VW MQB: Support for other transmission types (#20253)
* Support pieces for e-Golf and manual trans * Support pieces for e-Golf and manual trans * Support pieces for e-Golf and manual trans * Support pieces for e-Golf and manual trans * Support pieces for e-Golf and manual trans * Support pieces for e-Golf and manual trans * Support pieces for e-Golf and manual trans * Fix comment typo * TRANS->TransmissionType, GEAR->GearShifter * TRANS->TransmissionType, GEAR->GearShifteralbatross
Jason Young
GitHub
parent
958e7b0071
commit
bee0cc6dac
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@ -4,16 +4,19 @@ from selfdrive.config import Conversions as CV
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from selfdrive.car.interfaces import CarStateBase
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from opendbc.can.parser import CANParser
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from opendbc.can.can_define import CANDefine
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from selfdrive.car.volkswagen.values import DBC, CANBUS, BUTTON_STATES, CarControllerParams
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from selfdrive.car.volkswagen.values import DBC, CANBUS, TransmissionType, GearShifter, BUTTON_STATES, CarControllerParams
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class CarState(CarStateBase):
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def __init__(self, CP):
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super().__init__(CP)
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can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
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self.shifter_values = can_define.dv["Getriebe_11"]['GE_Fahrstufe']
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if CP.transmissionType == TransmissionType.automatic:
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self.shifter_values = can_define.dv["Getriebe_11"]['GE_Fahrstufe']
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elif CP.transmissionType == TransmissionType.direct:
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self.shifter_values = can_define.dv["EV_Gearshift"]['GearPosition']
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self.buttonStates = BUTTON_STATES.copy()
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def update(self, pt_cp):
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def update(self, pt_cp, trans_type):
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ret = car.CarState.new_message()
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# Update vehicle speed and acceleration from ABS wheel speeds.
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ret.wheelSpeeds.fl = pt_cp.vl["ESP_19"]['ESP_VL_Radgeschw_02'] * CV.KPH_TO_MS
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@ -42,8 +45,16 @@ class CarState(CarStateBase):
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ret.brakeLights = bool(pt_cp.vl["ESP_05"]['ESP_Status_Bremsdruck'])
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# Update gear and/or clutch position data.
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can_gear_shifter = int(pt_cp.vl["Getriebe_11"]['GE_Fahrstufe'])
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ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear_shifter, None))
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if trans_type == TransmissionType.automatic:
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ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["Getriebe_11"]['GE_Fahrstufe'], None))
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elif trans_type == TransmissionType.direct:
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ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["EV_Gearshift"]['GearPosition'], None))
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elif trans_type == TransmissionType.manual:
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ret.clutchPressed = not pt_cp.vl["Motor_14"]['MO_Kuppl_schalter']
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if bool(pt_cp.vl["Gateway_72"]['BCM1_Rueckfahrlicht_Schalter']):
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ret.gearShifter = GearShifter.reverse
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else:
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ret.gearShifter = GearShifter.drive
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# Update door and trunk/hatch lid open status.
