IQ.Pilot Release Commit @ bec7652

artifacts/iqpilot_updater_private/manifest.json

@@ -16,17 +16,17 @@
   },
   "python/iqpilot_private/updater/_iqos_pat_blob.cpython-312-aarch64-linux-gnu.so": {
     "mode": 493,
-    "sha256": "94664d1b9abd1c0cb124707bf10f746f23adf0847a890d507df86f1e4a7e8ca9",
+    "sha256": "50f00d356371a60a50b2395966b6b1646fd3b8306e9ad6fe0229ad0e24186683",
     "size": 67616
   },
   "python/iqpilot_private/updater/_pat_blob.cpython-312-aarch64-linux-gnu.so": {
     "mode": 493,
-    "sha256": "481235a5685e14f5b8e9216908be23be9743fe6f487f2b38fb21c33dd84e22cf",
+    "sha256": "57b15e47bcc1084d33bda3908fb50347c2403cde0c9c951dad1b107ef56b06f1",
     "size": 67616
   },
   "python/iqpilot_private/updater/git_remote.cpython-312-aarch64-linux-gnu.so": {
     "mode": 493,
-    "sha256": "75ffbf8212f805b054c97ca4723a56071db822e889cda9d6bec233b2d2c8592a",
+    "sha256": "1d3611c753cc94d1e22802900a2487a13c445def98fa998385fa72935a0dd110",
     "size": 136488
   },
   "runtime": {
@@ -38,8 +38,8 @@
     }
   },
   "signatures": {
-    "python/iqpilot_private/updater/_iqos_pat_blob.cpython-312-aarch64-linux-gnu.so": "B45oDHpHNmslzjTyeuEVbE4fOytUsC/0po+CiHiLI+T01yWJIb6Dt4yFJm+qVTEqCLJfajedd1FnIQHCyUddDw==",
-    "python/iqpilot_private/updater/_pat_blob.cpython-312-aarch64-linux-gnu.so": "a+YcE2ik7Oo3btunKGoA+FHN+uSDoric2V6nu5SjtKSM/Nwpg1M9BX0BM55sA56sz6FgPRn93u+yPL7eryLYDw==",
-    "python/iqpilot_private/updater/git_remote.cpython-312-aarch64-linux-gnu.so": "NcdigDJOQ7d9A+HXCewPowezSML1i4cHW6uRyZ1N6vmtkXDorRk9YC4lxlM8uvoS/tB5/jQBkfc/DhkwPXAoAA=="
+    "python/iqpilot_private/updater/_iqos_pat_blob.cpython-312-aarch64-linux-gnu.so": "ZIgAfOcrpjAYBY/iLm9oovGs6jv7dQAToObwc9rrPpPTEgQZ/zTcTOa0TcqGTU/lK0tPhum2WVrPpxwosKUwDg==",
+    "python/iqpilot_private/updater/_pat_blob.cpython-312-aarch64-linux-gnu.so": "Zv7AsE+0KgGABA4n9Hf40UQVOz7k2ew/vxgKqkUpyFjZKdst6DUecAxyBPbK4Z8owTaKnnbNRxuRGiJtr+sJDA==",
+    "python/iqpilot_private/updater/git_remote.cpython-312-aarch64-linux-gnu.so": "2aLUgznDiiBF3sYwIxZKMjMW2A1S9q+tHZUnyAiEB48QbxAFjDAS6tMHUp5ej6/JAmejOzxQePYPL1jJnxKsBQ=="
   }
 }

artifacts/iqpilot_updater_private/manifest.json.sig

@@ -1 +1 @@
-54xdruMwhqg4ouUav9CwbOhcsytYbn/uy/OL1pT6Sd/JRvgsLckfe8+jsG527nyhZ7sBpxPx5dFLX3h/eOaSDg==
+D9FZfSC3DUspPq4ewwPjNoCS1N8ai3jcgutVQo94CnOI6Wcx3L1H30hTZ6SS8jw9MfMsVaggFXfMo2QT4yJlBQ==

artifacts/package_sources/iqdbc/conftest.py

@@ -41,6 +41,9 @@ if not _os.path.exists("/usr/libexec/iqpilot/runtime_integrity.json"):
     "update_mqb_carstate_alc_state": _noop,
     "update_mlb_carstate_alc_state": _noop,
     "update_pq_carstate_alc_state": _noop,
+    "update_turn_signals": _noop,
+    "create_vehicle_odometer_store": lambda *a, **k: _VehicleOdometerStoreStub(),
+    "vw_driver_override_threshold_cnm": lambda cs, platform, default: default,
   })
   _stub_module("iqpilot_private.konn3kt.iqlvbs.iqlvbs_commander", {
     "update_turn_signals": _noop,
@@ -50,13 +53,20 @@ if not _os.path.exists("/usr/libexec/iqpilot/runtime_integrity.json"):
   try:
     from iqpilot.system.proprietary_runtime import _verified_import as _vi
     _real_import_verified_module = _vi.import_verified_module
-
-    def _import_verified_module(bundle, module):
-      return _sys.modules.get(module) or _real_import_verified_module(bundle, module)
-
-    _vi.import_verified_module = _import_verified_module
   except Exception:
-    pass
+    _vi = _types.ModuleType("iqpilot.system.proprietary_runtime._verified_import")
+    _sys.modules["iqpilot.system.proprietary_runtime._verified_import"] = _vi
+    _real_import_verified_module = None
+
+  def _import_verified_module(bundle, module):
+    stub = _sys.modules.get(module)
+    if stub is not None:
+      return stub
+    if _real_import_verified_module is None:
+      raise ImportError(module)
+    return _real_import_verified_module(bundle, module)
+
+  _vi.import_verified_module = _import_verified_module
 # --- end host test harness ---------------------------------------------------
 
