safety: checksum and counter are explicitly opt-out (#1939)

* this is what we want * rm old * and now counter * need this * toyota * subaru's good * Tesla and Chrysler * Ford * do some find and replace * do the rest * clean up * remove this * rm * not broken but bad * this was wrong!
commaai · Mar 7, 2025 · 10fd5b7 · 10fd5b7
1 parent 866beab
commit 10fd5b7
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Showing 18 changed files with 127 additions and 126 deletions.
diff --git a/opendbc/safety/safety.h b/opendbc/safety/safety.h
@@ -181,20 +181,20 @@ static bool rx_msg_safety_check(const CANPacket_t *to_push,
 
   if (index != -1) {
     // checksum check
-    if ((safety_hooks->get_checksum != NULL) && (safety_hooks->compute_checksum != NULL) && cfg->rx_checks[index].msg[cfg->rx_checks[index].status.index].check_checksum) {
+    if ((safety_hooks->get_checksum != NULL) && (safety_hooks->compute_checksum != NULL) && !cfg->rx_checks[index].msg[cfg->rx_checks[index].status.index].ignore_checksum) {
       uint32_t checksum = safety_hooks->get_checksum(to_push);
       uint32_t checksum_comp = safety_hooks->compute_checksum(to_push);
       cfg->rx_checks[index].status.valid_checksum = checksum_comp == checksum;
     } else {
-      cfg->rx_checks[index].status.valid_checksum = true;
+      cfg->rx_checks[index].status.valid_checksum = cfg->rx_checks[index].msg[cfg->rx_checks[index].status.index].ignore_checksum;
     }
 
-    // counter check (max_counter == 0 means skip check)
+    // counter check
     if ((safety_hooks->get_counter != NULL) && (cfg->rx_checks[index].msg[cfg->rx_checks[index].status.index].max_counter > 0U)) {
       uint8_t counter = safety_hooks->get_counter(to_push);
       update_counter(cfg->rx_checks, index, counter);
     } else {
-      cfg->rx_checks[index].status.wrong_counters = 0U;
+      cfg->rx_checks[index].status.wrong_counters = cfg->rx_checks[index].msg[cfg->rx_checks[index].status.index].ignore_counter ? 0 : MAX_WRONG_COUNTERS;
     }
 
     // quality flag check

diff --git a/opendbc/safety/safety/safety_body.h b/opendbc/safety/safety/safety_body.h
@@ -31,7 +31,7 @@ static bool body_tx_hook(const CANPacket_t *to_send) {
 
 static safety_config body_init(uint16_t param) {
   static RxCheck body_rx_checks[] = {
-    {.msg = {{0x201, 0, 8, .check_checksum = false, .max_counter = 0U, .frequency = 100U}, { 0 }, { 0 }}},
+    {.msg = {{0x201, 0, 8, .ignore_checksum = true, .ignore_counter = true, .frequency = 100U}, { 0 }, { 0 }}},
   };
 
   static const CanMsg BODY_TX_MSGS[] = {{0x250, 0, 8}, {0x250, 0, 6}, {0x251, 0, 5},  // body

diff --git a/opendbc/safety/safety/safety_chrysler.h b/opendbc/safety/safety/safety_chrysler.h
@@ -212,20 +212,20 @@ static safety_config chrysler_init(uint16_t param) {
   };
 
   static RxCheck chrysler_ram_dt_rx_checks[] = {
-    {.msg = {{CHRYSLER_RAM_DT_ADDRS.EPS_2, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 100U}, { 0 }, { 0 }}},
-    {.msg = {{CHRYSLER_RAM_DT_ADDRS.ESP_1, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
-    {.msg = {{CHRYSLER_RAM_DT_ADDRS.ESP_8, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
-    {.msg = {{CHRYSLER_RAM_DT_ADDRS.ECM_5, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
-    {.msg = {{CHRYSLER_RAM_DT_ADDRS.DAS_3, 2, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
+    {.msg = {{CHRYSLER_RAM_DT_ADDRS.EPS_2, 0, 8, .max_counter = 15U, .frequency = 100U}, { 0 }, { 0 }}},
+    {.msg = {{CHRYSLER_RAM_DT_ADDRS.ESP_1, 0, 8, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
+    {.msg = {{CHRYSLER_RAM_DT_ADDRS.ESP_8, 0, 8, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
+    {.msg = {{CHRYSLER_RAM_DT_ADDRS.ECM_5, 0, 8, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
+    {.msg = {{CHRYSLER_RAM_DT_ADDRS.DAS_3, 2, 8, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
   };
 
