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Safety: message length check on RX and TX (commaai#529)
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@adeebshihadeh
adeebshihadeh authored May 11, 2020
1 parent 869f123 commit e4558c0
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Showing 12 changed files with 95 additions and 97 deletions.
14 changes: 10 additions & 4 deletions board/safety.h
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Original file line number Diff line number Diff line change
Expand Up @@ -72,10 +72,14 @@ void gen_crc_lookup_table(uint8_t poly, uint8_t crc_lut[]) {
}
}

bool msg_allowed(int addr, int bus, const AddrBus addr_list[], int len) {
bool msg_allowed(CAN_FIFOMailBox_TypeDef *to_send, const CanMsg msg_list[], int len) {
int addr = GET_ADDR(to_send);
int bus = GET_BUS(to_send);
int length = GET_LEN(to_send);

bool allowed = false;
for (int i = 0; i < len; i++) {
if ((addr == addr_list[i].addr) && (bus == addr_list[i].bus)) {
if ((addr == msg_list[i].addr) && (bus == msg_list[i].bus) && (length == msg_list[i].len)) {
allowed = true;
break;
}
Expand All @@ -92,11 +96,13 @@ uint32_t get_ts_elapsed(uint32_t ts, uint32_t ts_last) {
int get_addr_check_index(CAN_FIFOMailBox_TypeDef *to_push, AddrCheckStruct addr_list[], const int len) {
int bus = GET_BUS(to_push);
int addr = GET_ADDR(to_push);
int length = GET_LEN(to_push);

int index = -1;
for (int i = 0; i < len; i++) {
for (uint8_t j = 0U; addr_list[i].addr[j] != 0; j++) {
if ((addr == addr_list[i].addr[j]) && (bus == addr_list[i].bus)) {
for (uint8_t j = 0U; addr_list[i].msg[j].addr != 0; j++) {
if ((addr == addr_list[i].msg[j].addr) && (bus == addr_list[i].msg[j].bus) &&
(length == addr_list[i].msg[j].len)) {
index = i;
goto Return;
}
Expand Down
16 changes: 7 additions & 9 deletions board/safety/safety_chrysler.h
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Original file line number Diff line number Diff line change
Expand Up @@ -6,15 +6,14 @@ const int CHRYSLER_MAX_RATE_DOWN = 3;
const int CHRYSLER_MAX_TORQUE_ERROR = 80; // max torque cmd in excess of torque motor
const int CHRYSLER_GAS_THRSLD = 30; // 7% more than 2m/s
const int CHRYSLER_STANDSTILL_THRSLD = 10; // about 1m/s
const AddrBus CHRYSLER_TX_MSGS[] = {{571, 0}, {658, 0}, {678, 0}};
const CanMsg CHRYSLER_TX_MSGS[] = {{571, 0, 3}, {658, 0, 6}, {678, 0, 8}};

// TODO: do checksum and counter checks
AddrCheckStruct chrysler_rx_checks[] = {
{.addr = {544}, .bus = 0, .check_checksum = true, .max_counter = 15U, .expected_timestep = 10000U},
{.addr = {514}, .bus = 0, .check_checksum = false, .max_counter = 0U, .expected_timestep = 10000U},
{.addr = {500}, .bus = 0, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U},
{.addr = {308}, .bus = 0, .check_checksum = false, .max_counter = 15U, .expected_timestep = 20000U},
{.addr = {320}, .bus = 0, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U},
{.msg = {{544, 0, 8}}, .check_checksum = true, .max_counter = 15U, .expected_timestep = 10000U},
{.msg = {{514, 0, 8}}, .check_checksum = false, .max_counter = 0U, .expected_timestep = 10000U},
{.msg = {{500, 0, 8}}, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U},
{.msg = {{308, 0, 8}}, .check_checksum = false, .max_counter = 15U, .expected_timestep = 20000U},
{.msg = {{320, 0, 8}}, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U},
};
const int CHRYSLER_RX_CHECK_LEN = sizeof(chrysler_rx_checks) / sizeof(chrysler_rx_checks[0]);

