VW MQB: Volkswagen Atlas Mk1 (#20881)

* Add support for VW Atlas

* Add test route for VW Atlas

* Add Atlas to README

README.md

@@ -179,6 +179,7 @@ Community Maintained Cars and Features
 | Subaru    | Crosstrek 2018-19             | EyeSight          | Stock            | 0mph               | 0mph         |
 | 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| e-Golf 2014, 2019-20          | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Volkswagen| Golf 2015-19                  | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Volkswagen| Golf GTE 2016                 | Driver Assistance | Stock            | 0mph               | 0mph         |

selfdrive/car/volkswagen/interface.py

@@ -57,7 +57,12 @@ class CarInterface(CarInterfaceBase):
 
     # Per-chassis tuning values, override tuning defaults here if desired
 
-    if candidate == CAR.GOLF_MK7:
+    if candidate == CAR.ATLAS_MK1:
+      # Averages of all CA Atlas variants
+      ret.mass = 2011 + STD_CARGO_KG
+      ret.wheelbase = 2.98
+
+    elif candidate == CAR.GOLF_MK7:
       # Averages of all AU Golf variants
       ret.mass = 1397 + STD_CARGO_KG
       ret.wheelbase = 2.62

selfdrive/car/volkswagen/values.py

@@ -55,6 +55,7 @@ MQB_LDW_MESSAGES = {
 # FW_VERSIONS for that existing CAR.
 
 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
@@ -66,6 +67,9 @@ class CAR:
   SKODA_SUPERB_MK3 = "SKODA SUPERB 3RD GEN"   # Chassis 3V/NP, Mk3 Skoda Superb and variants
 
 FINGERPRINTS = {
+  CAR.ATLAS_MK1: [{
+    64: 8, 134: 8, 159: 8, 173: 8, 178: 8, 253: 8, 257: 8, 260: 8, 262: 8, 278: 8, 279: 8, 283: 8, 286: 8, 288: 8, 289: 8, 290: 8, 294: 8, 299: 8, 302: 8, 346: 8, 418: 8, 427: 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, 1122: 8, 1123: 8, 1124: 8, 1153: 8, 1156: 8, 1157: 8, 1158: 8, 1162: 8, 1175: 8, 1312: 8, 1385: 8, 1413: 8, 1440: 5, 1471: 4, 1514: 8, 1515: 8, 1520: 8, 1600: 8, 1601: 8, 1603: 8, 1605: 8, 1624: 8, 1626: 8, 1629: 8, 1631: 8, 1635: 8, 1646: 8, 1648: 8, 1712: 6, 1714: 8, 1716: 8, 1717: 8, 1719: 8, 1720: 8, 1721: 8, 1792: 8, 1872: 8, 1879: 8, 1976: 8, 1977: 8, 1985: 8, 2015: 8
+  }],
   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
   }],
@@ -96,11 +100,28 @@ FINGERPRINTS = {
 }
 
 # All VW should be here
-IGNORED_FINGERPRINTS = [CAR.JETTA_MK7, CAR.PASSAT_MK8, CAR.TIGUAN_MK2, CAR.AUDI_A3_MK3,
+IGNORED_FINGERPRINTS = [CAR.ATLAS_MK1, CAR.GOLF_MK7, CAR.JETTA_MK7, CAR.PASSAT_MK8,
-                        CAR.SEAT_ATECA_MK1, CAR.SKODA_KODIAQ_MK1, CAR.SKODA_SCALA_MK1,
+                        CAR.TIGUAN_MK2, CAR.AUDI_A3_MK3, CAR.SEAT_ATECA_MK1,
-                        CAR.SKODA_SUPERB_MK3, CAR.GOLF_MK7]
+                        CAR.SKODA_KODIAQ_MK1, CAR.SKODA_SCALA_MK1, CAR.SKODA_SUPERB_MK3 ]
 
 FW_VERSIONS = {
+  CAR.ATLAS_MK1: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8703H906026AA\xf1\x899970',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x8709G927158DR\xf1\x893536',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x873Q0959655BN\xf1\x890713\xf1\x82\0162214152212001105141122052900',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x873QF909144B \xf1\x891582\xf1\x82\00571B60924A1',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x875Q0907572P \xf1\x890682',
+    ],
+  },
   CAR.GOLF_MK7: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8704E906016A \xf1\x897697',
@@ -378,6 +399,7 @@ FW_VERSIONS = {
 }
 
 DBC = {
+  CAR.ATLAS_MK1: 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),

selfdrive/test/test_routes.py

@@ -403,6 +403,10 @@ routes: dict = {
     'enableCamera': True,
     'enableDsu': False,
   },
+  "2c68dda277d887ac|2021-05-11--15-22-20": {
+    'carFingerprint': VOLKSWAGEN.ATLAS_MK1,
+    'enableCamera': True,
+  },
   "cae14e88932eb364|2021-03-26--14-43-28": {
     'carFingerprint': VOLKSWAGEN.GOLF_MK7,
     'enableCamera': True,