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Subaru pre-global: add support for Subaru Legacy 2015-18 (#1805)

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* Add support for Subaru Legacy 2015-18

* syntax fix

* Add Legacy 2018 FPv1

* Add Subaru Ascent from upstream

* Use GLOBAL_CAR and LEGACY_CAR lists

* Change LEGACY_2015 to LEGACY_PREGLOBAL

* Add LEGACY_CAR to carstate

* Change LEGACY_2015 to LEGACY_PREGLOBAL in test_car_models

* Add missing SafetyModel to Ascent

* Use GLOBAL_CAR and LEGACY_CAR to set safetyModel

* Change LEGACY_CAR to PREGLOBAL_CARS, remove GLOBAL_CAR

* Fix PREGLOBAL_CARS in carstate and subarucan

* Minor cleanups

* Add accelCruise button event

* Change Preglobal Driver Torque limit to match Global

* Match comments to upstream

* Use Steer_Warning and Steer_Error_1 only for Global

* Change mph units to match upstream values

* Increase Preglobal brakePressed  threshold to 2

* Add DashcamOnly to LEGACY_PREGLOBAL

* Fix typo in variable name

* Update README, add create_preglobal_steering_control

* cleanup carcontroller

* cleanup values

* missed that one

* Update STEER_STEP

* Update STEER_MAX

* Add preglobal signal frequency checks

* remove PREGLOBAL_CARS from subarucan

* Remove whitespace

* Use common frequency checks

* cleanup carstate

* cleanup subarucan

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
pull/1991/head
martinl 5 years ago committed by GitHub
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  1. 1
      release/files_common
  2. 61
      selfdrive/car/subaru/carcontroller.py
  3. 177
      selfdrive/car/subaru/carstate.py
  4. 20
      selfdrive/car/subaru/interface.py
  5. 31
      selfdrive/car/subaru/subarucan.py
  6. 21
      selfdrive/car/subaru/values.py
  7. 4
      selfdrive/test/test_car_models.py

1
release/files_common
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@ -524,6 +524,7 @@ opendbc/nissan_x_trail_2017.dbc
opendbc/nissan_leaf_2018.dbc
opendbc/subaru_global_2017_generated.dbc
opendbc/subaru_outback_2015_generated.dbc
opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc
opendbc/toyota_rav4_2017_pt_generated.dbc

61
selfdrive/car/subaru/carcontroller.py
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@ -1,7 +1,6 @@
#from common.numpy_fast import clip
from selfdrive.car import apply_std_steer_torque_limits
from selfdrive.car.subaru import subarucan
from selfdrive.car.subaru.values import DBC
from selfdrive.car.subaru.values import DBC, PREGLOBAL_CARS
from opendbc.can.packer import CANPacker
@ -18,49 +17,71 @@ class CarControllerParams():
class CarController():
def __init__(self, dbc_name, CP, VM):
self.lkas_active = False
self.apply_steer_last = 0
self.es_distance_cnt = -1
self.es_accel_cnt = -1
self.es_lkas_cnt = -1
self.fake_button_prev = 0
self.steer_rate_limited = False
self.params = CarControllerParams()
self.packer = CANPacker(DBC[CP.carFingerprint]['pt'])
def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert, left_line, right_line):
""" Controls thread """
P = self.params
# Send CAN commands.
can_sends = []
### STEER ###
if (frame % P.STEER_STEP) == 0:
# *** steering ***
if (frame % self.params.STEER_STEP) == 0:
final_steer = actuators.steer if enabled else 0.
apply_steer = int(round(final_steer * P.STEER_MAX))
apply_steer = int(round(actuators.steer * self.params.STEER_MAX))
# limits due to driver torque
new_steer = int(round(apply_steer))
apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, P)
apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
self.steer_rate_limited = new_steer != apply_steer
if not enabled:
apply_steer = 0
can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, frame, P.STEER_STEP))
if CS.CP.carFingerprint in PREGLOBAL_CARS:
can_sends.append(subarucan.create_preglobal_steering_control(self.packer, apply_steer, frame, self.params.STEER_STEP))
else:
can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, frame, self.params.STEER_STEP))
self.apply_steer_last = apply_steer
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 self.es_lkas_cnt != CS.es_lkas_msg["Counter"]:
can_sends.append(subarucan.create_es_lkas(self.packer, CS.es_lkas_msg, visual_alert, left_line, right_line))
self.es_lkas_cnt = CS.es_lkas_msg["Counter"]
# *** alerts and pcm cancel ***
if CS.CP.carFingerprint in PREGLOBAL_CARS:
if self.es_accel_cnt != CS.es_accel_msg["Counter"]:
# 1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 = resume deep
# disengage ACC when OP is disengaged
if pcm_cancel_cmd:
fake_button = 1
# turn main on if off and past start-up state
elif not CS.out.cruiseState.available and CS.ready:
fake_button = 1
else:
fake_button = CS.button
# unstick previous mocked button press
if fake_button == 1 and self.fake_button_prev == 1:
fake_button = 0
self.fake_button_prev = fake_button
can_sends.append(subarucan.create_es_throttle_control(self.packer, fake_button, CS.es_accel_msg))
self.es_accel_cnt = CS.es_accel_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 self.es_lkas_cnt != CS.es_lkas_msg["Counter"]:
can_sends.append(subarucan.create_es_lkas(self.packer, CS.es_lkas_msg, visual_alert, left_line, right_line))
self.es_lkas_cnt = CS.es_lkas_msg["Counter"]
return can_sends

177
selfdrive/car/subaru/carstate.py
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@ -4,7 +4,7 @@ from opendbc.can.can_define import CANDefine
from selfdrive.config 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
from selfdrive.car.subaru.values import DBC, STEER_THRESHOLD, CAR, PREGLOBAL_CARS
class CarState(CarStateBase):
@ -20,7 +20,10 @@ class CarState(CarStateBase):
ret.gas = cp.vl["Throttle"]['Throttle_Pedal'] / 255.
ret.gasPressed = ret.gas > 1e-5
ret.brakePressed = cp.vl["Brake_Pedal"]['Brake_Pedal'] > 1e-5
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.brakeLights = ret.brakePressed
ret.wheelSpeeds.fl = cp.vl["Wheel_Speeds"]['FL'] * CV.KPH_TO_MS
@ -48,15 +51,15 @@ class CarState(CarStateBase):
ret.steeringTorque = cp.vl["Steering_Torque"]['Steer_Torque_Sensor']
ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD[self.car_fingerprint]
ret.steerError = cp.vl["Steering_Torque"]['Steer_Error_1'] == 1
ret.steerWarning = cp.vl["Steering_Torque"]['Steer_Warning'] == 1
ret.cruiseState.enabled = cp.vl["CruiseControl"]['Cruise_Activated'] != 0
ret.cruiseState.available = cp.vl["CruiseControl"]['Cruise_On'] != 0
ret.cruiseState.speed = cp_cam.vl["ES_DashStatus"]['Cruise_Set_Speed'] * CV.KPH_TO_MS
ret.cruiseState.nonAdaptive = cp_cam.vl["ES_DashStatus"]['Conventional_Cruise'] == 1
# EDM Impreza: 1,2 = mph, UDM Forester: 7 = mph
if cp.vl["Dash_State"]['Units'] in [1, 2, 7]:
# UDM Legacy: mph = 0
if self.car_fingerprint == CAR.LEGACY_PREGLOBAL and cp.vl["Dash_State"]['Units'] == 0:
ret.cruiseState.speed *= CV.MPH_TO_KPH
# EDM Global: mph = 1, 2; UDM Forester: 7 = mph
elif self.car_fingerprint != CAR.LEGACY_PREGLOBAL and cp.vl["Dash_State"]['Units'] in [1, 2, 7]:
ret.cruiseState.speed *= CV.MPH_TO_KPH
ret.seatbeltUnlatched = cp.vl["Dashlights"]['SEATBELT_FL'] == 1
@ -65,8 +68,17 @@ class CarState(CarStateBase):
cp.vl["BodyInfo"]['DOOR_OPEN_FR'],
cp.vl["BodyInfo"]['DOOR_OPEN_FL']])
self.es_distance_msg = copy.copy(cp_cam.vl["ES_Distance"])
self.es_lkas_msg = copy.copy(cp_cam.vl["ES_LKAS_State"])
if self.car_fingerprint in PREGLOBAL_CARS:
ret.steerError = cp.vl["Steering_Torque"]["LKA_Lockout"] == 1
self.button = cp_cam.vl["ES_CruiseThrottle"]["Button"]
self.ready = not cp_cam.vl["ES_DashStatus"]["Not_Ready_Startup"]
self.es_accel_msg = copy.copy(cp_cam.vl["ES_CruiseThrottle"])
else:
ret.steerError = cp.vl["Steering_Torque"]['Steer_Error_1'] == 1
ret.steerWarning = cp.vl["Steering_Torque"]['Steer_Warning'] == 1
ret.cruiseState.nonAdaptive = cp_cam.vl["ES_DashStatus"]['Conventional_Cruise'] == 1
self.es_distance_msg = copy.copy(cp_cam.vl["ES_Distance"])
self.es_lkas_msg = copy.copy(cp_cam.vl["ES_LKAS_State"])
return ret
@ -77,8 +89,6 @@ class CarState(CarStateBase):
# sig_name, sig_address, default
("Steer_Torque_Sensor", "Steering_Torque", 0),
("Steering_Angle", "Steering_Torque", 0),
("Steer_Error_1", "Steering_Torque", 0),
("Steer_Warning", "Steering_Torque", 0),
("Cruise_On", "CruiseControl", 0),
("Cruise_Activated", "CruiseControl", 0),
("Brake_Pedal", "Brake_Pedal", 0),
@ -104,62 +114,109 @@ class CarState(CarStateBase):
checks = [
# sig_address, frequency
("Throttle", 100),
("Dashlights", 10),
("CruiseControl", 20),
("Brake_Pedal", 50),
("Wheel_Speeds", 50),
("Transmission", 100),
("Steering_Torque", 50),
("BodyInfo", 10),
]
if CP.carFingerprint in PREGLOBAL_CARS:
signals += [
("LKA_Lockout", "Steering_Torque", 0),
]
checks += [
("CruiseControl", 50),
]
else:
signals += [
("Steer_Error_1", "Steering_Torque", 0),
("Steer_Warning", "Steering_Torque", 0),
]
checks += [
("BodyInfo", 10),
("CruiseControl", 20),
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
@staticmethod
def get_cam_can_parser(CP):
signals = [
("Cruise_Set_Speed", "ES_DashStatus", 0),
("Conventional_Cruise", "ES_DashStatus", 0),