Expand Down Expand Up @@ -132,9 +131,8 @@ static int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {

int tx = 1;
int addr = GET_ADDR(to_send);
int bus = GET_BUS(to_send);

if (!msg_allowed(addr, bus, CHRYSLER_TX_MSGS, sizeof(CHRYSLER_TX_MSGS) / sizeof(CHRYSLER_TX_MSGS[0]))) {
if (!msg_allowed(to_send, CHRYSLER_TX_MSGS, sizeof(CHRYSLER_TX_MSGS) / sizeof(CHRYSLER_TX_MSGS[0]))) {
tx = 0;
}

Expand Down
21 changes: 10 additions & 11 deletions board/safety/safety_gm.h
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Original file line number Diff line number Diff line change
Expand Up @@ -18,18 +18,18 @@ const int GM_DRIVER_TORQUE_FACTOR = 4;
const int GM_MAX_GAS = 3072;
const int GM_MAX_REGEN = 1404;
const int GM_MAX_BRAKE = 350;
const AddrBus GM_TX_MSGS[] = {{384, 0}, {1033, 0}, {1034, 0}, {715, 0}, {880, 0}, // pt bus
{161, 1}, {774, 1}, {776, 1}, {784, 1}, // obs bus
{789, 2}, // ch bus
{0x104c006c, 3}, {0x10400060, 3}}; // gmlan
const CanMsg GM_TX_MSGS[] = {{384, 0, 4}, {1033, 0, 7}, {1034, 0, 7}, {715, 0, 8}, {880, 0, 6}, // pt bus
{161, 1, 7}, {774, 1, 8}, {776, 1, 7}, {784, 1, 2}, // obs bus
{789, 2, 5}, // ch bus
{0x104c006c, 3, 3}, {0x10400060, 3, 5}}; // gmlan

// TODO: do checksum and counter checks. Add correct timestep, 0.1s for now.
AddrCheckStruct gm_rx_checks[] = {
{.addr = {388}, .bus = 0, .expected_timestep = 100000U},
{.addr = {842}, .bus = 0, .expected_timestep = 100000U},
{.addr = {481}, .bus = 0, .expected_timestep = 100000U},
{.addr = {241}, .bus = 0, .expected_timestep = 100000U},
{.addr = {417}, .bus = 0, .expected_timestep = 100000U},
{.msg = {{388, 0, 8}}, .expected_timestep = 100000U},
{.msg = {{842, 0, 5}}, .expected_timestep = 100000U},
{.msg = {{481, 0, 7}}, .expected_timestep = 100000U},
{.msg = {{241, 0, 6}}, .expected_timestep = 100000U},
{.msg = {{417, 0, 7}}, .expected_timestep = 100000U},
};
const int GM_RX_CHECK_LEN = sizeof(gm_rx_checks) / sizeof(gm_rx_checks[0]);

Expand Down Expand Up @@ -122,9 +122,8 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {

int tx = 1;
int addr = GET_ADDR(to_send);
int bus = GET_BUS(to_send);

if (!msg_allowed(addr, bus, GM_TX_MSGS, sizeof(GM_TX_MSGS)/sizeof(GM_TX_MSGS[0]))) {
if (!msg_allowed(to_send, GM_TX_MSGS, sizeof(GM_TX_MSGS)/sizeof(GM_TX_MSGS[0]))) {
tx = 0;
}

Expand Down
24 changes: 12 additions & 12 deletions board/safety/safety_honda.h
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Original file line number Diff line number Diff line change
Expand Up @@ -6,9 +6,9 @@
// accel rising edge
// brake rising edge
// brake > 0mph
const AddrBus HONDA_N_TX_MSGS[] = {{0xE4, 0}, {0x194, 0}, {0x1FA, 0}, {0x200, 0}, {0x30C, 0}, {0x33D, 0}};
const AddrBus HONDA_BG_TX_MSGS[] = {{0xE4, 2}, {0xE5, 2}, {0x296, 0}, {0x33D, 2}}; // Bosch Giraffe
const AddrBus HONDA_BH_TX_MSGS[] = {{0xE4, 0}, {0xE5, 0}, {0x296, 1}, {0x33D, 0}}; // Bosch Harness
const CanMsg HONDA_N_TX_MSGS[] = {{0xE4, 0, 5}, {0x194, 0, 4}, {0x1FA, 0, 8}, {0x200, 0, 6}, {0x30C, 0, 8}, {0x33D, 0, 5}};
const CanMsg HONDA_BG_TX_MSGS[] = {{0xE4, 2, 5}, {0xE5, 2, 8}, {0x296, 0, 4}, {0x33D, 2, 5}}; // Bosch Giraffe
const CanMsg HONDA_BH_TX_MSGS[] = {{0xE4, 0, 5}, {0xE5, 0, 8}, {0x296, 1, 4}, {0x33D, 0, 5}}; // Bosch Harness

