VW PQ: Volkswagen Caddy Mk3 (#31670)

selfdrive/car/tests/routes.py

@@ -229,6 +229,7 @@ routes = [
 
   CarTestRoute("202c40641158a6e5|2021-09-21--09-43-24", VOLKSWAGEN.ARTEON_MK1),
   CarTestRoute("2c68dda277d887ac|2021-05-11--15-22-20", VOLKSWAGEN.ATLAS_MK1),
+  CarTestRoute("ffcd23abbbd02219|2024-02-28--14-59-38", VOLKSWAGEN.CADDY_MK3),
   CarTestRoute("cae14e88932eb364|2021-03-26--14-43-28", VOLKSWAGEN.GOLF_MK7),  # Stock ACC
   CarTestRoute("3cfdec54aa035f3f|2022-10-13--14-58-58", VOLKSWAGEN.GOLF_MK7),  # openpilot longitudinal
   CarTestRoute("58a7d3b707987d65|2021-03-25--17-26-37", VOLKSWAGEN.JETTA_MK7),

selfdrive/car/torque_data/override.toml

@@ -43,6 +43,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "CHEVROLET SILVERADO 1500 2020" = [1.9, 1.9, 0.112]
 "CHEVROLET TRAILBLAZER 2021" = [1.33, 1.9, 0.16]
 "CHEVROLET EQUINOX 2019" = [2.5, 2.5, 0.05]
+"VOLKSWAGEN CADDY 3RD GEN" = [1.2, 1.2, 0.1]
 "VOLKSWAGEN PASSAT NMS" = [2.5, 2.5, 0.1]
 "VOLKSWAGEN SHARAN 2ND GEN" = [2.5, 2.5, 0.1]
 "HYUNDAI SANTA CRUZ 1ST GEN" = [2.7, 2.7, 0.1]

selfdrive/car/volkswagen/fingerprints.py

@@ -99,6 +99,17 @@ FW_VERSIONS = {
       b'\xf1\x875Q0907572P \xf1\x890682',
     ],
   },
+  CAR.CADDY_MK3: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8704E906027T \xf1\x892363',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x872K5959655E \xf1\x890018\xf1\x82\x05000P037605',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x877N0907572C \xf1\x890211\xf1\x82\x0155',
+    ],
+  },
   CAR.CRAFTER_MK2: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8704L906056BP\xf1\x894729',

selfdrive/car/volkswagen/values.py

@@ -198,6 +198,14 @@ class CAR(Platforms):
     ],
     VolkswagenCarSpecs(mass=2011, wheelbase=2.98),
   )
+  CADDY_MK3 = VolkswagenPQPlatformConfig(
+    "VOLKSWAGEN CADDY 3RD GEN",  # Chassis 2K
+    [
+      VWCarInfo("Volkswagen Caddy 2019"),
+      VWCarInfo("Volkswagen Caddy Maxi 2019"),
+    ],
+    VolkswagenCarSpecs(mass=1613, wheelbase=2.6, minSteerSpeed=21 * CV.KPH_TO_MS),
+  )
   CRAFTER_MK2 = VolkswagenMQBPlatformConfig(
     "VOLKSWAGEN CRAFTER 2ND GEN",  # Chassis SY/SZ
     [