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Revert MQB EVO port (car port, safety, panda firmware, radar fixes)

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mawei
2026-10-08 21:02:43 +08:00
parent aa78f45549
commit 770c824464
40 changed files with 143 additions and 5985 deletions
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launch_openpilot.sh
-2
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@@ -1,8 +1,6 @@
#!/usr/bin/env bash
export ATHENA_HOST='ws://athena.mr-one.cn'
export API_HOST='http://res.mr-one.cn'
# TEMPORARY: this device hangs in the VIN/FW query, skip it
export SKIP_FW_QUERY=1
# Skip onboarding on startup
echo -n "2" > /data/params/d/HasAcceptedTerms
echo -n "1.0" > /data/params/d/HasAcceptedTermsSP
opendbc_repo/opendbc/car/interfaces.py
-4
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@@ -196,10 +196,6 @@ class CarInterfaceBase(ABC, CarInterfaceBaseSP):
carlog.debug(f"Car {stock_cp.carFingerprint} does not have a _get_longitudinal_tuning_sp method, using defaults")
return ret
@staticmethod
def pre_init(CP: structs.CarParams, CP_SP: structs.CarParamsSP, can_recv: CanRecvCallable, can_send: CanSendCallable):
"""Called before the car is set up, can adjust CarParams (e.g. dashcamOnly)"""
@staticmethod
def init(CP: structs.CarParams, CP_SP: structs.CarParamsSP, can_recv: CanRecvCallable, can_send: CanSendCallable):
"""Used to disable longitudinal ECUs as needed"""
opendbc_repo/opendbc/car/tests/routes.py
-3
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@@ -53,9 +53,6 @@ non_tested_cars = [
GM.CHEVROLET_TRAILBLAZER_NON_ACC_2ND_GEN,
GM.CHEVROLET_MALIBU_NON_ACC_9TH_GEN,
GM.CADILLAC_XT5_NON_ACC_1ST_GEN,
VOLKSWAGEN.AUDI_A3_MK4,
VOLKSWAGEN.VOLKSWAGEN_GOLF_MK8,
VOLKSWAGEN.SEAT_LEON_MK4,
]
opendbc_repo/opendbc/car/torque_data/override.toml
-5
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@@ -117,8 +117,3 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
# port extensions
"HONDA_CLARITY" = [0.96, 0.4018518740819229, 0.19]
"CHEVROLET_MALIBU_NON_ACC_9TH_GEN" = [1.85, 1.85, 0.075]
"VOLKSWAGEN_GOLF_MK8" = [nan, 2.5, nan]
"SEAT_LEON_MK4" = [nan, 2.5, nan]
"AUDI_A3_MK4" = [nan, 2.5, nan]
opendbc_repo/opendbc/car/volkswagen/carcontroller.py
+7 -11
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@@ -44,7 +44,7 @@ class CarController(CarControllerBase):
self.aeb_available = not CP.flags & VolkswagenFlags.PQ
self.dp_avoid_eps_lockout = bool(self.CP_SP.flags & VolkswagenFlagsSP.AVOID_EPS_LOCKOUT)
if CP.flags & (VolkswagenFlags.MEB | VolkswagenFlags.MQB_EVO):
if CP.flags & VolkswagenFlags.MEB:
self.meb_long_state = mebcan.MebLongStateMachine(self.CP, self.CCP)
if CP.flags & VolkswagenFlags.PQ:
@@ -72,7 +72,7 @@ class CarController(CarControllerBase):
if self.frame % self.CCP.STEER_STEP == 0:
apply_torque = 0
if self.CP.flags & (VolkswagenFlags.MEB | VolkswagenFlags.MQB_EVO):
if self.CP.flags & VolkswagenFlags.MEB:
# Logic to avoid HCA refused state:
# * steering power as counter and near zero before OP lane assist deactivation
# MEB rack can be used continuously without time limits
@@ -135,7 +135,7 @@ class CarController(CarControllerBase):
can_sends.append(self.CCS.create_eps_update(self.packer_pt, self.CAN.cam, CS.eps_stock_values, ea_simulated_torque))
# Emergency Assist intervention
if self.CP.flags & (VolkswagenFlags.MEB | VolkswagenFlags.MQB_EVO) and self.CP.flags & VolkswagenFlags.STOCK_KLR_PRESENT:
if self.CP.flags & VolkswagenFlags.MEB and self.CP.flags & VolkswagenFlags.STOCK_KLR_PRESENT:
# send capacitive steering wheel hands-on message to keep ACC resume active and control Emergency Assist
# MEB Emergency Assist brake jerks after 30s of continued hands-off time.
# We send the stock wheeltouch message to start the stock DM timer when openpilot latches the critical driver monitoring alert
@@ -148,7 +148,7 @@ class CarController(CarControllerBase):
if self.CP.openpilotLongitudinalControl:
if self.frame % self.CCP.ACC_CONTROL_STEP == 0:
if self.CP.flags & (VolkswagenFlags.MEB | VolkswagenFlags.MQB_EVO):
if self.CP.flags & VolkswagenFlags.MEB:
accel = float(np.clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX))
accel, acc_status, acc_hold_type, braking_to_stop, leaving_standstill = self.meb_long_state.update(CS, CC, accel)
can_sends.extend(mebcan.create_acc_accel_control(self.packer_pt, self.CAN.pt, self.CCP, CS.acc_type, CC.enabled,
@@ -177,18 +177,14 @@ class CarController(CarControllerBase):
hud_alert = 0
if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw):
hud_alert = self.CCP.LDW_MESSAGES["laneAssistTakeOver"]
if self.CP.flags & VolkswagenFlags.MQB_EVO_GEN2:
can_sends.append(mebcan.create_lka_hud_control(self.packer_pt, self.CAN.pt, self.CP, CS.ldw_stock_values,
CC.latActive, CS.out.steeringPressed, hud_alert, hud_control))
else:
can_sends.append(self.CCS.create_lka_hud_control(self.packer_pt, self.CAN.pt, CS.ldw_stock_values, CC.latActive,
CS.out.steeringPressed, hud_alert, hud_control))
can_sends.append(self.CCS.create_lka_hud_control(self.packer_pt, self.CAN.pt, CS.ldw_stock_values, CC.latActive,
CS.out.steeringPressed, hud_alert, hud_control))
if hud_control.leadDistanceBars != self.lead_distance_bars_last:
self.distance_bar_frame = self.frame
if self.frame % self.CCP.ACC_HUD_STEP == 0 and self.CP.openpilotLongitudinalControl:
if self.CP.flags & (VolkswagenFlags.MEB | VolkswagenFlags.MQB_EVO):
if self.CP.flags & VolkswagenFlags.MEB:
fcw_alert = hud_control.visualAlert == VisualAlert.fcw
show_distance_bars = self.frame - self.distance_bar_frame < 400
lead_distance = 0
opendbc_repo/opendbc/car/volkswagen/carstate.py
+5 -14
View File
@@ -55,7 +55,7 @@ class CarState(CarStateBase):
return self.update_pq(pt_cp, cam_cp, ext_cp)
elif self.CP.flags & VolkswagenFlags.MLB:
return self.update_mlb(pt_cp, cam_cp, ext_cp, alt_cp)
elif self.CP.flags & (VolkswagenFlags.MEB | VolkswagenFlags.MQB_EVO):
elif self.CP.flags & VolkswagenFlags.MEB:
return self.update_meb(pt_cp, cam_cp, ext_cp)
else:
return self.update_mqb(pt_cp, cam_cp, ext_cp)
@@ -153,8 +153,6 @@ class CarState(CarStateBase):
# vEgo obtained from Bremse_1 vehicle speed rather than Bremse_3 wheel speeds because Bremse_3 isn't present on NSF
ret.vEgoRaw = pt_cp.vl["Bremse_1"]["BR1_Rad_kmh"] * CV.KPH_TO_MS
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
if self.CP.flags & VolkswagenFlags.KOMBI_PRESENT:
