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Filtering LKAS HUD messages (#468) 

* Filtering LKAS HUD messages

* Added nissan test_fwd_hook()

* Added Nissan TX_MSGS safety test

Co-authored-by: rbiasini <riccardo.biasini@gmail.com>
master
Andre Volmensky 2020-03-11 16:00:33 +09:00 committed by GitHub
parent 99050f4129
commit 5b1a8dc873
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 22 additions and 4 deletions
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6
board/safety/safety_nissan.h
View File

@ -15,7 +15,7 @@ const struct lookup_t NISSAN_LOOKUP_MAX_ANGLE = {
const int NISSAN_DEG_TO_CAN = 100;
const AddrBus NISSAN_TX_MSGS[] = {{0x169, 0}, {0x20b, 2}};
const AddrBus NISSAN_TX_MSGS[] = {{0x169, 0}, {0x2b1, 0}, {0x4cc, 0}, {0x20b, 2}};
AddrCheckStruct nissan_rx_checks[] = {
{.addr = {0x2}, .bus = 0, .expected_timestep = 10000U},
@ -187,8 +187,8 @@ static int nissan_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
}
if (bus_num == 2) {
// 0x169 is LKAS
int block_msg = (addr == 0x169);
// 0x169 is LKAS, 0x2b1 LKAS_HUD, 0x4cc LKAS_HUD_INFO_MSG
int block_msg = ((addr == 0x169) || (addr == 0x2b1) || (addr == 0x4cc));
if (!block_msg) {
bus_fwd = 0; // V-CAN
}

20
tests/safety/test_nissan.py
View File

@ -11,7 +11,7 @@ ANGLE_DELTA_BP = [0., 5., 15.]
ANGLE_DELTA_V = [5., .8, .15] # windup limit
ANGLE_DELTA_VU = [5., 3.5, 0.4] # unwind limit
TX_MSGS = [[0x169, 0], [0x20b, 2]]
TX_MSGS = [[0x169, 0], [0x2b1, 0], [0x4cc, 0], [0x20b, 2]]
def twos_comp(val, bits):
if val >= 0:
@ -176,5 +176,23 @@ class TestNissanSafety(unittest.TestCase):
def test_relay_malfunction(self):
StdTest.test_relay_malfunction(self, 0x169)
def test_fwd_hook(self):
buss = list(range(0x0, 0x3))
msgs = list(range(0x1, 0x800))
blocked_msgs = [0x169,0x2b1,0x4cc]
for b in buss:
for m in msgs:
if b == 0:
fwd_bus = 2
elif b == 1:
fwd_bus = -1
elif b == 2:
fwd_bus = -1 if m in blocked_msgs else 0
# assume len 8
self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
if __name__ == "__main__":
unittest.main()