add hyundai legacy safety mode (#554)

board/safety.h

@@ -37,6 +37,7 @@
 #define SAFETY_HONDA_BOSCH_HARNESS 20U
 #define SAFETY_VOLKSWAGEN_PQ 21U
 #define SAFETY_SUBARU_LEGACY 22U
+#define SAFETY_HYUNDAI_LEGACY 23U
 
 uint16_t current_safety_mode = SAFETY_SILENT;
 const safety_hooks *current_hooks = &nooutput_hooks;
@@ -227,6 +228,7 @@ const safety_hook_config safety_hook_registry[] = {
   {SAFETY_VOLKSWAGEN_MQB, &volkswagen_mqb_hooks},
   {SAFETY_NISSAN, &nissan_hooks},
   {SAFETY_NOOUTPUT, &nooutput_hooks},
+  {SAFETY_HYUNDAI_LEGACY, &hyundai_legacy_hooks},
 #ifdef ALLOW_DEBUG
   {SAFETY_MAZDA, &mazda_hooks},
   {SAFETY_SUBARU_LEGACY, &subaru_legacy_hooks},

board/safety/safety_hyundai.h

@@ -19,18 +19,25 @@ const CanMsg HYUNDAI_TX_MSGS[] = {
 
 // TODO: missing checksum for wheel speeds message,worst failure case is
 //       wheel speeds stuck at 0 and we don't disengage on brake press
-// TODO: refactor addr check to cleanly re-enable commented out checks for cars that have them
 AddrCheckStruct hyundai_rx_checks[] = {
   {.msg = {{608, 0, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U}}},
-  // TODO: older hyundai models don't populate the counter bits in 902
-  //{.msg = {{902, 0, 8, .max_counter = 15U,  .expected_timestep = 10000U}}},
-  {.msg = {{902, 0, 8, .max_counter = 0U,  .expected_timestep = 10000U}}},
-  //{.msg = {{916, 0, 8, .check_checksum = true, .max_counter = 7U, .expected_timestep = 10000U}}},
-  {.msg = {{916, 0, 8, .check_checksum = false, .max_counter = 0U, .expected_timestep = 10000U}}},
+  {.msg = {{902, 0, 8, .check_checksum = false, .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}}},
 };
 const int HYUNDAI_RX_CHECK_LEN = sizeof(hyundai_rx_checks) / sizeof(hyundai_rx_checks[0]);
 
+// older hyundai models have less checks due to missing counters and checksums
+AddrCheckStruct hyundai_legacy_rx_checks[] = {
+  {.msg = {{608, 0, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U}}},
+  {.msg = {{902, 0, 8, .check_checksum = false, .max_counter = 0U,  .expected_timestep = 10000U}}},
+  {.msg = {{916, 0, 8, .check_checksum = false, .max_counter = 0U, .expected_timestep = 10000U}}},
+  {.msg = {{1057, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}}},
+};
+const int HYUNDAI_LEGACY_RX_CHECK_LEN = sizeof(hyundai_legacy_rx_checks) / sizeof(hyundai_legacy_rx_checks[0]);
+
+bool hyundai_legacy = false;
+
 static uint8_t hyundai_get_counter(CAN_FIFOMailBox_TypeDef *to_push) {
   int addr = GET_ADDR(to_push);
 
@@ -82,9 +89,17 @@ static uint8_t hyundai_compute_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
 
 static int hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
-  bool valid = addr_safety_check(to_push, hyundai_rx_checks, HYUNDAI_RX_CHECK_LEN,
-                                 hyundai_get_checksum, hyundai_compute_checksum,
-                                 hyundai_get_counter);
+  bool valid;
+  if (hyundai_legacy) {
+    valid = addr_safety_check(to_push, hyundai_legacy_rx_checks, HYUNDAI_LEGACY_RX_CHECK_LEN,
+                              hyundai_get_checksum, hyundai_compute_checksum,
+                              hyundai_get_counter);
+
+  } else {
+    valid = addr_safety_check(to_push, hyundai_rx_checks, HYUNDAI_RX_CHECK_LEN,
+                              hyundai_get_checksum, hyundai_compute_checksum,
+                              hyundai_get_counter);
+  }
 
   bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
 
@@ -234,8 +249,24 @@ static int hyundai_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
   return bus_fwd;
 }
 
+static void hyundai_init(int16_t param) {
+  UNUSED(param);
+  controls_allowed = false;
+  relay_malfunction_reset();
+
+  hyundai_legacy = false;
+}
+
+static void hyundai_legacy_init(int16_t param) {
+  UNUSED(param);
+  controls_allowed = false;
+  relay_malfunction_reset();
+
+  hyundai_legacy = true;
+}
+
 const safety_hooks hyundai_hooks = {
-  .init = nooutput_init,
+  .init = hyundai_init,
   .rx = hyundai_rx_hook,
   .tx = hyundai_tx_hook,
   .tx_lin = nooutput_tx_lin_hook,
@@ -243,3 +274,13 @@ const safety_hooks hyundai_hooks = {
   .addr_check = hyundai_rx_checks,
   .addr_check_len = sizeof(hyundai_rx_checks) / sizeof(hyundai_rx_checks[0]),
 };
+
+const safety_hooks hyundai_legacy_hooks = {
+  .init = hyundai_legacy_init,
+  .rx = hyundai_rx_hook,
+  .tx = hyundai_tx_hook,
+  .tx_lin = nooutput_tx_lin_hook,
+  .fwd = hyundai_fwd_hook,
+  .addr_check = hyundai_legacy_rx_checks,
+  .addr_check_len = sizeof(hyundai_legacy_rx_checks) / sizeof(hyundai_legacy_rx_checks[0]),
+};

python/__init__.py

@@ -129,6 +129,7 @@ class Panda(object):
   SAFETY_HONDA_BOSCH_HARNESS = 20
   SAFETY_VOLKSWAGEN_PQ = 21
   SAFETY_SUBARU_LEGACY = 22
+  SAFETY_HYUNDAI_LEGACY = 23
 
   SERIAL_DEBUG = 0
   SERIAL_ESP = 1

tests/safety/test_hyundai.py

@@ -191,5 +191,13 @@ class TestHyundaiSafety(common.PandaSafetyTest):
     self.assertTrue(self._tx(self._button_msg(RESUME_BTN)))
 
 
+class TestHyundaiLegacySafety(TestHyundaiSafety):
+  def setUp(self):
+    self.packer = CANPackerPanda("hyundai_kia_generic")
+    self.safety = libpandasafety_py.libpandasafety
+    self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_LEGACY, 0)
+    self.safety.init_tests()
+
+
 if __name__ == "__main__":
   unittest.main()