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Refactor addr check (commaai#541)
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* refactor addr checks

* re-enable that

* Willem comment
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@adeebshihadeh
adeebshihadeh committed May 26, 2020
1 parent 5210e51 commit d4f3f15
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Showing 10 changed files with 82 additions and 60 deletions.
30 changes: 20 additions & 10 deletions board/safety.h
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Original file line number Diff line number Diff line change
Expand Up @@ -100,15 +100,25 @@ int get_addr_check_index(CAN_FIFOMailBox_TypeDef *to_push, AddrCheckStruct addr_

int index = -1;
for (int i = 0; i < len; i++) {
for (uint8_t j = 0U; addr_list[i].msg[j].addr != 0; j++) {
if ((addr == addr_list[i].msg[j].addr) && (bus == addr_list[i].msg[j].bus) &&
(length == addr_list[i].msg[j].len)) {
index = i;
goto Return;
// if multiple msgs are allowed, determine which one is present on the bus
if (!addr_list[i].msg_seen) {
for (uint8_t j = 0U; addr_list[i].msg[j].addr != 0; j++) {
if ((addr == addr_list[i].msg[j].addr) && (bus == addr_list[i].msg[j].bus) &&
(length == addr_list[i].msg[j].len)) {
addr_list[i].index = j;
addr_list[i].msg_seen = true;
break;
}
}
}

int idx = addr_list[i].index;
if ((addr == addr_list[i].msg[idx].addr) && (bus == addr_list[i].msg[idx].bus) &&
(length == addr_list[i].msg[idx].len)) {
index = i;
break;
}
}
Return:
return index;
}

Expand All @@ -121,7 +131,7 @@ void safety_tick(const safety_hooks *hooks) {
// lag threshold is max of: 1s and MAX_MISSED_MSGS * expected timestep.
// Quite conservative to not risk false triggers.
// 2s of lag is worse case, since the function is called at 1Hz
bool lagging = elapsed_time > MAX(hooks->addr_check[i].expected_timestep * MAX_MISSED_MSGS, 1e6);
bool lagging = elapsed_time > MAX(hooks->addr_check[i].msg[hooks->addr_check[i].index].expected_timestep * MAX_MISSED_MSGS, 1e6);
hooks->addr_check[i].lagging = lagging;
if (lagging) {
controls_allowed = 0;
Expand All @@ -132,7 +142,7 @@ void safety_tick(const safety_hooks *hooks) {

void update_counter(AddrCheckStruct addr_list[], int index, uint8_t counter) {
if (index != -1) {
uint8_t expected_counter = (addr_list[index].last_counter + 1U) % (addr_list[index].max_counter + 1U);
uint8_t expected_counter = (addr_list[index].last_counter + 1U) % (addr_list[index].msg[addr_list[index].index].max_counter + 1U);
addr_list[index].wrong_counters += (expected_counter == counter) ? -1 : 1;
addr_list[index].wrong_counters = MAX(MIN(addr_list[index].wrong_counters, MAX_WRONG_COUNTERS), 0);
addr_list[index].last_counter = counter;
Expand Down Expand Up @@ -169,7 +179,7 @@ bool addr_safety_check(CAN_FIFOMailBox_TypeDef *to_push,

if (index != -1) {
// checksum check
if ((get_checksum != NULL) && (compute_checksum != NULL) && rx_checks[index].check_checksum) {
if ((get_checksum != NULL) && (compute_checksum != NULL) && rx_checks[index].msg[rx_checks[index].index].check_checksum) {
uint8_t checksum = get_checksum(to_push);
uint8_t checksum_comp = compute_checksum(to_push);
rx_checks[index].valid_checksum = checksum_comp == checksum;
Expand All @@ -178,7 +188,7 @@ bool addr_safety_check(CAN_FIFOMailBox_TypeDef *to_push,
}

// counter check (max_counter == 0 means skip check)
if ((get_counter != NULL) && (rx_checks[index].max_counter > 0U)) {
if ((get_counter != NULL) && (rx_checks[index].msg[rx_checks[index].index].max_counter > 0U)) {
uint8_t counter = get_counter(to_push);
update_counter(rx_checks, index, counter);
} else {
Expand Down
10 changes: 5 additions & 5 deletions board/safety/safety_chrysler.h
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Original file line number Diff line number Diff line change
Expand Up @@ -9,11 +9,11 @@ const int CHRYSLER_STANDSTILL_THRSLD = 10; // about 1m/s
const CanMsg CHRYSLER_TX_MSGS[] = {{571, 0, 3}, {658, 0, 6}, {678, 0, 8}};

AddrCheckStruct chrysler_rx_checks[] = {
{.msg = {{544, 0, 8}}, .check_checksum = true, .max_counter = 15U, .expected_timestep = 10000U},
{.msg = {{514, 0, 8}}, .check_checksum = false, .max_counter = 0U, .expected_timestep = 10000U},
{.msg = {{500, 0, 8}}, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U},
{.msg = {{308, 0, 8}}, .check_checksum = false, .max_counter = 15U, .expected_timestep = 20000U},
{.msg = {{320, 0, 8}}, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U},
{.msg = {{544, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 10000U}}},
{.msg = {{514, 0, 8, .check_checksum = false, .max_counter = 0U, .expected_timestep = 10000U}}},
{.msg = {{500, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}}},
{.msg = {{308, 0, 8, .check_checksum = false, .max_counter = 15U, .expected_timestep = 20000U}}},
{.msg = {{320, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}}},
};
const int CHRYSLER_RX_CHECK_LEN = sizeof(chrysler_rx_checks) / sizeof(chrysler_rx_checks[0]);

Expand Down
10 changes: 5 additions & 5 deletions board/safety/safety_gm.h
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Original file line number Diff line number Diff line change
Expand Up @@ -25,11 +25,11 @@ const CanMsg GM_TX_MSGS[] = {{384, 0, 4}, {1033, 0, 7}, {1034, 0, 7}, {715, 0, 8

// TODO: do checksum and counter checks. Add correct timestep, 0.1s for now.
AddrCheckStruct gm_rx_checks[] = {
{.msg = {{388, 0, 8}}, .expected_timestep = 100000U},
{.msg = {{842, 0, 5}}, .expected_timestep = 100000U},
{.msg = {{481, 0, 7}}, .expected_timestep = 100000U},
{.msg = {{241, 0, 6}}, .expected_timestep = 100000U},
{.msg = {{417, 0, 7}}, .expected_timestep = 100000U},
{.msg = {{388, 0, 8, .expected_timestep = 100000U}}},
{.msg = {{842, 0, 5, .expected_timestep = 100000U}}},
{.msg = {{481, 0, 7, .expected_timestep = 100000U}}},
{.msg = {{241, 0, 6, .expected_timestep = 100000U}}},
{.msg = {{417, 0, 7, .expected_timestep = 100000U}}},
};
const int GM_RX_CHECK_LEN = sizeof(gm_rx_checks) / sizeof(gm_rx_checks[0]);

Expand Down
13 changes: 7 additions & 6 deletions board/safety/safety_honda.h
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Original file line number Diff line number Diff line change
Expand Up @@ -26,17 +26,18 @@ const int HONDA_BOSCH_ACCEL_MIN = -350; // max braking == -3.5m/s2

// Nidec and Bosch giraffe have pt on bus 0
AddrCheckStruct honda_rx_checks[] = {
{.msg = {{0x1A6, 0, 8}, {0x296, 0, 4}}, .check_checksum = true, .max_counter = 3U, .expected_timestep = 40000U},
{.msg = {{0x158, 0, 8}}, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U},
{.msg = {{0x17C, 0, 8}}, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U},
{.msg = {{0x1A6, 0, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 40000U},
{0x296, 0, 4, .check_checksum = true, .max_counter = 3U, .expected_timestep = 40000U}}},
{.msg = {{0x158, 0, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U}}},
{.msg = {{0x17C, 0, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U}}},
};
const int HONDA_RX_CHECKS_LEN = sizeof(honda_rx_checks) / sizeof(honda_rx_checks[0]);

