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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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371
selfdrive/car/volkswagen/values.py
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@@ -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()