VW PQ: Volkswagen Sharan Mk2 / SEAT Alhambra Mk2 (#25839)

* initial Sharan support

* placeholder torque data

* oops

* add route

* min speeds and PQ default delay

selfdrive/car/tests/routes.py

@@ -175,6 +175,7 @@ routes = [
   CarTestRoute("4d134e099430fba2|2021-03-26--00-26-06", VOLKSWAGEN.PASSAT_MK8),
   CarTestRoute("3cfdec54aa035f3f|2022-07-19--23-45-10", VOLKSWAGEN.PASSAT_NMS),
   CarTestRoute("0cd0b7f7e31a3853|2021-11-03--19-30-22", VOLKSWAGEN.POLO_MK6),
+  CarTestRoute("064d1816e448f8eb|2022-09-29--15-32-34", VOLKSWAGEN.SHARAN_MK2),
   CarTestRoute("7d82b2f3a9115f1f|2021-10-21--15-39-42", VOLKSWAGEN.TAOS_MK1),
   CarTestRoute("2744c89a8dda9a51|2021-07-24--21-28-06", VOLKSWAGEN.TCROSS_MK1),
   CarTestRoute("2cef8a0b898f331a|2021-03-25--20-13-57", VOLKSWAGEN.TIGUAN_MK2),

selfdrive/car/torque_data/override.yaml

@@ -30,6 +30,7 @@ CHEVROLET BOLT EUV 2022: [2.0, 2.0, 0.05]
 CHEVROLET SILVERADO 1500 2020: [1.9, 1.9, 0.112]
 CHEVROLET EQUINOX 2019: [2.0, 2.0, 0.05]
 VOLKSWAGEN PASSAT NMS: [2.5, 2.5, 0.1]
+VOLKSWAGEN SHARAN 2ND GEN: [2.5, 2.5, 0.1]
 HYUNDAI TUCSON HYBRID 4TH GEN: [2.5, 2.5, 0.0]
 
 # Dashcam or fallback configured as ideal car

selfdrive/car/volkswagen/interface.py

@@ -127,6 +127,13 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 1230 + STD_CARGO_KG
       ret.wheelbase = 2.55
 
+    elif candidate == CAR.SHARAN_MK2:
+      ret.mass = 1639 + STD_CARGO_KG
+      ret.wheelbase = 2.92
+      ret.minEnableSpeed = 30 * CV.KPH_TO_MS
+      ret.minSteerSpeed = 50 * CV.KPH_TO_MS
+      ret.steerActuatorDelay = 0.2
+
     elif candidate == CAR.TAOS_MK1:
       ret.mass = 1498 + STD_CARGO_KG
       ret.wheelbase = 2.69

selfdrive/car/volkswagen/values.py

@@ -116,6 +116,7 @@ class CAR:
   PASSAT_MK8 = "VOLKSWAGEN PASSAT 8TH GEN"          # Chassis 3G, Mk8 VW Passat and variants
   PASSAT_NMS = "VOLKSWAGEN PASSAT NMS"              # Chassis A3, North America/China/Mideast NMS Passat, incl. facelift
   POLO_MK6 = "VOLKSWAGEN POLO 6TH GEN"              # Chassis AW, Mk6 VW Polo
+  SHARAN_MK2 = "VOLKSWAGEN SHARAN 2ND GEN"          # Chassis 7N, Mk2 Volkswagen Sharan and SEAT Alhambra
   TAOS_MK1 = "VOLKSWAGEN TAOS 1ST GEN"              # Chassis B2, Mk1 VW Taos and Tharu
   TCROSS_MK1 = "VOLKSWAGEN T-CROSS 1ST GEN"         # Chassis C1, Mk1 VW T-Cross SWB and LWB variants
   TIGUAN_MK2 = "VOLKSWAGEN TIGUAN 2ND GEN"          # Chassis AD/BW, Mk2 VW Tiguan and variants
@@ -135,7 +136,7 @@ class CAR:
   SKODA_OCTAVIA_MK3 = "SKODA OCTAVIA 3RD GEN"       # Chassis NE, Mk3 Skoda Octavia and variants
 
 
-PQ_CARS = {CAR.PASSAT_NMS}
+PQ_CARS = {CAR.PASSAT_NMS, CAR.SHARAN_MK2}
 
 
 DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict("vw_mqb_2010", None))
@@ -206,6 +207,10 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
     VWCarInfo("Volkswagen Polo 2020-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
     VWCarInfo("Volkswagen Polo GTI 2020-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
   ],
+  CAR.SHARAN_MK2: [
+    VWCarInfo("Volkswagen Sharan 2018-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
+    VWCarInfo("SEAT Alhambra 2018-20", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
+  ],
   CAR.TAOS_MK1: VWCarInfo("Volkswagen Taos 2022", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
   CAR.TCROSS_MK1: VWCarInfo("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
   CAR.TIGUAN_MK2: VWCarInfo("Volkswagen Tiguan 2019-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
@@ -625,6 +630,18 @@ FW_VERSIONS = {
       b'\xf1\x872Q0907572R \xf1\x890372',
     ],
   },
+  CAR.SHARAN_MK2: {
+    # TODO: Sharan Mk2 EPS and DQ250 auto trans both require KWP2000 support for fingerprinting
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8704L906016HE\xf1\x894635',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x877N0959655D \xf1\x890016\xf1\x82\x0801100705----10--',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x877N0907572C \xf1\x890211\xf1\x82\x0153',
+    ],
+  },
   CAR.TAOS_MK1: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8704E906027NJ\xf1\x891445',