from cereal import car
from panda import Panda
from openpilot.selfdrive.car import get_safety_config
from openpilot.selfdrive.car.disable_ecu import disable_ecu
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
from openpilot.selfdrive.car.subaru.values import CAR, GLOBAL_ES_ADDR, SubaruFlags
[docs]
class CarInterface(CarInterfaceBase):
@staticmethod
def _get_params(ret, candidate: CAR, fingerprint, car_fw, experimental_long, docs):
ret.carName = "subaru"
ret.radarUnavailable = True
# for HYBRID CARS to be upstreamed, we need:
# - replacement for ES_Distance so we can cancel the cruise control
# - to find the Cruise_Activated bit from the car
# - proper panda safety setup (use the correct cruise_activated bit, throttle from Throttle_Hybrid, etc)
ret.dashcamOnly = bool(ret.flags & (SubaruFlags.PREGLOBAL | SubaruFlags.LKAS_ANGLE | SubaruFlags.HYBRID))
ret.autoResumeSng = False
# Detect infotainment message sent from the camera
if not (ret.flags & SubaruFlags.PREGLOBAL) and 0x323 in fingerprint[2]:
ret.flags |= SubaruFlags.SEND_INFOTAINMENT.value
if ret.flags & SubaruFlags.PREGLOBAL:
ret.enableBsm = 0x25c in fingerprint[0]
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaruPreglobal)]
else:
ret.enableBsm = 0x228 in fingerprint[0]
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaru)]
if ret.flags & SubaruFlags.GLOBAL_GEN2:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_SUBARU_GEN2
ret.steerLimitTimer = 0.4
ret.steerActuatorDelay = 0.1
if ret.flags & SubaruFlags.LKAS_ANGLE:
ret.steerControlType = car.CarParams.SteerControlType.angle
else:
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
if candidate in (CAR.SUBARU_ASCENT, CAR.SUBARU_ASCENT_2023):
ret.steerActuatorDelay = 0.3 # end-to-end angle controller
ret.lateralTuning.init('pid')
ret.lateralTuning.pid.kf = 0.00003
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.0025, 0.1], [0.00025, 0.01]]
elif candidate == CAR.SUBARU_IMPREZA:
ret.steerActuatorDelay = 0.4 # end-to-end angle controller
ret.lateralTuning.init('pid')
ret.lateralTuning.pid.kf = 0.00005
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.3], [0.02, 0.03]]
elif candidate == CAR.SUBARU_IMPREZA_2020:
ret.lateralTuning.init('pid')
ret.lateralTuning.pid.kf = 0.00005
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.045, 0.042, 0.20], [0.04, 0.035, 0.045]]
elif candidate == CAR.SUBARU_CROSSTREK_HYBRID:
ret.steerActuatorDelay = 0.1
elif candidate in (CAR.SUBARU_FORESTER, CAR.SUBARU_FORESTER_2022, CAR.SUBARU_FORESTER_HYBRID):
ret.lateralTuning.init('pid')
ret.lateralTuning.pid.kf = 0.000038
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.065, 0.2], [0.001, 0.015, 0.025]]
elif candidate in (CAR.SUBARU_OUTBACK, CAR.SUBARU_LEGACY, CAR.SUBARU_OUTBACK_2023):
ret.steerActuatorDelay = 0.1
elif candidate in (CAR.SUBARU_FORESTER_PREGLOBAL, CAR.SUBARU_OUTBACK_PREGLOBAL_2018):
ret.safetyConfigs[0].safetyParam = Panda.FLAG_SUBARU_PREGLOBAL_REVERSED_DRIVER_TORQUE # Outback 2018-2019 and Forester have reversed driver torque signal
elif candidate == CAR.SUBARU_LEGACY_PREGLOBAL:
ret.steerActuatorDelay = 0.15
elif candidate == CAR.SUBARU_OUTBACK_PREGLOBAL:
pass
else:
raise ValueError(f"unknown car: {candidate}")
ret.experimentalLongitudinalAvailable = not (ret.flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.PREGLOBAL |
SubaruFlags.LKAS_ANGLE | SubaruFlags.HYBRID))
ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable
if ret.flags & SubaruFlags.GLOBAL_GEN2 and ret.openpilotLongitudinalControl:
ret.flags |= SubaruFlags.DISABLE_EYESIGHT.value
if ret.openpilotLongitudinalControl:
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [0.8, 1.0, 1.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.54, 0.36]
ret.stoppingControl = True
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_SUBARU_LONG
return ret
# returns a car.CarState
def _update(self, c):
ret = self.CS.update(self.cp, self.cp_cam, self.cp_body)
ret.events = self.create_common_events(ret).to_msg()
return ret
[docs]
@staticmethod
def init(CP, logcan, sendcan):
if CP.flags & SubaruFlags.DISABLE_EYESIGHT:
disable_ecu(logcan, sendcan, bus=2, addr=GLOBAL_ES_ADDR, com_cont_req=b'\x28\x03\x01')