commaai · jyoung8607 · Nov 10, 2025 · Oct 18, 2025 · Oct 18, 2025 · Oct 18, 2025
diff --git a/opendbc/can/dbc.py b/opendbc/can/dbc.py
@@ -11,6 +11,7 @@
 from opendbc.car.subaru.subarucan import subaru_checksum
 from opendbc.car.chrysler.chryslercan import chrysler_checksum, fca_giorgio_checksum
 from opendbc.car.hyundai.hyundaicanfd import hkg_can_fd_checksum
+from opendbc.car.volkswagen.mlbcan import volkswagen_mlb_checksum
 from opendbc.car.volkswagen.mqbcan import volkswagen_mqb_meb_checksum, xor_checksum
 from opendbc.car.tesla.teslacan import tesla_checksum
 from opendbc.car.body.bodycan import body_checksum
@@ -31,6 +32,7 @@ class SignalType:
   FCA_GIORGIO_CHECKSUM = 10
   TESLA_CHECKSUM = 11
   PSA_CHECKSUM = 12
+  VOLKSWAGEN_MLB_CHECKSUM = 13
 
 
 @dataclass
@@ -186,6 +188,8 @@ def get_checksum_state(dbc_name: str) -> ChecksumState | None:
     return ChecksumState(16, -1, 0, -1, True, SignalType.HKG_CAN_FD_CHECKSUM, hkg_can_fd_checksum)
   elif dbc_name.startswith(("vw_mqb", "vw_mqbevo", "vw_meb")):
     return ChecksumState(8, 4, 0, 0, True, SignalType.VOLKSWAGEN_MQB_MEB_CHECKSUM, volkswagen_mqb_meb_checksum)
+  elif dbc_name.startswith("vw_mlb"):
+    return ChecksumState(8, 4, 0, 0, True, SignalType.VOLKSWAGEN_MLB_CHECKSUM, volkswagen_mlb_checksum)
   elif dbc_name.startswith("vw_pq"):
     return ChecksumState(8, 4, 0, -1, True, SignalType.XOR_CHECKSUM, xor_checksum)
   elif dbc_name.startswith("subaru_global_"):

diff --git a/opendbc/car/tests/routes.py b/opendbc/car/tests/routes.py
@@ -290,6 +290,7 @@ class CarTestRoute(NamedTuple):
   CarTestRoute("66e5edc3a16459c5/2021-05-25--19-00-29", VOLKSWAGEN.SKODA_OCTAVIA_MK3),
   CarTestRoute("026b6d18fba6417f/2021-03-26--09-17-04", VOLKSWAGEN.SKODA_KAMIQ_MK1),  # Scala
   CarTestRoute("b2e9858e29db492b/2021-03-26--16-58-42", VOLKSWAGEN.SKODA_SUPERB_MK3),
+  CarTestRoute("e8dac44d3a3458a5/0000008d--c3e9496f1c", VOLKSWAGEN.PORSCHE_MACAN_MK1),  # placeholder, replace after merge
 
   CarTestRoute("3c8f0c502e119c1c/2020-06-30--12-58-02", SUBARU.SUBARU_ASCENT),
   CarTestRoute("c321c6b697c5a5ff/2020-06-23--11-04-33", SUBARU.SUBARU_FORESTER),

diff --git a/opendbc/car/torque_data/override.toml b/opendbc/car/torque_data/override.toml
@@ -91,6 +91,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "HONDA_ODYSSEY_5G_MMR" = [0.9, 0.9, 0.2]
 "HONDA_NBOX_2G" = [1.2, 1.2, 0.2]
 "ACURA_TLX_2G" = [1.2, 1.2, 0.15]
+"PORSCHE_MACAN_MK1" = [2.0, 2.0, 0.2]
 
