hotfix panda#426

panda/board/safety.h

@@ -148,20 +148,20 @@ bool addr_safety_check(CAN_FIFOMailBox_TypeDef *to_push,
 
   if (index != -1) {
     // checksum check
-    if ((get_checksum != NULL) && (compute_checksum != NULL)) {
-      if (rx_checks[index].check_checksum) {
+    if ((get_checksum != NULL) && (compute_checksum != NULL) && rx_checks[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;
-      }
+    } else {
+      rx_checks[index].valid_checksum = true;
     }
 
-    // counter check
-    if (get_counter != NULL) {
-      if (rx_checks[index].max_counter > 0U) {
+    // counter check (max_counter == 0 means skip check)
+    if ((get_counter != NULL) && (rx_checks[index].max_counter > 0U)) {
       uint8_t counter = get_counter(to_push);
       update_counter(rx_checks, index, counter);
-      }
+    } else {
+      rx_checks[index].wrong_counters = 0U;
     }
   }
   return is_msg_valid(rx_checks, index);

panda/board/safety/safety_chrysler.h

@@ -20,6 +20,11 @@ uint32_t chrysler_ts_last = 0;
 struct sample_t chrysler_torque_meas;         // last few torques measured
 
 static int chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
+
+  bool valid = addr_safety_check(to_push, chrysler_rx_checks, CHRYSLER_RX_CHECK_LEN,
+                                 NULL, NULL, NULL);
+
+  if (valid) {
     int bus = GET_BUS(to_push);
     int addr = GET_ADDR(to_push);
 
@@ -49,7 +54,8 @@ static int chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && (addr == 0x292)) {
       relay_malfunction = true;
     }
-  return 1;
+  }
+  return valid;
 }
 
 static int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {

panda/board/safety/safety_gm.h

@@ -42,6 +42,11 @@ uint32_t gm_ts_last = 0;
 struct sample_t gm_torque_driver;         // last few driver torques measured
 
 static int gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
+
+  bool valid = addr_safety_check(to_push, gm_rx_checks, GM_RX_CHECK_LEN,
+                                 NULL, NULL, NULL);
+
+  if (valid) {
     int bus = GET_BUS(to_push);
     int addr = GET_ADDR(to_push);
 
@@ -113,7 +118,8 @@ static int gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && ((addr == 384) || (addr == 715))) {
       relay_malfunction = true;
     }
-  return 1;
+  }
+  return valid;
 }
 
 // all commands: gas/regen, friction brake and steering

panda/board/safety/safety_hyundai.h

@@ -21,6 +21,11 @@ uint32_t hyundai_ts_last = 0;
 struct sample_t hyundai_torque_driver;         // last few driver torques measured
 
 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);
+
+  if (valid) {
     int bus = GET_BUS(to_push);
     int addr = GET_ADDR(to_push);
 
@@ -49,7 +54,8 @@ static int hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && (addr == 832)) {
       relay_malfunction = true;
     }
-  return 1;
+  }
+  return valid;
 }
 
 static int hyundai_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {

panda/board/safety/safety_subaru.h

@@ -24,6 +24,11 @@ uint32_t subaru_ts_last = 0;
 struct sample_t subaru_torque_driver;         // last few driver torques measured
 
 static int subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
+
+  bool valid = addr_safety_check(to_push, subaru_rx_checks, SUBARU_RX_CHECK_LEN,
+                                 NULL, NULL, NULL);
+
+  if (valid) {
     int bus = GET_BUS(to_push);
     int addr = GET_ADDR(to_push);
 
@@ -53,7 +58,8 @@ static int subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && ((addr == 0x122) || (addr == 0x164))) {
       relay_malfunction = true;
     }
-  return 1;
+  }
+  return valid;
 }
 
 static int subaru_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {

panda/board/safety/safety_volkswagen.h

@@ -33,6 +33,11 @@ uint32_t volkswagen_ts_last = 0;
 int volkswagen_gas_prev = 0;
 
 static int volkswagen_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
+
+  bool valid = addr_safety_check(to_push, volkswagen_rx_checks, VOLKSWAGEN_RX_CHECK_LEN,
+                                 NULL, NULL, NULL);
+
+  if (valid) {
    int bus = GET_BUS(to_push);
    int addr = GET_ADDR(to_push);
 
@@ -68,7 +73,8 @@ static int volkswagen_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
    if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && (addr == MSG_HCA_01)) {
      relay_malfunction = true;
    }
-  return 1;
+  }
+  return valid;
 }
 
 static int volkswagen_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {