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Updates for Volkswagen support #191

Merged
merged 15 commits into from
Oct 10, 2019
Merged

Updates for Volkswagen support #191

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d066bdd
Update ACC_02.SetSpeed to use a more accurate m/s formula instead of kmh
jyoung8607 Aug 1, 2019
54f09f0
Fixes to LWI vs EPS calculations for steering angles, clarify descrip…
jyoung8607 Aug 1, 2019
67fba05
Endianness fixes
jyoung8607 Aug 12, 2019
25f4954
Add ESP_15 and PSD_04/05/06
jyoung8607 Sep 5, 2019
2ee4902
Testing PSD interpretation
jyoung8607 Sep 5, 2019
c912559
Correct message info for ESP_08
jyoung8607 Sep 14, 2019
d7904a7
Additional authoritative message names and IDs
jyoung8607 Sep 14, 2019
ee4a113
OpenDBC updates
jyoung8607 Sep 26, 2019
2da9f80
OpenDBC updates
jyoung8607 Sep 28, 2019
90287b6
Merge remote-tracking branch 'CommaAI/master'
jyoung8607 Oct 3, 2019
99f1abb
DBC cleanup, CRC support, restore VIN_01 mux lost during Cabana editing.
jyoung8607 Oct 3, 2019
9fc9a6f
Add the PQ heading control assist message.
jyoung8607 Oct 3, 2019
49c029e
Add a pointer to the VIN_1 mux.
jyoung8607 Oct 3, 2019
f1be7d1
Add comment about rate-limiting on Getriebe_11 counter signal.
jyoung8607 Oct 9, 2019
1d85513
Rename CRC->CHECKSUM for upstream of a minimum viable VW port.
jyoung8607 Oct 10, 2019
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9 changes: 9 additions & 0 deletions vw_golf_mk4.dbc
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Original file line number Diff line number Diff line change
Expand Up @@ -1039,3 +1039,12 @@ BO_ 1324 ADR_1: 8 XXX
SG_ Fehler_ADR_1 : 12|1@1+ (1,0) [0|0] "" XXX
SG_ Zaehler_ADR_1 : 8|4@1+ (1,0) [0|15] "" XXX
SG_ Momentenanforderung_ADR : 0|8@1+ (0.39,0) [0|99] "MDI" XXX

BO_ 210 PQ_HCA: 8 XXX
SG_ HCA_Torque : 16|15@1+ (1,0) [0|32767] "" XXX
SG_ UNK_Bit : 34|1@0+ (1,0) [0|1] "" XXX
SG_ HCA_Torque_VZ : 31|1@0+ (1,0) [0|1] "" XXX
SG_ PQ_HCA_BZ : 8|4@1+ (1,0) [0|15] "" XXX
SG_ PQ_HCA_Checksum : 0|4@1+ (1,0) [0|15] "" XXX

BO_ 1490 VIN_1: 8 XXX
134 changes: 96 additions & 38 deletions vw_mqb_2010.dbc
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Original file line number Diff line number Diff line change
Expand Up @@ -37,8 +37,8 @@ BU_: Airbag_MQB BAP_Tester_MQB BMS_MQB Datenlogger_MQB Gateway_MQB Getriebe_DQ_H


BO_ 290 ACC_06: 8 Gateway_MQB
SG_ ACC_06_CRC : 0|8@1+ (1,0) [0|255] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
SG_ ACC_06_BZ : 8|4@1+ (1,0) [0|15] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
SG_ CRC : 0|8@1+ (1,0) [0|255] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
SG_ ACC_limitierte_Anfahrdyn : 12|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
SG_ ACC_zul_Regelabw_unten : 16|6@1+ (0.024,0) [0|1.512] "Unit_MeterPerSeconSquar" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
SG_ ACC_StartStopp_Info : 22|2@1+ (1,0) [0|3] "" Motor_Diesel_MQB,Motor_Otto_MQB
Expand All @@ -53,8 +53,8 @@ BO_ 290 ACC_06: 8 Gateway_MQB
SG_ ACC_Minimale_Bremsung : 63|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB

