Difference between revisions of "Volkswagen"

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= Overview =
 
= Overview =
Comma AI currently has no official Volkswagen support, but a community port is in progress, with plans to upstream for official support soon. The current port should support all [https://en.wikipedia.org/wiki/Volkswagen_Group_MQB_platform Volkswagen MQB] vehicles with automatic transmissions AND factory ACC and Lane Assist. Each MQB vehicle uses the same basic architecture and CAN messaging, but will need individual tuning for best openpilot performance.
+
Comma AI currently has no official support for Volkswagen brands, but a community port is available, with plans to upstream for official support in the near future. The community port is designed to support any [https://en.wikipedia.org/wiki/Volkswagen_Group_MQB_platform Volkswagen MQB] vehicle with ACC radar. Check the [[Volkswagen#Vehicle Support|Vehicle Support]] section for details and caveats.
  
 
== User Experience ==
 
== User Experience ==
  
Stop-and-go support will partly depend on the car. From the factory, vehicles with "ACC high" support follow-to-stop and automatic resume if the stop is less than three seconds. OP can improve on that by resuming on behalf of the driver after longer delays. Vehicles with "ACC low" support follow-to-stop but will require the driver take over and hold the brake after a very short delay, and resume from stop is moot. Older non-MQB systems (not supported at this time) may not be able to follow-to-stop.
+
=== Lateral Control ===
 +
Lateral is provided by openpilot. All MQB vehicles tested to-date support steering down to 0mph. For vehicles with factory lane assist, it will be ignored when Panda is installed and filtering CAN traffic. The Lane Assist enable/disable checkbox in the instrument cluster or infotainment unit will still be present, but will not do anything.
  
== Vehicle Support ==
+
Available steering torque is adequate for most highway driving conditions. All MQB models support the exact same amount of commanded torque, but the different steering rack and suspension geometry between models can result in different effective performance. For example, the Volkswagen Atlas with its high-static ratio steering has been tested to handle curves somewhat better than the Golf GTI or Golf R which have tighter-variable ratio steering suited to higher performance driving.
  
=== Fully Tested and Supported ===
+
=== Longitudinal Control ===
At least one representative vehicle from each of these vehicle-classes has been tested and verified to work with openpilot.
+
Longitudinal control remains with stock ACC, although OP takes control of the engagement process for additional safety and feature needs. The minimum ACC setpoint is 20mph/30kph. Exact behavior depends on whether the vehicle has "ACC High" or "ACC Low" from the factory.
  
* 2013-current Mk3 Škoda Octavia [https://en.wikipedia.org/wiki/%C5%A0koda_Octavia#Mk3 Wiki]
+
:'''Stock ACC High:''' These vehicles support follow-to-stop and automatic resume if the stop is less than three seconds, from the factory. OP can improve on that by resuming on behalf of the driver after longer delays. "ACC high" requires an electronic parking brake, and does make use of it under certain conditions. If the vehicle in question has an EPB, chances are good it supports "ACC high".
* 2018-2019 Mk1 Volkswagen Atlas (Teramont in some markets) [https://en.wikipedia.org/wiki/Volkswagen_Atlas Wiki]
 
** Requires SE with Tech and above for ACC/LKAS
 
* 2012-2017 Mk7 Volkswagen Golf R [https://en.wikipedia.org/wiki/Volkswagen_Golf_Mk7#Golf_R Wiki]
 
** DAP (Driver Assistance Package) required to get factory ACC/LKAS
 
* 2018-2019 Mk7.5 Volkswagen Golf R [https://en.wikipedia.org/wiki/Volkswagen_Golf_Mk7#Golf_R Wiki]
 
** ACC/LKAS is standard
 
  
=== Supportable but Untested ===
+
:'''Stock ACC Low:''' These vehicles generally support follow-to-stop (XXX review this: may be near-stop only) but will require the driver take over and hold the brake after a very short delay. Resume from stop is moot as "ACC low" vehicles will not hold themselves at a stop. Any vehicles with a manual parking brake, either foot or hand operated, will fall into this category.
These vehicle-classes ''should'' work fine with openpilot, to the best of our information, but have not yet been tested. Minor tweaks or other support may be needed. Be extremely cautious if making a vehicle purchase decision based on this information. If in doubt, ask on Discord.
 
  
* All MQB vehicles not listed above, with factory ACC and LKAS
+
== Getting Started ==
** 2018-current Mk2 Audi A1 (listed as MQB-A0, but confirmed to have factory ACC and LKAS options) [https://en.wikipedia.org/wiki/Audi_A1#Second_generation_(2018-) Wiki]
+
 
** 2012-current Mk3 Audi A3, S3 and RS3 [https://en.wikipedia.org/wiki/Audi_A3#Third_generation_(Typ_8V;_2012%E2%80%93present) Wiki]
+
=== Before You Start ===
** 2014-current Mk3 Audi TT [https://en.wikipedia.org/wiki/Audi_TT#TT_Mk3_(Type_FV/8S,_2014%E2%80%93present) Wiki]
+
Make sure your car is on the supported list, see below. If it's not, or you're in doubt, contact us on Discord in #volkswagen with questions.
** 2017-current Mk1 Audi Q2 [https://en.wikipedia.org/wiki/Audi_Q2 Wiki]
+
 
** 2018-current Mk2 Audi A3 [https://en.wikipedia.org/wiki/Audi_Q3#Second_generation_(2018%E2%80%93present) Wiki]
+
=== What You Need ===
** 2016-current Mk1 SEAT Ateca [https://en.wikipedia.org/wiki/SEAT_Ateca Wiki]
+
* An [https://comma.ai/shop/products/eon-gold-dashcam-devkit EON DevKit] to run openpilot. Highly recommended. No, you can't run this on a random smartphone, or a Raspberry Pi, or anything else. Yes, it's possible to make your own (a "frEON") but it's not nearly as simple as you might think. You need extremely specific phone hardware and additional parts, access to a 3D printer, and soldering skills. The vision model is extremely tightly coupled to hardware only found in two specific phone models. It's been discussed to death in the community, and further detail is outside the scope of the Volkswagen Wiki and channel.
** 2012-current Mk3 SEAT León [https://en.wikipedia.org/wiki/SEAT_Le%C3%B3n#Mk3 Wiki]
+
 
** 2019-current Mk1 SEAT Tarraco [https://en.wikipedia.org/wiki/SEAT_Tarraco Wiki]
+
* A [https://comma.ai/shop/products/panda-obd-ii-dongle White Panda] interface to connect EON to your car. It's cheap and will do what you need. Grey and Black Panda have a high-precision GPS which will be useful for future map-based features, so they're desirable if you're willing to spend more. However, Black Panda (the Car Harness) doesn't yet have a Volkswagen wiring adapter. Grey Panda works fine if you can get one, but it's been discontinued in favor of Black Panda.  
** 2019-current Mk1 Škoda Kamiq [https://en.wikipedia.org/wiki/%C5%A0koda_Kamiq Wiki]
+
 
