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104 lines
4.7 KiB
104 lines
4.7 KiB
from opendbc.car import get_safety_config, structs
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from opendbc.car.disable_ecu import disable_ecu
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from opendbc.car.interfaces import CarInterfaceBase
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from opendbc.car.subaru.carcontroller import CarController
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from opendbc.car.subaru.carstate import CarState
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from opendbc.car.subaru.values import CAR, GLOBAL_ES_ADDR, SubaruFlags, SubaruSafetyFlags
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class CarInterface(CarInterfaceBase):
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CarState = CarState
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CarController = CarController
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@staticmethod
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def _get_params(ret: structs.CarParams, candidate: CAR, fingerprint, car_fw, alpha_long, docs) -> structs.CarParams:
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ret.brand = "subaru"
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ret.radarUnavailable = True
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# for HYBRID CARS to be upstreamed, we need:
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# - replacement for ES_Distance so we can cancel the cruise control
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# - to find the Cruise_Activated bit from the car
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# - proper panda safety setup (use the correct cruise_activated bit, throttle from Throttle_Hybrid, etc)
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ret.dashcamOnly = bool(ret.flags & (SubaruFlags.PREGLOBAL | SubaruFlags.LKAS_ANGLE | SubaruFlags.HYBRID))
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ret.autoResumeSng = False
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# Detect infotainment message sent from the camera
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if not (ret.flags & SubaruFlags.PREGLOBAL) and 0x323 in fingerprint[2]:
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ret.flags |= SubaruFlags.SEND_INFOTAINMENT.value
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if ret.flags & SubaruFlags.PREGLOBAL:
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ret.enableBsm = 0x25c in fingerprint[0]
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ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.subaruPreglobal)]
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else:
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ret.enableBsm = 0x228 in fingerprint[0]
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ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.subaru)]
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if ret.flags & SubaruFlags.GLOBAL_GEN2:
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ret.safetyConfigs[0].safetyParam |= SubaruSafetyFlags.GEN2.value
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ret.steerLimitTimer = 0.4
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ret.steerActuatorDelay = 0.1
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if ret.flags & SubaruFlags.LKAS_ANGLE:
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ret.steerControlType = structs.CarParams.SteerControlType.angle
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else:
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CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
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if candidate in (CAR.SUBARU_ASCENT, CAR.SUBARU_ASCENT_2023):
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ret.steerActuatorDelay = 0.3 # end-to-end angle controller
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ret.lateralTuning.init('pid')
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ret.lateralTuning.pid.kf = 0.00003
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.0025, 0.1], [0.00025, 0.01]]
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elif candidate == CAR.SUBARU_IMPREZA:
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ret.steerActuatorDelay = 0.4 # end-to-end angle controller
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ret.lateralTuning.init('pid')
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ret.lateralTuning.pid.kf = 0.00005
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.3], [0.02, 0.03]]
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elif candidate == CAR.SUBARU_IMPREZA_2020:
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ret.lateralTuning.init('pid')
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ret.lateralTuning.pid.kf = 0.00005
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.045, 0.042, 0.20], [0.04, 0.035, 0.045]]
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elif candidate == CAR.SUBARU_CROSSTREK_HYBRID:
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ret.steerActuatorDelay = 0.1
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elif candidate in (CAR.SUBARU_FORESTER, CAR.SUBARU_FORESTER_2022, CAR.SUBARU_FORESTER_HYBRID):
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ret.lateralTuning.init('pid')
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ret.lateralTuning.pid.kf = 0.000038
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.065, 0.2], [0.001, 0.015, 0.025]]
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elif candidate in (CAR.SUBARU_OUTBACK, CAR.SUBARU_LEGACY, CAR.SUBARU_OUTBACK_2023):
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ret.steerActuatorDelay = 0.1
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elif candidate in (CAR.SUBARU_FORESTER_PREGLOBAL, CAR.SUBARU_OUTBACK_PREGLOBAL_2018):
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# Outback 2018-2019 and Forester have reversed driver torque signal
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ret.safetyConfigs[0].safetyParam = SubaruSafetyFlags.PREGLOBAL_REVERSED_DRIVER_TORQUE.value
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elif candidate == CAR.SUBARU_LEGACY_PREGLOBAL:
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ret.steerActuatorDelay = 0.15
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elif candidate == CAR.SUBARU_OUTBACK_PREGLOBAL:
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pass
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else:
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raise ValueError(f"unknown car: {candidate}")
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ret.alphaLongitudinalAvailable = not (ret.flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.PREGLOBAL |
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SubaruFlags.LKAS_ANGLE | SubaruFlags.HYBRID))
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ret.openpilotLongitudinalControl = alpha_long and ret.alphaLongitudinalAvailable
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if ret.flags & SubaruFlags.GLOBAL_GEN2 and ret.openpilotLongitudinalControl:
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ret.flags |= SubaruFlags.DISABLE_EYESIGHT.value
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if ret.openpilotLongitudinalControl:
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ret.safetyConfigs[0].safetyParam |= SubaruSafetyFlags.LONG.value
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return ret
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@staticmethod
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def init(CP, can_recv, can_send):
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if CP.flags & SubaruFlags.DISABLE_EYESIGHT:
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disable_ecu(can_recv, can_send, bus=2, addr=GLOBAL_ES_ADDR, com_cont_req=b'\x28\x03\x01')
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