BO_ 279 ACC_10: 8 Gateway_MQB
SG_ ACC_10_CRC : 0|8@1+ (1,0) [0|255] "" Airbag_MQB
SG_ ACC_10_BZ : 8|4@1+ (1,0) [0|15] "" Airbag_MQB
SG_ CRC : 0|8@1+ (1,0) [0|255] "" Airbag_MQB
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" Airbag_MQB
SG_ AWV1_Anf_Prefill : 16|1@1+ (1,0) [0|1] "" Airbag_MQB
SG_ ANB_CM_Info : 17|1@1+ (1,0) [0|1] "" Vector__XXX
SG_ AWV2_Freigabe : 18|1@1+ (1,0) [0|1] "" Airbag_MQB
Expand Down Expand Up @@ -281,8 +281,8 @@ BO_ 257 ESP_02: 8 Gateway_MQB
SG_ ESP_Status_ESP_PLA : 60|4@1+ (1,0) [0|15] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB

BO_ 262 ESP_05: 8 Gateway_MQB
SG_ ESP_05_CRC : 0|8@1+ (1,0) [0|255] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
SG_ ESP_05_BZ : 8|4@1+ (1,0) [0|15] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
SG_ CRC : 0|8@1+ (1,0) [0|255] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
SG_ ESP_QBit_Bremsdruck : 12|1@1+ (1,0) [0|1] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
SG_ ESP_QBit_Fahrer_bremst : 13|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
SG_ ESP_Schwelle_Unterdruck : 14|2@1+ (1,0) [0|3] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
Expand Down Expand Up @@ -360,8 +360,8 @@ BO_ 178 ESP_19: 8 Gateway_MQB
SG_ ESP_VR_Radgeschw_02 : 48|16@1+ (0.0075,0) [0|491.49] "Unit_KiloMeterPerHour" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB

BO_ 1629 ESP_20: 8 Gateway_MQB
SG_ ESP_20_CRC : 0|8@1+ (1,0) [0|255] "" Vector__XXX
SG_ ESP_20_BZ : 8|4@1+ (1,0) [0|15] "" Vector__XXX
SG_ CRC : 0|8@1+ (1,0) [0|255] "" Vector__XXX
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" Vector__XXX
SG_ BR_Systemart : 12|2@1+ (1,0) [0|3] "" Vector__XXX
SG_ ESP_Zaehnezahl : 16|8@1+ (1,0) [0|255] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB
SG_ ESP_Charisma_FahrPr : 24|4@1+ (1,0) [0|15] "" Vector__XXX
Expand All @@ -370,8 +370,8 @@ BO_ 1629 ESP_20: 8 Gateway_MQB
SG_ BR_Reifenumfang : 52|12@1+ (1,0) [0|4095] "Unit_MilliMeter" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB

BO_ 253 ESP_21: 8 Gateway_MQB
SG_ ESP_21_CRC : 0|8@1+ (1,0) [0|255] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
SG_ ESP_21_BZ : 8|4@1+ (1,0) [0|15] "" Airbag_MQB,BMS_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
SG_ CRC : 0|8@1+ (1,0) [0|255] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" Airbag_MQB,BMS_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
SG_ BR_Eingriffsmoment : 12|10@1+ (1,-509) [-509|509] "Unit_NewtoMeter" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
SG_ ESP_v_Signal : 32|16@1+ (0.01,0) [0|655.32] "Unit_KiloMeterPerHour" Airbag_MQB,BMS_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB,SAK_MQB
SG_ ASR_Tastung_passiv : 48|1@1+ (1,0) [0|1] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
Expand Down Expand Up @@ -451,8 +451,8 @@ BO_ 296 Getriebe_06: 3 Getriebe_DQ_Hybrid_MQB
SG_ GE_Testparameter_2 : 16|8@1+ (1,0) [0|255] "" Waehlhebel_MQB

