Fix Subaru Legacy Torque driver bug (#454)

* Fix Subaru Legacy Torque driver bug

Author: rbiasini

board/safety/safety_subaru.h

@@ -52,8 +52,12 @@ static int subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     if (bus == 0) {
       if (((addr == 0x119) && subaru_global) ||
           ((addr == 0x371) && !subaru_global)) {
-        int bit_shift = subaru_global ? 16 : 29;
-        int torque_driver_new = ((GET_BYTES_04(to_push) >> bit_shift) & 0x7FF);
+        int torque_driver_new;
+        if (subaru_global) {
+          torque_driver_new = ((GET_BYTES_04(to_push) >> 16) & 0x7FF);
+        } else {
+          torque_driver_new = (GET_BYTE(to_push, 3) >> 5) + (GET_BYTE(to_push, 4) << 3);
+        }
         torque_driver_new = to_signed(torque_driver_new, 11);
         update_sample(&subaru_torque_driver, torque_driver_new);
       }

tests/safety/libpandasafety_py.py

@@ -89,7 +89,6 @@
 void set_subaru_desired_torque_last(int t);
 void set_subaru_rt_torque_last(int t);
 bool get_subaru_global(void);
-void set_subaru_torque_driver(int min, int max);
 
 void init_tests_volkswagen(void);
 int get_volkswagen_gas_prev(void);

tests/safety/test.c

@@ -142,11 +142,6 @@ void set_chrysler_torque_meas(int min, int max){
   chrysler_torque_meas.max = max;
 }
 
-void set_subaru_torque_driver(int min, int max){
-  subaru_torque_driver.min = min;
-  subaru_torque_driver.max = max;
-}
-
 void set_volkswagen_torque_driver(int min, int max){
   volkswagen_torque_driver.min = min;
   volkswagen_torque_driver.max = max;

tests/safety/test_subaru.py

@@ -48,7 +48,8 @@ def _torque_driver_msg(self, torque):
       to_send[0].RDLR = ((t & 0x7FF) << 16)
     else:
       to_send = make_msg(0, 0x371)
-      to_send[0].RDLR = ((t & 0x7FF) << 29)
+      to_send[0].RDLR = (t & 0x7) << 29
+      to_send[0].RDHR = (t >> 3) & 0xFF
     return to_send
 
   def _torque_msg(self, torque):
@@ -79,6 +80,11 @@ def _cruise_msg(self, cruise):
       to_send[0].RDHR = cruise << 17
     return to_send
 
+  def _set_torque_driver(self, min_t, max_t):
+    for i in range(0, 5):
+      self.safety.safety_rx_hook(self._torque_driver_msg(min_t))
+    self.safety.safety_rx_hook(self._torque_driver_msg(max_t))
+
   def test_spam_can_buses(self):
     test_spam_can_buses(self, TX_MSGS if self.safety.get_subaru_global() else TX_L_MSGS)
 
@@ -118,7 +124,7 @@ def test_manually_enable_controls_allowed(self):
     test_manually_enable_controls_allowed(self)
 
   def test_non_realtime_limit_up(self):
-    self.safety.set_subaru_torque_driver(0, 0)
+    self._set_torque_driver(0, 0)
     self.safety.set_controls_allowed(True)
 
     self._set_prev_torque(0)
@@ -133,7 +139,7 @@ def test_non_realtime_limit_up(self):
     self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(-MAX_RATE_UP - 1)))
 
   def test_non_realtime_limit_down(self):
-    self.safety.set_subaru_torque_driver(0, 0)
+    self._set_torque_driver(0, 0)
     self.safety.set_controls_allowed(True)
 
   def test_against_torque_driver(self):
@@ -142,33 +148,36 @@ def test_against_torque_driver(self):
     for sign in [-1, 1]:
       for t in np.arange(0, DRIVER_TORQUE_ALLOWANCE + 1, 1):
         t *= -sign
-        self.safety.set_subaru_torque_driver(t, t)
+        self._set_torque_driver(t, t)
         self._set_prev_torque(MAX_STEER * sign)
         self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(MAX_STEER * sign)))
 
-      self.safety.set_subaru_torque_driver(DRIVER_TORQUE_ALLOWANCE + 1, DRIVER_TORQUE_ALLOWANCE + 1)
+      self._set_torque_driver(DRIVER_TORQUE_ALLOWANCE + 1, DRIVER_TORQUE_ALLOWANCE + 1)
       self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(-MAX_STEER)))
 
+    # arbitrary high driver torque to ensure max steer torque is allowed
+    max_driver_torque = int(MAX_STEER / DRIVER_TORQUE_FACTOR + DRIVER_TORQUE_ALLOWANCE + 1)
+
     # spot check some individual cases
     for sign in [-1, 1]:
       driver_torque = (DRIVER_TORQUE_ALLOWANCE + 10) * sign
       torque_desired = (MAX_STEER - 10 * DRIVER_TORQUE_FACTOR) * sign
       delta = 1 * sign
       self._set_prev_torque(torque_desired)
-      self.safety.set_subaru_torque_driver(-driver_torque, -driver_torque)
+      self._set_torque_driver(-driver_torque, -driver_torque)
       self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(torque_desired)))
       self._set_prev_torque(torque_desired + delta)
-      self.safety.set_subaru_torque_driver(-driver_torque, -driver_torque)
+      self._set_torque_driver(-driver_torque, -driver_torque)
       self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(torque_desired + delta)))
 
       self._set_prev_torque(MAX_STEER * sign)
-      self.safety.set_subaru_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
+      self._set_torque_driver(-max_driver_torque * sign, -max_driver_torque * sign)
       self.assertTrue(self.safety.safety_tx_hook(self._torque_msg((MAX_STEER - MAX_RATE_DOWN) * sign)))
       self._set_prev_torque(MAX_STEER * sign)
-      self.safety.set_subaru_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
+      self._set_torque_driver(-max_driver_torque * sign, -max_driver_torque * sign)
       self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(0)))
       self._set_prev_torque(MAX_STEER * sign)
-      self.safety.set_subaru_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
+      self._set_torque_driver(-max_driver_torque * sign, -max_driver_torque * sign)
       self.assertFalse(self.safety.safety_tx_hook(self._torque_msg((MAX_STEER - MAX_RATE_DOWN + 1) * sign)))
 
 
@@ -178,7 +187,7 @@ def test_realtime_limits(self):
     for sign in [-1, 1]:
       self.safety.init_tests_subaru()
       self._set_prev_torque(0)
-      self.safety.set_subaru_torque_driver(0, 0)
+      self._set_torque_driver(0, 0)
       for t in np.arange(0, MAX_RT_DELTA, 1):
         t *= sign
         self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(t)))