Subaru Pre-Global: Reverse driver torque signal for certain platforms (…

…commaai#1648) * Subaru Pre-Global: Reverse driver torque signal for certain platforms * added flag * fix tests * use dbc instead * duplicate --------- Co-authored-by: Shane Smiskol <[email protected]> Co-authored-by: Justin Newberry <[email protected]> Co-authored-by: Justin Newberry <[email protected]>
MoreTore · Nov 8, 2023 · 3f25cca · 3f25cca
1 parent 708303d
commit 3f25cca
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Showing 3 changed files with 18 additions and 3 deletions.
diff --git a/board/safety/safety_subaru_preglobal.h b/board/safety/safety_subaru_preglobal.h
@@ -39,6 +39,11 @@ AddrCheckStruct subaru_preglobal_addr_checks[] = {
 #define SUBARU_PG_ADDR_CHECK_LEN (sizeof(subaru_preglobal_addr_checks) / sizeof(subaru_preglobal_addr_checks[0]))
 addr_checks subaru_preglobal_rx_checks = {subaru_preglobal_addr_checks, SUBARU_PG_ADDR_CHECK_LEN};
 
+
+const int SUBARU_PG_PARAM_REVERSED_DRIVER_TORQUE = 1;
+bool subaru_pg_reversed_driver_torque = false;
+
+
 static int subaru_preglobal_rx_hook(CANPacket_t *to_push) {
 
   bool valid = addr_safety_check(to_push, &subaru_preglobal_rx_checks, NULL, NULL, NULL, NULL);
@@ -51,6 +56,7 @@ static int subaru_preglobal_rx_hook(CANPacket_t *to_push) {
       int torque_driver_new;
       torque_driver_new = (GET_BYTE(to_push, 3) >> 5) + (GET_BYTE(to_push, 4) << 3);
       torque_driver_new = to_signed(torque_driver_new, 11);
+      torque_driver_new = subaru_pg_reversed_driver_torque ? -torque_driver_new : torque_driver_new;
       update_sample(&torque_driver, torque_driver_new);
     }
 
@@ -120,7 +126,7 @@ static int subaru_preglobal_fwd_hook(int bus_num, int addr) {
 }
 
 static const addr_checks* subaru_preglobal_init(uint16_t param) {
-  UNUSED(param);
+  subaru_pg_reversed_driver_torque = GET_FLAG(param, SUBARU_PG_PARAM_REVERSED_DRIVER_TORQUE);
   return &subaru_preglobal_rx_checks;
 }
 

diff --git a/python/__init__.py b/python/__init__.py
@@ -219,6 +219,8 @@ class Panda:
   FLAG_SUBARU_GEN2 = 1
   FLAG_SUBARU_LONG = 2
 
+  FLAG_SUBARU_PREGLOBAL_REVERSED_DRIVER_TORQUE = 1
+
   FLAG_NISSAN_ALT_EPS_BUS = 1
 
   FLAG_GM_HW_CAM = 1

diff --git a/tests/safety/test_subaru_preglobal.py b/tests/safety/test_subaru_preglobal.py
@@ -7,6 +7,8 @@
 
 
 class TestSubaruPreglobalSafety(common.PandaCarSafetyTest, common.DriverTorqueSteeringSafetyTest):
+  FLAGS = 0
+  DBC = "subaru_outback_2015_generated"
   TX_MSGS = [[0x161, 0], [0x164, 0]]
   STANDSTILL_THRESHOLD = 0  # kph
   RELAY_MALFUNCTION_ADDRS = {0: (0x164,)}
@@ -24,9 +26,9 @@ class TestSubaruPreglobalSafety(common.PandaCarSafetyTest, common.DriverTorqueSt
   DRIVER_TORQUE_FACTOR = 10
 
   def setUp(self):
-    self.packer = CANPackerPanda("subaru_outback_2015_generated")
+    self.packer = CANPackerPanda(self.DBC)
     self.safety = libpanda_py.libpanda
-    self.safety.set_safety_hooks(Panda.SAFETY_SUBARU_PREGLOBAL, 0)
+    self.safety.set_safety_hooks(Panda.SAFETY_SUBARU_PREGLOBAL, self.FLAGS)
     self.safety.init_tests()
 
   def _set_prev_torque(self, t):
@@ -59,5 +61,10 @@ def _pcm_status_msg(self, enable):
     return self.packer.make_can_msg_panda("CruiseControl", 0, values)
 
 
+class TestSubaruPreglobalReversedDriverTorqueSafety(TestSubaruPreglobalSafety):
+  FLAGS = Panda.FLAG_SUBARU_PREGLOBAL_REVERSED_DRIVER_TORQUE
+  DBC = "subaru_outback_2019_generated"
+
+
 if __name__ == "__main__":
   unittest.main()