diff --git a/README.md b/README.md
index be5e9282ef..52c06169ed 100644
--- a/README.md
+++ b/README.md
@@ -177,9 +177,14 @@ Community Maintained Cars and Features
| Subaru | Crosstrek 2018-19 | EyeSight | Stock | 0mph | 0mph |
| Subaru | Forester 2019-20 | EyeSight | Stock | 0mph | 0mph |
| Subaru | Impreza 2017-19 | EyeSight | Stock | 0mph | 0mph |
+| Volkswagen| e-Golf 2014, 2020 | Driver Assistance | Stock | 0mph | 0mph |
+| Volkswagen| Golf 2015-19 | Driver Assistance | Stock | 0mph | 0mph |
+| Volkswagen| Golf GTE 2016 | Driver Assistance | Stock | 0mph | 0mph |
+| Volkswagen| Golf GTI 2018-19 | Driver Assistance | Stock | 0mph | 0mph |
+| Volkswagen| Golf R 2016-19 | Driver Assistance | Stock | 0mph | 0mph |
+| Volkswagen| Golf SportsVan 2016 | Driver Assistance | Stock | 0mph | 0mph |
| Volkswagen| Jetta 2018-21 | Driver Assistance | Stock | 0mph | 0mph |
| Volkswagen| Passat 2016-172 | Driver Assistance | Stock | 0mph | 0mph |
-| Volkswagen| Golf 2015-19 | Driver Assistance | Stock | 0mph | 0mph |
| Volkswagen| Tiguan 2020 | Driver Assistance | Stock | 0mph | 0mph |
1Requires 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).***
diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py
index 2c24a4a3d4..21721a0c02 100644
--- a/selfdrive/car/volkswagen/interface.py
+++ b/selfdrive/car/volkswagen/interface.py
@@ -57,10 +57,10 @@ class CarInterface(CarInterfaceBase):
# Per-chassis tuning values, override tuning defaults here if desired
- if candidate in [CAR.AUDI_A3, CAR.GOLF]:
- # Temporarily carry forward old tuning values while we test vehicle identification
- ret.mass = 1500 + STD_CARGO_KG
- ret.wheelbase = 2.64
+ if candidate == CAR.GOLF_MK7:
+ # Averages of all AU Golf variants
+ ret.mass = 1397 + STD_CARGO_KG
+ ret.wheelbase = 2.62
elif candidate == CAR.JETTA_MK7:
# Averages of all BU Jetta variants
@@ -77,6 +77,11 @@ class CarInterface(CarInterfaceBase):
ret.mass = 1715 + STD_CARGO_KG
ret.wheelbase = 2.74
+ elif candidate == CAR.AUDI_A3:
+ # Temporarily carry forward old tuning values while we test vehicle identification
+ ret.mass = 1500 + STD_CARGO_KG
+ ret.wheelbase = 2.64
+
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 aea1e42911..8d85cb47a7 100644
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -55,7 +55,7 @@ MQB_LDW_MESSAGES = {
# FW_VERSIONS for that existing CAR.
class CAR:
- GOLF = "VOLKSWAGEN GOLF" # Chassis 5G/AU/BA/BE, Mk7 VW Golf and variants
+ 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 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
@@ -66,7 +66,7 @@ class CAR:
AUDI_A3 = "AUDI A3" # Chassis 8V/FF, Mk3 Audi A3 and variants
FINGERPRINTS = {
- CAR.GOLF: [{
+ CAR.GOLF_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, 385: 8, 418: 8, 427: 8, 668: 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, 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, 1440: 5, 1514: 8, 1515: 8, 1520: 8, 1529: 8, 1600: 8, 1601: 8, 1603: 8, 1605: 8, 1624: 8, 1626: 8, 1629: 8, 1631: 8, 1646: 8, 1648: 8, 1712: 6, 1714: 8, 1716: 8, 1717: 8, 1719: 8, 1720: 8, 1721: 8
}],
CAR.JETTA_MK7: [{
@@ -115,21 +115,76 @@ FW_VERSIONS = {
b'\xf1\x875Q0907572G \xf1\x890571',
],
},
- CAR.GOLF: {
+ CAR.GOLF_MK7: {
(Ecu.engine, 0x7e0, None): [
+ b'\xf1\x8704E906016A \xf1\x897697',
+ b'\xf1\x8704E906016AD\xf1\x895758',
+ b'\xf1\x8704E906023AG\xf1\x891726',
+ b'\xf1\x8704E906023BN\xf1\x894518',
+ b'\xf1\x8704E906027GR\xf1\x892394',
+ b'\xf1\x8704L906026NF\xf1\x899528',
+ b'\xf1\x8704L906056HE\xf1\x893758',
+ b'\xf1\x870EA906016A \xf1\x898343',
+ b'\xf1\x870EA906016S \xf1\x897207',
+ b'\xf1\x875G0906259 \xf1\x890007',
+ b'\xf1\x875G0906259J \xf1\x890002',
+ b'\xf1\x875G0906259L \xf1\x890002',
+ b'\xf1\x875G0906259Q \xf1\x890002',
b'\xf1\x878V0906259P \xf1\x890001',
+ b'\xf1\x878V0906259Q \xf1\x890002',