** 2017-current Mk1 Škoda Karoq [https://en.wikipedia.org/wiki/%C5%A0koda_Karoq Wiki]
+
* A wiring harness to connect Panda to your car. Comma do not sell one at this time. You can make one yourself from the wiring diagram below, or purchase a community-made harness from @jyoung8607 on Discord.
** 2017-current Mk1 Škoda Kodiaq [https://en.wikipedia.org/wiki/%C5%A0koda_Kodiaq Wiki]
+
** @jyoung8607 personal comment: FYI I am not a Comma employee and do not represent Comma. I make these in my spare time for the community. I generally fabricate and ship them in less than a week after I receive payment, but that may vary. Contact me via DM on Comma's discord with questions or when you're ready to order.
** 2019-current Mk1 Škoda Scala [https://en.wikipedia.org/wiki/%C5%A0koda_Scala Wiki]
+
 
** 2015-current B8 Škoda Superb [https://en.wikipedia.org/wiki/%C5%A0koda_Superb#Third_generation_(B8,_Typ_3V;_2015%E2%80%93present) Wiki]
+
=== Installing the Community Port ===
** 2018-current Mk1 Volkswagen Arteon [https://en.wikipedia.org/wiki/Volkswagen_Arteon Wiki]
+
If you need to run the Community port, you MUST install stock openpilot first. If you're at the EON/Comma Two installer prompt and it's asking for a download URL, install using the [[Installing_OpenPilot_on_the_EON|normal methods and instructions]]. Then, [https://medium.com/@jfrux/comma-eon-getting-connected-with-ssh-3ed6136e4a75 connect via SSH] and run the following command:
** 2018-current Mk4 Volkswagen Bora [https://en.wikipedia.org/wiki/Volkswagen_Bora_(China)#Fourth_generation_(2018%E2%80%93present) Wiki]
+
 
** 2013-2019 Volkswagen Golf variants not explicitly tested so far (Mk7 and Mk7.5) [https://en.wikipedia.org/wiki/Volkswagen_Golf_Mk7 Wiki]
+
<code>
*** Golf
+
cd /data && mv openpilot backup-openpilot && git clone https://github.com/jyoung8607/openpilot.git -b vw-community-devel && reboot
*** Golf Sportwagen
+
</code>
*** Golf Alltrack
+
 
*** e-Golf
+
= Supported Vehicles =
*** GTI
+
 
*** GTI TCR
+
== Fully Tested and Supported ==
*** GTE
+
These vehicles are confirmed supported by the community Volkswagen port, because they have been tested on at least one representative car in the wild. Both automatic and manual transmissions are supported.
*** GTD
+
 
** 2018-current Volkswagen Tiguan (Mk2)
+
The vehicle must have ACC (radar-based cruise control). For vehicles without factory Lane Assist, a custom harness will be required to use modern Comma Two hardware, and a diagnostic tool will be needed to make minor coding changes to the steering rack in order for OP to steer, and coding changes to the instrument cluster will be needed to receive feedback and status information.
  
=== Long Term Roadmap ===
+
* 2012-2019 Mk3 Audi A3 (tested variants only) [[https://en.wikipedia.org/wiki/Audi_A3#Third_generation_(Typ_8V;_2012%E2%80%93present) Wiki]]
We think these vehicles can be supported at some point, but they are not supported just yet. There are no firm dates for any of these items. If you have a vehicle in this section and are interested in testing with openpilot, please ask on Discord before proceeding.
+
** A3
 +
** A3 e-tron
 +
* 2018-current Mk2 Audi Q3 [[https://en.wikipedia.org/wiki/Audi_Q3#Second_generation_(2018%E2%80%93present) Wiki]]
 +
* 2016-current Mk1 SEAT Ateca [[https://en.wikipedia.org/wiki/SEAT_Ateca Wiki]]
 +
* 2013-current Mk3 Škoda Octavia [[https://en.wikipedia.org/wiki/%C5%A0koda_Octavia#Mk3 Wiki]]
 +
* 2019-current Mk1 Škoda Scala [[https://en.wikipedia.org/wiki/%C5%A0koda_Scala Wiki]]
 +
* 2015-current B8 Škoda Superb [[https://en.wikipedia.org/wiki/%C5%A0koda_Superb#Third_generation_(B8,_Typ_3V;_2015%E2%80%93present) Wiki]]
 +
* 2018-2019 Mk1 Volkswagen Atlas (Teramont in some markets) [[https://en.wikipedia.org/wiki/Volkswagen_Atlas Wiki]]
 +
* 2012-2019 Mk7 and Mk7.5 Volkswagen Golf (tested variants only) [[https://en.wikipedia.org/wiki/Volkswagen_Golf_Mk7 Wiki]]
 +
** ''Please note the MY changeover from Mk6 to Mk7 varied by market, USA did not get Golf 7 until MY 2014!''
 +
** e-Golf
 +
** Golf
 +
** Golf GTE (sport hybrid)
 +
** Golf GTI
 +
** Golf R
 +
* 2019-current Volkswagen Jetta (except GLI) and Sagitar (Mk7) [[https://en.wikipedia.org/wiki/Volkswagen_Jetta#A7 Wiki]]
 +
** The GLI variant is architecturally compatible, but factory ACC appears unavailable (thanks for nothing VW)
 +
* 2015-current B8 Volkswagen Passat [[https://en.wikipedia.org/wiki/Volkswagen_Passat_(B8) Wiki]]
 +
** This is NOT the Passat currently available in North America, which is based on the currently unsupported NMS platform
 +
* 2015-current Mk2 Volkswagen Touran [[https://en.wikipedia.org/wiki/Volkswagen_Touran#Second_generation_(2015%E2%80%93present) Wiki]]
  
* MQB vehicles that fall outside current support requirements
+
== Supportable but Untested ==
** Manual transmission (tested successfully with @tmatheso, just need to integrate into main code base)
+
These vehicle-classes ''should'' work fine with openpilot, to the best of our information, but have not yet been tested. Minor tweaks or other support may be needed. Be cautious if making an openpilot or vehicle purchase decision based on this information. If in doubt, ask on Discord.
** No factory LKAS (very easy, we just need to test with one)
 
** No factory ACC (much more involved, but possible in the long term)
 
* Vision-only longitudinal control using visiond to drive known ACC messaging, for vehicles without radar
 
* Enhanced longitudinal control with radar data, on vehicles with a radar-to-camera sensor fusion CAN bus
 
