openpilot v0.9.6 release
date: 2024-01-12T10:13:37 master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6
This commit is contained in:
FrogAi
391
selfdrive/car/volkswagen/carstate.py
Normal file
391
selfdrive/car/volkswagen/carstate.py
Normal file
@@ -0,0 +1,391 @@
|
||||
import numpy as np
|
||||
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, \
|
||||
CarControllerParams, VolkswagenFlags
|
||||
|
||||
|
||||
class CarState(CarStateBase):
|
||||
def __init__(self, CP):
|
||||
super().__init__(CP)
|
||||
self.CCP = CarControllerParams(CP)
|
||||
self.button_states = {button.event_type: False for button in self.CCP.BUTTONS}
|
||||
self.esp_hold_confirmation = False
|
||||
self.upscale_lead_car_signal = False
|
||||
self.eps_stock_values = False
|
||||
|
||||
def create_button_events(self, pt_cp, buttons):
|
||||
button_events = []
|
||||
|
||||
for button in buttons:
|
||||
state = pt_cp.vl[button.can_addr][button.can_msg] in button.values
|
||||
if self.button_states[button.event_type] != state:
|
||||
event = car.CarState.ButtonEvent.new_message()
|
||||
event.type = button.event_type
|
||||
event.pressed = state
|
||||
button_events.append(event)
|
||||
self.button_states[button.event_type] = state
|
||||
|
||||
return button_events
|
||||
|
||||
def update(self, pt_cp, cam_cp, ext_cp, trans_type):
|
||||
if self.CP.carFingerprint in PQ_CARS:
|
||||
return self.update_pq(pt_cp, cam_cp, ext_cp, trans_type)
|
||||
|
||||
ret = car.CarState.new_message()
|
||||
# Update vehicle speed and acceleration from ABS wheel speeds.
|
||||
ret.wheelSpeeds = self.get_wheel_speeds(
|
||||
pt_cp.vl["ESP_19"]["ESP_VL_Radgeschw_02"],
|
||||
pt_cp.vl["ESP_19"]["ESP_VR_Radgeschw_02"],
|
||||
pt_cp.vl["ESP_19"]["ESP_HL_Radgeschw_02"],
|
||||
pt_cp.vl["ESP_19"]["ESP_HR_Radgeschw_02"],
|
||||
)
|
||||
|
||||
ret.vEgoRaw = float(np.mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr]))
|
||||
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.
|
||||
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")
|
||||
|
||||
# VW Emergency Assist status tracking and mitigation
|
||||
self.eps_stock_values = pt_cp.vl["LH_EPS_03"]
|
||||
if self.CP.flags & VolkswagenFlags.STOCK_HCA_PRESENT:
|
||||
ret.carFaultedNonCritical = bool(cam_cp.vl["HCA_01"]["EA_Ruckfreigabe"]) or cam_cp.vl["HCA_01"]["EA_ACC_Sollstatus"] > 0
|
||||
|
||||
# Update gas, brakes, and gearshift.
|
||||
ret.gas = pt_cp.vl["Motor_20"]["MO_Fahrpedalrohwert_01"] / 100.0
|
||||
ret.gasPressed = ret.gas > 0
|
||||
ret.brake = pt_cp.vl["ESP_05"]["ESP_Bremsdruck"] / 250.0 # FIXME: this is pressure in Bar, not sure what OP expects
|
||||
brake_pedal_pressed = bool(pt_cp.vl["Motor_14"]["MO_Fahrer_bremst"])
|
||||
brake_pressure_detected = bool(pt_cp.vl["ESP_05"]["ESP_Fahrer_bremst"])
|
||||
ret.brakePressed = brake_pedal_pressed or brake_pressure_detected
|
||||
ret.parkingBrake = bool(pt_cp.vl["Kombi_01"]["KBI_Handbremse"]) # FIXME: need to include an EPB check as well
