common addrs behind macros

commaai · Sep 7, 2023 · 51a254f · 51a254f
1 parent cb0cd1b
commit 51a254f
Showing 1 changed file with 17 additions and 19 deletions.
diff --git a/board/safety/safety_hyundai.h b/board/safety/safety_hyundai.h
@@ -51,40 +51,38 @@ const CanMsg HYUNDAI_CAMERA_SCC_TX_MSGS[] = {
   {0x485, 0, 4}, // LFAHDA_MFC Bus 0
 };
 
+#define HYUNDAI_COMMON_ADDR_CHECKS(legacy)                                                                                          \
+  {.msg = {{0x260, 0, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U},                                   \
+           {0x371, 0, 8, .expected_timestep = 10000U}, { 0 }}},                                                                     \
+  {.msg = {{0x386, 0, 8, .check_checksum = !legacy, .max_counter = legacy ? 0U : 15U, .expected_timestep = 10000U}, { 0 }, { 0 }}}, \
+  {.msg = {{0x394, 0, 8, .check_checksum = !legacy, .max_counter = legacy ? 0U : 7U, .expected_timestep = 10000U}, { 0 }, { 0 }}},  \
+
+#define HYUNDAI_SCC12_ADDR_CHECK(scc_bus)                                                                                \
+  {.msg = {{0x421, scc_bus, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}}, \
+
 AddrCheckStruct hyundai_addr_checks[] = {
-  {.msg = {{0x260, 0, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U},
-           {0x371, 0, 8, .expected_timestep = 10000U}, { 0 }}},
-  {.msg = {{0x386, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 10000U}, { 0 }, { 0 }}},
-  {.msg = {{0x394, 0, 8, .check_checksum = true, .max_counter = 7U, .expected_timestep = 10000U}, { 0 }, { 0 }}},
-  {.msg = {{0x421, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}},
+   HYUNDAI_COMMON_ADDR_CHECKS(false)
+   HYUNDAI_SCC12_ADDR_CHECK(0)
 };
 #define HYUNDAI_ADDR_CHECK_LEN (sizeof(hyundai_addr_checks) / sizeof(hyundai_addr_checks[0]))
 
 AddrCheckStruct hyundai_cam_scc_addr_checks[] = {
-  {.msg = {{0x260, 0, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U},
-           {0x371, 0, 8, .expected_timestep = 10000U}, { 0 }}},
-  {.msg = {{0x386, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 10000U}, { 0 }, { 0 }}},
-  {.msg = {{0x394, 0, 8, .check_checksum = true, .max_counter = 7U, .expected_timestep = 10000U}, { 0 }, { 0 }}},
-  {.msg = {{0x421, 2, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}},
+  HYUNDAI_COMMON_ADDR_CHECKS(false)
+  HYUNDAI_SCC12_ADDR_CHECK(2)
 };
 #define HYUNDAI_CAM_SCC_ADDR_CHECK_LEN (sizeof(hyundai_cam_scc_addr_checks) / sizeof(hyundai_cam_scc_addr_checks[0]))
 
 AddrCheckStruct hyundai_long_addr_checks[] = {
-  {.msg = {{0x260, 0, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U},
-           {0x371, 0, 8, .expected_timestep = 10000U}, { 0 }}},
-  {.msg = {{0x386, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 10000U}, { 0 }, { 0 }}},
-  {.msg = {{0x394, 0, 8, .check_checksum = true, .max_counter = 7U, .expected_timestep = 10000U}, { 0 }, { 0 }}},
+  HYUNDAI_COMMON_ADDR_CHECKS(false)
+  // Use CLU11 (buttons) to manage controls allowed instead of SCC cruise state
   {.msg = {{0x4F1, 0, 4, .check_checksum = false, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}},
 };
 #define HYUNDAI_LONG_ADDR_CHECK_LEN (sizeof(hyundai_long_addr_checks) / sizeof(hyundai_long_addr_checks[0]))
 
 // older hyundai models have less checks due to missing counters and checksums
 AddrCheckStruct hyundai_legacy_addr_checks[] = {
-  {.msg = {{0x260, 0, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U},
-           {0x371, 0, 8, .expected_timestep = 10000U}, { 0 }}},
-  {.msg = {{0x386, 0, 8, .expected_timestep = 10000U}, { 0 }, { 0 }}},
-  {.msg = {{0x394, 0, 8, .expected_timestep = 10000U}, { 0 }, { 0 }}},
-  {.msg = {{0x421, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}},
+  HYUNDAI_COMMON_ADDR_CHECKS(true)
+  HYUNDAI_SCC12_ADDR_CHECK(0)
 };
 #define HYUNDAI_LEGACY_ADDR_CHECK_LEN (sizeof(hyundai_legacy_addr_checks) / sizeof(hyundai_legacy_addr_checks[0]))