block lkas2 fwd

MoreTore · Jul 15, 2023 · 9e2a216 · 9e2a216
1 parent f8bad49
commit 9e2a216
Show file tree

Hide file tree

Showing 2 changed files with 6 additions and 4 deletions.
diff --git a/board/safety/safety_mazda.h b/board/safety/safety_mazda.h
@@ -134,11 +134,13 @@ static int mazda_tx_hook(CANPacket_t *to_send) {
 
 static int mazda_fwd_hook(int bus, int addr) {
   int bus_fwd = -1;
-
+  bool block = (addr == MAZDA_LKAS2);
   if (bus == MAZDA_MAIN) {
-    bus_fwd = MAZDA_CAM;
+    if (!block) {
+      bus_fwd = MAZDA_CAM;
+    }
   } else if (bus == MAZDA_CAM) {
-    bool block = (addr == MAZDA_LKAS) || (addr == MAZDA_LKAS_HUD);
+    block |= (addr == MAZDA_LKAS) || (addr == MAZDA_LKAS_HUD);
     if (!block) {
       bus_fwd = MAZDA_MAIN;
     }

diff --git a/tests/safety/test_mazda.py b/tests/safety/test_mazda.py
@@ -12,7 +12,7 @@ class TestMazdaSafety(common.PandaSafetyTest, common.DriverTorqueSteeringSafetyT
   STANDSTILL_THRESHOLD = .1
   RELAY_MALFUNCTION_ADDR = 0x243
   RELAY_MALFUNCTION_BUS = 0
-  FWD_BLACKLISTED_ADDRS = {2: [0x243, 0x440]}
+  FWD_BLACKLISTED_ADDRS = {0: [0x249,], 2: [0x243, 0x440, 0x249]}
   FWD_BUS_LOOKUP = {0: 2, 2: 0}
 
   MAX_RATE_UP = 10