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safety: move RX addr check into top level hook (#1727)
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* safety: move RX addr check into top level hook

* tesla

* rest

* can't forget about the body

* rm more

* fix that

* cleanup

* drop the fn
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@adeebshihadeh
adeebshihadeh authored Nov 20, 2023
1 parent c6248d6 commit 3d2f99d
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Showing 18 changed files with 341 additions and 372 deletions.
18 changes: 12 additions & 6 deletions board/safety.h
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Original file line number Diff line number Diff line change
Expand Up @@ -59,14 +59,20 @@ const addr_checks *current_rx_checks = &default_rx_checks;

bool safety_rx_hook(CANPacket_t *to_push) {
bool controls_allowed_prev = controls_allowed;
int ret = current_hooks->rx(to_push);

bool valid = addr_safety_check(to_push, current_rx_checks, current_hooks->get_checksum,
current_hooks->compute_checksum, current_hooks->get_counter,
current_hooks->get_quality_flag_valid);
if (valid) {
current_hooks->rx(to_push);
}

// reset mismatches on rising edge of controls_allowed to avoid rare race condition
if (controls_allowed && !controls_allowed_prev) {
heartbeat_engaged_mismatches = 0;
}

return ret;
return valid;
}

bool safety_tx_hook(CANPacket_t *to_send) {
Expand Down Expand Up @@ -216,10 +222,10 @@ void update_addr_timestamp(AddrCheckStruct addr_list[], int index) {

bool addr_safety_check(CANPacket_t *to_push,
const addr_checks *rx_checks,
uint32_t (*get_checksum)(CANPacket_t *to_push),
uint32_t (*compute_checksum)(CANPacket_t *to_push),
uint8_t (*get_counter)(CANPacket_t *to_push),
bool (*get_quality_flag_valid)(CANPacket_t *to_push)) {
const get_checksum_t get_checksum,
const compute_checksum_t compute_checksum,
const get_counter_t get_counter,
const get_quality_flag_valid_t get_quality_flag_valid) {

int index = get_addr_check_index(to_push, rx_checks->check, rx_checks->len);
update_addr_timestamp(rx_checks->check, index);
Expand Down
8 changes: 2 additions & 6 deletions board/safety/safety_body.h
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Original file line number Diff line number Diff line change
Expand Up @@ -6,18 +6,14 @@ AddrCheckStruct body_addr_checks[] = {
};
addr_checks body_rx_checks = SET_ADDR_CHECKS(body_addr_checks);

static bool body_rx_hook(CANPacket_t *to_push) {

bool valid = addr_safety_check(to_push, &body_rx_checks, NULL, NULL, NULL, NULL);

static void body_rx_hook(CANPacket_t *to_push) {
// body is never at standstill
vehicle_moving = true;

if (valid && (GET_ADDR(to_push) == 0x201U)) {
if (GET_ADDR(to_push) == 0x201U) {
controls_allowed = true;
}

return valid;
}

static bool body_tx_hook(CANPacket_t *to_send) {
Expand Down
74 changes: 34 additions & 40 deletions board/safety/safety_chrysler.h
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Original file line number Diff line number Diff line change
Expand Up @@ -173,54 +173,45 @@ static uint8_t chrysler_get_counter(CANPacket_t *to_push) {
return (uint8_t)(GET_BYTE(to_push, 6) >> 4);
}

static bool chrysler_rx_hook(CANPacket_t *to_push) {

bool valid = addr_safety_check(to_push, &chrysler_rx_checks,
chrysler_get_checksum, chrysler_compute_checksum,
chrysler_get_counter, NULL);

static void chrysler_rx_hook(CANPacket_t *to_push) {
const int bus = GET_BUS(to_push);
const int addr = GET_ADDR(to_push);

if (valid) {

// Measured EPS torque
if ((bus == 0) && (addr == chrysler_addrs->EPS_2)) {
int torque_meas_new = ((GET_BYTE(to_push, 4) & 0x7U) << 8) + GET_BYTE(to_push, 5) - 1024U;
update_sample(&torque_meas, torque_meas_new);
}

// enter controls on rising edge of ACC, exit controls on ACC off
const int das_3_bus = (chrysler_platform == CHRYSLER_PACIFICA) ? 0 : 2;
if ((bus == das_3_bus) && (addr == chrysler_addrs->DAS_3)) {
bool cruise_engaged = GET_BIT(to_push, 21U) == 1U;
pcm_cruise_check(cruise_engaged);
}
// Measured EPS torque
if ((bus == 0) && (addr == chrysler_addrs->EPS_2)) {
int torque_meas_new = ((GET_BYTE(to_push, 4) & 0x7U) << 8) + GET_BYTE(to_push, 5) - 1024U;
update_sample(&torque_meas, torque_meas_new);
}

// TODO: use the same message for both
// update vehicle moving
if ((chrysler_platform != CHRYSLER_PACIFICA) && (bus == 0) && (addr == chrysler_addrs->ESP_8)) {
vehicle_moving = ((GET_BYTE(to_push, 4) << 8) + GET_BYTE(to_push, 5)) != 0U;
}
if ((chrysler_platform == CHRYSLER_PACIFICA) && (bus == 0) && (addr == 514)) {
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);
vehicle_moving = (speed_l != 0) || (speed_r != 0);
}
// enter controls on rising edge of ACC, exit controls on ACC off
const int das_3_bus = (chrysler_platform == CHRYSLER_PACIFICA) ? 0 : 2;
if ((bus == das_3_bus) && (addr == chrysler_addrs->DAS_3)) {
bool cruise_engaged = GET_BIT(to_push, 21U) == 1U;
pcm_cruise_check(cruise_engaged);
}

