Squashed 'panda/' changes from 769ade0..db94a5b

db94a5b Added Nissan safety (#244)
d7f1195 Chrysler Checksum/counter (#450)
96e535e abstract crc function (#448)
1b49d3e Hyundai: add gas disengage and tests (#447)
598074c Volkswagen safety updates: Phase 2 (#445)
b2ffaae Chrysler: disengage on gas press  (#442)
2ebbe36 Subaru: disengage on gas press (#446)
ccf75c4 Volkswagen safety updates: Phase 1 (#444)

git-subtree-dir: panda
git-subtree-split: db94a5b

board/crc.h

@@ -0,0 +1,16 @@
+uint8_t crc_checksum(uint8_t *dat, int len, const uint8_t poly) {
+  uint8_t crc = 0xFF;
+  int i, j;
+  for (i = len - 1; i >= 0; i--) {
+    crc ^= dat[i];
+    for (j = 0; j < 8; j++) {
+      if ((crc & 0x80U) != 0U) {
+        crc = (uint8_t)((crc << 1) ^ poly);
+      }
+      else {
+        crc <<= 1;
+      }
+    }
+  }
+  return crc;
+}

board/pedal/main.c

@@ -19,6 +19,7 @@
 #include "drivers/timer.h"
 
 #include "gpio.h"
+#include "crc.h"
 
 #define CAN CAN1
 
@@ -105,26 +106,6 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
 
 #endif
 
-// ***************************** pedal can checksum *****************************
-
-uint8_t pedal_checksum(uint8_t *dat, int len) {
-  uint8_t crc = 0xFF;
-  uint8_t poly = 0xD5; // standard crc8
-  int i, j;
-  for (i = len - 1; i >= 0; i--) {
-    crc ^= dat[i];
-    for (j = 0; j < 8; j++) {
-      if ((crc & 0x80U) != 0U) {
-        crc = (uint8_t)((crc << 1) ^ poly);
-      }
-      else {
-        crc <<= 1;
-      }
-    }
-  }
-  return crc;
-}
-
 // ***************************** can port *****************************
 
 // addresses to be used on CAN
@@ -155,6 +136,8 @@ uint32_t current_index = 0;
 #define FAULT_INVALID 6U
 uint8_t state = FAULT_STARTUP;
 
+const uint8_t crc_poly = 0xD5;  // standard crc8
+
 void CAN1_RX0_IRQ_Handler(void) {
   while ((CAN->RF0R & CAN_RF0R_FMP0) != 0) {
     #ifdef DEBUG
@@ -184,7 +167,7 @@ void CAN1_RX0_IRQ_Handler(void) {
       uint16_t value_1 = (dat[2] << 8) | dat[3];
       bool enable = ((dat[4] >> 7) & 1U) != 0U;
       uint8_t index = dat[4] & COUNTER_CYCLE;
-      if (pedal_checksum(dat, CAN_GAS_SIZE - 1) == dat[5]) {
+      if (crc_checksum(dat, CAN_GAS_SIZE - 1, crc_poly) == dat[5]) {
         if (((current_index + 1U) & COUNTER_CYCLE) == index) {
           #ifdef DEBUG
             puts("setting gas ");
@@ -247,7 +230,7 @@ void TIM3_IRQ_Handler(void) {
     dat[2] = (pdl1 >> 8) & 0xFFU;
     dat[3] = (pdl1 >> 0) & 0xFFU;
     dat[4] = ((state & 0xFU) << 4) | pkt_idx;
-    dat[5] = pedal_checksum(dat, CAN_GAS_SIZE - 1);
+    dat[5] = crc_checksum(dat, CAN_GAS_SIZE - 1, crc_poly);
     CAN->sTxMailBox[0].TDLR = dat[0] | (dat[1] << 8) | (dat[2] << 16) | (dat[3] << 24);
     CAN->sTxMailBox[0].TDHR = dat[4] | (dat[5] << 8);
     CAN->sTxMailBox[0].TDTR = 6;  // len of packet is 5

board/safety.h

@@ -14,6 +14,7 @@
 #include "safety/safety_chrysler.h"
 #include "safety/safety_subaru.h"
 #include "safety/safety_mazda.h"
+#include "safety/safety_nissan.h"
 #include "safety/safety_volkswagen.h"
 #include "safety/safety_elm327.h"
 
@@ -31,7 +32,8 @@
 #define SAFETY_TESLA 10U
 #define SAFETY_SUBARU 11U
 #define SAFETY_MAZDA 13U
-#define SAFETY_VOLKSWAGEN 15U
+#define SAFETY_NISSAN 14U
+#define SAFETY_VOLKSWAGEN_MQB 15U
 #define SAFETY_TOYOTA_IPAS 16U
 #define SAFETY_ALLOUTPUT 17U
 #define SAFETY_GM_ASCM 18U
@@ -57,6 +59,21 @@ int safety_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
   return current_hooks->fwd(bus_num, to_fwd);
 }
 