 _ABSTRACT_BASES = frozenset(("CarSafetyTest", "AolSafetyTestBase", "SafetyTest", "SafetyTestBase"))

artifacts/package_sources/iqdbc/iqdbc/car/tests/routes.py

@@ -353,6 +353,7 @@ routes = [
   CarTestRoute("79b0a26c081d6d6c/00000083--8407f96a1e", VOLKSWAGEN.VOLKSWAGEN_PASSAT_MK7),
   CarTestRoute("cc7e1fc0ce4ec686/00000004--dddc5bf4b6", VOLKSWAGEN.VOLKSWAGEN_PASSAT_NMS_PLUS),
   CarTestRoute("07667b885add75fd/2021-01-23--19-48-42", VOLKSWAGEN.AUDI_A3_MK3),
+  CarTestRoute("c8b7d4cd76391e07|00000000--c42dead9c6", VOLKSWAGEN.AUDI_A4_MK4, segment=29),
   CarTestRoute("5432d2499e17e646/000000e8--9ce8cf6d58", VOLKSWAGEN.AUDI_Q5_MK1),
   CarTestRoute("6c6b466346192818/2021-06-06--14-17-47", VOLKSWAGEN.AUDI_Q2_MK1),
   CarTestRoute("0cd0b7f7e31a3853/2021-12-03--03-12-05", VOLKSWAGEN.AUDI_Q3_MK2),

artifacts/package_sources/iqdbc/iqdbc/car/torque_data/substitute.toml

@@ -124,6 +124,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "VOLKSWAGEN_ID3_MK2" = "VOLKSWAGEN_ID4_MK2"
 "SKODA_ENYAQ_MK1" = "VOLKSWAGEN_ID4_MK1"
 "SKODA_ENYAQ_MK2" = "VOLKSWAGEN_ID4_MK2"
+"AUDI_A4_MK4" = "AUDI_Q5_MK1"
 "AUDI_Q4_MK1" = "VOLKSWAGEN_ID4_MK1"
 "AUDI_Q4_MK2" = "VOLKSWAGEN_ID4_MK2"
 "VOLKSWAGEN_GOLF_MK8" = "VOLKSWAGEN_GOLF_MK7"

artifacts/package_sources/iqdbc/iqdbc/car/volkswagen/carcontroller.py

@@ -205,6 +205,8 @@ class CarController(CarControllerBase):
         self._pt_tx_bus = self.CAN.aux
     elif CP.flags & VolkswagenFlags.MLB:
       self.CCS = mlbcan
+      if CP.flags & VolkswagenFlagsIQ.IQ_MLB_NO_ECAN:
+        self._pt_tx_bus = self.CAN.aux
     elif CP.flags & (VolkswagenFlags.MEB | VolkswagenFlags.MQB_EVO):
       self.CCS = mebcan
     else:
@@ -648,7 +650,8 @@ class CarController(CarControllerBase):
     cancel_cmd = stock_cancel_pressed or self._tap_gra_cancel(CC.cruiseControl.cancel, gra_send_ready)
     resume_cmd = CC.cruiseControl.resume or self._should_spam_mqb_a0_resume(CS, iq_mqb_acc_resume)
     if gra_send_ready and (cancel_cmd or resume_cmd):
-      bus_send = self.CAN.aux if self.CP.flags & VolkswagenFlags.PQ else self.CAN.ext
+      stalk_on_powertrain = self.CP.flags & VolkswagenFlags.PQ or self.CP.flags & VolkswagenFlagsIQ.IQ_MLB_NO_ECAN
+      bus_send = self.CAN.aux if stalk_on_powertrain else self.CAN.ext
       can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, bus_send, CS.gra_stock_values,
                                                            cancel=cancel_cmd, resume=resume_cmd))
 

artifacts/package_sources/iqdbc/iqdbc/car/volkswagen/carstate.py

@@ -672,9 +672,13 @@ class CarState(CarStateBase):
     ret.gasPressed = pt_cp.vl["Motor_03"]["MO_Fahrpedalrohwert_01"] > 0
     if self.CP.carFingerprint == CAR.PORSCHE_MACAN_MK1:
       ret.gearShifter = self.parse_gear_shifter(self.CCP.shifter_values.get(pt_cp.vl["Getriebe_03"]["GE_Waehlhebel"], None))
+    elif self.CP.transmissionType == TransmissionType.manual:
+      reverse = bool(pt_cp.vl["Gateway_05"]["BCM1_Rueckfahrlicht_Schalter"])
+      ret.gearShifter = GearShifter.reverse if reverse else GearShifter.drive
     else:
       ret.gearShifter = GearShifter.drive
 
+    cc_only = bool(self.CP.flags & (VolkswagenFlagsIQ.IQ_CC_ONLY | VolkswagenFlagsIQ.IQ_CC_ONLY_NO_RADAR))
     cruise_main_switch = bool(pt_cp.vl["LS_01"]["LS_Hauptschalter"])
     if not self.CP.pcmCruise:
       ret.cruiseState.available = cruise_main_switch
@@ -687,7 +691,8 @@ class CarState(CarStateBase):
     else:
       ret.cruiseState.available = pt_cp.vl["TSK_02"]["TSK_Status"] in (0, 1, 2)
       ret.cruiseState.enabled = pt_cp.vl["TSK_02"]["TSK_Status"] in (1, 2)
-      ret.cruiseState.speed = ext_cp.vl["ACC_02"]["ACC_Wunschgeschw_02"] * CV.KPH_TO_MS
+      if not cc_only:
+        ret.cruiseState.speed = ext_cp.vl["ACC_02"]["ACC_Wunschgeschw_02"] * CV.KPH_TO_MS
       ret.accFaulted = pt_cp.vl["TSK_02"]["TSK_Status"] in (3,)
 
