Subaru: cruise_rpm and cruise_throttle are 13 bits (commaai#1786)

* fix cruise throttle * and es_status * bump opendbc
csouers · Dec 30, 2023 · 20722a5 · 20722a5
1 parent 0bcaa73
commit 20722a5
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Showing 3 changed files with 5 additions and 5 deletions.
diff --git a/Dockerfile b/Dockerfile
@@ -52,7 +52,7 @@ ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
 
 ENV PANDA_PATH=/tmp/openpilot/panda
 ENV OPENPILOT_REF="5690386d8d731c9bebda536a5c71c890f6dfe98c"
-ENV OPENDBC_REF="5b0c73977f1428700d0344d52874a90a4c5168fb"
+ENV OPENDBC_REF="40d9c723d48496229fecc436046538a53af19c11"
 
 COPY requirements.txt /tmp/
 RUN pyenv install 3.11.4 && \

diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
@@ -203,7 +203,7 @@ static bool subaru_tx_hook(CANPacket_t *to_send) {
 
   // check es_distance cruise_throttle limits
   if (addr == MSG_SUBARU_ES_Distance) {
-    int cruise_throttle = (GET_BYTES(to_send, 2, 2) & 0xFFFU);
+    int cruise_throttle = (GET_BYTES(to_send, 2, 2) & 0x1FFFU);
     bool cruise_cancel = GET_BIT(to_send, 56U) != 0U;
 
     if (subaru_longitudinal) {
@@ -218,7 +218,7 @@ static bool subaru_tx_hook(CANPacket_t *to_send) {
 
   // check es_status transmission_rpm limits
   if (addr == MSG_SUBARU_ES_Status) {
-    int transmission_rpm = (GET_BYTES(to_send, 2, 2) & 0xFFFU);
+    int transmission_rpm = (GET_BYTES(to_send, 2, 2) & 0x1FFFU);
     violation |= longitudinal_transmission_rpm_checks(transmission_rpm, SUBARU_LONG_LIMITS);
   }
 

diff --git a/tests/safety/test_subaru.py b/tests/safety/test_subaru.py
@@ -122,15 +122,15 @@ class TestSubaruLongitudinalSafetyBase(TestSubaruSafetyBase, common.Longitudinal
   MIN_GAS = 808
   MAX_GAS = 3400
   INACTIVE_GAS = 1818
-  MAX_POSSIBLE_GAS = 2**12
+  MAX_POSSIBLE_GAS = 2**13
 
   MIN_BRAKE = 0
   MAX_BRAKE = 600
   MAX_POSSIBLE_BRAKE = 2**16
 
   MIN_RPM = 0
   MAX_RPM = 2400
-  MAX_POSSIBLE_RPM = 2**12
+  MAX_POSSIBLE_RPM = 2**13
 
   FWD_BLACKLISTED_ADDRS = {2: [SubaruMsg.ES_LKAS, SubaruMsg.ES_Brake, SubaruMsg.ES_Distance,
                                SubaruMsg.ES_Status, SubaruMsg.ES_DashStatus,