Subaru pre-global: add support for Subaru Legacy 2015-18 (#1805)
* Add support for Subaru Legacy 2015-18 * syntax fix * Add Legacy 2018 FPv1 * Add Subaru Ascent from upstream * Use GLOBAL_CAR and LEGACY_CAR lists * Change LEGACY_2015 to LEGACY_PREGLOBAL * Add LEGACY_CAR to carstate * Change LEGACY_2015 to LEGACY_PREGLOBAL in test_car_models * Add missing SafetyModel to Ascent * Use GLOBAL_CAR and LEGACY_CAR to set safetyModel * Change LEGACY_CAR to PREGLOBAL_CARS, remove GLOBAL_CAR * Fix PREGLOBAL_CARS in carstate and subarucan * Minor cleanups * Add accelCruise button event * Change Preglobal Driver Torque limit to match Global * Match comments to upstream * Use Steer_Warning and Steer_Error_1 only for Global * Change mph units to match upstream values * Increase Preglobal brakePressed threshold to 2 * Add DashcamOnly to LEGACY_PREGLOBAL * Fix typo in variable name * Update README, add create_preglobal_steering_control * cleanup carcontroller * cleanup values * missed that one * Update STEER_STEP * Update STEER_MAX * Add preglobal signal frequency checks * remove PREGLOBAL_CARS from subarucan * Remove whitespace * Use common frequency checks * cleanup carstate * cleanup subarucan Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>albatross
martinl
GitHub
parent
fe18a014c7
commit
e37b8e5d56
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@ -524,6 +524,7 @@ opendbc/nissan_x_trail_2017.dbc
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opendbc/nissan_leaf_2018.dbc
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opendbc/subaru_global_2017_generated.dbc
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opendbc/subaru_outback_2015_generated.dbc
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opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc
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opendbc/toyota_rav4_2017_pt_generated.dbc
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@ -1,7 +1,6 @@
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#from common.numpy_fast import clip
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from selfdrive.car import apply_std_steer_torque_limits
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from selfdrive.car.subaru import subarucan
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from selfdrive.car.subaru.values import DBC
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from selfdrive.car.subaru.values import DBC, PREGLOBAL_CARS
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from opendbc.can.packer import CANPacker
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@ -18,49 +17,71 @@ class CarControllerParams():
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class CarController():
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def __init__(self, dbc_name, CP, VM):
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self.lkas_active = False
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self.apply_steer_last = 0
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self.es_distance_cnt = -1
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self.es_accel_cnt = -1
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self.es_lkas_cnt = -1
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self.fake_button_prev = 0
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self.steer_rate_limited = False
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self.params = CarControllerParams()
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self.packer = CANPacker(DBC[CP.carFingerprint]['pt'])
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def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert, left_line, right_line):
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""" Controls thread """
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P = self.params
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# Send CAN commands.
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can_sends = []
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### STEER ###
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# *** steering ***
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if (frame % self.params.STEER_STEP) == 0:
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if (frame % P.STEER_STEP) == 0:
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final_steer = actuators.steer if enabled else 0.
