139 lines
5.4 KiB
Python
139 lines
5.4 KiB
Python
from cereal import car
|
|
from panda import Panda
|
|
from openpilot.selfdrive.car import get_safety_config
|
|
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
|
|
from openpilot.selfdrive.car.volkswagen.values import CAR, CANBUS, NetworkLocation, TransmissionType, GearShifter, VolkswagenFlags
|
|
|
|
ButtonType = car.CarState.ButtonEvent.Type
|
|
EventName = car.CarEvent.EventName
|
|
|
|
|
|
class CarInterface(CarInterfaceBase):
|
|
def __init__(self, CP, CarController, CarState):
|
|
super().__init__(CP, CarController, CarState)
|
|
|
|
if CP.networkLocation == NetworkLocation.fwdCamera:
|
|
self.ext_bus = CANBUS.pt
|
|
self.cp_ext = self.cp
|
|
else:
|
|
self.ext_bus = CANBUS.cam
|
|
self.cp_ext = self.cp_cam
|
|
|
|
self.eps_timer_soft_disable_alert = False
|
|
|
|
@staticmethod
|
|
def _get_params(ret, candidate: CAR, fingerprint, car_fw, experimental_long, docs):
|
|
ret.carName = "volkswagen"
|
|
ret.radarUnavailable = True
|
|
|
|
if ret.flags & VolkswagenFlags.PQ:
|
|
# Set global PQ35/PQ46/NMS parameters
|
|
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.volkswagenPq)]
|
|
ret.enableBsm = 0x3BA in fingerprint[0] # SWA_1
|
|
|
|
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(car.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]: # EV_Gearshift
|
|
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.experimentalLongitudinalAvailable = ret.networkLocation == NetworkLocation.gateway or docs
|
|
if experimental_long:
|
|
# Proof-of-concept, prep for E2E only. No radar points available. Panda ALLOW_DEBUG firmware required.
|
|
ret.openpilotLongitudinalControl = True
|
|
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_VOLKSWAGEN_LONG_CONTROL
|
|
if ret.transmissionType == TransmissionType.manual:
|
|
ret.minEnableSpeed = 4.5
|
|
|
|
ret.pcmCruise = not ret.openpilotLongitudinalControl
|
|
ret.stoppingControl = True
|
|
ret.stopAccel = -0.55
|
|
ret.vEgoStarting = 0.1
|
|
ret.vEgoStopping = 0.5
|
|
ret.longitudinalTuning.kpV = [0.1]
|
|
ret.longitudinalTuning.kiV = [0.0]
|
|
ret.autoResumeSng = ret.minEnableSpeed == -1
|
|
|
|
return ret
|
|
|
|
# returns a car.CarState
|
|
def _update(self, c):
|
|
ret, fp_ret = self.CS.update(self.cp, self.cp_cam, self.cp_ext, self.CP.transmissionType)
|
|
|
|
events = self.create_common_events(ret, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
|
|
pcm_enable=not self.CS.CP.openpilotLongitudinalControl,
|
|
enable_buttons=(ButtonType.setCruise, ButtonType.resumeCruise))
|
|
|
|
# Low speed steer alert hysteresis logic
|
|
if self.CP.minSteerSpeed > 0. and ret.vEgo < (self.CP.minSteerSpeed + 1.):
|
|
self.low_speed_alert = True
|
|
elif ret.vEgo > (self.CP.minSteerSpeed + 2.):
|
|
self.low_speed_alert = False
|
|
if self.low_speed_alert:
|
|
events.add(EventName.belowSteerSpeed)
|
|
|
|
if self.CS.CP.openpilotLongitudinalControl:
|
|
if ret.vEgo < self.CP.minEnableSpeed + 0.5:
|
|
events.add(EventName.belowEngageSpeed)
|
|
if c.enabled and ret.vEgo < self.CP.minEnableSpeed:
|
|
events.add(EventName.speedTooLow)
|
|
|
|
if self.eps_timer_soft_disable_alert:
|
|
events.add(EventName.steerTimeLimit)
|
|
|
|
ret.events = events.to_msg()
|
|
|
|
return ret, fp_ret
|
|
|
|
def apply(self, c, now_nanos):
|
|
new_actuators, can_sends, self.eps_timer_soft_disable_alert = self.CC.update(c, self.CS, self.ext_bus, now_nanos)
|
|
return new_actuators, can_sends
|