from dataclasses import dataclass, field from enum import Enum, IntFlag from cereal import car from panda.python import uds from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Tool, Column from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16 Ecu = car.CarParams.Ecu class CarControllerParams: def __init__(self, CP): 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 = 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 THROTTLE_MIN = 808 THROTTLE_MAX = 3400 THROTTLE_INACTIVE = 1818 # corresponds to zero acceleration THROTTLE_ENGINE_BRAKE = 808 # while braking, eyesight sets throttle to this, probably for engine braking BRAKE_MIN = 0 BRAKE_MAX = 600 # about -3.5m/s2 from testing RPM_MIN = 0 RPM_MAX = 2400 RPM_INACTIVE = 600 # a good base rpm for zero acceleration THROTTLE_LOOKUP_BP = [0, 2] THROTTLE_LOOKUP_V = [THROTTLE_INACTIVE, THROTTLE_MAX] RPM_LOOKUP_BP = [0, 2] RPM_LOOKUP_V = [RPM_INACTIVE, RPM_MAX] BRAKE_LOOKUP_BP = [-3.5, 0] BRAKE_LOOKUP_V = [BRAKE_MAX, BRAKE_MIN] class SubaruFlags(IntFlag): SEND_INFOTAINMENT = 1 DISABLE_EYESIGHT = 2 GLOBAL_ES_ADDR = 0x787 GEN2_ES_BUTTONS_DID = b'\x11\x30' class CanBus: main = 0 alt = 1 camera = 2 class Footnote(Enum): GLOBAL = CarFootnote( "In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance.", Column.PACKAGE) EXP_LONG = CarFootnote( "Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB.", Column.LONGITUDINAL) @dataclass class SubaruCarInfo(CarInfo): package: str = "EyeSight Driver Assistance" car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.subaru_a])) footnotes: list[Enum] = field(default_factory=lambda: [Footnote.GLOBAL]) def init_make(self, CP: car.CarParams): self.car_parts.parts.extend([Tool.socket_8mm_deep, Tool.pry_tool]) if CP.experimentalLongitudinalAvailable: self.footnotes.append(Footnote.EXP_LONG) @dataclass(frozen=True) class SubaruPlatformConfig(PlatformConfig): dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('subaru_global_2017_generated', None)) class CAR(Platforms): # Global platform ASCENT = SubaruPlatformConfig( "SUBARU ASCENT LIMITED 2019", SubaruCarInfo("Subaru Ascent 2019-21", "All"), specs=CarSpecs(mass=2031, wheelbase=2.89, steerRatio=13.5), ) OUTBACK = SubaruPlatformConfig( "SUBARU OUTBACK 6TH GEN", SubaruCarInfo("Subaru Outback 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])), specs=CarSpecs(mass=1568, wheelbase=2.67, steerRatio=17), ) LEGACY = SubaruPlatformConfig( "SUBARU LEGACY 7TH GEN", SubaruCarInfo("Subaru Legacy 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])), specs=OUTBACK.specs, ) IMPREZA = SubaruPlatformConfig( "SUBARU IMPREZA LIMITED 2019", [ SubaruCarInfo("Subaru Impreza 2017-19"), SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"), SubaruCarInfo("Subaru XV 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"), ], specs=CarSpecs(mass=1568, wheelbase=2.67, steerRatio=15), ) IMPREZA_2020 = SubaruPlatformConfig( "SUBARU IMPREZA SPORT 2020", [ SubaruCarInfo("Subaru Impreza 2020-22"), SubaruCarInfo("Subaru Crosstrek 2020-23"), SubaruCarInfo("Subaru XV 2020-21"), ], specs=CarSpecs(mass=1480, wheelbase=2.67, steerRatio=17), ) # TODO: is there an XV and Impreza too? CROSSTREK_HYBRID = SubaruPlatformConfig( "SUBARU CROSSTREK HYBRID 2020", SubaruCarInfo("Subaru Crosstrek Hybrid 2020", car_parts=CarParts.common([CarHarness.subaru_b])), dbc_dict('subaru_global_2020_hybrid_generated', None), specs=CarSpecs(mass=1668, wheelbase=2.67, steerRatio=17), ) FORESTER = SubaruPlatformConfig( "SUBARU FORESTER 2019", SubaruCarInfo("Subaru Forester 2019-21", "All"), specs=CarSpecs(mass=1568, wheelbase=2.67, steerRatio=17), ) FORESTER_HYBRID = SubaruPlatformConfig( "SUBARU FORESTER HYBRID 2020", SubaruCarInfo("Subaru Forester Hybrid 2020"), dbc_dict('subaru_global_2020_hybrid_generated', None), specs=FORESTER.specs, ) # Pre-global FORESTER_PREGLOBAL = SubaruPlatformConfig( "SUBARU FORESTER 2017 - 2018", SubaruCarInfo("Subaru Forester 2017-18"), dbc_dict('subaru_forester_2017_generated', None), specs=CarSpecs(mass=1568, wheelbase=2.67, steerRatio=20), ) LEGACY_PREGLOBAL = SubaruPlatformConfig( "SUBARU LEGACY 2015 - 2018", SubaruCarInfo("Subaru Legacy 2015-18"), dbc_dict('subaru_outback_2015_generated', None), specs=CarSpecs(mass=1568, wheelbase=2.67, steerRatio=12.5), ) OUTBACK_PREGLOBAL = SubaruPlatformConfig( "SUBARU OUTBACK 2015 - 2017", SubaruCarInfo("Subaru Outback 2015-17"), dbc_dict('subaru_outback_2015_generated', None), specs=FORESTER_PREGLOBAL.specs, ) OUTBACK_PREGLOBAL_2018 = SubaruPlatformConfig( "SUBARU OUTBACK 2018 - 2019", SubaruCarInfo("Subaru Outback 2018-19"), dbc_dict('subaru_outback_2019_generated', None), specs=FORESTER_PREGLOBAL.specs, ) # Angle LKAS FORESTER_2022 = SubaruPlatformConfig( "SUBARU FORESTER 2022", SubaruCarInfo("Subaru Forester 2022-24", "All", car_parts=CarParts.common([CarHarness.subaru_c])), specs=FORESTER.specs, ) OUTBACK_2023 = SubaruPlatformConfig( "SUBARU OUTBACK 7TH GEN", SubaruCarInfo("Subaru Outback 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])), specs=OUTBACK.specs, ) ASCENT_2023 = SubaruPlatformConfig( "SUBARU ASCENT 2023", SubaruCarInfo("Subaru Ascent 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])), specs=ASCENT.specs, ) LKAS_ANGLE = {CAR.FORESTER_2022, CAR.OUTBACK_2023, CAR.ASCENT_2023} GLOBAL_GEN2 = {CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023, CAR.ASCENT_2023} PREGLOBAL_CARS = {CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018} HYBRID_CARS = {CAR.CROSSTREK_HYBRID, CAR.FORESTER_HYBRID} # Cars that temporarily fault when steering angle rate is greater than some threshold. # Appears to be all torque-based cars produced around 2019 - present STEER_RATE_LIMITED = GLOBAL_GEN2 | {CAR.IMPREZA_2020, CAR.FORESTER} SUBARU_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION) SUBARU_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \ p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION) FW_QUERY_CONFIG = FwQueryConfig( requests=[ Request( [StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST], [StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE], whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.fwdCamera, Ecu.engine, Ecu.transmission], ), # Some Eyesight modules fail on TESTER_PRESENT_REQUEST # TODO: check if this resolves the fingerprinting issue for the 2023 Ascent and other new Subaru cars Request( [SUBARU_VERSION_REQUEST], [SUBARU_VERSION_RESPONSE], whitelist_ecus=[Ecu.fwdCamera], ), # Non-OBD requests Request( [StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST], [StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE], whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.fwdCamera, Ecu.engine, Ecu.transmission], bus=0, ), Request( [StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST], [StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE], whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.fwdCamera, Ecu.engine, Ecu.transmission], bus=1, obd_multiplexing=False, ), ], # We don't get the EPS from non-OBD queries on GEN2 cars. Note that we still attempt to match when it exists non_essential_ecus={ Ecu.eps: list(GLOBAL_GEN2), } ) CAR_INFO = CAR.create_carinfo_map() DBC = CAR.create_dbc_map()