from opendbc.car.crc import CRC8H2F def create_steering_control(packer, bus, apply_torque, lkas_enabled, dp_vag_pq_steering_patch): values = { "HCA_01_Status_HCA": 5 if lkas_enabled else 3, "HCA_01_LM_Offset": abs(apply_torque), "HCA_01_LM_OffSign": 1 if apply_torque < 0 else 0, "HCA_01_Vib_Freq": 18, "HCA_01_Sendestatus": 1 if lkas_enabled else 0, "EA_ACC_Wunschgeschwindigkeit": 327.36, } return packer.make_can_msg("HCA_01", bus, values) def create_eps_update(packer, bus, eps_stock_values, ea_simulated_torque): values = {s: eps_stock_values[s] for s in [ "COUNTER", # Sync counter value to EPS output "EPS_Lenkungstyp", # EPS rack type "EPS_Berechneter_LW", # Absolute raw steering angle "EPS_VZ_BLW", # Raw steering angle sign "EPS_HCA_Status", # EPS HCA control status ]} values.update({ # Absolute driver torque input and sign, with EA inactivity mitigation "EPS_Lenkmoment": abs(ea_simulated_torque), "EPS_VZ_Lenkmoment": 1 if ea_simulated_torque < 0 else 0, }) return packer.make_can_msg("LH_EPS_03", bus, values) def create_lka_hud_control(packer, bus, ldw_stock_values, lat_active, steering_pressed, hud_alert, hud_control): values = {} if len(ldw_stock_values): values = {s: ldw_stock_values[s] for s in [ "LDW_SW_Warnung_links", # Blind spot in warning mode on left side due to lane departure "LDW_SW_Warnung_rechts", # Blind spot in warning mode on right side due to lane departure "LDW_Seite_DLCTLC", # Direction of most likely lane departure (left or right) "LDW_DLC", # Lane departure, distance to line crossing "LDW_TLC", # Lane departure, time to line crossing ]} values.update({ "LDW_Status_LED_gelb": 1 if lat_active and steering_pressed else 0, "LDW_Status_LED_gruen": 1 if lat_active and not steering_pressed else 0, "LDW_Lernmodus_links": 3 if hud_control.leftLaneDepart else 1 + hud_control.leftLaneVisible, "LDW_Lernmodus_rechts": 3 if hud_control.rightLaneDepart else 1 + hud_control.rightLaneVisible, "LDW_Texte": hud_alert, }) return packer.make_can_msg("LDW_02", bus, values) def create_acc_buttons_control(packer, bus, gra_stock_values, cancel=False, resume=False): values = {s: gra_stock_values[s] for s in [ "GRA_Hauptschalter", # ACC button, on/off "GRA_Typ_Hauptschalter", # ACC main button type "GRA_Codierung", # ACC button configuration/coding "GRA_Tip_Stufe_2", # unknown related to stalk type "GRA_ButtonTypeInfo", # unknown related to stalk type ]} values.update({ "COUNTER": (gra_stock_values["COUNTER"] + 1) % 16, "GRA_Abbrechen": cancel, "GRA_Tip_Wiederaufnahme": resume, }) return packer.make_can_msg("GRA_ACC_01", bus, values) def acc_control_value(main_switch_on, acc_faulted, long_active): if acc_faulted: acc_control = 6 elif long_active: acc_control = 3 elif main_switch_on: acc_control = 2 else: acc_control = 0 return acc_control def acc_hud_status_value(main_switch_on, acc_faulted, long_active): # TODO: happens to resemble the ACC control value for now, but extend this for init/gas override later return acc_control_value(main_switch_on, acc_faulted, long_active) def create_acc_accel_control(packer, bus, acc_type, acc_enabled, accel, acc_control, stopping, starting, esp_hold): commands = [] acc_06_values = { "ACC_Typ": acc_type, "ACC_Status_ACC": acc_control, "ACC_StartStopp_Info": acc_enabled, "ACC_Sollbeschleunigung_02": accel