  
* All PQ35/PQ46/NMS vehicles (hope and plan to support in the future, but not yet)
+
* All MQB vehicles not listed above, with ACC radar
** Volkswagen Beetle 2012-2018
+
** 2012-current Mk3 Audi A3 variants not explicitly tested so far [[https://en.wikipedia.org/wiki/Audi_A3#Third_generation_(Typ_8V;_2012%E2%80%93present) Wiki]]
** Volkswagen Passat 2011-present in North America, including the 2020 refresh
+
*** Audi S3
 +
*** Audi RS3
 +
** 2014-current Mk3 Audi TT [[https://en.wikipedia.org/wiki/Audi_TT#TT_Mk3_(Type_FV/8S,_2014%E2%80%93present) Wiki]]
 +
** 2017-current Mk1 Audi Q2 [[https://en.wikipedia.org/wiki/Audi_Q2 Wiki]]
 +
** 2012-current Mk3 SEAT León [[https://en.wikipedia.org/wiki/SEAT_Le%C3%B3n#Mk3 Wiki]]
 +
** 2019-current Mk1 SEAT Tarraco [[https://en.wikipedia.org/wiki/SEAT_Tarraco Wiki]]
 +
** 2019-current Mk1 Škoda Kamiq [[https://en.wikipedia.org/wiki/%C5%A0koda_Kamiq Wiki]]
 +
** 2017-current Mk1 Škoda Karoq [[https://en.wikipedia.org/wiki/%C5%A0koda_Karoq Wiki]]
 +
** 2017-current Mk1 Škoda Kodiaq [[https://en.wikipedia.org/wiki/%C5%A0koda_Kodiaq Wiki]]
 +
** 2018-current Mk1 Volkswagen Arteon [[https://en.wikipedia.org/wiki/Volkswagen_Arteon Wiki]]
 +
** 2018-current Mk4 Volkswagen Bora [[https://en.wikipedia.org/wiki/Volkswagen_Bora_(China)#Fourth_generation_(2018%E2%80%93present) Wiki]]
 +
** 2013-2019 Volkswagen Golf variants not explicitly tested so far (Mk7 and Mk7.5) [[https://en.wikipedia.org/wiki/Volkswagen_Golf_Mk7 Wiki]]
 +
*** Golf Alltrack
 +
*** Golf GTD (sport diesel)
 +
*** Golf GTI TCR
 +
*** Golf Sportsvan / SV
 +
*** Golf SportWagen
 +
** 2017-current Mk2 Volkswagen Crafter [[https://en.wikipedia.org/wiki/Volkswagen_Crafter#Second_generation_(2017%E2%80%93present) Wiki]]
 +
** 2015-current Mk1 Volkswagen Lamando [[https://en.wikipedia.org/wiki/Volkswagen_Lamando Wiki]]
 +
*** Made in China, limited info available, unable to fully verify
 +
** 2018-current Mk3 Volkswagen Lavida [[https://en.wikipedia.org/wiki/Volkswagen_Lavida#Third_generation Wiki]]
 +
*** Made in China, limited info available, unable to fully verify
 +
** 2018-current Mk1 Volkswagen Tayron [[https://en.wikipedia.org/wiki/Volkswagen_Tayron Wiki]]
 +
*** Made in China, limited info available, unable to fully verify
 +
** 2016-current Mk2 Volkswagen Tiguan [[https://en.wikipedia.org/wiki/Volkswagen_Tiguan#Second_generation_(2016%E2%80%93present) Wiki]]
 +
*** In North America, all 2016-2017 Tiguans and the 2018 Tiguan "Limited" are still Mk1 PQ46 Mk1 (see PQ46 below); all other 2018 and all 2019-forward are MQB Mk2
 +
** 2018-current Mk1 Volkswagen Tharu / Tarek [[https://en.wikipedia.org/wiki/Volkswagen_Tharu Wiki]]
 +
*** Made in China, limited info available, unable to fully verify
  
* All MLB and MLBevo vehicles (requires FlexRay support)
+
== Long Term Roadmap ==
** Volkswagen Touareg 2018-present
+
We think these vehicles can be supported at some point, but they are not supported just yet. Code changes will be required. There are no firm dates for any of these items. If you have a vehicle in this section and are interested in testing with openpilot, please ask on Discord before proceeding.
  
=== Unsupportable ===
+
* Longitudinal control using visiond to drive known ACC messaging, for vehicles without radar. It's not yet known specifically what retrofits we'll need for vehicles with cruise control only, but we'll probably need to change out the steering wheel buttons or control stalk as applicable.
These vehicles either don't have electric power steering, or we don't have a known control channel.
+
* All MQB-A0 vehicles. We think these SHOULD work, but ran into unknown issues with the first one we tested and were not able to complete troubleshooting with the owner. Contact us on Discord if you have access to a legitimate VCDS interface for diagnostics and are interested in trying.
 +
** 2018-current Mk2 Audi A1 [[https://en.wikipedia.org/wiki/Audi_A1#Second_generation_(2018-) Wiki]]
 +
** 2017-current SEAT Arona [[https://en.wikipedia.org/wiki/SEAT_Arona Wiki]]
 +
** 2017-current SEAT Ibiza [[https://en.wikipedia.org/wiki/SEAT_Ibiza#Fifth_generation_KJ_(2017%E2%80%93present) Wiki]]
 +
** 2018-current Mk6 Volkswagen Polo [[https://en.wikipedia.org/wiki/Volkswagen_Polo#Sixth_generation_(Typ_AW;_2018%E2%80%93present) Wiki]]
 +
** 2019-current Mk1 Volkswagen T-Cross [[https://en.wikipedia.org/wiki/Volkswagen_T-Cross Wiki]]
 +
* All PQ35/PQ46/NMS vehicles. We hope and plan to provide some level of official support in the long-term future, and we are having good success in early testing. Vehicles in this set ''may or may not be supportable''. Most if not all should have electric power steering racks, but earlier vehicles may or may not have configurable support for Lane Assist commands. Do not purchase a vehicle based solely on this list.
 +
** PQ35: https://en.wikipedia.org/wiki/Volkswagen_Group_A_platform#A5_(PQ35)
 +
** PQ46, including New Midsize Sedan (NMS): https://en.wikipedia.org/wiki/Volkswagen_Group_B_platform#PQ46_(A6)
 +
* All [https://en.wikipedia.org/wiki/Volkswagen_Group_MLB_platform MLB and MLBevo] vehicles (requires FlexRay support, VERY long term future)
 +
** 2018-current Volkswagen Touareg
 +
** All modern Audi not listed as MQB: A4, A5, A6, A7, A8, R8, Q5, Q7, Q8, e-Tron SUV and all variants thereof
 +
* All [https://en.wikipedia.org/wiki/Volkswagen_Group_MEB_platform MEB] (new electric mass-market platform) vehicles, big question marks here until we see one, but we have cautious optimism.
 +
* All MQBevo vehicles (the new Golf Mk8 and all future refreshed MQBs), big question marks here until we see one, but we have cautious optimism.
 +
* All New Small Family (NSF) vehicles, supportability status totally unknown at this time. Contact us if you are interested in testing and you have a legitimate VCDS interface for diagnostics and settings changes.
 +
** 2011-current SEAT Mii [[https://en.wikipedia.org/wiki/SEAT_Mii Wiki]]
 +
** 2011-current Škoda Citigo [[https://en.wikipedia.org/wiki/%C5%A0koda_Citigo Wiki]]
 +
** 2011-current Volkswagen Up! [[https://en.wikipedia.org/wiki/Volkswagen_Up Wiki]]
 +
 
 +
== Unsupportable ==
 +
These vehicles either don't have electric power steering, or we don't have a known control channel, or there is no factory option or ability to retrofit the necessary ACC and steering components. Support could be reexamined if new information comes to light, but at this time we have no plans to investigate further.
  
