GCC Code Coverage Report

Directory: ./
File: safety/safety_subaru_preglobal.h
Date: 2025-02-27 09:09:49
Exec Total Coverage
Lines: 43 43 100.0%
Functions: 4 4 100.0%
Branches: 31 32 96.9%
Line Branch Exec Source
1 #pragma once
2
3 #include "safety_declarations.h"
4
5 // Preglobal platform
6 // 0x161 is ES_CruiseThrottle
7 // 0x164 is ES_LKAS
8
9 #define MSG_SUBARU_PG_CruiseControl 0x144
10 #define MSG_SUBARU_PG_Throttle 0x140
11 #define MSG_SUBARU_PG_Wheel_Speeds 0xD4
12 #define MSG_SUBARU_PG_Brake_Pedal 0xD1
13 #define MSG_SUBARU_PG_ES_LKAS 0x164
14 #define MSG_SUBARU_PG_ES_Distance 0x161
15 #define MSG_SUBARU_PG_Steering_Torque 0x371
16
17 #define SUBARU_PG_MAIN_BUS 0
18 #define SUBARU_PG_CAM_BUS 2
19
20 static bool subaru_pg_reversed_driver_torque = false;
21
22 20736 static void subaru_preglobal_rx_hook(const CANPacket_t *to_push) {
23 20736 const int bus = GET_BUS(to_push);
24
25
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 20736 if (bus == SUBARU_PG_MAIN_BUS) {
26 9472 int addr = GET_ADDR(to_push);
27
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 9472 if (addr == MSG_SUBARU_PG_Steering_Torque) {
28 int torque_driver_new;
29 3770 torque_driver_new = (GET_BYTE(to_push, 3) >> 5) + (GET_BYTE(to_push, 4) << 3);
30 3770 torque_driver_new = to_signed(torque_driver_new, 11);
31
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 3770 torque_driver_new = subaru_pg_reversed_driver_torque ? -torque_driver_new : torque_driver_new;
32 3770 update_sample(&torque_driver, torque_driver_new);
33 }
34
35 // enter controls on rising edge of ACC, exit controls on ACC off
36
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 9472 if (addr == MSG_SUBARU_PG_CruiseControl) {
37 16 bool cruise_engaged = GET_BIT(to_push, 49U);
38 16 pcm_cruise_check(cruise_engaged);
39 }
40
41 // update vehicle moving with any non-zero wheel speed
42
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 9472 if (addr == MSG_SUBARU_PG_Wheel_Speeds) {
43
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 16 vehicle_moving = ((GET_BYTES(to_push, 0, 4) >> 12) != 0U) || (GET_BYTES(to_push, 4, 4) != 0U);
44 }
45
46
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 9472 if (addr == MSG_SUBARU_PG_Brake_Pedal) {
47 26 brake_pressed = ((GET_BYTES(to_push, 0, 4) >> 16) & 0xFFU) > 0U;
48 }
49
50
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 9472 if (addr == MSG_SUBARU_PG_Throttle) {
51 22 gas_pressed = GET_BYTE(to_push, 0) != 0U;
52 }
53
54 9472 generic_rx_checks((addr == MSG_SUBARU_PG_ES_LKAS));
55 }
56 20736 }
57
58 32766 static bool subaru_preglobal_tx_hook(const CANPacket_t *to_send) {
59 const SteeringLimits SUBARU_PG_STEERING_LIMITS = {
60 .max_steer = 2047,
61 .max_rt_delta = 940,
62 .max_rt_interval = 250000,
63 .max_rate_up = 50,
64 .max_rate_down = 70,
65 .driver_torque_multiplier = 10,
66 .driver_torque_allowance = 75,
67 .type = TorqueDriverLimited,
68 };
69
70 32766 bool tx = true;
71 32766 int addr = GET_ADDR(to_send);
72
73 // steer cmd checks
74
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 32766 if (addr == MSG_SUBARU_PG_ES_LKAS) {
75 32764 int desired_torque = ((GET_BYTES(to_send, 0, 4) >> 8) & 0x1FFFU);
76 32764 desired_torque = -1 * to_signed(desired_torque, 13);
77
78 32764 bool steer_req = GET_BIT(to_send, 24U);
79
80
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 32764 if (steer_torque_cmd_checks(desired_torque, steer_req, SUBARU_PG_STEERING_LIMITS)) {
81 16702 tx = false;
82 }
83
84 }
85 32766 return tx;
86 }
87
88 16896 static int subaru_preglobal_fwd_hook(int bus_num, int addr) {
89 16896 int bus_fwd = -1;
90
91
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 16896 if (bus_num == SUBARU_PG_MAIN_BUS) {
92 5632 bus_fwd = SUBARU_PG_CAM_BUS; // Camera CAN
93 }
94
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 16896 if (bus_num == SUBARU_PG_CAM_BUS) {
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 5632 bool block_msg = ((addr == MSG_SUBARU_PG_ES_Distance) || (addr == MSG_SUBARU_PG_ES_LKAS));
97
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 5632 if (!block_msg) {
98 5628 bus_fwd = SUBARU_PG_MAIN_BUS; // Main CAN
99 }
100 }
101
102 16896 return bus_fwd;
103 }
104
105 58 static safety_config subaru_preglobal_init(uint16_t param) {
106 static const CanMsg SUBARU_PG_TX_MSGS[] = {
107 {MSG_SUBARU_PG_ES_Distance, SUBARU_PG_MAIN_BUS, 8},
108 {MSG_SUBARU_PG_ES_LKAS, SUBARU_PG_MAIN_BUS, 8}
109 };
110
111 // TODO: do checksum and counter checks after adding the signals to the outback dbc file
112 static RxCheck subaru_preglobal_rx_checks[] = {
113 {.msg = {{MSG_SUBARU_PG_Throttle, SUBARU_PG_MAIN_BUS, 8, .frequency = 100U}, { 0 }, { 0 }}},
114 {.msg = {{MSG_SUBARU_PG_Steering_Torque, SUBARU_PG_MAIN_BUS, 8, .frequency = 50U}, { 0 }, { 0 }}},
115 {.msg = {{MSG_SUBARU_PG_CruiseControl, SUBARU_PG_MAIN_BUS, 8, .frequency = 20U}, { 0 }, { 0 }}},
116 };
117
118 58 const int SUBARU_PG_PARAM_REVERSED_DRIVER_TORQUE = 4;
119
120 58 subaru_pg_reversed_driver_torque = GET_FLAG(param, SUBARU_PG_PARAM_REVERSED_DRIVER_TORQUE);
121 58 return BUILD_SAFETY_CFG(subaru_preglobal_rx_checks, SUBARU_PG_TX_MSGS);
122 }
123
124 const safety_hooks subaru_preglobal_hooks = {
125 .init = subaru_preglobal_init,
126 .rx = subaru_preglobal_rx_hook,
127 .tx = subaru_preglobal_tx_hook,
128 .fwd = subaru_preglobal_fwd_hook,
129 };
130