add legacy reset line support (#2625)

* add legacy reset line support

* clean up names

Co-authored-by: Comma Device <device@comma.ai>

selfdrive/boardd/panda.cc

@@ -9,18 +9,30 @@
 
 #include "panda.h"
 
+#ifdef QCOM2
+bool is_legacy_panda_reset() {
+  FILE *file = fopen("/persist/LEGACY_PANDA_RESET", "r");
+  if(file) {
+    fclose(file);
+  }
+  return (file != NULL);
+}
+#endif
+
 void panda_set_power(bool power){
 #ifdef QCOM2
   int err = 0;
+  bool is_legacy = is_legacy_panda_reset();
+
   err += gpio_init(GPIO_STM_RST_N, true);
   err += gpio_init(GPIO_STM_BOOT0, true);
 
-  err += gpio_set(GPIO_STM_RST_N, false);
+  err += gpio_set(GPIO_STM_RST_N, is_legacy ? false : true);
   err += gpio_set(GPIO_STM_BOOT0, false);
 
   usleep(100*1000); // 100 ms
 
-  err += gpio_set(GPIO_STM_RST_N, power);
+  err += gpio_set(GPIO_STM_RST_N, is_legacy ? power : (!power));
   assert(err == 0);
 #endif
 }

selfdrive/pandad.py

@@ -8,6 +8,8 @@ from common.gpio import GPIO_HUB_RST_N, GPIO_STM_BOOT0, GPIO_STM_RST_N, gpio_ini
 from panda import BASEDIR, Panda, PandaDFU, build_st
 from selfdrive.swaglog import cloudlog
 
+def is_legacy_panda_reset():
+  return os.path.isfile("/persist/LEGACY_PANDA_RESET")
 
 def set_panda_power(power=True):
   if not TICI:
@@ -16,12 +18,12 @@ def set_panda_power(power=True):
   gpio_init(GPIO_STM_RST_N, True)
   gpio_init(GPIO_STM_BOOT0, True)
 
-  gpio_set(GPIO_STM_RST_N, False)
+  gpio_set(GPIO_STM_RST_N, False if is_legacy_panda_reset() else True)
   gpio_set(GPIO_HUB_RST_N, True)
 
   time.sleep(0.1)
 
-  gpio_set(GPIO_STM_RST_N, power)
+  gpio_set(GPIO_STM_RST_N, power if is_legacy_panda_reset() else (not power))
 
 
 def get_firmware_fn():