From 989af0a6b06f91e2ff381b80ed46838245b90f70 Mon Sep 17 00:00:00 2001
From: martinl <martin@mlp.ee>
Date: Wed, 29 Sep 2021 08:00:35 +0300
Subject: [PATCH] Subaru: update brake pressed signal (#21012)

* Change Global brakePressed to Brake_Status Brake signal

* Add Brake_Status Brake signal and check

* bump panda

* update refs

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 4c45e907221395bf02cdfa49012f815028cf41dc
---
 panda                                    | 2 +-
 selfdrive/car/subaru/carstate.py         | 4 +++-
 selfdrive/test/process_replay/ref_commit | 2 +-
 3 files changed, 5 insertions(+), 3 deletions(-)

diff --git a/panda b/panda
index dd22fafc3c..5ab46ab70a 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit dd22fafc3c9f36c9d96dffee5437fb9f56d7ff6d
+Subproject commit 5ab46ab70a4a6b97acb4d89b9452074f70619dd6
diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py
index 8ff9dad38a..e324037766 100644
--- a/selfdrive/car/subaru/carstate.py
+++ b/selfdrive/car/subaru/carstate.py
@@ -21,7 +21,7 @@ class CarState(CarStateBase):
     if self.car_fingerprint in PREGLOBAL_CARS:
       ret.brakePressed = cp.vl["Brake_Pedal"]["Brake_Pedal"] > 2
     else:
-      ret.brakePressed = cp.vl["Brake_Pedal"]["Brake_Pedal"] > 1e-5
+      ret.brakePressed = cp.vl["Brake_Status"]["Brake"] == 1
 
     ret.wheelSpeeds.fl = cp.vl["Wheel_Speeds"]["FL"] * CV.KPH_TO_MS
     ret.wheelSpeeds.fr = cp.vl["Wheel_Speeds"]["FR"] * CV.KPH_TO_MS
@@ -125,12 +125,14 @@ class CarState(CarStateBase):
     if CP.carFingerprint not in PREGLOBAL_CARS:
       signals += [
         ("Steer_Warning", "Steering_Torque", 0),
+        ("Brake", "Brake_Status", 0),
         ("UNITS", "Dashlights", 0),
       ]
 
       checks += [
         ("Dashlights", 10),
         ("BodyInfo", 10),
+        ("Brake_Status", 50),
         ("CruiseControl", 20),
       ]
     else:
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 4a4f92a488..e43b5d39eb 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-5874cd1594e1a9dde61590bf7ff21276427ed555
\ No newline at end of file
+58c5a740a25da4e70899a0466c336a7b5838f394
\ No newline at end of file