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

VW PQ: Cleanup and prep for upstream (#25351)

Browse Source 
* VW MQB: Cleanup and abstractions

* regen CARS.md

* Update selfdrive/car/volkswagen/values.py

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* regen CARS.md

* now that's a refactor of a different sort

* move shifter value init/storage

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 3e3f960342
taco
Jason Young 3 years ago committed by GitHub
parent a4effaa34a
commit ecc4e1c8f4
6 changed files with 121 additions and 127 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 2
      docs/CARS.md
  2. 46
      selfdrive/car/volkswagen/carcontroller.py
  3. 28
      selfdrive/car/volkswagen/carstate.py
  4. 38
      selfdrive/car/volkswagen/mqbcan.py
  5. 88
      selfdrive/car/volkswagen/values.py
  6. 42
      selfdrive/car/volkswagen/volkswagencan.py

2
docs/CARS.md
Unescape View File

@ -231,7 +231,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
<sup>3</sup>When the Driver Support Unit (DSU) is disconnected, openpilot Adaptive Cruise Control (ACC) will replace stock Adaptive Cruise Control (ACC). <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br /> <sup>3</sup>When the Driver Support Unit (DSU) is disconnected, openpilot Adaptive Cruise Control (ACC) will replace stock Adaptive Cruise Control (ACC). <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
<sup>4</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br /> <sup>4</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
<sup>5</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br /> <sup>5</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
<sup>6</sup>Not including the USA/China market Passat, which is based on the (currently) unsupported PQ35/NMS platform. <br /> <sup>6</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
<sup>7</sup>Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering, remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). In the interim, if your car has a J533 connector CAN gateway inside the dashboard, choose "VW J533 Development" from the vehicle drop-down for a suitable harness. (Some newer models are also observed to not have a J533 connector.) <br /> <sup>7</sup>Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering, remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). In the interim, if your car has a J533 connector CAN gateway inside the dashboard, choose "VW J533 Development" from the vehicle drop-down for a suitable harness. (Some newer models are also observed to not have a J533 connector.) <br />
<sup>8</sup>Includes versions with extra rear cargo space (may be called Variant, Estate, SportWagen, Shooting Brake, etc.) <br /> <sup>8</sup>Includes versions with extra rear cargo space (may be called Variant, Estate, SportWagen, Shooting Brake, etc.) <br />

