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Subaru: fix steer torque scaling (#501) 

* Subaru: fix steer torque scaling

* fix legacy test
master
Adeeb 2020-04-28 10:47:26 -07:00 committed by GitHub
parent 0bc864b3d5
commit 3517306113
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 6 additions and 5 deletions
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5
board/safety/safety_subaru.h
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@ -70,10 +70,11 @@ static int subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
int torque_driver_new;
if (subaru_global) {
torque_driver_new = ((GET_BYTES_04(to_push) >> 16) & 0x7FF);
torque_driver_new = -1 * to_signed(torque_driver_new, 11);
} else {
torque_driver_new = (GET_BYTE(to_push, 3) >> 5) + (GET_BYTE(to_push, 4) << 3);
torque_driver_new = to_signed(torque_driver_new, 11);
}
torque_driver_new = to_signed(torque_driver_new, 11);
update_sample(&torque_driver, torque_driver_new);
}
@ -148,7 +149,7 @@ static int subaru_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
int desired_torque = ((GET_BYTES_04(to_send) >> bit_shift) & 0x1FFF);
bool violation = 0;
uint32_t ts = TIM2->CNT;
desired_torque = to_signed(desired_torque, 13);
desired_torque = -1 * to_signed(desired_torque, 13);
if (controls_allowed) {

6
tests/safety/test_subaru.py
View File

@ -42,7 +42,7 @@ class TestSubaruSafety(common.PandaSafetyTest):
self.safety.set_rt_torque_last(t)
def _torque_driver_msg(self, torque):
values = {"Steer_Torque_Sensor": -torque, "counter": self.cnt_torque_driver % 4}
values = {"Steer_Torque_Sensor": torque, "counter": self.cnt_torque_driver % 4}
self.__class__.cnt_torque_driver += 1
return self.packer.make_can_msg_panda("Steering_Torque", 0, values)
@ -59,7 +59,7 @@ class TestSubaruSafety(common.PandaSafetyTest):
return self.packer.make_can_msg_panda("Brake_Pedal", 0, values)
def _torque_msg(self, torque):
values = {"LKAS_Output": -torque}
values = {"LKAS_Output": torque}
return self.packer.make_can_msg_panda("ES_LKAS", 0, values)
def _gas_msg(self, gas):
@ -194,7 +194,7 @@ class TestSubaruLegacySafety(TestSubaruSafety):
return self.packer.make_can_msg_panda("Steering_Torque", 0, values)
def _torque_msg(self, torque):
values = {"LKAS_Command": -torque}
values = {"LKAS_Command": torque}
return self.packer.make_can_msg_panda("ES_LKAS", 0, values)
def _gas_msg(self, gas):