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Hyundai: counter check (#530) 

* hyundai counter check

* fix misra

* add counter to tests
master
Adeeb 2020-05-09 00:52:57 -07:00 committed by GitHub
parent a4390713e6
commit 869f123218
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 40 additions and 10 deletions
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34
board/safety/safety_hyundai.h
View File

@ -8,20 +8,40 @@ 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}};
// TODO: do checksum and counter checks
// TODO: do checksum checks
AddrCheckStruct hyundai_rx_checks[] = {
{.addr = {608}, .bus = 0, .expected_timestep = 10000U},
{.addr = {897}, .bus = 0, .expected_timestep = 10000U},
{.addr = {902}, .bus = 0, .expected_timestep = 10000U},
{.addr = {916}, .bus = 0, .expected_timestep = 10000U},
{.addr = {1057}, .bus = 0, .expected_timestep = 20000U},
{.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},
};
const int HYUNDAI_RX_CHECK_LEN = sizeof(hyundai_rx_checks) / sizeof(hyundai_rx_checks[0]);
static uint8_t hyundai_get_counter(CAN_FIFOMailBox_TypeDef *to_push) {
int addr = GET_ADDR(to_push);
uint8_t cnt;
if (addr == 608) {
cnt = (GET_BYTE(to_push, 7) >> 4) & 0x3;
} else if (addr == 897) {
cnt = GET_BYTE(to_push, 5);
} else if (addr == 902) {
cnt = (GET_BYTE(to_push, 1) >> 6) & 0x3;
} else if (addr == 916) {
cnt = (GET_BYTE(to_push, 1) >> 5) & 0x7;
} else if (addr == 1057) {
cnt = GET_BYTE(to_push, 7) & 0xF;
} else {
cnt = 0;
}
return cnt;
}
static int hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
bool valid = addr_safety_check(to_push, hyundai_rx_checks, HYUNDAI_RX_CHECK_LEN,
NULL, NULL, NULL);
NULL, NULL, hyundai_get_counter);
bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;

16
tests/safety/test_hyundai.py
View File

@ -25,6 +25,11 @@ class TestHyundaiSafety(common.PandaSafetyTest):
FWD_BLACKLISTED_ADDRS = {2: [832, 1157]}
FWD_BUS_LOOKUP = {0: 2, 2: 0}
cnt_gas = 0
cnt_speed = 0
cnt_brake = 0
cnt_cruise = 0
def setUp(self):
self.packer = CANPackerPanda("hyundai_kia_generic")
self.safety = libpandasafety_py.libpandasafety
@ -36,20 +41,25 @@ class TestHyundaiSafety(common.PandaSafetyTest):
return self.packer.make_can_msg_panda("CLU11", 0, values)
def _gas_msg(self, val):
values = {"CF_Ems_AclAct": val}
values = {"CF_Ems_AclAct": val, "AliveCounter": self.cnt_gas % 4}
self.__class__.cnt_gas += 1
return self.packer.make_can_msg_panda("EMS16", 0, values)
def _brake_msg(self, brake):
values = {"DriverBraking": brake}
values = {"DriverBraking": brake, "AliveCounterTCS": self.cnt_brake % 8}
self.__class__.cnt_brake += 1
return self.packer.make_can_msg_panda("TCS13", 0, values)
def _speed_msg(self, speed):
# panda safety doesn't scale, so undo the scaling
values = {"WHL_SPD_%s"%s: speed*0.03125 for s in ["FL", "FR", "RL", "RR"]}
values["WHL_SPD_AliveCounter_LSB"] = self.cnt_speed % 4
self.__class__.cnt_speed += 1
return self.packer.make_can_msg_panda("WHL_SPD11", 0, values)
def _pcm_status_msg(self, enabled):
values = {"ACCMode": enabled}
values = {"ACCMode": enabled, "CR_VSM_Alive": self.cnt_cruise % 16}
self.__class__.cnt_cruise += 1
return self.packer.make_can_msg_panda("SCC12", 0, values)
def _set_prev_torque(self, t):