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Subaru: Stop and Go autoresume counter fix

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This commit is contained in:
Jason Wen
2023-10-03 20:54:18 +00:00
parent c946f50a70
commit c4068f34a2
2 changed files with 12 additions and 11 deletions
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selfdrive/car/subaru/carcontroller.py
+3 -5
View File
@@ -31,8 +31,6 @@ class CarController:
if CP.spFlags & SubaruFlagsSP.SP_SUBARU_SNG:
self.subaru_sng = True
self.manual_parking_brake = self.param_s.get_bool("SubaruManualParkingBrakeSng")
self.throttle_cnt = -1
self.brake_pedal_cnt = -1
self.prev_close_distance = 0
self.prev_standstill = False
self.standstill_start = 0
@@ -121,7 +119,7 @@ class CarController:
can_sends.append(subarucan.create_preglobal_es_distance(self.packer, cruise_button, CS.es_distance_msg))
if self.subaru_sng:
can_sends.append(subarucan.create_preglobal_throttle(self.packer, CS.throttle_msg, throttle_cmd))
can_sends.append(subarucan.create_preglobal_throttle(self.packer, CS.throttle_msg["COUNTER"] + 1, CS.throttle_msg, throttle_cmd))
else:
if self.frame % 10 == 0:
@@ -136,10 +134,10 @@ class CarController:
can_sends.append(subarucan.create_es_infotainment(self.packer, self.frame // 10, CS.es_infotainment_msg, hud_control.visualAlert))
if self.subaru_sng:
can_sends.append(subarucan.create_throttle(self.packer, CS.throttle_msg, throttle_cmd))
can_sends.append(subarucan.create_throttle(self.packer, CS.throttle_msg["COUNTER"] + 1, CS.throttle_msg, throttle_cmd))
if self.frame % 2 == 0:
can_sends.append(subarucan.create_brake_pedal(self.packer, CS.brake_pedal_msg, speed_cmd, pcm_cancel_cmd))
can_sends.append(subarucan.create_brake_pedal(self.packer, self.frame // 2, CS.brake_pedal_msg, speed_cmd, pcm_cancel_cmd))
if self.CP.openpilotLongitudinalControl:
if self.frame % 5 == 0:
selfdrive/car/subaru/subarucan.py
+9 -6
View File
@@ -293,9 +293,8 @@ def create_preglobal_es_distance(packer, cruise_button, es_distance_msg):
return packer.make_can_msg("ES_Distance", CanBus.main, values)
def create_brake_pedal(packer, brake_pedal_msg, speed_cmd, brake_cmd):
def create_brake_pedal(packer, frame, brake_pedal_msg, speed_cmd, brake_cmd):
values = {s: brake_pedal_msg[s] for s in [
"COUNTER",
"Signal1",
"Speed",
"Signal2",
@@ -305,6 +304,8 @@ def create_brake_pedal(packer, brake_pedal_msg, speed_cmd, brake_cmd):
"Signal4",
]}
values["COUNTER"] = frame % 0x10
if speed_cmd:
values["Speed"] = 3
if brake_cmd:
@@ -314,10 +315,9 @@ def create_brake_pedal(packer, brake_pedal_msg, speed_cmd, brake_cmd):
return packer.make_can_msg("Brake_Pedal", CanBus.camera, values)
def create_throttle(packer, throttle_msg, throttle_cmd):
def create_throttle(packer, frame, throttle_msg, throttle_cmd):
values = {s: throttle_msg[s] for s in [
"CHECKSUM",
"COUNTER",
"Signal1",
"Engine_RPM",
"Signal2",
@@ -328,16 +328,17 @@ def create_throttle(packer, throttle_msg, throttle_cmd):
"Off_Accel",
]}
values["COUNTER"] = frame % 0x10
if throttle_cmd:
values["Throttle_Pedal"] = 5
return packer.make_can_msg("Throttle", 2, values)
def create_preglobal_throttle(packer, throttle_msg, throttle_cmd):
def create_preglobal_throttle(packer, frame, throttle_msg, throttle_cmd):
values = {s: throttle_msg[s] for s in [
"Throttle_Pedal",
"COUNTER",
"Signal1",
"Not_Full_Throttle",
"Signal2",
@@ -351,6 +352,8 @@ def create_preglobal_throttle(packer, throttle_msg, throttle_cmd):
"Signal4",
]}
values["COUNTER"] = frame % 0x10
if throttle_cmd:
values["Throttle_Pedal"] = 5