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VW MQB: VW Jetta Mk7, Škoda Kodiaq Mk1 (#20487)

Browse Source 
* Add VW Tiguan (jyoung8607)

* Update README and test_processes

* Moving test route to correct place

* Moving test route to correct place

* Fix candidate expression

* Add ignored fingerprints list

* Yo dawg I heard you like fingerprints..

* Support for Jetta, Passat, Kodiaq

* Add support clarity for MQB vs NMS Passat

* Remove Passat till we get a route

* Remove fwdRadar dupe FW

* fp

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: c253554b35
commatwo_master
Jason Young 5 years ago committed by GitHub
parent 6edf67788b
commit feb4f777b9
4 changed files with 80 additions and 2 deletions
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  1. 2
      README.md
  2. 12
      selfdrive/car/volkswagen/interface.py
  3. 60
      selfdrive/car/volkswagen/values.py
  4. 8
      selfdrive/test/test_car_models.py

2
README.md
Unescape View File

@ -169,10 +169,12 @@ Community Maintained Cars and Features
| Nissan | Leaf 2018-20 | ProPILOT | Stock | 0mph | 0mph | | Nissan | Leaf 2018-20 | ProPILOT | Stock | 0mph | 0mph |
| Nissan | Rogue 2018-19 | ProPILOT | Stock | 0mph | 0mph | | Nissan | Rogue 2018-19 | ProPILOT | Stock | 0mph | 0mph |
| Nissan | X-Trail 2017 | ProPILOT | Stock | 0mph | 0mph | | Nissan | X-Trail 2017 | ProPILOT | Stock | 0mph | 0mph |
| Škoda | Kodiaq 2018 | Driver Assistance | Stock | 0mph | 0mph |
| Subaru | Ascent 2019 | EyeSight | Stock | 0mph | 0mph | | Subaru | Ascent 2019 | EyeSight | Stock | 0mph | 0mph |
| Subaru | Crosstrek 2018-19 | EyeSight | Stock | 0mph | 0mph | | Subaru | Crosstrek 2018-19 | EyeSight | Stock | 0mph | 0mph |
| Subaru | Forester 2019-20 | EyeSight | Stock | 0mph | 0mph | | Subaru | Forester 2019-20 | EyeSight | Stock | 0mph | 0mph |
| Subaru | Impreza 2017-19 | EyeSight | Stock | 0mph | 0mph | | Subaru | Impreza 2017-19 | EyeSight | Stock | 0mph | 0mph |
| Volkswagen| Jetta 2018-21 | Driver Assistance | Stock | 0mph | 0mph |
| Volkswagen| Golf 2015-19 | Driver Assistance | Stock | 0mph | 0mph | | Volkswagen| Golf 2015-19 | Driver Assistance | Stock | 0mph | 0mph |
| Volkswagen| Tiguan 2020 | Driver Assistance | Stock | 0mph | 0mph | | Volkswagen| Tiguan 2020 | Driver Assistance | Stock | 0mph | 0mph |

12
selfdrive/car/volkswagen/interface.py
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@ -62,11 +62,21 @@ class CarInterface(CarInterfaceBase):
ret.mass = 1500 + STD_CARGO_KG ret.mass = 1500 + STD_CARGO_KG
ret.wheelbase = 2.64 ret.wheelbase = 2.64
if candidate == CAR.TIGUAN_MK2: elif candidate == CAR.JETTA_MK7:
# Averages of all BU Jetta variants
ret.mass = 1328 + STD_CARGO_KG
ret.wheelbase = 2.71
elif candidate == CAR.TIGUAN_MK2:
# Average of SWB and LWB variants # Average of SWB and LWB variants
ret.mass = 1715 + STD_CARGO_KG ret.mass = 1715 + STD_CARGO_KG
ret.wheelbase = 2.74 ret.wheelbase = 2.74
elif candidate == CAR.SKODA_KODIAQ_MK1:
# Averages of all 5N Kodiaq variants
ret.mass = 1569 + STD_CARGO_KG
ret.wheelbase = 2.79
ret.centerToFront = ret.wheelbase * 0.45 ret.centerToFront = ret.wheelbase * 0.45
ret.enableCamera = True # Stock camera detection doesn't apply to VW ret.enableCamera = True # Stock camera detection doesn't apply to VW