 # Dashcam or fallback configured as ideal car
 "MOCK" = [10.0, 10, 0.0]

diff --git a/opendbc/car/volkswagen/carcontroller.py b/opendbc/car/volkswagen/carcontroller.py
@@ -4,7 +4,7 @@
 from opendbc.car.lateral import apply_driver_steer_torque_limits
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.interfaces import CarControllerBase
-from opendbc.car.volkswagen import mqbcan, pqcan
+from opendbc.car.volkswagen import mlbcan, mqbcan, pqcan
 from opendbc.car.volkswagen.values import CanBus, CarControllerParams, VolkswagenFlags
 
 VisualAlert = structs.CarControl.HUDControl.VisualAlert
@@ -16,10 +16,16 @@ def __init__(self, dbc_names, CP):
     super().__init__(dbc_names, CP)
     self.CCP = CarControllerParams(CP)
     self.CAN = CanBus(CP)
-    self.CCS = pqcan if CP.flags & VolkswagenFlags.PQ else mqbcan
     self.packer_pt = CANPacker(dbc_names[Bus.pt])
     self.aeb_available = not CP.flags & VolkswagenFlags.PQ
 
+    if CP.flags & VolkswagenFlags.PQ:
+      self.CCS = pqcan
+    elif CP.flags & VolkswagenFlags.MLB:
+      self.CCS = mlbcan
+    else:
+      self.CCS = mqbcan
+
     self.apply_torque_last = 0
     self.gra_acc_counter_last = None
     self.eps_timer_soft_disable_alert = False

diff --git a/opendbc/car/volkswagen/carstate.py b/opendbc/car/volkswagen/carstate.py
@@ -18,6 +18,7 @@ def __init__(self, CP):
     self.esp_hold_confirmation = False
     self.upscale_lead_car_signal = False
     self.eps_stock_values = False
+    self.acc_type = 0
 
   def update_button_enable(self, buttonEvents: list[structs.CarState.ButtonEvent]):
     if not self.CP.pcmCruise:
@@ -48,6 +49,8 @@ def update(self, can_parsers) -> structs.CarState:
 
     if self.CP.flags & VolkswagenFlags.PQ:
       return self.update_pq(pt_cp, cam_cp, ext_cp)
+    elif self.CP.flags & VolkswagenFlags.MLB:
+      return self.update_mlb(pt_cp, cam_cp, ext_cp)
 
     ret = structs.CarState()
 
@@ -227,6 +230,61 @@ def update_pq(self, pt_cp, cam_cp, ext_cp) -> structs.CarState:
     self.frame += 1
     return ret
 
