From de96ebdf5ad2a84f4337fd24612aacd995061c6f Mon Sep 17 00:00:00 2001 From: Robbe Derks Date: Mon, 31 Aug 2026 14:01:20 +0200 Subject: [PATCH] bump panda (new health packet) (#38736) pandad: support compact health packet (cherry picked from commit 70df7f227b8b580fd4f6afbf0cdc5e5fa9155432) --- openpilot/selfdrive/pandad/pandad.cc | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/openpilot/selfdrive/pandad/pandad.cc b/openpilot/selfdrive/pandad/pandad.cc index ac87804bc..23df5d6a8 100644 --- a/openpilot/selfdrive/pandad/pandad.cc +++ b/openpilot/selfdrive/pandad/pandad.cc @@ -123,22 +123,22 @@ void fill_panda_state(cereal::PandaState::Builder &ps, cereal::PandaState::Panda ps.setUptime(health.uptime_pkt); ps.setSafetyTxBlocked(health.safety_tx_blocked_pkt); ps.setSafetyRxInvalid(health.safety_rx_invalid_pkt); - ps.setIgnitionLine(health.ignition_line_pkt); - ps.setIgnitionCan(health.ignition_can_pkt); - ps.setControlsAllowed(health.controls_allowed_pkt); + ps.setIgnitionLine((health.flags_pkt & HEALTH_FLAG_IGNITION_LINE) != 0U); + ps.setIgnitionCan((health.flags_pkt & HEALTH_FLAG_IGNITION_CAN) != 0U); + ps.setControlsAllowed((health.flags_pkt & HEALTH_FLAG_CONTROLS_ALLOWED) != 0U); ps.setTxBufferOverflow(health.tx_buffer_overflow_pkt); ps.setRxBufferOverflow(health.rx_buffer_overflow_pkt); ps.setPandaType(hw_type); ps.setSafetyModel(cereal::CarParams::SafetyModel(health.safety_mode_pkt)); ps.setSafetyParam(health.safety_param_pkt); ps.setFaultStatus(cereal::PandaState::FaultStatus(health.fault_status_pkt)); - ps.setPowerSaveEnabled((bool)(health.power_save_enabled_pkt)); - ps.setHeartbeatLost((bool)(health.heartbeat_lost_pkt)); + ps.setPowerSaveEnabled((health.flags_pkt & HEALTH_FLAG_POWER_SAVE_ENABLED) != 0U); + ps.setHeartbeatLost((health.flags_pkt & HEALTH_FLAG_HEARTBEAT_LOST) != 0U); ps.setAlternativeExperience(health.alternative_experience_pkt); ps.setHarnessStatus(cereal::PandaState::HarnessStatus(health.car_harness_status_pkt)); - ps.setInterruptLoad(health.interrupt_load_pkt); + ps.setInterruptLoad(health.interrupt_load_pkt / 255.0f); ps.setFanPower(health.fan_power); - ps.setSafetyRxChecksInvalid((bool)(health.safety_rx_checks_invalid_pkt)); + ps.setSafetyRxChecksInvalid((health.flags_pkt & HEALTH_FLAG_SAFETY_RX_CHECKS_INVALID) != 0U); ps.setSpiErrorCount(health.spi_error_count_pkt); ps.setSbu1Voltage(health.sbu1_voltage_mV / 1000.0f); ps.setSbu2Voltage(health.sbu2_voltage_mV / 1000.0f); @@ -198,10 +198,10 @@ std::optional send_panda_states(PubMaster *pm, Panda *panda, bool is_onroa } if (spoofing_started) { - health.ignition_line_pkt = 1; + health.flags_pkt |= HEALTH_FLAG_IGNITION_LINE; } - bool ignition_local = ((health.ignition_line_pkt != 0) || (health.ignition_can_pkt != 0)) && !always_offroad; + bool ignition_local = ((health.flags_pkt & (HEALTH_FLAG_IGNITION_LINE | HEALTH_FLAG_IGNITION_CAN)) != 0U) && !always_offroad; // Make sure CAN buses are live: safety_setter_thread does not work if Panda CAN are silent and there is only one other CAN node if (health.safety_mode_pkt == (uint8_t)(cereal::CarParams::SafetyModel::SILENT)) { @@ -209,7 +209,7 @@ std::optional send_panda_states(PubMaster *pm, Panda *panda, bool is_onroa } bool power_save_desired = !ignition_local; - if (health.power_save_enabled_pkt != power_save_desired) { + if (((health.flags_pkt & HEALTH_FLAG_POWER_SAVE_ENABLED) != 0U) != power_save_desired) { panda->set_power_saving(power_save_desired); }