 
* Volkswagen Touareg prior to 2018 (hydraulic power steering, lane departure warning only via steering wheel haptic)
 
* Volkswagen Touareg prior to 2018 (hydraulic power steering, lane departure warning only via steering wheel haptic)
 
* Volkswagen Phaeton (hydraulic power steering, lane departure warning only via steering wheel haptic)
 
* Volkswagen Phaeton (hydraulic power steering, lane departure warning only via steering wheel haptic)
 
+
* [https://en.wikipedia.org/wiki/Volkswagen_Group_New_Small_Family_platform NSF (New Small Family)] supermini models without factory options for ACC or LKAS.
* MQB-A0 supermini and city cars without factory options for ACC or LKAS (willing to reexamine if new evidence is found)
 
** SEAT Arona
 
** SEAT Ibiza
 
** SEAT Mii
 
** Škoda Citigo
 
** Volkswagen Up!
 
  
 
= Architecture =
 
= Architecture =
  
== Hardware ==
+
== Vehicle Hardware ==
 
The radar and camera are standard Bosch hardware running software customized for VW MQB. The forward radar can be any of three: Bosch LRR3 (very old and uncommon), Bosch MRR1plus (older and common), or Bosch MRREvo14F (newer and common). The camera is Bosch's MPC1(?) monocular multipurpose camera.
 
The radar and camera are standard Bosch hardware running software customized for VW MQB. The forward radar can be any of three: Bosch LRR3 (very old and uncommon), Bosch MRR1plus (older and common), or Bosch MRREvo14F (newer and common). The camera is Bosch's MPC1(?) monocular multipurpose camera.
  
== CAN Topology ==
+
Steering rack imposed limits for Heading Control Assist:
XXX J533 concept
+
* Cannot steer at a standstill, but appears to work at any nonzero speed
XXX wiring diagram
+
** HCA goes to not ready and HCA torque is ignored if this is violated; recoverable without a restart
XXX bus topology
+
* Commanded torque limit: 3.0 newton-meters
 +
** HCA goes to not ready and HCA torque is ignored if this is violated
 +
* Rate of change: 5.0 nm/seconds
 +
** Found in certain documentation, but not observed in real world, at least not as a steering-disabling fault
 +
* Continuous time limit for HCA to be engaged: 180 seconds
 +
** Documented at 300 seconds in some places, 180 in others, 180 observed in real world testing
 +
** HCA goes to not ready and HCA torque is ignored if this is violated; recoverable without a restart
 +
** Working around this by disabling steering for one frame for every zero crossing
 +
* Same/stuck torque input detection: 6 seconds
 +
** Not documented anywhere, but observed in real world testing
 +
** HCA goes to not ready and HCA torque is ignored if this is violated; recoverable without a restart
 +
** Working around this by introducing slight noise, 0.01nm reduction in torque for one frame 1x/second
  
= Official documentation =
+
== Controller Area Network (CAN) ==
Volkswagen technical info can be found here: https://erwin.vw.com/erwin/showHome.do.
 
  
= XXX Legacy Archived Content XXX =
+
=== Topology ===
Older Volkswagen Wiki content is collected here awaiting updates, cleanup, or decommissioning if no longer applicable.
+
XXX TBD J533 concept
  
When you install any variation of the cable or splitter adapter builds, remember to take off the battery. taking off the battery will lead to ton of warnings like "ACC not ready", "tpms not ready", "ESC not ready"
+
=== Critical Messages and Flows ===
 +
XXX TBD detail around certain select messages read or sent by OP
 +
* LWI_01
 +
* EPS_01 / LH_EPS_03
 +
* ACC_06
 +
* Getribe_11
 +
* HCA_01
 +
* LDW_02
  
These errors will go away after a short 0.5mile / 1km drive down the runway and residual lights in dash will disasppear after then restarting the car
+
== Official Documentation ==
 +
Volkswagen technical info can be found here: https://erwin.vw.com/erwin/showHome.do.
  
If you instead get errors with haltex module or anything in-gear then your CAN-bus is not forwarded correctly. This might be due your panda is not flashed with the correct firmware to forward the messages as this Volkswagen proposal requires you to do and they are instead only read in Can1 with stock Panda.
+
[[Category:Volkswagen_Group]]
 +
[[Category:Vehicle_Makes]]
  
Replacing the stock cable with a Y-harness that routes Extended CAN -bus via Panda will require you to keep Panda connected at all times or create switches similar to Giraffe.
+
= Physical Integrations =
  
Aciid's cable https://i.imgur.com/VP64k87.jpg ( Pinout https://i.imgur.com/k1EYXj7.png )
+
== Integration at J533 Gateway ==
  
[[J533_Sniffing_Cable]] components for J553, create the pinout to mimic the stock adapter, with the following alteration. You still need to route most 20 wires between original connector and the J553 unit, Terminal 15 (ign), Terminal 30 and GND go to Panda as well. Extended CAN goes first to Panda, then is routed back to J533.
+
J533 gateway pinout:
 
<pre>
 
<pre>
Panda pin 6 - J533 pin 17 ( Extended High )
+
T20/1  -- POWER    -- gr/ro terminal 30 power from 5a fuse SC5
Panda pin 14 - J533 pin 7 ( Extended Low )
+
T20/2  -- passthru  -- rt/vi terminal 30 power from 18a fuse SB18 (optional, w/o start/stop)
Panda pin 11 - Wiring harness connector pin LOW ( Wiring harness Low )
+
T20/3  -- passthru  -- vi/ws LIN bus to BEM
Panda pin 3 - Wiring harness connector pin HIGH ( Wiring harness High )
+
T20/4  --          -- unused
 +
T20/5  -- passthru  -- or/br Comfort CAN Low
 +
T20/6  -- passthru  -- or/br Powertrain CAN Low
 +
T20/7 -- PANDA 1/3 -- or/br Extended CAN Low
 +
T20/8  -- passthru  -- or/br Suspension CAN Low
 +
T20/9  -- passthru  -- or/br Diagnostic CAN Low / T16/14 on DLC
 +
T20/10 -- passthru  -- or/br Infotainment CAN Low
 +
T20/11 -- GROUND    -- br    Ground
 +
T20/12 -- passthru  -- br    Ground
 +
T20/13 -- passthru  -- vi/bl LIN bus to steering column electronics
 +
T20/14 -- IGNITION  -- sw/vi terminal 15 power from PC3/A192
 +
T20/15 -- passthru  -- or/gn Comfort CAN High
 +
T20/16 -- passthru  -- or/sw Powertrain CAN High
 +
T20/17 -- PANDA 1/3 -- or/gr Extended CAN High
 +
T20/18 -- passthru  -- or/bl Suspension CAN High
 +
T20/19 -- passthru  -- or/rt Diagnostic CAN High / T16/6 on DLC
 +
T20/20 -- passthru  -- or/vi Infotainment CAN High
 +
</pre>
  