// Bosch harness has pt on bus 1
AddrCheckStruct honda_bh_rx_checks[] = {
{.msg = {{0x296, 1, 4}}, .check_checksum = true, .max_counter = 3U, .expected_timestep = 40000U},
{.msg = {{0x158, 1, 8}}, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U},
{.msg = {{0x17C, 1, 8}}, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U},
{.msg = {{0x296, 1, 4, .check_checksum = true, .max_counter = 3U, .expected_timestep = 40000U}}},
{.msg = {{0x158, 1, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U}}},
{.msg = {{0x17C, 1, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U}}},
};
const int HONDA_BH_RX_CHECKS_LEN = sizeof(honda_bh_rx_checks) / sizeof(honda_bh_rx_checks[0]);

Expand Down
10 changes: 5 additions & 5 deletions board/safety/safety_hyundai.h
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Original file line number Diff line number Diff line change
Expand Up @@ -10,11 +10,11 @@ const CanMsg HYUNDAI_TX_MSGS[] = {{832, 0, 8}, {1265, 0, 4}, {1157, 0, 4}};

// TODO: do checksum checks
AddrCheckStruct hyundai_rx_checks[] = {
{.msg = {{608, 0, 8}}, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U},
{.msg = {{897, 0, 8}}, .max_counter = 255U, .expected_timestep = 10000U},
{.msg = {{902, 0, 8}}, .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},
{.msg = {{608, 0, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U}}},
{.msg = {{897, 0, 8, .max_counter = 255U, .expected_timestep = 10000U}}},
{.msg = {{902, 0, 8, .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]);

Expand Down
12 changes: 7 additions & 5 deletions board/safety/safety_nissan.h
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Original file line number Diff line number Diff line change
Expand Up @@ -14,11 +14,13 @@ const int NISSAN_DEG_TO_CAN = 100;
const CanMsg NISSAN_TX_MSGS[] = {{0x169, 0, 8}, {0x2b1, 0, 8}, {0x4cc, 0, 8}, {0x20b, 2, 8}, {0x280, 2, 8}};

AddrCheckStruct nissan_rx_checks[] = {
{.msg = {{0x2, 0, 5}}, .expected_timestep = 10000U}, // STEER_ANGLE_SENSOR (100Hz)
{.msg = {{0x285, 0, 8}}, .expected_timestep = 20000U}, // WHEEL_SPEEDS_REAR (50Hz)
{.msg = {{0x30f, 2, 3}}, .expected_timestep = 100000U}, // CRUISE_STATE (10Hz)
{.msg = {{0x15c, 0, 8}, {0x239, 0, 8}}, .expected_timestep = 20000U}, // GAS_PEDAL (100Hz / 50Hz)
{.msg = {{0x454, 0, 8}, {0x1cc, 0, 8}}, .expected_timestep = 100000U}, // DOORS_LIGHTS (10Hz) / BRAKE (100Hz)
{.msg = {{0x2, 0, 5, .expected_timestep = 10000U}}}, // STEER_ANGLE_SENSOR (100Hz)
{.msg = {{0x285, 0, 8, .expected_timestep = 20000U}}}, // WHEEL_SPEEDS_REAR (50Hz)
{.msg = {{0x30f, 2, 3, .expected_timestep = 100000U}}}, // CRUISE_STATE (10Hz)
{.msg = {{0x15c, 0, 8, .expected_timestep = 20000U},
{0x239, 0, 8, .expected_timestep = 20000U}}}, // GAS_PEDAL (100Hz / 50Hz)
{.msg = {{0x454, 0, 8, .expected_timestep = 100000U},
{0x1cc, 0, 8, .expected_timestep = 100000U}}}, // DOORS_LIGHTS (10Hz) / BRAKE (100Hz)
};
const int NISSAN_RX_CHECK_LEN = sizeof(nissan_rx_checks) / sizeof(nissan_rx_checks[0]);

Expand Down
16 changes: 8 additions & 8 deletions board/safety/safety_subaru.h
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Original file line number Diff line number Diff line change
Expand Up @@ -15,17 +15,17 @@ 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]);

