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2024-04-27 13:48:05 -05:00
parent 2fbe9dbea1
commit 931db76fc6
432 changed files with 12973 additions and 3300 deletions
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9
selfdrive/car/volkswagen/carcontroller.py
View File

@@ -4,18 +4,19 @@ from openpilot.common.numpy_fast import clip
from openpilot.common.conversions import Conversions as CV
from openpilot.common.realtime import DT_CTRL
from openpilot.selfdrive.car import apply_driver_steer_torque_limits
from openpilot.selfdrive.car.interfaces import CarControllerBase
from openpilot.selfdrive.car.volkswagen import mqbcan, pqcan
from openpilot.selfdrive.car.volkswagen.values import CANBUS, PQ_CARS, CarControllerParams, VolkswagenFlags
from openpilot.selfdrive.car.volkswagen.values import CANBUS, CarControllerParams, VolkswagenFlags
VisualAlert = car.CarControl.HUDControl.VisualAlert
LongCtrlState = car.CarControl.Actuators.LongControlState
class CarController:
class CarController(CarControllerBase):
def __init__(self, dbc_name, CP, VM):
self.CP = CP
self.CCP = CarControllerParams(CP)
self.CCS = pqcan if CP.carFingerprint in PQ_CARS else mqbcan
self.CCS = pqcan if CP.flags & VolkswagenFlags.PQ else mqbcan
self.packer_pt = CANPacker(dbc_name)
self.apply_steer_last = 0
@@ -104,7 +105,7 @@ class CarController:
# FIXME: follow the recent displayed-speed updates, also use mph_kmh toggle to fix display rounding problem?
set_speed = hud_control.setSpeed * CV.MS_TO_KPH
can_sends.append(self.CCS.create_acc_hud_control(self.packer_pt, CANBUS.pt, acc_hud_status, set_speed,
lead_distance, CS.personality_profile))
lead_distance, hud_control.leadDistanceBars))
# **** Stock ACC Button Controls **************************************** #

55
selfdrive/car/volkswagen/carstate.py
View File

@@ -3,13 +3,15 @@ from cereal import car
from openpilot.common.conversions import Conversions as CV
from openpilot.selfdrive.car.interfaces import CarStateBase
from opendbc.can.parser import CANParser
from openpilot.selfdrive.car.volkswagen.values import DBC, CANBUS, PQ_CARS, NetworkLocation, TransmissionType, GearShifter, \
from openpilot.selfdrive.car.volkswagen.values import DBC, CANBUS, NetworkLocation, TransmissionType, GearShifter, \
CarControllerParams, VolkswagenFlags
class CarState(CarStateBase):
def __init__(self, CP):
super().__init__(CP)
self.frame = 0
self.eps_init_complete = False
self.CCP = CarControllerParams(CP)
self.button_states = {button.event_type: False for button in self.CCP.BUTTONS}
self.esp_hold_confirmation = False
@@ -31,7 +33,7 @@ class CarState(CarStateBase):
return button_events
def update(self, pt_cp, cam_cp, ext_cp, trans_type, frogpilot_variables):
if self.CP.carFingerprint in PQ_CARS:
if self.CP.flags & VolkswagenFlags.PQ:
return self.update_pq(pt_cp, cam_cp, ext_cp, trans_type, frogpilot_variables)
ret = car.CarState.new_message()
@@ -47,18 +49,14 @@ class CarState(CarStateBase):
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
ret.standstill = ret.vEgoRaw == 0
# Update steering angle, rate, yaw rate, and driver input torque. VW send
# the sign/direction in a separate signal so they must be recombined.
# Update EPS position and state info. For signed values, VW sends the sign in a separate signal.
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.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) > 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
# Verify EPS readiness to accept steering commands
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.steerFaultTemporary = hca_status in ("INITIALIZING", "REJECTED")
ret.steerFaultTemporary, ret.steerFaultPermanent = self.update_hca_state(hca_status)
# VW Emergency Assist status tracking and mitigation
self.eps_stock_values = pt_cp.vl["LH_EPS_03"]
@@ -151,25 +149,7 @@ class CarState(CarStateBase):
# Digital instrument clusters expect the ACC HUD lead car distance to be scaled differently
self.upscale_lead_car_signal = bool(pt_cp.vl["Kombi_03"]["KBI_Variante"])
# Driving personalities function
if frogpilot_variables.personalities_via_wheel and ret.cruiseState.available:
# Sync with the onroad UI button
if self.fpf.personality_changed_via_ui:
self.personality_profile = self.fpf.current_personality
self.previous_personality_profile = self.personality_profile
self.fpf.reset_personality_changed_param()
# Change personality upon steering wheel button press
distance_button = pt_cp.vl["GRA_ACC_01"]["GRA_Verstellung_Zeitluecke"]
if distance_button and not self.distance_previously_pressed:
self.personality_profile = (self.previous_personality_profile + 2) % 3
self.distance_previously_pressed = distance_button
if self.personality_profile != self.previous_personality_profile:
self.fpf.distance_button_function(self.personality_profile)
self.previous_personality_profile = self.personality_profile
self.frame += 1
return ret
def update_pq(self, pt_cp, cam_cp, ext_cp, trans_type, frogpilot_variables):
@@ -187,18 +167,14 @@ class CarState(CarStateBase):
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
ret.standstill = ret.vEgoRaw == 0
# Update steering angle, rate, yaw rate, and driver input torque. VW send
# the sign/direction in a separate signal so they must be recombined.
# Update EPS position and state info. For signed values, VW sends the sign in a separate signal.
ret.steeringAngleDeg = pt_cp.vl["Lenkhilfe_3"]["LH3_BLW"] * (1, -1)[int(pt_cp.vl["Lenkhilfe_3"]["LH3_BLWSign"])]
ret.steeringRateDeg = pt_cp.vl["Lenkwinkel_1"]["Lenkradwinkel_Geschwindigkeit"] * (1, -1)[int(pt_cp.vl["Lenkwinkel_1"]["Lenkradwinkel_Geschwindigkeit_S"])]
ret.steeringTorque = pt_cp.vl["Lenkhilfe_3"]["LH3_LM"] * (1, -1)[int(pt_cp.vl["Lenkhilfe_3"]["LH3_LMSign"])]
ret.steeringPressed = abs(ret.steeringTorque) > self.CCP.STEER_DRIVER_ALLOWANCE
ret.yawRate = pt_cp.vl["Bremse_5"]["Giergeschwindigkeit"] * (1, -1)[int(pt_cp.vl["Bremse_5"]["Vorzeichen_der_Giergeschwindigk"])] * CV.DEG_TO_RAD
# Verify EPS readiness to accept steering commands
hca_status = self.CCP.hca_status_values.get(pt_cp.vl["Lenkhilfe_2"]["LH2_Sta_HCA"])
ret.steerFaultPermanent = hca_status in ("DISABLED", "FAULT")
ret.steerFaultTemporary = hca_status in ("INITIALIZING", "REJECTED")
ret.steerFaultTemporary, ret.steerFaultPermanent = self.update_hca_state(hca_status)
# Update gas, brakes, and gearshift.
ret.gas = pt_cp.vl["Motor_3"]["Fahrpedal_Rohsignal"] / 100.0
@@ -272,11 +248,20 @@ class CarState(CarStateBase):
# Additional safety checks performed in CarInterface.
ret.espDisabled = bool(pt_cp.vl["Bremse_1"]["ESP_Passiv_getastet"])
self.frame += 1
return ret
def update_hca_state(self, hca_status):
# Treat INITIALIZING and FAULT as temporary for worst likely EPS recovery time, for cars without factory Lane Assist
# DISABLED means the EPS hasn't been configured to support Lane Assist
self.eps_init_complete = self.eps_init_complete or (hca_status in ("DISABLED", "READY", "ACTIVE") or self.frame > 600)
perm_fault = hca_status == "DISABLED" or (self.eps_init_complete and hca_status in ("INITIALIZING", "FAULT"))
temp_fault = hca_status == "REJECTED" or not self.eps_init_complete
return temp_fault, perm_fault
@staticmethod
def get_can_parser(CP):
if CP.carFingerprint in PQ_CARS:
if CP.flags & VolkswagenFlags.PQ:
return CarState.get_can_parser_pq(CP)
messages = [
@@ -313,7 +298,7 @@ class CarState(CarStateBase):
@staticmethod
def get_cam_can_parser(CP):
if CP.carFingerprint in PQ_CARS:
if CP.flags & VolkswagenFlags.PQ:
return CarState.get_cam_can_parser_pq(CP)
messages = []

41
selfdrive/car/volkswagen/fingerprints.py
View File

@@ -80,6 +80,7 @@ FW_VERSIONS = {
b'\xf1\x873Q0959655BN\xf1\x890713\xf1\x82\x0e2214152212001105141122052900',
b'\xf1\x873Q0959655DB\xf1\x890720\xf1\x82\x0e1114151112001105111122052900',
b'\xf1\x873Q0959655DB\xf1\x890720\xf1\x82\x0e2214152212001105141122052900',
b'\xf1\x873Q0959655DM\xf1\x890732\xf1\x82\x0e1114151112001105111122052J00',
b'\xf1\x873Q0959655DM\xf1\x890732\xf1\x82\x0e1114151112001105161122052J00',
b'\xf1\x873Q0959655DM\xf1\x890732\xf1\x82\x0e1115151112001105171122052J00',
],
@@ -87,6 +88,7 @@ FW_VERSIONS = {
b'\xf1\x873QF909144B \xf1\x891582\xf1\x82\x0571B60924A1',
b'\xf1\x873QF909144B \xf1\x891582\xf1\x82\x0571B6G920A1',
b'\xf1\x873QF909144B \xf1\x891582\xf1\x82\x0571B6M921A1',
b'\xf1\x873QF909144B \xf1\x891582\xf1\x82\x0571B6N920A1',
b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820528B6080105',
b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820528B6090105',
],
@@ -99,6 +101,17 @@ FW_VERSIONS = {
b'\xf1\x875Q0907572P \xf1\x890682',
],
},
CAR.CADDY_MK3: {
(Ecu.engine, 0x7e0, None): [
b'\xf1\x8704E906027T \xf1\x892363',
],
(Ecu.srs, 0x715, None): [
b'\xf1\x872K5959655E \xf1\x890018\xf1\x82\x05000P037605',
],
(Ecu.fwdRadar, 0x757, None): [
b'\xf1\x877N0907572C \xf1\x890211\xf1\x82\x0155',
],
},
CAR.CRAFTER_MK2: {
(Ecu.engine, 0x7e0, None): [
b'\xf1\x8704L906056BP\xf1\x894729',
@@ -164,6 +177,7 @@ FW_VERSIONS = {
b'\xf1\x875G0906259T \xf1\x890003',
b'\xf1\x878V0906259H \xf1\x890002',
b'\xf1\x878V0906259J \xf1\x890003',
b'\xf1\x878V0906259J \xf1\x890103',
b'\xf1\x878V0906259K \xf1\x890001',
b'\xf1\x878V0906259K \xf1\x890003',
b'\xf1\x878V0906259P \xf1\x890001',
@@ -209,6 +223,7 @@ FW_VERSIONS = {
b'\xf1\x870DD300046F \xf1\x891601',
b'\xf1\x870GC300012A \xf1\x891401',
b'\xf1\x870GC300012A \xf1\x891403',
b'\xf1\x870GC300012M \xf1\x892301',
b'\xf1\x870GC300014B \xf1\x892401',
b'\xf1\x870GC300014B \xf1\x892403',
b'\xf1\x870GC300014B \xf1\x892405',
@@ -227,6 +242,7 @@ FW_VERSIONS = {
