VW MQB: Volkswagen Passat Mk8 (#20493)

* Add VW Passat

* Add Passat legacy FP

Co-authored-by: Willem Melching <willem.melching@gmail.com>

README.md

@@ -177,10 +177,12 @@ Community Maintained Cars and Features
 | Subaru    | Forester 2019-20              | EyeSight          | Stock            | 0mph               | 0mph         |
 | Subaru    | Impreza 2017-19               | EyeSight          | Stock            | 0mph               | 0mph         |
 | Volkswagen| Jetta 2018-21                 | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Passat 2016-17<sup>2</sup>    | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Volkswagen| Golf 2015-19                  | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Volkswagen| Tiguan 2020                   | Driver Assistance | Stock            | 0mph               | 0mph         |
 
 <sup>1</sup>Requires an [OBD-II car harness](https://comma.ai/shop/products/comma-car-harness) and [community built ASCM harness](https://github.com/commaai/openpilot/wiki/GM#hardware). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).*** <br />
+<sup>2</sup>Only includes the MQB Passat sold outside of North America. The NMS Passat made in Chattanooga TN is not yet supported.
 
 Although it's not upstream, there's a community of people getting openpilot to run on Tesla's [here](https://tinkla.us/)
 

selfdrive/car/volkswagen/interface.py

@@ -67,6 +67,11 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 1328 + STD_CARGO_KG
       ret.wheelbase = 2.71
 
+    elif candidate == CAR.PASSAT_MK8:
+      # Averages of all 3C Passat variants
+      ret.mass = 1551 + STD_CARGO_KG
+      ret.wheelbase = 2.79
+
     elif candidate == CAR.TIGUAN_MK2:
       # Average of SWB and LWB variants
       ret.mass = 1715 + STD_CARGO_KG

selfdrive/car/volkswagen/values.py

@@ -57,6 +57,7 @@ MQB_LDW_MESSAGES = {
 class CAR:
   GOLF = "VOLKSWAGEN GOLF"                    # Chassis 5G/AU/BA/BE, Mk7 VW Golf and variants
   JETTA_MK7 = "VOLKSWAGEN JETTA 7TH GEN"      # Chassis BU, Mk7 Jetta
+  PASSAT_MK8 = "VOLKSWAGEN PASSAT 8TH GEN"    # Chassis 3G, Mk8 Passat and variants
   TIGUAN_MK2 = "VOLKSWAGEN TIGUAN 2ND GEN"    # Chassis AD/BW, Mk2 VW Tiguan and variants
   SEAT_ATECA_MK1 = "SEAT ATECA 1ST GEN"       # Chassis 5F, Mk1 SEAT Ateca and CUPRA Ateca
   SKODA_KODIAQ_MK1 = "SKODA KODIAQ 1ST GEN"   # Chassis NS, Mk1 Skoda Kodiaq
@@ -70,6 +71,9 @@ FINGERPRINTS = {
   CAR.JETTA_MK7: [{
     64: 8, 134: 8, 159: 8, 173: 8, 178: 8, 253: 8, 257: 8, 260: 8, 262: 8, 264: 8, 278: 8, 279: 8, 283: 8, 286: 8, 288: 8, 289: 8, 290: 8, 294: 8, 299: 8, 302: 8, 346: 8, 376: 8, 418: 8, 427: 8, 679: 8, 681: 8, 695: 8, 779: 8, 780: 8, 783: 8, 792: 8, 795: 8, 804: 8, 806: 8, 807: 8, 808: 8, 809: 8, 828: 8, 870: 8, 879: 8, 884: 8, 888: 8, 891: 8, 901: 8, 913: 8, 919: 8, 949: 8, 958: 8, 960: 4, 981: 8, 987: 8, 988: 8, 991: 8, 997: 8, 1000: 8, 1019: 8, 1122: 8, 1123: 8, 1124: 8, 1153: 8, 1156: 8, 1157: 8, 1158: 8, 1162: 8, 1312: 8, 1343: 8, 1385: 8, 1413: 8, 1440: 5, 1471: 4, 1514: 8, 1515: 8, 1520: 8, 1600: 8, 1601: 8, 1603: 8, 1605: 8, 1624: 8, 1626: 8, 1629: 8, 1631: 8, 1635: 8, 1646: 8, 1648: 8, 1712: 6, 1714: 8, 1716: 8, 1717: 8, 1719: 8, 1720: 8
   }],
+  CAR.PASSAT_MK8: [{
+    64: 8, 134: 8, 159: 8, 173: 8, 178: 8, 253: 8, 257: 8, 260: 8, 262: 8, 264: 8, 278: 8, 279: 8, 283: 8, 286: 8, 288: 8, 289: 8, 290: 8, 294: 8, 295: 8, 299: 8, 302: 8, 346: 8, 385: 8, 391: 8, 427: 8, 668: 8, 679: 8, 681: 8, 695: 8, 779: 8, 780: 8, 783: 8, 787: 8, 788: 8, 789: 8, 791: 8, 792: 8, 799: 8, 802: 8, 804: 8, 806: 8, 807: 8, 808: 8, 809: 8, 828: 8, 838: 8, 839: 8, 840: 8, 841: 8, 842: 8, 843: 8, 844: 8, 845: 8, 870: 8, 896: 8, 897: 8, 898: 8, 901: 8, 917: 8, 919: 8, 927: 8, 949: 8, 958: 8, 960: 4, 981: 8, 987: 8, 988: 8, 991: 8, 997: 8, 1000: 8, 1019: 8, 1120: 8, 1122: 8, 1123: 8, 1124: 8, 1153: 8, 1162: 8, 1175: 8, 1312: 8, 1385: 8, 1413: 8, 1438: 8, 1440: 5, 1461: 8, 1514: 8, 1515: 8, 1520: 8, 1529: 8, 1600: 8, 1601: 8, 1603: 8, 1624: 8, 1629: 8, 1631: 8, 1646: 8, 1648: 8, 1712: 6, 1714: 8, 1716: 8, 1717: 8, 1719: 8, 1720: 8, 1721: 8
+  }],
   CAR.TIGUAN_MK2: [{
     64: 8, 134: 8, 159: 8, 173: 8, 178: 8, 253: 8, 257: 8, 260: 8, 262: 8, 278: 8, 279: 8, 283: 8, 286: 8, 288: 8, 289: 8, 290: 8, 294: 8, 299: 8, 302: 8, 346: 8, 376: 8, 418: 8, 427: 8, 573: 8, 679: 8, 681: 8, 684: 8, 695: 8, 779: 8, 780: 8, 783: 8, 787: 8, 788: 8, 789: 8, 792: 8, 795: 8, 804: 8, 806: 8, 807: 8, 808: 8, 809: 8, 828: 8, 870: 8, 879: 8, 884: 8, 888: 8, 891: 8, 896: 8, 897: 8, 898: 8, 901: 8, 913: 8, 917: 8, 919: 8, 949: 8, 958: 8, 960: 4, 981: 8, 987: 8, 988: 8, 991: 8, 997: 8, 1000: 8, 1019: 8, 1122: 8, 1123: 8, 1124: 8, 1153: 8, 1156: 8, 1157: 8, 1158: 8, 1162: 8, 1175: 8, 1312: 8, 1343: 8, 1385: 8, 1413: 8, 1440: 5, 1471: 4, 1514: 8, 1515: 8, 1520: 8, 1600: 8, 1601: 8, 1603: 8, 1605: 8, 1624: 8, 1626: 8, 1629: 8, 1631: 8, 1635: 8, 1646: 8, 1648: 8, 1712: 6, 1714: 8, 1716: 8, 1717: 8, 1719: 8, 1720: 8, 1721: 8
   }],
@@ -87,7 +91,7 @@ FINGERPRINTS = {
   }],
 }
 
