spacecruft
/
nopenpilot
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

steering rack firmware mod

master
Kozuch 2022-01-16 14:44:40 +01:00
parent ece2aa97f8
commit 832ba4d5eb
1 changed files with 3 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
Volkswagen-PQ.md

@ -16,7 +16,7 @@ There is work in progress on PQ35/PQ46 (November 2020). Currently these cars are
VW LKAS message (HCA) is used for steering currently, but HCA won't work down to 0 km/h. Gen 3 steering rack should work and SHOULD be possible being retrofitted to older vehicles (replacing generation 1 and 2 racks).
When steering via HCA then after 6 minutes (300 sec) the steering will fail for 3 seconds and then HCA can be resumed again. This timeout can be prevented - after 5.5 minutes terminate HCA message for 1.05 seconds and the 300 sec timeout will reset (counting new 300 period).
When steering via HCA then after 6 minutes (300 sec) the steering will fail for 3 seconds (we call this a "timebomb") and then HCA can be resumed again. This timeout can be prevented - after 5.5 minutes terminate HCA message for 1.05 seconds and the 300 sec timeout will reset (counting new 300 period).
There is another steering CAN message being worked on - DSR (Driver Steering Recommendation). This message could help circumvent the timeout of HCA message (using it intentionally for a while to reset the HCA timeout). DSR should allow for more torque than HCA and possibly replace HCA completely, but that is yet to be explored.
@ -34,6 +34,8 @@ Some of the racks dont support coding (e.g. 1K0909144M). In this case you need t
EEPROM of the racks can be accessed over OBD. Rack can be flashed to different ROM (partial FW updates only though). Any SW2XXX can be flashed to R SW3501. Contact Edgy#0385 on discord for flash files.
**Edit January 2022**: There is a new [steering rack firmware mod](https://blog.willemmelching.nl/carhacking/2022/01/02/vw-part1/) by Willem Melching (at the time Comma employee) which removes both the timebomb and minimal steering speed issues. The delay with no steering after timebomb was shortened from 1 s to 0.01 s (effectively no delay) and the minimum steering speed set to 0 kmh. The blog demonstrated the mod for rack 1K0909144E with firmware 2501 but firmware 3501 was reported to work too. Willem wrote a [VW PQ35 EPS (firmware) flasher](https://github.com/pd0wm/pq-flasher).
## Longitudinal Control (gas+brakes)
### Gas