ret.vEgoCluster = pt_cp.vl["Kombi_01"]["KBI_angez_Geschw"] * CV.KPH_TO_MS
ret.standstill = ret.vEgoRaw == 0
# Update EPS position and state info. For signed values, VW sends the sign in a separate signal.
@@ -284,10 +282,7 @@ class CarState(CarStateBase):
ret.espActive = bool(pt_cp.vl["ESP_21"]["ESP_Eingriff"])
self.acc_type = ext_cp.vl["ACC_18"]["ACC_Typ"]
if self.CP.flags & VolkswagenFlags.MQB_EVO:
self.esp_hold_confirmation = bool(pt_cp.vl["ESP_21"]["ESP_Haltebestaetigung"])
else:
self.esp_hold_confirmation = bool(pt_cp.vl["ESC_50"]["Standstill"])
self.esp_hold_confirmation = bool(pt_cp.vl["ESC_50"]["Standstill"])
self.travel_assist_available = bool(cam_cp.vl["TA_01"]["Travel_Assist_Available"])
ret.stockFcw = bool(ext_cp.vl["AWV_03"]["FCW_Active"])
ret.stockAeb = bool(ext_cp.vl["AWV_03"]["AEB_Active"])
@@ -298,11 +293,7 @@ class CarState(CarStateBase):
tsk_faulted = pt_cp.vl["Motor_51"]["TSK_Status"] in (6, 7)
engine_off = pt_cp.vl["Motor_54"]["Engine_On"] == 0
# Long_Control_Inhibit is currently identified only in the MEB DBC, not in the MQB EVO one.
# bool() is required: CP.flags is an int, so "& IntFlag" returns an IntFlag instance and the
# False case (MQB EVO) would leak that object into the capnp bool field carNotReady.
long_control_inhibit = (bool(self.CP.flags & VolkswagenFlags.MEB)
and pt_cp.vl.get("VMM_02", {}).get("Long_Control_Inhibit", 0) == 2)
long_control_inhibit = pt_cp.vl["VMM_02"]["Long_Control_Inhibit"] == 2
ret.accFaulted = (self.update_acc_fault(tsk_faulted, engine_off, long_control_inhibit) or
ext_cp.vl["AWV_03"]["AWV_Unavailable"] == 1) # AEB unavailable (i.e. radar covered)
@@ -315,7 +306,7 @@ class CarState(CarStateBase):
pt_cp.vl["SMLS_01"]["BH_Blinker_re"])
if self.CP.enableBsm:
bsm_cp = pt_cp if self.CP.flags & (VolkswagenFlags.MEB_GEN2 | VolkswagenFlags.MQB_EVO) else ext_cp
bsm_cp = pt_cp if self.CP.flags & VolkswagenFlags.MEB_GEN2 else ext_cp
ret.leftBlindspot = (bool(bsm_cp.vl["MEB_Side_Assist_01"]["Blind_Spot_Info_Driver"]) or
bool(bsm_cp.vl["MEB_Side_Assist_01"]["Blind_Spot_Warn_Driver"]))
ret.rightBlindspot = (bool(bsm_cp.vl["MEB_Side_Assist_01"]["Blind_Spot_Info_Passenger"]) or
@@ -423,7 +414,7 @@ class CarState(CarStateBase):
def get_can_parsers(CP, CP_SP):
if CP.flags & VolkswagenFlags.PQ:
return CarState.get_can_parsers_pq(CP)
elif CP.flags & (VolkswagenFlags.MEB | VolkswagenFlags.MQB_EVO):
elif CP.flags & VolkswagenFlags.MEB:
return CarState.get_can_parsers_meb(CP)
# manually configure some optional and variable-rate/edge-triggered messages
opendbc_repo/opendbc/car/volkswagen/fingerprints.py
-56
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@@ -8,62 +8,6 @@ Ecu = CarParams.Ecu
FW_VERSIONS = {
CAR.AUDI_A3_MK4: {
(Ecu.engine, 0x7e0, None): [],
(Ecu.transmission, 0x7e1, None): [],
(Ecu.srs, 0x715, None): [],
(Ecu.eps, 0x712, None): [],
(Ecu.fwdRadar, 0x757, None): [
b'\xf1\x871N3907567E \xf1\x890550',
],
},
CAR.VOLKSWAGEN_GOLF_MK8: {
(Ecu.engine, 0x7e0, None): [],
(Ecu.transmission, 0x7e1, None): [],
(Ecu.srs, 0x715, None): [],
(Ecu.eps, 0x712, None): [],
(Ecu.cornerRadar, 0x74e, None): [
b'\xf1\x872Q0907686J \xf1\x890288',
],
(Ecu.adas, 0x769, None): [
b'\xf1\x875WA980556C \xf1\x890314',
b'\xf1\x875WA980556D \xf1\x890364',
],
(Ecu.parkingAdas, 0x70a, None): [],
(Ecu.fwdRadar, 0x757, None): [
b'\xf1\x875WA907572B \xf1\x890395',
b'\xf1\x875WA907572C \xf1\x890461',
],
(Ecu.fwdCamera, 0x74f, None): [
b'\xf1\x875WA980653C \xf1\x893301',
b'\xf1\x875WA980653D \xf1\x893405',
],
},
CAR.SEAT_LEON_MK4: {
(Ecu.engine, 0x7e0, None): [],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x870CW906556JA\xf1\x890780',
],
(Ecu.srs, 0x715, None): [
b'\xf1\x871EA959655CK\xf1\x890166',
],
(Ecu.eps, 0x712, None): [],
(Ecu.cornerRadar, 0x74e, None): [
b'\xf1\x872Q0907686E \xf1\x890284',
],
(Ecu.adas, 0x769, None): [
b'\xf1\x875WA980556D \xf1\x890344',
],
(Ecu.parkingAdas, 0x70a, None): [
b'\xf1\x875WA919298A \xf1\x890230',
],
(Ecu.fwdRadar, 0x757, None): [
b'\xf1\x875WA907572B \xf1\x890395',
],
(Ecu.fwdCamera, 0x74f, None): [
b'\xf1\x875WA980653A \xf1\x893129',
],
},
CAR.VOLKSWAGEN_ARTEON_MK1: {
(Ecu.engine, 0x7e0, None): [
b'\xf1\x8704L906026TM\xf1\x896847',
opendbc_repo/opendbc/car/volkswagen/interface.py
+8 -141
View File
@@ -1,14 +1,9 @@
import time
from opendbc.car import Bus, get_safety_config, structs, uds
from opendbc.car.carlog import carlog
from opendbc.car import Bus, get_safety_config, structs
from opendbc.car.interfaces import CarInterfaceBase
from opendbc.car.isotp_parallel_query import IsoTpParallelQuery
from opendbc.car.volkswagen.carcontroller import CarController
from opendbc.car.volkswagen.carstate import CarState
from opendbc.car.volkswagen.radar_interface import RadarInterface
from opendbc.car.volkswagen.values import (CanBus, CAR, DBC, NetworkLocation, RADAR_DISABLE_STATE, TransmissionType,
VolkswagenFlags, VolkswagenSafetyFlags)
from opendbc.car.volkswagen.values import CanBus, CAR, DBC, NetworkLocation, TransmissionType, VolkswagenFlags, VolkswagenSafetyFlags
class CarInterface(CarInterfaceBase):
CarState = CarState
@@ -47,15 +42,10 @@ class CarInterface(CarInterfaceBase):
ret.networkLocation = NetworkLocation.gateway
ret.dashcamOnly = is_release # Release support needs HCA timeout fix, safety validation, revised J533 harness
elif ret.flags & (VolkswagenFlags.MEB | VolkswagenFlags.MQB_EVO):
elif ret.flags & VolkswagenFlags.MEB:
# Set global MEB parameters
if ret.flags & VolkswagenFlags.MEB:
safety_configs = [get_safety_config(structs.CarParams.SafetyModel.volkswagenMeb)]
elif ret.flags & VolkswagenFlags.MQB_EVO:
safety_configs = [get_safety_config(structs.CarParams.SafetyModel.volkswagenMqbEvo)]
if ret.flags & (VolkswagenFlags.MEB_GEN2 | VolkswagenFlags.MQB_EVO_GEN2):
# Gen2 uses the alt CRC lengths for QFK_01/ESC_51/Motor_51
safety_configs = [get_safety_config(structs.CarParams.SafetyModel.volkswagenMeb)]
if ret.flags & VolkswagenFlags.MEB_GEN2:
safety_configs[0].safetyParam |= VolkswagenSafetyFlags.MEB_ALT_CRC.value
ret.transmissionType = TransmissionType.direct
@@ -71,30 +61,19 @@ class CarInterface(CarInterfaceBase):
if any(msg in fingerprint[1] for msg in (0x520, 0x86, 0xFD, 0x13D)): # Airbag_02, LWI_01, ESP_21, QFK_01
