From 5e97fc71747426ec0b3c35e9db747cdfe84452b5 Mon Sep 17 00:00:00 2001
From: Martin Lillepuu <martin@mlp.ee>
Date: Thu, 28 May 2020 00:00:44 +0300
Subject: [PATCH 001/113] Add subaru long TX and RX messages

---
 board/safety/safety_subaru.h | 28 ++++++++++++++++++++--------
 1 file changed, 20 insertions(+), 8 deletions(-)

diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index b2e8c0738f..aa76d63184 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -12,7 +12,7 @@ const int SUBARU_STANDSTILL_THRSLD = 20;  // about 1kph
 const int SUBARU_L_DRIVER_TORQUE_ALLOWANCE = 75;
 const int SUBARU_L_DRIVER_TORQUE_FACTOR = 10;
 
-const CanMsg SUBARU_TX_MSGS[] = {{0x122, 0, 8}, {0x221, 0, 8}, {0x322, 0, 8}};
+const CanMsg SUBARU_TX_MSGS[] = {{0x122, 0, 8}, {0x321, 0, 8}, {0x322, 0, 8}, {0x220, 0, 8}, {0x221, 0, 8}, {0x222, 0, 8}, {0x240, 2, 8}, {0x13c, 2, 8}};
 const int SUBARU_TX_MSGS_LEN = sizeof(SUBARU_TX_MSGS) / sizeof(SUBARU_TX_MSGS[0]);
 
 AddrCheckStruct subaru_rx_checks[] = {
@@ -279,16 +279,28 @@ static int subaru_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
   int bus_fwd = -1;
 
   if (!relay_malfunction) {
+    int addr = GET_ADDR(to_fwd);
+
     if (bus_num == 0) {
-      bus_fwd = 2;  // Camera CAN
+      // 0x240 is CruiseControl for Global
+      // 0x13c is Brake_Status for Global
+      int block_msg = ((addr == 0x240) ||
+                       (addr == 0x13c));
+      if (!block_msg) {
+        bus_fwd = 2;  // Camera CAN
+      }
     }
     if (bus_num == 2) {
-      // Global platform
-      // 0x122 ES_LKAS
-      // 0x221 ES_Distance
-      // 0x322 ES_LKAS_State
-      int addr = GET_ADDR(to_fwd);
-      int block_msg = ((addr == 0x122) || (addr == 0x221) || (addr == 0x322));
+      // Global Platform:
+      // 0x122 is ES_LKAS
+      // 0x220 is ES_Brake
+      // 0x221 is ES_Distance
+      // 0x222 is ES_Status
+      // 0x321 is ES_DashStatus
+      // 0x322 is ES_LKAS_State
+      int block_msg = ((addr == 0x122) || (addr == 0x220) ||
+                       (addr == 0x221) || (addr == 0x222) ||
+                       (addr == 0x321) || (addr == 0x322));
       if (!block_msg) {
         bus_fwd = 0;  // Main CAN
       }

From 76676b7cfa49c4c42926855e5d2b0e88665f6700 Mon Sep 17 00:00:00 2001
From: Martin Lillepuu <martin@mlp.ee>
Date: Wed, 3 Jun 2020 22:55:22 +0300
Subject: [PATCH 002/113] misra c2012 fix

---
 board/safety/safety_subaru.h | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index aa76d63184..b99abf7133 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -284,8 +284,7 @@ static int subaru_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
     if (bus_num == 0) {
       // 0x240 is CruiseControl for Global
       // 0x13c is Brake_Status for Global
-      int block_msg = ((addr == 0x240) ||
-                       (addr == 0x13c));
+      int block_msg = ((addr == 0x240) || (addr == 0x13c));
       if (!block_msg) {
         bus_fwd = 2;  // Camera CAN
       }

From 64919ade75b5ef09b3a2b91f1ca45e910dc7956f Mon Sep 17 00:00:00 2001
From: Martin Lillepuu <martin@mlp.ee>
Date: Wed, 3 Jun 2020 23:05:54 +0300
Subject: [PATCH 003/113] fix tests

---
 tests/safety/test_subaru.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/tests/safety/test_subaru.py b/tests/safety/test_subaru.py
index 8510765b1e..0a9e9a3659 100644
--- a/tests/safety/test_subaru.py
+++ b/tests/safety/test_subaru.py
@@ -24,15 +24,15 @@ class TestSubaruSafety(common.PandaSafetyTest):
   cnt_speed = 0
   cnt_brake = 0
 
-  TX_MSGS = [[0x122, 0], [0x221, 0], [0x322, 0]]
+  TX_MSGS = [[0x122, 0], [0x220, 0], [0x221, 0], [0x222, 0], [0x321, 0], [0x322, 0], [0x240, 2], [0x13c, 2]]
   STANDSTILL_THRESHOLD = 20  # 1kph (see dbc file)
   RELAY_MALFUNCTION_ADDR = 0x122
   RELAY_MALFUNCTION_BUS = 0
-  FWD_BLACKLISTED_ADDRS = {2: [0x122, 0x221, 0x322]}
+  FWD_BLACKLISTED_ADDRS = {0: [0x240, 0x13c], 2: [0x122, 0x220, 0x221, 0x222, 0x321, 0x322]}
   FWD_BUS_LOOKUP = {0: 2, 2: 0}
 
   def setUp(self):
-    self.packer = CANPackerPanda("subaru_global_2017")
+    self.packer = CANPackerPanda("subaru_global_2017_generated")
     self.safety = libpandasafety_py.libpandasafety
     self.safety.set_safety_hooks(Panda.SAFETY_SUBARU, 0)
     self.safety.init_tests()

From aba9ad25e090aa6c1c2da146ade90eb925ac1ebc Mon Sep 17 00:00:00 2001
From: Martin Lillepuu <martin@mlp.ee>
Date: Wed, 3 Jun 2020 23:20:30 +0300
Subject: [PATCH 004/113] Reorder signals

---
 board/safety/safety_subaru.h | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index b99abf7133..a2db473406 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -12,7 +12,7 @@ const int SUBARU_STANDSTILL_THRSLD = 20;  // about 1kph
 const int SUBARU_L_DRIVER_TORQUE_ALLOWANCE = 75;
 const int SUBARU_L_DRIVER_TORQUE_FACTOR = 10;
 
-const CanMsg SUBARU_TX_MSGS[] = {{0x122, 0, 8}, {0x321, 0, 8}, {0x322, 0, 8}, {0x220, 0, 8}, {0x221, 0, 8}, {0x222, 0, 8}, {0x240, 2, 8}, {0x13c, 2, 8}};
+const CanMsg SUBARU_TX_MSGS[] = {{0x122, 0, 8}, {0x220, 0, 8}, {0x221, 0, 8}, {0x222, 0, 8}, {0x321, 0, 8}, {0x322, 0, 8}, {0x13c, 2, 8}, {0x240, 2, 8}};
 const int SUBARU_TX_MSGS_LEN = sizeof(SUBARU_TX_MSGS) / sizeof(SUBARU_TX_MSGS[0]);
 
 AddrCheckStruct subaru_rx_checks[] = {
@@ -282,9 +282,9 @@ static int subaru_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
     int addr = GET_ADDR(to_fwd);
 
     if (bus_num == 0) {
-      // 0x240 is CruiseControl for Global
       // 0x13c is Brake_Status for Global
-      int block_msg = ((addr == 0x240) || (addr == 0x13c));
+      // 0x240 is CruiseControl for Global
+      int block_msg = ((addr == 0x13c) || (addr == 0x240));
       if (!block_msg) {
         bus_fwd = 2;  // Camera CAN
       }

From 3ed3139a5d8395f30b394cde7afc2e55c895e7e2 Mon Sep 17 00:00:00 2001
From: Martin Lillepuu <martin@mlp.ee>
Date: Wed, 23 Feb 2022 18:39:42 +0200
Subject: [PATCH 005/113] increase max steering torque

---
 board/safety/safety_subaru.h       | 2 +-
 tests/safety/test_subaru.py        | 2 +-
 tests/safety/test_subaru_legacy.py | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index 5565da2164..e8d2178972 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -1,4 +1,4 @@
-const int SUBARU_MAX_STEER = 2047; // 1s
+const int SUBARU_MAX_STEER = 3071; // 1s
 // real time torque limit to prevent controls spamming
 // the real time limit is 1500/sec
 const int SUBARU_MAX_RT_DELTA = 940;          // max delta torque allowed for real time checks
diff --git a/tests/safety/test_subaru.py b/tests/safety/test_subaru.py
index 0f8ac19b18..5195dda7ac 100755
--- a/tests/safety/test_subaru.py
+++ b/tests/safety/test_subaru.py
@@ -8,7 +8,7 @@
 
 MAX_RATE_UP = 50
 MAX_RATE_DOWN = 70
-MAX_STEER = 2047
+MAX_STEER = 3071
 
 MAX_RT_DELTA = 940
 RT_INTERVAL = 250000
diff --git a/tests/safety/test_subaru_legacy.py b/tests/safety/test_subaru_legacy.py
index 393a434a52..8ad826cad9 100755
--- a/tests/safety/test_subaru_legacy.py
+++ b/tests/safety/test_subaru_legacy.py
@@ -8,7 +8,7 @@
 
 MAX_RATE_UP = 50
 MAX_RATE_DOWN = 70
-MAX_STEER = 2047
+MAX_STEER = 3071
 
 MAX_RT_DELTA = 940
 RT_INTERVAL = 250000

From 90847c963a823fa33093ad24ad278858463d9695 Mon Sep 17 00:00:00 2001
From: Martin Lillepuu <martin@mlp.ee>
Date: Mon, 15 Aug 2022 01:08:48 +0300
Subject: [PATCH 006/113] merge fix

---
 board/safety/safety_subaru.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index c674ad810e..5c2dc8970d 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -28,7 +28,7 @@ const CanMsg SUBARU_TX_MSGS[] = {
   {0x221, 0, 8},
   {0x222, 0, 8},
   {0x321, 0, 8},
-  {0x322, 0, 8}
+  {0x322, 0, 8},
   {0x13c, 2, 8},
   {0x240, 2, 8}
 };

From 5c0b301444a69d5a16495e861317864aae3af576 Mon Sep 17 00:00:00 2001
From: Martin Lillepuu <martin@mlp.ee>
Date: Mon, 15 Aug 2022 01:13:01 +0300
Subject: [PATCH 007/113] merge fix, remove cnt from test

---
 tests/safety/test_subaru.py | 5 -----
 1 file changed, 5 deletions(-)

diff --git a/tests/safety/test_subaru.py b/tests/safety/test_subaru.py
index 4315847b1f..4cea9bbc84 100755
--- a/tests/safety/test_subaru.py
+++ b/tests/safety/test_subaru.py
@@ -5,11 +5,6 @@
 import panda.tests.safety.common as common
 from panda.tests.safety.common import CANPackerPanda
 
-  cnt_torque_driver = 0
-  cnt_cruise = 0
-  cnt_speed = 0
-  cnt_brake = 0
-
 
 class TestSubaruSafety(common.PandaSafetyTest, common.DriverTorqueSteeringSafetyTest):
   TX_MSGS = [[0x122, 0], [0x220, 0], [0x221, 0], [0x222, 0], [0x321, 0], [0x322, 0], [0x240, 2], [0x13c, 2]]

From cbb8056d95485185364b378ca8c2483da2a99466 Mon Sep 17 00:00:00 2001
From: Martin Lillepuu <martin@mlp.ee>
Date: Fri, 19 Aug 2022 13:11:35 +0300
Subject: [PATCH 008/113] Move subaru logitudinal behind flag, add safety test

---
 board/safety/safety_subaru.h | 56 ++++++++++++++++++++++++++----------
 python/__init__.py           |  1 +
 tests/safety/common.py       |  2 +-
 tests/safety/test_subaru.py  | 15 ++++++++--
 4 files changed, 56 insertions(+), 18 deletions(-)

diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index 5c2dc8970d..a807a751e1 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -23,6 +23,14 @@ const SteeringLimits SUBARU_GEN2_STEERING_LIMITS = {
 const int SUBARU_STANDSTILL_THRSLD = 20;  // about 1kph
 
 const CanMsg SUBARU_TX_MSGS[] = {
+  {0x122, 0, 8},
+  {0x221, 0, 8},
+  {0x321, 0, 8},
+  {0x322, 0, 8}
+};
+#define SUBARU_TX_MSGS_LEN (sizeof(SUBARU_TX_MSGS) / sizeof(SUBARU_TX_MSGS[0]))
+
+const CanMsg SUBARU_LONG_TX_MSGS[] = {
   {0x122, 0, 8},
   {0x220, 0, 8},
   {0x221, 0, 8},
@@ -32,7 +40,7 @@ const CanMsg SUBARU_TX_MSGS[] = {
   {0x13c, 2, 8},
   {0x240, 2, 8}
 };
-#define SUBARU_TX_MSGS_LEN (sizeof(SUBARU_TX_MSGS) / sizeof(SUBARU_TX_MSGS[0]))
+#define SUBARU_LONG_TX_MSGS_LEN (sizeof(SUBARU_LONG_TX_MSGS) / sizeof(SUBARU_LONG_TX_MSGS[0]))
 
 const CanMsg SUBARU_GEN2_TX_MSGS[] = {
   {0x122, 0, 8},
@@ -64,7 +72,10 @@ 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;
+
 bool subaru_gen2 = false;
+bool subaru_longitudinal = false;
 
 
 static uint32_t subaru_get_checksum(CANPacket_t *to_push) {
@@ -136,6 +147,8 @@ static int subaru_tx_hook(CANPacket_t *to_send, bool longitudinal_allowed) {
 
   if (subaru_gen2) {
     tx = msg_allowed(to_send, SUBARU_GEN2_TX_MSGS, SUBARU_GEN2_TX_MSGS_LEN);
+  } else if (subaru_longitudinal) {
+    tx = msg_allowed(to_send, SUBARU_LONG_TX_MSGS, SUBARU_LONG_TX_MSGS_LEN);
   } else {
     tx = msg_allowed(to_send, SUBARU_TX_MSGS, SUBARU_TX_MSGS_LEN);
   }
@@ -160,24 +173,33 @@ static int subaru_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
   int addr = GET_ADDR(to_fwd);
 
   if (bus_num == 0) {
-    // 0x13c is Brake_Status for Global
-    // 0x240 is CruiseControl for Global
-    int block_msg = ((addr == 0x13c) || (addr == 0x240));
-    if (!block_msg) {
+    if (subaru_longitudinal) {
+      // 0x13c is Brake_Status
+      // 0x240 is CruiseControl
+      int block_msg = ((addr == 0x13c) || (addr == 0x240));
+      if (!block_msg) {
+        bus_fwd = 2;  // Camera CAN
+      }
+    } else {
       bus_fwd = 2;  // Camera CAN
     }
   }
   if (bus_num == 2) {
-    // Global Platform:
-    // 0x122 is ES_LKAS
-    // 0x220 is ES_Brake
-    // 0x221 is ES_Distance
-    // 0x222 is ES_Status
-    // 0x321 is ES_DashStatus
-    // 0x322 is ES_LKAS_State
-    int block_msg = ((addr == 0x122) || (addr == 0x220) ||
-                     (addr == 0x221) || (addr == 0x222) ||
-                     (addr == 0x321) || (addr == 0x322));
+    int block_msg = -1;
+    if (subaru_longitudinal) {
+      // 0x122 is ES_LKAS
+      // 0x220 is ES_Brake
+      // 0x221 is ES_Distance
+      // 0x222 is ES_Status
+      // 0x321 is ES_DashStatus
+      // 0x322 is ES_LKAS_State
+      block_msg = ((addr == 0x122) || (addr == 0x220) ||
+                   (addr == 0x221) || (addr == 0x222) ||
+                   (addr == 0x321) || (addr == 0x322));
+    } else {
+      block_msg = ((addr == 0x122) || (addr == 0x321) ||
+                   (addr == 0x322));
+    }
     if (!block_msg) {
       bus_fwd = 0;  // Main CAN
     }
@@ -189,6 +211,10 @@ static int subaru_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
 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);
+#endif
+
   if (subaru_gen2) {
     subaru_rx_checks = (addr_checks){subaru_gen2_addr_checks, SUBARU_GEN2_ADDR_CHECK_LEN};
   } else {
diff --git a/python/__init__.py b/python/__init__.py
index 3c23a5538f..ee8f67e539 100644
--- a/python/__init__.py
+++ b/python/__init__.py
@@ -206,6 +206,7 @@ class Panda:
   FLAG_CHRYSLER_RAM_HD = 2
 
   FLAG_SUBARU_GEN2 = 1
+  FLAG_SUBARU_LONG = 2
 
   FLAG_GM_HW_CAM = 1
 
diff --git a/tests/safety/common.py b/tests/safety/common.py
index 553f972616..5cd696f424 100644
--- a/tests/safety/common.py
+++ b/tests/safety/common.py
@@ -564,7 +564,7 @@ def test_tx_hook_on_wrong_safety_mode(self):
               continue
             if {attr, current_test}.issubset({'TestToyotaSafety', 'TestToyotaAltBrakeSafety', 'TestToyotaStockLongitudinal'}):
               continue
-            if {attr, current_test}.issubset({'TestSubaruSafety', 'TestSubaruGen2Safety'}):
+            if {attr, current_test}.issubset({'TestSubaruSafety', 'TestSubaruGen2Safety', 'TestSubaruLongitudinalSafety'}):
               continue
             if {attr, current_test}.issubset({'TestVolkswagenPqSafety', 'TestVolkswagenPqStockSafety', 'TestVolkswagenPqLongSafety'}):
               continue
diff --git a/tests/safety/test_subaru.py b/tests/safety/test_subaru.py
index 4cea9bbc84..79470c163c 100755
--- a/tests/safety/test_subaru.py
+++ b/tests/safety/test_subaru.py
@@ -7,11 +7,11 @@
 
 
 class TestSubaruSafety(common.PandaSafetyTest, common.DriverTorqueSteeringSafetyTest):
-  TX_MSGS = [[0x122, 0], [0x220, 0], [0x221, 0], [0x222, 0], [0x321, 0], [0x322, 0], [0x240, 2], [0x13c, 2]]
+  TX_MSGS = [[0x122, 0], [0x221, 0], [0x321, 0], [0x322, 0]]
   STANDSTILL_THRESHOLD = 20  # 1kph (see dbc file)
   RELAY_MALFUNCTION_ADDR = 0x122
   RELAY_MALFUNCTION_BUS = 0
-  FWD_BLACKLISTED_ADDRS = {0: [0x240, 0x13c], 2: [0x122, 0x220, 0x221, 0x222, 0x321, 0x322]}
+  FWD_BLACKLISTED_ADDRS = {2: [0x122, 0x321, 0x322]}
   FWD_BUS_LOOKUP = {0: 2, 2: 0}
 
   MAX_RATE_UP = 50
@@ -77,6 +77,17 @@ def setUp(self):
     self.safety.set_safety_hooks(Panda.SAFETY_SUBARU, Panda.FLAG_SUBARU_GEN2)
     self.safety.init_tests()
 
+class TestSubaruLongitudinalSafety(TestSubaruSafety):
+  TX_MSGS = [[0x122, 0], [0x220, 0], [0x221, 0], [0x222, 0], [0x321, 0], [0x322, 0], [0x240, 2], [0x13c, 2]]
+  FWD_BLACKLISTED_ADDRS = {0: [0x240, 0x13c], 2: [0x122, 0x220, 0x221, 0x222, 0x321, 0x322]}
+
+  def setUp(self):
+    self.packer = CANPackerPanda("subaru_global_2017_generated")
+    self.safety = libpandasafety_py.libpandasafety
+    self.safety.set_safety_hooks(Panda.SAFETY_SUBARU, Panda.FLAG_SUBARU_LONG)
+    self.safety.init_tests()
+
+
 
 if __name__ == "__main__":
   unittest.main()

From 1697d0bbff40c4cf182f746044e2a8f146a7dca2 Mon Sep 17 00:00:00 2001
From: Martin Lillepuu <martin@mlp.ee>
Date: Thu, 8 Sep 2022 08:09:21 +0300
Subject: [PATCH 009/113] update subaru_longitudinal checks

---
 board/safety/safety_subaru.h | 43 +++++++++++++++---------------------
 1 file changed, 18 insertions(+), 25 deletions(-)

diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index a807a751e1..f051348016 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -173,33 +173,28 @@ static int subaru_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
   int addr = GET_ADDR(to_fwd);
 
   if (bus_num == 0) {
-    if (subaru_longitudinal) {
-      // 0x13c is Brake_Status
-      // 0x240 is CruiseControl
-      int block_msg = ((addr == 0x13c) || (addr == 0x240));
-      if (!block_msg) {
-        bus_fwd = 2;  // Camera CAN
-      }
-    } else {
+    // Global Platform
+    // 0x13c is Brake_Status
+    // 0x240 is CruiseControl
+    bool block_msg = subaru_longitudinal ? (addr == 0x13c) || (addr == 0x240) : false;
+    if (!block_msg) {
       bus_fwd = 2;  // Camera CAN
     }
   }
+
   if (bus_num == 2) {
-    int block_msg = -1;
-    if (subaru_longitudinal) {
-      // 0x122 is ES_LKAS
-      // 0x220 is ES_Brake
-      // 0x221 is ES_Distance
-      // 0x222 is ES_Status
-      // 0x321 is ES_DashStatus
-      // 0x322 is ES_LKAS_State
-      block_msg = ((addr == 0x122) || (addr == 0x220) ||
-                   (addr == 0x221) || (addr == 0x222) ||
-                   (addr == 0x321) || (addr == 0x322));
-    } else {
-      block_msg = ((addr == 0x122) || (addr == 0x321) ||
-                   (addr == 0x322));
-    }
+    // Global Platform
+    // 0x122 is ES_LKAS
+    // 0x220 is ES_Brake
+    // 0x221 is ES_Distance
+    // 0x222 is ES_Status
+    // 0x321 is ES_DashStatus
+    // 0x322 is ES_LKAS_State
+    bool block_msg = subaru_longitudinal ? (addr == 0x122) || (addr == 0x220) ||
+                                           (addr == 0x221) || (addr == 0x222) ||
+                                           (addr == 0x321) || (addr == 0x322)
+                                         : (addr == 0x122) || (addr == 0x321) ||
+                                           (addr == 0x322);
     if (!block_msg) {
       bus_fwd = 0;  // Main CAN
     }
@@ -231,5 +226,3 @@ const safety_hooks subaru_hooks = {
   .tx_lin = nooutput_tx_lin_hook,
   .fwd = subaru_fwd_hook,
 };
-
-

From 61178a155cdbb3e0a86ca34b485f57c7991bb95b Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 16 Sep 2022 22:37:23 -0700
Subject: [PATCH 010/113] cleanup

---
 board/safety/safety_subaru.h | 12 +++++-------
 1 file changed, 5 insertions(+), 7 deletions(-)

diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index 5da94abc85..457aa42e1a 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -172,9 +172,9 @@ static int subaru_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
     // Global Platform
     // 0x13c is Brake_Status
     // 0x240 is CruiseControl
-    bool block_msg = subaru_longitudinal ? (addr == 0x13c) || (addr == 0x240) : false;
+    bool block_msg = subaru_longitudinal && ((addr == 0x13c) || (addr == 0x240));
     if (!block_msg) {
-      bus_fwd = 2;  // Camera CAN
+      bus_fwd = 2;  // to the eyesight camera
     }
   }
 
@@ -186,11 +186,9 @@ static int subaru_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
     // 0x222 is ES_Status
     // 0x321 is ES_DashStatus
     // 0x322 is ES_LKAS_State
-    bool block_msg = subaru_longitudinal ? (addr == 0x122) || (addr == 0x220) ||
-                                           (addr == 0x221) || (addr == 0x222) ||
-                                           (addr == 0x321) || (addr == 0x322)
-                                         : (addr == 0x122) || (addr == 0x321) ||
-                                           (addr == 0x322);
+    bool block_common = (addr == 0x122) || (addr == 0x321) || (addr == 0x322);
+    bool block_long = (addr == 0x220) || (addr == 0x221) || (addr == 0x222);
+    bool block_msg = block_common || (subaru_longitudinal && block_long);
     if (!block_msg) {
       bus_fwd = 0;  // Main CAN
     }

From 1211f9ec64ae6de035cd54bc89bdfa025194ce71 Mon Sep 17 00:00:00 2001
From: Martin Lillepuu <martin@mlp.ee>
Date: Sun, 2 Oct 2022 13:03:41 +0300
Subject: [PATCH 011/113] Add subaru longitudinal checks

---
 board/safety/safety_subaru.h | 49 +++++++++++++++++++++++++++++++++++-
 1 file changed, 48 insertions(+), 1 deletion(-)

diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index 457aa42e1a..6e9683a35f 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -20,6 +20,23 @@ const SteeringLimits SUBARU_GEN2_STEERING_LIMITS = {
   .type = TorqueDriverLimited,
 };
 
+const int SUBARU_BRAKE_MIN = 0;
+const int SUBARU_BRAKE_MAX = 400;
+
+const int SUBARU_THROTTLE_MIN = 0;
+const int SUBARU_THROTTLE_MAX = 3400;
+
+const int SUBARU_RPM_MIN = 0;
+const int SUBARU_RPM_MAX = 3200;
+
+/* TODO
+const int SUBARU_THROTTLE_DELTA_UP = 50;
+const int SUBARU_THROTTLE_DELTA_DOWN = 50;
+
+const int SUBARU_RPM_DELTA_UP = 50;
+const int SUBARU_RPM_DELTA_DOWN = 50;
+*/
+
 const CanMsg SUBARU_TX_MSGS[] = {
   {0x122, 0, 8},
   {0x221, 0, 8},
@@ -136,10 +153,10 @@ static int subaru_rx_hook(CANPacket_t *to_push) {
 }
 
 static int subaru_tx_hook(CANPacket_t *to_send, bool longitudinal_allowed) {
-  UNUSED(longitudinal_allowed);
 
   int tx = 1;
   int addr = GET_ADDR(to_send);
+  bool violation = false;
 
   if (subaru_gen2) {
     tx = msg_allowed(to_send, SUBARU_GEN2_TX_MSGS, SUBARU_GEN2_TX_MSGS_LEN);
@@ -160,6 +177,36 @@ static int subaru_tx_hook(CANPacket_t *to_send, bool longitudinal_allowed) {
     }
 
   }
+
+  // longitudinal checks
+  if (addr == 0x220) {
+    int brake_pressure = ((GET_BYTES_04(to_send) >> 16) & 0xFFFFU);
+
+    if (!longitudinal_allowed && brake_pressure != 0) {
+      violation = true;
+    }
+    violation |= max_limit_check(brake_pressure, SUBARU_BRAKE_MAX, SUBARU_BRAKE_MIN);
+  }
+  if (addr == 0x221) {
+    int cruise_throttle = ((GET_BYTES_04(to_send) >> 16) & 0xFFFU);
+
+    if (!longitudinal_allowed && cruise_throttle != 0) {
+      violation = true;
+    }
+    violation |= max_limit_check(cruise_throttle, SUBARU_THROTTLE_MAX, SUBARU_THROTTLE_MIN);
+  }
+  if (addr == 0x222) {
+    int cruise_rpm = ((GET_BYTES_04(to_send) >> 16) & 0xFFFU);
+
+    if (!longitudinal_allowed && cruise_rpm != 0) {
+      violation = true;
+    }
+    violation |= max_limit_check(cruise_rpm, SUBARU_RPM_MAX, SUBARU_RPM_MIN);
+  }
+
+  if (violation) {
+    tx = 0;
+  }
   return tx;
 }
 

From 577e45da7e04f107ad497e182db3ed0396b318ea Mon Sep 17 00:00:00 2001
From: Martin Lillepuu <martin@mlp.ee>
Date: Sun, 2 Oct 2022 13:07:39 +0300
Subject: [PATCH 012/113] misra fix

---
 board/safety/safety_subaru.h | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index 6e9683a35f..edc384a8db 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -182,7 +182,7 @@ static int subaru_tx_hook(CANPacket_t *to_send, bool longitudinal_allowed) {
   if (addr == 0x220) {
     int brake_pressure = ((GET_BYTES_04(to_send) >> 16) & 0xFFFFU);
 
-    if (!longitudinal_allowed && brake_pressure != 0) {
+    if (!longitudinal_allowed && (brake_pressure != 0)) {
       violation = true;
     }
     violation |= max_limit_check(brake_pressure, SUBARU_BRAKE_MAX, SUBARU_BRAKE_MIN);
@@ -190,7 +190,7 @@ static int subaru_tx_hook(CANPacket_t *to_send, bool longitudinal_allowed) {
   if (addr == 0x221) {
     int cruise_throttle = ((GET_BYTES_04(to_send) >> 16) & 0xFFFU);
 
-    if (!longitudinal_allowed && cruise_throttle != 0) {
+    if (!longitudinal_allowed && (cruise_throttle != 0)) {
       violation = true;
     }
     violation |= max_limit_check(cruise_throttle, SUBARU_THROTTLE_MAX, SUBARU_THROTTLE_MIN);
@@ -198,7 +198,7 @@ static int subaru_tx_hook(CANPacket_t *to_send, bool longitudinal_allowed) {
   if (addr == 0x222) {
     int cruise_rpm = ((GET_BYTES_04(to_send) >> 16) & 0xFFFU);
 
-    if (!longitudinal_allowed && cruise_rpm != 0) {
+    if (!longitudinal_allowed && (cruise_rpm != 0)) {
       violation = true;
     }
     violation |= max_limit_check(cruise_rpm, SUBARU_RPM_MAX, SUBARU_RPM_MIN);

From 03cdfba1855d18f073f4c777b3e556bf97c69bb7 Mon Sep 17 00:00:00 2001
From: Martin Lillepuu <martin@mlp.ee>
Date: Sun, 2 Oct 2022 14:07:40 +0300
Subject: [PATCH 013/113] Add subaru rpm and throttle rate limit checks

---
 board/safety/safety_subaru.h | 26 +++++++++++++++++++-------
 1 file changed, 19 insertions(+), 7 deletions(-)

diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index edc384a8db..372ec00650 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -25,17 +25,14 @@ const int SUBARU_BRAKE_MAX = 400;
 
 const int SUBARU_THROTTLE_MIN = 0;
 const int SUBARU_THROTTLE_MAX = 3400;
+const int SUBARU_THROTTLE_DELTA = 50;
 
 const int SUBARU_RPM_MIN = 0;
 const int SUBARU_RPM_MAX = 3200;
+const int SUBARU_RPM_DELTA = 50;
 
-/* TODO
-const int SUBARU_THROTTLE_DELTA_UP = 50;
-const int SUBARU_THROTTLE_DELTA_DOWN = 50;
-
-const int SUBARU_RPM_DELTA_UP = 50;
-const int SUBARU_RPM_DELTA_DOWN = 50;
-*/
+int subaru_cruise_throttle_last = 0;
+int subaru_cruise_rpm_last = 0;
 
 const CanMsg SUBARU_TX_MSGS[] = {
   {0x122, 0, 8},
@@ -152,6 +149,17 @@ static int subaru_rx_hook(CANPacket_t *to_push) {
   return valid;
 }
 
+bool subaru_rate_limit_check(int val, int val_last, const int MAX_VAL_DELTA) {
+
+  // *** rate limit check ***
+  int highest_val = MAX(val_last, 0) + MAX_VAL_DELTA;
+  int lowest_val = MIN(val_last, 0) - MAX_VAL_DELTA;
+
+  // check for violation
+  return (val < lowest_val) || (val > highest_val);
+}
+
+
 static int subaru_tx_hook(CANPacket_t *to_send, bool longitudinal_allowed) {
 
   int tx = 1;
@@ -194,6 +202,8 @@ static int subaru_tx_hook(CANPacket_t *to_send, bool longitudinal_allowed) {
       violation = true;
     }
     violation |= max_limit_check(cruise_throttle, SUBARU_THROTTLE_MAX, SUBARU_THROTTLE_MIN);
+    violation |= subaru_rate_limit_check(cruise_throttle, subaru_cruise_throttle_last, SUBARU_THROTTLE_DELTA);
+    subaru_cruise_throttle_last = cruise_throttle;
   }
   if (addr == 0x222) {
     int cruise_rpm = ((GET_BYTES_04(to_send) >> 16) & 0xFFFU);
@@ -202,6 +212,8 @@ static int subaru_tx_hook(CANPacket_t *to_send, bool longitudinal_allowed) {
       violation = true;
     }
     violation |= max_limit_check(cruise_rpm, SUBARU_RPM_MAX, SUBARU_RPM_MIN);
+    violation |= subaru_rate_limit_check(cruise_rpm, subaru_cruise_rpm_last, SUBARU_RPM_DELTA);
+    subaru_cruise_rpm_last = cruise_rpm;
   }
 
   if (violation) {

From 2b90cc9350780655151eb6857165b1b02fe76ad1 Mon Sep 17 00:00:00 2001
From: Martin Lillepuu <martin@mlp.ee>
Date: Sun, 16 Oct 2022 16:02:34 +0000
Subject: [PATCH 014/113] temporary disable cruise throttle and cruise rpm
 checks

---
 board/safety/safety_subaru.h | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index 372ec00650..4d85bd9e46 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -195,6 +195,7 @@ static int subaru_tx_hook(CANPacket_t *to_send, bool longitudinal_allowed) {
     }
     violation |= max_limit_check(brake_pressure, SUBARU_BRAKE_MAX, SUBARU_BRAKE_MIN);
   }
+  /* FIXME: write tests and fix eyesight faults
   if (addr == 0x221) {
     int cruise_throttle = ((GET_BYTES_04(to_send) >> 16) & 0xFFFU);
 
@@ -215,6 +216,7 @@ static int subaru_tx_hook(CANPacket_t *to_send, bool longitudinal_allowed) {
     violation |= subaru_rate_limit_check(cruise_rpm, subaru_cruise_rpm_last, SUBARU_RPM_DELTA);
     subaru_cruise_rpm_last = cruise_rpm;
   }
+  */
 
   if (violation) {
     tx = 0;

From 98249dcff9fe6fe88cd493b0888420374a1640fb Mon Sep 17 00:00:00 2001
From: Martin Lillepuu <martin@mlp.ee>
Date: Wed, 7 Dec 2022 06:49:10 +0000
Subject: [PATCH 015/113] update subaru long test

---
 tests/safety/test_subaru.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tests/safety/test_subaru.py b/tests/safety/test_subaru.py
index 7d6e55c936..66e9117528 100755
--- a/tests/safety/test_subaru.py
+++ b/tests/safety/test_subaru.py
@@ -83,7 +83,7 @@ class TestSubaruLongitudinalSafety(TestSubaruSafety):
 
   def setUp(self):
     self.packer = CANPackerPanda("subaru_global_2017_generated")
-    self.safety = libpandasafety_py.libpandasafety
+    self.safety = libpanda_py.libpanda
     self.safety.set_safety_hooks(Panda.SAFETY_SUBARU, Panda.FLAG_SUBARU_LONG)
     self.safety.init_tests()
 

From e53c8478e13a8d22e960d7296e6d0bb56ea8b43c Mon Sep 17 00:00:00 2001
From: Martin Lillepuu <martin@mlp.ee>
Date: Sat, 10 Dec 2022 21:14:17 +0000
Subject: [PATCH 016/113] update longitudinal safety and add tests

---
 board/safety/safety_subaru.h | 47 +++++++++++++++++-------------------
 tests/safety/test_subaru.py  | 36 +++++++++++++++++++++++++++
 2 files changed, 58 insertions(+), 25 deletions(-)

diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index 96ff6b0d03..9cf95ba185 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -186,37 +186,34 @@ static int subaru_tx_hook(CANPacket_t *to_send) {
 
   }
 
-  // longitudinal checks
-  /* FIXME: write tests and fix eyesight faults
-  if (addr == 0x220) {
-    int brake_pressure = ((GET_BYTES_04(to_send) >> 16) & 0xFFFFU);
-
-    if (!controls_allowed && (brake_pressure != 0)) {
-      violation = true;
+  if (subaru_longitudinal) {
+    // allow es_brake aeb passthrough and check limits
+    if (addr == 0x220) {
+      bool es_brake_active = GET_BIT(to_send, 38U) != 0;
+      int es_brake_pressure = ((GET_BYTES_04(to_send) >> 16) & 0xFFFFU);
+
+      if (!controls_allowed && (es_brake_pressure != 0) && !es_brake_active) {
+        violation = true;
+      }
+      violation |= max_limit_check(es_brake_pressure, SUBARU_BRAKE_MAX, SUBARU_BRAKE_MIN);
     }
-    violation |= max_limit_check(brake_pressure, SUBARU_BRAKE_MAX, SUBARU_BRAKE_MIN);
-  }
-  if (addr == 0x221) {
-    int cruise_throttle = ((GET_BYTES_04(to_send) >> 16) & 0xFFFU);
+    // check es_distance cruise_throttle limits
+    if ((addr == 0x221) && controls_allowed) {
+      int cruise_throttle = ((GET_BYTES_04(to_send) >> 16) & 0xFFFU);
 
-    if (!longitudinal_allowed && (cruise_throttle != 0)) {
-      violation = true;
+      violation |= max_limit_check(cruise_throttle, SUBARU_THROTTLE_MAX, SUBARU_THROTTLE_MIN);
+      violation |= subaru_rate_limit_check(cruise_throttle, subaru_cruise_throttle_last, SUBARU_THROTTLE_DELTA);
+      subaru_cruise_throttle_last = cruise_throttle;
     }
-    violation |= max_limit_check(cruise_throttle, SUBARU_THROTTLE_MAX, SUBARU_THROTTLE_MIN);
-    violation |= subaru_rate_limit_check(cruise_throttle, subaru_cruise_throttle_last, SUBARU_THROTTLE_DELTA);
-    subaru_cruise_throttle_last = cruise_throttle;
-  }
-  if (addr == 0x222) {
-    int cruise_rpm = ((GET_BYTES_04(to_send) >> 16) & 0xFFFU);
+    // check es_status cruise_rpm limits
+    if ((addr == 0x222) && controls_allowed) {
+      int cruise_rpm = ((GET_BYTES_04(to_send) >> 16) & 0xFFFU);
 
-    if (!longitudinal_allowed && (cruise_rpm != 0)) {
-      violation = true;
+      violation |= max_limit_check(cruise_rpm, SUBARU_RPM_MAX, SUBARU_RPM_MIN);
+      violation |= subaru_rate_limit_check(cruise_rpm, subaru_cruise_rpm_last, SUBARU_RPM_DELTA);
+      subaru_cruise_rpm_last = cruise_rpm;
     }
-    violation |= max_limit_check(cruise_rpm, SUBARU_RPM_MAX, SUBARU_RPM_MIN);
-    violation |= subaru_rate_limit_check(cruise_rpm, subaru_cruise_rpm_last, SUBARU_RPM_DELTA);
-    subaru_cruise_rpm_last = cruise_rpm;
   }
-  */
 
   if (violation) {
     tx = 0;
diff --git a/tests/safety/test_subaru.py b/tests/safety/test_subaru.py
index 66e9117528..b331a4a926 100755
--- a/tests/safety/test_subaru.py
+++ b/tests/safety/test_subaru.py
@@ -71,6 +71,13 @@ class TestSubaruGen2Safety(TestSubaruSafety):
   MAX_RATE_DOWN = 40
   MAX_TORQUE = 1000
 
+  RPM_MAX = 3200
+  THROTTLE_MAX = 3400
+  BRAKE_MAX = 400
+
+  RPM_DELTA = 50
+  THROTTLE_DELTA = 50
+
   def setUp(self):
     self.packer = CANPackerPanda("subaru_global_2017_generated")
     self.safety = libpanda_py.libpanda
@@ -87,6 +94,35 @@ def setUp(self):
     self.safety.set_safety_hooks(Panda.SAFETY_SUBARU, Panda.FLAG_SUBARU_LONG)
     self.safety.init_tests()
 
+  def _es_brake_msg(self, brake=0, active=False):
+    values = {"Brake_Pressure": brake}
+    values = {"Cruise_Brake_Active": active}
+    return self.packer.make_can_msg_panda("ES_Brake", 0, values)
+
+  def _es_distance_msg(self, throttle=0):
+    values = {"Cruise_Throttle": throttle}
+    return self.packer.make_can_msg_panda("ES_Distance", 0, values)
+
+  def _es_status_msg(self, rpm=0):
+    values = {"Cruise_RPM": rpm}
+    return self.packer.make_can_msg_panda("ES_Status", 0, values)
+
+  def test_es_brake_msg(self):
+    self.assertTrue(self._tx(self._es_brake_msg()))
+    self.assertFalse(self._tx(self._es_brake_msg(brake=1)))
+    self.assertFalse(self._tx(self._es_brake_msg(brake=BRAKE_MAX+1)))
+
+  def test_es_distance_msg(self):
+    self.assertTrue(self._tx(self._es_distance_msg()))
+    self.assertTrue(self._tx(self._es_distance_msg(throttle=THROTTLE_DELTA)))
+    self.assertFalse(self._tx(self._es_distance_msg(throttle=THROTTLE_DELTA+THROTTLE_DELTA+1)))
+    self.assertFalse(self._tx(self._es_distance_msg(throttle=THROTTLE_MAX+1)))
+
+  def test_es_status_msg(self):
+    self.assertTrue(self._tx(self._es_status_msg()))
+    self.assertTrue(self._tx(self._es_status_msg(rpm=RPM_DELTA)))
+    self.assertFalse(self._tx(self._es_status_msg(rpm=RPM_DELTA+RPM_DELTA+1)))
+    self.assertFalse(self._tx(self._es_status_msg(rpm=RPM_MAX+1)))
 
 
 if __name__ == "__main__":

