Subaru: add safety around cutting steer req bit (#1632)

* wip * steer bit * add tolerance * increase a bit more * test too * Had that backwards * Here too * review suggestions * minimal diff * minimal diff * add type hints * spacing Co-authored-by: Shane Smiskol <shane@smiskol.com> * update test name * add tolerance comment Co-authored-by: Shane Smiskol <shane@smiskol.com> --------- Co-authored-by: Shane Smiskol <shane@smiskol.com>
commaai · Sep 7, 2023 · cb0cd1b · cb0cd1b
1 parent c12cbc1
commit cb0cd1b
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Showing 2 changed files with 24 additions and 12 deletions.
diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
@@ -1,14 +1,21 @@
-#define SUBARU_STEERING_LIMITS_GENERATOR(steer_max, rate_up, rate_down)          \
-  {                                                                              \
-    .max_steer = (steer_max),                                                    \
-    .max_rt_delta = 940,                                                         \
-    .max_rt_interval = 250000,                                                   \
-    .max_rate_up = (rate_up),                                                    \
-    .max_rate_down = (rate_down),                                                \
-    .driver_torque_factor = 50,                                                  \
-    .driver_torque_allowance = 60,                                               \
-    .type = TorqueDriverLimited,                                                 \
-  }                                                                              \
+#define SUBARU_STEERING_LIMITS_GENERATOR(steer_max, rate_up, rate_down)               \
+  {                                                                                   \
+    .max_steer = (steer_max),                                                         \
+    .max_rt_delta = 940,                                                              \
+    .max_rt_interval = 250000,                                                        \
+    .max_rate_up = (rate_up),                                                         \
+    .max_rate_down = (rate_down),                                                     \
+    .driver_torque_factor = 50,                                                       \
+    .driver_torque_allowance = 60,                                                    \
+    .type = TorqueDriverLimited,                                                      \
+    /* the EPS will temporary fault if the steering rate is too high, so we cut the   \
+       the steering torque every 7 frames for 1 frame if the steering rate is high */ \
+    .min_valid_request_frames = 7,                                                    \
+    .max_invalid_request_frames = 1,                                                  \
+    .min_valid_request_rt_interval = 144000,  /* 10% tolerance */                     \
+    .has_steer_req_tolerance = true,                                                  \
+  }
+
 
 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);

diff --git a/tests/safety/test_subaru.py b/tests/safety/test_subaru.py
@@ -154,11 +154,16 @@ def _send_rpm_msg(self, rpm):
     return self.packer.make_can_msg_panda("ES_Status", self.ALT_MAIN_BUS, values)
 
 
-class TestSubaruTorqueSafetyBase(TestSubaruSafetyBase, common.DriverTorqueSteeringSafetyTest):
+class TestSubaruTorqueSafetyBase(TestSubaruSafetyBase, common.DriverTorqueSteeringSafetyTest, common.SteerRequestCutSafetyTest):
   MAX_RATE_UP = 50
   MAX_RATE_DOWN = 70
   MAX_TORQUE = 2047
 
+  # Safety around steering req bit
+  MIN_VALID_STEERING_FRAMES = 7
+  MAX_INVALID_STEERING_FRAMES = 1
+  MIN_VALID_STEERING_RT_INTERVAL = 144000
+
   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)