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Comma Device
2026-01-11 18:23:29 +08:00
commit 3721ecbf8a
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opendbc_repo/opendbc/car/volkswagen/__init__.py Normal file
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opendbc_repo/opendbc/car/volkswagen/carcontroller.py Normal file
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import numpy as np
from opendbc.can import CANPacker
from opendbc.car import Bus, DT_CTRL, apply_driver_steer_torque_limits, structs
from opendbc.car.common.conversions import Conversions as CV
from opendbc.car.interfaces import CarControllerBase
from opendbc.car.volkswagen import mqbcan, pqcan
from opendbc.car.volkswagen.values import CANBUS, CarControllerParams, VolkswagenFlags
VisualAlert = structs.CarControl.HUDControl.VisualAlert
LongCtrlState = structs.CarControl.Actuators.LongControlState
class CarController(CarControllerBase):
def __init__(self, dbc_names, CP):
super().__init__(dbc_names, CP)
self.CCP = CarControllerParams(CP)
self.CCS = pqcan if CP.flags & VolkswagenFlags.PQ else mqbcan
self.packer_pt = CANPacker(dbc_names[Bus.pt])
self.ext_bus = CANBUS.pt if CP.networkLocation == structs.CarParams.NetworkLocation.fwdCamera else CANBUS.cam
self.aeb_available = not CP.flags & VolkswagenFlags.PQ
self.apply_torque_last = 0
self.gra_acc_counter_last = None
self.eps_timer_soft_disable_alert = False
self.hca_frame_timer_running = 0
self.hca_frame_same_torque = 0
def update(self, CC, CS, now_nanos):
actuators = CC.actuators
hud_control = CC.hudControl
can_sends = []
# **** Steering Controls ************************************************ #
if self.frame % self.CCP.STEER_STEP == 0:
# Logic to avoid HCA state 4 "refused":
# * Don't steer unless HCA is in state 3 "ready" or 5 "active"
# * Don't steer at standstill
# * Don't send > 3.00 Newton-meters torque
# * Don't send the same torque for > 6 seconds
# * Don't send uninterrupted steering for > 360 seconds
# MQB racks reset the uninterrupted steering timer after a single frame
# of HCA disabled; this is done whenever output happens to be zero.
if CC.latActive:
new_torque = int(round(actuators.torque * self.CCP.STEER_MAX))
apply_torque = apply_driver_steer_torque_limits(new_torque, self.apply_torque_last, CS.out.steeringTorque, self.CCP)
self.hca_frame_timer_running += self.CCP.STEER_STEP
if self.apply_torque_last == apply_torque:
self.hca_frame_same_torque += self.CCP.STEER_STEP
if self.hca_frame_same_torque > self.CCP.STEER_TIME_STUCK_TORQUE / DT_CTRL:
apply_torque -= (1, -1)[apply_torque < 0]
self.hca_frame_same_torque = 0
else:
self.hca_frame_same_torque = 0
hca_enabled = abs(apply_torque) > 0
else:
hca_enabled = False
apply_torque = 0
if not hca_enabled:
self.hca_frame_timer_running = 0
self.eps_timer_soft_disable_alert = self.hca_frame_timer_running > self.CCP.STEER_TIME_ALERT / DT_CTRL
self.apply_torque_last = apply_torque
can_sends.append(self.CCS.create_steering_control(self.packer_pt, CANBUS.pt, apply_torque, hca_enabled))
if self.CP.flags & VolkswagenFlags.STOCK_HCA_PRESENT:
# Pacify VW Emergency Assist driver inactivity detection by changing its view of driver steering input torque
# to the greatest of actual driver input or 2x openpilot's output (1x openpilot output is not enough to
# consistently reset inactivity detection on straight level roads). See commaai/openpilot#23274 for background.
ea_simulated_torque = float(np.clip(apply_torque * 2, -self.CCP.STEER_MAX, self.CCP.STEER_MAX))
if abs(CS.out.steeringTorque) > abs(ea_simulated_torque):
ea_simulated_torque = CS.out.steeringTorque
can_sends.append(self.CCS.create_eps_update(self.packer_pt, CANBUS.cam, CS.eps_stock_values, ea_simulated_torque))
# **** Acceleration Controls ******************************************** #
if self.CP.openpilotLongitudinalControl:
if self.frame % self.CCP.ACC_CONTROL_STEP == 0:
acc_control = self.CCS.acc_control_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive)
accel = float(np.clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX) if CC.longActive else 0)
stopping = actuators.longControlState == LongCtrlState.stopping
starting = actuators.longControlState == LongCtrlState.pid and (CS.esp_hold_confirmation or CS.out.vEgo < self.CP.vEgoStopping)
can_sends.extend(self.CCS.create_acc_accel_control(self.packer_pt, CANBUS.pt, CS.acc_type, CC.longActive, accel,
acc_control, stopping, starting, CS.esp_hold_confirmation))
#if self.aeb_available:
# if self.frame % self.CCP.AEB_CONTROL_STEP == 0:
# can_sends.append(self.CCS.create_aeb_control(self.packer_pt, False, False, 0.0))
# if self.frame % self.CCP.AEB_HUD_STEP == 0:
# can_sends.append(self.CCS.create_aeb_hud(self.packer_pt, False, False))
# **** HUD Controls ***************************************************** #
if self.frame % self.CCP.LDW_STEP == 0:
hud_alert = 0
if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw):
hud_alert = self.CCP.LDW_MESSAGES["laneAssistTakeOver"]
can_sends.append(self.CCS.create_lka_hud_control(self.packer_pt, CANBUS.pt, CS.ldw_stock_values, CC.latActive,
CS.out.steeringPressed, hud_alert, hud_control))
if self.frame % self.CCP.ACC_HUD_STEP == 0 and self.CP.openpilotLongitudinalControl:
lead_distance = 0
if hud_control.leadVisible and self.frame * DT_CTRL > 1.0: # Don't display lead until we know the scaling factor
lead_distance = 512 if CS.upscale_lead_car_signal else 8
acc_hud_status = self.CCS.acc_hud_status_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive)
# 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, hud_control.leadDistanceBars))
# **** Stock ACC Button Controls **************************************** #
gra_send_ready = self.CP.pcmCruise and CS.gra_stock_values["COUNTER"] != self.gra_acc_counter_last
if gra_send_ready and (CC.cruiseControl.cancel or CC.cruiseControl.resume):
can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, self.ext_bus, CS.gra_stock_values,
cancel=CC.cruiseControl.cancel, resume=CC.cruiseControl.resume))
new_actuators = actuators.as_builder()
new_actuators.torque = self.apply_torque_last / self.CCP.STEER_MAX
new_actuators.torqueOutputCan = self.apply_torque_last
self.gra_acc_counter_last = CS.gra_stock_values["COUNTER"]
self.frame += 1
return new_actuators, can_sends

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opendbc_repo/opendbc/car/volkswagen/carstate.py Normal file
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from opendbc.can import CANParser
from opendbc.car import Bus, structs
from opendbc.car.interfaces import CarStateBase
from opendbc.car.common.conversions import Conversions as CV
from opendbc.car.volkswagen.values import DBC, CANBUS, NetworkLocation, TransmissionType, GearShifter, \
CarControllerParams, VolkswagenFlags
ButtonType = structs.CarState.ButtonEvent.Type
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
self.upscale_lead_car_signal = False
