Hyundai: counter check (#530)

* hyundai counter check * fix misra * add counter to tests
commaai · May 9, 2020 · 869f123 · 869f123
1 parent a439071
commit 869f123
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Showing 2 changed files with 40 additions and 10 deletions.
diff --git a/board/safety/safety_hyundai.h b/board/safety/safety_hyundai.h
@@ -8,20 +8,40 @@ const int HYUNDAI_DRIVER_TORQUE_FACTOR = 2;
 const int HYUNDAI_STANDSTILL_THRSLD = 30;  // ~1kph
 const AddrBus HYUNDAI_TX_MSGS[] = {{832, 0}, {1265, 0}, {1157, 0}};
 
-// TODO: do checksum and counter checks
+// TODO: do checksum checks
 AddrCheckStruct hyundai_rx_checks[] = {
-  {.addr = {608}, .bus = 0, .expected_timestep = 10000U},
-  {.addr = {897}, .bus = 0, .expected_timestep = 10000U},
-  {.addr = {902}, .bus = 0, .expected_timestep = 10000U},
-  {.addr = {916}, .bus = 0, .expected_timestep = 10000U},
-  {.addr = {1057}, .bus = 0, .expected_timestep = 20000U},
+  {.addr = {608}, .bus = 0, .max_counter = 3U, .expected_timestep = 10000U},
+  {.addr = {897}, .bus = 0, .max_counter = 255U, .expected_timestep = 10000U},
+  {.addr = {902}, .bus = 0, .max_counter = 3U,  .expected_timestep = 10000U},
+  {.addr = {916}, .bus = 0, .max_counter = 7U, .expected_timestep = 10000U},
+  {.addr = {1057}, .bus = 0, .max_counter = 15U, .expected_timestep = 20000U},
 };
 const int HYUNDAI_RX_CHECK_LEN = sizeof(hyundai_rx_checks) / sizeof(hyundai_rx_checks[0]);
 
+static uint8_t hyundai_get_counter(CAN_FIFOMailBox_TypeDef *to_push) {
+  int addr = GET_ADDR(to_push);
+
+  uint8_t cnt;
+  if (addr == 608) {
+    cnt = (GET_BYTE(to_push, 7) >> 4) & 0x3;
+  } else if (addr == 897) {
+    cnt = GET_BYTE(to_push, 5);
+  } else if (addr == 902) {
+    cnt = (GET_BYTE(to_push, 1) >> 6) & 0x3;
+  } else if (addr == 916) {
+    cnt = (GET_BYTE(to_push, 1) >> 5) & 0x7;
+  } else if (addr == 1057) {
+    cnt = GET_BYTE(to_push, 7) & 0xF;
+  } else {
+    cnt = 0;
+  }
+  return cnt;
+}
+
 static int hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
   bool valid = addr_safety_check(to_push, hyundai_rx_checks, HYUNDAI_RX_CHECK_LEN,
-                                 NULL, NULL, NULL);
+                                 NULL, NULL, hyundai_get_counter);
 
   bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
 

diff --git a/tests/safety/test_hyundai.py b/tests/safety/test_hyundai.py
@@ -25,6 +25,11 @@ class TestHyundaiSafety(common.PandaSafetyTest):
   FWD_BLACKLISTED_ADDRS = {2: [832, 1157]}
   FWD_BUS_LOOKUP = {0: 2, 2: 0}
 
+  cnt_gas = 0
+  cnt_speed = 0
+  cnt_brake = 0
+  cnt_cruise = 0
+
   def setUp(self):
     self.packer = CANPackerPanda("hyundai_kia_generic")
     self.safety = libpandasafety_py.libpandasafety
@@ -36,20 +41,25 @@ def _button_msg(self, buttons):
     return self.packer.make_can_msg_panda("CLU11", 0, values)
 
   def _gas_msg(self, val):
-    values = {"CF_Ems_AclAct": val}
+    values = {"CF_Ems_AclAct": val, "AliveCounter": self.cnt_gas % 4}
+    self.__class__.cnt_gas += 1
     return self.packer.make_can_msg_panda("EMS16", 0, values)
 
   def _brake_msg(self, brake):
-    values = {"DriverBraking": brake}
+    values = {"DriverBraking": brake, "AliveCounterTCS": self.cnt_brake % 8}
+    self.__class__.cnt_brake += 1
     return self.packer.make_can_msg_panda("TCS13", 0, values)
 
   def _speed_msg(self, speed):
     # panda safety doesn't scale, so undo the scaling
     values = {"WHL_SPD_%s"%s: speed*0.03125 for s in ["FL", "FR", "RL", "RR"]}
+    values["WHL_SPD_AliveCounter_LSB"] = self.cnt_speed % 4
+    self.__class__.cnt_speed += 1
     return self.packer.make_can_msg_panda("WHL_SPD11", 0, values)
 
   def _pcm_status_msg(self, enabled):
-    values = {"ACCMode": enabled}
+    values = {"ACCMode": enabled, "CR_VSM_Alive": self.cnt_cruise % 16}
+    self.__class__.cnt_cruise += 1
     return self.packer.make_can_msg_panda("SCC12", 0, values)
 
   def _set_prev_torque(self, t):