Subaru: fixed bug and added safety tests

board/safety/safety_subaru.h

@@ -44,7 +44,7 @@ static int subaru_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
   // steer cmd checks
   if (addr == 0x122) {
-    int desired_torque = ((to_send->RDLR >> 16) && 0x1FFF);
+    int desired_torque = ((to_send->RDLR >> 16) & 0x1FFF);
     int violation = 0;
     uint32_t ts = TIM2->CNT;
     desired_torque = to_signed(desired_torque, 13);

tests/safety/libpandasafety_py.py

@@ -30,25 +30,20 @@ typedef struct
   uint32_t CNT;
 } TIM_TypeDef;
 
+void set_controls_allowed(int c);
+int get_controls_allowed(void);
+void set_timer(int t);
+void reset_angle_control(void);
+
+void init_tests_toyota(void);
 void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
 int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
 void toyota_init(int16_t param);
-void set_controls_allowed(int c);
-void reset_angle_control(void);
-int get_controls_allowed(void);
-void init_tests_toyota(void);
-void set_timer(int t);
-void set_toyota_torque_meas(int min, int max);
-void set_cadillac_torque_driver(int min, int max);
-void set_gm_torque_driver(int min, int max);
-void set_hyundai_torque_driver(int min, int max);
-void set_chrysler_torque_meas(int min, int max);
-void set_toyota_rt_torque_last(int t);
-void set_toyota_desired_torque_last(int t);
 int get_toyota_torque_meas_min(void);
 int get_toyota_torque_meas_max(void);
-int get_chrysler_torque_meas_min(void);
-int get_chrysler_torque_meas_max(void);
+void set_toyota_torque_meas(int min, int max);
+void set_toyota_desired_torque_last(int t);
+void set_toyota_rt_torque_last(int t);
 
 void init_tests_honda(void);
 int get_ego_speed(void);
@@ -66,6 +61,7 @@ void cadillac_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
 int cadillac_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
 void set_cadillac_desired_torque_last(int t);
 void set_cadillac_rt_torque_last(int t);
+void set_cadillac_torque_driver(int min, int max);
 
 void init_tests_gm(void);
 void gm_init(int16_t param);
@@ -73,6 +69,7 @@ void gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
 int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
 void set_gm_desired_torque_last(int t);
 void set_gm_rt_torque_last(int t);
+void set_gm_torque_driver(int min, int max);
 
 void init_tests_hyundai(void);
 void nooutput_init(int16_t param);
@@ -80,6 +77,7 @@ void hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
 int hyundai_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
 void set_hyundai_desired_torque_last(int t);
 void set_hyundai_rt_torque_last(int t);
+void set_hyundai_torque_driver(int min, int max);
 
 void toyota_ipas_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
 int toyota_ipas_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
@@ -89,6 +87,16 @@ void chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
 int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
 void set_chrysler_desired_torque_last(int t);
 void set_chrysler_rt_torque_last(int t);
+int get_chrysler_torque_meas_min(void);
+int get_chrysler_torque_meas_max(void);
+void set_chrysler_torque_meas(int min, int max);
+
+void init_tests_subaru(void);
+void subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
+int subaru_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
+void set_subaru_desired_torque_last(int t);
+void set_subaru_rt_torque_last(int t);
+void set_subaru_torque_driver(int min, int max);
 
 
 """)

tests/safety/test.c

@@ -26,7 +26,8 @@ struct sample_t toyota_torque_meas;
 struct sample_t cadillac_torque_driver;
 struct sample_t gm_torque_driver;
 struct sample_t hyundai_torque_driver;
-struct sample_t chrysler_torque_driver;
+struct sample_t chrysler_torque_meas;
+struct sample_t subaru_torque_driver;
 
 TIM_TypeDef timer;
 TIM_TypeDef *TIM2 = &timer;
@@ -87,6 +88,11 @@ 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;
+}
+
 int get_chrysler_torque_meas_min(void){
   return chrysler_torque_meas.min;
 }
@@ -123,6 +129,10 @@ void set_chrysler_rt_torque_last(int t){
   chrysler_rt_torque_last = t;
 }
 
+void set_subaru_rt_torque_last(int t){
+  subaru_rt_torque_last = t;
+}
+
 void set_toyota_desired_torque_last(int t){
   toyota_desired_torque_last = t;
 }
@@ -143,6 +153,10 @@ void set_chrysler_desired_torque_last(int t){
   chrysler_desired_torque_last = t;
 }
 
+void set_subaru_desired_torque_last(int t){
+  subaru_desired_torque_last = t;
+}
+
 int get_ego_speed(void){
   return ego_speed;
 }
@@ -200,14 +214,23 @@ void init_tests_hyundai(void){
 }
 
 void init_tests_chrysler(void){
-  chrysler_torque_driver.min = 0;
-  chrysler_torque_driver.max = 0;
+  chrysler_torque_meas.min = 0;
+  chrysler_torque_meas.max = 0;
   chrysler_desired_torque_last = 0;
   chrysler_rt_torque_last = 0;
   chrysler_ts_last = 0;
   set_timer(0);
 }
 
+void init_tests_subaru(void){
+  subaru_torque_driver.min = 0;
+  subaru_torque_driver.max = 0;
+  subaru_desired_torque_last = 0;
+  subaru_rt_torque_last = 0;
+  subaru_ts_last = 0;
+  set_timer(0);
+}
+
 void init_tests_honda(void){
   ego_speed = 0;
   gas_interceptor_detected = 0;