VW PQ: Volkswagen Passat NMS

opendbc

@@ -1 +1 @@
-Subproject commit 7701277d2666119bc7fcaca9f8cfefd50cd5b071
+Subproject commit f107e767bda05b2101c88275646fffe33ad6dec0

release/files_common

@@ -511,6 +511,7 @@ opendbc/toyota_nodsu_pt_generated.dbc
 opendbc/toyota_adas.dbc
 opendbc/toyota_tss2_adas.dbc
 
+opendbc/vw_golf_mk4.dbc
 opendbc/vw_mqb_2010.dbc
 
 opendbc/tesla_can.dbc

selfdrive/car/volkswagen/carcontroller.py

@@ -1,7 +1,7 @@
 from cereal import car
 from selfdrive.car import apply_std_steer_torque_limits
-from selfdrive.car.volkswagen import volkswagencan
-from selfdrive.car.volkswagen.values import DBC_FILES, CANBUS, MQB_LDW_MESSAGES, BUTTON_STATES, CarControllerParams as P
+from selfdrive.car.volkswagen import volkswagencan, pqcan
+from selfdrive.car.volkswagen.values import PQ_CARS, DBC_FILES, CANBUS, MQB_LDW_MESSAGES, BUTTON_STATES, CarControllerParams as P
 from opendbc.can.packer import CANPacker
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
@@ -11,7 +11,12 @@ class CarController():
     self.apply_steer_last = 0
     self.CP = CP
 
-    self.packer_pt = CANPacker(DBC_FILES.mqb)
+    if CP.carFingerprint in PQ_CARS:
+      self.packer_pt = CANPacker(DBC_FILES.pq)
+      self.ldw_step = P.PQ_LDW_STEP
+    else:
+      self.packer_pt = CANPacker(DBC_FILES.mqb)
+      self.ldw_step = P.MQB_LDW_STEP
 
     self.hcaSameTorqueCount = 0
     self.hcaEnabledFrameCount = 0
@@ -67,21 +72,30 @@ class CarController():
 
       self.apply_steer_last = apply_steer
       idx = (frame / P.HCA_STEP) % 16
-      can_sends.append(volkswagencan.create_mqb_steering_control(self.packer_pt, CANBUS.pt, apply_steer,
-                                                                 idx, hcaEnabled))
+      if self.CP.carFingerprint in PQ_CARS:
+        can_sends.append(pqcan.create_pq_steering_control(self.packer_pt, CANBUS.pt, apply_steer, idx, hcaEnabled))
+      else:
+        can_sends.append(volkswagencan.create_mqb_steering_control(self.packer_pt, CANBUS.pt, apply_steer, idx, hcaEnabled))
 
     # **** HUD Controls ***************************************************** #
 
-    if frame % P.LDW_STEP == 0:
+    if frame % self.ldw_step == 0:
+      # FIXME: Need MQB vs PQ handling of displayed messages here
       if visual_alert in (VisualAlert.steerRequired, VisualAlert.ldw):
         hud_alert = MQB_LDW_MESSAGES["laneAssistTakeOverSilent"]
       else:
         hud_alert = MQB_LDW_MESSAGES["none"]
 
-      can_sends.append(volkswagencan.create_mqb_hud_control(self.packer_pt, CANBUS.pt, c.enabled,
-                                                            CS.out.steeringPressed, hud_alert, left_lane_visible,
-                                                            right_lane_visible, CS.ldw_stock_values,
-                                                            left_lane_depart, right_lane_depart))
+      if self.CP.carFingerprint in PQ_CARS:
+        can_sends.append(pqcan.create_pq_hud_control(self.packer_pt, CANBUS.pt, c.enabled,
+                                                              CS.out.steeringPressed, hud_alert, left_lane_visible,
+                                                              right_lane_visible, CS.ldw_stock_values,
+                                                              left_lane_depart, right_lane_depart))
+      else:
+        can_sends.append(volkswagencan.create_mqb_hud_control(self.packer_pt, CANBUS.pt, c.enabled,
+                                                              CS.out.steeringPressed, hud_alert, left_lane_visible,
+                                                              right_lane_visible, CS.ldw_stock_values,
+                                                              left_lane_depart, right_lane_depart))
 
