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Subaru: New LKAS Angle based cars in dashcam only (#29190)

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* dashcam mode only

* fix name

* added those cars in dashcam mode only
old-commit-hash: 38954418f0
beeps
Justin Newberry 2 years ago committed by GitHub
parent a34c411578
commit cb45be4b6f
6 changed files with 78 additions and 10 deletions
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  1. 2
      selfdrive/car/docs_definitions.py
  2. 16
      selfdrive/car/subaru/interface.py
  3. 62
      selfdrive/car/subaru/values.py
  4. 2
      selfdrive/car/tests/routes.py
  5. 2
      selfdrive/car/tests/test_fw_fingerprint.py
  6. 4
      selfdrive/car/torque_data/override.yaml

2
selfdrive/car/docs_definitions.py
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@ -87,6 +87,8 @@ class CarHarness(EnumBase):
toyota = BaseCarHarness("Toyota connector")
subaru_a = BaseCarHarness("Subaru A connector")
subaru_b = BaseCarHarness("Subaru B connector")
subaru_c = BaseCarHarness("Subaru C connector")
subaru_d = BaseCarHarness("Subaru D connector")
fca = BaseCarHarness("FCA connector")
ram = BaseCarHarness("Ram connector")
vw = BaseCarHarness("VW connector")

16
selfdrive/car/subaru/interface.py
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@ -3,7 +3,7 @@ from cereal import car
from panda import Panda
from selfdrive.car import STD_CARGO_KG, get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase
from selfdrive.car.subaru.values import CAR, GLOBAL_GEN2, PREGLOBAL_CARS, SubaruFlags
from selfdrive.car.subaru.values import CAR, LKAS_ANGLE, GLOBAL_GEN2, PREGLOBAL_CARS, SubaruFlags
class CarInterface(CarInterfaceBase):
@ -12,7 +12,7 @@ class CarInterface(CarInterfaceBase):
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
ret.carName = "subaru"
ret.radarUnavailable = True
ret.dashcamOnly = candidate in PREGLOBAL_CARS
ret.dashcamOnly = candidate in (PREGLOBAL_CARS | LKAS_ANGLE)
ret.autoResumeSng = False
# Detect infotainment message sent from the camera
@ -30,7 +30,11 @@ class CarInterface(CarInterfaceBase):
ret.steerLimitTimer = 0.4
ret.steerActuatorDelay = 0.1
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
if candidate in LKAS_ANGLE:
ret.steerControlType = car.CarParams.SteerControlType.angle
else:
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
if candidate == CAR.ASCENT:
ret.mass = 2031. + STD_CARGO_KG
@ -64,7 +68,7 @@ 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 = [[0.045, 0.042, 0.20], [0.04, 0.035, 0.045]]
elif candidate == CAR.FORESTER:
elif candidate in (CAR.FORESTER, CAR.FORESTER_2022):
ret.mass = 1568. + STD_CARGO_KG
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.5
@ -74,13 +78,12 @@ 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 in (CAR.OUTBACK, CAR.LEGACY):
elif candidate in (CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023):
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
@ -101,7 +104,6 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 20 # learned, 14 stock
else:
raise ValueError(f"unknown car: {candidate}")

