diff --git a/RELEASES.md b/RELEASES.md index 1b5ef8f7a7..ddb4a036b0 100644 --- a/RELEASES.md +++ b/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) ======================== diff --git a/docs/CARS.md b/docs/CARS.md index 390d2bf349..3a102795c4 100644 --- a/docs/CARS.md +++ b/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[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| |Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| |Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| +|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| +|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| |Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Mazda|| |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Mazda|| |Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan B|| @@ -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[1,9](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| |Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| |Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| +|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| +|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| |Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| |Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| |Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| @@ -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[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| |Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| |Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| +|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| |Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| |Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| |Volkswagen|Passat 2015-22[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index d1b73afcf6..bcdb00fd60 100644 --- a/selfdrive/car/tests/routes.py +++ b/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,)) diff --git a/selfdrive/car/torque_data/substitute.yaml b/selfdrive/car/torque_data/substitute.yaml index aeb2e6f280..56057dfae0 100644 --- a/selfdrive/car/torque_data/substitute.yaml +++ b/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 diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py index da0ce25afa..b979a96d70 100644 --- a/selfdrive/car/volkswagen/interface.py +++ b/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 diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 5f0913e880..9f6dee2689 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/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',