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@@ -1,15 +1,16 @@
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from cereal import car
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from cereal import car, custom
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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 import create_button_events, get_safety_config
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from openpilot.selfdrive.car.disable_ecu import disable_ecu
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from openpilot.selfdrive.car.interfaces import CarInterfaceBase
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from openpilot.selfdrive.car.subaru.values import CAR, GLOBAL_ES_ADDR, LKAS_ANGLE, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, SubaruFlags
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from openpilot.selfdrive.car.subaru.values import CAR, GLOBAL_ES_ADDR, SubaruFlags
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FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
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class CarInterface(CarInterfaceBase):
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@staticmethod
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def _get_params(ret, params, candidate, fingerprint, car_fw, experimental_long, docs):
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def _get_params(ret, params, candidate: CAR, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs):
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crosstrek_torque_increase = params.get_bool("CrosstrekTorque")
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ret.carName = "subaru"
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@@ -18,112 +19,78 @@ class CarInterface(CarInterfaceBase):
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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 (LKAS_ANGLE | HYBRID_CARS)
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ret.dashcamOnly = bool(ret.flags & (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 candidate not in PREGLOBAL_CARS and 0x323 in fingerprint[2]:
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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 candidate in PREGLOBAL_CARS:
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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(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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if ret.flags & SubaruFlags.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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if ret.flags & SubaruFlags.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 in (CAR.ASCENT, CAR.ASCENT_2023):
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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.steerActuatorDelay = 0.3 # end-to-end angle controller
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ret.lateralTuning.init('pid')
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ret.lateralTuning.pid.kf = 0.00003333 if crosstrek_torque_increase else 0.00003
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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 = [[0.133, 0.2], [0.0133, 0.02]] if crosstrek_torque_increase else [[0.0025, 0.1], [0.00025, 0.01]]
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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.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.kf = 0.00003333 if crosstrek_torque_increase else 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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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.133, 0.2], [0.0133, 0.02]] if crosstrek_torque_increase else [[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, CAR.FORESTER_HYBRID):
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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 = Panda.FLAG_SUBARU_PREGLOBAL_REVERSED_DRIVER_TORQUE # 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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pass
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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 and not params.get_bool("DisableOpenpilotLongitudinal")
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ret.experimentalLongitudinalAvailable = not (ret.flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.PREGLOBAL |
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SubaruFlags.LKAS_ANGLE | SubaruFlags.HYBRID))
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ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable
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if candidate in GLOBAL_GEN2 and ret.openpilotLongitudinalControl:
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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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@@ -142,7 +109,11 @@ class CarInterface(CarInterfaceBase):
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ret = self.CS.update(self.cp, self.cp_cam, self.cp_body, frogpilot_variables)
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ret.events = self.create_common_events(ret, frogpilot_variables).to_msg()
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ret.buttonEvents = [
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*create_button_events(self.CS.lkas_enabled, self.CS.lkas_previously_enabled, {1: FrogPilotButtonType.lkas}),
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]
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ret.events = self.create_common_events(ret).to_msg()
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return ret
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