Hyundai: fix addr check race condition (#1084)

commaai · Oct 3, 2022 · 4248085 · 4248085
1 parent 1910db8
commit 4248085
Showing 1 changed file with 12 additions and 2 deletions.
diff --git a/board/safety/safety_hyundai.h b/board/safety/safety_hyundai.h
@@ -45,11 +45,19 @@ AddrCheckStruct hyundai_addr_checks[] = {
            {881, 0, 8, .expected_timestep = 10000U}, { 0 }}},
   {.msg = {{902, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 10000U}, { 0 }, { 0 }}},
   {.msg = {{916, 0, 8, .check_checksum = true, .max_counter = 7U, .expected_timestep = 10000U}, { 0 }, { 0 }}},
-  {.msg = {{1057, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U},
-           {1057, 2, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }}},
+  {.msg = {{1057, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}},
 };
 #define HYUNDAI_ADDR_CHECK_LEN (sizeof(hyundai_addr_checks) / sizeof(hyundai_addr_checks[0]))
 
+AddrCheckStruct hyundai_cam_scc_addr_checks[] = {
+  {.msg = {{608, 0, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U},
+           {881, 0, 8, .expected_timestep = 10000U}, { 0 }}},
+  {.msg = {{902, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 10000U}, { 0 }, { 0 }}},
+  {.msg = {{916, 0, 8, .check_checksum = true, .max_counter = 7U, .expected_timestep = 10000U}, { 0 }, { 0 }}},
+  {.msg = {{1057, 2, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}},
+};
+#define HYUNDAI_CAM_SCC_ADDR_CHECK_LEN (sizeof(hyundai_cam_scc_addr_checks) / sizeof(hyundai_cam_scc_addr_checks[0]))
+
 AddrCheckStruct hyundai_long_addr_checks[] = {
   {.msg = {{608, 0, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U},
            {881, 0, 8, .expected_timestep = 10000U}, { 0 }}},
@@ -373,6 +381,8 @@ static const addr_checks* hyundai_init(uint16_t param) {
 
   if (hyundai_longitudinal) {
     hyundai_rx_checks = (addr_checks){hyundai_long_addr_checks, HYUNDAI_LONG_ADDR_CHECK_LEN};
+  } else if (hyundai_camera_scc) {
+    hyundai_rx_checks = (addr_checks){hyundai_cam_scc_addr_checks, HYUNDAI_CAM_SCC_ADDR_CHECK_LEN};
   } else {
     hyundai_rx_checks = (addr_checks){hyundai_addr_checks, HYUNDAI_ADDR_CHECK_LEN};
   }