self.eps_stock_values = False
def update_button_enable(self, buttonEvents: list[structs.CarState.ButtonEvent]):
if not self.CP.pcmCruise:
for b in buttonEvents:
# Enable OP long on falling edge of enable buttons
if b.type in (ButtonType.setCruise, ButtonType.resumeCruise) and not b.pressed:
return True
return 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 = structs.CarState.ButtonEvent()
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, can_parsers) -> structs.CarState:
pt_cp = can_parsers[Bus.pt]
cam_cp = can_parsers[Bus.cam]
ext_cp = pt_cp if self.CP.networkLocation == NetworkLocation.fwdCamera else cam_cp
if self.CP.flags & VolkswagenFlags.PQ:
return self.update_pq(pt_cp, cam_cp, ext_cp)
ret = structs.CarState()
if self.CP.transmissionType == TransmissionType.direct:
ret.gearShifter = self.parse_gear_shifter(self.CCP.shifter_values.get(pt_cp.vl["Motor_EV_01"]["MO_Waehlpos"], None))
elif self.CP.transmissionType == 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
else:
ret.gearShifter = self.parse_gear_shifter(self.CCP.shifter_values.get(pt_cp.vl["Gateway_73"]["GE_Fahrstufe"], None))
if True:
# MQB-specific
self.upscale_lead_car_signal = bool(pt_cp.vl["Kombi_03"]["KBI_Variante"]) # Analog vs digital instrument cluster
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.yawRate = pt_cp.vl["ESP_02"]["ESP_Gierrate"] * (1, -1)[int(pt_cp.vl["ESP_02"]["ESP_VZ_Gierrate"])] * CV.DEG_TO_RAD
hca_status = self.CCP.hca_status_values.get(pt_cp.vl["LH_EPS_03"]["EPS_HCA_Status"])
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 # EA
drive_mode = True
ret.gas = pt_cp.vl["Motor_20"]["MO_Fahrpedalrohwert_01"] / 100.0
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
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"]])
if self.CP.enableBsm:
# Infostufe: BSM LED on, Warnung: BSM LED flashing
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"])
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"])
self.acc_type = ext_cp.vl["ACC_06"]["ACC_Typ"]
self.esp_hold_confirmation = bool(pt_cp.vl["ESP_21"]["ESP_Haltebestaetigung"])
acc_limiter_mode = ext_cp.vl["ACC_02"]["ACC_Gesetzte_Zeitluecke"] == 0
speed_limiter_mode = bool(pt_cp.vl["TSK_06"]["TSK_Limiter_ausgewaehlt"])
ret.cruiseState.available = pt_cp.vl["TSK_06"]["TSK_Status"] in (2, 3, 4, 5)
ret.cruiseState.enabled = pt_cp.vl["TSK_06"]["TSK_Status"] in (3, 4, 5)
ret.cruiseState.speed = ext_cp.vl["ACC_02"]["ACC_Wunschgeschw_02"] * CV.KPH_TO_MS if self.CP.pcmCruise else 0
ret.accFaulted = pt_cp.vl["TSK_06"]["TSK_Status"] in (6, 7)
ret.leftBlinker = bool(pt_cp.vl["Blinkmodi_02"]["Comfort_Signal_Left"])
ret.rightBlinker = bool(pt_cp.vl["Blinkmodi_02"]["Comfort_Signal_Right"])
# Shared logic
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.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.steerFaultTemporary, ret.steerFaultPermanent = self.update_hca_state(hca_status, drive_mode)
ret.gasPressed = ret.gas > 0
ret.espActive = bool(pt_cp.vl["ESP_21"]["ESP_Eingriff"])
ret.espDisabled = pt_cp.vl["ESP_21"]["ESP_Tastung_passiv"] != 0
ret.seatbeltUnlatched = pt_cp.vl["Airbag_02"]["AB_Gurtschloss_FA"] != 3
ret.standstill = ret.vEgoRaw == 0
ret.cruiseState.standstill = self.CP.pcmCruise and self.esp_hold_confirmation
ret.cruiseState.nonAdaptive = acc_limiter_mode or speed_limiter_mode
if ret.cruiseState.speed > 90:
ret.cruiseState.speed = 0
self.eps_stock_values = pt_cp.vl["LH_EPS_03"]
self.ldw_stock_values = cam_cp.vl["LDW_02"] if self.CP.networkLocation == NetworkLocation.fwdCamera else {}
self.gra_stock_values = pt_cp.vl["GRA_ACC_01"]
ret.buttonEvents = self.create_button_events(pt_cp, self.CCP.BUTTONS)
self.frame += 1
return ret
def update_pq(self, pt_cp, cam_cp, ext_cp) -> structs.CarState:
ret = structs.CarState()
# 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 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
hca_status = self.CCP.hca_status_values.get(pt_cp.vl["Lenkhilfe_2"]["LH2_Sta_HCA"])
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
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 self.CP.transmissionType == TransmissionType.automatic:
ret.gearShifter = self.parse_gear_shifter(self.CCP.shifter_values.get(pt_cp.vl["Getriebe_1"]["Waehlhebelposition__Getriebe_1_"], None))
elif self.CP.transmissionType == 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"])
self.frame += 1
return ret
def update_hca_state(self, hca_status, drive_mode=True):
# Treat 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 = drive_mode and hca_status == "DISABLED" or (self.eps_init_complete and hca_status == "FAULT")
temp_fault = drive_mode and hca_status in ("REJECTED", "PREEMPTED") or not self.eps_init_complete
return temp_fault, perm_fault
@staticmethod
def get_can_parsers(CP):
if CP.flags & VolkswagenFlags.PQ:
return CarState.get_can_parsers_pq(CP)
# another case of the 1-50Hz
cam_messages = []
if CP.flags & VolkswagenFlags.STOCK_HCA_PRESENT:
cam_messages += [
("HCA_01", 1), # From R242 Driver assistance camera, 50Hz if steering/1Hz if not
]
return {
Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], [
# the 50->1Hz is currently too much for the CANParser to figure out
("Blinkmodi_02", 1), # From J519 BCM (sent at 1Hz when no lights active, 50Hz when active)
], CANBUS.pt),
Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], cam_messages, CANBUS.cam),
}
@staticmethod
def get_can_parsers_pq(CP):
return {
Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CANBUS.pt),
Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CANBUS.cam),
}

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opendbc_repo/opendbc/car/volkswagen/fingerprints.py Normal file
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opendbc_repo/opendbc/car/volkswagen/interface.py Normal file
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from opendbc.car import get_safety_config, structs
from opendbc.car.interfaces import CarInterfaceBase
from opendbc.car.volkswagen.carcontroller import CarController
from opendbc.car.volkswagen.carstate import CarState
from opendbc.car.volkswagen.values import CAR, NetworkLocation, TransmissionType, VolkswagenFlags, VolkswagenSafetyFlags
class CarInterface(CarInterfaceBase):
CarState = CarState
CarController = CarController
@staticmethod
def _get_params(ret: structs.CarParams, candidate: CAR, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
ret.brand = "volkswagen"
ret.radarUnavailable = True
if ret.flags & VolkswagenFlags.PQ:
# Set global PQ35/PQ46/NMS parameters
ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.volkswagenPq)]
ret.enableBsm = 0x3BA in fingerprint[0] # SWA_1
if 0x440 in fingerprint[0] or docs: # Getriebe_1
ret.transmissionType = TransmissionType.automatic
else:
ret.transmissionType = TransmissionType.manual
if any(msg in fingerprint[1] for msg in (0x1A0, 0xC2)): # Bremse_1, Lenkwinkel_1
ret.networkLocation = NetworkLocation.gateway
else:
