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Subaru torque sensor nm #2016

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Subaru torque sensor nm #2016

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b92a068
Subaru: use steering_torque_2 for nm
martinl Sep 8, 2024
2c706c8
subaru: steering_torque is also needed
martinl Sep 8, 2024
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8 changes: 6 additions & 2 deletions board/safety/safety_subaru.h
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Original file line number Diff line number Diff line change
Expand Up @@ -34,6 +34,7 @@ const LongitudinalLimits SUBARU_LONG_LIMITS = {
#define MSG_SUBARU_Brake_Status 0x13c
#define MSG_SUBARU_CruiseControl 0x240
#define MSG_SUBARU_Throttle 0x40
#define MSG_SUBARU_Steering_Torque_2 0x118
#define MSG_SUBARU_Steering_Torque 0x119
#define MSG_SUBARU_Wheel_Speeds 0x13a

Expand Down Expand Up @@ -75,6 +76,7 @@ const LongitudinalLimits SUBARU_LONG_LIMITS = {

#define SUBARU_COMMON_RX_CHECKS(alt_bus) \
{.msg = {{MSG_SUBARU_Throttle, SUBARU_MAIN_BUS, 8, .check_checksum = true, .max_counter = 15U, .frequency = 100U}, { 0 }, { 0 }}}, \
{.msg = {{MSG_SUBARU_Steering_Torque_2, SUBARU_MAIN_BUS, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}}, \
{.msg = {{MSG_SUBARU_Steering_Torque, SUBARU_MAIN_BUS, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}}, \
{.msg = {{MSG_SUBARU_Wheel_Speeds, alt_bus, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}}, \
{.msg = {{MSG_SUBARU_Brake_Status, alt_bus, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}}, \
Expand Down Expand Up @@ -138,12 +140,14 @@ static void subaru_rx_hook(const CANPacket_t *to_push) {
const int alt_main_bus = subaru_gen2 ? SUBARU_ALT_BUS : SUBARU_MAIN_BUS;

int addr = GET_ADDR(to_push);
if ((addr == MSG_SUBARU_Steering_Torque) && (bus == SUBARU_MAIN_BUS)) {
if ((addr == MSG_SUBARU_Steering_Torque_2) && (bus == SUBARU_MAIN_BUS)) {
int torque_driver_new;
torque_driver_new = ((GET_BYTES(to_push, 0, 4) >> 16) & 0x7FFU);
torque_driver_new = ((GET_BYTES(to_push, 0, 4) >> 45) & 0x7FFU);
torque_driver_new = -1 * to_signed(torque_driver_new, 11);
update_sample(&torque_driver, torque_driver_new);
}

if ((addr == MSG_SUBARU_Steering_Torque) && (bus == SUBARU_MAIN_BUS)) {
int angle_meas_new = (GET_BYTES(to_push, 4, 2) & 0xFFFFU);
// convert Steering_Torque -> Steering_Angle to centidegrees, to match the ES_LKAS_ANGLE angle request units
angle_meas_new = ROUND(to_signed(angle_meas_new, 16) * -2.17);
Expand Down
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