VW: add MEB to the CarController architecture dispatch - #3612
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self.CCS had no MEB branch, so MEB silently fell through to mqbcan while also calling mebcan directly for steering/accel/wheel touch. LDW_02 and GRA_ACC_01 were built by mqbcan, leaving mebcan's own versions dead. Add MEB to the dispatch and route every message through self.CCS. The per-message rate checks are shared, so update() keeps them in one place and hands off to a function per concern that branches only where the architectures truly differ (steering, ACC, ACC HUD). Drop mebcan's LDW display_mode offset: LDW_Lernmodus_links/rechts are 2 bit signals fully spoken for by 0-3, so 3 + display_mode overflowed to 0 on lane depart, and the non-depart branch rendered a merely visible lane as the departure value. Now matches mqbcan/pqcan. Verified no change on the wire: 4493 messages over 400 frames x PQ/MQB/MLB/MEB x stock/longitudinal are bit-identical to master. Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>
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Car behavior reportReplays driving segments through this PR and compares the behavior to master. 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 |
sshane
marked this pull request as draft
August 6, 2026 03:21
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self.CCS had no MEB branch, so MEB silently fell through to mqbcan while also calling mebcan directly for steering/accel/wheel touch. LDW_02 and GRA_ACC_01 were built by mqbcan, leaving mebcan's own versions dead.
Add MEB to the dispatch and route every message through self.CCS. The per-message rate checks are shared, so update() keeps them in one place and hands off to a function per concern that branches only where the architectures truly differ (steering, ACC, ACC HUD).
Drop mebcan's LDW display_mode offset: LDW_Lernmodus_links/rechts are 2 bit signals fully spoken for by 0-3, so 3 + display_mode overflowed to 0 on lane depart, and the non-depart branch rendered a merely visible lane as the departure value. Now matches mqbcan/pqcan.
Verified no change on the wire: 4493 messages over 400 frames x PQ/MQB/MLB/MEB x stock/longitudinal are bit-identical to master.
Validation