|
||||
|
||||
# Update gear and/or clutch position data.
|
||||
if trans_type == TransmissionType.automatic:
|
||||
ret.gearShifter = self.parse_gear_shifter(self.CCP.shifter_values.get(pt_cp.vl["Getriebe_11"]["GE_Fahrstufe"], None))
|
||||
elif trans_type == TransmissionType.direct:
|
||||
ret.gearShifter = self.parse_gear_shifter(self.CCP.shifter_values.get(pt_cp.vl["EV_Gearshift"]["GearPosition"], None))
|
||||
elif trans_type == TransmissionType.manual:
|
||||
ret.clutchPressed = not pt_cp.vl["Motor_14"]["MO_Kuppl_schalter"]
|
||||
if bool(pt_cp.vl["Gateway_72"]["BCM1_Rueckfahrlicht_Schalter"]):
|
||||
ret.gearShifter = GearShifter.reverse
|
||||
else:
|
||||
ret.gearShifter = GearShifter.drive
|
||||
|
||||
# Update door and trunk/hatch lid open status.
|
||||
ret.doorOpen = any([pt_cp.vl["Gateway_72"]["ZV_FT_offen"],
|
||||
pt_cp.vl["Gateway_72"]["ZV_BT_offen"],
|
||||
pt_cp.vl["Gateway_72"]["ZV_HFS_offen"],
|
||||
pt_cp.vl["Gateway_72"]["ZV_HBFS_offen"],
|
||||
pt_cp.vl["Gateway_72"]["ZV_HD_offen"]])
|
||||
|
||||
# Update seatbelt fastened status.
|
||||
ret.seatbeltUnlatched = pt_cp.vl["Airbag_02"]["AB_Gurtschloss_FA"] != 3
|
||||
|
||||
# Consume blind-spot monitoring info/warning LED states, if available.
|
||||
# Infostufe: BSM LED on, Warnung: BSM LED flashing
|
||||
if self.CP.enableBsm:
|
||||
ret.leftBlindspot = bool(ext_cp.vl["SWA_01"]["SWA_Infostufe_SWA_li"]) or bool(ext_cp.vl["SWA_01"]["SWA_Warnung_SWA_li"])
|
||||
ret.rightBlindspot = bool(ext_cp.vl["SWA_01"]["SWA_Infostufe_SWA_re"]) or bool(ext_cp.vl["SWA_01"]["SWA_Warnung_SWA_re"])
|
||||
|
||||
# Consume factory LDW data relevant for factory SWA (Lane Change Assist)
|
||||
# and capture it for forwarding to the blind spot radar controller
|
||||
self.ldw_stock_values = cam_cp.vl["LDW_02"] if self.CP.networkLocation == NetworkLocation.fwdCamera else {}
|
||||
|
||||
# Stock FCW is considered active if the release bit for brake-jerk warning
|
||||
# is set. Stock AEB considered active if the partial braking or target
|
||||
# braking release bits are set.
|
||||
# Refer to VW Self Study Program 890253: Volkswagen Driver Assistance
|
||||
# Systems, chapter on Front Assist with Braking: Golf Family for all MQB
|
||||
ret.stockFcw = bool(ext_cp.vl["ACC_10"]["AWV2_Freigabe"])
|
||||
ret.stockAeb = bool(ext_cp.vl["ACC_10"]["ANB_Teilbremsung_Freigabe"]) or bool(ext_cp.vl["ACC_10"]["ANB_Zielbremsung_Freigabe"])
|
||||
|
||||
# Update ACC radar status.
|
||||
self.acc_type = ext_cp.vl["ACC_06"]["ACC_Typ"]
|
||||
if pt_cp.vl["TSK_06"]["TSK_Status"] == 2:
|
||||
# ACC okay and enabled, but not currently engaged
|
||||
ret.cruiseState.available = True
|
||||
ret.cruiseState.enabled = False
|
||||
elif pt_cp.vl["TSK_06"]["TSK_Status"] in (3, 4, 5):
|
||||
# ACC okay and enabled, currently regulating speed (3) or driver accel override (4) or brake only (5)
|
||||
ret.cruiseState.available = True
|
||||
ret.cruiseState.enabled = True
|
||||
else:
|
||||
# ACC okay but disabled (1), or a radar visibility or other fault/disruption (6 or 7)
|
||||
ret.cruiseState.available = False
|
||||
ret.cruiseState.enabled = False
|
||||
self.esp_hold_confirmation = bool(pt_cp.vl["ESP_21"]["ESP_Haltebestaetigung"])
|
||||
ret.cruiseState.standstill = self.CP.pcmCruise and self.esp_hold_confirmation
|
||||
ret.accFaulted = pt_cp.vl["TSK_06"]["TSK_Status"] in (6, 7)
|
||||
|
||||
# Update ACC setpoint. When the setpoint is zero or there's an error, the
|
||||
# radar sends a set-speed of ~90.69 m/s / 203mph.
|
||||
if self.CP.pcmCruise:
|
||||
ret.cruiseState.speed = ext_cp.vl["ACC_02"]["ACC_Wunschgeschw_02"] * CV.KPH_TO_MS
|
||||
if ret.cruiseState.speed > 90:
|
||||
ret.cruiseState.speed = 0
|
||||
|
||||
# Update button states for turn signals and ACC controls, capture all ACC button state/config for passthrough
|
||||
ret.leftBlinker = bool(pt_cp.vl["Blinkmodi_02"]["Comfort_Signal_Left"])
|
||||
ret.rightBlinker = bool(pt_cp.vl["Blinkmodi_02"]["Comfort_Signal_Right"])
|
||||
ret.buttonEvents = self.create_button_events(pt_cp, self.CCP.BUTTONS)
|
||||
self.gra_stock_values = pt_cp.vl["GRA_ACC_01"]
|
||||
|
||||
# Additional safety checks performed in CarInterface.
|
||||
ret.espDisabled = pt_cp.vl["ESP_21"]["ESP_Tastung_passiv"] != 0
|
||||
|
||||
# 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"])
|
||||
|
||||
return ret
|
||||
|
||||
def update_pq(self, pt_cp, cam_cp, ext_cp, trans_type):
|
||||
ret = car.CarState.new_message()
|
||||
# Update vehicle speed and acceleration from ABS wheel speeds.
|
||||
ret.wheelSpeeds = self.get_wheel_speeds(
|
||||
pt_cp.vl["Bremse_3"]["Radgeschw__VL_4_1"],
|
||||
pt_cp.vl["Bremse_3"]["Radgeschw__VR_4_1"],
|
||||
pt_cp.vl["Bremse_3"]["Radgeschw__HL_4_1"],
|
||||
pt_cp.vl["Bremse_3"]["Radgeschw__HR_4_1"],
|
||||
)
|
||||
|
||||
# vEgo obtained from Bremse_1 vehicle speed rather than Bremse_3 wheel speeds because Bremse_3 isn't present on NSF
|
||||
ret.vEgoRaw = pt_cp.vl["Bremse_1"]["Geschwindigkeit_neu__Bremse_1_"] * CV.KPH_TO_MS
|
||||
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.
|
||||
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")
|
||||
|
||||
# Update gas, brakes, and gearshift.
|
||||
ret.gas = pt_cp.vl["Motor_3"]["Fahrpedal_Rohsignal"] / 100.0
|
||||
ret.gasPressed = ret.gas > 0
|
||||
ret.brake = pt_cp.vl["Bremse_5"]["Bremsdruck"] / 250.0 # FIXME: this is pressure in Bar, not sure what OP expects
|
||||
ret.brakePressed = bool(pt_cp.vl["Motor_2"]["Bremslichtschalter"])
|
||||
ret.parkingBrake = bool(pt_cp.vl["Kombi_1"]["Bremsinfo"])