ret.networkLocation = NetworkLocation.gateway
# The filtered radar tracks are published as Strukturen_01 (0x24F); not every car
# emits it, so only claim radar is available when it's actually on the bus.
ret.radarUnavailable = 0x24F not in fingerprint[0]
else:
ret.networkLocation = NetworkLocation.fwdCamera
ret.radarUnavailable = True
# The camera side of the relay can not see the radar, so openpilot disables it over UDS
if ret.networkLocation == NetworkLocation.fwdCamera:
ret.flags |= VolkswagenFlags.DISABLE_RADAR.value
safety_configs[0].safetyParam |= VolkswagenSafetyFlags.DISABLE_RADAR.value
ret.enableBsm = 0x24C in fingerprint[0] # MEB_Side_Assist_01
if 0x25D in fingerprint[0]: # KLR_01
ret.flags |= VolkswagenFlags.STOCK_KLR_PRESENT.value
if 0x3DC in fingerprint[0]: # Gateway_73
ret.flags |= VolkswagenFlags.ALT_GEAR.value
if ret.flags & VolkswagenFlags.MQB_EVO and 0x30B in fingerprint[0]: # Kombi_01
ret.flags |= VolkswagenFlags.KOMBI_PRESENT.value
# only allow gateway harness to escalate Emergency Assist
if ret.flags & VolkswagenFlags.MEB:
ret.dashcamOnly = ret.networkLocation == NetworkLocation.fwdCamera and not docs
ret.dashcamOnly = ret.networkLocation == NetworkLocation.fwdCamera and not docs
else:
# Set global MQB parameters
@@ -124,7 +103,7 @@ class CarInterface(CarInterfaceBase):
if ret.flags & VolkswagenFlags.PQ or ret.flags & VolkswagenFlags.MLB:
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif ret.flags & (VolkswagenFlags.MEB | VolkswagenFlags.MQB_EVO):
elif ret.flags & VolkswagenFlags.MEB:
ret.steerActuatorDelay = 0.3
else:
ret.steerActuatorDelay = 0.1
@@ -136,10 +115,9 @@ class CarInterface(CarInterfaceBase):
# Global longitudinal tuning defaults, can be overridden per-vehicle
if ret.flags & (VolkswagenFlags.MEB | VolkswagenFlags.MQB_EVO):
if ret.flags & VolkswagenFlags.MEB:
ret.openpilotLongitudinalControl = True
ret.longitudinalActuatorDelay = 0.3
ret.radarDelay = 0.15
ret.longitudinalTuning.kiBP = [0., 30.]
ret.longitudinalTuning.kiV = [0.4, 0.]
else:
@@ -165,114 +143,3 @@ class CarInterface(CarInterfaceBase):
ret.safetyConfigs = safety_configs
return ret
@staticmethod
def pre_init(CP, CP_SP, can_recv, can_send):
# check pre conditions for a successful radar disable
# put the device into dashcam mode if necessary: no relay switching, no bus blocking with relay malfunction
if CP.openpilotLongitudinalControl and (CP.flags & VolkswagenFlags.DISABLE_RADAR):
if CP.flags & (VolkswagenFlags.MEB | VolkswagenFlags.MQB_EVO):
if not CarInterface._is_engine_state_allowed_meb(can_recv):
CP.dashcamOnly = True
carlog.warning("Radar can not be disabled with engine on - dashcam only")
@staticmethod
def init(CP, CP_SP, can_recv, can_send):
# communication control can be rejected with engine on
# uds.CONTROL_TYPE.ENABLE_RX_DISABLE_TX is lost with engine on transition for newer MEB and MQBevo cars
# uds.CONTROL_TYPE.DISABLE_RX_DISABLE_TX is probably not lost but the radar has to be revived manually
# -> deinit is not called in OP -> errors in dash, recovers after second ignition cycle
# Programming session is also rejected while engine on but recovers after key off on
if CP.openpilotLongitudinalControl and (CP.flags & VolkswagenFlags.DISABLE_RADAR):
RADAR_DISABLE_STATE["error"] = False
if CP.flags & (VolkswagenFlags.MEB | VolkswagenFlags.MQB_EVO):
if CarInterface._is_engine_state_allowed_meb(can_recv): # prevent programming session request, it will not work
carlog.warning("Trying to disable the radar")
if not CarInterface._radar_communication_control(CP, can_recv, can_send):
RADAR_DISABLE_STATE["error"] = True
else:
RADAR_DISABLE_STATE["error"] = True
carlog.warning("The radar can not be disabled")
@staticmethod
def deinit(CP, can_recv, can_send):
# deinit is currently never executed in the current state of openpilot
# CarD is just killed, no reaction handling on SIGINT
if CP.openpilotLongitudinalControl and (CP.flags & VolkswagenFlags.DISABLE_RADAR):
if CP.flags & (VolkswagenFlags.MEB | VolkswagenFlags.MQB_EVO):
CarInterface._radar_communication_control(CP, can_recv, can_send, disable=False)
@staticmethod
def _radar_communication_control(CP, can_recv, can_send, disable=True):
# disable/enable radar tx
bus = CanBus(CP).pt
addr_radar, addr_diag, volkswagen_rx_offset = 0x757, 0x700, 0x6A
retry, timeout = 3, 0.5
tp_req = bytes([uds.SERVICE_TYPE.TESTER_PRESENT, 0x00])
tp_resp = bytes([uds.SERVICE_TYPE.TESTER_PRESENT + 0x40, 0x00])
ext_diag_req = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, uds.SESSION_TYPE.EXTENDED_DIAGNOSTIC])
ext_diag_resp = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40, uds.SESSION_TYPE.EXTENDED_DIAGNOSTIC])
flash_req = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, uds.SESSION_TYPE.PROGRAMMING])
empty_resp = b""
txt = "disable" if disable else "enable"
for i in range(retry):
try:
if disable:
# Tester Present
query = IsoTpParallelQuery(can_send, can_recv, bus, [(addr_radar, None)], [tp_req], [tp_resp],
volkswagen_rx_offset, functional_addrs=[addr_diag])
if not query.get_data(timeout):
carlog.warning(f"Tester Present returned no data on attempt {i+1}")
continue
# Extended Diagnostic Session
query = IsoTpParallelQuery(can_send, can_recv, bus, [(addr_radar, None)], [ext_diag_req], [ext_diag_resp],
volkswagen_rx_offset)
if not query.get_data(timeout):
carlog.warning(f"Radar extended session returned no data on attempt {i+1}")
continue
# Programming Session
query = IsoTpParallelQuery(can_send, can_recv, bus, [(addr_radar, None)], [flash_req], [empty_resp],
volkswagen_rx_offset)
# no waiting time, start sending our own commands as fast as possible to prevent cruise faults
query.get_data(0)
