Subaru: universal signal for ACC speed units (#21995)

* Change ACC Speed Units signals for Global and Pre-Global

* Use Dash_State UNITS signal for Preglobal

* Change Subaru Preglobal to use Dash_State2 UNITS signal

* bump opendbc

* cleanup

* update refs

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

opendbc

@@ -1 +1 @@
-Subproject commit 3afceadb847346feb30d96506f482f536e36281d
+Subproject commit 78c639f813430d422bc04d06ac78242c3475bed6

selfdrive/car/subaru/carstate.py

@@ -51,11 +51,8 @@ class CarState(CarStateBase):
     ret.cruiseState.available = cp.vl["CruiseControl"]["Cruise_On"] != 0
     ret.cruiseState.speed = cp_cam.vl["ES_DashStatus"]["Cruise_Set_Speed"] * CV.KPH_TO_MS
 
-    # UDM Forester, Legacy: mph = 0
-    if self.car_fingerprint in [CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL] and cp.vl["Dash_State"]["Units"] == 0:
-      ret.cruiseState.speed *= CV.MPH_TO_KPH
-    # EDM Global: mph = 1, 2; All Outback: mph = 1, UDM Forester: mph = 7
-    elif self.car_fingerprint not in [CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL] and cp.vl["Dash_State"]["Units"] in [1, 2, 7]:
+    if (self.car_fingerprint in PREGLOBAL_CARS and cp.vl["Dash_State2"]["UNITS"] == 1) or \
+       (self.car_fingerprint not in PREGLOBAL_CARS and cp.vl["Dashlights"]["UNITS"] == 1):
       ret.cruiseState.speed *= CV.MPH_TO_KPH
 
     ret.seatbeltUnlatched = cp.vl["Dashlights"]["SEATBELT_FL"] == 1
@@ -100,7 +97,6 @@ class CarState(CarStateBase):
       ("DOOR_OPEN_FL", "BodyInfo", 1),
       ("DOOR_OPEN_RR", "BodyInfo", 1),
       ("DOOR_OPEN_RL", "BodyInfo", 1),
-      ("Units", "Dash_State", 1),
       ("Gear", "Transmission", 0),
     ]
 
@@ -112,7 +108,6 @@ class CarState(CarStateBase):
       ("Wheel_Speeds", 50),
       ("Transmission", 100),
       ("Steering_Torque", 50),
-      ("Dash_State", 1),
       ("BodyInfo", 1),
     ]
 
@@ -130,6 +125,7 @@ class CarState(CarStateBase):
     if CP.carFingerprint not in PREGLOBAL_CARS:
       signals += [
         ("Steer_Warning", "Steering_Torque", 0),
+        ("UNITS", "Dashlights", 0),
       ]
 
       checks += [
@@ -137,6 +133,14 @@ class CarState(CarStateBase):
         ("BodyInfo", 10),
         ("CruiseControl", 20),
       ]
+    else:
+      signals += [
+        ("UNITS", "Dash_State2", 0),
+      ]
+
+      checks += [
+        ("Dash_State2", 1),
+      ]
 
     if CP.carFingerprint == CAR.FORESTER_PREGLOBAL:
       checks += [

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-9f181202bbd6c64330bf4903ec265a179201057c
+858ebd51d52e76edf61190014337df299a7e6374