     ret.cruiseState.nonAdaptive = bool(pt_cp.vl["LS_01"]["LS_Limiter"])
@@ -758,6 +763,13 @@ class CarState(CarStateBase):
   def parse_mlb_mqb_steering_state(self, ret, pt_cp, drive_mode=True):
     ret.steeringAngleDeg = pt_cp.vl["LWI_01"]["LWI_Lenkradwinkel"] * (1, -1)[int(pt_cp.vl["LWI_01"]["LWI_VZ_Lenkradwinkel"])]
     ret.steeringRateDeg = pt_cp.vl["LWI_01"]["LWI_Lenkradw_Geschw"] * (1, -1)[int(pt_cp.vl["LWI_01"]["LWI_VZ_Lenkradw_Geschw"])]
+
+    if self.CP.flags & VolkswagenFlagsIQ.IQ_MLB_NO_HCA_EPS:
+      ret.steeringTorque = 0.0
+      ret.steeringPressed = False
+      ret.steerFaultTemporary, ret.steerFaultPermanent = False, True
+      return
+
     ret.steeringTorque = pt_cp.vl["LH_EPS_03"]["EPS_Lenkmoment"] * (1, -1)[int(pt_cp.vl["LH_EPS_03"]["EPS_VZ_Lenkmoment"])]
     ret.steeringPressed = abs(ret.steeringTorque) > self.CCP.STEER_DRIVER_ALLOWANCE
 
@@ -826,13 +838,17 @@ class CarState(CarStateBase):
       ]
     else:
       pt_messages += [("Kombi_02", math.nan)]  # Auxiliary-bus cluster odometer
+    if CP.flags & VolkswagenFlagsIQ.IQ_MLB_NO_HCA_EPS:
+      pt_messages += [("LH_EPS_03", math.nan)]
     if CP.flags & VolkswagenFlags.STOCK_HCA_PRESENT:
       cam_messages += [
         ("HCA_01", 1),  # From R242 Driver assistance camera, 50Hz if steering/1Hz if not
       ]
 
+    pt_bus = CanBus(CP).aux if CP.flags & VolkswagenFlagsIQ.IQ_MLB_NO_ECAN else CanBus(CP).pt
+
     return {
-      Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], pt_messages, CanBus(CP).pt),
+      Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], pt_messages, pt_bus),
       Bus.aux: CANParser(DBC[CP.carFingerprint][Bus.pt], pt_messages, CanBus(CP).aux),
       Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], cam_messages, CanBus(CP).cam),
     }

artifacts/package_sources/iqdbc/iqdbc/car/volkswagen/fingerprints.py

@@ -1046,6 +1046,14 @@ FW_VERSIONS = {
       b'\xf1\x875Q0907572P \xf1\x890682',
     ],
   },
+  CAR.AUDI_A4_MK4: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x878K5907115M \xf1\x890005',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x878K0959655P \xf1\x890610\xf1\x82\x040E0D050G',
+    ],
+  },
   CAR.AUDI_Q2_MK1: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8704E906027JT\xf1\x894145',

artifacts/package_sources/iqdbc/iqdbc/car/volkswagen/interface.py

@@ -7,7 +7,8 @@ from iqdbc.car.isotp_parallel_query import IsoTpParallelQuery
 from iqdbc.car.volkswagen.carcontroller import CarController
 from iqdbc.car.volkswagen.carstate import CarState
 from iqdbc.car.volkswagen.values import (
-  CAR, CanBus, DashcamOnlyReason, NetworkLocation, RADAR_DISABLE_STATE, TransmissionType,
+  CAR, CanBus, DashcamOnlyReason, MLB_ACC_COORDINATOR_MSGS, MLB_GEARBOX_MSGS, MLB_MSG_ACC_10,
+  MLB_MSG_LH_EPS_03, NetworkLocation, RADAR_DISABLE_STATE, TransmissionType,
   VolkswagenFlags, VolkswagenSafetyFlags, VolkswagenFlagsIQ, get_longitudinal_stopping_speed_override,
 )
 from iqdbc.car.volkswagen.radar_interface import RadarInterface
@@ -94,6 +95,29 @@ class CarInterface(CarInterfaceBase):
       ret.transmissionType = TransmissionType.automatic
       ret.dashcamOnly = False
 
+      ecan_msgs = fingerprint[0] | fingerprint[2]
+      fingerprinted = bool(ecan_msgs or fingerprint[1])
+
+      if fingerprinted and not ecan_msgs:
+        ret.flags |= VolkswagenFlagsIQ.IQ_MLB_NO_ECAN.value
+        safety_configs[0].safetyParam |= VolkswagenSafetyFlags.MLB_NO_ECAN.value
+        ret.dashcamOnly = True
+
+      has_acc = any(msg in ecan_msgs for msg in MLB_ACC_COORDINATOR_MSGS)
+      if fingerprinted and not has_acc:
+        if MLB_MSG_ACC_10 in ecan_msgs:
+          ret.flags |= VolkswagenFlagsIQ.IQ_CC_ONLY.value
+        else:
+          ret.flags |= VolkswagenFlagsIQ.IQ_CC_ONLY_NO_RADAR.value
+
+      pt_msgs = fingerprint[1] if ret.flags & VolkswagenFlagsIQ.IQ_MLB_NO_ECAN else ecan_msgs
+
+      if fingerprinted and MLB_MSG_LH_EPS_03 not in pt_msgs:
+        ret.flags |= VolkswagenFlagsIQ.IQ_MLB_NO_HCA_EPS.value
+
+      if fingerprinted and not any(msg in pt_msgs for msg in MLB_GEARBOX_MSGS):
+        ret.transmissionType = TransmissionType.manual
+
     elif ret.flags & (VolkswagenFlags.MEB | VolkswagenFlags.MQB_EVO):
       if ret.flags & VolkswagenFlags.MEB:
         safety_configs = [get_safety_config(structs.CarParams.SafetyModel.volkswagenMeb)]
@@ -209,6 +233,11 @@ class CarInterface(CarInterfaceBase):
       ret.longitudinalTuning.kiV = [0.4, 0.]
 
     ret.alphaLongitudinalAvailable = ret.networkLocation == NetworkLocation.gateway or docs or bool(ret.flags & VolkswagenFlags.DISABLE_RADAR)
+
+    if ret.flags & VolkswagenFlags.MLB and ret.flags & (VolkswagenFlagsIQ.IQ_CC_ONLY | VolkswagenFlagsIQ.IQ_CC_ONLY_NO_RADAR):
+      ret.alphaLongitudinalAvailable = False
+      alpha_long = False
+
     if alpha_long:
       # Proof-of-concept, prep for E2E only. No radar points available. Panda ALLOW_DEBUG firmware required.
       ret.openpilotLongitudinalControl = True

artifacts/package_sources/iqdbc/iqdbc/car/volkswagen/tests/test_volkswagen.py

@@ -4,11 +4,14 @@ from types import SimpleNamespace
 
 import pytest
 
-from iqdbc.car import structs
+from iqdbc.can import CANPacker
+from iqdbc.car import Bus, DT_CTRL, structs
 from iqdbc.car.volkswagen.carstate import CarState
 from iqdbc.car.structs import CarParams
 from iqdbc.car.volkswagen.interface import CarInterface
-from iqdbc.car.volkswagen.values import CAR, FW_QUERY_CONFIG, WMI, VolkswagenFlags, VolkswagenFlagsIQ, VolkswagenSafetyFlags
+from iqdbc.car.volkswagen.values import (CAR, FW_QUERY_CONFIG, MLB_ACC_COORDINATOR_MSGS, MLB_MSG_ACC_10,
+                                         MLB_MSG_LH_EPS_03, WMI, VolkswagenFlags, VolkswagenFlagsIQ,
+                                         VolkswagenSafetyFlags)
 from iqdbc.car.volkswagen.fingerprints import FW_VERSIONS
 
 Ecu = CarParams.Ecu
@@ -118,6 +121,217 @@ class TestVolkswagenPlatformConfigs:
       assert bool(params.safetyConfigs[-1].safetyParam & VolkswagenSafetyFlags.ALLOW_LONG_ACCEL_WITH_GAS_PRESSED) is alpha_long
 
