pandad: set CAN FD auto mode (commaai#34076)

* pandad: set CAN FD auto mode * bump
deanlee · Nov 21, 2024 · 5131c19 · 5131c19
1 parent b0699cc
commit 5131c19
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Showing 4 changed files with 10 additions and 1 deletion.
diff --git a/panda b/panda
diff --git a/selfdrive/pandad/panda.cc b/selfdrive/pandad/panda.cc
@@ -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));
 }

diff --git a/selfdrive/pandad/panda.h b/selfdrive/pandad/panda.h
@@ -77,6 +77,7 @@ class Panda {
   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);

diff --git a/selfdrive/pandad/pandad.cc b/selfdrive/pandad/pandad.cc
@@ -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     throw std::runtime_error("Panda firmware out of date.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.");
   }