carlog.warning(f"Radar {txt} by programming session sent on attempt {i+1}")
return True
except Exception as e:
carlog.error(f"Radar {txt} exception on attempt {i+1}: {repr(e)}")
continue
carlog.error(f"Radar {txt} failed")
return False
@staticmethod
def _is_engine_state_allowed_meb(can_recv, timeout: float = 0.5) -> bool:
# this is a safety measure
# detect if the radar can be disabled in the current engine state
# [Motor_54][Engine_On]
end_time = time.monotonic() + timeout
while time.monotonic() < end_time:
packets = can_recv(wait_for_one=True) or []
for packet in packets:
for msg in packet:
if msg.address != 0x14C:
continue
engine_on = bool((msg.dat[9] >> 5) & 0x01)
if engine_on:
carlog.warning(f"Engine state is not allowed: Engine_On={engine_on}")
return False
else:
carlog.warning(f"Engine state is allowed: Engine_On={engine_on}")
return True
carlog.warning("Engine state unknown")
return True
opendbc_repo/opendbc/car/volkswagen/mebcan.py
+5 -5
View File
@@ -1,7 +1,7 @@
from opendbc.car import Bus, structs
from opendbc.can import CANDefine
from opendbc.car.common.conversions import Conversions as CV
from opendbc.car.volkswagen.values import DBC, VolkswagenFlags
from opendbc.car.volkswagen.values import DBC
LongCtrlState = structs.CarControl.Actuators.LongControlState
@@ -35,8 +35,8 @@ def create_eps_update(packer, bus, eps_stock_values, ea_simulated_torque):
return packer.make_can_msg("LH_EPS_03", bus, values)
def create_lka_hud_control(packer, bus, CP, ldw_stock_values, lat_active, steering_pressed, hud_alert, hud_control, sound_alert=False):
display_mode = 1 if lat_active and not (CP.flags & VolkswagenFlags.CLUSTER_NO_TA_LANES) else 0 # travel assist style showing yellow lanes when op is active
def create_lka_hud_control(packer, bus, ldw_stock_values, lat_active, steering_pressed, hud_alert, hud_control, sound_alert=False):
display_mode = 1 if lat_active else 0 # travel assist style showing yellow lanes when op is active
values = {}
if len(ldw_stock_values):
@@ -168,12 +168,12 @@ def create_acc_accel_control(packer, bus, CCP, acc_type, acc_enabled, accel, acc
commands = []
# ACC_Anhalteweg: when stopping: MEB: values <> 0 the car can execute a hard brake probably if target is too close, MQBEvo: value 0 results in hard brake
terminal_rollout = 0.5 if CP.flags & VolkswagenFlags.MQB_EVO else 0
terminal_rollout = 0
values = {
"ACC_Typ": acc_type,
"ACC_Status_ACC": acc_status,
"ACC_StartStopp_Info": 2 if (acc_enabled and leaving_standstill and (CP.flags & VolkswagenFlags.MQB_EVO)) else (1 if acc_enabled else 0),
"ACC_StartStopp_Info": acc_enabled,
"ACC_Sollbeschleunigung_02": accel,
"ACC_zul_Regelabw_unten": 0,
"ACC_zul_Regelabw_oben": 0,
opendbc_repo/opendbc/car/volkswagen/radar_interface.py
+12 -54
View File
@@ -4,13 +4,6 @@ from opendbc.car.interfaces import RadarInterfaceBase
from opendbc.car.volkswagen.values import DBC, VolkswagenFlags, CanBus
NO_OBJECT_ID = 0
DISTANCE_STATUS_VALID = 0
RADAR_UNAVAILABLE_THRESH = 5
# radar object drel is not the end of the radar facing side but probably the longitudinal
# center of the object; the DBC drel offset of -3.6 m is measured for a point mass (person)
# type object, so statically subtract something between the first half and the end of a
# typical car length.
DREL_FRONT_EDGE_MARGIN = 1.5 # in m
LANE_TYPES = ("Same_Lane", "Left_Lane", "Right_Lane")
SIGNAL_SETS = tuple(
(
@@ -25,51 +18,24 @@ SIGNAL_SETS = tuple(
)
# The gateway harness does not expose the raw radar points, but the camera publishes filtered
# tracks: two per lane, for the left, center and right lanes. MEB calls that message
# MEB_Distance_01, while the MQB EVO DBC carries the exact same payload as Strukturen_01.
RADAR_TRACK_MESSAGE = (
(VolkswagenFlags.MEB, "MEB_Distance_01"),
(VolkswagenFlags.MQB_EVO, "Strukturen_01"),
)
def get_radar_message(CP):
if not (CP.flags & (VolkswagenFlags.MEB | VolkswagenFlags.MQB_EVO)):
return None
if CP.flags & VolkswagenFlags.MQB_EVO_GEN2: # generation specific, no track message on the bus
return None
for flag, message in RADAR_TRACK_MESSAGE:
if CP.flags & flag:
return message
return None
class RadarInterface(RadarInterfaceBase):
def __init__(self, CP, CP_SP):
super().__init__(CP, CP_SP)
self.radar_off_can: bool = CP.radarUnavailable
self.radar_unavailable_cnt: int = 0
# With the MEB gateway harness, we do not have access to the raw points from the radar.
# However, the camera publishes decent, albeit filtered, tracks. Two for each lane; left, center, and right.
self.rcp: CANParser | None = None
self.radar_message: str | None = get_radar_message(CP)
if self.radar_message is not None:
self.rcp = CANParser(DBC[CP.carFingerprint][Bus.radar], [(self.radar_message, 25)], CanBus(CP).cam)
if CP.flags & VolkswagenFlags.MEB and not self.CP.radarUnavailable:
self.rcp = CANParser(DBC[CP.carFingerprint][Bus.radar], [("MEB_Distance_01", 25)], CanBus(CP).cam)
def update(self, can_strings):
if self.radar_off_can or self.rcp is None:
if self.rcp is None:
return super().update(None)
self.rcp.update(can_strings)
if len(self.rcp.vl_all[self.radar_message]["Distance_Status"]) == 0:
# The track message hasn't been seen yet. Keep publishing empty radar data instead of
# nothing, so consumers waiting on radarTracks don't stall.
return super().update(None)
if len(self.rcp.vl_all["MEB_Distance_01"]["Distance_Status"]) == 0:
return None
return self._update()
@@ -80,19 +46,11 @@ class RadarInterface(RadarInterfaceBase):
ret.errors.canError = True
return ret
msg = self.rcp.vl[self.radar_message]
msg = self.rcp.vl["MEB_Distance_01"]
