Difference between revisions of "Volkswagen"

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(J533 Pinout - MQB "Highline trim")
(Start adding content about current state of the port)
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= Overview =
 
The Volkswagen OBDII port delivers only a CAN Diagnose high/low signal. A [[J533_Sniffing_Cable]] is needed to connect your panda.
 
The Volkswagen OBDII port delivers only a CAN Diagnose high/low signal. A [[J533_Sniffing_Cable]] is needed to connect your panda.
  
 
The following is being proposed as a [https://github.com/jyoung8607/openpilot/tree/vw-us Safety Model]  for Panda interaction. Work in Progress.
 
The following is being proposed as a [https://github.com/jyoung8607/openpilot/tree/vw-us Safety Model]  for Panda interaction. Work in Progress.
  
== Theory ==
+
The current port should support all [https://en.wikipedia.org/wiki/Volkswagen_Group_MQB_platform Volkswagen MQB] vehicles, with factory ACC and LKAS, except for the MQB-A0 micro city cars (Audi A1, SEAT Ibiza, SEAT Mii, Škoda Citigo, Volkswagen Up!). Each MQB vehicle will use the same basic architecture and CAN messaging, but will need individual tuning for best openpilot performance.
Support all [https://en.wikipedia.org/wiki/Volkswagen_Group_MQB_platform Volkswagen MQB] vehicles.
+
 
 +
The radar and camera are standard Bosch hardware running software customized for VW MQB. The forward radar can be any of three: Bosch LRR3 (very old and uncommon), Bosch MRR1plus (older and common), or Bosch MRREvo14F (newer and common). The camera is Bosch's MPC1(?) monocular multipurpose camera.
 +
 
 +
Stop-and-go support will partly depend on the car. From the factory, vehicles with "ACC high" support follow-to-stop and automatic resume if the stop is less than three seconds. OP can improve on that by resuming on behalf of the driver after longer delays. Vehicles with "ACC low" support follow-to-stop but will require the driver take over and hold the brake after a very short delay, and resume from stop is moot. Older non-MQB systems (not supported at this time) may not be able to follow-to-stop.
 +
 
 +
= Supported and Unsupported Vehicles =
 +
 
 +
== Tested and Supported ==
 +
* 2018-2019 Volkswagen Atlas (Mk1)
 +
* 2018-2019 Volkswagen Golf R (Mk7.5)
 +
 
 +
== Untested but Supportable ==
 +
* All MQB vehicles not listed above, with ACC and LKAS
 +
** 2018-current Volkswagen Arteon (Mk1)
 +
** 2013-2019 Volkswagen Golf variants not explicitly tested so far (Mk7 and Mk7.5)
 +
*** Golf
 +
*** Golf Sportwagen
 +
*** Golf Alltrack
 +
*** e-Golf
 +
*** GTI
 +
*** R
 +
** 2018-current Volkswagen Tiguan (Mk2)
 +
 
 +
 
 +
== Might Be Supported Someday ==
 +
* MQB vehicles that fall outside current support requirements
 +
** Manual transmission (very easy)
 +
** No factory LKAS (very easy)
 +
** No factory ACC (much more involved, but possible in the long term)
 +
 
 +
* All PQ35/PQ46/NMS vehicles (hope and plan to support in the future, but not yet)
 +
** Volkswagen Beetle 2012-2018
 +
** Volkswagen Passat 2011-present in North America, including the 2020 refresh
 +
 
 +
* All MLB and MLBevo vehicles (requires FlexRay support)
 +
** Volkswagen Touareg 2018-present
 +
 
 +
== Cannot Support ==
 +
* Volkswagen Touareg prior to 2018 (hydraulic power steering, lane departure warning only via steering wheel haptic)
 +
* Volkswagen Phaeton (hydraulic power steering, lane departure warning only via steering wheel haptic)
  
 
Candidate vehicles for lateral: front-assist module R242 with coding to accept steering corrections to J500.
 
