openpilot v0.9.6 release
date: 2024-01-12T10:13:37 master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6
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FrogAi
203
selfdrive/car/subaru/values.py
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203
selfdrive/car/subaru/values.py
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from dataclasses import dataclass, field
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from enum import Enum, IntFlag, StrEnum
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from typing import Dict, List, Union
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from cereal import car
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from panda.python import uds
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from openpilot.selfdrive.car import dbc_dict
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from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Tool, Column
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from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
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Ecu = car.CarParams.Ecu
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class CarControllerParams:
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def __init__(self, CP):
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self.STEER_STEP = 2 # how often we update the steer cmd
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self.STEER_DELTA_UP = 50 # torque increase per refresh, 0.8s to max
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self.STEER_DELTA_DOWN = 70 # torque decrease per refresh
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self.STEER_DRIVER_ALLOWANCE = 60 # allowed driver torque before start limiting
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self.STEER_DRIVER_MULTIPLIER = 50 # weight driver torque heavily
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self.STEER_DRIVER_FACTOR = 1 # from dbc
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if CP.carFingerprint in GLOBAL_GEN2:
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self.STEER_MAX = 1000
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self.STEER_DELTA_UP = 40
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self.STEER_DELTA_DOWN = 40
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elif CP.carFingerprint == CAR.IMPREZA_2020:
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self.STEER_MAX = 1439
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else:
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self.STEER_MAX = 2047
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THROTTLE_MIN = 808
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THROTTLE_MAX = 3400
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THROTTLE_INACTIVE = 1818 # corresponds to zero acceleration
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THROTTLE_ENGINE_BRAKE = 808 # while braking, eyesight sets throttle to this, probably for engine braking
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BRAKE_MIN = 0
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BRAKE_MAX = 600 # about -3.5m/s2 from testing
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RPM_MIN = 0
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RPM_MAX = 2400
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RPM_INACTIVE = 600 # a good base rpm for zero acceleration
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THROTTLE_LOOKUP_BP = [0, 2]
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THROTTLE_LOOKUP_V = [THROTTLE_INACTIVE, THROTTLE_MAX]
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RPM_LOOKUP_BP = [0, 2]
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RPM_LOOKUP_V = [RPM_INACTIVE, RPM_MAX]
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BRAKE_LOOKUP_BP = [-3.5, 0]
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BRAKE_LOOKUP_V = [BRAKE_MAX, BRAKE_MIN]
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class SubaruFlags(IntFlag):
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SEND_INFOTAINMENT = 1
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DISABLE_EYESIGHT = 2
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GLOBAL_ES_ADDR = 0x787
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GEN2_ES_BUTTONS_DID = b'\x11\x30'
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class CanBus:
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main = 0
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alt = 1
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camera = 2
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class CAR(StrEnum):
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# Global platform
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ASCENT = "SUBARU ASCENT LIMITED 2019"
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ASCENT_2023 = "SUBARU ASCENT 2023"
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IMPREZA = "SUBARU IMPREZA LIMITED 2019"
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IMPREZA_2020 = "SUBARU IMPREZA SPORT 2020"
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FORESTER = "SUBARU FORESTER 2019"
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OUTBACK = "SUBARU OUTBACK 6TH GEN"
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CROSSTREK_HYBRID = "SUBARU CROSSTREK HYBRID 2020"
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FORESTER_HYBRID = "SUBARU FORESTER HYBRID 2020"
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LEGACY = "SUBARU LEGACY 7TH GEN"
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FORESTER_2022 = "SUBARU FORESTER 2022"
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OUTBACK_2023 = "SUBARU OUTBACK 7TH GEN"
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# Pre-global
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FORESTER_PREGLOBAL = "SUBARU FORESTER 2017 - 2018"
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LEGACY_PREGLOBAL = "SUBARU LEGACY 2015 - 2018"
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OUTBACK_PREGLOBAL = "SUBARU OUTBACK 2015 - 2017"
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OUTBACK_PREGLOBAL_2018 = "SUBARU OUTBACK 2018 - 2019"
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class Footnote(Enum):
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GLOBAL = CarFootnote(
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"In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance.",
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Column.PACKAGE)
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EXP_LONG = CarFootnote(
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"Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB.",
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Column.LONGITUDINAL)
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@dataclass
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class SubaruCarInfo(CarInfo):
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package: str = "EyeSight Driver Assistance"
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car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.subaru_a]))
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footnotes: List[Enum] = field(default_factory=lambda: [Footnote.GLOBAL])
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def init_make(self, CP: car.CarParams):
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self.car_parts.parts.extend([Tool.socket_8mm_deep, Tool.pry_tool])
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if CP.experimentalLongitudinalAvailable:
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self.footnotes.append(Footnote.EXP_LONG)
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CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
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CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-21", "All"),
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CAR.OUTBACK: SubaruCarInfo("Subaru Outback 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])),
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CAR.LEGACY: SubaruCarInfo("Subaru Legacy 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])),
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CAR.IMPREZA: [
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SubaruCarInfo("Subaru Impreza 2017-19"),
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SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
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SubaruCarInfo("Subaru XV 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
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],
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CAR.IMPREZA_2020: [
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SubaruCarInfo("Subaru Impreza 2020-22"),
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SubaruCarInfo("Subaru Crosstrek 2020-23"),
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SubaruCarInfo("Subaru XV 2020-21"),
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],
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# TODO: is there an XV and Impreza too?