# Radar reports its overall validity via Distance_Status (0 = Valid, 3 = Invalid).
# Treat consecutive invalid reports as a temporary radar unavailability, similar to Ford MRR.
if msg["Distance_Status"] != DISTANCE_STATUS_VALID:
self.radar_unavailable_cnt += 1
else:
self.radar_unavailable_cnt = 0
if self.radar_unavailable_cnt >= RADAR_UNAVAILABLE_THRESH:
self.pts.clear()
# Can be 3 when radar sensor is obstructed
if msg["Distance_Status"] != 0:
ret.errors.radarUnavailableTemporary = True
return ret
seen_ids = set()
for obj_id_sig, long_sig, lat_sig, vel_sig in SIGNAL_SETS:
@@ -102,7 +60,7 @@ class RadarInterface(RadarInterfaceBase):
# We shouldn't see duplicate track ids
if obj_id in seen_ids:
ret.errors.canError = True
ret.errors.radarFault = True
return ret
seen_ids.add(obj_id)
@@ -115,7 +73,7 @@ class RadarInterface(RadarInterfaceBase):
else:
pt = self.pts[obj_id]
pt.dRel = msg[long_sig] - DREL_FRONT_EDGE_MARGIN
pt.dRel = msg[long_sig]
pt.yRel = msg[lat_sig]
pt.vRel = msg[vel_sig]
opendbc_repo/opendbc/car/volkswagen/values.py
+1 -42
View File
@@ -16,8 +16,6 @@ TransmissionType = structs.CarParams.TransmissionType
GearShifter = structs.CarState.GearShifter
Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
RADAR_DISABLE_STATE: dict[str, bool] = {"error": False}
class CanBus(CanBusBase):
def __init__(self, CP=None, fingerprint=None) -> None:
@@ -102,7 +100,7 @@ class CarControllerParams:
"laneAssistDeactivTrailer": 5, # "Lane Assist: no function with trailer"
}
elif CP.flags & (VolkswagenFlags.MEB | VolkswagenFlags.MQB_EVO):
elif CP.flags & VolkswagenFlags.MEB:
self.LDW_STEP = 10 # LDW_02 message frequency 10Hz
self.ACC_HUD_STEP = 6
self.KLR_01_STEP = 6 # KLR_01 message frequency 17Hz
@@ -217,7 +215,6 @@ class WMI(StrEnum):
class VolkswagenSafetyFlags(IntFlag):
LONG_CONTROL = 1
MEB_ALT_CRC = 2
DISABLE_RADAR = 8
class VolkswagenFlags(IntFlag):
@@ -232,10 +229,6 @@ class VolkswagenFlags(IntFlag):
MLB = 8
MEB = 16
MEB_GEN2 = 128
MQB_EVO = 256
MQB_EVO_GEN2 = 8192
DISABLE_RADAR = 2 ** 12
CLUSTER_NO_TA_LANES = 65536
@dataclass
@@ -269,19 +262,6 @@ class VolkswagenMEBPlatformConfig(PlatformConfig):
self.dbc_dict = {Bus.pt: 'vw_meb_2024_generated', Bus.radar: 'vw_meb_2024_generated'}
@dataclass
class VolkswagenMQBevoPlatformConfig(PlatformConfig):
dbc_dict: DbcDict = field(default_factory=lambda: {Bus.pt: 'vw_mqbevo', Bus.radar: 'vw_mqbevo'})
chassis_codes: set[str] = field(default_factory=set)
wmis: set[WMI] = field(default_factory=set)
def init(self):
self.flags |= VolkswagenFlags.MQB_EVO
if self.flags & VolkswagenFlags.MQB_EVO_GEN2:
self.dbc_dict = {Bus.pt: 'vw_mqbevo_2024', Bus.radar: 'vw_mqbevo_2024'}
@dataclass
class VolkswagenPQPlatformConfig(VolkswagenMQBPlatformConfig):
dbc_dict: DbcDict = field(default_factory=lambda: {Bus.pt: 'vw_pq'})
@@ -404,12 +384,6 @@ class CAR(Platforms):
chassis_codes={"5G", "AU", "BA", "BE"},
wmis={WMI.VOLKSWAGEN_MEXICO_CAR, WMI.VOLKSWAGEN_EUROPE_CAR},
)
VOLKSWAGEN_GOLF_MK8 = VolkswagenMQBevoPlatformConfig(
[VWCarDocs("Volkswagen Golf 2020-25")],
VolkswagenCarSpecs(mass=1397, wheelbase=2.62),
chassis_codes={"CD"},
wmis={WMI.VOLKSWAGEN_EUROPE_CAR},
)
VOLKSWAGEN_ID4_MK1 = VolkswagenMEBPlatformConfig(
[
VWCarDocs("Volkswagen ID.4 2021-23"),
@@ -527,13 +501,6 @@ class CAR(Platforms):
chassis_codes={"8V", "FF"},
wmis={WMI.AUDI_GERMANY_CAR, WMI.AUDI_SPORT, WMI.VOLKSWAGEN_CHINA_FAW},
)
AUDI_A3_MK4 = VolkswagenMQBevoPlatformConfig(
[VWCarDocs("Audi RS3 2026")],
VolkswagenCarSpecs(mass=1650, wheelbase=2.631),
chassis_codes={"GY"},
wmis={WMI.AUDI_EUROPE_MPV},
flags=VolkswagenFlags.MQB_EVO_GEN2 | VolkswagenFlags.CLUSTER_NO_TA_LANES,
)
AUDI_Q2_MK1 = VolkswagenMQBPlatformConfig(
[VWCarDocs("Audi Q2 2018")],
VolkswagenCarSpecs(mass=1205, wheelbase=2.61),
@@ -568,14 +535,6 @@ class CAR(Platforms):
chassis_codes={"5F"},
wmis={WMI.SEAT},
)
SEAT_LEON_MK4 = VolkswagenMQBevoPlatformConfig(
[
VWCarDocs("SEAT Leon 2020-25"),
],
VolkswagenCarSpecs(mass=1300, wheelbase=2.685),
chassis_codes={"KL"},
wmis={WMI.SEAT},
)
CUPRA_BORN_MK1 = VolkswagenMEBPlatformConfig(
[VWCarDocs("CUPRA Born 2021-23"),],
VolkswagenCarSpecs(mass=1956, wheelbase=2.766),
opendbc_repo/opendbc/dbc/generator/volkswagen/_vw_mqbevo_common.dbc
-2210
View File
File diff suppressed because it is too large Load Diff
opendbc_repo/opendbc/dbc/generator/volkswagen/vw_mqbevo.dbc
-99
View File
@@ -1,99 +0,0 @@
CM_ "IMPORT _vw_mqbevo_common.dbc";
BO_ 252 ESC_51: 48 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
SG_ NEW_SIGNAL_2 : 14|6@1+ (1,0) [0|3] "" XXX
SG_ AEB_Breaking_01 : 24|8@1+ (1,0) [0|255] "" XXX
SG_ AEB_Breaking_02 : 32|8@1+ (1,0) [0|255] "" XXX
SG_ Accelerator_Higher_Speed : 40|1@0+ (1,0) [0|1] "" XXX
SG_ Brake_Pressure : 42|9@1+ (0.195,0) [0|100] "Unit_Percent" XXX
SG_ NEW_SIGNAL_1 : 52|8@1+ (1,0) [0|15] "" XXX
SG_ HL_Radgeschw : 64|16@1+ (0.0075,0) [0|491.5125] "Unit_KilometerPerHour" XXX
SG_ HR_Radgeschw : 80|16@1+ (0.0075,0) [0|491.5125] "Unit_KilometerPerHour" XXX
SG_ VL_Radgeschw : 96|16@1+ (0.0075,0) [0|491.5125] "Unit_KilometerPerHour" XXX
SG_ VR_Radgeschw : 112|16@1+ (0.0075,0) [0|491.5125] "Unit_KilometerPerHour" XXX