b'\xf1\x875Q0959655AR\xf1\x890317\xf1\x82\x13141500111233003142114A2131219333313100',
b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\x1314160011123300314211012230229333423100',
b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\x1314160011123300314211012230229333463100',
b'\xf1\x875Q0959655BJ\xf1\x890339\xf1\x82\x13141600111233003142115A2232229333463100',
b'\xf1\x875Q0959655BS\xf1\x890403\xf1\x82\x1314160011123300314240012250229333463100',
b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142404A2251229333463100',
b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142404A2252229333463100',
@@ -317,6 +333,7 @@ FW_VERSIONS = {
b'\xf1\x8704E906024BC\xf1\x899971',
b'\xf1\x8704E906024BG\xf1\x891057',
b'\xf1\x8704E906024C \xf1\x899970',
b'\xf1\x8704E906024C \xf1\x899971',
b'\xf1\x8704E906024L \xf1\x895595',
b'\xf1\x8704E906024L \xf1\x899970',
b'\xf1\x8704E906027MS\xf1\x896223',
@@ -370,6 +387,7 @@ FW_VERSIONS = {
b'\xf1\x8704L906026FP\xf1\x892012',
b'\xf1\x8704L906026GA\xf1\x892013',
b'\xf1\x8704L906026KD\xf1\x894798',
b'\xf1\x8705L906022A \xf1\x890827',
b'\xf1\x873G0906259 \xf1\x890004',
b'\xf1\x873G0906259B \xf1\x890002',
b'\xf1\x873G0906264 \xf1\x890004',
@@ -389,6 +407,7 @@ FW_VERSIONS = {
b'\xf1\x870DL300011H \xf1\x895201',
b'\xf1\x870GC300042H \xf1\x891404',
b'\xf1\x870GC300043 \xf1\x892301',
b'\xf1\x870GC300046P \xf1\x892805',
],
(Ecu.srs, 0x715, None): [
b'\xf1\x873Q0959655AE\xf1\x890195\xf1\x82\r56140056130012416612124111',
@@ -404,6 +423,7 @@ FW_VERSIONS = {
b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e5915005914001354701311542900',
b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e5915005914001305701311052900',
b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1315120011111200631145171716121691132111',
b'\xf1\x875QF959655S \xf1\x890639\xf1\x82\x13131100131300111111000120----2211114A48',
],
(Ecu.eps, 0x712, None): [
b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566B00611A1',
@@ -564,6 +584,7 @@ FW_VERSIONS = {
b'\xf1\x8709G927158GM\xf1\x893936',
b'\xf1\x8709G927158GN\xf1\x893938',
b'\xf1\x8709G927158HB\xf1\x894069',
b'\xf1\x8709G927158HC\xf1\x894070',
b'\xf1\x870D9300043 \xf1\x895202',
b'\xf1\x870DD300046K \xf1\x892302',
b'\xf1\x870DL300011N \xf1\x892001',
@@ -622,24 +643,32 @@ FW_VERSIONS = {
},
CAR.TOURAN_MK2: {
(Ecu.engine, 0x7e0, None): [
b'\xf1\x8704E906025BE\xf1\x890720',
b'\xf1\x8704E906027HQ\xf1\x893746',
b'\xf1\x8704L906026HM\xf1\x893017',
b'\xf1\x8705E906018CQ\xf1\x890808',
],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x870CW300020A \xf1\x891936',
b'\xf1\x870CW300041E \xf1\x891005',
b'\xf1\x870CW300041Q \xf1\x891606',
b'\xf1\x870CW300051M \xf1\x891926',
],
(Ecu.srs, 0x715, None): [
b'\xf1\x875Q0959655AS\xf1\x890318\xf1\x82\x1336350021353335314132014730479333313100',
b'\xf1\x875Q0959655AS\xf1\x890318\xf1\x82\x13363500213533353141324C4732479333313100',
b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1336350021353336314740025250529333613100',
b'\xf1\x875QD959655AJ\xf1\x890421\xf1\x82\x1336350021313300314240023330339333663100',
],
(Ecu.eps, 0x712, None): [
b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820531B0062105',
b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A8090400',
b'\xf1\x875QD909144F \xf1\x891082\xf1\x82\x0521A00642A1',
],
(Ecu.fwdRadar, 0x757, None): [
b'\xf1\x872Q0907572AA\xf1\x890396',
b'\xf1\x873Q0907572C \xf1\x890195',
b'\xf1\x875Q0907572R \xf1\x890771',
],
},
CAR.TRANSPORTER_T61: {
@@ -938,6 +967,7 @@ FW_VERSIONS = {
},
CAR.SKODA_KAROQ_MK1: {
(Ecu.engine, 0x7e0, None): [
b'\xf1\x8705E906013CL\xf1\x892541',
b'\xf1\x8705E906013H \xf1\x892407',
b'\xf1\x8705E906018P \xf1\x895472',
b'\xf1\x8705E906018P \xf1\x896020',
@@ -957,6 +987,7 @@ FW_VERSIONS = {
(Ecu.eps, 0x712, None): [
b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563T6090500',
b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T6100500',
b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T6100600',
b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T6100700',
],
(Ecu.fwdRadar, 0x757, None): [
@@ -977,7 +1008,9 @@ FW_VERSIONS = {
b'\xf1\x8704L906026HT\xf1\x893617',
b'\xf1\x8705E906018DJ\xf1\x890915',
b'\xf1\x8705E906018DJ\xf1\x891903',
b'\xf1\x8705L906022GM\xf1\x893411',
b'\xf1\x875NA906259E \xf1\x890003',
b'\xf1\x875NA907115D \xf1\x890003',
b'\xf1\x875NA907115E \xf1\x890003',
b'\xf1\x875NA907115E \xf1\x890005',
b'\xf1\x8783A907115E \xf1\x890001',
@@ -986,14 +1019,17 @@ FW_VERSIONS = {
b'\xf1\x870D9300014S \xf1\x895201',
b'\xf1\x870D9300043 \xf1\x895202',