("Counter", "ES_Distance", 0),
("Signal1", "ES_Distance", 0),
("Cruise_Fault", "ES_Distance", 0),
("Cruise_Throttle", "ES_Distance", 0),
("Signal2", "ES_Distance", 0),
("Car_Follow", "ES_Distance", 0),
("Signal3", "ES_Distance", 0),
("Cruise_Brake_Active", "ES_Distance", 0),
("Distance_Swap", "ES_Distance", 0),
("Cruise_EPB", "ES_Distance", 0),
("Signal4", "ES_Distance", 0),
("Close_Distance", "ES_Distance", 0),
("Signal5", "ES_Distance", 0),
("Cruise_Cancel", "ES_Distance", 0),
("Cruise_Set", "ES_Distance", 0),
("Cruise_Resume", "ES_Distance", 0),
("Signal6", "ES_Distance", 0),
("Counter", "ES_LKAS_State", 0),
("Keep_Hands_On_Wheel", "ES_LKAS_State", 0),
("Empty_Box", "ES_LKAS_State", 0),
("Signal1", "ES_LKAS_State", 0),
("LKAS_ACTIVE", "ES_LKAS_State", 0),
("Signal2", "ES_LKAS_State", 0),
("Backward_Speed_Limit_Menu", "ES_LKAS_State", 0),
("LKAS_ENABLE_3", "ES_LKAS_State", 0),
("LKAS_Left_Line_Light_Blink", "ES_LKAS_State", 0),
("LKAS_ENABLE_2", "ES_LKAS_State", 0),
("LKAS_Right_Line_Light_Blink", "ES_LKAS_State", 0),
("LKAS_Left_Line_Visible", "ES_LKAS_State", 0),
("LKAS_Left_Line_Green", "ES_LKAS_State", 0),
("LKAS_Right_Line_Visible", "ES_LKAS_State", 0),
("LKAS_Right_Line_Green", "ES_LKAS_State", 0),
("LKAS_Alert", "ES_LKAS_State", 0),
("Signal3", "ES_LKAS_State", 0),
]
checks = [
("ES_DashStatus", 10),
("ES_Distance", 20),
("ES_LKAS_State", 10),
]
if CP.carFingerprint in PREGLOBAL_CARS:
signals = [
("Cruise_Set_Speed", "ES_DashStatus", 0),
("Not_Ready_Startup", "ES_DashStatus", 0),
("Throttle_Cruise", "ES_CruiseThrottle", 0),
("Signal1", "ES_CruiseThrottle", 0),
("Cruise_Activated", "ES_CruiseThrottle", 0),
("Signal2", "ES_CruiseThrottle", 0),
("Brake_On", "ES_CruiseThrottle", 0),
("DistanceSwap", "ES_CruiseThrottle", 0),
("Standstill", "ES_CruiseThrottle", 0),
("Signal3", "ES_CruiseThrottle", 0),
("CloseDistance", "ES_CruiseThrottle", 0),
("Signal4", "ES_CruiseThrottle", 0),
("Standstill_2", "ES_CruiseThrottle", 0),
("ES_Error", "ES_CruiseThrottle", 0),
("Signal5", "ES_CruiseThrottle", 0),
("Counter", "ES_CruiseThrottle", 0),
("Signal6", "ES_CruiseThrottle", 0),
("Button", "ES_CruiseThrottle", 0),
("Signal7", "ES_CruiseThrottle", 0),
]
checks = [
("ES_DashStatus", 20),
("ES_CruiseThrottle", 20),
]
else:
signals = [
("Cruise_Set_Speed", "ES_DashStatus", 0),
("Conventional_Cruise", "ES_DashStatus", 0),
("Counter", "ES_Distance", 0),
("Signal1", "ES_Distance", 0),
("Cruise_Fault", "ES_Distance", 0),
("Cruise_Throttle", "ES_Distance", 0),
("Signal2", "ES_Distance", 0),
("Car_Follow", "ES_Distance", 0),
("Signal3", "ES_Distance", 0),
("Cruise_Brake_Active", "ES_Distance", 0),
("Distance_Swap", "ES_Distance", 0),
("Cruise_EPB", "ES_Distance", 0),
("Signal4", "ES_Distance", 0),
("Close_Distance", "ES_Distance", 0),
("Signal5", "ES_Distance", 0),
("Cruise_Cancel", "ES_Distance", 0),
("Cruise_Set", "ES_Distance", 0),
("Cruise_Resume", "ES_Distance", 0),
("Signal6", "ES_Distance", 0),
("Counter", "ES_LKAS_State", 0),
("Keep_Hands_On_Wheel", "ES_LKAS_State", 0),
("Empty_Box", "ES_LKAS_State", 0),
("Signal1", "ES_LKAS_State", 0),
("LKAS_ACTIVE", "ES_LKAS_State", 0),
("Signal2", "ES_LKAS_State", 0),
("Backward_Speed_Limit_Menu", "ES_LKAS_State", 0),
("LKAS_ENABLE_3", "ES_LKAS_State", 0),
("LKAS_Left_Line_Light_Blink", "ES_LKAS_State", 0),
("LKAS_ENABLE_2", "ES_LKAS_State", 0),
("LKAS_Right_Line_Light_Blink", "ES_LKAS_State", 0),
("LKAS_Left_Line_Visible", "ES_LKAS_State", 0),
("LKAS_Left_Line_Green", "ES_LKAS_State", 0),
("LKAS_Right_Line_Visible", "ES_LKAS_State", 0),
("LKAS_Right_Line_Green", "ES_LKAS_State", 0),
("LKAS_Alert", "ES_LKAS_State", 0),
("Signal3", "ES_LKAS_State", 0),
]
checks = [
("ES_DashStatus", 10),
("ES_Distance", 20),
("ES_LKAS_State", 10),
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)

