mawei/dragonpilot
1
0
Fork 0
mirror of https://github.com/dragonpilot/dragonpilot.git synced 2026-06-26 00:12:05 +08:00
Code Issues Packages Projects Releases Wiki Activity

VW PQ: Volkswagen Sharan Mk2 / SEAT Alhambra Mk2 (#25839)

Browse Source 
* initial Sharan support

* placeholder torque data

* oops

* add route

* min speeds and PQ default delay
This commit is contained in:
Jason Young
2022-10-12 16:59:39 -04:00
committed by GitHub
parent 0fa1588f6c
commit 47b19ff148
4 changed files with 27 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/car/tests/routes.py
+1
View File
@@ -175,6 +175,7 @@ routes = [
CarTestRoute("4d134e099430fba2|2021-03-26--00-26-06", VOLKSWAGEN.PASSAT_MK8),
CarTestRoute("3cfdec54aa035f3f|2022-07-19--23-45-10", VOLKSWAGEN.PASSAT_NMS),
CarTestRoute("0cd0b7f7e31a3853|2021-11-03--19-30-22", VOLKSWAGEN.POLO_MK6),
CarTestRoute("064d1816e448f8eb|2022-09-29--15-32-34", VOLKSWAGEN.SHARAN_MK2),
CarTestRoute("7d82b2f3a9115f1f|2021-10-21--15-39-42", VOLKSWAGEN.TAOS_MK1),
CarTestRoute("2744c89a8dda9a51|2021-07-24--21-28-06", VOLKSWAGEN.TCROSS_MK1),
CarTestRoute("2cef8a0b898f331a|2021-03-25--20-13-57", VOLKSWAGEN.TIGUAN_MK2),
selfdrive/car/torque_data/override.yaml
+1
View File
@@ -30,6 +30,7 @@ CHEVROLET BOLT EUV 2022: [2.0, 2.0, 0.05]
CHEVROLET SILVERADO 1500 2020: [1.9, 1.9, 0.112]
CHEVROLET EQUINOX 2019: [2.0, 2.0, 0.05]
VOLKSWAGEN PASSAT NMS: [2.5, 2.5, 0.1]
VOLKSWAGEN SHARAN 2ND GEN: [2.5, 2.5, 0.1]
HYUNDAI TUCSON HYBRID 4TH GEN: [2.5, 2.5, 0.0]
# Dashcam or fallback configured as ideal car
selfdrive/car/volkswagen/interface.py
+7
View File
@@ -127,6 +127,13 @@ class CarInterface(CarInterfaceBase):
ret.mass = 1230 + STD_CARGO_KG
ret.wheelbase = 2.55
elif candidate == CAR.SHARAN_MK2:
ret.mass = 1639 + STD_CARGO_KG
ret.wheelbase = 2.92
ret.minEnableSpeed = 30 * CV.KPH_TO_MS
ret.minSteerSpeed = 50 * CV.KPH_TO_MS
ret.steerActuatorDelay = 0.2
elif candidate == CAR.TAOS_MK1:
ret.mass = 1498 + STD_CARGO_KG
ret.wheelbase = 2.69
selfdrive/car/volkswagen/values.py
+18 -1
View File
@@ -116,6 +116,7 @@ class CAR:
PASSAT_MK8 = "VOLKSWAGEN PASSAT 8TH GEN" # Chassis 3G, Mk8 VW Passat and variants
PASSAT_NMS = "VOLKSWAGEN PASSAT NMS" # Chassis A3, North America/China/Mideast NMS Passat, incl. facelift
POLO_MK6 = "VOLKSWAGEN POLO 6TH GEN" # Chassis AW, Mk6 VW Polo
SHARAN_MK2 = "VOLKSWAGEN SHARAN 2ND GEN" # Chassis 7N, Mk2 Volkswagen Sharan and SEAT Alhambra
TAOS_MK1 = "VOLKSWAGEN TAOS 1ST GEN" # Chassis B2, Mk1 VW Taos and Tharu
TCROSS_MK1 = "VOLKSWAGEN T-CROSS 1ST GEN" # Chassis C1, Mk1 VW T-Cross SWB and LWB variants
TIGUAN_MK2 = "VOLKSWAGEN TIGUAN 2ND GEN" # Chassis AD/BW, Mk2 VW Tiguan and variants
@@ -135,7 +136,7 @@ class CAR:
SKODA_OCTAVIA_MK3 = "SKODA OCTAVIA 3RD GEN" # Chassis NE, Mk3 Skoda Octavia and variants
PQ_CARS = {CAR.PASSAT_NMS}
PQ_CARS = {CAR.PASSAT_NMS, CAR.SHARAN_MK2}
DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict("vw_mqb_2010", None))
@@ -206,6 +207,10 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
VWCarInfo("Volkswagen Polo 2020-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
VWCarInfo("Volkswagen Polo GTI 2020-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
],
CAR.SHARAN_MK2: [
VWCarInfo("Volkswagen Sharan 2018-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
VWCarInfo("SEAT Alhambra 2018-20", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
],
CAR.TAOS_MK1: VWCarInfo("Volkswagen Taos 2022", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
CAR.TCROSS_MK1: VWCarInfo("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
CAR.TIGUAN_MK2: VWCarInfo("Volkswagen Tiguan 2019-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
@@ -625,6 +630,18 @@ FW_VERSIONS = {
b'\xf1\x872Q0907572R \xf1\x890372',
],
},
CAR.SHARAN_MK2: {
# TODO: Sharan Mk2 EPS and DQ250 auto trans both require KWP2000 support for fingerprinting
(Ecu.engine, 0x7e0, None): [
b'\xf1\x8704L906016HE\xf1\x894635',
],
(Ecu.srs, 0x715, None): [
b'\xf1\x877N0959655D \xf1\x890016\xf1\x82\x0801100705----10--',
],
(Ecu.fwdRadar, 0x757, None): [
b'\xf1\x877N0907572C \xf1\x890211\xf1\x82\x0153',
],
},
CAR.TAOS_MK1: {
(Ecu.engine, 0x7e0, None): [
b'\xf1\x8704E906027NJ\xf1\x891445',