From 68333dce602de8637855b6d61b9f321dcc385dde Mon Sep 17 00:00:00 2001
From: Jason Young <46612682+jyoung8607@users.noreply.github.com>
Date: Thu, 21 Oct 2021 22:26:33 -0500
Subject: [PATCH] VW MQB: Volkswagen Taos Mk1 (#22653)

* VW MQB: Volkswagen Taos Mk1

* add test route
---
 RELEASES.md                           |  1 +
 docs/CARS.md                          |  1 +
 selfdrive/car/volkswagen/interface.py |  4 ++++
 selfdrive/car/volkswagen/values.py    | 18 ++++++++++++++++++
 selfdrive/test/test_routes.py         |  1 +
 5 files changed, 25 insertions(+)

diff --git a/RELEASES.md b/RELEASES.md
index 1178bbcf9..38edd7fa3 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -28,6 +28,7 @@ Version 0.8.10 (2021-XX-XX)
  * Škoda Karoq 2019 support thanks to jyoung8607!
  * Volkswagen Arteon 2021 support thanks to jyoung8607!
  * Volkswagen California 2021 support thanks to jyoung8607!
+ * Volkswagen Taos 2022 support thanks to jyoung8607!
 
 Version 0.8.9 (2021-09-14)
 ========================
diff --git a/docs/CARS.md b/docs/CARS.md
index 2a83bd88b..8bd29cfdd 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -159,6 +159,7 @@ Community Maintained Cars and Features
 | Volkswagen| Jetta GLI 2021                | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Volkswagen| Passat 2016-18<sup>3</sup>    | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Volkswagen| T-Cross 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
index f52b8adc8..51d5af8bc 100644
--- a/selfdrive/car/volkswagen/interface.py
+++ b/selfdrive/car/volkswagen/interface.py
@@ -78,6 +78,10 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 1551 + STD_CARGO_KG
       ret.wheelbase = 2.79
 
+    elif candidate == CAR.TAOS_MK1:
+      ret.mass = 1498 + STD_CARGO_KG
+      ret.wheelbase = 2.69
+
     elif candidate == CAR.TCROSS_MK1:
       ret.mass = 1150 + STD_CARGO_KG
       ret.wheelbase = 2.60
diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index 57ec06799..162462f1c 100755
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -70,6 +70,7 @@ class CAR:
   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
+  TAOS_MK1 = "VOLKSWAGEN TAOS 1ST GEN"              # Chassis B2, Mk1 VW Taos and Tharu
   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
@@ -341,6 +342,23 @@ FW_VERSIONS = {
       b'\xf1\x875Q0907572R \xf1\x890771',
     ],
   },
+  CAR.TAOS_MK1: {
+    (Ecu.engine, 0x7e0, None): [
+        b'\xf1\x8705E906013E \xf1\x891624',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+        b'\xf1\x8709S927158BL\xf1\x893791',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+        b'\xf1\x872Q0907572T \xf1\x890383',
+    ],
+    (Ecu.eps, 0x712, None): [
+        b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521060605A1',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1311111111333500314646021450149333613100',
+    ],
+  },
   CAR.TCROSS_MK1: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8704C906025AK\xf1\x897053',
diff --git a/selfdrive/test/test_routes.py b/selfdrive/test/test_routes.py
index 02c4f86f9..b1f3face6 100755
--- a/selfdrive/test/test_routes.py
+++ b/selfdrive/test/test_routes.py
@@ -143,6 +143,7 @@ routes = [
   TestRoute("cae14e88932eb364|2021-03-26--14-43-28", VOLKSWAGEN.GOLF_MK7),
   TestRoute("58a7d3b707987d65|2021-03-25--17-26-37", VOLKSWAGEN.JETTA_MK7),
   TestRoute("4d134e099430fba2|2021-03-26--00-26-06", VOLKSWAGEN.PASSAT_MK8),
+  TestRoute("7d82b2f3a9115f1f|2021-10-21--15-39-42", VOLKSWAGEN.TAOS_MK1),
   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),