VW MQB: Update to Volkswagen Golf Mk7 (#20498)

* Import all Golf FW values, update naming

* Update test reference drive

* Update supported years and models

* Sort and dedupe Golf SRS and fwdRadar FW

* Add 2016 Golf SportsVan (Calle), sort FW values

* Expand README to include all Golf variants

* Alphabetize README

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 2016-17<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 />

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]:
+    if candidate == CAR.GOLF_MK7:
-      # Temporarily carry forward old tuning values while we test vehicle identification
+      # Averages of all AU Golf variants
-      ret.mass = 1500 + STD_CARGO_KG
+      ret.mass = 1397 + STD_CARGO_KG
-      ret.wheelbase = 2.64
+      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

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),

selfdrive/test/test_car_models.py

@@ -437,8 +437,8 @@ routes = {
     'enableCamera': True,
     'enableDsu': False,
   },
-  "76b83eb0245de90e|2019-10-20--15-42-29": {
+  "cae14e88932eb364|2021-03-26--14-43-28": {
-    'carFingerprint': VOLKSWAGEN.GOLF,
+    'carFingerprint': VOLKSWAGEN.GOLF_MK7,
     'enableCamera': True,
   },
   "58a7d3b707987d65|2021-03-25--17-26-37": {