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apply_steer = int(round(final_steer * P.STEER_MAX))
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apply_steer = int(round(actuators.steer * self.params.STEER_MAX))
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# limits due to driver torque
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new_steer = int(round(apply_steer))
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apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, P)
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apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
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self.steer_rate_limited = new_steer != apply_steer
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if not enabled:
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apply_steer = 0
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can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, frame, P.STEER_STEP))
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if CS.CP.carFingerprint in PREGLOBAL_CARS:
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can_sends.append(subarucan.create_preglobal_steering_control(self.packer, apply_steer, frame, self.params.STEER_STEP))
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else:
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can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, frame, self.params.STEER_STEP))
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self.apply_steer_last = apply_steer
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if self.es_distance_cnt != CS.es_distance_msg["Counter"]:
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can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg, pcm_cancel_cmd))
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self.es_distance_cnt = CS.es_distance_msg["Counter"]
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if self.es_lkas_cnt != CS.es_lkas_msg["Counter"]:
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can_sends.append(subarucan.create_es_lkas(self.packer, CS.es_lkas_msg, visual_alert, left_line, right_line))
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self.es_lkas_cnt = CS.es_lkas_msg["Counter"]
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# *** alerts and pcm cancel ***
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if CS.CP.carFingerprint in PREGLOBAL_CARS:
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if self.es_accel_cnt != CS.es_accel_msg["Counter"]:
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# 1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 = resume deep
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# disengage ACC when OP is disengaged
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if pcm_cancel_cmd:
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fake_button = 1
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# turn main on if off and past start-up state
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elif not CS.out.cruiseState.available and CS.ready:
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fake_button = 1
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else:
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fake_button = CS.button
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# unstick previous mocked button press
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if fake_button == 1 and self.fake_button_prev == 1:
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fake_button = 0
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self.fake_button_prev = fake_button
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can_sends.append(subarucan.create_es_throttle_control(self.packer, fake_button, CS.es_accel_msg))
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self.es_accel_cnt = CS.es_accel_msg["Counter"]
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else:
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if self.es_distance_cnt != CS.es_distance_msg["Counter"]:
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can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg, pcm_cancel_cmd))
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self.es_distance_cnt = CS.es_distance_msg["Counter"]
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if self.es_lkas_cnt != CS.es_lkas_msg["Counter"]:
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can_sends.append(subarucan.create_es_lkas(self.packer, CS.es_lkas_msg, visual_alert, left_line, right_line))
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self.es_lkas_cnt = CS.es_lkas_msg["Counter"]
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return can_sends
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@ -4,7 +4,7 @@ from opendbc.can.can_define import CANDefine
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from selfdrive.config import Conversions as CV
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from selfdrive.car.interfaces import CarStateBase
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from opendbc.can.parser import CANParser
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from selfdrive.car.subaru.values import DBC, STEER_THRESHOLD