From 2e3f5e347e90a124c545be3bed88c8adaac66b3f Mon Sep 17 00:00:00 2001
From: Martin Lillepuu <martin@mlp.ee>
Date: Sat, 10 Dec 2022 23:04:54 +0000
Subject: [PATCH 017/113] fix tests

---
 tests/safety/test_subaru.py | 26 +++++++++++++-------------
 1 file changed, 13 insertions(+), 13 deletions(-)

diff --git a/tests/safety/test_subaru.py b/tests/safety/test_subaru.py
index b331a4a926..778d55d6c2 100755
--- a/tests/safety/test_subaru.py
+++ b/tests/safety/test_subaru.py
@@ -71,13 +71,6 @@ class TestSubaruGen2Safety(TestSubaruSafety):
   MAX_RATE_DOWN = 40
   MAX_TORQUE = 1000
 
-  RPM_MAX = 3200
-  THROTTLE_MAX = 3400
-  BRAKE_MAX = 400
-
-  RPM_DELTA = 50
-  THROTTLE_DELTA = 50
-
   def setUp(self):
     self.packer = CANPackerPanda("subaru_global_2017_generated")
     self.safety = libpanda_py.libpanda
@@ -88,6 +81,13 @@ class TestSubaruLongitudinalSafety(TestSubaruSafety):
   TX_MSGS = [[0x122, 0], [0x220, 0], [0x221, 0], [0x222, 0], [0x321, 0], [0x322, 0], [0x240, 2], [0x13c, 2]]
   FWD_BLACKLISTED_ADDRS = {0: [0x240, 0x13c], 2: [0x122, 0x220, 0x221, 0x222, 0x321, 0x322]}
 
+  RPM_MAX = 3200
+  THROTTLE_MAX = 3400
+  BRAKE_MAX = 400
+
+  RPM_DELTA = 50
+  THROTTLE_DELTA = 50
+
   def setUp(self):
     self.packer = CANPackerPanda("subaru_global_2017_generated")
     self.safety = libpanda_py.libpanda
@@ -114,15 +114,15 @@ def test_es_brake_msg(self):
 
   def test_es_distance_msg(self):
     self.assertTrue(self._tx(self._es_distance_msg()))
-    self.assertTrue(self._tx(self._es_distance_msg(throttle=THROTTLE_DELTA)))
-    self.assertFalse(self._tx(self._es_distance_msg(throttle=THROTTLE_DELTA+THROTTLE_DELTA+1)))
-    self.assertFalse(self._tx(self._es_distance_msg(throttle=THROTTLE_MAX+1)))
+    self.assertTrue(self._tx(self._es_distance_msg(throttle=self.THROTTLE_DELTA)))
+    self.assertFalse(self._tx(self._es_distance_msg(throttle=self.THROTTLE_DELTA+self.THROTTLE_DELTA+1)))
+    self.assertFalse(self._tx(self._es_distance_msg(throttle=self.THROTTLE_MAX+1)))
 
   def test_es_status_msg(self):
     self.assertTrue(self._tx(self._es_status_msg()))
-    self.assertTrue(self._tx(self._es_status_msg(rpm=RPM_DELTA)))
-    self.assertFalse(self._tx(self._es_status_msg(rpm=RPM_DELTA+RPM_DELTA+1)))
-    self.assertFalse(self._tx(self._es_status_msg(rpm=RPM_MAX+1)))
+    self.assertTrue(self._tx(self._es_status_msg(rpm=self.RPM_DELTA)))
+    self.assertFalse(self._tx(self._es_status_msg(rpm=self.RPM_DELTA+self.RPM_DELTA+1)))
+    self.assertFalse(self._tx(self._es_status_msg(rpm=self.RPM_MAX+1)))
 
 
 if __name__ == "__main__":

From cf23e8d2ac07eefcc2a0897edf249f7cb733aca4 Mon Sep 17 00:00:00 2001
From: Martin Lillepuu <martin@mlp.ee>
Date: Sat, 10 Dec 2022 23:06:48 +0000
Subject: [PATCH 018/113] fix misra

---
 board/safety/safety_subaru.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index 9cf95ba185..ab283874a5 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -189,7 +189,7 @@ static int subaru_tx_hook(CANPacket_t *to_send) {
   if (subaru_longitudinal) {
     // allow es_brake aeb passthrough and check limits
     if (addr == 0x220) {
-      bool es_brake_active = GET_BIT(to_send, 38U) != 0;
+      bool es_brake_active = GET_BIT(to_send, 38U) != 0U;
       int es_brake_pressure = ((GET_BYTES_04(to_send) >> 16) & 0xFFFFU);
 
       if (!controls_allowed && (es_brake_pressure != 0) && !es_brake_active) {

From 63c34758e11d379dae521a1fbe7511d2d38d5263 Mon Sep 17 00:00:00 2001
From: Martin Lillepuu <martin@mlp.ee>
Date: Sun, 11 Dec 2022 08:51:16 +0000
Subject: [PATCH 019/113] subaru long signals limits checks

---
 board/safety/safety_subaru.h | 27 +++------------------------
 tests/safety/test_subaru.py  | 26 ++++++++++----------------
 2 files changed, 13 insertions(+), 40 deletions(-)

diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index ab283874a5..97e6ac18b5 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -25,11 +25,11 @@ const int SUBARU_BRAKE_MAX = 400;
 
 const int SUBARU_THROTTLE_MIN = 0;
 const int SUBARU_THROTTLE_MAX = 3400;
-const int SUBARU_THROTTLE_DELTA = 50;
+//const int SUBARU_THROTTLE_DELTA = 50;
 
 const int SUBARU_RPM_MIN = 0;
 const int SUBARU_RPM_MAX = 3200;
-const int SUBARU_RPM_DELTA = 50;
+//const int SUBARU_RPM_DELTA = 50;
 
 int subaru_cruise_throttle_last = 0;
 int subaru_cruise_rpm_last = 0;
@@ -149,16 +149,6 @@ static int subaru_rx_hook(CANPacket_t *to_push) {
   return valid;
 }
 
-bool subaru_rate_limit_check(int val, int val_last, const int MAX_VAL_DELTA) {
-
-  // *** rate limit check ***
-  int highest_val = MAX(val_last, 0) + MAX_VAL_DELTA;
-  int lowest_val = MIN(val_last, 0) - MAX_VAL_DELTA;
-
-  // check for violation
-  return (val < lowest_val) || (val > highest_val);
-}
-
 
 static int subaru_tx_hook(CANPacket_t *to_send) {
 
@@ -187,31 +177,20 @@ static int subaru_tx_hook(CANPacket_t *to_send) {
   }
 
   if (subaru_longitudinal) {
-    // allow es_brake aeb passthrough and check limits
+    // check es_brake brake_pressure limits
     if (addr == 0x220) {
-      bool es_brake_active = GET_BIT(to_send, 38U) != 0U;
       int es_brake_pressure = ((GET_BYTES_04(to_send) >> 16) & 0xFFFFU);
-
-      if (!controls_allowed && (es_brake_pressure != 0) && !es_brake_active) {
-        violation = true;
-      }
       violation |= max_limit_check(es_brake_pressure, SUBARU_BRAKE_MAX, SUBARU_BRAKE_MIN);
     }
     // check es_distance cruise_throttle limits
     if ((addr == 0x221) && controls_allowed) {
       int cruise_throttle = ((GET_BYTES_04(to_send) >> 16) & 0xFFFU);
-
       violation |= max_limit_check(cruise_throttle, SUBARU_THROTTLE_MAX, SUBARU_THROTTLE_MIN);
-      violation |= subaru_rate_limit_check(cruise_throttle, subaru_cruise_throttle_last, SUBARU_THROTTLE_DELTA);
-      subaru_cruise_throttle_last = cruise_throttle;
     }
     // check es_status cruise_rpm limits
     if ((addr == 0x222) && controls_allowed) {
       int cruise_rpm = ((GET_BYTES_04(to_send) >> 16) & 0xFFFU);
-
       violation |= max_limit_check(cruise_rpm, SUBARU_RPM_MAX, SUBARU_RPM_MIN);
-      violation |= subaru_rate_limit_check(cruise_rpm, subaru_cruise_rpm_last, SUBARU_RPM_DELTA);
-      subaru_cruise_rpm_last = cruise_rpm;
     }
   }
 
diff --git a/tests/safety/test_subaru.py b/tests/safety/test_subaru.py
index 778d55d6c2..a84c51174b 100755
--- a/tests/safety/test_subaru.py
+++ b/tests/safety/test_subaru.py
@@ -81,12 +81,9 @@ class TestSubaruLongitudinalSafety(TestSubaruSafety):
   TX_MSGS = [[0x122, 0], [0x220, 0], [0x221, 0], [0x222, 0], [0x321, 0], [0x322, 0], [0x240, 2], [0x13c, 2]]
   FWD_BLACKLISTED_ADDRS = {0: [0x240, 0x13c], 2: [0x122, 0x220, 0x221, 0x222, 0x321, 0x322]}
 
-  RPM_MAX = 3200
-  THROTTLE_MAX = 3400
-  BRAKE_MAX = 400
-
-  RPM_DELTA = 50
-  THROTTLE_DELTA = 50
+  MAX_RPM = 3200
+  MAX_BRAKE = 400
+  MAX_THROTTLE = 3400
 
   def setUp(self):
     self.packer = CANPackerPanda("subaru_global_2017_generated")
@@ -94,9 +91,8 @@ def setUp(self):
     self.safety.set_safety_hooks(Panda.SAFETY_SUBARU, Panda.FLAG_SUBARU_LONG)
     self.safety.init_tests()
 
-  def _es_brake_msg(self, brake=0, active=False):
+  def _es_brake_msg(self, brake=0):
     values = {"Brake_Pressure": brake}
-    values = {"Cruise_Brake_Active": active}
     return self.packer.make_can_msg_panda("ES_Brake", 0, values)
 
   def _es_distance_msg(self, throttle=0):
@@ -109,20 +105,18 @@ def _es_status_msg(self, rpm=0):
 
   def test_es_brake_msg(self):
     self.assertTrue(self._tx(self._es_brake_msg()))
-    self.assertFalse(self._tx(self._es_brake_msg(brake=1)))
-    self.assertFalse(self._tx(self._es_brake_msg(brake=BRAKE_MAX+1)))
+    self.assertTrue(self._tx(self._es_brake_msg(brake=self.MAX_BRAKE)))
+    self.assertFalse(self._tx(self._es_brake_msg(brake=self.MAX_BRAKE+1)))
 
   def test_es_distance_msg(self):
     self.assertTrue(self._tx(self._es_distance_msg()))
-    self.assertTrue(self._tx(self._es_distance_msg(throttle=self.THROTTLE_DELTA)))
-    self.assertFalse(self._tx(self._es_distance_msg(throttle=self.THROTTLE_DELTA+self.THROTTLE_DELTA+1)))
-    self.assertFalse(self._tx(self._es_distance_msg(throttle=self.THROTTLE_MAX+1)))
+    self.assertTrue(self._tx(self._es_distance_msg(throttle=self.MAX_THROTTLE)))
+    self.assertFalse(self._tx(self._es_distance_msg(throttle=self.MAX_THROTTLE+1)))
 
   def test_es_status_msg(self):
     self.assertTrue(self._tx(self._es_status_msg()))
-    self.assertTrue(self._tx(self._es_status_msg(rpm=self.RPM_DELTA)))
-    self.assertFalse(self._tx(self._es_status_msg(rpm=self.RPM_DELTA+self.RPM_DELTA+1)))
-    self.assertFalse(self._tx(self._es_status_msg(rpm=self.RPM_MAX+1)))
+    self.assertTrue(self._tx(self._es_status_msg(rpm=self.MAX_RPM)))
+    self.assertFalse(self._tx(self._es_status_msg(rpm=self.MAX_RPM+1)))
 
 
 if __name__ == "__main__":

From b9cfddf2b4ad2a0da01e88d26712d61e65f97444 Mon Sep 17 00:00:00 2001
From: Martin Lillepuu <martin@mlp.ee>
Date: Sun, 11 Dec 2022 09:46:06 +0000
Subject: [PATCH 020/113] Add controls_allowed to long tests

---
 tests/safety/test_subaru.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/tests/safety/test_subaru.py b/tests/safety/test_subaru.py
index a84c51174b..f0e7440322 100755
--- a/tests/safety/test_subaru.py
+++ b/tests/safety/test_subaru.py
@@ -109,11 +109,13 @@ def test_es_brake_msg(self):
     self.assertFalse(self._tx(self._es_brake_msg(brake=self.MAX_BRAKE+1)))
 
   def test_es_distance_msg(self):
+    self.safety.set_controls_allowed(True)
     self.assertTrue(self._tx(self._es_distance_msg()))
     self.assertTrue(self._tx(self._es_distance_msg(throttle=self.MAX_THROTTLE)))
     self.assertFalse(self._tx(self._es_distance_msg(throttle=self.MAX_THROTTLE+1)))
 
   def test_es_status_msg(self):
+    self.safety.set_controls_allowed(True)
     self.assertTrue(self._tx(self._es_status_msg()))
     self.assertTrue(self._tx(self._es_status_msg(rpm=self.MAX_RPM)))
     self.assertFalse(self._tx(self._es_status_msg(rpm=self.MAX_RPM+1)))

From b13a453990b29ce1a8f865672065dacbc0a9378e Mon Sep 17 00:00:00 2001
From: Martin Lillepuu <martin@mlp.ee>
Date: Sun, 11 Dec 2022 10:12:24 +0000
Subject: [PATCH 021/113] remove unused variables

---
 board/safety/safety_subaru.h | 5 -----
 1 file changed, 5 deletions(-)

diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index 97e6ac18b5..6fa419997e 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -25,14 +25,9 @@ const int SUBARU_BRAKE_MAX = 400;
 
 const int SUBARU_THROTTLE_MIN = 0;
 const int SUBARU_THROTTLE_MAX = 3400;
-//const int SUBARU_THROTTLE_DELTA = 50;
 
 const int SUBARU_RPM_MIN = 0;
 const int SUBARU_RPM_MAX = 3200;
-//const int SUBARU_RPM_DELTA = 50;
-
-int subaru_cruise_throttle_last = 0;
-int subaru_cruise_rpm_last = 0;
 
 const CanMsg SUBARU_TX_MSGS[] = {
   {0x122, 0, 8},

From d1eff3e354d22aa9550e878f2ff497c7ad61355e Mon Sep 17 00:00:00 2001
From: Martin Lillepuu <martin@mlp.ee>
Date: Mon, 12 Dec 2022 07:00:31 +0000
Subject: [PATCH 022/113] Add AEB passthru and tests

---
 board/safety/safety_subaru.h | 3 ++-
 tests/safety/test_subaru.py  | 9 ++++++---
 2 files changed, 8 insertions(+), 4 deletions(-)

diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index 6fa419997e..a0aa356852 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -174,8 +174,9 @@ static int subaru_tx_hook(CANPacket_t *to_send) {
   if (subaru_longitudinal) {
     // check es_brake brake_pressure limits
     if (addr == 0x220) {
+      bool aeb = (bus == 2) && (GET_BIT(to_send, 38U) == 1);
       int es_brake_pressure = ((GET_BYTES_04(to_send) >> 16) & 0xFFFFU);
-      violation |= max_limit_check(es_brake_pressure, SUBARU_BRAKE_MAX, SUBARU_BRAKE_MIN);
+      violation |= !aeb && max_limit_check(es_brake_pressure, SUBARU_BRAKE_MAX, SUBARU_BRAKE_MIN);
     }
     // check es_distance cruise_throttle limits
     if ((addr == 0x221) && controls_allowed) {
diff --git a/tests/safety/test_subaru.py b/tests/safety/test_subaru.py
index f0e7440322..dafe51c3dd 100755
--- a/tests/safety/test_subaru.py
+++ b/tests/safety/test_subaru.py
@@ -91,9 +91,10 @@ def setUp(self):
     self.safety.set_safety_hooks(Panda.SAFETY_SUBARU, Panda.FLAG_SUBARU_LONG)
     self.safety.init_tests()
 
-  def _es_brake_msg(self, brake=0):
+  def _es_brake_msg(self, brake=0, bus=0, aeb=0):
     values = {"Brake_Pressure": brake}
-    return self.packer.make_can_msg_panda("ES_Brake", 0, values)
+    values = {"Cruise_Brake_Active": aeb}
+    return self.packer.make_can_msg_panda("ES_Brake", bus, values)
 
   def _es_distance_msg(self, throttle=0):
     values = {"Cruise_Throttle": throttle}
@@ -106,7 +107,9 @@ def _es_status_msg(self, rpm=0):
   def test_es_brake_msg(self):
     self.assertTrue(self._tx(self._es_brake_msg()))
     self.assertTrue(self._tx(self._es_brake_msg(brake=self.MAX_BRAKE)))
-    self.assertFalse(self._tx(self._es_brake_msg(brake=self.MAX_BRAKE+1)))
+    self.assertFalse(self._tx(self._es_brake_msg(brake=self.MAX_BRAKE+10)))
+    self.assertFalse(self._tx(self._es_brake_msg(brake=self.MAX_BRAKE+10, bus=2, aeb=0)))
+    self.assertTrue(self._tx(self._es_brake_msg(brake=self.MAX_BRAKE+10, bus=2, aeb=1)))
 
   def test_es_distance_msg(self):
     self.safety.set_controls_allowed(True)

From 0de5ee112e7a3255d8c79613ce161e2e4d864394 Mon Sep 17 00:00:00 2001
From: Martin Lillepuu <martin@mlp.ee>
Date: Mon, 12 Dec 2022 07:11:33 +0000
Subject: [PATCH 023/113] Add bus

---
 board/safety/safety_subaru.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index a0aa356852..b13e216f9c 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -172,6 +172,7 @@ static int subaru_tx_hook(CANPacket_t *to_send) {
   }
 
   if (subaru_longitudinal) {
+    const int bus = GET_BUS(to_push);
     // check es_brake brake_pressure limits
     if (addr == 0x220) {
       bool aeb = (bus == 2) && (GET_BIT(to_send, 38U) == 1);

From aef8ab130374a8d33b5f8854310c82514a97d8cb Mon Sep 17 00:00:00 2001
From: Martin Lillepuu <martin@mlp.ee>
Date: Mon, 12 Dec 2022 07:29:56 +0000
Subject: [PATCH 024/113] Update AEB logic

---
 board/safety/safety_subaru.h | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index b13e216f9c..46f4cfc70d 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -84,6 +84,7 @@ const uint16_t SUBARU_PARAM_LONGITUDINAL = 2;
 bool subaru_gen2 = false;
 bool subaru_longitudinal = false;
 
+bool subaru_aeb = false
 
 static uint32_t subaru_get_checksum(CANPacket_t *to_push) {
   return (uint8_t)GET_BYTE(to_push, 0);
@@ -120,6 +121,10 @@ static int subaru_rx_hook(CANPacket_t *to_push) {
       update_sample(&torque_driver, torque_driver_new);
     }
 
+    if ((addr == 0x220) && (bus == 2)) {
+      subaru_aeb = (GET_BIT(to_send, 38U) == 1)
+    }
+
     // enter controls on rising edge of ACC, exit controls on ACC off
     if ((addr == 0x240) && (bus == alt_bus)) {
       bool cruise_engaged = GET_BIT(to_push, 41U) != 0U;
@@ -172,12 +177,10 @@ static int subaru_tx_hook(CANPacket_t *to_send) {
   }
 
   if (subaru_longitudinal) {
-    const int bus = GET_BUS(to_push);
     // check es_brake brake_pressure limits
     if (addr == 0x220) {
-      bool aeb = (bus == 2) && (GET_BIT(to_send, 38U) == 1);
       int es_brake_pressure = ((GET_BYTES_04(to_send) >> 16) & 0xFFFFU);
-      violation |= !aeb && max_limit_check(es_brake_pressure, SUBARU_BRAKE_MAX, SUBARU_BRAKE_MIN);
+      violation |= !subaru_aeb && max_limit_check(es_brake_pressure, SUBARU_BRAKE_MAX, SUBARU_BRAKE_MIN);
     }
     // check es_distance cruise_throttle limits
     if ((addr == 0x221) && controls_allowed) {

From 660b2580a3616a78ff1f89cb7eab325d3ba906e0 Mon Sep 17 00:00:00 2001
From: Martin Lillepuu <martin@mlp.ee>
Date: Mon, 12 Dec 2022 07:55:35 +0000
Subject: [PATCH 025/113] Add GEN2 AEB support

---
 board/safety/safety_subaru.h | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index 46f4cfc70d..c388ac67ef 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -112,6 +112,7 @@ static int subaru_rx_hook(CANPacket_t *to_push) {
   if (valid) {
     const int bus = GET_BUS(to_push);
     const int alt_bus = subaru_gen2 ? 1 : 0;
+    const int alt_bus2 = subaru_gen2 ? 1 : 2;
 
     int addr = GET_ADDR(to_push);
     if ((addr == 0x119) && (bus == 0)) {
@@ -121,8 +122,8 @@ static int subaru_rx_hook(CANPacket_t *to_push) {
       update_sample(&torque_driver, torque_driver_new);
     }
 
-    if ((addr == 0x220) && (bus == 2)) {
-      subaru_aeb = (GET_BIT(to_send, 38U) == 1)
+    if ((addr == 0x220) && (bus == alt_bus2)) {
+      subaru_aeb = (GET_BIT(to_push, 38U) == 1)
     }
 
     // enter controls on rising edge of ACC, exit controls on ACC off

From 5fd7c698d50226def0ea24735ec17f84a3e1cb9b Mon Sep 17 00:00:00 2001
From: Martin Lillepuu <martin@mlp.ee>
Date: Mon, 12 Dec 2022 08:09:02 +0000
Subject: [PATCH 026/113] syntax fix

---
 board/safety/safety_subaru.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index c388ac67ef..006fb2c07e 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -84,7 +84,7 @@ const uint16_t SUBARU_PARAM_LONGITUDINAL = 2;
 bool subaru_gen2 = false;
 bool subaru_longitudinal = false;
 
-bool subaru_aeb = false
+bool subaru_aeb = false;
 
 static uint32_t subaru_get_checksum(CANPacket_t *to_push) {
   return (uint8_t)GET_BYTE(to_push, 0);
@@ -123,7 +123,7 @@ static int subaru_rx_hook(CANPacket_t *to_push) {
     }
 
     if ((addr == 0x220) && (bus == alt_bus2)) {
-      subaru_aeb = (GET_BIT(to_push, 38U) == 1)
+      subaru_aeb = GET_BIT(to_push, 38U) != 0U;
     }
 
     // enter controls on rising edge of ACC, exit controls on ACC off

From 0575d7a33d2ec2d8f7c6084c9f2eda264f55ea0f Mon Sep 17 00:00:00 2001
From: Martin Lillepuu <martin@mlp.ee>
Date: Mon, 12 Dec 2022 08:48:29 +0000
Subject: [PATCH 027/113] Update AEB tests

---
 tests/libpanda/safety_helpers.h  |  4 ++++
 tests/libpanda/safety_helpers.py |  2 ++
 tests/safety/test_subaru.py      | 13 ++++++-------
 3 files changed, 12 insertions(+), 7 deletions(-)

diff --git a/tests/libpanda/safety_helpers.h b/tests/libpanda/safety_helpers.h
index 46b05fc7a0..75ef31d88c 100644
--- a/tests/libpanda/safety_helpers.h
+++ b/tests/libpanda/safety_helpers.h
@@ -144,6 +144,10 @@ void set_honda_fwd_brake(bool c){
   honda_fwd_brake = c;
 }
 
+void set_subaru_aeb(bool c){
+  subaru_aeb = c;
+}
+
 void init_tests(void){
   // get HW_TYPE from env variable set in test.sh
   if (getenv("HW_TYPE")) {
diff --git a/tests/libpanda/safety_helpers.py b/tests/libpanda/safety_helpers.py
index a6ba4b0412..42137d00dd 100644
--- a/tests/libpanda/safety_helpers.py
+++ b/tests/libpanda/safety_helpers.py
@@ -41,6 +41,7 @@ def setup_safety_helpers(ffi):
   void set_honda_alt_brake_msg(bool c);
   void set_honda_bosch_long(bool c);
   int get_honda_hw(void);
+  void set_subaru_aeb(bool c);
   """)
 
 class PandaSafety:
@@ -84,4 +85,5 @@ def set_honda_alt_brake_msg(self, c: bool) -> None: ...
   def set_honda_bosch_long(self, c: bool) -> None: ...
   def get_honda_hw(self) -> int: ...
 
+  def set_subaru_aeb(self, c: bool) -> None: ...
 
diff --git a/tests/safety/test_subaru.py b/tests/safety/test_subaru.py
index dafe51c3dd..1e7cec2225 100755
--- a/tests/safety/test_subaru.py
+++ b/tests/safety/test_subaru.py
@@ -91,10 +91,9 @@ def setUp(self):
     self.safety.set_safety_hooks(Panda.SAFETY_SUBARU, Panda.FLAG_SUBARU_LONG)
     self.safety.init_tests()
 
-  def _es_brake_msg(self, brake=0, bus=0, aeb=0):
+  def _es_brake_msg(self, brake=0):
     values = {"Brake_Pressure": brake}
-    values = {"Cruise_Brake_Active": aeb}
-    return self.packer.make_can_msg_panda("ES_Brake", bus, values)
+    return self.packer.make_can_msg_panda("ES_Brake", 0, values)
 
   def _es_distance_msg(self, throttle=0):
     values = {"Cruise_Throttle": throttle}
@@ -108,17 +107,17 @@ def test_es_brake_msg(self):
     self.assertTrue(self._tx(self._es_brake_msg()))
     self.assertTrue(self._tx(self._es_brake_msg(brake=self.MAX_BRAKE)))
     self.assertFalse(self._tx(self._es_brake_msg(brake=self.MAX_BRAKE+10)))
-    self.assertFalse(self._tx(self._es_brake_msg(brake=self.MAX_BRAKE+10, bus=2, aeb=0)))
-    self.assertTrue(self._tx(self._es_brake_msg(brake=self.MAX_BRAKE+10, bus=2, aeb=1)))
+    self.safety.set_subaru_aeb(1)
+    self.assertTrue(self._tx(self._es_brake_msg(brake=self.MAX_BRAKE+10)))
 
   def test_es_distance_msg(self):
-    self.safety.set_controls_allowed(True)
+    self.safety.set_controls_allowed(1)
     self.assertTrue(self._tx(self._es_distance_msg()))
     self.assertTrue(self._tx(self._es_distance_msg(throttle=self.MAX_THROTTLE)))
     self.assertFalse(self._tx(self._es_distance_msg(throttle=self.MAX_THROTTLE+1)))
 
   def test_es_status_msg(self):
-    self.safety.set_controls_allowed(True)
+    self.safety.set_controls_allowed(1)
     self.assertTrue(self._tx(self._es_status_msg()))
     self.assertTrue(self._tx(self._es_status_msg(rpm=self.MAX_RPM)))
     self.assertFalse(self._tx(self._es_status_msg(rpm=self.MAX_RPM+1)))

From 77ddd7fcd0ad635f7c000da98d2aa4134553a10b Mon Sep 17 00:00:00 2001
From: Martin Lillepuu <martin@mlp.ee>
Date: Sun, 5 Mar 2023 13:34:31 +0200
Subject: [PATCH 028/113] Add comment for subaru_aeb

---
 board/safety/safety_subaru.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index 006fb2c07e..83beee348f 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -122,6 +122,7 @@ static int subaru_rx_hook(CANPacket_t *to_push) {
       update_sample(&torque_driver, torque_driver_new);
     }
 
+    // ES_Brake Cruise_Brake_Active
     if ((addr == 0x220) && (bus == alt_bus2)) {
       subaru_aeb = GET_BIT(to_push, 38U) != 0U;
     }

From c1d84c52aceebd50590d8aaf181e9964389d822b Mon Sep 17 00:00:00 2001
From: Martin Lillepuu <martin@mlp.ee>
Date: Mon, 20 Mar 2023 21:00:00 +0200
Subject: [PATCH 029/113] Do not check cruise_throttle and cruise_rpm limits
 when gas pressed

---
 board/safety/safety_subaru.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index 83beee348f..0e58df7cee 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -185,12 +185,12 @@ static int subaru_tx_hook(CANPacket_t *to_send) {
       violation |= !subaru_aeb && max_limit_check(es_brake_pressure, SUBARU_BRAKE_MAX, SUBARU_BRAKE_MIN);
     }
     // check es_distance cruise_throttle limits
-    if ((addr == 0x221) && controls_allowed) {
+    if ((addr == 0x221) && controls_allowed && !gas_pressed) {
       int cruise_throttle = ((GET_BYTES_04(to_send) >> 16) & 0xFFFU);
       violation |= max_limit_check(cruise_throttle, SUBARU_THROTTLE_MAX, SUBARU_THROTTLE_MIN);
     }
     // check es_status cruise_rpm limits
-    if ((addr == 0x222) && controls_allowed) {
+    if ((addr == 0x222) && controls_allowed && !gas_pressed) {
       int cruise_rpm = ((GET_BYTES_04(to_send) >> 16) & 0xFFFU);
       violation |= max_limit_check(cruise_rpm, SUBARU_RPM_MAX, SUBARU_RPM_MIN);
     }

From 4cd4a1211ca0d1c7ff68938ec401f7aca0fab051 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 15 Apr 2023 10:41:10 -0700
Subject: [PATCH 030/113] use long limits struct

---
 board/safety/safety_subaru.h | 29 +++++++++++++++++------------
 board/safety_declarations.h  |  3 +++
 2 files changed, 20 insertions(+), 12 deletions(-)

diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index efe2432525..aca30b62d4 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -20,14 +20,14 @@ const SteeringLimits SUBARU_GEN2_STEERING_LIMITS = {
   .type = TorqueDriverLimited,
 };
 
-const int SUBARU_BRAKE_MIN = 0;
-const int SUBARU_BRAKE_MAX = 400;
-
-const int SUBARU_THROTTLE_MIN = 0;
-const int SUBARU_THROTTLE_MAX = 3400;
+const LongitudinalLimits SUBARU_LONG_LIMITS = {
+  .min_gas = 0,
+  .max_gas = 3400,
+  .min_rpm = 0,
+  .max_rpm = 3200,
+  .max_brake = 400,
+};
 
-const int SUBARU_RPM_MIN = 0;
-const int SUBARU_RPM_MAX = 3200;
 
 const CanMsg SUBARU_TX_MSGS[] = {
   {0x122, 0, 8},
@@ -175,24 +175,29 @@ static int subaru_tx_hook(CANPacket_t *to_send) {
     if (steer_torque_cmd_checks(desired_torque, -1, limits)) {
       tx = 0;
     }
-
   }
 
   if (subaru_longitudinal) {
     // check es_brake brake_pressure limits
     if (addr == 0x220) {
       int es_brake_pressure = ((GET_BYTES_04(to_send) >> 16) & 0xFFFFU);
-      violation |= !subaru_aeb && max_limit_check(es_brake_pressure, SUBARU_BRAKE_MAX, SUBARU_BRAKE_MIN);
+      violation |= subaru_aeb || longitudinal_brake_checks(es_brake_pressure, SUBARU_LONG_LIMITS);
     }
+
     // check es_distance cruise_throttle limits
     if ((addr == 0x221) && controls_allowed && !gas_pressed) {
       int cruise_throttle = ((GET_BYTES_04(to_send) >> 16) & 0xFFFU);
-      violation |= max_limit_check(cruise_throttle, SUBARU_THROTTLE_MAX, SUBARU_THROTTLE_MIN);
+      violation |= longitudinal_gas_checks(cruise_throttle, SUBARU_LONG_LIMITS);
     }
+
     // check es_status cruise_rpm limits
-    if ((addr == 0x222) && controls_allowed && !gas_pressed) {
+    if (addr == 0x222) {
       int cruise_rpm = ((GET_BYTES_04(to_send) >> 16) & 0xFFFU);
-      violation |= max_limit_check(cruise_rpm, SUBARU_RPM_MAX, SUBARU_RPM_MIN);
+      if (get_longitudinal_allowed()) {
+        violation |= max_limit_check(cruise_rpm, SUBARU_LONG_LIMITS.max_rpm, SUBARU_LONG_LIMITS.min_rpm);
+      } else {
+        violation |= cruise_rpm != 0;
+      }
     }
   }
 
diff --git a/board/safety_declarations.h b/board/safety_declarations.h
index 6dde0d4a3a..0c6fa760a9 100644
--- a/board/safety_declarations.h
+++ b/board/safety_declarations.h
@@ -75,6 +75,9 @@ typedef struct {
   const int inactive_gas;
   const int max_brake;
 
+  const int min_rpm;
+  const int max_rpm;
+
   // speed cmd limits
   const int inactive_speed;
 } LongitudinalLimits;

From c0847a6ecd4282224f12c89f11724f4d0b727654 Mon Sep 17 00:00:00 2001
From: Martin Lillepuu <martin@mlp.ee>
Date: Wed, 19 Apr 2023 19:17:19 +0300
Subject: [PATCH 031/113] Subaru: longitudinal checks only when
 controls_allowed, use ES_LKAS_State LKAS_Alert for AEB

---
 board/safety/safety_subaru.h | 15 ++++++++-------
 1 file changed, 8 insertions(+), 7 deletions(-)

diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index aca30b62d4..ee5e858313 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -122,9 +122,10 @@ static int subaru_rx_hook(CANPacket_t *to_push) {
       update_sample(&torque_driver, torque_driver_new);
     }
 
-    // ES_Brake Cruise_Brake_Active
-    if ((addr == 0x220) && (bus == alt_bus2)) {
-      subaru_aeb = GET_BIT(to_push, 38U) != 0U;
+    // ES_LKAS_State LKAS_Alert: 2, 5, 6
+    if ((addr == 0x322) && (bus == alt_bus2)) {
+      int lkas_alert = ((GET_BYTE(to_push, 4) >> 3) & 5U);
+      subaru_aeb = (lkas_alert == 2U || lkas_alert == 5U || lkas_alert == 6U);
     }
 
     // enter controls on rising edge of ACC, exit controls on ACC off
@@ -139,7 +140,7 @@ static int subaru_rx_hook(CANPacket_t *to_push) {
     }
 
     if ((addr == 0x13c) && (bus == alt_bus)) {
-      brake_pressed = ((GET_BYTE(to_push, 7) >> 6) & 1U);
+      brake_pressed = GET_BIT(to_push, 62U) != 0U;
     }
 
     if ((addr == 0x40) && (bus == 0)) {
@@ -177,7 +178,7 @@ static int subaru_tx_hook(CANPacket_t *to_send) {
     }
   }
 
-  if (subaru_longitudinal) {
+  if (subaru_longitudinal && controls_allowed) {
     // check es_brake brake_pressure limits
     if (addr == 0x220) {
       int es_brake_pressure = ((GET_BYTES_04(to_send) >> 16) & 0xFFFFU);
@@ -185,13 +186,13 @@ static int subaru_tx_hook(CANPacket_t *to_send) {
     }
 
     // check es_distance cruise_throttle limits
-    if ((addr == 0x221) && controls_allowed && !gas_pressed) {
+    if ((addr == 0x221) && !gas_pressed) {
       int cruise_throttle = ((GET_BYTES_04(to_send) >> 16) & 0xFFFU);
       violation |= longitudinal_gas_checks(cruise_throttle, SUBARU_LONG_LIMITS);
     }
 
     // check es_status cruise_rpm limits
-    if (addr == 0x222) {
+    if ((addr == 0x222) && !gas_pressed) {
       int cruise_rpm = ((GET_BYTES_04(to_send) >> 16) & 0xFFFU);
       if (get_longitudinal_allowed()) {
         violation |= max_limit_check(cruise_rpm, SUBARU_LONG_LIMITS.max_rpm, SUBARU_LONG_LIMITS.min_rpm);

From 7166dd567392a7629fa80c4149ac81a011c2935f Mon Sep 17 00:00:00 2001
From: Martin Lillepuu <martin@mlp.ee>
Date: Wed, 19 Apr 2023 19:31:51 +0300
Subject: [PATCH 032/113] fix misra, set controls_allowed for es_brake test

---
 board/safety/safety_subaru.h | 2 +-
 tests/safety/test_subaru.py  | 1 +
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index ee5e858313..bb4ab28187 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -125,7 +125,7 @@ static int subaru_rx_hook(CANPacket_t *to_push) {
     // ES_LKAS_State LKAS_Alert: 2, 5, 6
     if ((addr == 0x322) && (bus == alt_bus2)) {
       int lkas_alert = ((GET_BYTE(to_push, 4) >> 3) & 5U);
-      subaru_aeb = (lkas_alert == 2U || lkas_alert == 5U || lkas_alert == 6U);
+      subaru_aeb = ((lkas_alert == 2U) || (lkas_alert == 5U) || (lkas_alert == 6U));
     }
 
     // enter controls on rising edge of ACC, exit controls on ACC off
diff --git a/tests/safety/test_subaru.py b/tests/safety/test_subaru.py
index 1e7cec2225..2b49c8d798 100755
--- a/tests/safety/test_subaru.py
+++ b/tests/safety/test_subaru.py
@@ -104,6 +104,7 @@ def _es_status_msg(self, rpm=0):
     return self.packer.make_can_msg_panda("ES_Status", 0, values)
 
   def test_es_brake_msg(self):
+    self.safety.set_controls_allowed(1)
     self.assertTrue(self._tx(self._es_brake_msg()))
     self.assertTrue(self._tx(self._es_brake_msg(brake=self.MAX_BRAKE)))
     self.assertFalse(self._tx(self._es_brake_msg(brake=self.MAX_BRAKE+10)))

From adf234c2091d02c72717191d07beb958eaa0c137 Mon Sep 17 00:00:00 2001
From: Martin Lillepuu <martin@mlp.ee>
Date: Sun, 23 Apr 2023 18:54:43 +0300
Subject: [PATCH 033/113] fix misra

---
 board/safety/safety_subaru.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index bb4ab28187..aa23323b90 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -124,8 +124,8 @@ static int subaru_rx_hook(CANPacket_t *to_push) {
 
     // ES_LKAS_State LKAS_Alert: 2, 5, 6
     if ((addr == 0x322) && (bus == alt_bus2)) {
-      int lkas_alert = ((GET_BYTE(to_push, 4) >> 3) & 5U);
-      subaru_aeb = ((lkas_alert == 2U) || (lkas_alert == 5U) || (lkas_alert == 6U));
+      const int lkas_alert = ((GET_BYTE(to_push, 4) >> 3) & 5U);
+      subaru_aeb = ((lkas_alert == 2) || (lkas_alert == 5) || (lkas_alert == 6));
     }
 
     // enter controls on rising edge of ACC, exit controls on ACC off

From 3de6861ed432abb67fb77ba4d529f52e2678c243 Mon Sep 17 00:00:00 2001
From: Martin Lillepuu <martin@mlp.ee>
Date: Thu, 27 Apr 2023 11:23:40 +0300
Subject: [PATCH 034/113] Fix es_brake violation check

---
 board/safety/safety_subaru.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index aa23323b90..d6303470ad 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -182,7 +182,7 @@ static int subaru_tx_hook(CANPacket_t *to_send) {
     // check es_brake brake_pressure limits
     if (addr == 0x220) {
       int es_brake_pressure = ((GET_BYTES_04(to_send) >> 16) & 0xFFFFU);
-      violation |= subaru_aeb || longitudinal_brake_checks(es_brake_pressure, SUBARU_LONG_LIMITS);
+      violation |= !subaru_aeb && longitudinal_brake_checks(es_brake_pressure, SUBARU_LONG_LIMITS);
     }
 
     // check es_distance cruise_throttle limits

From e260a043e005917240c1ee8985802fd99a084b91 Mon Sep 17 00:00:00 2001
From: Martin Lillepuu <martin@mlp.ee>
Date: Thu, 27 Apr 2023 14:56:03 +0300
Subject: [PATCH 035/113] Add 0x323 to longitudinal test