+  def update_mlb(self, pt_cp, cam_cp, ext_cp) -> structs.CarState:
+    ret = structs.CarState()
+
+    self.parse_wheel_speeds(ret,
+      pt_cp.vl["ESP_03"]["ESP_VL_Radgeschw"],
+      pt_cp.vl["ESP_03"]["ESP_VR_Radgeschw"],
+      pt_cp.vl["ESP_03"]["ESP_HL_Radgeschw"],
+      pt_cp.vl["ESP_03"]["ESP_HR_Radgeschw"],
+    )
+
+    ret.gasPressed = pt_cp.vl["Motor_03"]["MO_Fahrpedalrohwert_01"] > 0
+    ret.gearShifter = self.parse_gear_shifter(self.CCP.shifter_values.get(pt_cp.vl["Getriebe_03"]["GE_Waehlhebel"], None))
+
+    # ACC okay but disabled (1), ACC ready (2), a radar visibility or other fault/disruption (6 or 7)
+    # currently regulating speed (3), driver accel override (4), brake only (5)
+    # TODO: get this from the drivetrain side instead, for openpilot long support later
+    ret.cruiseState.available = ext_cp.vl["ACC_05"]["ACC_Status_ACC"] in (2, 3, 4, 5)
+    ret.cruiseState.enabled = ext_cp.vl["ACC_05"]["ACC_Status_ACC"] in (3, 4, 5)
+    ret.accFaulted = ext_cp.vl["ACC_05"]["ACC_Status_ACC"] in (6, 7)
+
+    self.parse_mlb_mqb_steering_state(ret, pt_cp)
+
+    ret.brake = pt_cp.vl["ESP_05"]["ESP_Bremsdruck"] / 250.0
+    brake_pedal_pressed = bool(pt_cp.vl["Motor_03"]["MO_Fahrer_bremst"])
+    brake_pressure_detected = bool(pt_cp.vl["ESP_05"]["ESP_Fahrer_bremst"])
+    ret.brakePressed = brake_pedal_pressed or brake_pressure_detected
+    ret.parkingBrake = bool(pt_cp.vl["Kombi_01"]["KBI_Handbremse"])
+    ret.espDisabled = pt_cp.vl["ESP_01"]["ESP_Tastung_passiv"] != 0
+
+    ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_stalk(300, pt_cp.vl["Gateway_11"]["BH_Blinker_li"],
+                                                                            pt_cp.vl["Gateway_11"]["BH_Blinker_re"])
+
+    ret.seatbeltUnlatched = pt_cp.vl["Gateway_06"]["AB_Gurtschloss_FA"] != 3
+    ret.doorOpen = any([pt_cp.vl["Gateway_05"]["FT_Tuer_geoeffnet"],
+                        pt_cp.vl["Gateway_05"]["BT_Tuer_geoeffnet"],
+                        pt_cp.vl["Gateway_05"]["HL_Tuer_geoeffnet"],
+                        pt_cp.vl["Gateway_05"]["HR_Tuer_geoeffnet"]])
+
+    # Consume blind-spot monitoring info/warning LED states, if available.
+    # Infostufe: BSM LED on, Warnung: BSM LED flashing
+    if self.CP.enableBsm:
+      ret.leftBlindspot = bool(ext_cp.vl["SWA_01"]["SWA_Infostufe_SWA_li"]) or bool(ext_cp.vl["SWA_01"]["SWA_Warnung_SWA_li"])
+      ret.rightBlindspot = bool(ext_cp.vl["SWA_01"]["SWA_Infostufe_SWA_re"]) or bool(ext_cp.vl["SWA_01"]["SWA_Warnung_SWA_re"])
+
+    self.ldw_stock_values = cam_cp.vl["LDW_02"] if self.CP.networkLocation == NetworkLocation.fwdCamera else {}
+    self.gra_stock_values = pt_cp.vl["LS_01"]
+
+    ret.buttonEvents = self.create_button_events(pt_cp, self.CCP.BUTTONS)
+
+    ret.cruiseState.standstill = self.CP.pcmCruise and self.esp_hold_confirmation
+    ret.standstill = ret.vEgoRaw == 0
+
+    self.frame += 1
+    return ret
+
   def update_low_speed_alert(self, v_ego: float) -> bool:
     # Low speed steer alert hysteresis logic
     if (self.CP.minSteerSpeed - 1e-3) > CarControllerParams.DEFAULT_MIN_STEER_SPEED and v_ego < (self.CP.minSteerSpeed + 1.):
@@ -258,18 +316,20 @@ def get_can_parsers(CP):
     if CP.flags & VolkswagenFlags.PQ:
       return CarState.get_can_parsers_pq(CP)
 
-    # another case of the 1-50Hz
-    cam_messages = []
+    # manually configure some optional and variable-rate/edge-triggered messages
+    pt_messages, cam_messages = [], []
+
+    if not CP.flags & VolkswagenFlags.MLB:
+      pt_messages += [
+        ("Blinkmodi_02", 1)  # From J519 BCM (sent at 1Hz when no lights active, 50Hz when active)
+      ]
     if CP.flags & VolkswagenFlags.STOCK_HCA_PRESENT:
       cam_messages += [
         ("HCA_01", 1),  # From R242 Driver assistance camera, 50Hz if steering/1Hz if not
       ]
 
