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volkswagen: allow the radar disable diagnostics in the safety TX list

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mawei
2026-10-08 18:49:39 +08:00
parent 2a40b2845b
commit 0389d8154d
2 changed files with 31 additions and 2 deletions
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opendbc_repo/opendbc/safety/modes/volkswagen_common.h
+7
View File
@@ -1,13 +1,19 @@
#pragma once
extern const uint16_t FLAG_VOLKSWAGEN_LONG_CONTROL;
extern const uint16_t FLAG_VOLKSWAGEN_DISABLE_RADAR;
const uint16_t FLAG_VOLKSWAGEN_LONG_CONTROL = 1;
const uint16_t FLAG_VOLKSWAGEN_DISABLE_RADAR = 8;
static uint8_t volkswagen_crc8_lut_8h2f[256]; // Static lookup table for CRC8 poly 0x2F, aka 8H2F/AUTOSAR
extern bool volkswagen_longitudinal;
bool volkswagen_longitudinal = false;
extern bool volkswagen_disable_radar;
bool volkswagen_disable_radar = false;
extern bool volkswagen_set_button_prev;
bool volkswagen_set_button_prev = false;
@@ -40,6 +46,7 @@ bool volkswagen_brake_pressure_detected = false;
static void volkswagen_common_init(void) {
volkswagen_longitudinal = false;
volkswagen_disable_radar = false;
volkswagen_set_button_prev = false;
volkswagen_resume_button_prev = false;
volkswagen_brake_pedal_switch = false;
opendbc_repo/opendbc/safety/modes/volkswagen_meb.h
+24 -2
View File
@@ -12,6 +12,8 @@
#define MSG_Motor_51 0x10BU // RX for TSK state and accel pedal
#define MSG_KLR_01 0x25DU // TX, for capacitive steering wheel
#define MSG_TA_01 0x26BU // TX by OP, Travel Assist status
#define MSG_DIAGNOSTIC 0x700U // TX, functional tester present for the radar disable
#define MSG_RADAR_DIAG 0x757U // TX, physical radar diagnostic address
// ACC_18.ACC_Anforderung_HMS, the states openpilot is allowed to request
#define VOLKSWAGEN_MEB_HMS_KEINE_ANFORDERUNG 0U
@@ -116,10 +118,28 @@ static safety_config volkswagen_meb_init(uint16_t param) {
{MSG_TA_01, 0, 8, .check_relay = true},
};
// With the radar disabled (camera side of the relay) openpilot needs the diagnostic
// addresses to put the radar into a programming session
static const CanMsg VOLKSWAGEN_MEB_TX_MSGS_NO_RADAR[] = {
{MSG_HCA_03, 0, 24, .check_relay = true},
{MSG_LDW_02, 0, 8, .check_relay = true},
{MSG_KLR_01, 0, 8, .check_relay = false},
{MSG_KLR_01, 2, 8, .check_relay = true},
{MSG_ACC_19, 0, 48, .check_relay = true},
{MSG_ACC_18, 0, 32, .check_relay = true},
{MSG_TA_01, 0, 8, .check_relay = true},
{MSG_DIAGNOSTIC, 0, 8, .check_relay = false},
{MSG_RADAR_DIAG, 0, 8, .check_relay = false},
};
volkswagen_common_init();
const uint16_t FLAG_VOLKSWAGEN_MEB_ALT_CRC = 2;
volkswagen_meb_alt_crc = GET_FLAG(param, FLAG_VOLKSWAGEN_MEB_ALT_CRC);
#ifdef ALLOW_DEBUG
volkswagen_disable_radar = GET_FLAG(param, FLAG_VOLKSWAGEN_DISABLE_RADAR);
#endif
safety_config ret;
if (volkswagen_meb_alt_crc) {
static RxCheck volkswagen_meb_gen2_rx_checks[] = {
@@ -128,7 +148,8 @@ static safety_config volkswagen_meb_init(uint16_t param) {
{.msg = {{MSG_ESC_51, 0, 64, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
};
ret = BUILD_SAFETY_CFG(volkswagen_meb_gen2_rx_checks, VOLKSWAGEN_MEB_TX_MSGS);
ret = volkswagen_disable_radar ? BUILD_SAFETY_CFG(volkswagen_meb_gen2_rx_checks, VOLKSWAGEN_MEB_TX_MSGS_NO_RADAR)
: BUILD_SAFETY_CFG(volkswagen_meb_gen2_rx_checks, VOLKSWAGEN_MEB_TX_MSGS);
} else {
static RxCheck volkswagen_meb_rx_checks[] = {
VOLKSWAGEN_MEB_COMMON_RX_CHECKS
@@ -136,7 +157,8 @@ static safety_config volkswagen_meb_init(uint16_t param) {
{.msg = {{MSG_ESC_51, 0, 48, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
};
ret = BUILD_SAFETY_CFG(volkswagen_meb_rx_checks, VOLKSWAGEN_MEB_TX_MSGS);
ret = volkswagen_disable_radar ? BUILD_SAFETY_CFG(volkswagen_meb_rx_checks, VOLKSWAGEN_MEB_TX_MSGS_NO_RADAR)
: BUILD_SAFETY_CFG(volkswagen_meb_rx_checks, VOLKSWAGEN_MEB_TX_MSGS);
}
return ret;
}