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Subaru: 2020 Outback support (#25248)

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* Subaru: 2020 Outback support

* bump panda

* bump panda

* update refs

* update refs
old-commit-hash: efa326e208
vw-mqb-aeb
Adeeb Shihadeh 3 years ago committed by GitHub
parent 6e5393367d
commit b34f0129e2
11 changed files with 254 additions and 82 deletions
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  1. 1
      RELEASES.md
  2. 3
      docs/CARS.md
  3. 2
      panda
  4. 20
      selfdrive/car/subaru/carcontroller.py
  5. 185
      selfdrive/car/subaru/carstate.py
  6. 22
      selfdrive/car/subaru/interface.py
  7. 28
      selfdrive/car/subaru/subarucan.py
  8. 66
      selfdrive/car/subaru/values.py
  9. 6
      selfdrive/car/tests/routes.py
  10. 1
      selfdrive/car/torque_data/override.yaml
  11. 2
      selfdrive/test/process_replay/ref_commit

1
RELEASES.md
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@ -1,5 +1,6 @@
Version 0.8.16 (2022-XX-XX)
========================
* Subaru Outback 2020-22 support
Version 0.8.15 (2022-07-20)
========================

3
docs/CARS.md
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@ -19,7 +19,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
- [![star](assets/icon-star-empty.svg)](##) - Limited ability to make tighter turns.
# 196 Supported Cars
# 197 Supported Cars
|Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|
|---|---|---|:---:|:---:|:---:|:---:|
@ -139,6 +139,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
|Subaru|Forester 2019-21|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Subaru|Impreza 2017-19|EyeSight|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
|Subaru|Impreza 2020-22|EyeSight|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Subaru|Outback 2020-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Subaru|XV 2018-19|EyeSight|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
|Subaru|XV 2020-21|EyeSight|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
|Škoda|Kamiq 2021[<sup>6</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|

2
panda

@ -1 +1 @@
Subproject commit a1686ca3ca55b004179f10bfc45af5fbd701ca64
Subproject commit 4b86b83991e6be699c1eba79ea82846533f55467

20
selfdrive/car/subaru/carcontroller.py
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@ -1,17 +1,20 @@
from opendbc.can.packer import CANPacker
from selfdrive.car import apply_std_steer_torque_limits
from selfdrive.car.subaru import subarucan
from selfdrive.car.subaru.values import DBC, PREGLOBAL_CARS, CarControllerParams
from selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, CarControllerParams
class CarController:
def __init__(self, dbc_name, CP, VM):
self.CP = CP
self.apply_steer_last = 0
self.es_distance_cnt = -1
self.frame = 0
self.es_lkas_cnt = -1
self.es_distance_cnt = -1
self.es_dashstatus_cnt = -1
self.cruise_button_prev = 0
self.frame = 0
self.last_cancel_frame = 0
self.p = CarControllerParams(CP)
self.packer = CANPacker(DBC[CP.carFingerprint]['pt'])
@ -67,9 +70,14 @@ class CarController:
self.es_distance_cnt = CS.es_distance_msg["COUNTER"]
else:
if self.es_distance_cnt != CS.es_distance_msg["COUNTER"]:
can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg, pcm_cancel_cmd))
self.es_distance_cnt = CS.es_distance_msg["COUNTER"]
if pcm_cancel_cmd and (self.frame - self.last_cancel_frame) > 0.2:
bus = 1 if self.CP.carFingerprint in GLOBAL_GEN2 else 0
can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg, bus, pcm_cancel_cmd))
self.last_cancel_frame = self.frame
if self.es_dashstatus_cnt != CS.es_dashstatus_msg["COUNTER"]:
can_sends.append(subarucan.create_es_dashstatus(self.packer, CS.es_dashstatus_msg))
self.es_dashstatus_cnt = CS.es_dashstatus_msg["COUNTER"]
if self.es_lkas_cnt != CS.es_lkas_msg["COUNTER"]:
can_sends.append(subarucan.create_es_lkas(self.packer, CS.es_lkas_msg, CC.enabled, hud_control.visualAlert,

185
selfdrive/car/subaru/carstate.py
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@ -4,7 +4,7 @@ from opendbc.can.can_define import CANDefine
from common.conversions import Conversions as CV
from selfdrive.car.interfaces import CarStateBase
from opendbc.can.parser import CANParser
from selfdrive.car.subaru.values import DBC, STEER_THRESHOLD, CAR, PREGLOBAL_CARS
from selfdrive.car.subaru.values import DBC, STEER_THRESHOLD, CAR, GLOBAL_GEN2, PREGLOBAL_CARS
class CarState(CarStateBase):
@ -13,7 +13,7 @@ class CarState(CarStateBase):
can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
self.shifter_values = can_define.dv["Transmission"]["Gear"]
def update(self, cp, cp_cam):
def update(self, cp, cp_cam, cp_body):
ret = car.CarState.new_message()
ret.gas = cp.vl["Throttle"]["Throttle_Pedal"] / 255.
@ -21,13 +21,15 @@ 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_Status"]["Brake"] == 1
cp_brakes = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp
ret.brakePressed = cp_brakes.vl["Brake_Status"]["Brake"] == 1
cp_wheels = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp
ret.wheelSpeeds = self.get_wheel_speeds(
cp.vl["Wheel_Speeds"]["FL"],
cp.vl["Wheel_Speeds"]["FR"],
cp.vl["Wheel_Speeds"]["RL"],
cp.vl["Wheel_Speeds"]["RR"],
cp_wheels.vl["Wheel_Speeds"]["FL"],
cp_wheels.vl["Wheel_Speeds"]["FR"],
cp_wheels.vl["Wheel_Speeds"]["RL"],
cp_wheels.vl["Wheel_Speeds"]["RR"],
)
ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.
# Kalman filter, even though Subaru raw wheel speed is heaviliy filtered by default
@ -35,8 +37,8 @@ class CarState(CarStateBase):
ret.standstill = ret.vEgoRaw < 0.01
# continuous blinker signals for assisted lane change
ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(
50, cp.vl["Dashlights"]["LEFT_BLINKER"], cp.vl["Dashlights"]["RIGHT_BLINKER"])
ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["Dashlights"]["LEFT_BLINKER"],
cp.vl["Dashlights"]["RIGHT_BLINKER"])
if self.CP.enableBsm:
ret.leftBlindspot = (cp.vl["BSD_RCTA"]["L_ADJACENT"] == 1) or (cp.vl["BSD_RCTA"]["L_APPROACHING"] == 1)
@ -50,8 +52,9 @@ class CarState(CarStateBase):
ret.steeringTorqueEps = cp.vl["Steering_Torque"]["Steer_Torque_Output"]
ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD[self.car_fingerprint]
ret.cruiseState.enabled = cp.vl["CruiseControl"]["Cruise_Activated"] != 0
ret.cruiseState.available = cp.vl["CruiseControl"]["Cruise_On"] != 0
cp_cruise = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp
ret.cruiseState.enabled = cp_cruise.vl["CruiseControl"]["Cruise_Activated"] != 0
ret.cruiseState.available = cp_cruise.vl["CruiseControl"]["Cruise_On"] != 0
ret.cruiseState.speed = cp_cam.vl["ES_DashStatus"]["Cruise_Set_Speed"] * CV.KPH_TO_MS
if (self.car_fingerprint in PREGLOBAL_CARS and cp.vl["Dash_State2"]["UNITS"] == 1) or \
@ -72,10 +75,59 @@ class CarState(CarStateBase):
ret.steerFaultTemporary = cp.vl["Steering_Torque"]["Steer_Warning"] == 1
ret.cruiseState.nonAdaptive = cp_cam.vl["ES_DashStatus"]["Conventional_Cruise"] == 1
self.es_lkas_msg = copy.copy(cp_cam.vl["ES_LKAS_State"])
self.es_distance_msg = copy.copy(cp_cam.vl["ES_Distance"])
cp_es_distance = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp_cam
self.es_distance_msg = copy.copy(cp_es_distance.vl["ES_Distance"])
self.es_dashstatus_msg = copy.copy(cp_cam.vl["ES_DashStatus"])
return ret
@staticmethod
def get_common_global_signals():
signals = [
("Cruise_On", "CruiseControl"),
("Cruise_Activated", "CruiseControl"),
("FL", "Wheel_Speeds"),
("FR", "Wheel_Speeds"),
("RL", "Wheel_Speeds"),
("RR", "Wheel_Speeds"),
("Brake", "Brake_Status"),
]
checks = [
("CruiseControl", 20),
("Wheel_Speeds", 50),
("Brake_Status", 50),
]
return signals, checks
@staticmethod
def get_global_es_distance_signals():
signals = [
("COUNTER", "ES_Distance"),
("Signal1", "ES_Distance"),
("Cruise_Fault", "ES_Distance"),
("Cruise_Throttle", "ES_Distance"),
("Signal2", "ES_Distance"),
("Car_Follow", "ES_Distance"),
("Signal3", "ES_Distance"),
("Cruise_Brake_Active", "ES_Distance"),
("Distance_Swap", "ES_Distance"),
("Cruise_EPB", "ES_Distance"),
("Signal4", "ES_Distance"),
("Close_Distance", "ES_Distance"),
("Signal5", "ES_Distance"),
("Cruise_Cancel", "ES_Distance"),
("Cruise_Set", "ES_Distance"),
("Cruise_Resume", "ES_Distance"),
("Signal6", "ES_Distance"),
]
checks = [
("ES_Distance", 20),
]
return signals, checks
@staticmethod
def get_can_parser(CP):
signals = [