46
selfdrive/car/volkswagen/carcontroller.py
Unescape View File

@ -1,8 +1,8 @@
from cereal import car from cereal import car
from opendbc.can.packer import CANPacker from opendbc.can.packer import CANPacker
from selfdrive.car import apply_std_steer_torque_limits from selfdrive.car import apply_std_steer_torque_limits
from selfdrive.car.volkswagen import volkswagencan from selfdrive.car.volkswagen import mqbcan
from selfdrive.car.volkswagen.values import DBC_FILES, CANBUS, MQB_LDW_MESSAGES, CarControllerParams as P from selfdrive.car.volkswagen.values import CANBUS, CarControllerParams
VisualAlert = car.CarControl.HUDControl.VisualAlert VisualAlert = car.CarControl.HUDControl.VisualAlert
@ -10,11 +10,12 @@ VisualAlert = car.CarControl.HUDControl.VisualAlert
class CarController: class CarController:
def __init__(self, dbc_name, CP, VM): def __init__(self, dbc_name, CP, VM):
self.CP = CP self.CP = CP
self.CCP = CarControllerParams(CP)
self.CCS = mqbcan
self.packer_pt = CANPacker(dbc_name)
self.apply_steer_last = 0 self.apply_steer_last = 0
self.frame = 0 self.frame = 0
self.packer_pt = CANPacker(DBC_FILES.mqb)
self.hcaSameTorqueCount = 0 self.hcaSameTorqueCount = 0
self.hcaEnabledFrameCount = 0 self.hcaEnabledFrameCount = 0
@ -26,7 +27,7 @@ class CarController:
# **** Steering Controls ************************************************ # # **** Steering Controls ************************************************ #
if self.frame % P.HCA_STEP == 0: if self.frame % self.CCP.HCA_STEP == 0:
# Logic to avoid HCA state 4 "refused": # Logic to avoid HCA state 4 "refused":
# * Don't steer unless HCA is in state 3 "ready" or 5 "active" # * Don't steer unless HCA is in state 3 "ready" or 5 "active"
# * Don't steer at standstill # * Don't steer at standstill
@ -38,21 +39,21 @@ class CarController:
# when exceeding ~1/3 the 360 second timer. # when exceeding ~1/3 the 360 second timer.
if CC.latActive: if CC.latActive:
new_steer = int(round(actuators.steer * P.STEER_MAX)) new_steer = int(round(actuators.steer * self.CCP.STEER_MAX))
apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, P) apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.CCP)
if apply_steer == 0: if apply_steer == 0:
hcaEnabled = False hcaEnabled = False
self.hcaEnabledFrameCount = 0 self.hcaEnabledFrameCount = 0
else: else:
self.hcaEnabledFrameCount += 1 self.hcaEnabledFrameCount += 1
if self.hcaEnabledFrameCount >= 118 * (100 / P.HCA_STEP): # 118s if self.hcaEnabledFrameCount >= 118 * (100 / self.CCP.HCA_STEP): # 118s
hcaEnabled = False hcaEnabled = False
self.hcaEnabledFrameCount = 0 self.hcaEnabledFrameCount = 0
else: else:
hcaEnabled = True hcaEnabled = True
if self.apply_steer_last == apply_steer: if self.apply_steer_last == apply_steer:
self.hcaSameTorqueCount += 1 self.hcaSameTorqueCount += 1
if self.hcaSameTorqueCount > 1.9 * (100 / P.HCA_STEP): # 1.9s if self.hcaSameTorqueCount > 1.9 * (100 / self.CCP.HCA_STEP): # 1.9s
apply_steer -= (1, -1)[apply_steer < 0] apply_steer -= (1, -1)[apply_steer < 0]
self.hcaSameTorqueCount = 0 self.hcaSameTorqueCount = 0
else: else:
@ -62,32 +63,29 @@ class CarController:
apply_steer = 0 apply_steer = 0
self.apply_steer_last = apply_steer self.apply_steer_last = apply_steer
can_sends.append(volkswagencan.create_mqb_steering_control(self.packer_pt, CANBUS.pt, apply_steer, hcaEnabled)) can_sends.append(self.CCS.create_steering_control(self.packer_pt, CANBUS.pt, apply_steer, hcaEnabled))
# **** HUD Controls ***************************************************** # # **** HUD Controls ***************************************************** #
if self.frame % P.LDW_STEP == 0: if self.frame % self.CCP.LDW_STEP == 0:
hud_alert = 0
if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw): if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw):
hud_alert = MQB_LDW_MESSAGES["laneAssistTakeOverSilent"] hud_alert = self.CCP.LDW_MESSAGES["laneAssistTakeOver"]
else:
hud_alert = MQB_LDW_MESSAGES["none"]
can_sends.append(volkswagencan.create_mqb_hud_control(self.packer_pt, CANBUS.pt, CC.enabled, can_sends.append(self.CCS.create_lka_hud_control(self.packer_pt, CANBUS.pt, CS.ldw_stock_values, CC.enabled,
CS.out.steeringPressed, hud_alert, hud_control.leftLaneVisible, CS.out.steeringPressed, hud_alert, hud_control))
hud_control.rightLaneVisible, CS.ldw_stock_values,
hud_control.leftLaneDepart, hud_control.rightLaneDepart))
# **** ACC Button Controls ********************************************** # # **** Stock ACC Button Controls **************************************** #
if self.CP.pcmCruise and self.frame % P.GRA_ACC_STEP == 0: if self.CP.pcmCruise and self.frame % self.CCP.GRA_ACC_STEP == 0:
idx = (CS.gra_stock_values["COUNTER"] + 1) % 16 idx = (CS.gra_stock_values["COUNTER"] + 1) % 16
if CC.cruiseControl.cancel: if CC.cruiseControl.cancel:
can_sends.append(volkswagencan.create_mqb_acc_buttons_control(self.packer_pt, ext_bus, CS.gra_stock_values, idx, cancel=True)) can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, ext_bus, CS.gra_stock_values, idx, cancel=True))
elif CC.cruiseControl.resume: elif CC.cruiseControl.resume:
can_sends.append(volkswagencan.create_mqb_acc_buttons_control(self.packer_pt, ext_bus, CS.gra_stock_values, idx, resume=True)) can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, ext_bus, CS.gra_stock_values, idx, resume=True))
new_actuators = actuators.copy() new_actuators = actuators.copy()
new_actuators.steer = self.apply_steer_last / P.STEER_MAX new_actuators.steer = self.apply_steer_last / self.CCP.STEER_MAX
self.frame += 1 self.frame += 1
return new_actuators, can_sends return new_actuators, can_sends

