Difference between revisions of "Volkswagen"

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(Overview)
(Content overhaul and reorg)
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== User Experience ==
 
== User Experience ==
Lateral control is provided by openpilot. All MQB vehicles tested to-date support steering down to 0mph. Longitudinal control remains with stock ACC, although OP takes control of the engagement process for additional safety and feature needs. The minimum ACC setpoint is 20mph/30kph.
 
  
Vehicles with "ACC high" support follow-to-stop and automatic resume if the stop is less than three seconds, from the factory. OP can improve on that by resuming on behalf of the driver after longer delays. "ACC high" requires an electronic parking brake, and does make use of it under certain conditions. If the vehicle in question has an EPB, chances are good it supports "ACC high". Vehicles with "ACC low" support follow-to-stop (XXX review this: may be near-stop only) but will require the driver take over and hold the brake after a very short delay. Resume from stop is moot as ACC low vehicles will not hold themselves at a stop. Any vehicles with a manual parking brake, either foot or hand operated, will fall into this category.
+
=== Lateral Control ===
 +
Lateral is provided by openpilot. All MQB vehicles tested to-date support steering down to 0mph. For vehicles with factory lane assist, it will be ignored when Panda is installed and filtering CAN traffic. The Lane Assist enable/disable checkbox in the instrument cluster or infotainment unit will still be present, but will not do anything.
  
 
Available steering torque is adequate for most highway driving conditions. All MQB models support the exact same amount of commanded torque, but the different steering rack and suspension geometry between models can result in different effective performance. For example, the Volkswagen Atlas with its high-static ratio steering has been tested to handle curves somewhat better than the Golf GTI or Golf R which have tighter-variable ratio steering suited to higher performance driving.
 
Available steering torque is adequate for most highway driving conditions. All MQB models support the exact same amount of commanded torque, but the different steering rack and suspension geometry between models can result in different effective performance. For example, the Volkswagen Atlas with its high-static ratio steering has been tested to handle curves somewhat better than the Golf GTI or Golf R which have tighter-variable ratio steering suited to higher performance driving.
  
For vehicles with factory lane assist, it will be ignored when Panda is installed and filtering CAN traffic. The Lane Assist enable/disable checkbox in the instrument cluster or infotainment unit will still be present, but will not do anything.
+
=== Longitudinal Control ===
 +
Longitudinal control remains with stock ACC, although OP takes control of the engagement process for additional safety and feature needs. The minimum ACC setpoint is 20mph/30kph. Exact behavior depends on whether the vehicle has "ACC High" or "ACC Low" from the factory.
 +
 
 +
'''Stock ACC High:''' These vehicles support follow-to-stop and automatic resume if the stop is less than three seconds, from the factory. OP can improve on that by resuming on behalf of the driver after longer delays. "ACC high" requires an electronic parking brake, and does make use of it under certain conditions. If the vehicle in question has an EPB, chances are good it supports "ACC high".
 +
 
 +
'''Stock ACC Low:''' These vehicles generally support follow-to-stop (XXX review this: may be near-stop only) but will require the driver take over and hold the brake after a very short delay. Resume from stop is moot as "ACC low" vehicles will not hold themselves at a stop. Any vehicles with a manual parking brake, either foot or hand operated, will fall into this category.
  
 
== Vehicle Support ==
 
== Vehicle Support ==
Line 20: Line 25:
 
* 2012-2019 Mk7 and Mk7.5 Volkswagen Golf variants [[https://en.wikipedia.org/wiki/Volkswagen_Golf_Mk7 Wiki]]
 
* 2012-2019 Mk7 and Mk7.5 Volkswagen Golf variants [[https://en.wikipedia.org/wiki/Volkswagen_Golf_Mk7 Wiki]]
 
** Golf
 
** Golf
** e-Golf
+
** e-Golf (appears to support ACC High features even though factory build data shows ACC Low!)
 
** Golf R
 
** Golf R
  
Line 43: Line 48:
 
** 2018-current Mk4 Volkswagen Bora [https://en.wikipedia.org/wiki/Volkswagen_Bora_(China)#Fourth_generation_(2018%E2%80%93present) Wiki]
 
