white/grey/black pandas still have power ctrl function (#2308)

old-commit-hash: ea81d36c41

selfdrive/boardd/boardd.cc

@@ -385,9 +385,6 @@ void hardware_control_thread() {
   LOGD("start hardware control thread");
   SubMaster sm({"thermal", "frontFrame"});
 
-  // Other pandas don't have hardware to control
-  if (panda->hw_type != cereal::HealthData::HwType::UNO && panda->hw_type != cereal::HealthData::HwType::DOS) return;
-
   uint64_t last_front_frame_t = 0;
   uint16_t prev_fan_speed = 999;
   uint16_t ir_pwr = 0;
@@ -401,15 +398,8 @@ void hardware_control_thread() {
     cnt++;
     sm.update(1000); // TODO: what happens if EINTR is sent while in sm.update?
 
-    if (sm.updated("thermal")){
-      // Fan speed
-      uint16_t fan_speed = sm["thermal"].getThermal().getFanSpeed();
-      if (fan_speed != prev_fan_speed || cnt % 100 == 0){
-        panda->set_fan_speed(fan_speed);
-        prev_fan_speed = fan_speed;
-      }
-
 #ifdef QCOM
+    if (sm.updated("thermal")){
       // Charging mode
       bool charging_disabled = sm["thermal"].getThermal().getChargingDisabled();
       if (charging_disabled != prev_charging_disabled){
@@ -422,7 +412,18 @@ void hardware_control_thread() {
         }
         prev_charging_disabled = charging_disabled;
       }
+    }
 #endif
+
+    // Other pandas don't have fan/IR to control
+    if (panda->hw_type != cereal::HealthData::HwType::UNO && panda->hw_type != cereal::HealthData::HwType::DOS) continue;
+    if (sm.updated("thermal")){
+      // Fan speed
+      uint16_t fan_speed = sm["thermal"].getThermal().getFanSpeed();
+      if (fan_speed != prev_fan_speed || cnt % 100 == 0){
+        panda->set_fan_speed(fan_speed);
+        prev_fan_speed = fan_speed;
+      }
     }
     if (sm.updated("frontFrame")){
       auto event = sm["frontFrame"];