28
selfdrive/car/volkswagen/carstate.py
Unescape View File

@ -3,20 +3,14 @@ from cereal import car
from common.conversions import Conversions as CV from common.conversions import Conversions as CV
from selfdrive.car.interfaces import CarStateBase from selfdrive.car.interfaces import CarStateBase
from opendbc.can.parser import CANParser from opendbc.can.parser import CANParser
from opendbc.can.can_define import CANDefine from selfdrive.car.volkswagen.values import DBC, CANBUS, NetworkLocation, TransmissionType, GearShifter, CarControllerParams
from selfdrive.car.volkswagen.values import DBC_FILES, CANBUS, NetworkLocation, TransmissionType, GearShifter, \
CarControllerParams, MQB_BUTTONS
class CarState(CarStateBase): class CarState(CarStateBase):
def __init__(self, CP): def __init__(self, CP):
super().__init__(CP) super().__init__(CP)
self.button_states = {button.event_type: False for button in MQB_BUTTONS} self.CCP = CarControllerParams(CP)
can_define = CANDefine(DBC_FILES.mqb) self.button_states = {button.event_type: False for button in self.CCP.BUTTONS}
if CP.transmissionType == TransmissionType.automatic:
self.shifter_values = can_define.dv["Getriebe_11"]["GE_Fahrstufe"]
elif CP.transmissionType == TransmissionType.direct:
self.shifter_values = can_define.dv["EV_Gearshift"]["GearPosition"]
self.hca_status_values = can_define.dv["LH_EPS_03"]["EPS_HCA_Status"]
def update(self, pt_cp, cam_cp, ext_cp, trans_type): def update(self, pt_cp, cam_cp, ext_cp, trans_type):
ret = car.CarState.new_message() ret = car.CarState.new_message()
@ -37,11 +31,11 @@ class CarState(CarStateBase):
ret.steeringAngleDeg = pt_cp.vl["LWI_01"]["LWI_Lenkradwinkel"] * (1, -1)[int(pt_cp.vl["LWI_01"]["LWI_VZ_Lenkradwinkel"])] ret.steeringAngleDeg = pt_cp.vl["LWI_01"]["LWI_Lenkradwinkel"] * (1, -1)[int(pt_cp.vl["LWI_01"]["LWI_VZ_Lenkradwinkel"])]
ret.steeringRateDeg = pt_cp.vl["LWI_01"]["LWI_Lenkradw_Geschw"] * (1, -1)[int(pt_cp.vl["LWI_01"]["LWI_VZ_Lenkradw_Geschw"])] ret.steeringRateDeg = pt_cp.vl["LWI_01"]["LWI_Lenkradw_Geschw"] * (1, -1)[int(pt_cp.vl["LWI_01"]["LWI_VZ_Lenkradw_Geschw"])]
ret.steeringTorque = pt_cp.vl["LH_EPS_03"]["EPS_Lenkmoment"] * (1, -1)[int(pt_cp.vl["LH_EPS_03"]["EPS_VZ_Lenkmoment"])] ret.steeringTorque = pt_cp.vl["LH_EPS_03"]["EPS_Lenkmoment"] * (1, -1)[int(pt_cp.vl["LH_EPS_03"]["EPS_VZ_Lenkmoment"])]
ret.steeringPressed = abs(ret.steeringTorque) > CarControllerParams.STEER_DRIVER_ALLOWANCE ret.steeringPressed = abs(ret.steeringTorque) > self.CCP.STEER_DRIVER_ALLOWANCE
ret.yawRate = pt_cp.vl["ESP_02"]["ESP_Gierrate"] * (1, -1)[int(pt_cp.vl["ESP_02"]["ESP_VZ_Gierrate"])] * CV.DEG_TO_RAD ret.yawRate = pt_cp.vl["ESP_02"]["ESP_Gierrate"] * (1, -1)[int(pt_cp.vl["ESP_02"]["ESP_VZ_Gierrate"])] * CV.DEG_TO_RAD
# Verify EPS readiness to accept steering commands # Verify EPS readiness to accept steering commands
hca_status = self.hca_status_values.get(pt_cp.vl["LH_EPS_03"]["EPS_HCA_Status"]) hca_status = self.CCP.hca_status_values.get(pt_cp.vl["LH_EPS_03"]["EPS_HCA_Status"])