** 2018-current Mk4 Volkswagen Bora [https://en.wikipedia.org/wiki/Volkswagen_Bora_(China)#Fourth_generation_(2018%E2%80%93present) Wiki]
 
** 2013-2019 Volkswagen Golf variants not explicitly tested so far (Mk7 and Mk7.5) [https://en.wikipedia.org/wiki/Volkswagen_Golf_Mk7 Wiki]
 
** 2013-2019 Volkswagen Golf variants not explicitly tested so far (Mk7 and Mk7.5) [https://en.wikipedia.org/wiki/Volkswagen_Golf_Mk7 Wiki]
*** Golf Sportwagen
 
 
*** Golf Alltrack
 
*** Golf Alltrack
*** GTI
+
*** Golf GTI
*** GTI TCR
+
*** Golf GTI TCR
*** GTE
+
*** Golf GTE
*** GTD
+
*** Golf GTD
*** Sportsvan
+
*** Golf Sportsvan / SV
 +
*** Golf SportWagen
 
** 2019-current Volkswagen Jetta (except GLI) and Sagitar (Mk7) [https://en.wikipedia.org/wiki/Volkswagen_Jetta#A7 Wiki]
 
** 2019-current Volkswagen Jetta (except GLI) and Sagitar (Mk7) [https://en.wikipedia.org/wiki/Volkswagen_Jetta#A7 Wiki]
 
*** The GLI variant is architecturally compatible, but factory ACC appears unavailable (thanks for nothing VW)
 
*** The GLI variant is architecturally compatible, but factory ACC appears unavailable (thanks for nothing VW)
** 2018-current Volkswagen Tiguan (Mk2)
+
** 2015-current Mk1 Volkswagen Lamando [https://en.wikipedia.org/wiki/Volkswagen_Lamando Wiki]
 +
*** Made in China, limited info available, unable to fully verify
 +
** 2018-current Mk3 Volkswagen Lavida [https://en.wikipedia.org/wiki/Volkswagen_Lavida#Third_generation Wiki]
 +
*** Made in China, limited info available, unable to fully verify
 +
** 2015-current B8 Volkswagen Passat [https://en.wikipedia.org/wiki/Volkswagen_Passat_(B8) Wiki]
 +
*** This is NOT the Passat currently available in North America, which is based on the currently unsupported NMS platform
 +
** 2018-current Mk6 Volkswagen Polo [https://en.wikipedia.org/wiki/Volkswagen_Polo#Sixth_generation_(Typ_AW;_2018%E2%80%93present) Wiki]
 +
** 2019-current Mk1 Volkswagen T-Cross [https://en.wikipedia.org/wiki/Volkswagen_T-Cross Wiki]
 +
** 2018-current Mk1 Volkswagen Tayron [https://en.wikipedia.org/wiki/Volkswagen_Tayron Wiki]
 +
*** Made in China, limited info available, unable to fully verify
 +
** 2016-current Mk2 Volkswagen Tiguan [https://en.wikipedia.org/wiki/Volkswagen_Tiguan#Second_generation_(2016%E2%80%93present) Wiki]
 +
*** In North America, all 2016-2017 Tiguans and the 2018 Tiguan "Limited" are unsupported PQ46 Mk1; all other 2018 and all 2019-forward are MQB Mk2
 +
** 2018-current Mk1 Volkswagen Tharu / Tarek [https://en.wikipedia.org/wiki/Volkswagen_Tharu Wiki]
 +
*** Made in China, limited info available, unable to fully verify
 +
** 2015-current Mk2 Volkswagen Touran [https://en.wikipedia.org/wiki/Volkswagen_Touran#Second_generation_(2015%E2%80%93present) Wiki]
 +
 
 +
 
  
 
=== Development Roadmap ===
 
=== Development Roadmap ===
Line 74: Line 95:
 
* Volkswagen Phaeton (hydraulic power steering, lane departure warning only via steering wheel haptic)
 
* Volkswagen Phaeton (hydraulic power steering, lane departure warning only via steering wheel haptic)
  