BO_ 173 Getriebe_11: 8 Getriebe_DQ_Hybrid_MQB
SG_ Getriebe_11_CRC : 0|8@1+ (1,0) [0|255] "" Gateway_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
SG_ Getriebe_11_BZ : 8|4@1+ (1,0) [0|15] "" Gateway_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
SG_ CRC : 0|8@1+ (1,0) [0|255] "" Gateway_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
SG_ COUNTERXX : 8|4@1+ (1,0) [0|15] "" Gateway_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
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Typo? Also, why can't we keep the CRC/Counter signal names as they are? The suffix _CRC and _BZ seems ok. Generally, I would like to keep opendbc as close as possible to the stock dbc file.

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@jyoung8607 jyoung8607 Oct 9, 2019 •
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Typo?

More of an ugly hack. I thought I had put a comment on that signal, but it appears to have been lost at some point. I'll add it back.

The Getriebe_11 message shows up on Extended CAN at 20Hz with the counter incrementing by five instead of one. I'm pretty sure what's happening is Getriebe_11 is sent on powertrain CAN at 100Hz and the J533 gateway is rate-limiting this message to conserve bandwidth. OP complains loudly about all the missing messages; that's the only reason I know this is happening! Renaming it prevents OP from doing COUNTER management on this particular message.

Also, why can't we keep the CRC/Counter signal names as they are? The suffix _CRC and _BZ seems ok. Generally, I would like to keep opendbc as close as possible to the stock dbc file.

I'm in total agreement with you; I didn't want to change the names. Unfortunately OP as it stands today doesn't really lend itself to the checksum/CRC and counter signals having dynamic names. It's been a couple months since I've had my head in that code so I can't call out specifics ATM.

Later today I'm going to file a PR that covers just the OP Volkswagen CRC support, because I think you'll want to look at it separately from the vehicle port. Perhaps we should hold this PR in suspense until then? I'd actually be very happy if we can arrive at a solution that keeps the DBC aligned with canonical message and signal names.

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@rbiasini rbiasini Oct 9, 2019 •
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COUNTERXX: yeah, reasonable hack. With the comment added is good.

_CRC: can't you just change https://github.com/commaai/openpilot/pull/836/files#diff-56069f2917a3366b3df2428fd6ac3202R34 so that it checks if _CRC is in the signal name?

I'm happy to merge this PR right away, particularly if you are ok reverting the checksum/counter name changes (except for the one message at 5hz with skips).

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_CRC: can't you just change https://github.com/commaai/openpilot/pull/836/files#diff-56069f2917a3366b3df2428fd6ac3202R34 so that it checks if _CRC is in the signal name?

It might be possible in the higher level Python code, but I'm screwed once I get down to the CANPacker code where I can't regexp search on key-value pair maps:

https://github.com/commaai/openpilot/blob/799302b842198b2cccb83c601bbe79ad1eaa5e32/selfdrive/can/packer.cc#L80

https://github.com/commaai/openpilot/blob/799302b842198b2cccb83c601bbe79ad1eaa5e32/selfdrive/can/packer.cc#L109

If I knew the message name, I could concatenate that and "_CRC" or "_BZ", but I only have the address and not the name at that point, and it's not clear to me if I can look it up. That's about the point where my eyes started bleeding and I gave up. Hints welcome.