---
 tests/safety/test_subaru.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/tests/safety/test_subaru.py b/tests/safety/test_subaru.py
index dd73fcb63b..b4128f26dc 100755
--- a/tests/safety/test_subaru.py
+++ b/tests/safety/test_subaru.py
@@ -78,8 +78,8 @@ def setUp(self):
     self.safety.init_tests()
 
 class TestSubaruLongitudinalSafety(TestSubaruSafety):
-  TX_MSGS = [[0x122, 0], [0x220, 0], [0x221, 0], [0x222, 0], [0x321, 0], [0x322, 0], [0x240, 2], [0x13c, 2]]
-  FWD_BLACKLISTED_ADDRS = {0: [0x240, 0x13c], 2: [0x122, 0x220, 0x221, 0x222, 0x321, 0x322]}
+  TX_MSGS = [[0x122, 0], [0x220, 0], [0x221, 0], [0x222, 0], [0x321, 0], [0x322, 0], [0x323, 0], [0x240, 2], [0x13c, 2]]
+  FWD_BLACKLISTED_ADDRS = {0: [0x240, 0x13c], 2: [0x122, 0x220, 0x221, 0x222, 0x321, 0x322, 0x323]}
 
   MAX_RPM = 3200
   MAX_BRAKE = 400

From 63da689bd65962e1658f3e3f6a23244917d232b7 Mon Sep 17 00:00:00 2001
From: Martin Lillepuu <martin@mlp.ee>
Date: Fri, 28 Apr 2023 08:52:05 +0300
Subject: [PATCH 036/113] Remove stock fcw from aeb signals

---
 board/safety/safety_subaru.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index 27869dca80..daa4ce74c4 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -124,10 +124,10 @@ static int subaru_rx_hook(CANPacket_t *to_push) {
       update_sample(&torque_driver, torque_driver_new);
     }
 
-    // ES_LKAS_State LKAS_Alert: 2, 5, 6
+    // ES_LKAS_State LKAS_Alert: 5, 6
     if ((addr == 0x322) && (bus == alt_bus2)) {
       const int lkas_alert = ((GET_BYTE(to_push, 4) >> 3) & 5U);
-      subaru_aeb = ((lkas_alert == 2) || (lkas_alert == 5) || (lkas_alert == 6));
+      subaru_aeb = ((lkas_alert == 5) || (lkas_alert == 6));
     }
 
     // enter controls on rising edge of ACC, exit controls on ACC off

From 0a559fc21376a79d091477589165a3be461eef0d Mon Sep 17 00:00:00 2001
From: Martin Lillepuu <martin@mlp.ee>
Date: Thu, 25 May 2023 07:59:21 +0300
Subject: [PATCH 037/113] Use GET_BYTES

---
 board/safety/safety_subaru.h | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index 0f74082ce4..170e770bbf 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -183,19 +183,19 @@ static int subaru_tx_hook(CANPacket_t *to_send) {
   if (subaru_longitudinal && controls_allowed) {
     // check es_brake brake_pressure limits
     if (addr == 0x220) {
-      int es_brake_pressure = ((GET_BYTES_04(to_send) >> 16) & 0xFFFFU);
+      int es_brake_pressure = ((GET_BYTES(to_send, 0, 4) >> 16) & 0xFFFFU);
       violation |= !subaru_aeb && longitudinal_brake_checks(es_brake_pressure, SUBARU_LONG_LIMITS);
     }
 
     // check es_distance cruise_throttle limits
     if ((addr == 0x221) && !gas_pressed) {
-      int cruise_throttle = ((GET_BYTES_04(to_send) >> 16) & 0xFFFU);
+      int cruise_throttle = ((GET_BYTES(to_send, 0, 4) >> 16) & 0xFFFU);
       violation |= longitudinal_gas_checks(cruise_throttle, SUBARU_LONG_LIMITS);
     }
 
     // check es_status cruise_rpm limits
     if ((addr == 0x222) && !gas_pressed) {
-      int cruise_rpm = ((GET_BYTES_04(to_send) >> 16) & 0xFFFU);
+      int cruise_rpm = ((GET_BYTES(to_send, 0, 4) >> 16) & 0xFFFU);
       if (get_longitudinal_allowed()) {
         violation |= max_limit_check(cruise_rpm, SUBARU_LONG_LIMITS.max_rpm, SUBARU_LONG_LIMITS.min_rpm);
       } else {

From 86e8d321d055c5f89cde7ee26a0014df1bcd5b39 Mon Sep 17 00:00:00 2001
From: Martin Lillepuu <martin@mlp.ee>
Date: Sun, 4 Jun 2023 17:20:41 +0300
Subject: [PATCH 038/113] Revert "export FW_PATH"

This reverts commit 2a5058d858b36ff7dc5477119a54f0aab137b266.
---
 __init__.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/__init__.py b/__init__.py
index d3a558f437..8b43e99380 100644
--- a/__init__.py
+++ b/__init__.py
@@ -1,4 +1,4 @@
-from .python.constants import McuType, BASEDIR, FW_PATH  # noqa: F401
+from .python.constants import McuType, BASEDIR  # noqa: F401
 from .python.serial import PandaSerial  # noqa: F401
 from .python import (Panda, PandaDFU, # noqa: F401
                      pack_can_buffer, unpack_can_buffer, calculate_checksum,

From 5aae6716fa5506aac49dadd287229a45f0a3b94e Mon Sep 17 00:00:00 2001
From: Martin Lillepuu <martin@mlp.ee>
Date: Sun, 4 Jun 2023 17:21:14 +0300
Subject: [PATCH 039/113] Revert "cleanup fw filename conventions (#1434)"

This reverts commit 4dd2735e38b63940ca1e1f42b4522ca4c1a0a1cc.
---
 python/__init__.py      |  7 +++----
 python/constants.py     | 14 +++++++-------
 python/dfu.py           |  6 ++----
 release/make_release.sh |  5 ++++-
 4 files changed, 16 insertions(+), 16 deletions(-)

diff --git a/python/__init__.py b/python/__init__.py
index f92bf27df8..fb1d7784ed 100644
--- a/python/__init__.py
+++ b/python/__init__.py
@@ -14,7 +14,7 @@
 from itertools import accumulate
 
 from .base import BaseHandle
-from .constants import FW_PATH, McuType
+from .constants import McuType
 from .dfu import PandaDFU
 from .isotp import isotp_send, isotp_recv
 from .spi import PandaSpiHandle, PandaSpiException
@@ -486,7 +486,7 @@ def flash_static(handle, code, mcu_type):
 
   def flash(self, fn=None, code=None, reconnect=True):
     if not fn:
-      fn = os.path.join(FW_PATH, self._mcu_type.config.app_fn)
+      fn = self._mcu_type.config.app_path
     assert os.path.isfile(fn)
     logging.debug("flash: main version is %s", self.get_version())
     if not self.bootstub:
@@ -539,8 +539,7 @@ def wait_for_dfu(dfu_serial: Optional[str], timeout: Optional[int] = None) -> bo
 
   def up_to_date(self) -> bool:
     current = self.get_signature()
-    fn = os.path.join(FW_PATH, self.get_mcu_type().config.app_fn)
-    expected = Panda.get_signature_from_firmware(fn)
+    expected = Panda.get_signature_from_firmware(self.get_mcu_type().config.app_path)
     return (current == expected)
 
   def call_control_api(self, msg):
diff --git a/python/constants.py b/python/constants.py
index 4c3e778ad1..c55fd2c9b8 100644
--- a/python/constants.py
+++ b/python/constants.py
@@ -3,7 +3,7 @@
 from typing import List, NamedTuple
 
 BASEDIR = os.path.join(os.path.dirname(os.path.realpath(__file__)), "../")
-FW_PATH = os.path.join(BASEDIR, "board/obj/")
+
 
 class McuConfig(NamedTuple):
   mcu: str
@@ -13,9 +13,9 @@ class McuConfig(NamedTuple):
   sector_sizes: List[int]
   serial_number_address: int
   app_address: int
-  app_fn: str
+  app_path: str
   bootstub_address: int
-  bootstub_fn: str
+  bootstub_path: str
 
 Fx = (
   0x1FFF7A10,
@@ -23,9 +23,9 @@ class McuConfig(NamedTuple):
   [0x4000 for _ in range(4)] + [0x10000] + [0x20000 for _ in range(11)],
   0x1FFF79C0,
   0x8004000,
-  "panda.bin.signed",
+  os.path.join(BASEDIR, "board", "obj", "panda.bin.signed"),
   0x8000000,
-  "bootstub.panda.bin",
+  os.path.join(BASEDIR, "board", "obj", "bootstub.panda.bin"),
 )
 F2Config = McuConfig("STM32F2", 0x411, *Fx)
 F4Config = McuConfig("STM32F4", 0x463, *Fx)
@@ -39,9 +39,9 @@ class McuConfig(NamedTuple):
   [0x20000 for _ in range(7)],
   0x080FFFC0,
   0x8020000,
-  "panda_h7.bin.signed",
+  os.path.join(BASEDIR, "board", "obj", "panda_h7.bin.signed"),
   0x8000000,
-  "bootstub.panda_h7.bin",
+  os.path.join(BASEDIR, "board", "obj", "bootstub.panda_h7.bin"),
 )
 
 @enum.unique
diff --git a/python/dfu.py b/python/dfu.py
index bebc243ced..f1d20842ba 100644
--- a/python/dfu.py
+++ b/python/dfu.py
@@ -1,4 +1,3 @@
-import os
 import usb1
 import struct
 import binascii
@@ -7,7 +6,7 @@
 from .base import BaseSTBootloaderHandle
 from .spi import STBootloaderSPIHandle, PandaSpiException
 from .usb import STBootloaderUSBHandle
-from .constants import FW_PATH, McuType
+from .constants import McuType
 
 
 class PandaDFU:
@@ -113,8 +112,7 @@ def program_bootstub(self, code_bootstub):
     self._handle.program(self._mcu_type.config.bootstub_address, code_bootstub)
 
   def recover(self):
-    fn = os.path.join(FW_PATH, self._mcu_type.config.bootstub_fn)
-    with open(fn, "rb") as f:
+    with open(self._mcu_type.config.bootstub_path, "rb") as f:
       code = f.read()
     self.program_bootstub(code)
     self.reset()
diff --git a/release/make_release.sh b/release/make_release.sh
index 5628c4998d..150c510736 100755
--- a/release/make_release.sh
+++ b/release/make_release.sh
@@ -19,4 +19,7 @@ rm obj/*
 scons -u
 cd obj
 RELEASE_NAME=$(awk '{print $1}' version)
-zip -j ../../release/panda-$RELEASE_NAME.zip version panda.bin.signed bootstub.panda.bin panda_h7.bin.signed bootstub.panda_h7.bin
+rm panda.bin panda_h7.bin
+mv panda.bin.signed panda.bin
+mv panda_h7.bin.signed panda_h7.bin
+zip -j ../../release/panda-$RELEASE_NAME.zip version panda.bin bootstub.panda.bin panda_h7.bin bootstub.panda_h7.bin

From 60e6847dcede788610b2652b7a247227b1f49a8a Mon Sep 17 00:00:00 2001
From: Martin Lillepuu <martin@mlp.ee>
Date: Sun, 25 Jun 2023 21:58:08 +0300
Subject: [PATCH 040/113] Revert "Revert "export FW_PATH""

This reverts commit 86e8d321d055c5f89cde7ee26a0014df1bcd5b39.
---
 __init__.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/__init__.py b/__init__.py
index f24b67111d..21e35b9e98 100644
--- a/__init__.py
+++ b/__init__.py
@@ -1,4 +1,4 @@
-from .python.constants import McuType, BASEDIR  # noqa: F401
+from .python.constants import McuType, BASEDIR, FW_PATH  # noqa: F401
 from .python.serial import PandaSerial  # noqa: F401
 from .python import (Panda, PandaDFU, # noqa: F401
                      pack_can_buffer, unpack_can_buffer, calculate_checksum, unpack_log,

From 4d1f681e8357bb754abff1faa5e28736e909008d Mon Sep 17 00:00:00 2001
From: Martin Lillepuu <martin@mlp.ee>
Date: Sun, 25 Jun 2023 22:16:55 +0300
Subject: [PATCH 041/113] Revert "Revert "cleanup fw filename conventions
 (#1434)""

This reverts commit 5aae6716fa5506aac49dadd287229a45f0a3b94e.
---
 python/__init__.py      |  7 ++++---
 python/constants.py     | 14 +++++++-------
 python/dfu.py           |  6 ++++--
 release/make_release.sh |  5 +----
 4 files changed, 16 insertions(+), 16 deletions(-)

diff --git a/python/__init__.py b/python/__init__.py
index 2e55e03d09..59a2c4029d 100644
--- a/python/__init__.py
+++ b/python/__init__.py
@@ -14,7 +14,7 @@
 from itertools import accumulate
 
 from .base import BaseHandle
-from .constants import McuType
+from .constants import FW_PATH, McuType
 from .dfu import PandaDFU
 from .isotp import isotp_send, isotp_recv
 from .spi import PandaSpiHandle, PandaSpiException
@@ -506,7 +506,7 @@ def flash_static(handle, code, mcu_type):
 
   def flash(self, fn=None, code=None, reconnect=True):
     if not fn:
-      fn = self._mcu_type.config.app_path
+      fn = os.path.join(FW_PATH, self._mcu_type.config.app_fn)
     assert os.path.isfile(fn)
     logging.debug("flash: main version is %s", self.get_version())
     if not self.bootstub:
@@ -571,7 +571,8 @@ def wait_for_panda(serial: Optional[str], timeout: int) -> bool:
 
   def up_to_date(self) -> bool:
     current = self.get_signature()
-    expected = Panda.get_signature_from_firmware(self.get_mcu_type().config.app_path)
+    fn = os.path.join(FW_PATH, self.get_mcu_type().config.app_fn)
+    expected = Panda.get_signature_from_firmware(fn)
     return (current == expected)
 
   def call_control_api(self, msg):
diff --git a/python/constants.py b/python/constants.py
index c55fd2c9b8..4c3e778ad1 100644
--- a/python/constants.py
+++ b/python/constants.py
@@ -3,7 +3,7 @@
 from typing import List, NamedTuple
 
 BASEDIR = os.path.join(os.path.dirname(os.path.realpath(__file__)), "../")
-
+FW_PATH = os.path.join(BASEDIR, "board/obj/")
 
 class McuConfig(NamedTuple):
   mcu: str
@@ -13,9 +13,9 @@ class McuConfig(NamedTuple):
   sector_sizes: List[int]
   serial_number_address: int
   app_address: int
-  app_path: str
+  app_fn: str
   bootstub_address: int
-  bootstub_path: str
+  bootstub_fn: str
 
 Fx = (
   0x1FFF7A10,
@@ -23,9 +23,9 @@ class McuConfig(NamedTuple):
   [0x4000 for _ in range(4)] + [0x10000] + [0x20000 for _ in range(11)],
   0x1FFF79C0,
   0x8004000,
-  os.path.join(BASEDIR, "board", "obj", "panda.bin.signed"),
+  "panda.bin.signed",
   0x8000000,
-  os.path.join(BASEDIR, "board", "obj", "bootstub.panda.bin"),
+  "bootstub.panda.bin",
 )
 F2Config = McuConfig("STM32F2", 0x411, *Fx)
 F4Config = McuConfig("STM32F4", 0x463, *Fx)
@@ -39,9 +39,9 @@ class McuConfig(NamedTuple):
   [0x20000 for _ in range(7)],
   0x080FFFC0,
   0x8020000,
-  os.path.join(BASEDIR, "board", "obj", "panda_h7.bin.signed"),
+  "panda_h7.bin.signed",
   0x8000000,
-  os.path.join(BASEDIR, "board", "obj", "bootstub.panda_h7.bin"),
+  "bootstub.panda_h7.bin",
 )
 
 @enum.unique
diff --git a/python/dfu.py b/python/dfu.py
index f1d20842ba..bebc243ced 100644
--- a/python/dfu.py
+++ b/python/dfu.py
@@ -1,3 +1,4 @@
+import os
 import usb1
 import struct
 import binascii
@@ -6,7 +7,7 @@
 from .base import BaseSTBootloaderHandle
 from .spi import STBootloaderSPIHandle, PandaSpiException
 from .usb import STBootloaderUSBHandle
-from .constants import McuType
+from .constants import FW_PATH, McuType
 
 
 class PandaDFU:
@@ -112,7 +113,8 @@ def program_bootstub(self, code_bootstub):
     self._handle.program(self._mcu_type.config.bootstub_address, code_bootstub)
 
   def recover(self):
-    with open(self._mcu_type.config.bootstub_path, "rb") as f:
+    fn = os.path.join(FW_PATH, self._mcu_type.config.bootstub_fn)
+    with open(fn, "rb") as f:
       code = f.read()
     self.program_bootstub(code)
     self.reset()
diff --git a/release/make_release.sh b/release/make_release.sh
index 150c510736..5628c4998d 100755
--- a/release/make_release.sh
+++ b/release/make_release.sh
@@ -19,7 +19,4 @@ rm obj/*
 scons -u
 cd obj
 RELEASE_NAME=$(awk '{print $1}' version)
-rm panda.bin panda_h7.bin
-mv panda.bin.signed panda.bin
-mv panda_h7.bin.signed panda_h7.bin
-zip -j ../../release/panda-$RELEASE_NAME.zip version panda.bin bootstub.panda.bin panda_h7.bin bootstub.panda_h7.bin
+zip -j ../../release/panda-$RELEASE_NAME.zip version panda.bin.signed bootstub.panda.bin panda_h7.bin.signed bootstub.panda_h7.bin

From b86bba471c32529d4ebc42ad0f0001bdfd36b1c6 Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Mon, 10 Jul 2023 17:48:34 +0000
Subject: [PATCH 042/113] cleaned up safety

---
 tests/safety/test_subaru.py | 73 +++++++++++++++++++++++--------------
 1 file changed, 45 insertions(+), 28 deletions(-)

diff --git a/tests/safety/test_subaru.py b/tests/safety/test_subaru.py
index b4128f26dc..ac75700846 100755
--- a/tests/safety/test_subaru.py
+++ b/tests/safety/test_subaru.py
@@ -5,14 +5,19 @@
 import panda.tests.safety.common as common
 from panda.tests.safety.common import CANPackerPanda
 
+def lkas_tx_msgs(alt_bus):
+  return [[0x122, 0], [0x221, alt_bus], [0x321, 0], [0x322, 0], [0x323, 0]]
 
-class TestSubaruSafety(common.PandaSafetyTest, common.DriverTorqueSteeringSafetyTest):
-  TX_MSGS = [[0x122, 0], [0x221, 0], [0x321, 0], [0x322, 0], [0x323, 0]]
-  STANDSTILL_THRESHOLD = 0  # kph
+def long_tx_msgs(alt_bus):
+  return [[0x220, alt_bus], [0x222, alt_bus], [0x240, 2], [0x13c, 2]]
+
+
+class TestSubaruSafetyBase(common.PandaSafetyTest, common.DriverTorqueSteeringSafetyTest):
+  STANDSTILL_THRESHOLD = 0 # kph
   RELAY_MALFUNCTION_ADDR = 0x122
   RELAY_MALFUNCTION_BUS = 0
-  FWD_BLACKLISTED_ADDRS = {2: [0x122, 0x321, 0x322, 0x323]}
   FWD_BUS_LOOKUP = {0: 2, 2: 0}
+  FWD_BLACKLISTED_ADDRS = {2: [0x122, 0x321, 0x322, 0x323]}
 
   MAX_RATE_UP = 50
   MAX_RATE_DOWN = 70
@@ -26,10 +31,23 @@ class TestSubaruSafety(common.PandaSafetyTest, common.DriverTorqueSteeringSafety
 
   ALT_BUS = 0
 
+  MAX_RATE_UP = 50
+  MAX_RATE_DOWN = 70
+  MAX_TORQUE = 2047
+
+  MAX_RPM = 3200
+  MAX_BRAKE = 400
+  MAX_THROTTLE = 3400
+
+  @classmethod
+  def setUpClass(cls):
+    if "Base" in cls.__name__:
+      raise unittest.SkipTest
+  
   def setUp(self):
     self.packer = CANPackerPanda("subaru_global_2017_generated")
     self.safety = libpanda_py.libpanda
-    self.safety.set_safety_hooks(Panda.SAFETY_SUBARU, 0)
+    self.safety.set_safety_hooks(Panda.SAFETY_SUBARU, self.FLAGS)
     self.safety.init_tests()
 
   def _set_prev_torque(self, t):
@@ -60,50 +78,34 @@ def _user_gas_msg(self, gas):
 
   def _pcm_status_msg(self, enable):
     values = {"Cruise_Activated": enable}
-    return self.packer.make_can_msg_panda("CruiseControl", self.ALT_BUS, values)
+    return self.packer.make_can_msg_panda("Cruise_Status", self.ALT_BUS, values)
 
 
-class TestSubaruGen2Safety(TestSubaruSafety):
-  TX_MSGS = [[0x122, 0], [0x221, 1], [0x321, 0], [0x322, 0], [0x323, 0]]
+class TestSubaruGen2SafetyBase(TestSubaruSafetyBase):
   ALT_BUS = 1
 
   MAX_RATE_UP = 40
   MAX_RATE_DOWN = 40
   MAX_TORQUE = 1000
 
-  def setUp(self):
-    self.packer = CANPackerPanda("subaru_global_2017_generated")
-    self.safety = libpanda_py.libpanda
-    self.safety.set_safety_hooks(Panda.SAFETY_SUBARU, Panda.FLAG_SUBARU_GEN2)
-    self.safety.init_tests()
 
-class TestSubaruLongitudinalSafety(TestSubaruSafety):
-  TX_MSGS = [[0x122, 0], [0x220, 0], [0x221, 0], [0x222, 0], [0x321, 0], [0x322, 0], [0x323, 0], [0x240, 2], [0x13c, 2]]
+class TestSubaruLongitudinalSafetyBase(TestSubaruSafetyBase):
   FWD_BLACKLISTED_ADDRS = {0: [0x240, 0x13c], 2: [0x122, 0x220, 0x221, 0x222, 0x321, 0x322, 0x323]}
 
-  MAX_RPM = 3200
-  MAX_BRAKE = 400
-  MAX_THROTTLE = 3400
-
-  def setUp(self):
-    self.packer = CANPackerPanda("subaru_global_2017_generated")
-    self.safety = libpanda_py.libpanda
-    self.safety.set_safety_hooks(Panda.SAFETY_SUBARU, Panda.FLAG_SUBARU_LONG)
-    self.safety.init_tests()
-
   def _es_brake_msg(self, brake=0):
     values = {"Brake_Pressure": brake}
-    return self.packer.make_can_msg_panda("ES_Brake", 0, values)
+    return self.packer.make_can_msg_panda("ES_Brake", self.ALT_BUS, values)
 
   def _es_distance_msg(self, throttle=0):
     values = {"Cruise_Throttle": throttle}
-    return self.packer.make_can_msg_panda("ES_Distance", 0, values)
+    return self.packer.make_can_msg_panda("ES_Distance", self.ALT_BUS, values)
 
   def _es_status_msg(self, rpm=0):
     values = {"Cruise_RPM": rpm}
-    return self.packer.make_can_msg_panda("ES_Status", 0, values)
+    return self.packer.make_can_msg_panda("ES_Status", self.ALT_BUS, values)
 
   def test_es_brake_msg(self):
+    self.safety.set_subaru_aeb(0)
     self.safety.set_controls_allowed(1)
     self.assertTrue(self._tx(self._es_brake_msg()))
     self.assertTrue(self._tx(self._es_brake_msg(brake=self.MAX_BRAKE)))
@@ -124,5 +126,20 @@ def test_es_status_msg(self):
     self.assertFalse(self._tx(self._es_status_msg(rpm=self.MAX_RPM+1)))
 
 
+class TestSubaruGen1Safety(TestSubaruSafetyBase):
+  FLAGS = 0
+  TX_MSGS = lkas_tx_msgs(0)
+
+
+class TestSubaruGen2Safety(TestSubaruGen2SafetyBase):
+  FLAGS = Panda.FLAG_SUBARU_GEN2
+  TX_MSGS = lkas_tx_msgs(1)
+
+
+class TestSubaruGen1LongitudinalSafety(TestSubaruLongitudinalSafetyBase):
+  FLAGS = Panda.FLAG_SUBARU_LONG
+  TX_MSGS = lkas_tx_msgs(0) + long_tx_msgs(0)
+
+
 if __name__ == "__main__":
   unittest.main()

From d0a5abd2b38b403eb567e7004463ee4fb402479f Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Mon, 10 Jul 2023 15:22:43 -0700
Subject: [PATCH 043/113] cleanup subaru long safety

---
 board/safety/safety_subaru.h     | 64 +++++++++++----------
 tests/libpanda/safety_helpers.h  |  4 ++
 tests/libpanda/safety_helpers.py |  2 +
 tests/safety/common.py           | 74 +++++++++++++++++++++++-
 tests/safety/test_subaru.py      | 98 ++++++++++++++++++++------------
 5 files changed, 173 insertions(+), 69 deletions(-)

diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index 7c296ba3e6..847a9c68ad 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -46,33 +46,34 @@ 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}, \
+  {MSG_SUBARU_ES_Distance,     alt_bus,         8}, \
+  {MSG_SUBARU_ES_DashStatus,   SUBARU_MAIN_BUS, 8}, \
+  {MSG_SUBARU_ES_LKAS_State,   SUBARU_MAIN_BUS, 8}, \
+  {MSG_SUBARU_ES_Infotainment, SUBARU_MAIN_BUS, 8}, \
+
+#define SUBARU_LONG_TX_MSGS(alt_bus)                \
+  {MSG_SUBARU_ES_Brake,        SUBARU_MAIN_BUS, 8}, \
+  {MSG_SUBARU_ES_Status,       SUBARU_MAIN_BUS, 8}, \
+  {MSG_SUBARU_Brake_Status,    SUBARU_CAM_BUS,  8}, \
+  {MSG_SUBARU_CruiseControl,   SUBARU_CAM_BUS,  8}, \
+
+
 const CanMsg SUBARU_TX_MSGS[] = {
-  {MSG_SUBARU_ES_LKAS,         SUBARU_MAIN_BUS, 8},
-  {MSG_SUBARU_ES_Distance,     SUBARU_MAIN_BUS, 8},
-  {MSG_SUBARU_ES_DashStatus,   SUBARU_MAIN_BUS, 8},
-  {MSG_SUBARU_ES_LKAS_State,   SUBARU_MAIN_BUS, 8},
-  {MSG_SUBARU_ES_Infotainment, SUBARU_MAIN_BUS, 8},
+  SUBARU_COMMON_TX_MSGS(0)
 };
 #define SUBARU_TX_MSGS_LEN (sizeof(SUBARU_TX_MSGS) / sizeof(SUBARU_TX_MSGS[0]))
 
 const CanMsg SUBARU_LONG_TX_MSGS[] = {
-  {0x122, 0, 8},
-  {0x220, 0, 8},
-  {0x221, 0, 8},
-  {0x222, 0, 8},
-  {0x321, 0, 8},
-  {0x322, 0, 8},
-  {0x13c, 2, 8},
-  {0x240, 2, 8}
+  SUBARU_COMMON_TX_MSGS(0)
+  SUBARU_LONG_TX_MSGS(0)
 };
 #define SUBARU_LONG_TX_MSGS_LEN (sizeof(SUBARU_LONG_TX_MSGS) / sizeof(SUBARU_LONG_TX_MSGS[0]))
 
 const CanMsg SUBARU_GEN2_TX_MSGS[] = {
-  {MSG_SUBARU_ES_LKAS,         SUBARU_MAIN_BUS, 8},
-  {MSG_SUBARU_ES_Distance,     SUBARU_ALT_BUS,  8},
-  {MSG_SUBARU_ES_DashStatus,   SUBARU_MAIN_BUS, 8},
-  {MSG_SUBARU_ES_LKAS_State,   SUBARU_MAIN_BUS, 8},
-  {MSG_SUBARU_ES_Infotainment, SUBARU_MAIN_BUS, 8}
+  SUBARU_COMMON_TX_MSGS(1)
 };
 #define SUBARU_GEN2_TX_MSGS_LEN (sizeof(SUBARU_GEN2_TX_MSGS) / sizeof(SUBARU_GEN2_TX_MSGS[0]))
 
@@ -130,8 +131,8 @@ static int subaru_rx_hook(CANPacket_t *to_push) {
 
   if (valid) {
     const int bus = GET_BUS(to_push);
-    const int alt_bus = subaru_gen2 ? SUBARU_ALT_BUS : SUBARU_MAIN_BUS;
-    const int alt_bus2 = subaru_gen2 ? SUBARU_ALT_BUS : SUBARU_CAM_BUS;
+    const int alt_main_bus = subaru_gen2 ? SUBARU_ALT_BUS : SUBARU_MAIN_BUS;
+    const int alt_cam_bus = subaru_gen2 ? SUBARU_ALT_BUS : SUBARU_CAM_BUS;
 
     int addr = GET_ADDR(to_push);
     if ((addr == MSG_SUBARU_Steering_Torque) && (bus == SUBARU_MAIN_BUS)) {
@@ -141,24 +142,23 @@ static int subaru_rx_hook(CANPacket_t *to_push) {
       update_sample(&torque_driver, torque_driver_new);
     }
 
-    // ES_LKAS_State LKAS_Alert: 5, 6
-    if ((addr == 0x322) && (bus == alt_bus2)) {
-      const int lkas_alert = ((GET_BYTE(to_push, 4) >> 3) & 5U);
-      subaru_aeb = ((lkas_alert == 5) || (lkas_alert == 6));
+    if ((addr == MSG_SUBARU_ES_Brake) && (bus == alt_cam_bus)) {
+      const int aeb_status = (GET_BYTE(to_push, 4) & 0xFU);
+      subaru_aeb = aeb_status == 8;
     }
 
     // enter controls on rising edge of ACC, exit controls on ACC off
-    if ((addr == MSG_SUBARU_CruiseControl) && (bus == alt_bus)) {
+    if ((addr == MSG_SUBARU_CruiseControl) && (bus == alt_main_bus)) {
       bool cruise_engaged = GET_BIT(to_push, 41U) != 0U;
       pcm_cruise_check(cruise_engaged);
     }
 
     // update vehicle moving with any non-zero wheel speed
-    if ((addr == MSG_SUBARU_Wheel_Speeds) && (bus == alt_bus)) {
+    if ((addr == MSG_SUBARU_Wheel_Speeds) && (bus == alt_main_bus)) {
       vehicle_moving = ((GET_BYTES(to_push, 0, 4) >> 12) != 0U) || (GET_BYTES(to_push, 4, 4) != 0U);
     }
 
-    if ((addr == MSG_SUBARU_Brake_Status) && (bus == alt_bus)) {
+    if ((addr == MSG_SUBARU_Brake_Status) && (bus == alt_main_bus)) {
       brake_pressed = GET_BIT(to_push, 62U) != 0U;
     }
 
@@ -197,21 +197,21 @@ static int subaru_tx_hook(CANPacket_t *to_send) {
     }
   }
 
-  if (subaru_longitudinal && controls_allowed) {
+  if (subaru_longitudinal) {
     // check es_brake brake_pressure limits
-    if (addr == 0x220) {
+    if (addr == MSG_SUBARU_ES_Brake) {
       int es_brake_pressure = ((GET_BYTES(to_send, 0, 4) >> 16) & 0xFFFFU);
       violation |= !subaru_aeb && longitudinal_brake_checks(es_brake_pressure, SUBARU_LONG_LIMITS);
     }
 
     // check es_distance cruise_throttle limits
-    if ((addr == 0x221) && !gas_pressed) {
+    if ((addr == MSG_SUBARU_ES_Distance) && !gas_pressed) {
       int cruise_throttle = ((GET_BYTES(to_send, 0, 4) >> 16) & 0xFFFU);
       violation |= longitudinal_gas_checks(cruise_throttle, SUBARU_LONG_LIMITS);
     }
 
     // check es_status cruise_rpm limits
-    if ((addr == 0x222) && !gas_pressed) {
+    if ((addr == MSG_SUBARU_ES_Status) && !gas_pressed) {
       int cruise_rpm = ((GET_BYTES(to_send, 0, 4) >> 16) & 0xFFFU);
       if (get_longitudinal_allowed()) {
         violation |= max_limit_check(cruise_rpm, SUBARU_LONG_LIMITS.max_rpm, SUBARU_LONG_LIMITS.min_rpm);
@@ -244,9 +244,11 @@ static int subaru_fwd_hook(int bus_num, int addr) {
                        (addr == MSG_SUBARU_ES_DashStatus) ||
                        (addr == MSG_SUBARU_ES_LKAS_State) ||
                        (addr == MSG_SUBARU_ES_Infotainment));
+
     bool block_long = ((addr == MSG_SUBARU_ES_Brake) ||
                        (addr == MSG_SUBARU_ES_Distance) ||
                        (addr == MSG_SUBARU_ES_Status));
+
     bool block_msg = block_lkas || (subaru_longitudinal && block_long);
     if (!block_msg) {
       bus_fwd = SUBARU_MAIN_BUS;  // Main CAN
diff --git a/tests/libpanda/safety_helpers.h b/tests/libpanda/safety_helpers.h
index a7100896e6..6cf252f3e6 100644
--- a/tests/libpanda/safety_helpers.h
+++ b/tests/libpanda/safety_helpers.h
@@ -172,6 +172,10 @@ void set_subaru_aeb(bool c){
   subaru_aeb = c;
 }
 
+bool get_subaru_aeb(){
+  return subaru_aeb;
+}
+
 void init_tests(void){
   // get HW_TYPE from env variable set in test.sh
   if (getenv("HW_TYPE")) {
diff --git a/tests/libpanda/safety_helpers.py b/tests/libpanda/safety_helpers.py
index a8e5b40fce..992651d4d4 100644
--- a/tests/libpanda/safety_helpers.py
+++ b/tests/libpanda/safety_helpers.py
@@ -49,6 +49,7 @@ def setup_safety_helpers(ffi):
   void set_honda_bosch_long(bool c);
   int get_honda_hw(void);
   void set_subaru_aeb(bool c);
+  bool get_subaru_aeb();
   """)
 
 class PandaSafety(Protocol):
@@ -99,4 +100,5 @@ def set_honda_bosch_long(self, c: bool) -> None: ...
   def get_honda_hw(self) -> int: ...
 
   def set_subaru_aeb(self, c: bool) -> None: ...
+  def get_subaru_aeb(self) -> bool: ...
 
diff --git a/tests/safety/common.py b/tests/safety/common.py
index ebb416a345..f42ccde2df 100644
--- a/tests/safety/common.py
+++ b/tests/safety/common.py
@@ -137,7 +137,6 @@ def test_gas_interceptor_safety_check(self):
 
 
 class LongitudinalAccelSafetyTest(PandaSafetyTestBase, abc.ABC):
-
   MAX_ACCEL: float = 2.0
   MIN_ACCEL: float = -3.5
   INACTIVE_ACCEL: float = 0.0
@@ -175,6 +174,77 @@ def test_accel_actuation_limits(self, stock_longitudinal=False):
           self.assertEqual(should_tx, self._tx(self._accel_msg(accel)))
 
 
+class LongitudinalGasBrakeSafetyTest(PandaSafetyTestBase, abc.ABC):
+  MIN_BRAKE: int = 0
+  MAX_BRAKE: int = None
+
+  MIN_RPM: int = 0
+  MAX_RPM: int = None
+
+  MIN_THROTTLE: int = 0
+  MAX_THROTTLE: int = None
+
+  @classmethod
+  def setUpClass(cls):
+    if cls.__name__ == "LongitudinalGasBrakeSafetyTest":
+      cls.safety = None
+      raise unittest.SkipTest
+
+  @abc.abstractmethod
+  def _throttle_msg(self, throttle: int):
+    pass
+
+  @abc.abstractmethod
+  def _rpm_msg(self, rpm: int):
+    pass
+
+  @abc.abstractmethod
+  def _brake_msg(self, brake: int):
+    pass
+
+  def test_gas_brake_limits_correct(self):
+    # Assert that max brake, and at least one of max rpm or max throttle is set
+    self.assertTrue(self.MAX_BRAKE is not None)
+    self.assertTrue(self.MAX_RPM is not None or self.MAX_THROTTLE is not None)
+
+    self.assertGreater(self.MAX_BRAKE, self.MIN_BRAKE)
+    self.assertGreater(self.MAX_RPM, self.MIN_RPM)
+    self.assertGreater(self.MAX_THROTTLE, self.MIN_THROTTLE)
+
+  def test_throttle_safety_check(self):
+    for enabled in [0, 1]:
+      for g in range(int(self.MIN_THROTTLE * 1.5), int(self.MAX_THROTTLE * 1.5)):
+        self.safety.set_controls_allowed(enabled)
+        if g > self.MAX_THROTTLE or (not enabled and abs(g) > 0):
+          self.assertFalse(self._tx(self._throttle_msg(g)))
+        else:
+          self.assertTrue(self._tx(self._throttle_msg(g)))
+  
+  def test_rpm_safety_check(self):
+    if self.MAX_RPM is None:
+      raise unittest.SkipTest
+    
+    for enabled in [0, 1]:
+      for r in range(int(self.MIN_RPM), int(self.MAX_RPM * 1.2)):
+        self.safety.set_controls_allowed(enabled)
+        if r > self.MAX_RPM or (not enabled and abs(r) > 0):
+          self.assertFalse(self._tx(self._rpm_msg(r)))
+        else:
+          self.assertTrue(self._tx(self._rpm_msg(r)))
+  
+  def test_throttle_safety_check(self):
+    if self.MAX_THROTTLE is None:
+      raise unittest.SkipTest
+    
+    for enabled in [0, 1]:
+      for t in range(int(self.MIN_THROTTLE), int(self.MAX_THROTTLE * 1.2)):
+        self.safety.set_controls_allowed(enabled)
+        if t > self.MAX_THROTTLE or (not enabled and abs(t) > 0):
+          self.assertFalse(self._tx(self._throttle_msg(t)), msg=f"{t} throttle was allowed when {enabled}")
+        else:
+          self.assertTrue(self._tx(self._throttle_msg(t)))
+        
+
 class TorqueSteeringSafetyTestBase(PandaSafetyTestBase, abc.ABC):
 
   MAX_RATE_UP = 0
@@ -894,7 +964,7 @@ def test_tx_hook_on_wrong_safety_mode(self):
               continue
             if attr.startswith('TestToyota') and current_test.startswith('TestToyota'):
               continue
-            if {attr, current_test}.issubset({'TestSubaruSafety', 'TestSubaruGen2Safety', 'TestSubaruLongitudinalSafety'}):
+            if {attr, current_test}.issubset({'TestSubaruGen1Safety', 'TestSubaruGen2Safety', 'TestSubaruGen1LongitudinalSafety'}):
               continue
             if {attr, current_test}.issubset({'TestVolkswagenPqSafety', 'TestVolkswagenPqStockSafety', 'TestVolkswagenPqLongSafety'}):
               continue
diff --git a/tests/safety/test_subaru.py b/tests/safety/test_subaru.py
index ac75700846..87e26de1ac 100755
--- a/tests/safety/test_subaru.py
+++ b/tests/safety/test_subaru.py
@@ -5,19 +5,41 @@
 import panda.tests.safety.common as common
 from panda.tests.safety.common import CANPackerPanda
 
+
+MSG_SUBARU_Brake_Status     = 0x13c
+MSG_SUBARU_CruiseControl    = 0x240
+MSG_SUBARU_Throttle         = 0x40
+MSG_SUBARU_Steering_Torque  = 0x119
+MSG_SUBARU_Wheel_Speeds     = 0x13a
+MSG_SUBARU_ES_LKAS          = 0x122
+MSG_SUBARU_ES_Brake         = 0x220
+MSG_SUBARU_ES_Distance      = 0x221
+MSG_SUBARU_ES_Status        = 0x222
+MSG_SUBARU_ES_DashStatus    = 0x321
+MSG_SUBARU_ES_LKAS_State    = 0x322
+MSG_SUBARU_ES_Infotainment  = 0x323
+
+
 def lkas_tx_msgs(alt_bus):
-  return [[0x122, 0], [0x221, alt_bus], [0x321, 0], [0x322, 0], [0x323, 0]]
+  return [[MSG_SUBARU_ES_LKAS,          0], 
+          [MSG_SUBARU_ES_Distance,      alt_bus],
+          [MSG_SUBARU_ES_DashStatus,    0],
+          [MSG_SUBARU_ES_LKAS_State,    0],
+          [MSG_SUBARU_ES_Infotainment,  0]]
 
