Merge pull request #13 from bsheaffer2017/release

Seperation

selfdrive/car/subaru/carcontroller.py

@@ -14,7 +14,7 @@ def __init__(self, car_fingerprint):
     self.STEER_STEP = 2                # how often we update the steer cmd
     self.STEER_DELTA_UP = 60           # torque increase per refresh
     self.STEER_DELTA_DOWN = 60         # torque decrease per refresh
-    if car_fingerprint in (CAR.OUTBACK, CAR.LEGACY):
+    if car_fingerprint in (CAR.OUTBACK_15, CAR.OUTBACK_17, CAR.LEGACY_15, CAR.LEGACY_17):
       self.STEER_DRIVER_ALLOWANCE = 20   # allowed driver torque before start limiting
     else:
       self.STEER_DRIVER_ALLOWANCE = 250   # allowed driver torque before start limiting
@@ -75,7 +75,7 @@ def update(self, sendcan, enabled, CS, frame, actuators):
       if not lkas_enabled:
           apply_steer = 0
 
-      if self.car_fingerprint in (CAR.OUTBACK, CAR.LEGACY):
+      if self.car_fingerprint in (CAR.OUTBACK_15, CAR.OUTBACK_17, CAR.LEGACY_15, CAR.LEGACY_17):
 
         if apply_steer != 0:
           chksm_steer = apply_steer * -1

selfdrive/car/subaru/carstate.py

@@ -79,7 +79,7 @@ def update(self, pt_cp):
     self.acc_active = pt_cp.vl["CruiseControl"]['Cruise_Activated'] 
     self.main_on = pt_cp.vl["CruiseControl"]['Cruise_On']
 
-    if self.car_fingerprint in (CAR.OUTBACK, CAR.LEGACY):
+    if self.car_fingerprint in (CAR.OUTBACK_15, CAR.OUTBACK_17, CAR.LEGACY_15, CAR.LEGACY_17):
       self.steer_override = abs(self.steer_torque_driver) > 1.5
       self.angle_steers = pt_cp.vl["Steering_Torque"]['Steering_Angle']
 

selfdrive/car/subaru/interface.py

@@ -58,7 +58,7 @@ def get_params(candidate, fingerprint):
     ret.enableCamera = True
     std_cargo = 136
 
-    if candidate == CAR.OUTBACK:
+    if candidate == CAR.OUTBACK_15:
       ret.mass = 1568 + std_cargo
       ret.wheelbase = 2.75
       ret.centerToFront = ret.wheelbase * 0.5
@@ -71,7 +71,34 @@ def get_params(candidate, fingerprint):
       ret.steerKpV, ret.steerKiV = [[0.003], [0.00]]
       ret.steerMaxBP = [0.] # m/s
       ret.steerMaxV = [1.]
-    elif candidate == CAR.LEGACY:
+    elif candidate == CAR.OUTBACK_17:
+      ret.mass = 1568 + std_cargo
+      ret.wheelbase = 2.75
+      ret.centerToFront = ret.wheelbase * 0.5
+
+      ret.steerRatio = 14
+      ret.steerActuatorDelay = 0.3
+      ret.steerRateCost = 0
+      ret.steerKf = 0.000002
+      ret.steerKiBP, ret.steerKpBP = [[0.], [0.]] # m/s
+      ret.steerKpV, ret.steerKiV = [[0.003], [0.00]]
+      ret.steerMaxBP = [0.] # m/s
+      ret.steerMaxV = [1.]	
+
+    elif candidate == CAR.LEGACY_15:
+      ret.mass = 1568 + std_cargo
+      ret.wheelbase = 2.75
+      ret.centerToFront = ret.wheelbase * 0.5
+
+      ret.steerRatio = 14
+      ret.steerActuatorDelay = 0.3
+      ret.steerRateCost = 0
+      ret.steerKf = 0.000002
+      ret.steerKiBP, ret.steerKpBP = [[0.], [0.]] # m/s
+      ret.steerKpV, ret.steerKiV = [[0.003], [0.00]]
+      ret.steerMaxBP = [0.] # m/s
+      ret.steerMaxV = [1.]
+    elif candidate == CAR.LEGACY_17:
       ret.mass = 1568 + std_cargo
       ret.wheelbase = 2.75
       ret.centerToFront = ret.wheelbase * 0.5