b'\xf1\x870DL300011N \xf1\x892014',
b'\xf1\x870DL300012G \xf1\x892006',
b'\xf1\x870DL300012M \xf1\x892107',
b'\xf1\x870DL300012N \xf1\x892110',
b'\xf1\x870DL300013G \xf1\x892119',
b'\xf1\x870GC300014N \xf1\x892801',
b'\xf1\x870GC300018S \xf1\x892803',
b'\xf1\x870GC300019H \xf1\x892806',
b'\xf1\x870GC300046Q \xf1\x892802',
],
(Ecu.srs, 0x715, None): [
b'\xf1\x873Q0959655AN\xf1\x890306\xf1\x82\r11110011110011031111310311',
b'\xf1\x873Q0959655AP\xf1\x890306\xf1\x82\r11110011110011421111314211',
b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\x0e1213001211001205212111052100',
b'\xf1\x873Q0959655BJ\xf1\x890703\xf1\x82\x0e1213001211001205212111052100',
@@ -1002,6 +1038,7 @@ FW_VERSIONS = {
b'\xf1\x873Q0959655CQ\xf1\x890720\xf1\x82\x0e1213111211001205212112052111',
b'\xf1\x873Q0959655DJ\xf1\x890731\xf1\x82\x0e1513001511001205232113052J00',
b'\xf1\x875QF959655AT\xf1\x890755\xf1\x82\x1311110011110011111100010200--1121240749',
b'\xf1\x875QF959655AT\xf1\x890755\xf1\x82\x1311110011110011111100010200--1121246149',
],
(Ecu.eps, 0x712, None): [
b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6050405',
@@ -1009,6 +1046,7 @@ FW_VERSIONS = {
b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6070405',
b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T600G500',
b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T600G600',
b'\xf1\x875TA907145F \xf1\x891063\xf1\x82\x0025T6BA25OM',
b'\xf1\x875TA907145F \xf1\x891063\xf1\x82\x002LT61A2LOM',
],
(Ecu.fwdRadar, 0x757, None): [
@@ -1027,6 +1065,7 @@ FW_VERSIONS = {
b'\xf1\x8704E906027HD\xf1\x893742',
b'\xf1\x8704E906027MH\xf1\x894786',
b'\xf1\x8704L906021DT\xf1\x898127',
b'\xf1\x8704L906021ER\xf1\x898361',
b'\xf1\x8704L906026BP\xf1\x897608',
b'\xf1\x8704L906026BS\xf1\x891541',
b'\xf1\x875G0906259C \xf1\x890002',
@@ -1036,6 +1075,7 @@ FW_VERSIONS = {
b'\xf1\x870CW300041N \xf1\x891605',
b'\xf1\x870CW300043B \xf1\x891601',
b'\xf1\x870CW300043P \xf1\x891605',
b'\xf1\x870D9300012H \xf1\x894518',
b'\xf1\x870D9300041C \xf1\x894936',
b'\xf1\x870D9300041H \xf1\x895220',
b'\xf1\x870D9300041J \xf1\x894902',
@@ -1061,6 +1101,7 @@ FW_VERSIONS = {
b'\xf1\x875QD909144E \xf1\x891081\xf1\x82\x0521T00503A1',
],
(Ecu.fwdRadar, 0x757, None): [
b'\xf1\x875Q0907567P \xf1\x890100\xf1\x82\x0101',
b'\xf1\x875Q0907572D \xf1\x890304\xf1\x82\x0101',
b'\xf1\x875Q0907572F \xf1\x890400\xf1\x82\x0101',
b'\xf1\x875Q0907572H \xf1\x890620',

152
selfdrive/car/volkswagen/interface.py
View File

@@ -1,9 +1,8 @@
from cereal import car
from panda import Panda
from openpilot.common.conversions import Conversions as CV
from openpilot.selfdrive.car import get_safety_config
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
from openpilot.selfdrive.car.volkswagen.values import CAR, PQ_CARS, CANBUS, NetworkLocation, TransmissionType, GearShifter, VolkswagenFlags
from openpilot.selfdrive.car.volkswagen.values import CAR, CANBUS, NetworkLocation, TransmissionType, GearShifter, VolkswagenFlags
ButtonType = car.CarState.ButtonEvent.Type
EventName = car.CarEvent.EventName
@@ -23,11 +22,11 @@ class CarInterface(CarInterfaceBase):
self.eps_timer_soft_disable_alert = False
@staticmethod
def _get_params(ret, params, candidate, fingerprint, car_fw, experimental_long, docs):
def _get_params(ret, params, candidate: CAR, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs):
ret.carName = "volkswagen"
ret.radarUnavailable = True
if candidate in PQ_CARS:
if ret.flags & VolkswagenFlags.PQ:
# Set global PQ35/PQ46/NMS parameters
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.volkswagenPq)]
ret.enableBsm = 0x3BA in fingerprint[0] # SWA_1
@@ -72,21 +71,24 @@ class CarInterface(CarInterfaceBase):
# Global lateral tuning defaults, can be overridden per-vehicle
ret.steerActuatorDelay = 0.1
ret.steerLimitTimer = 0.4
ret.steerRatio = 15.6 # Let the params learner figure this out
ret.lateralTuning.pid.kpBP = [0.]
ret.lateralTuning.pid.kiBP = [0.]
ret.lateralTuning.pid.kf = 0.00006
ret.lateralTuning.pid.kpV = [0.6]
ret.lateralTuning.pid.kiV = [0.2]
if ret.flags & VolkswagenFlags.PQ:
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
else:
ret.steerActuatorDelay = 0.1
ret.lateralTuning.pid.kpBP = [0.]
ret.lateralTuning.pid.kiBP = [0.]
ret.lateralTuning.pid.kf = 0.00006
ret.lateralTuning.pid.kpV = [0.6]
ret.lateralTuning.pid.kiV = [0.2]
# Global longitudinal tuning defaults, can be overridden per-vehicle
ret.experimentalLongitudinalAvailable = ret.networkLocation == NetworkLocation.gateway or docs
if experimental_long:
# Proof-of-concept, prep for E2E only. No radar points available. Panda ALLOW_DEBUG firmware required.
ret.openpilotLongitudinalControl = True and not params.get_bool("DisableOpenpilotLongitudinal")
ret.openpilotLongitudinalControl = True
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_VOLKSWAGEN_LONG_CONTROL
if ret.transmissionType == TransmissionType.manual:
ret.minEnableSpeed = 4.5
@@ -98,137 +100,15 @@ class CarInterface(CarInterfaceBase):
ret.vEgoStopping = 0.5
ret.longitudinalTuning.kpV = [0.1]
ret.longitudinalTuning.kiV = [0.0]
# Per-chassis tuning values, override tuning defaults here if desired
if candidate == CAR.ARTEON_MK1:
ret.mass = 1733
ret.wheelbase = 2.84
elif candidate == CAR.ATLAS_MK1:
ret.mass = 2011
ret.wheelbase = 2.98
elif candidate == CAR.CRAFTER_MK2:
ret.mass = 2100
ret.wheelbase = 3.64 # SWB, LWB is 4.49, TBD how to detect difference
ret.minSteerSpeed = 50 * CV.KPH_TO_MS
elif candidate == CAR.GOLF_MK7:
ret.mass = 1397
ret.wheelbase = 2.62
elif candidate == CAR.JETTA_MK7:
ret.mass = 1328
ret.wheelbase = 2.71
elif candidate == CAR.PASSAT_MK8:
ret.mass = 1551
ret.wheelbase = 2.79
elif candidate == CAR.PASSAT_NMS:
ret.mass = 1503
ret.wheelbase = 2.80
ret.minEnableSpeed = 20 * CV.KPH_TO_MS # ACC "basic", no FtS
ret.minSteerSpeed = 50 * CV.KPH_TO_MS
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.POLO_MK6:
ret.mass = 1230
ret.wheelbase = 2.55
elif candidate == CAR.SHARAN_MK2:
ret.mass = 1639
ret.wheelbase = 2.92
ret.minSteerSpeed = 50 * CV.KPH_TO_MS
ret.steerActuatorDelay = 0.2
elif candidate == CAR.TAOS_MK1:
ret.mass = 1498
ret.wheelbase = 2.69
elif candidate == CAR.TCROSS_MK1:
ret.mass = 1150
ret.wheelbase = 2.60
elif candidate == CAR.TIGUAN_MK2:
ret.mass = 1715
ret.wheelbase = 2.74
elif candidate == CAR.TOURAN_MK2:
ret.mass = 1516
ret.wheelbase = 2.79
elif candidate == CAR.TRANSPORTER_T61:
ret.mass = 1926
ret.wheelbase = 3.00 # SWB, LWB is 3.40, TBD how to detect difference
ret.minSteerSpeed = 14.0
elif candidate == CAR.TROC_MK1:
ret.mass = 1413
ret.wheelbase = 2.63
elif candidate == CAR.AUDI_A3_MK3:
ret.mass = 1335
ret.wheelbase = 2.61
elif candidate == CAR.AUDI_Q2_MK1:
ret.mass = 1205
ret.wheelbase = 2.61
elif candidate == CAR.AUDI_Q3_MK2:
ret.mass = 1623
ret.wheelbase = 2.68
elif candidate == CAR.SEAT_ATECA_MK1:
ret.mass = 1900
ret.wheelbase = 2.64
elif candidate == CAR.SEAT_LEON_MK3:
ret.mass = 1227
ret.wheelbase = 2.64
elif candidate == CAR.SKODA_FABIA_MK4:
ret.mass = 1266
ret.wheelbase = 2.56
elif candidate == CAR.SKODA_KAMIQ_MK1:
ret.mass = 1265
ret.wheelbase = 2.66
elif candidate == CAR.SKODA_KAROQ_MK1:
ret.mass = 1278
ret.wheelbase = 2.66
elif candidate == CAR.SKODA_KODIAQ_MK1:
ret.mass = 1569
ret.wheelbase = 2.79
elif candidate == CAR.SKODA_OCTAVIA_MK3:
ret.mass = 1388
ret.wheelbase = 2.68
elif candidate == CAR.SKODA_SCALA_MK1:
ret.mass = 1192
ret.wheelbase = 2.65
elif candidate == CAR.SKODA_SUPERB_MK3:
ret.mass = 1505
ret.wheelbase = 2.84
else:
raise ValueError(f"unsupported car {candidate}")
ret.autoResumeSng = ret.minEnableSpeed == -1
ret.centerToFront = ret.wheelbase * 0.45
return ret
# returns a car.CarState
def _update(self, c, frogpilot_variables):
ret = self.CS.update(self.cp, self.cp_cam, self.cp_ext, self.CP.transmissionType, frogpilot_variables)
events = self.create_common_events(ret, frogpilot_variables, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
events = self.create_common_events(ret, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
pcm_enable=not self.CS.CP.openpilotLongitudinalControl,
enable_buttons=(ButtonType.setCruise, ButtonType.resumeCruise))

4
selfdrive/car/volkswagen/mqbcan.py
View File

@@ -125,11 +125,11 @@ def create_acc_accel_control(packer, bus, acc_type, acc_enabled, accel, acc_cont
return commands
def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_distance, personality_profile):
def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_distance, distance):
values = {
"ACC_Status_Anzeige": acc_hud_status,
"ACC_Wunschgeschw_02": set_speed if set_speed < 250 else 327.36,
"ACC_Gesetzte_Zeitluecke": 1 if personality_profile == 0 else 3 if personality_profile == 1 else 5,
"ACC_Gesetzte_Zeitluecke": distance + 2,
"ACC_Display_Prio": 3,
"ACC_Abstandsindex": lead_distance,
}

4
selfdrive/car/volkswagen/pqcan.py
View File

@@ -91,10 +91,10 @@ def create_acc_accel_control(packer, bus, acc_type, acc_enabled, accel, acc_cont