Can0 - should connect to j533 on 7/17
+
Gray or White Panda pinout:
Can1 - should connect to the car wiring that used to be hooked up to 7/17, along with a 120 ohm termination resistor
+
<pre>
Can2 - not used yet
+
Panda 1  -- unused
Thanks jyoung8607
+
Panda 2  -- unused
 +
Panda 3  -- unused
 +
Panda 4  -- GROUND
 +
Panda 5  -- unused
 +
Panda 6  -- CAN1 Hi, toward gateway
 +
Panda 7 -- unused
 +
Panda 8  -- IGNITION
 +
Panda 9  -- unused
 +
Panda 10 -- unused
 +
Panda 11 -- unused
 +
Panda 12 -- CAN3 Hi, toward extended CAN, WITH termination resistor
 +
Panda 13 -- CAN3 Lo, toward extended CAN, WITH termination resistor
 +
Panda 14 -- CAN1 Lo, toward gateway
 +
Panda 15 -- unused
 +
Panda 16 -- POWER
 
</pre>
 
</pre>
  
== J533 Pinout - MQB "Highline trim" ==
+
XXX wiring diagram from @tmatheso
This is just a reference from Skoda Octavia MY17, please check model specific from ERWIN if you are unsure.  
+
 
<pre>1 -    Battery + (terminal 30)
+
== Integration at R242 Camera ==
2 -    Not used
+
Car Harness/Black Panda doesn't have an official harness connector in the Comma store yet, but it can be ordered with a development harness, and built by hand using the information below.
3 -    LIN data bus 1
 
4 -    Not used
 
5 -    CAN bus Low (convenience)
 
6 -    CAN bus Low (drive)
 
7 -    CAN bus Low (extended)
 
8 -    CAN bus Low (instrument cluster)
 
9 -    CAN Bus Low (diagnosis)
 
10 -    CAN Bus Low (infotainment)
 
11 -    Ground – (terminal 31)
 
12 -    Ground – (terminal 31)
 
13 -    Instrument cluster wake-up
 
14 -    Terminal 15
 
15 -    CAN bus High (convenience)
 
16 -    CAN bus High (drive)
 
17 -    CAN bus High (extended)
 
18 -    CAN bus High (instrument cluster)
 
19 -    CAN bus High (diagnosis)
 
20 - CAN bus High (infotainment)
 
Thanks P2
 
</pre>
 
  
The Volkswagen OBDII port delivers only a CAN Diagnose high/low signal. A [[J533_Sniffing_Cable]] is needed to connect your panda.
+
=== Parts and Tools ===
 +
Retailer links are provided for example and convenience only, not as a referral or endorsement.
  
The following is being proposed as a [https://github.com/jyoung8607/openpilot/tree/vw-us Safety Model] for Panda interaction. Work in Progress.
+
* Connector Housings
 +
** Female connector housing 4F0-972-112, orderable from any VW group dealer parts department, or online: [https://www.1stvwparts.com/oem-parts/volkswagen-housing-4f0972112 1stVWParts] [https://www.ecstuning.com/b-genuine-volkswagen-audi-parts/housing/4f0972112/ ECS Tuning]  
 +
** Male connector housing 8Z0-972-112, orderable from any VW group dealer parts department, or online: [https://www.1stvwparts.com/oem-parts/volkswagen-housing-8z0972112 1stVWParts] [https://www.ecstuning.com/b-genuine-volkswagen-audi-parts/housing/8z0972112/ ECS Tuning]
  
Change your EON to [https://github.com/jyoung8607/openpilot/tree/vw-063-base jyoung's repo]. EON will flash Panda automatically to a version that uses VW Safety Model by default.
+
* Terminals
 +
** AMP/TE female terminals 928999-1, orderable from Mouser in cut strips of 100: [https://www.mouser.com/ProductDetail/TE-Connectivity-AMP/928999-1-Cut-Strip?qs=b85dNVE93B5%2F7qIDk%2FHZ4g%3D%3D 571-928999-1-CT]
 +
** AMP/TE male terminals 1-928918-1, orderable from Mouser in cut strips of 100: [https://www.mouser.com/ProductDetail/TE-Connectivity-AMP/1-928918-1-Cut-Strip?qs=oXydCMRm13w97AQD5QmOww%3D%3D 571-1-928918-1-CT]
  
This achieves the following goals
+
* Miscellaneous
 +
** Terminal crimping tools: Amazon [https://www.amazon.com/Glarks-Terminal-Professional-Crimping-0-1-1-0mm2/dp/B06VWLW11G Glarks SN-28B] or a MQS crimping tool like the [https://www.rennsteig.com/en/products/crimping/204-pew-6-the-compact-crimp-system Rennsteig #616 682 3]
 +
** For moving the CAN termination loop and fixing mistakes, either a real terminal release tool kit, or a pick and hook set in a pinch: Amazon [https://smile.amazon.com/Pick-Hook-Set-Steel-16in-L/dp/B008Z67WV6/ref=sr_1_8?keywords=pick%2Bset&qid=1575533909&sr=8-8&th=1 B008Z67WV6]
 +
** Highly recommended! TESA fabric wiring tape: Amazon [https://www.amazon.com/Boxiti-Fleece-Interior-Harness-Meters/dp/B07P6LFXVG/ref=sr_1_7?crid=1MFFCVDEU13ZY&keywords=tesa%2Btape&qid=1575530414&sprefix=tesa%2B%2Caps%2C350&sr=8-7&th=1 B-51608-00003-00]
  
- Filter stock Camera messages from Can1 extended CAN hook up
+
=== Fabrication Process ===
 +
Additional detail about the Dev Harness: https://github.com/commaai/neo/blob/master/car_harness/open_pinout.sch.pdf
  
- Send filter data with crafted OP steering messages to Can0
+
CAN termination has to be physically configured. The dev harness will ship with a single resistance config loopback pre-installed between P3/P5, which configures it for 120 ohm termination on both CAN0 and CAN2. Volkswagen MQB should be configured for no extra termination on CAN0 and 60 ohm on CAN2. Do this by de-pinning the loopback between P3/P5 and reinstalling it between P23/P25.
  
