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Subaru: gen2 long safety (commaai#1587)
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* setup proper safety for gen2 long

* whitespace

* misra

* alt bus

* high beam assist

* better names

* whitespace

* whitespace

* whitespace
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@jnewb1
jnewb1 authored Aug 17, 2023
1 parent 1f475a8 commit 2ae2567
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Showing 3 changed files with 88 additions and 21 deletions.
42 changes: 38 additions & 4 deletions board/safety/safety_subaru.h
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Original file line number Diff line number Diff line change
Expand Up @@ -38,6 +38,12 @@ const LongitudinalLimits SUBARU_LONG_LIMITS = {
#define MSG_SUBARU_ES_LKAS_State 0x322
#define MSG_SUBARU_ES_Infotainment 0x323

#define MSG_SUBARU_ES_UDS_Request 0x787

#define MSG_SUBARU_ES_HighBeamAssist 0x121
#define MSG_SUBARU_ES_STATIC_1 0x22a
#define MSG_SUBARU_ES_STATIC_2 0x325

#define SUBARU_MAIN_BUS 0
#define SUBARU_ALT_BUS 1
#define SUBARU_CAM_BUS 2
Expand All @@ -50,8 +56,15 @@ const LongitudinalLimits SUBARU_LONG_LIMITS = {
{MSG_SUBARU_ES_Infotainment, SUBARU_MAIN_BUS, 8}, \

#define SUBARU_COMMON_LONG_TX_MSGS(alt_bus) \
{MSG_SUBARU_ES_Brake, SUBARU_MAIN_BUS, 8}, \
{MSG_SUBARU_ES_Status, SUBARU_MAIN_BUS, 8}, \
{MSG_SUBARU_ES_Brake, alt_bus, 8}, \
{MSG_SUBARU_ES_Status, alt_bus, 8}, \

#define SUBARU_ADDITIONAL_TX_MSGS(alt_bus) \
{MSG_SUBARU_ES_UDS_Request, SUBARU_CAM_BUS, 8}, \
{MSG_SUBARU_ES_HighBeamAssist, SUBARU_MAIN_BUS, 8}, \
{MSG_SUBARU_ES_STATIC_1, SUBARU_MAIN_BUS, 8}, \
{MSG_SUBARU_ES_STATIC_2, SUBARU_MAIN_BUS, 8}, \


#define SUBARU_COMMON_ADDR_CHECKS(alt_bus) \
{.msg = {{MSG_SUBARU_Throttle, SUBARU_MAIN_BUS, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 10000U}, { 0 }, { 0 }}}, \
Expand All @@ -76,6 +89,13 @@ const CanMsg SUBARU_GEN2_TX_MSGS[] = {
};
#define SUBARU_GEN2_TX_MSGS_LEN (sizeof(SUBARU_GEN2_TX_MSGS) / sizeof(SUBARU_GEN2_TX_MSGS[0]))

const CanMsg SUBARU_GEN2_LONG_TX_MSGS[] = {
SUBARU_COMMON_TX_MSGS(SUBARU_ALT_BUS)
SUBARU_COMMON_LONG_TX_MSGS(SUBARU_ALT_BUS)
SUBARU_ADDITIONAL_TX_MSGS(SUBARU_ALT_BUS)
};
#define SUBARU_GEN2_LONG_TX_MSGS_LEN (sizeof(SUBARU_GEN2_LONG_TX_MSGS) / sizeof(SUBARU_GEN2_LONG_TX_MSGS[0]))