return commands
def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_distance, personality_profile):
def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_distance, distance):
values = {
"ACA_StaACC": acc_hud_status,
"ACA_Zeitluecke": 2,
"ACA_Zeitluecke": distance + 2,
"ACA_V_Wunsch": set_speed,
"ACA_gemZeitl": lead_distance,
"ACA_PrioDisp": 3,

371
selfdrive/car/volkswagen/values.py
View File

@@ -1,13 +1,13 @@
from collections import defaultdict, namedtuple
from collections import namedtuple
from dataclasses import dataclass, field
from enum import Enum, IntFlag, StrEnum
from typing import Dict, List, Union
from enum import Enum, IntFlag
from cereal import car
from panda.python import uds
from opendbc.can.can_define import CANDefine
from openpilot.selfdrive.car import dbc_dict
from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column, \
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
@@ -41,7 +41,7 @@ class CarControllerParams:
def __init__(self, CP):
can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
if CP.carFingerprint in PQ_CARS:
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
@@ -111,50 +111,30 @@ class CANBUS:
class VolkswagenFlags(IntFlag):
# Detected flags
STOCK_HCA_PRESENT = 1
# 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(StrEnum):
ARTEON_MK1 = "VOLKSWAGEN ARTEON 1ST GEN" # Chassis AN, Mk1 VW Arteon and variants
ATLAS_MK1 = "VOLKSWAGEN ATLAS 1ST GEN" # Chassis CA, Mk1 VW Atlas and Atlas Cross Sport
CRAFTER_MK2 = "VOLKSWAGEN CRAFTER 2ND GEN" # Chassis SY/SZ, Mk2 VW Crafter, VW Grand California, MAN TGE
GOLF_MK7 = "VOLKSWAGEN GOLF 7TH GEN" # Chassis 5G/AU/BA/BE, Mk7 VW Golf and variants
JETTA_MK7 = "VOLKSWAGEN JETTA 7TH GEN" # Chassis BU, Mk7 VW Jetta
PASSAT_MK8 = "VOLKSWAGEN PASSAT 8TH GEN" # Chassis 3G, Mk8 VW Passat and variants
PASSAT_NMS = "VOLKSWAGEN PASSAT NMS" # Chassis A3, North America/China/Mideast NMS Passat, incl. facelift
POLO_MK6 = "VOLKSWAGEN POLO 6TH GEN" # Chassis AW, Mk6 VW Polo
SHARAN_MK2 = "VOLKSWAGEN SHARAN 2ND GEN" # Chassis 7N, Mk2 Volkswagen Sharan and SEAT Alhambra
TAOS_MK1 = "VOLKSWAGEN TAOS 1ST GEN" # Chassis B2, Mk1 VW Taos and Tharu
TCROSS_MK1 = "VOLKSWAGEN T-CROSS 1ST GEN" # Chassis C1, Mk1 VW T-Cross SWB and LWB variants
TIGUAN_MK2 = "VOLKSWAGEN TIGUAN 2ND GEN" # Chassis AD/BW, Mk2 VW Tiguan and variants
TOURAN_MK2 = "VOLKSWAGEN TOURAN 2ND GEN" # Chassis 1T, Mk2 VW Touran and variants
TRANSPORTER_T61 = "VOLKSWAGEN TRANSPORTER T6.1" # Chassis 7H/7L, T6-facelift Transporter/Multivan/Caravelle/California
TROC_MK1 = "VOLKSWAGEN T-ROC 1ST GEN" # Chassis A1, Mk1 VW T-Roc and variants
AUDI_A3_MK3 = "AUDI A3 3RD GEN" # Chassis 8V/FF, Mk3 Audi A3 and variants
AUDI_Q2_MK1 = "AUDI Q2 1ST GEN" # Chassis GA, Mk1 Audi Q2 (RoW) and Q2L (China only)
AUDI_Q3_MK2 = "AUDI Q3 2ND GEN" # Chassis 8U/F3/FS, Mk2 Audi Q3 and variants
SEAT_ATECA_MK1 = "SEAT ATECA 1ST GEN" # Chassis 5F, Mk1 SEAT Ateca and CUPRA Ateca
SEAT_LEON_MK3 = "SEAT LEON 3RD GEN" # Chassis 5F, Mk3 SEAT Leon and variants
SKODA_FABIA_MK4 = "SKODA FABIA 4TH GEN" # Chassis PJ, Mk4 Skoda Fabia
SKODA_KAMIQ_MK1 = "SKODA KAMIQ 1ST GEN" # Chassis NW, Mk1 Skoda Kamiq
SKODA_KAROQ_MK1 = "SKODA KAROQ 1ST GEN" # Chassis NU, Mk1 Skoda Karoq
SKODA_KODIAQ_MK1 = "SKODA KODIAQ 1ST GEN" # Chassis NS, Mk1 Skoda Kodiaq
SKODA_SCALA_MK1 = "SKODA SCALA 1ST GEN" # Chassis NW, Mk1 Skoda Scala and Skoda Kamiq
SKODA_SUPERB_MK3 = "SKODA SUPERB 3RD GEN" # Chassis 3V/NP, Mk3 Skoda Superb and variants
SKODA_OCTAVIA_MK3 = "SKODA OCTAVIA 3RD GEN" # Chassis NE, Mk3 Skoda Octavia and variants
# Static flags
PQ = 2
PQ_CARS = {CAR.PASSAT_NMS, CAR.SHARAN_MK2}
@dataclass
class VolkswagenMQBPlatformConfig(PlatformConfig):
dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('vw_mqb_2010', None))
DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict("vw_mqb_2010", None))
for car_type in PQ_CARS:
DBC[car_type] = dbc_dict("vw_golf_mk4", 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):
@@ -179,7 +159,7 @@ class Footnote(Enum):
@dataclass
class VWCarInfo(CarInfo):
class VWCarDocs(CarDocs):
package: str = "Adaptive Cruise Control (ACC) & Lane Assist"
car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.j533]))
@@ -192,88 +172,208 @@ class VWCarInfo(CarInfo):
self.car_parts = CarParts([Device.threex_angled_mount, CarHarness.j533])
CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
