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Subaru: Legacy 2020-22 support (#25313)

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* Subaru: Legacy 2020 support

* clean that up

* force for now

* update years

* test route
pull/25415/head^2
Adeeb Shihadeh 3 years ago committed by GitHub
parent 7679f4fa90
commit a21780dbea
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7 changed files with 32 additions and 17 deletions
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  1. 1
      RELEASES.md
  2. 3
      docs/CARS.md
  3. 6
      selfdrive/car/subaru/carstate.py
  4. 2
      selfdrive/car/subaru/interface.py
  5. 34
      selfdrive/car/subaru/values.py
  6. 1
      selfdrive/car/tests/routes.py
  7. 2
      selfdrive/car/torque_data/substitute.yaml

1
RELEASES.md
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@ -6,6 +6,7 @@ Version 0.8.16 (2022-XX-XX)
* Chevrolet Bolt EUV 2022-23 support thanks to JasonJShuler!
* Hyundai Ioniq 5 2022 support thanks to sunnyhaibin!
* Hyundai Kona Electric 2022 support thanks to sunnyhaibin!
* Subaru Legacy 2020-22 support thanks to martinl!
* 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.
# 201 Supported Cars
# 202 Supported Cars
|Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|
|---|---|---|:---:|:---:|:---:|:---:|
@ -143,6 +143,7 @@ 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 Driver Assistance|[![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 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)](##)|
|Subaru|Legacy 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|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 Driver Assistance|[![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 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)](##)|

6
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, GLOBAL_GEN2, PREGLOBAL_CARS
from selfdrive.car.subaru.values import DBC, CAR, GLOBAL_GEN2, PREGLOBAL_CARS
class CarState(CarStateBase):
@ -50,7 +50,9 @@ class CarState(CarStateBase):
ret.steeringAngleDeg = cp.vl["Steering_Torque"]["Steering_Angle"]
ret.steeringTorque = cp.vl["Steering_Torque"]["Steer_Torque_Sensor"]
ret.steeringTorqueEps = cp.vl["Steering_Torque"]["Steer_Torque_Output"]
ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD[self.car_fingerprint]
steer_threshold = 75 if self.CP.carFingerprint in PREGLOBAL_CARS else 80
ret.steeringPressed = abs(ret.steeringTorque) > steer_threshold
cp_cruise = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp
ret.cruiseState.enabled = cp_cruise.vl["CruiseControl"]["Cruise_Activated"] != 0

2
selfdrive/car/subaru/interface.py
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@ -71,7 +71,7 @@ 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:
elif candidate in (CAR.OUTBACK, CAR.LEGACY):
ret.mass = 1568. + STD_CARGO_KG
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.5

34
selfdrive/car/subaru/values.py
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@ -35,6 +35,7 @@ class CAR:
IMPREZA_2020 = "SUBARU IMPREZA SPORT 2020"
FORESTER = "SUBARU FORESTER 2019"
OUTBACK = "SUBARU OUTBACK 6TH GEN"
LEGACY = "SUBARU LEGACY 7TH GEN"
# Pre-global
FORESTER_PREGLOBAL = "SUBARU FORESTER 2017 - 2018"
@ -52,6 +53,7 @@ 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", harness=Harness.subaru_b),
CAR.LEGACY: SubaruCarInfo("Subaru Legacy 2020-22", "All", harness=Harness.subaru_b),
CAR.IMPREZA: [
SubaruCarInfo("Subaru Impreza 2017-19"),
SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
@ -101,6 +103,23 @@ FW_VERSIONS = {
b'\x01\xfe\xf7\x00\x00',
],
},
CAR.LEGACY: {
(Ecu.esp, 0x7b0, None): [
b'\xa1\\ x04\x01',
],
(Ecu.eps, 0x746, None): [
b'\x9b\xc0\x11\x00',
],
(Ecu.fwdCamera, 0x787, None): [
b'\x00\x00e\x80\x00\x1f@ \x19\x00',
],
(Ecu.engine, 0x7e0, None): [
b'\xde\"a0\x07',
],
(Ecu.transmission, 0x7e1, None): [
b'\xa5\xf6\x05@\x00',
],
},
CAR.IMPREZA: {
(Ecu.esp, 0x7b0, None): [
b'\x7a\x94\x3f\x90\x00',
@ -448,29 +467,18 @@ FW_VERSIONS = {
},
}
STEER_THRESHOLD = {
CAR.ASCENT: 80,
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,
CAR.OUTBACK_PREGLOBAL_2018: 75,
}
DBC = {
CAR.ASCENT: dbc_dict('subaru_global_2017_generated', None),
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.LEGACY: 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),
}
GLOBAL_GEN2 = (CAR.OUTBACK, )
GLOBAL_GEN2 = (CAR.OUTBACK, CAR.LEGACY)
PREGLOBAL_CARS = (CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018)

1
selfdrive/car/tests/routes.py
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@ -193,6 +193,7 @@ routes = [
TestRoute("791340bc01ed993d|2019-03-10--16-28-08", SUBARU.IMPREZA),
TestRoute("8bf7e79a3ce64055|2021-05-24--09-36-27", SUBARU.IMPREZA_2020),
TestRoute("1bbe6bf2d62f58a8|2022-07-14--17-11-43", SUBARU.OUTBACK, segment=3),
TestRoute("c56e69bbc74b8fad|2022-08-18--09-43-51", SUBARU.LEGACY, segment=3),
# Pre-global, dashcam
TestRoute("95441c38ae8c130e|2020-06-08--12-10-17", SUBARU.FORESTER_PREGLOBAL),
TestRoute("df5ca7660000fba8|2020-06-16--17-37-19", SUBARU.LEGACY_PREGLOBAL),

2
selfdrive/car/torque_data/substitute.yaml
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@ -69,6 +69,8 @@ VOLKSWAGEN POLO 6TH GEN: VOLKSWAGEN GOLF 7TH GEN
SEAT LEON 3RD GEN: VOLKSWAGEN GOLF 7TH GEN
SEAT ATECA 1ST GEN: VOLKSWAGEN GOLF 7TH GEN
SUBARU LEGACY 7TH GEN: SUBARU OUTBACK 6TH GEN
# Old subarus don't have much data guessing it's like low torque impreza
SUBARU OUTBACK 2018 - 2019: SUBARU IMPREZA LIMITED 2019
SUBARU OUTBACK 2015 - 2017: SUBARU IMPREZA LIMITED 2019

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