     # **** ACC Button Controls ********************************************** #
 
@@ -105,7 +119,10 @@ class CarController():
           if self.graMsgSentCount == 0:
             self.graMsgStartFramePrev = frame
           idx = (CS.graMsgBusCounter + 1) % 16
-          can_sends.append(volkswagencan.create_mqb_acc_buttons_control(self.packer_pt, ext_bus, self.graButtonStatesToSend, CS, idx))
+          if self.CP.carFingerprint in PQ_CARS:
+            can_sends.append(pqcan.create_pq_acc_buttons_control(self.packer_pt, ext_bus, self.graButtonStatesToSend, CS, idx))
+          else:
+            can_sends.append(volkswagencan.create_mqb_acc_buttons_control(self.packer_pt, ext_bus, self.graButtonStatesToSend, CS, idx))
           self.graMsgSentCount += 1
           if self.graMsgSentCount >= P.GRA_VBP_COUNT:
             self.graButtonStatesToSend = None

selfdrive/car/volkswagen/carstate.py

@@ -4,20 +4,30 @@ from common.conversions import Conversions as CV
 from selfdrive.car.interfaces import CarStateBase
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
-from selfdrive.car.volkswagen.values import DBC_FILES, CANBUS, NetworkLocation, TransmissionType, GearShifter, BUTTON_STATES, CarControllerParams
+from selfdrive.car.volkswagen.values import PQ_CARS, DBC_FILES, CANBUS, NetworkLocation, TransmissionType, GearShifter, BUTTON_STATES, CarControllerParams
 
 class CarState(CarStateBase):
   def __init__(self, CP):
     super().__init__(CP)
-    can_define = CANDefine(DBC_FILES.mqb)
-    if CP.transmissionType == TransmissionType.automatic:
-      self.shifter_values = can_define.dv["Getriebe_11"]["GE_Fahrstufe"]
-    elif CP.transmissionType == TransmissionType.direct:
-      self.shifter_values = can_define.dv["EV_Gearshift"]["GearPosition"]
-    self.hca_status_values = can_define.dv["LH_EPS_03"]["EPS_HCA_Status"]
     self.buttonStates = BUTTON_STATES.copy()
 
+    if CP.carFingerprint in PQ_CARS:
+      can_define = CANDefine(DBC_FILES.pq)
+      self.hca_status_values = can_define.dv["Lenkhilfe_2"]["LH2_Sta_HCA"]
+      if CP.transmissionType == TransmissionType.automatic:
+        self.shifter_values = can_define.dv["Getriebe_1"]["Waehlhebelposition__Getriebe_1_"]
+    else:
+      can_define = CANDefine(DBC_FILES.mqb)
+      self.hca_status_values = can_define.dv["LH_EPS_03"]["EPS_HCA_Status"]
+      if CP.transmissionType == TransmissionType.automatic:
+        self.shifter_values = can_define.dv["Getriebe_11"]["GE_Fahrstufe"]
+      elif CP.transmissionType == TransmissionType.direct:
+        self.shifter_values = can_define.dv["EV_Gearshift"]["GearPosition"]
+
   def update(self, pt_cp, cam_cp, ext_cp, trans_type):
+    if self.CP.carFingerprint in PQ_CARS:
+      return self.update_pq(pt_cp, cam_cp, ext_cp, trans_type)
+
     ret = car.CarState.new_message()
     # Update vehicle speed and acceleration from ABS wheel speeds.
     ret.wheelSpeeds = self.get_wheel_speeds(
@@ -140,8 +150,138 @@ class CarState(CarStateBase):
 