CAR.ARTEON_MK1: [
VWCarInfo("Volkswagen Arteon 2018-23", video_link="https://youtu.be/FAomFKPFlDA"),
VWCarInfo("Volkswagen Arteon R 2020-23", video_link="https://youtu.be/FAomFKPFlDA"),
VWCarInfo("Volkswagen Arteon eHybrid 2020-23", video_link="https://youtu.be/FAomFKPFlDA"),
VWCarInfo("Volkswagen CC 2018-22", video_link="https://youtu.be/FAomFKPFlDA"),
],
CAR.ATLAS_MK1: [
VWCarInfo("Volkswagen Atlas 2018-23"),
VWCarInfo("Volkswagen Atlas Cross Sport 2020-22"),
VWCarInfo("Volkswagen Teramont 2018-22"),
VWCarInfo("Volkswagen Teramont Cross Sport 2021-22"),
VWCarInfo("Volkswagen Teramont X 2021-22"),
],
CAR.CRAFTER_MK2: [
VWCarInfo("Volkswagen Crafter 2017-23", video_link="https://youtu.be/4100gLeabmo"),
VWCarInfo("Volkswagen e-Crafter 2018-23", video_link="https://youtu.be/4100gLeabmo"),
VWCarInfo("Volkswagen Grand California 2019-23", video_link="https://youtu.be/4100gLeabmo"),
VWCarInfo("MAN TGE 2017-23", video_link="https://youtu.be/4100gLeabmo"),
VWCarInfo("MAN eTGE 2020-23", video_link="https://youtu.be/4100gLeabmo"),
],
CAR.GOLF_MK7: [
VWCarInfo("Volkswagen e-Golf 2014-20"),
VWCarInfo("Volkswagen Golf 2015-20", auto_resume=False),
VWCarInfo("Volkswagen Golf Alltrack 2015-19", auto_resume=False),
VWCarInfo("Volkswagen Golf GTD 2015-20"),
VWCarInfo("Volkswagen Golf GTE 2015-20"),
VWCarInfo("Volkswagen Golf GTI 2015-21", auto_resume=False),
VWCarInfo("Volkswagen Golf R 2015-19"),
VWCarInfo("Volkswagen Golf SportsVan 2015-20"),
],
CAR.JETTA_MK7: [
VWCarInfo("Volkswagen Jetta 2018-24"),
VWCarInfo("Volkswagen Jetta GLI 2021-24"),
],
CAR.PASSAT_MK8: [
VWCarInfo("Volkswagen Passat 2015-22", footnotes=[Footnote.PASSAT]),
VWCarInfo("Volkswagen Passat Alltrack 2015-22"),
VWCarInfo("Volkswagen Passat GTE 2015-22"),
],
CAR.PASSAT_NMS: VWCarInfo("Volkswagen Passat NMS 2017-22"),
CAR.POLO_MK6: [
VWCarInfo("Volkswagen Polo 2018-23", footnotes=[Footnote.VW_MQB_A0]),
VWCarInfo("Volkswagen Polo GTI 2018-23", footnotes=[Footnote.VW_MQB_A0]),
],
CAR.SHARAN_MK2: [
VWCarInfo("Volkswagen Sharan 2018-22"),
VWCarInfo("SEAT Alhambra 2018-20"),
],
CAR.TAOS_MK1: VWCarInfo("Volkswagen Taos 2022-23"),
CAR.TCROSS_MK1: VWCarInfo("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_MQB_A0]),
CAR.TIGUAN_MK2: [
VWCarInfo("Volkswagen Tiguan 2018-24"),
VWCarInfo("Volkswagen Tiguan eHybrid 2021-23"),
],
CAR.TOURAN_MK2: VWCarInfo("Volkswagen Touran 2016-23"),
CAR.TRANSPORTER_T61: [
VWCarInfo("Volkswagen Caravelle 2020"),
VWCarInfo("Volkswagen California 2021-23"),
],
CAR.TROC_MK1: VWCarInfo("Volkswagen T-Roc 2018-22", footnotes=[Footnote.VW_MQB_A0]),
CAR.AUDI_A3_MK3: [
VWCarInfo("Audi A3 2014-19"),
VWCarInfo("Audi A3 Sportback e-tron 2017-18"),
VWCarInfo("Audi RS3 2018"),
VWCarInfo("Audi S3 2015-17"),
],
CAR.AUDI_Q2_MK1: VWCarInfo("Audi Q2 2018"),
CAR.AUDI_Q3_MK2: VWCarInfo("Audi Q3 2019-23"),
CAR.SEAT_ATECA_MK1: VWCarInfo("SEAT Ateca 2018"),
CAR.SEAT_LEON_MK3: VWCarInfo("SEAT Leon 2014-20"),
CAR.SKODA_FABIA_MK4: VWCarInfo("Škoda Fabia 2022-23", footnotes=[Footnote.VW_MQB_A0]),
CAR.SKODA_KAMIQ_MK1: VWCarInfo("Škoda Kamiq 2021-23", footnotes=[Footnote.VW_MQB_A0, Footnote.KAMIQ]),
CAR.SKODA_KAROQ_MK1: VWCarInfo("Škoda Karoq 2019-23"),
CAR.SKODA_KODIAQ_MK1: VWCarInfo("Škoda Kodiaq 2017-23"),
CAR.SKODA_SCALA_MK1: VWCarInfo("Škoda Scala 2020-23", footnotes=[Footnote.VW_MQB_A0]),
CAR.SKODA_SUPERB_MK3: VWCarInfo("Škoda Superb 2015-22"),
CAR.SKODA_OCTAVIA_MK3: [
VWCarInfo("Škoda Octavia 2015-19"),
VWCarInfo("Škoda Octavia RS 2016"),
],
}
# 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):
ARTEON_MK1 = VolkswagenMQBPlatformConfig(
"VOLKSWAGEN ARTEON 1ST GEN", # 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),
)
ATLAS_MK1 = VolkswagenMQBPlatformConfig(
"VOLKSWAGEN ATLAS 1ST GEN", # 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),
)
CADDY_MK3 = VolkswagenPQPlatformConfig(
"VOLKSWAGEN CADDY 3RD GEN", # Chassis 2K
[
VWCarDocs("Volkswagen Caddy 2019"),
VWCarDocs("Volkswagen Caddy Maxi 2019"),
],
VolkswagenCarSpecs(mass=1613, wheelbase=2.6, minSteerSpeed=21 * CV.KPH_TO_MS),
)
CRAFTER_MK2 = VolkswagenMQBPlatformConfig(
"VOLKSWAGEN CRAFTER 2ND GEN", # 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),
)
GOLF_MK7 = VolkswagenMQBPlatformConfig(
"VOLKSWAGEN GOLF 7TH GEN", # 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),
)
JETTA_MK7 = VolkswagenMQBPlatformConfig(
"VOLKSWAGEN JETTA 7TH GEN", # Chassis BU
