add CAN-FD non-ISO mode support (#25947)

CAN FD non-ISO support

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

panda

@@ -1 +1 @@
-Subproject commit ffb3109e28296cc86f1892c4e0690856e28fb35a
+Subproject commit 2f3e2825e5ecc8074b4ee9cb9a70df635d09fd10

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

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;

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);