AddrCheckStruct subaru_rx_checks[] = {
{.msg = {{ 0x40, 0, 8}}, .check_checksum = true, .max_counter = 15U, .expected_timestep = 10000U},
{.msg = {{0x119, 0, 8}}, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U},
{.msg = {{0x139, 0, 8}}, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U},
{.msg = {{0x13a, 0, 8}}, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U},
{.msg = {{0x240, 0, 8}}, .check_checksum = true, .max_counter = 15U, .expected_timestep = 50000U},
{.msg = {{ 0x40, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 10000U}}},
{.msg = {{0x119, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}}},
{.msg = {{0x139, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}}},
{.msg = {{0x13a, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}}},
{.msg = {{0x240, 0, 8, .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[] = {
{.msg = {{0x140, 0, 8}}, .expected_timestep = 10000U},
{.msg = {{0x371, 0, 8}}, .expected_timestep = 20000U},
{.msg = {{0x144, 0, 8}}, .expected_timestep = 50000U},
{.msg = {{0x140, 0, 8, .expected_timestep = 10000U}}},
{.msg = {{0x371, 0, 8, .expected_timestep = 20000U}}},
{.msg = {{0x144, 0, 8, .expected_timestep = 50000U}}},
};
const int SUBARU_RX_CHECK_LEN = sizeof(subaru_rx_checks) / sizeof(subaru_rx_checks[0]);
const int SUBARU_L_RX_CHECK_LEN = sizeof(subaru_l_rx_checks) / sizeof(subaru_l_rx_checks[0]);
Expand Down
9 changes: 5 additions & 4 deletions board/safety/safety_toyota.h
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Original file line number Diff line number Diff line change
Expand Up @@ -35,10 +35,11 @@ const CanMsg TOYOTA_TX_MSGS[] = {{0x283, 0, 7}, {0x2E6, 0, 8}, {0x2E7, 0, 8}, {0
{0x200, 0, 6}, {0x750, 0, 8}}; // interceptor + Blindspot monitor

AddrCheckStruct toyota_rx_checks[] = {
{.msg = {{ 0xaa, 0, 8}}, .check_checksum = false, .expected_timestep = 12000U},
{.msg = {{0x260, 0, 8}}, .check_checksum = true, .expected_timestep = 20000U},
{.msg = {{0x1D2, 0, 8}}, .check_checksum = true, .expected_timestep = 30000U},
{.msg = {{0x224, 0, 8}, {0x226, 0, 8}}, .check_checksum = false, .expected_timestep = 25000U},
{.msg = {{ 0xaa, 0, 8, .check_checksum = false, .expected_timestep = 12000U}}},
{.msg = {{0x260, 0, 8, .check_checksum = true, .expected_timestep = 20000U}}},
{.msg = {{0x1D2, 0, 8, .check_checksum = true, .expected_timestep = 30000U}}},
{.msg = {{0x224, 0, 8, .check_checksum = false, .expected_timestep = 25000U},
{0x226, 0, 8, .check_checksum = false, .expected_timestep = 25000U}}},
};
const int TOYOTA_RX_CHECKS_LEN = sizeof(toyota_rx_checks) / sizeof(toyota_rx_checks[0]);

Expand Down
18 changes: 9 additions & 9 deletions board/safety/safety_volkswagen.h
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Original file line number Diff line number Diff line change
Expand Up @@ -22,11 +22,11 @@ const CanMsg VOLKSWAGEN_MQB_TX_MSGS[] = {{MSG_HCA_01, 0, 8}, {MSG_GRA_ACC_01, 0,
const int VOLKSWAGEN_MQB_TX_MSGS_LEN = sizeof(VOLKSWAGEN_MQB_TX_MSGS) / sizeof(VOLKSWAGEN_MQB_TX_MSGS[0]);

