Subaru signals update (#20956)

* switch to opendbc subaru-signals-2021-05-19

* update carstate signals to match dbc, rename fake_button to cruise_button

* Revert "switch to opendbc subaru-signals-2021-05-19"

This reverts commit f88d6ddcf5.

* bump opendbc

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

opendbc

@@ -1 +1 @@
-Subproject commit ec2a7dcf2fb3550c30ab6be32577547e0247c7ca
+Subproject commit e3cb276afe07344303a7abc6fa05b06990dcb586

selfdrive/car/subaru/carcontroller.py

@@ -10,7 +10,7 @@ class CarController():
     self.es_distance_cnt = -1
     self.es_accel_cnt = -1
     self.es_lkas_cnt = -1
-    self.fake_button_prev = 0
+    self.cruise_button_prev = 0
     self.steer_rate_limited = False
 
     self.packer = CANPacker(DBC[CP.carFingerprint]['pt'])
@@ -48,19 +48,19 @@ class CarController():
         # 1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 = resume deep
         # disengage ACC when OP is disengaged
         if pcm_cancel_cmd:
-          fake_button = 1
+          cruise_button = 1
         # turn main on if off and past start-up state
         elif not CS.out.cruiseState.available and CS.ready:
-          fake_button = 1
+          cruise_button = 1
         else:
-          fake_button = CS.button
+          cruise_button = CS.cruise_button
 
         # unstick previous mocked button press
-        if fake_button == 1 and self.fake_button_prev == 1:
+        if cruise_button == 1 and self.cruise_button_prev == 1:
-          fake_button = 0
+          cruise_button = 0
-        self.fake_button_prev = fake_button
+        self.cruise_button_prev = cruise_button
 
-        can_sends.append(subarucan.create_es_throttle_control(self.packer, fake_button, CS.es_accel_msg))
+        can_sends.append(subarucan.create_es_throttle_control(self.packer, cruise_button, CS.es_accel_msg))
         self.es_accel_cnt = CS.es_accel_msg["Counter"]
 
     else:

selfdrive/car/subaru/carstate.py

@@ -63,14 +63,13 @@ class CarState(CarStateBase):
                         cp.vl["BodyInfo"]['DOOR_OPEN_RL'],
                         cp.vl["BodyInfo"]['DOOR_OPEN_FR'],
                         cp.vl["BodyInfo"]['DOOR_OPEN_FL']])
+    ret.steerError = cp.vl["Steering_Torque"]['Steer_Error_1'] == 1
 
     if self.car_fingerprint in PREGLOBAL_CARS:
-      ret.steerError = cp.vl["Steering_Torque"]["LKA_Lockout"] == 1
+      self.cruise_button = cp_cam.vl["ES_CruiseThrottle"]["Cruise_Button"]
-      self.button = cp_cam.vl["ES_CruiseThrottle"]["Button"]
       self.ready = not cp_cam.vl["ES_DashStatus"]["Not_Ready_Startup"]
       self.es_accel_msg = copy.copy(cp_cam.vl["ES_CruiseThrottle"])
     else:
-      ret.steerError = cp.vl["Steering_Torque"]['Steer_Error_1'] == 1
       ret.steerWarning = cp.vl["Steering_Torque"]['Steer_Warning'] == 1
       ret.cruiseState.nonAdaptive = cp_cam.vl["ES_DashStatus"]['Conventional_Cruise'] == 1
       self.es_distance_msg = copy.copy(cp_cam.vl["ES_Distance"])
@@ -85,6 +84,7 @@ class CarState(CarStateBase):
       # sig_name, sig_address, default
       ("Steer_Torque_Sensor", "Steering_Torque", 0),
       ("Steering_Angle", "Steering_Torque", 0),
+      ("Steer_Error_1", "Steering_Torque", 0),
       ("Cruise_On", "CruiseControl", 0),
       ("Cruise_Activated", "CruiseControl", 0),
       ("Brake_Pedal", "Brake_Pedal", 0),
@@ -127,13 +127,8 @@ class CarState(CarStateBase):
         ("BSD_RCTA", 17),
       ]
 
-    if CP.carFingerprint in PREGLOBAL_CARS:
+    if CP.carFingerprint not in PREGLOBAL_CARS:
-      signals += [
-        ("LKA_Lockout", "Steering_Torque", 0),
-      ]
-    else:
       signals += [
-        ("Steer_Error_1", "Steering_Torque", 0),
         ("Steer_Warning", "Steering_Torque", 0),
       ]
 
@@ -170,17 +165,17 @@ class CarState(CarStateBase):
         ("Cruise_Activated", "ES_CruiseThrottle", 0),
         ("Signal2", "ES_CruiseThrottle", 0),
         ("Brake_On", "ES_CruiseThrottle", 0),
-        ("DistanceSwap", "ES_CruiseThrottle", 0),
+        ("Distance_Swap", "ES_CruiseThrottle", 0),
         ("Standstill", "ES_CruiseThrottle", 0),
         ("Signal3", "ES_CruiseThrottle", 0),
-        ("CloseDistance", "ES_CruiseThrottle", 0),
+        ("Close_Distance", "ES_CruiseThrottle", 0),
         ("Signal4", "ES_CruiseThrottle", 0),
         ("Standstill_2", "ES_CruiseThrottle", 0),
-        ("ES_Error", "ES_CruiseThrottle", 0),
+        ("Cruise_Fault", "ES_CruiseThrottle", 0),
         ("Signal5", "ES_CruiseThrottle", 0),
         ("Counter", "ES_CruiseThrottle", 0),
         ("Signal6", "ES_CruiseThrottle", 0),
-        ("Button", "ES_CruiseThrottle", 0),
+        ("Cruise_Button", "ES_CruiseThrottle", 0),
         ("Signal7", "ES_CruiseThrottle", 0),
       ]