   static RxCheck chrysler_rx_checks[] = {
-    {.msg = {{CHRYSLER_ADDRS.EPS_2, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 100U}, { 0 }, { 0 }}},
-    {.msg = {{CHRYSLER_ADDRS.ESP_1, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
-    //{.msg = {{ESP_8, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}}},
-    {.msg = {{514, 0, 8, .check_checksum = false, .max_counter = 0U, .frequency = 100U}, { 0 }, { 0 }}},
-    {.msg = {{CHRYSLER_ADDRS.ECM_5, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
-    {.msg = {{CHRYSLER_ADDRS.DAS_3, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
+    {.msg = {{CHRYSLER_ADDRS.EPS_2, 0, 8, .max_counter = 15U, .frequency = 100U}, { 0 }, { 0 }}},
+    {.msg = {{CHRYSLER_ADDRS.ESP_1, 0, 8, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
+    //{.msg = {{ESP_8, 0, 8, .max_counter = 15U, .frequency = 50U}}},
+    {.msg = {{514, 0, 8, .ignore_checksum = true, .ignore_counter = true, .frequency = 100U}, { 0 }, { 0 }}},
+    {.msg = {{CHRYSLER_ADDRS.ECM_5, 0, 8, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
+    {.msg = {{CHRYSLER_ADDRS.DAS_3, 0, 8, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
   };
 
   static const CanMsg CHRYSLER_TX_MSGS[] = {
@@ -254,11 +254,11 @@ static safety_config chrysler_init(uint16_t param) {
   };
 
   static RxCheck chrysler_ram_hd_rx_checks[] = {
-    {.msg = {{CHRYSLER_RAM_HD_ADDRS.EPS_2, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 100U}, { 0 }, { 0 }}},
-    {.msg = {{CHRYSLER_RAM_HD_ADDRS.ESP_1, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
-    {.msg = {{CHRYSLER_RAM_HD_ADDRS.ESP_8, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
-    {.msg = {{CHRYSLER_RAM_HD_ADDRS.ECM_5, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
-    {.msg = {{CHRYSLER_RAM_HD_ADDRS.DAS_3, 2, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
+    {.msg = {{CHRYSLER_RAM_HD_ADDRS.EPS_2, 0, 8, .max_counter = 15U, .frequency = 100U}, { 0 }, { 0 }}},
+    {.msg = {{CHRYSLER_RAM_HD_ADDRS.ESP_1, 0, 8, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
+    {.msg = {{CHRYSLER_RAM_HD_ADDRS.ESP_8, 0, 8, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
+    {.msg = {{CHRYSLER_RAM_HD_ADDRS.ECM_5, 0, 8, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
+    {.msg = {{CHRYSLER_RAM_HD_ADDRS.DAS_3, 2, 8, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
   };
 
