You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
391 lines
17 KiB
391 lines
17 KiB
from collections import namedtuple
|
|
from dataclasses import dataclass, field
|
|
from enum import Enum, IntFlag
|
|
|
|
from cereal import car
|
|
from panda.python import uds
|
|
from opendbc.can.can_define import CANDefine
|
|
from openpilot.common.conversions import Conversions as CV
|
|
from openpilot.selfdrive.car import dbc_dict, CarSpecs, DbcDict, PlatformConfig, Platforms
|
|
from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column, \
|
|
Device
|
|
from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
|
|
|
|
Ecu = car.CarParams.Ecu
|
|
NetworkLocation = car.CarParams.NetworkLocation
|
|
TransmissionType = car.CarParams.TransmissionType
|
|
GearShifter = car.CarState.GearShifter
|
|
Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
|
|
|
|
|
|
class CarControllerParams:
|
|
STEER_STEP = 2 # HCA_01/HCA_1 message frequency 50Hz
|
|
ACC_CONTROL_STEP = 2 # ACC_06/ACC_07/ACC_System frequency 50Hz
|
|
|
|
# Documented lateral limits: 3.00 Nm max, rate of change 5.00 Nm/sec.
|
|
# MQB vs PQ maximums are shared, but rate-of-change limited differently
|
|
# based on safety requirements driven by lateral accel testing.
|
|
|
|
STEER_MAX = 300 # Max heading control assist torque 3.00 Nm
|
|
STEER_DRIVER_MULTIPLIER = 3 # weight driver torque heavily
|
|
STEER_DRIVER_FACTOR = 1 # from dbc
|
|
|
|
STEER_TIME_MAX = 360 # Max time that EPS allows uninterrupted HCA steering control
|
|
STEER_TIME_ALERT = STEER_TIME_MAX - 10 # If mitigation fails, time to soft disengage before EPS timer expires
|
|
STEER_TIME_STUCK_TORQUE = 1.9 # EPS limits same torque to 6 seconds, reset timer 3x within that period
|
|
|
|
ACCEL_MAX = 2.0 # 2.0 m/s max acceleration
|
|
ACCEL_MIN = -3.5 # 3.5 m/s max deceleration
|
|
|
|
def __init__(self, CP):
|
|
can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
|
|
|
|
if CP.flags & VolkswagenFlags.PQ:
|
|
self.LDW_STEP = 5 # LDW_1 message frequency 20Hz
|
|
self.ACC_HUD_STEP = 4 # ACC_GRA_Anzeige frequency 25Hz
|
|
self.STEER_DRIVER_ALLOWANCE = 80 # Driver intervention threshold 0.8 Nm
|
|
self.STEER_DELTA_UP = 6 # Max HCA reached in 1.00s (STEER_MAX / (50Hz * 1.00))
|
|
self.STEER_DELTA_DOWN = 10 # Min HCA reached in 0.60s (STEER_MAX / (50Hz * 0.60))
|
|
|
|
if CP.transmissionType == TransmissionType.automatic:
|
|
self.shifter_values = can_define.dv["Getriebe_1"]["Waehlhebelposition__Getriebe_1_"]
|
|
self.hca_status_values = can_define.dv["Lenkhilfe_2"]["LH2_Sta_HCA"]
|
|
|
|
self.BUTTONS = [
|
|
Button(car.CarState.ButtonEvent.Type.setCruise, "GRA_Neu", "GRA_Neu_Setzen", [1]),
|
|
Button(car.CarState.ButtonEvent.Type.resumeCruise, "GRA_Neu", "GRA_Recall", [1]),
|
|
Button(car.CarState.ButtonEvent.Type.accelCruise, "GRA_Neu", "GRA_Up_kurz", [1]),
|
|
Button(car.CarState.ButtonEvent.Type.decelCruise, "GRA_Neu", "GRA_Down_kurz", [1]),
|
|
Button(car.CarState.ButtonEvent.Type.cancel, "GRA_Neu", "GRA_Abbrechen", [1]),
|
|
Button(car.CarState.ButtonEvent.Type.gapAdjustCruise, "GRA_Neu", "GRA_Zeitluecke", [1]),
|
|
]
|
|
|
|
self.LDW_MESSAGES = {
|
|
"none": 0, # Nothing to display
|
|
"laneAssistUnavail": 1, # "Lane Assist currently not available."
|
|
"laneAssistUnavailSysError": 2, # "Lane Assist system error"
|
|
"laneAssistUnavailNoSensorView": 3, # "Lane Assist not available. No sensor view."