20
selfdrive/car/subaru/interface.py
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@ -1,6 +1,6 @@
#!/usr/bin/env python3
from cereal import car
from selfdrive.car.subaru.values import CAR
from selfdrive.car.subaru.values import CAR, PREGLOBAL_CARS
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
from selfdrive.car.interfaces import CarInterfaceBase
@ -16,11 +16,17 @@ class CarInterface(CarInterfaceBase):
ret.carName = "subaru"
ret.radarOffCan = True
ret.safetyModel = car.CarParams.SafetyModel.subaru
if candidate in PREGLOBAL_CARS:
ret.safetyModel = car.CarParams.SafetyModel.subaruLegacy
else:
ret.safetyModel = car.CarParams.SafetyModel.subaru
# Subaru port is a community feature, since we don't own one to test
ret.communityFeature = True
ret.dashcamOnly = candidate in PREGLOBAL_CARS
# force openpilot to fake the stock camera, since car harness is not supported yet and old style giraffe (with switches)
# was never released
ret.enableCamera = True
@ -58,6 +64,16 @@ 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]]
if candidate == CAR.LEGACY_PREGLOBAL:
ret.mass = 1568 + STD_CARGO_KG
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 12.5 # 14.5 stock
ret.steerActuatorDelay = 0.15
ret.lateralTuning.pid.kf = 0.00005
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.1, 0.2], [0.01, 0.02]]
# 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)

