Subaru: Legacy 2020-22 support (#25313)

* Subaru: Legacy 2020 support

* clean that up

* force for now

* update years

* test route
old-commit-hash: a21780dbea

RELEASES.md

@@ -6,6 +6,7 @@ Version 0.8.16 (2022-XX-XX)
 * Chevrolet Bolt EUV 2022-23 support thanks to JasonJShuler!
 * Hyundai Ioniq 5 2022 support thanks to sunnyhaibin!
 * Hyundai Kona Electric 2022 support thanks to sunnyhaibin!
+* Subaru Legacy 2020-22 support thanks to martinl!
 * Subaru Outback 2020-22 support
 
 Version 0.8.15 (2022-07-20)

docs/CARS.md

@@ -19,7 +19,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
 - [![star](assets/icon-star-empty.svg)](##) - Limited ability to make tighter turns.
 
 
-# 201 Supported Cars
+# 202 Supported Cars
 
 |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|
 |---|---|---|:---:|:---:|:---:|:---:|
@@ -143,6 +143,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
 |Subaru|Forester 2019-21|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Subaru|Impreza 2017-19|EyeSight Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
 |Subaru|Impreza 2020-22|EyeSight Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Subaru|Legacy 2020-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Subaru|Outback 2020-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Subaru|XV 2018-19|EyeSight Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
 |Subaru|XV 2020-21|EyeSight Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|

selfdrive/car/subaru/carstate.py

@@ -4,7 +4,7 @@ from opendbc.can.can_define import CANDefine
 from common.conversions import Conversions as CV
 from selfdrive.car.interfaces import CarStateBase
 from opendbc.can.parser import CANParser
-from selfdrive.car.subaru.values import DBC, STEER_THRESHOLD, CAR, GLOBAL_GEN2, PREGLOBAL_CARS
+from selfdrive.car.subaru.values import DBC, CAR, GLOBAL_GEN2, PREGLOBAL_CARS
 
 
 class CarState(CarStateBase):
@@ -50,7 +50,9 @@ class CarState(CarStateBase):
     ret.steeringAngleDeg = cp.vl["Steering_Torque"]["Steering_Angle"]
     ret.steeringTorque = cp.vl["Steering_Torque"]["Steer_Torque_Sensor"]
     ret.steeringTorqueEps = cp.vl["Steering_Torque"]["Steer_Torque_Output"]
-    ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD[self.car_fingerprint]
+    
+    steer_threshold = 75 if self.CP.carFingerprint in PREGLOBAL_CARS else 80
+    ret.steeringPressed = abs(ret.steeringTorque) > steer_threshold
 
     cp_cruise = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp
     ret.cruiseState.enabled = cp_cruise.vl["CruiseControl"]["Cruise_Activated"] != 0

selfdrive/car/subaru/interface.py

@@ -71,7 +71,7 @@ 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]]
 
-    elif candidate == CAR.OUTBACK:
+    elif candidate in (CAR.OUTBACK, CAR.LEGACY):
       ret.mass = 1568. + STD_CARGO_KG
       ret.wheelbase = 2.67
       ret.centerToFront = ret.wheelbase * 0.5

selfdrive/car/subaru/values.py

@@ -35,6 +35,7 @@ class CAR:
   IMPREZA_2020 = "SUBARU IMPREZA SPORT 2020"
   FORESTER = "SUBARU FORESTER 2019"
   OUTBACK = "SUBARU OUTBACK 6TH GEN"
+  LEGACY = "SUBARU LEGACY 7TH GEN"
 