62
selfdrive/car/subaru/values.py
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@ -48,6 +48,8 @@ class CAR:
FORESTER = "SUBARU FORESTER 2019"
OUTBACK = "SUBARU OUTBACK 6TH GEN"
LEGACY = "SUBARU LEGACY 7TH GEN"
FORESTER_2022 = "SUBARU FORESTER 2022"
OUTBACK_2023 = "SUBARU OUTBACK 7TH GEN"
# Pre-global
FORESTER_PREGLOBAL = "SUBARU FORESTER 2017 - 2018"
@ -88,6 +90,8 @@ CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
CAR.LEGACY_PREGLOBAL: SubaruCarInfo("Subaru Legacy 2015-18"),
CAR.OUTBACK_PREGLOBAL: SubaruCarInfo("Subaru Outback 2015-17"),
CAR.OUTBACK_PREGLOBAL_2018: SubaruCarInfo("Subaru Outback 2018-19"),
CAR.FORESTER_2022: SubaruCarInfo("Subaru Forester 2022", "All", car_parts=CarParts.common([CarHarness.subaru_c])),
CAR.OUTBACK_2023: SubaruCarInfo("Subaru Outback 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])),
}
SUBARU_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
@ -101,6 +105,11 @@ FW_QUERY_CONFIG = FwQueryConfig(
[StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST],
[StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE],
),
# Some Eyesight modules fail on TESTER_PRESENT_REQUEST
Request(
[SUBARU_VERSION_REQUEST],
[SUBARU_VERSION_RESPONSE],
),
],
)
@ -538,6 +547,52 @@ FW_VERSIONS = {
b'\xa5\xfe\xf8@\x00',
],
},
CAR.FORESTER_2022: {
(Ecu.abs, 0x7b0, None): [
b'\xa3 !x\x00',
b'\xa3 !v\x00',
b'\xa3 "v\x00',
b'\xa3 "x\x00',
],
(Ecu.eps, 0x746, None): [
b'-\xc0%0',
b'-\xc0\x040',
b'=\xc0%\x02',
b'=\xc04\x02',
],
(Ecu.fwdCamera, 0x787, None): [
b'\x04!\x01\x1eD\x07!\x00\x04,'
],
(Ecu.engine, 0x7e0, None): [
b'\xd5"a0\x07',
b'\xd5"`0\x07',
b'\xf1"aq\x07',
b'\xf1"`q\x07',
],
(Ecu.transmission, 0x7e1, None): [
b'\x1d\x86B0\x00',
b'\x1d\xf6B0\x00',
b'\x1e\x86B0\x00',
b'\x1e\xf6D0\x00',
],
},
CAR.OUTBACK_2023: {
(Ecu.abs, 0x7b0, None): [
b'\xa1 #\x17\x00',
],
(Ecu.eps, 0x746, None): [
b'+\xc0\x12\x11\x00',
],
(Ecu.fwdCamera, 0x787, None): [
b'\t!\x08\x046\x05!\x08\x01/',
],
(Ecu.engine, 0x7a2, None): [
b'\xed,\xa2q\x07',
],
(Ecu.transmission, 0x7a3, None): [
b'\xa8\x8e\xf41\x00',
]
}
}
DBC = {
@ -545,7 +600,9 @@ 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.FORESTER_2022: dbc_dict('subaru_global_2017_generated', None),
CAR.OUTBACK: dbc_dict('subaru_global_2017_generated', None),
CAR.OUTBACK_2023: 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),
@ -553,5 +610,6 @@ DBC = {
CAR.OUTBACK_PREGLOBAL_2018: dbc_dict('subaru_outback_2019_generated', None),
}
GLOBAL_GEN2 = (CAR.OUTBACK, CAR.LEGACY)
PREGLOBAL_CARS = (CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018)
LKAS_ANGLE = {CAR.FORESTER_2022, CAR.OUTBACK_2023}
GLOBAL_GEN2 = {CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023}
PREGLOBAL_CARS = {CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018}

2
selfdrive/car/tests/routes.py
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@ -234,6 +234,8 @@ routes = [
CarTestRoute("8bf7e79a3ce64055|2021-05-24--09-36-27", SUBARU.IMPREZA_2020),
CarTestRoute("1bbe6bf2d62f58a8|2022-07-14--17-11-43", SUBARU.OUTBACK, segment=10),
CarTestRoute("c56e69bbc74b8fad|2022-08-18--09-43-51", SUBARU.LEGACY, segment=3),
CarTestRoute("7fd1e4f3a33c1673|2022-12-04--15-09-53", SUBARU.FORESTER_2022, segment=4),
CarTestRoute("f3b34c0d2632aa83|2023-07-23--20-43-25", SUBARU.OUTBACK_2023, segment=7),
# Pre-global, dashcam
CarTestRoute("95441c38ae8c130e|2020-06-08--12-10-17", SUBARU.FORESTER_PREGLOBAL),
CarTestRoute("df5ca7660000fba8|2020-06-16--17-37-19", SUBARU.LEGACY_PREGLOBAL),

2
selfdrive/car/tests/test_fw_fingerprint.py
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@ -230,7 +230,7 @@ class TestFwFingerprintTiming(unittest.TestCase):
'hyundai': 0.7,
'mazda': 0.2,
'nissan': 0.3,
'subaru': 0.1,
'subaru': 0.2,
'tesla': 0.2,
'toyota': 1.6,
'volkswagen': 0.2,

4
selfdrive/car/torque_data/override.yaml
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@ -7,6 +7,10 @@ NISSAN LEAF 2018 Instrument Cluster: [.nan, 1.5, .nan]
NISSAN LEAF 2018: [.nan, 1.5, .nan]
NISSAN ROGUE 2019: [.nan, 1.5, .nan]
# New subarus angle based controllers
SUBARU FORESTER 2022: [.nan, 3.0, .nan]
SUBARU OUTBACK 7TH GEN: [.nan, 3.0, .nan]
# Toyota LTA also has torque
TOYOTA RAV4 2023: [.nan, 3.0, .nan]
TOYOTA RAV4 HYBRID 2023: [.nan, 3.0, .nan]

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