panda.cc: add functions to set can and data speed (#22920)

commaai · Nov 16, 2021 · 04e1a25 · 04e1a25
1 parent ec66573
commit 04e1a25
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diff --git a/selfdrive/boardd/panda.cc b/selfdrive/boardd/panda.cc
@@ -344,6 +344,14 @@ void Panda::send_heartbeat() {
   usb_write(0xf3, 1, 0);
 }
 
+void Panda::set_can_speed_kbps(uint16_t bus, uint16_t speed) {
+  usb_write(0xde, bus, (speed * 10));
+}
+
+void Panda::set_data_speed_kbps(uint16_t bus, uint16_t speed) {
+  usb_write(0xf9, bus, (speed * 10));
+}
+
 uint8_t Panda::len_to_dlc(uint8_t len) {
   if (len <= 8) {
     return len;

diff --git a/selfdrive/boardd/panda.h b/selfdrive/boardd/panda.h
@@ -96,6 +96,8 @@ class Panda {
   void set_power_saving(bool power_saving);
   void set_usb_power_mode(cereal::PeripheralState::UsbPowerMode power_mode);
   void send_heartbeat();
+  void set_can_speed_kbps(uint16_t bus, uint16_t speed);
+  void set_data_speed_kbps(uint16_t bus, uint16_t speed);
   uint8_t len_to_dlc(uint8_t len);
   void can_send(capnp::List<cereal::CanData>::Reader can_data_list);
   bool can_receive(std::vector<can_frame>& out_vec);