wip

2024-04-27 13:48:05 -05:00
parent 2fbe9dbea1
commit 931db76fc6
432 changed files with 12973 additions and 3300 deletions
--- a/selfdrive/car/subaru/values.py
+++ b/selfdrive/car/subaru/values.py
@@ -1,12 +1,11 @@
 from dataclasses import dataclass, field
-from enum import Enum, IntFlag, StrEnum
-from typing import Dict, List, Union
+from enum import Enum, IntFlag

 from cereal import car
 from panda.python import uds
 from openpilot.common.params import Params
-from openpilot.selfdrive.car import dbc_dict
-from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Tool, Column
+from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
+from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Tool, Column
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16

 Ecu = car.CarParams.Ecu
@@ -21,7 +20,7 @@ class CarControllerParams:
    self.STEER_DRIVER_MULTIPLIER = 50  # weight driver torque heavily
    self.STEER_DRIVER_FACTOR = 1       # from dbc

-    if CP.carFingerprint in GLOBAL_GEN2:
+    if CP.flags & SubaruFlags.GLOBAL_GEN2:
      self.STEER_MAX = 1000
      self.STEER_DELTA_UP = 40
      self.STEER_DELTA_DOWN = 40
@@ -57,9 +56,20 @@ class CarControllerParams:


 class SubaruFlags(IntFlag):
+  # Detected flags
  SEND_INFOTAINMENT = 1
  DISABLE_EYESIGHT = 2

+  # Static flags
+  GLOBAL_GEN2 = 4
+
+  # 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 = 8
+  PREGLOBAL = 16
+  HYBRID = 32
+  LKAS_ANGLE = 64
+

 GLOBAL_ES_ADDR = 0x787
 GEN2_ES_BUTTONS_DID = b'\x11\x30'
@@ -71,27 +81,6 @@ class CanBus:
  camera = 2


-class CAR(StrEnum):
-  # Global platform
-  ASCENT = "SUBARU ASCENT LIMITED 2019"
-  ASCENT_2023 = "SUBARU ASCENT 2023"
-  IMPREZA = "SUBARU IMPREZA LIMITED 2019"
-  IMPREZA_2020 = "SUBARU IMPREZA SPORT 2020"
-  FORESTER = "SUBARU FORESTER 2019"
-  OUTBACK = "SUBARU OUTBACK 6TH GEN"
-  CROSSTREK_HYBRID = "SUBARU CROSSTREK HYBRID 2020"
-  FORESTER_HYBRID = "SUBARU FORESTER HYBRID 2020"
-  LEGACY = "SUBARU LEGACY 7TH GEN"
-  FORESTER_2022 = "SUBARU FORESTER 2022"
-  OUTBACK_2023 = "SUBARU OUTBACK 7TH GEN"
-
-  # Pre-global
-  FORESTER_PREGLOBAL = "SUBARU FORESTER 2017 - 2018"
-  LEGACY_PREGLOBAL = "SUBARU LEGACY 2015 - 2018"
-  OUTBACK_PREGLOBAL = "SUBARU OUTBACK 2015 - 2017"
-  OUTBACK_PREGLOBAL_2018 = "SUBARU OUTBACK 2018 - 2019"
-
-
 class Footnote(Enum):
  GLOBAL = CarFootnote(
    "In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance.",
@@ -102,10 +91,10 @@ class Footnote(Enum):


@dataclass
-class SubaruCarInfo(CarInfo):
+class SubaruCarDocs(CarDocs):
  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])
+  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])
@@ -113,68 +102,180 @@ class SubaruCarInfo(CarInfo):
    if CP.experimentalLongitudinalAvailable:
      self.footnotes.append(Footnote.EXP_LONG)

-CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
-  CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-21", "All"),
-  CAR.OUTBACK: SubaruCarInfo("Subaru Outback 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])),
-  CAR.LEGACY: SubaruCarInfo("Subaru Legacy 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])),
-  CAR.IMPREZA: [
-    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"),
-  ],
-  CAR.IMPREZA_2020: [
-    SubaruCarInfo("Subaru Impreza 2020-22"),
-    SubaruCarInfo("Subaru Crosstrek 2020-23"),
-    SubaruCarInfo("Subaru XV 2020-21"),
-  ],
+
+@dataclass
+class SubaruPlatformConfig(PlatformConfig):
+  dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('subaru_global_2017_generated', None))
+
+  def init(self):
+    if self.flags & SubaruFlags.HYBRID:
+      self.dbc_dict = dbc_dict('subaru_global_2020_hybrid_generated', None)
+
+
+@dataclass
+class SubaruGen2PlatformConfig(SubaruPlatformConfig):
+  def init(self):
+    super().init()
+    self.flags |= SubaruFlags.GLOBAL_GEN2
+    if not (self.flags & SubaruFlags.LKAS_ANGLE):
+      self.flags |= SubaruFlags.STEER_RATE_LIMITED
+
+
+class CAR(Platforms):
+  # Global platform
+  ASCENT = SubaruPlatformConfig(
+    "SUBARU ASCENT LIMITED 2019",
+    [SubaruCarDocs("Subaru Ascent 2019-21", "All")],
+    CarSpecs(mass=2031, wheelbase=2.89, steerRatio=13.5),
+  )
+  OUTBACK = SubaruGen2PlatformConfig(
+    "SUBARU OUTBACK 6TH GEN",
+    [SubaruCarDocs("Subaru Outback 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b]))],
+    CarSpecs(mass=1568, wheelbase=2.67, steerRatio=17),
+  )
+  LEGACY = SubaruGen2PlatformConfig(
+    "SUBARU LEGACY 7TH GEN",
+    [SubaruCarDocs("Subaru Legacy 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b]))],
+    OUTBACK.specs,
+  )
+  IMPREZA = SubaruPlatformConfig(
+    "SUBARU IMPREZA LIMITED 2019",
+    [
+      SubaruCarDocs("Subaru Impreza 2017-19"),
+      SubaruCarDocs("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
+      SubaruCarDocs("Subaru XV 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
+    ],
+    CarSpecs(mass=1568, wheelbase=2.67, steerRatio=15),
+  )
+  IMPREZA_2020 = SubaruPlatformConfig(
+    "SUBARU IMPREZA SPORT 2020",
+    [
+      SubaruCarDocs("Subaru Impreza 2020-22"),
+      SubaruCarDocs("Subaru Crosstrek 2020-23"),
+      SubaruCarDocs("Subaru XV 2020-21"),
+    ],
+    CarSpecs(mass=1480, wheelbase=2.67, steerRatio=17),
+    flags=SubaruFlags.STEER_RATE_LIMITED,
+  )
  # TODO: is there an XV and Impreza too?
-  CAR.CROSSTREK_HYBRID: SubaruCarInfo("Subaru Crosstrek Hybrid 2020", car_parts=CarParts.common([CarHarness.subaru_b])),
-  CAR.FORESTER_HYBRID: SubaruCarInfo("Subaru Forester Hybrid 2020"),
-  CAR.FORESTER: SubaruCarInfo("Subaru Forester 2019-21", "All"),
-  CAR.FORESTER_PREGLOBAL: SubaruCarInfo("Subaru Forester 2017-18"),
-  CAR.LEGACY_PREGLOBAL: SubaruCarInfo("Subaru Legacy 2015-18"),
-  CAR.OUTBACK_PREGLOBAL: SubaruCarInfo("Subaru Outback 2015-17"),
-  CAR.OUTBACK_PREGLOBAL_2018: SubaruCarInfo("Subaru Outback 2018-19"),
-  CAR.FORESTER_2022: SubaruCarInfo("Subaru Forester 2022-24", "All", car_parts=CarParts.common([CarHarness.subaru_c])),
-  CAR.OUTBACK_2023: SubaruCarInfo("Subaru Outback 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])),
-  CAR.ASCENT_2023: SubaruCarInfo("Subaru Ascent 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])),
-}
+  CROSSTREK_HYBRID = SubaruPlatformConfig(
+    "SUBARU CROSSTREK HYBRID 2020",
+    [SubaruCarDocs("Subaru Crosstrek Hybrid 2020", car_parts=CarParts.common([CarHarness.subaru_b]))],
+    CarSpecs(mass=1668, wheelbase=2.67, steerRatio=17),
+    flags=SubaruFlags.HYBRID,
+  )
+  FORESTER = SubaruPlatformConfig(
+    "SUBARU FORESTER 2019",
+    [SubaruCarDocs("Subaru Forester 2019-21", "All")],
+    CarSpecs(mass=1568, wheelbase=2.67, steerRatio=17),
+    flags=SubaruFlags.STEER_RATE_LIMITED,
+  )
+  FORESTER_HYBRID = SubaruPlatformConfig(
+    "SUBARU FORESTER HYBRID 2020",
+    [SubaruCarDocs("Subaru Forester Hybrid 2020")],
+    FORESTER.specs,
+    flags=SubaruFlags.HYBRID,
+  )
+  # Pre-global
+  FORESTER_PREGLOBAL = SubaruPlatformConfig(
+    "SUBARU FORESTER 2017 - 2018",
+    [SubaruCarDocs("Subaru Forester 2017-18")],
+    CarSpecs(mass=1568, wheelbase=2.67, steerRatio=20),
+    dbc_dict('subaru_forester_2017_generated', None),
+    flags=SubaruFlags.PREGLOBAL,
+  )
+  LEGACY_PREGLOBAL = SubaruPlatformConfig(
+    "SUBARU LEGACY 2015 - 2018",
+    [SubaruCarDocs("Subaru Legacy 2015-18")],
+    CarSpecs(mass=1568, wheelbase=2.67, steerRatio=12.5),
+    dbc_dict('subaru_outback_2015_generated', None),
+    flags=SubaruFlags.PREGLOBAL,
+  )
+  OUTBACK_PREGLOBAL = SubaruPlatformConfig(
+    "SUBARU OUTBACK 2015 - 2017",
+    [SubaruCarDocs("Subaru Outback 2015-17")],
+    FORESTER_PREGLOBAL.specs,
+    dbc_dict('subaru_outback_2015_generated', None),
+    flags=SubaruFlags.PREGLOBAL,
+  )
+  OUTBACK_PREGLOBAL_2018 = SubaruPlatformConfig(
+    "SUBARU OUTBACK 2018 - 2019",
+    [SubaruCarDocs("Subaru Outback 2018-19")],
+    FORESTER_PREGLOBAL.specs,
+    dbc_dict('subaru_outback_2019_generated', None),
+    flags=SubaruFlags.PREGLOBAL,
+  )
+  # Angle LKAS
+  FORESTER_2022 = SubaruPlatformConfig(
+    "SUBARU FORESTER 2022",
+    [SubaruCarDocs("Subaru Forester 2022-24", "All", car_parts=CarParts.common([CarHarness.subaru_c]))],
+    FORESTER.specs,
+    flags=SubaruFlags.LKAS_ANGLE,
+  )
+  OUTBACK_2023 = SubaruGen2PlatformConfig(
+    "SUBARU OUTBACK 7TH GEN",
+    [SubaruCarDocs("Subaru Outback 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d]))],
+    OUTBACK.specs,
+    flags=SubaruFlags.LKAS_ANGLE,
+  )
+  ASCENT_2023 = SubaruGen2PlatformConfig(
+    "SUBARU ASCENT 2023",
+    [SubaruCarDocs("Subaru Ascent 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d]))],
+    ASCENT.specs,
+    flags=SubaruFlags.LKAS_ANGLE,
+  )

