revert

Author: sunnyhaibin

board/safety.h

@@ -269,6 +269,7 @@ void gen_crc_lookup_table_8(uint8_t poly, uint8_t crc_lut[]) {
   }
 }
 
+#ifdef CANFD
 void gen_crc_lookup_table_16(uint16_t poly, uint16_t crc_lut[]) {
   for (uint16_t i = 0; i < 256U; i++) {
     uint16_t crc = i << 8U;
@@ -282,6 +283,7 @@ void gen_crc_lookup_table_16(uint16_t poly, uint16_t crc_lut[]) {
     crc_lut[i] = crc;
   }
 }
+#endif
 
 // 1Hz safety function called by main. Now just a check for lagging safety messages
 void safety_tick(const safety_config *cfg) {

board/safety/safety_hyundai.h

@@ -320,10 +320,6 @@ static safety_config hyundai_init(uint16_t param) {
   hyundai_can_canfd_hybrid = GET_FLAG(param, HYUNDAI_PARAM_CAN_CANFD_HYBRID);
   hyundai_can_canfd_hybrid_hda2 = hyundai_can_canfd_hybrid && hyundai_canfd_hda2;
 
-  if (hyundai_can_canfd_hybrid_hda2) {
-    gen_crc_lookup_table_16(0x1021, hyundai_canfd_crc_lut);
-  }
-
   if (hyundai_camera_scc || hyundai_can_canfd_hybrid_hda2) {
     hyundai_longitudinal = false;
   }

board/safety_declarations.h

@@ -176,7 +176,9 @@ void update_sample(struct sample_t *sample, int sample_new);
 bool get_longitudinal_allowed(void);
 int ROUND(float val);
 void gen_crc_lookup_table_8(uint8_t poly, uint8_t crc_lut[]);
+#ifdef CANFD
 void gen_crc_lookup_table_16(uint16_t poly, uint16_t crc_lut[]);
+#endif
 void generic_rx_checks(bool stock_ecu_detected);
 bool steer_torque_cmd_checks(int desired_torque, int steer_req, const SteeringLimits limits);
 bool steer_angle_cmd_checks(int desired_angle, bool steer_control_enabled, const SteeringLimits limits);