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Merge branch 'pre-vag' into pre

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This commit is contained in:
Rick Lan
2025-05-27 15:37:20 +08:00
parent 1be247b35d e8edc24252
commit fc621376ba
11 changed files with 74 additions and 13 deletions
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3
common/params_keys.h
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@@ -143,4 +143,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
{"dp_toyota_door_auto_lock_unlock", PERSISTENT},
{"dp_toyota_tss1_sng", PERSISTENT},
{"dp_toyota_stock_lon", PERSISTENT},
{"dp_vag_a0_sng", PERSISTENT},
{"dp_vag_pq_steering_patch", PERSISTENT},
{"dp_vag_avoid_eps_lockout", PERSISTENT},
};

3
opendbc_repo/opendbc/car/structs.py
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@@ -25,4 +25,7 @@ class DPFlags:
ToyotaDoorAutoLockUnlock = 2 ** 2
ToyotaTSS1SnG = 2 ** 3
ToyotaStockLon = 2 ** 4
VagA0SnG = 2 ** 5
VAGPQSteeringPatch = 2 ** 6
VagAvoidEPSLockout = 2 ** 7
pass

24
opendbc_repo/opendbc/car/volkswagen/carcontroller.py
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@@ -13,7 +13,7 @@ LongCtrlState = structs.CarControl.Actuators.LongControlState
class CarController(CarControllerBase):
def __init__(self, dbc_names, CP):
super().__init__(dbc_names, CP)
self.CCP = CarControllerParams(CP)
self.CCP = CarControllerParams(CP, CP.flags & VolkswagenFlags.AVOID_EPS_LOCKOUT)
self.CCS = pqcan if CP.flags & VolkswagenFlags.PQ else mqbcan
self.packer_pt = CANPacker(dbc_names[Bus.pt])
self.ext_bus = CANBUS.pt if CP.networkLocation == structs.CarParams.NetworkLocation.fwdCamera else CANBUS.cam
@@ -24,6 +24,7 @@ class CarController(CarControllerBase):
self.eps_timer_soft_disable_alert = False
self.hca_frame_timer_running = 0
self.hca_frame_same_torque = 0
self.dp_vag_pq_steering_patch = 7 if CP.flags & VolkswagenFlags.PQSteeringPatch else 5
def update(self, CC, CS, now_nanos):
actuators = CC.actuators
@@ -63,7 +64,7 @@ class CarController(CarControllerBase):
self.eps_timer_soft_disable_alert = self.hca_frame_timer_running > self.CCP.STEER_TIME_ALERT / DT_CTRL
self.apply_torque_last = apply_torque
can_sends.append(self.CCS.create_steering_control(self.packer_pt, CANBUS.pt, apply_torque, hca_enabled))
can_sends.append(self.CCS.create_steering_control(self.packer_pt, CANBUS.pt, apply_torque, hca_enabled, self.dp_vag_pq_steering_patch))
if self.CP.flags & VolkswagenFlags.STOCK_HCA_PRESENT:
# Pacify VW Emergency Assist driver inactivity detection by changing its view of driver steering input torque
@@ -111,11 +112,22 @@ class CarController(CarControllerBase):
lead_distance, hud_control.leadDistanceBars))
# **** Stock ACC Button Controls **************************************** #
if self.CP.flags & VolkswagenFlags.A0SnG:
if self.CP.pcmCruise and CS.gra_stock_values["COUNTER"] != self.gra_acc_counter_last:
standing_resume_spam = CS.out.standstill
spam_window = self.frame % 50 < 15
gra_send_ready = self.CP.pcmCruise and CS.gra_stock_values["COUNTER"] != self.gra_acc_counter_last
if gra_send_ready and (CC.cruiseControl.cancel or CC.cruiseControl.resume):
can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, self.ext_bus, CS.gra_stock_values,
cancel=CC.cruiseControl.cancel, resume=CC.cruiseControl.resume))
send_cancel = CC.cruiseControl.cancel
send_resume = CC.cruiseControl.resume or (standing_resume_spam and spam_window)
if send_cancel or send_resume:
can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, self.ext_bus, CS.gra_stock_values,
cancel=send_cancel, resume=send_resume))
else:
gra_send_ready = self.CP.pcmCruise and CS.gra_stock_values["COUNTER"] != self.gra_acc_counter_last
if gra_send_ready and (CC.cruiseControl.cancel or CC.cruiseControl.resume):
can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, self.ext_bus, CS.gra_stock_values,
cancel=CC.cruiseControl.cancel, resume=CC.cruiseControl.resume))
new_actuators = actuators.as_builder()
new_actuators.torque = self.apply_torque_last / self.CCP.STEER_MAX

11
opendbc_repo/opendbc/car/volkswagen/interface.py
View File

@@ -35,7 +35,7 @@ class CarInterface(CarInterfaceBase):
# It is documented in a four-part blog series:
# https://blog.willemmelching.nl/carhacking/2022/01/02/vw-part1/
# Panda ALLOW_DEBUG firmware required.
ret.dashcamOnly = True
# ret.dashcamOnly = True
else:
# Set global MQB parameters
@@ -87,4 +87,13 @@ class CarInterface(CarInterfaceBase):
ret.vEgoStopping = 0.5
ret.autoResumeSng = ret.minEnableSpeed == -1
if dp_params & structs.DPFlags.VagA0SnG:
ret.flags |= VolkswagenFlags.A0SnG.value
if ret.flags & VolkswagenFlags.PQ and dp_params & structs.DPFlags.VAGPQSteeringPatch:
ret.flags |= VolkswagenFlags.PQSteeringPatch.value
if dp_params & structs.DPFlags.VagAvoidEPSLockout:
ret.flags |= VolkswagenFlags.AVOID_EPS_LOCKOUT.value
return ret

