diff --git a/board/safety.h b/board/safety.h
index 88a38faa7..4c24bd9b2 100644
--- a/board/safety.h
+++ b/board/safety.h
@@ -60,6 +60,7 @@ int controls_allowed = 0;
 #include "safety/safety_gm.h"
 #include "safety/safety_ford.h"
 #include "safety/safety_cadillac.h"
+#include "safety/safety_hyundai.h"
 #include "safety/safety_elm327.h"
 
 const safety_hooks *current_hooks = &nooutput_hooks;
@@ -98,6 +99,7 @@ typedef struct {
 #define SAFETY_HONDA_BOSCH 4
 #define SAFETY_FORD 5
 #define SAFETY_CADILLAC 6
+#define SAFETY_HYUNDAI 7
 #define SAFETY_TOYOTA_IPAS 0x1335
 #define SAFETY_TOYOTA_NOLIMITS 0x1336
 #define SAFETY_ALLOUTPUT 0x1337
@@ -111,6 +113,7 @@ const safety_hook_config safety_hook_registry[] = {
   {SAFETY_GM, &gm_hooks},
   {SAFETY_FORD, &ford_hooks},
   {SAFETY_CADILLAC, &cadillac_hooks},
+  {SAFETY_HYUNDAI, &hyundai_hooks},
   {SAFETY_TOYOTA_NOLIMITS, &toyota_nolimits_hooks},
 #ifdef PANDA
   {SAFETY_TOYOTA_IPAS, &toyota_ipas_hooks},
diff --git a/board/safety/safety_hyundai.h b/board/safety/safety_hyundai.h
new file mode 100644
index 000000000..812b51d36
--- /dev/null
+++ b/board/safety/safety_hyundai.h
@@ -0,0 +1,36 @@
+int hyundai_giraffe_switch_1 = 0;          // is giraffe switch 1 high?
+
+
+static void hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
+
+  int bus = (to_push->RDTR >> 4) & 0xF;
+  // 832 is lkas cmd. If it is on bus 0, then giraffe switch 1 is high
+  if ((to_push->RIR>>21) == 832 && (bus == 0)) {
+    hyundai_giraffe_switch_1 = 1;
+  }
+}
+
+static void hyundai_init(int16_t param) {
+  controls_allowed = 0;
+  hyundai_giraffe_switch_1 = 0;
+}
+
+static int hyundai_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
+
+  // forward cam to radar and viceversa if car is dsu-less, except lkas cmd and hud
+  if ((bus_num == 0 || bus_num == 2) && !hyundai_giraffe_switch_1) {
+    int addr = to_fwd->RIR>>21;
+    bool is_lkas_msg = (addr == 832 || addr == 1342) && bus_num == 2;
+    return is_lkas_msg? -1 : (uint8_t)(~bus_num & 0x2);
+  }
+  return -1;
+}
+
+const safety_hooks hyundai_hooks = {
+  .init = hyundai_init,
+  .rx = hyundai_rx_hook,
+  .tx = nooutput_tx_hook,
+  .tx_lin = nooutput_tx_lin_hook,
+  .ignition = default_ign_hook,
+  .fwd = hyundai_fwd_hook,
+};