ret.steerFaultPermanent = hca_status in ("DISABLED", "FAULT") ret.steerFaultPermanent = hca_status in ("DISABLED", "FAULT")
ret.steerFaultTemporary = hca_status in ("INITIALIZING", "REJECTED") ret.steerFaultTemporary = hca_status in ("INITIALIZING", "REJECTED")
@ -54,9 +48,9 @@ class CarState(CarStateBase):
# Update gear and/or clutch position data. # Update gear and/or clutch position data.
if trans_type == TransmissionType.automatic: if trans_type == TransmissionType.automatic:
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["Getriebe_11"]["GE_Fahrstufe"], None)) ret.gearShifter = self.parse_gear_shifter(self.CCP.shifter_values.get(pt_cp.vl["Getriebe_11"]["GE_Fahrstufe"], None))
elif trans_type == TransmissionType.direct: elif trans_type == TransmissionType.direct:
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["EV_Gearshift"]["GearPosition"], None)) ret.gearShifter = self.parse_gear_shifter(self.CCP.shifter_values.get(pt_cp.vl["EV_Gearshift"]["GearPosition"], None))
elif trans_type == TransmissionType.manual: elif trans_type == TransmissionType.manual:
ret.clutchPressed = not pt_cp.vl["Motor_14"]["MO_Kuppl_schalter"] ret.clutchPressed = not pt_cp.vl["Motor_14"]["MO_Kuppl_schalter"]
if bool(pt_cp.vl["Gateway_72"]["BCM1_Rueckfahrlicht_Schalter"]): if bool(pt_cp.vl["Gateway_72"]["BCM1_Rueckfahrlicht_Schalter"]):
@ -120,7 +114,7 @@ class CarState(CarStateBase):
ret.rightBlinker = bool(pt_cp.vl["Blinkmodi_02"]["Comfort_Signal_Right"]) ret.rightBlinker = bool(pt_cp.vl["Blinkmodi_02"]["Comfort_Signal_Right"])
self.gra_stock_values = pt_cp.vl["GRA_ACC_01"] self.gra_stock_values = pt_cp.vl["GRA_ACC_01"]
buttonEvents = [] buttonEvents = []
for button in MQB_BUTTONS: for button in self.CCP.BUTTONS:
state = pt_cp.vl[button.can_addr][button.can_msg] in button.values state = pt_cp.vl[button.can_addr][button.can_msg] in button.values
if self.button_states[button.event_type] != state: if self.button_states[button.event_type] != state:
event = car.CarState.ButtonEvent.new_message() event = car.CarState.ButtonEvent.new_message()
@ -218,7 +212,7 @@ class CarState(CarStateBase):
signals += MqbExtraSignals.bsm_radar_signals signals += MqbExtraSignals.bsm_radar_signals
checks += MqbExtraSignals.bsm_radar_checks checks += MqbExtraSignals.bsm_radar_checks
return CANParser(DBC_FILES.mqb, signals, checks, CANBUS.pt) return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CANBUS.pt)
@staticmethod @staticmethod
def get_cam_can_parser(CP): def get_cam_can_parser(CP):
@ -246,7 +240,7 @@ class CarState(CarStateBase):
signals += MqbExtraSignals.bsm_radar_signals signals += MqbExtraSignals.bsm_radar_signals
checks += MqbExtraSignals.bsm_radar_checks checks += MqbExtraSignals.bsm_radar_checks
return CANParser(DBC_FILES.mqb, signals, checks, CANBUS.cam) return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CANBUS.cam)
class MqbExtraSignals: class MqbExtraSignals:
# Additional signal and message lists for optional or bus-portable controllers # Additional signal and message lists for optional or bus-portable controllers