     return {
-      Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], [
-        # the 50->1Hz is currently too much for the CANParser to figure out
-        ("Blinkmodi_02", 1),  # From J519 BCM (sent at 1Hz when no lights active, 50Hz when active)
-      ], CanBus(CP).pt),
+      Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], pt_messages, CanBus(CP).pt),
       Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], cam_messages, CanBus(CP).cam),
     }
 

diff --git a/opendbc/car/volkswagen/fingerprints.py b/opendbc/car/volkswagen/fingerprints.py
@@ -968,6 +968,35 @@
       b'\xf1\x872Q0907572T \xf1\x890383',
     ],
   },
+  CAR.PORSCHE_MACAN_MK1: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8795B906259BJ\xf1\x890001',
+      b'\xf1\x8795B90652013\xf1\x893485',
+      b'\xf1\x8795B90654002\xf1\x893495',
+      b'\xf1\x8795B907551D \xf1\x890006',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x8795B927156CE\xf1\x890022',
+      b'\xf1\x8795B927156JH\xf1\x890001',
+      b'\xf1\x8795B927156KK\xf1\x890001',
+      b'\xf1\x8795B927156R \xf1\x890021',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x8795B959655F \xf1\x890130\xf1\x82\x05065Q033513',
+      b'\xf1\x8795B959655F \xf1\x890130\xf1\x82\x050682033514',
+      b'\xf1\x8795B959655G \xf1\x890150\xf1\x82\x0506B1033514',
+      b'\xf1\x8795B959655G \xf1\x890150\xf1\x82\x0506CJ02D417',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x8795B909144K \xf1\x891902\xf1\x82\x02\x04#\x04#',
+      b'\xf1\x8795B909144K \xf1\x891902\xf1\x82\x02\x04/\x04/',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x8795B907567B\x00\xf1\x890800\xf1\x82108',
+      b'\xf1\x8795B907567G\x00\xf1\x890410\xf1\x82104',
+      b'\xf1\x8795B907567J \xf1\x890440\xf1\x82104',
+    ],
+  },
   CAR.SEAT_ATECA_MK1: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8704E906027KA\xf1\x893749',

diff --git a/opendbc/car/volkswagen/interface.py b/opendbc/car/volkswagen/interface.py
@@ -37,6 +37,13 @@ def _get_params(ret: structs.CarParams, candidate: CAR, fingerprint, car_fw, alp
       # Panda ALLOW_DEBUG firmware required.
       ret.dashcamOnly = True
 
+    elif ret.flags & VolkswagenFlags.MLB:
+      # Set global MLB parameters
+      safety_configs = [get_safety_config(structs.CarParams.SafetyModel.volkswagenMlb)]
+      ret.enableBsm = 0x30F in fingerprint[0]  # SWA_01
+      ret.networkLocation = NetworkLocation.gateway
+      ret.dashcamOnly = True  # Pending HCA timeout fix, safety validation, harness termination, install procedure
+
     else:
       # Set global MQB parameters
       safety_configs = [get_safety_config(structs.CarParams.SafetyModel.volkswagen)]
@@ -62,7 +69,7 @@ def _get_params(ret: structs.CarParams, candidate: CAR, fingerprint, car_fw, alp
     # Global lateral tuning defaults, can be overridden per-vehicle
 
     ret.steerLimitTimer = 0.4
-    if ret.flags & VolkswagenFlags.PQ:
+    if ret.flags & VolkswagenFlags.PQ or ret.flags & VolkswagenFlags.MLB:
       ret.steerActuatorDelay = 0.2
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
     else:
@@ -83,6 +90,11 @@ def _get_params(ret: structs.CarParams, candidate: CAR, fingerprint, car_fw, alp
       if ret.transmissionType == TransmissionType.manual:
         ret.minEnableSpeed = 4.5
 
