From 8ee7b62ea2f46efa62d8227898f49b046e2dce57 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 25 Jan 2022 02:35:57 -0800
Subject: [PATCH] Add unsafe mode to health packet (#829)

* add unsafe_mode to health packet

this compiles

update health packet

fixes

ahh forgot to set it!

not actually needed

update indices

* fix struct

Co-authored-by: Willem Melching <willem.melching@gmail.com>
---
 board/usb_comms.h  | 4 +++-
 python/__init__.py | 7 ++++---
 2 files changed, 7 insertions(+), 4 deletions(-)

diff --git a/board/usb_comms.h b/board/usb_comms.h
index 5b287c91..84d284a3 100644
--- a/board/usb_comms.h
+++ b/board/usb_comms.h
@@ -3,7 +3,7 @@
 extern int _app_start[0xc000]; // Only first 3 sectors of size 0x4000 are used
 
 // When changing this struct, boardd and python/__init__.py needs to be kept up to date!
-#define HEALTH_PACKET_VERSION 1
+#define HEALTH_PACKET_VERSION 2
 struct __attribute__((packed)) health_t {
   uint32_t uptime_pkt;
   uint32_t voltage_pkt;
@@ -24,6 +24,7 @@ struct __attribute__((packed)) health_t {
   uint8_t fault_status_pkt;
   uint8_t power_save_enabled_pkt;
   uint8_t heartbeat_lost_pkt;
+  int16_t unsafe_mode_pkt;
 };
 
 // Prototypes
@@ -52,6 +53,7 @@ int get_health_pkt(void *dat) {
   health->usb_power_mode_pkt = usb_power_mode;
   health->safety_mode_pkt = (uint8_t)(current_safety_mode);
   health->safety_param_pkt = current_safety_param;
+  health->unsafe_mode_pkt = unsafe_mode;
   health->power_save_enabled_pkt = (uint8_t)(power_save_status == POWER_SAVE_STATUS_ENABLED);
   health->heartbeat_lost_pkt = (uint8_t)(heartbeat_lost);
 
diff --git a/python/__init__.py b/python/__init__.py
index d71cf39f..6804d7a7 100644
--- a/python/__init__.py
+++ b/python/__init__.py
@@ -160,7 +160,7 @@ class Panda(object):
   HW_TYPE_RED_PANDA = b'\x07'
 
   CAN_PACKET_VERSION = 2
-  HEALTH_PACKET_VERSION = 1
+  HEALTH_PACKET_VERSION = 2
 
   F2_DEVICES = [HW_TYPE_PEDAL]
   F4_DEVICES = [HW_TYPE_WHITE_PANDA, HW_TYPE_GREY_PANDA, HW_TYPE_BLACK_PANDA, HW_TYPE_UNO, HW_TYPE_DOS]
@@ -353,8 +353,8 @@ class Panda(object):
 
   @ensure_health_packet_version
   def health(self):
-    dat = self._handle.controlRead(Panda.REQUEST_IN, 0xd2, 0, 0, 44)
-    a = struct.unpack("<IIIIIIIIBBBBBBBHBBB", dat)
+    dat = self._handle.controlRead(Panda.REQUEST_IN, 0xd2, 0, 0, 46)
+    a = struct.unpack("<IIIIIIIIBBBBBBBHBBBH", dat)
     return {
       "uptime": a[0],
       "voltage": a[1],
@@ -375,6 +375,7 @@ class Panda(object):
       "fault_status": a[16],
       "power_save_enabled": a[17],
       "heartbeat_lost": a[18],
+      "unsafe_mode": a[19],
     }
 
   # ******************* control *******************