* MQB-A0 supermini and city cars without factory options for ACC or LKAS (willing to reexamine if new evidence is found)
+
* MQB-A0 supermini and city cars without factory options for ACC or LKAS (willing to reexamine if an intrepid owner steps forward)
 
** SEAT Arona
 
** SEAT Arona
 
** SEAT Ibiza
 
** SEAT Ibiza
Line 80: Line 101:
 
** Škoda Citigo
 
** Škoda Citigo
 
** Volkswagen Up!
 
** Volkswagen Up!
 +
** 2018-current Mk6 Volkswagen Polo [https://en.wikipedia.org/wiki/Volkswagen_Polo#Sixth_generation_(Typ_AW;_2018%E2%80%93present) Wiki]
  
 
= Architecture =
 
= Architecture =
Line 110: Line 132:
  
 
=== Topology ===
 
=== Topology ===
 +
XXX J533 concept
 +
 +
==== Integration at J533 Gateway ====
  
XXX J533 concept
+
J533 gateway pinout:
 +
<pre>
 +
T20/1  -- POWER    -- gr/ro terminal 30 power from 5a fuse SC5
 +
T20/2  -- passthru  -- rt/vi terminal 30 power from 18a fuse SB18 (optional, w/o start/stop)
 +
T20/3  -- passthru  -- vi/ws LIN bus to BEM
 +
T20/4  --          -- unused
 +
T20/5  -- passthru  -- or/br Comfort CAN Low
 +
T20/6  -- passthru  -- or/br Powertrain CAN Low
 +
T20/7  -- PANDA 1/3 -- or/br Extended CAN Low
 +
T20/8  -- passthru  -- or/br Suspension CAN Low
 +
T20/9  -- passthru  -- or/br Diagnostic CAN Low / T16/14 on DLC
 +
T20/10 -- passthru  -- or/br Infotainment CAN Low
 +
T20/11 -- GROUND    -- br    Ground
 +
T20/12 -- passthru  -- br    Ground
 +
T20/13 -- passthru  -- vi/bl LIN bus to steering column electronics
 +
T20/14 -- IGNITION  -- sw/vi terminal 15 power from PC3/A192
 +
T20/15 -- passthru  -- or/gn Comfort CAN High
 +
T20/16 -- passthru  -- or/sw Powertrain CAN High
 +
T20/17 -- PANDA 1/3 -- or/gr Extended CAN High
 +
T20/18 -- passthru  -- or/bl Suspension CAN High
 +
T20/19 -- passthru  -- or/rt Diagnostic CAN High / T16/6 on DLC
 +
T20/20 -- passthru  -- or/vi Infotainment CAN High
 +
</pre>
 +
 
 +
Gray or White Panda pinout:
 +
<pre>
 +
Panda 1  -- unused
 +
Panda 2  -- unused
 +
Panda 3  -- unused
 +
Panda 4  -- GROUND
 +
Panda 5  -- unused
 +
Panda 6  -- CAN1 Hi, toward gateway
 +
Panda 7  -- unused
 +
Panda 8  -- IGNITION
 +
Panda 9  -- unused
 +
Panda 10 -- unused
 +
Panda 11 -- unused
 +
Panda 12 -- CAN3 Hi, toward extended CAN, WITH termination resistor
 +
Panda 13 -- CAN3 Lo, toward extended CAN, WITH termination resistor
 +
Panda 14 -- CAN1 Lo, toward gateway
 +
Panda 15 -- unused
 +
Panda 16 -- POWER
 +
</pre>
 +
 
 +
XXX wiring diagram from @tmatheso
 +
 
 +
==== Integration at R242 Camera ====
 +
To be documented.
  
 
=== Critical Messages and Flows ===
 
=== Critical Messages and Flows ===
Line 123: Line 195:
  
 
=== Integration ===
 
=== Integration ===
XXX wiring diagram
 
 
 
= Official Documentation =
 
= Official Documentation =
 
Volkswagen technical info can be found here: https://erwin.vw.com/erwin/showHome.do.
 
