VW MEB: Platform support

[jyoung8607]

Support for the Volkswagen ID family and other MEB vehicles. Thanks and credit to @infiniteCable.

• Harness: Volkswagen C (issue link TBD)
• Route with stock Travel Assist: 81dd9e9fe256c397/0000002f--bff24fca36
• Route with openpilot, stock long: 81dd9e9fe256c397/0000001f--97c42cf98d
• Process replay route: TBD

Safety layer TODO

• VW MEB: CAN ignition panda#2160
• VW MEB: Reserve safety identifier #1931
• Verify CAN ignition is actually necessary
• Move to DEBUG until comma releases from dashcam
• Look for opportunities to consolidate code with MQB and MQBevo
  • checksum support
  • rx steering angle, driver input torque
• Lateral control safety
  • curvature to lateral accel ISO limits (switching to power control exclusively)
  • driver override power control
• CI tests
  • General (wheel speeds, gas/brake, driver input torque, ACC buttons, ACC state)
  • curvature to lateral accel ISO limits (switching to power control exclusively)
  • driver override power control

Driving layer TODO

• Switch initial vehicle support from Cupra Born to Volkswagen ID.4, for testing at comma_hack
• VW MEB: CAN database and checksum support #1816
• VW MQB: Change source of gear position signal #1836
• VW MQB: Cleanup and refactor in preparation for MEB #1847
• VW MQB: More cleanup and prep for MEB #1849
• Lateral control
  • controls: publish current curvature in CarControl openpilot#34679
  • Refactor torque-vs-curvature carcontroller code into separate functions
  • Power-percentage control on driver torque input
  • Investigate power boost possibility
  • Fix LKAS fault logic at startup/standstill
  • Injection testing, probe control limits
  • CI tests for curvature and power safety limits
• Look for opportunities to consolidate code with MQB and MQBevo
  • Use DBC generator for common messages (too many subtle differences)
  • carstate
  • mqbcan/mebcan
  • checksum support
• Camera integration (in addition to existing gateway integration)
• Fix BSM false firing
• Fix comfort turn signals
• EA mitigation
• Common gearshift signal

De-scoped from initial merge TODO:

• Explicit opendbc checksum tests (deferred because CAN-FD messages are doing something weird)
• EA mitigation, current solution works but see if simulating capacitive touch is better
• Alpha openpilot longitudinal control
  • Test radar UDS knockout from camera
  • Fix cruise fault logic at startup/standstill
  • Fix nonAdaptive bug
  • Verify nature/need of the ACC API fault-avoidance carcontroller code
  • Verify nature/need of special HUD code (temporarily set aside in 42b708b)
  • Verify radar code is doing what we need
  • Panda safety tests (written, just backed out)

[github-actions]

Car behavior report

Replays driving segments through this PR and compares the behavior to master.
Please review any changes carefully to ensure they are expected.

Testing 130 segments for: VOLKSWAGEN_ARTEON_MK1, VOLKSWAGEN_ATLAS_MK1, VOLKSWAGEN_CRAFTER_MK2, VOLKSWAGEN_GOLF_MK7, VOLKSWAGEN_JETTA_MK7, VOLKSWAGEN_PASSAT_MK8, VOLKSWAGEN_PASSAT_NMS, VOLKSWAGEN_POLO_MK6, VOLKSWAGEN_TAOS_MK1, VOLKSWAGEN_TIGUAN_MK2, VOLKSWAGEN_TOURAN_MK2, VOLKSWAGEN_TRANSPORTER_T61, VOLKSWAGEN_TROC_MK1

✅ 0 changed, 130 passed, 0 errors