 
+def _mlb_fingerprint(bus, msgs):
+  fingerprints = {b: {} for b in range(7)}
+  fingerprints[bus] = {msg: 8 for msg in msgs}
+  return fingerprints
+
+
+A4_MK4_BUS_1 = (0x040, 0x080, 0x081, 0x086, 0x100, 0x101, 0x103, 0x104, 0x105, 0x106, 0x107, 0x10B,
+                0x10C, 0x10E, 0x114, 0x11D, 0x309, 0x30B, 0x30E, 0x312, 0x391, 0x392, 0x39C, 0x3BF,
+                0x3C0, 0x440, 0x471, 0x520, 0x585, 0x590, 0x5F0, 0x640, 0x641, 0x643, 0x644, 0x647,
+                0x670, 0x6B2, 0x6B4, 0x6B7, 0x6B8, 0x6C0, 0x6C1)
+
+MLB_ECAN_GATEWAY = (0x086, 0x09F, 0x102, 0x103, 0x105, 0x106, 0x10B, 0x10C, 0x30B)
+MLB_ECAN_CAMERA = (0x109, 0x10D, 0x117, 0x30C, 0x30F)
+
+
+def test_mlb_no_ecan_car_moves_to_the_powertrain_bus():
+  fingerprints = _mlb_fingerprint(1, A4_MK4_BUS_1)
+  params = CarInterface.get_params(CAR.AUDI_A4_MK4, fingerprints, [], alpha_long=True, is_release=False, docs=False)
+
+  assert params.flags & VolkswagenFlagsIQ.IQ_MLB_NO_ECAN
+  assert params.safetyConfigs[-1].safetyParam & VolkswagenSafetyFlags.MLB_NO_ECAN
+  assert params.flags & VolkswagenFlagsIQ.IQ_CC_ONLY_NO_RADAR
+  assert params.flags & VolkswagenFlagsIQ.IQ_MLB_NO_HCA_EPS
+  assert params.transmissionType == CarParams.TransmissionType.manual
+  assert not params.alphaLongitudinalAvailable
+  assert not params.openpilotLongitudinalControl
+  assert params.dashcamOnly
+
+
+def test_mlb_without_an_extended_can_is_not_controllable():
+  for msgs in (A4_MK4_BUS_1, A4_MK4_BUS_1 + (0x9F,)):
+    params = CarInterface.get_params(CAR.AUDI_A4_MK4, _mlb_fingerprint(1, msgs), [],
+                                     alpha_long=False, is_release=False, docs=False)
+    assert params.dashcamOnly
+
+
+def test_mlb_gateway_car_keeps_the_extended_can():
+  fingerprints = _mlb_fingerprint(0, MLB_ECAN_GATEWAY)
+  fingerprints[2] = {msg: 8 for msg in MLB_ECAN_CAMERA}
+  params = CarInterface.get_params(CAR.AUDI_Q5_MK1, fingerprints, [], alpha_long=False, is_release=False, docs=False)
+
+  assert not params.flags & VolkswagenFlagsIQ.IQ_MLB_NO_ECAN
+  assert not params.flags & (VolkswagenFlagsIQ.IQ_CC_ONLY | VolkswagenFlagsIQ.IQ_CC_ONLY_NO_RADAR)
+  assert not params.flags & VolkswagenFlagsIQ.IQ_MLB_NO_HCA_EPS
+  assert params.transmissionType == CarParams.TransmissionType.automatic
+  assert params.alphaLongitudinalAvailable
+  assert not params.dashcamOnly
+
+
+def test_mlb_flags_are_not_inferred_without_a_fingerprint():
+  fingerprints = {bus: {} for bus in range(7)}
+  for platform in (CAR.AUDI_Q5_MK1, CAR.PORSCHE_MACAN_MK1, CAR.AUDI_A4_MK4):
+    params = CarInterface.get_params(platform, fingerprints, [], alpha_long=False, is_release=False, docs=True)
+    assert not params.flags & VolkswagenFlagsIQ.IQ_MLB_NO_ECAN
+    assert not params.flags & (VolkswagenFlagsIQ.IQ_CC_ONLY | VolkswagenFlagsIQ.IQ_CC_ONLY_NO_RADAR)
+    assert not params.flags & VolkswagenFlagsIQ.IQ_MLB_NO_HCA_EPS
+    assert params.transmissionType == CarParams.TransmissionType.automatic
+
+
+def _build_mlb_car(platform, fingerprints):
+  CP = CarInterface.get_params(platform, fingerprints, [], alpha_long=False, is_release=False, docs=False)
+  CP_IQ = CarInterface.get_params_iq(CP, platform, fingerprints, [], alpha_long=False, is_release_iq=False, docs=False)
+  return CarInterface(CP, CP_IQ)
+
+
+def _a4_mk4_car():
+  return _build_mlb_car(CAR.AUDI_A4_MK4, _mlb_fingerprint(1, A4_MK4_BUS_1))
+
+
+def _q5_mk1_car():
+  fingerprints = _mlb_fingerprint(0, MLB_ECAN_GATEWAY)
+  fingerprints[2] = {msg: 8 for msg in MLB_ECAN_CAMERA}
+  return _build_mlb_car(CAR.AUDI_Q5_MK1, fingerprints)
+
+
+def _a4_mk4_frames(packer, reverse=False, eps_torque=None):
+  msgs = [
+    packer.make_can_msg("ESP_03", 1, {"ESP_%s_Radgeschw" % s: 30.0 for s in ("VL", "VR", "HL", "HR")}),
+    packer.make_can_msg("Motor_03", 1, {"MO_Fahrpedalrohwert_01": 0, "MO_BLS": 0}),
+    packer.make_can_msg("ESP_05", 1, {"ESP_Bremsdruck": 0, "ESP_Fahrer_bremst": 0}),
+    packer.make_can_msg("ESP_01", 1, {"ESP_Tastung_passiv": 0}),
+    packer.make_can_msg("ESP_02", 1, {"ESP_Stillstandsflag": 0}),
+    packer.make_can_msg("TSK_02", 1, {"TSK_Status": 0}),
+    packer.make_can_msg("LS_01", 1, {"LS_Hauptschalter": 1, "LS_Codierung": 2}),
+    packer.make_can_msg("LWI_01", 1, {"LWI_Lenkradwinkel": 12.0, "LWI_Lenkradw_Geschw": 4.0}),
+    packer.make_can_msg("Kombi_01", 1, {"KBI_angez_Geschw": 30.0, "KBI_Handbremse": 0}),
+    packer.make_can_msg("Kombi_02", 1, {"KBI_Inhalt_Tank": 40, "KBI_Kilometerstand": 100000}),
