Hyundai: fix brake pressed bitmask (#1724)

* fix * test this
commaai · Nov 18, 2023 · 3b165ed · 3b165ed
1 parent 7c84475
commit 3b165ed
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Showing 2 changed files with 4 additions and 2 deletions.
diff --git a/board/safety/safety_hyundai.h b/board/safety/safety_hyundai.h
@@ -206,7 +206,7 @@ static int hyundai_rx_hook(CANPacket_t *to_push) {
     }
 
     if (addr == 0x394) {
-      brake_pressed = ((GET_BYTE(to_push, 5) >> 5U) & 0x2U) == 0x2U;
+      brake_pressed = ((GET_BYTE(to_push, 5) >> 5U) & 0x3U) == 0x2U;
     }
 
     bool stock_ecu_detected = (addr == 0x340);

diff --git a/tests/safety/test_hyundai.py b/tests/safety/test_hyundai.py
@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import random
 import unittest
 from panda import Panda
 from panda.tests.libpanda import libpanda_py
@@ -85,7 +86,8 @@ def _user_gas_msg(self, gas):
     return self.packer.make_can_msg_panda("EMS16", 0, values, fix_checksum=checksum)
 
   def _user_brake_msg(self, brake):
-    values = {"DriverOverride": 2 if brake else 0, "AliveCounterTCS": self.cnt_brake % 8}
+    values = {"DriverOverride": 2 if brake else random.choice((0, 1, 3)),
+              "AliveCounterTCS": self.cnt_brake % 8}
     self.__class__.cnt_brake += 1
     return self.packer.make_can_msg_panda("TCS13", 0, values, fix_checksum=checksum)