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2024-04-27 13:48:05 -05:00
parent 2fbe9dbea1
commit 931db76fc6
432 changed files with 12973 additions and 3300 deletions
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16
selfdrive/car/subaru/carcontroller.py
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@@ -1,9 +1,9 @@
from openpilot.common.numpy_fast import clip, interp
from opendbc.can.packer import CANPacker
from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance
from openpilot.selfdrive.car.interfaces import CarControllerBase
from openpilot.selfdrive.car.subaru import subarucan
from openpilot.selfdrive.car.subaru.values import DBC, GLOBAL_ES_ADDR, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, STEER_RATE_LIMITED, \
CanBus, CarControllerParams, SubaruFlags
from openpilot.selfdrive.car.subaru.values import DBC, GLOBAL_ES_ADDR, CanBus, CarControllerParams, SubaruFlags
# FIXME: These limits aren't exact. The real limit is more than likely over a larger time period and
# involves the total steering angle change rather than rate, but these limits work well for now
@@ -11,7 +11,7 @@ MAX_STEER_RATE = 25 # deg/s
MAX_STEER_RATE_FRAMES = 7 # tx control frames needed before torque can be cut
class CarController:
class CarController(CarControllerBase):
def __init__(self, dbc_name, CP, VM):
self.CP = CP
self.apply_steer_last = 0
@@ -42,12 +42,12 @@ class CarController:
if not CC.latActive:
apply_steer = 0
if self.CP.carFingerprint in PREGLOBAL_CARS:
if self.CP.flags & SubaruFlags.PREGLOBAL:
can_sends.append(subarucan.create_preglobal_steering_control(self.packer, self.frame // self.p.STEER_STEP, apply_steer, CC.latActive))
else:
apply_steer_req = CC.latActive
if self.CP.carFingerprint in STEER_RATE_LIMITED:
if self.CP.flags & SubaruFlags.STEER_RATE_LIMITED:
# Steering rate fault prevention
self.steer_rate_counter, apply_steer_req = \
common_fault_avoidance(abs(CS.out.steeringRateDeg) > MAX_STEER_RATE, apply_steer_req,
@@ -74,7 +74,7 @@ class CarController:
cruise_brake = CarControllerParams.BRAKE_MIN
# *** alerts and pcm cancel ***
if self.CP.carFingerprint in PREGLOBAL_CARS:
if self.CP.flags & SubaruFlags.PREGLOBAL:
if self.frame % 5 == 0:
# 1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 = resume deep
# disengage ACC when OP is disengaged
@@ -117,8 +117,8 @@ class CarController:
self.CP.openpilotLongitudinalControl, cruise_brake > 0, cruise_throttle))
else:
if pcm_cancel_cmd:
if self.CP.carFingerprint not in HYBRID_CARS:
bus = CanBus.alt if self.CP.carFingerprint in GLOBAL_GEN2 else CanBus.main
if not (self.CP.flags & SubaruFlags.HYBRID):
bus = CanBus.alt if self.CP.flags & SubaruFlags.GLOBAL_GEN2 else CanBus.main
can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg["COUNTER"] + 1, CS.es_distance_msg, bus, pcm_cancel_cmd))
if self.CP.flags & SubaruFlags.DISABLE_EYESIGHT: