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safety: checksum and counter are explicitly opt-out #1939

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Merged
merged 15 commits into from
Mar 7, 2025
Merged

safety: checksum and counter are explicitly opt-out #1939

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e6dba26
this is what we want
sshane Mar 7, 2025
3a2996d
rm old
sshane Mar 7, 2025
f269382
and now counter
sshane Mar 7, 2025
96efbb2
need this
sshane Mar 7, 2025
82c2566
toyota
sshane Mar 7, 2025
2953e87
subaru's good
sshane Mar 7, 2025
334055d
Tesla and Chrysler
sshane Mar 7, 2025
975dc82
Ford
sshane Mar 7, 2025
b616425
do some find and replace
sshane Mar 7, 2025
54da2f8
do the rest
sshane Mar 7, 2025
35fa6c2
clean up
sshane Mar 7, 2025
e0dab91
remove this
sshane Mar 7, 2025
de7f11c
rm
sshane Mar 7, 2025
f7df40e
not broken but bad
sshane Mar 7, 2025
eab42ad
this was wrong!
sshane Mar 7, 2025
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8 changes: 4 additions & 4 deletions opendbc/safety/safety.h
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Expand Up @@ -181,20 +181,20 @@ static bool rx_msg_safety_check(const CANPacket_t *to_push,

if (index != -1) {
// checksum check
if ((safety_hooks->get_checksum != NULL) && (safety_hooks->compute_checksum != NULL) && cfg->rx_checks[index].msg[cfg->rx_checks[index].status.index].check_checksum) {
if ((safety_hooks->get_checksum != NULL) && (safety_hooks->compute_checksum != NULL) && !cfg->rx_checks[index].msg[cfg->rx_checks[index].status.index].ignore_checksum) {
uint32_t checksum = safety_hooks->get_checksum(to_push);
uint32_t checksum_comp = safety_hooks->compute_checksum(to_push);
cfg->rx_checks[index].status.valid_checksum = checksum_comp == checksum;
} else {
cfg->rx_checks[index].status.valid_checksum = true;
cfg->rx_checks[index].status.valid_checksum = cfg->rx_checks[index].msg[cfg->rx_checks[index].status.index].ignore_checksum;
}

// counter check (max_counter == 0 means skip check)
// counter check
if ((safety_hooks->get_counter != NULL) && (cfg->rx_checks[index].msg[cfg->rx_checks[index].status.index].max_counter > 0U)) {
uint8_t counter = safety_hooks->get_counter(to_push);
update_counter(cfg->rx_checks, index, counter);
} else {
cfg->rx_checks[index].status.wrong_counters = 0U;
cfg->rx_checks[index].status.wrong_counters = cfg->rx_checks[index].msg[cfg->rx_checks[index].status.index].ignore_counter ? 0 : MAX_WRONG_COUNTERS;
}

// quality flag check
Expand Down
2 changes: 1 addition & 1 deletion opendbc/safety/safety/safety_body.h
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Expand Up @@ -31,7 +31,7 @@ static bool body_tx_hook(const CANPacket_t *to_send) {

static safety_config body_init(uint16_t param) {
static RxCheck body_rx_checks[] = {
{.msg = {{0x201, 0, 8, .check_checksum = false, .max_counter = 0U, .frequency = 100U}, { 0 }, { 0 }}},
{.msg = {{0x201, 0, 8, .ignore_checksum = true, .ignore_counter = true, .frequency = 100U}, { 0 }, { 0 }}},
};

static const CanMsg BODY_TX_MSGS[] = {{0x250, 0, 8}, {0x250, 0, 6}, {0x251, 0, 5}, // body
Expand Down
32 changes: 16 additions & 16 deletions opendbc/safety/safety/safety_chrysler.h
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Expand Up @@ -212,20 +212,20 @@ static safety_config chrysler_init(uint16_t param) {
};

static RxCheck chrysler_ram_dt_rx_checks[] = {
{.msg = {{CHRYSLER_RAM_DT_ADDRS.EPS_2, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 100U}, { 0 }, { 0 }}},
{.msg = {{CHRYSLER_RAM_DT_ADDRS.ESP_1, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
{.msg = {{CHRYSLER_RAM_DT_ADDRS.ESP_8, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
{.msg = {{CHRYSLER_RAM_DT_ADDRS.ECM_5, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
{.msg = {{CHRYSLER_RAM_DT_ADDRS.DAS_3, 2, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
{.msg = {{CHRYSLER_RAM_DT_ADDRS.EPS_2, 0, 8, .max_counter = 15U, .frequency = 100U}, { 0 }, { 0 }}},
{.msg = {{CHRYSLER_RAM_DT_ADDRS.ESP_1, 0, 8, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
{.msg = {{CHRYSLER_RAM_DT_ADDRS.ESP_8, 0, 8, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
{.msg = {{CHRYSLER_RAM_DT_ADDRS.ECM_5, 0, 8, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
{.msg = {{CHRYSLER_RAM_DT_ADDRS.DAS_3, 2, 8, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
};

static RxCheck chrysler_rx_checks[] = {
{.msg = {{CHRYSLER_ADDRS.EPS_2, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 100U}, { 0 }, { 0 }}},
{.msg = {{CHRYSLER_ADDRS.ESP_1, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
//{.msg = {{ESP_8, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}}},
{.msg = {{514, 0, 8, .check_checksum = false, .max_counter = 0U, .frequency = 100U}, { 0 }, { 0 }}},
{.msg = {{CHRYSLER_ADDRS.ECM_5, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
{.msg = {{CHRYSLER_ADDRS.DAS_3, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
{.msg = {{CHRYSLER_ADDRS.EPS_2, 0, 8, .max_counter = 15U, .frequency = 100U}, { 0 }, { 0 }}},
{.msg = {{CHRYSLER_ADDRS.ESP_1, 0, 8, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
//{.msg = {{ESP_8, 0, 8, .max_counter = 15U, .frequency = 50U}}},
{.msg = {{514, 0, 8, .ignore_checksum = true, .ignore_counter = true, .frequency = 100U}, { 0 }, { 0 }}},
{.msg = {{CHRYSLER_ADDRS.ECM_5, 0, 8, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
{.msg = {{CHRYSLER_ADDRS.DAS_3, 0, 8, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
};

static const CanMsg CHRYSLER_TX_MSGS[] = {
Expand Down Expand Up @@ -254,11 +254,11 @@ static safety_config chrysler_init(uint16_t param) {
};

static RxCheck chrysler_ram_hd_rx_checks[] = {
{.msg = {{CHRYSLER_RAM_HD_ADDRS.EPS_2, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 100U}, { 0 }, { 0 }}},
{.msg = {{CHRYSLER_RAM_HD_ADDRS.ESP_1, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
{.msg = {{CHRYSLER_RAM_HD_ADDRS.ESP_8, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
{.msg = {{CHRYSLER_RAM_HD_ADDRS.ECM_5, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
{.msg = {{CHRYSLER_RAM_HD_ADDRS.DAS_3, 2, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
{.msg = {{CHRYSLER_RAM_HD_ADDRS.EPS_2, 0, 8, .max_counter = 15U, .frequency = 100U}, { 0 }, { 0 }}},
{.msg = {{CHRYSLER_RAM_HD_ADDRS.ESP_1, 0, 8, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
{.msg = {{CHRYSLER_RAM_HD_ADDRS.ESP_8, 0, 8, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
{.msg = {{CHRYSLER_RAM_HD_ADDRS.ECM_5, 0, 8, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
{.msg = {{CHRYSLER_RAM_HD_ADDRS.DAS_3, 2, 8, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
};

