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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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commit e37b8e5d56
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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/nissan_leaf_2018.dbc
opendbc/subaru_global_2017_generated.dbc opendbc/subaru_global_2017_generated.dbc
opendbc/subaru_outback_2015_generated.dbc
opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc
opendbc/toyota_rav4_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 import apply_std_steer_torque_limits
from selfdrive.car.subaru import subarucan 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 from opendbc.can.packer import CANPacker
@ -18,49 +17,71 @@ class CarControllerParams():
class CarController(): class CarController():
def __init__(self, dbc_name, CP, VM): def __init__(self, dbc_name, CP, VM):
self.lkas_active = False
self.apply_steer_last = 0 self.apply_steer_last = 0
self.es_distance_cnt = -1 self.es_distance_cnt = -1
self.es_accel_cnt = -1
self.es_lkas_cnt = -1 self.es_lkas_cnt = -1
self.fake_button_prev = 0
self.steer_rate_limited = False self.steer_rate_limited = False
self.params = CarControllerParams() self.params = CarControllerParams()
self.packer = CANPacker(DBC[CP.carFingerprint]['pt']) self.packer = CANPacker(DBC[CP.carFingerprint]['pt'])
def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert, left_line, right_line): 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 = [] can_sends = []
### STEER ### # *** steering ***
if (frame % self.params.STEER_STEP) == 0:
if (frame % P.STEER_STEP) == 0:
final_steer = actuators.steer if enabled else 0. apply_steer = int(round(actuators.steer * self.params.STEER_MAX))
apply_steer = int(round(final_steer * P.STEER_MAX))
# limits due to driver torque # limits due to driver torque
new_steer = int(round(apply_steer)) 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 self.steer_rate_limited = new_steer != apply_steer
if not enabled: if not enabled:
apply_steer = 0 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 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"]: # *** alerts and pcm cancel ***
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"] 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 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.config import Conversions as CV
from selfdrive.car.interfaces import CarStateBase from selfdrive.car.interfaces import CarStateBase
from opendbc.can.parser import CANParser 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): class CarState(CarStateBase):
@ -20,7 +20,10 @@ class CarState(CarStateBase):
ret.gas = cp.vl["Throttle"]['Throttle_Pedal'] / 255. ret.gas = cp.vl["Throttle"]['Throttle_Pedal'] / 255.
ret.gasPressed = ret.gas > 1e-5 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.brakeLights = ret.brakePressed
ret.wheelSpeeds.fl = cp.vl["Wheel_Speeds"]['FL'] * CV.KPH_TO_MS 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.steeringTorque = cp.vl["Steering_Torque"]['Steer_Torque_Sensor']
ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD[self.car_fingerprint] 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.enabled = cp.vl["CruiseControl"]['Cruise_Activated'] != 0
ret.cruiseState.available = cp.vl["CruiseControl"]['Cruise_On'] != 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.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 # UDM Legacy: mph = 0
if cp.vl["Dash_State"]['Units'] in [1, 2, 7]: 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.cruiseState.speed *= CV.MPH_TO_KPH
ret.seatbeltUnlatched = cp.vl["Dashlights"]['SEATBELT_FL'] == 1 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_FR'],
