from dataclasses import dataclass, field
from enum import Enum, IntFlag
from cereal import car
from panda.python import uds
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
[docs]
class CarControllerParams:
def __init__(self, CP):
self.STEER_STEP = 2 # how often we update the steer cmd
self.STEER_DELTA_UP = 50 # torque increase per refresh, 0.8s to max
self.STEER_DELTA_DOWN = 70 # torque decrease per refresh
self.STEER_DRIVER_ALLOWANCE = 60 # allowed driver torque before start limiting
self.STEER_DRIVER_MULTIPLIER = 50 # weight driver torque heavily
self.STEER_DRIVER_FACTOR = 1 # from dbc
if CP.flags & SubaruFlags.GLOBAL_GEN2:
self.STEER_MAX = 1000
self.STEER_DELTA_UP = 40
self.STEER_DELTA_DOWN = 40
elif CP.carFingerprint == CAR.SUBARU_IMPREZA_2020:
self.STEER_MAX = 1439
else:
self.STEER_MAX = 2047
THROTTLE_MIN = 808
THROTTLE_MAX = 3400
THROTTLE_INACTIVE = 1818 # corresponds to zero acceleration
THROTTLE_ENGINE_BRAKE = 808 # while braking, eyesight sets throttle to this, probably for engine braking
BRAKE_MIN = 0
BRAKE_MAX = 600 # about -3.5m/s2 from testing
RPM_MIN = 0
RPM_MAX = 2400
RPM_INACTIVE = 600 # a good base rpm for zero acceleration
THROTTLE_LOOKUP_BP = [0, 2]
THROTTLE_LOOKUP_V = [THROTTLE_INACTIVE, THROTTLE_MAX]
RPM_LOOKUP_BP = [0, 2]
RPM_LOOKUP_V = [RPM_INACTIVE, RPM_MAX]
BRAKE_LOOKUP_BP = [-3.5, 0]
BRAKE_LOOKUP_V = [BRAKE_MAX, BRAKE_MIN]
[docs]
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'
[docs]
class CanBus:
main = 0
alt = 1
camera = 2
[docs]
@dataclass
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])
[docs]
def init_make(self, CP: car.CarParams):
self.car_parts.parts.extend([Tool.socket_8mm_deep, Tool.pry_tool])
if CP.experimentalLongitudinalAvailable:
self.footnotes.append(Footnote.EXP_LONG)
[docs]
class CAR(Platforms):
# Global platform
SUBARU_ASCENT = SubaruPlatformConfig(
[SubaruCarDocs("Subaru Ascent 2019-21", "All")],
CarSpecs(mass=2031, wheelbase=2.89, steerRatio=13.5),
)
SUBARU_OUTBACK = SubaruGen2PlatformConfig(
[SubaruCarDocs("Subaru Outback 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b]))],
CarSpecs(mass=1568, wheelbase=2.67, steerRatio=17),
)
SUBARU_LEGACY = SubaruGen2PlatformConfig(
[SubaruCarDocs("Subaru Legacy 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b]))],
SUBARU_OUTBACK.specs,
)
SUBARU_IMPREZA = SubaruPlatformConfig(
[
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),
)
SUBARU_IMPREZA_2020 = SubaruPlatformConfig(
[
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?
SUBARU_CROSSTREK_HYBRID = SubaruPlatformConfig(
[SubaruCarDocs("Subaru Crosstrek Hybrid 2020", car_parts=CarParts.common([CarHarness.subaru_b]))],
CarSpecs(mass=1668, wheelbase=2.67, steerRatio=17),
flags=SubaruFlags.HYBRID,
)
SUBARU_FORESTER = SubaruPlatformConfig(
[SubaruCarDocs("Subaru Forester 2019-21", "All")],
CarSpecs(mass=1568, wheelbase=2.67, steerRatio=17),
flags=SubaruFlags.STEER_RATE_LIMITED,
)
SUBARU_FORESTER_HYBRID = SubaruPlatformConfig(
[SubaruCarDocs("Subaru Forester Hybrid 2020")],
SUBARU_FORESTER.specs,
flags=SubaruFlags.HYBRID,
)
# Pre-global
SUBARU_FORESTER_PREGLOBAL = SubaruPlatformConfig(
[SubaruCarDocs("Subaru Forester 2017-18")],
CarSpecs(mass=1568, wheelbase=2.67, steerRatio=20),
dbc_dict('subaru_forester_2017_generated', None),
flags=SubaruFlags.PREGLOBAL,
)
SUBARU_LEGACY_PREGLOBAL = SubaruPlatformConfig(
[SubaruCarDocs("Subaru Legacy 2015-18")],
CarSpecs(mass=1568, wheelbase=2.67, steerRatio=12.5),
dbc_dict('subaru_outback_2015_generated', None),
flags=SubaruFlags.PREGLOBAL,
)
SUBARU_OUTBACK_PREGLOBAL = SubaruPlatformConfig(
[SubaruCarDocs("Subaru Outback 2015-17")],
SUBARU_FORESTER_PREGLOBAL.specs,
dbc_dict('subaru_outback_2015_generated', None),
flags=SubaruFlags.PREGLOBAL,
)
SUBARU_OUTBACK_PREGLOBAL_2018 = SubaruPlatformConfig(
[SubaruCarDocs("Subaru Outback 2018-19")],
SUBARU_FORESTER_PREGLOBAL.specs,
dbc_dict('subaru_outback_2019_generated', None),
flags=SubaruFlags.PREGLOBAL,
)
# Angle LKAS
SUBARU_FORESTER_2022 = SubaruPlatformConfig(
[SubaruCarDocs("Subaru Forester 2022-24", "All", car_parts=CarParts.common([CarHarness.subaru_c]))],
SUBARU_FORESTER.specs,
flags=SubaruFlags.LKAS_ANGLE,
)
SUBARU_OUTBACK_2023 = SubaruGen2PlatformConfig(
[SubaruCarDocs("Subaru Outback 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d]))],
SUBARU_OUTBACK.specs,
flags=SubaruFlags.LKAS_ANGLE,
)
SUBARU_ASCENT_2023 = SubaruGen2PlatformConfig(
[SubaruCarDocs("Subaru Ascent 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d]))],
SUBARU_ASCENT.specs,
flags=SubaruFlags.LKAS_ANGLE,
)
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,
),
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],
whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.fwdCamera, Ecu.engine, Ecu.transmission],
bus=1,
obd_multiplexing=False,
),
],
# 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(CAR.with_flags(SubaruFlags.GLOBAL_GEN2)),
}
)
DBC = CAR.create_dbc_map()
if __name__ == "__main__":
CAR.print_debug(SubaruFlags)