     return ret
 
+  def update_pq(self, pt_cp, cam_cp, ext_cp, trans_type):
+    ret = car.CarState.new_message()
+    # Update vehicle speed and acceleration from ABS wheel speeds.
+    ret.wheelSpeeds = self.get_wheel_speeds(
+      pt_cp.vl["Bremse_3"]["Radgeschw__VL_4_1"],
+      pt_cp.vl["Bremse_3"]["Radgeschw__VR_4_1"],
+      pt_cp.vl["Bremse_3"]["Radgeschw__HL_4_1"],
+      pt_cp.vl["Bremse_3"]["Radgeschw__HR_4_1"],
+    )
+
+    # FIXME: Match current Panda/support NSF by getting vEgoRaw from ego speed signal
+    ret.vEgoRaw = float(np.mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr]))
+    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
+    ret.standstill = ret.vEgo < 0.1
+
+    # Update steering angle, rate, yaw rate, and driver input torque. VW send
+    # the sign/direction in a separate signal so they must be recombined.
+    ret.steeringAngleDeg = pt_cp.vl["Lenkhilfe_3"]["LH3_BLW"] * (1, -1)[int(pt_cp.vl["Lenkhilfe_3"]["LH3_BLWSign"])]
+    ret.steeringRateDeg = pt_cp.vl["Lenkwinkel_1"]["Lenkradwinkel_Geschwindigkeit"] * (1, -1)[int(pt_cp.vl["Lenkwinkel_1"]["Lenkradwinkel_Geschwindigkeit_S"])]
+    ret.steeringTorque = pt_cp.vl["Lenkhilfe_3"]["LH3_LM"] * (1, -1)[int(pt_cp.vl["Lenkhilfe_3"]["LH3_LMSign"])]
+    ret.steeringPressed = abs(ret.steeringTorque) > CarControllerParams.STEER_DRIVER_ALLOWANCE
+    ret.yawRate = pt_cp.vl["Bremse_5"]["Giergeschwindigkeit"] * (1, -1)[int(pt_cp.vl["Bremse_5"]["Vorzeichen_der_Giergeschwindigk"])] * CV.DEG_TO_RAD
+
+    # Verify EPS readiness to accept steering commands
+    hca_status = self.hca_status_values.get(pt_cp.vl["Lenkhilfe_2"]["LH2_Sta_HCA"])
+    ret.steerFaultPermanent = hca_status in ["DISABLED", "FAULT"]
+    ret.steerFaultTemporary = hca_status in ["INITIALIZING", "REJECTED"]
+
+    # Update gas, brakes, and gearshift.
+    ret.gas = pt_cp.vl["Motor_3"]["Fahrpedal_Rohsignal"] / 100.0
+    ret.gasPressed = ret.gas > 0
+    ret.brake = pt_cp.vl["Bremse_5"]["Bremsdruck"] / 250.0  # FIXME: this is pressure in Bar, not sure what OP expects
+    ret.brakePressed = bool(pt_cp.vl["Motor_2"]["Bremstestschalter"])
+    self.parkingBrakeSet = bool(pt_cp.vl["Kombi_1"]["Bremsinfo"])
+
+    # Update gear and/or clutch position data.
+    if trans_type == TransmissionType.automatic:
+      ret.gearShifter = self.parse_gear_shifter(
+        self.shifter_values.get(pt_cp.vl["Getriebe_1"]["Waehlhebelposition__Getriebe_1_"], None))
+    elif trans_type == TransmissionType.manual:
+      ret.clutchPressed = not pt_cp.vl["Motor_1"]["Kupplungsschalter"]
+      reverse_light = bool(pt_cp.vl["Gate_Komf_1"]["GK1_Rueckfahr"])
+      if reverse_light:
+        ret.gearShifter = GearShifter.reverse
+      else:
+        ret.gearShifter = GearShifter.drive
+
+    # Update door and trunk/hatch lid open status.
+    # FIXME: need to locate signals for other three doors and trunk if possible
+    ret.doorOpen = bool(pt_cp.vl["Gate_Komf_1"]["GK1_Fa_Tuerkont"])
+
+    # Update seatbelt fastened status.
+    ret.seatbeltUnlatched = not bool(pt_cp.vl["Airbag_1"]["Gurtschalter_Fahrer"])
+
+    # Consume blind-spot monitoring info/warning LED states, if available.
+    # Infostufe: BSM LED on, Warnung: BSM LED flashing
+    if self.CP.enableBsm:
+      ret.leftBlindspot = bool(ext_cp.vl["SWA_1"]["SWA_Infostufe_SWA_li"]) or bool(ext_cp.vl["SWA_1"]["SWA_Warnung_SWA_li"])
+      ret.rightBlindspot = bool(ext_cp.vl["SWA_1"]["SWA_Infostufe_SWA_re"]) or bool(ext_cp.vl["SWA_1"]["SWA_Warnung_SWA_re"])
+
+    # Consume factory LDW data relevant for factory SWA (Lane Change Assist)