@ -84,17 +136,11 @@ class CarState(CarStateBase):
("Steer_Torque_Output", "Steering_Torque"),
("Steering_Angle", "Steering_Torque"),
("Steer_Error_1", "Steering_Torque"),
("Cruise_On", "CruiseControl"),
("Cruise_Activated", "CruiseControl"),
("Brake_Pedal", "Brake_Pedal"),
("Throttle_Pedal", "Throttle"),
("LEFT_BLINKER", "Dashlights"),
("RIGHT_BLINKER", "Dashlights"),
("SEATBELT_FL", "Dashlights"),
("FL", "Wheel_Speeds"),
("FR", "Wheel_Speeds"),
("RL", "Wheel_Speeds"),
("RR", "Wheel_Speeds"),
("DOOR_OPEN_FR", "BodyInfo"),
("DOOR_OPEN_FL", "BodyInfo"),
("DOOR_OPEN_RR", "BodyInfo"),
@ -107,7 +153,6 @@ class CarState(CarStateBase):
("Throttle", 100),
("Dashlights", 10),
("Brake_Pedal", 50),
("Wheel_Speeds", 50),
("Transmission", 100),
("Steering_Torque", 50),
("BodyInfo", 1),
@ -123,36 +168,47 @@ class CarState(CarStateBase):
checks.append(("BSD_RCTA", 17))
if CP.carFingerprint not in PREGLOBAL_CARS:
if CP.carFingerprint not in GLOBAL_GEN2:
signals += CarState.get_common_global_signals()[0]
checks += CarState.get_common_global_signals()[1]
signals += [
("Steer_Warning", "Steering_Torque"),
("Brake", "Brake_Status"),
("UNITS", "Dashlights"),
]
checks += [
("Dashlights", 10),
("BodyInfo", 10),
("Brake_Status", 50),
("CruiseControl", 20),
]
else:
signals.append(("UNITS", "Dash_State2"))
checks.append(("Dash_State2", 1))
if CP.carFingerprint == CAR.FORESTER_PREGLOBAL:
checks += [
("Dashlights", 20),
("BodyInfo", 1),
("CruiseControl", 50),
signals += [
("FL", "Wheel_Speeds"),
("FR", "Wheel_Speeds"),
("RL", "Wheel_Speeds"),
("RR", "Wheel_Speeds"),
("UNITS", "Dash_State2"),
("Cruise_On", "CruiseControl"),
("Cruise_Activated", "CruiseControl"),
]
if CP.carFingerprint in (CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018):
checks += [
("Dashlights", 10),
("CruiseControl", 50),
("Wheel_Speeds", 50),
("Dash_State2", 1),
]
if CP.carFingerprint == CAR.FORESTER_PREGLOBAL:
checks += [
("Dashlights", 20),
("BodyInfo", 1),
("CruiseControl", 50),
]
if CP.carFingerprint in (CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018):
checks += [
("Dashlights", 10),
("CruiseControl", 50),
]
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
@staticmethod
@ -187,26 +243,32 @@ class CarState(CarStateBase):
]
else:
signals = [
("Cruise_Set_Speed", "ES_DashStatus"),
("Counter", "ES_DashStatus"),
("PCB_Off", "ES_DashStatus"),
("LDW_Off", "ES_DashStatus"),
("Signal1", "ES_DashStatus"),
("Cruise_State_Msg", "ES_DashStatus"),
("LKAS_State_Msg", "ES_DashStatus"),
("Signal2", "ES_DashStatus"),
("Cruise_Soft_Disable", "ES_DashStatus"),
("EyeSight_Status_Msg", "ES_DashStatus"),
("Signal3", "ES_DashStatus"),
("Cruise_Distance", "ES_DashStatus"),
("Signal4", "ES_DashStatus"),
("Conventional_Cruise", "ES_DashStatus"),
("COUNTER", "ES_Distance"),
("Signal1", "ES_Distance"),
("Cruise_Fault", "ES_Distance"),
("Cruise_Throttle", "ES_Distance"),
("Signal2", "ES_Distance"),
("Car_Follow", "ES_Distance"),
("Signal3", "ES_Distance"),
("Cruise_Brake_Active", "ES_Distance"),
("Distance_Swap", "ES_Distance"),
("Cruise_EPB", "ES_Distance"),
("Signal4", "ES_Distance"),
("Close_Distance", "ES_Distance"),
("Signal5", "ES_Distance"),
("Cruise_Cancel", "ES_Distance"),
("Cruise_Set", "ES_Distance"),
("Cruise_Resume", "ES_Distance"),
("Signal6", "ES_Distance"),
("Signal5", "ES_DashStatus"),
("Cruise_Disengaged", "ES_DashStatus"),
("Cruise_Activated", "ES_DashStatus"),
("Signal6", "ES_DashStatus"),
("Cruise_Set_Speed", "ES_DashStatus"),
("Cruise_Fault", "ES_DashStatus"),
("Cruise_On", "ES_DashStatus"),
("Display_Own_Car", "ES_DashStatus"),
("Brake_Lights", "ES_DashStatus"),
("Car_Follow", "ES_DashStatus"),
("Signal7", "ES_DashStatus"),
("Far_Distance", "ES_DashStatus"),
("Cruise_State", "ES_DashStatus"),
("COUNTER", "ES_LKAS_State"),
("LKAS_Alert_Msg", "ES_LKAS_State"),
@ -227,8 +289,21 @@ class CarState(CarStateBase):
checks = [
("ES_DashStatus", 10),
("ES_Distance", 20),
("ES_LKAS_State", 10),
]
if CP.carFingerprint not in GLOBAL_GEN2:
signals += CarState.get_global_es_distance_signals()[0]
checks += CarState.get_global_es_distance_signals()[1]
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)
@staticmethod
def get_body_can_parser(CP):
if CP.carFingerprint in GLOBAL_GEN2:
signals, checks = CarState.get_common_global_signals()
signals += CarState.get_global_es_distance_signals()[0]
checks += CarState.get_global_es_distance_signals()[1]
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 1)
return None