38
selfdrive/car/volkswagen/mqbcan.py
Unescape View File

@ -0,0 +1,38 @@
def create_steering_control(packer, bus, apply_steer, lkas_enabled):
values = {
"SET_ME_0X3": 0x3,
"Assist_Torque": abs(apply_steer),
"Assist_Requested": lkas_enabled,
"Assist_VZ": 1 if apply_steer < 0 else 0,
"HCA_Available": 1,
"HCA_Standby": not lkas_enabled,
"HCA_Active": lkas_enabled,
"SET_ME_0XFE": 0xFE,
"SET_ME_0X07": 0x07,
}
return packer.make_can_msg("HCA_01", bus, values)
def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pressed, hud_alert, hud_control):
values = ldw_stock_values.copy()
values.update({
"LDW_Status_LED_gelb": 1 if enabled and steering_pressed else 0,
"LDW_Status_LED_gruen": 1 if enabled and not steering_pressed else 0,
"LDW_Lernmodus_links": 3 if hud_control.leftLaneDepart else 1 + hud_control.leftLaneVisible,
"LDW_Lernmodus_rechts": 3 if hud_control.rightLaneDepart else 1 + hud_control.rightLaneVisible,
"LDW_Texte": hud_alert,
})
return packer.make_can_msg("LDW_02", bus, values)
def create_acc_buttons_control(packer, bus, gra_stock_values, idx, cancel=False, resume=False):
values = gra_stock_values.copy()
values.update({
"COUNTER": idx,
"GRA_Abbrechen": cancel,
"GRA_Tip_Wiederaufnahme": resume,
})
return packer.make_can_msg("GRA_ACC_01", bus, values)

