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Subaru checksum counter (#455) 

* Added Subaru Global checksum and counter checks
master
rbiasini 2020-02-27 17:33:51 -08:00 committed by GitHub
parent 9a44499879
commit fb02390d4c
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 45 additions and 5 deletions
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28
board/safety/safety_subaru.h
View File

@ -13,12 +13,12 @@ const AddrBus SUBARU_L_TX_MSGS[] = {{0x164, 0}, {0x221, 0}, {0x322, 0}};
const int SUBARU_TX_MSGS_LEN = sizeof(SUBARU_TX_MSGS) / sizeof(SUBARU_TX_MSGS[0]);
const int SUBARU_L_TX_MSGS_LEN = sizeof(SUBARU_L_TX_MSGS) / sizeof(SUBARU_L_TX_MSGS[0]);
// TODO: do checksum and counter checks after adding the signals to the outback dbc file
AddrCheckStruct subaru_rx_checks[] = {
{.addr = { 0x40}, .bus = 0, .expected_timestep = 10000U},
{.addr = {0x119}, .bus = 0, .expected_timestep = 20000U},
{.addr = {0x240}, .bus = 0, .expected_timestep = 50000U},
{.addr = { 0x40}, .bus = 0, .check_checksum = true, .max_counter = 15U, .expected_timestep = 10000U},
{.addr = {0x119}, .bus = 0, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U},
{.addr = {0x240}, .bus = 0, .check_checksum = true, .max_counter = 15U, .expected_timestep = 50000U},
};
// TODO: do checksum and counter checks after adding the signals to the outback dbc file
AddrCheckStruct subaru_l_rx_checks[] = {
{.addr = {0x140}, .bus = 0, .expected_timestep = 10000U},
{.addr = {0x371}, .bus = 0, .expected_timestep = 20000U},
@ -35,12 +35,30 @@ bool subaru_gas_last = false;
bool subaru_global = false;
struct sample_t subaru_torque_driver; // last few driver torques measured
static uint8_t subaru_get_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
return (uint8_t)GET_BYTE(to_push, 0);
}
static uint8_t subaru_get_counter(CAN_FIFOMailBox_TypeDef *to_push) {
return (uint8_t)(GET_BYTE(to_push, 1) & 0xF);
}
static uint8_t subaru_compute_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
int addr = GET_ADDR(to_push);
int len = GET_LEN(to_push);
uint8_t checksum = (uint8_t)(addr) + (uint8_t)((unsigned int)(addr) >> 8U);
for (int i = 1; i < len; i++) {
checksum += (uint8_t)GET_BYTE(to_push, i);
}
return checksum;
}
static int subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
bool valid = false;
if (subaru_global) {
valid = addr_safety_check(to_push, subaru_rx_checks, SUBARU_RX_CHECK_LEN,
NULL, NULL, NULL);
subaru_get_checksum, subaru_compute_checksum, subaru_get_counter);
} else {
valid = addr_safety_check(to_push, subaru_l_rx_checks, SUBARU_L_RX_CHECK_LEN,
NULL, NULL, NULL);

22
tests/safety/test_subaru.py
View File

@ -30,12 +30,25 @@ def sign(a):
else:
return -1
def subaru_checksum(msg, addr, len_msg):
checksum = addr + (addr >> 8)
for i in range(len_msg):
if i < 4:
checksum += (msg.RDLR >> (8 * i))
else:
checksum += (msg.RDHR >> (8 * (i - 4)))
return checksum & 0xff
class TestSubaruSafety(unittest.TestCase):
@classmethod
def setUp(cls):
cls.safety = libpandasafety_py.libpandasafety
cls.safety.set_safety_hooks(Panda.SAFETY_SUBARU, 0)
cls.safety.init_tests_subaru()
cls.cnt_gas = 0
cls.cnt_torque_driver = 0
cls.cnt_cruise = 0
def _set_prev_torque(self, t):
self.safety.set_subaru_desired_torque_last(t)
@ -46,6 +59,9 @@ class TestSubaruSafety(unittest.TestCase):
if self.safety.get_subaru_global():
to_send = make_msg(0, 0x119)
to_send[0].RDLR = ((t & 0x7FF) << 16)
to_send[0].RDLR |= (self.cnt_torque_driver & 0xF) << 8
to_send[0].RDLR |= subaru_checksum(to_send, 0x119, 8)
self.cnt_torque_driver += 1
else:
to_send = make_msg(0, 0x371)
to_send[0].RDLR = (t & 0x7) << 29
@ -66,6 +82,9 @@ class TestSubaruSafety(unittest.TestCase):
if self.safety.get_subaru_global():
to_send = make_msg(0, 0x40)
to_send[0].RDHR = gas & 0xFF
to_send[0].RDLR |= (self.cnt_gas & 0xF) << 8
to_send[0].RDLR |= subaru_checksum(to_send, 0x40, 8)
self.cnt_gas += 1
else:
to_send = make_msg(0, 0x140)
to_send[0].RDLR = gas & 0xFF
@ -75,6 +94,9 @@ class TestSubaruSafety(unittest.TestCase):
if self.safety.get_subaru_global():
to_send = make_msg(0, 0x240)
to_send[0].RDHR = cruise << 9
to_send[0].RDLR |= (self.cnt_cruise & 0xF) << 8
to_send[0].RDLR |= subaru_checksum(to_send, 0x240, 8)
self.cnt_cruise += 1
else:
to_send = make_msg(0, 0x144)
to_send[0].RDHR = cruise << 17