+    packer.make_can_msg("Airbag_02", 1, {"AB_Gurtschloss_FA": 3}),
+    packer.make_can_msg("Gateway_05", 1, {"BCM1_Rueckfahrlicht_Schalter": int(reverse)}),
+  ]
+  if eps_torque is not None:
+    msgs.append(packer.make_can_msg("LH_EPS_03", 1, {"EPS_Lenkmoment": abs(eps_torque),
+                                                     "EPS_VZ_Lenkmoment": eps_torque < 0,
+                                                     "EPS_HCA_Status": 3}))
+  return msgs
+
+
+def _run(car, build, frames=25):
+  nanos = 0
+  for _ in range(frames):
+    nanos += int(DT_CTRL * 1e9)
+    ret, _ = car.update([(nanos, build())])
+  return ret
+
+
+def test_mlb_no_ecan_parsers_read_the_powertrain_bus():
+  a4 = _a4_mk4_car()
+  assert a4.CS.get_can_parsers(a4.CP, a4.CP_IQ)[Bus.pt].bus == 1
+
+  q5 = _q5_mk1_car()
+  assert q5.CS.get_can_parsers(q5.CP, q5.CP_IQ)[Bus.pt].bus == 0
+
+
+def test_mlb_no_ecan_transmits_on_the_powertrain_bus():
+  a4 = _a4_mk4_car()
+  packer = CANPacker("vw_mlb")
+
+  CC = structs.CarControl()
+  CC.enabled = True
+  CC.latActive = True
+  CC.cruiseControl.cancel = True
+  CC = CC.as_reader()
+  CC_IQ = structs.IQCarControl()
+
+  sent = []
+  nanos = 0
+  for _ in range(20):
+    nanos += int(DT_CTRL * 1e9)
+    a4.update([(nanos, _a4_mk4_frames(packer, eps_torque=0))])
+    _, can_sends = a4.apply(CC, CC_IQ, nanos)
+    sent.extend(can_sends)
+
+  assert {addr for addr, _, _ in sent} == {0x126, 0x397, 0x10B}
+  assert {bus for _, _, bus in sent} == {1}
+
+
+def test_mlb_no_hca_eps_reports_a_steer_fault_without_a_can_fault():
+  a4 = _a4_mk4_car()
+  assert a4.CP.flags & VolkswagenFlagsIQ.IQ_MLB_NO_HCA_EPS
+
+  packer = CANPacker("vw_mlb")
+  ret = _run(a4, lambda: _a4_mk4_frames(packer))
+
+  assert ret.steerFaultPermanent
+  assert not ret.steerFaultTemporary
+  assert ret.steeringTorque == 0.0
+  assert not ret.steeringPressed
+  assert ret.steeringAngleDeg == pytest.approx(12.0, abs=0.2)
+
+  pt = a4.can_parsers[Bus.pt]
+  assert pt.message_states[MLB_MSG_LH_EPS_03].ignore_alive
+  assert all(parser.can_valid for parser in a4.can_parsers.values())
+
+
+def test_mlb_no_hca_eps_survives_the_parser_aliveness_timeout():
+  a4 = _a4_mk4_car()
+  packer = CANPacker("vw_mlb")
+  pt = a4.can_parsers[Bus.pt]
+
+  nanos = 0
+  for _ in range(int(15.0 / DT_CTRL)):
+    nanos += int(DT_CTRL * 1e9)
+    ret, _ = a4.update([(nanos, _a4_mk4_frames(packer))])
+    pt.vl["LH_EPS_03"]["EPS_HCA_Status"]
+
+  assert ret.steerFaultPermanent
+  assert all(parser.can_valid for parser in a4.can_parsers.values())
+  assert not any(parser.bus_timeout for parser in a4.can_parsers.values())
+
+
+def test_mlb_lane_assist_eps_restores_the_normal_torque_path():
+  fingerprints = _mlb_fingerprint(1, A4_MK4_BUS_1 + (0x9F,))
+  a4 = _build_mlb_car(CAR.AUDI_A4_MK4, fingerprints)
+  assert not a4.CP.flags & VolkswagenFlagsIQ.IQ_MLB_NO_HCA_EPS
+
+  packer = CANPacker("vw_mlb")
+  ret = _run(a4, lambda: _a4_mk4_frames(packer, eps_torque=-140))
+
+  assert ret.steeringTorque == pytest.approx(-140, abs=1)
+  assert ret.steeringPressed
+  assert not ret.steerFaultPermanent
+  assert not a4.can_parsers[Bus.pt].message_states[MLB_MSG_LH_EPS_03].ignore_alive
+
+
+def test_mlb_cc_only_never_reads_the_acc_coordinator():
+  a4 = _a4_mk4_car()
+  assert a4.CP.flags & VolkswagenFlagsIQ.IQ_CC_ONLY_NO_RADAR
+
+  packer = CANPacker("vw_mlb")
+  ret = _run(a4, lambda: _a4_mk4_frames(packer))
+
+  assert ret.cruiseState.available
+  assert not ret.cruiseState.enabled
+  assert ret.cruiseState.speed == 0.0
+
+  parsers = a4.can_parsers
+  for msg in MLB_ACC_COORDINATOR_MSGS + (MLB_MSG_ACC_10,):
+    for parser in parsers.values():
+      assert msg not in parser.addresses
+
+
+def test_mlb_manual_gear_follows_the_reverse_light_switch():
+  a4 = _a4_mk4_car()
+  assert a4.CP.transmissionType == CarParams.TransmissionType.manual
+
+  packer = CANPacker("vw_mlb")
+  assert _run(a4, lambda: _a4_mk4_frames(packer, reverse=False)).gearShifter == structs.CarState.GearShifter.drive
+  assert _run(a4, lambda: _a4_mk4_frames(packer, reverse=True)).gearShifter == structs.CarState.GearShifter.reverse
+  assert _run(a4, lambda: _a4_mk4_frames(packer, reverse=False)).gearShifter == structs.CarState.GearShifter.drive
+
+
 @pytest.mark.parametrize("button_type", (
   structs.CarState.ButtonEvent.Type.setCruise,
   structs.CarState.ButtonEvent.Type.resumeCruise,

artifacts/package_sources/iqdbc/iqdbc/car/volkswagen/values.py

@@ -300,6 +300,7 @@ class VolkswagenSafetyFlags(IntFlag):
   PQ_NO_CAM_BUS = 128
   PQ_ACC_FTS_EPB = 256
   PQ_SNG_ECD = 512
+  MLB_NO_ECAN = 1024
 
 
 class VolkswagenFlags(IntFlag):
@@ -331,10 +332,25 @@ class VolkswagenFlagsIQ(IntFlag):
   IQ_PQ_ACC_FTS_EPB = 1 << 18      # B7 TRW450: ACC FtS + EPB hold, Motor_1 resume spoof on bus 1
   IQ_PQ_SNG_ECD = 1 << 19
   IQ_PQ_TIMEBOMB = 1 << 20
+  IQ_MLB_NO_ECAN = 1 << 21
+  IQ_MLB_NO_HCA_EPS = 1 << 22
 
 
 RADAR_DISABLE_STATE = {"error": False}
 
+MLB_MSG_LH_EPS_03 = 0x9F
+MLB_MSG_GETRIEBE_01 = 0x82
+MLB_MSG_GETRIEBE_02 = 0x83
+MLB_MSG_GETRIEBE_03 = 0x102
+MLB_MSG_GETRIEBE_04 = 0x441
+MLB_MSG_ACC_01 = 0x109
+MLB_MSG_ACC_05 = 0x10D
+MLB_MSG_ACC_02 = 0x30C
+MLB_MSG_ACC_10 = 0x117
+
+MLB_ACC_COORDINATOR_MSGS = (MLB_MSG_ACC_01, MLB_MSG_ACC_05, MLB_MSG_ACC_02)
+MLB_GEARBOX_MSGS = (MLB_MSG_GETRIEBE_01, MLB_MSG_GETRIEBE_02, MLB_MSG_GETRIEBE_03, MLB_MSG_GETRIEBE_04)
+
 
 @dataclass
 class VolkswagenMLBPlatformConfig(PlatformConfig):
@@ -671,6 +687,12 @@ class CAR(Platforms):
     chassis_codes={"8V", "FF"},
     wmis={WMI.AUDI_GERMANY_CAR, WMI.AUDI_SPORT},
   )
+  AUDI_A4_MK4 = VolkswagenMLBPlatformConfig(
+    [VWCarDocs("Audi A4 2013-16", package="Cruise Control")],
+    VolkswagenCarSpecs(mass=1610, wheelbase=2.81, steerRatio=15.9),
+    chassis_codes={"8K", "FL"},
+    wmis={WMI.AUDI_GERMANY_CAR},
+  )
   AUDI_Q2_MK1 = VolkswagenMQBPlatformConfig(
     [VWCarDocs("Audi Q2 2018")],
     VolkswagenCarSpecs(mass=1205, wheelbase=2.61),

artifacts/package_sources/iqdbc/iqdbc/safety/modes/volkswagen_common.h

@@ -18,6 +18,8 @@ extern const uint16_t FLAG_VOLKSWAGEN_PQ_ACC_FTS_EPB;
 const uint16_t FLAG_VOLKSWAGEN_PQ_ACC_FTS_EPB = 256;
 extern const uint16_t FLAG_VOLKSWAGEN_PQ_SNG_ECD;
 const uint16_t FLAG_VOLKSWAGEN_PQ_SNG_ECD = 512;
+extern const uint16_t FLAG_VOLKSWAGEN_MLB_NO_ECAN;
+const uint16_t FLAG_VOLKSWAGEN_MLB_NO_ECAN = 1024;
 
 static uint8_t volkswagen_crc8_lut_8h2f[256]; // Static lookup table for CRC8 poly 0x2F, aka 8H2F/AUTOSAR
 

artifacts/package_sources/iqdbc/iqdbc/safety/modes/volkswagen_mlb.h

@@ -12,6 +12,8 @@
 // so a rounding difference on the sending side cannot silently block the whole ACC_01 stream.
 #define VOLKSWAGEN_MLB_INACTIVE_ACCEL_TOLERANCE 15
 
+static bool volkswagen_mlb_no_ecan = false;
+
 static bool volkswagen_mlb_long_accel_check(int desired_accel) {
   int inactive_delta = desired_accel - VW_IQ_INACTIVE_LONG_ACCEL;
   bool inactive = ((inactive_delta >= -VOLKSWAGEN_MLB_INACTIVE_ACCEL_TOLERANCE) &&
@@ -36,6 +38,9 @@ static safety_config volkswagen_mlb_init(uint16_t param) {
   static const CanMsg VOLKSWAGEN_MLB_LONG_TX_MSGS[] = {{MSG_HCA_01, 0, 8, .check_relay = true}, {MSG_LDW_02, 0, 8, .check_relay = true},
                                                        {MSG_ACC_01, 0, 8, .check_relay = true}, {MSG_ACC_02, 0, 8, .check_relay = true}};
 
+  static const CanMsg VOLKSWAGEN_MLB_NO_ECAN_TX_MSGS[] = {{MSG_HCA_01, 1, 8, .check_relay = true}, {MSG_LDW_02, 1, 8, .check_relay = true},
+                                                          {MSG_LS_01, 1, 4, .check_relay = false}};
+
   static RxCheck volkswagen_mlb_rx_checks[] = {
     // TODO: implement checksum validation
     {.msg = {{MSG_ESP_03, 0, 8, 50U, .ignore_checksum = true, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
@@ -46,7 +51,17 @@ static safety_config volkswagen_mlb_init(uint16_t param) {
     {.msg = {{MSG_LS_01, 0, 4, 10U, .ignore_checksum = true, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
   };
 
+  static RxCheck volkswagen_mlb_no_ecan_rx_checks[] = {
+    {.msg = {{MSG_ESP_03, 1, 8, 50U, .ignore_checksum = true, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
+    {.msg = {{MSG_LH_EPS_03, 1, 8, 100U, .ignore_checksum = true, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
+    {.msg = {{MSG_ESP_05, 1, 8, 50U, .ignore_checksum = true, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
+    {.msg = {{MSG_TSK_02, 1, 8, 50U, .ignore_checksum = true, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
+    {.msg = {{MSG_MOTOR_03, 1, 8, 100U, .ignore_checksum = true, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
+    {.msg = {{MSG_LS_01, 1, 4, 10U, .ignore_checksum = true, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
+  };
+
   volkswagen_common_init();
+  volkswagen_mlb_no_ecan = GET_FLAG(param, FLAG_VOLKSWAGEN_MLB_NO_ECAN);
 
