correct the LKAS can message spoofing

board/safety/safety_defaults.h

@@ -46,13 +46,13 @@ static void send_steer_enable_speed(CAN_FIFOMailBox_TypeDef *to_fwd){
     if (actual_speed < apa_enable_speed) {
       eps_cutoff_speed = apa_enable_speed >> 8 | ((apa_enable_speed << 8) & 0xFFFF);  //2kph with 128 factor
     }
-    is_speed_spoofed = true;
+    counter_speed_spoofed = counter_speed_spoofed + 1;
   }
   else if (steer_type == 1) {
     if (actual_speed < lkas_enable_speed) {
       eps_cutoff_speed = lkas_enable_speed >> 8 | ((lkas_enable_speed << 8) & 0xFFFF);  //65kph with 128 factor
     }
-    is_speed_spoofed = true;
+    counter_speed_spoofed = counter_speed_spoofed + 1;
   }
 
   to_fwd->RDHR &= 0x00FF0000;  //clear speed and Checksum
@@ -119,11 +119,12 @@ static void send_apa_signature(CAN_FIFOMailBox_TypeDef *to_fwd){
 static void send_lkas_command(CAN_FIFOMailBox_TypeDef *to_fwd){
   int crc;
 
-  if ((steer_type == 1) && is_op_active && !is_speed_spoofed) {
-    to_fwd->RDLR &= 0x00000000;  //clear everything for new lkas command
-    to_fwd->RDHR &= 0x00FF0000;  //clear everything except counter
+  if ((steer_type == 1) && is_op_active && counter_speed_spoofed < 5) {
+    to_fwd->RDLR &= 0x00000000; // clear everything for new lkas command
+    to_fwd->RDLR |= 0x00000004; // make sure torque highest bit is 1
+    to_fwd->RDHR &= 0x000000FF; // clear everything except counter
     crc = fca_compute_checksum(to_fwd);
-    to_fwd->RDHR |= (((crc << 8) << 8) << 8);   //replace Checksum
+    to_fwd->RDHR |= (crc << 8); // replace Checksum
   } else { //pass through
     to_fwd->RDLR |= 0x00000000;
     to_fwd->RDHR |= 0x00000000;
@@ -224,7 +225,7 @@ int default_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
       steer_type = 1;
     } else {
       steer_type = 3;
-      is_speed_spoofed = false;
+      counter_speed_spoofed = 0;
     }
     lkas_torq = ((GET_BYTE(to_push, 0) & 0x7) << 8) | GET_BYTE(to_push, 1);
     counter_658 += 1;
@@ -245,7 +246,7 @@ int default_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
         counter_284_658 += 2;
         if (counter_284_658 - counter_658 > 25){
             is_op_active = false;
-            is_speed_spoofed = false;
+            counter_speed_spoofed = 0;
             steer_type = 3;
             counter_658 = 0;
             counter_284_658 = 0;

board/safety_declarations.h

@@ -107,7 +107,7 @@ bool vehicle_moving = false;
 bool is_op_active = false;
 int lkas_torq = 1024;
 int steer_type = 3;
-bool is_speed_spoofed = false;
+uint32_t counter_speed_spoofed = 0;
 
 bool is_oplong_enabled = false;
 int acc_set_speed_kph = 255;