SG_ GE_MMom_Soll_02 : 12|10@1+ (1,-509) [-509|509] "Unit_NewtoMeter" Gateway_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
SG_ GE_MMom_Vorhalt_02 : 22|10@1+ (1,-509) [-509|509] "Unit_NewtoMeter" Gateway_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
SG_ GE_Uefkt : 32|10@1+ (0.1,0) [0|102.2] "" Gateway_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
Expand Down Expand Up @@ -520,8 +520,8 @@ BO_ 158 Getriebe_Hybrid_01: 8 Getriebe_DQ_Hybrid_MQB
SG_ GE_HYB_VM_Startkontr : 63|1@1+ (1,0) [0|1] "" Motor_Hybrid_MQB

BO_ 299 GRA_ACC_01: 8 Gateway_MQB
SG_ GRA_ACC_01_CRC : 0|8@1+ (1,0) [0|255] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
SG_ GRA_ACC_01_BZ : 8|4@1+ (1,0) [0|15] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
SG_ CRC : 0|8@1+ (1,0) [0|255] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
SG_ GRA_Hauptschalter : 12|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
SG_ GRA_Abbrechen : 13|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
SG_ GRA_Typ_Hauptschalter : 14|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
Expand All @@ -535,10 +535,11 @@ BO_ 299 GRA_ACC_01: 8 Gateway_MQB
SG_ GRA_Fehler : 24|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
SG_ GRA_Typ468 : 25|2@1+ (1,0) [0|3] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
SG_ GRA_Tip_Stufe_2 : 27|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
SG_ GRA_ButtonTypeInfo : 28|2@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB

BO_ 960 Klemmen_Status_01: 4 Gateway_MQB
SG_ Klemmen_Status_01_CRC : 0|8@1+ (1,0) [0|255] "" Airbag_MQB,BMS_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
SG_ Klemmen_Status_01_BZ : 8|4@1+ (1,0) [0|15] "" Airbag_MQB,BMS_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
SG_ CRC : 0|8@1+ (1,0) [0|255] "" Airbag_MQB,BMS_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" Airbag_MQB,BMS_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
SG_ ZAS_Kl_S : 16|1@1+ (1,0) [0|1] "" Vector__XXX
SG_ ZAS_Kl_15 : 17|1@1+ (1,0) [0|1] "" Airbag_MQB,BMS_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
SG_ ZAS_Kl_X : 18|1@1+ (1,0) [0|1] "" Vector__XXX
Expand Down Expand Up @@ -683,16 +684,16 @@ BO_ 982 Licht_hinten_01: 8 Gateway_MQB
SG_ LH_Bremsl_re_ges_def : 55|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB

BO_ 134 LWI_01: 8 Gateway_MQB
SG_ LWI_01_CRC : 0|8@1+ (1,0) [0|255] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
SG_ LWI_01_BZ : 8|4@1+ (1,0) [0|15] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
SG_ CRC : 0|8@1+ (1,0) [0|255] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
SG_ LWI_Sensorstatus : 12|1@1+ (1,0) [0|1] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
SG_ LWI_QBit_Sub_Daten : 13|1@1+ (1,0) [0|1] "" Vector__XXX
SG_ LWI_QBit_Lenkradwinkel : 15|1@1+ (1,0) [0|1] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
SG_ LWI_Lenkradwinkel : 16|13@1+ (0.1,0) [0|800] "Unit_DegreOfArc" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
SG_ LWI_VZ_Lenkradwinkel : 29|1@1+ (1,0) [0|1] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
SG_ LWI_VZ_Lenkradw_Geschw : 30|1@1+ (1,0) [0|1] "" Vector__XXX
SG_ LWI_Lenkradw_Geschw : 31|9@1+ (5,0) [0|2500] "Unit_DegreOfArcPerSecon" Vector__XXX
SG_ LWI_Sub_Daten : 40|16@1+ (1,0) [0|65535] "" Vector__XXX
SG_ LWI_Lenkradwinkel : 16|13@1+ (0.1,0) [0|800] "Unit_DegreOfArc" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
SG_ LWI_QBit_Lenkradwinkel : 15|1@1+ (1,0) [0|1] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
SG_ LWI_VZ_Lenkradwinkel : 29|1@1+ (1,0) [0|1] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB

BO_ 263 Motor_04: 8 Motor_Diesel_MQB
SG_ MO_Istgang : 8|4@1+ (1,0) [0|15] "" Gateway_MQB
Expand Down Expand Up @@ -1126,6 +1127,28 @@ BO_ 798 TSK_07: 8 Motor_Diesel_MQB
SG_ TSK_Status_Anzeige : 61|3@1+ (1,0) [0|7] "" Gateway_MQB

BO_ 1716 VIN_01: 8 Gateway_MQB
SG_ VIN_01_MUX M : 0|2@1+ (1,0) [0|3] "" Airbag_MQB
SG_ KS_Geheimnis_1 m0 : 8|8@1+ (1,0) [0|255] "" Vector__XXX
SG_ VIN_4 m1 : 8|8@1+ (1,0) [0|255] "" Airbag_MQB
SG_ VIN_11 m2 : 8|8@1+ (1,0) [0|255] "" Airbag_MQB
SG_ KS_Geheimnis_2 m0 : 16|8@1+ (1,0) [0|255] "" Vector__XXX
SG_ VIN_5 m1 : 16|8@1+ (1,0) [0|255] "" Airbag_MQB
SG_ VIN_12 m2 : 16|8@1+ (1,0) [0|255] "" Airbag_MQB
SG_ KS_Geheimnis_3 m0 : 24|8@1+ (1,0) [0|255] "" Vector__XXX
SG_ VIN_6 m1 : 24|8@1+ (1,0) [0|255] "" Airbag_MQB
SG_ VIN_13 m2 : 24|8@1+ (1,0) [0|255] "" Airbag_MQB
SG_ KS_Geheimnis_4 m0 : 32|8@1+ (1,0) [0|255] "" Vector__XXX
SG_ VIN_7 m1 : 32|8@1+ (1,0) [0|255] "" Airbag_MQB
SG_ VIN_14 m2 : 32|8@1+ (1,0) [0|255] "" Airbag_MQB
SG_ VIN_1 m0 : 40|8@1+ (1,0) [0|255] "" Airbag_MQB
SG_ VIN_8 m1 : 40|8@1+ (1,0) [0|255] "" Airbag_MQB
SG_ VIN_15 m2 : 40|8@1+ (1,0) [0|255] "" Airbag_MQB
SG_ VIN_2 m0 : 48|8@1+ (1,0) [0|255] "" Airbag_MQB
SG_ VIN_9 m1 : 48|8@1+ (1,0) [0|255] "" Airbag_MQB
SG_ VIN_16 m2 : 48|8@1+ (1,0) [0|255] "" Airbag_MQB
SG_ VIN_3 m0 : 56|8@1+ (1,0) [0|255] "" Airbag_MQB
SG_ VIN_10 m1 : 56|8@1+ (1,0) [0|255] "" Airbag_MQB
SG_ VIN_17 m2 : 56|8@1+ (1,0) [0|255] "" Airbag_MQB

BO_ 175 Waehlhebel_03: 4 Waehlhebel_MQB
SG_ WH_Status_Sperre : 0|3@1+ (1,0) [0|7] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB
Expand Down Expand Up @@ -1157,22 +1180,22 @@ BO_ 1602 WIV_01: 8 Motor_Diesel_MQB
SG_ WIV_W_max : 56|7@1+ (1000,0) [0|127000] "Unit_KiloMeter" Gateway_MQB