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from selfdrive.car.subaru.values import DBC, STEER_THRESHOLD, CAR, PREGLOBAL_CARS
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class CarState(CarStateBase):
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@ -20,7 +20,10 @@ class CarState(CarStateBase):
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ret.gas = cp.vl["Throttle"]['Throttle_Pedal'] / 255.
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ret.gasPressed = ret.gas > 1e-5
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ret.brakePressed = cp.vl["Brake_Pedal"]['Brake_Pedal'] > 1e-5
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if self.car_fingerprint in PREGLOBAL_CARS:
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ret.brakePressed = cp.vl["Brake_Pedal"]['Brake_Pedal'] > 2
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else:
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ret.brakePressed = cp.vl["Brake_Pedal"]['Brake_Pedal'] > 1e-5
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ret.brakeLights = ret.brakePressed
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ret.wheelSpeeds.fl = cp.vl["Wheel_Speeds"]['FL'] * CV.KPH_TO_MS
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@ -48,15 +51,15 @@ class CarState(CarStateBase):
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ret.steeringTorque = cp.vl["Steering_Torque"]['Steer_Torque_Sensor']
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ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD[self.car_fingerprint]
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ret.steerError = cp.vl["Steering_Torque"]['Steer_Error_1'] == 1
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ret.steerWarning = cp.vl["Steering_Torque"]['Steer_Warning'] == 1
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ret.cruiseState.enabled = cp.vl["CruiseControl"]['Cruise_Activated'] != 0
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ret.cruiseState.available = cp.vl["CruiseControl"]['Cruise_On'] != 0
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ret.cruiseState.speed = cp_cam.vl["ES_DashStatus"]['Cruise_Set_Speed'] * CV.KPH_TO_MS
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ret.cruiseState.nonAdaptive = cp_cam.vl["ES_DashStatus"]['Conventional_Cruise'] == 1
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# EDM Impreza: 1,2 = mph, UDM Forester: 7 = mph
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if cp.vl["Dash_State"]['Units'] in [1, 2, 7]:
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# UDM Legacy: mph = 0
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if self.car_fingerprint == CAR.LEGACY_PREGLOBAL and cp.vl["Dash_State"]['Units'] == 0:
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ret.cruiseState.speed *= CV.MPH_TO_KPH
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# EDM Global: mph = 1, 2; UDM Forester: 7 = mph
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elif self.car_fingerprint != CAR.LEGACY_PREGLOBAL and cp.vl["Dash_State"]['Units'] in [1, 2, 7]:
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ret.cruiseState.speed *= CV.MPH_TO_KPH
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ret.seatbeltUnlatched = cp.vl["Dashlights"]['SEATBELT_FL'] == 1
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@ -65,8 +68,17 @@ class CarState(CarStateBase):
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cp.vl["BodyInfo"]['DOOR_OPEN_FR'],
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cp.vl["BodyInfo"]['DOOR_OPEN_FL']])
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self.es_distance_msg = copy.copy(cp_cam.vl["ES_Distance"])
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self.es_lkas_msg = copy.copy(cp_cam.vl["ES_LKAS_State"])
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if self.car_fingerprint in PREGLOBAL_CARS:
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ret.steerError = cp.vl["Steering_Torque"]["LKA_Lockout"] == 1
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self.button = cp_cam.vl["ES_CruiseThrottle"]["Button"]
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self.ready = not cp_cam.vl["ES_DashStatus"]["Not_Ready_Startup"]
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self.es_accel_msg = copy.copy(cp_cam.vl["ES_CruiseThrottle"])
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else:
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ret.steerError = cp.vl["Steering_Torque"]['Steer_Error_1'] == 1
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ret.steerWarning = cp.vl["Steering_Torque"]['Steer_Warning'] == 1
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ret.cruiseState.nonAdaptive = cp_cam.vl["ES_DashStatus"]['Conventional_Cruise'] == 1
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self.es_distance_msg = copy.copy(cp_cam.vl["ES_Distance"])
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self.es_lkas_msg = copy.copy(cp_cam.vl["ES_LKAS_State"])
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return ret
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@ -77,8 +89,6 @@ class CarState(CarStateBase):
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# sig_name, sig_address, default