   static const CanMsg CHRYSLER_RAM_HD_TX_MSGS[] = {

diff --git a/opendbc/safety/safety/safety_ford.h b/opendbc/safety/safety/safety_ford.h
@@ -357,16 +357,16 @@ static safety_config ford_init(uint16_t param) {
   // warning: quality flags are not yet checked in openpilot's CAN parser,
   // this may be the cause of blocked messages
   static RxCheck ford_rx_checks[] = {
-    {.msg = {{FORD_BrakeSysFeatures, 0, 8, .check_checksum = true, .max_counter = 15U, .quality_flag=true, .frequency = 50U}, { 0 }, { 0 }}},
+    {.msg = {{FORD_BrakeSysFeatures, 0, 8, .max_counter = 15U, .quality_flag=true, .frequency = 50U}, { 0 }, { 0 }}},
     // FORD_EngVehicleSpThrottle2 has a counter that either randomly skips or by 2, likely ECU bug
     // Some hybrid models also experience a bug where this checksum mismatches for one or two frames under heavy acceleration with ACC
     // It has been confirmed that the Bronco Sport's camera only disallows ACC for bad quality flags, not counters or checksums, so we match that
-    {.msg = {{FORD_EngVehicleSpThrottle2, 0, 8, .check_checksum = false, .quality_flag=true, .frequency = 50U}, { 0 }, { 0 }}},
-    {.msg = {{FORD_Yaw_Data_FD1, 0, 8, .check_checksum = true, .max_counter = 255U, .quality_flag=true, .frequency = 100U}, { 0 }, { 0 }}},
+    {.msg = {{FORD_EngVehicleSpThrottle2, 0, 8, .ignore_checksum = true, .ignore_counter = true, .quality_flag=true, .frequency = 50U}, { 0 }, { 0 }}},
+    {.msg = {{FORD_Yaw_Data_FD1, 0, 8, .max_counter = 255U, .quality_flag=true, .frequency = 100U}, { 0 }, { 0 }}},
     // These messages have no counter or checksum
-    {.msg = {{FORD_EngBrakeData, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
-    {.msg = {{FORD_EngVehicleSpThrottle, 0, 8, .frequency = 100U}, { 0 }, { 0 }}},
-    {.msg = {{FORD_DesiredTorqBrk, 0, 8, .frequency = 50U}, { 0 }, { 0 }}},
+    {.msg = {{FORD_EngBrakeData, 0, 8, .ignore_checksum = true, .ignore_counter = true, .frequency = 10U}, { 0 }, { 0 }}},
+    {.msg = {{FORD_EngVehicleSpThrottle, 0, 8, .ignore_checksum = true, .ignore_counter = true, .frequency = 100U}, { 0 }, { 0 }}},
+    {.msg = {{FORD_DesiredTorqBrk, 0, 8, .ignore_checksum = true, .ignore_counter = true, .frequency = 50U}, { 0 }, { 0 }}},
   };
 
   #define FORD_COMMON_TX_MSGS       \

diff --git a/opendbc/safety/safety/safety_gm.h b/opendbc/safety/safety/safety_gm.h
@@ -213,14 +213,14 @@ static safety_config gm_init(uint16_t param) {
 
   // TODO: do checksum and counter checks. Add correct timestep, 0.1s for now.
   static RxCheck gm_rx_checks[] = {
-    {.msg = {{0x184, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
-    {.msg = {{0x34A, 0, 5, .frequency = 10U}, { 0 }, { 0 }}},
-    {.msg = {{0x1E1, 0, 7, .frequency = 10U}, { 0 }, { 0 }}},
-    {.msg = {{0xBE, 0, 6, .frequency = 10U},    // Volt, Silverado, Acadia Denali
-             {0xBE, 0, 7, .frequency = 10U},    // Bolt EUV
-             {0xBE, 0, 8, .frequency = 10U}}},  // Escalade
-    {.msg = {{0x1C4, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
-    {.msg = {{0xC9, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
+    {.msg = {{0x184, 0, 8, .ignore_checksum = true, .ignore_counter = true, .frequency = 10U}, { 0 }, { 0 }}},
+    {.msg = {{0x34A, 0, 5, .ignore_checksum = true, .ignore_counter = true, .frequency = 10U}, { 0 }, { 0 }}},
+    {.msg = {{0x1E1, 0, 7, .ignore_checksum = true, .ignore_counter = true, .frequency = 10U}, { 0 }, { 0 }}},
+    {.msg = {{0xBE, 0, 6, .ignore_checksum = true, .ignore_counter = true, .frequency = 10U},    // Volt, Silverado, Acadia Denali
+             {0xBE, 0, 7, .ignore_checksum = true, .ignore_counter = true, .frequency = 10U},    // Bolt EUV
+             {0xBE, 0, 8, .ignore_checksum = true, .ignore_counter = true, .frequency = 10U}}},  // Escalade
+    {.msg = {{0x1C4, 0, 8, .ignore_checksum = true, .ignore_counter = true, .frequency = 10U}, { 0 }, { 0 }}},
+    {.msg = {{0xC9, 0, 8, .ignore_checksum = true, .ignore_counter = true, .frequency = 10U}, { 0 }, { 0 }}},
   };
 
   static const CanMsg GM_CAM_TX_MSGS[] = {{0x180, 0, 4},  // pt bus

diff --git a/opendbc/safety/safety/safety_honda.h b/opendbc/safety/safety/safety_honda.h
@@ -3,19 +3,19 @@
 #include "safety_declarations.h"
 