],
(Ecu.transmission, 0x7e1, None): [
+ b'\xf1\x870CW300045 \xf1\x894531',
+ b'\xf1\x870D9300040S \xf1\x894311',
+ b'\xf1\x870CW300047D \xf1\x895261',
+ b'\xf1\x870D9300012 \xf1\x894913',
+ b'\xf1\x870CW300042F \xf1\x891604',
+ b'\xf1\x870DD300046F \xf1\x891601',
+ b'\xf1\x870D9300020S \xf1\x895201',
b'\xf1\x870GC300012A \xf1\x891403',
+ b'\xf1\x870GC300043T \xf1\x899999',
+ b'\xf1\x870GC300020G \xf1\x892404',
+ b'\xf1\x870GC300014B \xf1\x892405',
+ b'\xf1\x870DD300045K \xf1\x891120',
],
(Ecu.srs, 0x715, None): [
- b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13271212111312--071104171838103891131211',
+ b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\023271212111312--071104171838103891131211',
+ b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13272512111312--07110417182C102C91131211',
+ b'\xf1\x875Q0959655M \xf1\x890361\xf1\x82\0211413001112120041114115121611169112',
+ b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\02324230011211200621143171724112491132111',
+ b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\02315120011211200621143171717111791132111',
+ b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1315120011211200061104171717101791132111',
+ b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\02324230011211200061104171724102491132111',
+ b'\xf1\x875Q0959655AA\xf1\x890386\xf1\x82\0211413001113120053114317121C111C9113',
+ b'\xf1\x875Q0959655AA\xf1\x890386\xf1\x82\0211413001113120043114317121C111C9113',
+ b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\0211413001113120053114317121C111C9113',
+ b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\0211413001113120043114417121411149113',
+ b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\02314160011123300314211012230229333463100',
],
(Ecu.eps, 0x712, None): [
+ b'\xf1\x873Q0909144F \xf1\x895043\xf1\x82\00561A01612A0',
+ b'\xf1\x873Q0909144H \xf1\x895061\xf1\x82\00566A0J612A1',
b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571A0JA15A1',
+ b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\00571A0JA16A1',
+ b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820519A9040203',
+ b'\xf1\x875Q0909144L \xf1\x891021\xf1\x82\00522A00402A0',
+ b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\00511A00403A0',
+ b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\00516A07A02A1',
+ b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\00521A00441A1',
+ b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521A00641A1',
+ b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521A00642A1',
+ b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521A07B05A1',
+ b'\xf1\x875QN909144A \xf1\x895081\xf1\x82\x0571A01A17A1',
],
(Ecu.fwdRadar, 0x757, None): [
+ b'\xf1\x875Q0907572A \xf1\x890141\xf1\x82\00101',
+ b'\xf1\x875Q0907572B \xf1\x890200\xf1\x82\00101',
+ b'\xf1\x875Q0907572C \xf1\x890210\xf1\x82\00101',
+ b'\xf1\x875Q0907572D \xf1\x890304\xf1\x82\00101',
+ b'\xf1\x875Q0907572F \xf1\x890400\xf1\x82\00101',
+ b'\xf1\x875Q0907572H \xf1\x890620',
b'\xf1\x875Q0907572J \xf1\x890654',
+ b'\xf1\x875Q0907572P \xf1\x890682',
],
},
CAR.JETTA_MK7: {
@@ -271,7 +326,7 @@ FW_VERSIONS = {
}
DBC = {
- CAR.GOLF: dbc_dict('vw_mqb_2010', None),
+ CAR.GOLF_MK7: 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),
diff --git a/selfdrive/test/test_car_models.py b/selfdrive/test/test_car_models.py
index 4bcc783921..8d777c52fc 100755
--- a/selfdrive/test/test_car_models.py
+++ b/selfdrive/test/test_car_models.py
@@ -437,8 +437,8 @@ routes = {
'enableCamera': True,
'enableDsu': False,
},
- "76b83eb0245de90e|2019-10-20--15-42-29": {
- 'carFingerprint': VOLKSWAGEN.GOLF,
+ "cae14e88932eb364|2021-03-26--14-43-28": {
+ 'carFingerprint': VOLKSWAGEN.GOLF_MK7,
'enableCamera': True,
},
"58a7d3b707987d65|2021-03-25--17-26-37": {