disable non-universal checks in hyundai safety
@@ -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]);