-def long_tx_msgs(alt_bus):
-  return [[0x220, alt_bus], [0x222, alt_bus], [0x240, 2], [0x13c, 2]]
+def long_tx_msgs():
+  return [[MSG_SUBARU_ES_Brake,         0],
+          [MSG_SUBARU_ES_Status,        0],
+          [MSG_SUBARU_CruiseControl,    2],
+          [MSG_SUBARU_Brake_Status,     2]]
 
 
 class TestSubaruSafetyBase(common.PandaSafetyTest, common.DriverTorqueSteeringSafetyTest):
   STANDSTILL_THRESHOLD = 0 # kph
-  RELAY_MALFUNCTION_ADDR = 0x122
+  RELAY_MALFUNCTION_ADDR = MSG_SUBARU_ES_LKAS
   RELAY_MALFUNCTION_BUS = 0
   FWD_BUS_LOOKUP = {0: 2, 2: 0}
-  FWD_BLACKLISTED_ADDRS = {2: [0x122, 0x321, 0x322, 0x323]}
+  FWD_BLACKLISTED_ADDRS = {2: [MSG_SUBARU_ES_LKAS, MSG_SUBARU_ES_DashStatus, MSG_SUBARU_ES_LKAS_State, MSG_SUBARU_ES_Infotainment]}
 
   MAX_RATE_UP = 50
   MAX_RATE_DOWN = 70
@@ -35,13 +57,11 @@ class TestSubaruSafetyBase(common.PandaSafetyTest, common.DriverTorqueSteeringSa
   MAX_RATE_DOWN = 70
   MAX_TORQUE = 2047
 
-  MAX_RPM = 3200
-  MAX_BRAKE = 400
-  MAX_THROTTLE = 3400
-
   @classmethod
   def setUpClass(cls):
-    if "Base" in cls.__name__:
+    if cls.__name__.endswith("Base"):
+      cls.packer = None
+      cls.safety = None
       raise unittest.SkipTest
   
   def setUp(self):
@@ -78,7 +98,7 @@ def _user_gas_msg(self, gas):
 
   def _pcm_status_msg(self, enable):
     values = {"Cruise_Activated": enable}
-    return self.packer.make_can_msg_panda("Cruise_Status", self.ALT_BUS, values)
+    return self.packer.make_can_msg_panda("CruiseControl", self.ALT_BUS, values)
 
 
 class TestSubaruGen2SafetyBase(TestSubaruSafetyBase):
@@ -89,41 +109,47 @@ class TestSubaruGen2SafetyBase(TestSubaruSafetyBase):
   MAX_TORQUE = 1000
 
 
-class TestSubaruLongitudinalSafetyBase(TestSubaruSafetyBase):
-  FWD_BLACKLISTED_ADDRS = {0: [0x240, 0x13c], 2: [0x122, 0x220, 0x221, 0x222, 0x321, 0x322, 0x323]}
+class TestSubaruLongitudinalSafetyBase(TestSubaruSafetyBase, common.LongitudinalGasBrakeSafetyTest):
+  MAX_RPM = 3200
+  MAX_THROTTLE = 3400
+  MAX_BRAKE = 400
+  
+  FWD_BLACKLISTED_ADDRS = {0: [MSG_SUBARU_CruiseControl, MSG_SUBARU_Brake_Status],
+                           2: [MSG_SUBARU_ES_LKAS, MSG_SUBARU_ES_Brake, MSG_SUBARU_ES_Distance,
+                               MSG_SUBARU_ES_Status, MSG_SUBARU_ES_DashStatus,
+                               MSG_SUBARU_ES_LKAS_State, MSG_SUBARU_ES_Infotainment]}
 
-  def _es_brake_msg(self, brake=0):
-    values = {"Brake_Pressure": brake}
-    return self.packer.make_can_msg_panda("ES_Brake", self.ALT_BUS, values)
+  def _brake_msg(self, brake, aeb=False, bus=None):
+    if bus is None: bus = self.ALT_BUS
+    values = {"Brake_Pressure": brake, "AEB_Status": 8 if aeb else 0}
+    return self.packer.make_can_msg_panda("ES_Brake", bus, values)
 
-  def _es_distance_msg(self, throttle=0):
+  def _throttle_msg(self, throttle):
     values = {"Cruise_Throttle": throttle}
     return self.packer.make_can_msg_panda("ES_Distance", self.ALT_BUS, values)
 
-  def _es_status_msg(self, rpm=0):
+  def _rpm_msg(self, rpm):
     values = {"Cruise_RPM": rpm}
     return self.packer.make_can_msg_panda("ES_Status", self.ALT_BUS, values)
 
-  def test_es_brake_msg(self):
-    self.safety.set_subaru_aeb(0)
-    self.safety.set_controls_allowed(1)
-    self.assertTrue(self._tx(self._es_brake_msg()))
-    self.assertTrue(self._tx(self._es_brake_msg(brake=self.MAX_BRAKE)))
-    self.assertFalse(self._tx(self._es_brake_msg(brake=self.MAX_BRAKE+10)))
-    self.safety.set_subaru_aeb(1)
-    self.assertTrue(self._tx(self._es_brake_msg(brake=self.MAX_BRAKE+10)))
+  def _aeb_msg(self, aeb):
+    return self._brake_msg(5, aeb, bus=2)
 
-  def test_es_distance_msg(self):
+  def test_aeb_passthrough(self):
+    # Allow higher braking when AEB is triggered
     self.safety.set_controls_allowed(1)
-    self.assertTrue(self._tx(self._es_distance_msg()))
-    self.assertTrue(self._tx(self._es_distance_msg(throttle=self.MAX_THROTTLE)))
-    self.assertFalse(self._tx(self._es_distance_msg(throttle=self.MAX_THROTTLE+1)))
 
-  def test_es_status_msg(self):
-    self.safety.set_controls_allowed(1)
-    self.assertTrue(self._tx(self._es_status_msg()))
-    self.assertTrue(self._tx(self._es_status_msg(rpm=self.MAX_RPM)))
-    self.assertFalse(self._tx(self._es_status_msg(rpm=self.MAX_RPM+1)))
+    self.assertFalse(self.safety.get_subaru_aeb())
+    self._rx(self._aeb_msg(False))
+    self.assertFalse(self.safety.get_subaru_aeb())
+
+    self.assertTrue(self._tx(self._brake_msg(brake=self.MAX_BRAKE)))
+    self.assertFalse(self._tx(self._brake_msg(brake=self.MAX_BRAKE+10)))
+
+    self._rx(self._aeb_msg(True))
+    self.assertTrue(self.safety.get_subaru_aeb())
+
+    self.assertTrue(self._tx(self._brake_msg(brake=self.MAX_BRAKE+10)))
 
 
 class TestSubaruGen1Safety(TestSubaruSafetyBase):
@@ -138,7 +164,7 @@ class TestSubaruGen2Safety(TestSubaruGen2SafetyBase):
 
 class TestSubaruGen1LongitudinalSafety(TestSubaruLongitudinalSafetyBase):
   FLAGS = Panda.FLAG_SUBARU_LONG
-  TX_MSGS = lkas_tx_msgs(0) + long_tx_msgs(0)
+  TX_MSGS = lkas_tx_msgs(0) + long_tx_msgs()
 
 
 if __name__ == "__main__":

From 3705973bc27e6761de49bae0aa5c8e263ab6ac6a Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Mon, 10 Jul 2023 16:18:40 -0700
Subject: [PATCH 044/113] subaru_aeb -> stock_aeb for other platforms

---
 board/safety/safety_subaru.h     |  5 ++---
 board/safety_declarations.h      |  3 +++
 tests/libpanda/safety_helpers.h  |  8 ++++----
 tests/libpanda/safety_helpers.py |  8 ++++----
 tests/safety/common.py           | 31 ++++++++++++++++---------------
 tests/safety/test_subaru.py      |  6 +++---
 6 files changed, 32 insertions(+), 29 deletions(-)

diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index 847a9c68ad..dcc5d0fb5e 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -104,7 +104,6 @@ const uint16_t SUBARU_PARAM_LONGITUDINAL = 2;
 bool subaru_gen2 = false;
 bool subaru_longitudinal = false;
 
-bool subaru_aeb = false;
 
 static uint32_t subaru_get_checksum(CANPacket_t *to_push) {
   return (uint8_t)GET_BYTE(to_push, 0);
@@ -144,7 +143,7 @@ static int subaru_rx_hook(CANPacket_t *to_push) {
 
     if ((addr == MSG_SUBARU_ES_Brake) && (bus == alt_cam_bus)) {
       const int aeb_status = (GET_BYTE(to_push, 4) & 0xFU);
-      subaru_aeb = aeb_status == 8;
+      stock_aeb = (aeb_status == 8);
     }
 
     // enter controls on rising edge of ACC, exit controls on ACC off
@@ -201,7 +200,7 @@ static int subaru_tx_hook(CANPacket_t *to_send) {
     // check es_brake brake_pressure limits
     if (addr == MSG_SUBARU_ES_Brake) {
       int es_brake_pressure = ((GET_BYTES(to_send, 0, 4) >> 16) & 0xFFFFU);
-      violation |= !subaru_aeb && longitudinal_brake_checks(es_brake_pressure, SUBARU_LONG_LIMITS);
+      violation |= !stock_aeb && longitudinal_brake_checks(es_brake_pressure, SUBARU_LONG_LIMITS);
     }
 
     // check es_distance cruise_throttle limits
diff --git a/board/safety_declarations.h b/board/safety_declarations.h
index 8bd9357ebd..5c55a8081f 100644
--- a/board/safety_declarations.h
+++ b/board/safety_declarations.h
@@ -223,6 +223,9 @@ uint32_t ts_angle_last = 0;
 int desired_angle_last = 0;
 struct sample_t angle_meas;         // last 6 steer angles/curvatures
 
+// for safety modes that need to passthru aeb
+bool stock_aeb = false;
+
 // This can be set with a USB command
 // It enables features that allow alternative experiences, like not disengaging on gas press
 // It is only either 0 or 1 on mainline comma.ai openpilot
diff --git a/tests/libpanda/safety_helpers.h b/tests/libpanda/safety_helpers.h
index 6cf252f3e6..9fee1953c0 100644
--- a/tests/libpanda/safety_helpers.h
+++ b/tests/libpanda/safety_helpers.h
@@ -168,12 +168,12 @@ void set_honda_fwd_brake(bool c){
   honda_fwd_brake = c;
 }
 
-void set_subaru_aeb(bool c){
-  subaru_aeb = c;
+void set_stock_aeb(bool c){
+  stock_aeb = c;
 }
 
-bool get_subaru_aeb(){
-  return subaru_aeb;
+bool get_stock_aeb(){
+  return stock_aeb;
 }
 
 void init_tests(void){
diff --git a/tests/libpanda/safety_helpers.py b/tests/libpanda/safety_helpers.py
index 992651d4d4..7be88ea6bf 100644
--- a/tests/libpanda/safety_helpers.py
+++ b/tests/libpanda/safety_helpers.py
@@ -21,6 +21,8 @@ def setup_safety_helpers(ffi):
   int get_vehicle_speed_max(void);
   int get_current_safety_mode(void);
   int get_current_safety_param(void);
+  void set_stock_aeb(bool c);
+  bool get_stock_aeb();
 
   void set_torque_meas(int min, int max);
   int get_torque_meas_min(void);
@@ -48,8 +50,6 @@ def setup_safety_helpers(ffi):
   void set_honda_alt_brake_msg(bool c);
   void set_honda_bosch_long(bool c);
   int get_honda_hw(void);
-  void set_subaru_aeb(bool c);
-  bool get_subaru_aeb();
   """)
 
 class PandaSafety(Protocol):
@@ -99,6 +99,6 @@ def set_honda_alt_brake_msg(self, c: bool) -> None: ...
   def set_honda_bosch_long(self, c: bool) -> None: ...
   def get_honda_hw(self) -> int: ...
 
-  def set_subaru_aeb(self, c: bool) -> None: ...
-  def get_subaru_aeb(self) -> bool: ...
+  def set_stock_aeb(self, c: bool) -> None: ...
+  def get_stock_aeb(self) -> bool: ...
 
diff --git a/tests/safety/common.py b/tests/safety/common.py
index f42ccde2df..6a46f9af40 100644
--- a/tests/safety/common.py
+++ b/tests/safety/common.py
@@ -175,21 +175,21 @@ def test_accel_actuation_limits(self, stock_longitudinal=False):
 
 
 class LongitudinalGasBrakeSafetyTest(PandaSafetyTestBase, abc.ABC):
-  MIN_BRAKE: int = 0
-  MAX_BRAKE: int = None
+  MIN_BRAKE = 0
+  MAX_BRAKE = None
 
-  MIN_RPM: int = 0
-  MAX_RPM: int = None
+  MIN_RPM = 0
+  MAX_RPM = None
 
-  MIN_THROTTLE: int = 0
-  MAX_THROTTLE: int = None
+  MIN_THROTTLE = 0
+  MAX_THROTTLE = None
 
   @classmethod
   def setUpClass(cls):
     if cls.__name__ == "LongitudinalGasBrakeSafetyTest":
       cls.safety = None
       raise unittest.SkipTest
-
+  
   @abc.abstractmethod
   def _throttle_msg(self, throttle: int):
     pass
@@ -211,21 +211,22 @@ def test_gas_brake_limits_correct(self):
     self.assertGreater(self.MAX_RPM, self.MIN_RPM)
     self.assertGreater(self.MAX_THROTTLE, self.MIN_THROTTLE)
 
-  def test_throttle_safety_check(self):
+  def test_brake_safety_check(self):
+    self.safety.set_stock_aeb(0)
     for enabled in [0, 1]:
-      for g in range(int(self.MIN_THROTTLE * 1.5), int(self.MAX_THROTTLE * 1.5)):
+      for b in range(self.MIN_BRAKE, int(self.MAX_BRAKE * 1.5)):
         self.safety.set_controls_allowed(enabled)
-        if g > self.MAX_THROTTLE or (not enabled and abs(g) > 0):
-          self.assertFalse(self._tx(self._throttle_msg(g)))
+        if b > self.MAX_BRAKE or (not enabled and abs(b) > 0):
+          self.assertFalse(self._tx(self._brake_msg(b)))
         else:
-          self.assertTrue(self._tx(self._throttle_msg(g)))
+          self.assertTrue(self._tx(self._brake_msg(b)))
   
   def test_rpm_safety_check(self):
     if self.MAX_RPM is None:
       raise unittest.SkipTest
     
     for enabled in [0, 1]:
-      for r in range(int(self.MIN_RPM), int(self.MAX_RPM * 1.2)):
+      for r in range(self.MIN_RPM, int(self.MAX_RPM * 1.2)):
         self.safety.set_controls_allowed(enabled)
         if r > self.MAX_RPM or (not enabled and abs(r) > 0):
           self.assertFalse(self._tx(self._rpm_msg(r)))
@@ -237,10 +238,10 @@ def test_throttle_safety_check(self):
       raise unittest.SkipTest
     
     for enabled in [0, 1]:
-      for t in range(int(self.MIN_THROTTLE), int(self.MAX_THROTTLE * 1.2)):
+      for t in range(self.MIN_THROTTLE, int(self.MAX_THROTTLE * 1.2)):
         self.safety.set_controls_allowed(enabled)
         if t > self.MAX_THROTTLE or (not enabled and abs(t) > 0):
-          self.assertFalse(self._tx(self._throttle_msg(t)), msg=f"{t} throttle was allowed when {enabled}")
+          self.assertFalse(self._tx(self._throttle_msg(t)))
         else:
           self.assertTrue(self._tx(self._throttle_msg(t)))
         
diff --git a/tests/safety/test_subaru.py b/tests/safety/test_subaru.py
index 87e26de1ac..48b32fa893 100755
--- a/tests/safety/test_subaru.py
+++ b/tests/safety/test_subaru.py
@@ -139,15 +139,15 @@ def test_aeb_passthrough(self):
     # Allow higher braking when AEB is triggered
     self.safety.set_controls_allowed(1)
 
-    self.assertFalse(self.safety.get_subaru_aeb())
+    self.assertFalse(self.safety.get_stock_aeb())
     self._rx(self._aeb_msg(False))
-    self.assertFalse(self.safety.get_subaru_aeb())
+    self.assertFalse(self.safety.get_stock_aeb())
 
     self.assertTrue(self._tx(self._brake_msg(brake=self.MAX_BRAKE)))
     self.assertFalse(self._tx(self._brake_msg(brake=self.MAX_BRAKE+10)))
 
     self._rx(self._aeb_msg(True))
-    self.assertTrue(self.safety.get_subaru_aeb())
+    self.assertTrue(self.safety.get_stock_aeb())
 
     self.assertTrue(self._tx(self._brake_msg(brake=self.MAX_BRAKE+10)))
 

From 08416253d24b2b7a038a1e660c2b361badf673d6 Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Mon, 10 Jul 2023 16:29:16 -0700
Subject: [PATCH 045/113] fix unittests

---
 Dockerfile                   |  4 ++--
 board/safety/safety_subaru.h |  4 ++--
 tests/safety/common.py       | 12 ++++++------
 tests/safety/test_subaru.py  |  4 ++--
 4 files changed, 12 insertions(+), 12 deletions(-)

diff --git a/Dockerfile b/Dockerfile
index d1684abcd7..b40fa98c51 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -51,8 +51,8 @@ RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-instal
 ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
 
 ENV PANDA_PATH=/tmp/openpilot/panda
-ENV OPENPILOT_REF="e276d2a417a5133fb91c93b2ef30df68a7d5f225"
-ENV OPENDBC_REF="9ae9fbfe56f79dca66c673a6479751a15ad61780"
+ENV OPENPILOT_REF="e63e2dde18b9ae2925d1a38c527dccfd0c99d4c5"
+ENV OPENDBC_REF="fe8d535a7fd99eeb15526ca944a6019b9a1e5ea0"
 
 COPY requirements.txt /tmp/
 RUN pyenv install 3.11.4 && \
diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index dcc5d0fb5e..9fae9e42ad 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -54,7 +54,7 @@ const LongitudinalLimits SUBARU_LONG_LIMITS = {
   {MSG_SUBARU_ES_LKAS_State,   SUBARU_MAIN_BUS, 8}, \
   {MSG_SUBARU_ES_Infotainment, SUBARU_MAIN_BUS, 8}, \
 
-#define SUBARU_LONG_TX_MSGS(alt_bus)                \
+#define SUBARU_COMMON_LONG_TX_MSGS(alt_bus)                \
   {MSG_SUBARU_ES_Brake,        SUBARU_MAIN_BUS, 8}, \
   {MSG_SUBARU_ES_Status,       SUBARU_MAIN_BUS, 8}, \
   {MSG_SUBARU_Brake_Status,    SUBARU_CAM_BUS,  8}, \
@@ -68,7 +68,7 @@ const CanMsg SUBARU_TX_MSGS[] = {
 
 const CanMsg SUBARU_LONG_TX_MSGS[] = {
   SUBARU_COMMON_TX_MSGS(0)
-  SUBARU_LONG_TX_MSGS(0)
+  SUBARU_COMMON_LONG_TX_MSGS(0)
 };
 #define SUBARU_LONG_TX_MSGS_LEN (sizeof(SUBARU_LONG_TX_MSGS) / sizeof(SUBARU_LONG_TX_MSGS[0]))
 
diff --git a/tests/safety/common.py b/tests/safety/common.py
index 6a46f9af40..9d86749bb7 100644
--- a/tests/safety/common.py
+++ b/tests/safety/common.py
@@ -175,14 +175,14 @@ def test_accel_actuation_limits(self, stock_longitudinal=False):
 
 
 class LongitudinalGasBrakeSafetyTest(PandaSafetyTestBase, abc.ABC):
-  MIN_BRAKE = 0
-  MAX_BRAKE = None
+  MIN_BRAKE: int = 0
+  MAX_BRAKE: Optional[int] = None
 
-  MIN_RPM = 0
-  MAX_RPM = None
+  MIN_RPM: int = 0
+  MAX_RPM: Optional[int] = None
 
-  MIN_THROTTLE = 0
-  MAX_THROTTLE = None
+  MIN_THROTTLE: int = 0
+  MAX_THROTTLE: Optional[int] = None
 
   @classmethod
   def setUpClass(cls):
diff --git a/tests/safety/test_subaru.py b/tests/safety/test_subaru.py
index 48b32fa893..65e102bec0 100755
--- a/tests/safety/test_subaru.py
+++ b/tests/safety/test_subaru.py
@@ -35,6 +35,7 @@ def long_tx_msgs():
 
 
 class TestSubaruSafetyBase(common.PandaSafetyTest, common.DriverTorqueSteeringSafetyTest):
+  FLAGS = 0
   STANDSTILL_THRESHOLD = 0 # kph
   RELAY_MALFUNCTION_ADDR = MSG_SUBARU_ES_LKAS
   RELAY_MALFUNCTION_BUS = 0
@@ -120,9 +121,8 @@ class TestSubaruLongitudinalSafetyBase(TestSubaruSafetyBase, common.Longitudinal
                                MSG_SUBARU_ES_LKAS_State, MSG_SUBARU_ES_Infotainment]}
 
   def _brake_msg(self, brake, aeb=False, bus=None):
-    if bus is None: bus = self.ALT_BUS
     values = {"Brake_Pressure": brake, "AEB_Status": 8 if aeb else 0}
-    return self.packer.make_can_msg_panda("ES_Brake", bus, values)
+    return self.packer.make_can_msg_panda("ES_Brake", self.ALT_BUS if bus is None else bus, values)
 
   def _throttle_msg(self, throttle):
     values = {"Cruise_Throttle": throttle}

From 52b7367d67dfa5753c68ec82418c03d333dfcb68 Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Mon, 10 Jul 2023 17:21:00 -0700
Subject: [PATCH 046/113] pretty

---
 board/safety/safety_subaru.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index 9fae9e42ad..84c8430317 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -54,7 +54,7 @@ const LongitudinalLimits SUBARU_LONG_LIMITS = {
   {MSG_SUBARU_ES_LKAS_State,   SUBARU_MAIN_BUS, 8}, \
   {MSG_SUBARU_ES_Infotainment, SUBARU_MAIN_BUS, 8}, \
 
-#define SUBARU_COMMON_LONG_TX_MSGS(alt_bus)                \
+#define SUBARU_COMMON_LONG_TX_MSGS(alt_bus)         \
   {MSG_SUBARU_ES_Brake,        SUBARU_MAIN_BUS, 8}, \
   {MSG_SUBARU_ES_Status,       SUBARU_MAIN_BUS, 8}, \
   {MSG_SUBARU_Brake_Status,    SUBARU_CAM_BUS,  8}, \

From 78f6d34cce637a9291fccc51a9c2522a6b693bb9 Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Tue, 11 Jul 2023 09:39:47 -0700
Subject: [PATCH 047/113] need to upload this route

---
 tests/safety_replay/test_safety_replay.py | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/tests/safety_replay/test_safety_replay.py b/tests/safety_replay/test_safety_replay.py
index 2dcc07cd1a..6b297bd6cf 100755
--- a/tests/safety_replay/test_safety_replay.py
+++ b/tests/safety_replay/test_safety_replay.py
@@ -18,6 +18,8 @@
   ReplayRoute("f89c604cf653e2bf|2018-09-29--13-46-50.bz2", Panda.SAFETY_GM),                  # GM.VOLT
   ReplayRoute("6fb4948a7ebe670e|2019-11-12--00-35-53.bz2", Panda.SAFETY_CHRYSLER),            # CHRYSLER.PACIFICA_2018_HYBRID
   ReplayRoute("0744286ead2fbb96|2023-05-01--16-27-01--35--rlog.bz2", Panda.SAFETY_SUBARU),    # SUBARU.IMPREZA
+  ReplayRoute("8de015561e1ea4a0|2023-07-02--20-14-07--13--rlog.bz2", Panda.SAFETY_SUBARU,     # SUBARU.CROSSTREK (openpilot long)
+              Panda.FLAG_SUBARU_LONG),    
   ReplayRoute("bad6ae3584ece5b5|2023-04-29--11-23-48--7--rlog.bz2", Panda.SAFETY_SUBARU,      # SUBARU.OUTBACK
               Panda.FLAG_SUBARU_GEN2, ALT_EXP.DISABLE_DISENGAGE_ON_GAS),
   ReplayRoute("76b83eb0245de90e|2020-03-05--19-16-05.bz2", Panda.SAFETY_VOLKSWAGEN_MQB),      # VOLKSWAGEN.GOLF (stock ACC)
@@ -28,7 +30,7 @@
   ReplayRoute("fbbfa6af821552b9|2020-03-03--08-09-43.bz2", Panda.SAFETY_NISSAN),              # NISSAN.XTRAIL
   ReplayRoute("5b7c365c50084530_2020-04-15--16-13-24--3--rlog.bz2", Panda.SAFETY_HYUNDAI),    # HYUNDAI.SONATA
   ReplayRoute("610ebb9faaad6b43|2020-06-13--15-28-36.bz2", Panda.SAFETY_HYUNDAI_LEGACY),      # HYUNDAI.IONIQ_EV_LTD
-  ReplayRoute("5ab784f361e19b78_2020-06-08--16-30-41.bz2", Panda.SAFETY_SUBARU_PREGLOBAL),       # SUBARU.OUTBACK_PREGLOBAL
+  ReplayRoute("5ab784f361e19b78_2020-06-08--16-30-41.bz2", Panda.SAFETY_SUBARU_PREGLOBAL),    # SUBARU.OUTBACK_PREGLOBAL
   ReplayRoute("bb50caf5f0945ab1|2021-06-19--17-20-18.bz2", Panda.SAFETY_TESLA),               # TESLA.AP2_MODELS
   ReplayRoute("bd6a637565e91581_2021-10-29--22-18-31--1--rlog.bz2", Panda.SAFETY_MAZDA),      # MAZDA.CX9_2021
   ReplayRoute("1a5d045d2c531a6d_2022-06-07--22-03-00--1--rlog.bz2", Panda.SAFETY_HONDA_BOSCH, # HONDA.CIVIC_2022

From 8e648050c5ddc07367bfebe14eebb72b2ac91a71 Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Tue, 11 Jul 2023 16:52:52 -0700
Subject: [PATCH 048/113] remove AEB stuff for now

---
 board/safety/safety_subaru.h     |  8 +-------
 board/safety_declarations.h      |  3 ---
 tests/libpanda/safety_helpers.h  |  8 --------
 tests/libpanda/safety_helpers.py |  6 ------
 tests/safety/common.py           |  1 -
 tests/safety/test_subaru.py      | 25 +++----------------------
 6 files changed, 4 insertions(+), 47 deletions(-)

diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index 84c8430317..c41e5e265a 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -131,7 +131,6 @@ static int subaru_rx_hook(CANPacket_t *to_push) {
   if (valid) {
     const int bus = GET_BUS(to_push);
     const int alt_main_bus = subaru_gen2 ? SUBARU_ALT_BUS : SUBARU_MAIN_BUS;
-    const int alt_cam_bus = subaru_gen2 ? SUBARU_ALT_BUS : SUBARU_CAM_BUS;
 
     int addr = GET_ADDR(to_push);
     if ((addr == MSG_SUBARU_Steering_Torque) && (bus == SUBARU_MAIN_BUS)) {
@@ -141,11 +140,6 @@ static int subaru_rx_hook(CANPacket_t *to_push) {
       update_sample(&torque_driver, torque_driver_new);
     }
 
-    if ((addr == MSG_SUBARU_ES_Brake) && (bus == alt_cam_bus)) {
-      const int aeb_status = (GET_BYTE(to_push, 4) & 0xFU);
-      stock_aeb = (aeb_status == 8);
-    }
-
     // enter controls on rising edge of ACC, exit controls on ACC off
     if ((addr == MSG_SUBARU_CruiseControl) && (bus == alt_main_bus)) {
       bool cruise_engaged = GET_BIT(to_push, 41U) != 0U;
@@ -200,7 +194,7 @@ static int subaru_tx_hook(CANPacket_t *to_send) {
     // check es_brake brake_pressure limits
     if (addr == MSG_SUBARU_ES_Brake) {
       int es_brake_pressure = ((GET_BYTES(to_send, 0, 4) >> 16) & 0xFFFFU);
-      violation |= !stock_aeb && longitudinal_brake_checks(es_brake_pressure, SUBARU_LONG_LIMITS);
+      violation |= longitudinal_brake_checks(es_brake_pressure, SUBARU_LONG_LIMITS);
     }
 
     // check es_distance cruise_throttle limits
diff --git a/board/safety_declarations.h b/board/safety_declarations.h
index 5c55a8081f..8bd9357ebd 100644
--- a/board/safety_declarations.h
+++ b/board/safety_declarations.h
@@ -223,9 +223,6 @@ uint32_t ts_angle_last = 0;
 int desired_angle_last = 0;
 struct sample_t angle_meas;         // last 6 steer angles/curvatures
 
-// for safety modes that need to passthru aeb
-bool stock_aeb = false;
-
 // This can be set with a USB command
 // It enables features that allow alternative experiences, like not disengaging on gas press
 // It is only either 0 or 1 on mainline comma.ai openpilot
diff --git a/tests/libpanda/safety_helpers.h b/tests/libpanda/safety_helpers.h
index 9fee1953c0..f02c4da343 100644
--- a/tests/libpanda/safety_helpers.h
+++ b/tests/libpanda/safety_helpers.h
@@ -168,14 +168,6 @@ void set_honda_fwd_brake(bool c){
   honda_fwd_brake = c;
 }
 
-void set_stock_aeb(bool c){
-  stock_aeb = c;
-}
-
-bool get_stock_aeb(){
-  return stock_aeb;
-}
-
 void init_tests(void){
   // get HW_TYPE from env variable set in test.sh
   if (getenv("HW_TYPE")) {
diff --git a/tests/libpanda/safety_helpers.py b/tests/libpanda/safety_helpers.py
index 7be88ea6bf..594803e303 100644
--- a/tests/libpanda/safety_helpers.py
+++ b/tests/libpanda/safety_helpers.py
@@ -21,8 +21,6 @@ def setup_safety_helpers(ffi):
   int get_vehicle_speed_max(void);
   int get_current_safety_mode(void);
   int get_current_safety_param(void);
-  void set_stock_aeb(bool c);
-  bool get_stock_aeb();
 
   void set_torque_meas(int min, int max);
   int get_torque_meas_min(void);
@@ -98,7 +96,3 @@ def set_honda_fwd_brake(self, c: bool) -> None: ...
   def set_honda_alt_brake_msg(self, c: bool) -> None: ...
   def set_honda_bosch_long(self, c: bool) -> None: ...
   def get_honda_hw(self) -> int: ...
-
-  def set_stock_aeb(self, c: bool) -> None: ...
-  def get_stock_aeb(self) -> bool: ...
-
diff --git a/tests/safety/common.py b/tests/safety/common.py
index 9d86749bb7..ffe30b6054 100644
--- a/tests/safety/common.py
+++ b/tests/safety/common.py
@@ -212,7 +212,6 @@ def test_gas_brake_limits_correct(self):
     self.assertGreater(self.MAX_THROTTLE, self.MIN_THROTTLE)
 
   def test_brake_safety_check(self):
-    self.safety.set_stock_aeb(0)
     for enabled in [0, 1]:
       for b in range(self.MIN_BRAKE, int(self.MAX_BRAKE * 1.5)):
         self.safety.set_controls_allowed(enabled)
diff --git a/tests/safety/test_subaru.py b/tests/safety/test_subaru.py
index 65e102bec0..52076c34bf 100755
--- a/tests/safety/test_subaru.py
+++ b/tests/safety/test_subaru.py
@@ -120,9 +120,9 @@ class TestSubaruLongitudinalSafetyBase(TestSubaruSafetyBase, common.Longitudinal
                                MSG_SUBARU_ES_Status, MSG_SUBARU_ES_DashStatus,
                                MSG_SUBARU_ES_LKAS_State, MSG_SUBARU_ES_Infotainment]}
 
-  def _brake_msg(self, brake, aeb=False, bus=None):
-    values = {"Brake_Pressure": brake, "AEB_Status": 8 if aeb else 0}
-    return self.packer.make_can_msg_panda("ES_Brake", self.ALT_BUS if bus is None else bus, values)
+  def _brake_msg(self, brake):
+    values = {"Brake_Pressure": brake}
+    return self.packer.make_can_msg_panda("ES_Brake", self.ALT_BUS, values)
 
   def _throttle_msg(self, throttle):
     values = {"Cruise_Throttle": throttle}
@@ -132,25 +132,6 @@ def _rpm_msg(self, rpm):
     values = {"Cruise_RPM": rpm}
     return self.packer.make_can_msg_panda("ES_Status", self.ALT_BUS, values)
 
-  def _aeb_msg(self, aeb):
-    return self._brake_msg(5, aeb, bus=2)
-
-  def test_aeb_passthrough(self):
-    # Allow higher braking when AEB is triggered
-    self.safety.set_controls_allowed(1)
-
-    self.assertFalse(self.safety.get_stock_aeb())
-    self._rx(self._aeb_msg(False))
-    self.assertFalse(self.safety.get_stock_aeb())
-
-    self.assertTrue(self._tx(self._brake_msg(brake=self.MAX_BRAKE)))
-    self.assertFalse(self._tx(self._brake_msg(brake=self.MAX_BRAKE+10)))
-
-    self._rx(self._aeb_msg(True))
-    self.assertTrue(self.safety.get_stock_aeb())
-
-    self.assertTrue(self._tx(self._brake_msg(brake=self.MAX_BRAKE+10)))
-
 
 class TestSubaruGen1Safety(TestSubaruSafetyBase):
   FLAGS = 0

From 4110eaca7c8f3ac5c265caf188104267530a8f4d Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Wed, 12 Jul 2023 11:05:37 -0700
Subject: [PATCH 049/113] remove unrequired rpm checks

---
 board/safety/safety_subaru.h              | 41 ++++++++---------------
 board/safety_declarations.h               |  3 --
 tests/libpanda/safety_helpers.py          |  2 +-
 tests/safety/common.py                    | 24 ++-----------
 tests/safety_replay/test_safety_replay.py |  4 +--
 5 files changed, 19 insertions(+), 55 deletions(-)

diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index c41e5e265a..daacfc024c 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -23,9 +23,8 @@ const SteeringLimits SUBARU_GEN2_STEERING_LIMITS = {
 const LongitudinalLimits SUBARU_LONG_LIMITS = {
   .min_gas = 0,
   .max_gas = 3400,
-  .min_rpm = 0,
-  .max_rpm = 3200,
   .max_brake = 400,
+  .inactive_gas = 0
 };
 
 #define MSG_SUBARU_Brake_Status          0x13c
@@ -60,39 +59,37 @@ const LongitudinalLimits SUBARU_LONG_LIMITS = {
   {MSG_SUBARU_Brake_Status,    SUBARU_CAM_BUS,  8}, \
   {MSG_SUBARU_CruiseControl,   SUBARU_CAM_BUS,  8}, \
 
+#define SUBARU_COMMON_ADDR_CHECKS(alt_bus)                                                                                                            \
+  {.msg = {{MSG_SUBARU_Throttle,        SUBARU_MAIN_BUS, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 10000U}, { 0 }, { 0 }}}, \
+  {.msg = {{MSG_SUBARU_Steering_Torque, SUBARU_MAIN_BUS, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}}, \
+  {.msg = {{MSG_SUBARU_Wheel_Speeds,    alt_bus,         8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}}, \
+  {.msg = {{MSG_SUBARU_Brake_Status,    alt_bus,         8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}}, \
+  {.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(0)
+  SUBARU_COMMON_TX_MSGS(SUBARU_MAIN_BUS)
 };
 #define SUBARU_TX_MSGS_LEN (sizeof(SUBARU_TX_MSGS) / sizeof(SUBARU_TX_MSGS[0]))
 
 const CanMsg SUBARU_LONG_TX_MSGS[] = {
-  SUBARU_COMMON_TX_MSGS(0)
-  SUBARU_COMMON_LONG_TX_MSGS(0)
+  SUBARU_COMMON_TX_MSGS(SUBARU_MAIN_BUS)
+  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(1)
+  SUBARU_COMMON_TX_MSGS(SUBARU_ALT_BUS)
 };
 #define SUBARU_GEN2_TX_MSGS_LEN (sizeof(SUBARU_GEN2_TX_MSGS) / sizeof(SUBARU_GEN2_TX_MSGS[0]))
 
 AddrCheckStruct subaru_addr_checks[] = {
-  {.msg = {{MSG_SUBARU_Throttle,        SUBARU_MAIN_BUS, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 10000U}, { 0 }, { 0 }}},
-  {.msg = {{MSG_SUBARU_Steering_Torque, SUBARU_MAIN_BUS, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}},
-  {.msg = {{MSG_SUBARU_Wheel_Speeds,    SUBARU_MAIN_BUS, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}},
-  {.msg = {{MSG_SUBARU_Brake_Status,    SUBARU_MAIN_BUS, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}},
-  {.msg = {{MSG_SUBARU_CruiseControl,   SUBARU_MAIN_BUS, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 50000U}, { 0 }, { 0 }}},
+  SUBARU_COMMON_ADDR_CHECKS(SUBARU_MAIN_BUS)
 };
 #define SUBARU_ADDR_CHECK_LEN (sizeof(subaru_addr_checks) / sizeof(subaru_addr_checks[0]))
 addr_checks subaru_rx_checks = {subaru_addr_checks, SUBARU_ADDR_CHECK_LEN};
 
 AddrCheckStruct subaru_gen2_addr_checks[] = {
-  {.msg = {{MSG_SUBARU_Throttle,        SUBARU_MAIN_BUS, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 10000U}, { 0 }, { 0 }}},
-  {.msg = {{MSG_SUBARU_Steering_Torque, SUBARU_MAIN_BUS, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}},
-  {.msg = {{MSG_SUBARU_Wheel_Speeds,    SUBARU_ALT_BUS,  8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}},
-  {.msg = {{MSG_SUBARU_Brake_Status,    SUBARU_ALT_BUS,  8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}},
-  {.msg = {{MSG_SUBARU_CruiseControl,   SUBARU_ALT_BUS,  8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 50000U}, { 0 }, { 0 }}},
+  SUBARU_COMMON_ADDR_CHECKS(SUBARU_ALT_BUS)
 };
 #define SUBARU_GEN2_ADDR_CHECK_LEN (sizeof(subaru_gen2_addr_checks) / sizeof(subaru_gen2_addr_checks[0]))
 addr_checks subaru_gen2_rx_checks = {subaru_gen2_addr_checks, SUBARU_GEN2_ADDR_CHECK_LEN};
@@ -198,20 +195,10 @@ static int subaru_tx_hook(CANPacket_t *to_send) {
     }
 
     // check es_distance cruise_throttle limits
-    if ((addr == MSG_SUBARU_ES_Distance) && !gas_pressed) {
+    if (addr == MSG_SUBARU_ES_Distance) {
       int cruise_throttle = ((GET_BYTES(to_send, 0, 4) >> 16) & 0xFFFU);
       violation |= longitudinal_gas_checks(cruise_throttle, SUBARU_LONG_LIMITS);
     }
-
-    // check es_status cruise_rpm limits
-    if ((addr == MSG_SUBARU_ES_Status) && !gas_pressed) {
-      int cruise_rpm = ((GET_BYTES(to_send, 0, 4) >> 16) & 0xFFFU);
-      if (get_longitudinal_allowed()) {
-        violation |= max_limit_check(cruise_rpm, SUBARU_LONG_LIMITS.max_rpm, SUBARU_LONG_LIMITS.min_rpm);
-      } else {
-        violation |= cruise_rpm != 0;
-      }
-    }
   }
 
   if (violation) {
diff --git a/board/safety_declarations.h b/board/safety_declarations.h
index 8bd9357ebd..b2f0ea9854 100644
--- a/board/safety_declarations.h
+++ b/board/safety_declarations.h
@@ -90,9 +90,6 @@ typedef struct {
   const int inactive_gas;
   const int max_brake;
 
-  const int min_rpm;
-  const int max_rpm;
-
   // speed cmd limits
   const int inactive_speed;
 } LongitudinalLimits;
diff --git a/tests/libpanda/safety_helpers.py b/tests/libpanda/safety_helpers.py
index 594803e303..923d8ce425 100644
--- a/tests/libpanda/safety_helpers.py
+++ b/tests/libpanda/safety_helpers.py
@@ -95,4 +95,4 @@ def init_tests(self) -> None: ...
   def set_honda_fwd_brake(self, c: bool) -> None: ...
   def set_honda_alt_brake_msg(self, c: bool) -> None: ...
   def set_honda_bosch_long(self, c: bool) -> None: ...
-  def get_honda_hw(self) -> int: ...
+  def get_honda_hw(self) -> int: ...
\ No newline at end of file
diff --git a/tests/safety/common.py b/tests/safety/common.py
index ffe30b6054..e97092b05d 100644
--- a/tests/safety/common.py
+++ b/tests/safety/common.py
@@ -178,9 +178,6 @@ class LongitudinalGasBrakeSafetyTest(PandaSafetyTestBase, abc.ABC):
   MIN_BRAKE: int = 0
   MAX_BRAKE: Optional[int] = None
 
