From 7d062147d3c4aaccc13a4c37d4b981978591a7d4 Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Mon, 2 Nov 2026 22:38:34 +0000
Subject: [PATCH] Complete native safety type checks

---
 opendbc_repo/opendbc/safety/modes/hyundai_canfd.h | 2 +-
 opendbc_repo/opendbc/safety/modes/tesla.h         | 3 ++-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/opendbc_repo/opendbc/safety/modes/hyundai_canfd.h b/opendbc_repo/opendbc/safety/modes/hyundai_canfd.h
index fb12bf6ad0..9b591d17fa 100644
--- a/opendbc_repo/opendbc/safety/modes/hyundai_canfd.h
+++ b/opendbc_repo/opendbc/safety/modes/hyundai_canfd.h
@@ -182,7 +182,6 @@ static bool hyundai_canfd_carnival_alt_resume = false;
 static bool hyundai_canfd_carnival_source_valid = false;
 static bool hyundai_canfd_carnival_previous_valid = false;
 static bool hyundai_canfd_carnival_counter_seen = false;
-static uint8_t hyundai_canfd_carnival_rx_counter = 0U;
 static bool hyundai_canfd_carnival_counter_consumed = false;
 static bool hyundai_canfd_angle_steering = false;
 static bool hyundai_canfd_angle_observed_adas = false;
@@ -701,6 +700,7 @@ static void hyundai_canfd_rx_hook(const CANPacket_t *msg) {
     }
   }
   if (hyundai_canfd_carnival_alt_resume && (msg_matches(msg, 0x1aaU, pt_bus))) {
+    static uint8_t hyundai_canfd_carnival_rx_counter = 0U;
     const bool source_fresh = !hyundai_canfd_carnival_counter_seen ||
       hyundai_canfd_button_counter_follows(hyundai_canfd_carnival_rx_counter, msg->data[2], 0xFFU);
     hyundai_canfd_carnival_counter_seen = true;
diff --git a/opendbc_repo/opendbc/safety/modes/tesla.h b/opendbc_repo/opendbc/safety/modes/tesla.h
index a843ac8e29..365e460973 100644
--- a/opendbc_repo/opendbc/safety/modes/tesla.h
+++ b/opendbc_repo/opendbc/safety/modes/tesla.h
@@ -103,7 +103,8 @@ static void tesla_rx_hook(const CANPacket_t *msg) {
     const int angle_meas_new = (((msg->data[4] & 0x3FU) << 8) | msg->data[5]) - 8192U;
     update_sample(&angle_meas, angle_meas_new);
 
-    const int torsion_bar_torque = (int)(((msg->data[2] & 0x0FU) << 8) | msg->data[3]) - 2050;
+    const unsigned int raw_torsion_bar_torque = ((msg->data[2] & 0x0FU) << 8) | msg->data[3];
+    const int torsion_bar_torque = (int)raw_torsion_bar_torque - 2050;
     const int hands_on_level = msg->data[4] >> 6;  // EPAS3S_handsOnLevel
     const int eac_status = msg->data[6] >> 5;  // EPAS3S_eacStatus
     const int eac_error_code = msg->data[2] >> 4;  // EPAS3S_eacErrorCode