Subaru: 2020 Outback support (#25248)

* Subaru: 2020 Outback support

* bump panda

* bump panda

* update refs

* update refs
old-commit-hash: efa326e208

RELEASES.md

@@ -1,5 +1,6 @@
 Version 0.8.16 (2022-XX-XX)
 ========================
+* 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.
 
 
-# 196 Supported Cars
+# 197 Supported Cars
 
 |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|
 |---|---|---|:---:|:---:|:---:|:---:|
@@ -139,6 +139,7 @@ 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|[![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|[![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|[![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|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Škoda|Kamiq 2021[<sup>6</sup>](#footnotes)|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)](##)|

panda

@@ -1 +1 @@
-Subproject commit a1686ca3ca55b004179f10bfc45af5fbd701ca64
+Subproject commit 4b86b83991e6be699c1eba79ea82846533f55467

selfdrive/car/subaru/carcontroller.py

@@ -1,17 +1,20 @@
 from opendbc.can.packer import CANPacker
 from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.subaru import subarucan
-from selfdrive.car.subaru.values import DBC, PREGLOBAL_CARS, CarControllerParams
+from selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, CarControllerParams
 
 
 class CarController:
   def __init__(self, dbc_name, CP, VM):
     self.CP = CP
     self.apply_steer_last = 0
-    self.es_distance_cnt = -1
+    self.frame = 0
+
     self.es_lkas_cnt = -1
+    self.es_distance_cnt = -1
+    self.es_dashstatus_cnt = -1
     self.cruise_button_prev = 0
-    self.frame = 0
+    self.last_cancel_frame = 0
 
     self.p = CarControllerParams(CP)
     self.packer = CANPacker(DBC[CP.carFingerprint]['pt'])
@@ -67,9 +70,14 @@ class CarController:
         self.es_distance_cnt = CS.es_distance_msg["COUNTER"]
 
     else:
-      if self.es_distance_cnt != CS.es_distance_msg["COUNTER"]:
+      if pcm_cancel_cmd and (self.frame - self.last_cancel_frame) > 0.2:
-        can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg, pcm_cancel_cmd))
+        bus = 1 if self.CP.carFingerprint in GLOBAL_GEN2 else 0
-        self.es_distance_cnt = CS.es_distance_msg["COUNTER"]
+        can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg, bus, pcm_cancel_cmd))
+        self.last_cancel_frame = self.frame
+
+      if self.es_dashstatus_cnt != CS.es_dashstatus_msg["COUNTER"]:
+        can_sends.append(subarucan.create_es_dashstatus(self.packer, CS.es_dashstatus_msg))
+        self.es_dashstatus_cnt = CS.es_dashstatus_msg["COUNTER"]
 
       if self.es_lkas_cnt != CS.es_lkas_msg["COUNTER"]:
         can_sends.append(subarucan.create_es_lkas(self.packer, CS.es_lkas_msg, CC.enabled, hud_control.visualAlert,

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, PREGLOBAL_CARS
+from selfdrive.car.subaru.values import DBC, STEER_THRESHOLD, CAR, GLOBAL_GEN2, PREGLOBAL_CARS
 
 
 class CarState(CarStateBase):
@@ -13,7 +13,7 @@ class CarState(CarStateBase):
     can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
     self.shifter_values = can_define.dv["Transmission"]["Gear"]
 
-  def update(self, cp, cp_cam):
+  def update(self, cp, cp_cam, cp_body):
     ret = car.CarState.new_message()
 
     ret.gas = cp.vl["Throttle"]["Throttle_Pedal"] / 255.
@@ -21,13 +21,15 @@ class CarState(CarStateBase):
     if self.car_fingerprint in PREGLOBAL_CARS:
       ret.brakePressed = cp.vl["Brake_Pedal"]["Brake_Pedal"] > 2
     else:
-      ret.brakePressed = cp.vl["Brake_Status"]["Brake"] == 1
+      cp_brakes = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp
+      ret.brakePressed = cp_brakes.vl["Brake_Status"]["Brake"] == 1
 