BO_ 294 HCA_01: 8 XXX
SG_ 3 : 15|4@0+ (1,0) [0|15] "" XXX
SG_ 7 : 55|8@0+ (1,0) [0|255] "" XXX
SG_ 254 : 47|8@0+ (1,0) [0|255] "" XXX
SG_ HCA_01_CRC : 7|8@0+ (1,0) [0|255] "" XXX
SG_ HCA_01_BZ : 11|4@0+ (1,0) [0|255] "" XXX
SG_ Assist_Requested : 30|1@0+ (1,0) [0|1] "" XXX
SG_ CRC : 0|8@1+ (1,0) [0|255] "" XXX
SG_ COUNTER : 8|4@1+ (1,0) [0|255] "" XXX
SG_ SET_ME_0X3 : 12|4@1+ (1,0) [0|15] "" XXX
SG_ Assist_Torque : 16|14@1+ (1,0) [0|300] "Nm" XXX
SG_ Assist_VZ : 31|1@0+ (1,0) [0|1] "" XXX
SG_ Assist_Requested : 30|1@1+ (1,0) [0|1] "" XXX
SG_ Assist_VZ : 31|1@1+ (1,0) [0|1] "" XXX
SG_ HCA_Available : 32|1@1+ (1,0) [0|1] "" XXX
SG_ HCA_Standby : 33|1@0+ (1,0) [0|1] "" XXX
SG_ HCA_Active : 34|1@0+ (1,0) [0|1] "" XXX
SG_ HCA_Standby : 33|1@1+ (1,0) [0|1] "" XXX
SG_ HCA_Active : 34|1@1+ (1,0) [0|1] "" XXX
SG_ SET_ME_0XFE : 40|8@1+ (1,0) [0|255] "" XXX
SG_ SET_ME_0X07 : 48|8@1+ (1,0) [0|255] "" XXX

BO_ 159 EPS_01: 8 XXX
SG_ EPS_01_CRC : 0|8@1+ (1,0) [0|255] "" XXX
SG_ EPS_01_BZ : 8|4@1+ (1,0) [0|15] "" XXX
SG_ Steering_Wheel_Angle : 16|13@1+ (0.075,0) [0|16383] "Unit_DegreOfArc" XXX
SG_ CRC : 0|8@1+ (1,0) [0|255] "" XXX
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
SG_ Steering_Wheel_Angle : 16|13@1+ (0.15,0) [0|16383] "Unit_DegreOfArc" XXX
SG_ Steering_Wheel_Angle_VZ : 31|1@0+ (1,0) [0|1] "" XXX
SG_ HCA_Active : 34|1@0+ (1,0) [0|1] "" XXX
SG_ HCA_Standby : 33|1@0+ (1,0) [0|1] "" XXX
Expand All @@ -1199,7 +1222,11 @@ BO_ 919 LDW_02: 8 XXX
SG_ Kombi_Lamp_Green : 62|1@0+ (1,0) [0|1] "" XXX

BO_ 780 ACC_02: 8 XXX
SG_ CRC : 0|8@1+ (1,0) [0|255] "" XXX
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
SG_ SetSpeed : 12|10@1+ (0.08865,0) [0|90.68] "Unit_MeterPerSecond" XXX
SG_ Kollision1 : 23|1@1+ (1,0) [0|1] "" XXX
SG_ Abstand : 24|10@1+ (0.1,0) [0|102.3] "m" XXX
SG_ ACC_MinusInv : 36|2@1+ (1,0) [0|3] "" XXX
SG_ ACC_Minus : 38|2@1+ (1,0) [0|3] "" XXX
SG_ Kollision2 : 40|1@1+ (1,0) [0|1] "" XXX
Expand All @@ -1212,10 +1239,6 @@ BO_ 780 ACC_02: 8 XXX
SG_ MotorbitB5_7 : 47|1@1+ (1,0) [0|1] "" XXX
SG_ SetAbstand : 48|4@1+ (1,0) [0|15] "" XXX
SG_ Hebel : 56|4@1+ (1,0) [0|15] "" XXX
SG_ SetSpeed : 12|10@1+ (0.32,0) [0|320] "kmh" XXX
SG_ Abstand : 24|10@1+ (0.1,0) [0|102.3] "m" XXX
SG_ ACC_02_CRC : 0|8@1+ (1,0) [0|255] "" XXX
SG_ ACC_02_BZ : 8|4@1+ (1,0) [0|15] "" XXX