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("Steer_Torque_Sensor", "Steering_Torque", 0),
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("Steering_Angle", "Steering_Torque", 0),
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("Steer_Error_1", "Steering_Torque", 0),
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("Steer_Warning", "Steering_Torque", 0),
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("Cruise_On", "CruiseControl", 0),
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("Cruise_Activated", "CruiseControl", 0),
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("Brake_Pedal", "Brake_Pedal", 0),
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@ -104,62 +114,109 @@ class CarState(CarStateBase):
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checks = [
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# sig_address, frequency
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("Throttle", 100),
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("Dashlights", 10),
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("CruiseControl", 20),
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("Brake_Pedal", 50),
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("Wheel_Speeds", 50),
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("Transmission", 100),
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("Steering_Torque", 50),
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("BodyInfo", 10),
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]
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if CP.carFingerprint in PREGLOBAL_CARS:
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signals += [
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("LKA_Lockout", "Steering_Torque", 0),
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]
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checks += [
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("CruiseControl", 50),
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]
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else:
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signals += [
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("Steer_Error_1", "Steering_Torque", 0),
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("Steer_Warning", "Steering_Torque", 0),
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]
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checks += [
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("BodyInfo", 10),
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("CruiseControl", 20),
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]
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return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
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@staticmethod
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def get_cam_can_parser(CP):
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signals = [
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("Cruise_Set_Speed", "ES_DashStatus", 0),
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("Conventional_Cruise", "ES_DashStatus", 0),
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if CP.carFingerprint in PREGLOBAL_CARS:
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signals = [
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("Cruise_Set_Speed", "ES_DashStatus", 0),
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("Not_Ready_Startup", "ES_DashStatus", 0),
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("Counter", "ES_Distance", 0),
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("Signal1", "ES_Distance", 0),
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("Cruise_Fault", "ES_Distance", 0),
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("Cruise_Throttle", "ES_Distance", 0),
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("Signal2", "ES_Distance", 0),
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("Car_Follow", "ES_Distance", 0),
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("Signal3", "ES_Distance", 0),
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("Cruise_Brake_Active", "ES_Distance", 0),
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("Distance_Swap", "ES_Distance", 0),
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("Cruise_EPB", "ES_Distance", 0),
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("Signal4", "ES_Distance", 0),
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("Close_Distance", "ES_Distance", 0),
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("Signal5", "ES_Distance", 0),
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("Cruise_Cancel", "ES_Distance", 0),
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("Cruise_Set", "ES_Distance", 0),
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("Cruise_Resume", "ES_Distance", 0),
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("Signal6", "ES_Distance", 0),
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("Throttle_Cruise", "ES_CruiseThrottle", 0),
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("Signal1", "ES_CruiseThrottle", 0),