Candidate vehicles for lateral: front-assist module R242 with coding to accept steering corrections to J500.
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Stock camera needs to be filtered in order for the car to accept transmitted CAN commands from Panda.  
 
Stock camera needs to be filtered in order for the car to accept transmitted CAN commands from Panda.  
  
=== Filtering ( Requirement if you build the filtering cable )===
+
= Architecture =
 +
 
 
Change your EON to [https://github.com/jyoung8607/openpilot/tree/vw-us jyoung's repo]. EON will flash Panda automatically to a version that uses VW Safety Model by default.
 
Change your EON to [https://github.com/jyoung8607/openpilot/tree/vw-us jyoung's repo]. EON will flash Panda automatically to a version that uses VW Safety Model by default.
  
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If you instead get errors with haltex module or anything in-gear then your CAN-bus is not forwarded correctly. This might be due your panda is not flashed with the correct firmware to forward the messages as this Volkswagen proposal requires you to do and they are instead only read in Can1 with stock Panda.
 
If you instead get errors with haltex module or anything in-gear then your CAN-bus is not forwarded correctly. This might be due your panda is not flashed with the correct firmware to forward the messages as this Volkswagen proposal requires you to do and they are instead only read in Can1 with stock Panda.
  
 +
= Long Term Roadmap =
 +
* Remove requirement to have a factory LKAS camera, we can easily do without
 +
* Vision-only longitudinal control using visiond to drive known ACC messaging, for vehicles without radar
 +
* Enhanced longitudinal control with radar data, on vehicles with a radar-to-camera sensor fusion CAN bus
  
  

Revision as of 21:06, 11 September 2019

Overview

The Volkswagen OBDII port delivers only a CAN Diagnose high/low signal. A J533_Sniffing_Cable is needed to connect your panda.

The following is being proposed as a Safety Model for Panda interaction. Work in Progress.

The current port should support all Volkswagen MQB vehicles, with factory ACC and LKAS, except for the MQB-A0 micro city cars (Audi A1, SEAT Ibiza, SEAT Mii, Škoda Citigo, Volkswagen Up!). Each MQB vehicle will use the same basic architecture and CAN messaging, but will need individual tuning for best openpilot performance.

The radar and camera are standard Bosch hardware running software customized for VW MQB. The forward radar can be any of three: Bosch LRR3 (very old and uncommon), Bosch MRR1plus (older and common), or Bosch MRREvo14F (newer and common). The camera is Bosch's MPC1(?) monocular multipurpose camera.

Stop-and-go support will partly depend on the car. From the factory, vehicles with "ACC high" support follow-to-stop and automatic resume if the stop is less than three seconds. OP can improve on that by resuming on behalf of the driver after longer delays. Vehicles with "ACC low" support follow-to-stop but will require the driver take over and hold the brake after a very short delay, and resume from stop is moot. Older non-MQB systems (not supported at this time) may not be able to follow-to-stop.

Supported and Unsupported Vehicles

Tested and Supported

  • 2018-2019 Volkswagen Atlas (Mk1)
  • 2018-2019 Volkswagen Golf R (Mk7.5)

Untested but Supportable

  • All MQB vehicles not listed above, with ACC and LKAS
    • 2018-current Volkswagen Arteon (Mk1)
    • 2013-2019 Volkswagen Golf variants not explicitly tested so far (Mk7 and Mk7.5)
      • Golf
      • Golf Sportwagen
      • Golf Alltrack
      • e-Golf
      • GTI
      • R
    • 2018-current Volkswagen Tiguan (Mk2)


Might Be Supported Someday

  • MQB vehicles that fall outside current support requirements
    • Manual transmission (very easy)
    • No factory LKAS (very easy)
    • No factory ACC (much more involved, but possible in the long term)
  • All PQ35/PQ46/NMS vehicles (hope and plan to support in the future, but not yet)
    • Volkswagen Beetle 2012-2018
    • Volkswagen Passat 2011-present in North America, including the 2020 refresh
  • All MLB and MLBevo vehicles (requires FlexRay support)
    • Volkswagen Touareg 2018-present

Cannot Support

  • Volkswagen Touareg prior to 2018 (hydraulic power steering, lane departure warning only via steering wheel haptic)
  • Volkswagen Phaeton (hydraulic power steering, lane departure warning only via steering wheel haptic)

Candidate vehicles for lateral: front-assist module R242 with coding to accept steering corrections to J500.

