disable non-universal checks in hyundai safety

commaai · May 31, 2020 · 49ffbe9 · 49ffbe9
1 parent 3a85f4c
commit 49ffbe9
Showing 1 changed file with 6 additions and 2 deletions.
diff --git a/board/safety/safety_hyundai.h b/board/safety/safety_hyundai.h
@@ -19,10 +19,14 @@ const CanMsg HYUNDAI_TX_MSGS[] = {
 
 // TODO: missing checksum for wheel speeds message,worst failure case is
 //       wheel speeds stuck at 0 and we don't disengage on brake press
+// TODO: refactor addr check to cleanly re-enable commented out checks for cars that have them
 AddrCheckStruct hyundai_rx_checks[] = {
   {.msg = {{608, 0, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U}}},
-  {.msg = {{902, 0, 8, .max_counter = 15U,  .expected_timestep = 10000U}}},
-  {.msg = {{916, 0, 8, .check_checksum = true, .max_counter = 7U, .expected_timestep = 10000U}}},
+  // TODO: older hyundai models don't populate the counter bits in 902
+  //{.msg = {{902, 0, 8, .max_counter = 15U,  .expected_timestep = 10000U}}},
+  {.msg = {{902, 0, 8, .max_counter = 0U,  .expected_timestep = 10000U}}},
+  //{.msg = {{916, 0, 8, .check_checksum = true, .max_counter = 7U, .expected_timestep = 10000U}}},
+  {.msg = {{916, 0, 8, .check_checksum = false, .max_counter = 0U, .expected_timestep = 10000U}}},
   {.msg = {{1057, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}}},
 };
 const int HYUNDAI_RX_CHECK_LEN = sizeof(hyundai_rx_checks) / sizeof(hyundai_rx_checks[0]);