selfdrive/car/subaru/subarucan.py

@@ -1,7 +1,7 @@
 from selfdrive.car.subaru.values import CAR, DBC
 
 def create_steering_control(packer, bus, car_fingerprint, idx, steer1, byte2, checksum):
-  if car_fingerprint in (CAR.OUTBACK, CAR.LEGACY):
+  if car_fingerprint in (CAR.OUTBACK_15, CAR.OUTBACK_17, CAR.LEGACY_15, CAR.LEGACY_17):
 
     values = {
       "Byte0": idx,
@@ -19,4 +19,4 @@ def create_steering_control(packer, bus, car_fingerprint, idx, steer1, byte2, ch
       "Byte3": byte2
     }
 
-  return packer.make_can_msg("ES_LKAS", 0, values)
+  return packer.make_can_msg("ES_LKAS", 0, values)

selfdrive/car/subaru/values.py

@@ -2,24 +2,34 @@
 from selfdrive.car import dbc_dict
 
 class CAR:
-  OUTBACK = "SUBARU OUTBACK PREMIUM 2015"
-  LEGACY = "SUBARU LEGACY LIMITED 2015"
+  OUTBACK_15 = "SUBARU OUTBACK PREMIUM 2015"
+  OUTBACK_17 = "SUBARU OUTBACK LIMITED 2017"
+  LEGACY_15 = "SUBARU LEGACY LIMITED 2015"
+  LEGACY_17 = "SUBARU LEGACY ? 2017"
   XV2018  = "SUBARU XV ACTIVE 2018"
 
 FINGERPRINTS = {
-  CAR.OUTBACK: [{
-    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, 346: 8, 352: 8, 353: 8, 354: 8, 356: 8, 358: 8, 359: 8, 392: 8, 604: 8, 640: 8, 642: 8, 644: 8, 805: 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: 8, 1786: 5, 1787: 5, 1788: 8, 1882: 8, 2015: 8, 2024: 8, 2025: 8
+  CAR.OUTBACK_15: [{
+    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, 346: 8, 352: 8, 353: 8, 354: 8, 356: 8, 358: 8, 359: 8, 392: 8, 640: 8, 642: 8, 644: 8, 864: 8, 865: 8, 866: 8, 872: 8, 880: 8, 881: 8, 882: 8, 884: 8, 977: 8, 1632: 8, 1745: 8, 1786: 5
           }],
-  CAR.LEGACY: [{
-    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, 644: 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, 1882: 8, 2015: 8, 2024: 8, 2025: 8
+  CAR.OUTBACK_17: [{
+    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, 352: 8, 353: 8, 354: 8, 356: 8, 358: 8, 359: 8, 392: 8, 604: 8, 640: 8, 642: 8, 644: 8, 805: 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
+          }],
+  CAR.LEGACY_15: [{
+    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, 352: 8, 353: 8, 354: 8, 356: 8, 358: 8, 359: 8, 392: 8, 604: 8, 640: 8, 642: 8, 644: 8, 864: 8, 865: 8, 866: 8, 872: 8, 880: 8, 881: 8, 882: 8, 884: 8, 977: 8, 1632: 8, 1745: 8, 1786: 5
+          }],
+  CAR.LEGACY_17: [{
+    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
           }],
   CAR.XV2018: [{
     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, 372: 8, 544: 8, 545: 8, 546: 8, 554: 8, 557: 8, 576: 8, 577: 8, 722: 8, 801: 8, 802: 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, 1657: 8, 1658: 8, 1677: 8, 1697: 8, 1759: 8, 1786: 5, 1787: 5, 1788: 8
           }],
 }
 
 DBC = {
-  CAR.OUTBACK: dbc_dict('subaru_outback_2015_eyesight', None),
-  CAR.LEGACY: dbc_dict('subaru_outback_2015_eyesight', None),
+  CAR.OUTBACK_15: dbc_dict('subaru_outback_2015_eyesight', None),
+  CAR.OUTBACK_17: dbc_dict('subaru_outback_2015_eyesight', None),
+  CAR.LEGACY_15: dbc_dict('subaru_outback_2015_eyesight', None),
+  CAR.LEGACY_17: dbc_dict('subaru_outback_2015_eyesight', None),
   CAR.XV2018: dbc_dict('subaru_xv_2018_eyesight', None),
 }