 // All common address checks except SCM_BUTTONS which isn't on one Nidec safety configuration
-#define HONDA_COMMON_NO_SCM_FEEDBACK_RX_CHECKS(pt_bus)                                                                                           \
-  {.msg = {{0x1A6, (pt_bus), 8, .check_checksum = true, .max_counter = 3U, .frequency = 25U},                  /* SCM_BUTTONS */      \
-           {0x296, (pt_bus), 4, .check_checksum = true, .max_counter = 3U, .frequency = 25U}, { 0 }}},                                \
-  {.msg = {{0x158, (pt_bus), 8, .check_checksum = true, .max_counter = 3U, .frequency = 100U}, { 0 }, { 0 }}},  /* ENGINE_DATA */      \
-  {.msg = {{0x17C, (pt_bus), 8, .check_checksum = true, .max_counter = 3U, .frequency = 100U}, { 0 }, { 0 }}},  /* POWERTRAIN_DATA */  \
+#define HONDA_COMMON_NO_SCM_FEEDBACK_RX_CHECKS(pt_bus)                                                         \
+  {.msg = {{0x1A6, (pt_bus), 8, .max_counter = 3U, .frequency = 25U},                  /* SCM_BUTTONS */       \
+           {0x296, (pt_bus), 4, .max_counter = 3U, .frequency = 25U}, { 0 }}},                                 \
+  {.msg = {{0x158, (pt_bus), 8, .max_counter = 3U, .frequency = 100U}, { 0 }, { 0 }}},  /* ENGINE_DATA */      \
+  {.msg = {{0x17C, (pt_bus), 8, .max_counter = 3U, .frequency = 100U}, { 0 }, { 0 }}},  /* POWERTRAIN_DATA */  \
 
-#define HONDA_COMMON_RX_CHECKS(pt_bus)                                                                                                         \
-  HONDA_COMMON_NO_SCM_FEEDBACK_RX_CHECKS(pt_bus)                                                                                               \
-  {.msg = {{0x326, (pt_bus), 8, .check_checksum = true, .max_counter = 3U, .frequency = 10U}, { 0 }, { 0 }}},  /* SCM_FEEDBACK */  \
+#define HONDA_COMMON_RX_CHECKS(pt_bus)                                                                     \
+  HONDA_COMMON_NO_SCM_FEEDBACK_RX_CHECKS(pt_bus)                                                           \
+  {.msg = {{0x326, (pt_bus), 8, .max_counter = 3U, .frequency = 10U}, { 0 }, { 0 }}},  /* SCM_FEEDBACK */  \
 
 // Alternate brake message is used on some Honda Bosch, and Honda Bosch radarless (where PT bus is 0)
-#define HONDA_ALT_BRAKE_ADDR_CHECK(pt_bus)                                                                                                    \
-  {.msg = {{0x1BE, (pt_bus), 3, .check_checksum = true, .max_counter = 3U, .frequency = 50U}, { 0 }, { 0 }}},  /* BRAKE_MODULE */  \
+#define HONDA_ALT_BRAKE_ADDR_CHECK(pt_bus)                                                                 \
+  {.msg = {{0x1BE, (pt_bus), 3, .max_counter = 3U, .frequency = 50U}, { 0 }, { 0 }}},  /* BRAKE_MODULE */  \
 
 
 // Nidec and bosch radarless has the powertrain bus on bus 0
@@ -321,7 +321,7 @@ static safety_config honda_nidec_init(uint16_t param) {
 
   if (enable_nidec_alt) {
     // For Nidecs with main on signal on an alternate msg (missing 0x326)
-    static RxCheck honda_nidec_alt_rx_checks[] = { 
+    static RxCheck honda_nidec_alt_rx_checks[] = {
       HONDA_COMMON_NO_SCM_FEEDBACK_RX_CHECKS(0)
     };
 

diff --git a/opendbc/safety/safety/safety_hyundai.h b/opendbc/safety/safety/safety_hyundai.h
@@ -39,15 +39,15 @@ const LongitudinalLimits HYUNDAI_LONG_LIMITS = {
   {0x389, 0,       8},  /* SCC14 Bus 0                               */ \
   {0x4A2, 0,       2},  /* FRT_RADAR11 Bus 0                         */ \
 
