add angle based safety

Author: jnewb1

board/safety/safety_subaru.h

@@ -13,6 +13,17 @@
 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);
 
+const SteeringLimits SUBARU_ANGLE_STEERING_LIMITS = {
+  .angle_deg_to_can = 100,
+  .angle_rate_up_lookup = {
+    {0., 5., 15.},
+    {5., .8, .15}
+  },
+  .angle_rate_down_lookup = {
+    {0., 5., 15.},
+    {5., 3.5, .4}
+  },
+};
 
 const LongitudinalLimits SUBARU_LONG_LIMITS = {
   .min_gas = 808,       // appears to be engine braking
@@ -44,7 +55,7 @@ const LongitudinalLimits SUBARU_LONG_LIMITS = {
 #define SUBARU_CAM_BUS  2
 
 #define SUBARU_COMMON_TX_MSGS(alt_bus, lkas_msg)    \
-  {MSG_SUBARU_ES_LKAS,         SUBARU_MAIN_BUS, 8}, \
+  {lkas_msg,                   SUBARU_MAIN_BUS, 8}, \
   {MSG_SUBARU_ES_Distance,     alt_bus,         8}, \
   {MSG_SUBARU_ES_DashStatus,   SUBARU_MAIN_BUS, 8}, \
   {MSG_SUBARU_ES_LKAS_State,   SUBARU_MAIN_BUS, 8}, \
@@ -77,6 +88,11 @@ const CanMsg SUBARU_GEN2_TX_MSGS[] = {
 };
 #define SUBARU_GEN2_TX_MSGS_LEN (sizeof(SUBARU_GEN2_TX_MSGS) / sizeof(SUBARU_GEN2_TX_MSGS[0]))
 
+const CanMsg SUBARU_LKAS_ANGLE_TX_MSGS[] = {
+  SUBARU_COMMON_TX_MSGS(SUBARU_MAIN_BUS, MSG_SUBARU_ES_LKAS_ANGLE)
+};
+#define SUBARU_LKAS_ANGLE_TX_MSGS_LEN (sizeof(SUBARU_LKAS_ANGLE_TX_MSGS) / sizeof(SUBARU_LKAS_ANGLE_TX_MSGS[0]))
+
 AddrCheckStruct subaru_addr_checks[] = {
   SUBARU_COMMON_ADDR_CHECKS(SUBARU_MAIN_BUS)
 };
@@ -92,9 +108,11 @@ addr_checks subaru_gen2_rx_checks = {subaru_gen2_addr_checks, SUBARU_GEN2_ADDR_C
 
 const uint16_t SUBARU_PARAM_GEN2 = 1;
 const uint16_t SUBARU_PARAM_LONGITUDINAL = 2;
+const uint16_t SUBARU_PARAM_LKAS_ANGLE = 4;
 
 bool subaru_gen2 = false;
 bool subaru_longitudinal = false;
+bool lkas_angle = false;
 
 
 static uint32_t subaru_get_checksum(CANPacket_t *to_push) {
@@ -123,6 +141,7 @@ static int subaru_rx_hook(CANPacket_t *to_push) {
   if (valid) {
     const int bus = GET_BUS(to_push);
     const int alt_main_bus = subaru_gen2 ? SUBARU_ALT_BUS : SUBARU_MAIN_BUS;
+    const int stock_ecu = lkas_angle ? MSG_SUBARU_ES_LKAS_ANGLE : MSG_SUBARU_ES_LKAS;
 
     int addr = GET_ADDR(to_push);
     if ((addr == MSG_SUBARU_Steering_Torque) && (bus == SUBARU_MAIN_BUS)) {
@@ -164,7 +183,7 @@ static int subaru_rx_hook(CANPacket_t *to_push) {
       gas_pressed = GET_BYTE(to_push, 4) != 0U;
     }
 
-    generic_rx_checks((addr == MSG_SUBARU_ES_LKAS) && (bus == SUBARU_MAIN_BUS));
+    generic_rx_checks((addr == stock_ecu) && (bus == SUBARU_MAIN_BUS));
   }
   return valid;
 }
@@ -179,6 +198,8 @@ static int subaru_tx_hook(CANPacket_t *to_send) {
     tx = msg_allowed(to_send, SUBARU_GEN2_TX_MSGS, SUBARU_GEN2_TX_MSGS_LEN);
   } else if (subaru_longitudinal) {
     tx = msg_allowed(to_send, SUBARU_LONG_TX_MSGS, SUBARU_LONG_TX_MSGS_LEN);
+  } else if(lkas_angle) {
+    tx = msg_allowed(to_send, SUBARU_LKAS_ANGLE_TX_MSGS, SUBARU_LKAS_ANGLE_TX_MSGS_LEN);
   } else {
     tx = msg_allowed(to_send, SUBARU_TX_MSGS, SUBARU_TX_MSGS_LEN);
   }
@@ -194,6 +215,15 @@ static int subaru_tx_hook(CANPacket_t *to_send) {
     violation |= steer_torque_cmd_checks(desired_torque, steer_req, limits);
   }
 