+    cp_wheels = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp
     ret.wheelSpeeds = self.get_wheel_speeds(
-      cp.vl["Wheel_Speeds"]["FL"],
+      cp_wheels.vl["Wheel_Speeds"]["FL"],
-      cp.vl["Wheel_Speeds"]["FR"],
+      cp_wheels.vl["Wheel_Speeds"]["FR"],
-      cp.vl["Wheel_Speeds"]["RL"],
+      cp_wheels.vl["Wheel_Speeds"]["RL"],
-      cp.vl["Wheel_Speeds"]["RR"],
+      cp_wheels.vl["Wheel_Speeds"]["RR"],
     )
     ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.
     # Kalman filter, even though Subaru raw wheel speed is heaviliy filtered by default
@@ -35,8 +37,8 @@ class CarState(CarStateBase):
     ret.standstill = ret.vEgoRaw < 0.01
 
     # continuous blinker signals for assisted lane change
-    ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(
+    ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["Dashlights"]["LEFT_BLINKER"],
-      50, cp.vl["Dashlights"]["LEFT_BLINKER"], cp.vl["Dashlights"]["RIGHT_BLINKER"])
+                                                                          cp.vl["Dashlights"]["RIGHT_BLINKER"])
 
     if self.CP.enableBsm:
       ret.leftBlindspot = (cp.vl["BSD_RCTA"]["L_ADJACENT"] == 1) or (cp.vl["BSD_RCTA"]["L_APPROACHING"] == 1)
@@ -50,8 +52,9 @@ class CarState(CarStateBase):
     ret.steeringTorqueEps = cp.vl["Steering_Torque"]["Steer_Torque_Output"]
     ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD[self.car_fingerprint]
 
-    ret.cruiseState.enabled = cp.vl["CruiseControl"]["Cruise_Activated"] != 0
+    cp_cruise = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp
-    ret.cruiseState.available = cp.vl["CruiseControl"]["Cruise_On"] != 0
+    ret.cruiseState.enabled = cp_cruise.vl["CruiseControl"]["Cruise_Activated"] != 0
+    ret.cruiseState.available = cp_cruise.vl["CruiseControl"]["Cruise_On"] != 0
     ret.cruiseState.speed = cp_cam.vl["ES_DashStatus"]["Cruise_Set_Speed"] * CV.KPH_TO_MS
 
     if (self.car_fingerprint in PREGLOBAL_CARS and cp.vl["Dash_State2"]["UNITS"] == 1) or \
@@ -72,10 +75,59 @@ class CarState(CarStateBase):
       ret.steerFaultTemporary = cp.vl["Steering_Torque"]["Steer_Warning"] == 1
       ret.cruiseState.nonAdaptive = cp_cam.vl["ES_DashStatus"]["Conventional_Cruise"] == 1
       self.es_lkas_msg = copy.copy(cp_cam.vl["ES_LKAS_State"])
-    self.es_distance_msg = copy.copy(cp_cam.vl["ES_Distance"])
+
+    cp_es_distance = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp_cam
+    self.es_distance_msg = copy.copy(cp_es_distance.vl["ES_Distance"])
+    self.es_dashstatus_msg = copy.copy(cp_cam.vl["ES_DashStatus"])
 
