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safety: use address check helper #1721

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Nov 17, 2023
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safety: use address check helper #1721

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3 changes: 1 addition & 2 deletions board/safety/safety_body.h
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Expand Up @@ -4,8 +4,7 @@ const CanMsg BODY_TX_MSGS[] = {{0x250, 0, 8}, {0x250, 0, 6}, {0x251, 0, 5}, //
AddrCheckStruct body_addr_checks[] = {
{.msg = {{0x201, 0, 8, .check_checksum = false, .max_counter = 0U, .expected_timestep = 10000U}, { 0 }, { 0 }}},
};
#define BODY_ADDR_CHECK_LEN (sizeof(body_addr_checks) / sizeof(body_addr_checks[0]))
addr_checks body_rx_checks = {body_addr_checks, BODY_ADDR_CHECK_LEN};
addr_checks body_rx_checks = SET_ADDR_CHECKS(body_addr_checks);

static int body_rx_hook(CANPacket_t *to_push) {

Expand Down
13 changes: 5 additions & 8 deletions board/safety/safety_chrysler.h
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Expand Up @@ -101,7 +101,6 @@ AddrCheckStruct chrysler_addr_checks[] = {
{.msg = {{CHRYSLER_ADDRS.ECM_5, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}},
{.msg = {{CHRYSLER_ADDRS.DAS_3, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}},
};
#define CHRYSLER_ADDR_CHECK_LEN (sizeof(chrysler_addr_checks) / sizeof(chrysler_addr_checks[0]))

AddrCheckStruct chrysler_ram_dt_addr_checks[] = {
{.msg = {{CHRYSLER_RAM_DT_ADDRS.EPS_2, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 10000U}, { 0 }, { 0 }}},
Expand All @@ -110,7 +109,6 @@ AddrCheckStruct chrysler_ram_dt_addr_checks[] = {
{.msg = {{CHRYSLER_RAM_DT_ADDRS.ECM_5, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}},
{.msg = {{CHRYSLER_RAM_DT_ADDRS.DAS_3, 2, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}},
};
#define CHRYSLER_RAM_DT_ADDR_CHECK_LEN (sizeof(chrysler_ram_dt_addr_checks) / sizeof(chrysler_ram_dt_addr_checks[0]))

AddrCheckStruct chrysler_ram_hd_addr_checks[] = {
{.msg = {{CHRYSLER_RAM_HD_ADDRS.EPS_2, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 10000U}, { 0 }, { 0 }}},
Expand All @@ -119,10 +117,9 @@ AddrCheckStruct chrysler_ram_hd_addr_checks[] = {
{.msg = {{CHRYSLER_RAM_HD_ADDRS.ECM_5, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}},
{.msg = {{CHRYSLER_RAM_HD_ADDRS.DAS_3, 2, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}},
};
#define CHRYSLER_RAM_HD_ADDR_CHECK_LEN (sizeof(chrysler_ram_hd_addr_checks) / sizeof(chrysler_ram_hd_addr_checks[0]))


addr_checks chrysler_rx_checks = {chrysler_addr_checks, CHRYSLER_ADDR_CHECK_LEN};
addr_checks chrysler_rx_checks = SET_ADDR_CHECKS(chrysler_addr_checks);

const uint32_t CHRYSLER_PARAM_RAM_DT = 1U; // set for Ram DT platform
const uint32_t CHRYSLER_PARAM_RAM_HD = 2U; // set for Ram DT platform
Expand Down Expand Up @@ -247,7 +244,7 @@ static int chrysler_tx_hook(CANPacket_t *to_send) {

const SteeringLimits limits = (chrysler_platform == CHRYSLER_PACIFICA) ? CHRYSLER_STEERING_LIMITS :
(chrysler_platform == CHRYSLER_RAM_DT) ? CHRYSLER_RAM_DT_STEERING_LIMITS : CHRYSLER_RAM_HD_STEERING_LIMITS;

