diff --git a/common/params_keys.h b/common/params_keys.h index 66c4d8131..a9359684b 100644 --- a/common/params_keys.h +++ b/common/params_keys.h @@ -143,4 +143,7 @@ inline static std::unordered_map 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}, }; diff --git a/opendbc_repo/opendbc/car/structs.py b/opendbc_repo/opendbc/car/structs.py index 5cc5a39fd..3de63a7d3 100644 --- a/opendbc_repo/opendbc/car/structs.py +++ b/opendbc_repo/opendbc/car/structs.py @@ -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 diff --git a/opendbc_repo/opendbc/car/volkswagen/carcontroller.py b/opendbc_repo/opendbc/car/volkswagen/carcontroller.py index e2a4fe86d..bb44491d6 100644 --- a/opendbc_repo/opendbc/car/volkswagen/carcontroller.py +++ b/opendbc_repo/opendbc/car/volkswagen/carcontroller.py @@ -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 diff --git a/opendbc_repo/opendbc/car/volkswagen/interface.py b/opendbc_repo/opendbc/car/volkswagen/interface.py index 80c161953..0336f8fdb 100644 --- a/opendbc_repo/opendbc/car/volkswagen/interface.py +++ b/opendbc_repo/opendbc/car/volkswagen/interface.py @@ -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 diff --git a/opendbc_repo/opendbc/car/volkswagen/mqbcan.py b/opendbc_repo/opendbc/car/volkswagen/mqbcan.py index 4823d19bd..edff008e4 100644 --- a/opendbc_repo/opendbc/car/volkswagen/mqbcan.py +++ b/opendbc_repo/opendbc/car/volkswagen/mqbcan.py @@ -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), diff --git a/opendbc_repo/opendbc/car/volkswagen/pqcan.py b/opendbc_repo/opendbc/car/volkswagen/pqcan.py index a2f8a8b96..5e08f4b4c 100644 --- a/opendbc_repo/opendbc/car/volkswagen/pqcan.py +++ b/opendbc_repo/opendbc/car/volkswagen/pqcan.py @@ -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, } diff --git a/opendbc_repo/opendbc/car/volkswagen/values.py b/opendbc_repo/opendbc/car/volkswagen/values.py index 750a99e1c..d254d8909 100644 --- a/opendbc_repo/opendbc/car/volkswagen/values.py +++ b/opendbc_repo/opendbc/car/volkswagen/values.py @@ -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): diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index 459fb861f..a201b8156 100755 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -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 diff --git a/selfdrive/controls/lib/latcontrol.py b/selfdrive/controls/lib/latcontrol.py index dcf000343..f47f5a4c5 100644 --- a/selfdrive/controls/lib/latcontrol.py +++ b/selfdrive/controls/lib/latcontrol.py @@ -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): diff --git a/selfdrive/ui/qt/offroad/dp_panel.cc b/selfdrive/ui/qt/offroad/dp_panel.cc index b1d6ed4f7..0ef686bd9 100644 --- a/selfdrive/ui/qt/offroad/dp_panel.cc +++ b/selfdrive/ui/qt/offroad/dp_panel.cc @@ -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; diff --git a/system/manager/manager.py b/system/manager/manager.py index ac269cde6..3d2ab1958 100755 --- a/system/manager/manager.py +++ b/system/manager/manager.py @@ -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"):