-  MIN_RPM: int = 0
-  MAX_RPM: Optional[int] = None
-
   MIN_THROTTLE: int = 0
   MAX_THROTTLE: Optional[int] = None
 
@@ -194,21 +191,16 @@ def setUpClass(cls):
   def _throttle_msg(self, throttle: int):
     pass
 
-  @abc.abstractmethod
-  def _rpm_msg(self, rpm: int):
-    pass
-
   @abc.abstractmethod
   def _brake_msg(self, brake: int):
     pass
 
   def test_gas_brake_limits_correct(self):
-    # Assert that max brake, and at least one of max rpm or max throttle is set
+    # Assert that max brake and max throttle is set
     self.assertTrue(self.MAX_BRAKE is not None)
-    self.assertTrue(self.MAX_RPM is not None or self.MAX_THROTTLE is not None)
+    self.assertTrue(self.MAX_THROTTLE is not None)
 
     self.assertGreater(self.MAX_BRAKE, self.MIN_BRAKE)
-    self.assertGreater(self.MAX_RPM, self.MIN_RPM)
     self.assertGreater(self.MAX_THROTTLE, self.MIN_THROTTLE)
 
   def test_brake_safety_check(self):
@@ -220,18 +212,6 @@ def test_brake_safety_check(self):
         else:
           self.assertTrue(self._tx(self._brake_msg(b)))
   
-  def test_rpm_safety_check(self):
-    if self.MAX_RPM is None:
-      raise unittest.SkipTest
-    
-    for enabled in [0, 1]:
-      for r in range(self.MIN_RPM, int(self.MAX_RPM * 1.2)):
-        self.safety.set_controls_allowed(enabled)
-        if r > self.MAX_RPM or (not enabled and abs(r) > 0):
-          self.assertFalse(self._tx(self._rpm_msg(r)))
-        else:
-          self.assertTrue(self._tx(self._rpm_msg(r)))
-  
   def test_throttle_safety_check(self):
     if self.MAX_THROTTLE is None:
       raise unittest.SkipTest
diff --git a/tests/safety_replay/test_safety_replay.py b/tests/safety_replay/test_safety_replay.py
index 6b297bd6cf..4c04373307 100755
--- a/tests/safety_replay/test_safety_replay.py
+++ b/tests/safety_replay/test_safety_replay.py
@@ -18,8 +18,8 @@
   ReplayRoute("f89c604cf653e2bf|2018-09-29--13-46-50.bz2", Panda.SAFETY_GM),                  # GM.VOLT
   ReplayRoute("6fb4948a7ebe670e|2019-11-12--00-35-53.bz2", Panda.SAFETY_CHRYSLER),            # CHRYSLER.PACIFICA_2018_HYBRID
   ReplayRoute("0744286ead2fbb96|2023-05-01--16-27-01--35--rlog.bz2", Panda.SAFETY_SUBARU),    # SUBARU.IMPREZA
-  ReplayRoute("8de015561e1ea4a0|2023-07-02--20-14-07--13--rlog.bz2", Panda.SAFETY_SUBARU,     # SUBARU.CROSSTREK (openpilot long)
-              Panda.FLAG_SUBARU_LONG),    
+  ReplayRoute("8de015561e1ea4a0|2023-07-02--20-14-07----rlog.bz2", Panda.SAFETY_SUBARU,       # SUBARU.CROSSTREK (openpilot long)
+              Panda.FLAG_SUBARU_LONG, ALT_EXP.DISABLE_DISENGAGE_ON_GAS),    
   ReplayRoute("bad6ae3584ece5b5|2023-04-29--11-23-48--7--rlog.bz2", Panda.SAFETY_SUBARU,      # SUBARU.OUTBACK
               Panda.FLAG_SUBARU_GEN2, ALT_EXP.DISABLE_DISENGAGE_ON_GAS),
   ReplayRoute("76b83eb0245de90e|2020-03-05--19-16-05.bz2", Panda.SAFETY_VOLKSWAGEN_MQB),      # VOLKSWAGEN.GOLF (stock ACC)

From 4849837156fb4b0b2da1985185cafb29655cbfba Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Wed, 12 Jul 2023 16:08:49 -0700
Subject: [PATCH 050/113] add comment

---
 board/safety/safety_subaru.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index daacfc024c..44b128effa 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -22,8 +22,8 @@ const SteeringLimits SUBARU_GEN2_STEERING_LIMITS = {
 
 const LongitudinalLimits SUBARU_LONG_LIMITS = {
   .min_gas = 0,
-  .max_gas = 3400,
-  .max_brake = 400,
+  .max_gas = 3400,   // approx  2.5 m/s^2
+  .max_brake = 400,  // approx -2.5 m/s^2
   .inactive_gas = 0
 };
 

From 21fc7640cc29a379ad24681924b730cf9922998b Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Thu, 13 Jul 2023 10:22:32 -0700
Subject: [PATCH 051/113] added comment about acceleration and use throttle
 limit for rpm too

---
 board/safety/safety_subaru.h              |  8 ++++++-
 tests/safety/common.py                    | 28 +++++++++--------------
 tests/safety/test_subaru.py               |  4 +++-
 tests/safety_replay/test_safety_replay.py |  5 ++--
 4 files changed, 24 insertions(+), 21 deletions(-)

diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index 44b128effa..4761a8fcea 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -22,7 +22,7 @@ const SteeringLimits SUBARU_GEN2_STEERING_LIMITS = {
 
 const LongitudinalLimits SUBARU_LONG_LIMITS = {
   .min_gas = 0,
-  .max_gas = 3400,   // approx  2.5 m/s^2
+  .max_gas = 3400,   // approx  1.2 m/s^2 at low speeds, less at higher speeds
   .max_brake = 400,  // approx -2.5 m/s^2
   .inactive_gas = 0
 };
@@ -199,6 +199,12 @@ static int subaru_tx_hook(CANPacket_t *to_send) {
       int cruise_throttle = ((GET_BYTES(to_send, 0, 4) >> 16) & 0xFFFU);
       violation |= longitudinal_gas_checks(cruise_throttle, SUBARU_LONG_LIMITS);
     }
+
+    // check es_status cruise_rpm limits
+    if (addr == MSG_SUBARU_ES_Status) {
+      int cruise_rpm = ((GET_BYTES(to_send, 0, 4) >> 16) & 0xFFFU);
+      violation |= longitudinal_gas_checks(cruise_rpm, SUBARU_LONG_LIMITS);
+    }
   }
 
   if (violation) {
diff --git a/tests/safety/common.py b/tests/safety/common.py
index e97092b05d..566ca361d9 100644
--- a/tests/safety/common.py
+++ b/tests/safety/common.py
@@ -202,29 +202,23 @@ def test_gas_brake_limits_correct(self):
 
     self.assertGreater(self.MAX_BRAKE, self.MIN_BRAKE)
     self.assertGreater(self.MAX_THROTTLE, self.MIN_THROTTLE)
-
-  def test_brake_safety_check(self):
+  
+  def _generic_limit_safety_check(self, msg_function, MIN_VALUE, MAX_VALUE, MAX_VALUE_MULTIPLIER):
     for enabled in [0, 1]:
-      for b in range(self.MIN_BRAKE, int(self.MAX_BRAKE * 1.5)):
+      for v in range(int(MIN_VALUE), int(MAX_VALUE*MAX_VALUE_MULTIPLIER)):
         self.safety.set_controls_allowed(enabled)
-        if b > self.MAX_BRAKE or (not enabled and abs(b) > 0):
-          self.assertFalse(self._tx(self._brake_msg(b)))
+        if v > MAX_VALUE or (not enabled and abs(v) > 0):
+          self.assertFalse(self._tx(msg_function(v)))
         else:
-          self.assertTrue(self._tx(self._brake_msg(b)))
+          self.assertTrue(self._tx(msg_function(v)))
+
+  def test_brake_safety_check(self):
+    self._generic_limit_safety_check(self._brake_msg, self.MIN_BRAKE, self.MAX_BRAKE, 1.5)
   
   def test_throttle_safety_check(self):
-    if self.MAX_THROTTLE is None:
-      raise unittest.SkipTest
-    
-    for enabled in [0, 1]:
-      for t in range(self.MIN_THROTTLE, int(self.MAX_THROTTLE * 1.2)):
-        self.safety.set_controls_allowed(enabled)
-        if t > self.MAX_THROTTLE or (not enabled and abs(t) > 0):
-          self.assertFalse(self._tx(self._throttle_msg(t)))
-        else:
-          self.assertTrue(self._tx(self._throttle_msg(t)))
-        
+    self._generic_limit_safety_check(self._throttle_msg, self.MIN_THROTTLE, self.MAX_THROTTLE, 1.2)
 
+        
 class TorqueSteeringSafetyTestBase(PandaSafetyTestBase, abc.ABC):
 
   MAX_RATE_UP = 0
diff --git a/tests/safety/test_subaru.py b/tests/safety/test_subaru.py
index 52076c34bf..17700d6558 100755
--- a/tests/safety/test_subaru.py
+++ b/tests/safety/test_subaru.py
@@ -111,7 +111,6 @@ class TestSubaruGen2SafetyBase(TestSubaruSafetyBase):
 
 
 class TestSubaruLongitudinalSafetyBase(TestSubaruSafetyBase, common.LongitudinalGasBrakeSafetyTest):
-  MAX_RPM = 3200
   MAX_THROTTLE = 3400
   MAX_BRAKE = 400
   
@@ -132,6 +131,9 @@ def _rpm_msg(self, rpm):
     values = {"Cruise_RPM": rpm}
     return self.packer.make_can_msg_panda("ES_Status", self.ALT_BUS, values)
 
+  def test_rpm_safety_check(self):
+    self._generic_limit_safety_check(self._rpm_msg, self.MIN_THROTTLE, self.MAX_THROTTLE, 1.2)
+
 
 class TestSubaruGen1Safety(TestSubaruSafetyBase):
   FLAGS = 0
diff --git a/tests/safety_replay/test_safety_replay.py b/tests/safety_replay/test_safety_replay.py
index 4c04373307..d38ab11e02 100755
--- a/tests/safety_replay/test_safety_replay.py
+++ b/tests/safety_replay/test_safety_replay.py
@@ -13,13 +13,14 @@
 ReplayRoute = namedtuple("ReplayRoute", ("route", "safety_mode", "param", "alternative_experience"), defaults=(0, 0))
 
 logs = [
+  # TODO: need a route with updated safety stuff
+  #ReplayRoute("8de015561e1ea4a0|2023-07-02--20-14-07--9--rlog.bz2", Panda.SAFETY_SUBARU,      # SUBARU.CROSSTREK (openpilot long)
+  #            Panda.FLAG_SUBARU_LONG, ALT_EXP.DISABLE_DISENGAGE_ON_GAS),   
   ReplayRoute("2425568437959f9d|2019-12-22--16-24-37.bz2", Panda.SAFETY_HONDA_NIDEC),         # HONDA.CIVIC (fcw presents: 0x1FA blocked as expected)
   ReplayRoute("38bfd238edecbcd7|2019-06-07--10-15-25.bz2", Panda.SAFETY_TOYOTA, 66),          # TOYOTA.PRIUS
   ReplayRoute("f89c604cf653e2bf|2018-09-29--13-46-50.bz2", Panda.SAFETY_GM),                  # GM.VOLT
   ReplayRoute("6fb4948a7ebe670e|2019-11-12--00-35-53.bz2", Panda.SAFETY_CHRYSLER),            # CHRYSLER.PACIFICA_2018_HYBRID
   ReplayRoute("0744286ead2fbb96|2023-05-01--16-27-01--35--rlog.bz2", Panda.SAFETY_SUBARU),    # SUBARU.IMPREZA
-  ReplayRoute("8de015561e1ea4a0|2023-07-02--20-14-07----rlog.bz2", Panda.SAFETY_SUBARU,       # SUBARU.CROSSTREK (openpilot long)
-              Panda.FLAG_SUBARU_LONG, ALT_EXP.DISABLE_DISENGAGE_ON_GAS),    
   ReplayRoute("bad6ae3584ece5b5|2023-04-29--11-23-48--7--rlog.bz2", Panda.SAFETY_SUBARU,      # SUBARU.OUTBACK
               Panda.FLAG_SUBARU_GEN2, ALT_EXP.DISABLE_DISENGAGE_ON_GAS),
   ReplayRoute("76b83eb0245de90e|2020-03-05--19-16-05.bz2", Panda.SAFETY_VOLKSWAGEN_MQB),      # VOLKSWAGEN.GOLF (stock ACC)

From f52659bd229a33679e09b1537b0ba5c6dc0f1dba Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Thu, 13 Jul 2023 17:31:22 -0700
Subject: [PATCH 052/113] inactive_throttle_fix

---
 board/safety/safety_subaru.h | 11 +++--------
 tests/safety/common.py       | 10 ++++++----
 tests/safety/test_subaru.py  |  4 +---
 3 files changed, 10 insertions(+), 15 deletions(-)

diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index 4761a8fcea..04b74a2e24 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -21,10 +21,11 @@ const SteeringLimits SUBARU_GEN2_STEERING_LIMITS = {
 };
 
 const LongitudinalLimits SUBARU_LONG_LIMITS = {
+  .max_brake = 400,  // approx -2.5 m/s^2
+
   .min_gas = 0,
   .max_gas = 3400,   // approx  1.2 m/s^2 at low speeds, less at higher speeds
-  .max_brake = 400,  // approx -2.5 m/s^2
-  .inactive_gas = 0
+  .inactive_gas = 808,
 };
 
 #define MSG_SUBARU_Brake_Status          0x13c
@@ -199,12 +200,6 @@ static int subaru_tx_hook(CANPacket_t *to_send) {
       int cruise_throttle = ((GET_BYTES(to_send, 0, 4) >> 16) & 0xFFFU);
       violation |= longitudinal_gas_checks(cruise_throttle, SUBARU_LONG_LIMITS);
     }
-
-    // check es_status cruise_rpm limits
-    if (addr == MSG_SUBARU_ES_Status) {
-      int cruise_rpm = ((GET_BYTES(to_send, 0, 4) >> 16) & 0xFFFU);
-      violation |= longitudinal_gas_checks(cruise_rpm, SUBARU_LONG_LIMITS);
-    }
   }
 
   if (violation) {
diff --git a/tests/safety/common.py b/tests/safety/common.py
index 566ca361d9..147eaeba97 100644
--- a/tests/safety/common.py
+++ b/tests/safety/common.py
@@ -181,6 +181,8 @@ class LongitudinalGasBrakeSafetyTest(PandaSafetyTestBase, abc.ABC):
   MIN_THROTTLE: int = 0
   MAX_THROTTLE: Optional[int] = None
 
+  INACTIVE_THROTTLE: Optional[int] = 0
+
   @classmethod
   def setUpClass(cls):
     if cls.__name__ == "LongitudinalGasBrakeSafetyTest":
@@ -203,20 +205,20 @@ def test_gas_brake_limits_correct(self):
     self.assertGreater(self.MAX_BRAKE, self.MIN_BRAKE)
     self.assertGreater(self.MAX_THROTTLE, self.MIN_THROTTLE)
   
-  def _generic_limit_safety_check(self, msg_function, MIN_VALUE, MAX_VALUE, MAX_VALUE_MULTIPLIER):
+  def _generic_limit_safety_check(self, msg_function, MIN_VALUE, MAX_VALUE, MAX_VALUE_MULTIPLIER, INACTIVE_VALUE=0):
     for enabled in [0, 1]:
       for v in range(int(MIN_VALUE), int(MAX_VALUE*MAX_VALUE_MULTIPLIER)):
         self.safety.set_controls_allowed(enabled)
-        if v > MAX_VALUE or (not enabled and abs(v) > 0):
+        if (not enabled and v != INACTIVE_VALUE) or v > MAX_VALUE:
           self.assertFalse(self._tx(msg_function(v)))
         else:
-          self.assertTrue(self._tx(msg_function(v)))
+          self.assertTrue(self._tx(msg_function(v)), msg=f"{v} was not allowed")
 
   def test_brake_safety_check(self):
     self._generic_limit_safety_check(self._brake_msg, self.MIN_BRAKE, self.MAX_BRAKE, 1.5)
   
   def test_throttle_safety_check(self):
-    self._generic_limit_safety_check(self._throttle_msg, self.MIN_THROTTLE, self.MAX_THROTTLE, 1.2)
+    self._generic_limit_safety_check(self._throttle_msg, self.MIN_THROTTLE, self.MAX_THROTTLE, 1.2, self.INACTIVE_THROTTLE)
 
         
 class TorqueSteeringSafetyTestBase(PandaSafetyTestBase, abc.ABC):
diff --git a/tests/safety/test_subaru.py b/tests/safety/test_subaru.py
index 17700d6558..8472d8cd93 100755
--- a/tests/safety/test_subaru.py
+++ b/tests/safety/test_subaru.py
@@ -113,6 +113,7 @@ class TestSubaruGen2SafetyBase(TestSubaruSafetyBase):
 class TestSubaruLongitudinalSafetyBase(TestSubaruSafetyBase, common.LongitudinalGasBrakeSafetyTest):
   MAX_THROTTLE = 3400
   MAX_BRAKE = 400
+  INACTIVE_THROTTLE = 808
   
   FWD_BLACKLISTED_ADDRS = {0: [MSG_SUBARU_CruiseControl, MSG_SUBARU_Brake_Status],
                            2: [MSG_SUBARU_ES_LKAS, MSG_SUBARU_ES_Brake, MSG_SUBARU_ES_Distance,
@@ -131,9 +132,6 @@ def _rpm_msg(self, rpm):
     values = {"Cruise_RPM": rpm}
     return self.packer.make_can_msg_panda("ES_Status", self.ALT_BUS, values)
 
-  def test_rpm_safety_check(self):
-    self._generic_limit_safety_check(self._rpm_msg, self.MIN_THROTTLE, self.MAX_THROTTLE, 1.2)
-
 
 class TestSubaruGen1Safety(TestSubaruSafetyBase):
   FLAGS = 0

From 93d6abbb706b1ddb575500c97b33cc498ed652a5 Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Fri, 14 Jul 2023 08:44:29 -0700
Subject: [PATCH 053/113] Update board/safety/safety_subaru.h

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 board/safety/safety_subaru.h | 5 +----
 1 file changed, 1 insertion(+), 4 deletions(-)

diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index 04b74a2e24..48be8bf9ad 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -21,13 +21,10 @@ const SteeringLimits SUBARU_GEN2_STEERING_LIMITS = {
 };
 
 const LongitudinalLimits SUBARU_LONG_LIMITS = {
-  .max_brake = 400,  // approx -2.5 m/s^2
-
-  .min_gas = 0,
   .max_gas = 3400,   // approx  1.2 m/s^2 at low speeds, less at higher speeds
   .inactive_gas = 808,
+  .max_brake = 400,  // approx -2.5 m/s^2
 };
-
 #define MSG_SUBARU_Brake_Status          0x13c
 #define MSG_SUBARU_CruiseControl         0x240
 #define MSG_SUBARU_Throttle              0x40

From eede344f3244fa3fab0a073c17a32aeeb4a8dcb8 Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Fri, 14 Jul 2023 09:14:55 -0700
Subject: [PATCH 054/113] added comments about long limits

---
 board/safety/safety_subaru.h | 7 ++++---
 tests/safety/common.py       | 4 ++--
 tests/safety/test_subaru.py  | 2 +-
 3 files changed, 7 insertions(+), 6 deletions(-)

diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index 48be8bf9ad..81b59e1bea 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -21,10 +21,11 @@ const SteeringLimits SUBARU_GEN2_STEERING_LIMITS = {
 };
 
 const LongitudinalLimits SUBARU_LONG_LIMITS = {
-  .max_gas = 3400,   // approx  1.2 m/s^2 at low speeds, less at higher speeds
-  .inactive_gas = 808,
-  .max_brake = 400,  // approx -2.5 m/s^2
+  .max_gas = 3400,      // approx  1.2 m/s^2 at low speeds, less at higher speeds
+  .inactive_gas = 1818, // this is zero acceleration
+  .max_brake = 600,     // approx -3.5 m/s^2
 };
+
 #define MSG_SUBARU_Brake_Status          0x13c
 #define MSG_SUBARU_CruiseControl         0x240
 #define MSG_SUBARU_Throttle              0x40
diff --git a/tests/safety/common.py b/tests/safety/common.py
index 147eaeba97..2d9133b22e 100644
--- a/tests/safety/common.py
+++ b/tests/safety/common.py
@@ -178,7 +178,7 @@ class LongitudinalGasBrakeSafetyTest(PandaSafetyTestBase, abc.ABC):
   MIN_BRAKE: int = 0
   MAX_BRAKE: Optional[int] = None
 
-  MIN_THROTTLE: int = 0
+  MIN_THROTTLE: int = 1818
   MAX_THROTTLE: Optional[int] = None
 
   INACTIVE_THROTTLE: Optional[int] = 0
@@ -212,7 +212,7 @@ def _generic_limit_safety_check(self, msg_function, MIN_VALUE, MAX_VALUE, MAX_VA
         if (not enabled and v != INACTIVE_VALUE) or v > MAX_VALUE:
           self.assertFalse(self._tx(msg_function(v)))
         else:
-          self.assertTrue(self._tx(msg_function(v)), msg=f"{v} was not allowed")
+          self.assertTrue(self._tx(msg_function(v)))
 
   def test_brake_safety_check(self):
     self._generic_limit_safety_check(self._brake_msg, self.MIN_BRAKE, self.MAX_BRAKE, 1.5)
diff --git a/tests/safety/test_subaru.py b/tests/safety/test_subaru.py
index 8472d8cd93..fba801acc7 100755
--- a/tests/safety/test_subaru.py
+++ b/tests/safety/test_subaru.py
@@ -113,7 +113,7 @@ class TestSubaruGen2SafetyBase(TestSubaruSafetyBase):
 class TestSubaruLongitudinalSafetyBase(TestSubaruSafetyBase, common.LongitudinalGasBrakeSafetyTest):
   MAX_THROTTLE = 3400
   MAX_BRAKE = 400
-  INACTIVE_THROTTLE = 808
+  INACTIVE_THROTTLE = 1818
   
   FWD_BLACKLISTED_ADDRS = {0: [MSG_SUBARU_CruiseControl, MSG_SUBARU_Brake_Status],
                            2: [MSG_SUBARU_ES_LKAS, MSG_SUBARU_ES_Brake, MSG_SUBARU_ES_Distance,

From dc9cf4ea2d62ef9621ca4153cf2a5993cba386fe Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Fri, 14 Jul 2023 10:21:35 -0700
Subject: [PATCH 055/113] increase max brake

---
 tests/safety/common.py      | 2 +-
 tests/safety/test_subaru.py | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/tests/safety/common.py b/tests/safety/common.py
index 2d9133b22e..d437f4cdcf 100644
--- a/tests/safety/common.py
+++ b/tests/safety/common.py
@@ -209,7 +209,7 @@ def _generic_limit_safety_check(self, msg_function, MIN_VALUE, MAX_VALUE, MAX_VA
     for enabled in [0, 1]:
       for v in range(int(MIN_VALUE), int(MAX_VALUE*MAX_VALUE_MULTIPLIER)):
         self.safety.set_controls_allowed(enabled)
-        if (not enabled and v != INACTIVE_VALUE) or v > MAX_VALUE:
+        if (not enabled and v != INACTIVE_VALUE) or v > MAX_VALUE or v < MIN_VALUE:
           self.assertFalse(self._tx(msg_function(v)))
         else:
           self.assertTrue(self._tx(msg_function(v)))
diff --git a/tests/safety/test_subaru.py b/tests/safety/test_subaru.py
index fba801acc7..551b68a68a 100755
--- a/tests/safety/test_subaru.py
+++ b/tests/safety/test_subaru.py
@@ -112,7 +112,7 @@ class TestSubaruGen2SafetyBase(TestSubaruSafetyBase):
 
 class TestSubaruLongitudinalSafetyBase(TestSubaruSafetyBase, common.LongitudinalGasBrakeSafetyTest):
   MAX_THROTTLE = 3400
-  MAX_BRAKE = 400
+  MAX_BRAKE = 600
   INACTIVE_THROTTLE = 1818
   
   FWD_BLACKLISTED_ADDRS = {0: [MSG_SUBARU_CruiseControl, MSG_SUBARU_Brake_Status],

From 2c7e0fdb8d63b5a50a287dd31bf6b274d404ab0c Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Fri, 14 Jul 2023 17:20:08 -0700
Subject: [PATCH 056/113] revert that

---
 tests/libpanda/safety_helpers.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/tests/libpanda/safety_helpers.py b/tests/libpanda/safety_helpers.py
index 923d8ce425..3cf8aae04d 100644
--- a/tests/libpanda/safety_helpers.py
+++ b/tests/libpanda/safety_helpers.py
@@ -95,4 +95,5 @@ def init_tests(self) -> None: ...
   def set_honda_fwd_brake(self, c: bool) -> None: ...
   def set_honda_alt_brake_msg(self, c: bool) -> None: ...
   def set_honda_bosch_long(self, c: bool) -> None: ...
-  def get_honda_hw(self) -> int: ...
\ No newline at end of file
+  def get_honda_hw(self) -> int: ...
+

From 5006eb2ca531fcf72e701da2fadb803a341c8c22 Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Fri, 14 Jul 2023 17:23:55 -0700
Subject: [PATCH 057/113] cleanup

---
 tests/safety/test_subaru.py | 11 -----------
 1 file changed, 11 deletions(-)

diff --git a/tests/safety/test_subaru.py b/tests/safety/test_subaru.py
index 0b53d3a8d2..c8c3b800e0 100755
--- a/tests/safety/test_subaru.py
+++ b/tests/safety/test_subaru.py
@@ -56,17 +56,6 @@ class TestSubaruSafetyBase(common.PandaSafetyTest, common.DriverTorqueSteeringSa
   DRIVER_TORQUE_FACTOR = 50
 
   ALT_BUS = SUBARU_MAIN_BUS
-
-  MAX_RATE_UP = 50
-  MAX_RATE_DOWN = 70
-  MAX_TORQUE = 2047
-
-  @classmethod
-  def setUpClass(cls):
-    if cls.__name__.endswith("Base"):
-      cls.packer = None
-      cls.safety = None
-      raise unittest.SkipTest
   
   def setUp(self):
     self.packer = CANPackerPanda("subaru_global_2017_generated")

From 706fd78c21650f29cd9ddaf47992b171a2e7f477 Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Fri, 14 Jul 2023 18:53:43 -0700
Subject: [PATCH 058/113] rename throttle to gas

---
 tests/safety/common.py      | 20 ++++++++++----------
 tests/safety/test_subaru.py |  8 ++++----
 2 files changed, 14 insertions(+), 14 deletions(-)

diff --git a/tests/safety/common.py b/tests/safety/common.py
index 95b133358b..2f5dbf78c1 100644
--- a/tests/safety/common.py
+++ b/tests/safety/common.py
@@ -178,10 +178,10 @@ class LongitudinalGasBrakeSafetyTest(PandaSafetyTestBase, abc.ABC):
   MIN_BRAKE: int = 0
   MAX_BRAKE: Optional[int] = None
 
-  MIN_THROTTLE: int = 1818
-  MAX_THROTTLE: Optional[int] = None
+  MIN_GAS: int = 1818
+  MAX_GAS: Optional[int] = None
 
-  INACTIVE_THROTTLE: Optional[int] = 0
+  INACTIVE_GAS: Optional[int] = 0
 
   @classmethod
   def setUpClass(cls):
@@ -190,7 +190,7 @@ def setUpClass(cls):
       raise unittest.SkipTest
   
   @abc.abstractmethod
-  def _throttle_msg(self, throttle: int):
+  def _gas_msg(self, gas: int):
     pass
 
   @abc.abstractmethod
@@ -200,16 +200,16 @@ def _brake_msg(self, brake: int):
   def test_gas_brake_limits_correct(self):
     # Assert that max brake and max throttle is set
     self.assertTrue(self.MAX_BRAKE is not None)
-    self.assertTrue(self.MAX_THROTTLE is not None)
+    self.assertTrue(self.MAX_GAS is not None)
 
     self.assertGreater(self.MAX_BRAKE, self.MIN_BRAKE)
-    self.assertGreater(self.MAX_THROTTLE, self.MIN_THROTTLE)
+    self.assertGreater(self.MAX_GAS, self.MIN_GAS)
   
-  def _generic_limit_safety_check(self, msg_function, MIN_VALUE, MAX_VALUE, MAX_VALUE_MULTIPLIER, INACTIVE_VALUE=0):
+  def _generic_limit_safety_check(self, msg_function, min_value, max_value, max_value_multiplier, inactive_value=0):
     for enabled in [0, 1]:
-      for v in range(int(MIN_VALUE), int(MAX_VALUE*MAX_VALUE_MULTIPLIER)):
+      for v in range(int(min_value), int(max_value*max_value_multiplier)):
         self.safety.set_controls_allowed(enabled)
-        if (not enabled and v != INACTIVE_VALUE) or v > MAX_VALUE or v < MIN_VALUE:
+        if (not enabled and v != inactive_value) or v > max_value or v < min_value:
           self.assertFalse(self._tx(msg_function(v)))
         else:
           self.assertTrue(self._tx(msg_function(v)))
@@ -218,7 +218,7 @@ def test_brake_safety_check(self):
     self._generic_limit_safety_check(self._brake_msg, self.MIN_BRAKE, self.MAX_BRAKE, 1.5)
   
   def test_throttle_safety_check(self):
-    self._generic_limit_safety_check(self._throttle_msg, self.MIN_THROTTLE, self.MAX_THROTTLE, 1.2, self.INACTIVE_THROTTLE)
+    self._generic_limit_safety_check(self._gas_msg, self.MIN_GAS, self.MAX_GAS, 1.2, self.INACTIVE_GAS)
 
         
 class TorqueSteeringSafetyTestBase(PandaSafetyTestBase, abc.ABC):
diff --git a/tests/safety/test_subaru.py b/tests/safety/test_subaru.py
index c8c3b800e0..4734b63014 100755
--- a/tests/safety/test_subaru.py
+++ b/tests/safety/test_subaru.py
@@ -103,9 +103,9 @@ class TestSubaruGen2SafetyBase(TestSubaruSafetyBase):
 
 
 class TestSubaruLongitudinalSafetyBase(TestSubaruSafetyBase, common.LongitudinalGasBrakeSafetyTest):
-  MAX_THROTTLE = 3400
+  MAX_GAS = 3400
   MAX_BRAKE = 600
-  INACTIVE_THROTTLE = 1818
+  INACTIVE_GAS = 1818
   
   FWD_BLACKLISTED_ADDRS = {0: [MSG_SUBARU_CruiseControl, MSG_SUBARU_Brake_Status],
                            2: [MSG_SUBARU_ES_LKAS, MSG_SUBARU_ES_Brake, MSG_SUBARU_ES_Distance,
@@ -116,8 +116,8 @@ def _brake_msg(self, brake):
     values = {"Brake_Pressure": brake}
     return self.packer.make_can_msg_panda("ES_Brake", self.ALT_BUS, values)
 
-  def _throttle_msg(self, throttle):
-    values = {"Cruise_Throttle": throttle}
+  def _gas_msg(self, gas):
+    values = {"Cruise_Throttle": gas}
     return self.packer.make_can_msg_panda("ES_Distance", self.ALT_BUS, values)
 
   def _rpm_msg(self, rpm):

From 41e4a4bd0da7e404d60f0c3494ec568d5e0ce6c4 Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Sat, 15 Jul 2023 09:15:08 -0700
Subject: [PATCH 059/113] add safety replay

---
 tests/safety_replay/test_safety_replay.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/tests/safety_replay/test_safety_replay.py b/tests/safety_replay/test_safety_replay.py
index d38ab11e02..a1529167a4 100755
--- a/tests/safety_replay/test_safety_replay.py
+++ b/tests/safety_replay/test_safety_replay.py
@@ -14,8 +14,8 @@
 
 logs = [
   # TODO: need a route with updated safety stuff
-  #ReplayRoute("8de015561e1ea4a0|2023-07-02--20-14-07--9--rlog.bz2", Panda.SAFETY_SUBARU,      # SUBARU.CROSSTREK (openpilot long)
-  #            Panda.FLAG_SUBARU_LONG, ALT_EXP.DISABLE_DISENGAGE_ON_GAS),   
+  ReplayRoute("8de015561e1ea4a0|2023-07-15--09-44-25--0--rlog.bz2", Panda.SAFETY_SUBARU,      # SUBARU.CROSSTREK (openpilot long)
+              Panda.FLAG_SUBARU_LONG, ALT_EXP.DISABLE_DISENGAGE_ON_GAS),   
   ReplayRoute("2425568437959f9d|2019-12-22--16-24-37.bz2", Panda.SAFETY_HONDA_NIDEC),         # HONDA.CIVIC (fcw presents: 0x1FA blocked as expected)
   ReplayRoute("38bfd238edecbcd7|2019-06-07--10-15-25.bz2", Panda.SAFETY_TOYOTA, 66),          # TOYOTA.PRIUS
   ReplayRoute("f89c604cf653e2bf|2018-09-29--13-46-50.bz2", Panda.SAFETY_GM),                  # GM.VOLT

From 0397443e2f12a381180ec0bc7b400650d1dfcc6d Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Sat, 15 Jul 2023 15:02:28 -0700
Subject: [PATCH 060/113] remove todo

---
 tests/safety_replay/test_safety_replay.py | 1 -
 1 file changed, 1 deletion(-)

diff --git a/tests/safety_replay/test_safety_replay.py b/tests/safety_replay/test_safety_replay.py
index a1529167a4..2c9d68c2c2 100755
--- a/tests/safety_replay/test_safety_replay.py
+++ b/tests/safety_replay/test_safety_replay.py
@@ -13,7 +13,6 @@
 ReplayRoute = namedtuple("ReplayRoute", ("route", "safety_mode", "param", "alternative_experience"), defaults=(0, 0))
 
 logs = [
-  # TODO: need a route with updated safety stuff
   ReplayRoute("8de015561e1ea4a0|2023-07-15--09-44-25--0--rlog.bz2", Panda.SAFETY_SUBARU,      # SUBARU.CROSSTREK (openpilot long)
               Panda.FLAG_SUBARU_LONG, ALT_EXP.DISABLE_DISENGAGE_ON_GAS),   
   ReplayRoute("2425568437959f9d|2019-12-22--16-24-37.bz2", Panda.SAFETY_HONDA_NIDEC),         # HONDA.CIVIC (fcw presents: 0x1FA blocked as expected)

From 3429b8dc1814ca15cf4d0a0a516b07f8fbe9dd97 Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Mon, 17 Jul 2023 10:46:23 -0700
Subject: [PATCH 061/113] rename throttle to gas

---
 tests/safety/common.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/tests/safety/common.py b/tests/safety/common.py
index 2f5dbf78c1..51845f3cda 100644
--- a/tests/safety/common.py
+++ b/tests/safety/common.py
@@ -198,7 +198,7 @@ def _brake_msg(self, brake: int):
     pass
 
   def test_gas_brake_limits_correct(self):
-    # Assert that max brake and max throttle is set
+    # Assert that max brake and max gas is set
     self.assertTrue(self.MAX_BRAKE is not None)
     self.assertTrue(self.MAX_GAS is not None)
 
@@ -217,7 +217,7 @@ def _generic_limit_safety_check(self, msg_function, min_value, max_value, max_va
   def test_brake_safety_check(self):
     self._generic_limit_safety_check(self._brake_msg, self.MIN_BRAKE, self.MAX_BRAKE, 1.5)
   
-  def test_throttle_safety_check(self):
+  def test_gas_safety_check(self):
     self._generic_limit_safety_check(self._gas_msg, self.MIN_GAS, self.MAX_GAS, 1.2, self.INACTIVE_GAS)
 
         

From de43707fe0a3c3a3d177f762ebfc52f5526fa945 Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Mon, 17 Jul 2023 10:48:54 -0700
Subject: [PATCH 062/113] move subaru stuff out of common test

---
 tests/safety/common.py      | 4 ++--
 tests/safety/test_subaru.py | 3 ++-
 2 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/tests/safety/common.py b/tests/safety/common.py
index 51845f3cda..233039abad 100644
--- a/tests/safety/common.py
+++ b/tests/safety/common.py
@@ -178,7 +178,7 @@ class LongitudinalGasBrakeSafetyTest(PandaSafetyTestBase, abc.ABC):
   MIN_BRAKE: int = 0
   MAX_BRAKE: Optional[int] = None
 
-  MIN_GAS: int = 1818
+  MIN_GAS: int = 0
   MAX_GAS: Optional[int] = None
 
   INACTIVE_GAS: Optional[int] = 0
@@ -198,7 +198,7 @@ def _brake_msg(self, brake: int):
     pass
 
   def test_gas_brake_limits_correct(self):
-    # Assert that max brake and max gas is set
+    # Assert that max brake and max throttle is set
     self.assertTrue(self.MAX_BRAKE is not None)
     self.assertTrue(self.MAX_GAS is not None)
 
diff --git a/tests/safety/test_subaru.py b/tests/safety/test_subaru.py
index 4734b63014..c9f5d80525 100755
--- a/tests/safety/test_subaru.py
+++ b/tests/safety/test_subaru.py
@@ -104,8 +104,9 @@ class TestSubaruGen2SafetyBase(TestSubaruSafetyBase):
 
 class TestSubaruLongitudinalSafetyBase(TestSubaruSafetyBase, common.LongitudinalGasBrakeSafetyTest):
   MAX_GAS = 3400
-  MAX_BRAKE = 600
   INACTIVE_GAS = 1818
+
+  MAX_BRAKE = 600
   
   FWD_BLACKLISTED_ADDRS = {0: [MSG_SUBARU_CruiseControl, MSG_SUBARU_Brake_Status],
                            2: [MSG_SUBARU_ES_LKAS, MSG_SUBARU_ES_Brake, MSG_SUBARU_ES_Distance,

From 339c343de9b2ad09be00635c68bb01da7cf1efbd Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Mon, 31 Jul 2023 12:52:52 -0700
Subject: [PATCH 063/113] PR cleanup

---
 board/safety/safety_subaru.h     | 10 +++++-----
 tests/libpanda/safety_helpers.py |  1 -
 tests/safety/common.py           |  2 ++
 tests/safety/test_subaru.py      |  2 +-
 4 files changed, 8 insertions(+), 7 deletions(-)

diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index 06356f86ba..0a2da96d0a 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -16,7 +16,7 @@ const SteeringLimits SUBARU_GEN2_STEERING_LIMITS = SUBARU_STEERING_LIMITS_GENERA
 
 const LongitudinalLimits SUBARU_LONG_LIMITS = {
   .max_gas = 3400,      // approx  1.2 m/s^2 at low speeds, less at higher speeds
-  .inactive_gas = 1818, // this is zero acceleration
+  .inactive_gas = 1818, // this is zero acceleration, and 808 appears to be engine braking
   .max_brake = 600,     // approx -3.5 m/s^2
 };
 
@@ -153,7 +153,6 @@ static int subaru_rx_hook(CANPacket_t *to_push) {
   return valid;
 }
 
-
 static int subaru_tx_hook(CANPacket_t *to_send) {
 
   int tx = 1;
@@ -174,9 +173,7 @@ static int subaru_tx_hook(CANPacket_t *to_send) {
     desired_torque = -1 * to_signed(desired_torque, 13);
 
     const SteeringLimits limits = subaru_gen2 ? SUBARU_GEN2_STEERING_LIMITS : SUBARU_STEERING_LIMITS;
-    if (steer_torque_cmd_checks(desired_torque, -1, limits)) {
-      tx = 0;
-    }
+    violation |= steer_torque_cmd_checks(desired_torque, -1, limits);
   }
 
   if (subaru_longitudinal) {
@@ -204,6 +201,9 @@ static int subaru_fwd_hook(int bus_num, int addr) {
 
   if (bus_num == SUBARU_MAIN_BUS) {
     // Global Platform
+
+    // we need to intercept CruiseControl to keep eyesight in a "ready" state,
+    // and Brake_Staus to fake the ES_Brake feedback signal to eyesight
     bool block_msg = subaru_longitudinal && ((addr == MSG_SUBARU_Brake_Status) || (addr == MSG_SUBARU_CruiseControl));
     if (!block_msg) {
       bus_fwd = SUBARU_CAM_BUS;  // to the eyesight camera
diff --git a/tests/libpanda/safety_helpers.py b/tests/libpanda/safety_helpers.py
index 4ab587409f..31adf51070 100644
--- a/tests/libpanda/safety_helpers.py
+++ b/tests/libpanda/safety_helpers.py
@@ -98,4 +98,3 @@ def set_honda_fwd_brake(self, c: bool) -> None: ...
   def set_honda_alt_brake_msg(self, c: bool) -> None: ...
   def set_honda_bosch_long(self, c: bool) -> None: ...
   def get_honda_hw(self) -> int: ...
-
diff --git a/tests/safety/common.py b/tests/safety/common.py
index fbd73de574..ab6f50d5b7 100644
--- a/tests/safety/common.py
+++ b/tests/safety/common.py
@@ -137,6 +137,7 @@ def test_gas_interceptor_safety_check(self):
 
 
 class LongitudinalAccelSafetyTest(PandaSafetyTestBase, abc.ABC):
+
   MAX_ACCEL: float = 2.0
   MIN_ACCEL: float = -3.5
   INACTIVE_ACCEL: float = 0.0
@@ -175,6 +176,7 @@ def test_accel_actuation_limits(self, stock_longitudinal=False):
 
 
 class LongitudinalGasBrakeSafetyTest(PandaSafetyTestBase, abc.ABC):
+
   MIN_BRAKE: int = 0
   MAX_BRAKE: Optional[int] = None
 
diff --git a/tests/safety/test_subaru.py b/tests/safety/test_subaru.py
index c9f5d80525..71abb08983 100755
--- a/tests/safety/test_subaru.py
+++ b/tests/safety/test_subaru.py
@@ -56,7 +56,7 @@ class TestSubaruSafetyBase(common.PandaSafetyTest, common.DriverTorqueSteeringSa
   DRIVER_TORQUE_FACTOR = 50
 