ret.networkLocation = NetworkLocation.fwdCamera
# The PQ port is in dashcam-only mode due to a fixed six-minute maximum timer on HCA steering. An unsupported
# EPS flash update to work around this timer, and enable steering down to zero, is available from:
# https://github.com/pd0wm/pq-flasher
# It is documented in a four-part blog series:
# https://blog.willemmelching.nl/carhacking/2022/01/02/vw-part1/
# Panda ALLOW_DEBUG firmware required.
ret.dashcamOnly = True
else:
# Set global MQB parameters
ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.volkswagen)]
ret.enableBsm = 0x30F in fingerprint[0] # SWA_01
if 0xAD in fingerprint[0] or docs: # Getriebe_11
ret.transmissionType = TransmissionType.automatic
elif 0x187 in fingerprint[0]: # Motor_EV_01
ret.transmissionType = TransmissionType.direct
else:
ret.transmissionType = TransmissionType.manual
if any(msg in fingerprint[1] for msg in (0x40, 0x86, 0xB2, 0xFD)): # Airbag_01, LWI_01, ESP_19, ESP_21
ret.networkLocation = NetworkLocation.gateway
else:
ret.networkLocation = NetworkLocation.fwdCamera
if 0x126 in fingerprint[2]: # HCA_01
ret.flags |= VolkswagenFlags.STOCK_HCA_PRESENT.value
# Global lateral tuning defaults, can be overridden per-vehicle
ret.steerLimitTimer = 0.4
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.alphaLongitudinalAvailable = ret.networkLocation == NetworkLocation.gateway or docs
if alpha_long:
# Proof-of-concept, prep for E2E only. No radar points available. Panda ALLOW_DEBUG firmware required.
ret.openpilotLongitudinalControl = True
ret.safetyConfigs[0].safetyParam |= VolkswagenSafetyFlags.LONG_CONTROL.value
if ret.transmissionType == TransmissionType.manual:
ret.minEnableSpeed = 4.5
ret.pcmCruise = not ret.openpilotLongitudinalControl
ret.stopAccel = -0.55
ret.vEgoStarting = 0.1
ret.vEgoStopping = 0.5
ret.autoResumeSng = ret.minEnableSpeed == -1
return ret

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from opendbc.car.crc import CRC8H2F
def create_steering_control(packer, bus, apply_torque, lkas_enabled):
values = {
"HCA_01_Status_HCA": 5 if lkas_enabled else 3,
"HCA_01_LM_Offset": abs(apply_torque),
"HCA_01_LM_OffSign": 1 if apply_torque < 0 else 0,
"HCA_01_Vib_Freq": 18,
"HCA_01_Sendestatus": 1 if lkas_enabled else 0,
"EA_ACC_Wunschgeschwindigkeit": 327.36,
}
return packer.make_can_msg("HCA_01", bus, values)
def create_eps_update(packer, bus, eps_stock_values, ea_simulated_torque):
values = {s: eps_stock_values[s] for s in [
"COUNTER", # Sync counter value to EPS output
"EPS_Lenkungstyp", # EPS rack type
"EPS_Berechneter_LW", # Absolute raw steering angle
"EPS_VZ_BLW", # Raw steering angle sign
"EPS_HCA_Status", # EPS HCA control status
]}
values.update({
# Absolute driver torque input and sign, with EA inactivity mitigation
"EPS_Lenkmoment": abs(ea_simulated_torque),
"EPS_VZ_Lenkmoment": 1 if ea_simulated_torque < 0 else 0,
})
return packer.make_can_msg("LH_EPS_03", bus, values)
def create_lka_hud_control(packer, bus, ldw_stock_values, lat_active, steering_pressed, hud_alert, hud_control):
values = {}
if len(ldw_stock_values):
values = {s: ldw_stock_values[s] for s in [
"LDW_SW_Warnung_links", # Blind spot in warning mode on left side due to lane departure
"LDW_SW_Warnung_rechts", # Blind spot in warning mode on right side due to lane departure
"LDW_Seite_DLCTLC", # Direction of most likely lane departure (left or right)
"LDW_DLC", # Lane departure, distance to line crossing
"LDW_TLC", # Lane departure, time to line crossing
]}
values.update({
"LDW_Status_LED_gelb": 1 if lat_active and steering_pressed else 0,
"LDW_Status_LED_gruen": 1 if lat_active and not steering_pressed else 0,
"LDW_Lernmodus_links": 3 if hud_control.leftLaneDepart else 1 + hud_control.leftLaneVisible,
"LDW_Lernmodus_rechts": 3 if hud_control.rightLaneDepart else 1 + hud_control.rightLaneVisible,
"LDW_Texte": hud_alert,
})
return packer.make_can_msg("LDW_02", bus, values)
def create_acc_buttons_control(packer, bus, gra_stock_values, cancel=False, resume=False):
values = {s: gra_stock_values[s] for s in [
"GRA_Hauptschalter", # ACC button, on/off
"GRA_Typ_Hauptschalter", # ACC main button type
"GRA_Codierung", # ACC button configuration/coding
"GRA_Tip_Stufe_2", # unknown related to stalk type
"GRA_ButtonTypeInfo", # unknown related to stalk type
]}
values.update({
"COUNTER": (gra_stock_values["COUNTER"] + 1) % 16,
"GRA_Abbrechen": cancel,
"GRA_Tip_Wiederaufnahme": resume,
})
return packer.make_can_msg("GRA_ACC_01", bus, values)
def acc_control_value(main_switch_on, acc_faulted, long_active):
if acc_faulted:
acc_control = 6
elif long_active:
acc_control = 3
elif main_switch_on:
acc_control = 2
else:
acc_control = 0
return acc_control
def acc_hud_status_value(main_switch_on, acc_faulted, long_active):
# TODO: happens to resemble the ACC control value for now, but extend this for init/gas override later
return acc_control_value(main_switch_on, acc_faulted, long_active)
def create_acc_accel_control(packer, bus, acc_type, acc_enabled, accel, acc_control, stopping, starting, esp_hold):
commands = []
acc_06_values = {
"ACC_Typ": acc_type,
"ACC_Status_ACC": acc_control,
"ACC_StartStopp_Info": acc_enabled,
"ACC_Sollbeschleunigung_02": accel if acc_enabled else 3.01,
"ACC_zul_Regelabw_unten": 0.2, # TODO: dynamic adjustment of comfort-band