SG_ NEW_SIGNAL_3 : 128|4@1+ (1,0) [0|15] "" XXX
SG_ HL_Brake_Pressure : 152|8@1+ (1,0) [0|100] "" XXX
SG_ HR_Brake_Pressure : 160|8@1+ (1,0) [0|100] "" XXX
SG_ VL_Brake_Pressure : 168|8@1+ (1,0) [0|100] "" XXX
SG_ VR_Brake_Pressure : 176|8@1+ (1,0) [0|100] "" XXX
SG_ Steering_Wheel_CW : 184|8@1+ (1.67,0) [0|255] "" XXX
SG_ Steering_Wheel_CCW : 192|8@1+ (1.67,0) [0|255] "" XXX
SG_ ESC_v_Signal : 328|13@1+ (0.052,-107.016) [0|63] "" XXX
SG_ NEW_SIGNAL_4 : 342|13@1+ (1,0) [0|3] "" XXX
BO_ 267 Motor_51: 32 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
SG_ Accel_Pedal_Pressure : 12|9@1+ (0.4,0) [0|255] "" XXX
SG_ Accel_Low_Pressed_Support : 21|1@1+ (1,0) [0|7] "" XXX
SG_ TSK_Status : 88|3@1+ (1,0) [0|7] "" XXX
SG_ TSK_Limiter_ausgewaehlt : 95|1@1+ (1,0) [0|3] "" XXX
BO_ 333 ACC_18: 32 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
SG_ ACC_limitierte_Anfahrdyn : 12|1@1+ (1,0) [0|1] "" XXX
SG_ ACC_nachtr_Stopp_Anf : 13|1@1+ (1,0) [0|1] "" XXX
SG_ ACC_DynErhoehung : 14|1@1+ (1,0) [0|1] "" XXX
SG_ ACC_Freilaufstrategie_TSK : 15|1@1+ (1,0) [0|1] "" XXX
SG_ ACC_zul_Regelabw_unten : 16|6@1+ (0.024,0) [0|1.512] "Unit_MeterPerSeconSquar" XXX
SG_ ACC_StartStopp_Info : 22|2@1+ (1,0) [0|3] "" XXX
SG_ ACC_Sollbeschleunigung_02 : 24|11@1+ (0.005,-7.22) [-7.22|3.005] "Unit_MeterPerSeconSquar" XXX
SG_ ACC_zul_Regelabw_oben : 35|5@1+ (0.0625,0) [0|1.9375] "Unit_MeterPerSeconSquar" XXX
SG_ ACC_neg_Sollbeschl_Grad_02 : 40|8@1+ (0.05,0) [0|12.75] "Unit_MeterPerCubicSecon" XXX
SG_ ACC_pos_Sollbeschl_Grad_02 : 48|8@1+ (0.05,0) [0|12.75] "Unit_MeterPerCubicSecon" XXX
SG_ ACC_Anfahren : 56|1@1+ (1,0) [0|1] "" XXX
SG_ ACC_Anhalten : 57|1@1+ (1,0) [0|1] "" XXX
SG_ ACC_Typ : 58|2@1+ (1,0) [0|3] "" XXX
SG_ ACC_Status_ACC : 60|3@1+ (1,0) [0|7] "" XXX
SG_ ACC_Minimale_Bremsung : 63|1@1+ (1,0) [0|1] "" XXX
SG_ ACC_Anhalteweg : 64|11@1+ (0.01,0) [0|2046] "" XXX
SG_ ACC_Anforderung_HMS : 77|3@1+ (1,0) [0|7] "" XXX
SG_ SET_ME_0XFE : 80|8@1+ (1,0) [0|255] "" XXX
SG_ ACC_AKTIV_regelt : 90|1@0+ (1,0) [0|1] "" XXX
SG_ SET_ME_0X1 : 92|1@0+ (1,0) [0|1] "" XXX
SG_ SET_ME_0X9 : 232|4@1+ (1,0) [0|15] "" XXX
SG_ Speed : 236|12@1+ (0.1,0) [0|15] "" XXX
SG_ Accel_Boost : 248|6@1+ (1,0) [0|3] "" XXX
SG_ Reversing : 254|1@0+ (1,0) [0|1] "" XXX
BO_ 588 MEB_Side_Assist_01: 16 XXX
SG_ Blind_Spot_Passenger : 12|7@1+ (1,0) [0|15] "" XXX
SG_ Blind_Spot_Driver : 19|7@1+ (1,0) [0|15] "" XXX
SG_ Blind_Spot_Info_Passenger : 26|1@0+ (1,0) [0|1] "" XXX
SG_ Blind_Spot_Warn_Passenger : 27|1@0+ (1,0) [0|1] "" XXX
SG_ Blind_Spot_Info_Driver : 29|1@0+ (1,0) [0|1] "" XXX
SG_ Blind_Spot_Warn_Driver : 30|1@0+ (1,0) [0|1] "" XXX
SG_ Lower_Speed_01 : 32|1@0+ (1,0) [0|1] "" XXX
SG_ Higher_Speed_01 : 33|1@0+ (1,0) [0|1] "" XXX
SG_ Higher_Speed_02 : 83|1@0+ (1,0) [0|1] "" XXX
SG_ Lower_Speed_02 : 84|1@0+ (1,0) [0|1] "" XXX
SG_ Standstill : 86|1@0+ (1,0) [0|1] "" XXX
SG_ NEW_SIGNAL_1 : 98|1@0+ (1,0) [0|1] "" XXX
SG_ NEW_SIGNAL_6 : 119|1@0+ (1,0) [0|1] "" XXX
BO_ 619 TA_01: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
SG_ Travel_Assist_Status : 13|3@1+ (1,0) [0|3] "" XXX
SG_ Travel_Assist_Request : 19|3@1+ (1,0) [0|7] "" XXX
SG_ Travel_Assist_Available : 23|1@1+ (1,0) [0|1] "" XXX
VAL_ 267 TSK_Status 0 "init" 1 "disabled" 2 "enabled" 3 "regulating" 4 "accel_pedal_override" 5 "brake_only" 6 "temp_fault" 7 "perm_fault";
VAL_ 333 ACC_limitierte_Anfahrdyn 0 "keine_Limitierung" 1 "Limitierung_Anfahrdynamik_angefordert";
VAL_ 333 ACC_nachtr_Stopp_Anf 0 "nicht_angefordert" 1 "angefordert";
VAL_ 333 ACC_StartStopp_Info 0 "Motorlauf_langfristig_nicht_notwendig_Stoppfreigabe" 1 "Motoranlauf_nicht_zwingend_notwendig_Stoppverbot_keine_Startanforderung" 2 "Motoranlauf_zwingend_notwendig_Startanforderung" 3 "Systemfehler";
VAL_ 333 ACC_Sollbeschleunigung_02 2046 "Neutralwert" 2047 "Fehler";
VAL_ 333 ACC_Anfahren 0 "keine_Anforderung_Anfahren" 1 "Anforderung_Anfahren";
VAL_ 333 ACC_Anhalten 0 "kein_Anhalten_gewuenscht" 1 "Anhalten_gewuenscht";
VAL_ 333 ACC_Typ 0 "Basis_ACC" 1 "ACC_mit_FollowToStop" 2 "ACC_mit_StopAndGo" 3 "ACC_nicht_codiert";
VAL_ 333 ACC_Status_ACC 0 "ACC_OFF_Hauptschalter_aus" 1 "ACC_INIT" 2 "ACC_STANDBY" 3 "ACC_AKTIV_regelt" 4 "ACC_OVERRIDE" 5 "ACC_Abschaltreaktion" 6 "reversibler_Fehler_im_ACC_System" 7 "irreversibler_Fehler_im_ACC_System";
VAL_ 333 ACC_Minimale_Bremsung 0 "Anforderung_Minimale_Bremsung_nicht_aktiv" 1 "Anforderung_Minimale_Bremsung_aktiv";
VAL_ 333 ACC_Anhalteweg 2046 "Neutralwert" 2047 "Fehler";
VAL_ 333 ACC_Anforderung_HMS 0 "keine_Anforderung" 1 "halten" 2 "parken" 3 "halten_Standby" 4 "anfahren" 5 "Loesen_ueber_Rampe";
VAL_ 333 Accel_Boost 3 "Driving" 0 "Stop" 2 "Driving" 1 "Driving";
VAL_ 619 Travel_Assist_Status 4 "enabled" 0 "disabled" 2 "ready" 3 "pre_ready";
VAL_ 619 Travel_Assist_Request 4 "enable" 3 "disable" 0 "no_request" 1 "error";
VAL_ 619 Travel_Assist_Available 0 "not_available" 1 "available";
opendbc_repo/opendbc/dbc/generator/volkswagen/vw_mqbevo_2024.dbc
-109
View File
@@ -1,109 +0,0 @@
CM_ "IMPORT _vw_mqbevo_common.dbc";
BO_ 252 ESC_51: 64 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
SG_ NEW_SIGNAL_2 : 14|6@1+ (1,0) [0|3] "" XXX
