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bump panda (new health packet) (#38736)

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pandad: support compact health packet
This commit is contained in:
Robbe Derks
2026-08-31 14:01:20 +02:00
committed by GitHub
parent 0e32059484
commit 70df7f227b
2 changed files with 11 additions and 11 deletions
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openpilot/selfdrive/pandad/pandad.cc
+10 -10
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@@ -111,22 +111,22 @@ 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);
@@ -184,10 +184,10 @@ std::optional<bool> 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));
bool ignition_local = (health.flags_pkt & (HEALTH_FLAG_IGNITION_LINE | HEALTH_FLAG_IGNITION_CAN)) != 0U;
// 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)) {
@@ -195,7 +195,7 @@ std::optional<bool> 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);
}
panda
+1 -1
Submodule panda updated: dd8a5b3df7...75aa44bec9