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Subaru: log stock AEB #28052

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merged 10 commits into from
Jun 17, 2023
Merged

Subaru: log stock AEB #28052

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9ec6760
Subaru: log stock AEB
martinl Apr 27, 2023
b772f99
Remove stockFcw from stockAeb
martinl Apr 28, 2023
d4d9987
Subaru: Add FCW_Cont_Beep to stockFcw signals
martinl Apr 29, 2023
d21302d
Merge remote-tracking branch 'upstream/master' into subaru-stock-aeb
sshane Jun 16, 2023
0a7facc
Merge remote-tracking branch 'upstream/master' into subaru-stock-aeb
sshane Jun 16, 2023
7a06ff7
add ES_Brake
sshane Jun 16, 2023
5be325d
use actuation bit
sshane Jun 16, 2023
150e840
bump opendbc
sshane Jun 16, 2023
9fd6306
remove aeb from UI
sshane Jun 16, 2023
5dfa7c8
Update selfdrive/car/subaru/carstate.py
sshane Jun 17, 2023
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2 changes: 1 addition & 1 deletion opendbc
Open in desktop
Submodule opendbc updated 3 files
+5 −1 generator/subaru/_subaru_global.dbc
+5 −1 subaru_global_2017_generated.dbc
+5 −1 subaru_global_2020_hybrid_generated.dbc
24 changes: 22 additions & 2 deletions selfdrive/car/subaru/carstate.py
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Original file line number Diff line number Diff line change
Expand Up @@ -69,17 +69,21 @@ def update(self, cp, cp_cam, cp_body):
cp.vl["BodyInfo"]["DOOR_OPEN_FL"]])
ret.steerFaultPermanent = cp.vl["Steering_Torque"]["Steer_Error_1"] == 1

cp_es_distance = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp_cam
if self.car_fingerprint in PREGLOBAL_CARS:
self.cruise_button = cp_cam.vl["ES_Distance"]["Cruise_Button"]
self.ready = not cp_cam.vl["ES_DashStatus"]["Not_Ready_Startup"]
else:
ret.steerFaultTemporary = cp.vl["Steering_Torque"]["Steer_Warning"] == 1
ret.cruiseState.nonAdaptive = cp_cam.vl["ES_DashStatus"]["Conventional_Cruise"] == 1
ret.cruiseState.standstill = cp_cam.vl["ES_DashStatus"]["Cruise_State"] == 3
ret.stockFcw = cp_cam.vl["ES_LKAS_State"]["LKAS_Alert"] == 2
ret.stockFcw = (cp_cam.vl["ES_LKAS_State"]["LKAS_Alert"] == 1) or \
(cp_cam.vl["ES_LKAS_State"]["LKAS_Alert"] == 2)
# 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_lkas_state_msg = copy.copy(cp_cam.vl["ES_LKAS_State"])

cp_es_distance = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp_cam
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:
Expand All @@ -106,6 +110,18 @@ def get_common_global_signals():

return signals, checks

@staticmethod
def get_global_es_brake_signals():
signals = [
("AEB_Status", "ES_Brake"),
("Brake_Pressure", "ES_Brake"),
]
checks = [
("ES_Brake", 20),
]

return signals, checks

@staticmethod
def get_global_es_distance_signals():
signals = [
Expand Down Expand Up @@ -304,7 +320,9 @@ def get_cam_can_parser(CP):

if CP.carFingerprint not in GLOBAL_GEN2:
signals += CarState.get_global_es_distance_signals()[0]
signals += CarState.get_global_es_brake_signals()[0]
checks += CarState.get_global_es_distance_signals()[1]
checks += CarState.get_global_es_brake_signals()[1]

if CP.flags & SubaruFlags.SEND_INFOTAINMENT:
signals += [
Expand All @@ -324,7 +342,9 @@ def get_body_can_parser(CP):
if CP.carFingerprint in GLOBAL_GEN2:
signals, checks = CarState.get_common_global_signals()
signals += CarState.get_global_es_distance_signals()[0]
signals += CarState.get_global_es_brake_signals()[0]
checks += CarState.get_global_es_distance_signals()[1]
checks += CarState.get_global_es_brake_signals()[1]
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 1)

return None