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("Cruise_Activated", "ES_CruiseThrottle", 0),
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("Signal2", "ES_CruiseThrottle", 0),
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("Brake_On", "ES_CruiseThrottle", 0),
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("DistanceSwap", "ES_CruiseThrottle", 0),
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("Standstill", "ES_CruiseThrottle", 0),
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("Signal3", "ES_CruiseThrottle", 0),
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("CloseDistance", "ES_CruiseThrottle", 0),
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("Signal4", "ES_CruiseThrottle", 0),
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("Standstill_2", "ES_CruiseThrottle", 0),
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("ES_Error", "ES_CruiseThrottle", 0),
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("Signal5", "ES_CruiseThrottle", 0),
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("Counter", "ES_CruiseThrottle", 0),
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("Signal6", "ES_CruiseThrottle", 0),
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("Button", "ES_CruiseThrottle", 0),
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("Signal7", "ES_CruiseThrottle", 0),
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]
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("Counter", "ES_LKAS_State", 0),
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("Keep_Hands_On_Wheel", "ES_LKAS_State", 0),
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("Empty_Box", "ES_LKAS_State", 0),
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("Signal1", "ES_LKAS_State", 0),
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("LKAS_ACTIVE", "ES_LKAS_State", 0),
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("Signal2", "ES_LKAS_State", 0),
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("Backward_Speed_Limit_Menu", "ES_LKAS_State", 0),
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("LKAS_ENABLE_3", "ES_LKAS_State", 0),
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("LKAS_Left_Line_Light_Blink", "ES_LKAS_State", 0),
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("LKAS_ENABLE_2", "ES_LKAS_State", 0),
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("LKAS_Right_Line_Light_Blink", "ES_LKAS_State", 0),
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("LKAS_Left_Line_Visible", "ES_LKAS_State", 0),
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("LKAS_Left_Line_Green", "ES_LKAS_State", 0),
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("LKAS_Right_Line_Visible", "ES_LKAS_State", 0),
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("LKAS_Right_Line_Green", "ES_LKAS_State", 0),
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("LKAS_Alert", "ES_LKAS_State", 0),
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("Signal3", "ES_LKAS_State", 0),
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]
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checks = [
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("ES_DashStatus", 20),
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("ES_CruiseThrottle", 20),
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]
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else:
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signals = [
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("Cruise_Set_Speed", "ES_DashStatus", 0),
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("Conventional_Cruise", "ES_DashStatus", 0),
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checks = [
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("ES_DashStatus", 10),
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("ES_Distance", 20),
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("ES_LKAS_State", 10),
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]
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("Counter", "ES_Distance", 0),
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("Signal1", "ES_Distance", 0),
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("Cruise_Fault", "ES_Distance", 0),
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("Cruise_Throttle", "ES_Distance", 0),
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("Signal2", "ES_Distance", 0),
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("Car_Follow", "ES_Distance", 0),
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("Signal3", "ES_Distance", 0),
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("Cruise_Brake_Active", "ES_Distance", 0),
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("Distance_Swap", "ES_Distance", 0),
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("Cruise_EPB", "ES_Distance", 0),
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("Signal4", "ES_Distance", 0),
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("Close_Distance", "ES_Distance", 0),
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("Signal5", "ES_Distance", 0),
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("Cruise_Cancel", "ES_Distance", 0),
