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Chrysler Checksum/counter (#450) 

* abstract crc function

* counter-checksum for chrysler

* also adding checksum to tests
master
rbiasini 2020-02-24 16:36:46 -08:00 committed by GitHub
parent 96e535e5a0
commit d7f1195d1e
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 93 additions and 12 deletions
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54
board/safety/safety_chrysler.h
View File

@ -9,10 +9,10 @@ const AddrBus CHRYSLER_TX_MSGS[] = {{571, 0}, {658, 0}, {678, 0}};
// TODO: do checksum and counter checks
AddrCheckStruct chrysler_rx_checks[] = {
{.addr = {544}, .bus = 0, .expected_timestep = 10000U},
{.addr = {514}, .bus = 0, .expected_timestep = 10000U},
{.addr = {500}, .bus = 0, .expected_timestep = 20000U},
{.addr = {308}, .bus = 0, .expected_timestep = 20000U}, // verify ts
{.addr = {544}, .bus = 0, .check_checksum = true, .max_counter = 15U, .expected_timestep = 10000U},
{.addr = {514}, .bus = 0, .check_checksum = false, .max_counter = 0U, .expected_timestep = 10000U},
{.addr = {500}, .bus = 0, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U},
{.addr = {308}, .bus = 0, .check_checksum = false, .max_counter = 15U, .expected_timestep = 20000U},
};
const int CHRYSLER_RX_CHECK_LEN = sizeof(chrysler_rx_checks) / sizeof(chrysler_rx_checks[0]);
@ -24,10 +24,54 @@ int chrysler_speed = 0;
uint32_t chrysler_ts_last = 0;
struct sample_t chrysler_torque_meas; // last few torques measured
static uint8_t chrysler_get_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
int checksum_byte = GET_LEN(to_push) - 1;
return (uint8_t)(GET_BYTE(to_push, checksum_byte));
}
static uint8_t chrysler_compute_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
/* This function does not want the checksum byte in the input data.
jeep chrysler canbus checksum from http://illmatics.com/Remote%20Car%20Hacking.pdf */
uint8_t checksum = 0xFF;
int len = GET_LEN(to_push);
for (int j = 0; j < (len - 1); j++) {
uint8_t shift = 0x80;
uint8_t curr = (uint8_t)GET_BYTE(to_push, j);
for (int i=0; i<8; i++) {
uint8_t bit_sum = curr & shift;
uint8_t temp_chk = checksum & 0x80U;
if (bit_sum != 0U) {
bit_sum = 0x1C;
if (temp_chk != 0U) {
bit_sum = 1;
}
checksum = checksum << 1;
temp_chk = checksum | 1U;
bit_sum ^= temp_chk;
} else {
if (temp_chk != 0U) {
bit_sum = 0x1D;
}
checksum = checksum << 1;
bit_sum ^= checksum;
}
checksum = bit_sum;
shift = shift >> 1;
}
}
return ~checksum;
}
static uint8_t chrysler_get_counter(CAN_FIFOMailBox_TypeDef *to_push) {
// Well defined counter only for 8 bytes messages
return (uint8_t)(GET_BYTE(to_push, 6) >> 4);
}
static int chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
bool valid = addr_safety_check(to_push, chrysler_rx_checks, CHRYSLER_RX_CHECK_LEN,
NULL, NULL, NULL);
chrysler_get_checksum, chrysler_compute_checksum,
chrysler_get_counter);
if (valid) {
int bus = GET_BUS(to_push);

2
board/safety/safety_honda.h
View File

@ -48,7 +48,7 @@ static uint8_t honda_compute_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
while (addr > 0U) {
checksum += (addr & 0xFU); addr >>= 4;
}
for (int j = 0; (j < len); j++) {
for (int j = 0; j < len; j++) {
uint8_t byte = GET_BYTE(to_push, j);
checksum += (byte & 0xFU) + (byte >> 4U);
if (j == (len - 1)) {

49
tests/safety/test_chrysler.py
View File

@ -16,18 +16,54 @@ MAX_TORQUE_ERROR = 80
TX_MSGS = [[571, 0], [658, 0], [678, 0]]
def chrysler_checksum(msg, len_msg):
checksum = 0xFF
for idx in range(0, len_msg-1):
curr = (msg.RDLR >> (8*idx)) if idx < 4 else (msg.RDHR >> (8*(idx - 4)))
curr &= 0xFF
shift = 0x80
for i in range(0, 8):
bit_sum = curr & shift
temp_chk = checksum & 0x80
if (bit_sum != 0):
bit_sum = 0x1C
if (temp_chk != 0):
bit_sum = 1
checksum = checksum << 1
temp_chk = checksum | 1
bit_sum ^= temp_chk
else:
if (temp_chk != 0):
bit_sum = 0x1D
checksum = checksum << 1
bit_sum ^= checksum
checksum = bit_sum
shift = shift >> 1
return ~checksum & 0xFF
class TestChryslerSafety(unittest.TestCase):
@classmethod
def setUp(cls):
cls.safety = libpandasafety_py.libpandasafety
cls.safety.set_safety_hooks(Panda.SAFETY_CHRYSLER, 0)
cls.safety.init_tests_chrysler()
cls.cnt_torque_meas = 0
cls.cnt_gas = 0
cls.cnt_cruise = 0
def _button_msg(self, buttons):
to_send = make_msg(0, 571)
to_send[0].RDLR = buttons
return to_send
def _cruise_msg(self, active):
to_send = make_msg(0, 500)
to_send[0].RDLR = 0x380000 if active else 0
to_send[0].RDHR |= (self.cnt_cruise % 16) << 20
to_send[0].RDHR |= chrysler_checksum(to_send[0], 8) << 24
self.cnt_cruise += 1
return to_send
def _speed_msg(self, speed):
speed = int(speed / 0.071028)
to_send = make_msg(0, 514, 4)
@ -38,6 +74,8 @@ class TestChryslerSafety(unittest.TestCase):
def _gas_msg(self, gas):
to_send = make_msg(0, 308)
to_send[0].RDHR = (gas & 0x7F) << 8
to_send[0].RDHR |= (self.cnt_gas % 16) << 20
self.cnt_gas += 1
return to_send
def _set_prev_torque(self, t):
@ -48,6 +86,9 @@ class TestChryslerSafety(unittest.TestCase):
def _torque_meas_msg(self, torque):
to_send = make_msg(0, 544)
to_send[0].RDHR = ((torque + 1024) >> 8) + (((torque + 1024) & 0xff) << 8)
to_send[0].RDHR |= (self.cnt_torque_meas % 16) << 20
to_send[0].RDHR |= chrysler_checksum(to_send[0], 8) << 24
self.cnt_torque_meas += 1
return to_send
def _torque_msg(self, torque):
@ -78,16 +119,12 @@ class TestChryslerSafety(unittest.TestCase):
test_manually_enable_controls_allowed(self)
def test_enable_control_allowed_from_cruise(self):
to_push = make_msg(0, 0x1F4)
to_push[0].RDLR = 0x380000
to_push = self._cruise_msg(True)
self.safety.safety_rx_hook(to_push)
self.assertTrue(self.safety.get_controls_allowed())
def test_disable_control_allowed_from_cruise(self):
to_push = make_msg(0, 0x1F4)
to_push[0].RDLR = 0
to_push = self._cruise_msg(False)
self.safety.set_controls_allowed(1)
self.safety.safety_rx_hook(to_push)
self.assertFalse(self.safety.get_controls_allowed())