SG_ AEB_Breaking_01 : 24|8@1+ (1,0) [0|255] "" XXX
SG_ AEB_Breaking_02 : 32|8@1+ (1,0) [0|255] "" XXX
SG_ Accelerator_Higher_Speed : 40|1@0+ (1,0) [0|1] "" XXX
SG_ Brake_Pressure : 42|9@1+ (0.195,0) [0|100] "Unit_Percent" XXX
SG_ NEW_SIGNAL_1 : 52|8@1+ (1,0) [0|15] "" XXX
SG_ HL_Radgeschw : 64|16@1+ (0.0075,0) [0|491.5125] "Unit_KilometerPerHour" XXX
SG_ HR_Radgeschw : 80|16@1+ (0.0075,0) [0|491.5125] "Unit_KilometerPerHour" XXX
SG_ VL_Radgeschw : 96|16@1+ (0.0075,0) [0|491.5125] "Unit_KilometerPerHour" XXX
SG_ VR_Radgeschw : 112|16@1+ (0.0075,0) [0|491.5125] "Unit_KilometerPerHour" XXX
SG_ NEW_SIGNAL_3 : 128|4@1+ (1,0) [0|15] "" XXX
SG_ HL_Brake_Pressure : 152|8@1+ (1,0) [0|100] "" XXX
SG_ HR_Brake_Pressure : 160|8@1+ (1,0) [0|100] "" XXX
SG_ VL_Brake_Pressure : 168|8@1+ (1,0) [0|100] "" XXX
SG_ VR_Brake_Pressure : 176|8@1+ (1,0) [0|100] "" XXX
SG_ Steering_Wheel_CW : 184|8@1+ (1.67,0) [0|255] "" XXX
SG_ Steering_Wheel_CCW : 192|8@1+ (1.67,0) [0|255] "" XXX
SG_ ESC_v_Signal : 328|13@1+ (0.052,-107.016) [0|63] "" XXX
SG_ NEW_SIGNAL_4 : 342|13@1+ (1,0) [0|3] "" XXX
BO_ 267 Motor_51: 48 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
SG_ Accel_Pedal_Pressure : 12|9@1+ (0.4,0) [0|255] "" XXX
SG_ Accel_Low_Pressed_Support : 21|1@1+ (1,0) [0|7] "" XXX
SG_ TSK_Status : 88|3@1+ (1,0) [0|7] "" XXX
SG_ TSK_Limiter_ausgewaehlt : 95|1@1+ (1,0) [0|3] "" XXX
BO_ 333 ACC_18: 32 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
SG_ ACC_limitierte_Anfahrdyn : 12|1@1+ (1,0) [0|1] "" XXX
SG_ ACC_nachtr_Stopp_Anf : 13|1@1+ (1,0) [0|1] "" XXX
SG_ ACC_DynErhoehung : 14|1@1+ (1,0) [0|1] "" XXX
SG_ ACC_Freilaufstrategie_TSK : 15|1@1+ (1,0) [0|1] "" XXX
SG_ ACC_zul_Regelabw_unten : 16|6@1+ (0.024,0) [0|1.512] "Unit_MeterPerSeconSquar" XXX
SG_ ACC_StartStopp_Info : 22|2@1+ (1,0) [0|3] "" XXX
SG_ ACC_Sollbeschleunigung_02 : 24|11@1+ (0.005,-7.22) [-7.22|3.005] "Unit_MeterPerSeconSquar" XXX
SG_ ACC_zul_Regelabw_oben : 35|5@1+ (0.0625,0) [0|1.9375] "Unit_MeterPerSeconSquar" XXX
SG_ ACC_neg_Sollbeschl_Grad_02 : 40|8@1+ (0.05,0) [0|12.75] "Unit_MeterPerCubicSecon" XXX
SG_ ACC_pos_Sollbeschl_Grad_02 : 48|8@1+ (0.05,0) [0|12.75] "Unit_MeterPerCubicSecon" XXX
SG_ ACC_Anfahren : 56|1@1+ (1,0) [0|1] "" XXX
SG_ ACC_Anhalten : 57|1@1+ (1,0) [0|1] "" XXX
SG_ ACC_Typ : 58|2@1+ (1,0) [0|3] "" XXX
SG_ ACC_Status_ACC : 60|3@1+ (1,0) [0|7] "" XXX
SG_ ACC_Minimale_Bremsung : 63|1@1+ (1,0) [0|1] "" XXX
SG_ ACC_Anhalteweg : 64|11@1+ (0.01,0) [0|2046] "" XXX
SG_ ACC_Anforderung_HMS : 77|3@1+ (1,0) [0|7] "" XXX
SG_ SET_ME_0XFE : 80|8@1+ (1,0) [0|255] "" XXX
SG_ ACC_AKTIV_regelt : 90|1@0+ (1,0) [0|1] "" XXX
SG_ SET_ME_0X1 : 92|1@0+ (1,0) [0|1] "" XXX
SG_ SET_ME_0x2FE : 98|10@1+ (1,0) [0|63] "" XXX
SG_ SET_ME_0X9 : 232|4@1+ (1,0) [0|15] "" XXX
SG_ Speed : 236|12@1+ (0.1,0) [0|15] "" XXX
SG_ Accel_Boost : 248|6@1+ (1,0) [0|3] "" XXX
SG_ Reversing : 254|1@0+ (1,0) [0|1] "" XXX
BO_ 588 MEB_Side_Assist_01: 16 XXX
SG_ Blind_Spot_Passenger : 12|7@1+ (1,0) [0|15] "" XXX
SG_ Blind_Spot_Driver : 19|7@1+ (1,0) [0|15] "" XXX
SG_ Blind_Spot_Info_Passenger : 26|1@0+ (1,0) [0|1] "" XXX
SG_ Blind_Spot_Warn_Passenger : 27|1@0+ (1,0) [0|1] "" XXX
SG_ Blind_Spot_Info_Driver : 29|1@0+ (1,0) [0|1] "" XXX
SG_ Blind_Spot_Warn_Driver : 30|1@0+ (1,0) [0|1] "" XXX
SG_ Lower_Speed_01 : 32|1@0+ (1,0) [0|1] "" XXX
SG_ Higher_Speed_01 : 33|1@0+ (1,0) [0|1] "" XXX
SG_ Higher_Speed_02 : 83|1@0+ (1,0) [0|1] "" XXX
SG_ Lower_Speed_02 : 84|1@0+ (1,0) [0|1] "" XXX
SG_ NEW_SIGNAL_1 : 98|1@0+ (1,0) [0|1] "" XXX
SG_ NEW_SIGNAL_6 : 119|1@0+ (1,0) [0|1] "" XXX
SG_ Motion_State : 171|2@0+ (1,0) [0|1] "" XXX
BO_ 619 TA_01: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
SG_ Travel_Assist_Status : 13|3@1+ (1,0) [0|3] "" XXX
SG_ Speed_Mode_01 : 16|1@0+ (1,0) [0|1] "" XXX
SG_ Speed_Mode_02 : 18|1@0+ (1,0) [0|1] "" XXX
SG_ Travel_Assist_Request : 19|3@1+ (1,0) [0|7] "" XXX
SG_ Init : 22|1@0+ (1,0) [0|1] "" XXX
SG_ Travel_Assist_Available : 23|1@1+ (1,0) [0|1] "" XXX
SG_ Unknown_01 : 26|1@0+ (1,0) [0|1] "" XXX
SG_ Unknown_02 : 28|1@0+ (1,0) [0|1] "" XXX
SG_ Unknown_03 : 31|1@0+ (1,0) [0|1] "" XXX
SG_ Speed_Mode_Status : 32|3@1+ (1,0) [0|7] "" XXX
SG_ Lane_Unsure : 37|2@1+ (1,0) [0|3] "" XXX
VAL_ 267 TSK_Status 0 "init" 1 "disabled" 2 "enabled" 3 "regulating" 4 "accel_pedal_override" 5 "brake_only" 6 "temp_fault" 7 "perm_fault";
VAL_ 333 ACC_limitierte_Anfahrdyn 0 "keine_Limitierung" 1 "Limitierung_Anfahrdynamik_angefordert";
VAL_ 333 ACC_nachtr_Stopp_Anf 0 "nicht_angefordert" 1 "angefordert";
VAL_ 333 ACC_StartStopp_Info 0 "Motorlauf_langfristig_nicht_notwendig_Stoppfreigabe" 1 "Motoranlauf_nicht_zwingend_notwendig_Stoppverbot_keine_Startanforderung" 2 "Motoranlauf_zwingend_notwendig_Startanforderung" 3 "Systemfehler";
VAL_ 333 ACC_Sollbeschleunigung_02 2046 "Neutralwert" 2047 "Fehler";
VAL_ 333 ACC_Anfahren 0 "keine_Anforderung_Anfahren" 1 "Anforderung_Anfahren";
VAL_ 333 ACC_Anhalten 0 "kein_Anhalten_gewuenscht" 1 "Anhalten_gewuenscht";
VAL_ 333 ACC_Typ 0 "Basis_ACC" 1 "ACC_mit_FollowToStop" 2 "ACC_mit_StopAndGo" 3 "ACC_nicht_codiert";