Volkswagen technical info can be found here: https://erwin.vw.com/erwin/showHome.do.
 
= XXX Legacy Archived Content XXX =
 
Older Volkswagen Wiki content is collected here awaiting updates, cleanup, or decommissioning if no longer applicable.
 
 
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.
 
 
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.
 
<pre>
 
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
 
</pre>
 
 
== J533 Pinout - MQB "Highline trim" ==
 
This is just a reference from Skoda Octavia MY17, please check model specific from ERWIN if you are unsure.
 
<pre>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
 
</pre>
 
 
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.
 
  
 
Change your EON to [https://github.com/jyoung8607/openpilot/tree/vw-063-base 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-063-base jyoung's repo]. EON will flash Panda automatically to a version that uses VW Safety Model by default.
Line 192: Line 207:
  
 
- Your car works normally without EON, only the lane-assistant function is not available.
 
- Your car works normally without EON, only the lane-assistant function is not available.
 
  
 
[[Category:Volkswagen_Group]]
 
[[Category:Volkswagen_Group]]
 
[[Category:Vehicle_Makes]]
 
[[Category:Vehicle_Makes]]

Revision as of 13:48, 14 October 2019

Overview

Comma AI currently has no official support for Volkswagen brands, but a community port is available, with plans to upstream for official support in the near future. The community port is designed to support any Volkswagen MQB vehicle with ACC radar. Check the Vehicle Support section for details and caveats.

User Experience

Lateral Control

Lateral is provided by openpilot. All MQB vehicles tested to-date support steering down to 0mph. For vehicles with factory lane assist, it will be ignored when Panda is installed and filtering CAN traffic. The Lane Assist enable/disable checkbox in the instrument cluster or infotainment unit will still be present, but will not do anything.

Available steering torque is adequate for most highway driving conditions. All MQB models support the exact same amount of commanded torque, but the different steering rack and suspension geometry between models can result in different effective performance. For example, the Volkswagen Atlas with its high-static ratio steering has been tested to handle curves somewhat better than the Golf GTI or Golf R which have tighter-variable ratio steering suited to higher performance driving.

Longitudinal Control

Longitudinal control remains with stock ACC, although OP takes control of the engagement process for additional safety and feature needs. The minimum ACC setpoint is 20mph/30kph. Exact behavior depends on whether the vehicle has "ACC High" or "ACC Low" from the factory.

Stock ACC High: These vehicles support follow-to-stop and automatic resume if the stop is less than three seconds, from the factory. OP can improve on that by resuming on behalf of the driver after longer delays. "ACC high" requires an electronic parking brake, and does make use of it under certain conditions. If the vehicle in question has an EPB, chances are good it supports "ACC high".

Stock ACC Low: These vehicles generally support follow-to-stop (XXX review this: may be near-stop only) but will require the driver take over and hold the brake after a very short delay. Resume from stop is moot as "ACC low" vehicles will not hold themselves at a stop. Any vehicles with a manual parking brake, either foot or hand operated, will fall into this category.

Vehicle Support

Fully Tested and Supported

At least one representative vehicle from each of these vehicle-classes has been tested and verified to work with openpilot. Therefore, we are confident that any vehicle in these model-year-ranges should work with openpilot. Fingerprint updates may still be needed until we have full VIN detection. For vehicles without factory Lane Assist, a diagnostic tool will be needed to make minor coding changes to the steering rack in order for OP to steer, and coding changes to the instrument cluster will be needed to receive feedback and status information.

  • 2013-current Mk3 Škoda Octavia [Wiki]
  • 2018-2019 Mk1 Volkswagen Atlas (Teramont in some markets) [Wiki]
  • 2012-2019 Mk7 and Mk7.5 Volkswagen Golf variants [Wiki]
    • Golf
    • e-Golf (appears to support ACC High features even though factory build data shows ACC Low!)
    • Golf R

Supportable but Untested

These vehicle-classes should work fine with openpilot, to the best of our information, but have not yet been tested. Minor tweaks or other support may be needed. Be cautious if making an openpilot or vehicle purchase decision based on this information. If in doubt, ask on Discord.

