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Fix Subaru Legacy Torque driver bug (#454) 

* Fix Subaru Legacy Torque driver bug
master
rbiasini 2020-02-27 17:20:58 -08:00 committed by GitHub
parent dfa6b079de
commit 9a44499879
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
4 changed files with 26 additions and 19 deletions
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8
board/safety/safety_subaru.h
View File

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

1
tests/safety/libpandasafety_py.py
View File

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

5
tests/safety/test.c
View File

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

31
tests/safety/test_subaru.py
View File

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