From 6d9702f5bb20a4aa8cbea8e6eedf46b37e40918c Mon Sep 17 00:00:00 2001
From: Jason Young <46612682+jyoung8607@users.noreply.github.com>
Date: Mon, 7 Jun 2021 04:34:22 -0400
Subject: [PATCH] VW MQB: Audi Q2 Mk1 (#21165)

* Add 2018 Audi Q2 (breckler)

* Update README

* Add test route

* Summarized autogratitude

* Revert "Summarized autogratitude"

This reverts commit e308e2afc1f4020528e1643f5da4976715a366da.
old-commit-hash: db83cd7f844e225f2b79d6a4e81c877351ffc135
---
 README.md                             |  1 +
 selfdrive/car/volkswagen/interface.py |  5 +++++
 selfdrive/car/volkswagen/values.py    | 19 +++++++++++++++++++
 selfdrive/test/test_routes.py         |  1 +
 4 files changed, 26 insertions(+)

diff --git a/README.md b/README.md
index 401d129a00..e620273dcd 100644
--- a/README.md
+++ b/README.md
@@ -137,6 +137,7 @@ Community Maintained Cars and Features
 | ----------| ------------------------------| ------------------| -----------------| -------------------| -------------|
 | Audi      | A3 2014-18                    | Prestige          | Stock            | 0mph               | 0mph         |
 | Audi      | A3 Sportback e-tron 2017-18   | Prestige          | Stock            | 0mph               | 0mph         |
+| Audi      | Q2 2018                       | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Buick     | Regal 2018<sup>1</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
 | Cadillac  | ATS 2018<sup>1</sup>          | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
 | Chevrolet | Malibu 2017<sup>1</sup>       | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py
index c76c368bc8..55401af0fc 100644
--- a/selfdrive/car/volkswagen/interface.py
+++ b/selfdrive/car/volkswagen/interface.py
@@ -87,6 +87,11 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 1335 + STD_CARGO_KG
       ret.wheelbase = 2.61
 
+    elif candidate == CAR.AUDI_Q2_MK1:
+      # Averages of all GA Q2 variants
+      ret.mass = 1205 + STD_CARGO_KG
+      ret.wheelbase = 2.61
+
     elif candidate == CAR.SEAT_ATECA_MK1:
       # Averages of all 5F Ateca variants
       ret.mass = 1900 + STD_CARGO_KG
diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index db899e0cac..fcbf56ac12 100644
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -62,6 +62,7 @@ class CAR:
   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
   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)
   SEAT_ATECA_MK1 = "SEAT ATECA 1ST GEN"       # Chassis 5F, Mk1 SEAT Ateca and CUPRA Ateca
   SEAT_LEON_MK3 = "SEAT LEON 3RD GEN"         # Chassis 5F, Mk3 SEAT Leon and variants
   SKODA_KODIAQ_MK1 = "SKODA KODIAQ 1ST GEN"   # Chassis NS, Mk1 Skoda Kodiaq
@@ -322,6 +323,23 @@ FW_VERSIONS = {
       b'\xf1\x875Q0907572H \xf1\x890620',
     ],
   },
+  CAR.AUDI_Q2_MK1: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8704E906027JT\xf1\x894145',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x870CW300041F \xf1\x891006',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x875Q0959655BD\xf1\x890336\xf1\x82\x1311111111111100311211011231129321312111',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571F60511A1',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x872Q0907572M \xf1\x890233',
+    ],
+  },
   CAR.SEAT_ATECA_MK1: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8704E906027KA\xf1\x893749',
@@ -464,6 +482,7 @@ DBC = {
   CAR.PASSAT_MK8: dbc_dict('vw_mqb_2010', None),
   CAR.TIGUAN_MK2: dbc_dict('vw_mqb_2010', None),
   CAR.AUDI_A3_MK3: dbc_dict('vw_mqb_2010', None),
+  CAR.AUDI_Q2_MK1: dbc_dict('vw_mqb_2010', None),
   CAR.SEAT_ATECA_MK1: dbc_dict('vw_mqb_2010', None),
   CAR.SEAT_LEON_MK3: dbc_dict('vw_mqb_2010', None),
   CAR.SKODA_KODIAQ_MK1: dbc_dict('vw_mqb_2010', None),
diff --git a/selfdrive/test/test_routes.py b/selfdrive/test/test_routes.py
index bc319409d0..60b1bf2bae 100755
--- a/selfdrive/test/test_routes.py
+++ b/selfdrive/test/test_routes.py
@@ -131,6 +131,7 @@ routes = [
   TestRoute("4d134e099430fba2|2021-03-26--00-26-06", VOLKSWAGEN.PASSAT_MK8),
   TestRoute("2cef8a0b898f331a|2021-03-25--20-13-57", VOLKSWAGEN.TIGUAN_MK2),
   TestRoute("07667b885add75fd|2021-01-23--19-48-42", VOLKSWAGEN.AUDI_A3_MK3),
+  TestRoute("6c6b466346192818|2021-06-06--14-17-47", VOLKSWAGEN.AUDI_Q2_MK1),
   TestRoute("8f205bdd11bcbb65|2021-03-26--01-00-17", VOLKSWAGEN.SEAT_ATECA_MK1),
   TestRoute("fc6b6c9a3471c846|2021-05-27--13-39-56", VOLKSWAGEN.SEAT_LEON_MK3),
   TestRoute("90434ff5d7c8d603|2021-03-15--12-07-31", VOLKSWAGEN.SKODA_KODIAQ_MK1),