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subaru: steering_torque is also needed

This commit is contained in:
Martin Lillepuu 2024-09-08 20:32:11 +03:00
parent b92a0689f8
commit 2c706c8d98
1 changed files with 5 additions and 1 deletions
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6
board/safety/safety_subaru.h
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@ -35,6 +35,7 @@ const LongitudinalLimits SUBARU_LONG_LIMITS = {
#define MSG_SUBARU_CruiseControl 0x240
#define MSG_SUBARU_Throttle 0x40
#define MSG_SUBARU_Steering_Torque_2 0x118
#define MSG_SUBARU_Steering_Torque 0x119
#define MSG_SUBARU_Wheel_Speeds 0x13a
#define MSG_SUBARU_ES_LKAS 0x122
@ -76,6 +77,7 @@ const LongitudinalLimits SUBARU_LONG_LIMITS = {
#define SUBARU_COMMON_RX_CHECKS(alt_bus) \
{.msg = {{MSG_SUBARU_Throttle, SUBARU_MAIN_BUS, 8, .check_checksum = true, .max_counter = 15U, .frequency = 100U}, { 0 }, { 0 }}}, \
{.msg = {{MSG_SUBARU_Steering_Torque_2, SUBARU_MAIN_BUS, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}}, \
{.msg = {{MSG_SUBARU_Steering_Torque, SUBARU_MAIN_BUS, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}}, \
{.msg = {{MSG_SUBARU_Wheel_Speeds, alt_bus, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}}, \
{.msg = {{MSG_SUBARU_Brake_Status, alt_bus, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}}, \
{.msg = {{MSG_SUBARU_CruiseControl, alt_bus, 8, .check_checksum = true, .max_counter = 15U, .frequency = 20U}, { 0 }, { 0 }}}, \
@ -143,9 +145,11 @@ static void subaru_rx_hook(const CANPacket_t *to_push) {
torque_driver_new = ((GET_BYTES(to_push, 0, 4) >> 45) & 0x7FFU);
torque_driver_new = -1 * to_signed(torque_driver_new, 11);
update_sample(&torque_driver, torque_driver_new);
}
if ((addr == MSG_SUBARU_Steering_Torque) && (bus == SUBARU_MAIN_BUS)) {
int angle_meas_new = (GET_BYTES(to_push, 4, 2) & 0xFFFFU);
// convert Steering_Torque_2 -> Steering_Angle to centidegrees, to match the ES_LKAS_ANGLE angle request units
// convert Steering_Torque -> Steering_Angle to centidegrees, to match the ES_LKAS_ANGLE angle request units
angle_meas_new = ROUND(to_signed(angle_meas_new, 16) * -2.17);
update_sample(&angle_meas, angle_meas_new);
}