-#define HYUNDAI_COMMON_RX_CHECKS(legacy)                                                                                      \
-  {.msg = {{0x260, 0, 8, .check_checksum = true, .max_counter = 3U, .frequency = 100U},                                       \
-           {0x371, 0, 8, .frequency = 100U},                                                                                  \
-           {0x91,  0, 8, .frequency = 100U}}},                                                                                \
-  {.msg = {{0x386, 0, 8, .check_checksum = !(legacy), .max_counter = (legacy) ? 0U : 15U, .frequency = 100U}, { 0 }, { 0 }}}, \
-  {.msg = {{0x394, 0, 8, .check_checksum = !(legacy), .max_counter = (legacy) ? 0U : 7U, .frequency = 100U}, { 0 }, { 0 }}},  \
+#define HYUNDAI_COMMON_RX_CHECKS(legacy)                                                                                                                  \
+  {.msg = {{0x260, 0, 8, .max_counter = 3U, .frequency = 100U},                                                                                           \
+           {0x371, 0, 8, .ignore_checksum = true, .ignore_counter = true, .frequency = 100U},                                                             \
+           {0x91,  0, 8, .ignore_checksum = true, .ignore_counter = true, .frequency = 100U}}},                                                           \
+  {.msg = {{0x386, 0, 8, .ignore_checksum = (legacy), .ignore_counter = (legacy), .max_counter = (legacy) ? 0U : 15U, .frequency = 100U}, { 0 }, { 0 }}}, \
+  {.msg = {{0x394, 0, 8, .ignore_checksum = (legacy), .ignore_counter = (legacy), .max_counter = (legacy) ? 0U : 7U, .frequency = 100U}, { 0 }, { 0 }}},  \
 
-#define HYUNDAI_SCC12_ADDR_CHECK(scc_bus)                                                                                     \
-  {.msg = {{0x421, (scc_bus), 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},               \
+#define HYUNDAI_SCC12_ADDR_CHECK(scc_bus)                                               \
+  {.msg = {{0x421, (scc_bus), 8, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}}, \
 
 static const CanMsg HYUNDAI_TX_MSGS[] = {
   HYUNDAI_COMMON_TX_MSGS(0)
@@ -311,7 +311,7 @@ static safety_config hyundai_init(uint16_t param) {
     static RxCheck hyundai_long_rx_checks[] = {
       HYUNDAI_COMMON_RX_CHECKS(false)
       // Use CLU11 (buttons) to manage controls allowed instead of SCC cruise state
-      {.msg = {{0x4F1, 0, 4, .check_checksum = false, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
+      {.msg = {{0x4F1, 0, 4, .ignore_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
     };
 
     ret = hyundai_camera_scc ? BUILD_SAFETY_CFG(hyundai_long_rx_checks, HYUNDAI_CAMERA_SCC_LONG_TX_MSGS) : \

diff --git a/opendbc/safety/safety/safety_hyundai_canfd.h b/opendbc/safety/safety/safety_hyundai_canfd.h
@@ -25,19 +25,19 @@
 