+    # and capture it for forwarding to the blind spot radar controller
+    # TODO: populate this
+    self.ldw_stock_values = None
+
+    # Stock FCW is considered active if the release bit for brake-jerk warning
+    # is set. Stock AEB considered active if the partial braking or target
+    # braking release bits are set.
+    # Refer to VW Self Study Program 890253: Volkswagen Driver Assistance
+    # Systems, chapter on Front Assist with Braking: Golf Family for all MQB
+    # TODO: fix document ref and populate this
+    ret.stockFcw = False
+    ret.stockAeb = False
+
+    # Update ACC radar status.
+    accStatus = ext_cp.vl["ACC_GRA_Anziege"]["ACA_StaACC"]
+    if accStatus == 2:
+      # ACC okay and enabled, but not currently engaged
+      ret.cruiseState.available = True
+      ret.cruiseState.enabled = False
+    elif accStatus in [3, 4, 5]:
+      # ACC okay and enabled, currently engaged and regulating speed (3) or engaged with driver accelerating (4) or overrun (5)
+      # Verify against Motor_2 to keep in lockstep with Panda safety
+      ret.cruiseState.available = True
+      if pt_cp.vl["Motor_2"]["GRA_Status"] in [1, 2]:
+        ret.cruiseState.enabled = True
+      else:
+        ret.cruiseState.enabled = False
+    else:
+      # ACC okay but disabled (1), or a radar visibility or other fault/disruption (6 or 7)
+      ret.cruiseState.available = False
+      ret.cruiseState.enabled = False
+
+    # Update ACC setpoint. When the setpoint reads as 255, the driver has not
+    # yet established an ACC setpoint, so treat it as zero.
+    ret.cruiseState.speed = ext_cp.vl["ACC_GRA_Anziege"]["ACA_V_Wunsch"] * CV.KPH_TO_MS
+    if ret.cruiseState.speed > 70:  # 255 kph in m/s == no current setpoint
+      ret.cruiseState.speed = 0
+
+    # Update control button states for turn signals and ACC controls.
+    self.buttonStates["accelCruise"] = bool(pt_cp.vl["GRA_Neu"]["GRA_Up_kurz"]) or bool(pt_cp.vl["GRA_Neu"]["GRA_Up_lang"])
+    self.buttonStates["decelCruise"] = bool(pt_cp.vl["GRA_Neu"]["GRA_Down_kurz"]) or bool(pt_cp.vl["GRA_Neu"]["GRA_Down_lang"])
+    self.buttonStates["cancel"] = bool(pt_cp.vl["GRA_Neu"]["GRA_Abbrechen"])
+    self.buttonStates["setCruise"] = bool(pt_cp.vl["GRA_Neu"]["GRA_Neu_Setzen"])
+    self.buttonStates["resumeCruise"] = bool(pt_cp.vl["GRA_Neu"]["GRA_Recall"])
+    self.buttonStates["gapAdjustCruise"] = bool(pt_cp.vl["GRA_Neu"]["GRA_Zeitluecke"])
+    ret.leftBlinker = bool(pt_cp.vl["Gate_Komf_1"]["GK1_Blinker_li"])
+    ret.rightBlinker = bool(pt_cp.vl["Gate_Komf_1"]["GK1_Blinker_re"])
+
+    # Read ACC hardware button type configuration info that has to pass thru
+    # to the radar. Ends up being different for steering wheel buttons vs
+    # third stalk type controls.
+    self.graHauptschalter = pt_cp.vl["GRA_Neu"]["GRA_Hauptschalt"]
+    self.graSenderCoding = pt_cp.vl["GRA_Neu"]["GRA_Sender"]
+    self.graTypHauptschalter = False
+    self.graButtonTypeInfo = False
+    self.graTipStufe2 = False
+
+    # Pick up the GRA_ACC_01 CAN message counter so we can sync to it for
+    # later cruise-control button spamming.
+    self.graMsgBusCounter = pt_cp.vl["GRA_Neu"]["GRA_Neu_Zaehler"]
+
+    # Additional safety checks performed in CarInterface.
+    ret.espDisabled = bool(pt_cp.vl["Bremse_1"]["ESP_Passiv_getastet"])
+
+    return ret
+
   @staticmethod
   def get_can_parser(CP):
+    if CP.carFingerprint in PQ_CARS:
+      return CarState.get_can_parser_pq(CP)
+
     signals = [
       # sig_name, sig_address
       ("LWI_Lenkradwinkel", "LWI_01"),           # Absolute steering angle
@@ -226,6 +366,9 @@ class CarState(CarStateBase):
 
