dragonpilot mod for 0.8.5-4

panda/board/SConscript

@@ -36,6 +36,16 @@ else:
     "-g",
   ]
 
+  if FindFile('dp_vw', '/data/params/d') != None:
+    with open('/data/params/d/dp_vw_panda') as f:
+      if (int(f.read().strip())) == 1:
+        PROJECT_FLAGS += ['-Dvw']
+
+  if FindFile('dp_panda_fake_black', '/data/params/d') != None:
+    with open('/data/params/d/dp_panda_fake_black') as f:
+      if (int(f.read().strip())) == 1:
+        PROJECT_FLAGS += ['-Dfake_black_panda']
+
   if not PC:
     PROJECT_FLAGS += ["-DEON"]
     BUILDER = "EON"

panda/board/boards/uno.h

@@ -56,12 +56,7 @@ void uno_set_gps_load_switch(bool enabled) {
 }
 
 void uno_set_bootkick(bool enabled){
-  if(enabled){
-    set_gpio_output(GPIOB, 14, false);
-  } else {
-    // We want the pin to be floating, not forced high!
-    set_gpio_mode(GPIOB, 14, MODE_INPUT);
-  }
+  set_gpio_output(GPIOB, 14, !enabled);
 }
 
 void uno_bootkick(void) {
@@ -77,9 +72,11 @@ void uno_set_usb_power_mode(uint8_t mode) {
   bool valid = false;
   switch (mode) {
     case USB_POWER_CLIENT:
+      uno_set_phone_power(false);
       valid = true;
       break;
     case USB_POWER_CDP:
+      uno_set_phone_power(true);
       uno_bootkick();
       valid = true;
       break;

panda/board/main.c

@@ -127,10 +127,24 @@ void set_safety_mode(uint16_t mode, int16_t param) {
   switch (mode_copy) {
     case SAFETY_SILENT:
       set_intercept_relay(false);
+      #ifdef vw
+      // Volkswagen community port:
+      // J533 integrations with White/Grey Panda really need Panda to respond
+      // at all times. Let the CAN transceivers ACK traffic unless this is
+      // BP/Uno where the physical relay makes it irrelevant. This makes
+      // SILENT identical to NOOUTPUT for White/Grey Panda.
+      if (board_has_obd()) {
+        current_board->set_can_mode(CAN_MODE_NORMAL);
+        can_silent = ALL_CAN_SILENT;
+      } else {
+        can_silent = ALL_CAN_LIVE;
+      }
+      #else
       if (board_has_obd()) {
         current_board->set_can_mode(CAN_MODE_NORMAL);
       }
       can_silent = ALL_CAN_SILENT;
+      #endif
       break;
     case SAFETY_NOOUTPUT:
       set_intercept_relay(false);
@@ -333,7 +347,11 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
       break;
     // **** 0xc1: get hardware type
     case 0xc1:
+      #ifdef fake_black_panda
+      resp[0] = HW_TYPE_BLACK_PANDA;
+      #else
       resp[0] = hw_type;
+      #endif
       resp_len = 1;
       break;
     // **** 0xd0: fetch serial number

panda/board/power_saving.h

@@ -28,7 +28,14 @@ void set_power_save_state(int state) {
       enable = true;
     }
 
+    #ifdef vw
+    // Volkswagen community port:
+    // If this is a White or Grey Panda, always keep the CAN transceivers
+    // powered up so that transparent forwarding is maintained.
+    current_board->enable_can_transceivers(board_has_obd() ? enable : true);
+    #else
     current_board->enable_can_transceivers(enable);
+    #endif
 
     // Switch EPS/GPS
     if (enable) {

panda/board/safety/safety_defaults.h

@@ -24,9 +24,32 @@ static int nooutput_tx_lin_hook(int lin_num, uint8_t *data, int len) {
 }
 
 static int default_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
-  UNUSED(bus_num);
   UNUSED(to_fwd);
+  #ifdef vw
+  // Volkswagen community port: Advanced Virtual Relay Technology!
+  // Make Panda fully transparent from bus 0->2 and bus 2->0 if not otherwise
+  // instructed by EON/OP, returning the car to stock behavior under NOOUTPUT.
+  // Don't do this for BP/C2, where we have Advanced Actual Relay Technology.
+  int bus_fwd = -1;
+
+  if(!board_has_relay()) {
+    switch (bus_num) {
+      case 0:
+        bus_fwd = 2;
+        break;
+      case 2:
+        bus_fwd = 0;
+        break;
+      default:
+        bus_fwd = -1;
+        break;
+    }
+  }
+  return bus_fwd;
+  #else
+  UNUSED(bus_num);
   return -1;
+  #endif
 }
 
 const safety_hooks nooutput_hooks = {

panda/board/safety/safety_volkswagen.h

@@ -1,8 +1,8 @@
 // Safety-relevant steering constants for Volkswagen
 const int VOLKSWAGEN_MAX_STEER = 300;               // 3.0 Nm (EPS side max of 3.0Nm with fault if violated)
-const int VOLKSWAGEN_MAX_RT_DELTA = 75;             // 4 max rate up * 50Hz send rate * 250000 RT interval / 1000000 = 50 ; 50 * 1.5 for safety pad = 75
+const int VOLKSWAGEN_MAX_RT_DELTA = 188;            // 10 max rate up * 50Hz send rate * 250000 RT interval / 1000000 = 125 ; 125 * 1.5 for safety pad = 187.5
 const uint32_t VOLKSWAGEN_RT_INTERVAL = 250000;     // 250ms between real time checks
-const int VOLKSWAGEN_MAX_RATE_UP = 4;               // 2.0 Nm/s RoC limit (EPS rack has own soft-limit of 5.0 Nm/s)
+const int VOLKSWAGEN_MAX_RATE_UP = 10;              // 5.0 Nm/s RoC limit (EPS rack has own soft-limit of 5.0 Nm/s)
 const int VOLKSWAGEN_MAX_RATE_DOWN = 10;            // 5.0 Nm/s RoC limit (EPS rack has own soft-limit of 5.0 Nm/s)
 const int VOLKSWAGEN_DRIVER_TORQUE_ALLOWANCE = 80;
 const int VOLKSWAGEN_DRIVER_TORQUE_FACTOR = 3;