init gk_1 spam

dkiiv · Jul 27, 2024 · 5719af7 · FLcruising · Aug 1, 2024 · 5719af7
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commit 5719af7
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Showing 4 changed files with 18 additions and 2 deletions.
diff --git a/panda/board/safety/safety_volkswagen_pq.h b/panda/board/safety/safety_volkswagen_pq.h
@@ -37,14 +37,15 @@ const LongitudinalLimits VOLKSWAGEN_PQ_LONG_LIMITS_SPORT = {
 #define MSG_ACC_GRA_ANZEIGE     0x56A   // TX by OP, ACC HUD
 #define MSG_LDW_1               0x5BE   // TX by OP, Lane line recognition and text alerts
 #define MSG_PLA_1               0x3D4   // TX by OP, experimentation signal only
+#define MSG_GK_1                0x38A   // TX by OP, spamming reverse light ON. Testing EPS PLA entry not in R
 
 // Transmit of GRA_Neu is allowed on bus 0 and 2 to keep compatibility with gateway and camera integration
 const CanMsg VOLKSWAGEN_PQ_STOCK_TX_MSGS[] = {{MSG_HCA_1, 0, 5}, {MSG_LDW_1, 0, 8},
                                               {MSG_GRA_NEU, 0, 4}, {MSG_GRA_NEU, 2, 4},
-                                              {MSG_PLA_1, 1, 8}};
+                                              {MSG_PLA_1, 1, 8}, {MSG_GK_1, 1, 8}};
 const CanMsg VOLKSWAGEN_PQ_LONG_TX_MSGS[] =  {{MSG_HCA_1, 0, 5}, {MSG_LDW_1, 0, 8},
                                               {MSG_ACC_SYSTEM, 0, 8}, {MSG_ACC_GRA_ANZEIGE, 0, 8},
-                                              {MSG_PLA_1, 1, 8}};
+                                              {MSG_PLA_1, 1, 8}, {MSG_GK_1, 1, 8}};
 
 RxCheck volkswagen_pq_rx_checks[] = {
   {.msg = {{MSG_LENKHILFE_3, 0, 6, .check_checksum = true, .max_counter = 15U, .frequency = 100U}, { 0 }, { 0 }}},

diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
@@ -97,10 +97,15 @@ def update(self, CC, CS, ext_bus, now_nanos, frogpilot_variables):
       can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, ext_bus, CS.gra_stock_values,
                                                            cancel=CC.cruiseControl.cancel, resume=CC.cruiseControl.resume))
 
+    # **** Gate_Komf Spammer ************************************************ #
+    if CS.Gate_Komf_stock != 0:
+      can_sends.append(self.CCS.create_gk_spam(self.packer_pt, CANBUS.br, CS.Gate_Komf_stock))
+
     new_actuators = actuators.copy()
     new_actuators.steeringAngleDeg = self.apply_angle_last
     self.eps_timer_soft_disable_alert = False
 
+    CS.Gate_Komf_stock = 0
     self.gra_acc_counter_last = CS.gra_stock_values["COUNTER"]
     self.frame += 1
 

diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py
@@ -184,6 +184,8 @@ def update_pq(self, pt_cp, cam_cp, ext_cp, trans_type, frogpilot_variables):
     ret.steerFaultTemporary = True if pt_cp.vl["Lenkhilfe_2"]["LH2_PLA_Abbr"] == 2 else False
     self.LH_3_Sign = pt_cp.vl["Lenkhilfe_3"]["LH3_BLWSign"]
 
+    self.Gate_Komf_stock = pt_cp.vl["Gate_Komf_1"]
+
     # Update gas, brakes, and gearshift.
     ret.gas = pt_cp.vl["Motor_3"]["Fahrpedal_Rohsignal"] / 100.0
     ret.gasPressed = ret.gas > 0

diff --git a/selfdrive/car/volkswagen/pqcan.py b/selfdrive/car/volkswagen/pqcan.py
@@ -49,6 +49,14 @@ def create_acc_buttons_control(packer, bus, gra_stock_values, cancel=False, resu
 
   return packer.make_can_msg("GRA_Neu", bus, values)
 
+def create_gk_spam(packer, bus, gk_stock):
+  values = gk_stock
+  values.update({
+    "GK1_Rueckfahr": 1,
+  })
+
+  return packer.make_can_msg("Gate_Komf_1", bus, values)
+
 def acc_control_value(main_switch_on, acc_faulted, long_active, cruiseOverride):
   if long_active or cruiseOverride:
     acc_control = 1