Subaru FPv2 support (commaai#1878)

* Add Subaru FPv2 support * Add Subaru Ascent and Impreza FPv2 values * Remove 10 second delay, use UDS for Subaru FPv2 * before VW * before hyundai Co-authored-by: Willem Melching <[email protected]>
budney · Jan 4, 2022 · 6b20534 · 6b20534
1 parent 1ca5e1c
commit 6b20534
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diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py
@@ -84,8 +84,21 @@ def p16(val):
 
 NISSAN_RX_OFFSET = 0x20
 
+SUBARU_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
+  p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION)
+SUBARU_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
+  p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION)
+
+
 # brand, request, response, response offset
 REQUESTS = [
+  # Subaru
+  (
+    "subaru",
+    [TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST],
+    [TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE],
+    DEFAULT_RX_OFFSET,
+  ),
   # Hyundai
   (
     "hyundai",

diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py
@@ -81,6 +81,53 @@ class CAR:
   }],
 }
 
+FW_VERSIONS = {
+  CAR.ASCENT: {
+    # 2019 Ascent UDM
+    # Ecu, addr, subaddr: ROM ID
+    (Ecu.esp, 0x7b0, None): [
+      b'\xa5 \x19\x02\x00',
+    ],
+    (Ecu.eps, 0x746, None): [
+      b'\x85\xc0\xd0\x00',
+    ],
+    (Ecu.fwdCamera, 0x787, None): [
+      b'\x00\x00d\xb9\x1f@ \x10',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xbb,\xa0t\a',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\x00\xfe\xf7\x00\x00',
+    ],
+  },
+  CAR.IMPREZA: {
+    # 2018 Crosstrek EDM
+    # 2018 Impreza ADM
+    # Ecu, addr, subaddr: ROM ID
+    (Ecu.esp, 0x7b0, None): [
+      b'\x7a\x94\x3f\x90\x00',
+      b'\xa2 \x185\x00',
+    ],
+    (Ecu.eps, 0x746, None): [
+      b'\x7a\xc0\x0c\x00',
+      b'z\xc0\b\x00',
+    ],
+    (Ecu.fwdCamera, 0x787, None): [
+      b'\x00\x00\x64\xb5\x1f\x40\x20\x0e',
+      b'\x00\x00d\xdc\x1f@ \x0e',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xaa\x61\x66\x73\x07',
+      b'\xbeacr\a',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xe3\xe5\x46\x31\x00',
+      b'\xe4\xe5\x061\x00',
+    ],
+  },
+}
+
 STEER_THRESHOLD = {
   CAR.ASCENT: 80,
   CAR.IMPREZA: 80,