     return ret
 
+  @staticmethod
+  def get_common_global_signals():
+    signals = [
+      ("Cruise_On", "CruiseControl"),
+      ("Cruise_Activated", "CruiseControl"),
+      ("FL", "Wheel_Speeds"),
+      ("FR", "Wheel_Speeds"),
+      ("RL", "Wheel_Speeds"),
+      ("RR", "Wheel_Speeds"),
+      ("Brake", "Brake_Status"),
+    ]
+    checks = [
+      ("CruiseControl", 20),
+      ("Wheel_Speeds", 50),
+      ("Brake_Status", 50),
+    ]
+
+    return signals, checks
+
+  @staticmethod
+  def get_global_es_distance_signals():
+    signals = [
+      ("COUNTER", "ES_Distance"),
+      ("Signal1", "ES_Distance"),
+      ("Cruise_Fault", "ES_Distance"),
+      ("Cruise_Throttle", "ES_Distance"),
+      ("Signal2", "ES_Distance"),
+      ("Car_Follow", "ES_Distance"),
+      ("Signal3", "ES_Distance"),
+      ("Cruise_Brake_Active", "ES_Distance"),
+      ("Distance_Swap", "ES_Distance"),
+      ("Cruise_EPB", "ES_Distance"),
+      ("Signal4", "ES_Distance"),
+      ("Close_Distance", "ES_Distance"),
+      ("Signal5", "ES_Distance"),
+      ("Cruise_Cancel", "ES_Distance"),
+      ("Cruise_Set", "ES_Distance"),
+      ("Cruise_Resume", "ES_Distance"),
+      ("Signal6", "ES_Distance"),
+    ]
+    checks = [
+      ("ES_Distance", 20),
+    ]
+
+    return signals, checks
+
   @staticmethod
   def get_can_parser(CP):
     signals = [
@@ -84,17 +136,11 @@ class CarState(CarStateBase):
       ("Steer_Torque_Output", "Steering_Torque"),
       ("Steering_Angle", "Steering_Torque"),
       ("Steer_Error_1", "Steering_Torque"),
-      ("Cruise_On", "CruiseControl"),
-      ("Cruise_Activated", "CruiseControl"),
       ("Brake_Pedal", "Brake_Pedal"),
       ("Throttle_Pedal", "Throttle"),
       ("LEFT_BLINKER", "Dashlights"),
       ("RIGHT_BLINKER", "Dashlights"),
       ("SEATBELT_FL", "Dashlights"),
-      ("FL", "Wheel_Speeds"),
-      ("FR", "Wheel_Speeds"),
-      ("RL", "Wheel_Speeds"),
-      ("RR", "Wheel_Speeds"),
       ("DOOR_OPEN_FR", "BodyInfo"),
       ("DOOR_OPEN_FL", "BodyInfo"),
       ("DOOR_OPEN_RR", "BodyInfo"),
@@ -107,7 +153,6 @@ class CarState(CarStateBase):
       ("Throttle", 100),
       ("Dashlights", 10),
       ("Brake_Pedal", 50),
-      ("Wheel_Speeds", 50),
       ("Transmission", 100),
       ("Steering_Torque", 50),
       ("BodyInfo", 1),
@@ -123,22 +168,33 @@ class CarState(CarStateBase):
       checks.append(("BSD_RCTA", 17))
 
     if CP.carFingerprint not in PREGLOBAL_CARS:
+      if CP.carFingerprint not in GLOBAL_GEN2:
+        signals += CarState.get_common_global_signals()[0]
+        checks += CarState.get_common_global_signals()[1]
+
       signals += [
         ("Steer_Warning", "Steering_Torque"),
-        ("Brake", "Brake_Status"),
         ("UNITS", "Dashlights"),
       ]
 
       checks += [
         ("Dashlights", 10),
         ("BodyInfo", 10),
-        ("Brake_Status", 50),
-        ("CruiseControl", 20),
       ]
     else:
-      signals.append(("UNITS", "Dash_State2"))
+      signals += [
-
+        ("FL", "Wheel_Speeds"),
-      checks.append(("Dash_State2", 1))
+        ("FR", "Wheel_Speeds"),
+        ("RL", "Wheel_Speeds"),
+        ("RR", "Wheel_Speeds"),
+        ("UNITS", "Dash_State2"),
+        ("Cruise_On", "CruiseControl"),
+        ("Cruise_Activated", "CruiseControl"),
+      ]
+      checks += [
+        ("Wheel_Speeds", 50),
+        ("Dash_State2", 1),
+      ]
 
       if CP.carFingerprint == CAR.FORESTER_PREGLOBAL:
         checks += [
@@ -187,26 +243,32 @@ class CarState(CarStateBase):
       ]
     else:
       signals = [
-        ("Cruise_Set_Speed", "ES_DashStatus"),
+        ("Counter", "ES_DashStatus"),
+        ("PCB_Off", "ES_DashStatus"),
+        ("LDW_Off", "ES_DashStatus"),
+        ("Signal1", "ES_DashStatus"),
+        ("Cruise_State_Msg", "ES_DashStatus"),
+        ("LKAS_State_Msg", "ES_DashStatus"),
+        ("Signal2", "ES_DashStatus"),
+        ("Cruise_Soft_Disable", "ES_DashStatus"),
+        ("EyeSight_Status_Msg", "ES_DashStatus"),
+        ("Signal3", "ES_DashStatus"),
+        ("Cruise_Distance", "ES_DashStatus"),
+        ("Signal4", "ES_DashStatus"),
         ("Conventional_Cruise", "ES_DashStatus"),
-
+        ("Signal5", "ES_DashStatus"),
-        ("COUNTER", "ES_Distance"),
+        ("Cruise_Disengaged", "ES_DashStatus"),
-        ("Signal1", "ES_Distance"),
+        ("Cruise_Activated", "ES_DashStatus"),
-        ("Cruise_Fault", "ES_Distance"),
+        ("Signal6", "ES_DashStatus"),
-        ("Cruise_Throttle", "ES_Distance"),
+        ("Cruise_Set_Speed", "ES_DashStatus"),
-        ("Signal2", "ES_Distance"),
+        ("Cruise_Fault", "ES_DashStatus"),
-        ("Car_Follow", "ES_Distance"),
+        ("Cruise_On", "ES_DashStatus"),
-        ("Signal3", "ES_Distance"),
+        ("Display_Own_Car", "ES_DashStatus"),
-        ("Cruise_Brake_Active", "ES_Distance"),
+        ("Brake_Lights", "ES_DashStatus"),
-        ("Distance_Swap", "ES_Distance"),
+        ("Car_Follow", "ES_DashStatus"),
-        ("Cruise_EPB", "ES_Distance"),
+        ("Signal7", "ES_DashStatus"),
-        ("Signal4", "ES_Distance"),
+        ("Far_Distance", "ES_DashStatus"),
-        ("Close_Distance", "ES_Distance"),
+        ("Cruise_State", "ES_DashStatus"),
-        ("Signal5", "ES_Distance"),
-        ("Cruise_Cancel", "ES_Distance"),
-        ("Cruise_Set", "ES_Distance"),
-        ("Cruise_Resume", "ES_Distance"),
-        ("Signal6", "ES_Distance"),
 