// exit controls on rising edge of gas press
if ((bus == 0) && (addr == chrysler_addrs->ECM_5)) {
gas_pressed = GET_BYTE(to_push, 0U) != 0U;
}
// TODO: use the same message for both
// update vehicle moving
if ((chrysler_platform != CHRYSLER_PACIFICA) && (bus == 0) && (addr == chrysler_addrs->ESP_8)) {
vehicle_moving = ((GET_BYTE(to_push, 4) << 8) + GET_BYTE(to_push, 5)) != 0U;
}
if ((chrysler_platform == CHRYSLER_PACIFICA) && (bus == 0) && (addr == 514)) {
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);
vehicle_moving = (speed_l != 0) || (speed_r != 0);
}

// exit controls on rising edge of brake press
if ((bus == 0) && (addr == chrysler_addrs->ESP_1)) {
brake_pressed = ((GET_BYTE(to_push, 0U) & 0xFU) >> 2U) == 1U;
}
// exit controls on rising edge of gas press
if ((bus == 0) && (addr == chrysler_addrs->ECM_5)) {
gas_pressed = GET_BYTE(to_push, 0U) != 0U;
}

generic_rx_checks((bus == 0) && (addr == chrysler_addrs->LKAS_COMMAND));
// exit controls on rising edge of brake press
if ((bus == 0) && (addr == chrysler_addrs->ESP_1)) {
brake_pressed = ((GET_BYTE(to_push, 0U) & 0xFU) >> 2U) == 1U;
}
return valid;

generic_rx_checks((bus == 0) && (addr == chrysler_addrs->LKAS_COMMAND));
}

static bool chrysler_tx_hook(CANPacket_t *to_send) {
Expand Down Expand Up @@ -307,4 +298,7 @@ const safety_hooks chrysler_hooks = {
.tx = chrysler_tx_hook,
.tx_lin = nooutput_tx_lin_hook,
.fwd = chrysler_fwd_hook,
.get_counter = chrysler_get_counter,
.get_checksum = chrysler_get_checksum,
.compute_checksum = chrysler_compute_checksum,
};
3 changes: 1 addition & 2 deletions board/safety/safety_defaults.h
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Original file line number Diff line number Diff line change
Expand Up @@ -3,9 +3,8 @@ const addr_checks default_rx_checks = {
.len = 0,
};

bool default_rx_hook(CANPacket_t *to_push) {
void default_rx_hook(CANPacket_t *to_push) {
UNUSED(to_push);
return true;
}

// *** no output safety mode ***
Expand Down
12 changes: 6 additions & 6 deletions board/safety/safety_ford.h
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Original file line number Diff line number Diff line change
Expand Up @@ -206,11 +206,8 @@ const SteeringLimits FORD_STEERING_LIMITS = {
.inactive_angle_is_zero = true,
};

static bool ford_rx_hook(CANPacket_t *to_push) {
bool valid = addr_safety_check(to_push, &ford_rx_checks,
ford_get_checksum, ford_compute_checksum, ford_get_counter, ford_get_quality_flag_valid);

if (valid && (GET_BUS(to_push) == FORD_MAIN_BUS)) {
static void ford_rx_hook(CANPacket_t *to_push) {
if (GET_BUS(to_push) == FORD_MAIN_BUS) {
int addr = GET_ADDR(to_push);

// Update in motion state from standstill signal
Expand Down Expand Up @@ -271,7 +268,6 @@ static bool ford_rx_hook(CANPacket_t *to_push) {
generic_rx_checks(stock_ecu_detected);
}

return valid;
}

static bool ford_tx_hook(CANPacket_t *to_send) {
Expand Down Expand Up @@ -432,4 +428,8 @@ const safety_hooks ford_hooks = {
.tx = ford_tx_hook,
.tx_lin = nooutput_tx_lin_hook,
.fwd = ford_fwd_hook,
.get_counter = ford_get_counter,
.get_checksum = ford_get_checksum,
.compute_checksum = ford_compute_checksum,
.get_quality_flag_valid = ford_get_quality_flag_valid,
};
8 changes: 2 additions & 6 deletions board/safety/safety_gm.h
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Original file line number Diff line number Diff line change
Expand Up @@ -65,11 +65,8 @@ enum {GM_ASCM, GM_CAM} gm_hw = GM_ASCM;
bool gm_cam_long = false;
bool gm_pcm_cruise = false;

static bool gm_rx_hook(CANPacket_t *to_push) {

bool valid = addr_safety_check(to_push, &gm_rx_checks, NULL, NULL, NULL, NULL);

if (valid && (GET_BUS(to_push) == 0U)) {
static void gm_rx_hook(CANPacket_t *to_push) {
if (GET_BUS(to_push) == 0U) {
int addr = GET_ADDR(to_push);

if (addr == 0x184) {
Expand Down Expand Up @@ -137,7 +134,6 @@ static bool gm_rx_hook(CANPacket_t *to_push) {
}
generic_rx_checks(stock_ecu_detected);
}
return valid;
}

// all commands: gas/regen, friction brake and steering
Expand Down
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