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Subaru Forester Hybrid safety #959

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Subaru Forester Hybrid safety #959

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016fb92
Subaru Forester Hybrid safety
sshane Jun 7, 2022
d8e3dc0
tests
sshane Jun 7, 2022
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29 changes: 24 additions & 5 deletions board/safety/safety_subaru.h
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Original file line number Diff line number Diff line change
Expand Up @@ -20,7 +20,8 @@ AddrCheckStruct subaru_addr_checks[] = {
{.msg = {{0x119, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}},
{.msg = {{0x13a, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}},
{.msg = {{0x13c, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}},
{.msg = {{0x240, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 50000U}, { 0 }, { 0 }}},
{.msg = {{0x240, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 50000U},
{0x321, 2, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 100000U}, { 0 }}},
};
#define SUBARU_ADDR_CHECK_LEN (sizeof(subaru_addr_checks) / sizeof(subaru_addr_checks[0]))
addr_checks subaru_rx_checks = {subaru_addr_checks, SUBARU_ADDR_CHECK_LEN};
Expand All @@ -37,6 +38,9 @@ AddrCheckStruct subaru_l_addr_checks[] = {
#define SUBARU_L_ADDR_CHECK_LEN (sizeof(subaru_l_addr_checks) / sizeof(subaru_l_addr_checks[0]))
addr_checks subaru_l_rx_checks = {subaru_l_addr_checks, SUBARU_L_ADDR_CHECK_LEN};

const int SUBARU_PARAM_FORESTER_HYBRID = 1;
bool subaru_forester_hybrid = false;

static uint32_t subaru_get_checksum(CANPacket_t *to_push) {
return (uint8_t)GET_BYTE(to_push, 0);
}
Expand All @@ -60,8 +64,22 @@ static int subaru_rx_hook(CANPacket_t *to_push) {
bool valid = addr_safety_check(to_push, &subaru_rx_checks,
subaru_get_checksum, subaru_compute_checksum, subaru_get_counter);

int addr = GET_ADDR(to_push);
if (valid && (GET_BUS(to_push) == 2U) && subaru_forester_hybrid) {
// enter controls on rising edge of ACC, exit controls on ACC off (ES_DashStatus)
if (addr == 0x321) {
int cruise_engaged = GET_BIT(to_push, 36U) != 0;
if (cruise_engaged && !cruise_engaged_prev) {
controls_allowed = 1;
}
if (!cruise_engaged) {
controls_allowed = 0;
}
cruise_engaged_prev = cruise_engaged;
}
}

if (valid && (GET_BUS(to_push) == 0U)) {
int addr = GET_ADDR(to_push);
if (addr == 0x119) {
int torque_driver_new;
torque_driver_new = ((GET_BYTES_04(to_push) >> 16) & 0x7FFU);
Expand All @@ -70,8 +88,8 @@ static int subaru_rx_hook(CANPacket_t *to_push) {
}

// enter controls on rising edge of ACC, exit controls on ACC off
if (addr == 0x240) {
int cruise_engaged = ((GET_BYTES_48(to_push) >> 9) & 1U);
if (addr == 0x240 && !subaru_forester_hybrid) {
int cruise_engaged = GET_BIT(to_push, 41U) != 0U;
if (cruise_engaged && !cruise_engaged_prev) {
controls_allowed = 1;
}
Expand Down Expand Up @@ -314,7 +332,8 @@ static int subaru_legacy_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
}

static const addr_checks* subaru_init(uint16_t param) {
UNUSED(param);
subaru_forester_hybrid = GET_FLAG(param, SUBARU_PARAM_FORESTER_HYBRID);

return &subaru_rx_checks;
}

Expand Down
2 changes: 2 additions & 0 deletions python/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -197,6 +197,8 @@ class Panda:
FLAG_TESLA_POWERTRAIN = 1
FLAG_TESLA_LONG_CONTROL = 2

FLAG_SUBARU_FORESTER_HYBRID = 1

def __init__(self, serial: Optional[str] = None, claim: bool = True):
self._serial = serial
self._handle = None
Expand Down
14 changes: 14 additions & 0 deletions tests/safety/test_subaru.py
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Original file line number Diff line number Diff line change
Expand Up @@ -73,5 +73,19 @@ def _pcm_status_msg(self, enable):
return self.packer.make_can_msg_panda("CruiseControl", 0, values)


class TestSubaruForesterHybridSafety(TestSubaruSafety):

def setUp(self):
self.packer = CANPackerPanda("subaru_global_2017_generated")
self.safety = libpandasafety_py.libpandasafety
self.safety.set_safety_hooks(Panda.SAFETY_SUBARU, Panda.FLAG_SUBARU_FORESTER_HYBRID)
self.safety.init_tests()

def _pcm_status_msg(self, enable):
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@adeebshihadeh adeebshihadeh Jun 7, 2022

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already checked for a common cruise activated signal?

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@sshane sshane Jun 7, 2022

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No, need to get a route first from somebody.

values = {"Cruise_Activated": enable, "Counter": self.cnt_cruise % 4}
self.__class__.cnt_cruise += 1
return self.packer.make_can_msg_panda("ES_DashStatus", 2, values)


if __name__ == "__main__":
unittest.main()