// Roughly calculated using the offsets in openpilot +5%:
// In openpilot: ((gas1_norm + gas2_norm)/2) > 15
Expand All @@ -21,17 +21,17 @@ const int HONDA_GAS_INTERCEPTOR_THRESHOLD = 344;

// Nidec and Bosch giraffe have pt on bus 0
AddrCheckStruct honda_rx_checks[] = {
{.addr = {0x1A6, 0x296}, .bus = 0, .check_checksum = true, .max_counter = 3U, .expected_timestep = 40000U},
{.addr = { 0x158}, .bus = 0, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U},
{.addr = { 0x17C}, .bus = 0, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U},
{.msg = {{0x1A6, 0, 8}, {0x296, 0, 4}}, .check_checksum = true, .max_counter = 3U, .expected_timestep = 40000U},
{.msg = {{0x158, 0, 8}}, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U},
{.msg = {{0x17C, 0, 8}}, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U},
};
const int HONDA_RX_CHECKS_LEN = sizeof(honda_rx_checks) / sizeof(honda_rx_checks[0]);

// Bosch harness has pt on bus 1
AddrCheckStruct honda_bh_rx_checks[] = {
{.addr = {0x296}, .bus = 1, .check_checksum = true, .max_counter = 3U, .expected_timestep = 40000U},
{.addr = {0x158}, .bus = 1, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U},
{.addr = {0x17C}, .bus = 1, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U},
{.msg = {{0x296, 1, 4}}, .check_checksum = true, .max_counter = 3U, .expected_timestep = 40000U},
{.msg = {{0x158, 1, 8}}, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U},
{.msg = {{0x17C, 1, 8}}, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U},
};
const int HONDA_BH_RX_CHECKS_LEN = sizeof(honda_bh_rx_checks) / sizeof(honda_bh_rx_checks[0]);

Expand Down Expand Up @@ -192,11 +192,11 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
int bus = GET_BUS(to_send);

if (honda_hw == HONDA_BG_HW) {
tx = msg_allowed(addr, bus, HONDA_BG_TX_MSGS, sizeof(HONDA_BG_TX_MSGS)/sizeof(HONDA_BG_TX_MSGS[0]));
tx = msg_allowed(to_send, HONDA_BG_TX_MSGS, sizeof(HONDA_BG_TX_MSGS)/sizeof(HONDA_BG_TX_MSGS[0]));
} else if (honda_hw == HONDA_BH_HW) {
tx = msg_allowed(addr, bus, HONDA_BH_TX_MSGS, sizeof(HONDA_BH_TX_MSGS)/sizeof(HONDA_BH_TX_MSGS[0]));
tx = msg_allowed(to_send, HONDA_BH_TX_MSGS, sizeof(HONDA_BH_TX_MSGS)/sizeof(HONDA_BH_TX_MSGS[0]));
} else {
tx = msg_allowed(addr, bus, HONDA_N_TX_MSGS, sizeof(HONDA_N_TX_MSGS)/sizeof(HONDA_N_TX_MSGS[0]));
tx = msg_allowed(to_send, HONDA_N_TX_MSGS, sizeof(HONDA_N_TX_MSGS)/sizeof(HONDA_N_TX_MSGS[0]));
}

if (relay_malfunction) {
Expand Down
15 changes: 7 additions & 8 deletions board/safety/safety_hyundai.h
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Original file line number Diff line number Diff line change
Expand Up @@ -6,15 +6,15 @@ const int HYUNDAI_MAX_RATE_DOWN = 7;
const int HYUNDAI_DRIVER_TORQUE_ALLOWANCE = 50;
const int HYUNDAI_DRIVER_TORQUE_FACTOR = 2;
const int HYUNDAI_STANDSTILL_THRSLD = 30; // ~1kph
const AddrBus HYUNDAI_TX_MSGS[] = {{832, 0}, {1265, 0}, {1157, 0}};
const CanMsg HYUNDAI_TX_MSGS[] = {{832, 0, 8}, {1265, 0, 4}, {1157, 0, 4}};

