Subaru signals update (#20956)
* switch to opendbc subaru-signals-2021-05-19
* update carstate signals to match dbc, rename fake_button to cruise_button
* Revert "switch to opendbc subaru-signals-2021-05-19"
This reverts commit f88d6ddcf5
.
* bump opendbc
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
pull/20959/head
parent
ffc3a6b8d8
commit
587060bd92
2
opendbc
2
opendbc
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@ -1 +1 @@
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Subproject commit ec2a7dcf2fb3550c30ab6be32577547e0247c7ca
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Subproject commit e3cb276afe07344303a7abc6fa05b06990dcb586
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@ -10,7 +10,7 @@ class CarController():
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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.cruise_button_prev = 0
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self.steer_rate_limited = False
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self.packer = CANPacker(DBC[CP.carFingerprint]['pt'])
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@ -48,19 +48,19 @@ class CarController():
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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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cruise_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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cruise_button = 1
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else:
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fake_button = CS.button
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cruise_button = CS.cruise_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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if cruise_button == 1 and self.cruise_button_prev == 1:
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cruise_button = 0
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self.cruise_button_prev = cruise_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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can_sends.append(subarucan.create_es_throttle_control(self.packer, cruise_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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@ -63,14 +63,13 @@ class CarState(CarStateBase):
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cp.vl["BodyInfo"]['DOOR_OPEN_RL'],
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cp.vl["BodyInfo"]['DOOR_OPEN_FR'],
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cp.vl["BodyInfo"]['DOOR_OPEN_FL']])
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ret.steerError = cp.vl["Steering_Torque"]['Steer_Error_1'] == 1
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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.cruise_button = cp_cam.vl["ES_CruiseThrottle"]["Cruise_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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@ -85,6 +84,7 @@ 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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("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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@ -127,13 +127,8 @@ class CarState(CarStateBase):
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("BSD_RCTA", 17),
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]
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if CP.carFingerprint in PREGLOBAL_CARS:
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if CP.carFingerprint not 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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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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@ -170,17 +165,17 @@ class CarState(CarStateBase):
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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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("Distance_Swap", "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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("Close_Distance", "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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("Cruise_Fault", "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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("Cruise_Button", "ES_CruiseThrottle", 0),
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("Signal7", "ES_CruiseThrottle", 0),
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]
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