Subaru: added proper safety model

board/safety/safety_subaru.h

@@ -1,13 +1,96 @@
-void subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {}
+const int SUBARU_MAX_STEER = 2047; // 1s
+// real time torque limit to prevent controls spamming
+// the real time limit is 1500/sec
+const int SUBARU_MAX_RT_DELTA = 940;          // max delta torque allowed for real time checks
+const int32_t SUBARU_RT_INTERVAL = 250000;    // 250ms between real time checks
+const int SUBARU_MAX_RATE_UP = 50;
+const int SUBARU_MAX_RATE_DOWN = 70;
+const int SUBARU_DRIVER_TORQUE_ALLOWANCE = 60;
+const int SUBARU_DRIVER_TORQUE_FACTOR = 5;
 
-// FIXME
-// *** all output safety mode ***
+int subaru_cruise_engaged_last = 0;
+int subaru_rt_torque_last = 0;
+int subaru_desired_torque_last = 0;
+uint32_t subaru_ts_last = 0;
+int subaru_supercruise_on = 0;
+struct sample_t subaru_torque_driver;         // last few driver torques measured
 
-static void subaru_init(int16_t param) {
-  controls_allowed = 1;
+
+static void subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
+  int bus_number = (to_push->RDTR >> 4) & 0xFF;
+  uint32_t addr = to_push->RIR >> 21;
+
+  if ((addr == 0x119) && (bus_number == 0)){
+    int torque_driver_new = ((to_push->RDLR >> 16) & 0x7FF);
+    torque_driver_new = to_signed(torque_driver_new, 11);
+    // update array of samples
+    update_sample(&subaru_torque_driver, torque_driver_new);
+  }
+
+  // enter controls on rising edge of ACC, exit controls on ACC off
+  if ((addr == 0x240) && (bus_number == 0)) {
+    int cruise_engaged = (to_push->RDHR >> 9) & 1;
+    if (cruise_engaged && !subaru_cruise_engaged_last) {
+      controls_allowed = 1;
+    } else if (!cruise_engaged) {
+      controls_allowed = 0;
+    }
+    subaru_cruise_engaged_last = cruise_engaged;
+  }
 }
 
 static int subaru_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
+  uint32_t addr = to_send->RIR >> 21;
+
+  // steer cmd checks
+  if (addr == 0x122) {
+    int desired_torque = ((to_send->RDLR >> 16) && 0x1FFF);
+    int violation = 0;
+    uint32_t ts = TIM2->CNT;
+    desired_torque = to_signed(desired_torque, 13);
+
+    if (controls_allowed) {
+
+      // *** global torque limit check ***
+      violation |= max_limit_check(desired_torque, SUBARU_MAX_STEER, -SUBARU_MAX_STEER);
+
+      // *** torque rate limit check ***
+      int desired_torque_last = subaru_desired_torque_last;
+      violation |= driver_limit_check(desired_torque, desired_torque_last, &subaru_torque_driver,
+        SUBARU_MAX_STEER, SUBARU_MAX_RATE_UP, SUBARU_MAX_RATE_DOWN,
+        SUBARU_DRIVER_TORQUE_ALLOWANCE, SUBARU_DRIVER_TORQUE_FACTOR);
+
+      // used next time
+      subaru_desired_torque_last = desired_torque;
+
+      // *** torque real time rate limit check ***
+      violation |= rt_rate_limit_check(desired_torque, subaru_rt_torque_last, SUBARU_MAX_RT_DELTA);
+
+      // every RT_INTERVAL set the new limits
+      uint32_t ts_elapsed = get_ts_elapsed(ts, subaru_ts_last);
+      if (ts_elapsed > SUBARU_RT_INTERVAL) {
+        subaru_rt_torque_last = desired_torque;
+        subaru_ts_last = ts;
+      }
+    }
+
+    // no torque if controls is not allowed
+    if (!controls_allowed && (desired_torque != 0)) {
+      violation = 1;
+    }
+
+    // reset to 0 if either controls is not allowed or there's a violation
+    if (violation || !controls_allowed) {
+      subaru_desired_torque_last = 0;
+      subaru_rt_torque_last = 0;
+      subaru_ts_last = ts;
+    }
+
+    if (violation || subaru_supercruise_on) {
+      return false;
+    }
+
+  }
   return true;
 }
 
@@ -40,7 +123,7 @@ static int subaru_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
 }
 
 const safety_hooks subaru_hooks = {
-  .init = subaru_init,
+  .init = nooutput_init,
   .rx = subaru_rx_hook,
   .tx = subaru_tx_hook,
   .tx_lin = nooutput_tx_lin_hook,