// TODO: do checksum checks
AddrCheckStruct hyundai_rx_checks[] = {
{.addr = {608}, .bus = 0, .max_counter = 3U, .expected_timestep = 10000U},
{.addr = {897}, .bus = 0, .max_counter = 255U, .expected_timestep = 10000U},
{.addr = {902}, .bus = 0, .max_counter = 3U, .expected_timestep = 10000U},
{.addr = {916}, .bus = 0, .max_counter = 7U, .expected_timestep = 10000U},
{.addr = {1057}, .bus = 0, .max_counter = 15U, .expected_timestep = 20000U},
{.msg = {{608, 0, 8}}, .max_counter = 3U, .expected_timestep = 10000U},
{.msg = {{897, 0, 8}}, .max_counter = 255U, .expected_timestep = 10000U},
{.msg = {{902, 0, 8}}, .max_counter = 3U, .expected_timestep = 10000U},
{.msg = {{916, 0, 8}}, .max_counter = 7U, .expected_timestep = 10000U},
{.msg = {{1057, 0, 8}}, .max_counter = 15U, .expected_timestep = 20000U},
};
const int HYUNDAI_RX_CHECK_LEN = sizeof(hyundai_rx_checks) / sizeof(hyundai_rx_checks[0]);

Expand Down Expand Up @@ -106,9 +106,8 @@ static int hyundai_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {

int tx = 1;
int addr = GET_ADDR(to_send);
int bus = GET_BUS(to_send);

if (!msg_allowed(addr, bus, HYUNDAI_TX_MSGS, sizeof(HYUNDAI_TX_MSGS)/sizeof(HYUNDAI_TX_MSGS[0]))) {
if (!msg_allowed(to_send, HYUNDAI_TX_MSGS, sizeof(HYUNDAI_TX_MSGS)/sizeof(HYUNDAI_TX_MSGS[0]))) {
tx = 0;
}

Expand Down
15 changes: 7 additions & 8 deletions board/safety/safety_nissan.h
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Original file line number Diff line number Diff line change
Expand Up @@ -11,14 +11,14 @@ const struct lookup_t NISSAN_LOOKUP_ANGLE_RATE_DOWN = {

const int NISSAN_DEG_TO_CAN = 100;

const AddrBus NISSAN_TX_MSGS[] = {{0x169, 0}, {0x2b1, 0}, {0x4cc, 0}, {0x20b, 2}, {0x280, 2}};
const CanMsg NISSAN_TX_MSGS[] = {{0x169, 0, 8}, {0x2b1, 0, 8}, {0x4cc, 0, 8}, {0x20b, 2, 8}, {0x280, 2, 8}};

AddrCheckStruct nissan_rx_checks[] = {
{.addr = {0x2}, .bus = 0, .expected_timestep = 10000U}, // STEER_ANGLE_SENSOR (100Hz)
{.addr = {0x285}, .bus = 0, .expected_timestep = 20000U}, // WHEEL_SPEEDS_REAR (50Hz)
{.addr = {0x30f}, .bus = 2, .expected_timestep = 100000U}, // CRUISE_STATE (10Hz)
{.addr = {0x15c, 0x239}, .bus = 0, .expected_timestep = 20000U}, // GAS_PEDAL (100Hz / 50Hz)
{.addr = {0x454, 0x1cc}, .bus = 0, .expected_timestep = 100000U}, // DOORS_LIGHTS (10Hz) / BRAKE (100Hz)
{.msg = {{0x2, 0, 5}}, .expected_timestep = 10000U}, // STEER_ANGLE_SENSOR (100Hz)
{.msg = {{0x285, 0, 8}}, .expected_timestep = 20000U}, // WHEEL_SPEEDS_REAR (50Hz)
{.msg = {{0x30f, 2, 3}}, .expected_timestep = 100000U}, // CRUISE_STATE (10Hz)
{.msg = {{0x15c, 0, 8}, {0x239, 0, 8}}, .expected_timestep = 20000U}, // GAS_PEDAL (100Hz / 50Hz)
{.msg = {{0x454, 0, 8}, {0x1cc, 0, 8}}, .expected_timestep = 100000U}, // DOORS_LIGHTS (10Hz) / BRAKE (100Hz)
};
const int NISSAN_RX_CHECK_LEN = sizeof(nissan_rx_checks) / sizeof(nissan_rx_checks[0]);

