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Hyundai CAN FD: utilize macros for common address checks (#1658)
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* draft

* now clean up old comments

* no more special broken ice addr checks

* revert

* fix

* add test for ICE HDA1

* Revert "add test for ICE HDA1"

This reverts commit 76d2b0f.

* can be separate

* macro for addr check struct

* add checks for alt buttons (fixes race condition)

* add macro for array len

* add comment

* misra

* comments to help separate

* can't put parenthesis around array item

* review suggestions

* no intermediary macros for making the structs (remove misra violation)

* Update board/safety/safety_hyundai_canfd.h

* single lines

* can avoid double checking hda2 since we have addr checks for it now
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@sshane
sshane authored Sep 8, 2023
1 parent d87d33c commit e9a0987
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133 changes: 74 additions & 59 deletions board/safety/safety_hyundai_canfd.h
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Original file line number Diff line number Diff line change
Expand Up @@ -53,68 +53,79 @@ const CanMsg HYUNDAI_CANFD_HDA1_TX_MSGS[] = {
{0x1E0, 0, 16}, // LFAHDA_CLUSTER
};


// *** Addresses checked in rx hook ***
// EV, ICE, HYBRID: ACCELERATOR (0x35), ACCELERATOR_BRAKE_ALT (0x100), ACCELERATOR_ALT (0x105)
#define HYUNDAI_CANFD_COMMON_ADDR_CHECKS(pt_bus) \
{.msg = {{0x35, (pt_bus), 32, .check_checksum = true, .max_counter = 0xffU, .expected_timestep = 10000U}, \
{0x100, (pt_bus), 32, .check_checksum = true, .max_counter = 0xffU, .expected_timestep = 10000U}, \
{0x105, (pt_bus), 32, .check_checksum = true, .max_counter = 0xffU, .expected_timestep = 10000U}}}, \
{.msg = {{0x175, (pt_bus), 24, .check_checksum = true, .max_counter = 0xffU, .expected_timestep = 20000U}, { 0 }, { 0 }}}, \
{.msg = {{0xa0, (pt_bus), 24, .check_checksum = true, .max_counter = 0xffU, .expected_timestep = 10000U}, { 0 }, { 0 }}}, \
{.msg = {{0xea, (pt_bus), 24, .check_checksum = true, .max_counter = 0xffU, .expected_timestep = 10000U}, { 0 }, { 0 }}}, \

#define HYUNDAI_CANFD_BUTTONS_ADDR_CHECK(pt_bus) \
{.msg = {{0x1cf, (pt_bus), 8, .check_checksum = false, .max_counter = 0xfU, .expected_timestep = 20000U}, { 0 }, { 0 }}}, \

#define HYUNDAI_CANFD_ALT_BUTTONS_ADDR_CHECK(pt_bus) \
{.msg = {{0x1aa, (pt_bus), 16, .check_checksum = false, .max_counter = 0xffU, .expected_timestep = 20000U}, { 0 }, { 0 }}}, \

// SCC_CONTROL (from ADAS unit or camera)
#define HYUNDAI_CANFD_SCC_ADDR_CHECK(scc_bus) \
{.msg = {{0x1a0, (scc_bus), 32, .check_checksum = true, .max_counter = 0xffU, .expected_timestep = 20000U}, { 0 }, { 0 }}}, \


// *** Non-HDA2 checks ***
// Camera sends SCC messages on HDA1.
// Both button messages exist on some platforms, so we ensure we track the correct one using flag
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},
{0x105, 0, 32, .check_checksum = true, .max_counter = 0xffU, .expected_timestep = 10000U}}},
{.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 }}},
{.msg = {{0xa0, 1, 24, .check_checksum = true, .max_counter = 0xffU, .expected_timestep = 10000U},
{0xa0, 0, 24, .check_checksum = true, .max_counter = 0xffU, .expected_timestep = 10000U}, { 0 }}},
{.msg = {{0xea, 1, 24, .check_checksum = true, .max_counter = 0xffU, .expected_timestep = 10000U},
{0xea, 0, 24, .check_checksum = true, .max_counter = 0xffU, .expected_timestep = 10000U}, { 0 }}},
{.msg = {{0x1a0, 1, 32, .check_checksum = true, .max_counter = 0xffU, .expected_timestep = 20000U},
{0x1a0, 2, 32, .check_checksum = true, .max_counter = 0xffU, .expected_timestep = 20000U}, { 0 }}},
{.msg = {{0x1cf, 1, 8, .check_checksum = false, .max_counter = 0xfU, .expected_timestep = 20000U},
{0x1cf, 0, 8, .check_checksum = false, .max_counter = 0xfU, .expected_timestep = 20000U},
{0x1aa, 0, 16, .check_checksum = false, .max_counter = 0xffU, .expected_timestep = 20000U}}},
HYUNDAI_CANFD_COMMON_ADDR_CHECKS(0)
HYUNDAI_CANFD_BUTTONS_ADDR_CHECK(0)
HYUNDAI_CANFD_SCC_ADDR_CHECK(2)
};
AddrCheckStruct hyundai_canfd_alt_buttons_addr_checks[] = {
HYUNDAI_CANFD_COMMON_ADDR_CHECKS(0)
HYUNDAI_CANFD_ALT_BUTTONS_ADDR_CHECK(0)
HYUNDAI_CANFD_SCC_ADDR_CHECK(2)
};

// Longitudinal checks for HDA1
AddrCheckStruct hyundai_canfd_long_addr_checks[] = {
HYUNDAI_CANFD_COMMON_ADDR_CHECKS(0)
HYUNDAI_CANFD_BUTTONS_ADDR_CHECK(0)
};
AddrCheckStruct hyundai_canfd_long_alt_buttons_addr_checks[] = {
HYUNDAI_CANFD_COMMON_ADDR_CHECKS(0)
HYUNDAI_CANFD_ALT_BUTTONS_ADDR_CHECK(0)
};
#define HYUNDAI_CANFD_ADDR_CHECK_LEN (sizeof(hyundai_canfd_addr_checks) / sizeof(hyundai_canfd_addr_checks[0]))

// 0x1a0 is on bus 0
// Radar sends SCC messages on these cars instead of camera
AddrCheckStruct hyundai_canfd_radar_scc_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},
{0x105, 0, 32, .check_checksum = true, .max_counter = 0xffU, .expected_timestep = 10000U}}},
{.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 }}},
{.msg = {{0xa0, 1, 24, .check_checksum = true, .max_counter = 0xffU, .expected_timestep = 10000U},
{0xa0, 0, 24, .check_checksum = true, .max_counter = 0xffU, .expected_timestep = 10000U}, { 0 }}},
{.msg = {{0xea, 1, 24, .check_checksum = true, .max_counter = 0xffU, .expected_timestep = 10000U},
{0xea, 0, 24, .check_checksum = true, .max_counter = 0xffU, .expected_timestep = 10000U}, { 0 }}},
{.msg = {{0x1a0, 0, 32, .check_checksum = true, .max_counter = 0xffU, .expected_timestep = 20000U}, { 0 }, { 0 }}},
{.msg = {{0x1cf, 1, 8, .check_checksum = false, .max_counter = 0xfU, .expected_timestep = 20000U},
{0x1cf, 0, 8, .check_checksum = false, .max_counter = 0xfU, .expected_timestep = 20000U},
{0x1aa, 0, 16, .check_checksum = false, .max_counter = 0xffU, .expected_timestep = 20000U}}},
HYUNDAI_CANFD_COMMON_ADDR_CHECKS(0)
HYUNDAI_CANFD_BUTTONS_ADDR_CHECK(0)
HYUNDAI_CANFD_SCC_ADDR_CHECK(0)
};
AddrCheckStruct hyundai_canfd_radar_scc_alt_buttons_addr_checks[] = {
HYUNDAI_CANFD_COMMON_ADDR_CHECKS(0)
HYUNDAI_CANFD_ALT_BUTTONS_ADDR_CHECK(0)
HYUNDAI_CANFD_SCC_ADDR_CHECK(0)
};
#define HYUNDAI_CANFD_RADAR_SCC_ADDR_CHECK_LEN (sizeof(hyundai_canfd_radar_scc_addr_checks) / sizeof(hyundai_canfd_radar_scc_addr_checks[0]))

AddrCheckStruct hyundai_canfd_long_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},
{0x105, 0, 32, .check_checksum = true, .max_counter = 0xffU, .expected_timestep = 10000U}}},
{.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 }}},
{.msg = {{0xa0, 1, 24, .check_checksum = true, .max_counter = 0xffU, .expected_timestep = 10000U},
{0xa0, 0, 24, .check_checksum = true, .max_counter = 0xffU, .expected_timestep = 10000U}, { 0 }}},
{.msg = {{0xea, 1, 24, .check_checksum = true, .max_counter = 0xffU, .expected_timestep = 10000U},
{0xea, 0, 24, .check_checksum = true, .max_counter = 0xffU, .expected_timestep = 10000U}, { 0 }}},
{.msg = {{0x1cf, 1, 8, .check_checksum = false, .max_counter = 0xfU, .expected_timestep = 20000U},
{0x1cf, 0, 8, .check_checksum = false, .max_counter = 0xfU, .expected_timestep = 20000U},
{0x1aa, 0, 16, .check_checksum = false, .max_counter = 0xffU, .expected_timestep = 20000U}}},

// *** HDA2 checks ***
// E-CAN is on bus 1, ADAS unit sends SCC messages on HDA2.
// Does not use the alt buttons message
AddrCheckStruct hyundai_canfd_hda2_addr_checks[] = {
HYUNDAI_CANFD_COMMON_ADDR_CHECKS(1)
HYUNDAI_CANFD_BUTTONS_ADDR_CHECK(1)
HYUNDAI_CANFD_SCC_ADDR_CHECK(1)
};
#define HYUNDAI_CANFD_LONG_ADDR_CHECK_LEN (sizeof(hyundai_canfd_long_addr_checks) / sizeof(hyundai_canfd_long_addr_checks[0]))