60
selfdrive/car/volkswagen/values.py
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@ -56,22 +56,30 @@ MQB_LDW_MESSAGES = {
class CAR: class CAR:
GOLF = "VOLKSWAGEN GOLF" # Chassis 5G/AU/BA/BE, Mk7 VW Golf and variants GOLF = "VOLKSWAGEN GOLF" # Chassis 5G/AU/BA/BE, Mk7 VW Golf and variants
JETTA_MK7 = "VOLKSWAGEN JETTA 7TH GEN" # Chassis BU, Mk7 Jetta
TIGUAN_MK2 = "VOLKSWAGEN TIGUAN 2ND GEN" # Chassis AD/BW, Mk2 VW Tiguan and variants TIGUAN_MK2 = "VOLKSWAGEN TIGUAN 2ND GEN" # Chassis AD/BW, Mk2 VW Tiguan and variants
SKODA_KODIAQ_MK1 = "SKODA KODIAQ 1ST GEN" # Chassis NS, Mk1 Skoda Kodiaq
AUDI_A3 = "AUDI A3" # Chassis 8V/FF, Mk3 Audi A3 and variants AUDI_A3 = "AUDI A3" # Chassis 8V/FF, Mk3 Audi A3 and variants
FINGERPRINTS = { FINGERPRINTS = {
CAR.GOLF: [{ CAR.GOLF: [{
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 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: [{
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, 376: 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, 828: 8, 870: 8, 879: 8, 884: 8, 888: 8, 891: 8, 901: 8, 913: 8, 919: 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, 1312: 8, 1343: 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
}],
CAR.TIGUAN_MK2: [{ CAR.TIGUAN_MK2: [{
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, 376: 8, 418: 8, 427: 8, 573: 8, 679: 8, 681: 8, 684: 8, 695: 8, 779: 8, 780: 8, 783: 8, 787: 8, 788: 8, 789: 8, 792: 8, 795: 8, 804: 8, 806: 8, 807: 8, 808: 8, 809: 8, 828: 8, 870: 8, 879: 8, 884: 8, 888: 8, 891: 8, 896: 8, 897: 8, 898: 8, 901: 8, 913: 8, 917: 8, 919: 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, 1343: 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 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, 376: 8, 418: 8, 427: 8, 573: 8, 679: 8, 681: 8, 684: 8, 695: 8, 779: 8, 780: 8, 783: 8, 787: 8, 788: 8, 789: 8, 792: 8, 795: 8, 804: 8, 806: 8, 807: 8, 808: 8, 809: 8, 828: 8, 870: 8, 879: 8, 884: 8, 888: 8, 891: 8, 896: 8, 897: 8, 898: 8, 901: 8, 913: 8, 917: 8, 919: 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, 1343: 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
}], }],
CAR.AUDI_A3: [{ CAR.AUDI_A3: [{
64: 8, 134: 8, 159: 8, 173: 8, 178: 8, 253: 8, 257: 8, 260: 8, 262: 8, 278: 8, 279: 8, 283: 8, 285: 8, 286: 8, 288: 8, 289: 8, 290: 8, 294: 8, 295: 8, 299: 8, 302: 8, 346: 8, 418: 8, 427: 8, 506: 8, 679: 8, 681: 8, 695: 8, 779: 8, 780: 8, 783: 8, 787: 8, 788: 8, 789: 8, 792: 8, 802: 8, 804: 8, 806: 8, 807: 8, 808: 8, 809: 8, 846: 8, 847: 8, 870: 8, 896: 8, 897: 8, 898: 8, 901: 8, 917: 8, 919: 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, 1162: 8, 1175: 8, 1312: 8, 1385: 8, 1413: 8, 1440: 5, 1514: 8, 1515: 8, 1520: 8, 1600: 8, 1601: 8, 1603: 8, 1624: 8, 1629: 8, 1631: 8, 1646: 8, 1648: 8, 1712: 6, 1714: 8, 1716: 8, 1717: 8, 1719: 8, 1720: 8, 1721: 8, 1792: 8, 1872: 8, 1976: 8, 1977: 8, 1982: 8, 1985: 8 64: 8, 134: 8, 159: 8, 173: 8, 178: 8, 253: 8, 257: 8, 260: 8, 262: 8, 278: 8, 279: 8, 283: 8, 285: 8, 286: 8, 288: 8, 289: 8, 290: 8, 294: 8, 295: 8, 299: 8, 302: 8, 346: 8, 418: 8, 427: 8, 506: 8, 679: 8, 681: 8, 695: 8, 779: 8, 780: 8, 783: 8, 787: 8, 788: 8, 789: 8, 792: 8, 802: 8, 804: 8, 806: 8, 807: 8, 808: 8, 809: 8, 846: 8, 847: 8, 870: 8, 896: 8, 897: 8, 898: 8, 901: 8, 917: 8, 919: 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, 1162: 8, 1175: 8, 1312: 8, 1385: 8, 1413: 8, 1440: 5, 1514: 8, 1515: 8, 1520: 8, 1600: 8, 1601: 8, 1603: 8, 1624: 8, 1629: 8, 1631: 8, 1646: 8, 1648: 8, 1712: 6, 1714: 8, 1716: 8, 1717: 8, 1719: 8, 1720: 8, 1721: 8, 1792: 8, 1872: 8, 1976: 8, 1977: 8, 1982: 8, 1985: 8
