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hyundai: WHL_SPD11 checksum (#622) 

* WHL_SPD11 checksum

* update comments
master
Greg Hogan 2021-03-31 18:39:13 -07:00 committed by GitHub
parent 596344e48b
commit a3b95dc26d
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 53 additions and 20 deletions
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38
board/safety/safety_hyundai.h
View File

@ -17,11 +17,9 @@ const CanMsg HYUNDAI_TX_MSGS[] = {
// {1186, 0, 8} // 4a2SCC, Bus 0
};
// TODO: missing checksum for wheel speeds message,worst failure case is
// wheel speeds stuck at 0 and we don't disengage on brake press
AddrCheckStruct hyundai_rx_checks[] = {
{.msg = {{608, 0, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U}}},
{.msg = {{902, 0, 8, .check_checksum = false, .max_counter = 15U, .expected_timestep = 10000U}}},
{.msg = {{902, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 10000U}}},
{.msg = {{916, 0, 8, .check_checksum = true, .max_counter = 7U, .expected_timestep = 10000U}}},
{.msg = {{1057, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}}},
};
@ -63,6 +61,8 @@ static uint8_t hyundai_get_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
uint8_t chksum;
if (addr == 608) {
chksum = GET_BYTE(to_push, 7) & 0xF;
} else if (addr == 902) {
chksum = ((GET_BYTE(to_push, 7) >> 6) << 2) | (GET_BYTE(to_push, 5) >> 6);
} else if (addr == 916) {
chksum = GET_BYTE(to_push, 6) & 0xF;
} else if (addr == 1057) {
@ -77,15 +77,33 @@ static uint8_t hyundai_compute_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
int addr = GET_ADDR(to_push);
uint8_t chksum = 0;
// same algorithm, but checksum is in a different place
for (int i = 0; i < 8; i++) {
uint8_t b = GET_BYTE(to_push, i);
if (((addr == 608) && (i == 7)) || ((addr == 916) && (i == 6)) || ((addr == 1057) && (i == 7))) {
b &= (addr == 1057) ? 0x0FU : 0xF0U; // remove checksum
if (addr == 902) {
// count the bits
for (int i = 0; i < 8; i++) {
uint8_t b = GET_BYTE(to_push, i);
for (int j = 0; j < 8; j++) {
uint8_t bit = 0;
// exclude checksum and counter
if (((i != 1) || (j < 6)) && ((i != 3) || (j < 6)) && ((i != 5) || (j < 6)) && ((i != 7) || (j < 6))) {
bit = (b >> (uint8_t)j) & 1U;
}
chksum += bit;
}
}
chksum += (b % 16U) + (b / 16U);
chksum = (chksum ^ 9U) & 15U;
} else {
// sum of nibbles
for (int i = 0; i < 8; i++) {
uint8_t b = GET_BYTE(to_push, i);
if (((addr == 608) && (i == 7)) || ((addr == 916) && (i == 6)) || ((addr == 1057) && (i == 7))) {
b &= (addr == 1057) ? 0x0FU : 0xF0U; // remove checksum
}
chksum += (b % 16U) + (b / 16U);
}
chksum = (16U - (chksum % 16U)) % 16U;
}
return (16U - (chksum % 16U)) % 16U;
return chksum;
}
static int hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {

35
tests/safety/test_hyundai.py
View File

@ -22,15 +22,30 @@ def checksum(msg):
addr, t, dat, bus = msg
chksum = 0
for i, b in enumerate(dat):
if addr in [608, 1057] and i == 7:
b &= 0x0F if addr == 1057 else 0xF0
elif addr == 916 and i == 6:
b &= 0xF0
chksum += sum(divmod(b, 16))
chksum = (16 - chksum) % 16
ret = bytearray(dat)
ret[6 if addr == 916 else 7] |= chksum << (4 if addr == 1057 else 0)
if addr == 902:
for i, b in enumerate(dat):
for j in range(8):
# exclude checksum and counter bits
if (i != 1 or j < 6) and (i != 3 or j < 6) and (i != 5 or j < 6) and (i != 7 or j < 6):
bit = (b >> j) & 1
else:
bit = 0
chksum += bit
chksum = (chksum ^ 9) & 0xF
ret = bytearray(dat)
ret[5] |= (chksum & 0x3) << 6
ret[7] |= (chksum & 0xc) << 4
else:
for i, b in enumerate(dat):
if addr in [608, 1057] and i == 7:
b &= 0x0F if addr == 1057 else 0xF0
elif addr == 916 and i == 6:
b &= 0xF0
chksum += sum(divmod(b, 16))
chksum = (16 - chksum) % 16
ret = bytearray(dat)
ret[6 if addr == 916 else 7] |= chksum << (4 if addr == 1057 else 0)
return addr, t, ret, bus
class TestHyundaiSafety(common.PandaSafetyTest):
@ -72,7 +87,7 @@ class TestHyundaiSafety(common.PandaSafetyTest):
values["WHL_SPD_AliveCounter_LSB"] = (self.cnt_speed % 16) & 0x3
values["WHL_SPD_AliveCounter_MSB"] = (self.cnt_speed % 16) >> 2
self.__class__.cnt_speed += 1
return self.packer.make_can_msg_panda("WHL_SPD11", 0, values)
return self.packer.make_can_msg_panda("WHL_SPD11", 0, values, fix_checksum=checksum)
def _pcm_status_msg(self, enable):
values = {"ACCMode": enable, "CR_VSM_Alive": self.cnt_cruise % 16}