mawei/StarPilot
1
0
Fork 0
mirror of https://github.com/firestar5683/StarPilot.git synced 2026-07-05 05:22:07 +08:00
Code Issues Packages Projects Releases Wiki Activity

VW MQB: Auto network location detection (#21671)

Browse Source 
* auto network location detection

* re-run CI after process_replay timeout fix

* different ext can bus ID handling
old-commit-hash: 4beda8e33c7f2a060d6cb6984d452f652302c296
This commit is contained in:
Jason Young
2021-07-25 16:31:15 -04:00
committed by GitHub
parent 88f6e9e1d2
commit 7e42474d9c
4 changed files with 40 additions and 19 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/car/volkswagen/carcontroller.py
+2 -2
View File
@@ -21,7 +21,7 @@ class CarController():
self.steer_rate_limited = False
def update(self, enabled, CS, frame, actuators, visual_alert, left_lane_visible, right_lane_visible, left_lane_depart, right_lane_depart):
def update(self, enabled, CS, frame, ext_bus, actuators, visual_alert, left_lane_visible, right_lane_visible, left_lane_depart, right_lane_depart):
""" Controls thread """
can_sends = []
@@ -106,7 +106,7 @@ class CarController():
if self.graMsgSentCount == 0:
self.graMsgStartFramePrev = frame
idx = (CS.graMsgBusCounter + 1) % 16
can_sends.append(volkswagencan.create_mqb_acc_buttons_control(self.packer_pt, CANBUS.pt, self.graButtonStatesToSend, CS, idx))
can_sends.append(volkswagencan.create_mqb_acc_buttons_control(self.packer_pt, ext_bus, self.graButtonStatesToSend, CS, idx))
self.graMsgSentCount += 1
if self.graMsgSentCount >= P.GRA_VBP_COUNT:
self.graButtonStatesToSend = None
selfdrive/car/volkswagen/carstate.py
+22 -14
View File
@@ -4,7 +4,7 @@ from selfdrive.config import Conversions as CV
from selfdrive.car.interfaces import CarStateBase
from opendbc.can.parser import CANParser
from opendbc.can.can_define import CANDefine
from selfdrive.car.volkswagen.values import DBC_FILES, CANBUS, TransmissionType, GearShifter, BUTTON_STATES, CarControllerParams
from selfdrive.car.volkswagen.values import DBC_FILES, CANBUS, NetworkLocation, TransmissionType, GearShifter, BUTTON_STATES, CarControllerParams
class CarState(CarStateBase):
def __init__(self, CP):
@@ -17,7 +17,7 @@ class CarState(CarStateBase):
self.hca_status_values = can_define.dv["LH_EPS_03"]["EPS_HCA_Status"]
self.buttonStates = BUTTON_STATES.copy()
def update(self, pt_cp, cam_cp, trans_type):
def update(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.fl = pt_cp.vl["ESP_19"]["ESP_VL_Radgeschw_02"] * CV.KPH_TO_MS
@@ -79,8 +79,8 @@ class CarState(CarStateBase):
# 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(pt_cp.vl["SWA_01"]["SWA_Infostufe_SWA_li"]) or bool(pt_cp.vl["SWA_01"]["SWA_Warnung_SWA_li"])
ret.rightBlindspot = bool(pt_cp.vl["SWA_01"]["SWA_Infostufe_SWA_re"]) or bool(pt_cp.vl["SWA_01"]["SWA_Warnung_SWA_re"])
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
@@ -95,8 +95,8 @@ class CarState(CarStateBase):
# 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(pt_cp.vl["ACC_10"]["AWV2_Freigabe"])
ret.stockAeb = bool(pt_cp.vl["ACC_10"]["ANB_Teilbremsung_Freigabe"]) or bool(pt_cp.vl["ACC_10"]["ANB_Zielbremsung_Freigabe"])
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.
accStatus = pt_cp.vl["TSK_06"]["TSK_Status"]
@@ -115,7 +115,7 @@ class CarState(CarStateBase):
# 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.
ret.cruiseState.speed = pt_cp.vl["ACC_02"]["ACC_Wunschgeschw"] * CV.KPH_TO_MS
ret.cruiseState.speed = ext_cp.vl["ACC_02"]["ACC_Wunschgeschw"] * CV.KPH_TO_MS