VAL_ 333 ACC_Status_ACC 0 "ACC_OFF_Hauptschalter_aus" 1 "ACC_INIT" 2 "ACC_STANDBY" 3 "ACC_AKTIV_regelt" 4 "ACC_OVERRIDE" 5 "ACC_Abschaltreaktion" 6 "reversibler_Fehler_im_ACC_System" 7 "irreversibler_Fehler_im_ACC_System";
VAL_ 333 ACC_Minimale_Bremsung 0 "Anforderung_Minimale_Bremsung_nicht_aktiv" 1 "Anforderung_Minimale_Bremsung_aktiv";
VAL_ 333 ACC_Anhalteweg 2046 "Neutralwert" 2047 "Fehler";
VAL_ 333 ACC_Anforderung_HMS 0 "keine_Anforderung" 1 "halten" 2 "parken" 3 "halten_Standby" 4 "anfahren" 5 "Loesen_ueber_Rampe";
VAL_ 333 Accel_Boost 3 "Driving" 0 "Stop" 2 "Driving" 1 "Driving";
VAL_ 588 Motion_State 1 "Forwards" 2 "Reversing" 3 "Stopped";
VAL_ 619 Travel_Assist_Status 4 "enabled" 0 "disabled" 2 "ready" 3 "pre_ready";
VAL_ 619 Travel_Assist_Request 4 "enable" 3 "disable" 0 "no_request" 1 "error";
VAL_ 619 Travel_Assist_Available 0 "not_available" 1 "available";
opendbc_repo/opendbc/dbc/vw_mqbevo.dbc
+100 -802
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opendbc_repo/opendbc/dbc/vw_mqbevo_2024.dbc
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opendbc_repo/opendbc/safety/declarations.h
-1
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@@ -30,7 +30,6 @@
#define SAFETY_FAW 26U
#define SAFETY_BODY 27U
#define SAFETY_HYUNDAI_CANFD 28U
#define SAFETY_VOLKSWAGEN_MQBEVO 29U
#define SAFETY_CHRYSLER_CUSW 30U
#define SAFETY_PSA 31U
#define SAFETY_RIVIAN 33U
opendbc_repo/opendbc/safety/modes/volkswagen_common.h
-7
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@@ -1,19 +1,13 @@
#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;
@@ -46,7 +40,6 @@ 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
+2 -24
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@@ -12,8 +12,6 @@
#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
@@ -118,28 +116,10 @@ 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[] = {
@@ -148,8 +128,7 @@ 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 = 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);
ret = BUILD_SAFETY_CFG(volkswagen_meb_gen2_rx_checks, VOLKSWAGEN_MEB_TX_MSGS);
} else {
static RxCheck volkswagen_meb_rx_checks[] = {
VOLKSWAGEN_MEB_COMMON_RX_CHECKS
@@ -157,8 +136,7 @@ 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 = 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);
ret = BUILD_SAFETY_CFG(volkswagen_meb_rx_checks, VOLKSWAGEN_MEB_TX_MSGS);
}
return ret;
}
opendbc_repo/opendbc/safety/safety.h
-1
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@@ -414,7 +414,6 @@ int set_safety_hooks(uint16_t mode, uint16_t param) {
{SAFETY_SUBARU, &subaru_hooks},
{SAFETY_VOLKSWAGEN_MQB, &volkswagen_mqb_hooks},
{SAFETY_VOLKSWAGEN_MEB, &volkswagen_meb_hooks},
{SAFETY_VOLKSWAGEN_MQBEVO, &volkswagen_meb_hooks},
{SAFETY_NISSAN, &nissan_hooks},
{SAFETY_NOOUTPUT, &nooutput_hooks},
{SAFETY_HYUNDAI_LEGACY, &hyundai_legacy_hooks},
opendbc_repo/opendbc/sunnypilot/car/car_list.json
+1 -66
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@@ -4866,70 +4866,5 @@
"2023"
],
"package": "Adaptive Cruise Control (ACC) & Lane Assist"
},
"Seat Leon 2020-25": {
"platform": "SEAT_LEON_MK4",
"make": "Volkswagen",
"brand": "volkswagen",
"model": "Leon IV",
"year": [
"2020",
"2021",
"2022",
"2023",
"2024",
"2025"
],
"package": "Adaptive Cruise Control (ACC) & Lane Assist"
},
"Volkswagen Golf 2020-25": {
"platform": "VOLKSWAGEN_GOLF_MK8",
"make": "Volkswagen",
"brand": "volkswagen",
"model": "Golf 8",
"year": [
"2020",
"2021",
"2022",
"2023",
"2024",
"2025"
],
"package": "Adaptive Cruise Control (ACC) & Lane Assist"
},
"Volkswagen MQBevo 2020-25": {
"platform": "VOLKSWAGEN_GOLF_MK8",
"make": "Volkswagen",
"brand": "volkswagen",
"model": "MQBevo",
"year": [
"2020",
"2021",
"2022",
"2023",
"2024",
"2025"
],
"package": "Adaptive Cruise Control (ACC) & Lane Assist"
},
"Audi RS3 2026": {
"platform": "AUDI_A3_MK4",
"make": "Audi",
"brand": "volkswagen",
"model": "RS3",
"year": [
"2026"
],
"package": "Adaptive Cruise Control (ACC) & Lane Assist"
},
"Volkswagen MQBevo Gen 2 2026": {
"platform": "AUDI_A3_MK4",
"make": "Volkswagen",
"brand": "volkswagen",
"model": "MQBevo Gen 2",
"year": [
"2026"
],
"package": "Adaptive Cruise Control (ACC) & Lane Assist"
}
}
}
openpilot/selfdrive/car/card.py
-3
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@@ -130,9 +130,6 @@ class Car:
# Dynamic Experimental Control
self.dynamic_experimental_control = self.params.get_bool("DynamicExperimentalControl")
# let the interface adjust CarParams (e.g. dashcamOnly) before control availability is computed
self.CI.pre_init(self.CP, self.CP_SP, *self.can_callbacks)
openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly
self.CP.passive = not controller_available or self.CP.dashcamOnly
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panda/board/obj/gitversion.h
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extern const uint8_t gitversion[19];
const uint8_t gitversion[19] = "DEV-0389d815-DEBUG";
const uint8_t gitversion[19] = "DEV-462b3a88-DEBUG";
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@@ -1 +1 @@
DEV-0389d815-DEBUG
DEV-462b3a88-DEBUG
panda/tests/libpanda/libpanda.so
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