}], }],
CAR.SKODA_KODIAQ_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, 385: 8, 418: 8, 427: 8, 573: 8, 668: 8, 679: 8, 681: 8, 684: 8, 695: 8, 779: 8, 780: 8, 783: 8, 787: 8, 788: 8, 789: 8, 792: 8, 795: 8, 802: 8, 804: 8, 806: 8, 807: 8, 808: 8, 809: 8, 828: 8, 870: 8, 896: 8, 897: 8, 898: 8, 901: 8, 917: 8, 919: 8, 949: 8, 958: 8, 960: 4, 981: 8, 987: 8, 988: 8, 991: 8, 997: 8, 1000: 8, 1019: 8, 1120: 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, 1792: 8, 1871: 8, 1872: 8, 1879: 8, 1909: 8, 1976: 8, 1977: 8, 1985: 8
}],
} }
IGNORED_FINGERPRINTS = [CAR.TIGUAN_MK2] IGNORED_FINGERPRINTS = [CAR.JETTA_MK7, CAR.TIGUAN_MK2, CAR.SKODA_KODIAQ_MK1]
FW_VERSIONS = { FW_VERSIONS = {
CAR.AUDI_A3: { CAR.AUDI_A3: {
@ -108,6 +116,34 @@ FW_VERSIONS = {
b'\xf1\x875Q0907572J \xf1\x890654', b'\xf1\x875Q0907572J \xf1\x890654',
], ],
}, },
CAR.JETTA_MK7: {
(Ecu.engine, 0x7e0, None): [
b'\xf1\x8704E906024B \xf1\x895594',
b'\xf1\x8704E906024L \xf1\x895595',
b'\xf1\x8704E906024AK\xf1\x899937',
b'\xf1\x875G0906259T \xf1\x890003',
],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x8709S927158R \xf1\x893552',
b'\xf1\x8709S927158R \xf1\x893587',
b'\xf1\x870GC300020N \xf1\x892803',
],
(Ecu.srs, 0x715, None): [
b'\xf1\x875Q0959655AG\xf1\x890336\xf1\x82\02314171231313500314611011630169333463100',
b'\xf1\x875Q0959655BR\xf1\x890403\xf1\x82\02311170031313300314240011150119333433100',
b'\xf1\x875Q0959655BM\xf1\x890403\xf1\x82\02314171231313500314643011650169333463100',
],
(Ecu.eps, 0x712, None): [
b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\00521A10A01A1',
b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521B00404A1',
b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\00521A10A01A1',
b'\xf1\x875QN909144B \xf1\x895082\xf1\x82\00571A10A11A1',
],
(Ecu.fwdRadar, 0x757, None): [
b'\xf1\x875Q0907572N \xf1\x890681',
b'\xf1\x875Q0907572R \xf1\x890771',
],
},
CAR.TIGUAN_MK2: { CAR.TIGUAN_MK2: {
(Ecu.engine, 0x7e0, None): [ (Ecu.engine, 0x7e0, None): [
b'\xf1\x8783A907115B \xf1\x890005', b'\xf1\x8783A907115B \xf1\x890005',
@ -125,10 +161,32 @@ FW_VERSIONS = {
b'\xf1\x872Q0907572R \xf1\x890372', b'\xf1\x872Q0907572R \xf1\x890372',
], ],
}, },
CAR.SKODA_KODIAQ_MK1: {
(Ecu.engine, 0x7e0, None): [
b'\xf1\x8704E906027DD\xf1\x893123',
b'\xf1\x875NA907115E \xf1\x890003',
],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x870D9300043 \xf1\x895202',
b'\xf1\x870DL300012M \xf1\x892107',
],
(Ecu.srs, 0x715, None): [
b'\xf1\x873Q0959655BJ\xf1\x890703\xf1\x82\0161213001211001205212111052100',
],
(Ecu.eps, 0x712, None): [
b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6050405',
b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6060405',
],
(Ecu.fwdRadar, 0x757, None): [
b'\xf1\x872Q0907572R \xf1\x890372',
],
},
} }
DBC = { DBC = {
CAR.GOLF: dbc_dict('vw_mqb_2010', None), CAR.GOLF: dbc_dict('vw_mqb_2010', None),
CAR.JETTA_MK7: dbc_dict('vw_mqb_2010', None),
CAR.TIGUAN_MK2: dbc_dict('vw_mqb_2010', None), CAR.TIGUAN_MK2: dbc_dict('vw_mqb_2010', None),
CAR.AUDI_A3: dbc_dict('vw_mqb_2010', None), CAR.AUDI_A3: dbc_dict('vw_mqb_2010', None),
CAR.SKODA_KODIAQ_MK1: dbc_dict('vw_mqb_2010', None),
} }

