Subaru: Ascent 2023 dashcam mode (#27583)

* Subaru: Add support for 2023 Ascent

* Update supported cars list

* Remove tester present from fw query

* merge master

* fix merge issues

* minimize diff

* add comment about 23 ascent

* add comment

* correct spot

* fix name

* nocap

---------

Co-authored-by: Justin Newberry <justin@comma.ai>
Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: a1bf66a0d2

selfdrive/car/subaru/interface.py

@@ -40,7 +40,7 @@ class CarInterface(CarInterfaceBase):
     else:
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
-    if candidate == CAR.ASCENT:
+    if candidate in (CAR.ASCENT, CAR.ASCENT_2023):
       ret.mass = 2031.
       ret.wheelbase = 2.89
       ret.centerToFront = ret.wheelbase * 0.5

selfdrive/car/subaru/values.py

@@ -66,6 +66,7 @@ class CanBus:
 class CAR:
   # Global platform
   ASCENT = "SUBARU ASCENT LIMITED 2019"
+  ASCENT_2023 = "SUBARU ASCENT 2023"
   IMPREZA = "SUBARU IMPREZA LIMITED 2019"
   IMPREZA_2020 = "SUBARU IMPREZA SPORT 2020"
   FORESTER = "SUBARU FORESTER 2019"
@@ -122,6 +123,7 @@ CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
   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])),
+  CAR.ASCENT_2023: SubaruCarInfo("Subaru Ascent 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])),
 }
 
 SUBARU_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
@@ -136,6 +138,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
       [StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE],
     ),
     # Some Eyesight modules fail on TESTER_PRESENT_REQUEST
+    # TODO: check if this resolves the fingerprinting issue for the 2023 Ascent and other new Subaru cars
     Request(
       [SUBARU_VERSION_REQUEST],
       [SUBARU_VERSION_RESPONSE],
@@ -177,6 +180,23 @@ FW_VERSIONS = {
       b'\x01\xfe\xfa\x00\x00',
     ],
   },
+  CAR.ASCENT_2023: {
+    (Ecu.abs, 0x7b0, None): [
+      b'\xa5 #\x03\x00',
+    ],
+    (Ecu.eps, 0x746, None): [
+      b'%\xc0\xd0\x11',
+    ],
+    (Ecu.fwdCamera, 0x787, None): [
+      b'\x05!\x08\x1dK\x05!\x08\x01/',
+    ],
+    (Ecu.engine, 0x7a2, None): [
+      b'\xe5,\xa0P\x07',
+    ],
+    (Ecu.transmission, 0x7a3, None): [
+      b'\x04\xfe\xf3\x00\x00',
+    ],
+  },
   CAR.LEGACY: {
     (Ecu.abs, 0x7b0, None): [
       b'\xa1\\  x04\x01',
@@ -663,6 +683,7 @@ FW_VERSIONS = {
 
 DBC = {
   CAR.ASCENT: dbc_dict('subaru_global_2017_generated', None),
+  CAR.ASCENT_2023: 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),
@@ -678,7 +699,7 @@ DBC = {
   CAR.OUTBACK_PREGLOBAL_2018: dbc_dict('subaru_outback_2019_generated', None),
 }
 
-LKAS_ANGLE = {CAR.FORESTER_2022, CAR.OUTBACK_2023}
+LKAS_ANGLE = {CAR.FORESTER_2022, CAR.OUTBACK_2023, CAR.ASCENT_2023}
-GLOBAL_GEN2 = {CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023}
+GLOBAL_GEN2 = {CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023, CAR.ASCENT_2023}
 PREGLOBAL_CARS = {CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018}
 HYBRID_CARS = {CAR.CROSSTREK_HYBRID, CAR.FORESTER_HYBRID}

selfdrive/car/tests/routes.py

@@ -244,6 +244,7 @@ routes = [
   CarTestRoute("f4e3a0c511a076f4|2022-08-04--16-16-48", SUBARU.CROSSTREK_HYBRID, segment=2),
   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),
+  CarTestRoute("99437cef6d5ff2ee|2023-03-13--21-21-38", SUBARU.ASCENT_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/torque_data/override.yaml

@@ -10,6 +10,7 @@ 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]
+SUBARU ASCENT 2023: [.nan, 3.0, .nan]
 
 # Toyota LTA also has torque
 TOYOTA RAV4 2023: [.nan, 3.0, .nan]