+// Given a CRC-8 poly, generate a static lookup table to use with a fast CRC-8
+// algorithm. Called at init time for safety modes using CRC-8.
+void gen_crc_lookup_table(uint8_t poly, uint8_t crc_lut[]) {
+  for (int i = 0; i < 256; i++) {
+    uint8_t crc = i;
+    for (int j = 0; j < 8; j++) {
+      if ((crc & 0x80U) != 0U)
+        crc = (uint8_t)((crc << 1) ^ poly);
+      else
+        crc <<= 1;
+    }
+    crc_lut[i] = crc;
+  }
+}
+
 bool msg_allowed(int addr, int bus, const AddrBus addr_list[], int len) {
   bool allowed = false;
   for (int i = 0; i < len; i++) {
@@ -185,12 +202,13 @@ const safety_hook_config safety_hook_registry[] = {
   {SAFETY_CHRYSLER, &chrysler_hooks},
   {SAFETY_SUBARU, &subaru_hooks},
   {SAFETY_MAZDA, &mazda_hooks},
-  {SAFETY_VOLKSWAGEN, &volkswagen_hooks},
+  {SAFETY_VOLKSWAGEN_MQB, &volkswagen_mqb_hooks},
   {SAFETY_NOOUTPUT, &nooutput_hooks},
 #ifdef ALLOW_DEBUG
   {SAFETY_CADILLAC, &cadillac_hooks},
   {SAFETY_TOYOTA_IPAS, &toyota_ipas_hooks},
   {SAFETY_TESLA, &tesla_hooks},
+  {SAFETY_NISSAN, &nissan_hooks},
   {SAFETY_ALLOUTPUT, &alloutput_hooks},
   {SAFETY_GM_ASCM, &gm_ascm_hooks},
   {SAFETY_FORD, &ford_hooks},

board/safety/safety_chrysler.h

@@ -4,40 +4,89 @@ const uint32_t CHRYSLER_RT_INTERVAL = 250000;  // 250ms between real time checks
 const int CHRYSLER_MAX_RATE_UP = 3;
 const int CHRYSLER_MAX_RATE_DOWN = 3;
 const int CHRYSLER_MAX_TORQUE_ERROR = 80;    // max torque cmd in excess of torque motor
+const int CHRYSLER_GAS_THRSLD = 30;  // 7% more than 2m/s
 const AddrBus CHRYSLER_TX_MSGS[] = {{571, 0}, {658, 0}, {678, 0}};
 
 // TODO: do checksum and counter checks
 AddrCheckStruct chrysler_rx_checks[] = {
-  {.addr = {544}, .bus = 0, .expected_timestep = 10000U},
-  {.addr = {500}, .bus = 0, .expected_timestep = 20000U},
+  {.addr = {544}, .bus = 0, .check_checksum = true, .max_counter = 15U, .expected_timestep = 10000U},
+  {.addr = {514}, .bus = 0, .check_checksum = false, .max_counter = 0U, .expected_timestep = 10000U},
+  {.addr = {500}, .bus = 0, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U},
+  {.addr = {308}, .bus = 0, .check_checksum = false, .max_counter = 15U,  .expected_timestep = 20000U},
 };
 const int CHRYSLER_RX_CHECK_LEN = sizeof(chrysler_rx_checks) / sizeof(chrysler_rx_checks[0]);
 
 int chrysler_rt_torque_last = 0;
 int chrysler_desired_torque_last = 0;
 int chrysler_cruise_engaged_last = 0;
+bool chrysler_gas_prev = false;
+int chrysler_speed = 0;
 uint32_t chrysler_ts_last = 0;
 struct sample_t chrysler_torque_meas;         // last few torques measured
 
+static uint8_t chrysler_get_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
+  int checksum_byte = GET_LEN(to_push) - 1;
+  return (uint8_t)(GET_BYTE(to_push, checksum_byte));
+}
+
+static uint8_t chrysler_compute_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
+  /* This function does not want the checksum byte in the input data.
+  jeep chrysler canbus checksum from http://illmatics.com/Remote%20Car%20Hacking.pdf */
+  uint8_t checksum = 0xFF;
+  int len = GET_LEN(to_push);
+  for (int j = 0; j < (len - 1); j++) {
+    uint8_t shift = 0x80;
+    uint8_t curr = (uint8_t)GET_BYTE(to_push, j);
+    for (int i=0; i<8; i++) {
+      uint8_t bit_sum = curr & shift;
+      uint8_t temp_chk = checksum & 0x80U;
+      if (bit_sum != 0U) {
+        bit_sum = 0x1C;
+        if (temp_chk != 0U) {
+          bit_sum = 1;
+        }
+        checksum = checksum << 1;
+        temp_chk = checksum | 1U;
+        bit_sum ^= temp_chk;
+      } else {
+        if (temp_chk != 0U) {
+          bit_sum = 0x1D;
+        }
+        checksum = checksum << 1;
+        bit_sum ^= checksum;
+      }
+      checksum = bit_sum;
+      shift = shift >> 1;
+    }
+  }
+  return ~checksum;
+}
+
+static uint8_t chrysler_get_counter(CAN_FIFOMailBox_TypeDef *to_push) {
+  // Well defined counter only for 8 bytes messages
+  return (uint8_t)(GET_BYTE(to_push, 6) >> 4);
+}
+
 static int chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
   bool valid = addr_safety_check(to_push, chrysler_rx_checks, CHRYSLER_RX_CHECK_LEN,
-                                 NULL, NULL, NULL);
+                                 chrysler_get_checksum, chrysler_compute_checksum,
+                                 chrysler_get_counter);
 