Expand Down Expand Up @@ -119,10 +119,9 @@ static int nissan_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
static int nissan_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
int tx = 1;
int addr = GET_ADDR(to_send);
int bus = GET_BUS(to_send);
bool violation = 0;

if (!msg_allowed(addr, bus, NISSAN_TX_MSGS, sizeof(NISSAN_TX_MSGS) / sizeof(NISSAN_TX_MSGS[0]))) {
if (!msg_allowed(to_send, NISSAN_TX_MSGS, sizeof(NISSAN_TX_MSGS) / sizeof(NISSAN_TX_MSGS[0]))) {
tx = 0;
}

Expand Down
25 changes: 12 additions & 13 deletions board/safety/safety_subaru.h
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Original file line number Diff line number Diff line change
Expand Up @@ -9,23 +9,23 @@ const int SUBARU_DRIVER_TORQUE_ALLOWANCE = 60;
const int SUBARU_DRIVER_TORQUE_FACTOR = 10;
const int SUBARU_STANDSTILL_THRSLD = 20; // about 1kph

const AddrBus SUBARU_TX_MSGS[] = {{0x122, 0}, {0x221, 0}, {0x322, 0}};
const AddrBus SUBARU_L_TX_MSGS[] = {{0x164, 0}, {0x221, 0}, {0x322, 0}};
const CanMsg SUBARU_TX_MSGS[] = {{0x122, 0, 8}, {0x221, 0, 8}, {0x322, 0, 8}};
const CanMsg SUBARU_L_TX_MSGS[] = {{0x164, 0, 8}, {0x221, 0, 8}, {0x322, 0, 8}};
const int SUBARU_TX_MSGS_LEN = sizeof(SUBARU_TX_MSGS) / sizeof(SUBARU_TX_MSGS[0]);
const int SUBARU_L_TX_MSGS_LEN = sizeof(SUBARU_L_TX_MSGS) / sizeof(SUBARU_L_TX_MSGS[0]);

AddrCheckStruct subaru_rx_checks[] = {
{.addr = { 0x40}, .bus = 0, .check_checksum = true, .max_counter = 15U, .expected_timestep = 10000U},
{.addr = {0x119}, .bus = 0, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U},
{.addr = {0x139}, .bus = 0, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U},
{.addr = {0x13a}, .bus = 0, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U},
{.addr = {0x240}, .bus = 0, .check_checksum = true, .max_counter = 15U, .expected_timestep = 50000U},
{.msg = {{ 0x40, 0, 8}}, .check_checksum = true, .max_counter = 15U, .expected_timestep = 10000U},
{.msg = {{0x119, 0, 8}}, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U},
{.msg = {{0x139, 0, 8}}, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U},
{.msg = {{0x13a, 0, 8}}, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U},
{.msg = {{0x240, 0, 8}}, .check_checksum = true, .max_counter = 15U, .expected_timestep = 50000U},
};
// TODO: do checksum and counter checks after adding the signals to the outback dbc file
AddrCheckStruct subaru_l_rx_checks[] = {
{.addr = {0x140}, .bus = 0, .expected_timestep = 10000U},
{.addr = {0x371}, .bus = 0, .expected_timestep = 20000U},
{.addr = {0x144}, .bus = 0, .expected_timestep = 50000U},
{.msg = {{0x140, 0, 8}}, .expected_timestep = 10000U},
{.msg = {{0x371, 0, 8}}, .expected_timestep = 20000U},
{.msg = {{0x144, 0, 8}}, .expected_timestep = 50000U},
};
const int SUBARU_RX_CHECK_LEN = sizeof(subaru_rx_checks) / sizeof(subaru_rx_checks[0]);
const int SUBARU_L_RX_CHECK_LEN = sizeof(subaru_l_rx_checks) / sizeof(subaru_l_rx_checks[0]);
Expand Down Expand Up @@ -131,10 +131,9 @@ static int subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
static int subaru_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
int tx = 1;
int addr = GET_ADDR(to_send);
int bus = GET_BUS(to_send);

if ((!msg_allowed(addr, bus, SUBARU_TX_MSGS, SUBARU_TX_MSGS_LEN) && subaru_global) ||
(!msg_allowed(addr, bus, SUBARU_L_TX_MSGS, SUBARU_L_TX_MSGS_LEN) && !subaru_global)) {
if ((!msg_allowed(to_send, SUBARU_TX_MSGS, SUBARU_TX_MSGS_LEN) && subaru_global) ||
(!msg_allowed(to_send, SUBARU_L_TX_MSGS, SUBARU_L_TX_MSGS_LEN) && !subaru_global)) {
tx = 0;
}