31
selfdrive/car/subaru/subarucan.py
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@ -5,8 +5,7 @@ VisualAlert = car.CarControl.HUDControl.VisualAlert
def create_steering_control(packer, apply_steer, frame, steer_step):
# counts from 0 to 15 then back to 0 + 16 for enable bit
idx = ((frame // steer_step) % 16)
idx = (frame / steer_step) % 16
values = {
"Counter": idx,
@ -38,3 +37,31 @@ def create_es_lkas(packer, es_lkas_msg, visual_alert, left_line, right_line):
values["LKAS_Right_Line_Visible"] = int(right_line)
return packer.make_can_msg("ES_LKAS_State", 0, values)
# *** Subaru Pre-global ***
def subaru_preglobal_checksum(packer, values, addr):
dat = packer.make_can_msg(addr, 0, values)[2]
return (sum(dat[:7])) % 256
def create_preglobal_steering_control(packer, apply_steer, frame, steer_step):
idx = (frame / steer_step) % 8
values = {
"Counter": idx,
"LKAS_Command": apply_steer,
"LKAS_Active": 1 if apply_steer != 0 else 0
}
values["Checksum"] = subaru_preglobal_checksum(packer, values, "ES_LKAS")
return packer.make_can_msg("ES_LKAS", 0, values)
def create_es_throttle_control(packer, fake_button, es_accel_msg):
values = copy.copy(es_accel_msg)
values["Button"] = fake_button
values["Checksum"] = subaru_preglobal_checksum(packer, values, "ES_CruiseThrottle")
return packer.make_can_msg("ES_CruiseThrottle", 0, values)

