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carrot/selfdrive/car/volkswagen/values.py
FrogAi 856c3c4214 Controls - Longitudinal Tuning - Acceleration Profile 
Change the acceleration rate to be either sporty or eco-friendly.
2024-06-01 02:34:40 -07:00

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from collections import namedtuple
from dataclasses import dataclass, field
from enum import Enum, IntFlag
from cereal import car
from panda.python import uds
from opendbc.can.can_define import CANDefine
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
Ecu = car.CarParams.Ecu
NetworkLocation = car.CarParams.NetworkLocation
TransmissionType = car.CarParams.TransmissionType
GearShifter = car.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
# 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
ACCEL_MAX = 2.0 # 2.0 m/s max acceleration
ACCEL_MAX_PLUS = 4.0 # 4.0 m/s max acceleration
ACCEL_MIN = -3.5 # 3.5 m/s max deceleration
def __init__(self, CP):
can_define = CANDefine(DBC[CP.carFingerprint]["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(car.CarState.ButtonEvent.Type.setCruise, "GRA_Neu", "GRA_Neu_Setzen", [1]),
Button(car.CarState.ButtonEvent.Type.resumeCruise, "GRA_Neu", "GRA_Recall", [1]),
Button(car.CarState.ButtonEvent.Type.accelCruise, "GRA_Neu", "GRA_Up_kurz", [1]),
Button(car.CarState.ButtonEvent.Type.decelCruise, "GRA_Neu", "GRA_Down_kurz", [1]),
Button(car.CarState.ButtonEvent.Type.cancel, "GRA_Neu", "GRA_Abbrechen", [1]),
Button(car.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["Getriebe_11"]["GE_Fahrstufe"]
elif CP.transmissionType == TransmissionType.direct:
self.shifter_values = can_define.dv["EV_Gearshift"]["GearPosition"]
self.hca_status_values = can_define.dv["LH_EPS_03"]["EPS_HCA_Status"]
self.BUTTONS = [
Button(car.CarState.ButtonEvent.Type.setCruise, "GRA_ACC_01", "GRA_Tip_Setzen", [1]),
Button(car.CarState.ButtonEvent.Type.resumeCruise, "GRA_ACC_01", "GRA_Tip_Wiederaufnahme", [1]),
Button(car.CarState.ButtonEvent.Type.accelCruise, "GRA_ACC_01", "GRA_Tip_Hoch", [1]),
Button(car.CarState.ButtonEvent.Type.decelCruise, "GRA_ACC_01", "GRA_Tip_Runter", [1]),
Button(car.CarState.ButtonEvent.Type.cancel, "GRA_ACC_01", "GRA_Abbrechen", [1]),
Button(car.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 VolkswagenFlags(IntFlag):
# Detected flags
STOCK_HCA_PRESENT = 1
# Static flags
PQ = 2
@dataclass
class VolkswagenMQBPlatformConfig(PlatformConfig):
dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('vw_mqb_2010', 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):
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)
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.j533]))
def init_make(self, CP: car.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.CRAFTER_MK2, CAR.TRANSPORTER_T61):
self.car_parts = CarParts([Device.threex_angled_mount, CarHarness.j533])
# 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
# 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(
# 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],
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],
bus=bus,
logging=(bus != 1 or not obd_multiplexing),
obd_multiplexing=obd_multiplexing,
),
]],
extra_ecus=[(Ecu.fwdCamera, 0x74f, None)],
)
DBC = CAR.create_dbc_map()
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