fix

opendbc_repo/opendbc/car/subaru/carcontroller.py

@@ -39,8 +39,7 @@ _STOP_START_PULSE_FRAMES = 30
 _STOP_START_PULSE_PERIOD_FRAMES = 5
 _AVH_STARTUP_DELAY_FRAMES = _STOP_START_STARTUP_DELAY_FRAMES
 _AVH_STARTUP_DEADLINE_FRAMES = _STOP_START_STARTUP_DEADLINE_FRAMES
-_AVH_PULSE_FRAMES = _STOP_START_PULSE_FRAMES
-_AVH_PULSE_PERIOD_FRAMES = _STOP_START_PULSE_PERIOD_FRAMES
+_AVH_PULSE_MESSAGES = 10  # Match the native 10 Hz AVH frame for roughly one second
 
 
 def get_safety_CP():
@@ -93,8 +92,8 @@ class CarController(CarControllerBase):
     self.stop_start_acknowledged = False
     self.avh_attempted = False
     self.avh_request_started = False
-    self.avh_request_frame = 0
-    self.avh_counter = 0
+    self.avh_last_counter = None
+    self.avh_messages_sent = 0
 
   def _stop_start_off_request(self, CC, CS, starpilot_toggles):
     """Send one bounded Subaru Stop/Start OFF request after ignition.
@@ -182,22 +181,22 @@ class CarController(CarControllerBase):
 
     if not self.avh_request_started:
       self.avh_request_started = True
-      self.avh_request_frame = self.frame
-      self.avh_counter = (int(avh_msg.get("COUNTER", 0)) + 1) % 0x10
+      self.avh_last_counter = int(avh_msg.get("COUNTER", 0)) % 0x10
 
-    elapsed = self.frame - self.avh_request_frame
-    if elapsed >= _AVH_PULSE_FRAMES:
+    if self.avh_messages_sent >= _AVH_PULSE_MESSAGES:
       self.avh_attempted = True
       return None
 
-    if elapsed % _AVH_PULSE_PERIOD_FRAMES != 0:
+    counter = int(avh_msg.get("COUNTER", 0)) % 0x10
+    if counter == self.avh_last_counter:
       return None
 
     msg = subarucan.create_avh_control(
       self.packer, avh_msg, raw_dat=avh_dat,
-      counter=self.avh_counter, bus=CanBus.alt_for_cp(self.CP),
+      counter=counter, bus=CanBus.alt_for_cp(self.CP),
     )
-    self.avh_counter = (self.avh_counter + 1) % 0x10
+    self.avh_last_counter = counter
+    self.avh_messages_sent += 1
     return msg
 
   def _reset_legacy_2025_handoff(self):

opendbc_repo/opendbc/car/subaru/tests/test_subaru.py

@@ -322,6 +322,16 @@ def test_avh_request_sets_observed_bit_and_is_bounded():
   )
   toggles = SimpleNamespace(subaru_stop_start_off=False, subaru_avh_on=True, subaru_sng=False)
 
+  # Start the request from the current live counter. AVH is a native 10 Hz
+  # frame, so the controller waits for each next live counter before sending
+  # its matching button frame.
+  _, can_sends = controller.update(CC, CS, 0, toggles)
+  avh_msgs = [msg for msg in can_sends if msg[0] == 0x32b]
+  assert not avh_msgs
+
+  CS.avh_msg["COUNTER"] = 0
+  CS.avh_dat = bytes.fromhex("14001c4208800000")
+  controller.frame = 103
   _, can_sends = controller.update(CC, CS, 0, toggles)
   avh_msgs = [msg for msg in can_sends if msg[0] == 0x32b]
   assert avh_msgs == [(0x32b, bytes.fromhex("34001c4208a00000"), CanBus.alt)]
@@ -331,7 +341,21 @@ def test_avh_request_sets_observed_bit_and_is_bounded():
   assert parser.vl["AVH"]["AVH"] == 1
   assert parser.vl["AVH"]["COUNTER"] == 0
 
-  controller.frame = 131
+  for counter in range(1, 10):
+    CS.avh_msg["COUNTER"] = counter
+    raw_dat = bytearray.fromhex("14001c4208800000")
+    raw_dat[1] = counter
+    raw_dat[0] = ((0x32B & 0xFF) + ((0x32B >> 8) & 0xFF) + sum(raw_dat[1:])) & 0xFF
+    CS.avh_dat = bytes(raw_dat)
+    controller.frame = 103 + (counter * 10)
+    _, can_sends = controller.update(CC, CS, 0, toggles)
+    avh_msgs.extend(msg for msg in can_sends if msg[0] == 0x32b)
+
+  assert len(avh_msgs) == 10
+  assert [msg[1][1] & 0x0F for msg in avh_msgs] == list(range(10))
+  assert all(msg[1][5] & 0x20 for msg in avh_msgs)
+
+  controller.frame = 203
   _, can_sends = controller.update(CC, CS, 0, toggles)
   assert not any(msg[0] == 0x32b for msg in can_sends)
   assert controller.avh_attempted