   if (valid) {
     int bus = GET_BUS(to_push);
     int addr = GET_ADDR(to_push);
 
     // Measured eps torque
-    if (addr == 544) {
+    if ((addr == 544) && (bus == 0)) {
       int torque_meas_new = ((GET_BYTE(to_push, 4) & 0x7U) << 8) + GET_BYTE(to_push, 5) - 1024U;
 
       // update array of samples
       update_sample(&chrysler_torque_meas, torque_meas_new);
     }
 
     // enter controls on rising edge of ACC, exit controls on ACC off
-    if (addr == 0x1F4) {
+    if ((addr == 500) && (bus == 0)) {
       int cruise_engaged = ((GET_BYTE(to_push, 2) & 0x38) >> 3) == 7;
       if (cruise_engaged && !chrysler_cruise_engaged_last) {
         controls_allowed = 1;
@@ -48,7 +97,21 @@ static int chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
       chrysler_cruise_engaged_last = cruise_engaged;
     }
 
-    // TODO: add gas pressed check
+    // update speed
+    if ((addr == 514) && (bus == 0)) {
+      int speed_l = (GET_BYTE(to_push, 0) << 4) + (GET_BYTE(to_push, 1) >> 4);
+      int speed_r = (GET_BYTE(to_push, 2) << 4) + (GET_BYTE(to_push, 3) >> 4);
+      chrysler_speed = (speed_l + speed_r) / 2;
+    }
+
+    // exit controls on rising edge of gas press
+    if ((addr == 308) && (bus == 0)) {
+      bool gas = (GET_BYTE(to_push, 5) & 0x7F) != 0;
+      if (gas && !chrysler_gas_prev && (chrysler_speed > CHRYSLER_GAS_THRSLD)) {
+        controls_allowed = 0;
+      }
+      chrysler_gas_prev = gas;
+    }
 
     // check if stock camera ECU is on bus 0
     if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && (addr == 0x292)) {

board/safety/safety_honda.h

@@ -48,7 +48,7 @@ static uint8_t honda_compute_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
   while (addr > 0U) {
     checksum += (addr & 0xFU); addr >>= 4;
   }
-  for (int j = 0; (j < len); j++) {
+  for (int j = 0; j < len; j++) {
     uint8_t byte = GET_BYTE(to_push, j);
     checksum += (byte & 0xFU) + (byte >> 4U);
     if (j == (len - 1)) {

board/safety/safety_hyundai.h

@@ -9,6 +9,7 @@ const AddrBus HYUNDAI_TX_MSGS[] = {{832, 0}, {1265, 0}};
 
 // TODO: do checksum and counter checks
 AddrCheckStruct hyundai_rx_checks[] = {
+  {.addr = {608}, .bus = 0, .expected_timestep = 10000U},
   {.addr = {897}, .bus = 0, .expected_timestep = 10000U},
   {.addr = {1057}, .bus = 0, .expected_timestep = 20000U},
 };
@@ -17,6 +18,7 @@ const int HYUNDAI_RX_CHECK_LEN = sizeof(hyundai_rx_checks) / sizeof(hyundai_rx_c
 int hyundai_rt_torque_last = 0;
 int hyundai_desired_torque_last = 0;
 int hyundai_cruise_engaged_last = 0;
+bool hyundai_gas_last = false;
 uint32_t hyundai_ts_last = 0;
 struct sample_t hyundai_torque_driver;         // last few driver torques measured
 
@@ -48,7 +50,14 @@ static int hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
       hyundai_cruise_engaged_last = cruise_engaged;
     }
 
-    // TODO: check gas pressed
+    // exit controls on rising edge of gas press
+    if ((addr == 608) && (bus == 0)) {
+      bool gas = (GET_BYTE(to_push, 7) >> 6) != 0;
+      if (gas && ! hyundai_gas_last) {
+        controls_allowed = 0;
+      }
+      hyundai_gas_last = gas;
+    }
 
     // check if stock camera ECU is on bus 0
     if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && (addr == 832)) {