AddrCheckStruct volkswagen_mqb_rx_checks[] = {
{.msg = {{MSG_ESP_19, 0, 8}}, .check_checksum = false, .max_counter = 0U, .expected_timestep = 10000U},
{.msg = {{MSG_EPS_01, 0, 8}}, .check_checksum = true, .max_counter = 15U, .expected_timestep = 10000U},
{.msg = {{MSG_ESP_05, 0, 8}}, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U},
{.msg = {{MSG_TSK_06, 0, 8}}, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U},
{.msg = {{MSG_MOTOR_20, 0, 8}}, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U},
{.msg = {{MSG_ESP_19, 0, 8, .check_checksum = false, .max_counter = 0U, .expected_timestep = 10000U}}},
{.msg = {{MSG_EPS_01, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 10000U}}},
{.msg = {{MSG_ESP_05, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}}},
{.msg = {{MSG_TSK_06, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}}},
{.msg = {{MSG_MOTOR_20, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}}},
};
const int VOLKSWAGEN_MQB_RX_CHECKS_LEN = sizeof(volkswagen_mqb_rx_checks) / sizeof(volkswagen_mqb_rx_checks[0]);

Expand All @@ -44,10 +44,10 @@ const CanMsg VOLKSWAGEN_PQ_TX_MSGS[] = {{MSG_HCA_1, 0, 5}, {MSG_GRA_NEU, 0, 4},
const int VOLKSWAGEN_PQ_TX_MSGS_LEN = sizeof(VOLKSWAGEN_PQ_TX_MSGS) / sizeof(VOLKSWAGEN_PQ_TX_MSGS[0]);

AddrCheckStruct volkswagen_pq_rx_checks[] = {
{.msg = {{MSG_LENKHILFE_3, 0, 6}}, .check_checksum = true, .max_counter = 15U, .expected_timestep = 10000U},
{.msg = {{MSG_MOTOR_2, 0, 8}}, .check_checksum = false, .max_counter = 0U, .expected_timestep = 20000U},
{.msg = {{MSG_MOTOR_3, 0, 8}}, .check_checksum = false, .max_counter = 0U, .expected_timestep = 10000U},
{.msg = {{MSG_BREMSE_3, 0, 8}}, .check_checksum = false, .max_counter = 0U, .expected_timestep = 10000U},
{.msg = {{MSG_LENKHILFE_3, 0, 6, .check_checksum = true, .max_counter = 15U, .expected_timestep = 10000U}}},
{.msg = {{MSG_MOTOR_2, 0, 8, .check_checksum = false, .max_counter = 0U, .expected_timestep = 20000U}}},
{.msg = {{MSG_MOTOR_3, 0, 8, .check_checksum = false, .max_counter = 0U, .expected_timestep = 10000U}}},
{.msg = {{MSG_BREMSE_3, 0, 8, .check_checksum = false, .max_counter = 0U, .expected_timestep = 10000U}}},
};
const int VOLKSWAGEN_PQ_RX_CHECKS_LEN = sizeof(volkswagen_pq_rx_checks) / sizeof(volkswagen_pq_rx_checks[0]);

Expand Down
14 changes: 11 additions & 3 deletions board/safety_declarations.h
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Original file line number Diff line number Diff line change
Expand Up @@ -20,14 +20,22 @@ typedef struct {
int len;
} CanMsg;

// params and flags about checksum, counter and frequency checks for each monitored address
typedef struct {
// const params
const CanMsg msg[3]; // check either messages (e.g. honda steer). Array MUST terminate with an empty struct to know its length.
const int addr;
const int bus;
const int len;
const bool check_checksum; // true is checksum check is performed
const uint8_t max_counter; // maximum value of the counter. 0 means that the counter check is skipped
const uint32_t expected_timestep; // expected time between message updates [us]
} CanMsgCheck;

// params and flags about checksum, counter and frequency checks for each monitored address
typedef struct {
// const params
const CanMsgCheck msg[3]; // check either messages (e.g. honda steer). Array MUST terminate with an empty struct to know its length.
// dynamic flags
bool msg_seen;
int index; // if multiple messages are allowed to be checked, this stores the index of the first one seen. only msg[msg_index] will be used
bool valid_checksum; // true if and only if checksum check is passed
int wrong_counters; // counter of wrong counters, saturated between 0 and MAX_WRONG_COUNTERS
uint8_t last_counter; // last counter value
Expand Down

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