[
VWCarDocs("Volkswagen Jetta 2018-24"),
VWCarDocs("Volkswagen Jetta GLI 2021-24"),
],
VolkswagenCarSpecs(mass=1328, wheelbase=2.71),
)
PASSAT_MK8 = VolkswagenMQBPlatformConfig(
"VOLKSWAGEN PASSAT 8TH GEN", # 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),
)
PASSAT_NMS = VolkswagenPQPlatformConfig(
"VOLKSWAGEN PASSAT NMS", # 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),
)
POLO_MK6 = VolkswagenMQBPlatformConfig(
"VOLKSWAGEN POLO 6TH GEN", # 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),
)
SHARAN_MK2 = VolkswagenPQPlatformConfig(
"VOLKSWAGEN SHARAN 2ND GEN", # Chassis 7N
[
VWCarDocs("Volkswagen Sharan 2018-22"),
VWCarDocs("SEAT Alhambra 2018-20"),
],
VolkswagenCarSpecs(mass=1639, wheelbase=2.92, minSteerSpeed=50*CV.KPH_TO_MS),
)
TAOS_MK1 = VolkswagenMQBPlatformConfig(
"VOLKSWAGEN TAOS 1ST GEN", # Chassis B2
[VWCarDocs("Volkswagen Taos 2022-23")],
VolkswagenCarSpecs(mass=1498, wheelbase=2.69),
)
TCROSS_MK1 = VolkswagenMQBPlatformConfig(
"VOLKSWAGEN T-CROSS 1ST GEN", # Chassis C1
[VWCarDocs("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_MQB_A0])],
VolkswagenCarSpecs(mass=1150, wheelbase=2.60),
)
TIGUAN_MK2 = VolkswagenMQBPlatformConfig(
"VOLKSWAGEN TIGUAN 2ND GEN", # Chassis AD/BW
[
VWCarDocs("Volkswagen Tiguan 2018-24"),
VWCarDocs("Volkswagen Tiguan eHybrid 2021-23"),
],
VolkswagenCarSpecs(mass=1715, wheelbase=2.74),
)
TOURAN_MK2 = VolkswagenMQBPlatformConfig(
"VOLKSWAGEN TOURAN 2ND GEN", # Chassis 1T
[VWCarDocs("Volkswagen Touran 2016-23")],
VolkswagenCarSpecs(mass=1516, wheelbase=2.79),
)
TRANSPORTER_T61 = VolkswagenMQBPlatformConfig(
"VOLKSWAGEN TRANSPORTER T6.1", # Chassis 7H/7L
[
VWCarDocs("Volkswagen Caravelle 2020"),
VWCarDocs("Volkswagen California 2021-23"),
],
VolkswagenCarSpecs(mass=1926, wheelbase=3.00, minSteerSpeed=14.0),
)
TROC_MK1 = VolkswagenMQBPlatformConfig(
"VOLKSWAGEN T-ROC 1ST GEN", # Chassis A1
[VWCarDocs("Volkswagen T-Roc 2018-22", footnotes=[Footnote.VW_MQB_A0])],
VolkswagenCarSpecs(mass=1413, wheelbase=2.63),
)
AUDI_A3_MK3 = VolkswagenMQBPlatformConfig(
"AUDI A3 3RD GEN", # 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(
"AUDI Q2 1ST GEN", # Chassis GA
[VWCarDocs("Audi Q2 2018")],
VolkswagenCarSpecs(mass=1205, wheelbase=2.61),
)
AUDI_Q3_MK2 = VolkswagenMQBPlatformConfig(
"AUDI Q3 2ND GEN", # Chassis 8U/F3/FS
[VWCarDocs("Audi Q3 2019-23")],
VolkswagenCarSpecs(mass=1623, wheelbase=2.68),
)
SEAT_ATECA_MK1 = VolkswagenMQBPlatformConfig(
"SEAT ATECA 1ST GEN", # Chassis 5F
[VWCarDocs("SEAT Ateca 2018")],
VolkswagenCarSpecs(mass=1900, wheelbase=2.64),
)
SEAT_LEON_MK3 = VolkswagenMQBPlatformConfig(
"SEAT LEON 3RD GEN", # Chassis 5F
[VWCarDocs("SEAT Leon 2014-20")],
VolkswagenCarSpecs(mass=1227, wheelbase=2.64),
)
SKODA_FABIA_MK4 = VolkswagenMQBPlatformConfig(
"SKODA FABIA 4TH GEN", # Chassis PJ
[VWCarDocs("Škoda Fabia 2022-23", footnotes=[Footnote.VW_MQB_A0])],
VolkswagenCarSpecs(mass=1266, wheelbase=2.56),
)
SKODA_KAMIQ_MK1 = VolkswagenMQBPlatformConfig(
"SKODA KAMIQ 1ST GEN", # Chassis NW
[VWCarDocs("Škoda Kamiq 2021-23", footnotes=[Footnote.VW_MQB_A0, Footnote.KAMIQ])],
VolkswagenCarSpecs(mass=1265, wheelbase=2.66),
)
SKODA_KAROQ_MK1 = VolkswagenMQBPlatformConfig(
"SKODA KAROQ 1ST GEN", # Chassis NU
[VWCarDocs("Škoda Karoq 2019-23")],
VolkswagenCarSpecs(mass=1278, wheelbase=2.66),
)
SKODA_KODIAQ_MK1 = VolkswagenMQBPlatformConfig(
"SKODA KODIAQ 1ST GEN", # Chassis NS
[VWCarDocs("Škoda Kodiaq 2017-23")],
VolkswagenCarSpecs(mass=1569, wheelbase=2.79),
)
SKODA_OCTAVIA_MK3 = VolkswagenMQBPlatformConfig(
"SKODA OCTAVIA 3RD GEN", # Chassis NE
[
VWCarDocs("Škoda Octavia 2015-19"),
VWCarDocs("Škoda Octavia RS 2016"),
],
VolkswagenCarSpecs(mass=1388, wheelbase=2.68),
)
SKODA_SCALA_MK1 = VolkswagenMQBPlatformConfig(
"SKODA SCALA 1ST GEN", # Chassis NW
[VWCarDocs("Škoda Scala 2020-23", footnotes=[Footnote.VW_MQB_A0])],
VolkswagenCarSpecs(mass=1192, wheelbase=2.65),
)
SKODA_SUPERB_MK3 = VolkswagenMQBPlatformConfig(
"SKODA SUPERB 3RD GEN", # 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
@@ -294,18 +394,27 @@ VOLKSWAGEN_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER +
VOLKSWAGEN_RX_OFFSET = 0x6a
FW_QUERY_CONFIG = FwQueryConfig(
requests=[
# 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],
# 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],
# 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()