Civic: permanent LKAS fault when jerking wheel

[sshane]

Could be a diff of torque, max torque, or angle rate

https://connect.comma.ai/f299d0a03c4e965d/1685509313071/1685509343277

https://connect.comma.ai/f299d0a03c4e965d/1685509362131/1685509446705

https://connect.comma.ai/f299d0a03c4e965d/1685509216391/1685509226635

[vanillagorillaa]

STEER_STATUS goes to val 7 (an undefined state) during these fault events. Need to figure out if it's temporary, or only resets on vehicle restart. Will try to test tomorrow.

[vanillagorillaa]

Value 7 appears to be a permanent fault, and only resets on vehicle power off. I modified openpilot to not fault with STEER_STATUS val 7, but the EPS will not accept control commands in the faulted state. Will require more review to determine if we can get the EPS out of this state without a vehicle restart

5cfa1ad8f35779d0|2023-07-03--09-17-39

[vanillagorillaa]

Found two other ID's that come from the camera that aren't in the DBC. They both seem to have some signals that line up with the EPS fault in the drive above.

BO_ 1600 BOH_CAM1: 5 XXX SG FAULT_BIT2 : 7|6@0+ (1,0) [0|255] "" XXX SG FAULT_BIT1 : 13|1@1+ (1,0) [0|127] "" XXX SG FAULT_BIT3 : 22|4@0+ (1,0) [0|255] "" XXX SG SET_MEX03 : 26|2@0+ (1,0) [0|255] "" XXX SG CHECKSUM : 35|4@0+ (1,0) [0|15] "" XXX SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" XXX

BO_ 1601 BOH_CAM2: 8 XXX SG BOHCOUNTER : 5|6@0+ (1,0) [0|127] "" XXX SG FAULTBIT : 7|1@0+ (1,0) [0|1] "" XXX SG COUNTER1 : 11|1@0+ (1,0) [0|2.81475e+14] "" XXX SG COUNTER2 : 20|4@0+ (1,0) [0|31] "" XXX SG COUNTER3 : 25|1@0+ (1,0) [0|255] "" XXX SG COUNTER4 : 35|3@0+ (1,0) [0|255] "" XXX SG COUNTER5 : 45|5@0+ (1,0) [0|255] "" XXX SG CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX