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add subaru outback/legacy to subaru safety (#259) 

* add subaru outback/legacy safety

* subaru safety passes misra check

* change violation to bool
This commit is contained in:
Bugsy 2019-09-10 08:13:02 +10:00 committed by rbiasini
parent bdeb1c953f
commit a8ed7d2199
1 changed files with 10 additions and 8 deletions
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18
board/safety/safety_subaru.h
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@ -14,21 +14,22 @@ int subaru_desired_torque_last = 0;
uint32_t subaru_ts_last = 0;
struct sample_t subaru_torque_driver; // last few driver torques measured
static void subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
int bus = GET_BUS(to_push);
int addr = GET_ADDR(to_push);
if ((addr == 0x119) && (bus == 0)){
int torque_driver_new = ((GET_BYTES_04(to_push) >> 16) & 0x7FF);
if (((addr == 0x119) || (addr == 0x371)) && (bus == 0)){
int bit_shift = (addr == 0x119) ? 16 : 29;
int torque_driver_new = ((GET_BYTES_04(to_push) >> bit_shift) & 0x7FF);
torque_driver_new = to_signed(torque_driver_new, 11);
// update array of samples
update_sample(&subaru_torque_driver, torque_driver_new);
}
// enter controls on rising edge of ACC, exit controls on ACC off
if ((addr == 0x240) && (bus == 0)) {
int cruise_engaged = GET_BYTE(to_push, 5) & 2;
if (((addr == 0x240) || (addr == 0x144)) && (bus == 0)) {
int bit_shift = (addr == 0x240) ? 9 : 17;
int cruise_engaged = ((GET_BYTES_48(to_push) >> bit_shift) & 1);
if (cruise_engaged && !subaru_cruise_engaged_last) {
controls_allowed = 1;
}
@ -44,8 +45,9 @@ static int subaru_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
int addr = GET_ADDR(to_send);
// steer cmd checks
if (addr == 0x122) {
int desired_torque = ((GET_BYTES_04(to_send) >> 16) & 0x1FFF);
if ((addr == 0x122) || (addr == 0x164)) {
int bit_shift = (addr == 0x122) ? 16 : 8;
int desired_torque = ((GET_BYTES_04(to_send) >> bit_shift) & 0x1FFF);
bool violation = 0;
uint32_t ts = TIM2->CNT;
desired_torque = to_signed(desired_torque, 13);
@ -102,8 +104,8 @@ static int subaru_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
bus_fwd = 2; // Camera CAN
}
if (bus_num == 2) {
// 290 is LKAS for Global Platform
// 356 is LKAS for outback 2015
// 356 is LKAS for Global Platform
// 545 is ES_Distance
// 802 is ES_LKAS
int addr = GET_ADDR(to_fwd);