static const CanMsg CHRYSLER_RAM_HD_TX_MSGS[] = {
Expand Down
12 changes: 6 additions & 6 deletions opendbc/safety/safety/safety_ford.h
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Expand Up @@ -357,16 +357,16 @@ static safety_config ford_init(uint16_t param) {
// warning: quality flags are not yet checked in openpilot's CAN parser,
// this may be the cause of blocked messages
static RxCheck ford_rx_checks[] = {
{.msg = {{FORD_BrakeSysFeatures, 0, 8, .check_checksum = true, .max_counter = 15U, .quality_flag=true, .frequency = 50U}, { 0 }, { 0 }}},
{.msg = {{FORD_BrakeSysFeatures, 0, 8, .max_counter = 15U, .quality_flag=true, .frequency = 50U}, { 0 }, { 0 }}},
// FORD_EngVehicleSpThrottle2 has a counter that either randomly skips or by 2, likely ECU bug
// Some hybrid models also experience a bug where this checksum mismatches for one or two frames under heavy acceleration with ACC
// It has been confirmed that the Bronco Sport's camera only disallows ACC for bad quality flags, not counters or checksums, so we match that
{.msg = {{FORD_EngVehicleSpThrottle2, 0, 8, .check_checksum = false, .quality_flag=true, .frequency = 50U}, { 0 }, { 0 }}},
{.msg = {{FORD_Yaw_Data_FD1, 0, 8, .check_checksum = true, .max_counter = 255U, .quality_flag=true, .frequency = 100U}, { 0 }, { 0 }}},
{.msg = {{FORD_EngVehicleSpThrottle2, 0, 8, .ignore_checksum = true, .ignore_counter = true, .quality_flag=true, .frequency = 50U}, { 0 }, { 0 }}},
{.msg = {{FORD_Yaw_Data_FD1, 0, 8, .max_counter = 255U, .quality_flag=true, .frequency = 100U}, { 0 }, { 0 }}},
// These messages have no counter or checksum
{.msg = {{FORD_EngBrakeData, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
{.msg = {{FORD_EngVehicleSpThrottle, 0, 8, .frequency = 100U}, { 0 }, { 0 }}},
{.msg = {{FORD_DesiredTorqBrk, 0, 8, .frequency = 50U}, { 0 }, { 0 }}},
{.msg = {{FORD_EngBrakeData, 0, 8, .ignore_checksum = true, .ignore_counter = true, .frequency = 10U}, { 0 }, { 0 }}},
{.msg = {{FORD_EngVehicleSpThrottle, 0, 8, .ignore_checksum = true, .ignore_counter = true, .frequency = 100U}, { 0 }, { 0 }}},
{.msg = {{FORD_DesiredTorqBrk, 0, 8, .ignore_checksum = true, .ignore_counter = true, .frequency = 50U}, { 0 }, { 0 }}},
};

#define FORD_COMMON_TX_MSGS \
Expand Down
16 changes: 8 additions & 8 deletions opendbc/safety/safety/safety_gm.h
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Expand Up @@ -213,14 +213,14 @@ static safety_config gm_init(uint16_t param) {

// TODO: do checksum and counter checks. Add correct timestep, 0.1s for now.
static RxCheck gm_rx_checks[] = {
{.msg = {{0x184, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
{.msg = {{0x34A, 0, 5, .frequency = 10U}, { 0 }, { 0 }}},
{.msg = {{0x1E1, 0, 7, .frequency = 10U}, { 0 }, { 0 }}},
{.msg = {{0xBE, 0, 6, .frequency = 10U}, // Volt, Silverado, Acadia Denali
{0xBE, 0, 7, .frequency = 10U}, // Bolt EUV
{0xBE, 0, 8, .frequency = 10U}}}, // Escalade
{.msg = {{0x1C4, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
{.msg = {{0xC9, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
{.msg = {{0x184, 0, 8, .ignore_checksum = true, .ignore_counter = true, .frequency = 10U}, { 0 }, { 0 }}},
{.msg = {{0x34A, 0, 5, .ignore_checksum = true, .ignore_counter = true, .frequency = 10U}, { 0 }, { 0 }}},
{.msg = {{0x1E1, 0, 7, .ignore_checksum = true, .ignore_counter = true, .frequency = 10U}, { 0 }, { 0 }}},
{.msg = {{0xBE, 0, 6, .ignore_checksum = true, .ignore_counter = true, .frequency = 10U}, // Volt, Silverado, Acadia Denali
{0xBE, 0, 7, .ignore_checksum = true, .ignore_counter = true, .frequency = 10U}, // Bolt EUV
{0xBE, 0, 8, .ignore_checksum = true, .ignore_counter = true, .frequency = 10U}}}, // Escalade
{.msg = {{0x1C4, 0, 8, .ignore_checksum = true, .ignore_counter = true, .frequency = 10U}, { 0 }, { 0 }}},
{.msg = {{0xC9, 0, 8, .ignore_checksum = true, .ignore_counter = true, .frequency = 10U}, { 0 }, { 0 }}},
};

static const CanMsg GM_CAM_TX_MSGS[] = {{0x180, 0, 4}, // pt bus
Expand Down
22 changes: 11 additions & 11 deletions opendbc/safety/safety/safety_honda.h
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Expand Up @@ -3,19 +3,19 @@
#include "safety_declarations.h"

