VW MEB: Platform support

[jyoung8607]

Support for the Volkswagen ID family and other MEB vehicles. Thanks and credit to @infiniteCable.

• Test route: TBD
• Harness: Volkswagen C (issue link TBD)

Safety layer TODO

• VW MEB: CAN ignition panda#2160
• Power-percentage control on driver torque input
• Verify CAN ignition is actually necessary
• Move to DEBUG until comma releases from dashcam
• Look for opportunities to consolidate code with MQB and MQBevo
  • checksum support
  • rx steering angle, driver input torque
• Write CI tests
  • General (wheel speeds, gas/brake, driver input torque, ACC buttons, ACC state)
  • Lateral control (curvature)
  • Longitudinal control (acceleration)

Driving layer TODO

• Switch initial vehicle support from Cupra Born to Volkswagen ID.4, for testing at comma_hack
• controls: publish current curvature in CarControl openpilot#34679
• VW MEB: CAN database and checksum support #1816
• Lateral control
  • controls: publish current curvature in CarControl openpilot#34679
  • Refactor torque-vs-curvature carcontroller code into separate functions
  • Power-percentage control on driver torque input
  • Fix LKAS fault logic at startup/standstill
• Longitudinal control
  • Move behind alpha long toggle
  • Fix cruise fault logic at startup/standstill
  • Verify nature/need of the ACC API fault-avoidance carcontroller code
  • Verify nature/need of special HUD code (temporarily set aside in 42b708b)
  • Verify radar code is doing what we need
• Look for opportunities to consolidate code with MQB and MQBevo
  • Use DBC generator for common messages (too many subtle differences)
  • carstate
  • mqbcan/mebcan
  • checksum support
  • checksum tests (deferred, CAN-FD messages are doing something weird)
• Camera integration (in addition to existing gateway integration)
  • Radar UDS knockout, if possible
• Fix BSM false firing
• Fix comfort turn signals
• EA mitigation