From ccc4112dd15ce189e8c1e44cc28493a6222d9326 Mon Sep 17 00:00:00 2001
From: rusefillc <sdfsdfqsf2334234234>
Date: Sun, 9 Jan 2022 21:16:11 -0500
Subject: [PATCH] B6

---
 firmware/config/engines/vw_b6.cpp     |  5 +++--
 firmware/controllers/can/can_dash.cpp |  8 +------
 firmware/controllers/can/can_vag.h    | 30 +++++++++++++++++++++++++++
 3 files changed, 34 insertions(+), 9 deletions(-)
 create mode 100644 firmware/controllers/can/can_vag.h

diff --git a/firmware/config/engines/vw_b6.cpp b/firmware/config/engines/vw_b6.cpp
index 4c4826ef30..d20ecc130d 100644
--- a/firmware/config/engines/vw_b6.cpp
+++ b/firmware/config/engines/vw_b6.cpp
@@ -26,6 +26,7 @@ void setVwPassatB6() {
 	engineConfiguration->map.sensor.type = MT_BOSCH_2_5;
 
 	engineConfiguration->tps1_2AdcChannel = MRE_IN_ANALOG_VOLT_9;
+	engineConfiguration->canNbcType = CAN_BUS_NBC_VAG;
 
 	// Injectors flow 1214 cc/min at 100 bar pressure
 	engineConfiguration->injector.flow = 1214;
@@ -144,8 +145,8 @@ void setVwPassatB6() {
 	engineConfiguration->hpfpMinAngle = 10;
 	engineConfiguration->hpfpActivationAngle = 30;
 	engineConfiguration->hpfpTargetDecay = 2000;
-	engineConfiguration->hpfpPidP = 0.0301;
-	engineConfiguration->hpfpPidI = 0.000012;
+	engineConfiguration->hpfpPidP = 0.01;
+	engineConfiguration->hpfpPidI = 0.0003;
 
 	setTable(config->veTable, 55);
 
diff --git a/firmware/controllers/can/can_dash.cpp b/firmware/controllers/can/can_dash.cpp
index caa63ea377..f763ba7b5d 100644
--- a/firmware/controllers/can/can_dash.cpp
+++ b/firmware/controllers/can/can_dash.cpp
@@ -13,6 +13,7 @@
 #include "can_dash.h"
 #include "can_msg_tx.h"
 #include "can_bmw.h"
+#include "can_vag.h"
 
 #include "rtc_helper.h"
 #include "fuel_math.h"
@@ -23,12 +24,6 @@
 #define CAN_MAZDA_RX_STATUS_1         0x212
 #define CAN_MAZDA_RX_STATUS_2         0x420
 
-// https://wiki.openstreetmap.org/wiki/VW-CAN
-#define CAN_VAG_RPM      0x280 /* _10ms cycle */
-#define CAN_VAG_CLT      0x288 /* _10ms cycle */
-#define CAN_VAG_CLT_V2   0x420 /* _10ms cycle */
-#define CAN_VAG_IMMO     0x3D0 /* _10ms cycle */
-
 //w202 DASH
 #define W202_STAT_1	     0x308 /* _20ms cycle */
 #define W202_STAT_2      0x608 /* _100ms cycle */
@@ -87,7 +82,6 @@ constexpr uint8_t e90_temp_offset = 49;
 
 void canDashboardBMW(CanCycle cycle);
 void canDashboardFiat(CanCycle cycle);
-void canDashboardVAG(CanCycle cycle);
 void canMazdaRX8(CanCycle cycle);
 void canDashboardW202(CanCycle cycle);
 void canDashboardBMWE90(CanCycle cycle);
diff --git a/firmware/controllers/can/can_vag.h b/firmware/controllers/can/can_vag.h
new file mode 100644
index 0000000000..41d410ef36
--- /dev/null
+++ b/firmware/controllers/can/can_vag.h
@@ -0,0 +1,30 @@
+#pragma once
+
+#include "pch.h"
+#include "can.h"
+
+void canDashboardVAG(CanCycle cycle);
+
+/**
+ * B6
+ * https://mdac.com.au/2021/04/11/dsg-control-with-rabbit-ecu/
+ * https://github.com/RabbitECUProject/RabbitECUTeensyMCUXpresso/blob/main/source/Client/DIAG.c
+ * https://github.com/commaai/opendbc/blob/master/vw_golf_mk4.dbc
+ * https://rusefi.com/forum/download/file.php?id=9076
+ */
+
+
+// https://wiki.openstreetmap.org/wiki/VW-CAN
+#define CAN_VAG_RPM      0x280 /* _10ms cycle */
+#define CAN_VAG_CLT      0x288 /* _10ms cycle */
+#define CAN_VAG_CLT_V2   0x420 /* _10ms cycle */
+#define CAN_VAG_IMMO     0x3D0 /* _10ms cycle */
+
+// 0x280
+#define CAN_VAG_Motor_1 640
+// 0x284
+#define CAN_VAG_Motor_Brake 644
+// 0x288
+#define CAN_VAG_Motor_2 648
+// 0x480
+#define CAN_VAG_Motor_5 1152