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63 lines
3.1 KiB
63 lines
3.1 KiB
from selfdrive.car import dbc_dict
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class CarControllerParams:
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HCA_STEP = 2 # HCA_01 message frequency 50Hz
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LDW_STEP = 10 # LDW_02 message frequency 10Hz
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GRA_ACC_STEP = 3 # GRA_ACC_01 message frequency 33Hz
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GRA_VBP_STEP = 100 # Send ACC virtual button presses once a second
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GRA_VBP_COUNT = 16 # Send VBP messages for ~0.5s (GRA_ACC_STEP * 16)
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# Observed documented MQB limits: 3.00 Nm max, rate of change 5.00 Nm/sec.
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# Limiting both torque and rate-of-change based on real-world testing and
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# Comma's safety requirements for minimum time to lane departure.
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STEER_MAX = 250 # Max heading control assist torque 2.50 Nm
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STEER_DELTA_UP = 4 # Max HCA reached in 1.25s (STEER_MAX / (50Hz * 1.25))
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STEER_DELTA_DOWN = 10 # Min HCA reached in 0.60s (STEER_MAX / (50Hz * 0.60))
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STEER_DRIVER_ALLOWANCE = 80
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STEER_DRIVER_MULTIPLIER = 3 # weight driver torque heavily
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STEER_DRIVER_FACTOR = 1 # from dbc
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BUTTON_STATES = {
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"leftBlinker": False,
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"rightBlinker": False,
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"accelCruise": False,
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"decelCruise": False,
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"cancel": False,
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"setCruise": False,
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"resumeCruise": False,
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"gapAdjustCruise": False
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}
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MQB_LDW_MESSAGES = {
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"none": 0, # Nothing to display
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"laneAssistUnavailChime": 1, # "Lane Assist currently not available." with chime
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"laneAssistUnavailNoSensorChime": 3, # "Lane Assist not available. No sensor view." with chime
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"laneAssistTakeOverUrgent": 4, # "Lane Assist: Please Take Over Steering" with urgent beep
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"emergencyAssistUrgent": 6, # "Emergency Assist: Please Take Over Steering" with urgent beep
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"laneAssistTakeOverChime": 7, # "Lane Assist: Please Take Over Steering" with chime
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"laneAssistTakeOverSilent": 8, # "Lane Assist: Please Take Over Steering" silent
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"emergencyAssistChangingLanes": 9, # "Emergency Assist: Changing lanes..." with urgent beep
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"laneAssistDeactivated": 10, # "Lane Assist deactivated." silent with persistent icon afterward
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}
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class CAR:
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GOLF = "Volkswagen Golf"
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FINGERPRINTS = {
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CAR.GOLF: [
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# 76b83eb0245de90e|2019-10-21--17-40-42 - jyoung8607 car
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{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, 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, 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
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}],
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}
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class ECU:
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CAM = 0
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ECU_FINGERPRINT = {
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ECU.CAM: [294, 919], # HCA_01 Heading Control Assist, LDW_02 Lane Departure Warning
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}
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DBC = {
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CAR.GOLF: dbc_dict('vw_mqb_2010', None),
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}
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