CAN FD non-ISO support

commaai · Oct 8, 2022 · 5bd9fe8 · 5bd9fe8
1 parent fb07437
commit 5bd9fe8
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Showing 4 changed files with 7 additions and 1 deletion.
diff --git a/panda b/panda
diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
@@ -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

diff --git a/selfdrive/boardd/panda.cc b/selfdrive/boardd/panda.cc
@@ -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;

diff --git a/selfdrive/boardd/panda.h b/selfdrive/boardd/panda.h
@@ -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);