// All common address checks except SCM_BUTTONS which isn't on one Nidec safety configuration
#define HONDA_COMMON_NO_SCM_FEEDBACK_RX_CHECKS(pt_bus) \
{.msg = {{0x1A6, (pt_bus), 8, .check_checksum = true, .max_counter = 3U, .frequency = 25U}, /* SCM_BUTTONS */ \
{0x296, (pt_bus), 4, .check_checksum = true, .max_counter = 3U, .frequency = 25U}, { 0 }}}, \
{.msg = {{0x158, (pt_bus), 8, .check_checksum = true, .max_counter = 3U, .frequency = 100U}, { 0 }, { 0 }}}, /* ENGINE_DATA */ \
{.msg = {{0x17C, (pt_bus), 8, .check_checksum = true, .max_counter = 3U, .frequency = 100U}, { 0 }, { 0 }}}, /* POWERTRAIN_DATA */ \
#define HONDA_COMMON_NO_SCM_FEEDBACK_RX_CHECKS(pt_bus) \
{.msg = {{0x1A6, (pt_bus), 8, .max_counter = 3U, .frequency = 25U}, /* SCM_BUTTONS */ \
{0x296, (pt_bus), 4, .max_counter = 3U, .frequency = 25U}, { 0 }}}, \
{.msg = {{0x158, (pt_bus), 8, .max_counter = 3U, .frequency = 100U}, { 0 }, { 0 }}}, /* ENGINE_DATA */ \
{.msg = {{0x17C, (pt_bus), 8, .max_counter = 3U, .frequency = 100U}, { 0 }, { 0 }}}, /* POWERTRAIN_DATA */ \

#define HONDA_COMMON_RX_CHECKS(pt_bus) \
HONDA_COMMON_NO_SCM_FEEDBACK_RX_CHECKS(pt_bus) \
{.msg = {{0x326, (pt_bus), 8, .check_checksum = true, .max_counter = 3U, .frequency = 10U}, { 0 }, { 0 }}}, /* SCM_FEEDBACK */ \
#define HONDA_COMMON_RX_CHECKS(pt_bus) \
HONDA_COMMON_NO_SCM_FEEDBACK_RX_CHECKS(pt_bus) \
{.msg = {{0x326, (pt_bus), 8, .max_counter = 3U, .frequency = 10U}, { 0 }, { 0 }}}, /* SCM_FEEDBACK */ \

// Alternate brake message is used on some Honda Bosch, and Honda Bosch radarless (where PT bus is 0)
#define HONDA_ALT_BRAKE_ADDR_CHECK(pt_bus) \
{.msg = {{0x1BE, (pt_bus), 3, .check_checksum = true, .max_counter = 3U, .frequency = 50U}, { 0 }, { 0 }}}, /* BRAKE_MODULE */ \
#define HONDA_ALT_BRAKE_ADDR_CHECK(pt_bus) \
{.msg = {{0x1BE, (pt_bus), 3, .max_counter = 3U, .frequency = 50U}, { 0 }, { 0 }}}, /* BRAKE_MODULE */ \


// Nidec and bosch radarless has the powertrain bus on bus 0
Expand Down Expand Up @@ -321,7 +321,7 @@ static safety_config honda_nidec_init(uint16_t param) {

if (enable_nidec_alt) {
// For Nidecs with main on signal on an alternate msg (missing 0x326)
static RxCheck honda_nidec_alt_rx_checks[] = {
static RxCheck honda_nidec_alt_rx_checks[] = {
HONDA_COMMON_NO_SCM_FEEDBACK_RX_CHECKS(0)
};