cp.vl["BodyInfo"]['DOOR_OPEN_FL']]) cp.vl["BodyInfo"]['DOOR_OPEN_FL']])
self.es_distance_msg = copy.copy(cp_cam.vl["ES_Distance"]) if self.car_fingerprint in PREGLOBAL_CARS:
self.es_lkas_msg = copy.copy(cp_cam.vl["ES_LKAS_State"]) 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 return ret
@ -77,8 +89,6 @@ class CarState(CarStateBase):
# sig_name, sig_address, default # sig_name, sig_address, default
("Steer_Torque_Sensor", "Steering_Torque", 0), ("Steer_Torque_Sensor", "Steering_Torque", 0),
("Steering_Angle", "Steering_Torque", 0), ("Steering_Angle", "Steering_Torque", 0),
("Steer_Error_1", "Steering_Torque", 0),
("Steer_Warning", "Steering_Torque", 0),
("Cruise_On", "CruiseControl", 0), ("Cruise_On", "CruiseControl", 0),
("Cruise_Activated", "CruiseControl", 0), ("Cruise_Activated", "CruiseControl", 0),
("Brake_Pedal", "Brake_Pedal", 0), ("Brake_Pedal", "Brake_Pedal", 0),
@ -104,62 +114,109 @@ class CarState(CarStateBase):
checks = [ checks = [
# sig_address, frequency # sig_address, frequency
("Throttle", 100),
("Dashlights", 10), ("Dashlights", 10),
("CruiseControl", 20), ("Brake_Pedal", 50),
("Wheel_Speeds", 50), ("Wheel_Speeds", 50),
("Transmission", 100),
("Steering_Torque", 50), ("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) return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
@staticmethod @staticmethod
def get_cam_can_parser(CP): def get_cam_can_parser(CP):
signals = [ if CP.carFingerprint in PREGLOBAL_CARS:
("Cruise_Set_Speed", "ES_DashStatus", 0), signals = [
("Conventional_Cruise", "ES_DashStatus", 0), ("Cruise_Set_Speed", "ES_DashStatus", 0),
("Not_Ready_Startup", "ES_DashStatus", 0),
("Counter", "ES_Distance", 0),
("Signal1", "ES_Distance", 0), ("Throttle_Cruise", "ES_CruiseThrottle", 0),
("Cruise_Fault", "ES_Distance", 0), ("Signal1", "ES_CruiseThrottle", 0),
("Cruise_Throttle", "ES_Distance", 0), ("Cruise_Activated", "ES_CruiseThrottle", 0),
("Signal2", "ES_Distance", 0), ("Signal2", "ES_CruiseThrottle", 0),
("Car_Follow", "ES_Distance", 0), ("Brake_On", "ES_CruiseThrottle", 0),
("Signal3", "ES_Distance", 0), ("DistanceSwap", "ES_CruiseThrottle", 0),
("Cruise_Brake_Active", "ES_Distance", 0), ("Standstill", "ES_CruiseThrottle", 0),
("Distance_Swap", "ES_Distance", 0), ("Signal3", "ES_CruiseThrottle", 0),
("Cruise_EPB", "ES_Distance", 0), ("CloseDistance", "ES_CruiseThrottle", 0),
("Signal4", "ES_Distance", 0), ("Signal4", "ES_CruiseThrottle", 0),
("Close_Distance", "ES_Distance", 0), ("Standstill_2", "ES_CruiseThrottle", 0),
("Signal5", "ES_Distance", 0), ("ES_Error", "ES_CruiseThrottle", 0),
("Cruise_Cancel", "ES_Distance", 0), ("Signal5", "ES_CruiseThrottle", 0),
("Cruise_Set", "ES_Distance", 0), ("Counter", "ES_CruiseThrottle", 0),
("Cruise_Resume", "ES_Distance", 0), ("Signal6", "ES_CruiseThrottle", 0),
("Signal6", "ES_Distance", 0), ("Button", "ES_CruiseThrottle", 0),
("Signal7", "ES_CruiseThrottle", 0),
("Counter", "ES_LKAS_State", 0), ]
("Keep_Hands_On_Wheel", "ES_LKAS_State", 0),
("Empty_Box", "ES_LKAS_State", 0), checks = [
("Signal1", "ES_LKAS_State", 0), ("ES_DashStatus", 20),
("LKAS_ACTIVE", "ES_LKAS_State", 0), ("ES_CruiseThrottle", 20),
("Signal2", "ES_LKAS_State", 0), ]
("Backward_Speed_Limit_Menu", "ES_LKAS_State", 0), else:
("LKAS_ENABLE_3", "ES_LKAS_State", 0), signals = [
("LKAS_Left_Line_Light_Blink", "ES_LKAS_State", 0), ("Cruise_Set_Speed", "ES_DashStatus", 0),
("LKAS_ENABLE_2", "ES_LKAS_State", 0), ("Conventional_Cruise", "ES_DashStatus", 0),
("LKAS_Right_Line_Light_Blink", "ES_LKAS_State", 0),
("LKAS_Left_Line_Visible", "ES_LKAS_State", 0), ("Counter", "ES_Distance", 0),
("LKAS_Left_Line_Green", "ES_LKAS_State", 0), ("Signal1", "ES_Distance", 0),