bool steer_req = (chrysler_platform == CHRYSLER_PACIFICA) ? (GET_BIT(to_send, 4U) != 0U) : ((GET_BYTE(to_send, 3) & 0x7U) == 2U);
if (steer_torque_cmd_checks(desired_torque, steer_req, limits)) {
tx = 0;
Expand Down Expand Up @@ -288,17 +285,17 @@ static const addr_checks* chrysler_init(uint16_t param) {
if (GET_FLAG(param, CHRYSLER_PARAM_RAM_DT)) {
chrysler_platform = CHRYSLER_RAM_DT;
chrysler_addrs = &CHRYSLER_RAM_DT_ADDRS;
chrysler_rx_checks = (addr_checks){chrysler_ram_dt_addr_checks, CHRYSLER_RAM_DT_ADDR_CHECK_LEN};
chrysler_rx_checks = SET_ADDR_CHECKS(chrysler_ram_dt_addr_checks);
} else if (GET_FLAG(param, CHRYSLER_PARAM_RAM_HD)) {
#ifdef ALLOW_DEBUG
chrysler_platform = CHRYSLER_RAM_HD;
chrysler_addrs = &CHRYSLER_RAM_HD_ADDRS;
chrysler_rx_checks = (addr_checks){chrysler_ram_hd_addr_checks, CHRYSLER_RAM_HD_ADDR_CHECK_LEN};
chrysler_rx_checks = SET_ADDR_CHECKS(chrysler_ram_hd_addr_checks);
#endif
} else {
chrysler_platform = CHRYSLER_PACIFICA;
chrysler_addrs = &CHRYSLER_ADDRS;
chrysler_rx_checks = (addr_checks){chrysler_addr_checks, CHRYSLER_ADDR_CHECK_LEN};
chrysler_rx_checks = SET_ADDR_CHECKS(chrysler_addr_checks);
}

return &chrysler_rx_checks;
Expand Down
3 changes: 1 addition & 2 deletions board/safety/safety_ford.h
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Expand Up @@ -71,8 +71,7 @@ AddrCheckStruct ford_addr_checks[] = {
{.msg = {{FORD_EngVehicleSpThrottle, 0, 8, .expected_timestep = 10000U}, { 0 }, { 0 }}},
{.msg = {{FORD_DesiredTorqBrk, 0, 8, .expected_timestep = 20000U}, { 0 }, { 0 }}},
};
#define FORD_ADDR_CHECK_LEN (sizeof(ford_addr_checks) / sizeof(ford_addr_checks[0]))
addr_checks ford_rx_checks = {ford_addr_checks, FORD_ADDR_CHECK_LEN};
addr_checks ford_rx_checks = SET_ADDR_CHECKS(ford_addr_checks);

static uint8_t ford_get_counter(CANPacket_t *to_push) {
int addr = GET_ADDR(to_push);
Expand Down
3 changes: 1 addition & 2 deletions board/safety/safety_gm.h
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Expand Up @@ -49,8 +49,7 @@ AddrCheckStruct gm_addr_checks[] = {
{.msg = {{0x1C4, 0, 8, .expected_timestep = 100000U}, { 0 }, { 0 }}},
{.msg = {{0xC9, 0, 8, .expected_timestep = 100000U}, { 0 }, { 0 }}},
};
#define GM_RX_CHECK_LEN (sizeof(gm_addr_checks) / sizeof(gm_addr_checks[0]))
addr_checks gm_rx_checks = {gm_addr_checks, GM_RX_CHECK_LEN};
addr_checks gm_rx_checks = SET_ADDR_CHECKS(gm_addr_checks);

const uint16_t GM_PARAM_HW_CAM = 1;
const uint16_t GM_PARAM_HW_CAM_LONG = 2;
Expand Down
13 changes: 5 additions & 8 deletions board/safety/safety_honda.h
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Expand Up @@ -42,7 +42,6 @@ AddrCheckStruct honda_common_addr_checks[] = {
{0x1BE, 0, 3, .check_checksum = true, .max_counter = 3U, .expected_timestep = 20000U}, { 0 }}}, // BRAKE_MODULE (for bosch radarless)
{.msg = {{0x326, 0, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 100000U}, { 0 }, { 0 }}}, // SCM_FEEDBACK
};
#define HONDA_COMMON_ADDR_CHECKS_LEN (sizeof(honda_common_addr_checks) / sizeof(honda_common_addr_checks[0]))

// For Nidecs with main on signal on an alternate msg
AddrCheckStruct honda_nidec_alt_addr_checks[] = {
Expand All @@ -51,7 +50,6 @@ AddrCheckStruct honda_nidec_alt_addr_checks[] = {
{.msg = {{0x158, 0, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U}, { 0 }, { 0 }}},
{.msg = {{0x17C, 0, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U}, { 0 }, { 0 }}},
};
#define HONDA_NIDEC_ALT_ADDR_CHECKS_LEN (sizeof(honda_nidec_alt_addr_checks) / sizeof(honda_nidec_alt_addr_checks[0]))