if acc_enabled else 3.01, "ACC_zul_Regelabw_unten": 0.2, # TODO: dynamic adjustment of comfort-band "ACC_zul_Regelabw_oben": 0.2, # TODO: dynamic adjustment of comfort-band "ACC_neg_Sollbeschl_Grad_02": 4.0 if acc_enabled else 0, # TODO: dynamic adjustment of jerk limits "ACC_pos_Sollbeschl_Grad_02": 4.0 if acc_enabled else 0, # TODO: dynamic adjustment of jerk limits "ACC_Anfahren": starting, "ACC_Anhalten": stopping, } commands.append(packer.make_can_msg("ACC_06", bus, acc_06_values)) if starting: acc_hold_type = 4 # hold release / startup elif esp_hold: acc_hold_type = 3 # hold standby elif stopping: acc_hold_type = 1 # hold request else: acc_hold_type = 0 acc_07_values = { "ACC_Anhalteweg": 0.3 if stopping else 20.46, # Distance to stop (stopping coordinator handles terminal roll-out) "ACC_Freilauf_Info": 2 if acc_enabled else 0, "ACC_Folgebeschl": 3.02, # Not using secondary controller accel unless and until we understand its impact "ACC_Sollbeschleunigung_02": accel if acc_enabled else 3.01, "ACC_Anforderung_HMS": acc_hold_type, "ACC_Anfahren": starting, "ACC_Anhalten": stopping, } commands.append(packer.make_can_msg("ACC_07", bus, acc_07_values)) return commands def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_distance, distance): values = { "ACC_Status_Anzeige": acc_hud_status, "ACC_Wunschgeschw_02": set_speed if set_speed < 250 else 327.36, "ACC_Gesetzte_Zeitluecke": distance + 2, "ACC_Display_Prio": 3, "ACC_Abstandsindex": lead_distance, } return packer.make_can_msg("ACC_02", bus, values) # AWV = Stopping Distance Reduction # Refer to Self Study Program 890253: Volkswagen Driver Assistance Systems, Design and Function def create_aeb_control(packer, fcw_active, aeb_active, accel): values = { "AWV_Vorstufe": 0, # Preliminary stage "AWV1_Anf_Prefill": 0, # Brake pre-fill request "AWV1_HBA_Param": 0, # Brake pre-fill level "AWV2_Freigabe": 0, # Stage 2 braking release "AWV2_Ruckprofil": 0, # Brake jerk level "AWV2_Priowarnung": 0, # Suppress lane departure warning in favor of FCW "ANB_Notfallblinken": 0, # Hazard flashers request "ANB_Teilbremsung_Freigabe": 0, # Target braking release "ANB_Zielbremsung_Freigabe": 0, # Partial braking release "ANB_Zielbrems_Teilbrems_Verz_Anf": 0.0, # Acceleration requirement for target/partial braking, m/s/s "AWV_Halten": 0, # Vehicle standstill request "PCF_Time_to_collision": 0xFF, # Pre Crash Front, populated only with a target, might be used on Audi only } return packer.make_can_msg("ACC_10", 0, values) def create_aeb_hud(packer, aeb_supported, fcw_active): values = { "AWV_Texte": 5 if aeb_supported else 7, # FCW/AEB system status, display text (from menu in VAL) "AWV_Status_Anzeige": 1 if aeb_supported else 2, # FCW/AEB system status, available or disabled } return packer.make_can_msg("ACC_15", 0, values) def volkswagen_mqb_meb_checksum(address: int, sig, d: bytearray) -> int: crc = 0xFF for i in range(1, len(d)): crc ^= d[i] crc = CRC8H2F[crc] counter = d[1] & 0x0F const = VOLKSWAGEN_MQB_MEB_CONSTANTS.get(address) if const: crc ^= const[counter] crc = CRC8H2F[crc] return crc ^ 0xFF def xor_checksum(address: int, sig, d: bytearray) -> int: checksum = 0 checksum_byte = sig.start_bit // 8 for i