Expand Down
18 changes: 9 additions & 9 deletions opendbc/safety/safety/safety_hyundai.h
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Expand Up @@ -39,15 +39,15 @@ const LongitudinalLimits HYUNDAI_LONG_LIMITS = {
{0x389, 0, 8}, /* SCC14 Bus 0 */ \
{0x4A2, 0, 2}, /* FRT_RADAR11 Bus 0 */ \

#define HYUNDAI_COMMON_RX_CHECKS(legacy) \
{.msg = {{0x260, 0, 8, .check_checksum = true, .max_counter = 3U, .frequency = 100U}, \
{0x371, 0, 8, .frequency = 100U}, \
{0x91, 0, 8, .frequency = 100U}}}, \
{.msg = {{0x386, 0, 8, .check_checksum = !(legacy), .max_counter = (legacy) ? 0U : 15U, .frequency = 100U}, { 0 }, { 0 }}}, \
{.msg = {{0x394, 0, 8, .check_checksum = !(legacy), .max_counter = (legacy) ? 0U : 7U, .frequency = 100U}, { 0 }, { 0 }}}, \
#define HYUNDAI_COMMON_RX_CHECKS(legacy) \
{.msg = {{0x260, 0, 8, .max_counter = 3U, .frequency = 100U}, \
{0x371, 0, 8, .ignore_checksum = true, .ignore_counter = true, .frequency = 100U}, \
{0x91, 0, 8, .ignore_checksum = true, .ignore_counter = true, .frequency = 100U}}}, \
{.msg = {{0x386, 0, 8, .ignore_checksum = (legacy), .ignore_counter = (legacy), .max_counter = (legacy) ? 0U : 15U, .frequency = 100U}, { 0 }, { 0 }}}, \
{.msg = {{0x394, 0, 8, .ignore_checksum = (legacy), .ignore_counter = (legacy), .max_counter = (legacy) ? 0U : 7U, .frequency = 100U}, { 0 }, { 0 }}}, \

#define HYUNDAI_SCC12_ADDR_CHECK(scc_bus) \
{.msg = {{0x421, (scc_bus), 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}}, \
#define HYUNDAI_SCC12_ADDR_CHECK(scc_bus) \
{.msg = {{0x421, (scc_bus), 8, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}}, \

static const CanMsg HYUNDAI_TX_MSGS[] = {
HYUNDAI_COMMON_TX_MSGS(0)
Expand Down Expand Up @@ -311,7 +311,7 @@ static safety_config hyundai_init(uint16_t param) {
static RxCheck hyundai_long_rx_checks[] = {
HYUNDAI_COMMON_RX_CHECKS(false)
// Use CLU11 (buttons) to manage controls allowed instead of SCC cruise state
{.msg = {{0x4F1, 0, 4, .check_checksum = false, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
{.msg = {{0x4F1, 0, 4, .ignore_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
};

ret = hyundai_camera_scc ? BUILD_SAFETY_CFG(hyundai_long_rx_checks, HYUNDAI_CAMERA_SCC_LONG_TX_MSGS) : \
Expand Down
22 changes: 11 additions & 11 deletions opendbc/safety/safety/safety_hyundai_canfd.h
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Expand Up @@ -25,19 +25,19 @@

