dragonpilot 0.7.10

panda/board/Makefile

@@ -3,6 +3,11 @@ CFLAGS = -g -Wall -Wextra -Wstrict-prototypes -Werror
 
 CFLAGS += -mlittle-endian -mthumb -mcpu=cortex-m4
 CFLAGS += -mhard-float -DSTM32F4 -DSTM32F413xx -mfpu=fpv4-sp-d16 -fsingle-precision-constant
+dp_vw := $(shell cat /data/params/d/dp_vw)
+$(info dp_vw is ${dp_vw})
+ifeq ($(dp_vw), 1)
+  CFLAGS += -Dvw
+endif
 STARTUP_FILE = startup_stm32f413xx
 
 include build.mk

panda/board/main.c

@@ -124,10 +124,24 @@ 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);

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) {