22
selfdrive/car/subaru/interface.py
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@ -1,8 +1,9 @@
#!/usr/bin/env python3
from cereal import car
from panda import Panda
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase
from selfdrive.car.subaru.values import CAR, PREGLOBAL_CARS
from selfdrive.car.subaru.values import CAR, GLOBAL_GEN2, PREGLOBAL_CARS
class CarInterface(CarInterfaceBase):
@ -16,11 +17,13 @@ class CarInterface(CarInterfaceBase):
ret.dashcamOnly = candidate in PREGLOBAL_CARS
if candidate in PREGLOBAL_CARS:
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaruLegacy)]
ret.enableBsm = 0x25c in fingerprint[0]
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaruLegacy)]
else:
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaru)]
ret.enableBsm = 0x228 in fingerprint[0]
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaru)]
if candidate in GLOBAL_GEN2:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_SUBARU_GEN2
ret.steerLimitTimer = 0.4
ret.steerActuatorDelay = 0.1
@ -68,6 +71,14 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.065, 0.2], [0.001, 0.015, 0.025]]
elif candidate == CAR.OUTBACK:
ret.mass = 1568. + STD_CARGO_KG
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 17
ret.steerActuatorDelay = 0.1
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate in (CAR.FORESTER_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018):
ret.safetyConfigs[0].safetyParam = 1 # Outback 2018-2019 and Forester have reversed driver torque signal
ret.mass = 1568 + STD_CARGO_KG
@ -88,6 +99,9 @@ class CarInterface(CarInterfaceBase):
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 20 # learned, 14 stock
else:
raise ValueError(f"unknown car: {candidate}")
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
@ -101,7 +115,7 @@ class CarInterface(CarInterfaceBase):
# returns a car.CarState
def _update(self, c):
ret = self.CS.update(self.cp, self.cp_cam)
ret = self.CS.update(self.cp, self.cp_cam, self.cp_body)
ret.events = self.create_common_events(ret).to_msg()

