From 2c99c19eb111a2553090f4242161b81c2f7f5408 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 15 Sep 2023 19:05:42 -0700
Subject: [PATCH] revert peripheral

---
 cereal                     | 2 +-
 selfdrive/boardd/boardd.cc | 7 +++++--
 2 files changed, 6 insertions(+), 3 deletions(-)

diff --git a/cereal b/cereal
index abf03ffdec..9ede52e835 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit abf03ffdec592e8b7a1c0d77e23fddb9e9b2ddd5
+Subproject commit 9ede52e835f2e6b7c263218592fc7deb20ff436f
diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index 4f298cbe16..4d241f2e2f 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -476,8 +476,11 @@ void panda_state_thread(std::vector<Panda *> pandas, bool spoofing_started) {
   RateKeeper rk("panda_state_thread", 10);
 
   while (!do_exit && check_all_connected(pandas)) {
-    // send out peripheralState
-    send_peripheral_state(&pm, peripheral_panda);
+    if (sm.frame % 5 == 0) {
+      // send out peripheralState at 2Hz
+      send_peripheral_state(&pm, peripheral_panda);
+    }
+
     auto ignition_opt = send_panda_states(&pm, pandas, spoofing_started);
 
     if (!ignition_opt) {