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- 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
- 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.ASCENT, CAR.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.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.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.CROSSTREK_HYBRID:
- ret.steerActuatorDelay = 0.1
- elif candidate in (CAR.FORESTER, CAR.FORESTER_2022, CAR.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.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023):
- ret.steerActuatorDelay = 0.1
- elif candidate in (CAR.FORESTER_PREGLOBAL, CAR.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.LEGACY_PREGLOBAL:
- ret.steerActuatorDelay = 0.15
- elif candidate == CAR.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
- @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')
- def apply(self, c, now_nanos):
- return self.CC.update(c, self.CS, now_nanos)
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