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Hyundai CAN: utilize macros for common address checks #1655

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merged 6 commits into from
Sep 8, 2023
Merged

Hyundai CAN: utilize macros for common address checks #1655

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51a254f
common addrs behind macros
sshane Sep 7, 2023
e41b796
draft so far
sshane Sep 7, 2023
345a258
Revert "draft so far"
sshane Sep 7, 2023
3a0e118
MISRA
sshane Sep 7, 2023
8950adc
Merge remote-tracking branch 'upstream/master' into hkg-addr-check-ma…
sshane Sep 8, 2023
a785e8e
use new SET_ADDR_CHECKS macro
sshane Sep 8, 2023
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50 changes: 22 additions & 28 deletions board/safety/safety_hyundai.h
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Original file line number Diff line number Diff line change
Expand Up @@ -51,46 +51,40 @@ 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]))

bool hyundai_legacy = false;

addr_checks hyundai_rx_checks = {hyundai_addr_checks, HYUNDAI_ADDR_CHECK_LEN};
addr_checks hyundai_rx_checks = SET_ADDR_CHECKS(hyundai_addr_checks);

static uint8_t hyundai_get_counter(CANPacket_t *to_push) {
int addr = GET_ADDR(to_push);
Expand Down Expand Up @@ -329,11 +323,11 @@ static const addr_checks* hyundai_init(uint16_t param) {
}

if (hyundai_longitudinal) {
hyundai_rx_checks = (addr_checks){hyundai_long_addr_checks, HYUNDAI_LONG_ADDR_CHECK_LEN};
hyundai_rx_checks = SET_ADDR_CHECKS(hyundai_long_addr_checks);
} else if (hyundai_camera_scc) {
hyundai_rx_checks = (addr_checks){hyundai_cam_scc_addr_checks, HYUNDAI_CAM_SCC_ADDR_CHECK_LEN};
hyundai_rx_checks = SET_ADDR_CHECKS(hyundai_cam_scc_addr_checks);
} else {
hyundai_rx_checks = (addr_checks){hyundai_addr_checks, HYUNDAI_ADDR_CHECK_LEN};
hyundai_rx_checks = SET_ADDR_CHECKS(hyundai_addr_checks);
}
return &hyundai_rx_checks;
}
Expand All @@ -344,7 +338,7 @@ static const addr_checks* hyundai_legacy_init(uint16_t param) {
hyundai_longitudinal = false;
hyundai_camera_scc = false;

hyundai_rx_checks = (addr_checks){hyundai_legacy_addr_checks, HYUNDAI_LEGACY_ADDR_CHECK_LEN};
hyundai_rx_checks = SET_ADDR_CHECKS(hyundai_legacy_addr_checks);
return &hyundai_rx_checks;
}

Expand Down
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