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FPv2 support for MQB

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pull/20271/head
Comma Device 4 years ago
parent cd86f94ec7
commit e9cb7a4bc9
5 changed files with 97 additions and 22 deletions
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  1. 2
      panda
  2. 35
      selfdrive/car/fw_versions.py
  3. 8
      selfdrive/car/isotp_parallel_query.py
  4. 24
      selfdrive/car/volkswagen/interface.py
  5. 50
      selfdrive/car/volkswagen/values.py

2
panda

@ -1 +1 @@
Subproject commit 0ae2be95a114269b12e039eabf0a563c1ca32ece
Subproject commit 3018f50847d7ccfc2e8a86595528d1ff05e0a48f

35
selfdrive/car/fw_versions.py
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@ -8,7 +8,7 @@ from tqdm import tqdm
import panda.python.uds as uds
from cereal import car
from selfdrive.car.fingerprints import FW_VERSIONS, get_attr_from_cars
from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery, RX_OFFSET
from selfdrive.car.toyota.values import CAR as TOYOTA
from selfdrive.swaglog import cloudlog
@ -56,49 +56,74 @@ 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 = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_SPARE_PART_NUMBER)
VOLKSWAGEN_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_SPARE_PART_NUMBER)
OBD_VERSION_REQUEST = b'\x09\x04'
OBD_VERSION_RESPONSE = b'\x49\x04'
# supports subaddressing, request, response
# brand, request, response, response offset
REQUESTS = [
# Hundai
# Hyundai
(
"hyundai",
[HYUNDAI_VERSION_REQUEST_SHORT],
[HYUNDAI_VERSION_RESPONSE],
RX_OFFSET.DEFAULT,
),
(
"hyundai",
[HYUNDAI_VERSION_REQUEST_LONG],
[HYUNDAI_VERSION_RESPONSE],
RX_OFFSET.DEFAULT,
),
(
"hyundai",
[HYUNDAI_VERSION_REQUEST_MULTI],
[HYUNDAI_VERSION_RESPONSE],
RX_OFFSET.DEFAULT,
),
# Honda
(
"honda",
[UDS_VERSION_REQUEST],
[UDS_VERSION_RESPONSE],
RX_OFFSET.DEFAULT,
),
# Toyota
(
"toyota",
[SHORT_TESTER_PRESENT_REQUEST, TOYOTA_VERSION_REQUEST],
[SHORT_TESTER_PRESENT_RESPONSE, TOYOTA_VERSION_RESPONSE],
RX_OFFSET.DEFAULT,
),
(
"toyota",
[SHORT_TESTER_PRESENT_REQUEST, OBD_VERSION_REQUEST],
[SHORT_TESTER_PRESENT_RESPONSE, OBD_VERSION_RESPONSE],
RX_OFFSET.DEFAULT,
),
(
"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],
RX_OFFSET.DEFAULT,
),
# Volkswagen
(
"volkswagen",
[EXTENDED_DIAGNOSTIC_REQUEST, VOLKSWAGEN_VERSION_REQUEST],
[EXTENDED_DIAGNOSTIC_RESPONSE, VOLKSWAGEN_VERSION_RESPONSE],
RX_OFFSET.DEFAULT,
),
(
"volkswagen",
[EXTENDED_DIAGNOSTIC_REQUEST, VOLKSWAGEN_VERSION_REQUEST],
[EXTENDED_DIAGNOSTIC_RESPONSE, VOLKSWAGEN_VERSION_RESPONSE],
RX_OFFSET.VOLKSWAGEN,
)
]
@ -173,12 +198,12 @@ 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:

8
selfdrive/car/isotp_parallel_query.py
Unescape View File

@ -7,9 +7,13 @@ from selfdrive.swaglog import cloudlog
from selfdrive.boardd.boardd import can_list_to_can_capnp
from panda.python.uds import CanClient, IsoTpMessage, FUNCTIONAL_ADDRS, get_rx_addr_for_tx_addr
class RX_OFFSET:
DEFAULT = 0x8
VOLKSWAGEN = 0x6a
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=RX_OFFSET.DEFAULT, functional_addr=False, debug=False):
self.sendcan = sendcan
self.logcan = logcan
self.bus = bus
@ -25,7 +29,7 @@ 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):

24
selfdrive/car/volkswagen/interface.py
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@ -1,5 +1,5 @@
from cereal import car
from selfdrive.car.volkswagen.values import CAR, BUTTON_STATES
from selfdrive.car.volkswagen.values import CAR, MQB_CARS, BUTTON_STATES
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
from selfdrive.car.interfaces import CarInterfaceBase
@ -25,7 +25,7 @@ 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 candidate in MQB_CARS:
# Set common MQB parameters that will apply globally
ret.carName = "volkswagen"
ret.radarOffCan = True
@ -35,19 +35,31 @@ class CarInterface(CarInterfaceBase):
ret.steerRateCost = 1.0
ret.steerActuatorDelay = 0.05 # Hopefully all MQB racks are similar here
ret.steerLimitTimer = 0.4
ret.steerRatio = 15.6 # Default, let the params learner figure this out
ret.lateralTuning.pid.kpBP = [0.]
ret.lateralTuning.pid.kiBP = [0.]
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
# Per-chassis tuning values, override tuning defaults here if desired
if candidate == CAR.AU_A3_MK3:
# Averages of all A3 variants
ret.mass = 1335 + STD_CARGO_KG
ret.wheelbase = 2.61
elif candidate == CAR.VW_GOLF_MK7:
# Averages of all Golf variants
ret.mass = 1397 + STD_CARGO_KG
ret.wheelbase = 2.62
ret.centerToFront = ret.wheelbase * 0.45
ret.enableCamera = True # Stock camera detection doesn't apply to VW
ret.transmissionType = car.CarParams.TransmissionType.automatic

50
selfdrive/car/volkswagen/values.py
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@ -1,6 +1,8 @@
# flake8: noqa
from selfdrive.car import dbc_dict
from cereal import car
Ecu = car.CarParams.Ecu
class CarControllerParams:
HCA_STEP = 2 # HCA_01 message frequency 50Hz
@ -46,19 +48,51 @@ MQB_LDW_MESSAGES = {
}
class CAR:
GOLF = "VOLKSWAGEN GOLF"
AUDI_A3 = "AUDI A3"
AU_A3_MK3 = "AUDI A3 3RD GEN"
VW_GOLF_MK7 = "VOLKSWAGEN GOLF 7TH GEN"
MQB_CARS = {
CAR.AU_A3_MK3, # Chassis 8V, 2013-2019, includes A3, A3 e-tron, A3 g-tron, S3, RS3
CAR.VW_GOLF_MK7 # Chassis AU, 2013-2020, includes Golf, Alltrack, Sportwagen, GTI, GTI TCR, GTE, GTD, Clubsport, Golf R
}
FINGERPRINTS = {
CAR.GOLF: [{
64: 8, 134: 8, 159: 8, 173: 8, 178: 8, 253: 8, 257: 8, 260: 8, 262: 8, 264: 8, 278: 8, 279: 8, 283: 8, 286: 8, 288: 8, 289: 8, 290: 8, 294: 8, 299: 8, 302: 8, 346: 8, 385: 8, 418: 8, 427: 8, 668: 8, 679: 8, 681: 8, 695: 8, 779: 8, 780: 8, 783: 8, 792: 8, 795: 8, 804: 8, 806: 8, 807: 8, 808: 8, 809: 8, 870: 8, 896: 8, 897: 8, 898: 8, 901: 8, 917: 8, 919: 8, 927: 8, 949: 8, 958: 8, 960: 4, 981: 8, 987: 8, 988: 8, 991: 8, 997: 8, 1000: 8, 1019: 8, 1120: 8, 1122: 8, 1123: 8, 1124: 8, 1153: 8, 1162: 8, 1175: 8, 1312: 8, 1385: 8, 1413: 8, 1440: 5, 1514: 8, 1515: 8, 1520: 8, 1529: 8, 1600: 8, 1601: 8, 1603: 8, 1605: 8, 1624: 8, 1626: 8, 1629: 8, 1631: 8, 1646: 8, 1648: 8, 1712: 6, 1714: 8, 1716: 8, 1717: 8, 1719: 8, 1720: 8, 1721: 8
CAR.AU_A3_MK3: [{
64: 8, 134: 8, 159: 8, 173: 8, 178: 8, 253: 8, 257: 8, 260: 8, 262: 8, 278: 8, 279: 8, 283: 8, 285: 8, 286: 8, 288: 8, 289: 8, 290: 8, 294: 8, 295: 8, 299: 8, 302: 8, 346: 8, 418: 8, 427: 8, 506: 8, 679: 8, 681: 8, 695: 8, 779: 8, 780: 8, 783: 8, 787: 8, 788: 8, 789: 8, 792: 8, 802: 8, 804: 8, 806: 8, 807: 8, 808: 8, 809: 8, 846: 8, 847: 8, 870: 8, 896: 8, 897: 8, 898: 8, 901: 8, 917: 8, 919: 8, 949: 8, 958: 8, 960: 4, 981: 8, 987: 8, 988: 8, 991: 8, 997: 8, 1000: 8, 1019: 8, 1122: 8, 1123: 8, 1124: 8, 1153: 8, 1162: 8, 1175: 8, 1312: 8, 1385: 8, 1413: 8, 1440: 5, 1514: 8, 1515: 8, 1520: 8, 1600: 8, 1601: 8, 1603: 8, 1624: 8, 1629: 8, 1631: 8, 1646: 8, 1648: 8, 1712: 6, 1714: 8, 1716: 8, 1717: 8, 1719: 8, 1720: 8, 1721: 8, 1792: 8, 1872: 8, 1976: 8, 1977: 8, 1982: 8, 1985: 8
}],
CAR.AUDI_A3: [{
64: 8, 134: 8, 159: 8, 173: 8, 178: 8, 253: 8, 257: 8, 260: 8, 262: 8, 278: 8, 279: 8, 283: 8, 285: 8, 286: 8, 288: 8, 289: 8, 290: 8, 294: 8, 295: 8, 299: 8, 302: 8, 346: 8, 418: 8, 427: 8, 506: 8, 679: 8, 681: 8, 695: 8, 779: 8, 780: 8, 783: 8, 787: 8, 788: 8, 789: 8, 792: 8, 802: 8, 804: 8, 806: 8, 807: 8, 808: 8, 809: 8, 846: 8, 847: 8, 870: 8, 896: 8, 897: 8, 898: 8, 901: 8, 917: 8, 919: 8, 949: 8, 958: 8, 960: 4, 981: 8, 987: 8, 988: 8, 991: 8, 997: 8, 1000: 8, 1019: 8, 1122: 8, 1123: 8, 1124: 8, 1153: 8, 1162: 8, 1175: 8, 1312: 8, 1385: 8, 1413: 8, 1440: 5, 1514: 8, 1515: 8, 1520: 8, 1600: 8, 1601: 8, 1603: 8, 1624: 8, 1629: 8, 1631: 8, 1646: 8, 1648: 8, 1712: 6, 1714: 8, 1716: 8, 1717: 8, 1719: 8, 1720: 8, 1721: 8, 1792: 8, 1872: 8, 1976: 8, 1977: 8, 1982: 8, 1985: 8
CAR.VW_GOLF_MK7: [{
64: 8, 134: 8, 159: 8, 173: 8, 178: 8, 253: 8, 257: 8, 260: 8, 262: 8, 264: 8, 278: 8, 279: 8, 283: 8, 286: 8, 288: 8, 289: 8, 290: 8, 294: 8, 299: 8, 302: 8, 346: 8, 385: 8, 418: 8, 427: 8, 668: 8, 679: 8, 681: 8, 695: 8, 779: 8, 780: 8, 783: 8, 792: 8, 795: 8, 804: 8, 806: 8, 807: 8, 808: 8, 809: 8, 870: 8, 896: 8, 897: 8, 898: 8, 901: 8, 917: 8, 919: 8, 927: 8, 949: 8, 958: 8, 960: 4, 981: 8, 987: 8, 988: 8, 991: 8, 997: 8, 1000: 8, 1019: 8, 1120: 8, 1122: 8, 1123: 8, 1124: 8, 1153: 8, 1162: 8, 1175: 8, 1312: 8, 1385: 8, 1413: 8, 1440: 5, 1514: 8, 1515: 8, 1520: 8, 1529: 8, 1600: 8, 1601: 8, 1603: 8, 1605: 8, 1624: 8, 1626: 8, 1629: 8, 1631: 8, 1646: 8, 1648: 8, 1712: 6, 1714: 8, 1716: 8, 1717: 8, 1719: 8, 1720: 8, 1721: 8
}],
}
FW_VERSIONS = {
CAR.VW_GOLF_MK7: {
# Mk7 2013-2017 and Mk7.5 facelift 2018-2020
(Ecu.engine, 0x7e0, None): [
b'8V0906259P ', # 2018 Golf R (DJJA)
],
(Ecu.transmission, 0x7e1, None): [
b'0GC300012A ', # 2018 Golf R (DQ381)
],
(Ecu.esp, 0x713, None): [
b'5Q0614517CR', # 2018 Golf R
],
(Ecu.srs, 0x715, None): [
b'5Q0959655J ', # 2018 Golf R
],
(Ecu.eps, 0x712, None): [
b'3Q0909144L ', # Shared
],
(Ecu.fwdRadar, 0x757, None): [
b'5Q0907572J ', # Shared
],
(Ecu.fwdCamera, 0x74f, None): [
b'3Q0980654H ', # Shared
],
}
}
DBC = {
CAR.GOLF: dbc_dict('vw_mqb_2010', None),
CAR.AUDI_A3: dbc_dict('vw_mqb_2010', None),
CAR.AU_A3_MK3: dbc_dict('vw_mqb_2010', None),
CAR.VW_GOLF_MK7: dbc_dict('vw_mqb_2010', None),
}

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