Subaru: Forester Hybrid 2020 dashcam (#24770)

* Add support for Forester Hybrid 2020

Co-authored-by: martinl <martin@mlp.ee>

* it's a param now

* make it work

* fix

* merge and cleanup

* remove duplicate

* should be forester

* bump submodules

* should be abs

* add missing params

* still need a test route

* still need a test route

* consitent

* here too

* todo

* more

* Update selfdrive/car/tests/routes.py

* clean up

---------

Co-authored-by: martinl <martin@mlp.ee>
Co-authored-by: Justin Newberry <jnewberry0502@gmail.com>
old-commit-hash: 3719be8b76

selfdrive/car/subaru/carcontroller.py

@@ -2,8 +2,7 @@ from openpilot.common.numpy_fast import clip, interp
 from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import apply_driver_steer_torque_limits
 from openpilot.selfdrive.car.subaru import subarucan
-from openpilot.selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, CanBus, CarControllerParams, SubaruFlags
+from openpilot.selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, CanBus, CarControllerParams, SubaruFlags
-from selfdrive.car.subaru.values import HYBRID_CARS
 
 
 class CarController:

selfdrive/car/subaru/carstate.py

@@ -4,9 +4,8 @@ from opendbc.can.can_define import CANDefine
 from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from opendbc.can.parser import CANParser
-from openpilot.selfdrive.car.subaru.values import DBC, CAR, GLOBAL_GEN2, PREGLOBAL_CARS, CanBus, SubaruFlags
+from openpilot.selfdrive.car.subaru.values import DBC, CAR, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, CanBus, SubaruFlags
 from openpilot.selfdrive.car import CanSignalRateCalculator
-from selfdrive.car.subaru.values import HYBRID_CARS
 
 
 class CarState(CarStateBase):
@@ -101,17 +100,18 @@ class CarState(CarStateBase):
       self.es_brake_msg = copy.copy(cp_es_brake.vl["ES_Brake"])
       cp_es_status = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp_cam
 
-      if self.car_fingerprint not in HYBRID_CARS: # Hybrid cars don't have es_distance, need a replacement
+      # TODO: Hybrid cars don't have ES_Distance, need a replacement
+      if self.car_fingerprint not in HYBRID_CARS:
         # 8 is known AEB, there are a few other values related to AEB we ignore
         ret.stockAeb = (cp_es_distance.vl["ES_Brake"]["AEB_Status"] == 8) and \
-                      (cp_es_distance.vl["ES_Brake"]["Brake_Pressure"] != 0)
+                       (cp_es_distance.vl["ES_Brake"]["Brake_Pressure"] != 0)
-        self.es_distance_msg = copy.copy(cp_es_distance.vl["ES_Distance"])
 
         self.es_status_msg = copy.copy(cp_es_status.vl["ES_Status"])
         self.cruise_control_msg = copy.copy(cp_cruise.vl["CruiseControl"])
 
     if self.car_fingerprint not in HYBRID_CARS:
       self.es_distance_msg = copy.copy(cp_es_distance.vl["ES_Distance"])
+
     self.es_dashstatus_msg = copy.copy(cp_cam.vl["ES_DashStatus"])
     if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT:
       self.es_infotainment_msg = copy.copy(cp_cam.vl["ES_Infotainment"])

selfdrive/car/subaru/interface.py

@@ -13,9 +13,9 @@ class CarInterface(CarInterfaceBase):
     ret.carName = "subaru"
     ret.radarUnavailable = True
     # for HYBRID CARS to be upstreamed, we need:
-    #   - replacement for ES_Distance so we can cancel the cruise control
+    # - replacement for ES_Distance so we can cancel the cruise control
-    #   - to find the Cruise_Activated bit from the car
+    # - to find the Cruise_Activated bit from the car
-    #   - proper panda safety setup (use the correct cruise_activated bit, throttle from Throttle_Hybrid, etc)
+    # - proper panda safety setup (use the correct cruise_activated bit, throttle from Throttle_Hybrid, etc)
     ret.dashcamOnly = candidate in (PREGLOBAL_CARS | LKAS_ANGLE | HYBRID_CARS)
     ret.autoResumeSng = False
 