Stock camera needs to be filtered in order for the car to accept transmitted CAN commands from Panda.

Architecture

Change your EON to jyoung's repo. EON will flash Panda automatically to a version that uses VW Safety Model by default.

This achieves the following goals

- Filter stock Camera messages from Can1 extended CAN hook up

- Send filter data with crafted OP steering messages to Can0

- Your car works normally without EON, only the lane-assistant function is not available.

#volkswagen hook-up / Filtering configuration

Replacing the stock cable with a Y-harness that routes Extended CAN -bus via Panda will require you to keep Panda connected at all times or create switches similar to Giraffe.

Aciid's cable https://i.imgur.com/VP64k87.jpg ( Pinout https://i.imgur.com/k1EYXj7.png )

J533_Sniffing_Cable components for J553, create the pinout to mimic the stock adapter, with the following alteration. You still need to route most 20 wires between original connector and the J553 unit, Terminal 15 (ign), Terminal 30 and GND go to Panda as well. Extended CAN goes first to Panda, then is routed back to J533.

Panda pin 6 - J533 pin 17 ( Extended High )
Panda pin 14 - J533 pin 7 ( Extended Low )
Panda pin 11 - Wiring harness connector pin LOW ( Wiring harness Low )
Panda pin 3 - Wiring harness connector pin HIGH ( Wiring harness High )

Can0 - should connect to j533 on 7/17
Can1 - should connect to the car wiring that used to be hooked up to 7/17, along with a 120 ohm termination resistor
Can2 - not used yet
Thanks jyoung8607


J533 Pinout - MQB "Highline trim"

This is just a reference from Skoda Octavia MY17, please check model specific from ERWIN if you are unsure.

1 -     Battery + (terminal 30)
2 -     Not used
3 -     LIN data bus 1
4 -     Not used
5 -     CAN bus Low (convenience)
6 -     CAN bus Low (drive)
7 -     CAN bus Low (extended)
8 -     CAN bus Low (instrument cluster)
9 -     CAN Bus Low (diagnosis)
10 -     CAN Bus Low (infotainment)
11 -     Ground – (terminal 31)
12 -     Ground – (terminal 31)
13 -     Instrument cluster wake-up
14 -     Terminal 15
15 -     CAN bus High (convenience)
16 -     CAN bus High (drive)
17 -     CAN bus High (extended)
18 -     CAN bus High (instrument cluster)
19 -     CAN bus High (diagnosis)
20 - 	 CAN bus High (infotainment)
Thanks P2

Adding the cable, identifying errors

When you install any variation of the cable or splitter adapter builds, remember to take off the battery. taking off the battery will lead to ton of warnings like "ACC not ready", "tpms not ready", "ESC not ready"

These errors will go away after a short 0.5mile / 1km drive down the runway and residual lights in dash will disasppear after then restarting the car

If you instead get errors with haltex module or anything in-gear then your CAN-bus is not forwarded correctly. This might be due your panda is not flashed with the correct firmware to forward the messages as this Volkswagen proposal requires you to do and they are instead only read in Can1 with stock Panda.

Long Term Roadmap

  • Remove requirement to have a factory LKAS camera, we can easily do without
  • Vision-only longitudinal control using visiond to drive known ACC messaging, for vehicles without radar
  • Enhanced longitudinal control with radar data, on vehicles with a radar-to-camera sensor fusion CAN bus


Official documentation

Volkswagen technical info can be found here: https://erwin.vw.com/erwin/showHome.do.