- Your car works normally without EON, only the lane-assistant function is not available.
+
'''Suggested work order:'''
 +
* De-pin and discard Dev Harness wires not used in this application
 +
** Pass-through 3 (yellow) - remove from both sides, not needed
 +
** Pass-through 4 (purple) - remove from both sides, not needed
 +
** 12V in (red) - remove from both sides, constant 12V will come via Comma Power instead
 +
* De-pin the CAN termination selector loop and relocate it as described above
 +
* Make all the pin and connector terminations described below
 +
* Wrap all loose wire with TESA tape, diagonal overlapping pattern, ending ~5mm from each connector
  
 +
{| class="wikitable"
 +
!colspan="6"|Factory Wiring Diagram for "T12ar" Connector
 +
|-
 +
|'''Pin'''
 +
|'''Color'''
 +
|'''mm2 Dia'''
 +
|colspan=3|'''Description'''
 +
|-
 +
|1
 +
|or/br
 +
|0.35
 +
|Radar-camera sensor fusion, CAN low
 +
|-
 +
|2
 +
|or/br
 +
|0.35
 +
|Extended CAN, low
 +
|-
 +
|3
 +
|
 +
|
 +
|Unused
 +
|-
 +
|4
 +
|gr
 +
|0.5
 +
|Z113 heater/defogger pin 1, supply
 +
|-
 +
|5
 +
|br
 +
|0.35
 +
|R242 camera ground
 +
|-
 +
|6
 +
|sw/gn
 +
|0.35
 +
|12V from fuse SC32, ignition switched
 +
|-
 +
|7
 +
|or/ws
 +
|0.35
 +
|Radar-camera sensor fusion, CAN high
 +
|-
 +
|8
 +
|or/gr
 +
|0.35
 +
|Extended CAN High
 +
|-
 +
|9
 +
|
 +
|
 +
|unused
 +
|-
 +
|10
 +
|br
 +
|0.5
 +
|Z113 heater/defogger pin 2, ground
 +
|-
 +
|11
 +
|
 +
|
 +
|Unused
 +
|-
 +
|12
 +
|
 +
|
 +
|Unused
 +
|}
  
[[Category:Volkswagen_Group]]
+
{| class="wikitable"
[[Category:Vehicle_Makes]]
+
!colspan="6"|Mapping "T12ar" pins to the Dev Harness, Per-Side
 +
|-
 +
|'''Pin'''
 +
|'''DH Color'''
 +
|colspan=4|'''Description'''
 +
|-
 +
|1
 +
|Blue
 +
|BP CAN 1, sensor fusion CAN low
 +
|-
 +
|2
 +
|Green
 +
|BP CAN 0/2, extended CAN low
 +
|-
 +
|3
 +
|
 +
|Unused
 +
|-
 +
|4
 +
|White
 +
|Pass-through 2, camera heater supply
 +
|-
 +
|5
 +
|Black
 +
|Ground
 +
|-
 +
|6
 +
|Brown
 +
|Ignition switched power
 +
|-
 +
|7
 +
|Pink
 +
|BP CAN 1, sensor fusion CAN high
 +
|-
 +
|8
 +
|Orange
 +
|BP CAN 0/2, extended CAN high
 +
|-
 +
|9
 +
|
 +
|Unused
 +
|-
 +
|10
 +
|Grey
 +
|Pass-through 1, camera heater ground
 +
|-
 +
|11
 +
|
 +
|Unused
 +
|-
 +
|12
 +
|
 +
|Unused
 +
|}

Latest revision as of 17:23, 16 June 2020

Overview

Comma AI currently has no official support for Volkswagen brands, but a community port is available, with plans to upstream for official support in the near future. The community port is designed to support any Volkswagen MQB vehicle with ACC radar. Check the Vehicle Support section for details and caveats.

User Experience

Lateral Control

Lateral is provided by openpilot. All MQB vehicles tested to-date support steering down to 0mph. For vehicles with factory lane assist, it will be ignored when Panda is installed and filtering CAN traffic. The Lane Assist enable/disable checkbox in the instrument cluster or infotainment unit will still be present, but will not do anything.

Available steering torque is adequate for most highway driving conditions. All MQB models support the exact same amount of commanded torque, but the different steering rack and suspension geometry between models can result in different effective performance. For example, the Volkswagen Atlas with its high-static ratio steering has been tested to handle curves somewhat better than the Golf GTI or Golf R which have tighter-variable ratio steering suited to higher performance driving.

Longitudinal Control

Longitudinal control remains with stock ACC, although OP takes control of the engagement process for additional safety and feature needs. The minimum ACC setpoint is 20mph/30kph. Exact behavior depends on whether the vehicle has "ACC High" or "ACC Low" from the factory.

Stock ACC High: These vehicles support follow-to-stop and automatic resume if the stop is less than three seconds, from the factory. OP can improve on that by resuming on behalf of the driver after longer delays. "ACC high" requires an electronic parking brake, and does make use of it under certain conditions. If the vehicle in question has an EPB, chances are good it supports "ACC high".
Stock ACC Low: These vehicles generally support follow-to-stop (XXX review this: may be near-stop only) but will require the driver take over and hold the brake after a very short delay. Resume from stop is moot as "ACC low" vehicles will not hold themselves at a stop. Any vehicles with a manual parking brake, either foot or hand operated, will fall into this category.

Getting Started

Before You Start

Make sure your car is on the supported list, see below. If it's not, or you're in doubt, contact us on Discord in #volkswagen with questions.

What You Need

  • An EON DevKit to run openpilot. Highly recommended. No, you can't run this on a random smartphone, or a Raspberry Pi, or anything else. Yes, it's possible to make your own (a "frEON") but it's not nearly as simple as you might think. You need extremely specific phone hardware and additional parts, access to a 3D printer, and soldering skills. The vision model is extremely tightly coupled to hardware only found in two specific phone models. It's been discussed to death in the community, and further detail is outside the scope of the Volkswagen Wiki and channel.
  • A White Panda interface to connect EON to your car. It's cheap and will do what you need. Grey and Black Panda have a high-precision GPS which will be useful for future map-based features, so they're desirable if you're willing to spend more. However, Black Panda (the Car Harness) doesn't yet have a Volkswagen wiring adapter. Grey Panda works fine if you can get one, but it's been discontinued in favor of Black Panda.
  • A wiring harness to connect Panda to your car. Comma do not sell one at this time. You can make one yourself from the wiring diagram below, or purchase a community-made harness from @jyoung8607 on Discord.
    • @jyoung8607 personal comment: FYI I am not a Comma employee and do not represent Comma. I make these in my spare time for the community. I generally fabricate and ship them in less than a week after I receive payment, but that may vary. Contact me via DM on Comma's discord with questions or when you're ready to order.

Installing the Community Port

If you need to run the Community port, you MUST install stock openpilot first. If you're at the EON/Comma Two installer prompt and it's asking for a download URL, install using the normal methods and instructions. Then, connect via SSH and run the following command:

cd /data && mv openpilot backup-openpilot && git clone https://github.com/jyoung8607/openpilot.git -b vw-community-devel && reboot

Supported Vehicles

Fully Tested and Supported

These vehicles are confirmed supported by the community Volkswagen port, because they have been tested on at least one representative car in the wild. Both automatic and manual transmissions are supported.