// *** Addresses checked in rx hook ***
// EV, ICE, HYBRID: ACCELERATOR (0x35), ACCELERATOR_BRAKE_ALT (0x100), ACCELERATOR_ALT (0x105)
#define HYUNDAI_CANFD_COMMON_RX_CHECKS(pt_bus) \
{.msg = {{0x35, (pt_bus), 32, .check_checksum = true, .max_counter = 0xffU, .frequency = 100U}, \
{0x100, (pt_bus), 32, .check_checksum = true, .max_counter = 0xffU, .frequency = 100U}, \
{0x105, (pt_bus), 32, .check_checksum = true, .max_counter = 0xffU, .frequency = 100U}}}, \
{.msg = {{0x175, (pt_bus), 24, .check_checksum = true, .max_counter = 0xffU, .frequency = 50U}, { 0 }, { 0 }}}, \
{.msg = {{0xa0, (pt_bus), 24, .check_checksum = true, .max_counter = 0xffU, .frequency = 100U}, { 0 }, { 0 }}}, \
{.msg = {{0xea, (pt_bus), 24, .check_checksum = true, .max_counter = 0xffU, .frequency = 100U}, { 0 }, { 0 }}}, \
{.msg = {{0x1cf, (pt_bus), 8, .check_checksum = false, .max_counter = 0xfU, .frequency = 50U}, \
{0x1aa, (pt_bus), 16, .check_checksum = false, .max_counter = 0xffU, .frequency = 50U}, { 0 }}}, \
#define HYUNDAI_CANFD_COMMON_RX_CHECKS(pt_bus) \
{.msg = {{0x35, (pt_bus), 32, .max_counter = 0xffU, .frequency = 100U}, \
{0x100, (pt_bus), 32, .max_counter = 0xffU, .frequency = 100U}, \
{0x105, (pt_bus), 32, .max_counter = 0xffU, .frequency = 100U}}}, \
{.msg = {{0x175, (pt_bus), 24, .max_counter = 0xffU, .frequency = 50U}, { 0 }, { 0 }}}, \
{.msg = {{0xa0, (pt_bus), 24, .max_counter = 0xffU, .frequency = 100U}, { 0 }, { 0 }}}, \
{.msg = {{0xea, (pt_bus), 24, .max_counter = 0xffU, .frequency = 100U}, { 0 }, { 0 }}}, \
{.msg = {{0x1cf, (pt_bus), 8, .ignore_checksum = true, .max_counter = 0xfU, .frequency = 50U}, \
{0x1aa, (pt_bus), 16, .ignore_checksum = true, .max_counter = 0xffU, .frequency = 50U}, { 0 }}}, \

// SCC_CONTROL (from ADAS unit or camera)
#define HYUNDAI_CANFD_SCC_ADDR_CHECK(scc_bus) \
{.msg = {{0x1a0, (scc_bus), 32, .check_checksum = true, .max_counter = 0xffU, .frequency = 50U}, { 0 }, { 0 }}}, \
#define HYUNDAI_CANFD_SCC_ADDR_CHECK(scc_bus) \
{.msg = {{0x1a0, (scc_bus), 32, .max_counter = 0xffU, .frequency = 50U}, { 0 }, { 0 }}}, \

static bool hyundai_canfd_alt_buttons = false;
static bool hyundai_canfd_lka_steering_alt = false;
Expand Down
10 changes: 5 additions & 5 deletions opendbc/safety/safety/safety_mazda.h
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Expand Up @@ -112,11 +112,11 @@ static safety_config mazda_init(uint16_t param) {
static const CanMsg MAZDA_TX_MSGS[] = {{MAZDA_LKAS, 0, 8}, {MAZDA_CRZ_BTNS, 0, 8}, {MAZDA_LKAS_HUD, 0, 8}};

static RxCheck mazda_rx_checks[] = {
{.msg = {{MAZDA_CRZ_CTRL, 0, 8, .frequency = 50U}, { 0 }, { 0 }}},
{.msg = {{MAZDA_CRZ_BTNS, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
{.msg = {{MAZDA_STEER_TORQUE, 0, 8, .frequency = 83U}, { 0 }, { 0 }}},
{.msg = {{MAZDA_ENGINE_DATA, 0, 8, .frequency = 100U}, { 0 }, { 0 }}},
{.msg = {{MAZDA_PEDALS, 0, 8, .frequency = 50U}, { 0 }, { 0 }}},
{.msg = {{MAZDA_CRZ_CTRL, 0, 8, .ignore_checksum = true, .ignore_counter = true, .frequency = 50U}, { 0 }, { 0 }}},
{.msg = {{MAZDA_CRZ_BTNS, 0, 8, .ignore_checksum = true, .ignore_counter = true, .frequency = 10U}, { 0 }, { 0 }}},
{.msg = {{MAZDA_STEER_TORQUE, 0, 8, .ignore_checksum = true, .ignore_counter = true, .frequency = 83U}, { 0 }, { 0 }}},
{.msg = {{MAZDA_ENGINE_DATA, 0, 8, .ignore_checksum = true, .ignore_counter = true, .frequency = 100U}, { 0 }, { 0 }}},
{.msg = {{MAZDA_PEDALS, 0, 8, .ignore_checksum = true, .ignore_counter = true, .frequency = 50U}, { 0 }, { 0 }}},
};

UNUSED(param);
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