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fix

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firestar5683
2026-08-29 22:33:35 -05:00
parent aa9eeae40e
commit b5286ec678
5 changed files with 14 additions and 13 deletions
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opendbc_repo/opendbc/car/subaru/carcontroller.py
+1 -1
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@@ -138,7 +138,7 @@ class CarController(CarControllerBase):
msg = subarucan.create_stop_start_control(
self.packer, dashlights_msg, raw_dat=getattr(CS, "dashlights_dat", None),
counter=self.stop_start_counter, bus=self.main_bus,
counter=self.stop_start_counter, bus=CanBus.alt_for_cp(self.CP),
)
self.stop_start_counter = (self.stop_start_counter + 1) % 0x10
return msg
opendbc_repo/opendbc/car/subaru/carstate.py
+4 -3
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@@ -28,9 +28,10 @@ class CarState(CarStateBase):
ret = structs.CarState()
if self.CP.carFingerprint in SUBARU_STOP_START_CARS:
self.dashlights_msg = copy.copy(cp.vl["Dashlights"])
self.dashlights_dat = cp.vl_raw["Dashlights"]
self.stop_start_state = cp.vl["Engine_Stop_Start"]["STOP_START_STATE"]
stop_start_cp = cp_alt if self.CP.flags & SubaruFlags.GLOBAL_GEN2 else cp
self.dashlights_msg = copy.copy(stop_start_cp.vl["Dashlights"])
self.dashlights_dat = stop_start_cp.vl_raw["Dashlights"]
self.stop_start_state = stop_start_cp.vl["Engine_Stop_Start"]["STOP_START_STATE"]
throttle_msg = cp.vl["Throttle"] if not (self.CP.flags & SubaruFlags.HYBRID) else cp_alt.vl["Throttle_Hybrid"]
ret.gasPressed = throttle_msg["Throttle_Pedal"] > 1e-5
opendbc_repo/opendbc/car/subaru/tests/test_subaru.py
+5 -5
View File
@@ -212,10 +212,10 @@ def test_stop_start_inputs_are_captured_for_supported_models(platform):
car_state = CarState(CP, None)
parsers = car_state.get_can_parsers(CP)
raw_dashlights = bytes.fromhex("13031407875a8100")
parsers[Bus.pt].vl["Dashlights"]["COUNTER"] = 6
parsers[Bus.pt].vl["Dashlights"]["STOP_START"] = 0
parsers[Bus.pt].vl["Engine_Stop_Start"]["STOP_START_STATE"] = 3
parsers[Bus.pt].vl_raw["Dashlights"] = raw_dashlights
parsers[Bus.alt].vl["Dashlights"]["COUNTER"] = 6
parsers[Bus.alt].vl["Dashlights"]["STOP_START"] = 0
parsers[Bus.alt].vl["Engine_Stop_Start"]["STOP_START_STATE"] = 3
parsers[Bus.alt].vl_raw["Dashlights"] = raw_dashlights
car_state.update(parsers, SimpleNamespace(subaru_sng=False))
@@ -226,7 +226,7 @@ def test_stop_start_inputs_are_captured_for_supported_models(platform):
@pytest.mark.parametrize("platform, expected_bus, start_frame", [
(CAR.SUBARU_OUTBACK_2023, CanBus.alt, 101),
(CAR.SUBARU_LEGACY_2025, CanBus.main, 401),
(CAR.SUBARU_LEGACY_2025, CanBus.alt, 401),
])
def test_stop_start_request_is_bounded_and_uses_live_dashlights(platform, expected_bus, start_frame):
CP = CarInterface.get_non_essential_params(platform)
opendbc_repo/opendbc/safety/modes/subaru.h
+2 -2
View File
@@ -292,7 +292,7 @@ static bool subaru_tx_hook(const CANPacket_t *msg) {
if (msg->addr == MSG_SUBARU_Dashlights) {
violation |= !subaru_stop_start_button;
violation |= msg->bus != (subaru_d_platform ? SUBARU_ALT_BUS : SUBARU_MAIN_BUS);
violation |= msg->bus != (subaru_gen2 ? SUBARU_ALT_BUS : SUBARU_MAIN_BUS);
violation |= !GET_BIT(msg, 54U);
violation |= subaru_get_checksum(msg) != subaru_compute_checksum(msg);
}
@@ -344,7 +344,7 @@ static safety_config subaru_init(uint16_t param) {
static const CanMsg SUBARU_GEN2_LKAS_ANGLE_STOP_START_TX_MSGS[] = {
SUBARU_BASE_TX_MSGS(SUBARU_ALT_BUS, MSG_SUBARU_ES_LKAS_ANGLE)
SUBARU_COMMON_TX_MSGS(SUBARU_ALT_BUS)
SUBARU_STOP_START_TX_MSGS(SUBARU_MAIN_BUS)
SUBARU_STOP_START_TX_MSGS(SUBARU_ALT_BUS)
};
static const CanMsg SUBARU_D_PLATFORM_ANGLE_MAIN_TX_MSGS[] = {
opendbc_repo/opendbc/safety/tests/test_subaru.py
+2 -2
View File
@@ -373,11 +373,11 @@ class TestSubaruGen2FixedAngleSafety(TestSubaruGen2AngleStockLongitudinalSafety)
class TestSubaruGen2FixedAngleStopStartSafety(TestSubaruGen2FixedAngleSafety):
FLAGS = SubaruSafetyFlags.GEN2 | SubaruSafetyFlags.LKAS_ANGLE | SubaruSafetyFlags.FIXED_ANGLE_LIMITS | \
SubaruSafetyFlags.STOP_START_BUTTON
TX_MSGS = TestSubaruGen2FixedAngleSafety.TX_MSGS + [[SubaruMsg.Dashlights, SUBARU_MAIN_BUS]]
TX_MSGS = TestSubaruGen2FixedAngleSafety.TX_MSGS + [[SubaruMsg.Dashlights, SUBARU_ALT_BUS]]
def _stop_start_msg(self, pressed):
return self.packer.make_can_msg_safety(
"Dashlights", SUBARU_MAIN_BUS, {"COUNTER": 0, "STOP_START": pressed},
"Dashlights", SUBARU_ALT_BUS, {"COUNTER": 0, "STOP_START": pressed},
)
def test_stop_start_tx_requires_pressed_bit(self):