 #ifdef ALLOW_DEBUG
   volkswagen_longitudinal = GET_FLAG(param, FLAG_VOLKSWAGEN_LONG_CONTROL);
@@ -56,11 +71,12 @@ static safety_config volkswagen_mlb_init(uint16_t param) {
 #endif
 
   return volkswagen_longitudinal ? BUILD_SAFETY_CFG(volkswagen_mlb_rx_checks, VOLKSWAGEN_MLB_LONG_TX_MSGS) : \
-                                   BUILD_SAFETY_CFG(volkswagen_mlb_rx_checks, VOLKSWAGEN_MLB_STOCK_TX_MSGS);
+         volkswagen_mlb_no_ecan    ? BUILD_SAFETY_CFG(volkswagen_mlb_no_ecan_rx_checks, VOLKSWAGEN_MLB_NO_ECAN_TX_MSGS) : \
+                                     BUILD_SAFETY_CFG(volkswagen_mlb_rx_checks, VOLKSWAGEN_MLB_STOCK_TX_MSGS);
 }
 
 static void volkswagen_mlb_rx_hook(const CANPacket_t *msg) {
-  if (msg->bus == 0U) {
+  if (msg->bus == (volkswagen_mlb_no_ecan ? 1U : 0U)) {
     // Check all wheel speeds for any movement
     // Signals: ESP_03.ESP_[VL|VR|HL|HR]_Radgeschw
     if (msg->addr == MSG_ESP_03) {

artifacts/package_sources/iqdbc/iqdbc/safety/tests/test_volkswagen_mlb.py

@@ -216,5 +216,72 @@ class TestVolkswagenMlbLongSafety(TestVolkswagenMlbSafetyBase):
     self.assertTrue(self._tx(self._acc_01_msg(0.5)))
 
 
+class TestVolkswagenMlbNoEcanSafety(TestVolkswagenMlbSafetyBase):
+  TX_MSGS = [[MSG_HCA_01, 1], [MSG_LDW_02, 1], [MSG_LS_01, 1]]
+  FWD_BLACKLISTED_ADDRS = {}
+  FWD_BUS_LOOKUP = {0: 2, 2: 0}
+  RELAY_MALFUNCTION_ADDRS = {1: (MSG_HCA_01, MSG_LDW_02)}
+
+  def setUp(self):
+    self.packer = CANPackerSafety("vw_mlb")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.volkswagenMlb, VolkswagenSafetyFlags.MLB_NO_ECAN)
+    self.safety.init_tests()
+
+  def _speed_msg(self, speed):
+    values = {"ESP_%s_Radgeschw" % s: speed for s in ["HL", "HR", "VL", "VR"]}
+    return self.packer.make_can_msg_safety("ESP_03", 1, values)
+
+  def _esp_05_msg(self, brake):
+    values = {"ESP_Fahrer_bremst": brake}
+    return self.packer.make_can_msg_safety("ESP_05", 1, values)
+
+  def _motor_03_msg(self, brake_signal=False, gas_signal=0):
+    values = {"MO_BLS": brake_signal, "MO_Fahrpedalrohwert_01": gas_signal}
+    return self.packer.make_can_msg_safety("Motor_03", 1, values)
+
+  def _torque_driver_msg(self, torque):
+    values = {"EPS_Lenkmoment": abs(torque), "EPS_VZ_Lenkmoment": torque < 0}
+    return self.packer.make_can_msg_safety("LH_EPS_03", 1, values)
+
+  def _torque_cmd_msg(self, torque, steer_req=1):
+    values = {"HCA_01_LM_Offset": abs(torque),
+              "HCA_01_LM_OffSign": torque < 0,
+              "HCA_01_Sendestatus": steer_req,
+              "HCA_01_Status_HCA": 7 if steer_req else 3}
+    return self.packer.make_can_msg_safety("HCA_01", 1, values)
+
+  def _ls_01_msg(self, cancel=0, resume=0, _set=0, main_switch=1, bus=1):
+    values = {"LS_Abbrechen": cancel, "LS_Tip_Setzen": _set, "LS_Tip_Wiederaufnahme": resume,
+              "LS_Hauptschalter": main_switch}
+    return self.packer.make_can_msg_safety("LS_01", bus, values)
+
+  def _tsk_status_msg(self, enable, main_switch=True):
+    values = {"TSK_Status": 1 if enable else 0 if main_switch else 3}
+    return self.packer.make_can_msg_safety("TSK_02", 1, values)
+
+  def test_spam_cancel_safety_check(self):
+    self.safety.set_controls_allowed(0)
+    self.assertTrue(self._tx(self._ls_01_msg(cancel=1)))
+    self.assertFalse(self._tx(self._ls_01_msg(resume=1)))
+    self.assertFalse(self._tx(self._ls_01_msg(_set=1)))
+    self.safety.set_controls_allowed(1)
+    self.assertTrue(self._tx(self._ls_01_msg(resume=1)))
+
+  def test_cancel_button(self):
+    self._rx(self._tsk_status_msg(False, main_switch=True))
+    self.safety.set_controls_allowed(1)
+    self._rx(self._ls_01_msg(cancel=True))
+    self.assertFalse(self.safety.get_controls_allowed(), "controls allowed after cancel")
+
+  def test_ecan_bus_is_ignored(self):
+    self._rx(self._torque_driver_msg(0))
+    self.safety.set_controls_allowed(1)
+    self._rx(self.packer.make_can_msg_safety("LS_01", 0, {"LS_Abbrechen": 1, "LS_Hauptschalter": 1}))
+    self.assertTrue(self.safety.get_controls_allowed(), "bus 0 cancel disengaged a no-ECAN car")
+    self._rx(self.packer.make_can_msg_safety("LH_EPS_03", 0, {"EPS_Lenkmoment": 200, "EPS_VZ_Lenkmoment": 0}))
+    self.assertEqual(0, self.safety.get_torque_driver_max(), "bus 0 EPS torque reached the driver sample")
+
+
 if __name__ == "__main__":
   unittest.main()