Subaru preglobal: include front-left wheel speed in movement detection - #3735
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joedlai wants to merge 1 commit into
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Subaru preglobal: include front-left wheel speed in movement detection#3735joedlai wants to merge 1 commit into
joedlai wants to merge 1 commit into
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Car behavior reportReplays driving segments through this PR and compares the behavior to master. Testing 79 segments for: SUBARU_ASCENT, SUBARU_OUTBACK, SUBARU_LEGACY, SUBARU_IMPREZA, SUBARU_IMPREZA_2020, SUBARU_FORESTER, SUBARU_OUTBACK_PREGLOBAL, SUBARU_OUTBACK_PREGLOBAL_2018, SUBARU_FORESTER_2022 ✅ 0 changed, 79 passed, 0 errors |
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Superseded by #3741 to submit this work from khchen428. The code and commits are unchanged. Please continue review on the replacement PR.
Preglobal
Wheel_Speedscontains four 16-bit wheel speeds, with FL beginning at bit 0. The existing 12-bit shift discards most of the FL signal, so motion reported only by FL can be treated as standstill and miss the held-brake motion disengagement. Read the complete first word when detecting movement.Add regressions for each wheel independently, zero/nonzero transitions around the discarded-bit boundary, and disengagement when a wheel starts moving while the brake is held. Both preglobal steering-polarity configurations are covered.
Preglobal platforms remain dashcamOnly and this safety mode is debug-gated; this does not add vehicle support.
Validation: the unchanged baseline fails six regression assertions; the fixed full safety suite runs 3,166 tests (2,774 passed, 392 skipped) and passes the 100% line-coverage gate (2,346/2,346 lines). Ruff, ty, cpplint, codespell, and the repository-configured MISRA analysis pass. An independent DBC roundtrip and 192 single-bit cases across all three preglobal DBC variants find zero missed movement or held-brake disengagements after the fix (36 of each before).