FPv2 support for MQB

panda

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

selfdrive/car/fw_versions.py

@@ -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:

selfdrive/car/isotp_parallel_query.py

@@ -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):

selfdrive/car/volkswagen/interface.py

@@ -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
 

selfdrive/car/volkswagen/values.py

@@ -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"
+  AU_A3_MK3 = "AUDI A3 3RD GEN"
-  AUDI_A3 = "AUDI A3"
+  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: [{
+  CAR.AU_A3_MK3: [{
-    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
+    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: [{
+  CAR.VW_GOLF_MK7: [{
-    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
+    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.AU_A3_MK3: dbc_dict('vw_mqb_2010', None),
-  CAR.AUDI_A3: dbc_dict('vw_mqb_2010', None),
+  CAR.VW_GOLF_MK7: dbc_dict('vw_mqb_2010', None),
 }