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Hyundai CAN FD: utilize macros for common address checks #1658

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merged 21 commits into from
Sep 8, 2023
Merged

Hyundai CAN FD: utilize macros for common address checks #1658

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b7f7f62
draft
sshane Sep 7, 2023
4257abf
now clean up old comments
sshane Sep 7, 2023
f4a50ca
no more special broken ice addr checks
sshane Sep 7, 2023
2908e8a
revert
sshane Sep 7, 2023
88039ff
fix
sshane Sep 7, 2023
76d2b0f
add test for ICE HDA1
sshane Sep 7, 2023
97b0235
Revert "add test for ICE HDA1"
sshane Sep 7, 2023
3636033
can be separate
sshane Sep 7, 2023
0ad5b82
macro for addr check struct
sshane Sep 7, 2023
c235983
add checks for alt buttons (fixes race condition)
sshane Sep 7, 2023
a69b4ee
add macro for array len
sshane Sep 7, 2023
42d48df
add comment
sshane Sep 7, 2023
a136d92
misra
sshane Sep 7, 2023
a83c636
comments to help separate
sshane Sep 7, 2023
6f21f85
can't put parenthesis around array item
sshane Sep 7, 2023
b80c9e5
review suggestions
sshane Sep 8, 2023
93955a8
no intermediary macros for making the structs (remove misra violation)
sshane Sep 8, 2023
d895bbd
Update board/safety/safety_hyundai_canfd.h
sshane Sep 8, 2023
b8a6686
Merge remote-tracking branch 'upstream/master' into hkg-canfd-addr-ch…
sshane Sep 8, 2023
3c65a82
single lines
sshane Sep 8, 2023
d4546d4
can avoid double checking hda2 since we have addr checks for it now
sshane Sep 8, 2023
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139 changes: 80 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 }}},
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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 +380,24 @@ 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);
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}
} 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_camera_scc && !hyundai_canfd_hda2) {
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 if (hyundai_canfd_hda2) {
hyundai_canfd_rx_checks = SET_ADDR_CHECKS(hyundai_canfd_hda2_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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