8
selfdrive/test/test_car_models.py
Unescape View File

@ -441,6 +441,10 @@ routes = {
'carFingerprint': VOLKSWAGEN.GOLF, 'carFingerprint': VOLKSWAGEN.GOLF,
'enableCamera': True, 'enableCamera': True,
}, },
"58a7d3b707987d65|2021-03-25--17-26-37": {
'carFingerprint': VOLKSWAGEN.JETTA_MK7,
'enableCamera': True,
},
"2cef8a0b898f331a|2021-03-25--20-13-57": { "2cef8a0b898f331a|2021-03-25--20-13-57": {
'carFingerprint': VOLKSWAGEN.TIGUAN_MK2, 'carFingerprint': VOLKSWAGEN.TIGUAN_MK2,
'enableCamera': True, 'enableCamera': True,
@ -449,6 +453,10 @@ routes = {
'carFingerprint': VOLKSWAGEN.AUDI_A3, 'carFingerprint': VOLKSWAGEN.AUDI_A3,
'enableCamera': True, 'enableCamera': True,
}, },
"90434ff5d7c8d603|2021-03-15--12-07-31": {
'carFingerprint': VOLKSWAGEN.SKODA_KODIAQ_MK1,
'enableCamera': True,
},
"3c8f0c502e119c1c|2020-06-30--12-58-02": { "3c8f0c502e119c1c|2020-06-30--12-58-02": {
'carFingerprint': SUBARU.ASCENT, 'carFingerprint': SUBARU.ASCENT,
'enableCamera': True, 'enableCamera': True,

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