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Subaru: Forester Hybrid 2020 dashcam (#24770)

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* Add support for Forester Hybrid 2020

Co-authored-by: martinl <martin@mlp.ee>

* it's a param now

* make it work

* fix

* merge and cleanup

* remove duplicate

* should be forester

* bump submodules

* should be abs

* add missing params

* still need a test route

* still need a test route

* consitent

* here too

* todo

* more

* Update selfdrive/car/tests/routes.py

* clean up

---------

Co-authored-by: martinl <martin@mlp.ee>
Co-authored-by: Justin Newberry <jnewberry0502@gmail.com>
This commit is contained in:
Shane Smiskol
2023-08-23 21:30:12 -07:00
committed by GitHub
parent cb342461f0
commit 3719be8b76
6 changed files with 33 additions and 12 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/car/subaru/carcontroller.py
+1 -2
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@@ -2,8 +2,7 @@ from openpilot.common.numpy_fast import clip, interp
from opendbc.can.packer import CANPacker
from openpilot.selfdrive.car import apply_driver_steer_torque_limits
from openpilot.selfdrive.car.subaru import subarucan
from openpilot.selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, CanBus, CarControllerParams, SubaruFlags
from selfdrive.car.subaru.values import HYBRID_CARS
from openpilot.selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, CanBus, CarControllerParams, SubaruFlags
class CarController:
selfdrive/car/subaru/carstate.py
+5 -5
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@@ -4,9 +4,8 @@ from opendbc.can.can_define import CANDefine
from openpilot.common.conversions import Conversions as CV
from openpilot.selfdrive.car.interfaces import CarStateBase
from opendbc.can.parser import CANParser
from openpilot.selfdrive.car.subaru.values import DBC, CAR, GLOBAL_GEN2, PREGLOBAL_CARS, CanBus, SubaruFlags
from openpilot.selfdrive.car.subaru.values import DBC, CAR, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, CanBus, SubaruFlags
from openpilot.selfdrive.car import CanSignalRateCalculator
from selfdrive.car.subaru.values import HYBRID_CARS
class CarState(CarStateBase):
@@ -101,17 +100,18 @@ class CarState(CarStateBase):
self.es_brake_msg = copy.copy(cp_es_brake.vl["ES_Brake"])
cp_es_status = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp_cam
if self.car_fingerprint not in HYBRID_CARS: # Hybrid cars don't have es_distance, need a replacement
# TODO: Hybrid cars don't have ES_Distance, need a replacement
if self.car_fingerprint not in HYBRID_CARS:
# 8 is known AEB, there are a few other values related to AEB we ignore
ret.stockAeb = (cp_es_distance.vl["ES_Brake"]["AEB_Status"] == 8) and \
(cp_es_distance.vl["ES_Brake"]["Brake_Pressure"] != 0)
self.es_distance_msg = copy.copy(cp_es_distance.vl["ES_Distance"])
(cp_es_distance.vl["ES_Brake"]["Brake_Pressure"] != 0)
self.es_status_msg = copy.copy(cp_es_status.vl["ES_Status"])
self.cruise_control_msg = copy.copy(cp_cruise.vl["CruiseControl"])
if self.car_fingerprint not in HYBRID_CARS:
self.es_distance_msg = copy.copy(cp_es_distance.vl["ES_Distance"])
self.es_dashstatus_msg = copy.copy(cp_cam.vl["ES_DashStatus"])
if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT:
self.es_infotainment_msg = copy.copy(cp_cam.vl["ES_Infotainment"])
selfdrive/car/subaru/interface.py
+4 -4
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@@ -13,9 +13,9 @@ class CarInterface(CarInterfaceBase):
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)
# - 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 = candidate in (PREGLOBAL_CARS | LKAS_ANGLE | HYBRID_CARS)
ret.autoResumeSng = False
@@ -79,7 +79,7 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 17
ret.steerActuatorDelay = 0.1
elif candidate in (CAR.FORESTER, CAR.FORESTER_2022):
elif candidate in (CAR.FORESTER, CAR.FORESTER_2022, CAR.FORESTER_HYBRID):
ret.mass = 1568.
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.5
selfdrive/car/subaru/values.py
+21 -1
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@@ -71,6 +71,7 @@ class CAR:
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"
@@ -113,6 +114,7 @@ CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
],
# TODO: is there an XV and Impreza too?
CAR.CROSSTREK_HYBRID: SubaruCarInfo("Subaru Crosstrek Hybrid 2020"),
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"),
@@ -389,6 +391,23 @@ FW_VERSIONS = {
b'\x1a\xe6F1\x00',
],
},
CAR.FORESTER_HYBRID: {
(Ecu.abs, 0x7b0, None): [
b'\xa3 \x19T\x00',
],
(Ecu.eps, 0x746, None): [
b'\x8d\xc2\x00\x00',
],
(Ecu.fwdCamera, 0x787, None): [
b'\x00\x00eY\x1f@ !',
],
(Ecu.engine, 0x7e0, None): [
b'\xd2\xa1`r\x07',
],
(Ecu.transmission, 0x7e1, None): [
b'\x1b\xa7@a\x00',
],
},
CAR.FORESTER_PREGLOBAL: {
(Ecu.abs, 0x7b0, None): [
b'\x7d\x97\x14\x40',
@@ -649,6 +668,7 @@ DBC = {
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),
@@ -661,4 +681,4 @@ DBC = {
LKAS_ANGLE = {CAR.FORESTER_2022, CAR.OUTBACK_2023}
GLOBAL_GEN2 = {CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023}
PREGLOBAL_CARS = {CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018}
HYBRID_CARS = {CAR.CROSSTREK_HYBRID, }
HYBRID_CARS = {CAR.CROSSTREK_HYBRID, CAR.FORESTER_HYBRID}
selfdrive/car/tests/routes.py
+1
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@@ -28,6 +28,7 @@ non_tested_cars = [
VOLKSWAGEN.CRAFTER_MK2, # need a route from an ACC-equipped Crafter
TOYOTA.RAV4_TSS2_2023,
TOYOTA.RAV4H_TSS2_2023,
SUBARU.FORESTER_HYBRID,
]
selfdrive/car/torque_data/substitute.yaml
+1
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@@ -77,6 +77,7 @@ SEAT LEON 3RD GEN: VOLKSWAGEN GOLF 7TH GEN
SEAT ATECA 1ST GEN: VOLKSWAGEN GOLF 7TH GEN
SUBARU CROSSTREK HYBRID 2020: SUBARU IMPREZA SPORT 2020
SUBARU FORESTER HYBRID 2020: SUBARU IMPREZA SPORT 2020
SUBARU LEGACY 7TH GEN: SUBARU OUTBACK 6TH GEN
# Old subarus don't have much data guessing it's like low torque impreza