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Subaru: driver torque sensor Nm scaling factor and unit #1198

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Subaru: driver torque sensor Nm scaling factor and unit #1198

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f3ae671
Subaru: driver torque sensor Nm scaling factor and unit
martinl Aug 29, 2024
2475ce1
run generator
martinl Aug 29, 2024
1b95d19
Subaru: update carstate to use new steeringTorque signal
martinl Aug 29, 2024
5f64103
Subaru: add Steering_Torque_2 to can parser
martinl Aug 29, 2024
857eb99
subaru: update driver toruque scaling factor to use nm
martinl Sep 8, 2024
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3 changes: 2 additions & 1 deletion opendbc/car/subaru/carstate.py
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Original file line number Diff line number Diff line change
Expand Up @@ -68,7 +68,7 @@ def update(self, cp, cp_cam, _, cp_body, __) -> structs.CarState:
# ideally we get this from the car, but unclear if it exists. diagnostic software doesn't even have it
ret.steeringRateDeg = self.angle_rate_calulator.update(ret.steeringAngleDeg, cp.vl["Steering_Torque"]["COUNTER"])

ret.steeringTorque = cp.vl["Steering_Torque"]["Steer_Torque_Sensor"]
ret.steeringTorque = cp.vl["Steering_Torque_2"]["Steer_Torque_Sensor"]
ret.steeringTorqueEps = cp.vl["Steering_Torque"]["Steer_Torque_Output"]

steer_threshold = 75 if self.CP.flags & SubaruFlags.PREGLOBAL else 80
Expand Down Expand Up @@ -169,6 +169,7 @@ def get_can_parser(CP):
# sig_address, frequency
("Dashlights", 10),
("Steering_Torque", 50),
("Steering_Torque_2", 50),
("BodyInfo", 1),
("Brake_Pedal", 50),
]
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2 changes: 1 addition & 1 deletion opendbc/car/subaru/values.py
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Expand Up @@ -17,7 +17,7 @@ def __init__(self, CP):
self.STEER_DELTA_DOWN = 70 # torque decrease per refresh
self.STEER_DRIVER_ALLOWANCE = 60 # allowed driver torque before start limiting
self.STEER_DRIVER_MULTIPLIER = 50 # weight driver torque heavily
self.STEER_DRIVER_FACTOR = 1 # from dbc
self.STEER_DRIVER_FACTOR = 0.012 # from dbc

if CP.flags & SubaruFlags.GLOBAL_GEN2:
self.STEER_MAX = 1000
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2 changes: 1 addition & 1 deletion opendbc/dbc/generator/subaru/_subaru_global.dbc
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Original file line number Diff line number Diff line change
Expand Up @@ -88,7 +88,7 @@ BO_ 280 Steering_Torque_2: 8 XXX
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
SG_ Steer_Torque_Output : 13|11@1- (-10,0) [0|255] "" XXX
SG_ Signal1 : 24|8@1+ (1,0) [0|511] "" XXX
SG_ Steer_Torque_Sensor : 45|11@1- (-1,0) [0|255] "" XXX
SG_ Steer_Torque_Sensor : 45|11@1- (-0.012,0) [0|255] "Nm" XXX
SG_ Steering_Active : 61|1@0+ (1,0) [0|1] "" XXX
SG_ Steering_Disabled : 63|1@1+ (1,0) [0|1] "" XXX

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2 changes: 1 addition & 1 deletion opendbc/dbc/subaru_global_2017_generated.dbc
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Expand Up @@ -92,7 +92,7 @@ BO_ 280 Steering_Torque_2: 8 XXX
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
SG_ Steer_Torque_Output : 13|11@1- (-10,0) [0|255] "" XXX
SG_ Signal1 : 24|8@1+ (1,0) [0|511] "" XXX
SG_ Steer_Torque_Sensor : 45|11@1- (-1,0) [0|255] "" XXX
SG_ Steer_Torque_Sensor : 45|11@1- (-0.012,0) [0|255] "Nm" XXX
SG_ Steering_Active : 61|1@0+ (1,0) [0|1] "" XXX
SG_ Steering_Disabled : 63|1@1+ (1,0) [0|1] "" XXX

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2 changes: 1 addition & 1 deletion opendbc/dbc/subaru_global_2020_hybrid_generated.dbc
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Original file line number Diff line number Diff line change
Expand Up @@ -92,7 +92,7 @@ BO_ 280 Steering_Torque_2: 8 XXX
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
SG_ Steer_Torque_Output : 13|11@1- (-10,0) [0|255] "" XXX
SG_ Signal1 : 24|8@1+ (1,0) [0|511] "" XXX
SG_ Steer_Torque_Sensor : 45|11@1- (-1,0) [0|255] "" XXX
SG_ Steer_Torque_Sensor : 45|11@1- (-0.012,0) [0|255] "Nm" XXX
SG_ Steering_Active : 61|1@0+ (1,0) [0|1] "" XXX
SG_ Steering_Disabled : 63|1@1+ (1,0) [0|1] "" XXX

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