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Subaru: infrastructure to support the new angle based controllers (#1590
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@jnewb1
jnewb1 committed Aug 22, 2023
1 parent b47b825 commit ea16a54
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Showing 3 changed files with 60 additions and 10 deletions.
36 changes: 30 additions & 6 deletions board/safety/safety_subaru.h
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,17 @@
const SteeringLimits SUBARU_STEERING_LIMITS = SUBARU_STEERING_LIMITS_GENERATOR(2047, 50, 70);
const SteeringLimits SUBARU_GEN2_STEERING_LIMITS = SUBARU_STEERING_LIMITS_GENERATOR(1000, 40, 40);

const SteeringLimits SUBARU_ANGLE_STEERING_LIMITS = {
.angle_deg_to_can = 100,
.angle_rate_up_lookup = {
{0., 5., 15.},
{5., .8, .15}
},
.angle_rate_down_lookup = {
{0., 5., 15.},
{5., 3.5, .4}
},
};

const LongitudinalLimits SUBARU_LONG_LIMITS = {
.min_gas = 808, // appears to be engine braking
Expand All @@ -31,6 +42,7 @@ const LongitudinalLimits SUBARU_LONG_LIMITS = {
#define MSG_SUBARU_Wheel_Speeds 0x13a

#define MSG_SUBARU_ES_LKAS 0x122
#define MSG_SUBARU_ES_LKAS_ANGLE 0x124
#define MSG_SUBARU_ES_Brake 0x220
#define MSG_SUBARU_ES_Distance 0x221
#define MSG_SUBARU_ES_Status 0x222
Expand All @@ -42,8 +54,8 @@ const LongitudinalLimits SUBARU_LONG_LIMITS = {
#define SUBARU_ALT_BUS 1
#define SUBARU_CAM_BUS 2

#define SUBARU_COMMON_TX_MSGS(alt_bus) \
{MSG_SUBARU_ES_LKAS, SUBARU_MAIN_BUS, 8}, \
#define SUBARU_COMMON_TX_MSGS(alt_bus, lkas_msg) \
{lkas_msg, SUBARU_MAIN_BUS, 8}, \
{MSG_SUBARU_ES_Distance, alt_bus, 8}, \
{MSG_SUBARU_ES_DashStatus, SUBARU_MAIN_BUS, 8}, \
{MSG_SUBARU_ES_LKAS_State, SUBARU_MAIN_BUS, 8}, \
Expand All @@ -61,18 +73,18 @@ const LongitudinalLimits SUBARU_LONG_LIMITS = {
{.msg = {{MSG_SUBARU_CruiseControl, alt_bus, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 50000U}, { 0 }, { 0 }}}, \

const CanMsg SUBARU_TX_MSGS[] = {
SUBARU_COMMON_TX_MSGS(SUBARU_MAIN_BUS)
SUBARU_COMMON_TX_MSGS(SUBARU_MAIN_BUS, MSG_SUBARU_ES_LKAS)
};
#define SUBARU_TX_MSGS_LEN (sizeof(SUBARU_TX_MSGS) / sizeof(SUBARU_TX_MSGS[0]))

const CanMsg SUBARU_LONG_TX_MSGS[] = {
SUBARU_COMMON_TX_MSGS(SUBARU_MAIN_BUS)
SUBARU_COMMON_TX_MSGS(SUBARU_MAIN_BUS, MSG_SUBARU_ES_LKAS)
SUBARU_COMMON_LONG_TX_MSGS(SUBARU_MAIN_BUS)
};
#define SUBARU_LONG_TX_MSGS_LEN (sizeof(SUBARU_LONG_TX_MSGS) / sizeof(SUBARU_LONG_TX_MSGS[0]))

const CanMsg SUBARU_GEN2_TX_MSGS[] = {
SUBARU_COMMON_TX_MSGS(SUBARU_ALT_BUS)
SUBARU_COMMON_TX_MSGS(SUBARU_ALT_BUS, MSG_SUBARU_ES_LKAS)
};
#define SUBARU_GEN2_TX_MSGS_LEN (sizeof(SUBARU_GEN2_TX_MSGS) / sizeof(SUBARU_GEN2_TX_MSGS[0]))

Expand All @@ -91,9 +103,11 @@ addr_checks subaru_gen2_rx_checks = {subaru_gen2_addr_checks, SUBARU_GEN2_ADDR_C

const uint16_t SUBARU_PARAM_GEN2 = 1;
const uint16_t SUBARU_PARAM_LONGITUDINAL = 2;
const uint16_t SUBARU_PARAM_LKAS_ANGLE = 4;

bool subaru_gen2 = false;
bool subaru_longitudinal = false;
bool subaru_lkas_angle = false;


static uint32_t subaru_get_checksum(CANPacket_t *to_push) {
Expand Down Expand Up @@ -191,6 +205,15 @@ static int subaru_tx_hook(CANPacket_t *to_send) {
violation |= steer_torque_cmd_checks(desired_torque, -1, limits);
}

if (addr == MSG_SUBARU_ES_LKAS_ANGLE) {
int desired_angle = (GET_BYTES(to_send, 5, 3) & 0x1FFFFU);
desired_angle = to_signed(desired_angle, 17);
bool lkas_request = GET_BIT(to_send, 12U);

const SteeringLimits limits = SUBARU_ANGLE_STEERING_LIMITS;
violation |= steer_angle_cmd_checks(desired_angle, lkas_request, limits);
}