AddrCheckStruct subaru_addr_checks[] = {
SUBARU_COMMON_ADDR_CHECKS(SUBARU_MAIN_BUS)
};
Expand Down Expand Up @@ -175,7 +195,12 @@ static int subaru_tx_hook(CANPacket_t *to_send) {
bool violation = false;

if (subaru_gen2) {
tx = msg_allowed(to_send, SUBARU_GEN2_TX_MSGS, SUBARU_GEN2_TX_MSGS_LEN);
if(subaru_longitudinal){
tx = msg_allowed(to_send, SUBARU_GEN2_LONG_TX_MSGS, SUBARU_GEN2_LONG_TX_MSGS_LEN);
}
else{
tx = msg_allowed(to_send, SUBARU_GEN2_TX_MSGS, SUBARU_GEN2_TX_MSGS_LEN);
}
} else if (subaru_longitudinal) {
tx = msg_allowed(to_send, SUBARU_LONG_TX_MSGS, SUBARU_LONG_TX_MSGS_LEN);
} else {
Expand Down Expand Up @@ -218,6 +243,15 @@ static int subaru_tx_hook(CANPacket_t *to_send) {
violation |= longitudinal_transmission_rpm_checks(transmission_rpm, SUBARU_LONG_LIMITS);
}

if (addr == MSG_SUBARU_ES_UDS_Request){
int sid = GET_BYTES(to_send, 1, 1);

// Allow "tester present", "read data by identifier", and "communication control"
bool allowed_sid = (sid == 0x3e) || (sid == 0x22) || (sid == 0x28);

violation |= (!allowed_sid);
}

if (violation){
tx = 0;
}
Expand Down Expand Up @@ -255,7 +289,7 @@ static const addr_checks* subaru_init(uint16_t param) {
subaru_gen2 = GET_FLAG(param, SUBARU_PARAM_GEN2);

#ifdef ALLOW_DEBUG
subaru_longitudinal = GET_FLAG(param, SUBARU_PARAM_LONGITUDINAL) && !subaru_gen2;
subaru_longitudinal = GET_FLAG(param, SUBARU_PARAM_LONGITUDINAL);
#endif

if (subaru_gen2) {
Expand Down
2 changes: 1 addition & 1 deletion tests/safety/common.py
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Original file line number Diff line number Diff line change
Expand Up @@ -955,7 +955,7 @@ def test_tx_hook_on_wrong_safety_mode(self):
if attr.startswith('TestToyota') and current_test.startswith('TestToyota'):
continue
if {attr, current_test}.issubset({'TestSubaruGen1TorqueStockLongitudinalSafety', 'TestSubaruGen2TorqueStockLongitudinalSafety',
'TestSubaruGen1LongitudinalSafety'}):
'TestSubaruGen1LongitudinalSafety', 'TestSubaruGen2LongitudinalSafety'}):
continue
if {attr, current_test}.issubset({'TestVolkswagenPqSafety', 'TestVolkswagenPqStockSafety', 'TestVolkswagenPqLongSafety'}):
continue
Expand Down
65 changes: 49 additions & 16 deletions tests/safety/test_subaru.py
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Original file line number Diff line number Diff line change
Expand Up @@ -7,18 +7,23 @@
from functools import partial


MSG_SUBARU_Brake_Status = 0x13c
MSG_SUBARU_CruiseControl = 0x240
MSG_SUBARU_Throttle = 0x40
MSG_SUBARU_Steering_Torque = 0x119
MSG_SUBARU_Wheel_Speeds = 0x13a
MSG_SUBARU_ES_LKAS = 0x122
MSG_SUBARU_ES_Brake = 0x220
MSG_SUBARU_ES_Distance = 0x221
MSG_SUBARU_ES_Status = 0x222
MSG_SUBARU_ES_DashStatus = 0x321
MSG_SUBARU_ES_LKAS_State = 0x322
MSG_SUBARU_ES_Infotainment = 0x323
MSG_SUBARU_Brake_Status = 0x13c
MSG_SUBARU_CruiseControl = 0x240
MSG_SUBARU_Throttle = 0x40
MSG_SUBARU_Steering_Torque = 0x119
MSG_SUBARU_Wheel_Speeds = 0x13a
MSG_SUBARU_ES_LKAS = 0x122
MSG_SUBARU_ES_Brake = 0x220
MSG_SUBARU_ES_Distance = 0x221
MSG_SUBARU_ES_Status = 0x222
MSG_SUBARU_ES_DashStatus = 0x321
MSG_SUBARU_ES_LKAS_State = 0x322
MSG_SUBARU_ES_Infotainment = 0x323
MSG_SUBARU_ES_UDS_Request = 0x787
MSG_SUBARU_ES_HighBeamAssist = 0x121
MSG_SUBARU_ES_STATIC_1 = 0x22a
MSG_SUBARU_ES_STATIC_2 = 0x325


