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145 lines
5.6 KiB
145 lines
5.6 KiB
#!/usr/bin/env python3
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from cereal import car
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from panda import Panda
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from openpilot.selfdrive.car import get_safety_config
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from openpilot.selfdrive.car.interfaces import CarInterfaceBase
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from openpilot.selfdrive.car.subaru.values import CAR, LKAS_ANGLE, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, SubaruFlags
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class CarInterface(CarInterfaceBase):
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@staticmethod
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def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
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ret.carName = "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 = candidate in (PREGLOBAL_CARS | LKAS_ANGLE | HYBRID_CARS)
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ret.autoResumeSng = False
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# Detect infotainment message sent from the camera
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if candidate not in PREGLOBAL_CARS and 0x323 in fingerprint[2]:
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ret.flags |= SubaruFlags.SEND_INFOTAINMENT.value
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if candidate in PREGLOBAL_CARS:
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ret.enableBsm = 0x25c in fingerprint[0]
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ret.safetyConfigs = [get_safety_config(car.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(car.CarParams.SafetyModel.subaru)]
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if candidate in GLOBAL_GEN2:
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ret.safetyConfigs[0].safetyParam |= Panda.FLAG_SUBARU_GEN2
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ret.steerLimitTimer = 0.4
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ret.steerActuatorDelay = 0.1
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if candidate in LKAS_ANGLE:
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ret.steerControlType = car.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 == CAR.ASCENT:
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ret.mass = 2031.
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ret.wheelbase = 2.89
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ret.centerToFront = ret.wheelbase * 0.5
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ret.steerRatio = 13.5
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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.IMPREZA:
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ret.mass = 1568.
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ret.wheelbase = 2.67
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ret.centerToFront = ret.wheelbase * 0.5
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ret.steerRatio = 15
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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.IMPREZA_2020:
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ret.mass = 1480.
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ret.wheelbase = 2.67
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ret.centerToFront = ret.wheelbase * 0.5
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ret.steerRatio = 17 # learned, 14 stock
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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.CROSSTREK_HYBRID:
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ret.mass = 1668.
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ret.wheelbase = 2.67
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ret.centerToFront = ret.wheelbase * 0.5
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ret.steerRatio = 17
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ret.steerActuatorDelay = 0.1
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elif candidate in (CAR.FORESTER, CAR.FORESTER_2022):
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ret.mass = 1568.
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ret.wheelbase = 2.67
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ret.centerToFront = ret.wheelbase * 0.5
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ret.steerRatio = 17 # learned, 14 stock
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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.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023):
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ret.mass = 1568.
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ret.wheelbase = 2.67
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ret.centerToFront = ret.wheelbase * 0.5
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ret.steerRatio = 17
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ret.steerActuatorDelay = 0.1
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elif candidate in (CAR.FORESTER_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018):
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ret.safetyConfigs[0].safetyParam = 1 # Outback 2018-2019 and Forester have reversed driver torque signal
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ret.mass = 1568
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ret.wheelbase = 2.67
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ret.centerToFront = ret.wheelbase * 0.5
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ret.steerRatio = 20 # learned, 14 stock
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elif candidate == CAR.LEGACY_PREGLOBAL:
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ret.mass = 1568
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ret.wheelbase = 2.67
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ret.centerToFront = ret.wheelbase * 0.5
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ret.steerRatio = 12.5 # 14.5 stock
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ret.steerActuatorDelay = 0.15
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elif candidate == CAR.OUTBACK_PREGLOBAL:
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ret.mass = 1568
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ret.wheelbase = 2.67
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ret.centerToFront = ret.wheelbase * 0.5
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ret.steerRatio = 20 # learned, 14 stock
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else:
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raise ValueError(f"unknown car: {candidate}")
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#ret.experimentalLongitudinalAvailable = candidate not in (GLOBAL_GEN2 | PREGLOBAL_CARS | LKAS_ANGLE | HYBRID_CARS)
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ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable
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if ret.openpilotLongitudinalControl:
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ret.longitudinalTuning.kpBP = [0., 5., 35.]
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ret.longitudinalTuning.kpV = [0.8, 1.0, 1.5]
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ret.longitudinalTuning.kiBP = [0., 35.]
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ret.longitudinalTuning.kiV = [0.54, 0.36]
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ret.stoppingControl = True
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ret.safetyConfigs[0].safetyParam |= Panda.FLAG_SUBARU_LONG
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return ret
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# returns a car.CarState
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def _update(self, c):
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ret = self.CS.update(self.cp, self.cp_cam, self.cp_body)
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ret.events = self.create_common_events(ret).to_msg()
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return ret
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def apply(self, c, now_nanos):
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return self.CC.update(c, self.CS, now_nanos)
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