28
selfdrive/car/subaru/subarucan.py
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@ -14,13 +14,12 @@ def create_steering_control(packer, apply_steer):
def create_steering_status(packer):
return packer.make_can_msg("ES_LKAS_State", 0, {})
def create_es_distance(packer, es_distance_msg, pcm_cancel_cmd):
def create_es_distance(packer, es_distance_msg, bus, pcm_cancel_cmd):
values = copy.copy(es_distance_msg)
values["COUNTER"] = (values["COUNTER"] + 1) % 0x10
if pcm_cancel_cmd:
values["Cruise_Cancel"] = 1
return packer.make_can_msg("ES_Distance", 0, values)
return packer.make_can_msg("ES_Distance", bus, values)
def create_es_lkas(packer, es_lkas_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart):
@ -34,6 +33,18 @@ def create_es_lkas(packer, es_lkas_msg, enabled, visual_alert, left_line, right_
if values["LKAS_Alert"] == 27:
values["LKAS_Alert"] = 0
# Filter the stock LKAS sending an audible alert when "Keep hands on wheel" alert is active (2020+ models)
if values["LKAS_Alert"] == 28 and values["LKAS_Alert_Msg"] == 7:
values["LKAS_Alert"] = 0
# Filter the stock LKAS sending an audible alert when "Keep hands on wheel OFF" alert is active (2020+ models)
if values["LKAS_Alert"] == 30:
values["LKAS_Alert"] = 0
# Filter the stock LKAS sending "Keep hands on wheel OFF" alert (2020+ models)
if values["LKAS_Alert_Msg"] == 7:
values["LKAS_Alert_Msg"] = 0
# Show Keep hands on wheel alert for openpilot steerRequired alert
if visual_alert == VisualAlert.steerRequired:
values["LKAS_Alert_Msg"] = 1
@ -56,6 +67,15 @@ def create_es_lkas(packer, es_lkas_msg, enabled, visual_alert, left_line, right_
return packer.make_can_msg("ES_LKAS_State", 0, values)
def create_es_dashstatus(packer, dashstatus_msg):
values = copy.copy(dashstatus_msg)
# Filter stock LKAS disabled and Keep hands on steering wheel OFF alerts
if values["LKAS_State_Msg"] in [2, 3]:
values["LKAS_State_Msg"] = 0
return packer.make_can_msg("ES_DashStatus", 0, values)
# *** Subaru Pre-global ***
def subaru_preglobal_checksum(packer, values, addr):

