From ad623e19ec682f5c0d34fc0cb4a10b0dc2ea71b9 Mon Sep 17 00:00:00 2001
From: Qi Liu <liuqi_colin@msn.com>
Date: Thu, 29 Feb 2024 09:21:34 -0800
Subject: [PATCH] fix occasional LKAS error

---
 board/safety/safety_defaults.h | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/board/safety/safety_defaults.h b/board/safety/safety_defaults.h
index 26b52dd52d..00f593a10f 100644
--- a/board/safety/safety_defaults.h
+++ b/board/safety/safety_defaults.h
@@ -238,6 +238,10 @@ int default_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   }
 
   if ((addr == 284) && (bus_num == 0)) {
+    // the following two conditions are to stop spoofing
+    // when comma stops sending LKAS or ACC commands for whatever reason
+    // 284 is sent by the vehicle, and 502/658 is sent by comma,
+    // and they are sent in the same frequency (50Hz)
     if (counter_502 > 0) {
         counter_284_502 += 1;
         if (counter_284_502 - counter_502 > 25) {
@@ -249,7 +253,7 @@ int default_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     }
 
     if (counter_658 > 0) {
-        counter_284_658 += 2;
+        counter_284_658 += 1;
         if (counter_284_658 - counter_658 > 25){
             is_op_active = false;
             steer_type = 3;