// check es_brake brake_pressure limits
if (addr == MSG_SUBARU_ES_Brake) {
int es_brake_pressure = GET_BYTES(to_send, 2, 2);
Expand Down Expand Up @@ -255,7 +278,8 @@ static const addr_checks* subaru_init(uint16_t param) {
subaru_gen2 = GET_FLAG(param, SUBARU_PARAM_GEN2);

#ifdef ALLOW_DEBUG
subaru_longitudinal = GET_FLAG(param, SUBARU_PARAM_LONGITUDINAL) && !subaru_gen2;
subaru_longitudinal = GET_FLAG(param, SUBARU_PARAM_LONGITUDINAL);
subaru_lkas_angle = GET_FLAG(param, SUBARU_PARAM_LKAS_ANGLE);
#endif

if (subaru_gen2) {
Expand Down
1 change: 1 addition & 0 deletions python/__init__.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -249,6 +249,7 @@ class Panda:

FLAG_SUBARU_GEN2 = 1
FLAG_SUBARU_LONG = 2
FLAG_SUBARU_LKAS_ANGLE = 4

FLAG_GM_HW_CAM = 1
FLAG_GM_HW_CAM_LONG = 2
Expand Down
33 changes: 29 additions & 4 deletions tests/safety/test_subaru.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,7 @@
MSG_SUBARU_Steering_Torque = 0x119
MSG_SUBARU_Wheel_Speeds = 0x13a
MSG_SUBARU_ES_LKAS = 0x122
MSG_SUBARU_ES_LKAS_ANGLE = 0x124
MSG_SUBARU_ES_Brake = 0x220
MSG_SUBARU_ES_Distance = 0x221
MSG_SUBARU_ES_Status = 0x222
Expand All @@ -25,8 +26,8 @@
SUBARU_CAM_BUS = 2


def lkas_tx_msgs(alt_bus):
return [[MSG_SUBARU_ES_LKAS, SUBARU_MAIN_BUS],
def lkas_tx_msgs(alt_bus, lkas_msg=MSG_SUBARU_ES_LKAS):
return [[lkas_msg, SUBARU_MAIN_BUS],
[MSG_SUBARU_ES_Distance, alt_bus],
[MSG_SUBARU_ES_DashStatus, SUBARU_MAIN_BUS],
[MSG_SUBARU_ES_LKAS_State, SUBARU_MAIN_BUS],
Expand All @@ -36,8 +37,8 @@ def long_tx_msgs():
return [[MSG_SUBARU_ES_Brake, SUBARU_MAIN_BUS],
[MSG_SUBARU_ES_Status, SUBARU_MAIN_BUS]]

def fwd_blacklisted_addr():
return {SUBARU_CAM_BUS: [MSG_SUBARU_ES_LKAS, MSG_SUBARU_ES_DashStatus, MSG_SUBARU_ES_LKAS_State, MSG_SUBARU_ES_Infotainment]}
def fwd_blacklisted_addr(lkas_msg=MSG_SUBARU_ES_LKAS):
return {SUBARU_CAM_BUS: [lkas_msg, MSG_SUBARU_ES_DashStatus, MSG_SUBARU_ES_LKAS_State, MSG_SUBARU_ES_Infotainment]}

class TestSubaruSafetyBase(common.PandaSafetyTest, MeasurementSafetyTest):
FLAGS = 0
Expand Down Expand Up @@ -151,6 +152,30 @@ def _torque_cmd_msg(self, torque, steer_req=1):
return self.packer.make_can_msg_panda("ES_LKAS", SUBARU_MAIN_BUS, values)


class TestSubaruAngleSafetyBase(TestSubaruSafetyBase, common.AngleSteeringSafetyTest):
TX_MSGS = lkas_tx_msgs(SUBARU_MAIN_BUS, MSG_SUBARU_ES_LKAS_ANGLE)
RELAY_MALFUNCTION_ADDR = MSG_SUBARU_ES_LKAS_ANGLE
FWD_BLACKLISTED_ADDRS = fwd_blacklisted_addr(MSG_SUBARU_ES_LKAS_ANGLE)

FLAGS = Panda.FLAG_SUBARU_LKAS_ANGLE

ANGLE_RATE_BP = [0, 5, 15]
ANGLE_RATE_UP = [5, 0.8, 0.15]
ANGLE_RATE_DOWN = [5, 3.5, 0.4]

def _angle_cmd_msg(self, angle, enabled=1):
values = {"LKAS_Output": angle, "LKAS_Request": enabled}
return self.packer.make_can_msg_panda("ES_LKAS_ANGLE", 0, values)

def _angle_meas_msg(self, angle):
values = {"Steering_Angle": angle}
return self.packer.make_can_msg_panda("Steering_Torque", 0, values)

def _pcm_status_msg(self, enable):
values = {"Cruise_Activated": enable}
return self.packer.make_can_msg_panda("ES_Status", self.ALT_CAM_BUS, values)


class TestSubaruGen1TorqueStockLongitudinalSafety(TestSubaruStockLongitudinalSafetyBase, TestSubaruTorqueSafetyBase):
FLAGS = 0
TX_MSGS = lkas_tx_msgs(SUBARU_MAIN_BUS)
Expand Down

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