88
selfdrive/car/volkswagen/values.py
Unescape View File

@ -4,6 +4,7 @@ from enum import Enum
from typing import Dict, List, Union from typing import Dict, List, Union
from cereal import car from cereal import car
from opendbc.can.can_define import CANDefine
from selfdrive.car import dbc_dict from selfdrive.car import dbc_dict
from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness
@ -15,54 +16,56 @@ Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
class CarControllerParams: class CarControllerParams:
HCA_STEP = 2 # HCA_01 message frequency 50Hz HCA_STEP = 2 # HCA_01/HCA_1 message frequency 50Hz
LDW_STEP = 10 # LDW_02 message frequency 10Hz GRA_ACC_STEP = 3 # GRA_ACC_01/GRA_Neu message frequency 33Hz
GRA_ACC_STEP = 3 # GRA_ACC_01 message frequency 33Hz
# Observed documented MQB limits: 3.00 Nm max, rate of change 5.00 Nm/sec. def __init__(self, CP):
# Limiting rate-of-change based on real-world testing and Comma's safety # Documented lateral limits: 3.00 Nm max, rate of change 5.00 Nm/sec.
# requirements for minimum time to lane departure. # MQB vs PQ maximums are shared, but rate-of-change limited differently
STEER_MAX = 300 # Max heading control assist torque 3.00 Nm # based on safety requirements driven by lateral accel testing.
STEER_DELTA_UP = 4 # Max HCA reached in 1.50s (STEER_MAX / (50Hz * 1.50)) self.STEER_MAX = 300 # Max heading control assist torque 3.00 Nm
STEER_DELTA_DOWN = 10 # Min HCA reached in 0.60s (STEER_MAX / (50Hz * 0.60)) self.STEER_DRIVER_MULTIPLIER = 3 # weight driver torque heavily
STEER_DRIVER_ALLOWANCE = 80 self.STEER_DRIVER_FACTOR = 1 # from dbc
STEER_DRIVER_MULTIPLIER = 3 # weight driver torque heavily
STEER_DRIVER_FACTOR = 1 # from dbc
can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
class CANBUS: if True: # pylint: disable=using-constant-test
pt = 0 self.LDW_STEP = 10 # LDW_02 message frequency 10Hz
cam = 2 self.STEER_DRIVER_ALLOWANCE = 80 # Driver intervention threshold 0.8 Nm
self.STEER_DELTA_UP = 4 # Max HCA reached in 1.50s (STEER_MAX / (50Hz * 1.50))
self.STEER_DELTA_DOWN = 10 # Min HCA reached in 0.60s (STEER_MAX / (50Hz * 0.60))
class DBC_FILES:
mqb = "vw_mqb_2010" # Used for all cars with MQB-style CAN messaging
DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict(DBC_FILES.mqb, None)) if CP.transmissionType == TransmissionType.automatic:
self.shifter_values = can_define.dv["Getriebe_11"]["GE_Fahrstufe"]
elif CP.transmissionType == TransmissionType.direct:
self.shifter_values = can_define.dv["EV_Gearshift"]["GearPosition"]
self.hca_status_values = can_define.dv["LH_EPS_03"]["EPS_HCA_Status"]
self.BUTTONS = [
Button(car.CarState.ButtonEvent.Type.setCruise, "GRA_ACC_01", "GRA_Tip_Setzen", [1]),
Button(car.CarState.ButtonEvent.Type.resumeCruise, "GRA_ACC_01", "GRA_Tip_Wiederaufnahme", [1]),
Button(car.CarState.ButtonEvent.Type.accelCruise, "GRA_ACC_01", "GRA_Tip_Hoch", [1]),
Button(car.CarState.ButtonEvent.Type.decelCruise, "GRA_ACC_01", "GRA_Tip_Runter", [1]),
Button(car.CarState.ButtonEvent.Type.cancel, "GRA_ACC_01", "GRA_Abbrechen", [1]),
Button(car.CarState.ButtonEvent.Type.gapAdjustCruise, "GRA_ACC_01", "GRA_Verstellung_Zeitluecke", [1]),
]
MQB_BUTTONS = [ self.LDW_MESSAGES = {
Button(car.CarState.ButtonEvent.Type.setCruise, "GRA_ACC_01", "GRA_Tip_Setzen", [1]), "none": 0, # Nothing to display
Button(car.CarState.ButtonEvent.Type.resumeCruise, "GRA_ACC_01", "GRA_Tip_Wiederaufnahme", [1]), "laneAssistUnavailChime": 1, # "Lane Assist currently not available." with chime
Button(car.CarState.ButtonEvent.Type.accelCruise, "GRA_ACC_01", "GRA_Tip_Hoch", [1]), "laneAssistUnavailNoSensorChime": 3, # "Lane Assist not available. No sensor view." with chime
Button(car.CarState.ButtonEvent.Type.decelCruise, "GRA_ACC_01", "GRA_Tip_Runter", [1]), "laneAssistTakeOverUrgent": 4, # "Lane Assist: Please Take Over Steering" with urgent beep
Button(car.CarState.ButtonEvent.Type.cancel, "GRA_ACC_01", "GRA_Abbrechen", [1]), "emergencyAssistUrgent": 6, # "Emergency Assist: Please Take Over Steering" with urgent beep
Button(car.CarState.ButtonEvent.Type.gapAdjustCruise, "GRA_ACC_01", "GRA_Verstellung_Zeitluecke", [1]), "laneAssistTakeOverChime": 7, # "Lane Assist: Please Take Over Steering" with chime
] "laneAssistTakeOver": 8, # "Lane Assist: Please Take Over Steering" silent
"emergencyAssistChangingLanes": 9, # "Emergency Assist: Changing lanes..." with urgent beep
"laneAssistDeactivated": 10, # "Lane Assist deactivated." silent with persistent icon afterward
}
MQB_LDW_MESSAGES = { class CANBUS:
"none": 0, # Nothing to display pt = 0
"laneAssistUnavailChime": 1, # "Lane Assist currently not available." with chime cam = 2
"laneAssistUnavailNoSensorChime": 3, # "Lane Assist not available. No sensor view." with chime
"laneAssistTakeOverUrgent": 4, # "Lane Assist: Please Take Over Steering" with urgent beep
"emergencyAssistUrgent": 6, # "Emergency Assist: Please Take Over Steering" with urgent beep
"laneAssistTakeOverChime": 7, # "Lane Assist: Please Take Over Steering" with chime
"laneAssistTakeOverSilent": 8, # "Lane Assist: Please Take Over Steering" silent
"emergencyAssistChangingLanes": 9, # "Emergency Assist: Changing lanes..." with urgent beep
"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 # Check the 7th and 8th characters of the VIN before adding a new CAR. If the
@ -96,12 +99,15 @@ class CAR:
SKODA_OCTAVIA_MK3 = "SKODA OCTAVIA 3RD GEN" # Chassis NE, Mk3 Skoda Octavia and variants SKODA_OCTAVIA_MK3 = "SKODA OCTAVIA 3RD GEN" # Chassis NE, Mk3 Skoda Octavia and variants
DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict("vw_mqb_2010", None))
class Footnote(Enum): class Footnote(Enum):
KAMIQ = CarFootnote( KAMIQ = CarFootnote(
"Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform.", "Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform.",
Column.MODEL) Column.MODEL)
PASSAT = CarFootnote( PASSAT = CarFootnote(
"Not including the USA/China market Passat, which is based on the (currently) unsupported PQ35/NMS platform.", "Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets.",
Column.MODEL) Column.MODEL)
VW_HARNESS = CarFootnote( VW_HARNESS = CarFootnote(
"Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma " + "Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma " +

42
selfdrive/car/volkswagen/volkswagencan.py
Unescape View File

@ -1,42 +0,0 @@
# CAN controls for MQB platform Volkswagen, Audi, Skoda, and SEAT.
# PQ35/PQ46/NMS, and any future MLB, to come later.
def create_mqb_steering_control(packer, bus, apply_steer, lkas_enabled):
values = {
"SET_ME_0X3": 0x3,
"Assist_Torque": abs(apply_steer),
"Assist_Requested": lkas_enabled,
"Assist_VZ": 1 if apply_steer < 0 else 0,
"HCA_Available": 1,
"HCA_Standby": not lkas_enabled,
"HCA_Active": lkas_enabled,
"SET_ME_0XFE": 0xFE,
"SET_ME_0X07": 0x07,
}
return packer.make_can_msg("HCA_01", bus, values)
def create_mqb_hud_control(packer, bus, enabled, steering_pressed, hud_alert, left_lane_visible, right_lane_visible,
ldw_stock_values, left_lane_depart, right_lane_depart):
# Lane color reference:
# 0 (LKAS disabled) - off
# 1 (LKAS enabled, no lane detected) - dark gray
# 2 (LKAS enabled, lane detected) - light gray on VW, green or white on Audi depending on year or virtual cockpit. On a color MFD on a 2015 A3 TDI it is white, virtual cockpit on a 2018 A3 e-Tron its green.
# 3 (LKAS enabled, lane departure detected) - white on VW, red on Audi
values = ldw_stock_values.copy()
values.update({
"LDW_Status_LED_gelb": 1 if enabled and steering_pressed else 0,
"LDW_Status_LED_gruen": 1 if enabled and not steering_pressed else 0,
"LDW_Lernmodus_links": 3 if left_lane_depart else 1 + left_lane_visible,
"LDW_Lernmodus_rechts": 3 if right_lane_depart else 1 + right_lane_visible,
"LDW_Texte": hud_alert,
})
return packer.make_can_msg("LDW_02", bus, values)
def create_mqb_acc_buttons_control(packer, bus, gra_stock_values, idx, cancel=False, resume=False):
values = gra_stock_values.copy()
values["COUNTER"] = idx
values["GRA_Abbrechen"] = cancel
values["GRA_Tip_Wiederaufnahme"] = resume
return packer.make_can_msg("GRA_ACC_01", bus, values)
Write Preview
Loading…
Cancel
Save