   @staticmethod
   def get_cam_can_parser(CP):
+    if CP.carFingerprint in PQ_CARS:
+      return CarState.get_cam_can_parser_pq(CP)
+
     signals = []
     checks = []
 
@@ -252,6 +395,101 @@ class CarState(CarStateBase):
 
     return CANParser(DBC_FILES.mqb, signals, checks, CANBUS.cam)
 
+  @staticmethod
+  def get_can_parser_pq(CP):
+    signals = [
+      # sig_name, sig_address, default
+      ("LH3_BLW", "Lenkhilfe_3"),                # Absolute steering angle
+      ("LH3_BLWSign", "Lenkhilfe_3"),            # Steering angle sign
+      ("LH3_LM", "Lenkhilfe_3"),                 # Absolute driver torque input
+      ("LH3_LMSign", "Lenkhilfe_3"),             # Driver torque input sign
+      ("LH2_Sta_HCA", "Lenkhilfe_2"),            # Steering rack HCA status
+      ("Lenkradwinkel_Geschwindigkeit", "Lenkwinkel_1"),  # Absolute steering rate
+      ("Lenkradwinkel_Geschwindigkeit_S", "Lenkwinkel_1"),  # Steering rate sign
+      ("Radgeschw__VL_4_1", "Bremse_3"),         # ABS wheel speed, front left
+      ("Radgeschw__VR_4_1", "Bremse_3"),         # ABS wheel speed, front right
+      ("Radgeschw__HL_4_1", "Bremse_3"),         # ABS wheel speed, rear left
+      ("Radgeschw__HR_4_1", "Bremse_3"),         # ABS wheel speed, rear right
+      ("Giergeschwindigkeit", "Bremse_5"),       # Absolute yaw rate
+      ("Vorzeichen_der_Giergeschwindigk", "Bremse_5"),  # Yaw rate sign
+      ("Gurtschalter_Fahrer", "Airbag_1"),       # Seatbelt status, driver
+      ("Gurtschalter_Beifahrer", "Airbag_1"),    # Seatbelt status, passenger
+      ("Bremstestschalter", "Motor_2"),          # Brake pedal pressed (brake light test switch)
+      ("Bremslichtschalter", "Motor_2"),         # Brakes applied (brake light switch)
+      ("Bremsdruck", "Bremse_5"),                # Brake pressure applied
+      ("Vorzeichen_Bremsdruck", "Bremse_5"),     # Brake pressure applied sign (???)
+      ("Fahrpedal_Rohsignal", "Motor_3"),        # Accelerator pedal value
+      ("ESP_Passiv_getastet", "Bremse_1"),       # Stability control disabled
+      ("GRA_Status", "Motor_2"),                 # ACC engagement status
+      ("GK1_Fa_Tuerkont", "Gate_Komf_1"),        # Door open, driver
+      ("GK1_Blinker_li", "Gate_Komf_1"),         # Left turn signal on
+      ("GK1_Blinker_re", "Gate_Komf_1"),         # Right turn signal on
+      ("Bremsinfo", "Kombi_1"),                  # Manual handbrake applied
+      ("GRA_Hauptschalt", "GRA_Neu"),            # ACC button, on/off
+      ("GRA_Abbrechen", "GRA_Neu"),              # ACC button, cancel
+      ("GRA_Neu_Setzen", "GRA_Neu"),             # ACC button, set
+      ("GRA_Up_lang", "GRA_Neu"),                # ACC button, increase or accel, long press
+      ("GRA_Down_lang", "GRA_Neu"),              # ACC button, decrease or decel, long press
+      ("GRA_Up_kurz", "GRA_Neu"),                # ACC button, increase or accel, short press
+      ("GRA_Down_kurz", "GRA_Neu"),              # ACC button, decrease or decel, short press
+      ("GRA_Recall", "GRA_Neu"),                 # ACC button, resume
+      ("GRA_Zeitluecke", "GRA_Neu"),             # ACC button, time gap adj
+      ("GRA_Neu_Zaehler", "GRA_Neu"),            # ACC button, time gap adj
+      ("GRA_Sender", "GRA_Neu"),                 # GRA Sender Coding
+    ]
+
+    checks = [
+      # sig_address, frequency
+      ("Bremse_1", 100),    # From J104 ABS/ESP controller
