VAG A0 SnG - init

common/params_keys.h

@@ -144,4 +144,5 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"dp_device_auto_shutdown_in", PERSISTENT},
     {"dp_ui_radar_tracks", PERSISTENT},
     {"dp_device_ip", CLEAR_ON_MANAGER_START},
+    {"dp_vag_a0_sng", PERSISTENT},
 };

opendbc_repo/opendbc/car/structs.py

@@ -22,4 +22,5 @@ CarParamsT = capnp.lib.capnp._StructModule
 class DPFlags:
   LateralALKA = 1
   ExtRadar = 2
+  VagA0SnG = 2 ** 2
   pass

opendbc_repo/opendbc/car/volkswagen/carcontroller.py

@@ -111,11 +111,22 @@ class CarController(CarControllerBase):
                                                        lead_distance, hud_control.leadDistanceBars))
 
     # **** Stock ACC Button Controls **************************************** #
+    if self.CP.flags & VolkswagenFlags.A0SnG:
+      if self.CP.pcmCruise and CS.gra_stock_values["COUNTER"] != self.gra_acc_counter_last:
+        standing_resume_spam = CS.out.standstill
+        spam_window = self.frame % 50 < 15
 
-    gra_send_ready = self.CP.pcmCruise and CS.gra_stock_values["COUNTER"] != self.gra_acc_counter_last
-    if gra_send_ready and (CC.cruiseControl.cancel or CC.cruiseControl.resume):
-      can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, self.ext_bus, CS.gra_stock_values,
-                                                           cancel=CC.cruiseControl.cancel, resume=CC.cruiseControl.resume))
+        send_cancel = CC.cruiseControl.cancel
+        send_resume = CC.cruiseControl.resume or (standing_resume_spam and spam_window)
+
+        if send_cancel or send_resume:
+          can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, self.ext_bus, CS.gra_stock_values,
+                                                               cancel=send_cancel, resume=send_resume))
+    else:
+      gra_send_ready = self.CP.pcmCruise and CS.gra_stock_values["COUNTER"] != self.gra_acc_counter_last
+      if gra_send_ready and (CC.cruiseControl.cancel or CC.cruiseControl.resume):
+        can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, self.ext_bus, CS.gra_stock_values,
+                                                             cancel=CC.cruiseControl.cancel, resume=CC.cruiseControl.resume))
 
     new_actuators = actuators.as_builder()
     new_actuators.torque = self.apply_torque_last / self.CCP.STEER_MAX

opendbc_repo/opendbc/car/volkswagen/interface.py

@@ -87,4 +87,7 @@ class CarInterface(CarInterfaceBase):
     ret.vEgoStopping = 0.5
     ret.autoResumeSng = ret.minEnableSpeed == -1
 
+    if dp_params & structs.DPFlags.VagA0SnG:
+      ret.flags |= VolkswagenFlags.A0SnG.value
+
     return ret

opendbc_repo/opendbc/car/volkswagen/values.py

@@ -144,6 +144,7 @@ class VolkswagenFlags(IntFlag):
   # Static flags
   PQ = 2
 
+  A0SnG = 2 ** 2
 
 @dataclass
 class VolkswagenMQBPlatformConfig(PlatformConfig):

selfdrive/car/card.py

@@ -105,6 +105,9 @@ class Car:
       if self.params.get_bool("dp_lat_alka"):
         dp_params |= structs.DPFlags.LateralALKA
 
+      if self.params.get_bool("dp_vag_a0_sng"):
+        dp_params |= structs.DPFlags.VagA0SnG
+
       self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, is_release, num_pandas, dp_params, cached_params)
       self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP)
       self.CP = self.CI.CP

selfdrive/ui/qt/offroad/dp_panel.cc

@@ -40,6 +40,11 @@ void DPPanel::add_vag_toggles() {
       QString::fromUtf8("🐉 ") + tr("VW / Audi / Skoda"),
       "",
     },
+    {
+      "dp_vag_a0_sng",
+      tr("Enable MQB A0 SnG Mod"),
+      "",
+    },
   };
 
   QWidget *label = nullptr;

system/manager/manager.py

@@ -61,6 +61,7 @@ def manager_init() -> None:
     ("dp_lon_no_gas_gating", "0"),
     ("dp_device_auto_shutdown_in", "-5"),
     ("dp_ui_radar_tracks", "0"),
+    ("dp_vag_a0_sng", "0"),
   ]
 
   if params.get_bool("RecordFrontLock"):