VW MQB: UDS fingerprinting support (#20271)

* FPv2 support for MQB

* Comment touch-ups

* Trim extra newlines

* Add Atlas and Tiguan

* Update submodule ref

* Revert "Add Atlas and Tiguan"

This reverts commit a47bc1bca7.

* Curb my enthusiasm

* Drop ABS/ESP from UDS fingerprinting for now

* Use multi-query to grab SW build ID and parameterization

* Resolve merge oops

* Resolve merge conflicts

* Make Ecu.fwdCamera optional for VW

* Where'd that come from?

* Propitiate process replay checks until ready for model dump

* FW values for Audi A3 Prestige

* Revert "Make Ecu.fwdCamera optional for VW"

This reverts commit 56852b99

* Don't try to FP fwdCamera for VW

* Remove FW comments

* Simplify RX offset handling

* Corrected scoping for MQB trans detection

* Add default response_offset

* Remove explicit list of MQB vehicles for now

* Deal with pylint warning

* Clarify and simplify comments

Co-authored-by: Comma Device <device@comma.ai>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

selfdrive/car/fw_versions.py

@@ -56,50 +56,78 @@ HYUNDAI_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x4
 TOYOTA_VERSION_REQUEST = b'\x1a\x88\x01'
 TOYOTA_VERSION_RESPONSE = b'\x5a\x88\x01'
 
+VOLKSWAGEN_VERSION_REQUEST_MULTI = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
+  p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_SPARE_PART_NUMBER) + \
+  p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_VERSION_NUMBER) + \
+  p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION)
+VOLKSWAGEN_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40])
+
 OBD_VERSION_REQUEST = b'\x09\x04'
 OBD_VERSION_RESPONSE = b'\x49\x04'
 
+DEFAULT_RX_OFFSET = 0x8
+VOLKSWAGEN_RX_OFFSET = 0x6a
 
-# supports subaddressing, request, response
+# brand, request, response, response offset
 REQUESTS = [
-  # Hundai
+  # Hyundai
   (
     "hyundai",
     [HYUNDAI_VERSION_REQUEST_SHORT],
     [HYUNDAI_VERSION_RESPONSE],
+    DEFAULT_RX_OFFSET,
   ),
   (
     "hyundai",
     [HYUNDAI_VERSION_REQUEST_LONG],
     [HYUNDAI_VERSION_RESPONSE],
+    DEFAULT_RX_OFFSET,
   ),
   (
     "hyundai",
     [HYUNDAI_VERSION_REQUEST_MULTI],
     [HYUNDAI_VERSION_RESPONSE],
+    DEFAULT_RX_OFFSET,
   ),
   # Honda
   (
     "honda",
     [UDS_VERSION_REQUEST],
     [UDS_VERSION_RESPONSE],
+    DEFAULT_RX_OFFSET,
   ),
   # Toyota
   (
     "toyota",
     [SHORT_TESTER_PRESENT_REQUEST, TOYOTA_VERSION_REQUEST],
     [SHORT_TESTER_PRESENT_RESPONSE, TOYOTA_VERSION_RESPONSE],
+    DEFAULT_RX_OFFSET,
   ),
   (
     "toyota",
     [SHORT_TESTER_PRESENT_REQUEST, OBD_VERSION_REQUEST],
     [SHORT_TESTER_PRESENT_RESPONSE, OBD_VERSION_RESPONSE],
+    DEFAULT_RX_OFFSET,
   ),
   (
     "toyota",
     [TESTER_PRESENT_REQUEST, DEFAULT_DIAGNOSTIC_REQUEST, EXTENDED_DIAGNOSTIC_REQUEST, UDS_VERSION_REQUEST],
     [TESTER_PRESENT_RESPONSE, DEFAULT_DIAGNOSTIC_RESPONSE, EXTENDED_DIAGNOSTIC_RESPONSE, UDS_VERSION_RESPONSE],
-  )
+    DEFAULT_RX_OFFSET,
+  ),
+  # Volkswagen
+  (
+    "volkswagen",
+    [VOLKSWAGEN_VERSION_REQUEST_MULTI],
+    [VOLKSWAGEN_VERSION_RESPONSE],
+    VOLKSWAGEN_RX_OFFSET,
+  ),
+  (
+    "volkswagen",
+    [VOLKSWAGEN_VERSION_REQUEST_MULTI],
+    [VOLKSWAGEN_VERSION_RESPONSE],
+    DEFAULT_RX_OFFSET,
+  ),
 ]
 
