SMDPS Firmware that support Black Panda including clone version

board/boards/uno.h

@@ -56,7 +56,12 @@ void uno_set_gps_load_switch(bool enabled) {
 }
 
 void uno_set_bootkick(bool enabled){
-  set_gpio_output(GPIOB, 14, !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);
+  }
 }
 
 void uno_bootkick(void) {

board/main.c

@@ -104,6 +104,14 @@ void debug_ring_callback(uart_ring *ring) {
   }
 }
 
+void smdps_clu11(void) {
+  CAN_FIFOMailBox_TypeDef to_send;
+  to_send.RDLR = 0x00;
+  to_send.RDTR = 4;
+  to_send.RIR = (0x2AA << 21) | 1U;
+  can_send(&to_send, 0, false);
+}
+
 // ****************************** safety mode ******************************
 
 // this is the only way to leave silent mode
@@ -712,7 +720,7 @@ void TIM1_BRK_TIM9_IRQ_Handler(void) {
         heartbeat_counter += 1U;
       }
 
-      #ifdef EON
+      #ifdef EONNO
       // check heartbeat counter if we are running EON code.
       // if the heartbeat has been gone for a while, go to SILENT safety mode and enter power save
       if (heartbeat_counter >= (check_started() ? EON_HEARTBEAT_IGNITION_CNT_ON : EON_HEARTBEAT_IGNITION_CNT_OFF)) {
@@ -833,8 +841,8 @@ int main(void) {
   TIM2->EGR = TIM_EGR_UG;
   // use TIM2->CNT to read
 
-  // init to SILENT and can silent
-  set_safety_mode(SAFETY_SILENT, 0);
+  // init to ALLOUTPUT and can silent
+  set_safety_mode(SAFETY_ALLOUTPUT, 0);
 
   // enable CAN TXs
   current_board->enable_can_transceivers(true);

board/safety/safety_defaults.h

@@ -1,3 +1,18 @@
+void smdps_clu11(void);
+
+static void send_mdps_enable_speed(CAN_FIFOMailBox_TypeDef *to_fwd){
+  bool is_speed_unit_mph = GET_BYTE(to_fwd, 2) & 0x2;
+
+  int mdps_cutoff_speed = is_speed_unit_mph ? 76 : 120;  // factor of 2 from dbc
+
+  int veh_clu_speed = GET_BYTE(to_fwd, 1) | (GET_BYTE(to_fwd, 2) & 0x1) << 8;
+
+  if (veh_clu_speed < mdps_cutoff_speed) {
+    to_fwd->RDLR &= 0xFFFE00FF;
+    to_fwd->RDLR |= mdps_cutoff_speed << 8;
+  }
+};
+
 int default_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   UNUSED(to_push);
   return true;
@@ -24,9 +39,20 @@ 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);
-  return -1;
+  int addr = GET_ADDR(to_fwd);
+  int bus_fwd = -1;
+
+  if (bus_num == 0) {
+    bus_fwd = 2;
+    if (addr == 1265) {
+      send_mdps_enable_speed(to_fwd);
+    }
+    smdps_clu11();
+  }
+  if (bus_num == 2) {
+    bus_fwd = 0;
+  }
+  return bus_fwd;
 }
 
 const safety_hooks nooutput_hooks = {