Subaru: New LKAS Angle based cars in dashcam only (#29190)

* dashcam mode only

* fix name

* added those cars in dashcam mode only

selfdrive/car/docs_definitions.py

@@ -87,6 +87,8 @@ class CarHarness(EnumBase):
   toyota = BaseCarHarness("Toyota connector")
   subaru_a = BaseCarHarness("Subaru A connector")
   subaru_b = BaseCarHarness("Subaru B connector")
+  subaru_c = BaseCarHarness("Subaru C connector")
+  subaru_d = BaseCarHarness("Subaru D connector")
   fca = BaseCarHarness("FCA connector")
   ram = BaseCarHarness("Ram connector")
   vw = BaseCarHarness("VW connector")

selfdrive/car/subaru/interface.py

@@ -3,7 +3,7 @@ from cereal import car
 from panda import Panda
 from selfdrive.car import STD_CARGO_KG, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
-from selfdrive.car.subaru.values import CAR, GLOBAL_GEN2, PREGLOBAL_CARS, SubaruFlags
+from selfdrive.car.subaru.values import CAR, LKAS_ANGLE, GLOBAL_GEN2, PREGLOBAL_CARS, SubaruFlags
 
 
 class CarInterface(CarInterfaceBase):
@@ -12,7 +12,7 @@ class CarInterface(CarInterfaceBase):
   def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "subaru"
     ret.radarUnavailable = True
-    ret.dashcamOnly = candidate in PREGLOBAL_CARS
+    ret.dashcamOnly = candidate in (PREGLOBAL_CARS | LKAS_ANGLE)
     ret.autoResumeSng = False
 
     # Detect infotainment message sent from the camera
@@ -30,6 +30,10 @@ class CarInterface(CarInterfaceBase):
 
     ret.steerLimitTimer = 0.4
     ret.steerActuatorDelay = 0.1
+
+    if candidate in LKAS_ANGLE:
+      ret.steerControlType = car.CarParams.SteerControlType.angle
+    else:
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     if candidate == CAR.ASCENT:
@@ -64,7 +68,7 @@ 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 = [[0.045, 0.042, 0.20], [0.04, 0.035, 0.045]]
 
-    elif candidate == CAR.FORESTER:
+    elif candidate in (CAR.FORESTER, CAR.FORESTER_2022):
       ret.mass = 1568. + STD_CARGO_KG
       ret.wheelbase = 2.67
       ret.centerToFront = ret.wheelbase * 0.5
@@ -74,13 +78,12 @@ 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 in (CAR.OUTBACK, CAR.LEGACY):
+    elif candidate in (CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023):
       ret.mass = 1568. + STD_CARGO_KG
       ret.wheelbase = 2.67
       ret.centerToFront = ret.wheelbase * 0.5
       ret.steerRatio = 17
       ret.steerActuatorDelay = 0.1
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     elif candidate in (CAR.FORESTER_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018):
       ret.safetyConfigs[0].safetyParam = 1  # Outback 2018-2019 and Forester have reversed driver torque signal
@@ -101,7 +104,6 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 2.67
       ret.centerToFront = ret.wheelbase * 0.5
       ret.steerRatio = 20           # learned, 14 stock
-
     else:
       raise ValueError(f"unknown car: {candidate}")
 

selfdrive/car/subaru/values.py

@@ -48,6 +48,8 @@ class CAR:
   FORESTER = "SUBARU FORESTER 2019"
   OUTBACK = "SUBARU OUTBACK 6TH GEN"
   LEGACY = "SUBARU LEGACY 7TH GEN"
+  FORESTER_2022 = "SUBARU FORESTER 2022"
+  OUTBACK_2023 = "SUBARU OUTBACK 7TH GEN"
 
   # Pre-global
   FORESTER_PREGLOBAL = "SUBARU FORESTER 2017 - 2018"
@@ -88,6 +90,8 @@ CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
   CAR.LEGACY_PREGLOBAL: SubaruCarInfo("Subaru Legacy 2015-18"),
   CAR.OUTBACK_PREGLOBAL: SubaruCarInfo("Subaru Outback 2015-17"),
   CAR.OUTBACK_PREGLOBAL_2018: SubaruCarInfo("Subaru Outback 2018-19"),
+  CAR.FORESTER_2022: SubaruCarInfo("Subaru Forester 2022", "All", car_parts=CarParts.common([CarHarness.subaru_c])),
+  CAR.OUTBACK_2023: SubaruCarInfo("Subaru Outback 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])),
 }
 
 SUBARU_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
@@ -101,6 +105,11 @@ FW_QUERY_CONFIG = FwQueryConfig(
       [StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST],
       [StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE],
     ),
+    # Some Eyesight modules fail on TESTER_PRESENT_REQUEST
+    Request(
+      [SUBARU_VERSION_REQUEST],
+      [SUBARU_VERSION_RESPONSE],
+    ),
   ],
 )
 