21
selfdrive/car/subaru/values.py
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@ -8,14 +8,15 @@ class CAR:
ASCENT = "SUBARU ASCENT LIMITED 2019"
IMPREZA = "SUBARU IMPREZA LIMITED 2019"
FORESTER = "SUBARU FORESTER 2019"
LEGACY_PREGLOBAL = "SUBARU LEGACY 2015 - 2018"
FINGERPRINTS = {
CAR.ASCENT: [
CAR.ASCENT: [{
# SUBARU ASCENT LIMITED 2019
{
2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 280: 8, 281: 8, 290: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 544: 8, 545: 8, 546: 8, 552: 8, 554: 8, 557: 8, 576: 8, 577: 8, 722: 8, 801: 8, 802: 8, 805: 8, 808: 8, 811: 8, 816: 8, 826: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 1614: 8, 1617: 8, 1632: 8, 1650: 8, 1657: 8, 1658: 8, 1677: 8, 1722: 8, 1743: 8, 1759: 8, 1785: 5, 1786: 5, 1787: 5, 1788: 8
}],
CAR.IMPREZA: [{
# SUBARU IMPREZA LIMITED 2019
2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 280: 8, 281: 8, 290: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 544: 8, 545: 8, 546: 8, 552: 8, 554: 8, 557: 8, 576: 8, 577: 8, 722: 8, 801: 8, 802: 8, 805: 8, 808: 8, 816: 8, 826: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 1614: 8, 1617: 8, 1632: 8, 1650: 8, 1657: 8, 1658: 8, 1677: 8, 1697: 8, 1722: 8, 1743: 8, 1759: 8, 1786: 5, 1787: 5, 1788: 8, 1809: 8, 1813: 8, 1817: 8, 1821: 8, 1840: 8, 1848: 8, 1924: 8, 1932: 8, 1952: 8, 1960: 8
},
# Crosstrek 2018 (same platform as Impreza)
@ -30,12 +31,25 @@ FINGERPRINTS = {
{
2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 280: 8, 281: 8, 282: 8, 290: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 372: 8, 544: 8, 545: 8, 546: 8, 554: 8, 557: 8, 576: 8, 577: 8, 722: 8, 801: 8, 802: 8, 803: 8, 805: 8, 808: 8, 811: 8, 826: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 1614: 8, 1617: 8, 1632: 8, 1650: 8, 1651: 8, 1657: 8, 1658: 8, 1677: 8, 1722: 8, 1759: 8, 1787: 5, 1788: 8
}],
CAR.LEGACY_PREGLOBAL: [{
# LEGACY 2.5i 2017
2: 8, 208: 8, 209: 4, 210: 8, 211: 7, 212: 8, 320: 8, 321: 8, 324: 8, 328: 8, 329: 8, 336: 2, 338: 8, 342: 8, 392: 8, 604: 8, 640: 8, 642: 8, 864: 8, 865: 8, 866: 8, 872: 8, 880: 8, 881: 8, 882: 8, 884: 8, 885: 8, 977: 8, 1632: 8, 1640: 8, 1736: 8, 1745: 8, 1785: 5, 1786: 5, 1787: 5, 1788: 8, 352: 8, 353: 8, 354: 8, 356: 8, 358: 8, 359: 8, 644: 8
},
# LEGACY 2018
{
2: 8, 208: 8, 209: 4, 210: 8, 211: 7, 212: 8, 316: 8, 320: 8, 321: 8, 324: 8, 328: 8, 329: 8, 336: 2, 338: 8, 342: 8, 392: 8, 604: 8, 640: 8, 642: 8, 864: 8, 865: 8, 866: 8, 872: 8, 880: 8, 881: 8, 882: 8, 884: 8, 885: 8, 977: 8, 1614: 8, 1632: 8, 1640: 8, 1657: 8, 1658: 8, 1672: 8, 1722: 8, 1743: 8, 1745: 8, 1778: 8, 1785: 5, 1786: 5, 1787: 5, 1788: 8, 2015: 8, 2016: 8, 2024: 8
},
# LEGACY 2018
{
2: 8, 208: 8, 209: 4, 210: 8, 211: 7, 212: 8, 316: 8, 320: 8, 321: 8, 324: 8, 328: 8, 329: 8, 336: 2, 338: 8, 342: 8, 352: 8, 353: 8, 354: 8, 356: 8, 358: 8, 359: 8, 392: 8, 554: 8, 604: 8, 640: 8, 642: 8, 805: 8, 864: 8, 865: 8, 866: 8, 872: 8, 880: 8, 881: 8, 882: 8, 884: 8, 885: 8, 977: 8, 1614: 8, 1632: 8, 1640: 8, 1657: 8, 1658: 8, 1672: 8, 1722: 8, 1743: 8, 1745: 8, 1785: 5, 1786: 5, 1787: 5, 1788: 8, 2015: 8, 2016: 8, 2024: 8
}],
}
STEER_THRESHOLD = {
CAR.ASCENT: 80,
CAR.IMPREZA: 80,
CAR.FORESTER: 80,
CAR.LEGACY_PREGLOBAL: 75,
}
ECU_FINGERPRINT = {
@ -46,4 +60,7 @@ DBC = {
CAR.ASCENT: dbc_dict('subaru_global_2017_generated', None),
CAR.IMPREZA: dbc_dict('subaru_global_2017_generated', None),
CAR.FORESTER: dbc_dict('subaru_global_2017_generated', None),
CAR.LEGACY_PREGLOBAL: dbc_dict('subaru_outback_2015_generated', None),
}
PREGLOBAL_CARS = [CAR.LEGACY_PREGLOBAL]

4
selfdrive/test/test_car_models.py
Unescape View File

@ -389,6 +389,10 @@ routes = {
'carFingerprint': SUBARU.IMPREZA,
'enableCamera': True,
},
"df5ca7660000fba8|2020-06-16--17-37-19": {
'carFingerprint': SUBARU.LEGACY_PREGLOBAL,
'enableCamera': True,
},
"fbbfa6af821552b9|2020-03-03--08-09-43": {
'carFingerprint': NISSAN.XTRAIL,
'enableCamera': True,

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