|
|
"laneAssistTakeOver": 4, # "Lane Assist: Please Take Over Steering"
|
|
"laneAssistDeactivTrailer": 5, # "Lane Assist: no function with trailer"
|
|
}
|
|
|
|
else:
|
|
self.LDW_STEP = 10 # LDW_02 message frequency 10Hz
|
|
self.ACC_HUD_STEP = 6 # ACC_02 message frequency 16Hz
|
|
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))
|
|
|
|
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]),
|
|
]
|
|
|
|
self.LDW_MESSAGES = {
|
|
"none": 0, # Nothing to display
|
|
"laneAssistUnavailChime": 1, # "Lane Assist currently not available." with chime
|
|
"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
|
|
"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
|
|
}
|
|
|
|
|
|
class CANBUS:
|
|
pt = 0
|
|
cam = 2
|
|
|
|
|
|
class VolkswagenFlags(IntFlag):
|
|
# Detected flags
|
|
STOCK_HCA_PRESENT = 1
|
|
|
|
# Static flags
|
|
PQ = 2
|
|
|
|
|
|
@dataclass
|
|
class VolkswagenMQBPlatformConfig(PlatformConfig):
|
|
dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('vw_mqb_2010', None))
|
|
|
|
|
|
@dataclass
|
|
class VolkswagenPQPlatformConfig(PlatformConfig):
|
|
dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('vw_golf_mk4', None))
|
|
|
|
def init(self):
|
|
self.flags |= VolkswagenFlags.PQ
|
|
|
|
|
|
@dataclass(frozen=True, kw_only=True)
|
|
class VolkswagenCarSpecs(CarSpecs):
|
|
centerToFrontRatio: float = 0.45
|
|
steerRatio: float = 15.6
|
|
|
|
|
|
class Footnote(Enum):
|
|
KAMIQ = CarFootnote(
|
|
"Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform.",
|
|
Column.MODEL)
|
|
PASSAT = CarFootnote(
|
|
"Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets.",
|
|
Column.MODEL)
|
|
SKODA_HEATED_WINDSHIELD = CarFootnote(
|
|
"Some Škoda vehicles are equipped with heated windshields, which are known " +
|
|
"to block GPS signal needed for some comma 3X functionality.",
|
|
Column.MODEL)
|
|
VW_EXP_LONG = CarFootnote(
|
|
"Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness " +
|
|
"are limited to using stock ACC.",
|
|
Column.LONGITUDINAL)
|
|
VW_MQB_A0 = CarFootnote(
|
|
"Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot " +
|
|
"in software, but doesn't yet have a harness available from the comma store.",
|
|
Column.HARDWARE)
|
|
|
|
|
|
@dataclass
|
|
class VWCarDocs(CarDocs):
|
|
package: str = "Adaptive Cruise Control (ACC) & Lane Assist"
|
|
car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.j533]))
|
|
|
|
def init_make(self, CP: car.CarParams):
|
|
self.footnotes.append(Footnote.VW_EXP_LONG)
|
|
if "SKODA" in CP.carFingerprint:
|
|
self.footnotes.append(Footnote.SKODA_HEATED_WINDSHIELD)
|
|
|
|
if CP.carFingerprint in (CAR.VOLKSWAGEN_CRAFTER_MK2, CAR.VOLKSWAGEN_TRANSPORTER_T61):
|
|
self.car_parts = CarParts([Device.threex_angled_mount, CarHarness.j533])
|
|
|
|
|
|
# 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.
|
|
# Exception: SEAT Leon and SEAT Ateca share a chassis code
|
|
|
|
class CAR(Platforms):
|
|
VOLKSWAGEN_ARTEON_MK1 = VolkswagenMQBPlatformConfig( # Chassis AN
|
|
[
|
|
VWCarDocs("Volkswagen Arteon 2018-23", video_link="https://youtu.be/FAomFKPFlDA"),
|
|
VWCarDocs("Volkswagen Arteon R 2020-23", video_link="https://youtu.be/FAomFKPFlDA"),
|
|
VWCarDocs("Volkswagen Arteon eHybrid 2020-23", video_link="https://youtu.be/FAomFKPFlDA"),
|
|
VWCarDocs("Volkswagen CC 2018-22", video_link="https://youtu.be/FAomFKPFlDA"),
|
|
],
|
|
VolkswagenCarSpecs(mass=1733, wheelbase=2.84),
|
|
)
|
|
VOLKSWAGEN_ATLAS_MK1 = VolkswagenMQBPlatformConfig( # Chassis CA
|
|
[
|
|
VWCarDocs("Volkswagen Atlas 2018-23"),
|
|
VWCarDocs("Volkswagen Atlas Cross Sport 2020-22"),
|
|
VWCarDocs("Volkswagen Teramont 2018-22"),
|
|
VWCarDocs("Volkswagen Teramont Cross Sport 2021-22"),
|
|
VWCarDocs("Volkswagen Teramont X 2021-22"),
|
|
],
|
|
VolkswagenCarSpecs(mass=2011, wheelbase=2.98),
|
|
)
|
|
VOLKSWAGEN_CADDY_MK3 = VolkswagenPQPlatformConfig( # Chassis 2K
|
|
[
|
|
VWCarDocs("Volkswagen Caddy 2019"),
|
|
VWCarDocs("Volkswagen Caddy Maxi 2019"),
|
|
],
|
|
VolkswagenCarSpecs(mass=1613, wheelbase=2.6, minSteerSpeed=21 * CV.KPH_TO_MS),
|
|
)
|
|
VOLKSWAGEN_CRAFTER_MK2 = VolkswagenMQBPlatformConfig( # Chassis SY/SZ
|
|
[
|
|
VWCarDocs("Volkswagen Crafter 2017-23", video_link="https://youtu.be/4100gLeabmo"),
|
|
VWCarDocs("Volkswagen e-Crafter 2018-23", video_link="https://youtu.be/4100gLeabmo"),
|
|
VWCarDocs("Volkswagen Grand California 2019-23", video_link="https://youtu.be/4100gLeabmo"),
|
|
VWCarDocs("MAN TGE 2017-23", video_link="https://youtu.be/4100gLeabmo"),
|
|
VWCarDocs("MAN eTGE 2020-23", video_link="https://youtu.be/4100gLeabmo"),
|
|
],
|
|
VolkswagenCarSpecs(mass=2100, wheelbase=3.64, minSteerSpeed=50 * CV.KPH_TO_MS),
|
|
)
|
|
VOLKSWAGEN_GOLF_MK7 = VolkswagenMQBPlatformConfig( # Chassis 5G/AU/BA/BE
|
|
[
|
|
VWCarDocs("Volkswagen e-Golf 2014-20"),
|
|
VWCarDocs("Volkswagen Golf 2015-20", auto_resume=False),
|
|
VWCarDocs("Volkswagen Golf Alltrack 2015-19", auto_resume=False),
|
|
VWCarDocs("Volkswagen Golf GTD 2015-20"),
|
|
VWCarDocs("Volkswagen Golf GTE 2015-20"),
|
|
VWCarDocs("Volkswagen Golf GTI 2015-21", auto_resume=False),
|
|
VWCarDocs("Volkswagen Golf R 2015-19"),
|
|
VWCarDocs("Volkswagen Golf SportsVan 2015-20"),
|
|
],
|
|
VolkswagenCarSpecs(mass=1397, wheelbase=2.62),
|
|
)
|
|
VOLKSWAGEN_JETTA_MK7 = VolkswagenMQBPlatformConfig( # Chassis BU
|
|
[
|
|
VWCarDocs("Volkswagen Jetta 2018-24"),
|
|
VWCarDocs("Volkswagen Jetta GLI 2021-24"),
|
|
],
|
|
VolkswagenCarSpecs(mass=1328, wheelbase=2.71),
|
|
)
|
|
VOLKSWAGEN_PASSAT_MK8 = VolkswagenMQBPlatformConfig( # Chassis 3G
|
|
[
|
|
VWCarDocs("Volkswagen Passat 2015-22", footnotes=[Footnote.PASSAT]),
|
|
VWCarDocs("Volkswagen Passat Alltrack 2015-22"),
|
|
VWCarDocs("Volkswagen Passat GTE 2015-22"),
|
|
],
|
|
VolkswagenCarSpecs(mass=1551, wheelbase=2.79),
|
|
)
|
|
VOLKSWAGEN_PASSAT_NMS = VolkswagenPQPlatformConfig( # Chassis A3
|
|
[VWCarDocs("Volkswagen Passat NMS 2017-22")],
|
|
VolkswagenCarSpecs(mass=1503, wheelbase=2.80, minSteerSpeed=50*CV.KPH_TO_MS, minEnableSpeed=20*CV.KPH_TO_MS),
|
|
)
|
|
VOLKSWAGEN_POLO_MK6 = VolkswagenMQBPlatformConfig( # Chassis AW
|
|
[
|
|
VWCarDocs("Volkswagen Polo 2018-23", footnotes=[Footnote.VW_MQB_A0]),
|
|
VWCarDocs("Volkswagen Polo GTI 2018-23", footnotes=[Footnote.VW_MQB_A0]),
|
|
],
|
|
VolkswagenCarSpecs(mass=1230, wheelbase=2.55),
|
|
)
|
|
VOLKSWAGEN_SHARAN_MK2 = VolkswagenPQPlatformConfig( # Chassis 7N
|
|
[
|
|
VWCarDocs("Volkswagen Sharan 2018-22"),
|
|
VWCarDocs("SEAT Alhambra 2018-20"),
|
|
],
|
|
VolkswagenCarSpecs(mass=1639, wheelbase=2.92, minSteerSpeed=50*CV.KPH_TO_MS),
|
|
)
|
|
VOLKSWAGEN_TAOS_MK1 = VolkswagenMQBPlatformConfig( # Chassis B2
|
|
[VWCarDocs("Volkswagen Taos 2022-23")],
|
|
VolkswagenCarSpecs(mass=1498, wheelbase=2.69),
|
|
)
|
|
VOLKSWAGEN_TCROSS_MK1 = VolkswagenMQBPlatformConfig( # Chassis C1
|
|
[VWCarDocs("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_MQB_A0])],
|
|
VolkswagenCarSpecs(mass=1150, wheelbase=2.60),
|
|
)
|
|
VOLKSWAGEN_TIGUAN_MK2 = VolkswagenMQBPlatformConfig( # Chassis AD/BW
|
|
[
|
|
VWCarDocs("Volkswagen Tiguan 2018-24"),
|
|
VWCarDocs("Volkswagen Tiguan eHybrid 2021-23"),
|
|
],
|
|
VolkswagenCarSpecs(mass=1715, wheelbase=2.74),
|
|
)
|
|
VOLKSWAGEN_TOURAN_MK2 = VolkswagenMQBPlatformConfig( # Chassis 1T
|
|
[VWCarDocs("Volkswagen Touran 2016-23")],
|
|
VolkswagenCarSpecs(mass=1516, wheelbase=2.79),
|
|
)
|
|
VOLKSWAGEN_TRANSPORTER_T61 = VolkswagenMQBPlatformConfig( # Chassis 7H/7L
|
|
[
|
|
VWCarDocs("Volkswagen Caravelle 2020"),
|
|
VWCarDocs("Volkswagen California 2021-23"),
|
|
],
|
|
VolkswagenCarSpecs(mass=1926, wheelbase=3.00, minSteerSpeed=14.0),
|
|
)
|
|
VOLKSWAGEN_TROC_MK1 = VolkswagenMQBPlatformConfig( # Chassis A1
|
|
[VWCarDocs("Volkswagen T-Roc 2018-22", footnotes=[Footnote.VW_MQB_A0])],
|
|
VolkswagenCarSpecs(mass=1413, wheelbase=2.63),
|
|
)
|
|
AUDI_A3_MK3 = VolkswagenMQBPlatformConfig( # Chassis 8V/FF
|
|
[
|
|
VWCarDocs("Audi A3 2014-19"),
|
|
VWCarDocs("Audi A3 Sportback e-tron 2017-18"),
|
|
VWCarDocs("Audi RS3 2018"),
|
|
VWCarDocs("Audi S3 2015-17"),
|
|
],
|
|
VolkswagenCarSpecs(mass=1335, wheelbase=2.61),
|
|
)
|
|
AUDI_Q2_MK1 = VolkswagenMQBPlatformConfig( # Chassis GA
|
|
[VWCarDocs("Audi Q2 2018")],
|
|
VolkswagenCarSpecs(mass=1205, wheelbase=2.61),
|
|
)
|
|
AUDI_Q3_MK2 = VolkswagenMQBPlatformConfig( # Chassis 8U/F3/FS
|
|
[VWCarDocs("Audi Q3 2019-23")],
|
|
VolkswagenCarSpecs(mass=1623, wheelbase=2.68),
|
|
)
|
|
SEAT_ATECA_MK1 = VolkswagenMQBPlatformConfig( # Chassis 5F
|
|
[VWCarDocs("SEAT Ateca 2018")],
|
|
VolkswagenCarSpecs(mass=1900, wheelbase=2.64),
|
|
)
|
|
SEAT_LEON_MK3 = VolkswagenMQBPlatformConfig( # Chassis 5F
|
|