@@ -79,7 +79,7 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 17
       ret.steerActuatorDelay = 0.1
 
-    elif candidate in (CAR.FORESTER, CAR.FORESTER_2022):
+    elif candidate in (CAR.FORESTER, CAR.FORESTER_2022, CAR.FORESTER_HYBRID):
       ret.mass = 1568.
       ret.wheelbase = 2.67
       ret.centerToFront = ret.wheelbase * 0.5

selfdrive/car/subaru/values.py

@@ -71,6 +71,7 @@ class CAR:
   FORESTER = "SUBARU FORESTER 2019"
   OUTBACK = "SUBARU OUTBACK 6TH GEN"
   CROSSTREK_HYBRID = "SUBARU CROSSTREK HYBRID 2020"
+  FORESTER_HYBRID = "SUBARU FORESTER HYBRID 2020"
   LEGACY = "SUBARU LEGACY 7TH GEN"
   FORESTER_2022 = "SUBARU FORESTER 2022"
   OUTBACK_2023 = "SUBARU OUTBACK 7TH GEN"
@@ -113,6 +114,7 @@ CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
   ],
   # TODO: is there an XV and Impreza too?
   CAR.CROSSTREK_HYBRID: SubaruCarInfo("Subaru Crosstrek Hybrid 2020"),
+  CAR.FORESTER_HYBRID: SubaruCarInfo("Subaru Forester Hybrid 2020"),
   CAR.FORESTER: SubaruCarInfo("Subaru Forester 2019-21", "All"),
   CAR.FORESTER_PREGLOBAL: SubaruCarInfo("Subaru Forester 2017-18"),
   CAR.LEGACY_PREGLOBAL: SubaruCarInfo("Subaru Legacy 2015-18"),
@@ -389,6 +391,23 @@ FW_VERSIONS = {
       b'\x1a\xe6F1\x00',
     ],
   },
+  CAR.FORESTER_HYBRID: {
+    (Ecu.abs, 0x7b0, None): [
+      b'\xa3 \x19T\x00',
+    ],
+    (Ecu.eps, 0x746, None): [
+      b'\x8d\xc2\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x787, None): [
+      b'\x00\x00eY\x1f@ !',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xd2\xa1`r\x07',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+       b'\x1b\xa7@a\x00',
+    ],
+  },
   CAR.FORESTER_PREGLOBAL: {
     (Ecu.abs, 0x7b0, None): [
       b'\x7d\x97\x14\x40',
@@ -649,6 +668,7 @@ DBC = {
   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.FORESTER_HYBRID: dbc_dict('subaru_global_2020_hybrid_generated', None),
   CAR.CROSSTREK_HYBRID: dbc_dict('subaru_global_2020_hybrid_generated', None),
   CAR.OUTBACK_2023: dbc_dict('subaru_global_2017_generated', None),
   CAR.LEGACY: dbc_dict('subaru_global_2017_generated', None),
@@ -661,4 +681,4 @@ DBC = {
 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}
-HYBRID_CARS = {CAR.CROSSTREK_HYBRID, }
+HYBRID_CARS = {CAR.CROSSTREK_HYBRID, CAR.FORESTER_HYBRID}

selfdrive/car/tests/routes.py

@@ -28,6 +28,7 @@ non_tested_cars = [
   VOLKSWAGEN.CRAFTER_MK2,  # need a route from an ACC-equipped Crafter
   TOYOTA.RAV4_TSS2_2023,
   TOYOTA.RAV4H_TSS2_2023,
+  SUBARU.FORESTER_HYBRID,
 ]
 
 

selfdrive/car/torque_data/substitute.yaml

@@ -77,6 +77,7 @@ SEAT LEON 3RD GEN: VOLKSWAGEN GOLF 7TH GEN
 SEAT ATECA 1ST GEN: VOLKSWAGEN GOLF 7TH GEN
 
 SUBARU CROSSTREK HYBRID 2020: SUBARU IMPREZA SPORT 2020
+SUBARU FORESTER HYBRID 2020: SUBARU IMPREZA SPORT 2020
 SUBARU LEGACY 7TH GEN: SUBARU OUTBACK 6TH GEN
 
 # Old subarus don't have much data guessing it's like low torque impreza