"ACC_zul_Regelabw_oben": 0.2, # TODO: dynamic adjustment of comfort-band
"ACC_neg_Sollbeschl_Grad_02": 4.0 if acc_enabled else 0, # TODO: dynamic adjustment of jerk limits
"ACC_pos_Sollbeschl_Grad_02": 4.0 if acc_enabled else 0, # TODO: dynamic adjustment of jerk limits
"ACC_Anfahren": starting,
"ACC_Anhalten": stopping,
}
commands.append(packer.make_can_msg("ACC_06", bus, acc_06_values))
if starting:
acc_hold_type = 4 # hold release / startup
elif esp_hold:
acc_hold_type = 3 # hold standby
elif stopping:
acc_hold_type = 1 # hold request
else:
acc_hold_type = 0
acc_07_values = {
"ACC_Anhalteweg": 0.3 if stopping else 20.46, # Distance to stop (stopping coordinator handles terminal roll-out)
"ACC_Freilauf_Info": 2 if acc_enabled else 0,
"ACC_Folgebeschl": 3.02, # Not using secondary controller accel unless and until we understand its impact
"ACC_Sollbeschleunigung_02": accel if acc_enabled else 3.01,
"ACC_Anforderung_HMS": acc_hold_type,
"ACC_Anfahren": starting,
"ACC_Anhalten": stopping,
}
commands.append(packer.make_can_msg("ACC_07", bus, acc_07_values))
return commands
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": distance + 2,
"ACC_Display_Prio": 3,
"ACC_Abstandsindex": lead_distance,
}
return packer.make_can_msg("ACC_02", bus, values)
# AWV = Stopping Distance Reduction
# Refer to Self Study Program 890253: Volkswagen Driver Assistance Systems, Design and Function
def create_aeb_control(packer, fcw_active, aeb_active, accel):
values = {
"AWV_Vorstufe": 0, # Preliminary stage
"AWV1_Anf_Prefill": 0, # Brake pre-fill request
"AWV1_HBA_Param": 0, # Brake pre-fill level
"AWV2_Freigabe": 0, # Stage 2 braking release
"AWV2_Ruckprofil": 0, # Brake jerk level
"AWV2_Priowarnung": 0, # Suppress lane departure warning in favor of FCW
"ANB_Notfallblinken": 0, # Hazard flashers request
"ANB_Teilbremsung_Freigabe": 0, # Target braking release
"ANB_Zielbremsung_Freigabe": 0, # Partial braking release
"ANB_Zielbrems_Teilbrems_Verz_Anf": 0.0, # Acceleration requirement for target/partial braking, m/s/s
"AWV_Halten": 0, # Vehicle standstill request
"PCF_Time_to_collision": 0xFF, # Pre Crash Front, populated only with a target, might be used on Audi only
}
return packer.make_can_msg("ACC_10", 0, values)
def create_aeb_hud(packer, aeb_supported, fcw_active):
values = {
"AWV_Texte": 5 if aeb_supported else 7, # FCW/AEB system status, display text (from menu in VAL)
"AWV_Status_Anzeige": 1 if aeb_supported else 2, # FCW/AEB system status, available or disabled
}
return packer.make_can_msg("ACC_15", 0, values)
def volkswagen_mqb_meb_checksum(address: int, sig, d: bytearray) -> int:
crc = 0xFF
for i in range(1, len(d)):
crc ^= d[i]
crc = CRC8H2F[crc]
counter = d[1] & 0x0F
const = VOLKSWAGEN_MQB_MEB_CONSTANTS.get(address)
if const:
crc ^= const[counter]
crc = CRC8H2F[crc]
return crc ^ 0xFF
def xor_checksum(address: int, sig, d: bytearray) -> int:
checksum = 0
checksum_byte = sig.start_bit // 8
for i in range(len(d)):
if i != checksum_byte:
checksum ^= d[i]
return checksum
VOLKSWAGEN_MQB_MEB_CONSTANTS: dict[int, list[int]] = {
0x40: [0x40] * 16, # Airbag_01
0x86: [0x86] * 16, # LWI_01
0x9F: [0xF5] * 16, # LH_EPS_03
0xAD: [0x3F, 0x69, 0x39, 0xDC, 0x94, 0xF9, 0x14, 0x64,
0xD8, 0x6A, 0x34, 0xCE, 0xA2, 0x55, 0xB5, 0x2C], # Getriebe_11
0x0DB: [0x09, 0xFA, 0xCA, 0x8E, 0x62, 0xD5, 0xD1, 0xF0,
0x31, 0xA0, 0xAF, 0xDA, 0x4D, 0x1A, 0x0A, 0x97], # AWV_03
0xFC: [0x77, 0x5C, 0xA0, 0x89, 0x4B, 0x7C, 0xBB, 0xD6,
0x1F, 0x6C, 0x4F, 0xF6, 0x20, 0x2B, 0x43, 0xDD], # ESC_51
0xFD: [0xB4, 0xEF, 0xF8, 0x49, 0x1E, 0xE5, 0xC2, 0xC0,
0x97, 0x19, 0x3C, 0xC9, 0xF1, 0x98, 0xD6, 0x61], # ESP_21
0x101: [0xAA] * 16, # ESP_02
0x102: [0xD7, 0x12, 0x85, 0x7E, 0x0B, 0x34, 0xFA, 0x16,
0x7A, 0x25, 0x2D, 0x8F, 0x04, 0x8E, 0x5D, 0x35], # ESC_50
0x106: [0x07] * 16, # ESP_05
0x10B: [0x77, 0x5C, 0xA0, 0x89, 0x4B, 0x7C, 0xBB, 0xD6,
0x1F, 0x6C, 0x4F, 0xF6, 0x20, 0x2B, 0x43, 0xDD], # Motor_51
0x116: [0xAC] * 16, # ESP_10
0x117: [0x16] * 16, # ACC_10
0x120: [0xC4, 0xE2, 0x4F, 0xE4, 0xF8, 0x2F, 0x56, 0x81,
0x9F, 0xE5, 0x83, 0x44, 0x05, 0x3F, 0x97, 0xDF], # TSK_06
0x121: [0xE9, 0x65, 0xAE, 0x6B, 0x7B, 0x35, 0xE5, 0x5F,
0x4E, 0xC7, 0x86, 0xA2, 0xBB, 0xDD, 0xEB, 0xB4], # Motor_20
0x122: [0x37, 0x7D, 0xF3, 0xA9, 0x18, 0x46, 0x6D, 0x4D,
0x3D, 0x71, 0x92, 0x9C, 0xE5, 0x32, 0x10, 0xB9], # ACC_06
0x126: [0xDA] * 16, # HCA_01
0x12B: [0x6A, 0x38, 0xB4, 0x27, 0x22, 0xEF, 0xE1, 0xBB,
0xF8, 0x80, 0x84, 0x49, 0xC7, 0x9E, 0x1E, 0x2B], # GRA_ACC_01
0x12E: [0xF8, 0xE5, 0x97, 0xC9, 0xD6, 0x07, 0x47, 0x21,
0x66, 0xDD, 0xCF, 0x6F, 0xA1, 0x94, 0x74, 0x63], # ACC_07
0x139: [0xED, 0x03, 0x1C, 0x13, 0xC6, 0x23, 0x78, 0x7A,
0x8B, 0x40, 0x14, 0x51, 0xBF, 0x68, 0x32, 0xBA], # VMM_02
0x13D: [0x20, 0xCA, 0x68, 0xD5, 0x1B, 0x31, 0xE2, 0xDA,
0x08, 0x0A, 0xD4, 0xDE, 0x9C, 0xE4, 0x35, 0x5B], # QFK_01
0x14C: [0x16, 0x35, 0x59, 0x15, 0x9A, 0x2A, 0x97, 0xB8,
0x0E, 0x4E, 0x30, 0xCC, 0xB3, 0x07, 0x01, 0xAD], # Motor_54
0x14D: [0x1A, 0x65, 0x81, 0x96, 0xC0, 0xDF, 0x11, 0x92,
0xD3, 0x61, 0xC6, 0x95, 0x8C, 0x29, 0x21, 0xB5], # ACC_18
0x187: [0x7F, 0xED, 0x17, 0xC2, 0x7C, 0xEB, 0x44, 0x21,
0x01, 0xFA, 0xDB, 0x15, 0x4A, 0x6B, 0x23, 0x05], # Motor_EV_01
0x1A4: [0x69, 0xBB, 0x54, 0xE6, 0x4E, 0x46, 0x8D, 0x7B,
0xEA, 0x87, 0xE9, 0xB3, 0x63, 0xCE, 0xF8, 0xBF], # EA_01
0x1AB: [0x13, 0x21, 0x9B, 0x6A, 0x9A, 0x62, 0xD4, 0x65,
0x18, 0xF1, 0xAB, 0x16, 0x32, 0x89, 0xE7, 0x26], # ESP_33
0x1F0: [0x2F, 0x3C, 0x22, 0x60, 0x18, 0xEB, 0x63, 0x76,
0xC5, 0x91, 0x0F, 0x27, 0x34, 0x04, 0x7F, 0x02], # EA_02
0x20A: [0x9D, 0xE8, 0x36, 0xA1, 0xCA, 0x3B, 0x1D, 0x33,
0xE0, 0xD5, 0xBB, 0x5F, 0xAE, 0x3C, 0x31, 0x9F], # EML_06
0x26B: [0xCE, 0xCC, 0xBD, 0x69, 0xA1, 0x3C, 0x18, 0x76,
0x0F, 0x04, 0xF2, 0x3A, 0x93, 0x24, 0x19, 0x51], # TA_01
0x30C: [0x0F] * 16, # ACC_02
0x30F: [0x0C] * 16, # SWA_01
0x324: [0x27] * 16, # ACC_04
0x3BE: [0x1F, 0x28, 0xC6, 0x85, 0xE6, 0xF8, 0xB0, 0x19,
0x5B, 0x64, 0x35, 0x21, 0xE4, 0xF7, 0x9C, 0x24], # Motor_14
0x3C0: [0xC3] * 16, # Klemmen_Status_01
0x3D5: [0xC5, 0x39, 0xC7, 0xF9, 0x92, 0xD8, 0x24, 0xCE,
0xF1, 0xB5, 0x7A, 0xC4, 0xBC, 0x60, 0xE3, 0xD1], # Licht_Anf_01
0x65D: [0xAC, 0xB3, 0xAB, 0xEB, 0x7A, 0xE1, 0x3B, 0xF7,
0x73, 0xBA, 0x7C, 0x9E, 0x06, 0x5F, 0x02, 0xD9], # ESP_20
}

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def create_steering_control(packer, bus, apply_torque, lkas_enabled):
values = {
"LM_Offset": abs(apply_torque),
"LM_OffSign": 1 if apply_torque < 0 else 0,
"HCA_Status": 5 if (lkas_enabled and apply_torque != 0) else 3,
"Vib_Freq": 16,
}
return packer.make_can_msg("HCA_1", bus, values)
def create_lka_hud_control(packer, bus, ldw_stock_values, lat_active, steering_pressed, hud_alert, hud_control):
values = {}
if len(ldw_stock_values):
values = {s: ldw_stock_values[s] for s in [
"LDW_SW_Warnung_links", # Blind spot in warning mode on left side due to lane departure
"LDW_SW_Warnung_rechts", # Blind spot in warning mode on right side due to lane departure
"LDW_Seite_DLCTLC", # Direction of most likely lane departure (left or right)
"LDW_DLC", # Lane departure, distance to line crossing
"LDW_TLC", # Lane departure, time to line crossing
]}
values.update({
"LDW_Lampe_gelb": 1 if lat_active and steering_pressed else 0,
"LDW_Lampe_gruen": 1 if lat_active and not steering_pressed else 0,
"LDW_Lernmodus_links": 3 if hud_control.leftLaneDepart else 1 + hud_control.leftLaneVisible,
"LDW_Lernmodus_rechts": 3 if hud_control.rightLaneDepart else 1 + hud_control.rightLaneVisible,
"LDW_Textbits": hud_alert,
})
return packer.make_can_msg("LDW_Status", bus, values)
def create_acc_buttons_control(packer, bus, gra_stock_values, cancel=False, resume=False):
values = {s: gra_stock_values[s] for s in [
"GRA_Hauptschalt", # ACC button, on/off
"GRA_Typ_Hauptschalt", # ACC button, momentary vs latching
"GRA_Kodierinfo", # ACC button, configuration
"GRA_Sender", # ACC button, CAN message originator
]}
values.update({
"COUNTER": (gra_stock_values["COUNTER"] + 1) % 16,
"GRA_Abbrechen": cancel,
"GRA_Recall": resume,
})
return packer.make_can_msg("GRA_Neu", bus, values)
def acc_control_value(main_switch_on, acc_faulted, long_active):
if long_active:
acc_control = 1
elif main_switch_on:
acc_control = 2
else:
acc_control = 0
return acc_control
def acc_hud_status_value(main_switch_on, acc_faulted, long_active):
if acc_faulted:
hud_status = 6
elif long_active:
hud_status = 3
elif main_switch_on:
hud_status = 2
else:
hud_status = 0
return hud_status
def create_acc_accel_control(packer, bus, acc_type, acc_enabled, accel, acc_control, stopping, starting, esp_hold):
commands = []
values = {
"ACS_Sta_ADR": acc_control,
"ACS_StSt_Info": acc_enabled,
"ACS_Typ_ACC": acc_type,
"ACS_Anhaltewunsch": acc_type == 1 and stopping,
"ACS_FreigSollB": acc_enabled,
"ACS_Sollbeschl": accel if acc_enabled else 3.01,
"ACS_zul_Regelabw": 0.2 if acc_enabled else 1.27,
"ACS_max_AendGrad": 3.0 if acc_enabled else 5.08,
}
commands.append(packer.make_can_msg("ACC_System", bus, values))
return commands
def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_distance, distance):
values = {
"ACA_StaACC": acc_hud_status,
"ACA_Zeitluecke": distance + 2,
"ACA_V_Wunsch": set_speed,
"ACA_gemZeitl": lead_distance,
"ACA_PrioDisp": 3,
# TODO: restore dynamic pop-to-foreground/highlight behavior with ACA_PrioDisp and ACA_AnzDisplay
# TODO: ACA_kmh_mph handling probably needed to resolve rounding errors in displayed setpoint
}
return packer.make_can_msg("ACC_GRA_Anzeige", bus, values)

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import random
import re
from opendbc.car.structs import CarParams
from opendbc.car.volkswagen.values import CAR, FW_QUERY_CONFIG, WMI
from opendbc.car.volkswagen.fingerprints import FW_VERSIONS
Ecu = CarParams.Ecu
CHASSIS_CODE_PATTERN = re.compile('[A-Z0-9]{2}')
# TODO: determine the unknown groups
SPARE_PART_FW_PATTERN = re.compile(b'\xf1\x87(?P<gateway>[0-9][0-9A-Z]{2})(?P<unknown>[0-9][0-9A-Z][0-9])(?P<unknown2>[0-9A-Z]{2}[0-9])([A-Z0-9]| )')
class TestVolkswagenPlatformConfigs:
def test_spare_part_fw_pattern(self, subtests):
# Relied on for determining if a FW is likely VW
for platform, ecus in FW_VERSIONS.items():
with subtests.test(platform=platform.value):
for fws in ecus.values():
for fw in fws:
assert SPARE_PART_FW_PATTERN.match(fw) is not None, f"Bad FW: {fw}"
def test_chassis_codes(self, subtests):
for platform in CAR:
with subtests.test(platform=platform.value):
assert len(platform.config.wmis) > 0, "WMIs not set"
assert len(platform.config.chassis_codes) > 0, "Chassis codes not set"
assert all(CHASSIS_CODE_PATTERN.match(cc) for cc in \
platform.config.chassis_codes), "Bad chassis codes"
