Subaru: calculate checksum in can packer (#1356)

* subaru checksum moved to can packer

* unused

selfdrive/car/subaru/carcontroller.py

@@ -6,7 +6,7 @@ from opendbc.can.packer import CANPacker
 
 
 class CarControllerParams():
-  def __init__(self, car_fingerprint):
+  def __init__(self):
     self.STEER_MAX = 2047              # max_steer 4095
     self.STEER_STEP = 2                # how often we update the steer cmd
     self.STEER_DELTA_UP = 50           # torque increase per refresh, 0.8s to max
@@ -27,7 +27,7 @@ class CarController():
 
     # Setup detection helper. Routes commands to
     # an appropriate CAN bus number.
-    self.params = CarControllerParams(CP.carFingerprint)
+    self.params = CarControllerParams()
     self.packer = CANPacker(DBC[CP.carFingerprint]['pt'])
 
   def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert, left_line, right_line):
@@ -56,7 +56,7 @@ class CarController():
       if not lkas_enabled:
         apply_steer = 0
 
-      can_sends.append(subarucan.create_steering_control(self.packer, CS.CP.carFingerprint, apply_steer, frame, P.STEER_STEP))
+      can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, frame, P.STEER_STEP))
 
       self.apply_steer_last = apply_steer
 

selfdrive/car/subaru/carstate.py

@@ -111,7 +111,6 @@ class CarState(CarStateBase):
       ("Main", "ES_Distance", 0),
       ("Signal3", "ES_Distance", 0),
 
-      ("Checksum", "ES_LKAS_State", 0),
       ("Counter", "ES_LKAS_State", 0),
       ("Keep_Hands_On_Wheel", "ES_LKAS_State", 0),
       ("Empty_Box", "ES_LKAS_State", 0),

selfdrive/car/subaru/subarucan.py

@@ -1,36 +1,24 @@
 import copy
 from cereal import car
-from selfdrive.car.subaru.values import CAR
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
-def subaru_checksum(packer, values, addr):
-  dat = packer.make_can_msg(addr, 0, values)[2]
-  return (sum(dat[1:]) + (addr >> 8) + addr) & 0xff
+def create_steering_control(packer, apply_steer, frame, steer_step):
 
-def create_steering_control(packer, car_fingerprint, apply_steer, frame, steer_step):
+  # counts from 0 to 15 then back to 0 + 16 for enable bit
+  idx = ((frame // steer_step) % 16)
 
-  if car_fingerprint == CAR.IMPREZA:
-    #counts from 0 to 15 then back to 0 + 16 for enable bit
-    idx = ((frame // steer_step) % 16)
-
-    values = {
-      "Counter": idx,
-      "LKAS_Output": apply_steer,
-      "LKAS_Request": 1 if apply_steer != 0 else 0,
-      "SET_1": 1
-    }
-    values["Checksum"] = subaru_checksum(packer, values, 0x122)
+  values = {
+    "Counter": idx,
+    "LKAS_Output": apply_steer,
+    "LKAS_Request": 1 if apply_steer != 0 else 0,
+    "SET_1": 1
+  }
 
   return packer.make_can_msg("ES_LKAS", 0, values)
 
-def create_steering_status(packer, car_fingerprint, apply_steer, frame, steer_step):
-
-  if car_fingerprint == CAR.IMPREZA:
-    values = {}
-    values["Checksum"] = subaru_checksum(packer, {}, 0x322)
-
-  return packer.make_can_msg("ES_LKAS_State", 0, values)
+def create_steering_status(packer, apply_steer, frame, steer_step):
+  return packer.make_can_msg("ES_LKAS_State", 0, {})
 
 def create_es_distance(packer, es_distance_msg, pcm_cancel_cmd):
 
@@ -38,8 +26,6 @@ def create_es_distance(packer, es_distance_msg, pcm_cancel_cmd):
   if pcm_cancel_cmd:
     values["Main"] = 1
 
-  values["Checksum"] = subaru_checksum(packer, values, 545)
-
   return packer.make_can_msg("ES_Distance", 0, values)
 
 def create_es_lkas(packer, es_lkas_msg, visual_alert, left_line, right_line):
@@ -51,6 +37,4 @@ def create_es_lkas(packer, es_lkas_msg, visual_alert, left_line, right_line):
   values["LKAS_Left_Line_Visible"] = int(left_line)
   values["LKAS_Right_Line_Visible"] = int(right_line)
 
-  values["Checksum"] = subaru_checksum(packer, values, 802)
-
   return packer.make_can_msg("ES_LKAS_State", 0, values)