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

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* 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
commatwo_master
Jason Young 4 years ago committed by GitHub
parent bc1882e3fb
commit b70c64d0d4
5 changed files with 42 additions and 17 deletions
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  1. 1
      RELEASES.md
  2. 1
      docs/CARS.md
  3. 4
      selfdrive/car/volkswagen/interface.py
  4. 52
      selfdrive/car/volkswagen/values.py
  5. 1
      selfdrive/test/test_routes.py

1
RELEASES.md
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@ -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)
========================

1
docs/CARS.md
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@ -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 |

4
selfdrive/car/volkswagen/interface.py
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@ -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

52
selfdrive/car/volkswagen/values.py
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@ -65,23 +65,24 @@ MQB_LDW_MESSAGES = {
# Exception: SEAT Leon and SEAT Ateca share a chassis code
class CAR:
ATLAS_MK1 = "VOLKSWAGEN ATLAS 1ST GEN" # Chassis CA, Mk1 VW Atlas and Atlas Cross Sport
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
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
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
SEAT_LEON_MK3 = "SEAT LEON 3RD GEN" # Chassis 5F, Mk3 SEAT Leon and variants
SKODA_KAMIQ_MK1 = "SKODA KAMIQ 1ST GEN" # Chassis NW, Mk1 Skoda Kamiq
SKODA_KAROQ_MK1 = "SKODA KAROQ 1ST GEN" # Chassis NU, Mk1 Skoda Karoq
SKODA_KODIAQ_MK1 = "SKODA KODIAQ 1ST GEN" # Chassis NS, Mk1 Skoda Kodiaq
SKODA_SCALA_MK1 = "SKODA SCALA 1ST GEN" # Chassis NW, Mk1 Skoda Scala and Skoda Kamiq
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
ATLAS_MK1 = "VOLKSWAGEN ATLAS 1ST GEN" # Chassis CA, Mk1 VW Atlas and Atlas Cross Sport
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
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
SEAT_LEON_MK3 = "SEAT LEON 3RD GEN" # Chassis 5F, Mk3 SEAT Leon and variants
SKODA_KAMIQ_MK1 = "SKODA KAMIQ 1ST GEN" # Chassis NW, Mk1 Skoda Kamiq
SKODA_KAROQ_MK1 = "SKODA KAROQ 1ST GEN" # Chassis NU, Mk1 Skoda Karoq
SKODA_KODIAQ_MK1 = "SKODA KODIAQ 1ST GEN" # Chassis NS, Mk1 Skoda Kodiaq
SKODA_SCALA_MK1 = "SKODA SCALA 1ST GEN" # Chassis NW, Mk1 Skoda Scala and Skoda Kamiq
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
# All supported cars should return FW from the engine, srs, eps, and fwdRadar. Cars
# with a manual trans won't return transmission firmware, but all other cars will.
@ -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',

1
selfdrive/test/test_routes.py
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@ -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),

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