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Block 0xe5 (Honda Bosch) at the panda/uno. Only allow static values. (#515) 

* Safety for static 0xe5

Passes Misra test

* Add e5 to test.

* Readd
master
Chris Souers 2020-04-28 17:13:00 -04:00 committed by GitHub
parent 3517306113
commit 2299ecffc4
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 14 additions and 7 deletions
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13
board/safety/safety_honda.h
View File

@ -7,8 +7,8 @@
// 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}, {0x296, 0}, {0x33D, 2}}; // Bosch Giraffe
const AddrBus HONDA_BH_TX_MSGS[] = {{0xE4, 0}, {0x296, 1}, {0x33D, 0}}; // Bosch Harness
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
// Roughly calculated using the offsets in openpilot +5%:
// In openpilot: ((gas1_norm + gas2_norm)/2) > 15
@ -238,6 +238,13 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
}
}
// Bosch supplemental control check
if (addr == 0xE5) {
if ((GET_BYTES_04(to_send) != 0x10800004) || ((GET_BYTES_48(to_send) & 0x00FFFFFF) != 0x0)) {
tx = 0;
}
}
// GAS: safety check
if (addr == 0x200) {
if (!current_controls_allowed) {
@ -322,7 +329,7 @@ static int honda_bosch_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
}
if (bus_num == bus_rdr_cam) {
int addr = GET_ADDR(to_fwd);
int is_lkas_msg = (addr == 0xE4) || (addr == 0x33D);
int is_lkas_msg = (addr == 0xE4) || (addr == 0xE5) || (addr == 0x33D);
if (!is_lkas_msg) {
bus_fwd = bus_rdr_car;
}

8
tests/safety/test_honda.py
View File

@ -248,11 +248,11 @@ class TestHondaNidecSafety(TestHondaSafety, common.InterceptorSafetyTest):
class TestHondaBoschHarnessSafety(TestHondaSafety):
TX_MSGS = [[0xE4, 0], [0x296, 1], [0x33D, 0]] # Bosch Harness
TX_MSGS = [[0xE4, 0], [0xE5, 0], [0x296, 1], [0x33D, 0]] # Bosch Harness
STANDSTILL_THRESHOLD = 0
RELAY_MALFUNCTION_ADDR = 0xE4
RELAY_MALFUNCTION_BUS = 0
FWD_BLACKLISTED_ADDRS = {2: [0xE4, 0x33D]}
FWD_BLACKLISTED_ADDRS = {2: [0xE4, 0xE5, 0x33D]}
FWD_BUS_LOOKUP = {0: 2, 2: 0}
PT_BUS = 1
@ -290,11 +290,11 @@ class TestHondaBoschHarnessSafety(TestHondaSafety):
class TestHondaBoschGiraffeSafety(TestHondaBoschHarnessSafety):
TX_MSGS = [[0xE4, 2], [0x296, 0], [0x33D, 2]] # Bosch Giraffe
TX_MSGS = [[0xE4, 2], [0xE5, 2], [0x296, 0], [0x33D, 2]] # Bosch Giraffe
STANDSTILL_THRESHOLD = 0
RELAY_MALFUNCTION_ADDR = 0xE4
RELAY_MALFUNCTION_BUS = 2
FWD_BLACKLISTED_ADDRS = {1: [0xE4, 0x33D]}
FWD_BLACKLISTED_ADDRS = {1: [0xE4, 0xE5, 0x33D]}
FWD_BUS_LOOKUP = {1: 2, 2: 1}
PT_BUS = 0