golf 6 kombi haxs (ACC equipped) (#53)

* golf varient haxs (ACC equipped) (#50) * golf varient haxs (ACC equipped) (#49) * golf varient haxs (ACC equipped) * re-enable UDS FW query on ign * remove min steer speed, oops * omit accFault check until radar is fixed * omit ret.minEnableSpeed for PASSAT_NMS
dkiiv · Apr 11, 2024 · a02b022 · a02b022
1 parent 1fa291d
commit a02b022
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Showing 6 changed files with 8 additions and 15 deletions.
diff --git a/launch_env.sh b/launch_env.sh
@@ -5,6 +5,7 @@ export MKL_NUM_THREADS=1
 export NUMEXPR_NUM_THREADS=1
 export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
+export FINGERPRINT="VOLKSWAGEN PASSAT NMS"
 
 if [ -z "$AGNOS_VERSION" ]; then
   export AGNOS_VERSION="9.7"

diff --git a/opendbc/vw_golf_mk4.dbc b/opendbc/vw_golf_mk4.dbc
@@ -1627,7 +1627,7 @@ VAL_ 872 ACS_Fehler 1 "Fehlerspeichereintrag" 0 "kein_Fehlerspeichereintrag" ;
 VAL_ 872 ACS_zul_Regelabw 254 "ADR_nicht_aktiv" 255 "Fehler" ;
 VAL_ 872 ACS_max_AendGrad 254 "Neutralwert" 0 "Neutralwert" 255 "Fehler" ;
 
-VAL_ 978 LH2_Sta_HCA 0 "disabled" 1 "initializing" 2 "fault" 3 "ready" 4 "rejected" 5 "active";
+VAL_ 978 LH2_Sta_HCA 0 "disabled" 1 "initializing" 2 "fault" 3 "ready" 4 "rejected" 5 "active" 7 "active";
 VAL_ 1088 Waehlhebelposition__Getriebe_1_ 8 "P" 7 "R" 6 "N" 5 "D" 9 "U" 12 "S" 14 "T" 10 "T" 11 "T";
 
 VAL_ 1386 ACA_StaACC 6 "ACC_rev_aus" 0 "Hauptschalter_aus" 4 "ACC_im_Hintergrund" 3 "ACC_aktiv" 1 "Reserve" 2 "ACC_passiv" 7 "ACC_irrev_aus" 5 "frei" ;

diff --git a/panda/board/safety/safety_volkswagen_pq.h b/panda/board/safety/safety_volkswagen_pq.h
@@ -193,7 +193,7 @@ static bool volkswagen_pq_tx_hook(const CANPacket_t *to_send) {
     }
 
     uint32_t hca_status = ((GET_BYTE(to_send, 1) >> 4) & 0xFU);
-    bool steer_req = (hca_status == 5U);
+    bool steer_req = ((hca_status == 5U) || (hca_status == 7U));
 
     if (steer_torque_cmd_checks(desired_torque, steer_req, VOLKSWAGEN_PQ_STEERING_LIMITS)) {
       tx = false;

diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py
@@ -252,10 +252,6 @@ def update_pq(self, pt_cp, cam_cp, ext_cp, trans_type, frogpilot_variables):
     self.acc_type = ext_cp.vl["ACC_System"]["ACS_Typ_ACC"]
     ret.cruiseState.available = bool(pt_cp.vl["Motor_5"]["GRA_Hauptschalter"])
     ret.cruiseState.enabled = pt_cp.vl["Motor_2"]["GRA_Status"] in (1, 2)
-    if self.CP.pcmCruise:
-      ret.accFaulted = ext_cp.vl["ACC_GRA_Anzeige"]["ACA_StaACC"] in (6, 7)
-    else:
-      ret.accFaulted = pt_cp.vl["Motor_2"]["GRA_Status"] == 3
 
     # Update ACC setpoint. When the setpoint reads as 255, the driver has not
     # yet established an ACC setpoint, so treat it as zero.

diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py
@@ -37,18 +37,15 @@ def _get_params(ret, params, candidate, fingerprint, car_fw, experimental_long,
       else:
         ret.transmissionType = TransmissionType.manual
 
-      if any(msg in fingerprint[1] for msg in (0x1A0, 0xC2)):  # Bremse_1, Lenkwinkel_1
-        ret.networkLocation = NetworkLocation.gateway
-      else:
-        ret.networkLocation = NetworkLocation.fwdCamera
+      ret.networkLocation = NetworkLocation.gateway
 
       # The PQ port is in dashcam-only mode due to a fixed six-minute maximum timer on HCA steering. An unsupported
       # EPS flash update to work around this timer, and enable steering down to zero, is available from:
       #   https://github.com/pd0wm/pq-flasher
       # 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 = False
 
     else:
       # Set global MQB parameters
@@ -128,9 +125,8 @@ def _get_params(ret, params, candidate, fingerprint, car_fw, experimental_long,
 
     elif candidate == CAR.PASSAT_NMS:
       ret.mass = 1503
-      ret.wheelbase = 2.80
-      ret.minEnableSpeed = 20 * CV.KPH_TO_MS  # ACC "basic", no FtS
-      ret.minSteerSpeed = 50 * CV.KPH_TO_MS
+      ret.wheelbase = 2.62
+      #ret.minEnableSpeed = 20 * CV.KPH_TO_MS  # ACC "basic", no FtS
       ret.steerActuatorDelay = 0.2
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 

diff --git a/selfdrive/car/volkswagen/pqcan.py b/selfdrive/car/volkswagen/pqcan.py
@@ -2,7 +2,7 @@ def create_steering_control(packer, bus, apply_steer, lkas_enabled):
   values = {
     "LM_Offset": abs(apply_steer),
     "LM_OffSign": 1 if apply_steer < 0 else 0,
-    "HCA_Status": 5 if (lkas_enabled and apply_steer != 0) else 3,
+    "HCA_Status": 7 if (lkas_enabled and apply_steer != 0) else 3,
     "Vib_Freq": 16,
   }