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Subaru: cleanup to prepare for angle controller (#1585) 

cleanup prepare for angle
This commit is contained in:
Justin Newberry 2023-08-16 12:40:29 -07:00 committed by GitHub
parent b25810670e
commit 02bcd14376
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 17 additions and 12 deletions
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2
board/safety/safety_subaru.h
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@ -10,7 +10,7 @@
.type = TorqueDriverLimited, \
} \
const SteeringLimits SUBARU_STEERING_LIMITS = SUBARU_STEERING_LIMITS_GENERATOR(2047, 50, 70);
const SteeringLimits SUBARU_STEERING_LIMITS = SUBARU_STEERING_LIMITS_GENERATOR(2047, 50, 70);
const SteeringLimits SUBARU_GEN2_STEERING_LIMITS = SUBARU_STEERING_LIMITS_GENERATOR(1000, 40, 40);

27
tests/safety/test_subaru.py
View File

@ -36,13 +36,16 @@ def long_tx_msgs():
return [[MSG_SUBARU_ES_Brake, SUBARU_MAIN_BUS],
[MSG_SUBARU_ES_Status, SUBARU_MAIN_BUS]]
def fwd_blacklisted_addr():
return {SUBARU_CAM_BUS: [MSG_SUBARU_ES_LKAS, MSG_SUBARU_ES_DashStatus, MSG_SUBARU_ES_LKAS_State, MSG_SUBARU_ES_Infotainment]}
class TestSubaruSafetyBase(common.PandaSafetyTest, MeasurementSafetyTest):
FLAGS = 0
STANDSTILL_THRESHOLD = 0 # kph
RELAY_MALFUNCTION_ADDR = MSG_SUBARU_ES_LKAS
RELAY_MALFUNCTION_BUS = SUBARU_MAIN_BUS
FWD_BUS_LOOKUP = {SUBARU_MAIN_BUS: SUBARU_CAM_BUS, SUBARU_CAM_BUS: SUBARU_MAIN_BUS}
FWD_BLACKLISTED_ADDRS = {SUBARU_CAM_BUS: [MSG_SUBARU_ES_LKAS, MSG_SUBARU_ES_DashStatus, MSG_SUBARU_ES_LKAS_State, MSG_SUBARU_ES_Infotainment]}
FWD_BLACKLISTED_ADDRS = fwd_blacklisted_addr()
MAX_RT_DELTA = 940
RT_INTERVAL = 250000
@ -50,7 +53,8 @@ class TestSubaruSafetyBase(common.PandaSafetyTest, MeasurementSafetyTest):
DRIVER_TORQUE_ALLOWANCE = 60
DRIVER_TORQUE_FACTOR = 50
ALT_BUS = SUBARU_MAIN_BUS
ALT_MAIN_BUS = SUBARU_MAIN_BUS
ALT_CAM_BUS = SUBARU_CAM_BUS
DEG_TO_CAN = -100
@ -73,7 +77,7 @@ class TestSubaruSafetyBase(common.PandaSafetyTest, MeasurementSafetyTest):
def _speed_msg(self, speed):
values = {s: speed for s in ["FR", "FL", "RR", "RL"]}
return self.packer.make_can_msg_panda("Wheel_Speeds", self.ALT_BUS, values)
return self.packer.make_can_msg_panda("Wheel_Speeds", self.ALT_MAIN_BUS, values)
def _angle_meas_msg(self, angle):
values = {"Steering_Angle": angle}
@ -81,7 +85,7 @@ class TestSubaruSafetyBase(common.PandaSafetyTest, MeasurementSafetyTest):
def _user_brake_msg(self, brake):
values = {"Brake": brake}
return self.packer.make_can_msg_panda("Brake_Status", self.ALT_BUS, values)
return self.packer.make_can_msg_panda("Brake_Status", self.ALT_MAIN_BUS, values)
def _user_gas_msg(self, gas):
values = {"Throttle_Pedal": gas}
@ -89,13 +93,13 @@ class TestSubaruSafetyBase(common.PandaSafetyTest, MeasurementSafetyTest):
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("CruiseControl", self.ALT_MAIN_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)
return self.packer.make_can_msg_panda("ES_Distance", self.ALT_MAIN_BUS, values)
def test_cancel_message(self):
# test that we can only send the cancel message (ES_Distance) with inactive throttle (1818) and Cruise_Cancel=1
@ -126,15 +130,15 @@ class TestSubaruLongitudinalSafetyBase(TestSubaruSafetyBase, common.Longitudinal
def _send_brake_msg(self, brake):
values = {"Brake_Pressure": brake}
return self.packer.make_can_msg_panda("ES_Brake", self.ALT_BUS, values)
return self.packer.make_can_msg_panda("ES_Brake", self.ALT_MAIN_BUS, values)
def _send_gas_msg(self, gas):
values = {"Cruise_Throttle": gas}
return self.packer.make_can_msg_panda("ES_Distance", self.ALT_BUS, values)
return self.packer.make_can_msg_panda("ES_Distance", self.ALT_MAIN_BUS, values)
def _send_rpm_msg(self, rpm):
values = {"Cruise_RPM": rpm}
return self.packer.make_can_msg_panda("ES_Status", self.ALT_BUS, values)
return self.packer.make_can_msg_panda("ES_Status", self.ALT_MAIN_BUS, values)
class TestSubaruTorqueSafetyBase(TestSubaruSafetyBase, common.DriverTorqueSteeringSafetyTest):
@ -144,7 +148,7 @@ class TestSubaruTorqueSafetyBase(TestSubaruSafetyBase, common.DriverTorqueSteeri
def _torque_cmd_msg(self, torque, steer_req=1):
values = {"LKAS_Output": torque}
return self.packer.make_can_msg_panda("ES_LKAS", 0, values)
return self.packer.make_can_msg_panda("ES_LKAS", SUBARU_MAIN_BUS, values)
class TestSubaruGen1TorqueStockLongitudinalSafety(TestSubaruStockLongitudinalSafetyBase, TestSubaruTorqueSafetyBase):
@ -153,7 +157,8 @@ class TestSubaruGen1TorqueStockLongitudinalSafety(TestSubaruStockLongitudinalSaf
class TestSubaruGen2TorqueStockLongitudinalSafety(TestSubaruStockLongitudinalSafetyBase, TestSubaruTorqueSafetyBase):
ALT_BUS = SUBARU_ALT_BUS
ALT_MAIN_BUS = SUBARU_ALT_BUS
ALT_CAM_BUS = SUBARU_ALT_BUS
MAX_RATE_UP = 40
MAX_RATE_DOWN = 40