@@ -538,6 +547,52 @@ FW_VERSIONS = {
       b'\xa5\xfe\xf8@\x00',
     ],
   },
+  CAR.FORESTER_2022: {
+    (Ecu.abs, 0x7b0, None): [
+      b'\xa3 !x\x00',
+      b'\xa3 !v\x00',
+      b'\xa3 "v\x00',
+      b'\xa3 "x\x00',
+    ],
+    (Ecu.eps, 0x746, None): [
+      b'-\xc0%0',
+      b'-\xc0\x040',
+      b'=\xc0%\x02',
+      b'=\xc04\x02',
+    ],
+    (Ecu.fwdCamera, 0x787, None): [
+      b'\x04!\x01\x1eD\x07!\x00\x04,'
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xd5"a0\x07',
+      b'\xd5"`0\x07',
+      b'\xf1"aq\x07',
+      b'\xf1"`q\x07',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\x1d\x86B0\x00',
+      b'\x1d\xf6B0\x00',
+      b'\x1e\x86B0\x00',
+      b'\x1e\xf6D0\x00',
+    ],
+  },
+  CAR.OUTBACK_2023: {
+    (Ecu.abs, 0x7b0, None): [
+      b'\xa1 #\x17\x00',
+    ],
+    (Ecu.eps, 0x746, None): [
+      b'+\xc0\x12\x11\x00',
+    ],
+    (Ecu.fwdCamera, 0x787, None): [
+      b'\t!\x08\x046\x05!\x08\x01/',
+    ],
+    (Ecu.engine, 0x7a2, None): [
+      b'\xed,\xa2q\x07',
+    ],
+    (Ecu.transmission, 0x7a3, None): [
+      b'\xa8\x8e\xf41\x00',
+    ]
+  }
 }
 
 DBC = {
@@ -545,7 +600,9 @@ DBC = {
   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.FORESTER_2022: dbc_dict('subaru_global_2017_generated', None),
   CAR.OUTBACK: dbc_dict('subaru_global_2017_generated', None),
+  CAR.OUTBACK_2023: 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),
@@ -553,5 +610,6 @@ DBC = {
   CAR.OUTBACK_PREGLOBAL_2018: dbc_dict('subaru_outback_2019_generated', None),
 }
 
-GLOBAL_GEN2 = (CAR.OUTBACK, CAR.LEGACY)
-PREGLOBAL_CARS = (CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018)
+LKAS_ANGLE = {CAR.FORESTER_2022, CAR.OUTBACK_2023}
+GLOBAL_GEN2 = {CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023}
+PREGLOBAL_CARS = {CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018}

selfdrive/car/tests/routes.py

@@ -234,6 +234,8 @@ routes = [
   CarTestRoute("8bf7e79a3ce64055|2021-05-24--09-36-27", SUBARU.IMPREZA_2020),
   CarTestRoute("1bbe6bf2d62f58a8|2022-07-14--17-11-43", SUBARU.OUTBACK, segment=10),
   CarTestRoute("c56e69bbc74b8fad|2022-08-18--09-43-51", SUBARU.LEGACY, segment=3),
+  CarTestRoute("7fd1e4f3a33c1673|2022-12-04--15-09-53", SUBARU.FORESTER_2022, segment=4),
+  CarTestRoute("f3b34c0d2632aa83|2023-07-23--20-43-25", SUBARU.OUTBACK_2023, segment=7),
   # Pre-global, dashcam
   CarTestRoute("95441c38ae8c130e|2020-06-08--12-10-17", SUBARU.FORESTER_PREGLOBAL),
   CarTestRoute("df5ca7660000fba8|2020-06-16--17-37-19", SUBARU.LEGACY_PREGLOBAL),

selfdrive/car/tests/test_fw_fingerprint.py

@@ -230,7 +230,7 @@ class TestFwFingerprintTiming(unittest.TestCase):
         'hyundai': 0.7,
         'mazda': 0.2,
         'nissan': 0.3,
-        'subaru': 0.1,
+        'subaru': 0.2,
         'tesla': 0.2,
         'toyota': 1.6,
         'volkswagen': 0.2,

selfdrive/car/torque_data/override.yaml

@@ -7,6 +7,10 @@ NISSAN LEAF 2018 Instrument Cluster: [.nan, 1.5, .nan]
 NISSAN LEAF 2018: [.nan, 1.5, .nan]
 NISSAN ROGUE 2019: [.nan, 1.5, .nan]
 
+# New subarus angle based controllers
+SUBARU FORESTER 2022: [.nan, 3.0, .nan]
+SUBARU OUTBACK 7TH GEN: [.nan, 3.0, .nan]
+
 # Toyota LTA also has torque
 TOYOTA RAV4 2023: [.nan, 3.0, .nan]
 TOYOTA RAV4 HYBRID 2023: [.nan, 3.0, .nan]