The vehicle must have ACC (radar-based cruise control). For vehicles without factory Lane Assist, a custom harness will be required to use modern Comma Two hardware, and a diagnostic tool will be needed to make minor coding changes to the steering rack in order for OP to steer, and coding changes to the instrument cluster will be needed to receive feedback and status information.

  • 2012-2019 Mk3 Audi A3 (tested variants only) [Wiki]
    • A3
    • A3 e-tron
  • 2018-current Mk2 Audi Q3 [Wiki]
  • 2016-current Mk1 SEAT Ateca [Wiki]
  • 2013-current Mk3 Škoda Octavia [Wiki]
  • 2019-current Mk1 Škoda Scala [Wiki]
  • 2015-current B8 Škoda Superb [Wiki]
  • 2018-2019 Mk1 Volkswagen Atlas (Teramont in some markets) [Wiki]
  • 2012-2019 Mk7 and Mk7.5 Volkswagen Golf (tested variants only) [Wiki]
    • Please note the MY changeover from Mk6 to Mk7 varied by market, USA did not get Golf 7 until MY 2014!
    • e-Golf
    • Golf
    • Golf GTE (sport hybrid)
    • Golf GTI
    • Golf R
  • 2019-current Volkswagen Jetta (except GLI) and Sagitar (Mk7) [Wiki]
    • The GLI variant is architecturally compatible, but factory ACC appears unavailable (thanks for nothing VW)
  • 2015-current B8 Volkswagen Passat [Wiki]
    • This is NOT the Passat currently available in North America, which is based on the currently unsupported NMS platform
  • 2015-current Mk2 Volkswagen Touran [Wiki]

Supportable but Untested

These vehicle-classes should work fine with openpilot, to the best of our information, but have not yet been tested. Minor tweaks or other support may be needed. Be cautious if making an openpilot or vehicle purchase decision based on this information. If in doubt, ask on Discord.

  • All MQB vehicles not listed above, with ACC radar
    • 2012-current Mk3 Audi A3 variants not explicitly tested so far [Wiki]
      • Audi S3
      • Audi RS3
    • 2014-current Mk3 Audi TT [Wiki]
    • 2017-current Mk1 Audi Q2 [Wiki]
    • 2012-current Mk3 SEAT León [Wiki]
    • 2019-current Mk1 SEAT Tarraco [Wiki]
    • 2019-current Mk1 Škoda Kamiq [Wiki]
    • 2017-current Mk1 Škoda Karoq [Wiki]
    • 2017-current Mk1 Škoda Kodiaq [Wiki]
    • 2018-current Mk1 Volkswagen Arteon [Wiki]
    • 2018-current Mk4 Volkswagen Bora [Wiki]
    • 2013-2019 Volkswagen Golf variants not explicitly tested so far (Mk7 and Mk7.5) [Wiki]
      • Golf Alltrack
      • Golf GTD (sport diesel)
      • Golf GTI TCR
      • Golf Sportsvan / SV
      • Golf SportWagen
    • 2017-current Mk2 Volkswagen Crafter [Wiki]
    • 2015-current Mk1 Volkswagen Lamando [Wiki]
      • Made in China, limited info available, unable to fully verify
    • 2018-current Mk3 Volkswagen Lavida [Wiki]
      • Made in China, limited info available, unable to fully verify
    • 2018-current Mk1 Volkswagen Tayron [Wiki]
      • Made in China, limited info available, unable to fully verify
    • 2016-current Mk2 Volkswagen Tiguan [Wiki]
      • In North America, all 2016-2017 Tiguans and the 2018 Tiguan "Limited" are still Mk1 PQ46 Mk1 (see PQ46 below); all other 2018 and all 2019-forward are MQB Mk2
    • 2018-current Mk1 Volkswagen Tharu / Tarek [Wiki]
      • Made in China, limited info available, unable to fully verify

Long Term Roadmap

We think these vehicles can be supported at some point, but they are not supported just yet. Code changes will be required. There are no firm dates for any of these items. If you have a vehicle in this section and are interested in testing with openpilot, please ask on Discord before proceeding.

  • Longitudinal control using visiond to drive known ACC messaging, for vehicles without radar. It's not yet known specifically what retrofits we'll need for vehicles with cruise control only, but we'll probably need to change out the steering wheel buttons or control stalk as applicable.
  • All MQB-A0 vehicles. We think these SHOULD work, but ran into unknown issues with the first one we tested and were not able to complete troubleshooting with the owner. Contact us on Discord if you have access to a legitimate VCDS interface for diagnostics and are interested in trying.
    • 2018-current Mk2 Audi A1 [Wiki]
    • 2017-current SEAT Arona [Wiki]
    • 2017-current SEAT Ibiza [Wiki]
    • 2018-current Mk6 Volkswagen Polo [Wiki]
    • 2019-current Mk1 Volkswagen T-Cross [Wiki]
  • All PQ35/PQ46/NMS vehicles. We hope and plan to provide some level of official support in the long-term future, and we are having good success in early testing. Vehicles in this set may or may not be supportable. Most if not all should have electric power steering racks, but earlier vehicles may or may not have configurable support for Lane Assist commands. Do not purchase a vehicle based solely on this list.
  • All MLB and MLBevo vehicles (requires FlexRay support, VERY long term future)
    • 2018-current Volkswagen Touareg
    • All modern Audi not listed as MQB: A4, A5, A6, A7, A8, R8, Q5, Q7, Q8, e-Tron SUV and all variants thereof
  • All MEB (new electric mass-market platform) vehicles, big question marks here until we see one, but we have cautious optimism.
  • All MQBevo vehicles (the new Golf Mk8 and all future refreshed MQBs), big question marks here until we see one, but we have cautious optimism.
  • All New Small Family (NSF) vehicles, supportability status totally unknown at this time. Contact us if you are interested in testing and you have a legitimate VCDS interface for diagnostics and settings changes.
    • 2011-current SEAT Mii [Wiki]
    • 2011-current Škoda Citigo [Wiki]
    • 2011-current Volkswagen Up! [Wiki]

Unsupportable

These vehicles either don't have electric power steering, or we don't have a known control channel, or there is no factory option or ability to retrofit the necessary ACC and steering components. Support could be reexamined if new information comes to light, but at this time we have no plans to investigate further.

  • Volkswagen Touareg prior to 2018 (hydraulic power steering, lane departure warning only via steering wheel haptic)
  • Volkswagen Phaeton (hydraulic power steering, lane departure warning only via steering wheel haptic)
  • NSF (New Small Family) supermini models without factory options for ACC or LKAS.

Architecture

Vehicle Hardware

The radar and camera are standard Bosch hardware running software customized for VW MQB. The forward radar can be any of three: Bosch LRR3 (very old and uncommon), Bosch MRR1plus (older and common), or Bosch MRREvo14F (newer and common). The camera is Bosch's MPC1(?) monocular multipurpose camera.