# No two platforms should share chassis codes
for comp in CAR:
if platform == comp:
continue
assert set() == platform.config.chassis_codes & comp.config.chassis_codes, \
f"Shared chassis codes: {comp}"
def test_custom_fuzzy_fingerprinting(self, subtests):
all_radar_fw = list({fw for ecus in FW_VERSIONS.values() for fw in ecus[Ecu.fwdRadar, 0x757, None]})
for platform in CAR:
with subtests.test(platform=platform.name):
for wmi in WMI:
for chassis_code in platform.config.chassis_codes | {"00"}:
vin = ["0"] * 17
vin[0:3] = wmi
vin[6:8] = chassis_code
vin = "".join(vin)
# Check a few FW cases - expected, unexpected
for radar_fw in random.sample(all_radar_fw, 5) + [b'\xf1\x875Q0907572G \xf1\x890571', b'\xf1\x877H9907572AA\xf1\x890396']:
should_match = ((wmi in platform.config.wmis and chassis_code in platform.config.chassis_codes) and
radar_fw in all_radar_fw)
live_fws = {(0x757, None): [radar_fw]}
matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(live_fws, vin, FW_VERSIONS)
expected_matches = {platform} if should_match else set()
assert expected_matches == matches, "Bad match"

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opendbc_repo/opendbc/car/volkswagen/values.py Normal file
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from collections import defaultdict, namedtuple
from dataclasses import dataclass, field
from enum import Enum, IntFlag, StrEnum
from opendbc.car import Bus, CarSpecs, DbcDict, PlatformConfig, Platforms, structs, uds
from opendbc.can import CANDefine
from opendbc.car.common.conversions import Conversions as CV
from opendbc.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column, \
Device
from opendbc.car.fw_query_definitions import EcuAddrSubAddr, FwQueryConfig, Request, p16
from opendbc.car.vin import Vin
Ecu = structs.CarParams.Ecu
NetworkLocation = structs.CarParams.NetworkLocation
TransmissionType = structs.CarParams.TransmissionType
GearShifter = structs.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
AEB_CONTROL_STEP = 2 # ACC_10 frequency 50Hz
AEB_HUD_STEP = 20 # ACC_15 frequency 5Hz
# 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
DEFAULT_MIN_STEER_SPEED = 0.4 # m/s, newer EPS racks fault below this speed, don't show a low speed alert
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][Bus.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(structs.CarState.ButtonEvent.Type.setCruise, "GRA_Neu", "GRA_Neu_Setzen", [1]),
Button(structs.CarState.ButtonEvent.Type.resumeCruise, "GRA_Neu", "GRA_Recall", [1]),
Button(structs.CarState.ButtonEvent.Type.accelCruise, "GRA_Neu", "GRA_Up_kurz", [1]),
Button(structs.CarState.ButtonEvent.Type.decelCruise, "GRA_Neu", "GRA_Down_kurz", [1]),
Button(structs.CarState.ButtonEvent.Type.cancel, "GRA_Neu", "GRA_Abbrechen", [1]),
Button(structs.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["Gateway_73"]["GE_Fahrstufe"]
elif CP.transmissionType == TransmissionType.direct:
self.shifter_values = can_define.dv["Motor_EV_01"]["MO_Waehlpos"]
self.hca_status_values = can_define.dv["LH_EPS_03"]["EPS_HCA_Status"]
self.BUTTONS = [
Button(structs.CarState.ButtonEvent.Type.setCruise, "GRA_ACC_01", "GRA_Tip_Setzen", [1]),
Button(structs.CarState.ButtonEvent.Type.resumeCruise, "GRA_ACC_01", "GRA_Tip_Wiederaufnahme", [1]),
Button(structs.CarState.ButtonEvent.Type.accelCruise, "GRA_ACC_01", "GRA_Tip_Hoch", [1]),
Button(structs.CarState.ButtonEvent.Type.decelCruise, "GRA_ACC_01", "GRA_Tip_Runter", [1]),
Button(structs.CarState.ButtonEvent.Type.cancel, "GRA_ACC_01", "GRA_Abbrechen", [1]),
Button(structs.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 WMI(StrEnum):
VOLKSWAGEN_USA_SUV = "1V2"
VOLKSWAGEN_USA_CAR = "1VW"
VOLKSWAGEN_MEXICO_SUV = "3VV"
VOLKSWAGEN_MEXICO_CAR = "3VW"
VOLKSWAGEN_ARGENTINA = "8AW"
VOLKSWAGEN_BRASIL = "9BW"
SAIC_VOLKSWAGEN = "LSV"
SKODA = "TMB"
SEAT = "VSS"
AUDI_EUROPE_MPV = "WA1"
AUDI_GERMANY_CAR = "WAU"
MAN = "WMA"
AUDI_SPORT = "WUA"
VOLKSWAGEN_COMMERCIAL = "WV1"
VOLKSWAGEN_COMMERCIAL_BUS_VAN = "WV2"
VOLKSWAGEN_EUROPE_SUV = "WVG"
VOLKSWAGEN_EUROPE_CAR = "WVW"
VOLKSWAGEN_GROUP_RUS = "XW8"
class VolkswagenSafetyFlags(IntFlag):
LONG_CONTROL = 1
class VolkswagenFlags(IntFlag):
# Detected flags
STOCK_HCA_PRESENT = 1
# Static flags
PQ = 2
@dataclass
class VolkswagenMQBPlatformConfig(PlatformConfig):
dbc_dict: DbcDict = field(default_factory=lambda: {Bus.pt: 'vw_mqb'})
# Volkswagen uses the VIN WMI and chassis code to match in the absence of the comma power
# on camera-integrated cars, as we lose too many ECUs to reliably identify the vehicle
chassis_codes: set[str] = field(default_factory=set)
wmis: set[WMI] = field(default_factory=set)
@dataclass
class VolkswagenPQPlatformConfig(VolkswagenMQBPlatformConfig):
dbc_dict: DbcDict = field(default_factory=lambda: {Bus.pt: 'vw_pq'})
def init(self):
self.flags |= VolkswagenFlags.PQ
@dataclass(frozen=True, kw_only=True)
class VolkswagenCarSpecs(CarSpecs):
centerToFrontRatio: float = 0.45
steerRatio: float = 15.6
minSteerSpeed: float = CarControllerParams.DEFAULT_MIN_STEER_SPEED
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, docs_only=True)
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.vw_j533]))
def init_make(self, CP: structs.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.vw_j533])
if abs(CP.minSteerSpeed - CarControllerParams.DEFAULT_MIN_STEER_SPEED) < 1e-3:
self.min_steer_speed = 0
# 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.
class CAR(Platforms):
config: VolkswagenMQBPlatformConfig | VolkswagenPQPlatformConfig
VOLKSWAGEN_ARTEON_MK1 = VolkswagenMQBPlatformConfig(
[
VWCarDocs("Volkswagen Arteon 2018-23", video="https://youtu.be/FAomFKPFlDA"),
VWCarDocs("Volkswagen Arteon R 2020-23", video="https://youtu.be/FAomFKPFlDA"),
VWCarDocs("Volkswagen Arteon eHybrid 2020-23", video="https://youtu.be/FAomFKPFlDA"),
VWCarDocs("Volkswagen Arteon Shooting Brake 2020-23", video="https://youtu.be/FAomFKPFlDA"),
VWCarDocs("Volkswagen CC 2018-22", video="https://youtu.be/FAomFKPFlDA"),
],
VolkswagenCarSpecs(mass=1733, wheelbase=2.84),
chassis_codes={"AN", "3H"},
wmis={WMI.VOLKSWAGEN_EUROPE_CAR},
)
VOLKSWAGEN_ATLAS_MK1 = VolkswagenMQBPlatformConfig(
[
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),
chassis_codes={"CA"},
wmis={WMI.VOLKSWAGEN_USA_SUV, WMI.VOLKSWAGEN_EUROPE_SUV},
)
VOLKSWAGEN_CADDY_MK3 = VolkswagenPQPlatformConfig(
[
VWCarDocs("Volkswagen Caddy 2019"),
VWCarDocs("Volkswagen Caddy Maxi 2019"),
],
VolkswagenCarSpecs(mass=1613, wheelbase=2.6, minSteerSpeed=21 * CV.KPH_TO_MS),
chassis_codes={"2K"},
wmis={WMI.VOLKSWAGEN_COMMERCIAL_BUS_VAN},
)
VOLKSWAGEN_CRAFTER_MK2 = VolkswagenMQBPlatformConfig(
[
VWCarDocs("Volkswagen Crafter 2017-24", video="https://youtu.be/4100gLeabmo"),
VWCarDocs("Volkswagen e-Crafter 2018-24", video="https://youtu.be/4100gLeabmo"),
VWCarDocs("Volkswagen Grand California 2019-24", video="https://youtu.be/4100gLeabmo"),
VWCarDocs("MAN TGE 2017-24", video="https://youtu.be/4100gLeabmo"),
VWCarDocs("MAN eTGE 2020-24", video="https://youtu.be/4100gLeabmo"),
],
VolkswagenCarSpecs(mass=2100, wheelbase=3.64, minSteerSpeed=50 * CV.KPH_TO_MS),
chassis_codes={"SY", "SZ", "UY", "UZ"},
wmis={WMI.VOLKSWAGEN_COMMERCIAL, WMI.MAN},
)
VOLKSWAGEN_GOLF_MK7 = VolkswagenMQBPlatformConfig(
[
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),
chassis_codes={"5G", "AU", "BA", "BE"},
wmis={WMI.VOLKSWAGEN_MEXICO_CAR, WMI.VOLKSWAGEN_EUROPE_CAR},
)
VOLKSWAGEN_JETTA_MK6 = VolkswagenPQPlatformConfig(
[VWCarDocs("Volkswagen Jetta 2015-18")],
VolkswagenCarSpecs(mass=1518, wheelbase=2.65, minSteerSpeed=50 * CV.KPH_TO_MS, minEnableSpeed=20 * CV.KPH_TO_MS),
chassis_codes={"5K", "AJ"},
wmis={WMI.VOLKSWAGEN_MEXICO_CAR},
)
VOLKSWAGEN_JETTA_MK7 = VolkswagenMQBPlatformConfig(
[
VWCarDocs("Volkswagen Jetta 2018-23"),
VWCarDocs("Volkswagen Jetta GLI 2021-23"),
],
VolkswagenCarSpecs(mass=1328, wheelbase=2.71),
chassis_codes={"BU"},
wmis={WMI.VOLKSWAGEN_MEXICO_CAR, WMI.VOLKSWAGEN_EUROPE_CAR},
)
VOLKSWAGEN_PASSAT_MK8 = VolkswagenMQBPlatformConfig(
[
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),
chassis_codes={"3C", "3G"},
wmis={WMI.VOLKSWAGEN_EUROPE_CAR},
)
VOLKSWAGEN_PASSAT_NMS = VolkswagenPQPlatformConfig(
[VWCarDocs("Volkswagen Passat NMS 2017-22")],
VolkswagenCarSpecs(mass=1503, wheelbase=2.80, minSteerSpeed=50 * CV.KPH_TO_MS, minEnableSpeed=20 * CV.KPH_TO_MS),
chassis_codes={"A3"},
wmis={WMI.VOLKSWAGEN_USA_CAR},
)
VOLKSWAGEN_POLO_MK6 = VolkswagenMQBPlatformConfig(
[
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),
chassis_codes={"AW"},
wmis={WMI.VOLKSWAGEN_EUROPE_CAR},
)
VOLKSWAGEN_SHARAN_MK2 = VolkswagenPQPlatformConfig(
[
VWCarDocs("Volkswagen Sharan 2018-22"),
VWCarDocs("SEAT Alhambra 2018-20"),
],
VolkswagenCarSpecs(mass=1639, wheelbase=2.92, minSteerSpeed=50 * CV.KPH_TO_MS),
chassis_codes={"7N"},
wmis={WMI.VOLKSWAGEN_EUROPE_CAR},
)
VOLKSWAGEN_TAOS_MK1 = VolkswagenMQBPlatformConfig(
[VWCarDocs("Volkswagen Taos 2022-23")],
VolkswagenCarSpecs(mass=1498, wheelbase=2.69),
chassis_codes={"B2"},
wmis={WMI.VOLKSWAGEN_MEXICO_SUV, WMI.VOLKSWAGEN_ARGENTINA},
)
VOLKSWAGEN_TCROSS_MK1 = VolkswagenMQBPlatformConfig(
[VWCarDocs("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_MQB_A0])],
VolkswagenCarSpecs(mass=1150, wheelbase=2.60),
chassis_codes={"C1"},
wmis={WMI.VOLKSWAGEN_EUROPE_SUV},
)
VOLKSWAGEN_TIGUAN_MK2 = VolkswagenMQBPlatformConfig(
[
VWCarDocs("Volkswagen Tiguan 2018-23"),
VWCarDocs("Volkswagen Tiguan eHybrid 2021-23"),
],
VolkswagenCarSpecs(mass=1715, wheelbase=2.74),
chassis_codes={"5N", "AD", "AX", "BW"},
wmis={WMI.VOLKSWAGEN_EUROPE_SUV, WMI.VOLKSWAGEN_MEXICO_SUV},
)
VOLKSWAGEN_TOURAN_MK2 = VolkswagenMQBPlatformConfig(
[VWCarDocs("Volkswagen Touran 2016-23")],
VolkswagenCarSpecs(mass=1516, wheelbase=2.79),
chassis_codes={"1T"},
wmis={WMI.VOLKSWAGEN_EUROPE_SUV},
