commaai · jyoung8607 · Mar 15, 2023 · Mar 15, 2023 · Mar 15, 2023 · Mar 15, 2023
diff --git a/docs/CARS.md b/docs/CARS.md
@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 287 Supported Cars
+# 289 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -13,10 +13,12 @@ A supported vehicle is one that just works when you install a comma device. All
 |Acura|RDX 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2019-22">Buy Here</a></sub></details>||
 |Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
 |Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
+|Audi|A4 2015-16|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A4 2015-16">Buy Here</a></sub></details>||
 |Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
 |Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>||
 |Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>||
 |Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>||
+|Audi|S4 2015-16|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=S4 2015-16">Buy Here</a></sub></details>||
 |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EV 2022-23">Buy Here</a></sub></details>||
 |Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Equinox 2019-22">Buy Here</a></sub></details>||

diff --git a/opendbc b/opendbc
diff --git a/panda b/panda
diff --git a/release/files_common b/release/files_common
@@ -540,6 +540,7 @@ opendbc/toyota_adas.dbc
 opendbc/toyota_tss2_adas.dbc
 
 opendbc/vw_golf_mk4.dbc
+opendbc/vw_mlb.dbc
 opendbc/vw_mqb_2010.dbc
 
 opendbc/tesla_can.dbc

diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
@@ -247,6 +247,7 @@ class CarTestRoute(NamedTuple):
   CarTestRoute("a459f4556782eba1|2021-09-19--09-48-00", VOLKSWAGEN.VOLKSWAGEN_TRANSPORTER_T61),
   CarTestRoute("0cd0b7f7e31a3853|2021-11-18--00-38-32", VOLKSWAGEN.VOLKSWAGEN_TROC_MK1),
   CarTestRoute("07667b885add75fd|2021-01-23--19-48-42", VOLKSWAGEN.AUDI_A3_MK3),
+  CarTestRoute("6b170e78d823566b|2023-01-18--21-28-08", VOLKSWAGEN.AUDI_A4_MK4),
   CarTestRoute("6c6b466346192818|2021-06-06--14-17-47", VOLKSWAGEN.AUDI_Q2_MK1),
   CarTestRoute("0cd0b7f7e31a3853|2021-12-03--03-12-05", VOLKSWAGEN.AUDI_Q3_MK2),
   CarTestRoute("8f205bdd11bcbb65|2021-03-26--01-00-17", VOLKSWAGEN.SEAT_ATECA_MK1),

diff --git a/selfdrive/car/torque_data/override.toml b/selfdrive/car/torque_data/override.toml
@@ -45,6 +45,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "CHEVROLET_SILVERADO" = [1.9, 1.9, 0.112]
 "CHEVROLET_TRAILBLAZER" = [1.33, 1.9, 0.16]
 "CHEVROLET_EQUINOX" = [2.5, 2.5, 0.05]
+"AUDI_A4_MK4" = [1.4, 1.4, 0.1]
 "VOLKSWAGEN_CADDY_MK3" = [1.2, 1.2, 0.1]
 "VOLKSWAGEN_PASSAT_NMS" = [2.5, 2.5, 0.1]
 "VOLKSWAGEN_SHARAN_MK2" = [2.5, 2.5, 0.1]

diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
@@ -5,7 +5,7 @@
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car import apply_driver_steer_torque_limits
 from openpilot.selfdrive.car.interfaces import CarControllerBase
-from openpilot.selfdrive.car.volkswagen import mqbcan, pqcan
+from openpilot.selfdrive.car.volkswagen import mlbcan, mqbcan, pqcan
 from openpilot.selfdrive.car.volkswagen.values import CANBUS, CarControllerParams, VolkswagenFlags
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
@@ -16,10 +16,16 @@ class CarController(CarControllerBase):
   def __init__(self, dbc_name, CP, VM):
     self.CP = CP
     self.CCP = CarControllerParams(CP)
-    self.CCS = pqcan if CP.flags & VolkswagenFlags.PQ else mqbcan
     self.packer_pt = CANPacker(dbc_name)
     self.ext_bus = CANBUS.pt if CP.networkLocation == car.CarParams.NetworkLocation.fwdCamera else CANBUS.cam
 
+    if CP.flags & VolkswagenFlags.PQ:
+      self.CCS = pqcan
+    elif CP.flags & VolkswagenFlags.MLB:
+      self.CCS = mlbcan
+    else:
+      self.CCS = mqbcan
+
     self.apply_steer_last = 0
     self.gra_acc_counter_last = None
     self.frame = 0
+1 −1		can/common.cc
+1 −1		can/common.h
+1 −1		can/common.pxd
+1 −1		can/common_dbc.h
+2 −2		can/dbc.cc
+19 −0		ford_lincoln_base_pt.dbc
+2,707 −0		vw_mlb.dbc
+59 −6		vw_mqb_2010.dbc
+1 −1		.github/workflows/drivers.yaml
+2 −2		.github/workflows/repo.yml
+12 −9		.github/workflows/test.yaml
+3 −3		.pre-commit-config.yaml
+52 −24		Dockerfile
+2 −2		board/boards/black.h
+1 −1		board/boards/board_declarations.h
+1 −1		board/boards/cuatro.h
+2 −2		board/boards/dos.h
+1 −1		board/boards/grey.h
+2 −2		board/boards/red.h
+1 −1		board/boards/red_chiplet.h
+2 −2		board/boards/tres.h
+2 −2		board/boards/uno.h
+2 −2		board/boards/white.h
+1 −1		board/bootstub_declarations.h
+1 −1		board/debug/README.md
+1 −1		board/drivers/bootkick.h
+3 −3		board/drivers/bxcan.h
+2 −2		board/drivers/clock_source.h
+3 −3		board/drivers/fake_siren.h
+7 −7		board/drivers/fdcan.h
+3 −3		board/drivers/gpio.h
+10 −10		board/drivers/harness.h
+1 −1		board/drivers/interrupts.h
+3 −5		board/drivers/spi.h
+101 −82		board/drivers/usb.h
+1 −1		board/jungle/boards/board_v1.h
+8 −8		board/jungle/boards/board_v2.h
+2 −2		board/main.c
+1 −1		board/main_declarations.h
+3 −1		board/safety.h
+2 −3		board/safety/safety_chrysler.h
+1 −5		board/safety/safety_gm.h
+1 −2		board/safety/safety_honda.h
+1 −1		board/safety/safety_subaru.h
+84 −1		board/safety/safety_volkswagen_common.h
+163 −0		board/safety/safety_volkswagen_mlb.h
+3 −57		board/safety/safety_volkswagen_mqb.h
+2 −2		board/stm32f4/clock.h
+2 −2		board/stm32f4/lluart.h
+2 −2		board/stm32f4/llusb.h
+4 −4		board/stm32h7/clock.h
+4 −4		board/stm32h7/lladc.h
+4 −4		board/stm32h7/llfdcan.h
+5 −5		board/stm32h7/lli2c.h
+1 −1		board/stm32h7/llspi.h
+1 −1		board/stm32h7/lluart.h
+1 −1		board/stm32h7/llusb.h
+3 −4		pyproject.toml
+2 −3		python/__init__.py
+2 −7		python/uds.py
+1 −1		tests/misra/install.sh
+3 −5		tests/misra/suppressions.txt
+6 −10		tests/misra/test_misra.sh
+4 −2		tests/misra/test_mutation.py
+2 −1		tests/safety/common.py
+1 −1		tests/safety/test_subaru.py
+153 −0		tests/safety/test_volkswagen_mlb.py
+1 −1		tests/som/test_bootkick.py