2
opendbc_repo/opendbc/car/volkswagen/mqbcan.py
View File

@@ -1,4 +1,4 @@
def create_steering_control(packer, bus, apply_torque, lkas_enabled):
def create_steering_control(packer, bus, apply_torque, lkas_enabled, dp_vag_pq_steering_patch):
values = {
"HCA_01_Status_HCA": 5 if lkas_enabled else 3,
"HCA_01_LM_Offset": abs(apply_torque),

4
opendbc_repo/opendbc/car/volkswagen/pqcan.py
View File

@@ -1,8 +1,8 @@
def create_steering_control(packer, bus, apply_torque, lkas_enabled):
def create_steering_control(packer, bus, apply_torque, lkas_enabled, dp_vag_pq_steering_patch = 5):
values = {
"LM_Offset": abs(apply_torque),
"LM_OffSign": 1 if apply_torque < 0 else 0,
"HCA_Status": 5 if (lkas_enabled and apply_torque != 0) else 3,
"HCA_Status": dp_vag_pq_steering_patch if (lkas_enabled and apply_torque != 0) else 3,
"Vib_Freq": 16,
}

10
opendbc_repo/opendbc/car/volkswagen/values.py
View File

@@ -27,7 +27,8 @@ class CarControllerParams:
# MQB vs PQ maximums are shared, but rate-of-change limited differently
# based on safety requirements driven by lateral accel testing.
STEER_MAX = 300 # Max heading control assist torque 3.00 Nm
# rick - move to init so we can overwrite it with avoid eps lockout
# STEER_MAX = 300 # Max heading control assist torque 3.00 Nm
STEER_DRIVER_MULTIPLIER = 3 # weight driver torque heavily
STEER_DRIVER_FACTOR = 1 # from dbc
@@ -40,8 +41,9 @@ class CarControllerParams:
ACCEL_MAX = 2.0 # 2.0 m/s max acceleration
ACCEL_MIN = -3.5 # 3.5 m/s max deceleration
def __init__(self, CP):
def __init__(self, CP, avoid_eps_lockout = False):
can_define = CANDefine(DBC[CP.carFingerprint][Bus.pt])
self.STEER_MAX = 300 if not avoid_eps_lockout else 288
if CP.flags & VolkswagenFlags.PQ:
self.LDW_STEP = 5 # LDW_1 message frequency 20Hz
@@ -144,6 +146,10 @@ class VolkswagenFlags(IntFlag):
# Static flags
PQ = 2
A0SnG = 2 ** 2
PQSteeringPatch = 2 ** 3
AVOID_EPS_LOCKOUT = 2 ** 4
@dataclass
class VolkswagenMQBPlatformConfig(PlatformConfig):

9
selfdrive/car/card.py
View File

@@ -111,6 +111,15 @@ class Car:
if self.params.get_bool("dp_toyota_stock_lon"):
dp_params |= structs.DPFlags.ToyotaStockLon
if self.params.get_bool("dp_vag_a0_sng"):
dp_params |= structs.DPFlags.VagA0SnG
if self.params.get_bool("dp_vag_pq_steering_patch"):
dp_params |= structs.DPFlags.VAGPQSteeringPatch
if self.params.get_bool("dp_vag_avoid_eps_lockout"):
dp_params |= structs.DPFlags.VagAvoidEPSLockout
self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, dp_params, cached_params)
self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP)
self.CP = self.CI.CP

3
selfdrive/controls/lib/latcontrol.py
View File

@@ -2,8 +2,9 @@ import numpy as np
from abc import abstractmethod, ABC
from openpilot.common.realtime import DT_CTRL
from openpilot.common.params import Params
MIN_LATERAL_CONTROL_SPEED = 0.3 # m/s
MIN_LATERAL_CONTROL_SPEED = 2.5 if Params().get_bool("dp_vag_avoid_eps_lockout") else 0.3 # m/s
class LatControl(ABC):

15
selfdrive/ui/qt/offroad/dp_panel.cc
View File

@@ -55,6 +55,21 @@ void DPPanel::add_vag_toggles() {
QString::fromUtf8("🐉 ") + tr("VW / Audi / Skoda"),
"",
},
{
"dp_vag_a0_sng",
tr("Enable MQB A0 SnG Mod"),
"",
},
{
"dp_vag_pq_steering_patch",
tr("PQ Steering Patch"),
""
},
{
"dp_vag_avoid_eps_lockout",
tr("Avoid EPS Lockout"),
"",
},
};
QWidget *label = nullptr;

3
system/manager/manager.py
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@@ -65,6 +65,9 @@ def manager_init() -> None:
("dp_toyota_door_auto_lock_unlock", "0"),
("dp_toyota_tss1_sng", "0"),
("dp_toyota_stock_lon", "0"),
("dp_vag_a0_sng", "0"),
("dp_vag_pq_steering_patch", "0"),
("dp_vag_avoid_eps_lockout", "0"),
]
if params.get_bool("RecordFrontLock"):