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("Cruise_Set", "ES_Distance", 0),
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("Cruise_Resume", "ES_Distance", 0),
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("Signal6", "ES_Distance", 0),
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("Counter", "ES_LKAS_State", 0),
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("Keep_Hands_On_Wheel", "ES_LKAS_State", 0),
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("Empty_Box", "ES_LKAS_State", 0),
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("Signal1", "ES_LKAS_State", 0),
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("LKAS_ACTIVE", "ES_LKAS_State", 0),
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("Signal2", "ES_LKAS_State", 0),
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("Backward_Speed_Limit_Menu", "ES_LKAS_State", 0),
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("LKAS_ENABLE_3", "ES_LKAS_State", 0),
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("LKAS_Left_Line_Light_Blink", "ES_LKAS_State", 0),
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("LKAS_ENABLE_2", "ES_LKAS_State", 0),
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("LKAS_Right_Line_Light_Blink", "ES_LKAS_State", 0),
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("LKAS_Left_Line_Visible", "ES_LKAS_State", 0),
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("LKAS_Left_Line_Green", "ES_LKAS_State", 0),
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("LKAS_Right_Line_Visible", "ES_LKAS_State", 0),
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("LKAS_Right_Line_Green", "ES_LKAS_State", 0),
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("LKAS_Alert", "ES_LKAS_State", 0),
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("Signal3", "ES_LKAS_State", 0),
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]
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checks = [
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("ES_DashStatus", 10),
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("ES_Distance", 20),
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("ES_LKAS_State", 10),
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]
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return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
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@ -1,6 +1,6 @@
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#!/usr/bin/env python3
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from cereal import car
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from selfdrive.car.subaru.values import CAR
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from selfdrive.car.subaru.values import CAR, PREGLOBAL_CARS
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from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
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from selfdrive.car.interfaces import CarInterfaceBase
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@ -16,11 +16,17 @@ class CarInterface(CarInterfaceBase):
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ret.carName = "subaru"
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ret.radarOffCan = True
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ret.safetyModel = car.CarParams.SafetyModel.subaru
|
||||
|
||||
if candidate in PREGLOBAL_CARS:
|
||||
ret.safetyModel = car.CarParams.SafetyModel.subaruLegacy
|
||||
else:
|
||||
ret.safetyModel = car.CarParams.SafetyModel.subaru
|
||||
|
||||
# Subaru port is a community feature, since we don't own one to test
|
||||
ret.communityFeature = True
|
||||
|
||||
ret.dashcamOnly = candidate in PREGLOBAL_CARS
|
||||
|
||||
# force openpilot to fake the stock camera, since car harness is not supported yet and old style giraffe (with switches)
|
||||
# was never released
|
||||
ret.enableCamera = True
|
||||
|
|
@ -58,6 +64,16 @@ class CarInterface(CarInterfaceBase):
|
|||
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]]
|
||||
|
||||
if candidate == CAR.LEGACY_PREGLOBAL:
|
||||
ret.mass = 1568 + STD_CARGO_KG
|
||||
ret.wheelbase = 2.67
|
||||
ret.centerToFront = ret.wheelbase * 0.5
|
||||
ret.steerRatio = 12.5 # 14.5 stock
|
||||
ret.steerActuatorDelay = 0.15
|
||||
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 = [[0.1, 0.2], [0.01, 0.02]]
|
||||
|
||||
# TODO: get actual value, for now starting with reasonable value for
|
||||
# civic and scaling by mass and wheelbase
|
||||
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
|
||||
|
|
|
|||
|
|
@ -5,8 +5,7 @@ VisualAlert = car.CarControl.HUDControl.VisualAlert
|
|||
|
||||
def create_steering_control(packer, apply_steer, frame, steer_step):
|
||||
|
||||
# counts from 0 to 15 then back to 0 + 16 for enable bit
|
||||
idx = ((frame // steer_step) % 16)
|
||||
idx = (frame / steer_step) % 16
|
||||
|
||||
values = {
|
||||
"Counter": idx,
|
||||
|
|
@ -38,3 +37,31 @@ def create_es_lkas(packer, es_lkas_msg, visual_alert, left_line, right_line):
|
|||
values["LKAS_Right_Line_Visible"] = int(right_line)
|
||||
|
||||
return packer.make_can_msg("ES_LKAS_State", 0, values)