+      ("Bremse_3", 100),    # From J104 ABS/ESP controller
+      ("Lenkhilfe_3", 100),  # From J500 Steering Assist with integrated sensors
+      ("Lenkwinkel_1", 100),  # From J500 Steering Assist with integrated sensors
+      ("Motor_3", 100),     # From J623 Engine control module
+      ("Airbag_1", 50),     # From J234 Airbag control module
+      ("Bremse_5", 50),     # From J104 ABS/ESP controller
+      ("GRA_Neu", 50),      # From J??? steering wheel control buttons
+      ("Kombi_1", 50),      # From J285 Instrument cluster
+      ("Motor_2", 50),      # From J623 Engine control module
+      ("Lenkhilfe_2", 20),  # From J500 Steering Assist with integrated sensors
+      ("Gate_Komf_1", 10),  # From J533 CAN gateway
+    ]
+
+    if CP.transmissionType == TransmissionType.automatic:
+      signals += [("Waehlhebelposition__Getriebe_1_", "Getriebe_1", 0)]  # Auto trans gear selector position
+      checks += [("Getriebe_1", 100)]  # From J743 Auto transmission control module
+    elif CP.transmissionType == TransmissionType.manual:
+      signals += [("Kupplungsschalter", "Motor_1", 0),  # Clutch switch
+                  ("GK1_Rueckfahr", "Gate_Komf_1", 0)]  # Reverse light from BCM
+      checks += [("Motor_1", 100)]  # From J623 Engine control module
+
+    if CP.networkLocation == NetworkLocation.fwdCamera:
+      # Extended CAN devices other than the camera are here on CANBUS.pt
+      signals += PqExtraSignals.fwd_radar_signals
+      checks += PqExtraSignals.fwd_radar_checks
+      if CP.enableBsm:
+        signals += PqExtraSignals.bsm_radar_signals
+        checks += PqExtraSignals.bsm_radar_checks
+
+    return CANParser(DBC_FILES.pq, signals, checks, CANBUS.pt)
+
+  @staticmethod
+  def get_cam_can_parser_pq(CP):
+
+    # TODO: Populate this for NetworkLocation.fwdCamera
+    signals = []
+    checks = []
+
+    if CP.networkLocation == NetworkLocation.gateway:
+      # Radars are here on CANBUS.cam
+      signals += PqExtraSignals.fwd_radar_signals
+      checks += PqExtraSignals.fwd_radar_checks
+      if CP.enableBsm:
+        signals += PqExtraSignals.bsm_radar_signals
+        checks += PqExtraSignals.bsm_radar_checks
+
+    return CANParser(DBC_FILES.pq, signals, checks, CANBUS.cam)
+
+
 class MqbExtraSignals:
   # Additional signal and message lists for optional or bus-portable controllers
   fwd_radar_signals = [
@@ -273,3 +511,22 @@ class MqbExtraSignals:
   bsm_radar_checks = [
     ("SWA_01", 20),                                 # From J1086 Lane Change Assist
   ]
+
+class PqExtraSignals:
+  # Additional signal and message lists for optional or bus-portable controllers
+  fwd_radar_signals = [
+    ("ACA_StaACC", "ACC_GRA_Anziege", 0),           # ACC drivetrain coordinator status
+    ("ACA_V_Wunsch", "ACC_GRA_Anziege", 0),         # ACC set speed
+  ]
+  fwd_radar_checks = [
+    ("ACC_GRA_Anziege", 25),                        # From J428 ACC radar control module
+  ]
+  bsm_radar_signals = [
+    ("SWA_Infostufe_SWA_li", "SWA_1", 0),           # Blind spot object info, left
+    ("SWA_Warnung_SWA_li", "SWA_1", 0),             # Blind spot object warning, left
+    ("SWA_Infostufe_SWA_re", "SWA_1", 0),           # Blind spot object info, right
+    ("SWA_Warnung_SWA_re", "SWA_1", 0),             # Blind spot object warning, right
+  ]
+  bsm_radar_checks = [
+    ("SWA_1", 20),                                  # From J1086 Lane Change Assist
+  ]