in range(len(d)): if i != checksum_byte: checksum ^= d[i] return checksum VOLKSWAGEN_MQB_MEB_CONSTANTS: dict[int, list[int]] = { 0x40: [0x40] * 16, # Airbag_01 0x86: [0x86] * 16, # LWI_01 0x9F: [0xF5] * 16, # LH_EPS_03 0xAD: [0x3F, 0x69, 0x39, 0xDC, 0x94, 0xF9, 0x14, 0x64, 0xD8, 0x6A, 0x34, 0xCE, 0xA2, 0x55, 0xB5, 0x2C], # Getriebe_11 0x0DB: [0x09, 0xFA, 0xCA, 0x8E, 0x62, 0xD5, 0xD1, 0xF0, 0x31, 0xA0, 0xAF, 0xDA, 0x4D, 0x1A, 0x0A, 0x97], # AWV_03 0xFC: [0x77, 0x5C, 0xA0, 0x89, 0x4B, 0x7C, 0xBB, 0xD6, 0x1F, 0x6C, 0x4F, 0xF6, 0x20, 0x2B, 0x43, 0xDD], # ESC_51 0xFD: [0xB4, 0xEF, 0xF8, 0x49, 0x1E, 0xE5, 0xC2, 0xC0, 0x97, 0x19, 0x3C, 0xC9, 0xF1, 0x98, 0xD6, 0x61], # ESP_21 0x101: [0xAA] * 16, # ESP_02 0x102: [0xD7, 0x12, 0x85, 0x7E, 0x0B, 0x34, 0xFA, 0x16, 0x7A, 0x25, 0x2D, 0x8F, 0x04, 0x8E, 0x5D, 0x35], # ESC_50 0x106: [0x07] * 16, # ESP_05 0x10B: [0x77, 0x5C, 0xA0, 0x89, 0x4B, 0x7C, 0xBB, 0xD6, 0x1F, 0x6C, 0x4F, 0xF6, 0x20, 0x2B, 0x43, 0xDD], # Motor_51 0x116: [0xAC] * 16, # ESP_10 0x117: [0x16] * 16, # ACC_10 0x120: [0xC4, 0xE2, 0x4F, 0xE4, 0xF8, 0x2F, 0x56, 0x81, 0x9F, 0xE5, 0x83, 0x44, 0x05, 0x3F, 0x97, 0xDF], # TSK_06 0x121: [0xE9, 0x65, 0xAE, 0x6B, 0x7B, 0x35, 0xE5, 0x5F, 0x4E, 0xC7, 0x86, 0xA2, 0xBB, 0xDD, 0xEB, 0xB4], # Motor_20 0x122: [0x37, 0x7D, 0xF3, 0xA9, 0x18, 0x46, 0x6D, 0x4D, 0x3D, 0x71, 0x92, 0x9C, 0xE5, 0x32, 0x10, 0xB9], # ACC_06 0x126: [0xDA] * 16, # HCA_01 0x12B: [0x6A, 0x38, 0xB4, 0x27, 0x22, 0xEF, 0xE1, 0xBB, 0xF8, 0x80, 0x84, 0x49, 0xC7, 0x9E, 0x1E, 0x2B], # GRA_ACC_01 0x12E: [0xF8, 0xE5, 0x97, 0xC9, 0xD6, 0x07, 0x47, 0x21, 0x66, 0xDD, 0xCF, 0x6F, 0xA1, 0x94, 0x74, 0x63], # ACC_07 0x139: [0xED, 0x03, 0x1C, 0x13, 0xC6, 0x23, 0x78, 0x7A, 0x8B, 0x40, 0x14, 0x51, 0xBF, 0x68, 0x32, 0xBA], # VMM_02 0x13D: [0x20, 0xCA, 0x68, 0xD5, 0x1B, 0x31, 0xE2, 0xDA, 0x08, 0x0A, 0xD4, 0xDE, 0x9C, 0xE4, 0x35, 0x5B], # QFK_01 0x14C: [0x16, 0x35, 0x59, 0x15, 0x9A, 0x2A, 0x97, 0xB8, 0x0E, 0x4E, 0x30, 0xCC, 0xB3, 0x07, 0x01, 0xAD], # Motor_54 0x14D: [0x1A, 0x65, 0x81, 0x96, 0xC0, 0xDF, 0x11, 0x92, 0xD3, 0x61, 0xC6, 0x95, 0x8C, 0x29, 0x21, 0xB5], # ACC_18 0x187: [0x7F, 0xED, 0x17, 0xC2, 0x7C, 0xEB, 0x44, 0x21, 0x01, 0xFA, 0xDB, 0x15, 0x4A, 0x6B, 0x23, 0x05], # Motor_EV_01 0x1A4: [0x69, 0xBB, 0x54, 0xE6, 0x4E, 0x46, 0x8D, 0x7B, 0xEA, 0x87, 0xE9, 0xB3, 0x63, 0xCE, 0xF8, 0xBF], # EA_01 0x1AB: [0x13, 0x21, 0x9B, 0x6A, 0x9A, 0x62, 0xD4, 0x65, 0x18, 0xF1, 0xAB, 0x16, 0x32, 0x89, 0xE7, 0x26], # ESP_33 0x1F0: [0x2F, 0x3C, 0x22, 0x60, 0x18, 0xEB, 0x63, 0x76, 0xC5, 0x91, 0x0F, 0x27, 0x34, 0x04, 0x7F, 0x02], # EA_02 0x20A: [0x9D, 0xE8, 0x36, 0xA1, 0xCA, 0x3B, 0x1D, 0x33, 0xE0, 0xD5, 0xBB, 0x5F, 0xAE, 0x3C, 0x31, 0x9F], # EML_06 0x26B: [0xCE, 0xCC, 0xBD, 0x69, 0xA1, 0x3C, 0x18, 0x76, 0x0F, 0x04, 0xF2, 0x3A, 0x93, 0x24, 0x19, 0x51], # TA_01 0x30C: [0x0F] * 16, # ACC_02 0x30F: [0x0C] * 16, # SWA_01 0x324: [0x27] * 16, # ACC_04 0x3BE: [0x1F, 0x28, 0xC6, 0x85, 0xE6, 0xF8, 0xB0, 0x19, 0x5B, 0x64, 0x35, 0x21, 0xE4, 0xF7, 0x9C, 0x24], # Motor_14 0x3C0: [0xC3] * 16, # Klemmen_Status_01 0x3D5: [0xC5, 0x39, 0xC7, 0xF9, 0x92, 0xD8, 0x24, 0xCE, 0xF1, 0xB5, 0x7A, 0xC4, 0xBC, 0x60, 0xE3, 0xD1], # Licht_Anf_01 0x65D: [0xAC, 0xB3, 0xAB, 0xEB, 0x7A, 0xE1, 0x3B, 0xF7, 0x73, 0xBA, 0x7C, 0x9E, 0x06, 0x5F, 0x02, 0xD9], # ESP_20 }