-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)

+# The EyeSight ECU takes 10s to respond to SUBARU_VERSION_REQUEST properly,
+# log this alternate manufacturer-specific query
+SUBARU_ALT_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
+  p16(0xf100)
+SUBARU_ALT_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
+  p16(0xf100)
+
 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],
+      logging=True,
    ),
+    # Non-OBD requests
    # 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],
+      bus=0,
+    ),
+    Request(
+      [SUBARU_ALT_VERSION_REQUEST],
+      [SUBARU_ALT_VERSION_RESPONSE],
+      whitelist_ecus=[Ecu.fwdCamera],
+      bus=0,
+      logging=True,
+    ),
+    Request(
+      [StdQueries.DEFAULT_DIAGNOSTIC_REQUEST, StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST],
+      [StdQueries.DEFAULT_DIAGNOSTIC_RESPONSE, StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE],
+      whitelist_ecus=[Ecu.fwdCamera],
+      bus=0,
+      logging=True,
    ),
-    # 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,
    ),
+    # GEN2 powertrain bus query
    Request(
      [StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST],
      [StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE],
@@ -185,24 +286,11 @@ FW_QUERY_CONFIG = FwQueryConfig(
  ],
  # 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),
+    Ecu.eps: list(CAR.with_flags(SubaruFlags.GLOBAL_GEN2)),
  }
 )

-DBC = {
-  CAR.ASCENT: dbc_dict('subaru_global_2017_generated', None),
-  CAR.ASCENT_2023: dbc_dict('subaru_global_2017_generated', None),
-  CAR.IMPREZA: dbc_dict('subaru_global_2017_generated', None),
-  CAR.IMPREZA_2020: dbc_dict('subaru_global_2017_generated', None),
-  CAR.FORESTER: dbc_dict('subaru_global_2017_generated', None),
-  CAR.FORESTER_2022: dbc_dict('subaru_global_2017_generated', None),
-  CAR.OUTBACK: dbc_dict('subaru_global_2017_generated', None),
-  CAR.FORESTER_HYBRID: dbc_dict('subaru_global_2020_hybrid_generated', None),
-  CAR.CROSSTREK_HYBRID: dbc_dict('subaru_global_2020_hybrid_generated', None),
-  CAR.OUTBACK_2023: dbc_dict('subaru_global_2017_generated', None),
-  CAR.LEGACY: dbc_dict('subaru_global_2017_generated', None),
-  CAR.FORESTER_PREGLOBAL: dbc_dict('subaru_forester_2017_generated', None),
-  CAR.LEGACY_PREGLOBAL: dbc_dict('subaru_outback_2015_generated', None),
-  CAR.OUTBACK_PREGLOBAL: dbc_dict('subaru_outback_2015_generated', None),
-  CAR.OUTBACK_PREGLOBAL_2018: dbc_dict('subaru_outback_2019_generated', None),
-}
+DBC = CAR.create_dbc_map()
+
+if __name__ == "__main__":
+  CAR.print_debug(SubaruFlags)