moved hundai canfd checksum into canfd header

commaai · Jun 4, 2024 · c86dd6f · c86dd6f
1 parent 601f311
commit c86dd6f
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Showing 2 changed files with 25 additions and 25 deletions.
diff --git a/board/safety/safety_hyundai_canfd.h b/board/safety/safety_hyundai_canfd.h
@@ -152,6 +152,31 @@ static uint32_t hyundai_canfd_get_checksum(const CANPacket_t *to_push) {
   return chksum;
 }
 
+uint32_t hyundai_common_canfd_compute_checksum(const CANPacket_t *to_push) {
+  int len = GET_LEN(to_push);
+  uint32_t address = GET_ADDR(to_push);
+
+  uint16_t crc = 0;
+
+  for (int i = 2; i < len; i++) {
+    crc = (crc << 8U) ^ hyundai_canfd_crc_lut[(crc >> 8U) ^ GET_BYTE(to_push, i)];
+  }
+
+  // Add address to crc
+  crc = (crc << 8U) ^ hyundai_canfd_crc_lut[(crc >> 8U) ^ ((address >> 0U) & 0xFFU)];
+  crc = (crc << 8U) ^ hyundai_canfd_crc_lut[(crc >> 8U) ^ ((address >> 8U) & 0xFFU)];
+
+  if (len == 24) {
+    crc ^= 0x819dU;
+  } else if (len == 32) {
+    crc ^= 0x9f5bU;
+  } else {
+
+  }
+
+  return crc;
+}
+
 static void hyundai_canfd_rx_hook(const CANPacket_t *to_push) {
   int bus = GET_BUS(to_push);
   int addr = GET_ADDR(to_push);

diff --git a/board/safety/safety_hyundai_common.h b/board/safety/safety_hyundai_common.h
@@ -86,29 +86,4 @@ void hyundai_common_cruise_buttons_check(const int cruise_button, const bool mai
   }
 }
 
-uint32_t hyundai_common_canfd_compute_checksum(const CANPacket_t *to_push) {
-  int len = GET_LEN(to_push);
-  uint32_t address = GET_ADDR(to_push);
-
-  uint16_t crc = 0;
-
-  for (int i = 2; i < len; i++) {
-    crc = (crc << 8U) ^ hyundai_canfd_crc_lut[(crc >> 8U) ^ GET_BYTE(to_push, i)];
-  }
-
-  // Add address to crc
-  crc = (crc << 8U) ^ hyundai_canfd_crc_lut[(crc >> 8U) ^ ((address >> 0U) & 0xFFU)];
-  crc = (crc << 8U) ^ hyundai_canfd_crc_lut[(crc >> 8U) ^ ((address >> 8U) & 0xFFU)];
-
-  if (len == 24) {
-    crc ^= 0x819dU;
-  } else if (len == 32) {
-    crc ^= 0x9f5bU;
-  } else {
-
-  }
-
-  return crc;
-}
-
 #endif