VW MNB: Volkswagen Crafter Mk2 (#26006)

* VW MNB: Volkswagen Crafter Mk2

* Crafter has a min steer speed :(

* add to non_tested_cars for now

* autogratitude

* Revert "autogratitude"

This reverts commit 8f19085bfa.

* autogratitude

* regen docs

RELEASES.md

@@ -8,6 +8,7 @@ Version 0.9.1 (2022-12-XX)
 * Hyundai Tucson 2022-23 support
 * Kia Sorento 2022-23 support thanks to sunnyhaibin!
 * Kia Sorento Plug-in Hybrid 2022 support thanks to sunnyhaibin!
+* Volkswagen Crafter and MAN TGE 2017-23 support thanks to jyoung8607!
 
 Version 0.9.0 (2022-11-21)
 ========================

docs/CARS.md

@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system.
 
-# 224 Supported Cars
+# 229 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -135,6 +135,8 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2017-19">Toyota</a>||
 |Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2020-21">Toyota</a>||
 |Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=UX Hybrid 2019-22">Toyota</a>||
+|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=MAN&model=eTGE 2020-23">J533</a>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=MAN&model=TGE 2017-23">J533</a>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Mazda&model=CX-5 2022-23">Mazda</a>||
 |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Mazda&model=CX-9 2021-23">Mazda</a>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Altima 2019-20">Nissan B</a>||
@@ -209,6 +211,8 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=California 2021">J533</a>||
 |Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Caravelle 2020">J533</a>||
 |Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=CC 2018-22">J533</a>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Crafter 2017-23">J533</a>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=e-Crafter 2018-23">J533</a>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=e-Golf 2014-20">J533</a>||
 |Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf 2015-20">J533</a>||
 |Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf Alltrack 2015-19">J533</a>||
@@ -217,6 +221,7 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTI 2015-21">J533</a>||
 |Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf R 2015-19">J533</a>||
 |Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf SportsVan 2015-20">J533</a>||
+|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Grand California 2019-23">J533</a>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Jetta 2018-22">J533</a>||
 |Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Jetta GLI 2021-22">J533</a>||
 |Volkswagen|Passat 2015-22[<sup>8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat 2015-22">J533</a>||

selfdrive/car/tests/routes.py

@@ -26,6 +26,7 @@ non_tested_cars = [
   HYUNDAI.GENESIS_G90,
   HYUNDAI.KIA_OPTIMA_H,
   HONDA.ODYSSEY_CHN,
+  VOLKSWAGEN.CRAFTER_MK2,  # need a route from an ACC-equipped Crafter
 ]
 
 CarTestRoute = namedtuple('CarTestRoute', ['route', 'car_model', 'segment'], defaults=(None,))

selfdrive/car/torque_data/substitute.yaml

@@ -59,6 +59,7 @@ SKODA SCALA 1ST GEN: SKODA SUPERB 3RD GEN
 SKODA KODIAQ 1ST GEN: SKODA SUPERB 3RD GEN
 SKODA KAROQ 1ST GEN: SKODA SUPERB 3RD GEN
 SKODA KAMIQ 1ST GEN: SKODA SUPERB 3RD GEN
+VOLKSWAGEN CRAFTER 2ND GEN: VOLKSWAGEN TIGUAN 2ND GEN
 VOLKSWAGEN T-ROC 1ST GEN: VOLKSWAGEN TIGUAN 2ND GEN
 VOLKSWAGEN T-CROSS 1ST GEN: VOLKSWAGEN TIGUAN 2ND GEN
 VOLKSWAGEN TOURAN 2ND GEN: VOLKSWAGEN TIGUAN 2ND GEN

selfdrive/car/volkswagen/interface.py

@@ -107,6 +107,11 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 2011 + STD_CARGO_KG
       ret.wheelbase = 2.98
 
+    elif candidate == CAR.CRAFTER_MK2:
+      ret.mass = 2100 + STD_CARGO_KG
+      ret.wheelbase = 3.64  # SWB, LWB is 4.49, TBD how to detect difference
+      ret.minSteerSpeed = 50 * CV.KPH_TO_MS
+
     elif candidate == CAR.GOLF_MK7:
       ret.mass = 1397 + STD_CARGO_KG
       ret.wheelbase = 2.62

selfdrive/car/volkswagen/values.py

@@ -111,6 +111,7 @@ class CANBUS:
 class CAR:
   ARTEON_MK1 = "VOLKSWAGEN ARTEON 1ST GEN"          # Chassis AN, Mk1 VW Arteon and variants
   ATLAS_MK1 = "VOLKSWAGEN ATLAS 1ST GEN"            # Chassis CA, Mk1 VW Atlas and Atlas Cross Sport
+  CRAFTER_MK2 = "VOLKSWAGEN CRAFTER 2ND GEN"        # Chassis SY/SZ, Mk2 VW Crafter, VW Grand California, MAN TGE
   GOLF_MK7 = "VOLKSWAGEN GOLF 7TH GEN"              # Chassis 5G/AU/BA/BE, Mk7 VW Golf and variants
   JETTA_MK7 = "VOLKSWAGEN JETTA 7TH GEN"            # Chassis BU, Mk7 VW Jetta
   PASSAT_MK8 = "VOLKSWAGEN PASSAT 8TH GEN"          # Chassis 3G, Mk8 VW Passat and variants
@@ -122,7 +123,7 @@ class CAR:
   TIGUAN_MK2 = "VOLKSWAGEN TIGUAN 2ND GEN"          # Chassis AD/BW, Mk2 VW Tiguan and variants
   TOURAN_MK2 = "VOLKSWAGEN TOURAN 2ND GEN"          # Chassis 1T, Mk2 VW Touran and variants
   TRANSPORTER_T61 = "VOLKSWAGEN TRANSPORTER T6.1"   # Chassis 7H/7L, T6-facelift Transporter/Multivan/Caravelle/California
-  TROC_MK1 = "VOLKSWAGEN T-ROC 1ST GEN"             # Chassis A1, Mk1 VW VW T-Roc and variants
+  TROC_MK1 = "VOLKSWAGEN T-ROC 1ST GEN"             # Chassis A1, Mk1 VW T-Roc and variants
   AUDI_A3_MK3 = "AUDI A3 3RD GEN"                   # Chassis 8V/FF, Mk3 Audi A3 and variants
   AUDI_Q2_MK1 = "AUDI Q2 1ST GEN"                   # Chassis GA, Mk1 Audi Q2 (RoW) and Q2L (China only)
   AUDI_Q3_MK2 = "AUDI Q3 2ND GEN"                   # Chassis 8U/F3/FS, Mk2 Audi Q3 and variants
@@ -184,6 +185,13 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
     VWCarInfo("Volkswagen Teramont Cross Sport 2021-22"),
     VWCarInfo("Volkswagen Teramont X 2021-22"),
   ],
+  CAR.CRAFTER_MK2: [
+    VWCarInfo("Volkswagen Crafter 2017-23", video_link="https://youtu.be/4100gLeabmo"),
+    VWCarInfo("Volkswagen e-Crafter 2018-23", video_link="https://youtu.be/4100gLeabmo"),
+    VWCarInfo("Volkswagen Grand California 2019-23", video_link="https://youtu.be/4100gLeabmo"),
+    VWCarInfo("MAN TGE 2017-23", video_link="https://youtu.be/4100gLeabmo"),
+    VWCarInfo("MAN eTGE 2020-23", video_link="https://youtu.be/4100gLeabmo"),
+  ],
   CAR.GOLF_MK7: [
     VWCarInfo("Volkswagen e-Golf 2014-20"),
     VWCarInfo("Volkswagen Golf 2015-20"),
@@ -352,6 +360,23 @@ FW_VERSIONS = {
       b'\xf1\x875Q0907572P \xf1\x890682',
     ],
   },
+  CAR.CRAFTER_MK2: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8704L906056EK\xf1\x896391',
+    ],
+    # Only current upstreamed vehicle has a manual transmission
+    #(Ecu.transmission, 0x7e1, None): [
+    #],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x873Q0959655BG\xf1\x890703\xf1\x82\x0e16120016130012051G1313052900',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x872N0909143E \xf1\x897021\xf1\x82\x05163AZ306A2',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x872Q0907572M \xf1\x890233',
+    ],
+  },
   CAR.GOLF_MK7: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8704E906016A \xf1\x897697',