|
||||
|
||||
# Update gear and/or clutch position data.
|
||||
if trans_type == TransmissionType.automatic:
|
||||
ret.gearShifter = self.parse_gear_shifter(self.CCP.shifter_values.get(pt_cp.vl["Getriebe_1"]["Waehlhebelposition__Getriebe_1_"], None))
|
||||
elif trans_type == TransmissionType.manual:
|
||||
ret.clutchPressed = not pt_cp.vl["Motor_1"]["Kupplungsschalter"]
|
||||
reverse_light = bool(pt_cp.vl["Gate_Komf_1"]["GK1_Rueckfahr"])
|
||||
if reverse_light:
|
||||
ret.gearShifter = GearShifter.reverse
|
||||
else:
|
||||
ret.gearShifter = GearShifter.drive
|
||||
|
||||
# Update door and trunk/hatch lid open status.
|
||||
ret.doorOpen = any([pt_cp.vl["Gate_Komf_1"]["GK1_Fa_Tuerkont"],
|
||||
pt_cp.vl["Gate_Komf_1"]["BSK_BT_geoeffnet"],
|
||||
pt_cp.vl["Gate_Komf_1"]["BSK_HL_geoeffnet"],
|
||||
pt_cp.vl["Gate_Komf_1"]["BSK_HR_geoeffnet"],
|
||||
pt_cp.vl["Gate_Komf_1"]["BSK_HD_Hauptraste"]])
|
||||
|
||||
# Update seatbelt fastened status.
|
||||
ret.seatbeltUnlatched = not bool(pt_cp.vl["Airbag_1"]["Gurtschalter_Fahrer"])
|
||||
|
||||
# Consume blind-spot monitoring info/warning LED states, if available.
|
||||
# Infostufe: BSM LED on, Warnung: BSM LED flashing
|
||||
if self.CP.enableBsm:
|
||||
ret.leftBlindspot = bool(ext_cp.vl["SWA_1"]["SWA_Infostufe_SWA_li"]) or bool(ext_cp.vl["SWA_1"]["SWA_Warnung_SWA_li"])
|
||||
ret.rightBlindspot = bool(ext_cp.vl["SWA_1"]["SWA_Infostufe_SWA_re"]) or bool(ext_cp.vl["SWA_1"]["SWA_Warnung_SWA_re"])
|
||||
|
||||
# Consume factory LDW data relevant for factory SWA (Lane Change Assist)
|
||||
# and capture it for forwarding to the blind spot radar controller
|
||||
self.ldw_stock_values = cam_cp.vl["LDW_Status"] if self.CP.networkLocation == NetworkLocation.fwdCamera else {}
|
||||
|
||||
# Stock FCW is considered active if the release bit for brake-jerk warning
|
||||
# is set. Stock AEB considered active if the partial braking or target
|
||||
# braking release bits are set.
|
||||
# Refer to VW Self Study Program 890253: Volkswagen Driver Assistance
|
||||
# Systems, chapters on Front Assist with Braking and City Emergency
|
||||
# Braking for the 2016 Passat NMS
|
||||
# TODO: deferred until we can collect data on pre-MY2016 behavior, AWV message may be shorter with fewer signals
|
||||
ret.stockFcw = False
|
||||
ret.stockAeb = False
|
||||
|
||||
# Update ACC radar status.
|
||||
self.acc_type = ext_cp.vl["ACC_System"]["ACS_Typ_ACC"]
|
||||
ret.cruiseState.available = bool(pt_cp.vl["Motor_5"]["GRA_Hauptschalter"])
|
||||
ret.cruiseState.enabled = pt_cp.vl["Motor_2"]["GRA_Status"] in (1, 2)
|
||||
if self.CP.pcmCruise:
|
||||
ret.accFaulted = ext_cp.vl["ACC_GRA_Anzeige"]["ACA_StaACC"] in (6, 7)
|
||||
else:
|
||||
ret.accFaulted = pt_cp.vl["Motor_2"]["GRA_Status"] == 3
|
||||
|
||||
# Update ACC setpoint. When the setpoint reads as 255, the driver has not
|
||||
# yet established an ACC setpoint, so treat it as zero.
|
||||
ret.cruiseState.speed = ext_cp.vl["ACC_GRA_Anzeige"]["ACA_V_Wunsch"] * CV.KPH_TO_MS
|
||||
if ret.cruiseState.speed > 70: # 255 kph in m/s == no current setpoint
|
||||
ret.cruiseState.speed = 0
|
||||
|
||||
# Update button states for turn signals and ACC controls, capture all ACC button state/config for passthrough
|
||||
ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_stalk(300, pt_cp.vl["Gate_Komf_1"]["GK1_Blinker_li"],
|
||||
pt_cp.vl["Gate_Komf_1"]["GK1_Blinker_re"])
|
||||
ret.buttonEvents = self.create_button_events(pt_cp, self.CCP.BUTTONS)
|
||||
self.gra_stock_values = pt_cp.vl["GRA_Neu"]
|
||||
|
||||
# Additional safety checks performed in CarInterface.
|
||||
ret.espDisabled = bool(pt_cp.vl["Bremse_1"]["ESP_Passiv_getastet"])
|
||||
|
||||
return ret
|
||||
|
||||
@staticmethod
|
||||
def get_can_parser(CP):
|
||||
if CP.carFingerprint in PQ_CARS:
|
||||
return CarState.get_can_parser_pq(CP)
|
||||
|
||||
messages = [
|
||||
# sig_address, frequency
|
||||
("LWI_01", 100), # From J500 Steering Assist with integrated sensors
|
||||
("LH_EPS_03", 100), # From J500 Steering Assist with integrated sensors
|
||||
("ESP_19", 100), # From J104 ABS/ESP controller
|
||||
("ESP_05", 50), # From J104 ABS/ESP controller
|
||||
("ESP_21", 50), # From J104 ABS/ESP controller
|
||||
("Motor_20", 50), # From J623 Engine control module
|
||||
("TSK_06", 50), # From J623 Engine control module
|
||||
("ESP_02", 50), # From J104 ABS/ESP controller
|
||||
("GRA_ACC_01", 33), # From J533 CAN gateway (via LIN from steering wheel controls)
|
||||
("Gateway_72", 10), # From J533 CAN gateway (aggregated data)
|
||||
("Motor_14", 10), # From J623 Engine control module
|
||||
("Airbag_02", 5), # From J234 Airbag control module
|
||||
("Kombi_01", 2), # From J285 Instrument cluster
|
||||
("Blinkmodi_02", 1), # From J519 BCM (sent at 1Hz when no lights active, 50Hz when active)
|
||||
("Kombi_03", 0), # From J285 instrument cluster (not present on older cars, 1Hz when present)
|
||||
]
|
||||
|
||||
if CP.transmissionType == TransmissionType.automatic:
|
||||
messages.append(("Getriebe_11", 20)) # From J743 Auto transmission control module
|
||||
elif CP.transmissionType == TransmissionType.direct:
|
||||
messages.append(("EV_Gearshift", 10)) # From J??? unknown EV control module
|
||||
|
||||
if CP.networkLocation == NetworkLocation.fwdCamera:
|
||||
# Radars are here on CANBUS.pt
|
||||
messages += MqbExtraSignals.fwd_radar_messages
|
||||
if CP.enableBsm:
|
||||
messages += MqbExtraSignals.bsm_radar_messages
|
||||
|
||||
return CANParser(DBC[CP.carFingerprint]["pt"], messages, CANBUS.pt)
|
||||
|
||||
@staticmethod
|
||||
def get_cam_can_parser(CP):
|
||||
if CP.carFingerprint in PQ_CARS:
|
||||
return CarState.get_cam_can_parser_pq(CP)
|
||||
|
||||
messages = []
|
||||
|
||||
if CP.flags & VolkswagenFlags.STOCK_HCA_PRESENT:
|
||||
messages += [
|
||||
("HCA_01", 1), # From R242 Driver assistance camera, 50Hz if steering/1Hz if not
|
||||
]
|
||||
|
||||
if CP.networkLocation == NetworkLocation.fwdCamera:
|
||||
messages += [
|
||||
# sig_address, frequency
|
||||