 
@@ -173,12 +201,12 @@ def get_fw_versions(logcan, sendcan, bus, extra=None, timeout=0.1, debug=False,
   fw_versions = {}
   for i, addr in enumerate(tqdm(addrs, disable=not progress)):
     for addr_chunk in chunks(addr):
-      for brand, request, response in REQUESTS:
+      for brand, request, response, response_offset in REQUESTS:
         try:
           addrs = [(a, s) for (b, a, s) in addr_chunk if b in (brand, 'any')]
 
           if addrs:
-            query = IsoTpParallelQuery(sendcan, logcan, bus, addrs, request, response, debug=debug)
+            query = IsoTpParallelQuery(sendcan, logcan, bus, addrs, request, response, response_offset, debug=debug)
             t = 2 * timeout if i == 0 else timeout
             fw_versions.update(query.get_data(t))
         except Exception:

selfdrive/car/isotp_parallel_query.py

@@ -9,7 +9,7 @@ from panda.python.uds import CanClient, IsoTpMessage, FUNCTIONAL_ADDRS, get_rx_a
 
 
 class IsoTpParallelQuery():
-  def __init__(self, sendcan, logcan, bus, addrs, request, response, functional_addr=False, debug=False):
+  def __init__(self, sendcan, logcan, bus, addrs, request, response, response_offset=0x8, functional_addr=False, debug=False):
     self.sendcan = sendcan
     self.logcan = logcan
     self.bus = bus
@@ -25,7 +25,7 @@ class IsoTpParallelQuery():
       else:
         self.real_addrs.append((a, None))
 
-    self.msg_addrs = {tx_addr: get_rx_addr_for_tx_addr(tx_addr[0]) for tx_addr in self.real_addrs}
+    self.msg_addrs = {tx_addr: get_rx_addr_for_tx_addr(tx_addr[0], rx_offset=response_offset) for tx_addr in self.real_addrs}
     self.msg_buffer = defaultdict(list)
 
   def rx(self):

selfdrive/car/volkswagen/interface.py

@@ -25,41 +25,46 @@ class CarInterface(CarInterfaceBase):
     # VW port is a community feature, since we don't own one to test
     ret.communityFeature = True
 
-    if candidate in [CAR.GOLF, CAR.AUDI_A3]:
+    if True:  # pylint: disable=using-constant-test
       # Set common MQB parameters that will apply globally
       ret.carName = "volkswagen"
       ret.radarOffCan = True
       ret.safetyModel = car.CarParams.SafetyModel.volkswagen
-
+      ret.steerActuatorDelay = 0.05
-      # Additional common MQB parameters that may be overridden per-vehicle
+
-      ret.steerRateCost = 1.0
+      if 0xAD in fingerprint[0]:
-      ret.steerActuatorDelay = 0.05  # Hopefully all MQB racks are similar here
+        # Getriebe_11 detected: traditional automatic or DSG gearbox
-      ret.steerLimitTimer = 0.4
+        ret.transmissionType = TransmissionType.automatic
-
+      elif 0x187 in fingerprint[0]:
-      ret.lateralTuning.pid.kpBP = [0.]
+        # EV_Gearshift detected: e-Golf or similar direct-drive electric
-      ret.lateralTuning.pid.kiBP = [0.]
+        ret.transmissionType = TransmissionType.direct
-
+      else:
+        # No trans message at all, must be a true stick-shift manual
+        ret.transmissionType = TransmissionType.manual
+      cloudlog.info("Detected transmission type: %s", ret.transmissionType)
+
+    # Global tuning defaults, can be overridden per-vehicle
+
+    ret.steerRateCost = 1.0
+    ret.steerLimitTimer = 0.4
+    ret.steerRatio = 15.6  # Let the params learner figure this out
+    tire_stiffness_factor = 1.0  # Let the params learner figure this out
+    ret.lateralTuning.pid.kpBP = [0.]
+    ret.lateralTuning.pid.kiBP = [0.]
+    ret.lateralTuning.pid.kf = 0.00006
+    ret.lateralTuning.pid.kpV = [0.6]
+    ret.lateralTuning.pid.kiV = [0.2]
+
+    # Per-chassis tuning values, override tuning defaults here if desired
+
+    if candidate in [CAR.AUDI_A3, CAR.GOLF]:
+      # Temporarily carry forward old tuning values while we test vehicle identification
       ret.mass = 1500 + STD_CARGO_KG
       ret.wheelbase = 2.64
-      ret.centerToFront = ret.wheelbase * 0.45
-      ret.steerRatio = 15.6
-      ret.lateralTuning.pid.kf = 0.00006
-      ret.lateralTuning.pid.kpV = [0.6]
-      ret.lateralTuning.pid.kiV = [0.2]
-      tire_stiffness_factor = 1.0
 