   ALT_BUS = SUBARU_MAIN_BUS
-  
+
   def setUp(self):
     self.packer = CANPackerPanda("subaru_global_2017_generated")
     self.safety = libpanda_py.libpanda

From ef909e804f984e117967c741a29acb46a623bdaf Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Mon, 31 Jul 2023 13:05:52 -0700
Subject: [PATCH 064/113] added min gas

---
 board/safety/safety_subaru.h | 1 +
 tests/safety/test_subaru.py  | 1 +
 2 files changed, 2 insertions(+)

diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index 0a2da96d0a..afe3fac6ab 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -15,6 +15,7 @@ const SteeringLimits SUBARU_GEN2_STEERING_LIMITS = SUBARU_STEERING_LIMITS_GENERA
 
 
 const LongitudinalLimits SUBARU_LONG_LIMITS = {
+  .min_gas = 808,
   .max_gas = 3400,      // approx  1.2 m/s^2 at low speeds, less at higher speeds
   .inactive_gas = 1818, // this is zero acceleration, and 808 appears to be engine braking
   .max_brake = 600,     // approx -3.5 m/s^2
diff --git a/tests/safety/test_subaru.py b/tests/safety/test_subaru.py
index 71abb08983..be6c3844ba 100755
--- a/tests/safety/test_subaru.py
+++ b/tests/safety/test_subaru.py
@@ -103,6 +103,7 @@ class TestSubaruGen2SafetyBase(TestSubaruSafetyBase):
 
 
 class TestSubaruLongitudinalSafetyBase(TestSubaruSafetyBase, common.LongitudinalGasBrakeSafetyTest):
+  MIN_GAS = 808
   MAX_GAS = 3400
   INACTIVE_GAS = 1818
 

From 1b2886b3238a232b33abfe6af93f170b12daf0e0 Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Tue, 1 Aug 2023 10:00:32 -0700
Subject: [PATCH 065/113] reduce initial complexity by not intercepting
 cruisecontrol or brake_status

---
 board/safety/safety_subaru.h | 11 +----------
 tests/safety/test_subaru.py  |  4 +---
 2 files changed, 2 insertions(+), 13 deletions(-)

diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index afe3fac6ab..d33f3fcab4 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -49,8 +49,6 @@ const LongitudinalLimits SUBARU_LONG_LIMITS = {
 #define SUBARU_COMMON_LONG_TX_MSGS(alt_bus)         \
   {MSG_SUBARU_ES_Brake,        SUBARU_MAIN_BUS, 8}, \
   {MSG_SUBARU_ES_Status,       SUBARU_MAIN_BUS, 8}, \
-  {MSG_SUBARU_Brake_Status,    SUBARU_CAM_BUS,  8}, \
-  {MSG_SUBARU_CruiseControl,   SUBARU_CAM_BUS,  8}, \
 
 #define SUBARU_COMMON_ADDR_CHECKS(alt_bus)                                                                                                            \
   {.msg = {{MSG_SUBARU_Throttle,        SUBARU_MAIN_BUS, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 10000U}, { 0 }, { 0 }}}, \
@@ -201,14 +199,7 @@ static int subaru_fwd_hook(int bus_num, int addr) {
   int bus_fwd = -1;
 
   if (bus_num == SUBARU_MAIN_BUS) {
-    // Global Platform
-
-    // we need to intercept CruiseControl to keep eyesight in a "ready" state,
-    // and Brake_Staus to fake the ES_Brake feedback signal to eyesight
-    bool block_msg = subaru_longitudinal && ((addr == MSG_SUBARU_Brake_Status) || (addr == MSG_SUBARU_CruiseControl));
-    if (!block_msg) {
-      bus_fwd = SUBARU_CAM_BUS;  // to the eyesight camera
-    }
+    bus_fwd = SUBARU_CAM_BUS;  // to the eyesight camera
   }
 
   if (bus_num == SUBARU_CAM_BUS) {
diff --git a/tests/safety/test_subaru.py b/tests/safety/test_subaru.py
index be6c3844ba..76164071df 100755
--- a/tests/safety/test_subaru.py
+++ b/tests/safety/test_subaru.py
@@ -33,9 +33,7 @@ def lkas_tx_msgs(alt_bus):
 
 def long_tx_msgs():
   return [[MSG_SUBARU_ES_Brake,         SUBARU_MAIN_BUS],
-          [MSG_SUBARU_ES_Status,        SUBARU_MAIN_BUS],
-          [MSG_SUBARU_CruiseControl,    SUBARU_CAM_BUS],
-          [MSG_SUBARU_Brake_Status,     SUBARU_CAM_BUS]]
+          [MSG_SUBARU_ES_Status,        SUBARU_MAIN_BUS]]
 
 class TestSubaruSafetyBase(common.PandaSafetyTest, common.DriverTorqueSteeringSafetyTest):
   FLAGS = 0

From 1fd74296f4cb14c0d068be3263e13d042e05bf0f Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Tue, 1 Aug 2023 10:12:10 -0700
Subject: [PATCH 066/113] create common gas brake safety test

---
 tests/safety/common.py  | 50 ++++++++++++++++++++++++++++++++++++++++-
 tests/safety/test_gm.py | 49 +++++++++++-----------------------------
 2 files changed, 62 insertions(+), 37 deletions(-)

diff --git a/tests/safety/common.py b/tests/safety/common.py
index 1b141d85e6..6dbc5e0bfe 100644
--- a/tests/safety/common.py
+++ b/tests/safety/common.py
@@ -175,6 +175,54 @@ def test_accel_actuation_limits(self, stock_longitudinal=False):
           self.assertEqual(should_tx, self._tx(self._accel_msg(accel)))
 
 
+class LongitudinalGasBrakeSafetyTest(PandaSafetyTestBase, abc.ABC):
+
+  MIN_BRAKE: int = 0
+  MAX_BRAKE: Optional[int] = None
+
+  MIN_GAS: int = 0
+  MAX_GAS: Optional[int] = None
+
+  INACTIVE_GAS: Optional[int] = 0
+
+  @classmethod
+  def setUpClass(cls):
+    if cls.__name__ == "LongitudinalGasBrakeSafetyTest":
+      cls.safety = None
+      raise unittest.SkipTest
+  
+  @abc.abstractmethod
+  def _gas_msg(self, gas: int):
+    pass
+
+  @abc.abstractmethod
+  def _brake_msg(self, brake: int):
+    pass
+
+  def test_gas_brake_limits_correct(self):
+    # Assert that max brake and max throttle is set
+    self.assertTrue(self.MAX_BRAKE is not None)
+    self.assertTrue(self.MAX_GAS is not None)
+
+    self.assertGreater(self.MAX_BRAKE, self.MIN_BRAKE)
+    self.assertGreater(self.MAX_GAS, self.MIN_GAS)
+  
+  def _generic_limit_safety_check(self, msg_function, min_value, max_value, max_value_multiplier, inactive_value=0):
+    for enabled in [0, 1]:
+      for v in range(int(min_value), int(max_value*max_value_multiplier)):
+        self.safety.set_controls_allowed(enabled)
+        if (not enabled and v != inactive_value) or v > max_value or v < min_value:
+          self.assertFalse(self._tx(msg_function(v)), (v, min_value, max_value))
+        else:
+          self.assertTrue(self._tx(msg_function(v)), (v, min_value, max_value))
+
+  def test_brake_safety_check(self):
+    self._generic_limit_safety_check(self._brake_msg, self.MIN_BRAKE, self.MAX_BRAKE, 1.5)
+  
+  def test_gas_safety_check(self):
+    self._generic_limit_safety_check(self._gas_msg, self.MIN_GAS, self.MAX_GAS, 1.2, self.INACTIVE_GAS)
+
+        
 class TorqueSteeringSafetyTestBase(PandaSafetyTestBase, abc.ABC):
 
   MAX_RATE_UP = 0
@@ -895,7 +943,7 @@ def test_tx_hook_on_wrong_safety_mode(self):
               continue
             if attr.startswith('TestToyota') and current_test.startswith('TestToyota'):
               continue
-            if {attr, current_test}.issubset({'TestSubaruGen1Safety', 'TestSubaruGen2Safety'}):
+            if {attr, current_test}.issubset({'TestSubaruGen1Safety', 'TestSubaruGen2Safety', 'TestSubaruGen1LongitudinalSafety'}):
               continue
             if {attr, current_test}.issubset({'TestVolkswagenPqSafety', 'TestVolkswagenPqStockSafety', 'TestVolkswagenPqLongSafety'}):
               continue
diff --git a/tests/safety/test_gm.py b/tests/safety/test_gm.py
index f6b604ad31..662b46d359 100755
--- a/tests/safety/test_gm.py
+++ b/tests/safety/test_gm.py
@@ -14,7 +14,7 @@ class Buttons:
   CANCEL = 6
 
 
-class GmLongitudinalBase(common.PandaSafetyTest):
+class GmLongitudinalBase(common.PandaSafetyTest, common.LongitudinalGasBrakeSafetyTest):
   # pylint: disable=no-member,abstract-method
 
   PCM_CRUISE = False  # openpilot can control the PCM state if longitudinal
@@ -53,6 +53,14 @@ def test_cruise_engaged_prev(self):
 
   def _pcm_status_msg(self, enable):
     pass
+  
+  def _brake_msg(self, brake):
+    values = {"FrictionBrakeCmd": -brake}
+    return self.packer_chassis.make_can_msg_panda("EBCMFrictionBrakeCmd", self.BRAKE_BUS, values)
+
+  def _gas_msg(self, gas):
+    values = {"GasRegenCmd": gas}
+    return self.packer.make_can_msg_panda("ASCMGasRegenCmd", 0, values)
 
 
 class TestGmSafetyBase(common.PandaSafetyTest, common.DriverTorqueSteeringSafetyTest):
@@ -70,11 +78,6 @@ class TestGmSafetyBase(common.PandaSafetyTest, common.DriverTorqueSteeringSafety
   DRIVER_TORQUE_ALLOWANCE = 65
   DRIVER_TORQUE_FACTOR = 4
 
-  MAX_GAS = 0
-  MAX_REGEN = 0
-  INACTIVE_REGEN = 0
-  MAX_BRAKE = 0
-
   PCM_CRUISE = True  # openpilot is tied to the PCM state if not longitudinal
 
   @classmethod
@@ -118,14 +121,6 @@ def _user_gas_msg(self, gas):
       values["CruiseState"] = self.safety.get_controls_allowed()
     return self.packer.make_can_msg_panda("AcceleratorPedal2", 0, values)
 
-  def _send_brake_msg(self, brake):
-    values = {"FrictionBrakeCmd": -brake}
-    return self.packer_chassis.make_can_msg_panda("EBCMFrictionBrakeCmd", self.BRAKE_BUS, values)
-
-  def _send_gas_msg(self, gas):
-    values = {"GasRegenCmd": gas}
-    return self.packer.make_can_msg_panda("ASCMGasRegenCmd", 0, values)
-
   def _torque_driver_msg(self, torque):
     values = {"LKADriverAppldTrq": torque}
     return self.packer.make_can_msg_panda("PSCMStatus", 0, values)
@@ -138,24 +133,6 @@ def _button_msg(self, buttons):
     values = {"ACCButtons": buttons}
     return self.packer.make_can_msg_panda("ASCMSteeringButton", self.BUTTONS_BUS, values)
 
-  def test_brake_safety_check(self):
-    for enabled in [0, 1]:
-      for b in range(0, 500):
-        self.safety.set_controls_allowed(enabled)
-        if abs(b) > self.MAX_BRAKE or (not enabled and b != 0):
-          self.assertFalse(self._tx(self._send_brake_msg(b)))
-        else:
-          self.assertTrue(self._tx(self._send_brake_msg(b)))
-
-  def test_gas_safety_check(self):
-    # Block if enabled and out of actuation range, disabled and not inactive regen, or if stock longitudinal
-    for enabled in [0, 1]:
-      for gas_regen in range(0, 2 ** 12 - 1):
-        self.safety.set_controls_allowed(enabled)
-        should_tx = ((enabled and self.MAX_REGEN <= gas_regen <= self.MAX_GAS) or
-                     gas_regen == self.INACTIVE_REGEN)
-        self.assertEqual(should_tx, self._tx(self._send_gas_msg(gas_regen)), (enabled, gas_regen))
-
 
 class TestGmAscmSafety(GmLongitudinalBase, TestGmSafetyBase):
   TX_MSGS = [[384, 0], [1033, 0], [1034, 0], [715, 0], [880, 0],  # pt bus
@@ -167,8 +144,8 @@ class TestGmAscmSafety(GmLongitudinalBase, TestGmSafetyBase):
   BRAKE_BUS = 2
 
   MAX_GAS = 3072
-  MAX_REGEN = 1404
-  INACTIVE_REGEN = 1404
+  MIN_GAS = 1404
+  INACTIVE_GAS = 1404
   MAX_BRAKE = 400
 
   def setUp(self):
@@ -237,8 +214,8 @@ class TestGmCameraLongitudinalSafety(GmLongitudinalBase, TestGmCameraSafetyBase)
   BUTTONS_BUS = 0  # rx only
 
   MAX_GAS = 3400
-  MAX_REGEN = 1514
-  INACTIVE_REGEN = 1554
+  MIN_GAS = 1514 # Max regen
+  INACTIVE_GAS = 1554
   MAX_BRAKE = 400
 
   def setUp(self):

From 2c2b95ea1e350da60b4c65b54083144574ad6cff Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Tue, 1 Aug 2023 10:14:51 -0700
Subject: [PATCH 067/113] remove unrelated subaru reference

---
 tests/safety/common.py  | 2 +-
 tests/safety/test_gm.py | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/tests/safety/common.py b/tests/safety/common.py
index 6dbc5e0bfe..b4e8f3e8d3 100644
--- a/tests/safety/common.py
+++ b/tests/safety/common.py
@@ -943,7 +943,7 @@ def test_tx_hook_on_wrong_safety_mode(self):
               continue
             if attr.startswith('TestToyota') and current_test.startswith('TestToyota'):
               continue
-            if {attr, current_test}.issubset({'TestSubaruGen1Safety', 'TestSubaruGen2Safety', 'TestSubaruGen1LongitudinalSafety'}):
+            if {attr, current_test}.issubset({'TestSubaruGen1Safety', 'TestSubaruGen2Safety'}):
               continue
             if {attr, current_test}.issubset({'TestVolkswagenPqSafety', 'TestVolkswagenPqStockSafety', 'TestVolkswagenPqLongSafety'}):
               continue
diff --git a/tests/safety/test_gm.py b/tests/safety/test_gm.py
index 662b46d359..01557bd432 100755
--- a/tests/safety/test_gm.py
+++ b/tests/safety/test_gm.py
@@ -144,7 +144,7 @@ class TestGmAscmSafety(GmLongitudinalBase, TestGmSafetyBase):
   BRAKE_BUS = 2
 
   MAX_GAS = 3072
-  MIN_GAS = 1404
+  MIN_GAS = 1404 # Max Regen
   INACTIVE_GAS = 1404
   MAX_BRAKE = 400
 

From c9bcbc52633d2a79c93e2b8aee10f027c3999339 Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Tue, 1 Aug 2023 10:17:15 -0700
Subject: [PATCH 068/113] also test below min_value

---
 tests/safety/common.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tests/safety/common.py b/tests/safety/common.py
index b4e8f3e8d3..f65c119091 100644
--- a/tests/safety/common.py
+++ b/tests/safety/common.py
@@ -209,7 +209,7 @@ def test_gas_brake_limits_correct(self):
   
   def _generic_limit_safety_check(self, msg_function, min_value, max_value, max_value_multiplier, inactive_value=0):
     for enabled in [0, 1]:
-      for v in range(int(min_value), int(max_value*max_value_multiplier)):
+      for v in range(0, int(max_value*max_value_multiplier)):
         self.safety.set_controls_allowed(enabled)
         if (not enabled and v != inactive_value) or v > max_value or v < min_value:
           self.assertFalse(self._tx(msg_function(v)), (v, min_value, max_value))

From d7607239e6041a3b5c461ec1087eb44fe461a906 Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Tue, 1 Aug 2023 10:44:24 -0700
Subject: [PATCH 069/113] fix fwd hook test

---
 tests/safety/test_subaru.py | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/tests/safety/test_subaru.py b/tests/safety/test_subaru.py
index 76164071df..50483749d7 100755
--- a/tests/safety/test_subaru.py
+++ b/tests/safety/test_subaru.py
@@ -107,8 +107,7 @@ class TestSubaruLongitudinalSafetyBase(TestSubaruSafetyBase, common.Longitudinal
 
   MAX_BRAKE = 600
   
-  FWD_BLACKLISTED_ADDRS = {0: [MSG_SUBARU_CruiseControl, MSG_SUBARU_Brake_Status],
-                           2: [MSG_SUBARU_ES_LKAS, MSG_SUBARU_ES_Brake, MSG_SUBARU_ES_Distance,
+  FWD_BLACKLISTED_ADDRS = {2: [MSG_SUBARU_ES_LKAS, MSG_SUBARU_ES_Brake, MSG_SUBARU_ES_Distance,
                                MSG_SUBARU_ES_Status, MSG_SUBARU_ES_DashStatus,
                                MSG_SUBARU_ES_LKAS_State, MSG_SUBARU_ES_Infotainment]}
 

From 5156dac113e91c9da4693f9d24694b74d5e1c16a Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Tue, 1 Aug 2023 14:35:45 -0700
Subject: [PATCH 070/113] better name and hardcoded

---
 tests/safety/common.py  | 16 ++++++++--------
 tests/safety/test_gm.py |  7 -------
 2 files changed, 8 insertions(+), 15 deletions(-)

diff --git a/tests/safety/common.py b/tests/safety/common.py
index f65c119091..4bda844e18 100644
--- a/tests/safety/common.py
+++ b/tests/safety/common.py
@@ -3,7 +3,7 @@
 import unittest
 import importlib
 import numpy as np
-from typing import Dict, List, Optional
+from typing import Callable, Dict, List, Optional
 
 from opendbc.can.packer import CANPacker  # pylint: disable=import-error
 from panda import ALTERNATIVE_EXPERIENCE
@@ -207,20 +207,20 @@ def test_gas_brake_limits_correct(self):
     self.assertGreater(self.MAX_BRAKE, self.MIN_BRAKE)
     self.assertGreater(self.MAX_GAS, self.MIN_GAS)
   
-  def _generic_limit_safety_check(self, msg_function, min_value, max_value, max_value_multiplier, inactive_value=0):
+  def _generic_limit_safety_check(self, msg_function, min_allowed_value: int, max_allowed_value: int, inactive_value=0):
     for enabled in [0, 1]:
-      for v in range(0, int(max_value*max_value_multiplier)):
+      for v in range(0, max_allowed_value+1):
         self.safety.set_controls_allowed(enabled)
-        if (not enabled and v != inactive_value) or v > max_value or v < min_value:
-          self.assertFalse(self._tx(msg_function(v)), (v, min_value, max_value))
+        if (not enabled and v != inactive_value) or v > max_allowed_value or v < min_allowed_value:
+          self.assertFalse(self._tx(msg_function(v)), (v, min_allowed_value, max_allowed_value))
         else:
-          self.assertTrue(self._tx(msg_function(v)), (v, min_value, max_value))
+          self.assertTrue(self._tx(msg_function(v)), (v, min_allowed_value, max_allowed_value))
 
   def test_brake_safety_check(self):
-    self._generic_limit_safety_check(self._brake_msg, self.MIN_BRAKE, self.MAX_BRAKE, 1.5)
+    self._generic_limit_safety_check(self._brake_msg, self.MIN_BRAKE, self.MAX_BRAKE)
   
   def test_gas_safety_check(self):
-    self._generic_limit_safety_check(self._gas_msg, self.MIN_GAS, self.MAX_GAS, 1.2, self.INACTIVE_GAS)
+    self._generic_limit_safety_check(self._gas_msg, self.MIN_GAS, self.MAX_GAS, self.INACTIVE_GAS)
 
         
 class TorqueSteeringSafetyTestBase(PandaSafetyTestBase, abc.ABC):
diff --git a/tests/safety/test_gm.py b/tests/safety/test_gm.py
index 01557bd432..756a735270 100755
--- a/tests/safety/test_gm.py
+++ b/tests/safety/test_gm.py
@@ -199,13 +199,6 @@ def test_buttons(self):
       self._rx(self._pcm_status_msg(enabled))
       self.assertEqual(enabled, self._tx(self._button_msg(Buttons.CANCEL)))
 
-  # GM Cam safety mode does not allow longitudinal messages
-  def test_brake_safety_check(self):
-    pass
-
-  def test_gas_safety_check(self):
-    pass
-
 
 class TestGmCameraLongitudinalSafety(GmLongitudinalBase, TestGmCameraSafetyBase):
   TX_MSGS = [[384, 0], [789, 0], [715, 0], [880, 0],  # pt bus

From c1aa9763198d4971b44a0134e910113494f5c7be Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Tue, 1 Aug 2023 14:44:13 -0700
Subject: [PATCH 071/113] use same as acceleration limits

---
 tests/safety/common.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tests/safety/common.py b/tests/safety/common.py
index 4bda844e18..01ad720dfd 100644
--- a/tests/safety/common.py
+++ b/tests/safety/common.py
@@ -209,7 +209,7 @@ def test_gas_brake_limits_correct(self):
   
   def _generic_limit_safety_check(self, msg_function, min_allowed_value: int, max_allowed_value: int, inactive_value=0):
     for enabled in [0, 1]:
-      for v in range(0, max_allowed_value+1):
+      for v in np.concatenate((np.arange(min_allowed_value - 1, max_allowed_value + 1, 1), [0, inactive_value])):
         self.safety.set_controls_allowed(enabled)
         if (not enabled and v != inactive_value) or v > max_allowed_value or v < min_allowed_value:
           self.assertFalse(self._tx(msg_function(v)), (v, min_allowed_value, max_allowed_value))

From dd3ea6bf09ffc6d3e1c66945ea91c19ba4d82ec2 Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Tue, 1 Aug 2023 14:44:45 -0700
Subject: [PATCH 072/113] revert gm

---
 tests/safety/test_gm.py | 56 +++++++++++++++++++++++++++++++----------
 1 file changed, 43 insertions(+), 13 deletions(-)

diff --git a/tests/safety/test_gm.py b/tests/safety/test_gm.py
index 756a735270..f6b604ad31 100755
--- a/tests/safety/test_gm.py
+++ b/tests/safety/test_gm.py
@@ -14,7 +14,7 @@ class Buttons:
   CANCEL = 6
 
 
-class GmLongitudinalBase(common.PandaSafetyTest, common.LongitudinalGasBrakeSafetyTest):
+class GmLongitudinalBase(common.PandaSafetyTest):
   # pylint: disable=no-member,abstract-method
 
   PCM_CRUISE = False  # openpilot can control the PCM state if longitudinal
@@ -53,14 +53,6 @@ def test_cruise_engaged_prev(self):
 
   def _pcm_status_msg(self, enable):
     pass
-  
-  def _brake_msg(self, brake):
-    values = {"FrictionBrakeCmd": -brake}
-    return self.packer_chassis.make_can_msg_panda("EBCMFrictionBrakeCmd", self.BRAKE_BUS, values)
-
-  def _gas_msg(self, gas):
-    values = {"GasRegenCmd": gas}
-    return self.packer.make_can_msg_panda("ASCMGasRegenCmd", 0, values)
 
 
 class TestGmSafetyBase(common.PandaSafetyTest, common.DriverTorqueSteeringSafetyTest):
@@ -78,6 +70,11 @@ class TestGmSafetyBase(common.PandaSafetyTest, common.DriverTorqueSteeringSafety
   DRIVER_TORQUE_ALLOWANCE = 65
   DRIVER_TORQUE_FACTOR = 4
 
+  MAX_GAS = 0
+  MAX_REGEN = 0
+  INACTIVE_REGEN = 0
+  MAX_BRAKE = 0
+
   PCM_CRUISE = True  # openpilot is tied to the PCM state if not longitudinal
 
   @classmethod
@@ -121,6 +118,14 @@ def _user_gas_msg(self, gas):
       values["CruiseState"] = self.safety.get_controls_allowed()
     return self.packer.make_can_msg_panda("AcceleratorPedal2", 0, values)
 
+  def _send_brake_msg(self, brake):
+    values = {"FrictionBrakeCmd": -brake}
+    return self.packer_chassis.make_can_msg_panda("EBCMFrictionBrakeCmd", self.BRAKE_BUS, values)
+
+  def _send_gas_msg(self, gas):
+    values = {"GasRegenCmd": gas}
+    return self.packer.make_can_msg_panda("ASCMGasRegenCmd", 0, values)
+
   def _torque_driver_msg(self, torque):
     values = {"LKADriverAppldTrq": torque}
     return self.packer.make_can_msg_panda("PSCMStatus", 0, values)
@@ -133,6 +138,24 @@ def _button_msg(self, buttons):
     values = {"ACCButtons": buttons}
     return self.packer.make_can_msg_panda("ASCMSteeringButton", self.BUTTONS_BUS, values)
 
+  def test_brake_safety_check(self):
+    for enabled in [0, 1]:
+      for b in range(0, 500):
+        self.safety.set_controls_allowed(enabled)
+        if abs(b) > self.MAX_BRAKE or (not enabled and b != 0):
+          self.assertFalse(self._tx(self._send_brake_msg(b)))
+        else:
+          self.assertTrue(self._tx(self._send_brake_msg(b)))
+
+  def test_gas_safety_check(self):
+    # Block if enabled and out of actuation range, disabled and not inactive regen, or if stock longitudinal
+    for enabled in [0, 1]:
+      for gas_regen in range(0, 2 ** 12 - 1):
+        self.safety.set_controls_allowed(enabled)
+        should_tx = ((enabled and self.MAX_REGEN <= gas_regen <= self.MAX_GAS) or
+                     gas_regen == self.INACTIVE_REGEN)
+        self.assertEqual(should_tx, self._tx(self._send_gas_msg(gas_regen)), (enabled, gas_regen))
+
 
 class TestGmAscmSafety(GmLongitudinalBase, TestGmSafetyBase):
   TX_MSGS = [[384, 0], [1033, 0], [1034, 0], [715, 0], [880, 0],  # pt bus
@@ -144,8 +167,8 @@ class TestGmAscmSafety(GmLongitudinalBase, TestGmSafetyBase):
   BRAKE_BUS = 2
 
   MAX_GAS = 3072
-  MIN_GAS = 1404 # Max Regen
-  INACTIVE_GAS = 1404
+  MAX_REGEN = 1404
+  INACTIVE_REGEN = 1404
   MAX_BRAKE = 400
 
   def setUp(self):
@@ -199,6 +222,13 @@ def test_buttons(self):
       self._rx(self._pcm_status_msg(enabled))
       self.assertEqual(enabled, self._tx(self._button_msg(Buttons.CANCEL)))
 
+  # GM Cam safety mode does not allow longitudinal messages
+  def test_brake_safety_check(self):
+    pass
+
+  def test_gas_safety_check(self):
+    pass
+
 
 class TestGmCameraLongitudinalSafety(GmLongitudinalBase, TestGmCameraSafetyBase):
   TX_MSGS = [[384, 0], [789, 0], [715, 0], [880, 0],  # pt bus
@@ -207,8 +237,8 @@ class TestGmCameraLongitudinalSafety(GmLongitudinalBase, TestGmCameraSafetyBase)
   BUTTONS_BUS = 0  # rx only
 
   MAX_GAS = 3400
-  MIN_GAS = 1514 # Max regen
-  INACTIVE_GAS = 1554
+  MAX_REGEN = 1514
+  INACTIVE_REGEN = 1554
   MAX_BRAKE = 400
 
   def setUp(self):

From b1dc602f5d0e3de57bb438b7ce8fbb2100ada847 Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Tue, 1 Aug 2023 14:45:35 -0700
Subject: [PATCH 073/113] remove callable

---
 tests/safety/common.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tests/safety/common.py b/tests/safety/common.py
index 01ad720dfd..4ea5b22048 100644
--- a/tests/safety/common.py
+++ b/tests/safety/common.py
@@ -3,7 +3,7 @@
 import unittest
 import importlib
 import numpy as np
-from typing import Callable, Dict, List, Optional
+from typing import Dict, List, Optional
 
 from opendbc.can.packer import CANPacker  # pylint: disable=import-error
 from panda import ALTERNATIVE_EXPERIENCE

From 38cbce1b3efbc5bd60d4d55d93e4641182918fdb Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Mon, 7 Aug 2023 11:51:07 -0700
Subject: [PATCH 074/113] also limit rpm

---
 board/safety/safety_subaru.h |  8 +++++++-
 tests/safety/test_subaru.py  | 23 ++++++++++++++++++++++-
 2 files changed, 29 insertions(+), 2 deletions(-)

diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index d33f3fcab4..88b40d85d2 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -16,7 +16,7 @@ const SteeringLimits SUBARU_GEN2_STEERING_LIMITS = SUBARU_STEERING_LIMITS_GENERA
 
 const LongitudinalLimits SUBARU_LONG_LIMITS = {
   .min_gas = 808,
-  .max_gas = 3400,      // approx  1.2 m/s^2 at low speeds, less at higher speeds
+  .max_gas = 3400,      // approx  2 m/s^2 when maxing cruise_rpm and cruise_throttle
   .inactive_gas = 1818, // this is zero acceleration, and 808 appears to be engine braking
   .max_brake = 600,     // approx -3.5 m/s^2
 };
@@ -187,6 +187,12 @@ static int subaru_tx_hook(CANPacket_t *to_send) {
       int cruise_throttle = ((GET_BYTES(to_send, 0, 4) >> 16) & 0xFFFU);
       violation |= longitudinal_gas_checks(cruise_throttle, SUBARU_LONG_LIMITS);
     }
+
+    // check es_status cruise_rpm limits
+    if (addr == MSG_SUBARU_ES_Status) {
+      int cruise_rpm = ((GET_BYTES(to_send, 0, 4) >> 16) & 0xFFFU);
+      violation |= longitudinal_gas_checks(cruise_rpm, SUBARU_LONG_LIMITS);
+    }
   }
 
   if (violation) {
diff --git a/tests/safety/test_subaru.py b/tests/safety/test_subaru.py
index 50483749d7..f2033e2b23 100755
--- a/tests/safety/test_subaru.py
+++ b/tests/safety/test_subaru.py
@@ -100,17 +100,38 @@ class TestSubaruGen2SafetyBase(TestSubaruSafetyBase):
   MAX_TORQUE = 1000
 
 
-class TestSubaruLongitudinalSafetyBase(TestSubaruSafetyBase, common.LongitudinalGasBrakeSafetyTest):
+class TestSubaruLongitudinalSafetyBase(TestSubaruSafetyBase):
   MIN_GAS = 808
   MAX_GAS = 3400
   INACTIVE_GAS = 1818
+  MAX_POSSIBLE_GAS = 2**12
 
+  MIN_BRAKE = 0
   MAX_BRAKE = 600
+  MAX_POSSIBLE_BRAKE = 2**16
   
   FWD_BLACKLISTED_ADDRS = {2: [MSG_SUBARU_ES_LKAS, MSG_SUBARU_ES_Brake, MSG_SUBARU_ES_Distance,
                                MSG_SUBARU_ES_Status, MSG_SUBARU_ES_DashStatus,
                                MSG_SUBARU_ES_LKAS_State, MSG_SUBARU_ES_Infotainment]}
+  
+  def _generic_limit_safety_check(self, msg_function, min_value, max_value, max_possible_value, inactive_value=0):
+    for enabled in [0, 1]:
+      for v in range(min_value, max_possible_value):
+        self.safety.set_controls_allowed(enabled)
+        if (not enabled and v != inactive_value) or v > max_value or v < min_value:
+          self.assertFalse(self._tx(msg_function(v)))
+        else:
+          self.assertTrue(self._tx(msg_function(v)))
+
+  def test_brake_safety_check(self):
+    self._generic_limit_safety_check(self._brake_msg, self.MIN_BRAKE, self.MAX_BRAKE, self.MAX_POSSIBLE_BRAKE)
+  
+  def test_gas_safety_check(self):
+    self._generic_limit_safety_check(self._gas_msg, self.MIN_GAS, self.MAX_GAS, self.MAX_POSSIBLE_GAS, self.INACTIVE_GAS)
 
+  def test_rpm_safety_check(self):
+    self._generic_limit_safety_check(self._rpm_msg, self.MIN_GAS, self.MAX_GAS, self.MAX_POSSIBLE_GAS, self.INACTIVE_GAS)
+  
   def _brake_msg(self, brake):
     values = {"Brake_Pressure": brake}
     return self.packer.make_can_msg_panda("ES_Brake", self.ALT_BUS, values)

From 11d2c55abb59ea1b1521742cf097dc9d3be9badb Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Mon, 7 Aug 2023 11:55:45 -0700
Subject: [PATCH 075/113] remove safety replay for now

---
 tests/safety_replay/test_safety_replay.py | 2 --
 1 file changed, 2 deletions(-)

diff --git a/tests/safety_replay/test_safety_replay.py b/tests/safety_replay/test_safety_replay.py
index 2c9d68c2c2..ba9435d0f2 100755
--- a/tests/safety_replay/test_safety_replay.py
+++ b/tests/safety_replay/test_safety_replay.py
@@ -13,8 +13,6 @@
 ReplayRoute = namedtuple("ReplayRoute", ("route", "safety_mode", "param", "alternative_experience"), defaults=(0, 0))
 
 logs = [
-  ReplayRoute("8de015561e1ea4a0|2023-07-15--09-44-25--0--rlog.bz2", Panda.SAFETY_SUBARU,      # SUBARU.CROSSTREK (openpilot long)
-              Panda.FLAG_SUBARU_LONG, ALT_EXP.DISABLE_DISENGAGE_ON_GAS),   
   ReplayRoute("2425568437959f9d|2019-12-22--16-24-37.bz2", Panda.SAFETY_HONDA_NIDEC),         # HONDA.CIVIC (fcw presents: 0x1FA blocked as expected)
   ReplayRoute("38bfd238edecbcd7|2019-06-07--10-15-25.bz2", Panda.SAFETY_TOYOTA, 66),          # TOYOTA.PRIUS
   ReplayRoute("f89c604cf653e2bf|2018-09-29--13-46-50.bz2", Panda.SAFETY_GM),                  # GM.VOLT

From 3c4ac7a2d2a6d1d81cd44531c037982770fc0739 Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Mon, 7 Aug 2023 11:58:49 -0700
Subject: [PATCH 076/113] revert unrelated changes

---
 tests/libpanda/safety_helpers.py          | 1 +
 tests/safety_replay/test_safety_replay.py | 2 +-
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/tests/libpanda/safety_helpers.py b/tests/libpanda/safety_helpers.py
index 2509045705..75d33b053c 100644
--- a/tests/libpanda/safety_helpers.py
+++ b/tests/libpanda/safety_helpers.py
@@ -100,3 +100,4 @@ def set_honda_fwd_brake(self, c: bool) -> None: ...
   def set_honda_alt_brake_msg(self, c: bool) -> None: ...
   def set_honda_bosch_long(self, c: bool) -> None: ...
   def get_honda_hw(self) -> int: ...
+
diff --git a/tests/safety_replay/test_safety_replay.py b/tests/safety_replay/test_safety_replay.py
index ba9435d0f2..b15b82543a 100755
--- a/tests/safety_replay/test_safety_replay.py
+++ b/tests/safety_replay/test_safety_replay.py
@@ -28,7 +28,7 @@
   ReplayRoute("fbbfa6af821552b9|2020-03-03--08-09-43.bz2", Panda.SAFETY_NISSAN),              # NISSAN.XTRAIL
   ReplayRoute("5b7c365c50084530_2020-04-15--16-13-24--3--rlog.bz2", Panda.SAFETY_HYUNDAI),    # HYUNDAI.SONATA
   ReplayRoute("610ebb9faaad6b43|2020-06-13--15-28-36.bz2", Panda.SAFETY_HYUNDAI_LEGACY),      # HYUNDAI.IONIQ_EV_LTD
-  ReplayRoute("5ab784f361e19b78_2020-06-08--16-30-41.bz2", Panda.SAFETY_SUBARU_PREGLOBAL),    # SUBARU.OUTBACK_PREGLOBAL
+  ReplayRoute("5ab784f361e19b78_2020-06-08--16-30-41.bz2", Panda.SAFETY_SUBARU_PREGLOBAL),      # SUBARU.OUTBACK_PREGLOBAL
   ReplayRoute("bb50caf5f0945ab1|2021-06-19--17-20-18.bz2", Panda.SAFETY_TESLA),               # TESLA.AP2_MODELS
   ReplayRoute("bd6a637565e91581_2021-10-29--22-18-31--1--rlog.bz2", Panda.SAFETY_MAZDA),      # MAZDA.CX9_2021
   ReplayRoute("1a5d045d2c531a6d_2022-06-07--22-03-00--1--rlog.bz2", Panda.SAFETY_HONDA_BOSCH, # HONDA.CIVIC_2022

From d2dd7874af03078be84b49df035da4f486b62e00 Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Mon, 7 Aug 2023 12:00:22 -0700
Subject: [PATCH 077/113] pr cleanup

---
 tests/libpanda/safety_helpers.py          | 1 +
 tests/safety_replay/test_safety_replay.py | 2 +-
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/tests/libpanda/safety_helpers.py b/tests/libpanda/safety_helpers.py
index 75d33b053c..234b8ecd02 100644
--- a/tests/libpanda/safety_helpers.py
+++ b/tests/libpanda/safety_helpers.py
@@ -101,3 +101,4 @@ def set_honda_alt_brake_msg(self, c: bool) -> None: ...
   def set_honda_bosch_long(self, c: bool) -> None: ...
   def get_honda_hw(self) -> int: ...
 