SUBARU_MAIN_BUS = 0
SUBARU_ALT_BUS = 1
Expand All @@ -32,9 +37,15 @@ def lkas_tx_msgs(alt_bus):
[MSG_SUBARU_ES_LKAS_State, SUBARU_MAIN_BUS],
[MSG_SUBARU_ES_Infotainment, SUBARU_MAIN_BUS]]

def long_tx_msgs():
return [[MSG_SUBARU_ES_Brake, SUBARU_MAIN_BUS],
[MSG_SUBARU_ES_Status, SUBARU_MAIN_BUS]]
def long_tx_msgs(alt_bus):
return [[MSG_SUBARU_ES_Brake, alt_bus],
[MSG_SUBARU_ES_Status, alt_bus]]

def additional_tx_msgs(alt_bus):
return [[MSG_SUBARU_ES_UDS_Request, SUBARU_CAM_BUS],
[MSG_SUBARU_ES_HighBeamAssist, SUBARU_MAIN_BUS],
[MSG_SUBARU_ES_STATIC_1, SUBARU_MAIN_BUS],
[MSG_SUBARU_ES_STATIC_2, SUBARU_MAIN_BUS]]

def fwd_blacklisted_addr():
return {SUBARU_CAM_BUS: [MSG_SUBARU_ES_LKAS, MSG_SUBARU_ES_DashStatus, MSG_SUBARU_ES_LKAS_State, MSG_SUBARU_ES_Infotainment]}
Expand Down Expand Up @@ -170,7 +181,29 @@ class TestSubaruGen2TorqueStockLongitudinalSafety(TestSubaruStockLongitudinalSaf

class TestSubaruGen1LongitudinalSafety(TestSubaruLongitudinalSafetyBase, TestSubaruTorqueSafetyBase):
FLAGS = Panda.FLAG_SUBARU_LONG
TX_MSGS = lkas_tx_msgs(SUBARU_MAIN_BUS) + long_tx_msgs()
TX_MSGS = lkas_tx_msgs(SUBARU_MAIN_BUS) + long_tx_msgs(SUBARU_MAIN_BUS)


class TestSubaruGen2LongitudinalSafety(TestSubaruLongitudinalSafetyBase, TestSubaruTorqueSafetyBase):
ALT_MAIN_BUS = SUBARU_ALT_BUS
ALT_CAM_BUS = SUBARU_ALT_BUS

MAX_RATE_UP = 40
MAX_RATE_DOWN = 40
MAX_TORQUE = 1000

FLAGS = Panda.FLAG_SUBARU_LONG | Panda.FLAG_SUBARU_GEN2
TX_MSGS = lkas_tx_msgs(SUBARU_ALT_BUS) + long_tx_msgs(SUBARU_ALT_BUS) + additional_tx_msgs(SUBARU_ALT_BUS)

def _es_uds_msg(self, sid: int):
return libpanda_py.make_CANPacket(MSG_SUBARU_ES_UDS_Request, 2, b'\x00' + sid.to_bytes(1) + b'\x00' * 6)

def test_es_uds_message(self):
allowed_sids = [0x3e, 0x22, 0x28]

for sid in range(0xFF):
should_tx = sid in allowed_sids
self.assertEqual(self._tx(self._es_uds_msg(sid)), should_tx)


if __name__ == "__main__":
Expand Down

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