   # Pre-global
   FORESTER_PREGLOBAL = "SUBARU FORESTER 2017 - 2018"
@@ -52,6 +53,7 @@ class SubaruCarInfo(CarInfo):
 CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
   CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-21", "All"),
   CAR.OUTBACK: SubaruCarInfo("Subaru Outback 2020-22", "All", harness=Harness.subaru_b),
+  CAR.LEGACY: SubaruCarInfo("Subaru Legacy 2020-22", "All", harness=Harness.subaru_b),
   CAR.IMPREZA: [
     SubaruCarInfo("Subaru Impreza 2017-19"),
     SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
@@ -101,6 +103,23 @@ FW_VERSIONS = {
       b'\x01\xfe\xf7\x00\x00',
     ],
   },
+  CAR.LEGACY: {
+    (Ecu.esp, 0x7b0, None): [
+      b'\xa1\\  x04\x01',
+    ],
+    (Ecu.eps, 0x746, None): [
+      b'\x9b\xc0\x11\x00',
+    ],
+    (Ecu.fwdCamera, 0x787, None): [
+      b'\x00\x00e\x80\x00\x1f@ \x19\x00',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xde\"a0\x07',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xa5\xf6\x05@\x00',
+    ],
+  },
   CAR.IMPREZA: {
     (Ecu.esp, 0x7b0, None): [
       b'\x7a\x94\x3f\x90\x00',
@@ -448,29 +467,18 @@ FW_VERSIONS = {
   },
 }
 
-STEER_THRESHOLD = {
-  CAR.ASCENT: 80,
-  CAR.IMPREZA: 80,
-  CAR.IMPREZA_2020: 80,
-  CAR.FORESTER: 80,
-  CAR.OUTBACK: 80,
-  CAR.FORESTER_PREGLOBAL: 75,
-  CAR.LEGACY_PREGLOBAL: 75,
-  CAR.OUTBACK_PREGLOBAL: 75,
-  CAR.OUTBACK_PREGLOBAL_2018: 75,
-}
-
 DBC = {
   CAR.ASCENT: dbc_dict('subaru_global_2017_generated', None),
   CAR.IMPREZA: dbc_dict('subaru_global_2017_generated', None),
   CAR.IMPREZA_2020: dbc_dict('subaru_global_2017_generated', None),
   CAR.FORESTER: dbc_dict('subaru_global_2017_generated', None),
   CAR.OUTBACK: dbc_dict('subaru_global_2017_generated', None),
+  CAR.LEGACY: dbc_dict('subaru_global_2017_generated', None),
   CAR.FORESTER_PREGLOBAL: dbc_dict('subaru_forester_2017_generated', None),
   CAR.LEGACY_PREGLOBAL: dbc_dict('subaru_outback_2015_generated', None),
   CAR.OUTBACK_PREGLOBAL: dbc_dict('subaru_outback_2015_generated', None),
   CAR.OUTBACK_PREGLOBAL_2018: dbc_dict('subaru_outback_2019_generated', None),
 }
 
-GLOBAL_GEN2 = (CAR.OUTBACK, )
+GLOBAL_GEN2 = (CAR.OUTBACK, CAR.LEGACY)
 PREGLOBAL_CARS = (CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018)

selfdrive/car/tests/routes.py

@@ -193,6 +193,7 @@ routes = [
   TestRoute("791340bc01ed993d|2019-03-10--16-28-08", SUBARU.IMPREZA),
   TestRoute("8bf7e79a3ce64055|2021-05-24--09-36-27", SUBARU.IMPREZA_2020),
   TestRoute("1bbe6bf2d62f58a8|2022-07-14--17-11-43", SUBARU.OUTBACK, segment=3),
+  TestRoute("c56e69bbc74b8fad|2022-08-18--09-43-51", SUBARU.LEGACY, segment=3),
   # Pre-global, dashcam
   TestRoute("95441c38ae8c130e|2020-06-08--12-10-17", SUBARU.FORESTER_PREGLOBAL),
   TestRoute("df5ca7660000fba8|2020-06-16--17-37-19", SUBARU.LEGACY_PREGLOBAL),

selfdrive/car/torque_data/substitute.yaml

@@ -69,6 +69,8 @@ VOLKSWAGEN POLO 6TH GEN: VOLKSWAGEN GOLF 7TH GEN
 SEAT LEON 3RD GEN: VOLKSWAGEN GOLF 7TH GEN
 SEAT ATECA 1ST GEN: VOLKSWAGEN GOLF 7TH GEN
 
+SUBARU LEGACY 7TH GEN: SUBARU OUTBACK 6TH GEN
+
 # Old subarus don't have much data guessing it's like low torque impreza
 SUBARU OUTBACK 2018 - 2019: SUBARU IMPREZA LIMITED 2019
 SUBARU OUTBACK 2015 - 2017: SUBARU IMPREZA LIMITED 2019