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VW MQB: Add support for stock FCW and AEB (#20244)

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This commit is contained in:
Jason Young
2021-03-04 22:12:04 -05:00
committed by GitHub
parent 0fc98355d0
commit e4cd83d782
1 changed files with 12 additions and 0 deletions
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selfdrive/car/volkswagen/carstate.py
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@@ -72,6 +72,14 @@ class CarState(CarStateBase):
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"])
# 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, 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"])
# Update ACC radar status.
accStatus = pt_cp.vl["TSK_06"]['TSK_Status']
if accStatus == 2:
@@ -165,6 +173,9 @@ class CarState(CarStateBase):
("ACC_Status_ACC", "ACC_06", 0), # ACC engagement status
("ACC_Typ", "ACC_06", 0), # ACC type (follow to stop, stop&go)
("SetSpeed", "ACC_02", 0), # ACC set speed
("AWV2_Freigabe", "ACC_10", 0), # FCW brake jerk release
("ANB_Teilbremsung_Freigabe", "ACC_10", 0), # AEB partial braking release
("ANB_Zielbremsung_Freigabe", "ACC_10", 0), # AEB target braking release
("GRA_Hauptschalter", "GRA_ACC_01", 0), # ACC button, on/off
("GRA_Abbrechen", "GRA_ACC_01", 0), # ACC button, cancel
("GRA_Tip_Setzen", "GRA_ACC_01", 0), # ACC button, set
@@ -190,6 +201,7 @@ class CarState(CarStateBase):
("ESP_05", 50), # From J104 ABS/ESP controller
("ESP_21", 50), # From J104 ABS/ESP controller
("ACC_06", 50), # From J428 ACC radar control module
("ACC_10", 50), # From J428 ACC radar control module
("Motor_20", 50), # From J623 Engine control module
("TSK_06", 50), # From J623 Engine control module
("GRA_ACC_01", 33), # From J??? steering wheel control buttons