-    ret.enableCamera = True  # Stock camera detection doesn't apply to VW
+    ret.centerToFront = ret.wheelbase * 0.45
 
-    if 0xAD in fingerprint[0]:
+    ret.enableCamera = True  # Stock camera detection doesn't apply to VW
-      # Getriebe_11 detected: traditional automatic or DSG gearbox
-      ret.transmissionType = TransmissionType.automatic
-    elif 0x187 in fingerprint[0]:
-      # EV_Gearshift detected: e-Golf or similar direct-drive electric
-      ret.transmissionType = TransmissionType.direct
-    else:
-      # No trans message at all, must be a true stick-shift manual
-      ret.transmissionType = TransmissionType.manual
-    cloudlog.info("Detected transmission type: %s", ret.transmissionType)
 
     # TODO: get actual value, for now starting with reasonable value for
     # civic and scaling by mass and wheelbase

selfdrive/car/volkswagen/values.py

@@ -1,7 +1,8 @@
 # flake8: noqa
 
-from cereal import car
 from selfdrive.car import dbc_dict
+from cereal import car
+Ecu = car.CarParams.Ecu
 
 class CarControllerParams:
   HCA_STEP = 2                   # HCA_01 message frequency 50Hz
@@ -49,9 +50,13 @@ MQB_LDW_MESSAGES = {
   "laneAssistDeactivated": 10,          # "Lane Assist deactivated." silent with persistent icon afterward
 }
 
+# Check the 7th and 8th characters of the VIN before adding a new CAR. If the
+# chassis code is already listed below, don't add a new CAR, just add to the
+# FW_VERSIONS for that existing CAR.
+
 class CAR:
-  GOLF = "VOLKSWAGEN GOLF"
+  GOLF = "VOLKSWAGEN GOLF"              # Chassis 5G/AU/BA/BE, Mk7 VW Golf and variants
-  AUDI_A3 = "AUDI A3"
+  AUDI_A3 = "AUDI A3"                   # Chassis 8V/FF, Mk3 Audi A3 and variants
 
 FINGERPRINTS = {
   CAR.GOLF: [{
@@ -62,6 +67,43 @@ FINGERPRINTS = {
   }],
 }
 
+FW_VERSIONS = {
+  CAR.AUDI_A3: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x875G0906259L \xf1\x890002',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x870D9300013B \xf1\x894931',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\023121111111211--261117141112231291163221',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\00521G00807A1',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x875Q0907572G \xf1\x890571',
+    ],
+  },
+  CAR.GOLF: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x878V0906259P \xf1\x890001',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x870GC300012A \xf1\x891403',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13271212111312--071104171838103891131211',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571A0JA15A1',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x875Q0907572J \xf1\x890654',
+    ],
+  }
+}
+
 DBC = {
   CAR.GOLF: dbc_dict('vw_mqb_2010', None),
   CAR.AUDI_A3: dbc_dict('vw_mqb_2010', None),