[VWCarDocs("SEAT Leon 2014-20")],
|
|
VolkswagenCarSpecs(mass=1227, wheelbase=2.64),
|
|
)
|
|
SKODA_FABIA_MK4 = VolkswagenMQBPlatformConfig( # Chassis PJ
|
|
[VWCarDocs("Škoda Fabia 2022-23", footnotes=[Footnote.VW_MQB_A0])],
|
|
VolkswagenCarSpecs(mass=1266, wheelbase=2.56),
|
|
)
|
|
SKODA_KAMIQ_MK1 = VolkswagenMQBPlatformConfig( # Chassis NW
|
|
[VWCarDocs("Škoda Kamiq 2021-23", footnotes=[Footnote.VW_MQB_A0, Footnote.KAMIQ])],
|
|
VolkswagenCarSpecs(mass=1265, wheelbase=2.66),
|
|
)
|
|
SKODA_KAROQ_MK1 = VolkswagenMQBPlatformConfig( # Chassis NU
|
|
[VWCarDocs("Škoda Karoq 2019-23")],
|
|
VolkswagenCarSpecs(mass=1278, wheelbase=2.66),
|
|
)
|
|
SKODA_KODIAQ_MK1 = VolkswagenMQBPlatformConfig( # Chassis NS
|
|
[VWCarDocs("Škoda Kodiaq 2017-23")],
|
|
VolkswagenCarSpecs(mass=1569, wheelbase=2.79),
|
|
)
|
|
SKODA_OCTAVIA_MK3 = VolkswagenMQBPlatformConfig( # Chassis NE
|
|
[
|
|
VWCarDocs("Škoda Octavia 2015-19"),
|
|
VWCarDocs("Škoda Octavia RS 2016"),
|
|
],
|
|
VolkswagenCarSpecs(mass=1388, wheelbase=2.68),
|
|
)
|
|
SKODA_SCALA_MK1 = VolkswagenMQBPlatformConfig( # Chassis NW
|
|
[VWCarDocs("Škoda Scala 2020-23", footnotes=[Footnote.VW_MQB_A0])],
|
|
VolkswagenCarSpecs(mass=1192, wheelbase=2.65),
|
|
)
|
|
SKODA_SUPERB_MK3 = VolkswagenMQBPlatformConfig( # Chassis 3V/NP
|
|
[VWCarDocs("Škoda Superb 2015-22")],
|
|
VolkswagenCarSpecs(mass=1505, wheelbase=2.84),
|
|
)
|
|
|
|
|
|
# All supported cars should return FW from the engine, srs, eps, and fwdRadar. Cars
|
|
# with a manual trans won't return transmission firmware, but all other cars will.
|
|
#
|
|
# The 0xF187 SW part number query should return in the form of N[NX][NX] NNN NNN [X[X]],
|
|
# where N=number, X=letter, and the trailing two letters are optional. Performance
|
|
# tuners sometimes tamper with that field (e.g. 8V0 9C0 BB0 1 from COBB/EQT). Tampered
|
|
# ECU SW part numbers are invalid for vehicle ID and compatibility checks. Try to have
|
|
# them repaired by the tuner before including them in openpilot.
|
|
|
|
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])
|
|
|
|
VOLKSWAGEN_RX_OFFSET = 0x6a
|
|
|
|
FW_QUERY_CONFIG = FwQueryConfig(
|
|
# TODO: add back whitelists after we gather enough data
|
|
requests=[request for bus, obd_multiplexing in [(1, True), (1, False), (0, False)] for request in [
|
|
Request(
|
|
[VOLKSWAGEN_VERSION_REQUEST_MULTI],
|
|
[VOLKSWAGEN_VERSION_RESPONSE],
|
|
# whitelist_ecus=[Ecu.srs, Ecu.eps, Ecu.fwdRadar],
|
|
rx_offset=VOLKSWAGEN_RX_OFFSET,
|
|
bus=bus,
|
|
logging=(bus != 1 or not obd_multiplexing),
|
|
obd_multiplexing=obd_multiplexing,
|
|
),
|
|
Request(
|
|
[VOLKSWAGEN_VERSION_REQUEST_MULTI],
|
|
[VOLKSWAGEN_VERSION_RESPONSE],
|
|
# whitelist_ecus=[Ecu.engine, Ecu.transmission],
|
|
bus=bus,
|
|
logging=(bus != 1 or not obd_multiplexing),
|
|
obd_multiplexing=obd_multiplexing,
|
|
),
|
|
]],
|
|
extra_ecus=[(Ecu.fwdCamera, 0x74f, None)],
|
|
)
|
|
|
|
DBC = CAR.create_dbc_map()
|
|
|