VW MQB: Volkswagen Transporter/California T6.1 (#22283)

* VW MQB: Volkswagen Transporter/California T6.1

* reformat values

* update CARS

* add test route

* assume SWB for now

* Update RELEASES

* update platform comments
old-commit-hash: 869ae44ad3

RELEASES.md

@@ -2,6 +2,7 @@ Version 0.8.10 (2021-XX-XX)
 ========================
  * Škoda Kamiq 2021 support thanks to jyoung8607!
  * Škoda Karoq 2019 support thanks to jyoung8607!
+ * Volkswagen California 2021 support thanks to jyoung8607!
 
 Version 0.8.9 (2021-09-14)
 ========================

docs/CARS.md

@@ -139,6 +139,7 @@ Community Maintained Cars and Features
 | Subaru    | Forester 2019-21              | EyeSight          | Stock            | 0mph               | 0mph         |
 | Subaru    | Impreza 2017-19               | EyeSight          | Stock            | 0mph               | 0mph         |
 | Volkswagen| Atlas 2018-19                 | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| California 2021               | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Volkswagen| e-Golf 2014, 2019-20          | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Volkswagen| Golf 2015-20                  | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Volkswagen| Golf Alltrack 2017-18         | Driver Assistance | Stock            | 0mph               | 0mph         |

selfdrive/car/volkswagen/interface.py

@@ -87,6 +87,10 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 1516 + STD_CARGO_KG
       ret.wheelbase = 2.79
 
+    elif candidate == CAR.TRANSPORTER_T61:
+      ret.mass = 1926 + STD_CARGO_KG
+      ret.wheelbase = 3.00  # SWB, LWB is 3.40, TBD how to detect difference
+
     elif candidate == CAR.AUDI_A3_MK3:
       ret.mass = 1335 + STD_CARGO_KG
       ret.wheelbase = 2.61

selfdrive/car/volkswagen/values.py

@@ -72,6 +72,7 @@ class CAR:
   TCROSS_MK1 = "VOLKSWAGEN T-CROSS 1ST GEN"         # Chassis C1, Mk1 VW T-Cross SWB and LWB variants
   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
   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
@@ -375,6 +376,23 @@ FW_VERSIONS = {
       b'\xf1\x873Q0907572C \xf1\x890195',
     ],
   },
+  CAR.TRANSPORTER_T61: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8704L906057N \xf1\x890413',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x870BT300012G \xf1\x893102',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x872Q0959655AE\xf1\x890506\xf1\x82\02316170411110411--04041704161611152S1411',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x877LA909144F \xf1\x897150\xf1\x82\005323A5519A2',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x872Q0907572R \xf1\x890372',
+    ],
+  },
   CAR.AUDI_A3_MK3: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8704E906023AN\xf1\x893695',

selfdrive/test/test_routes.py

@@ -141,6 +141,7 @@ routes = [
   TestRoute("2744c89a8dda9a51|2021-07-24--21-28-06", VOLKSWAGEN.TCROSS_MK1),
   TestRoute("2cef8a0b898f331a|2021-03-25--20-13-57", VOLKSWAGEN.TIGUAN_MK2),
   TestRoute("a589dcc642fdb10a|2021-06-14--20-54-26", VOLKSWAGEN.TOURAN_MK2),
+  TestRoute("a459f4556782eba1|2021-09-19--09-48-00", VOLKSWAGEN.TRANSPORTER_T61),
   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),