+
diff --git a/tests/safety_replay/test_safety_replay.py b/tests/safety_replay/test_safety_replay.py
index b15b82543a..2dcc07cd1a 100755
--- a/tests/safety_replay/test_safety_replay.py
+++ b/tests/safety_replay/test_safety_replay.py
@@ -28,7 +28,7 @@
   ReplayRoute("fbbfa6af821552b9|2020-03-03--08-09-43.bz2", Panda.SAFETY_NISSAN),              # NISSAN.XTRAIL
   ReplayRoute("5b7c365c50084530_2020-04-15--16-13-24--3--rlog.bz2", Panda.SAFETY_HYUNDAI),    # HYUNDAI.SONATA
   ReplayRoute("610ebb9faaad6b43|2020-06-13--15-28-36.bz2", Panda.SAFETY_HYUNDAI_LEGACY),      # HYUNDAI.IONIQ_EV_LTD
-  ReplayRoute("5ab784f361e19b78_2020-06-08--16-30-41.bz2", Panda.SAFETY_SUBARU_PREGLOBAL),      # SUBARU.OUTBACK_PREGLOBAL
+  ReplayRoute("5ab784f361e19b78_2020-06-08--16-30-41.bz2", Panda.SAFETY_SUBARU_PREGLOBAL),       # SUBARU.OUTBACK_PREGLOBAL
   ReplayRoute("bb50caf5f0945ab1|2021-06-19--17-20-18.bz2", Panda.SAFETY_TESLA),               # TESLA.AP2_MODELS
   ReplayRoute("bd6a637565e91581_2021-10-29--22-18-31--1--rlog.bz2", Panda.SAFETY_MAZDA),      # MAZDA.CX9_2021
   ReplayRoute("1a5d045d2c531a6d_2022-06-07--22-03-00--1--rlog.bz2", Panda.SAFETY_HONDA_BOSCH, # HONDA.CIVIC_2022

From b604cef6c8aaba8923aaafa95f2b4d0fa8003722 Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Mon, 7 Aug 2023 15:54:59 -0700
Subject: [PATCH 078/113] remove unused gasbrake safety test

---
 tests/safety/common.py | 48 ------------------------------------------
 1 file changed, 48 deletions(-)

diff --git a/tests/safety/common.py b/tests/safety/common.py
index cb1e806640..65b5b96ffa 100644
--- a/tests/safety/common.py
+++ b/tests/safety/common.py
@@ -175,54 +175,6 @@ def test_accel_actuation_limits(self, stock_longitudinal=False):
           self.assertEqual(should_tx, self._tx(self._accel_msg(accel)))
 
 
-class LongitudinalGasBrakeSafetyTest(PandaSafetyTestBase, abc.ABC):
-
-  MIN_BRAKE: int = 0
-  MAX_BRAKE: Optional[int] = None
-
-  MIN_GAS: int = 0
-  MAX_GAS: Optional[int] = None
-
-  INACTIVE_GAS: Optional[int] = 0
-
-  @classmethod
-  def setUpClass(cls):
-    if cls.__name__ == "LongitudinalGasBrakeSafetyTest":
-      cls.safety = None
-      raise unittest.SkipTest
-  
-  @abc.abstractmethod
-  def _gas_msg(self, gas: int):
-    pass
-
-  @abc.abstractmethod
-  def _brake_msg(self, brake: int):
-    pass
-
-  def test_gas_brake_limits_correct(self):
-    # Assert that max brake and max throttle is set
-    self.assertTrue(self.MAX_BRAKE is not None)
-    self.assertTrue(self.MAX_GAS is not None)
-
-    self.assertGreater(self.MAX_BRAKE, self.MIN_BRAKE)
-    self.assertGreater(self.MAX_GAS, self.MIN_GAS)
-  
-  def _generic_limit_safety_check(self, msg_function, min_value, max_value, max_value_multiplier, inactive_value=0):
-    for enabled in [0, 1]:
-      for v in range(int(min_value), int(max_value*max_value_multiplier)):
-        self.safety.set_controls_allowed(enabled)
-        if (not enabled and v != inactive_value) or v > max_value or v < min_value:
-          self.assertFalse(self._tx(msg_function(v)))
-        else:
-          self.assertTrue(self._tx(msg_function(v)))
-
-  def test_brake_safety_check(self):
-    self._generic_limit_safety_check(self._brake_msg, self.MIN_BRAKE, self.MAX_BRAKE, 1.5)
-  
-  def test_gas_safety_check(self):
-    self._generic_limit_safety_check(self._gas_msg, self.MIN_GAS, self.MAX_GAS, 1.2, self.INACTIVE_GAS)
-
-        
 class TorqueSteeringSafetyTestBase(PandaSafetyTestBase, abc.ABC):
 
   MAX_RATE_UP = 0

From 3e6010e4d89275c1f113bc91fc0a611c8f6c34e0 Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Mon, 7 Aug 2023 15:58:53 -0700
Subject: [PATCH 079/113] fix ruff linter

---
 tests/safety/test_subaru.py | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/tests/safety/test_subaru.py b/tests/safety/test_subaru.py
index c2f1af1ff9..6728a8a457 100755
--- a/tests/safety/test_subaru.py
+++ b/tests/safety/test_subaru.py
@@ -114,11 +114,11 @@ class TestSubaruLongitudinalSafetyBase(TestSubaruSafetyBase):
   MIN_BRAKE = 0
   MAX_BRAKE = 600
   MAX_POSSIBLE_BRAKE = 2**16
-  
+
   FWD_BLACKLISTED_ADDRS = {2: [MSG_SUBARU_ES_LKAS, MSG_SUBARU_ES_Brake, MSG_SUBARU_ES_Distance,
                                MSG_SUBARU_ES_Status, MSG_SUBARU_ES_DashStatus,
                                MSG_SUBARU_ES_LKAS_State, MSG_SUBARU_ES_Infotainment]}
-  
+
   def _generic_limit_safety_check(self, msg_function, min_value, max_value, max_possible_value, inactive_value=0):
     for enabled in [0, 1]:
       for v in range(min_value, max_possible_value):
@@ -130,13 +130,13 @@ def _generic_limit_safety_check(self, msg_function, min_value, max_value, max_po
 
   def test_brake_safety_check(self):
     self._generic_limit_safety_check(self._brake_msg, self.MIN_BRAKE, self.MAX_BRAKE, self.MAX_POSSIBLE_BRAKE)
-  
+
   def test_gas_safety_check(self):
     self._generic_limit_safety_check(self._gas_msg, self.MIN_GAS, self.MAX_GAS, self.MAX_POSSIBLE_GAS, self.INACTIVE_GAS)
 
   def test_rpm_safety_check(self):
     self._generic_limit_safety_check(self._rpm_msg, self.MIN_GAS, self.MAX_GAS, self.MAX_POSSIBLE_GAS, self.INACTIVE_GAS)
-  
+
   def _brake_msg(self, brake):
     values = {"Brake_Pressure": brake}
     return self.packer.make_can_msg_panda("ES_Brake", self.ALT_BUS, values)

From 5a83f3271453cd561c00796e371ddd72b6802c23 Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Tue, 8 Aug 2023 16:53:54 -0700
Subject: [PATCH 080/113] PR cleanup

---
 board/safety/safety_subaru.h | 36 +++++++++++++++++-------------------
 1 file changed, 17 insertions(+), 19 deletions(-)

diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index a2b735bd69..c7d7d75c8d 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -15,9 +15,9 @@ const SteeringLimits SUBARU_GEN2_STEERING_LIMITS = SUBARU_STEERING_LIMITS_GENERA
 
 
 const LongitudinalLimits SUBARU_LONG_LIMITS = {
-  .min_gas = 808,
+  .min_gas = 808,       // engine braking
   .max_gas = 3400,      // approx  2 m/s^2 when maxing cruise_rpm and cruise_throttle
-  .inactive_gas = 1818, // this is zero acceleration, and 808 appears to be engine braking
+  .inactive_gas = 1818, // this is zero acceleration
   .max_brake = 600,     // approx -3.5 m/s^2
 };
 
@@ -187,24 +187,22 @@ static int subaru_tx_hook(CANPacket_t *to_send) {
     violation |= steer_torque_cmd_checks(desired_torque, -1, limits);
   }
 
-  if (subaru_longitudinal) {
-    // check es_brake brake_pressure limits
-    if (addr == MSG_SUBARU_ES_Brake) {
-      int es_brake_pressure = ((GET_BYTES(to_send, 0, 4) >> 16) & 0xFFFFU);
-      violation |= longitudinal_brake_checks(es_brake_pressure, SUBARU_LONG_LIMITS);
-    }
+  // check es_brake brake_pressure limits
+  if (addr == MSG_SUBARU_ES_Brake) {
+    int es_brake_pressure = GET_BYTES(to_send, 2, 2);
+    violation |= longitudinal_brake_checks(es_brake_pressure, SUBARU_LONG_LIMITS);
+  }
 
-    // check es_distance cruise_throttle limits
-    if (addr == MSG_SUBARU_ES_Distance) {
-      int cruise_throttle = ((GET_BYTES(to_send, 0, 4) >> 16) & 0xFFFU);
-      violation |= longitudinal_gas_checks(cruise_throttle, SUBARU_LONG_LIMITS);
-    }
+  // check es_distance cruise_throttle limits
+  if (addr == MSG_SUBARU_ES_Distance) {
+    int cruise_throttle = (GET_BYTES(to_send, 2, 2) & 0xFFFU);
+    violation |= longitudinal_gas_checks(cruise_throttle, SUBARU_LONG_LIMITS);
+  }
 
-    // check es_status cruise_rpm limits
-    if (addr == MSG_SUBARU_ES_Status) {
-      int cruise_rpm = ((GET_BYTES(to_send, 0, 4) >> 16) & 0xFFFU);
-      violation |= longitudinal_gas_checks(cruise_rpm, SUBARU_LONG_LIMITS);
-    }
+  // check es_status cruise_rpm limits
+  if (addr == MSG_SUBARU_ES_Status) {
+    int cruise_rpm = (GET_BYTES(to_send, 2, 2) & 0xFFFU);
+    violation |= longitudinal_gas_checks(cruise_rpm, SUBARU_LONG_LIMITS);
   }
 
   if (violation) {
@@ -244,7 +242,7 @@ 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_longitudinal = GET_FLAG(param, SUBARU_PARAM_LONGITUDINAL) && !subaru_gen2;
 #endif
 
   if (subaru_gen2) {

From 08621fa10689a3e12b1321e4f291b514af1cbd3f Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Tue, 8 Aug 2023 16:54:43 -0700
Subject: [PATCH 081/113] pr cleanup?

---
 board/safety/safety_subaru.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index 56e9e76f8a..751db0f072 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -15,7 +15,7 @@ const SteeringLimits SUBARU_GEN2_STEERING_LIMITS = SUBARU_STEERING_LIMITS_GENERA
 
 
 const LongitudinalLimits SUBARU_LONG_LIMITS = {
-  .min_gas = 808,       // engine braking
+  .min_gas = 808,       // appears to be engine braking
   .max_gas = 3400,      // approx  2 m/s^2 when maxing cruise_rpm and cruise_throttle
   .inactive_gas = 1818, // this is zero acceleration
   .max_brake = 600,     // approx -3.5 m/s^2

From 59734b7fbe361b50634ab982465bcd71edf5b2fe Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Wed, 9 Aug 2023 09:56:57 -0700
Subject: [PATCH 082/113] added common brake test and moved generic test to
 base safety class

---
 tests/safety/common.py | 71 +++++++++++++++++++++++++++++++++++-------
 1 file changed, 59 insertions(+), 12 deletions(-)

diff --git a/tests/safety/common.py b/tests/safety/common.py
index 0bec019fb1..ad0752bdd8 100644
--- a/tests/safety/common.py
+++ b/tests/safety/common.py
@@ -69,6 +69,27 @@ def _rx(self, msg):
   def _tx(self, msg):
     return self.safety.safety_tx_hook(msg)
 
+  def _generic_limit_safety_check(self, msg_function, min_allowed_value: float, max_allowed_value: float, min_test_value: float,
+                                        max_test_value: float, test_delta: float = 1, inactive_value=0, msg_allowed=True):
+    """
+      Enforces that only a specific range of values in a msg_function are allowed to be sent, only when controls_allowed is true.
+      Tests the range of min_test_value -> max_test_value with a delta of test_delta.
+      Message is always allowed if value is equal to inactive_value.
+      Message is never allowed if msg_allowed is false, for example when openpilot long is not enabled.
+    """
+
+    # Ensure that we at least test the allowed_value range
+    self.assertGreater(max_test_value, max_allowed_value)
+    self.assertLessEqual(min_test_value, min_allowed_value)
+
+    for controls_allowed in [0, 1]:
+      # enforce we don't skip over 0 or inactive
+      for v in np.concatenate((np.arange(min_test_value, max_test_value, test_delta), [0, inactive_value])):
+        v = round(v, 2)  # floats might not hit exact boundary conditions without rounding
+        self.safety.set_controls_allowed(controls_allowed)
+        should_tx = (controls_allowed or v == inactive_value) and (v <= max_allowed_value and v >= min_allowed_value) and msg_allowed
+        self.assertEqual(self._tx(msg_function(v)), should_tx, (controls_allowed, v))
+
 
 class InterceptorSafetyTest(PandaSafetyTestBase):
 
@@ -161,18 +182,44 @@ def test_accel_actuation_limits(self, stock_longitudinal=False):
               (self.MIN_ACCEL, self.MAX_ACCEL, ALTERNATIVE_EXPERIENCE.RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX))
 
     for min_accel, max_accel, alternative_experience in limits:
-      # enforce we don't skip over 0 or inactive accel
-      for accel in np.concatenate((np.arange(min_accel - 1, max_accel + 1, 0.05), [0, self.INACTIVE_ACCEL])):
-        accel = round(accel, 2)  # floats might not hit exact boundary conditions without rounding
-        for controls_allowed in [True, False]:
-          self.safety.set_controls_allowed(controls_allowed)
-          self.safety.set_alternative_experience(alternative_experience)
-          if stock_longitudinal:
-            should_tx = False
-          else:
-            should_tx = controls_allowed and min_accel <= accel <= max_accel
-            should_tx = should_tx or accel == self.INACTIVE_ACCEL
-          self.assertEqual(should_tx, self._tx(self._accel_msg(accel)))
+      self.safety.set_alternative_experience(alternative_experience)
+      self._generic_limit_safety_check(self._accel_msg, min_accel, max_accel, min_accel - 1, max_accel + 1, 0.05, self.INACTIVE_ACCEL, not stock_longitudinal)
+
+
+class LongitudinalGasBrakeSafetyTest(PandaSafetyTestBase, abc.ABC):
+
+  MIN_BRAKE: int = 0
+  MAX_BRAKE: Optional[int] = None
+  MAX_POSSIBLE_BRAKE: Optional[int] = None
+
+  MIN_GAS: int = 0
+  MAX_GAS: Optional[int] = None
+  INACTIVE_GAS = 0
+  MAX_POSSIBLE_GAS: Optional[int] = None
+
+  @abc.abstractmethod
+  def _gas_msg(self, gas: int):
+    pass
+
+  @abc.abstractmethod
+  def _brake_msg(self, brake: int):
+    pass
+
+  def test_gas_brake_limits_correct(self):
+    # Assert that max brake and max gas limits are set
+    self.assertTrue(self.MAX_BRAKE is not None)
+    self.assertTrue(self.MAX_GAS is not None)
+    self.assertTrue(self.MAX_POSSIBLE_BRAKE is not None)
+    self.assertTrue(self.MAX_POSSIBLE_GAS is not None)
+
+    self.assertGreater(self.MAX_BRAKE, self.MIN_BRAKE)
+    self.assertGreater(self.MAX_GAS, self.MIN_GAS)
+
+  def test_brake_safety_check(self):
+    self._generic_limit_safety_check(self._brake_msg, self.MIN_BRAKE, self.MAX_BRAKE, 0, self.MAX_POSSIBLE_BRAKE, 1)
+
+  def test_gas_safety_check(self):
+    self._generic_limit_safety_check(self._gas_msg, self.MIN_GAS, self.MAX_GAS, 0, self.MAX_POSSIBLE_GAS, 1, self.INACTIVE_GAS)
 
 
 class TorqueSteeringSafetyTestBase(PandaSafetyTestBase, abc.ABC):

From 1ac5e9dff9e1803b832c1c65ba76be7ae219f508 Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Wed, 9 Aug 2023 10:00:17 -0700
Subject: [PATCH 083/113] remove duplicate test

---
 tests/safety/common.py | 54 +++++-------------------------------------
 1 file changed, 6 insertions(+), 48 deletions(-)

diff --git a/tests/safety/common.py b/tests/safety/common.py
index 772d4829e9..705f948c27 100644
--- a/tests/safety/common.py
+++ b/tests/safety/common.py
@@ -197,6 +197,12 @@ class LongitudinalGasBrakeSafetyTest(PandaSafetyTestBase, abc.ABC):
   INACTIVE_GAS = 0
   MAX_POSSIBLE_GAS: Optional[int] = None
 
+  @classmethod
+  def setUpClass(cls):
+    if cls.__name__ == "LongitudinalGasBrakeSafetyTest":
+      cls.safety = None
+      raise unittest.SkipTest
+
   @abc.abstractmethod
   def _gas_msg(self, gas: int):
     pass
@@ -222,54 +228,6 @@ def test_gas_safety_check(self):
     self._generic_limit_safety_check(self._gas_msg, self.MIN_GAS, self.MAX_GAS, 0, self.MAX_POSSIBLE_GAS, 1, self.INACTIVE_GAS)
 
 
-class LongitudinalGasBrakeSafetyTest(PandaSafetyTestBase, abc.ABC):
-
-  MIN_BRAKE: int = 0
-  MAX_BRAKE: Optional[int] = None
-
-  MIN_GAS: int = 0
-  MAX_GAS: Optional[int] = None
-
-  INACTIVE_GAS: Optional[int] = 0
-
-  @classmethod
-  def setUpClass(cls):
-    if cls.__name__ == "LongitudinalGasBrakeSafetyTest":
-      cls.safety = None
-      raise unittest.SkipTest
-  
-  @abc.abstractmethod
-  def _gas_msg(self, gas: int):
-    pass
-
-  @abc.abstractmethod
-  def _brake_msg(self, brake: int):
-    pass
-
-  def test_gas_brake_limits_correct(self):
-    # Assert that max brake and max throttle is set
-    self.assertTrue(self.MAX_BRAKE is not None)
-    self.assertTrue(self.MAX_GAS is not None)
-
-    self.assertGreater(self.MAX_BRAKE, self.MIN_BRAKE)
-    self.assertGreater(self.MAX_GAS, self.MIN_GAS)
-  
-  def _generic_limit_safety_check(self, msg_function, min_allowed_value: int, max_allowed_value: int, inactive_value=0):
-    for enabled in [0, 1]:
-      for v in np.concatenate((np.arange(min_allowed_value - 1, max_allowed_value + 1, 1), [0, inactive_value])):
-        self.safety.set_controls_allowed(enabled)
-        if (not enabled and v != inactive_value) or v > max_allowed_value or v < min_allowed_value:
-          self.assertFalse(self._tx(msg_function(v)), (v, min_allowed_value, max_allowed_value))
-        else:
-          self.assertTrue(self._tx(msg_function(v)), (v, min_allowed_value, max_allowed_value))
-
-  def test_brake_safety_check(self):
-    self._generic_limit_safety_check(self._brake_msg, self.MIN_BRAKE, self.MAX_BRAKE)
-  
-  def test_gas_safety_check(self):
-    self._generic_limit_safety_check(self._gas_msg, self.MIN_GAS, self.MAX_GAS, self.INACTIVE_GAS)
-
-        
 class TorqueSteeringSafetyTestBase(PandaSafetyTestBase, abc.ABC):
 
   MAX_RATE_UP = 0

From 9360a9e2543d1288e4ef50c4d57d928579f3b76c Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Wed, 9 Aug 2023 10:14:46 -0700
Subject: [PATCH 084/113] wip

---
 tests/safety/common.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/tests/safety/common.py b/tests/safety/common.py
index 705f948c27..ad836c4579 100644
--- a/tests/safety/common.py
+++ b/tests/safety/common.py
@@ -70,7 +70,7 @@ def _tx(self, msg):
     return self.safety.safety_tx_hook(msg)
 
   def _generic_limit_safety_check(self, msg_function, min_allowed_value: float, max_allowed_value: float, min_test_value: float,
-                                        max_test_value: float, test_delta: float = 1, inactive_value=0, msg_allowed=True):
+                                        max_test_value: float, test_delta: float = 1, inactive_value: float = 0, msg_allowed=True):
     """
       Enforces that only a specific range of values in a msg_function are allowed to be sent, only when controls_allowed is true.
       Tests the range of min_test_value -> max_test_value with a delta of test_delta.
@@ -84,7 +84,7 @@ def _generic_limit_safety_check(self, msg_function, min_allowed_value: float, ma
 
     for controls_allowed in [0, 1]:
       # enforce we don't skip over 0 or inactive
-      for v in np.concatenate((np.arange(min_test_value, max_test_value, test_delta), [0, inactive_value])):
+      for v in np.concatenate((np.arange(min_test_value, max_test_value, test_delta), np.array([0, inactive_value]))):
         v = round(v, 2)  # floats might not hit exact boundary conditions without rounding
         self.safety.set_controls_allowed(controls_allowed)
         should_tx = (controls_allowed or v == inactive_value) and (v <= max_allowed_value and v >= min_allowed_value) and msg_allowed

From 20338daa01f63d6036c474a8b018a5f877ab169b Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Wed, 9 Aug 2023 10:52:55 -0700
Subject: [PATCH 085/113] wip

---
 tests/safety/common.py | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/tests/safety/common.py b/tests/safety/common.py
index ad836c4579..a9ecbef185 100644
--- a/tests/safety/common.py
+++ b/tests/safety/common.py
@@ -82,13 +82,14 @@ def _generic_limit_safety_check(self, msg_function, min_allowed_value: float, ma
     self.assertGreater(max_test_value, max_allowed_value)
     self.assertLessEqual(min_test_value, min_allowed_value)
 
-    for controls_allowed in [0, 1]:
+    for controls_allowed in [False, True]:
       # enforce we don't skip over 0 or inactive
       for v in np.concatenate((np.arange(min_test_value, max_test_value, test_delta), np.array([0, inactive_value]))):
         v = round(v, 2)  # floats might not hit exact boundary conditions without rounding
         self.safety.set_controls_allowed(controls_allowed)
-        should_tx = (controls_allowed or v == inactive_value) and (v <= max_allowed_value and v >= min_allowed_value) and msg_allowed
-        self.assertEqual(self._tx(msg_function(v)), should_tx, (controls_allowed, v))
+        should_tx = controls_allowed and min_allowed_value <= v <= max_allowed_value
+        should_tx = should_tx or 
+        self.assertEqual(self._tx(msg_function(v)), should_tx, (controls_allowed, should_tx, v))
 
 
 class InterceptorSafetyTest(PandaSafetyTestBase):

From fa49064c18fdedacbc0972c50d44bc9733778848 Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Wed, 9 Aug 2023 11:18:05 -0700
Subject: [PATCH 086/113] rename longitudinalaccelsafety

---
 tests/safety/common.py             | 30 ++----------------------------
 tests/safety/hyundai_common.py     |  2 +-
 tests/safety/test_honda.py         |  2 +-
 tests/safety/test_toyota.py        |  2 +-
 tests/safety/test_volkswagen_pq.py |  2 +-
 5 files changed, 6 insertions(+), 32 deletions(-)

diff --git a/tests/safety/common.py b/tests/safety/common.py
index a9ecbef185..34048017e2 100644
--- a/tests/safety/common.py
+++ b/tests/safety/common.py
@@ -158,26 +158,16 @@ def test_gas_interceptor_safety_check(self):
         self.assertEqual(send, self._tx(self._interceptor_gas_cmd(gas)))
 
 
-class LongitudinalAccelSafetyTest(PandaSafetyTestBase, abc.ABC):
+class TestLongitudinalAccelSafetyBase(PandaSafetyTestBase, abc.ABC):
 
   MAX_ACCEL: float = 2.0
   MIN_ACCEL: float = -3.5
   INACTIVE_ACCEL: float = 0.0
 
-  @classmethod
-  def setUpClass(cls):
-    if cls.__name__ == "LongitudinalAccelSafetyTest":
-      cls.safety = None
-      raise unittest.SkipTest
-
   @abc.abstractmethod
   def _accel_msg(self, accel: float):
     pass
 
-  def test_accel_limits_correct(self):
-    self.assertGreater(self.MAX_ACCEL, 0)
-    self.assertLess(self.MIN_ACCEL, 0)
-
   def test_accel_actuation_limits(self, stock_longitudinal=False):
     limits = ((self.MIN_ACCEL, self.MAX_ACCEL, ALTERNATIVE_EXPERIENCE.DEFAULT),
               (self.MIN_ACCEL, self.MAX_ACCEL, ALTERNATIVE_EXPERIENCE.RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX))
@@ -187,7 +177,7 @@ def test_accel_actuation_limits(self, stock_longitudinal=False):
       self._generic_limit_safety_check(self._accel_msg, min_accel, max_accel, min_accel - 1, max_accel + 1, 0.05, self.INACTIVE_ACCEL, not stock_longitudinal)
 
 
-class LongitudinalGasBrakeSafetyTest(PandaSafetyTestBase, abc.ABC):
+class TestLongitudinalGasBrakeSafetyBase(PandaSafetyTestBase, abc.ABC):
 
   MIN_BRAKE: int = 0
   MAX_BRAKE: Optional[int] = None
@@ -198,12 +188,6 @@ class LongitudinalGasBrakeSafetyTest(PandaSafetyTestBase, abc.ABC):
   INACTIVE_GAS = 0
   MAX_POSSIBLE_GAS: Optional[int] = None
 
-  @classmethod
-  def setUpClass(cls):
-    if cls.__name__ == "LongitudinalGasBrakeSafetyTest":
-      cls.safety = None
-      raise unittest.SkipTest
-
   @abc.abstractmethod
   def _gas_msg(self, gas: int):
     pass
@@ -212,16 +196,6 @@ def _gas_msg(self, gas: int):
   def _brake_msg(self, brake: int):
     pass
 
-  def test_gas_brake_limits_correct(self):
-    # Assert that max brake and max gas limits are set
-    self.assertTrue(self.MAX_BRAKE is not None)
-    self.assertTrue(self.MAX_GAS is not None)
-    self.assertTrue(self.MAX_POSSIBLE_BRAKE is not None)
-    self.assertTrue(self.MAX_POSSIBLE_GAS is not None)
-
-    self.assertGreater(self.MAX_BRAKE, self.MIN_BRAKE)
-    self.assertGreater(self.MAX_GAS, self.MIN_GAS)
-
   def test_brake_safety_check(self):
     self._generic_limit_safety_check(self._brake_msg, self.MIN_BRAKE, self.MAX_BRAKE, 0, self.MAX_POSSIBLE_BRAKE, 1)
 
diff --git a/tests/safety/hyundai_common.py b/tests/safety/hyundai_common.py
index ad93809714..b55f00758f 100644
--- a/tests/safety/hyundai_common.py
+++ b/tests/safety/hyundai_common.py
@@ -74,7 +74,7 @@ def test_sampling_cruise_buttons(self):
       self._rx(self._button_msg(Buttons.NONE))
 
 
-class HyundaiLongitudinalBase(common.LongitudinalAccelSafetyTest):
+class HyundaiLongitudinalBase(common.TestLongitudinalAccelSafetyBase):
   # pylint: disable=no-member,abstract-method
 
   DISABLED_ECU_UDS_MSG: Tuple[int, int]
diff --git a/tests/safety/test_honda.py b/tests/safety/test_honda.py
index 11b1c623e9..d7582e387d 100755
--- a/tests/safety/test_honda.py
+++ b/tests/safety/test_honda.py
@@ -536,7 +536,7 @@ def setUp(self):
     self.safety.init_tests()
 
 
-class TestHondaBoschRadarlessLongSafety(common.LongitudinalAccelSafetyTest, HondaButtonEnableBase,
+class TestHondaBoschRadarlessLongSafety(common.TestLongitudinalAccelSafetyBase, HondaButtonEnableBase,
                                         TestHondaBoschRadarlessSafetyBase):
   """
     Covers the Honda Bosch Radarless safety mode with longitudinal control
diff --git a/tests/safety/test_toyota.py b/tests/safety/test_toyota.py
index a0ba9c1130..eed76ea204 100755
--- a/tests/safety/test_toyota.py
+++ b/tests/safety/test_toyota.py
@@ -20,7 +20,7 @@ def interceptor_msg(gas, addr):
 
 
 class TestToyotaSafetyBase(common.PandaSafetyTest, common.InterceptorSafetyTest,
-                           common.LongitudinalAccelSafetyTest):
+                           common.TestLongitudinalAccelSafetyBase):
 
   TX_MSGS = [[0x283, 0], [0x2E6, 0], [0x2E7, 0], [0x33E, 0], [0x344, 0], [0x365, 0], [0x366, 0], [0x4CB, 0],  # DSU bus 0
              [0x128, 1], [0x141, 1], [0x160, 1], [0x161, 1], [0x470, 1],  # DSU bus 1
diff --git a/tests/safety/test_volkswagen_pq.py b/tests/safety/test_volkswagen_pq.py
index be71f1d7e7..a0e10b8767 100755
--- a/tests/safety/test_volkswagen_pq.py
+++ b/tests/safety/test_volkswagen_pq.py
@@ -139,7 +139,7 @@ def test_spam_cancel_safety_check(self):
     self.assertTrue(self._tx(self._button_msg(resume=True)))
 
 
-class TestVolkswagenPqLongSafety(TestVolkswagenPqSafety, common.LongitudinalAccelSafetyTest):
+class TestVolkswagenPqLongSafety(TestVolkswagenPqSafety, common.TestLongitudinalAccelSafetyBase):
   TX_MSGS = [[MSG_HCA_1, 0], [MSG_LDW_1, 0], [MSG_ACC_SYSTEM, 0], [MSG_ACC_GRA_ANZEIGE, 0]]
   FWD_BLACKLISTED_ADDRS = {2: [MSG_HCA_1, MSG_LDW_1, MSG_ACC_SYSTEM, MSG_ACC_GRA_ANZEIGE]}
   FWD_BUS_LOOKUP = {0: 2, 2: 0}

From f8d49144a938a4ee36702d618c2a290a8ef507fd Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Wed, 9 Aug 2023 11:20:31 -0700
Subject: [PATCH 087/113] revert limits correct test

---
 tests/safety/common.py | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/tests/safety/common.py b/tests/safety/common.py
index 34048017e2..3605a189e0 100644
--- a/tests/safety/common.py
+++ b/tests/safety/common.py
@@ -168,6 +168,10 @@ class TestLongitudinalAccelSafetyBase(PandaSafetyTestBase, abc.ABC):
   def _accel_msg(self, accel: float):
     pass
 
+  def test_accel_limits_correct(self):
+    self.assertGreater(self.MAX_ACCEL, 0)
+    self.assertLess(self.MIN_ACCEL, 0)
+
   def test_accel_actuation_limits(self, stock_longitudinal=False):
     limits = ((self.MIN_ACCEL, self.MAX_ACCEL, ALTERNATIVE_EXPERIENCE.DEFAULT),
               (self.MIN_ACCEL, self.MAX_ACCEL, ALTERNATIVE_EXPERIENCE.RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX))

From 353207b4b3504bc0c4399bacfce67e108b6eab46 Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Wed, 9 Aug 2023 11:28:40 -0700
Subject: [PATCH 088/113] fix controls allowed test

---
 tests/safety/common.py | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/tests/safety/common.py b/tests/safety/common.py
index 3605a189e0..df43fe9726 100644
--- a/tests/safety/common.py
+++ b/tests/safety/common.py
@@ -72,10 +72,10 @@ def _tx(self, msg):
   def _generic_limit_safety_check(self, msg_function, min_allowed_value: float, max_allowed_value: float, min_test_value: float,
                                         max_test_value: float, test_delta: float = 1, inactive_value: float = 0, msg_allowed=True):
     """
-      Enforces that only a specific range of values in a msg_function are allowed to be sent, only when controls_allowed is true.
+      Enforces that a signal within a message is only allowed to be sent within a specific range, min_allowed_value -> max_allowed_value.
       Tests the range of min_test_value -> max_test_value with a delta of test_delta.
-      Message is always allowed if value is equal to inactive_value.
-      Message is never allowed if msg_allowed is false, for example when openpilot long is not enabled.
+      Message is also only allowed to be sent when controls_allowed is true, unless the value is equal to inactive_value.
+      Message is never allowed in msg_allowed is false, for example when stock longitudinal is enabled and you are sending acceleration requests.
     """
 
     # Ensure that we at least test the allowed_value range
@@ -88,7 +88,7 @@ def _generic_limit_safety_check(self, msg_function, min_allowed_value: float, ma
         v = round(v, 2)  # floats might not hit exact boundary conditions without rounding
         self.safety.set_controls_allowed(controls_allowed)
         should_tx = controls_allowed and min_allowed_value <= v <= max_allowed_value
-        should_tx = should_tx or 
+        should_tx = (should_tx or v == inactive_value) and msg_allowed
         self.assertEqual(self._tx(msg_function(v)), should_tx, (controls_allowed, should_tx, v))
 
 

From f13b2b69e8ab7452e05d7128155b6ba5ceb148fe Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Thu, 10 Aug 2023 13:30:09 -0700
Subject: [PATCH 089/113] move gm over to long gas brake test

---
 tests/safety/common.py             |  4 +-
 tests/safety/hyundai_common.py     |  2 +-
 tests/safety/test_gm.py            | 59 ++++++++----------------------
 tests/safety/test_honda.py         |  2 +-
 tests/safety/test_toyota.py        |  2 +-
 tests/safety/test_volkswagen_pq.py |  2 +-
 6 files changed, 22 insertions(+), 49 deletions(-)

diff --git a/tests/safety/common.py b/tests/safety/common.py
index df43fe9726..2f8dc56fb4 100644
--- a/tests/safety/common.py
+++ b/tests/safety/common.py
@@ -158,7 +158,7 @@ def test_gas_interceptor_safety_check(self):
         self.assertEqual(send, self._tx(self._interceptor_gas_cmd(gas)))
 
 
-class TestLongitudinalAccelSafetyBase(PandaSafetyTestBase, abc.ABC):
+class LongitudinalAccelSafetyTest(PandaSafetyTestBase, abc.ABC):
 
   MAX_ACCEL: float = 2.0
   MIN_ACCEL: float = -3.5
@@ -181,7 +181,7 @@ def test_accel_actuation_limits(self, stock_longitudinal=False):
       self._generic_limit_safety_check(self._accel_msg, min_accel, max_accel, min_accel - 1, max_accel + 1, 0.05, self.INACTIVE_ACCEL, not stock_longitudinal)
 
 
-class TestLongitudinalGasBrakeSafetyBase(PandaSafetyTestBase, abc.ABC):
+class LongitudinalGasBrakeSafetyTest(PandaSafetyTestBase, abc.ABC):
 
   MIN_BRAKE: int = 0
   MAX_BRAKE: Optional[int] = None
diff --git a/tests/safety/hyundai_common.py b/tests/safety/hyundai_common.py
index b55f00758f..ad93809714 100644
--- a/tests/safety/hyundai_common.py
+++ b/tests/safety/hyundai_common.py
@@ -74,7 +74,7 @@ def test_sampling_cruise_buttons(self):
       self._rx(self._button_msg(Buttons.NONE))
 
 
-class HyundaiLongitudinalBase(common.TestLongitudinalAccelSafetyBase):
+class HyundaiLongitudinalBase(common.LongitudinalAccelSafetyTest):
   # pylint: disable=no-member,abstract-method
 
   DISABLED_ECU_UDS_MSG: Tuple[int, int]
diff --git a/tests/safety/test_gm.py b/tests/safety/test_gm.py
index f6b604ad31..14ce22785e 100755
--- a/tests/safety/test_gm.py
+++ b/tests/safety/test_gm.py
@@ -14,11 +14,14 @@ class Buttons:
   CANCEL = 6
 
 
-class GmLongitudinalBase(common.PandaSafetyTest):
+class GmLongitudinalBase(common.PandaSafetyTest, common.LongitudinalGasBrakeSafetyTest):
   # pylint: disable=no-member,abstract-method
 
   PCM_CRUISE = False  # openpilot can control the PCM state if longitudinal
 
+  MAX_POSSIBLE_GAS = 2**12
+  MAX_POSSIBLE_BRAKE = 2**12
+
   def test_set_resume_buttons(self):
     """
       SET and RESUME enter controls allowed on their falling and rising edges, respectively.
@@ -54,6 +57,14 @@ def test_cruise_engaged_prev(self):
   def _pcm_status_msg(self, enable):
     pass
 
+  def _brake_msg(self, brake):
+    values = {"FrictionBrakeCmd": -brake}
+    return self.packer_chassis.make_can_msg_panda("EBCMFrictionBrakeCmd", self.BRAKE_BUS, values)
+
+  def _gas_msg(self, gas):
+    values = {"GasRegenCmd": gas}
+    return self.packer.make_can_msg_panda("ASCMGasRegenCmd", 0, values)
+
 
 class TestGmSafetyBase(common.PandaSafetyTest, common.DriverTorqueSteeringSafetyTest):
   STANDSTILL_THRESHOLD = 10 * 0.0311
@@ -70,11 +81,6 @@ class TestGmSafetyBase(common.PandaSafetyTest, common.DriverTorqueSteeringSafety
   DRIVER_TORQUE_ALLOWANCE = 65
   DRIVER_TORQUE_FACTOR = 4
 
-  MAX_GAS = 0
-  MAX_REGEN = 0
-  INACTIVE_REGEN = 0
-  MAX_BRAKE = 0
-
   PCM_CRUISE = True  # openpilot is tied to the PCM state if not longitudinal
 
   @classmethod
@@ -118,14 +124,6 @@ def _user_gas_msg(self, gas):
       values["CruiseState"] = self.safety.get_controls_allowed()
     return self.packer.make_can_msg_panda("AcceleratorPedal2", 0, values)
 
-  def _send_brake_msg(self, brake):
-    values = {"FrictionBrakeCmd": -brake}
-    return self.packer_chassis.make_can_msg_panda("EBCMFrictionBrakeCmd", self.BRAKE_BUS, values)
-
-  def _send_gas_msg(self, gas):
-    values = {"GasRegenCmd": gas}
-    return self.packer.make_can_msg_panda("ASCMGasRegenCmd", 0, values)
-
   def _torque_driver_msg(self, torque):
     values = {"LKADriverAppldTrq": torque}
     return self.packer.make_can_msg_panda("PSCMStatus", 0, values)
@@ -138,24 +136,6 @@ def _button_msg(self, buttons):
     values = {"ACCButtons": buttons}
     return self.packer.make_can_msg_panda("ASCMSteeringButton", self.BUTTONS_BUS, values)
 
-  def test_brake_safety_check(self):
-    for enabled in [0, 1]:
-      for b in range(0, 500):
-        self.safety.set_controls_allowed(enabled)
-        if abs(b) > self.MAX_BRAKE or (not enabled and b != 0):
-          self.assertFalse(self._tx(self._send_brake_msg(b)))
-        else:
-          self.assertTrue(self._tx(self._send_brake_msg(b)))
-
-  def test_gas_safety_check(self):
-    # Block if enabled and out of actuation range, disabled and not inactive regen, or if stock longitudinal
-    for enabled in [0, 1]:
-      for gas_regen in range(0, 2 ** 12 - 1):
-        self.safety.set_controls_allowed(enabled)
-        should_tx = ((enabled and self.MAX_REGEN <= gas_regen <= self.MAX_GAS) or
-                     gas_regen == self.INACTIVE_REGEN)
-        self.assertEqual(should_tx, self._tx(self._send_gas_msg(gas_regen)), (enabled, gas_regen))
-
 
 class TestGmAscmSafety(GmLongitudinalBase, TestGmSafetyBase):
   TX_MSGS = [[384, 0], [1033, 0], [1034, 0], [715, 0], [880, 0],  # pt bus
@@ -167,8 +147,8 @@ class TestGmAscmSafety(GmLongitudinalBase, TestGmSafetyBase):
   BRAKE_BUS = 2
 
   MAX_GAS = 3072
-  MAX_REGEN = 1404
-  INACTIVE_REGEN = 1404
+  MIN_GAS = 1404
+  INACTIVE_GAS = 1404
   MAX_BRAKE = 400
 
   def setUp(self):
@@ -222,13 +202,6 @@ def test_buttons(self):
       self._rx(self._pcm_status_msg(enabled))
       self.assertEqual(enabled, self._tx(self._button_msg(Buttons.CANCEL)))
 
-  # GM Cam safety mode does not allow longitudinal messages
-  def test_brake_safety_check(self):
-    pass
-
-  def test_gas_safety_check(self):
-    pass
-
 
 class TestGmCameraLongitudinalSafety(GmLongitudinalBase, TestGmCameraSafetyBase):
   TX_MSGS = [[384, 0], [789, 0], [715, 0], [880, 0],  # pt bus
@@ -237,8 +210,8 @@ class TestGmCameraLongitudinalSafety(GmLongitudinalBase, TestGmCameraSafetyBase)
   BUTTONS_BUS = 0  # rx only
 
   MAX_GAS = 3400
-  MAX_REGEN = 1514
-  INACTIVE_REGEN = 1554
+  MIN_GAS = 1514
+  INACTIVE_GAS = 1554
   MAX_BRAKE = 400
 
   def setUp(self):
diff --git a/tests/safety/test_honda.py b/tests/safety/test_honda.py
index d7582e387d..11b1c623e9 100755
--- a/tests/safety/test_honda.py
+++ b/tests/safety/test_honda.py
@@ -536,7 +536,7 @@ def setUp(self):
     self.safety.init_tests()
 
 
-class TestHondaBoschRadarlessLongSafety(common.TestLongitudinalAccelSafetyBase, HondaButtonEnableBase,
+class TestHondaBoschRadarlessLongSafety(common.LongitudinalAccelSafetyTest, HondaButtonEnableBase,
                                         TestHondaBoschRadarlessSafetyBase):
   """
     Covers the Honda Bosch Radarless safety mode with longitudinal control
diff --git a/tests/safety/test_toyota.py b/tests/safety/test_toyota.py
index eed76ea204..a0ba9c1130 100755
--- a/tests/safety/test_toyota.py
+++ b/tests/safety/test_toyota.py
@@ -20,7 +20,7 @@ def interceptor_msg(gas, addr):
 
 
 class TestToyotaSafetyBase(common.PandaSafetyTest, common.InterceptorSafetyTest,
-                           common.TestLongitudinalAccelSafetyBase):
+                           common.LongitudinalAccelSafetyTest):
 
