From 0a8a18dfe59deb1eb4ffb77505274702abe3dbab Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Tue, 26 Nov 2024 09:56:44 +0100
Subject: [PATCH] ensure auto mode is off

---
 src/panda/constants.rs |  1 +
 src/panda/mod.rs       | 12 ++++++++++++
 2 files changed, 13 insertions(+)

diff --git a/src/panda/constants.rs b/src/panda/constants.rs
index 9f722b3..6cb56e7 100644
--- a/src/panda/constants.rs
+++ b/src/panda/constants.rs
@@ -25,6 +25,7 @@ pub enum Endpoint {
     CanRead = 0x81,
     PacketsVersions = 0xdd,
     PowerSave = 0xe7,
+    CanFDAuto = 0xe8,
     HeartbeatDisabled = 0xf8,
 }
 
diff --git a/src/panda/mod.rs b/src/panda/mod.rs
index cf06ae2..c5e5ce5 100644
--- a/src/panda/mod.rs
+++ b/src/panda/mod.rs
@@ -18,6 +18,7 @@ const VENDOR_ID: u16 = 0xbbaa;
 const PRODUCT_ID: u16 = 0xddcc;
 const EXPECTED_CAN_PACKET_VERSION: u8 = 4;
 const MAX_BULK_SIZE: usize = 16384;
+const PANDA_BUS_CNT: usize = 3;
 
 /// Blocking implementation of the panda CAN adapter
 pub struct Panda {
@@ -73,6 +74,10 @@ impl Panda {
             panda.set_heartbeat_disabled()?;
             panda.can_reset_communications()?;
 
+            for i in 0..PANDA_BUS_CNT {
+                panda.set_canfd_auto(i, false)?;
+            }
+
             // can_reset_communications() doesn't work properly, flush manually
             panda.flush_rx()?;
 
@@ -113,6 +118,13 @@ impl Panda {
         self.usb_write_control(Endpoint::PowerSave, power_save_enabled as u16, 0)
     }
 
+    fn set_canfd_auto(&self, bus: usize, auto: bool) -> Result<()> {
+        if bus >= PANDA_BUS_CNT {
+            return Err(crate::Error::NotSupported);
+        }
+        self.usb_write_control(Endpoint::CanFDAuto, bus as u16, auto as u16)
+    }
+
     /// Get the hardware type of the panda. Usefull to detect if it supports CAN-FD.
     pub fn get_hw_type(&self) -> Result<HwType> {
         let hw_type = self.usb_read_control(Endpoint::HwType, 1)?;