Kia Sorento and future Multi-Car Support

panda/board/safety/safety_hyundai.h

@@ -132,11 +132,10 @@ static int hyundai_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 }
 
 static int hyundai_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
-
-  // forward camera to car and viceversa, excpet for lkas11 and mdps12
-  if ((bus_num == 0 || bus_num == 1)) { // && !hyundai_giraffe_switch_1) {
+  // forward cam to ccan and viceversa, except lkas cmd
+  if ((bus_num == 0 || bus_num == 2) && hyundai_giraffe_switch_2) {
     int addr = to_fwd->RIR>>21;
-    bool is_lkas_msg = (addr == 832 && bus_num == 1) || (addr == 593 && bus_num == 0);
+    bool is_lkas_msg = addr == 832 && bus_num == 2;
     return is_lkas_msg? -1 : (uint8_t)(~bus_num & 0x2);
   }
   return -1;

selfdrive/car/hyundai/hyundaican.py

@@ -2,6 +2,7 @@
 
 hyundai_checksum = crcmod.mkCrcFun(0x11D, initCrc=0xFD, rev=False, xorOut=0xdf)
 
+<<<<<<< HEAD
 
 def make_can_msg(addr, dat, alt):
   return [addr, 0, dat, alt]

selfdrive/car/hyundai/values.py

@@ -25,10 +25,7 @@ class Buttons:
   }],
 }
 
-#CAMERA_MSGS = {
-#  CAR.SANTA_FE: [832, 1156, 1191, 1342],   # msgs sent by the camera
-CAMERA_MSGS = [832, 1156]
-#}
+CAMERA_MSGS = [832, 1156, 1191, 1342]   # msgs sent by the camera
 
 CHECKSUM = {
   CAR.SANTA_FE: 0,
@@ -38,4 +35,4 @@ class Buttons:
 DBC = {
   CAR.SANTA_FE: dbc_dict('hyundai_santa_fe_2019_ccan', None),
   CAR.SORENTO: dbc_dict('hyundai_santa_fe_2019_ccan', None),
-}
+}