66
selfdrive/car/subaru/values.py
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@ -11,23 +11,32 @@ Ecu = car.CarParams.Ecu
class CarControllerParams:
def __init__(self, CP):
if CP.carFingerprint == CAR.IMPREZA_2020:
self.STEER_MAX = 1439
else:
self.STEER_MAX = 2047
self.STEER_STEP = 2 # how often we update the steer cmd
self.STEER_DELTA_UP = 50 # torque increase per refresh, 0.8s to max
self.STEER_DELTA_DOWN = 70 # torque decrease per refresh
self.STEER_DRIVER_ALLOWANCE = 60 # allowed driver torque before start limiting
self.STEER_DRIVER_MULTIPLIER = 10 # weight driver torque heavily
self.STEER_DRIVER_MULTIPLIER = 50 # weight driver torque heavily
self.STEER_DRIVER_FACTOR = 1 # from dbc
if CP.carFingerprint in GLOBAL_GEN2:
self.STEER_MAX = 1000
self.STEER_DELTA_UP = 40
self.STEER_DELTA_DOWN = 40
elif CP.carFingerprint == CAR.IMPREZA_2020:
self.STEER_MAX = 1439
else:
self.STEER_MAX = 2047
class CAR:
# Global platform
ASCENT = "SUBARU ASCENT LIMITED 2019"
IMPREZA = "SUBARU IMPREZA LIMITED 2019"
IMPREZA_2020 = "SUBARU IMPREZA SPORT 2020"
FORESTER = "SUBARU FORESTER 2019"
OUTBACK = "SUBARU OUTBACK 6TH GEN"
# Pre-global
FORESTER_PREGLOBAL = "SUBARU FORESTER 2017 - 2018"
LEGACY_PREGLOBAL = "SUBARU LEGACY 2015 - 2018"
OUTBACK_PREGLOBAL = "SUBARU OUTBACK 2015 - 2017"
@ -42,6 +51,7 @@ class SubaruCarInfo(CarInfo):
CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-21", "All"),
CAR.OUTBACK: SubaruCarInfo("Subaru Outback 2020-22", "All"),
CAR.IMPREZA: [
SubaruCarInfo("Subaru Impreza 2017-19"),
SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
@ -396,6 +406,47 @@ FW_VERSIONS = {
b'\xbb\xfb\xe0`\000',
],
},
CAR.OUTBACK: {
(Ecu.esp, 0x7b0, None): [
b'\xa1 \x06\x01',
b'\xa1 \a\x00',
b'\xa1 \b\001',
b'\xa1 \x06\x00',
b'\xa1 "\t\x01',
b'\xa1 \x08\x02',
b'\xa1 \x06\x02',
b'\xa1 \x08\x00',
],
(Ecu.eps, 0x746, None): [
b'\x9b\xc0\x10\x00',
b'\x9b\xc0\x20\x00',
b'\x1b\xc0\x10\x00',
],
(Ecu.fwdCamera, 0x787, None): [
b'\x00\x00eJ\x00\x1f@ \x19\x00',
b'\000\000e\x80\000\037@ \031\000',
b'\x00\x00e\x9a\x00\x1f@ 1\x00',
b'\x00\x00eJ\x00\x00\x00\x00\x00\x00',
],
(Ecu.engine, 0x7e0, None): [
b'\xbc,\xa0q\x07',
b'\xbc\"`@\a',
b'\xde"`0\a',
b'\xf1\x82\xbc,\xa0q\a',
b'\xf1\x82\xe3,\xa0@\x07',
b'\xe2"`p\x07',
b'\xf1\x82\xe2,\xa0@\x07',
b'\xbc"`q\x07',
],
(Ecu.transmission, 0x7e1, None): [
b'\xa5\xfe\xf7@\x00',
b'\xa5\xf6D@\x00',
b'\xa5\xfe\xf6@\x00',
b'\xa7\x8e\xf40\x00',
b'\xf1\x82\xa7\xf6D@\x00',
b'\xa7\xfe\xf4@\x00',
],
},
}
STEER_THRESHOLD = {
@ -403,6 +454,7 @@ STEER_THRESHOLD = {
CAR.IMPREZA: 80,
CAR.IMPREZA_2020: 80,
CAR.FORESTER: 80,
CAR.OUTBACK: 80,
CAR.FORESTER_PREGLOBAL: 75,
CAR.LEGACY_PREGLOBAL: 75,
CAR.OUTBACK_PREGLOBAL: 75,
@ -414,10 +466,12 @@ DBC = {
CAR.IMPREZA: dbc_dict('subaru_global_2017_generated', None),
CAR.IMPREZA_2020: dbc_dict('subaru_global_2017_generated', None),
CAR.FORESTER: dbc_dict('subaru_global_2017_generated', None),
CAR.OUTBACK: dbc_dict('subaru_global_2017_generated', None),
CAR.FORESTER_PREGLOBAL: dbc_dict('subaru_forester_2017_generated', None),
CAR.LEGACY_PREGLOBAL: dbc_dict('subaru_outback_2015_generated', None),
CAR.OUTBACK_PREGLOBAL: dbc_dict('subaru_outback_2015_generated', None),
CAR.OUTBACK_PREGLOBAL_2018: dbc_dict('subaru_outback_2019_generated', None),
}
PREGLOBAL_CARS = [CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018]
GLOBAL_GEN2 = (CAR.OUTBACK, )
PREGLOBAL_CARS = (CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018)

