safety param: make uint16_t (#24362)

* only use half of the available bytes

* move to set_safety_model

* regen and update refs

* last two

* bump to master

panda

@@ -1 +1 @@
-Subproject commit d031d6e283e2887cb3360c068a3925f9b58b2b12
+Subproject commit cf8fb0b8834f4e63eea27fc92289742d75d1d37d

selfdrive/boardd/panda.cc

@@ -248,7 +248,9 @@ int Panda::usb_bulk_read(unsigned char endpoint, unsigned char* data, int length
 }
 
 void Panda::set_safety_model(cereal::CarParams::SafetyModel safety_model, uint32_t safety_param) {
-  usb_write(0xdc, (uint16_t)safety_model, safety_param);
+  // FIXME: last two bytes must be empty
+  assert((safety_param >> 16) == 0U);
+  usb_write(0xdc, (uint16_t)safety_model, (uint16_t)safety_param);
 }
 
 void Panda::set_alternative_experience(uint16_t alternative_experience) {

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-8d369bed132b691e1c000a726ab253ce7cbf8e09
+d3c925db251cda03d6661987ff6cec9df256a575

selfdrive/test/process_replay/test_processes.py

@@ -34,7 +34,7 @@ segments = [
   ("BODY", "bd6a637565e91581|2022-04-04--22-05-08--0"),
   ("HYUNDAI", "fakedata|2022-01-20--17-49-04--0"),
   ("TOYOTA", "fakedata|2022-04-13--18-53-16--0"),
-  ("TOYOTA2", "fakedata|2022-04-26--22-58-12--0"),
+  ("TOYOTA2", "fakedata|2022-04-28--15-52-38--0"),
   ("TOYOTA3", "fakedata|2022-04-13--19-09-53--0"),
   ("HONDA", "fakedata|2022-01-20--17-56-40--0"),
   ("HONDA2", "fakedata|2022-04-13--19-23-30--0"),