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ret.doorOpen = any([pt_cp.vl["Gateway_72"]['ZV_FT_offen'],
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@ -154,7 +165,6 @@ class CarState(CarStateBase):
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("ZV_HD_offen", "Gateway_72", 0), # Trunk or hatch open
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("BH_Blinker_li", "Gateway_72", 0), # Left turn signal on
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("BH_Blinker_re", "Gateway_72", 0), # Right turn signal on
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("GE_Fahrstufe", "Getriebe_11", 0), # Auto trans gear selector position
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("AB_Gurtschloss_FA", "Airbag_02", 0), # Seatbelt status, driver
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("AB_Gurtschloss_BF", "Airbag_02", 0), # Seatbelt status, passenger
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("ESP_Fahrer_bremst", "ESP_05", 0), # Brake pedal pressed
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@ -206,7 +216,6 @@ class CarState(CarStateBase):
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("TSK_06", 50), # From J623 Engine control module
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("GRA_ACC_01", 33), # From J??? steering wheel control buttons
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("ACC_02", 17), # From J428 ACC radar control module
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("Getriebe_11", 20), # From J743 Auto transmission control module
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("Gateway_72", 10), # From J533 CAN gateway (aggregated data)
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("Motor_14", 10), # From J623 Engine control module
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("Airbag_02", 5), # From J234 Airbag control module
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@ -215,6 +224,17 @@ class CarState(CarStateBase):
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("Einheiten_01", 1), # From J??? not known if gateway, cluster, or BCM
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]
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if CP.transmissionType == TransmissionType.automatic:
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signals += [("GE_Fahrstufe", "Getriebe_11", 0)] # Auto trans gear selector position
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checks += [("Getriebe_11", 20)] # From J743 Auto transmission control module
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elif CP.transmissionType == TransmissionType.direct:
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signals += [("GearPosition", "EV_Gearshift", 0)] # EV gear selector position
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checks += [("EV_Gearshift", 10)] # From J??? unknown EV control module
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elif CP.transmissionType == TransmissionType.manual:
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signals += [("MO_Kuppl_schalter", "Motor_14", 0), # Clutch switch
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("BCM1_Rueckfahrlicht_Schalter", "Gateway_72", 0)] # Reverse light from BCM
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checks += [("Motor_14", 10)] # From J623 Engine control module
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return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, CANBUS.pt)
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# A single signal is monitored from the camera CAN bus, and then ignored,
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@ -1,9 +1,9 @@
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from cereal import car
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from selfdrive.car.volkswagen.values import CAR, BUTTON_STATES
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from selfdrive.swaglog import cloudlog
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from selfdrive.car.volkswagen.values import CAR, BUTTON_STATES, TransmissionType, GearShifter
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from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
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from selfdrive.car.interfaces import CarInterfaceBase
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GEAR = car.CarState.GearShifter
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EventName = car.CarEvent.EventName
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@ -49,7 +49,17 @@ class CarInterface(CarInterfaceBase):
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tire_stiffness_factor = 1.0
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ret.enableCamera = True # Stock camera detection doesn't apply to VW
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ret.transmissionType = car.CarParams.TransmissionType.automatic
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if 0xAD in fingerprint[0]:
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# Getriebe_11 detected: traditional automatic or DSG gearbox
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ret.transmissionType = TransmissionType.automatic
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elif 0x187 in fingerprint[0]:
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# EV_Gearshift detected: e-Golf or similar direct-drive electric
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ret.transmissionType = TransmissionType.direct
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else:
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# No trans message at all, must be a true stick-shift manual
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ret.transmissionType = TransmissionType.manual
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cloudlog.info("Detected transmission type: %s", ret.transmissionType)
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# TODO: get actual value, for now starting with reasonable value for
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# civic and scaling by mass and wheelbase
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@ -72,7 +82,7 @@ class CarInterface(CarInterfaceBase):
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self.cp.update_strings(can_strings)
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self.cp_cam.update_strings(can_strings)
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ret = self.CS.update(self.cp)
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ret = self.CS.update(self.cp, self.CP.transmissionType)
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ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
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ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
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@ -91,7 +101,7 @@ class CarInterface(CarInterfaceBase):
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be.pressed = self.CS.buttonStates[button]
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buttonEvents.append(be)
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events = self.create_common_events(ret, extra_gears=[GEAR.eco, GEAR.sport])
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events = self.create_common_events(ret, extra_gears=[GearShifter.eco, GearShifter.sport])
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# Vehicle health and operation safety checks
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if self.CS.parkingBrakeSet:
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@ -1,5 +1,6 @@
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# flake8: noqa
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from cereal import car
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from selfdrive.car import dbc_dict
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class CarControllerParams:
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@ -24,6 +25,9 @@ class CANBUS:
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pt = 0
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cam = 2
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TransmissionType = car.CarParams.TransmissionType
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GearShifter = car.CarState.GearShifter
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BUTTON_STATES = {
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"accelCruise": False,
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"decelCruise": False,
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