 // *** Addresses checked in rx hook ***
 // EV, ICE, HYBRID: ACCELERATOR (0x35), ACCELERATOR_BRAKE_ALT (0x100), ACCELERATOR_ALT (0x105)
-#define HYUNDAI_CANFD_COMMON_RX_CHECKS(pt_bus)                                                                     \
-  {.msg = {{0x35, (pt_bus), 32, .check_checksum = true, .max_counter = 0xffU, .frequency = 100U},                  \
-           {0x100, (pt_bus), 32, .check_checksum = true, .max_counter = 0xffU, .frequency = 100U},                 \
-           {0x105, (pt_bus), 32, .check_checksum = true, .max_counter = 0xffU, .frequency = 100U}}},               \
-  {.msg = {{0x175, (pt_bus), 24, .check_checksum = true, .max_counter = 0xffU, .frequency = 50U}, { 0 }, { 0 }}},  \
-  {.msg = {{0xa0, (pt_bus), 24, .check_checksum = true, .max_counter = 0xffU, .frequency = 100U}, { 0 }, { 0 }}},  \
-  {.msg = {{0xea, (pt_bus), 24, .check_checksum = true, .max_counter = 0xffU, .frequency = 100U}, { 0 }, { 0 }}},  \
-  {.msg = {{0x1cf, (pt_bus), 8, .check_checksum = false, .max_counter = 0xfU, .frequency = 50U},                   \
-           {0x1aa, (pt_bus), 16, .check_checksum = false, .max_counter = 0xffU, .frequency = 50U}, { 0 }}},        \
+#define HYUNDAI_CANFD_COMMON_RX_CHECKS(pt_bus)                                                               \
+  {.msg = {{0x35, (pt_bus), 32, .max_counter = 0xffU, .frequency = 100U},                                    \
+           {0x100, (pt_bus), 32, .max_counter = 0xffU, .frequency = 100U},                                   \
+           {0x105, (pt_bus), 32, .max_counter = 0xffU, .frequency = 100U}}},                                 \
+  {.msg = {{0x175, (pt_bus), 24, .max_counter = 0xffU, .frequency = 50U}, { 0 }, { 0 }}},                    \
+  {.msg = {{0xa0, (pt_bus), 24, .max_counter = 0xffU, .frequency = 100U}, { 0 }, { 0 }}},                    \
+  {.msg = {{0xea, (pt_bus), 24, .max_counter = 0xffU, .frequency = 100U}, { 0 }, { 0 }}},                    \
+  {.msg = {{0x1cf, (pt_bus), 8, .ignore_checksum = true, .max_counter = 0xfU, .frequency = 50U},             \
+           {0x1aa, (pt_bus), 16, .ignore_checksum = true, .max_counter = 0xffU, .frequency = 50U}, { 0 }}},  \
 
 // SCC_CONTROL (from ADAS unit or camera)
-#define HYUNDAI_CANFD_SCC_ADDR_CHECK(scc_bus)                                                                       \
-  {.msg = {{0x1a0, (scc_bus), 32, .check_checksum = true, .max_counter = 0xffU, .frequency = 50U}, { 0 }, { 0 }}},  \
+#define HYUNDAI_CANFD_SCC_ADDR_CHECK(scc_bus)                                               \
+  {.msg = {{0x1a0, (scc_bus), 32, .max_counter = 0xffU, .frequency = 50U}, { 0 }, { 0 }}},  \
 
 static bool hyundai_canfd_alt_buttons = false;
 static bool hyundai_canfd_lka_steering_alt = false;

diff --git a/opendbc/safety/safety/safety_mazda.h b/opendbc/safety/safety/safety_mazda.h
@@ -112,11 +112,11 @@ static safety_config mazda_init(uint16_t param) {
   static const CanMsg MAZDA_TX_MSGS[] = {{MAZDA_LKAS, 0, 8}, {MAZDA_CRZ_BTNS, 0, 8}, {MAZDA_LKAS_HUD, 0, 8}};
 
   static RxCheck mazda_rx_checks[] = {
-    {.msg = {{MAZDA_CRZ_CTRL,     0, 8, .frequency = 50U}, { 0 }, { 0 }}},
-    {.msg = {{MAZDA_CRZ_BTNS,     0, 8, .frequency = 10U}, { 0 }, { 0 }}},
-    {.msg = {{MAZDA_STEER_TORQUE, 0, 8, .frequency = 83U}, { 0 }, { 0 }}},
-    {.msg = {{MAZDA_ENGINE_DATA,  0, 8, .frequency = 100U}, { 0 }, { 0 }}},
-    {.msg = {{MAZDA_PEDALS,       0, 8, .frequency = 50U}, { 0 }, { 0 }}},
+    {.msg = {{MAZDA_CRZ_CTRL,     0, 8, .ignore_checksum = true, .ignore_counter = true, .frequency = 50U}, { 0 }, { 0 }}},
+    {.msg = {{MAZDA_CRZ_BTNS,     0, 8, .ignore_checksum = true, .ignore_counter = true, .frequency = 10U}, { 0 }, { 0 }}},
+    {.msg = {{MAZDA_STEER_TORQUE, 0, 8, .ignore_checksum = true, .ignore_counter = true, .frequency = 83U}, { 0 }, { 0 }}},
+    {.msg = {{MAZDA_ENGINE_DATA,  0, 8, .ignore_checksum = true, .ignore_counter = true, .frequency = 100U}, { 0 }, { 0 }}},
+    {.msg = {{MAZDA_PEDALS,       0, 8, .ignore_checksum = true, .ignore_counter = true, .frequency = 50U}, { 0 }, { 0 }}},
   };
 
   UNUSED(param);