-IGNORED_FINGERPRINTS = [CAR.JETTA_MK7, CAR.TIGUAN_MK2, CAR.SEAT_ATECA_MK1, CAR.SKODA_KODIAQ_MK1, CAR.SKODA_SCALA_MK1]
+IGNORED_FINGERPRINTS = [CAR.JETTA_MK7, CAR.PASSAT_MK8, CAR.TIGUAN_MK2, CAR.SEAT_ATECA_MK1, CAR.SKODA_KODIAQ_MK1, CAR.SKODA_SCALA_MK1]
 
 FW_VERSIONS = {
   CAR.AUDI_A3: {
@@ -152,6 +156,28 @@ FW_VERSIONS = {
       b'\xf1\x875Q0907572R \xf1\x890771',
     ],
   },
+  CAR.PASSAT_MK8: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8704E906023AH\xf1\x893379',
+      b'\xf1\x8704L906026GA\xf1\x892013',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x870DD300045T \xf1\x891601',
+      b'\xf1\x870D9300014L \xf1\x895002',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\02315120011111200631145171716121691132111',
+      b'\xf1\x873Q0959655AN\xf1\x890306\xf1\x82\r58160058140013036914110311',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522B0080803',
+      b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\00521B00703A1',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x875Q0907572R \xf1\x890771',
+      b'\xf1\x873Q0907572C \xf1\x890195',
+    ],
+  },
   CAR.TIGUAN_MK2: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8783A907115B \xf1\x890005',
@@ -228,6 +254,7 @@ FW_VERSIONS = {
 DBC = {
   CAR.GOLF: dbc_dict('vw_mqb_2010', None),
   CAR.JETTA_MK7: dbc_dict('vw_mqb_2010', None),
+  CAR.PASSAT_MK8: dbc_dict('vw_mqb_2010', None),
   CAR.TIGUAN_MK2: dbc_dict('vw_mqb_2010', None),
   CAR.AUDI_A3: dbc_dict('vw_mqb_2010', None),
   CAR.SEAT_ATECA_MK1: dbc_dict('vw_mqb_2010', None),

selfdrive/test/test_car_models.py

@@ -445,6 +445,10 @@ routes = {
     'carFingerprint': VOLKSWAGEN.JETTA_MK7,
     'enableCamera': True,
   },
+  "4d134e099430fba2|2021-03-26--00-26-06": {
+    'carFingerprint': VOLKSWAGEN.PASSAT_MK8,
+    'enableCamera': True,
+  },
   "2cef8a0b898f331a|2021-03-25--20-13-57": {
     'carFingerprint': VOLKSWAGEN.TIGUAN_MK2,
     'enableCamera': True,