Merge branch 'commaai:master' into odyssey_rc5

Dockerfile

@@ -37,13 +37,13 @@ RUN pip3 install --break-system-packages --no-cache-dir $PYTHONPATH/panda/[dev]
 
 # TODO: this should be a "pip install" or not even in this repo at all
 RUN git config --global --add safe.directory $PYTHONPATH/panda
-ENV OPENDBC_REF="e1ce3619a5db661ef2b406ccf258a253baf6eebc"
+ENV OPENDBC_REF="b89fe79950121ca93d8a1f0d3fd17df31703be2a"
 RUN cd /tmp/ && \
     git clone --depth 1 https://github.com/commaai/opendbc opendbc_repo && \
     cd opendbc_repo && git fetch origin $OPENDBC_REF && git checkout FETCH_HEAD && rm -rf .git/ && \
     pip3 install --break-system-packages --no-cache-dir Cython numpy  && \
-    scons -j8 --minimal opendbc/ && \
-    ln -s $PWD/opendbc $PYTHONPATH/opendbc
+    ln -s $PWD/opendbc $PYTHONPATH/opendbc && \
+    scons -j8 --minimal opendbc/
 
 # for Jenkins
 COPY README.md panda.tar.* /tmp/

board/main.c

@@ -216,7 +216,7 @@ static void tick_handler(void) {
       }
 
       if (controls_allowed || heartbeat_engaged) {
-        controls_allowed_countdown = 30U;
+        controls_allowed_countdown = 5U;
       } else if (controls_allowed_countdown > 0U) {
         controls_allowed_countdown -= 1U;
       } else {

board/safety/safety_hyundai.h

@@ -250,8 +250,17 @@ static int hyundai_fwd_hook(int bus_num, int addr) {
   if (bus_num == 0) {
     bus_fwd = 2;
   }
-  if ((bus_num == 2) && (addr != 0x340) && (addr != 0x485)) {
-    bus_fwd = 0;
+
+  if (bus_num == 2) {
+    // Stock LKAS11 messages
+    bool is_lkas_11 = (addr == 0x340);
+    // LFA and HDA cluster icons
+    bool is_lfahda_mfc = (addr == 0x485);
+
+    bool block_msg = is_lkas_11 || is_lfahda_mfc;
+    if (!block_msg) {
+      bus_fwd = 0;
+    }
   }
 
   return bus_fwd;