selfdrive/car/volkswagen/interface.py

@@ -1,5 +1,6 @@
 from cereal import car
-from selfdrive.car.volkswagen.values import CAR, BUTTON_STATES, CANBUS, NetworkLocation, TransmissionType, GearShifter
+from common.conversions import Conversions as CV
+from selfdrive.car.volkswagen.values import CAR, PQ_CARS, BUTTON_STATES, CANBUS, NetworkLocation, TransmissionType, GearShifter
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 
@@ -25,7 +26,22 @@ class CarInterface(CarInterfaceBase):
     ret.carName = "volkswagen"
     ret.radarOffCan = True
 
-    if True:  # pylint: disable=using-constant-test
+    if candidate in PQ_CARS:
+      # Set global PQ35/PQ46/NMS parameters
+      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.volkswagenPq)]
+      ret.enableBsm = 0x3BA in fingerprint[0]  # SWA_1
+
+      if 0x440 in fingerprint[0]:  # Getriebe_1
+        ret.transmissionType = TransmissionType.automatic
+      else:
+        ret.transmissionType = TransmissionType.manual
+
+      if any(msg in fingerprint[1] for msg in (0x1A0, 0xAE)):  # FIXME: what are these messages
+        ret.networkLocation = NetworkLocation.gateway
+      else:
+        ret.networkLocation = NetworkLocation.fwdCamera
+
+    else:
       # Set global MQB parameters
       ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.volkswagen)]
       ret.enableBsm = 0x30F in fingerprint[0]  # SWA_01
@@ -77,6 +93,11 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 1551 + STD_CARGO_KG
       ret.wheelbase = 2.79
 
+    elif candidate == CAR.PASSAT_NMS:
+      ret.mass = 1503 + STD_CARGO_KG
+      ret.wheelbase = 2.80
+      ret.minSteerSpeed = 50 * CV.KPH_TO_MS  # FIXME: may be lower depending on model-year/EPS FW
+
     elif candidate == CAR.POLO_MK6:
       ret.mass = 1230 + STD_CARGO_KG
       ret.wheelbase = 2.55

selfdrive/car/volkswagen/pqcan.py

@@ -0,0 +1,42 @@
+def create_pq_steering_control(packer, bus, apply_steer, idx, lkas_enabled):
+  values = {
+    "HCA_Zaehler": idx,
+    "LM_Offset": abs(apply_steer),
+    "LM_OffSign": 1 if apply_steer < 0 else 0,
+    "HCA_Status": 5 if (lkas_enabled and apply_steer != 0) else 3,
+    "Vib_Freq": 16,
+  }
+
+  dat = packer.make_can_msg("HCA_1", bus, values)[2]
+  values["HCA_Checksumme"] = dat[1] ^ dat[2] ^ dat[3] ^ dat[4]
+  return packer.make_can_msg("HCA_1", bus, values)
+
+def create_pq_hud_control(packer, bus, hca_enabled, steering_pressed, hud_alert, left_lane_visible, right_lane_visible,
+                          ldw_stock_values, left_lane_depart, right_lane_depart):
+  if hca_enabled:
+    left_lane_hud = 3 if left_lane_depart else 1 + left_lane_visible
+    right_lane_hud = 3 if right_lane_depart else 1 + right_lane_visible
+  else:
+    left_lane_hud = 0
+    right_lane_hud = 0
+
+  values = {
+    "Right_Lane_Status": right_lane_hud,
+    "Left_Lane_Status": left_lane_hud,
+    "SET_ME_X1": 1,
+    "Kombi_Lamp_Orange": 1 if hca_enabled and steering_pressed else 0,
+    "Kombi_Lamp_Green": 1 if hca_enabled and not steering_pressed else 0,
+  }
+  return packer.make_can_msg("LDW_1", bus, values)
+
+def create_pq_acc_buttons_control(packer, bus, buttonStatesToSend, CS, idx):
+  values = {
+    "GRA_Neu_Zaehler": idx,
+    "GRA_Sender": CS.graSenderCoding,
+    "GRA_Abbrechen": 1 if (buttonStatesToSend["cancel"] or CS.buttonStates["cancel"]) else 0,
+    "GRA_Hauptschalt": CS.graHauptschalter,
+  }
+
+  dat = packer.make_can_msg("GRA_Neu", bus, values)[2]
+  values["GRA_Checksum"] = dat[1] ^ dat[2] ^ dat[3]
+  return packer.make_can_msg("GRA_Neu", bus, values)

selfdrive/car/volkswagen/values.py

@@ -14,9 +14,10 @@ GearShifter = car.CarState.GearShifter
 
 
 class CarControllerParams:
-  HCA_STEP = 2                   # HCA_01 message frequency 50Hz
-  LDW_STEP = 10                  # LDW_02 message frequency 10Hz
-  GRA_ACC_STEP = 3               # GRA_ACC_01 message frequency 33Hz
+  HCA_STEP = 2                   # HCA_01/HCA_1 message frequency 50Hz
+  MQB_LDW_STEP = 10              # LDW_02 message frequency 10Hz on MQB
+  PQ_LDW_STEP = 5                # LDW_1 message frequency 20Hz on PQ35/PQ46/NMS
+  GRA_ACC_STEP = 3               # GRA_ACC_01/GRA_Neu message frequency 33Hz
 
