # From J623 Engine control module
@ -245,7 +250,11 @@ class CarState(CarStateBase):
signals = [
# sig_name, sig_address, default
("LDW_Status_LED_gruen", "LDW_02", 0), # Lane Assist status LED
("LDW_SW_Warnung_links", "LDW_02", 0), # Blind spot in warning mode on left side due to lane departure
("LDW_SW_Warnung_rechts", "LDW_02", 0), # Blind spot in warning mode on right side due to lane departure
("LDW_Seite_DLCTLC", "LDW_02", 0), # Direction of most likely lane departure (left or right)
("LDW_DLC", "LDW_02", 0), # Lane departure, distance to line crossing
("LDW_TLC", "LDW_02", 0), # Lane departure, time to line crossing
]
checks = [

3
selfdrive/car/volkswagen/interface.py
Unescape View File

@ -127,7 +127,7 @@ class CarInterface(CarInterfaceBase):
self.cp.update_strings(can_strings)
self.cp_cam.update_strings(can_strings)
ret = self.CS.update(self.cp, self.CP.transmissionType)
ret = self.CS.update(self.cp, self.cp_cam, self.CP.transmissionType)
ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
@ -167,7 +167,6 @@ class CarInterface(CarInterfaceBase):
def apply(self, c):
can_sends = self.CC.update(c.enabled, self.CS, self.frame, c.actuators,
c.hudControl.visualAlert,
c.hudControl.audibleAlert,
c.hudControl.leftLaneVisible,
c.hudControl.rightLaneVisible)
self.frame += 1

23
selfdrive/car/volkswagen/volkswagencan.py
Unescape View File

@ -15,23 +15,26 @@ def create_mqb_steering_control(packer, bus, apply_steer, idx, lkas_enabled):
}
return packer.make_can_msg("HCA_01", bus, values, idx)
def create_mqb_hud_control(packer, bus, hca_enabled, steering_pressed, hud_alert, leftLaneVisible, rightLaneVisible):
def create_mqb_hud_control(packer, bus, hca_enabled, steering_pressed, hud_alert, left_lane_visible, right_lane_visible,
ldw_lane_warning_left, ldw_lane_warning_right, ldw_side_dlc_tlc, ldw_dlc, ldw_tlc):
if hca_enabled:
leftlanehud = 3 if leftLaneVisible else 1
rightlanehud = 3 if rightLaneVisible else 1
left_lane_hud = 3 if left_lane_visible else 1
right_lane_hud = 3 if right_lane_visible else 1
else:
leftlanehud = 2 if leftLaneVisible else 1
rightlanehud = 2 if rightLaneVisible else 1
left_lane_hud = 2 if left_lane_visible else 1
right_lane_hud = 2 if right_lane_visible else 1
values = {
"LDW_SW_Warnung_links": 0, # FIXME: to be store-and-forwarded from the stock camera
"LDW_SW_Warnung_rechts": 1, # FIXME: to be store-and-forwarded from the stock camera
"LDW_Status_LED_gelb": 1 if hca_enabled and steering_pressed else 0,
"LDW_Status_LED_gruen": 1 if hca_enabled and not steering_pressed else 0,
"LDW_Lernmodus_links": leftlanehud,
"LDW_Lernmodus_rechts": rightlanehud,
"LDW_Lernmodus_links": left_lane_hud,
"LDW_Lernmodus_rechts": right_lane_hud,
"LDW_Texte": hud_alert,
"LDW_SW_Warnung_links": ldw_lane_warning_left,
"LDW_SW_Warnung_rechts": ldw_lane_warning_right,
"LDW_Seite_DLCTLC": ldw_side_dlc_tlc,
"LDW_DLC": ldw_dlc,
"LDW_TLC": ldw_tlc
}
return packer.make_can_msg("LDW_02", bus, values)

2
selfdrive/test/process_replay/ref_commit
Unescape View File

@ -1 +1 @@
796df70c9c83a693f81e4a35d97f90dc5378ef06
28d5abf03e0e0cae5af0f3dfb78f597253046a8b

1
selfdrive/test/test_models.py
Unescape View File

@ -22,7 +22,6 @@ ROUTES = {v['carFingerprint']: k for k, v in routes.items() if v['enableCamera']
# TODO: get updated routes for these cars
ignore_can_valid = [
"VOLKSWAGEN GOLF",
"ACURA ILX 2016 ACURAWATCH PLUS",
"TOYOTA PRIUS 2017",
"TOYOTA COROLLA 2017",

Write Preview
Loading…
Cancel
Save