draft so far

commaai · Sep 7, 2023 · e41b796 · e41b796
1 parent 51a254f
commit e41b796
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Showing 3 changed files with 18 additions and 3 deletions.
diff --git a/board/safety.h b/board/safety.h
@@ -247,8 +247,11 @@ bool addr_safety_check(CANPacket_t *to_push,
     } else {
       rx_checks->check[index].valid_quality_flag = true;
     }
+    return is_msg_valid(rx_checks->check, index);
+  } else {
+    // return invalid to safety modes for messages not in checks
+    return false;
   }
-  return is_msg_valid(rx_checks->check, index);
 }
 
 void generic_rx_checks(bool stock_ecu_detected) {

diff --git a/board/safety/safety_hyundai.h b/board/safety/safety_hyundai.h
@@ -224,7 +224,7 @@ static int hyundai_rx_hook(CANPacket_t *to_push) {
     }
     generic_rx_checks(stock_ecu_detected);
   }
-  return valid;
+  return true;
 }
 
 static int hyundai_tx_hook(CANPacket_t *to_send) {

diff --git a/board/safety/safety_hyundai_canfd.h b/board/safety/safety_hyundai_canfd.h
@@ -53,6 +53,18 @@ const CanMsg HYUNDAI_CANFD_HDA1_TX_MSGS[] = {
   {0x1E0, 0, 16}, // LFAHDA_CLUSTER
 };
 
+#define HYUNDAI_CANFD_EV_ADDR_CHECKS                                                                          \
+  /* ACCELERATOR: buses are swapped for HDA2 variants */                                                      \
+  {.msg = {{0x35, 1, 32, .check_checksum = true, .max_counter = 0xffU, .expected_timestep = 10000U},          \
+           {0x35, 0, 32, .check_checksum = true, .max_counter = 0xffU, .expected_timestep = 10000U}, { 0 }}}, \
+  /* TCS buses are swapped for HDA2 variants */   \
+  {.msg = {{0x175, 1, 24, .check_checksum = true, .max_counter = 0xffU, .expected_timestep = 20000U}, \
+           {0x175, 0, 24, .check_checksum = true, .max_counter = 0xffU, .expected_timestep = 20000U}, { 0 }}}, \
+
+#define HYUNDAI_CANFD_HYBRID_ADDR_CHECKS \
+  /* ACCELERATOR_ALT: TODO: bus is always PT? no HDA hybrids? */ \
+  {.msg = {{0x105, 0, 32, .check_checksum = true, .max_counter = 0xffU, .expected_timestep = 10000U}, { 0 }, { 0 }}}, \
+
 AddrCheckStruct hyundai_canfd_addr_checks[] = {
   {.msg = {{0x35, 1, 32, .check_checksum = true, .max_counter = 0xffU, .expected_timestep = 10000U},
            {0x35, 0, 32, .check_checksum = true, .max_counter = 0xffU, .expected_timestep = 10000U},
@@ -253,7 +265,7 @@ static int hyundai_canfd_rx_hook(CANPacket_t *to_push) {
   }
   generic_rx_checks(stock_ecu_detected);
 
-  return valid;
+  return true;
 }
 
 static int hyundai_canfd_tx_hook(CANPacket_t *to_send) {