("LKAS_Right_Line_Visible", "ES_LKAS_State", 0), ("Cruise_Fault", "ES_Distance", 0),
("LKAS_Right_Line_Green", "ES_LKAS_State", 0), ("Cruise_Throttle", "ES_Distance", 0),
("LKAS_Alert", "ES_LKAS_State", 0), ("Signal2", "ES_Distance", 0),
("Signal3", "ES_LKAS_State", 0), ("Car_Follow", "ES_Distance", 0),
] ("Signal3", "ES_Distance", 0),
("Cruise_Brake_Active", "ES_Distance", 0),
checks = [ ("Distance_Swap", "ES_Distance", 0),
("ES_DashStatus", 10), ("Cruise_EPB", "ES_Distance", 0),
("ES_Distance", 20), ("Signal4", "ES_Distance", 0),
("ES_LKAS_State", 10), ("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) 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 #!/usr/bin/env python3
from cereal import car 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 import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
from selfdrive.car.interfaces import CarInterfaceBase from selfdrive.car.interfaces import CarInterfaceBase
@ -16,11 +16,17 @@ class CarInterface(CarInterfaceBase):
ret.carName = "subaru" ret.carName = "subaru"
ret.radarOffCan = True 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 # Subaru port is a community feature, since we don't own one to test
ret.communityFeature = True 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) # force openpilot to fake the stock camera, since car harness is not supported yet and old style giraffe (with switches)
# was never released # was never released
ret.enableCamera = True 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.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]] 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 # TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase # civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.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): 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 = { values = {
"Counter": idx, "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) values["LKAS_Right_Line_Visible"] = int(right_line)
return packer.make_can_msg("ES_LKAS_State", 0, values) 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
Unescape View File

@ -8,14 +8,15 @@ class CAR:
ASCENT = "SUBARU ASCENT LIMITED 2019" ASCENT = "SUBARU ASCENT LIMITED 2019"
IMPREZA = "SUBARU IMPREZA LIMITED 2019" IMPREZA = "SUBARU IMPREZA LIMITED 2019"
FORESTER = "SUBARU FORESTER 2019" FORESTER = "SUBARU FORESTER 2019"
LEGACY_PREGLOBAL = "SUBARU LEGACY 2015 - 2018"
FINGERPRINTS = { FINGERPRINTS = {
CAR.ASCENT: [ CAR.ASCENT: [{
# SUBARU ASCENT LIMITED 2019 # 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 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: [{ 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 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) # 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 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 = { STEER_THRESHOLD = {
CAR.ASCENT: 80, CAR.ASCENT: 80,
CAR.IMPREZA: 80, CAR.IMPREZA: 80,
CAR.FORESTER: 80, CAR.FORESTER: 80,
CAR.LEGACY_PREGLOBAL: 75,
} }
ECU_FINGERPRINT = { ECU_FINGERPRINT = {
@ -46,4 +60,7 @@ DBC = {
CAR.ASCENT: dbc_dict('subaru_global_2017_generated', None), CAR.ASCENT: dbc_dict('subaru_global_2017_generated', None),
CAR.IMPREZA: 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.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, 'carFingerprint': SUBARU.IMPREZA,
'enableCamera': True, 'enableCamera': True,
}, },
"df5ca7660000fba8|2020-06-16--17-37-19": {
'carFingerprint': SUBARU.LEGACY_PREGLOBAL,
'enableCamera': True,
},
"fbbfa6af821552b9|2020-03-03--08-09-43": { "fbbfa6af821552b9|2020-03-03--08-09-43": {
'carFingerprint': NISSAN.XTRAIL, 'carFingerprint': NISSAN.XTRAIL,
'enableCamera': True, 'enableCamera': True,

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