6
selfdrive/car/tests/routes.py
Unescape View File

@ -187,13 +187,11 @@ routes = [
TestRoute("c321c6b697c5a5ff|2020-06-23--11-04-33", SUBARU.FORESTER),
TestRoute("791340bc01ed993d|2019-03-10--16-28-08", SUBARU.IMPREZA),
TestRoute("8bf7e79a3ce64055|2021-05-24--09-36-27", SUBARU.IMPREZA_2020),
# Dashcam
TestRoute("1bbe6bf2d62f58a8|2022-07-14--17-11-43", SUBARU.OUTBACK, segment=3),
# Pre-global, dashcam
TestRoute("95441c38ae8c130e|2020-06-08--12-10-17", SUBARU.FORESTER_PREGLOBAL),
# Dashcam
TestRoute("df5ca7660000fba8|2020-06-16--17-37-19", SUBARU.LEGACY_PREGLOBAL),
# Dashcam
TestRoute("5ab784f361e19b78|2020-06-08--16-30-41", SUBARU.OUTBACK_PREGLOBAL),
# Dashcam
TestRoute("e19eb5d5353b1ac1|2020-08-09--14-37-56", SUBARU.OUTBACK_PREGLOBAL_2018),
TestRoute("fbbfa6af821552b9|2020-03-03--08-09-43", NISSAN.XTRAIL),

1
selfdrive/car/torque_data/override.yaml
Unescape View File

@ -22,6 +22,7 @@ COMMA BODY: [.nan, 1000, .nan]
# Totally new cars
KIA EV6 2022: [3.5, 2.5, 0.0]
RAM 1500 5TH GEN: [2.0, 2.0, 0.0]
SUBARU OUTBACK 6TH GEN: [2.3, 2.3, 0.11]
# Dashcam or fallback configured as ideal car
mock: [10.0, 10, 0.0]

2
selfdrive/test/process_replay/ref_commit
Unescape View File

@ -1 +1 @@
912413daa4c36a788cf2c801fc49829d46ae3072
01e23eec1394b07d2c537f0e28493b10e05923c2
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