if ret.cruiseState.speed > 90:
ret.cruiseState.speed = 0
@@ -222,13 +222,13 @@ class CarState(CarStateBase):
("BCM1_Rueckfahrlicht_Schalter", "Gateway_72", 0)] # Reverse light from BCM
checks += [("Motor_14", 10)] # From J623 Engine control module
# TODO: Detect ACC radar bus location
signals += MqbExtraSignals.fwd_radar_signals
checks += MqbExtraSignals.fwd_radar_checks
# TODO: Detect BSM radar bus location
if CP.enableBsm:
signals += MqbExtraSignals.bsm_radar_signals
checks += MqbExtraSignals.bsm_radar_checks
if CP.networkLocation == NetworkLocation.fwdCamera:
# Radars are here on CANBUS.pt
signals += MqbExtraSignals.fwd_radar_signals
checks += MqbExtraSignals.fwd_radar_checks
if CP.enableBsm:
signals += MqbExtraSignals.bsm_radar_signals
checks += MqbExtraSignals.bsm_radar_checks
return CANParser(DBC_FILES.mqb, signals, checks, CANBUS.pt)
@@ -249,6 +249,14 @@ class CarState(CarStateBase):
("LDW_02", 10) # From R242 Driver assistance camera
]
if CP.networkLocation == NetworkLocation.gateway:
# Radars are here on CANBUS.cam
signals += MqbExtraSignals.fwd_radar_signals
checks += MqbExtraSignals.fwd_radar_checks
if CP.enableBsm:
signals += MqbExtraSignals.bsm_radar_signals
checks += MqbExtraSignals.bsm_radar_checks
return CANParser(DBC_FILES.mqb, signals, checks, CANBUS.cam)
class MqbExtraSignals:
selfdrive/car/volkswagen/interface.py
+15 -3
View File
@@ -1,5 +1,5 @@
from cereal import car
from selfdrive.car.volkswagen.values import CAR, BUTTON_STATES, TransmissionType, GearShifter
from selfdrive.car.volkswagen.values import CAR, BUTTON_STATES, CANBUS, NetworkLocation, TransmissionType, GearShifter
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
from selfdrive.car.interfaces import CarInterfaceBase
@@ -13,6 +13,13 @@ class CarInterface(CarInterfaceBase):
self.displayMetricUnitsPrev = None
self.buttonStatesPrev = BUTTON_STATES.copy()
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
@staticmethod
def compute_gb(accel, speed):
return float(accel) / 4.0
@@ -36,6 +43,11 @@ class CarInterface(CarInterfaceBase):
else: # No trans message at all, must be a true stick-shift manual
ret.transmissionType = TransmissionType.manual
if 0x86 in fingerprint[1]: # LWI_01 seen on bus 1, we're wired to the CAN gateway
ret.networkLocation = NetworkLocation.gateway
else: # We're wired to the LKAS camera
ret.networkLocation = NetworkLocation.fwdCamera
# Global tuning defaults, can be overridden per-vehicle
ret.steerActuatorDelay = 0.05
@@ -129,7 +141,7 @@ class CarInterface(CarInterfaceBase):
self.cp.update_strings(can_strings)
self.cp_cam.update_strings(can_strings)
ret = self.CS.update(self.cp, self.cp_cam, self.CP.transmissionType)
ret = self.CS.update(self.cp, self.cp_cam, self.cp_ext, self.CP.transmissionType)
ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
@@ -165,7 +177,7 @@ class CarInterface(CarInterfaceBase):
return self.CS.out
def apply(self, c):
can_sends = self.CC.update(c.enabled, self.CS, self.frame, c.actuators,
can_sends = self.CC.update(c.enabled, self.CS, self.frame, self.ext_bus, c.actuators,
c.hudControl.visualAlert,
c.hudControl.leftLaneVisible,
c.hudControl.rightLaneVisible,
selfdrive/car/volkswagen/values.py
+1
View File
@@ -7,6 +7,7 @@ from cereal import car
from selfdrive.car import dbc_dict
Ecu = car.CarParams.Ecu
NetworkLocation = car.CarParams.NetworkLocation
TransmissionType = car.CarParams.TransmissionType
GearShifter = car.CarState.GearShifter