   TX_MSGS = [[0x283, 0], [0x2E6, 0], [0x2E7, 0], [0x33E, 0], [0x344, 0], [0x365, 0], [0x366, 0], [0x4CB, 0],  # DSU bus 0
              [0x128, 1], [0x141, 1], [0x160, 1], [0x161, 1], [0x470, 1],  # DSU bus 1
diff --git a/tests/safety/test_volkswagen_pq.py b/tests/safety/test_volkswagen_pq.py
index a0e10b8767..be71f1d7e7 100755
--- a/tests/safety/test_volkswagen_pq.py
+++ b/tests/safety/test_volkswagen_pq.py
@@ -139,7 +139,7 @@ def test_spam_cancel_safety_check(self):
     self.assertTrue(self._tx(self._button_msg(resume=True)))
 
 
-class TestVolkswagenPqLongSafety(TestVolkswagenPqSafety, common.TestLongitudinalAccelSafetyBase):
+class TestVolkswagenPqLongSafety(TestVolkswagenPqSafety, common.LongitudinalAccelSafetyTest):
   TX_MSGS = [[MSG_HCA_1, 0], [MSG_LDW_1, 0], [MSG_ACC_SYSTEM, 0], [MSG_ACC_GRA_ANZEIGE, 0]]
   FWD_BLACKLISTED_ADDRS = {2: [MSG_HCA_1, MSG_LDW_1, MSG_ACC_SYSTEM, MSG_ACC_GRA_ANZEIGE]}
   FWD_BUS_LOOKUP = {0: 2, 2: 0}

From e5c7a359b0888e2fcc71b663b5abd08a30ede5fd Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Thu, 10 Aug 2023 13:33:42 -0700
Subject: [PATCH 090/113] assert that limits are reasonable

---
 tests/safety/common.py | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/tests/safety/common.py b/tests/safety/common.py
index 2f8dc56fb4..048e2b5096 100644
--- a/tests/safety/common.py
+++ b/tests/safety/common.py
@@ -192,6 +192,13 @@ class LongitudinalGasBrakeSafetyTest(PandaSafetyTestBase, abc.ABC):
   INACTIVE_GAS = 0
   MAX_POSSIBLE_GAS: Optional[int] = None
 
+  def test_gas_brake_limits_correct(self):
+    self.assertIsNotNone(self.MAX_POSSIBLE_BRAKE)
+    self.assertIsNotNone(self.MAX_POSSIBLE_GAS)
+
+    self.assertGreater(self.MAX_BRAKE, self.MIN_BRAKE)
+    self.assertGreater(self.MAX_GAS, self.MIN_GAS)
+
   @abc.abstractmethod
   def _gas_msg(self, gas: int):
     pass

From 1697759cdfc9fdea8a66afa9358e3cd296ba5ae7 Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Thu, 10 Aug 2023 22:57:42 -0700
Subject: [PATCH 091/113] fix typing

---
 tests/safety/common.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/tests/safety/common.py b/tests/safety/common.py
index 048e2b5096..e3a778e344 100644
--- a/tests/safety/common.py
+++ b/tests/safety/common.py
@@ -53,6 +53,8 @@ def _regen_test(self):
 
 
 class PandaSafetyTestBase(unittest.TestCase):
+  safety: libpanda_py.libpanda
+  
   @classmethod
   def setUpClass(cls):
     if cls.__name__ == "PandaSafetyTestBase":

From db1be0c8f3f4a26299030345e06e1983d71a8bc3 Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Thu, 10 Aug 2023 23:00:30 -0700
Subject: [PATCH 092/113] fix linter again

---
 tests/safety/common.py | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/tests/safety/common.py b/tests/safety/common.py
index e3a778e344..e8ac3a0e3b 100644
--- a/tests/safety/common.py
+++ b/tests/safety/common.py
@@ -7,6 +7,7 @@
 
 from opendbc.can.packer import CANPacker  # pylint: disable=import-error
 from panda import ALTERNATIVE_EXPERIENCE
+from panda.python import Panda
 from panda.tests.libpanda import libpanda_py
 
 MAX_WRONG_COUNTERS = 5
@@ -53,8 +54,8 @@ def _regen_test(self):
 
 
 class PandaSafetyTestBase(unittest.TestCase):
-  safety: libpanda_py.libpanda
-  
+  safety: Panda
+
   @classmethod
   def setUpClass(cls):
     if cls.__name__ == "PandaSafetyTestBase":

From 2b20d281d00c9ca2d9bc23041d84109da9672d1a Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Thu, 10 Aug 2023 23:05:08 -0700
Subject: [PATCH 093/113] fix linter again

---
 tests/libpanda/libpanda_py.py | 2 +-
 tests/safety/common.py        | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/tests/libpanda/libpanda_py.py b/tests/libpanda/libpanda_py.py
index e8f063bf97..ef19a0212f 100644
--- a/tests/libpanda/libpanda_py.py
+++ b/tests/libpanda/libpanda_py.py
@@ -117,7 +117,7 @@ def logging_read(self, buffer: bytearray) -> int: ...
   logging_bank_size: int
   logging_rate_limit: int
 
-libpanda: Panda = ffi.dlopen(libpanda_fn)
+libpanda: PandaSafety = ffi.dlopen(libpanda_fn)
 
 
 # helpers
diff --git a/tests/safety/common.py b/tests/safety/common.py
index e8ac3a0e3b..08615726c1 100644
--- a/tests/safety/common.py
+++ b/tests/safety/common.py
@@ -7,8 +7,8 @@
 
 from opendbc.can.packer import CANPacker  # pylint: disable=import-error
 from panda import ALTERNATIVE_EXPERIENCE
-from panda.python import Panda
 from panda.tests.libpanda import libpanda_py
+from panda.tests.libpanda.safety_helpers import PandaSafety
 
 MAX_WRONG_COUNTERS = 5
 VEHICLE_SPEED_FACTOR = 100
@@ -54,7 +54,7 @@ def _regen_test(self):
 
 
 class PandaSafetyTestBase(unittest.TestCase):
-  safety: Panda
+  safety: PandaSafety
 
   @classmethod
   def setUpClass(cls):

From 29c4bdef03feed1ff33b151d6ec49e7d7594da82 Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Thu, 10 Aug 2023 23:08:29 -0700
Subject: [PATCH 094/113] fix linter again

---
 tests/libpanda/libpanda_py.py | 2 +-
 tests/safety/common.py        | 3 +--
 2 files changed, 2 insertions(+), 3 deletions(-)

diff --git a/tests/libpanda/libpanda_py.py b/tests/libpanda/libpanda_py.py
index ef19a0212f..e8f063bf97 100644
--- a/tests/libpanda/libpanda_py.py
+++ b/tests/libpanda/libpanda_py.py
@@ -117,7 +117,7 @@ def logging_read(self, buffer: bytearray) -> int: ...
   logging_bank_size: int
   logging_rate_limit: int
 
-libpanda: PandaSafety = ffi.dlopen(libpanda_fn)
+libpanda: Panda = ffi.dlopen(libpanda_fn)
 
 
 # helpers
diff --git a/tests/safety/common.py b/tests/safety/common.py
index 08615726c1..9217337b8f 100644
--- a/tests/safety/common.py
+++ b/tests/safety/common.py
@@ -8,7 +8,6 @@
 from opendbc.can.packer import CANPacker  # pylint: disable=import-error
 from panda import ALTERNATIVE_EXPERIENCE
 from panda.tests.libpanda import libpanda_py
-from panda.tests.libpanda.safety_helpers import PandaSafety
 
 MAX_WRONG_COUNTERS = 5
 VEHICLE_SPEED_FACTOR = 100
@@ -54,7 +53,7 @@ def _regen_test(self):
 
 
 class PandaSafetyTestBase(unittest.TestCase):
-  safety: PandaSafety
+  safety: libpanda_py.Panda
 
   @classmethod
   def setUpClass(cls):

From 316823353434d33e63a570c7e5cbec7d58d3bd11 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 11 Aug 2023 00:02:50 -0700
Subject: [PATCH 095/113] like to make it clear

---
 tests/safety/common.py | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/tests/safety/common.py b/tests/safety/common.py
index 9217337b8f..90de4ecf75 100644
--- a/tests/safety/common.py
+++ b/tests/safety/common.py
@@ -202,18 +202,18 @@ def test_gas_brake_limits_correct(self):
     self.assertGreater(self.MAX_GAS, self.MIN_GAS)
 
   @abc.abstractmethod
-  def _gas_msg(self, gas: int):
+  def _send_gas_msg(self, gas: int):
     pass
 
   @abc.abstractmethod
-  def _brake_msg(self, brake: int):
+  def _send_brake_msg(self, brake: int):
     pass
 
   def test_brake_safety_check(self):
-    self._generic_limit_safety_check(self._brake_msg, self.MIN_BRAKE, self.MAX_BRAKE, 0, self.MAX_POSSIBLE_BRAKE, 1)
+    self._generic_limit_safety_check(self._send_brake_msg, self.MIN_BRAKE, self.MAX_BRAKE, 0, self.MAX_POSSIBLE_BRAKE, 1)
 
   def test_gas_safety_check(self):
-    self._generic_limit_safety_check(self._gas_msg, self.MIN_GAS, self.MAX_GAS, 0, self.MAX_POSSIBLE_GAS, 1, self.INACTIVE_GAS)
+    self._generic_limit_safety_check(self._send_gas_msg, self.MIN_GAS, self.MAX_GAS, 0, self.MAX_POSSIBLE_GAS, 1, self.INACTIVE_GAS)
 
 
 class TorqueSteeringSafetyTestBase(PandaSafetyTestBase, abc.ABC):

From 27dd7b58bf0ac85e324cac1c22335cf667bd2192 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 11 Aug 2023 00:04:16 -0700
Subject: [PATCH 096/113] typo

---
 tests/safety/common.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tests/safety/common.py b/tests/safety/common.py
index 90de4ecf75..82576a6da0 100644
--- a/tests/safety/common.py
+++ b/tests/safety/common.py
@@ -77,7 +77,7 @@ def _generic_limit_safety_check(self, msg_function, min_allowed_value: float, ma
       Enforces that a signal within a message is only allowed to be sent within a specific range, min_allowed_value -> max_allowed_value.
       Tests the range of min_test_value -> max_test_value with a delta of test_delta.
       Message is also only allowed to be sent when controls_allowed is true, unless the value is equal to inactive_value.
-      Message is never allowed in msg_allowed is false, for example when stock longitudinal is enabled and you are sending acceleration requests.
+      Message is never allowed if msg_allowed is false, for example when stock longitudinal is enabled and you are sending acceleration requests.
     """
 
     # Ensure that we at least test the allowed_value range

From 49081e32cc30b5af3ea422045d83f1d62457b2f6 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 11 Aug 2023 00:05:24 -0700
Subject: [PATCH 097/113] fix from merge

---
 tests/safety/test_gm.py | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/tests/safety/test_gm.py b/tests/safety/test_gm.py
index 992209cc55..2c022666e7 100755
--- a/tests/safety/test_gm.py
+++ b/tests/safety/test_gm.py
@@ -18,8 +18,8 @@ class GmLongitudinalBase(common.PandaSafetyTest, common.LongitudinalGasBrakeSafe
   # pylint: disable=no-member,abstract-method
 
   MAX_GAS = 0
-  MAX_REGEN = 0
-  INACTIVE_REGEN = 0
+  MIN_GAS = 0
+  INACTIVE_GAS = 0
   MAX_BRAKE = 400
 
   MAX_POSSIBLE_GAS = 2**12
@@ -84,8 +84,8 @@ def test_gas_safety_check(self):
     for enabled in [0, 1]:
       for gas_regen in range(0, 2 ** 12 - 1):
         self.safety.set_controls_allowed(enabled)
-        should_tx = ((enabled and self.MAX_REGEN <= gas_regen <= self.MAX_GAS) or
-                     gas_regen == self.INACTIVE_REGEN)
+        should_tx = ((enabled and self.MIN_GAS <= gas_regen <= self.MAX_GAS) or
+                     gas_regen == self.INACTIVE_GAS)
         self.assertEqual(should_tx, self._tx(self._send_gas_msg(gas_regen)), (enabled, gas_regen))
 
 

From c9ddf6421a1d0473ca1e6efa46b2224a151a23f9 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 11 Aug 2023 00:30:35 -0700
Subject: [PATCH 098/113] clearer names

---
 tests/safety/common.py | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/tests/safety/common.py b/tests/safety/common.py
index 82576a6da0..8cdfba8eae 100644
--- a/tests/safety/common.py
+++ b/tests/safety/common.py
@@ -71,22 +71,22 @@ def _rx(self, msg):
   def _tx(self, msg):
     return self.safety.safety_tx_hook(msg)
 
-  def _generic_limit_safety_check(self, msg_function, min_allowed_value: float, max_allowed_value: float, min_test_value: float,
-                                        max_test_value: float, test_delta: float = 1, inactive_value: float = 0, msg_allowed=True):
+  def _generic_limit_safety_check(self, msg_function, min_allowed_value: float, max_allowed_value: float, min_possible_value: float,
+                                  max_possible_value: float, test_delta: float = 1, inactive_value: float = 0, msg_allowed=True):
     """
       Enforces that a signal within a message is only allowed to be sent within a specific range, min_allowed_value -> max_allowed_value.
-      Tests the range of min_test_value -> max_test_value with a delta of test_delta.
+      Tests the range of min_possible_value -> max_possible_value with a delta of test_delta.
       Message is also only allowed to be sent when controls_allowed is true, unless the value is equal to inactive_value.
       Message is never allowed if msg_allowed is false, for example when stock longitudinal is enabled and you are sending acceleration requests.
     """
 
     # Ensure that we at least test the allowed_value range
-    self.assertGreater(max_test_value, max_allowed_value)
-    self.assertLessEqual(min_test_value, min_allowed_value)
+    self.assertGreater(max_possible_value, max_allowed_value)
+    self.assertLessEqual(min_possible_value, min_allowed_value)
 
     for controls_allowed in [False, True]:
       # enforce we don't skip over 0 or inactive
-      for v in np.concatenate((np.arange(min_test_value, max_test_value, test_delta), np.array([0, inactive_value]))):
+      for v in np.concatenate((np.arange(min_possible_value, max_possible_value, test_delta), np.array([0, inactive_value]))):
         v = round(v, 2)  # floats might not hit exact boundary conditions without rounding
         self.safety.set_controls_allowed(controls_allowed)
         should_tx = controls_allowed and min_allowed_value <= v <= max_allowed_value

From c0367c168ae22a87b6f4427585ebfdc8bf1e993b Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Fri, 11 Aug 2023 09:13:31 -0700
Subject: [PATCH 099/113] dont need thesemore

---
 tests/safety/test_gm.py | 21 ---------------------
 1 file changed, 21 deletions(-)

diff --git a/tests/safety/test_gm.py b/tests/safety/test_gm.py
index 2c022666e7..07edf51a04 100755
--- a/tests/safety/test_gm.py
+++ b/tests/safety/test_gm.py
@@ -17,9 +17,6 @@ class Buttons:
 class GmLongitudinalBase(common.PandaSafetyTest, common.LongitudinalGasBrakeSafetyTest):
   # pylint: disable=no-member,abstract-method
 
-  MAX_GAS = 0
-  MIN_GAS = 0
-  INACTIVE_GAS = 0
   MAX_BRAKE = 400
 
   MAX_POSSIBLE_GAS = 2**12
@@ -70,24 +67,6 @@ def test_cancel_button(self):
     self._rx(self._button_msg(Buttons.CANCEL))
     self.assertFalse(self.safety.get_controls_allowed())
 
-  def test_brake_safety_check(self):
-    for enabled in [0, 1]:
-      for b in range(0, 500):
-        self.safety.set_controls_allowed(enabled)
-        if abs(b) > self.MAX_BRAKE or (not enabled and b != 0):
-          self.assertFalse(self._tx(self._send_brake_msg(b)))
-        else:
-          self.assertTrue(self._tx(self._send_brake_msg(b)))
-
-  def test_gas_safety_check(self):
-    # Block if enabled and out of actuation range, disabled and not inactive regen, or if stock longitudinal
-    for enabled in [0, 1]:
-      for gas_regen in range(0, 2 ** 12 - 1):
-        self.safety.set_controls_allowed(enabled)
-        should_tx = ((enabled and self.MIN_GAS <= gas_regen <= self.MAX_GAS) or
-                     gas_regen == self.INACTIVE_GAS)
-        self.assertEqual(should_tx, self._tx(self._send_gas_msg(gas_regen)), (enabled, gas_regen))
-
 
 class TestGmSafetyBase(common.PandaSafetyTest, common.DriverTorqueSteeringSafetyTest):
   STANDSTILL_THRESHOLD = 10 * 0.0311

From 1c4b49d10de87c3f1555577bd5cdb7d6c2b7b75d Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Fri, 11 Aug 2023 09:27:54 -0700
Subject: [PATCH 100/113] subaru: use common test

---
 board/safety.h               |  6 ++++++
 board/safety/safety_subaru.h |  5 ++++-
 board/safety_declarations.h  |  6 ++++++
 tests/safety/test_subaru.py  | 29 +++++++++--------------------
 4 files changed, 25 insertions(+), 21 deletions(-)

diff --git a/board/safety.h b/board/safety.h
index 4d7efd2a0f..4f9a28ec61 100644
--- a/board/safety.h
+++ b/board/safety.h
@@ -509,6 +509,12 @@ bool longitudinal_speed_checks(int desired_speed, const LongitudinalLimits limit
   return !get_longitudinal_allowed() && (desired_speed != limits.inactive_speed);
 }
 
+bool longitudinal_alt_checks(int desired_alt, const LongitudinalLimits limits){
+  bool alt_valid = get_longitudinal_allowed() && !max_limit_check(desired_alt, limits.max_alt, limits.min_alt);
+  bool alt_inactive = desired_alt == limits.inactive_alt;
+  return !(alt_valid || alt_inactive);
+}
+
 bool longitudinal_gas_checks(int desired_gas, const LongitudinalLimits limits) {
   bool gas_valid = get_longitudinal_allowed() && !max_limit_check(desired_gas, limits.max_gas, limits.min_gas);
   bool gas_inactive = desired_gas == limits.inactive_gas;
diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index 751db0f072..fbead1cd2d 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -19,6 +19,9 @@ const LongitudinalLimits SUBARU_LONG_LIMITS = {
   .max_gas = 3400,      // approx  2 m/s^2 when maxing cruise_rpm and cruise_throttle
   .inactive_gas = 1818, // this is zero acceleration
   .max_brake = 600,     // approx -3.5 m/s^2
+
+  .min_alt = 0,         // Transmission RPM limits
+  .max_alt = 2400,
 };
 
 #define MSG_SUBARU_Brake_Status          0x13c
@@ -203,7 +206,7 @@ static int subaru_tx_hook(CANPacket_t *to_send) {
   // check es_status cruise_rpm limits
   if (addr == MSG_SUBARU_ES_Status) {
     int cruise_rpm = (GET_BYTES(to_send, 2, 2) & 0xFFFU);
-    violation |= longitudinal_gas_checks(cruise_rpm, SUBARU_LONG_LIMITS);
+    violation |= longitudinal_alt_checks(cruise_rpm, SUBARU_LONG_LIMITS);
   }
 
   if (violation) {
diff --git a/board/safety_declarations.h b/board/safety_declarations.h
index b2f0ea9854..de5b270a1d 100644
--- a/board/safety_declarations.h
+++ b/board/safety_declarations.h
@@ -90,6 +90,11 @@ typedef struct {
   const int inactive_gas;
   const int max_brake;
 
+  // alternative gas limits, ex: transmission rpm on subaru
+  const int max_alt;
+  const int min_alt;
+  const int inactive_alt;
+
   // speed cmd limits
   const int inactive_speed;
 } LongitudinalLimits;
@@ -163,6 +168,7 @@ bool steer_angle_cmd_checks(int desired_angle, bool steer_control_enabled, const
 bool longitudinal_accel_checks(int desired_accel, const LongitudinalLimits limits);
 bool longitudinal_speed_checks(int desired_speed, const LongitudinalLimits limits);
 bool longitudinal_gas_checks(int desired_gas, const LongitudinalLimits limits);
+bool longitudinal_alt_checks(int desired_alt, const LongitudinalLimits limits);
 bool longitudinal_brake_checks(int desired_brake, const LongitudinalLimits limits);
 bool longitudinal_interceptor_checks(CANPacket_t *to_send);
 void pcm_cruise_check(bool cruise_engaged);
diff --git a/tests/safety/test_subaru.py b/tests/safety/test_subaru.py
index 65e21164c4..bf9a11f240 100755
--- a/tests/safety/test_subaru.py
+++ b/tests/safety/test_subaru.py
@@ -105,7 +105,7 @@ class TestSubaruGen2SafetyBase(TestSubaruSafetyBase):
   MAX_TORQUE = 1000
 
 
-class TestSubaruLongitudinalSafetyBase(TestSubaruSafetyBase):
+class TestSubaruLongitudinalSafetyBase(TestSubaruSafetyBase, common.LongitudinalGasBrakeSafetyTest):
   MIN_GAS = 808
   MAX_GAS = 3400
   INACTIVE_GAS = 1818
@@ -115,37 +115,26 @@ class TestSubaruLongitudinalSafetyBase(TestSubaruSafetyBase):
   MAX_BRAKE = 600
   MAX_POSSIBLE_BRAKE = 2**16
 
+  MIN_RPM = 0
+  MAX_RPM = 2400
+  MAX_POSSIBLE_RPM = 2**12
+
   FWD_BLACKLISTED_ADDRS = {2: [MSG_SUBARU_ES_LKAS, MSG_SUBARU_ES_Brake, MSG_SUBARU_ES_Distance,
                                MSG_SUBARU_ES_Status, MSG_SUBARU_ES_DashStatus,
                                MSG_SUBARU_ES_LKAS_State, MSG_SUBARU_ES_Infotainment]}
 
-  def _generic_limit_safety_check(self, msg_function, min_value, max_value, max_possible_value, inactive_value=0):
-    for enabled in [0, 1]:
-      for v in range(min_value, max_possible_value):
-        self.safety.set_controls_allowed(enabled)
-        if (not enabled and v != inactive_value) or v > max_value or v < min_value:
-          self.assertFalse(self._tx(msg_function(v)))
-        else:
-          self.assertTrue(self._tx(msg_function(v)))
-
-  def test_brake_safety_check(self):
-    self._generic_limit_safety_check(self._brake_msg, self.MIN_BRAKE, self.MAX_BRAKE, self.MAX_POSSIBLE_BRAKE)
-
-  def test_gas_safety_check(self):
-    self._generic_limit_safety_check(self._gas_msg, self.MIN_GAS, self.MAX_GAS, self.MAX_POSSIBLE_GAS, self.INACTIVE_GAS)
-
   def test_rpm_safety_check(self):
-    self._generic_limit_safety_check(self._rpm_msg, self.MIN_GAS, self.MAX_GAS, self.MAX_POSSIBLE_GAS, self.INACTIVE_GAS)
+    self._generic_limit_safety_check(self._send_rpm_msg, self.MIN_RPM, self.MAX_RPM, 0, self.MAX_POSSIBLE_RPM, 1)
 
-  def _brake_msg(self, brake):
+  def _send_brake_msg(self, brake):
     values = {"Brake_Pressure": brake}
     return self.packer.make_can_msg_panda("ES_Brake", self.ALT_BUS, values)
 
-  def _gas_msg(self, gas):
+  def _send_gas_msg(self, gas):
     values = {"Cruise_Throttle": gas}
     return self.packer.make_can_msg_panda("ES_Distance", self.ALT_BUS, values)
 
-  def _rpm_msg(self, rpm):
+  def _send_rpm_msg(self, rpm):
     values = {"Cruise_RPM": rpm}
     return self.packer.make_can_msg_panda("ES_Status", self.ALT_BUS, values)
 

From 3e3b383b0ad7ff7579db45258134415debdfca5b Mon Sep 17 00:00:00 2001
From: Justin Newberry <jnewberry0502@gmail.com>
Date: Sun, 13 Aug 2023 02:29:40 +0000
Subject: [PATCH 101/113] fix merge issue

---
 board/safety/safety_subaru.h | 5 -----
 1 file changed, 5 deletions(-)

diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index 253c488775..077fa07504 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -219,11 +219,6 @@ static int subaru_tx_hook(CANPacket_t *to_send) {
     violation |= longitudinal_alt_checks(cruise_rpm, SUBARU_LONG_LIMITS);
   }
 
-  // Only allow ES_Distance when Cruise_Cancel is true, and Cruise_Throttle is "inactive" (1818)
-  if (addr == MSG_SUBARU_ES_Distance){
- 
-  }
-
   if (violation){
     tx = 0;
   }

From 79f70e12145b25e603973e96da0cbfcc26a70491 Mon Sep 17 00:00:00 2001
From: Justin Newberry <jnewberry0502@gmail.com>
Date: Sun, 13 Aug 2023 02:36:18 +0000
Subject: [PATCH 102/113] inactive gas from long limits

---
 board/safety/safety_subaru.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index 077fa07504..545580461b 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -207,8 +207,8 @@ static int subaru_tx_hook(CANPacket_t *to_send) {
     }
     else {
       // If openpilot is not controlling long, only allow ES_Distance for cruise cancel requests,
-      // (when Cruise_Cancel is true, and Cruise_Throttle is "inactive" at 1818)
-      violation |= (cruise_throttle != 1818);
+      // (when Cruise_Cancel is true, and Cruise_Throttle is inactive)
+      violation |= (cruise_throttle != SUBARU_LONG_LIMITS.inactive_gas);
       violation |= (!cruise_cancel);
     }
   }

From 442d95ae73022c29d7d3f0809195b472b48d403a Mon Sep 17 00:00:00 2001
From: Justin Newberry <jnewberry0502@gmail.com>
Date: Sun, 13 Aug 2023 02:54:23 +0000
Subject: [PATCH 103/113] fix tests

---
 tests/safety/test_subaru.py | 22 ++++++++++++----------
 1 file changed, 12 insertions(+), 10 deletions(-)

diff --git a/tests/safety/test_subaru.py b/tests/safety/test_subaru.py
index ef95c2fb87..1543819ed2 100755
--- a/tests/safety/test_subaru.py
+++ b/tests/safety/test_subaru.py
@@ -98,7 +98,9 @@ def _user_gas_msg(self, gas):
   def _pcm_status_msg(self, enable):
     values = {"Cruise_Activated": enable}
     return self.packer.make_can_msg_panda("CruiseControl", self.ALT_BUS, values)
+  
 
+class TestSubaruStockLongitudinalSafetyBase(TestSubaruSafetyBase):
   def _cancel_msg(self, cancel, cruise_throttle=0):
     values = {"Cruise_Cancel": cancel, "Cruise_Throttle": cruise_throttle}
     return self.packer.make_can_msg_panda("ES_Distance", self.ALT_BUS, values)
@@ -109,14 +111,6 @@ def test_cancel_message(self):
       self._generic_limit_safety_check(partial(self._cancel_msg, cancel), self.INACTIVE_GAS, self.INACTIVE_GAS, 0, 2**12, 1, self.INACTIVE_GAS, cancel)
 
 
-class TestSubaruGen2SafetyBase(TestSubaruSafetyBase):
-  ALT_BUS = SUBARU_ALT_BUS
-
-  MAX_RATE_UP = 40
-  MAX_RATE_DOWN = 40
-  MAX_TORQUE = 1000
-
-
 class TestSubaruLongitudinalSafetyBase(TestSubaruSafetyBase, common.LongitudinalGasBrakeSafetyTest):
   MIN_GAS = 808
   MAX_GAS = 3400
@@ -151,7 +145,15 @@ def _send_rpm_msg(self, rpm):
     return self.packer.make_can_msg_panda("ES_Status", self.ALT_BUS, values)
 
 
-class TestSubaruGen1Safety(TestSubaruSafetyBase):
+class TestSubaruGen2SafetyBase(TestSubaruStockLongitudinalSafetyBase):
+  ALT_BUS = SUBARU_ALT_BUS
+
+  MAX_RATE_UP = 40
+  MAX_RATE_DOWN = 40
+  MAX_TORQUE = 1000
+
+
+class TestSubaruGen1Safety(TestSubaruStockLongitudinalSafetyBase):
   FLAGS = 0
   TX_MSGS = lkas_tx_msgs(SUBARU_MAIN_BUS)
 
@@ -163,7 +165,7 @@ class TestSubaruGen2Safety(TestSubaruGen2SafetyBase):
 
 class TestSubaruGen1LongitudinalSafety(TestSubaruLongitudinalSafetyBase):
   FLAGS = Panda.FLAG_SUBARU_LONG
-  TX_MSGS = lkas_tx_msgs(0) + long_tx_msgs()
+  TX_MSGS = lkas_tx_msgs(SUBARU_MAIN_BUS) + long_tx_msgs()
 
 
 if __name__ == "__main__":

From b36ae945bdbc08a4bab6e6e7c4701253641890f4 Mon Sep 17 00:00:00 2001
From: Justin Newberry <jnewberry0502@gmail.com>
Date: Sun, 13 Aug 2023 02:57:29 +0000
Subject: [PATCH 104/113] linter

---
 tests/safety/test_subaru.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tests/safety/test_subaru.py b/tests/safety/test_subaru.py
index 1543819ed2..430e9d3318 100755
--- a/tests/safety/test_subaru.py
+++ b/tests/safety/test_subaru.py
@@ -98,7 +98,7 @@ def _user_gas_msg(self, gas):
   def _pcm_status_msg(self, enable):
     values = {"Cruise_Activated": enable}
     return self.packer.make_can_msg_panda("CruiseControl", self.ALT_BUS, values)
-  
+
 
 class TestSubaruStockLongitudinalSafetyBase(TestSubaruSafetyBase):
   def _cancel_msg(self, cancel, cruise_throttle=0):

From 8b0146c7cbdcf11884047487e0ebeb499d88dd8c Mon Sep 17 00:00:00 2001
From: Justin Newberry <jnewberry0502@gmail.com>
Date: Tue, 15 Aug 2023 02:31:46 +0000
Subject: [PATCH 105/113] fix gen2

---
 tests/safety/test_subaru.py | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/tests/safety/test_subaru.py b/tests/safety/test_subaru.py
index efd93755fc..8e91246f26 100755
--- a/tests/safety/test_subaru.py
+++ b/tests/safety/test_subaru.py
@@ -159,6 +159,9 @@ class TestSubaruGen2TorqueStockLongitudinalSafety(TestSubaruStockLongitudinalSaf
   MAX_RATE_DOWN = 40
   MAX_TORQUE = 1000
 
+  FLAGS = Panda.FLAG_SUBARU_GEN2
+  TX_MSGS = lkas_tx_msgs(SUBARU_ALT_BUS)
+
 
 class TestSubaruGen1LongitudinalSafety(TestSubaruLongitudinalSafetyBase):
   FLAGS = Panda.FLAG_SUBARU_LONG

From 8f4c7d76cb71701c83bcaf7df1f8962ca25f33d3 Mon Sep 17 00:00:00 2001
From: Justin Newberry <jnewberry0502@gmail.com>
Date: Tue, 15 Aug 2023 02:51:58 +0000
Subject: [PATCH 106/113] fix linter

---
 tests/safety/common.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/tests/safety/common.py b/tests/safety/common.py
index dcf908cf03..36df296eac 100644
--- a/tests/safety/common.py
+++ b/tests/safety/common.py
@@ -954,7 +954,8 @@ def test_tx_hook_on_wrong_safety_mode(self):
               continue
             if attr.startswith('TestToyota') and current_test.startswith('TestToyota'):
               continue
-            if {attr, current_test}.issubset({'TestSubaruGen1TorqueStockLongitudinalSafety', 'TestSubaruGen2TorqueStockLongitudinalSafety', 'TestSubaruGen1LongitudinalSafety'}):
+            if {attr, current_test}.issubset({'TestSubaruGen1TorqueStockLongitudinalSafety', 'TestSubaruGen2TorqueStockLongitudinalSafety',
+                                              'TestSubaruGen1LongitudinalSafety'}):
               continue
             if {attr, current_test}.issubset({'TestVolkswagenPqSafety', 'TestVolkswagenPqStockSafety', 'TestVolkswagenPqLongSafety'}):
               continue

From ac7d178019e068437945a05e1dcca4b6a38d020f Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Tue, 15 Aug 2023 15:13:07 -0700
Subject: [PATCH 107/113] also test torque when doing long control

---
 tests/safety/test_subaru.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tests/safety/test_subaru.py b/tests/safety/test_subaru.py
index 8e91246f26..f5c30e6e0a 100755
--- a/tests/safety/test_subaru.py
+++ b/tests/safety/test_subaru.py
@@ -163,7 +163,7 @@ class TestSubaruGen2TorqueStockLongitudinalSafety(TestSubaruStockLongitudinalSaf
   TX_MSGS = lkas_tx_msgs(SUBARU_ALT_BUS)
 
 
-class TestSubaruGen1LongitudinalSafety(TestSubaruLongitudinalSafetyBase):
+class TestSubaruGen1LongitudinalSafety(TestSubaruLongitudinalSafetyBase, TestSubaruTorqueSafetyBase):
   FLAGS = Panda.FLAG_SUBARU_LONG
   TX_MSGS = lkas_tx_msgs(SUBARU_MAIN_BUS) + long_tx_msgs()
 

From 495426a7f6b51020dc7e0e30cd0127751d52e0b3 Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Tue, 15 Aug 2023 16:14:09 -0700
Subject: [PATCH 108/113] renamre transmision rpm

---
 board/safety.h              | 8 ++++----
 board/safety_declarations.h | 8 ++++----
 2 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/board/safety.h b/board/safety.h
index 4f9a28ec61..8b90676e11 100644
--- a/board/safety.h
+++ b/board/safety.h
@@ -509,10 +509,10 @@ bool longitudinal_speed_checks(int desired_speed, const LongitudinalLimits limit
   return !get_longitudinal_allowed() && (desired_speed != limits.inactive_speed);
 }
 
-bool longitudinal_alt_checks(int desired_alt, const LongitudinalLimits limits){
-  bool alt_valid = get_longitudinal_allowed() && !max_limit_check(desired_alt, limits.max_alt, limits.min_alt);
-  bool alt_inactive = desired_alt == limits.inactive_alt;
-  return !(alt_valid || alt_inactive);
+bool longitudinal_transmission_rpm_checks(int desired_transmission_rpm, const LongitudinalLimits limits){
+  bool transmission_rpm_valid = get_longitudinal_allowed() && !max_limit_check(desired_transmission_rpm, limits.max_transmission_rpm, limits.min_transmission_rpm);
+  bool transmission_rpm_inactive = desired_transmission_rpm == limits.inactive_transmission_rpm;
+  return !(transmission_rpm_valid || transmission_rpm_inactive);
 }
 
 bool longitudinal_gas_checks(int desired_gas, const LongitudinalLimits limits) {
diff --git a/board/safety_declarations.h b/board/safety_declarations.h
index 0c40c560f0..89119275df 100644
--- a/board/safety_declarations.h
+++ b/board/safety_declarations.h
@@ -90,10 +90,10 @@ typedef struct {
   const int inactive_gas;
   const int max_brake;
 
-  // alternative cmd limits, ex: transmission rpm on subaru
-  const int max_alt;
-  const int min_alt;
-  const int inactive_alt;
+  // transmission rpm limits
+  const int max_transmission_rpm;
+  const int min_transmission_rpm;
+  const int inactive_transmission_rpm;
 
   // speed cmd limits
   const int inactive_speed;

From 34e9163b74cff728a1261ea5214d3979fc472e30 Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Tue, 15 Aug 2023 16:15:13 -0700
Subject: [PATCH 109/113] consistent whitespace

---
 board/safety.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/board/safety.h b/board/safety.h
index 8b90676e11..645d41d830 100644
--- a/board/safety.h
+++ b/board/safety.h
@@ -509,7 +509,7 @@ bool longitudinal_speed_checks(int desired_speed, const LongitudinalLimits limit
   return !get_longitudinal_allowed() && (desired_speed != limits.inactive_speed);
 }
 
-bool longitudinal_transmission_rpm_checks(int desired_transmission_rpm, const LongitudinalLimits limits){
+bool longitudinal_transmission_rpm_checks(int desired_transmission_rpm, const LongitudinalLimits limits) {
   bool transmission_rpm_valid = get_longitudinal_allowed() && !max_limit_check(desired_transmission_rpm, limits.max_transmission_rpm, limits.min_transmission_rpm);
   bool transmission_rpm_inactive = desired_transmission_rpm == limits.inactive_transmission_rpm;
   return !(transmission_rpm_valid || transmission_rpm_inactive);

From 0b1f0ad431d7e2618e67809d47ebf8bf80ab3890 Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Tue, 15 Aug 2023 16:29:31 -0700
Subject: [PATCH 110/113] rename declarations too

---
 board/safety_declarations.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/board/safety_declarations.h b/board/safety_declarations.h
index 89119275df..9064bb62e0 100644
--- a/board/safety_declarations.h
+++ b/board/safety_declarations.h
@@ -168,7 +168,7 @@ bool steer_angle_cmd_checks(int desired_angle, bool steer_control_enabled, const
 bool longitudinal_accel_checks(int desired_accel, const LongitudinalLimits limits);
 bool longitudinal_speed_checks(int desired_speed, const LongitudinalLimits limits);
 bool longitudinal_gas_checks(int desired_gas, const LongitudinalLimits limits);
-bool longitudinal_alt_checks(int desired_alt, const LongitudinalLimits limits);
+bool longitudinal_transmission_rpm_checks(int desired_transmission_rpm, const LongitudinalLimits limits);
 bool longitudinal_brake_checks(int desired_brake, const LongitudinalLimits limits);
 bool longitudinal_interceptor_checks(CANPacket_t *to_send);
 void pcm_cruise_check(bool cruise_engaged);

From 0ecc177c97be15c88ccf76c5fbb3585aa63d3956 Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Tue, 15 Aug 2023 16:31:05 -0700
Subject: [PATCH 111/113] rename transmission rpm

---
 board/safety/safety_subaru.h | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index 545580461b..c81bfe9a53 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -20,8 +20,8 @@ const LongitudinalLimits SUBARU_LONG_LIMITS = {
   .inactive_gas = 1818, // this is zero acceleration
   .max_brake = 600,     // approx -3.5 m/s^2
 
-  .min_alt = 0,         // Transmission RPM limits
-  .max_alt = 2400,
+  .min_transmission_rpm = 0,
+  .max_transmission_rpm = 2400,
 };
 
 #define MSG_SUBARU_Brake_Status          0x13c
@@ -216,7 +216,7 @@ static int subaru_tx_hook(CANPacket_t *to_send) {
   // check es_status cruise_rpm limits
   if (addr == MSG_SUBARU_ES_Status) {
     int cruise_rpm = (GET_BYTES(to_send, 2, 2) & 0xFFFU);
-    violation |= longitudinal_alt_checks(cruise_rpm, SUBARU_LONG_LIMITS);
+    violation |= longitudinal_transmission_rpm_checks(cruise_rpm, SUBARU_LONG_LIMITS);
   }
 
   if (violation){

From 3fba0208c06b05ae648aaf6d72621c5de8a9f881 Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Tue, 15 Aug 2023 17:28:10 -0700
Subject: [PATCH 112/113] same line

---
 board/safety/safety_subaru.h | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index c81bfe9a53..7d467a0ba7 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -204,8 +204,7 @@ static int subaru_tx_hook(CANPacket_t *to_send) {
     
     if (subaru_longitudinal) {
       violation |= longitudinal_gas_checks(cruise_throttle, SUBARU_LONG_LIMITS);
-    }
-    else {
+    } else {
       // If openpilot is not controlling long, only allow ES_Distance for cruise cancel requests,
       // (when Cruise_Cancel is true, and Cruise_Throttle is inactive)
       violation |= (cruise_throttle != SUBARU_LONG_LIMITS.inactive_gas);

From 9e1312ef599bee533b6a474ef5bd8d2e2d1362e3 Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Tue, 15 Aug 2023 17:29:25 -0700
Subject: [PATCH 113/113] actually is transmission rpm

---
 board/safety/safety_subaru.h | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index 7d467a0ba7..7a64362566 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -212,10 +212,10 @@ static int subaru_tx_hook(CANPacket_t *to_send) {
     }
   }
 
-  // check es_status cruise_rpm limits
+  // check es_status transmission_rpm limits
   if (addr == MSG_SUBARU_ES_Status) {
-    int cruise_rpm = (GET_BYTES(to_send, 2, 2) & 0xFFFU);
-    violation |= longitudinal_transmission_rpm_checks(cruise_rpm, SUBARU_LONG_LIMITS);
+    int transmission_rpm = (GET_BYTES(to_send, 2, 2) & 0xFFFU);
+    violation |= longitudinal_transmission_rpm_checks(transmission_rpm, SUBARU_LONG_LIMITS);
   }
 
   if (violation){