// Bosch has pt on bus 1
AddrCheckStruct honda_bosch_addr_checks[] = {
Expand All @@ -61,7 +59,6 @@ AddrCheckStruct honda_bosch_addr_checks[] = {
{0x1BE, 1, 3, .check_checksum = true, .max_counter = 3U, .expected_timestep = 20000U}, { 0 }}},
{.msg = {{0x326, 1, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 100000U}, { 0 }, { 0 }}},
};
#define HONDA_BOSCH_ADDR_CHECKS_LEN (sizeof(honda_bosch_addr_checks) / sizeof(honda_bosch_addr_checks[0]))

const uint16_t HONDA_PARAM_ALT_BRAKE = 1;
const uint16_t HONDA_PARAM_BOSCH_LONG = 2;
Expand All @@ -83,7 +80,7 @@ bool honda_fwd_brake = false;
bool honda_bosch_long = false;
bool honda_bosch_radarless = false;
enum {HONDA_NIDEC, HONDA_BOSCH} honda_hw = HONDA_NIDEC;
addr_checks honda_rx_checks = {honda_common_addr_checks, HONDA_COMMON_ADDR_CHECKS_LEN};
addr_checks honda_rx_checks = SET_ADDR_CHECKS(honda_common_addr_checks);


int honda_get_pt_bus(void) {
Expand Down Expand Up @@ -385,9 +382,9 @@ static const addr_checks* honda_nidec_init(uint16_t param) {
honda_bosch_radarless = false;

if (GET_FLAG(param, HONDA_PARAM_NIDEC_ALT)) {
honda_rx_checks = (addr_checks){honda_nidec_alt_addr_checks, HONDA_NIDEC_ALT_ADDR_CHECKS_LEN};
honda_rx_checks = SET_ADDR_CHECKS(honda_nidec_alt_addr_checks);
} else {
honda_rx_checks = (addr_checks){honda_common_addr_checks, HONDA_COMMON_ADDR_CHECKS_LEN};
honda_rx_checks = SET_ADDR_CHECKS(honda_common_addr_checks);
}
return &honda_rx_checks;
}
Expand All @@ -404,9 +401,9 @@ static const addr_checks* honda_bosch_init(uint16_t param) {
#endif

if (honda_bosch_radarless) {
honda_rx_checks = (addr_checks){honda_common_addr_checks, HONDA_COMMON_ADDR_CHECKS_LEN};
honda_rx_checks = SET_ADDR_CHECKS(honda_common_addr_checks);
} else {
honda_rx_checks = (addr_checks){honda_bosch_addr_checks, HONDA_BOSCH_ADDR_CHECKS_LEN};
honda_rx_checks = SET_ADDR_CHECKS(honda_bosch_addr_checks);
}
return &honda_rx_checks;
}
Expand Down
3 changes: 1 addition & 2 deletions board/safety/safety_mazda.h
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Expand Up @@ -32,8 +32,7 @@ AddrCheckStruct mazda_addr_checks[] = {
{.msg = {{MAZDA_ENGINE_DATA, 0, 8, .expected_timestep = 10000U}, { 0 }, { 0 }}},
{.msg = {{MAZDA_PEDALS, 0, 8, .expected_timestep = 20000U}, { 0 }, { 0 }}},
};
#define MAZDA_ADDR_CHECKS_LEN (sizeof(mazda_addr_checks) / sizeof(mazda_addr_checks[0]))
addr_checks mazda_rx_checks = {mazda_addr_checks, MAZDA_ADDR_CHECKS_LEN};
addr_checks mazda_rx_checks = SET_ADDR_CHECKS(mazda_addr_checks);

// track msgs coming from OP so that we know what CAM msgs to drop and what to forward
static int mazda_rx_hook(CANPacket_t *to_push) {
Expand Down
3 changes: 1 addition & 2 deletions board/safety/safety_nissan.h
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Expand Up @@ -34,8 +34,7 @@ AddrCheckStruct nissan_addr_checks[] = {
{0x454, 1, 8, .expected_timestep = 100000U},
{0x1cc, 0, 4, .expected_timestep = 10000U}}}, // DOORS_LIGHTS (10Hz) / BRAKE (100Hz)
};
#define NISSAN_ADDR_CHECK_LEN (sizeof(nissan_addr_checks) / sizeof(nissan_addr_checks[0]))
addr_checks nissan_rx_checks = {nissan_addr_checks, NISSAN_ADDR_CHECK_LEN};
addr_checks nissan_rx_checks = SET_ADDR_CHECKS(nissan_addr_checks);