+  if (addr == MSG_SUBARU_ES_LKAS_ANGLE) {
+    int desired_angle = (GET_BYTES(to_send, 5, 3) & 0x1FFFFU);
+    desired_angle = to_signed(desired_angle, 17);
+    bool lkas_request = GET_BIT(to_send, 12U);
+
+    const SteeringLimits limits = SUBARU_ANGLE_STEERING_LIMITS;
+    violation |= steer_angle_cmd_checks(desired_angle, lkas_request, limits);
+  }
+  
   // check es_brake brake_pressure limits
   if (addr == MSG_SUBARU_ES_Brake) {
     int es_brake_pressure = GET_BYTES(to_send, 2, 2);
@@ -236,10 +266,12 @@ static int subaru_fwd_hook(int bus_num, int addr) {
 
   if (bus_num == SUBARU_CAM_BUS) {
     // Global platform
-    bool block_lkas = ((addr == MSG_SUBARU_ES_LKAS) ||
-                       (addr == MSG_SUBARU_ES_DashStatus) ||
-                       (addr == MSG_SUBARU_ES_LKAS_State) ||
-                       (addr == MSG_SUBARU_ES_Infotainment));
+
+    bool block_lkas = (((addr == MSG_SUBARU_ES_LKAS)       && !lkas_angle) ||
+                       ((addr == MSG_SUBARU_ES_LKAS_ANGLE) &&  lkas_angle) ||
+                        (addr == MSG_SUBARU_ES_DashStatus) ||
+                        (addr == MSG_SUBARU_ES_LKAS_State) ||
+                        (addr == MSG_SUBARU_ES_Infotainment));
 
     bool block_long = ((addr == MSG_SUBARU_ES_Brake) ||
                        (addr == MSG_SUBARU_ES_Distance) ||
@@ -259,6 +291,7 @@ static const addr_checks* subaru_init(uint16_t param) {
 
 #ifdef ALLOW_DEBUG
   subaru_longitudinal = GET_FLAG(param, SUBARU_PARAM_LONGITUDINAL) && !subaru_gen2;
+  lkas_angle = GET_FLAG(param, SUBARU_PARAM_LKAS_ANGLE) && !subaru_gen2;
 #endif
 
   if (subaru_gen2) {

python/__init__.py

@@ -236,6 +236,7 @@ class Panda:
 
   FLAG_SUBARU_GEN2 = 1
   FLAG_SUBARU_LONG = 2
+  FLAG_SUBARU_LKAS_ANGLE = 4
 
   FLAG_GM_HW_CAM = 1
   FLAG_GM_HW_CAM_LONG = 2

tests/safety/common.py

@@ -955,7 +955,7 @@ def test_tx_hook_on_wrong_safety_mode(self):
             if attr.startswith('TestToyota') and current_test.startswith('TestToyota'):
               continue
             if {attr, current_test}.issubset({'TestSubaruGen1TorqueStockLongitudinalSafety', 'TestSubaruGen2TorqueStockLongitudinalSafety',
-                                              'TestSubaruGen1LongitudinalSafety'}):
+                                              'TestSubaruGen1AngleStockLongitudinalSafety', 'TestSubaruGen1LongitudinalSafety'}):
               continue
             if {attr, current_test}.issubset({'TestVolkswagenPqSafety', 'TestVolkswagenPqStockSafety', 'TestVolkswagenPqLongSafety'}):
               continue

tests/safety/test_subaru.py

@@ -151,6 +151,25 @@ def _torque_cmd_msg(self, torque, steer_req=1):
     values = {"LKAS_Output": torque, "LKAS_Request": steer_req}
     return self.packer.make_can_msg_panda("ES_LKAS", SUBARU_MAIN_BUS, values)
 
+class TestSubaruAngleSafetyBase(TestSubaruSafetyBase, common.AngleSteeringSafetyTest):
+  TX_MSGS = lkas_tx_msgs(SUBARU_MAIN_BUS, MSG_SUBARU_ES_LKAS_ANGLE)
+  RELAY_MALFUNCTION_ADDR = MSG_SUBARU_ES_LKAS_ANGLE
+  FWD_BLACKLISTED_ADDRS = fwd_blacklisted_addr(MSG_SUBARU_ES_LKAS_ANGLE)
+
+  FLAGS = Panda.FLAG_SUBARU_LKAS_ANGLE
+
+  ANGLE_RATE_BP = [0, 5, 15]
+  ANGLE_RATE_UP = [5, 0.8, 0.15]
+  ANGLE_RATE_DOWN = [5, 3.5, 0.4]
+
+  def _angle_cmd_msg(self, angle, enabled=1):
+    values = {"LKAS_Output": angle, "LKAS_Request": enabled}
+    return self.packer.make_can_msg_panda("ES_LKAS_ANGLE", 0, values)
+
+  def _angle_meas_msg(self, angle):
+    values = {"Steering_Angle": angle}
+    return self.packer.make_can_msg_panda("Steering_Torque", 0, values)
+
 
 class TestSubaruGen1TorqueStockLongitudinalSafety(TestSubaruStockLongitudinalSafetyBase, TestSubaruTorqueSafetyBase):
   FLAGS = 0
@@ -174,5 +193,9 @@ class TestSubaruGen1LongitudinalSafety(TestSubaruLongitudinalSafetyBase, TestSub
   TX_MSGS = lkas_tx_msgs(SUBARU_MAIN_BUS) + long_tx_msgs()
 
 
+class TestSubaruGen1AngleStockLongitudinalSafety(TestSubaruStockLongitudinalSafetyBase, TestSubaruAngleSafetyBase):
+  pass
+
+
 if __name__ == "__main__":
   unittest.main()