|
||||
|
||||
# *** Subaru Pre-global ***
|
||||
|
||||
def subaru_preglobal_checksum(packer, values, addr):
|
||||
dat = packer.make_can_msg(addr, 0, values)[2]
|
||||
return (sum(dat[:7])) % 256
|
||||
|
||||
def create_preglobal_steering_control(packer, apply_steer, frame, steer_step):
|
||||
|
||||
idx = (frame / steer_step) % 8
|
||||
|
||||
values = {
|
||||
"Counter": idx,
|
||||
"LKAS_Command": apply_steer,
|
||||
"LKAS_Active": 1 if apply_steer != 0 else 0
|
||||
}
|
||||
values["Checksum"] = subaru_preglobal_checksum(packer, values, "ES_LKAS")
|
||||
|
||||
return packer.make_can_msg("ES_LKAS", 0, values)
|
||||
|
||||
def create_es_throttle_control(packer, fake_button, es_accel_msg):
|
||||
|
||||
values = copy.copy(es_accel_msg)
|
||||
values["Button"] = fake_button
|
||||
|
||||
values["Checksum"] = subaru_preglobal_checksum(packer, values, "ES_CruiseThrottle")
|
||||
|
||||
return packer.make_can_msg("ES_CruiseThrottle", 0, values)
|
||||
|
|
|
|||
|
|
@ -8,14 +8,15 @@ class CAR:
|
|||
ASCENT = "SUBARU ASCENT LIMITED 2019"
|
||||
IMPREZA = "SUBARU IMPREZA LIMITED 2019"
|
||||
FORESTER = "SUBARU FORESTER 2019"
|
||||
LEGACY_PREGLOBAL = "SUBARU LEGACY 2015 - 2018"
|
||||
|
||||
FINGERPRINTS = {
|
||||
CAR.ASCENT: [
|
||||
CAR.ASCENT: [{
|
||||
# SUBARU ASCENT LIMITED 2019
|
||||
{
|
||||
2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 280: 8, 281: 8, 290: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 544: 8, 545: 8, 546: 8, 552: 8, 554: 8, 557: 8, 576: 8, 577: 8, 722: 8, 801: 8, 802: 8, 805: 8, 808: 8, 811: 8, 816: 8, 826: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 1614: 8, 1617: 8, 1632: 8, 1650: 8, 1657: 8, 1658: 8, 1677: 8, 1722: 8, 1743: 8, 1759: 8, 1785: 5, 1786: 5, 1787: 5, 1788: 8
|
||||
}],
|
||||
CAR.IMPREZA: [{
|
||||
# SUBARU IMPREZA LIMITED 2019
|
||||
2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 280: 8, 281: 8, 290: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 544: 8, 545: 8, 546: 8, 552: 8, 554: 8, 557: 8, 576: 8, 577: 8, 722: 8, 801: 8, 802: 8, 805: 8, 808: 8, 816: 8, 826: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 1614: 8, 1617: 8, 1632: 8, 1650: 8, 1657: 8, 1658: 8, 1677: 8, 1697: 8, 1722: 8, 1743: 8, 1759: 8, 1786: 5, 1787: 5, 1788: 8, 1809: 8, 1813: 8, 1817: 8, 1821: 8, 1840: 8, 1848: 8, 1924: 8, 1932: 8, 1952: 8, 1960: 8
|
||||
},
|
||||
# Crosstrek 2018 (same platform as Impreza)
|
||||
|
|
@ -30,12 +31,25 @@ FINGERPRINTS = {
|
|||
{
|
||||
2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 280: 8, 281: 8, 282: 8, 290: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 372: 8, 544: 8, 545: 8, 546: 8, 554: 8, 557: 8, 576: 8, 577: 8, 722: 8, 801: 8, 802: 8, 803: 8, 805: 8, 808: 8, 811: 8, 826: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 1614: 8, 1617: 8, 1632: 8, 1650: 8, 1651: 8, 1657: 8, 1658: 8, 1677: 8, 1722: 8, 1759: 8, 1787: 5, 1788: 8
|
||||
}],
|
||||
CAR.LEGACY_PREGLOBAL: [{
|
||||
# LEGACY 2.5i 2017
|
||||
2: 8, 208: 8, 209: 4, 210: 8, 211: 7, 212: 8, 320: 8, 321: 8, 324: 8, 328: 8, 329: 8, 336: 2, 338: 8, 342: 8, 392: 8, 604: 8, 640: 8, 642: 8, 864: 8, 865: 8, 866: 8, 872: 8, 880: 8, 881: 8, 882: 8, 884: 8, 885: 8, 977: 8, 1632: 8, 1640: 8, 1736: 8, 1745: 8, 1785: 5, 1786: 5, 1787: 5, 1788: 8, 352: 8, 353: 8, 354: 8, 356: 8, 358: 8, 359: 8, 644: 8
|
||||
},
|
||||
# LEGACY 2018
|
||||
{
|
||||
2: 8, 208: 8, 209: 4, 210: 8, 211: 7, 212: 8, 316: 8, 320: 8, 321: 8, 324: 8, 328: 8, 329: 8, 336: 2, 338: 8, 342: 8, 392: 8, 604: 8, 640: 8, 642: 8, 864: 8, 865: 8, 866: 8, 872: 8, 880: 8, 881: 8, 882: 8, 884: 8, 885: 8, 977: 8, 1614: 8, 1632: 8, 1640: 8, 1657: 8, 1658: 8, 1672: 8, 1722: 8, 1743: 8, 1745: 8, 1778: 8, 1785: 5, 1786: 5, 1787: 5, 1788: 8, 2015: 8, 2016: 8, 2024: 8
|
||||
},
|
||||
# LEGACY 2018
|
||||
{
|
||||
2: 8, 208: 8, 209: 4, 210: 8, 211: 7, 212: 8, 316: 8, 320: 8, 321: 8, 324: 8, 328: 8, 329: 8, 336: 2, 338: 8, 342: 8, 352: 8, 353: 8, 354: 8, 356: 8, 358: 8, 359: 8, 392: 8, 554: 8, 604: 8, 640: 8, 642: 8, 805: 8, 864: 8, 865: 8, 866: 8, 872: 8, 880: 8, 881: 8, 882: 8, 884: 8, 885: 8, 977: 8, 1614: 8, 1632: 8, 1640: 8, 1657: 8, 1658: 8, 1672: 8, 1722: 8, 1743: 8, 1745: 8, 1785: 5, 1786: 5, 1787: 5, 1788: 8, 2015: 8, 2016: 8, 2024: 8
|
||||
}],
|
||||
}
|
||||
|
||||
STEER_THRESHOLD = {
|
||||
CAR.ASCENT: 80,
|
||||
CAR.IMPREZA: 80,
|
||||
CAR.FORESTER: 80,
|
||||
CAR.LEGACY_PREGLOBAL: 75,
|
||||
}
|
||||
|
||||
ECU_FINGERPRINT = {
|
||||
|
|
@ -46,4 +60,7 @@ DBC = {
|
|||
CAR.ASCENT: dbc_dict('subaru_global_2017_generated', None),
|
||||
CAR.IMPREZA: dbc_dict('subaru_global_2017_generated', None),
|
||||
CAR.FORESTER: dbc_dict('subaru_global_2017_generated', None),
|
||||
CAR.LEGACY_PREGLOBAL: dbc_dict('subaru_outback_2015_generated', None),
|
||||
}
|
||||
|
||||
PREGLOBAL_CARS = [CAR.LEGACY_PREGLOBAL]
|
||||
|
|
|
|||
|
|
@ -389,6 +389,10 @@ routes = {
|
|||
'carFingerprint': SUBARU.IMPREZA,
|
||||
'enableCamera': True,
|
||||
},
|
||||
"df5ca7660000fba8|2020-06-16--17-37-19": {
|
||||
'carFingerprint': SUBARU.LEGACY_PREGLOBAL,
|
||||
'enableCamera': True,
|
||||
},
|
||||
"fbbfa6af821552b9|2020-03-03--08-09-43": {
|
||||
'carFingerprint': NISSAN.XTRAIL,
|
||||
'enableCamera': True,
|
||||
|
|
|
|||
Loading…
Reference in New Issue