Steering rack imposed limits for Heading Control Assist:

  • Cannot steer at a standstill, but appears to work at any nonzero speed
    • HCA goes to not ready and HCA torque is ignored if this is violated; recoverable without a restart
  • Commanded torque limit: 3.0 newton-meters
    • HCA goes to not ready and HCA torque is ignored if this is violated
  • Rate of change: 5.0 nm/seconds
    • Found in certain documentation, but not observed in real world, at least not as a steering-disabling fault
  • Continuous time limit for HCA to be engaged: 180 seconds
    • Documented at 300 seconds in some places, 180 in others, 180 observed in real world testing
    • HCA goes to not ready and HCA torque is ignored if this is violated; recoverable without a restart
    • Working around this by disabling steering for one frame for every zero crossing
  • Same/stuck torque input detection: 6 seconds
    • Not documented anywhere, but observed in real world testing
    • HCA goes to not ready and HCA torque is ignored if this is violated; recoverable without a restart
    • Working around this by introducing slight noise, 0.01nm reduction in torque for one frame 1x/second

Controller Area Network (CAN)

Topology

XXX TBD J533 concept

Critical Messages and Flows

XXX TBD detail around certain select messages read or sent by OP

  • LWI_01
  • EPS_01 / LH_EPS_03
  • ACC_06
  • Getribe_11
  • HCA_01
  • LDW_02

Official Documentation

Volkswagen technical info can be found here: https://erwin.vw.com/erwin/showHome.do.

Physical Integrations

Integration at J533 Gateway

J533 gateway pinout:

T20/1  -- POWER     -- gr/ro terminal 30 power from 5a fuse SC5
T20/2  -- passthru  -- rt/vi terminal 30 power from 18a fuse SB18 (optional, w/o start/stop)
T20/3  -- passthru  -- vi/ws LIN bus to BEM 
T20/4  --           -- unused
T20/5  -- passthru  -- or/br Comfort CAN Low
T20/6  -- passthru  -- or/br Powertrain CAN Low
T20/7  -- PANDA 1/3 -- or/br Extended CAN Low
T20/8  -- passthru  -- or/br Suspension CAN Low
T20/9  -- passthru  -- or/br Diagnostic CAN Low / T16/14 on DLC
T20/10 -- passthru  -- or/br Infotainment CAN Low
T20/11 -- GROUND    -- br    Ground
T20/12 -- passthru  -- br    Ground
T20/13 -- passthru  -- vi/bl LIN bus to steering column electronics
T20/14 -- IGNITION  -- sw/vi terminal 15 power from PC3/A192
T20/15 -- passthru  -- or/gn Comfort CAN High
T20/16 -- passthru  -- or/sw Powertrain CAN High
T20/17 -- PANDA 1/3 -- or/gr Extended CAN High
T20/18 -- passthru  -- or/bl Suspension CAN High
T20/19 -- passthru  -- or/rt Diagnostic CAN High / T16/6 on DLC
T20/20 -- passthru  -- or/vi Infotainment CAN High

Gray or White Panda pinout:

Panda 1  -- unused
Panda 2  -- unused
Panda 3  -- unused
Panda 4  -- GROUND
Panda 5  -- unused
Panda 6  -- CAN1 Hi, toward gateway
Panda 7  -- unused
Panda 8  -- IGNITION
Panda 9  -- unused
Panda 10 -- unused
Panda 11 -- unused
Panda 12 -- CAN3 Hi, toward extended CAN, WITH termination resistor
Panda 13 -- CAN3 Lo, toward extended CAN, WITH termination resistor
Panda 14 -- CAN1 Lo, toward gateway
Panda 15 -- unused
Panda 16 -- POWER

XXX wiring diagram from @tmatheso

Integration at R242 Camera

Car Harness/Black Panda doesn't have an official harness connector in the Comma store yet, but it can be ordered with a development harness, and built by hand using the information below.

Parts and Tools

Retailer links are provided for example and convenience only, not as a referral or endorsement.

  • Connector Housings
    • Female connector housing 4F0-972-112, orderable from any VW group dealer parts department, or online: 1stVWParts ECS Tuning
    • Male connector housing 8Z0-972-112, orderable from any VW group dealer parts department, or online: 1stVWParts ECS Tuning
  • Terminals
    • AMP/TE female terminals 928999-1, orderable from Mouser in cut strips of 100: 571-928999-1-CT
    • AMP/TE male terminals 1-928918-1, orderable from Mouser in cut strips of 100: 571-1-928918-1-CT
  • Miscellaneous
    • Terminal crimping tools: Amazon Glarks SN-28B or a MQS crimping tool like the Rennsteig #616 682 3
    • For moving the CAN termination loop and fixing mistakes, either a real terminal release tool kit, or a pick and hook set in a pinch: Amazon B008Z67WV6
    • Highly recommended! TESA fabric wiring tape: Amazon B-51608-00003-00

Fabrication Process

Additional detail about the Dev Harness: https://github.com/commaai/neo/blob/master/car_harness/open_pinout.sch.pdf

CAN termination has to be physically configured. The dev harness will ship with a single resistance config loopback pre-installed between P3/P5, which configures it for 120 ohm termination on both CAN0 and CAN2. Volkswagen MQB should be configured for no extra termination on CAN0 and 60 ohm on CAN2. Do this by de-pinning the loopback between P3/P5 and reinstalling it between P23/P25.

Suggested work order:

  • De-pin and discard Dev Harness wires not used in this application
    • Pass-through 3 (yellow) - remove from both sides, not needed
    • Pass-through 4 (purple) - remove from both sides, not needed
    • 12V in (red) - remove from both sides, constant 12V will come via Comma Power instead
  • De-pin the CAN termination selector loop and relocate it as described above
  • Make all the pin and connector terminations described below
  • Wrap all loose wire with TESA tape, diagonal overlapping pattern, ending ~5mm from each connector
Factory Wiring Diagram for "T12ar" Connector
Pin Color mm2 Dia Description
1 or/br 0.35 Radar-camera sensor fusion, CAN low
2 or/br 0.35 Extended CAN, low
3 Unused
4 gr 0.5 Z113 heater/defogger pin 1, supply
5 br 0.35 R242 camera ground
6 sw/gn 0.35 12V from fuse SC32, ignition switched
7 or/ws 0.35 Radar-camera sensor fusion, CAN high
8 or/gr 0.35 Extended CAN High
9 unused
10 br 0.5 Z113 heater/defogger pin 2, ground
11 Unused
12 Unused
Mapping "T12ar" pins to the Dev Harness, Per-Side
Pin DH Color Description
1 Blue BP CAN 1, sensor fusion CAN low
2 Green BP CAN 0/2, extended CAN low
3 Unused
4 White Pass-through 2, camera heater supply
5 Black Ground
6 Brown Ignition switched power
7 Pink BP CAN 1, sensor fusion CAN high
8 Orange BP CAN 0/2, extended CAN high
9 Unused
10 Grey Pass-through 1, camera heater ground
11 Unused
12 Unused