+    # Per-vehicle overrides
+
+    if candidate == CAR.PORSCHE_MACAN_MK1:
+      ret.steerActuatorDelay = 0.07
+
     ret.pcmCruise = not ret.openpilotLongitudinalControl
     ret.stopAccel = -0.55
     ret.vEgoStarting = 0.1

diff --git a/opendbc/car/volkswagen/mlbcan.py b/opendbc/car/volkswagen/mlbcan.py
@@ -0,0 +1,71 @@
+from opendbc.car.volkswagen.mqbcan import (volkswagen_mqb_meb_checksum, xor_checksum,
+                                           create_lka_hud_control as mqb_create_lka_hud_control)
+
+# TODO: Parameterize the hca control type (5 vs 7) and consolidate with MQB (and PQ?)
+def create_steering_control(packer, bus, apply_steer, lkas_enabled):
+  values = {
+    "HCA_01_Status_HCA": 7 if lkas_enabled else 3,
+    "HCA_01_LM_Offset": abs(apply_steer),
+    "HCA_01_LM_OffSign": 1 if apply_steer < 0 else 0,
+    "HCA_01_Vib_Freq": 18,
+    "HCA_01_Sendestatus": 1 if lkas_enabled else 0,
+    "EA_ACC_Wunschgeschwindigkeit": 327.36,
+  }
+  return packer.make_can_msg("HCA_01", bus, values)
+
+
+def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pressed, hud_alert, hud_control):
+  return mqb_create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pressed, hud_alert, hud_control)
+
+
+def create_acc_buttons_control(packer, bus, gra_stock_values, cancel=False, resume=False):
+  values = {s: gra_stock_values[s] for s in [
+    "LS_Hauptschalter",
+    "LS_Typ_Hauptschalter",
+    "LS_Codierung",
+    "LS_Tip_Stufe_2",
+  ]}
+
+  values.update({
+    "COUNTER": (gra_stock_values["COUNTER"] + 1) % 16,
+    "LS_Abbrechen": cancel,
+    "LS_Tip_Wiederaufnahme": resume,
+  })
+
+  return packer.make_can_msg("LS_01", bus, values)
+
+
+def acc_control_value(main_switch_on, acc_faulted, long_active):
+  return 0
+
+
+def acc_hud_status_value(main_switch_on, acc_faulted, long_active):
+  return 0
+
+
+def create_acc_accel_control(packer, bus, acc_type, acc_enabled, accel, acc_control, stopping, starting, esp_hold):
+  values = {}
+  return packer.make_can_msg("ACC_05", bus, values)
+
+
+def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_distance, distance):
+  values = {}
+  return packer.make_can_msg("ACC_02", bus, values)
+
+def volkswagen_mlb_checksum(address: int, sig, d: bytearray) -> int:
+  xor_starting_value = {
+    0x109: 0x08, # ACC_01
+    0x111: 0x10, # TSK_05
+    0x30C: 0x0F, # ACC_02
+    0x324: 0x27, # ACC_04
+    0x10B: 0xA,  # LS_01
+    0x10D: 0x0C, # ACC_05
+    0x10F: 0x0E, # ACC_0x10F
+    0x311: 0x12, # ACC_0x311
+    0x397: 0x94, # LDW_02
+    0x10C: 0x0D, # TSK_02
+  }
+  if address in xor_starting_value:
+    return xor_checksum(address, sig, d, xor_starting_value[address])
+  else:
+    return volkswagen_mqb_meb_checksum(address, sig, d)
diff --git a/opendbc/car/volkswagen/mqbcan.py b/opendbc/car/volkswagen/mqbcan.py
@@ -185,8 +185,8 @@ def volkswagen_mqb_meb_checksum(address: int, sig, d: bytearray) -> int:
   return crc ^ 0xFF
 
 
-def xor_checksum(address: int, sig, d: bytearray) -> int:
-  checksum = 0
+def xor_checksum(address: int, sig, d: bytearray, initial_value: int = 0) -> int:
+  checksum = initial_value
   checksum_byte = sig.start_bit // 8
   for i in range(len(d)):
     if i != checksum_byte: