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

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old-commit-hash: 04e1a25881db89fd186b0a621299093b282dc47b
This commit is contained in:
Igor Biletskyy
2021-11-15 16:10:39 -08:00
committed by GitHub
parent b6974fd2b3
commit 34ad595349
2 changed files with 10 additions and 0 deletions
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selfdrive/boardd/panda.cc
+8
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@@ -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;
selfdrive/boardd/panda.h
+2
View File
@@ -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);