         ("COUNTER", "ES_LKAS_State"),
         ("LKAS_Alert_Msg", "ES_LKAS_State"),
@@ -227,8 +289,21 @@ class CarState(CarStateBase):
 
       checks = [
         ("ES_DashStatus", 10),
-        ("ES_Distance", 20),
         ("ES_LKAS_State", 10),
       ]
 
+      if CP.carFingerprint not in GLOBAL_GEN2:
+        signals += CarState.get_global_es_distance_signals()[0]
+        checks += CarState.get_global_es_distance_signals()[1]
+
     return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)
+
+  @staticmethod
+  def get_body_can_parser(CP):
+    if CP.carFingerprint in GLOBAL_GEN2:
+      signals, checks = CarState.get_common_global_signals()
+      signals += CarState.get_global_es_distance_signals()[0]
+      checks += CarState.get_global_es_distance_signals()[1]
+      return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 1)
+
+    return None

selfdrive/car/subaru/interface.py

@@ -1,8 +1,9 @@
 #!/usr/bin/env python3
 from cereal import car
+from panda import Panda
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
-from selfdrive.car.subaru.values import CAR, PREGLOBAL_CARS
+from selfdrive.car.subaru.values import CAR, GLOBAL_GEN2, PREGLOBAL_CARS
 
 
 class CarInterface(CarInterfaceBase):
@@ -16,11 +17,13 @@ class CarInterface(CarInterfaceBase):
     ret.dashcamOnly = candidate in PREGLOBAL_CARS
 
     if candidate in PREGLOBAL_CARS:
-      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaruLegacy)]
       ret.enableBsm = 0x25c in fingerprint[0]
+      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaruLegacy)]
     else:
-      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaru)]
       ret.enableBsm = 0x228 in fingerprint[0]
+      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaru)]
+      if candidate in GLOBAL_GEN2:
+        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_SUBARU_GEN2
 
     ret.steerLimitTimer = 0.4
     ret.steerActuatorDelay = 0.1
@@ -68,6 +71,14 @@ 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:
+      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
       ret.mass = 1568 + STD_CARGO_KG
@@ -88,6 +99,9 @@ class CarInterface(CarInterfaceBase):
       ret.centerToFront = ret.wheelbase * 0.5
       ret.steerRatio = 20           # learned, 14 stock
 
+    else:
+      raise ValueError(f"unknown car: {candidate}")
+
     # TODO: get actual value, for now starting with reasonable value for
     # civic and scaling by mass and wheelbase
     ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
@@ -101,7 +115,7 @@ class CarInterface(CarInterfaceBase):
   # returns a car.CarState
   def _update(self, c):
 
-    ret = self.CS.update(self.cp, self.cp_cam)
+    ret = self.CS.update(self.cp, self.cp_cam, self.cp_body)
 
     ret.events = self.create_common_events(ret).to_msg()
 

selfdrive/car/subaru/subarucan.py

@@ -14,13 +14,12 @@ def create_steering_control(packer, apply_steer):
 def create_steering_status(packer):
   return packer.make_can_msg("ES_LKAS_State", 0, {})
 