)
VOLKSWAGEN_TRANSPORTER_T61 = VolkswagenMQBPlatformConfig(
[
VWCarDocs("Volkswagen Caravelle 2020"),
VWCarDocs("Volkswagen California 2021-23"),
],
VolkswagenCarSpecs(mass=1926, wheelbase=3.00, minSteerSpeed=14.0),
chassis_codes={"7H", "7L"},
wmis={WMI.VOLKSWAGEN_COMMERCIAL_BUS_VAN},
)
VOLKSWAGEN_TROC_MK1 = VolkswagenMQBPlatformConfig(
[VWCarDocs("Volkswagen T-Roc 2018-23")],
VolkswagenCarSpecs(mass=1413, wheelbase=2.63),
chassis_codes={"A1"},
wmis={WMI.VOLKSWAGEN_EUROPE_SUV},
)
AUDI_A3_MK3 = VolkswagenMQBPlatformConfig(
[
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),
chassis_codes={"8V", "FF"},
wmis={WMI.AUDI_GERMANY_CAR, WMI.AUDI_SPORT},
)
AUDI_Q2_MK1 = VolkswagenMQBPlatformConfig(
[VWCarDocs("Audi Q2 2018")],
VolkswagenCarSpecs(mass=1205, wheelbase=2.61),
chassis_codes={"GA"},
wmis={WMI.AUDI_GERMANY_CAR},
)
AUDI_Q3_MK2 = VolkswagenMQBPlatformConfig(
[VWCarDocs("Audi Q3 2019-23")],
VolkswagenCarSpecs(mass=1623, wheelbase=2.68),
chassis_codes={"8U", "F3", "FS"},
wmis={WMI.AUDI_EUROPE_MPV, WMI.AUDI_GERMANY_CAR},
)
SEAT_ATECA_MK1 = VolkswagenMQBPlatformConfig(
[
VWCarDocs("CUPRA Ateca 2018-23"),
VWCarDocs("SEAT Ateca 2016-23"),
VWCarDocs("SEAT Leon 2014-20"),
],
VolkswagenCarSpecs(mass=1300, wheelbase=2.64),
chassis_codes={"5F"},
wmis={WMI.SEAT},
)
SKODA_FABIA_MK4 = VolkswagenMQBPlatformConfig(
[VWCarDocs("Škoda Fabia 2022-23", footnotes=[Footnote.VW_MQB_A0])],
VolkswagenCarSpecs(mass=1266, wheelbase=2.56),
chassis_codes={"PJ"},
wmis={WMI.SKODA},
)
SKODA_KAMIQ_MK1 = VolkswagenMQBPlatformConfig(
[
VWCarDocs("Škoda Kamiq 2021-23", footnotes=[Footnote.VW_MQB_A0, Footnote.KAMIQ]),
VWCarDocs("Škoda Scala 2020-23", footnotes=[Footnote.VW_MQB_A0]),
],
VolkswagenCarSpecs(mass=1230, wheelbase=2.66),
chassis_codes={"NW"},
wmis={WMI.SKODA},
)
SKODA_KAROQ_MK1 = VolkswagenMQBPlatformConfig(
[VWCarDocs("Škoda Karoq 2019-23")],
VolkswagenCarSpecs(mass=1278, wheelbase=2.66),
chassis_codes={"NU"},
wmis={WMI.SKODA},
)
SKODA_KODIAQ_MK1 = VolkswagenMQBPlatformConfig(
[VWCarDocs("Škoda Kodiaq 2017-23")],
VolkswagenCarSpecs(mass=1569, wheelbase=2.79),
chassis_codes={"NS"},
wmis={WMI.SKODA, WMI.VOLKSWAGEN_GROUP_RUS},
)
SKODA_OCTAVIA_MK3 = VolkswagenMQBPlatformConfig(
[
VWCarDocs("Škoda Octavia 2015-19"),
VWCarDocs("Škoda Octavia RS 2016"),
VWCarDocs("Škoda Octavia Scout 2017-19"),
],
VolkswagenCarSpecs(mass=1388, wheelbase=2.68),
chassis_codes={"NE"},
wmis={WMI.SKODA},
)
SKODA_SUPERB_MK3 = VolkswagenMQBPlatformConfig(
[VWCarDocs("Škoda Superb 2015-22")],
VolkswagenCarSpecs(mass=1505, wheelbase=2.84),
chassis_codes={"3V", "NP"},
wmis={WMI.SKODA},
)
def match_fw_to_car_fuzzy(live_fw_versions, vin, offline_fw_versions) -> set[str]:
candidates = set()
# Compile all FW versions for each ECU
all_ecu_versions: dict[EcuAddrSubAddr, set[str]] = defaultdict(set)
for ecus in offline_fw_versions.values():
for ecu, versions in ecus.items():
all_ecu_versions[ecu] |= set(versions)
# Check the WMI and chassis code to determine the platform
# https://www.clubvw.org.au/vwreference/vwvin
vin_obj = Vin(vin)
chassis_code = vin_obj.vds[3:5]
for platform in CAR:
valid_ecus = set()
for ecu in offline_fw_versions[platform]:
addr = ecu[1:]
if ecu[0] not in CHECK_FUZZY_ECUS:
continue
# Sanity check that live FW is in the superset of all FW, Volkswagen ECU part numbers are commonly shared
found_versions = live_fw_versions.get(addr, [])
expected_versions = all_ecu_versions[ecu]
if not any(found_version in expected_versions for found_version in found_versions):
break
valid_ecus.add(ecu[0])
if valid_ecus != CHECK_FUZZY_ECUS:
continue
if vin_obj.wmi in platform.config.wmis and chassis_code in platform.config.chassis_codes:
candidates.add(platform)
return {str(c) for c in candidates}
# These ECUs are required to match to gain a VIN match
# TODO: do we want to check camera when we add its FW?
CHECK_FUZZY_ECUS = {Ecu.fwdRadar}
# 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(
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, Ecu.fwdCamera],
rx_offset=VOLKSWAGEN_RX_OFFSET,
bus=bus,
obd_multiplexing=obd_multiplexing,
),
Request(
[VOLKSWAGEN_VERSION_REQUEST_MULTI],
[VOLKSWAGEN_VERSION_RESPONSE],
whitelist_ecus=[Ecu.engine, Ecu.transmission],
bus=bus,
obd_multiplexing=obd_multiplexing,
),
]],
non_essential_ecus={Ecu.eps: list(CAR)},
extra_ecus=[(Ecu.fwdCamera, 0x74f, None)],
match_fw_to_car_fuzzy=match_fw_to_car_fuzzy,
)
DBC = CAR.create_dbc_map()