Expand Down
18 changes: 9 additions & 9 deletions board/safety/safety_toyota.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -29,16 +29,16 @@ const int TOYOTA_STANDSTILL_THRSLD = 100; // 1kph
const int TOYOTA_GAS_INTERCEPTOR_THRSLD = 845;
#define TOYOTA_GET_INTERCEPTOR(msg) (((GET_BYTE((msg), 0) << 8) + GET_BYTE((msg), 1) + (GET_BYTE((msg), 2) << 8) + GET_BYTE((msg), 3)) / 2) // avg between 2 tracks

const AddrBus TOYOTA_TX_MSGS[] = {{0x283, 0}, {0x2E6, 0}, {0x2E7, 0}, {0x33E, 0}, {0x344, 0}, {0x365, 0}, {0x366, 0}, {0x4CB, 0}, // DSU bus 0
{0x128, 1}, {0x141, 1}, {0x160, 1}, {0x161, 1}, {0x470, 1}, // DSU bus 1
{0x2E4, 0}, {0x411, 0}, {0x412, 0}, {0x343, 0}, {0x1D2, 0}, // LKAS + ACC
{0x200, 0}, {0x750, 0}}; // interceptor + Blindspot monitor
const CanMsg TOYOTA_TX_MSGS[] = {{0x283, 0, 7}, {0x2E6, 0, 8}, {0x2E7, 0, 8}, {0x33E, 0, 7}, {0x344, 0, 8}, {0x365, 0, 7}, {0x366, 0, 7}, {0x4CB, 0, 8}, // DSU bus 0
{0x128, 1, 6}, {0x141, 1, 4}, {0x160, 1, 8}, {0x161, 1, 7}, {0x470, 1, 4}, // DSU bus 1
{0x2E4, 0, 5}, {0x411, 0, 8}, {0x412, 0, 8}, {0x343, 0, 8}, {0x1D2, 0, 8}, // LKAS + ACC
{0x200, 0, 6}, {0x750, 0, 8}}; // interceptor + Blindspot monitor

AddrCheckStruct toyota_rx_checks[] = {
{.addr = { 0xaa}, .bus = 0, .check_checksum = false, .expected_timestep = 12000U},
{.addr = {0x260}, .bus = 0, .check_checksum = true, .expected_timestep = 20000U},
{.addr = {0x1D2}, .bus = 0, .check_checksum = true, .expected_timestep = 30000U},
{.addr = {0x224, 0x226}, .bus = 0, .check_checksum = false, .expected_timestep = 25000U},
{.msg = {{ 0xaa, 0, 8}}, .check_checksum = false, .expected_timestep = 12000U},
{.msg = {{0x260, 0, 8}}, .check_checksum = true, .expected_timestep = 20000U},
{.msg = {{0x1D2, 0, 8}}, .check_checksum = true, .expected_timestep = 30000U},
{.msg = {{0x224, 0, 8}, {0x226, 0, 8}}, .check_checksum = false, .expected_timestep = 25000U},
};
const int TOYOTA_RX_CHECKS_LEN = sizeof(toyota_rx_checks) / sizeof(toyota_rx_checks[0]);

Expand Down Expand Up @@ -153,7 +153,7 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
int addr = GET_ADDR(to_send);
int bus = GET_BUS(to_send);

if (!msg_allowed(addr, bus, TOYOTA_TX_MSGS, sizeof(TOYOTA_TX_MSGS)/sizeof(TOYOTA_TX_MSGS[0]))) {
if (!msg_allowed(to_send, TOYOTA_TX_MSGS, sizeof(TOYOTA_TX_MSGS)/sizeof(TOYOTA_TX_MSGS[0]))) {
tx = 0;
}

Expand Down
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