AddrCheckStruct hyundai_canfd_ice_addr_checks[] = {
{.msg = {{0x100, 0, 32, .check_checksum = true, .max_counter = 0xffU, .expected_timestep = 10000U}, { 0 }, { 0 }}},
{.msg = {{0xa0, 0, 24, .check_checksum = true, .max_counter = 0xffU, .expected_timestep = 10000U}, { 0 }, { 0 }}},
{.msg = {{0xea, 0, 24, .check_checksum = true, .max_counter = 0xffU, .expected_timestep = 10000U}, { 0 }, { 0 }}},
{.msg = {{0x175, 0, 24, .check_checksum = true, .max_counter = 0xffU, .expected_timestep = 20000U}, { 0 }, { 0 }}},
{.msg = {{0x1aa, 0, 16, .check_checksum = false, .max_counter = 0xffU, .expected_timestep = 20000U}, { 0 }, { 0 }}},
AddrCheckStruct hyundai_canfd_hda2_long_addr_checks[] = {
HYUNDAI_CANFD_COMMON_ADDR_CHECKS(1)
HYUNDAI_CANFD_BUTTONS_ADDR_CHECK(1)
};
#define HYUNDAI_CANFD_ICE_ADDR_CHECK_LEN (sizeof(hyundai_canfd_ice_addr_checks) / sizeof(hyundai_canfd_ice_addr_checks[0]))

addr_checks hyundai_canfd_rx_checks = {hyundai_canfd_addr_checks, HYUNDAI_CANFD_ADDR_CHECK_LEN};
addr_checks hyundai_canfd_rx_checks = SET_ADDR_CHECKS(hyundai_canfd_addr_checks);


uint16_t hyundai_canfd_crc_lut[256];
Expand Down Expand Up @@ -369,14 +380,18 @@ static const addr_checks* hyundai_canfd_init(uint16_t param) {
}

if (hyundai_longitudinal) {
hyundai_canfd_rx_checks = (addr_checks){hyundai_canfd_long_addr_checks, HYUNDAI_CANFD_LONG_ADDR_CHECK_LEN};
if (hyundai_canfd_hda2) {
hyundai_canfd_rx_checks = SET_ADDR_CHECKS(hyundai_canfd_hda2_long_addr_checks);
} else {
hyundai_canfd_rx_checks = hyundai_canfd_alt_buttons ? SET_ADDR_CHECKS(hyundai_canfd_long_alt_buttons_addr_checks) : SET_ADDR_CHECKS(hyundai_canfd_long_addr_checks);
}
} else {
if (!hyundai_ev_gas_signal && !hyundai_hybrid_gas_signal) {
hyundai_canfd_rx_checks = (addr_checks){hyundai_canfd_ice_addr_checks, HYUNDAI_CANFD_ICE_ADDR_CHECK_LEN};
} else if (!hyundai_camera_scc && !hyundai_canfd_hda2) {
hyundai_canfd_rx_checks = (addr_checks){hyundai_canfd_radar_scc_addr_checks, HYUNDAI_CANFD_RADAR_SCC_ADDR_CHECK_LEN};
if (hyundai_canfd_hda2) {
hyundai_canfd_rx_checks = SET_ADDR_CHECKS(hyundai_canfd_hda2_addr_checks);
} else if (!hyundai_camera_scc) {
hyundai_canfd_rx_checks = hyundai_canfd_alt_buttons ? SET_ADDR_CHECKS(hyundai_canfd_radar_scc_alt_buttons_addr_checks) : SET_ADDR_CHECKS(hyundai_canfd_radar_scc_addr_checks);
} else {
hyundai_canfd_rx_checks = (addr_checks){hyundai_canfd_addr_checks, HYUNDAI_CANFD_ADDR_CHECK_LEN};
hyundai_canfd_rx_checks = hyundai_canfd_alt_buttons ? SET_ADDR_CHECKS(hyundai_canfd_alt_buttons_addr_checks) : SET_ADDR_CHECKS(hyundai_canfd_addr_checks);
}
}

Expand Down
2 changes: 2 additions & 0 deletions board/safety_declarations.h
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,8 @@
#define GET_BYTE(msg, b) ((msg)->data[(b)])
#define GET_FLAG(value, mask) (((__typeof__(mask))(value) & (mask)) == (mask))

#define SET_ADDR_CHECKS(name) ((addr_checks){(name), (sizeof((name)) / sizeof((name)[0]))})

uint32_t GET_BYTES(const CANPacket_t *msg, int start, int len) {
uint32_t ret = 0U;
for (int i = 0; i < len; i++) {
Expand Down

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