BO_ 302 ACC_07: 8 XXX
SG_ ACC_07_BZ : 8|4@1+ (1,0) [0|15] "" XXX
Expand Down Expand Up @@ -1251,9 +1274,43 @@ BO_ 427 ESP_33: 8 XXX
SG_ ESP_33_BZ : 8|4@1+ (1,0) [0|15] "" XXX
SG_ ESP_33_CRC : 0|8@1+ (1,0) [0|255] "" XXX

BO_ 418 ESP_15: 8 XXX
SG_ ESP_15_CRC : 0|8@1+ (1,0) [0|255] "" XXX
SG_ ESP_15_BZ : 8|4@1+ (1,0) [0|15] "" XXX

BO_ 1122 PSD_04: 8 XXX
SG_ PSD_Object_Index : 0|6@1+ (1,0) [0|63] "" XXX

BO_ 1123 PSD_05: 8 XXX
SG_ PSD_Current_Route_Index : 0|6@1+ (1,0) [0|63] "" XXX
SG_ Route_Distance_Remaining : 8|5@1+ (1,0) [0|31] "" XXX

BO_ 1124 PSD_06: 8 XXX

BO_ 988 Gateway_73: 8 XXX

BO_ 792 Kamera_Status: 8 XXX

BO_ 981 Licht_Anf_01: 8 XXX

BO_ 1440 RLS_01: 8 XXX

BO_ 870 Blinkmodi_02: 8 XXX

BO_ 1385 HVEM_04: 8 XXX

BO_ 1605 FLA_01: 8 XXX

BO_ 1624 Licht_vorne_01: 8 XXX

BO_ 1646 Klima_03: 8 XXX

BO_ 1720 Kombi_03: 8 XXX



CM_ SG_ 173 COUNTERXX "Message renamed to disable OP counter support due to J533 rate-limiting"
CM_ SG_ 134 LWI_Lenkradwinkel "Steering angle WITH variable ratio effect included";
CM_ SG_ 294 3 "May be zero when sent by older cameras";
CM_ SG_ 294 7 "May be zero when sent by older cameras";
CM_ SG_ 294 254 "May be zero when sent by older cameras";
Expand All @@ -1263,6 +1320,7 @@ CM_ SG_ 294 HCA_Available "Must be 1 for steering rack to accept HCA commands";
CM_ SG_ 159 HCA_Ready "1 if HCA is okay, 0 if the rack doesn't have HCA configured or a timer/constraint has been violated, rack will not respond to HCA commands";
CM_ SG_ 159 Driver_Strain "Steering input by driver, torque";
CM_ SG_ 159 Driver_Strain_VZ "Steering input by driver, sign (direction)";
CM_ SG_ 159 Steering_Wheel_Angle "Steering angle WITHOUT variable ratio effect included";
CM_ SG_ 919 LDW_DLC "Probable DLC (distance to line crossing)";
CM_ SG_ 919 LDW_TLC "Probable TLC (time to line crossing)";
CM_ SG_ 919 LDW_Unknown "Might be a steering pressed / driver active flag";
Expand All @@ -1274,6 +1332,6 @@ CM_ SG_ 919 Kombi_Lamp_Orange "Enables orange LDW light in instrument cluster";
CM_ SG_ 919 Kombi_Lamp_Green "Enables green LDW light in instrument cluster";
CM_ SG_ 780 Folgefahrt "Following another vehicle";
CM_ SG_ 780 SetAbstand "Set following distance";
CM_ SG_ 780 SetSpeed "ACC set speed";
CM_ SG_ 780 Abstand "Following distance";
CM_ SG_ 780 SetSpeed "ACC set speed";
VAL_ 173 GE_Fahrstufe 5 "P" 6 "R" 7 "N" 8 "D" 9 "S" 10 "E" 14 "T" ;