      // set safety mode to NO_OUTPUT when car is off. ELM327 is an alternative if we want to leverage athenad/connect
      if (!ignition_local && (health.safety_mode_pkt != (uint8_t)(cereal::CarParams::SafetyModel::NO_OUTPUT))) {
        panda->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT);
      }
    #endif
  
      if (!panda->comms_healthy()) {
        evt.setValid(false);
      }
  
 
</s> remove   #ifndef __x86_64__
 </s> add  </s> remove     cnt++;
    sm.update(1000); // TODO: what happens if EINTR is sent while in sm.update?
 </s> add     sm.update(1000); </s> remove     if (!ignition && (cnt % 120 == 1)) {
 </s> add     if (!ignition && (sm.frame % 120 == 1)) { </s> remove     if (ir_pwr != prev_ir_pwr || cnt % 100 == 0 || ir_pwr >= 50.0) {
 </s> add     if (ir_pwr != prev_ir_pwr || sm.frame % 100 == 0 || ir_pwr >= 50.0) { </s> remove       if (fan_speed != prev_fan_speed || cnt % 100 == 0) {
 </s> add       if (fan_speed != prev_fan_speed || sm.frame % 100 == 0) {
      // set safety mode to NO_OUTPUT when car is off. ELM327 is an alternative if we want to leverage athenad/connect
      if (!ignition_local && (health.safety_mode_pkt != (uint8_t)(cereal::CarParams::SafetyModel::NO_OUTPUT))) {
        panda->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT);
      }

  
      if (!panda->comms_healthy()) {
        evt.setValid(false);
      }
  
keep keep keep keep replace keep keep keep keep keep
 boardd: misc cleanup (#28969)

* boardd cleanup

* no more front frame

* faster connect loop

* fix that on mac 
selfdrive/boardd/boardd.cc