("LDW_02", 10) # From R242 Driver assistance camera
|
||||
]
|
||||
else:
|
||||
# Radars are here on CANBUS.cam
|
||||
messages += MqbExtraSignals.fwd_radar_messages
|
||||
if CP.enableBsm:
|
||||
messages += MqbExtraSignals.bsm_radar_messages
|
||||
|
||||
return CANParser(DBC[CP.carFingerprint]["pt"], messages, CANBUS.cam)
|
||||
|
||||
@staticmethod
|
||||
def get_can_parser_pq(CP):
|
||||
messages = [
|
||||
# sig_address, frequency
|
||||
("Bremse_1", 100), # From J104 ABS/ESP controller
|
||||
("Bremse_3", 100), # From J104 ABS/ESP controller
|
||||
("Lenkhilfe_3", 100), # From J500 Steering Assist with integrated sensors
|
||||
("Lenkwinkel_1", 100), # From J500 Steering Assist with integrated sensors
|
||||
("Motor_3", 100), # From J623 Engine control module
|
||||
("Airbag_1", 50), # From J234 Airbag control module
|
||||
("Bremse_5", 50), # From J104 ABS/ESP controller
|
||||
("GRA_Neu", 50), # From J??? steering wheel control buttons
|
||||
("Kombi_1", 50), # From J285 Instrument cluster
|
||||
("Motor_2", 50), # From J623 Engine control module
|
||||
("Motor_5", 50), # From J623 Engine control module
|
||||
("Lenkhilfe_2", 20), # From J500 Steering Assist with integrated sensors
|
||||
("Gate_Komf_1", 10), # From J533 CAN gateway
|
||||
]
|
||||
|
||||
if CP.transmissionType == TransmissionType.automatic:
|
||||
messages += [("Getriebe_1", 100)] # From J743 Auto transmission control module
|
||||
elif CP.transmissionType == TransmissionType.manual:
|
||||
messages += [("Motor_1", 100)] # From J623 Engine control module
|
||||
|
||||
if CP.networkLocation == NetworkLocation.fwdCamera:
|
||||
# Extended CAN devices other than the camera are here on CANBUS.pt
|
||||
messages += PqExtraSignals.fwd_radar_messages
|
||||
if CP.enableBsm:
|
||||
messages += PqExtraSignals.bsm_radar_messages
|
||||
|
||||
return CANParser(DBC[CP.carFingerprint]["pt"], messages, CANBUS.pt)
|
||||
|
||||
@staticmethod
|
||||
def get_cam_can_parser_pq(CP):
|
||||
|
||||
messages = []
|
||||
|
||||
if CP.networkLocation == NetworkLocation.fwdCamera:
|
||||
messages += [
|
||||
# sig_address, frequency
|
||||
("LDW_Status", 10) # From R242 Driver assistance camera
|
||||
]
|
||||
|
||||
if CP.networkLocation == NetworkLocation.gateway:
|
||||
# Radars are here on CANBUS.cam
|
||||
messages += PqExtraSignals.fwd_radar_messages
|
||||
if CP.enableBsm:
|
||||
messages += PqExtraSignals.bsm_radar_messages
|
||||
|
||||
return CANParser(DBC[CP.carFingerprint]["pt"], messages, CANBUS.cam)
|
||||
|
||||
|
||||
class MqbExtraSignals:
|
||||
# Additional signal and message lists for optional or bus-portable controllers
|
||||
fwd_radar_messages = [
|
||||
("ACC_06", 50), # From J428 ACC radar control module
|
||||
("ACC_10", 50), # From J428 ACC radar control module
|
||||
("ACC_02", 17), # From J428 ACC radar control module
|
||||
]
|
||||
bsm_radar_messages = [
|
||||
("SWA_01", 20), # From J1086 Lane Change Assist
|
||||
]
|
||||
|
||||
class PqExtraSignals:
|
||||
# Additional signal and message lists for optional or bus-portable controllers
|
||||
fwd_radar_messages = [
|
||||
("ACC_System", 50), # From J428 ACC radar control module
|
||||
("ACC_GRA_Anzeige", 25), # From J428 ACC radar control module
|
||||
]
|
||||
bsm_radar_messages = [
|
||||
("SWA_1", 20), # From J1086 Lane Change Assist
|
||||
]
|
||||
Reference in New Issue
Block a user