Block 0xe5 (Honda Bosch) at the panda/uno. Only allow static values. (#…

…515) * Safety for static 0xe5 Passes Misra test * Add e5 to test. * Readd
commaai · Apr 28, 2020 · 2299ecf · 2299ecf
1 parent 3517306
commit 2299ecf
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Showing 2 changed files with 14 additions and 7 deletions.
diff --git a/board/safety/safety_honda.h b/board/safety/safety_honda.h
@@ -7,8 +7,8 @@
 //      brake rising edge
 //      brake > 0mph
 const AddrBus HONDA_N_TX_MSGS[] = {{0xE4, 0}, {0x194, 0}, {0x1FA, 0}, {0x200, 0}, {0x30C, 0}, {0x33D, 0}};
-const AddrBus HONDA_BG_TX_MSGS[] = {{0xE4, 2}, {0x296, 0}, {0x33D, 2}};  // Bosch Giraffe
-const AddrBus HONDA_BH_TX_MSGS[] = {{0xE4, 0}, {0x296, 1}, {0x33D, 0}};  // Bosch Harness
+const AddrBus HONDA_BG_TX_MSGS[] = {{0xE4, 2}, {0xE5, 2}, {0x296, 0}, {0x33D, 2}};  // Bosch Giraffe
+const AddrBus HONDA_BH_TX_MSGS[] = {{0xE4, 0}, {0xE5, 0}, {0x296, 1}, {0x33D, 0}};  // Bosch Harness
 
 // Roughly calculated using the offsets in openpilot +5%:
 // In openpilot: ((gas1_norm + gas2_norm)/2) > 15
@@ -238,6 +238,13 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
     }
   }
 
+    // Bosch supplemental control check
+  if (addr == 0xE5) {
+    if ((GET_BYTES_04(to_send) != 0x10800004) || ((GET_BYTES_48(to_send) & 0x00FFFFFF) != 0x0)) {
+      tx = 0;
+    }
+  }
+
   // GAS: safety check
   if (addr == 0x200) {
     if (!current_controls_allowed) {
@@ -322,7 +329,7 @@ static int honda_bosch_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
     }
     if (bus_num == bus_rdr_cam)  {
       int addr = GET_ADDR(to_fwd);
-      int is_lkas_msg = (addr == 0xE4) || (addr == 0x33D);
+      int is_lkas_msg = (addr == 0xE4) || (addr == 0xE5) || (addr == 0x33D);
       if (!is_lkas_msg) {
         bus_fwd = bus_rdr_car;
       }

diff --git a/tests/safety/test_honda.py b/tests/safety/test_honda.py
@@ -248,11 +248,11 @@ def test_tx_hook_on_interceptor_pressed(self):
 
 
 class TestHondaBoschHarnessSafety(TestHondaSafety):
-  TX_MSGS = [[0xE4, 0], [0x296, 1], [0x33D, 0]]  # Bosch Harness
+  TX_MSGS = [[0xE4, 0], [0xE5, 0], [0x296, 1], [0x33D, 0]]  # Bosch Harness
   STANDSTILL_THRESHOLD = 0
   RELAY_MALFUNCTION_ADDR = 0xE4
   RELAY_MALFUNCTION_BUS = 0
-  FWD_BLACKLISTED_ADDRS = {2: [0xE4, 0x33D]}
+  FWD_BLACKLISTED_ADDRS = {2: [0xE4, 0xE5, 0x33D]}
   FWD_BUS_LOOKUP = {0: 2, 2: 0}
 
   PT_BUS = 1
@@ -290,11 +290,11 @@ def test_alt_disengage_on_brake(self):
 
 
 class TestHondaBoschGiraffeSafety(TestHondaBoschHarnessSafety):
-  TX_MSGS = [[0xE4, 2], [0x296, 0], [0x33D, 2]]  # Bosch Giraffe
+  TX_MSGS = [[0xE4, 2], [0xE5, 2], [0x296, 0], [0x33D, 2]]  # Bosch Giraffe
   STANDSTILL_THRESHOLD = 0
   RELAY_MALFUNCTION_ADDR = 0xE4
   RELAY_MALFUNCTION_BUS = 2
-  FWD_BLACKLISTED_ADDRS = {1: [0xE4, 0x33D]}
+  FWD_BLACKLISTED_ADDRS = {1: [0xE4, 0xE5, 0x33D]}
   FWD_BUS_LOOKUP = {1: 2, 2: 1}
 
   PT_BUS = 0