   GRA_VBP_STEP = 100             # Send ACC virtual button presses once a second
   GRA_VBP_COUNT = 16             # Send VBP messages for ~0.5s (GRA_ACC_STEP * 16)
@@ -36,11 +37,11 @@ class CANBUS:
   pt = 0
   cam = 2
 
-
 class DBC_FILES:
   mqb = "vw_mqb_2010"  # Used for all cars with MQB-style CAN messaging
+  pq = "vw_golf_mk4"  # Used for all cars with PQ-style (legacy) CAN messaging
 
-
+# FIXME: PlotJuggler will assume wrong DBC for PQ, redo this and replace current handling of CANPacker/CANDefine
 DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict(DBC_FILES.mqb, None))
 
 BUTTON_STATES = {
@@ -76,6 +77,7 @@ class CAR:
   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
+  PASSAT_NMS = "VOLKSWAGEN PASSAT NMS"              # Chassis A3, North America/China/Mideast NMS Passat, incl. facelift
   POLO_MK6 = "VOLKSWAGEN POLO 6TH GEN"              # Chassis AW, Mk6 VW Polo
   TAOS_MK1 = "VOLKSWAGEN TAOS 1ST GEN"              # Chassis B2, Mk1 VW Taos and Tharu
   TCROSS_MK1 = "VOLKSWAGEN T-CROSS 1ST GEN"         # Chassis C1, Mk1 VW T-Cross SWB and LWB variants
@@ -95,13 +97,17 @@ class CAR:
   SKODA_SUPERB_MK3 = "SKODA SUPERB 3RD GEN"         # Chassis 3V/NP, Mk3 Skoda Superb and variants
   SKODA_OCTAVIA_MK3 = "SKODA OCTAVIA 3RD GEN"       # Chassis NE, Mk3 Skoda Octavia and variants
 
+PQ_CARS = {CAR.PASSAT_NMS}
 
 class Footnote(Enum):
   KAMIQ = CarFootnote(
     "Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform.",
     Column.MODEL)
   PASSAT = CarFootnote(
-    "Not including the USA/China market Passat, which is based on the (currently) unsupported PQ35/NMS platform.",
+    "European B8 Passat on MQB platform, not including USA/China/Mideast.",
+    Column.MODEL)
+  PASSAT_NMS = CarFootnote(
+    "USA/China/Mideast NMS Passat made on the PQ46 platform, not including Europe.",
     Column.MODEL)
   VW_HARNESS = CarFootnote(
     "Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma " +
@@ -136,6 +142,7 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
     VWCarInfo("Volkswagen Jetta GLI 2021"),
   ],
   CAR.PASSAT_MK8: VWCarInfo("Volkswagen Passat 2015-18", footnotes=[Footnote.PASSAT]),
+  CAR.PASSAT_NMS: VWCarInfo("Volkswagen Passat 2017, 2021", footnotes=[Footnote.PASSAT_NMS]),
   CAR.POLO_MK6: VWCarInfo("Volkswagen Polo 2020"),
   CAR.TAOS_MK1: VWCarInfo("Volkswagen Taos 2022", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
   CAR.TCROSS_MK1: VWCarInfo("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
@@ -472,6 +479,24 @@ FW_VERSIONS = {
       b'\xf1\x875Q0907572R \xf1\x890771',
     ],
   },
+  CAR.PASSAT_NMS: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8706K906016G \xf1\x891124',
+      b'\xf1\x8706K906071BJ\xf1\x894891',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x8709G927158BD\xf1\x893121',
+      b'\xf1\x8709G927158FQ\xf1\x893745',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x87561959655  \xf1\x890210\xf1\x82\02212121111113000102011--121012--101312',
+      b'\xf1\x87561959655C \xf1\x890508\xf1\x82\02215141111121100314919--153015--304831',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x87561907567A \xf1\x890132',
+      b'\xf1\x877N0907572C \xf1\x890211\xf1\x82\00152',
+    ],
+  },
   CAR.POLO_MK6: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8704C906025H \xf1\x895177',

selfdrive/car/volkswagen/volkswagencan.py

@@ -1,6 +1,3 @@
-# CAN controls for MQB platform Volkswagen, Audi, Skoda and SEAT.
-# PQ35/PQ46/NMS, and any future MLB, to come later.
-
 def create_mqb_steering_control(packer, bus, apply_steer, idx, lkas_enabled):
   values = {
     "SET_ME_0X3": 0x3,