// EPS Location. false = V-CAN, true = C-CAN
const int NISSAN_PARAM_ALT_EPS_BUS = 1;
Expand Down
10 changes: 4 additions & 6 deletions board/safety/safety_subaru.h
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Expand Up @@ -106,14 +106,12 @@ const CanMsg SUBARU_GEN2_LONG_TX_MSGS[] = {
AddrCheckStruct subaru_addr_checks[] = {
SUBARU_COMMON_ADDR_CHECKS(SUBARU_MAIN_BUS)
};
#define SUBARU_ADDR_CHECK_LEN (sizeof(subaru_addr_checks) / sizeof(subaru_addr_checks[0]))
addr_checks subaru_rx_checks = {subaru_addr_checks, SUBARU_ADDR_CHECK_LEN};
addr_checks subaru_rx_checks = SET_ADDR_CHECKS(subaru_addr_checks);

AddrCheckStruct subaru_gen2_addr_checks[] = {
SUBARU_COMMON_ADDR_CHECKS(SUBARU_ALT_BUS)
};
#define SUBARU_GEN2_ADDR_CHECK_LEN (sizeof(subaru_gen2_addr_checks) / sizeof(subaru_gen2_addr_checks[0]))
addr_checks subaru_gen2_rx_checks = {subaru_gen2_addr_checks, SUBARU_GEN2_ADDR_CHECK_LEN};
addr_checks subaru_gen2_rx_checks = SET_ADDR_CHECKS(subaru_gen2_addr_checks);


const uint16_t SUBARU_PARAM_GEN2 = 1;
Expand Down Expand Up @@ -300,9 +298,9 @@ static const addr_checks* subaru_init(uint16_t param) {
#endif

if (subaru_gen2) {
subaru_rx_checks = (addr_checks){subaru_gen2_addr_checks, SUBARU_GEN2_ADDR_CHECK_LEN};
subaru_rx_checks = SET_ADDR_CHECKS(subaru_gen2_addr_checks);
} else {
subaru_rx_checks = (addr_checks){subaru_addr_checks, SUBARU_ADDR_CHECK_LEN};
subaru_rx_checks = SET_ADDR_CHECKS(subaru_addr_checks);
}

return &subaru_rx_checks;
Expand Down
3 changes: 1 addition & 2 deletions board/safety/safety_subaru_preglobal.h
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Expand Up @@ -36,8 +36,7 @@ AddrCheckStruct subaru_preglobal_addr_checks[] = {
{.msg = {{MSG_SUBARU_PG_Steering_Torque, SUBARU_PG_MAIN_BUS, 8, .expected_timestep = 20000U}, { 0 }, { 0 }}},
{.msg = {{MSG_SUBARU_PG_CruiseControl, SUBARU_PG_MAIN_BUS, 8, .expected_timestep = 50000U}, { 0 }, { 0 }}},
};
#define SUBARU_PG_ADDR_CHECK_LEN (sizeof(subaru_preglobal_addr_checks) / sizeof(subaru_preglobal_addr_checks[0]))
addr_checks subaru_preglobal_rx_checks = {subaru_preglobal_addr_checks, SUBARU_PG_ADDR_CHECK_LEN};
addr_checks subaru_preglobal_rx_checks = SET_ADDR_CHECKS(subaru_preglobal_addr_checks);


const int SUBARU_PG_PARAM_REVERSED_DRIVER_TORQUE = 1;
Expand Down
6 changes: 2 additions & 4 deletions board/safety/safety_tesla.h
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Expand Up @@ -42,8 +42,7 @@ AddrCheckStruct tesla_addr_checks[] = {
{.msg = {{0x368, 0, 8, .expected_timestep = 100000U}, { 0 }, { 0 }}}, // DI_state (10Hz)
{.msg = {{0x318, 0, 8, .expected_timestep = 100000U}, { 0 }, { 0 }}}, // GTW_carState (10Hz)
};
#define TESLA_ADDR_CHECK_LEN (sizeof(tesla_addr_checks) / sizeof(tesla_addr_checks[0]))
addr_checks tesla_rx_checks = {tesla_addr_checks, TESLA_ADDR_CHECK_LEN};
addr_checks tesla_rx_checks = SET_ADDR_CHECKS(tesla_addr_checks);