  • All MQB vehicles not listed above, with ACC radar
    • 2018-current Mk2 Audi A1 (listed as MQB-A0, but confirmed to have factory ACC and LKAS options) Wiki
    • 2012-current Mk3 Audi A3, S3 and RS3 Wiki
    • 2014-current Mk3 Audi TT Wiki
    • 2017-current Mk1 Audi Q2 Wiki
    • 2018-current Mk2 Audi A3 Wiki
    • 2016-current Mk1 SEAT Ateca Wiki
    • 2012-current Mk3 SEAT León Wiki
    • 2019-current Mk1 SEAT Tarraco Wiki
    • 2019-current Mk1 Škoda Kamiq Wiki
    • 2017-current Mk1 Škoda Karoq Wiki
    • 2017-current Mk1 Škoda Kodiaq Wiki
    • 2019-current Mk1 Škoda Scala Wiki
    • 2015-current B8 Škoda Superb Wiki
    • 2018-current Mk1 Volkswagen Arteon Wiki
    • 2018-current Mk4 Volkswagen Bora Wiki
    • 2013-2019 Volkswagen Golf variants not explicitly tested so far (Mk7 and Mk7.5) Wiki
      • Golf Alltrack
      • Golf GTI
      • Golf GTI TCR
      • Golf GTE
      • Golf GTD
      • Golf Sportsvan / SV
      • Golf SportWagen
    • 2019-current Volkswagen Jetta (except GLI) and Sagitar (Mk7) Wiki
      • The GLI variant is architecturally compatible, but factory ACC appears unavailable (thanks for nothing VW)
    • 2015-current Mk1 Volkswagen Lamando Wiki
      • Made in China, limited info available, unable to fully verify
    • 2018-current Mk3 Volkswagen Lavida Wiki
      • Made in China, limited info available, unable to fully verify
    • 2015-current B8 Volkswagen Passat Wiki
      • This is NOT the Passat currently available in North America, which is based on the currently unsupported NMS platform
    • 2018-current Mk6 Volkswagen Polo Wiki
    • 2019-current Mk1 Volkswagen T-Cross Wiki
    • 2018-current Mk1 Volkswagen Tayron Wiki
      • Made in China, limited info available, unable to fully verify
    • 2016-current Mk2 Volkswagen Tiguan Wiki
      • In North America, all 2016-2017 Tiguans and the 2018 Tiguan "Limited" are unsupported PQ46 Mk1; all other 2018 and all 2019-forward are MQB Mk2
    • 2018-current Mk1 Volkswagen Tharu / Tarek Wiki
      • Made in China, limited info available, unable to fully verify
    • 2015-current Mk2 Volkswagen Touran Wiki


Development Roadmap

We think these vehicles can be supported at some point, but they are not supported just yet. Code changes will be required. There are no firm dates for any of these items. If you have a vehicle in this section and are interested in testing with openpilot, please ask on Discord before proceeding.

  • Support has been tested for vehicles without a DSG/auto transmission, but owners should contact us on Discord for the moment as the changes have not yet been integrated into the main codebase. This includes manual transmission vehicles and the e-Golf.
  • Vision-only longitudinal control using visiond to drive known ACC messaging, for vehicles without radar
    • Radar data fusion might be possible later, if radar points are available on the sensor fusion bus, but this is not yet known
  • All PQ35/PQ46/NMS vehicles (hope and plan to support in the long-term 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, very long term future)
    • Volkswagen Touareg 2018-present

Unsupportable

These vehicles either don't have electric power steering, or we don't have a known control channel.

  • 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)
  • MQB-A0 supermini and city cars without factory options for ACC or LKAS (willing to reexamine if an intrepid owner steps forward)
    • SEAT Arona
    • SEAT Ibiza
    • SEAT Mii
    • Škoda Citigo
    • Volkswagen Up!
    • 2018-current Mk6 Volkswagen Polo Wiki

Architecture

openpilot

Each MQB vehicle uses the same basic architecture and CAN messaging, but will need individual tuning for best openpilot performance.

