VW MQB: Volkswagen T-Roc Mk1 (#22967)

commaai · Nov 18, 2021 · ef38117 · ef38117
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diff --git a/RELEASES.md b/RELEASES.md
@@ -1,5 +1,6 @@
 Version 0.8.12 (202X-XX-XX)
 ========================
+ * Volkswagen T-Roc 2021 support thanks to jyoung8607!
 
 Version 0.8.11 (2021-11-22)
 ========================

diff --git a/docs/CARS.md b/docs/CARS.md
@@ -162,6 +162,7 @@
 | Volkswagen| Passat 2016-18<sup>3</sup>    | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Volkswagen| Polo 2020                     | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Volkswagen| T-Cross 2021<sup>4</sup>      | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| T-Roc 2021<sup>4</sup>        | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Volkswagen| Taos 2022<sup>4</sup>         | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Volkswagen| Tiguan 2020                   | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Volkswagen| Touran 2017                   | Driver Assistance | Stock            | 0mph               | 0mph         |

diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py
@@ -103,6 +103,10 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
       ret.wheelbase = 3.00  # SWB, LWB is 3.40, TBD how to detect difference
       ret.minSteerSpeed = 14.0
 
+    elif candidate == CAR.TROC_MK1:
+      ret.mass = 1413 + STD_CARGO_KG
+      ret.wheelbase = 2.63
+
     elif candidate == CAR.AUDI_A3_MK3:
       ret.mass = 1335 + STD_CARGO_KG
       ret.wheelbase = 2.61

diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
@@ -76,6 +76,7 @@ class CAR:
   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
+  TROC_MK1 = "VOLKSWAGEN T-ROC 1ST GEN"             # Chassis A1, Mk1 VW VW T-Roc 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
@@ -467,6 +468,23 @@ class CAR:
       b'\xf1\x872Q0907572R \xf1\x890372',
     ],
   },
+  CAR.TROC_MK1: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8705E906018AT\xf1\x899640',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x870CW300051M \xf1\x891925',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x875Q0959655CG\xf1\x890421\xf1\x82\x13111100123333003142404M1152119333613100',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521060405A1',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x872Q0907572T \xf1\x890383',
+    ],
+  },
   CAR.AUDI_A3_MK3: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8704E906023AN\xf1\x893695',

diff --git a/selfdrive/test/test_routes.py b/selfdrive/test/test_routes.py
@@ -150,6 +150,7 @@
   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("0cd0b7f7e31a3853|2021-11-18--00-38-32", VOLKSWAGEN.TROC_MK1),
   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),