AddrCheckStruct tesla_pt_addr_checks[] = {
{.msg = {{0x106, 0, 8, .expected_timestep = 10000U}, { 0 }, { 0 }}}, // DI_torque1 (100Hz)
Expand All @@ -52,8 +51,7 @@ AddrCheckStruct tesla_pt_addr_checks[] = {
{.msg = {{0x2bf, 2, 8, .expected_timestep = 40000U}, { 0 }, { 0 }}}, // DAS_control (25Hz)
{.msg = {{0x256, 0, 8, .expected_timestep = 100000U}, { 0 }, { 0 }}}, // DI_state (10Hz)
};
#define TESLA_PT_ADDR_CHECK_LEN (sizeof(tesla_pt_addr_checks) / sizeof(tesla_pt_addr_checks[0]))
addr_checks tesla_pt_rx_checks = {tesla_pt_addr_checks, TESLA_PT_ADDR_CHECK_LEN};
addr_checks tesla_pt_rx_checks = SET_ADDR_CHECKS(tesla_pt_addr_checks);

bool tesla_longitudinal = false;
bool tesla_powertrain = false; // Are we the second panda intercepting the powertrain bus?
Expand Down
3 changes: 1 addition & 2 deletions board/safety/safety_toyota.h
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Expand Up @@ -39,8 +39,7 @@ AddrCheckStruct toyota_addr_checks[] = {
{.msg = {{0x224, 0, 8, .check_checksum = false, .expected_timestep = 25000U},
{0x226, 0, 8, .check_checksum = false, .expected_timestep = 25000U}, { 0 }}},
};
#define TOYOTA_ADDR_CHECKS_LEN (sizeof(toyota_addr_checks) / sizeof(toyota_addr_checks[0]))
addr_checks toyota_rx_checks = {toyota_addr_checks, TOYOTA_ADDR_CHECKS_LEN};
addr_checks toyota_rx_checks = SET_ADDR_CHECKS(toyota_addr_checks);

// safety param flags
// first byte is for eps factor, second is for flags
Expand Down
3 changes: 1 addition & 2 deletions board/safety/safety_volkswagen_mqb.h
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Expand Up @@ -46,8 +46,7 @@ AddrCheckStruct volkswagen_mqb_addr_checks[] = {
{.msg = {{MSG_MOTOR_20, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}},
{.msg = {{MSG_MOTOR_14, 0, 8, .check_checksum = false, .max_counter = 0U, .expected_timestep = 100000U}, { 0 }, { 0 }}},
};
#define VOLKSWAGEN_MQB_ADDR_CHECKS_LEN (sizeof(volkswagen_mqb_addr_checks) / sizeof(volkswagen_mqb_addr_checks[0]))
addr_checks volkswagen_mqb_rx_checks = {volkswagen_mqb_addr_checks, VOLKSWAGEN_MQB_ADDR_CHECKS_LEN};
addr_checks volkswagen_mqb_rx_checks = SET_ADDR_CHECKS(volkswagen_mqb_addr_checks);

uint8_t volkswagen_crc8_lut_8h2f[256]; // Static lookup table for CRC8 poly 0x2F, aka 8H2F/AUTOSAR
bool volkswagen_mqb_brake_pedal_switch = false;
Expand Down
3 changes: 1 addition & 2 deletions board/safety/safety_volkswagen_pq.h
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Expand Up @@ -45,8 +45,7 @@ AddrCheckStruct volkswagen_pq_addr_checks[] = {
{.msg = {{MSG_MOTOR_5, 0, 8, .check_checksum = true, .max_counter = 0U, .expected_timestep = 20000U}, { 0 }, { 0 }}},
{.msg = {{MSG_GRA_NEU, 0, 4, .check_checksum = true, .max_counter = 15U, .expected_timestep = 33000U}, { 0 }, { 0 }}},
};
#define VOLKSWAGEN_PQ_ADDR_CHECKS_LEN (sizeof(volkswagen_pq_addr_checks) / sizeof(volkswagen_pq_addr_checks[0]))
addr_checks volkswagen_pq_rx_checks = {volkswagen_pq_addr_checks, VOLKSWAGEN_PQ_ADDR_CHECKS_LEN};
addr_checks volkswagen_pq_rx_checks = SET_ADDR_CHECKS(volkswagen_pq_addr_checks);

static uint32_t volkswagen_pq_get_checksum(CANPacket_t *to_push) {
int addr = GET_ADDR(to_push);
Expand Down