The maximum torque available to stock Lane Assist (and by extension, openpilot) is exactly 3.0 newton-meters across all known MQB vehicles. The effectiveness of that 3.0 nm varies somewhat depending on the exact vehicle model and its steering geometry. Vehicles with more sporty steering, particularly the Golf GTI and Golf R, are expected to have somewhat less ability to handle tighter curves, especially as speed increases.

Vehicle Hardware

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.

Steering rack imposed limits for Heading Control Assist:

  • Cannot steer at a standstill, but appears to work at any nonzero speed
    • HCA goes to not ready and HCA torque is ignored if this is violated; recoverable without a restart
  • Commanded torque limit: 3.0 newton-meters
    • HCA goes to not ready and HCA torque is ignored if this is violated
  • Rate of change: 5.0 nm/seconds
    • Found in certain documentation, but not observed in real world, at least not as a steering-disabling fault
  • Continuous time limit for HCA to be engaged: 180 seconds
    • Documented at 300 seconds in some places, 180 in others, 180 observed in real world testing
    • HCA goes to not ready and HCA torque is ignored if this is violated; recoverable without a restart
    • Working around this by disabling steering for one frame for every zero crossing
  • Same/stuck torque input detection: 6 seconds
    • Not documented anywhere, but observed in real world testing
    • HCA goes to not ready and HCA torque is ignored if this is violated; recoverable without a restart
    • Working around this by introducing slight noise, 0.01nm reduction in torque for one frame 1x/second

Controller Area Network (CAN)

Topology

XXX J533 concept

Integration at J533 Gateway

J533 gateway pinout:

T20/1  -- POWER     -- gr/ro terminal 30 power from 5a fuse SC5
T20/2  -- passthru  -- rt/vi terminal 30 power from 18a fuse SB18 (optional, w/o start/stop)
T20/3  -- passthru  -- vi/ws LIN bus to BEM 
T20/4  --           -- unused
T20/5  -- passthru  -- or/br Comfort CAN Low
T20/6  -- passthru  -- or/br Powertrain CAN Low
T20/7  -- PANDA 1/3 -- or/br Extended CAN Low
T20/8  -- passthru  -- or/br Suspension CAN Low
T20/9  -- passthru  -- or/br Diagnostic CAN Low / T16/14 on DLC
T20/10 -- passthru  -- or/br Infotainment CAN Low
T20/11 -- GROUND    -- br    Ground
T20/12 -- passthru  -- br    Ground
T20/13 -- passthru  -- vi/bl LIN bus to steering column electronics
T20/14 -- IGNITION  -- sw/vi terminal 15 power from PC3/A192
T20/15 -- passthru  -- or/gn Comfort CAN High
T20/16 -- passthru  -- or/sw Powertrain CAN High
T20/17 -- PANDA 1/3 -- or/gr Extended CAN High
T20/18 -- passthru  -- or/bl Suspension CAN High
T20/19 -- passthru  -- or/rt Diagnostic CAN High / T16/6 on DLC
T20/20 -- passthru  -- or/vi Infotainment CAN High

Gray or White Panda pinout:

Panda 1  -- unused
Panda 2  -- unused
Panda 3  -- unused
Panda 4  -- GROUND
Panda 5  -- unused
Panda 6  -- CAN1 Hi, toward gateway
Panda 7  -- unused
Panda 8  -- IGNITION
Panda 9  -- unused
Panda 10 -- unused
Panda 11 -- unused
Panda 12 -- CAN3 Hi, toward extended CAN, WITH termination resistor
Panda 13 -- CAN3 Lo, toward extended CAN, WITH termination resistor
Panda 14 -- CAN1 Lo, toward gateway
Panda 15 -- unused
Panda 16 -- POWER

XXX wiring diagram from @tmatheso

Integration at R242 Camera

To be documented.

Critical Messages and Flows

XXX detail around certain select messages read or sent by OP

  • LWI_01
  • EPS_01 / LH_EPS_03
  • ACC_06
  • Getribe_11
  • HCA_01
  • LDW_02

Integration

Official Documentation

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

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.