From 24dc7b91126e908e9e7b3f88d40e3cccce4875e5 Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Fri, 9 Oct 2026 05:12:53 -0500
Subject: [PATCH] Safety checks

---
 opendbc_repo/opendbc/safety/modes/hyundai_canfd.h | 6 ++++--
 panda/board/drivers/gpio.h                        | 2 +-
 2 files changed, 5 insertions(+), 3 deletions(-)

diff --git a/opendbc_repo/opendbc/safety/modes/hyundai_canfd.h b/opendbc_repo/opendbc/safety/modes/hyundai_canfd.h
index 0fd21ebf18..c89f73ac6e 100644
--- a/opendbc_repo/opendbc/safety/modes/hyundai_canfd.h
+++ b/opendbc_repo/opendbc/safety/modes/hyundai_canfd.h
@@ -185,8 +185,6 @@ static bool aol_optional_release_pending = false;
 static bool aol_optional_release_latch = false;
 static uint32_t aol_optional_release_ts = 0U;
 static bool aol_optional_release_counter_seen = false;
-static uint8_t aol_optional_release_counter = 0U;
-static uint32_t aol_optional_release_sample_ts = 0U;
 static bool hyundai_torque_long_aol_cancel_preserves_lateral = false;
 static bool hyundai_canfd_torque_ev_long = false;
 static bool aol_ioniq6_lateral_latch = false;
@@ -523,6 +521,8 @@ static void hyundai_canfd_rx_hook(const CANPacket_t *msg) {
     }
     if (aol_ioniq6_long && (msg_matches(msg, hyundai_canfd_alt_buttons ? 0x1aaU : 0x1cfU, pt_bus))) {
       if (aol_optional_release_capable && aol_optional_release_policy) {
+        static uint8_t aol_optional_release_counter = 0U;
+        static uint32_t aol_optional_release_sample_ts = 0U;
         const uint8_t counter = hyundai_canfd_get_counter(msg);
         const uint8_t maximum = hyundai_canfd_alt_buttons ? 0xffU : 0xfU;
         const uint32_t sample_ts = microsecond_timer_get();
@@ -547,6 +547,8 @@ static void hyundai_canfd_rx_hook(const CANPacket_t *msg) {
                     (aol_optional_release_previous == HYUNDAI_BTN_RESUME)) && (cruise_button == HYUNDAI_BTN_NONE)) {
           aol_optional_release_pending = true;
           aol_optional_release_ts = microsecond_timer_get();
+        } else {
+          // No release edge; retain the current neutral/release state.
         }
         aol_optional_release_previous = (uint8_t)cruise_button;
       }
diff --git a/panda/board/drivers/gpio.h b/panda/board/drivers/gpio.h
index 395fe0a3ce..bbbcdbb928 100644
--- a/panda/board/drivers/gpio.h
+++ b/panda/board/drivers/gpio.h
@@ -49,7 +49,7 @@ void set_gpio_output_type(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int out
 void set_gpio_alternate(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int mode) {
   ENTER_CRITICAL();
   uint32_t tmp = GPIO->AFR[pin >> 3U];
-  tmp &= ~(0xFU << ((pin & 7U) * 4U));
+  tmp &= ~((uint32_t)0xFU << ((pin & 7U) * 4U));
   tmp |= mode << ((pin & 7U) * 4U);
   register_set(&(GPIO->AFR[pin >> 3]), tmp, 0xFFFFFFFFU);
   set_gpio_mode(GPIO, pin, MODE_ALTERNATE);