VW PQ: add b11 hydhalten, make signals dynamic

dkiiv · Dec 19, 2024 · 3d7de75 · 3d7de75
1 parent 376a6e9
commit 3d7de75
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Showing 2 changed files with 5 additions and 5 deletions.
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
@@ -303,7 +303,7 @@ def update(self, CC, CS, now_nanos):
       if CS.acc_sys_stock["COUNTER"] != self.acc_sys_counter_last:
         # EPB_handler(CS, self, CS.acc_sys_stock["ACS_Sta_ADR"], CS.acc_sys_stock["ACS_Sollbeschl"], CS.out.vEgoRaw, self.stopping)
         can_sends.append(self.CCS.filter_ACC_System(self.packer_pt, CANBUS.pt, CS.acc_sys_stock, self.EPB_active))
-        can_sends.append(self.CCS.create_epb_control(self.packer_pt, CANBUS.br, self.EPB_brake, self.EPB_enable))
+        can_sends.append(self.CCS.create_epb_control(self.packer_pt, CANBUS.br, self.EPB_brake, self.EPB_enable, self.stopped))
         can_sends.append(self.CCS.filter_epb1(self.packer_pt, CANBUS.cam, self.stopped))  # in custom module, filter the gateway fwd EPB msg
       if CS.acc_anz_stock["COUNTER"] != self.acc_anz_counter_last:
         can_sends.append(self.CCS.filter_ACC_Anzeige(self.packer_pt, CANBUS.pt, CS.acc_anz_stock, self.ACC_anz_blind))
@@ -312,7 +312,7 @@ def update(self, CC, CS, now_nanos):
       if CS.bremse8_stock["COUNTER"] != self.bremse8_counter_last:
         can_sends.append(self.CCS.filter_bremse8(self.packer_pt, CANBUS.cam, CS.bremse8_stock, False))
       if self.frame % 10 or CS.bremse11_stock != self.bremse11_last:
-        can_sends.append(self.CCS.filter_bremse11(self.packer_pt, CANBUS.cam, CS.bremse11_stock, False))
+        can_sends.append(self.CCS.filter_bremse11(self.packer_pt, CANBUS.cam, CS.bremse11_stock, self.stopped))
       if CS.gra_stock_values["COUNTER"] != self.gra_acc_counter_last:
         can_sends.append(self.CCS.filter_GRA_Neu(self.packer_pt, CANBUS.cam, CS.gra_stock_values, resume = self.stopped and (self.frame % 100 < 50)))
 

diff --git a/selfdrive/car/volkswagen/pqcan.py b/selfdrive/car/volkswagen/pqcan.py
@@ -158,7 +158,7 @@ def filter_epb1(packer, bus, stopped):  # bus 0 --> 2
     "EP1_Verzoegerung": 0,
     "EP1_Freigabe_Ver": 0,
     "EP1_Bremslicht": 0,
-    "EP1_HydrHalten": 1,
+    "EP1_HydrHalten": 1 if stopped else 0,
     "EP1_AutoHold_aktiv": 1,
   }
   return packer.make_can_msg("EPB_1", bus, values)
@@ -191,12 +191,12 @@ def filter_GRA_Neu(packer, bus, gra_car, resume):  # bus 2 --> 0
     })
   return packer.make_can_msg("GRA_Neu", bus, values)
 
-def create_epb_control(packer, bus, apply_brake, epb_enabled):  # bus 1
+def create_epb_control(packer, bus, apply_brake, epb_enabled, stopped):  # bus 1
   values = {
     "EP1_Verzoegerung": 0,
     "EP1_Freigabe_Ver": 0,
     "EP1_Bremslicht": 0,
-    "EP1_HydrHalten": 1,
+    "EP1_HydrHalten": 1 if stopped else 0,
     "EP1_AutoHold_aktiv": 1,
   }
   return packer.make_can_msg("EPB_1", bus, values)