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CAR.CROSSTREK_HYBRID: SubaruCarInfo("Subaru Crosstrek Hybrid 2020", car_parts=CarParts.common([CarHarness.subaru_b])),
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CAR.FORESTER_HYBRID: SubaruCarInfo("Subaru Forester Hybrid 2020"),
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CAR.FORESTER: SubaruCarInfo("Subaru Forester 2019-21", "All"),
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CAR.FORESTER_PREGLOBAL: SubaruCarInfo("Subaru Forester 2017-18"),
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CAR.LEGACY_PREGLOBAL: SubaruCarInfo("Subaru Legacy 2015-18"),
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CAR.OUTBACK_PREGLOBAL: SubaruCarInfo("Subaru Outback 2015-17"),
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CAR.OUTBACK_PREGLOBAL_2018: SubaruCarInfo("Subaru Outback 2018-19"),
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CAR.FORESTER_2022: SubaruCarInfo("Subaru Forester 2022-23", "All", car_parts=CarParts.common([CarHarness.subaru_c])),
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CAR.OUTBACK_2023: SubaruCarInfo("Subaru Outback 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])),
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CAR.ASCENT_2023: SubaruCarInfo("Subaru Ascent 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])),
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}
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SUBARU_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
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p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION)
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SUBARU_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
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p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION)
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FW_QUERY_CONFIG = FwQueryConfig(
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requests=[
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Request(
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[StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST],
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[StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE],
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whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.fwdCamera, Ecu.engine, Ecu.transmission],
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),
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# Some Eyesight modules fail on TESTER_PRESENT_REQUEST
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# TODO: check if this resolves the fingerprinting issue for the 2023 Ascent and other new Subaru cars
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Request(
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[SUBARU_VERSION_REQUEST],
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[SUBARU_VERSION_RESPONSE],
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whitelist_ecus=[Ecu.fwdCamera],
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),
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# Non-OBD requests
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Request(
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[StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST],
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[StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE],
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whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.fwdCamera, Ecu.engine, Ecu.transmission],
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bus=0,
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logging=True,
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),
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Request(
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[StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST],
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[StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE],
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whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.fwdCamera, Ecu.engine, Ecu.transmission],
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bus=1,
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logging=True,
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obd_multiplexing=False,
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),
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],
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)
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DBC = {
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CAR.ASCENT: dbc_dict('subaru_global_2017_generated', None),
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CAR.ASCENT_2023: dbc_dict('subaru_global_2017_generated', None),
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CAR.IMPREZA: dbc_dict('subaru_global_2017_generated', None),
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CAR.IMPREZA_2020: dbc_dict('subaru_global_2017_generated', None),
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CAR.FORESTER: dbc_dict('subaru_global_2017_generated', None),
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CAR.FORESTER_2022: dbc_dict('subaru_global_2017_generated', None),
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CAR.OUTBACK: dbc_dict('subaru_global_2017_generated', None),
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CAR.FORESTER_HYBRID: dbc_dict('subaru_global_2020_hybrid_generated', None),
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CAR.CROSSTREK_HYBRID: dbc_dict('subaru_global_2020_hybrid_generated', None),
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CAR.OUTBACK_2023: dbc_dict('subaru_global_2017_generated', None),
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CAR.LEGACY: dbc_dict('subaru_global_2017_generated', None),
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CAR.FORESTER_PREGLOBAL: dbc_dict('subaru_forester_2017_generated', None),
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CAR.LEGACY_PREGLOBAL: dbc_dict('subaru_outback_2015_generated', None),
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CAR.OUTBACK_PREGLOBAL: dbc_dict('subaru_outback_2015_generated', None),
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CAR.OUTBACK_PREGLOBAL_2018: dbc_dict('subaru_outback_2019_generated', None),
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}
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LKAS_ANGLE = {CAR.FORESTER_2022, CAR.OUTBACK_2023, CAR.ASCENT_2023}
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GLOBAL_GEN2 = {CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023, CAR.ASCENT_2023}
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PREGLOBAL_CARS = {CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018}
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HYBRID_CARS = {CAR.CROSSTREK_HYBRID, CAR.FORESTER_HYBRID}
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# Cars that temporarily fault when steering angle rate is greater than some threshold.
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# Appears to be all torque-based cars produced around 2019 - present
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STEER_RATE_LIMITED = GLOBAL_GEN2 | {CAR.IMPREZA_2020, CAR.FORESTER}
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