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safety: add reserved controls_allowed fields for forks (like MADS) #2377

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safety: add reserved controls_allowed fields for forks (like MADS) #2377

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2 changes: 2 additions & 0 deletions board/health.h
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,8 @@ struct __attribute__((packed)) health_t {
uint8_t ignition_line_pkt;
uint8_t ignition_can_pkt;
uint8_t controls_allowed_pkt;
uint8_t controls_allowed_reserved1_pkt;
uint8_t controls_allowed_reserved2_pkt;
uint8_t car_harness_status_pkt;
uint8_t safety_mode_pkt;
uint16_t safety_param_pkt;
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2 changes: 2 additions & 0 deletions board/main_comms.h
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Expand Up @@ -16,6 +16,8 @@ static int get_health_pkt(void *dat) {
health->ignition_can_pkt = ignition_can;

health->controls_allowed_pkt = controls_allowed;
health->controls_allowed_reserved1_pkt = controls_allowed_reserved1;
health->controls_allowed_reserved2_pkt = controls_allowed_reserved2;
health->safety_tx_blocked_pkt = safety_tx_blocked;
health->safety_rx_invalid_pkt = safety_rx_invalid;
health->tx_buffer_overflow_pkt = tx_buffer_overflow;
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4 changes: 3 additions & 1 deletion python/__init__.py
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Expand Up @@ -128,7 +128,7 @@ class Panda:

CAN_PACKET_VERSION = compute_version_hash(os.path.join(opendbc.INCLUDE_PATH, "opendbc/safety/can.h"))
HEALTH_PACKET_VERSION = compute_version_hash(os.path.join(BASEDIR, "board/health.h"))
HEALTH_STRUCT = struct.Struct("<IIIIIIIIBBBBBHBBBHfBBHHHBH")
HEALTH_STRUCT = struct.Struct("<IIIIIIIIBBBBBHBBBHfBBHHHBHBB")
CAN_HEALTH_STRUCT = struct.Struct("<BIBBBBBBBBIIIIIIIHHBBBIIII")

H7_DEVICES = [HW_TYPE_RED_PANDA, HW_TYPE_TRES, HW_TYPE_CUATRO, HW_TYPE_BODY]
Expand Down Expand Up @@ -533,6 +533,8 @@ def health(self):
"sbu2_voltage_mV": a[23],
"som_reset_triggered": a[24],
"sound_output_level": a[25],
"controls_allowed_reserved_1": a[26],
"controls_allowed_reserved_2": a[27],
}

@ensure_health_packet_version
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