-def create_es_distance(packer, es_distance_msg, pcm_cancel_cmd):
+def create_es_distance(packer, es_distance_msg, bus, pcm_cancel_cmd):
-
   values = copy.copy(es_distance_msg)
+  values["COUNTER"] = (values["COUNTER"] + 1) % 0x10
   if pcm_cancel_cmd:
     values["Cruise_Cancel"] = 1
-
+  return packer.make_can_msg("ES_Distance", bus, values)
-  return packer.make_can_msg("ES_Distance", 0, values)
 
 def create_es_lkas(packer, es_lkas_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart):
 
@@ -34,6 +33,18 @@ def create_es_lkas(packer, es_lkas_msg, enabled, visual_alert, left_line, right_
   if values["LKAS_Alert"] == 27:
     values["LKAS_Alert"] = 0
 
+  # Filter the stock LKAS sending an audible alert when "Keep hands on wheel" alert is active (2020+ models)
+  if values["LKAS_Alert"] == 28 and values["LKAS_Alert_Msg"] == 7:
+    values["LKAS_Alert"] = 0
+
+  # Filter the stock LKAS sending an audible alert when "Keep hands on wheel OFF" alert is active (2020+ models)
+  if values["LKAS_Alert"] == 30:
+    values["LKAS_Alert"] = 0
+
+  # Filter the stock LKAS sending "Keep hands on wheel OFF" alert (2020+ models)
+  if values["LKAS_Alert_Msg"] == 7:
+    values["LKAS_Alert_Msg"] = 0
+
   # Show Keep hands on wheel alert for openpilot steerRequired alert
   if visual_alert == VisualAlert.steerRequired:
     values["LKAS_Alert_Msg"] = 1
@@ -56,6 +67,15 @@ def create_es_lkas(packer, es_lkas_msg, enabled, visual_alert, left_line, right_
 
   return packer.make_can_msg("ES_LKAS_State", 0, values)
 
+def create_es_dashstatus(packer, dashstatus_msg):
+  values = copy.copy(dashstatus_msg)
+
+  # Filter stock LKAS disabled and Keep hands on steering wheel OFF alerts
+  if values["LKAS_State_Msg"] in [2, 3]:
+    values["LKAS_State_Msg"] = 0
+
+  return packer.make_can_msg("ES_DashStatus", 0, values)
+
 # *** Subaru Pre-global ***
 
 def subaru_preglobal_checksum(packer, values, addr):

selfdrive/car/subaru/values.py

@@ -11,23 +11,32 @@ Ecu = car.CarParams.Ecu
 
 class CarControllerParams:
   def __init__(self, CP):
-    if CP.carFingerprint == CAR.IMPREZA_2020:
-      self.STEER_MAX = 1439
-    else:
-      self.STEER_MAX = 2047
     self.STEER_STEP = 2                # how often we update the steer cmd
     self.STEER_DELTA_UP = 50           # torque increase per refresh, 0.8s to max
     self.STEER_DELTA_DOWN = 70         # torque decrease per refresh
     self.STEER_DRIVER_ALLOWANCE = 60   # allowed driver torque before start limiting
-    self.STEER_DRIVER_MULTIPLIER = 10  # weight driver torque heavily
+    self.STEER_DRIVER_MULTIPLIER = 50  # weight driver torque heavily
     self.STEER_DRIVER_FACTOR = 1       # from dbc
 
+    if CP.carFingerprint in GLOBAL_GEN2:
+      self.STEER_MAX = 1000
+      self.STEER_DELTA_UP = 40
+      self.STEER_DELTA_DOWN = 40
+    elif CP.carFingerprint == CAR.IMPREZA_2020:
+      self.STEER_MAX = 1439
+    else:
+      self.STEER_MAX = 2047
+
 
 class CAR:
+  # Global platform
   ASCENT = "SUBARU ASCENT LIMITED 2019"
   IMPREZA = "SUBARU IMPREZA LIMITED 2019"
   IMPREZA_2020 = "SUBARU IMPREZA SPORT 2020"
   FORESTER = "SUBARU FORESTER 2019"
+  OUTBACK = "SUBARU OUTBACK 6TH GEN"
+
+  # Pre-global
   FORESTER_PREGLOBAL = "SUBARU FORESTER 2017 - 2018"
   LEGACY_PREGLOBAL = "SUBARU LEGACY 2015 - 2018"
   OUTBACK_PREGLOBAL = "SUBARU OUTBACK 2015 - 2017"
@@ -42,6 +51,7 @@ 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"),
   CAR.IMPREZA: [
     SubaruCarInfo("Subaru Impreza 2017-19"),
     SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
@@ -396,6 +406,47 @@ FW_VERSIONS = {
       b'\xbb\xfb\xe0`\000',
     ],
   },
+  CAR.OUTBACK: {
+    (Ecu.esp, 0x7b0, None): [
+      b'\xa1  \x06\x01',
+      b'\xa1  \a\x00',
+      b'\xa1  \b\001',
+      b'\xa1  \x06\x00',
+      b'\xa1 "\t\x01',
+      b'\xa1  \x08\x02',
+      b'\xa1 \x06\x02',
+      b'\xa1  \x08\x00',
+    ],
+    (Ecu.eps, 0x746, None): [
+      b'\x9b\xc0\x10\x00',
+      b'\x9b\xc0\x20\x00',
+      b'\x1b\xc0\x10\x00',
+    ],
+    (Ecu.fwdCamera, 0x787, None): [
+      b'\x00\x00eJ\x00\x1f@ \x19\x00',
+      b'\000\000e\x80\000\037@ \031\000',
+      b'\x00\x00e\x9a\x00\x1f@ 1\x00',
+      b'\x00\x00eJ\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xbc,\xa0q\x07',
+      b'\xbc\"`@\a',
+      b'\xde"`0\a',
+      b'\xf1\x82\xbc,\xa0q\a',
+      b'\xf1\x82\xe3,\xa0@\x07',
+      b'\xe2"`p\x07',
+      b'\xf1\x82\xe2,\xa0@\x07',
+      b'\xbc"`q\x07',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xa5\xfe\xf7@\x00',
+      b'\xa5\xf6D@\x00',
+      b'\xa5\xfe\xf6@\x00',
+      b'\xa7\x8e\xf40\x00',
+      b'\xf1\x82\xa7\xf6D@\x00',
+      b'\xa7\xfe\xf4@\x00',
+    ],
+  },
 }
 
 STEER_THRESHOLD = {
@@ -403,6 +454,7 @@ STEER_THRESHOLD = {
   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,
@@ -414,10 +466,12 @@ 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.OUTBACK: 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),
 }
 
-PREGLOBAL_CARS = [CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018]
+GLOBAL_GEN2 = (CAR.OUTBACK, )
+PREGLOBAL_CARS = (CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018)

selfdrive/car/tests/routes.py

@@ -187,13 +187,11 @@ routes = [
   TestRoute("c321c6b697c5a5ff|2020-06-23--11-04-33", SUBARU.FORESTER),
   TestRoute("791340bc01ed993d|2019-03-10--16-28-08", SUBARU.IMPREZA),
   TestRoute("8bf7e79a3ce64055|2021-05-24--09-36-27", SUBARU.IMPREZA_2020),
-  # Dashcam
+  TestRoute("1bbe6bf2d62f58a8|2022-07-14--17-11-43", SUBARU.OUTBACK, segment=3),
+  # Pre-global, dashcam
   TestRoute("95441c38ae8c130e|2020-06-08--12-10-17", SUBARU.FORESTER_PREGLOBAL),
-  # Dashcam
   TestRoute("df5ca7660000fba8|2020-06-16--17-37-19", SUBARU.LEGACY_PREGLOBAL),
-  # Dashcam
   TestRoute("5ab784f361e19b78|2020-06-08--16-30-41", SUBARU.OUTBACK_PREGLOBAL),
-  # Dashcam
   TestRoute("e19eb5d5353b1ac1|2020-08-09--14-37-56", SUBARU.OUTBACK_PREGLOBAL_2018),
 
   TestRoute("fbbfa6af821552b9|2020-03-03--08-09-43", NISSAN.XTRAIL),

selfdrive/car/torque_data/override.yaml

@@ -22,6 +22,7 @@ COMMA BODY: [.nan, 1000, .nan]
 # Totally new cars
 KIA EV6 2022: [3.5, 2.5, 0.0]
 RAM 1500 5TH GEN: [2.0, 2.0, 0.0]
+SUBARU OUTBACK 6TH GEN: [2.3, 2.3, 0.11]
 
 # Dashcam or fallback configured as ideal car
 mock: [10.0, 10, 0.0]

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-912413daa4c36a788cf2c801fc49829d46ae3072
+01e23eec1394b07d2c537f0e28493b10e05923c2