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Subaru: cancel safety (#1576) 

* subaru cancel safety

* misra
This commit is contained in:
Justin Newberry 2023-08-12 17:16:28 -07:00 committed by GitHub
parent 7dbdf6ba2b
commit a0344a11e7
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2 changed files with 20 additions and 0 deletions
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8
board/safety/safety_subaru.h
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@ -166,6 +166,14 @@ static int subaru_tx_hook(CANPacket_t *to_send) {
violation |= steer_torque_cmd_checks(desired_torque, -1, limits);
}
// Only allow ES_Distance when Cruise_Cancel is true, and Cruise_Throttle is "inactive" (1818)
if (addr == MSG_SUBARU_ES_Distance){
int cruise_throttle = (GET_BYTES(to_send, 2, 2) & 0xFFFU);
bool cruise_cancel = GET_BIT(to_send, 56U) != 0U;
violation |= (cruise_throttle != 1818);
violation |= (!cruise_cancel);
}
if (violation){
tx = 0;
}

12
tests/safety/test_subaru.py
View File

@ -4,6 +4,7 @@ from panda import Panda
from panda.tests.libpanda import libpanda_py
import panda.tests.safety.common as common
from panda.tests.safety.common import CANPackerPanda, MeasurementSafetyTest
from functools import partial
MSG_SUBARU_Brake_Status = 0x13c
@ -54,6 +55,8 @@ class TestSubaruSafetyBase(common.PandaSafetyTest, common.DriverTorqueSteeringSa
DEG_TO_CAN = -100
INACTIVE_GAS = 1818
def setUp(self):
self.packer = CANPackerPanda("subaru_global_2017_generated")
self.safety = libpanda_py.libpanda
@ -93,6 +96,15 @@ class TestSubaruSafetyBase(common.PandaSafetyTest, common.DriverTorqueSteeringSa
values = {"Cruise_Activated": enable}
return self.packer.make_can_msg_panda("CruiseControl", self.ALT_BUS, values)
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)
def test_cancel_message(self):
# test that we can only send the cancel message (ES_Distance) with inactive throttle (1818) and Cruise_Cancel=1
for cancel in [True, False]:
self._generic_limit_safety_check(partial(self._cancel_msg, cancel), self.INACTIVE_GAS, self.INACTIVE_GAS, 0, 2**12, 1, self.INACTIVE_GAS, cancel)
class TestSubaruGen2SafetyBase(TestSubaruSafetyBase):
ALT_BUS = SUBARU_ALT_BUS