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add CAN-FD non-ISO mode support (#25947)

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CAN FD non-ISO support

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: d5ef6f82e6
This commit is contained in:
Greg Hogan
2022-10-12 15:40:19 -07:00
committed by GitHub
parent cadd6be7a1
commit 1d4e4197e2
4 changed files with 7 additions and 1 deletions
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2
panda

Submodule panda updated: ffb3109e28...2f3e2825e5

1
selfdrive/boardd/boardd.cc
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@@ -407,6 +407,7 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
cs[j].setCanDataSpeed(can_health.can_data_speed);
cs[j].setCanfdEnabled(can_health.canfd_enabled);
cs[j].setBrsEnabled(can_health.brs_enabled);
cs[j].setCanfdNonIso(can_health.canfd_non_iso);
}
// Convert faults bitset to capnp list

4
selfdrive/boardd/panda.cc
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@@ -360,6 +360,10 @@ void Panda::set_data_speed_kbps(uint16_t bus, uint16_t speed) {
usb_write(0xf9, bus, (speed * 10));
}
void Panda::set_canfd_non_iso(uint16_t bus, bool non_iso) {
usb_write(0xfc, bus, non_iso);
}
static uint8_t len_to_dlc(uint8_t len) {
if (len <= 8) {
return len;

1
selfdrive/boardd/panda.h
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@@ -91,6 +91,7 @@ class Panda {
void send_heartbeat(bool engaged);
void set_can_speed_kbps(uint16_t bus, uint16_t speed);
void set_data_speed_kbps(uint16_t bus, uint16_t speed);
void set_canfd_non_iso(uint16_t bus, bool non_iso);
void can_send(capnp::List<cereal::CanData>::Reader can_data_list);
bool can_receive(std::vector<can_frame>& out_vec);