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pandad: set CAN FD auto mode (#34076)

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* pandad: set CAN FD auto mode

* bump
This commit is contained in:
Adeeb Shihadeh
2024-11-21 11:15:43 -08:00
committed by GitHub
parent b0699ccf20
commit 5131c19232
4 changed files with 10 additions and 1 deletions
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2
panda

Submodule panda updated: 998a639360...2fbf0c5ff8

4
selfdrive/pandad/panda.cc
View File

@@ -145,6 +145,10 @@ void Panda::set_can_speed_kbps(uint16_t bus, uint16_t speed) {
handle->control_write(0xde, bus, (speed * 10));
}
void Panda::set_can_fd_auto(uint16_t bus, bool enabled) {
handle->control_write(0xe8, bus, enabled);
}
void Panda::set_data_speed_kbps(uint16_t bus, uint16_t speed) {
handle->control_write(0xf9, bus, (speed * 10));
}

1
selfdrive/pandad/panda.h
View File

@@ -77,6 +77,7 @@ public:
void enable_deepsleep();
void send_heartbeat(bool engaged);
void set_can_speed_kbps(uint16_t bus, uint16_t speed);
void set_can_fd_auto(uint16_t bus, bool enabled);
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(const capnp::List<cereal::CanData>::Reader &can_data_list);

4
selfdrive/pandad/pandad.cc
View File

@@ -67,6 +67,10 @@ Panda *connect(std::string serial="", uint32_t index=0) {
}
//panda->enable_deepsleep();
for (int i = 0; i < PANDA_BUS_CNT; i++) {
panda->set_can_fd_auto(i, true);
}
if (!panda->up_to_date() && !getenv("BOARDD_SKIP_FW_CHECK")) {
throw std::runtime_error("Panda firmware out of date. Run pandad.py to update.");
}