Subaru: Crosstrek Hybrid dashcam mode

release/files_common

@@ -569,6 +569,7 @@ opendbc/nissan_x_trail_2017_generated.dbc
 opendbc/nissan_leaf_2018_generated.dbc
 
 opendbc/subaru_global_2017_generated.dbc
+opendbc/subaru_global_2020_hybrid_generated.dbc
 opendbc/subaru_outback_2015_generated.dbc
 opendbc/subaru_outback_2019_generated.dbc
 opendbc/subaru_forester_2017_generated.dbc

selfdrive/car/subaru/carcontroller.py

@@ -3,6 +3,7 @@
 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 selfdrive.car.subaru.values import HYBRID_CARS
 
 
 class CarController:
@@ -100,8 +101,9 @@ def update(self, CC, CS, now_nanos):
                                                         self.CP.openpilotLongitudinalControl, cruise_brake > 0, cruise_throttle))
       else:
         if pcm_cancel_cmd:
-          bus = CanBus.alt if self.CP.carFingerprint in GLOBAL_GEN2 else CanBus.main
-          can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg, bus, pcm_cancel_cmd))
+          if self.CP.carFingerprint not in HYBRID_CARS:
+            bus = CanBus.alt if self.CP.carFingerprint in GLOBAL_GEN2 else CanBus.main
+            can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg, bus, pcm_cancel_cmd))
 
     new_actuators = actuators.copy()
     new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX

selfdrive/car/subaru/carstate.py

@@ -6,6 +6,7 @@
 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 import CanSignalRateCalculator
+from selfdrive.car.subaru.values import HYBRID_CARS
 
 
 class CarState(CarStateBase):
@@ -19,7 +20,9 @@ def __init__(self, CP):
   def update(self, cp, cp_cam, cp_body):
     ret = car.CarState.new_message()
 
-    ret.gas = cp.vl["Throttle"]["Throttle_Pedal"] / 255.
+    throttle_msg = cp.vl["Throttle"] if self.car_fingerprint not in HYBRID_CARS else cp_body.vl["Throttle_Hybrid"]
+    ret.gas = throttle_msg["Throttle_Pedal"] / 255.
+
     ret.gasPressed = ret.gas > 1e-5
     if self.car_fingerprint in PREGLOBAL_CARS:
       ret.brakePressed = cp.vl["Brake_Pedal"]["Brake_Pedal"] > 2
@@ -46,7 +49,8 @@ def update(self, cp, cp_cam, cp_body):
       ret.leftBlindspot = (cp.vl["BSD_RCTA"]["L_ADJACENT"] == 1) or (cp.vl["BSD_RCTA"]["L_APPROACHING"] == 1)
       ret.rightBlindspot = (cp.vl["BSD_RCTA"]["R_ADJACENT"] == 1) or (cp.vl["BSD_RCTA"]["R_APPROACHING"] == 1)
 
-    can_gear = int(cp.vl["Transmission"]["Gear"])
+    cp_transmission = cp_body if self.car_fingerprint in HYBRID_CARS else cp
+    can_gear = int(cp_transmission.vl["Transmission"]["Gear"])
     ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
 
     ret.steeringAngleDeg = cp.vl["Steering_Torque"]["Steering_Angle"]
@@ -62,8 +66,12 @@ def update(self, cp, cp_cam, cp_body):
     ret.steeringPressed = abs(ret.steeringTorque) > steer_threshold
 
     cp_cruise = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp
-    ret.cruiseState.enabled = cp_cruise.vl["CruiseControl"]["Cruise_Activated"] != 0
-    ret.cruiseState.available = cp_cruise.vl["CruiseControl"]["Cruise_On"] != 0
+    if self.car_fingerprint in HYBRID_CARS:
+      ret.cruiseState.enabled = cp_cam.vl["ES_DashStatus"]['Cruise_Activated'] != 0
+      ret.cruiseState.available = cp_cam.vl["ES_DashStatus"]['Cruise_On'] != 0
+    else:
+      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 \
@@ -77,7 +85,7 @@ def update(self, cp, cp_cam, cp_body):
                         cp.vl["BodyInfo"]["DOOR_OPEN_FL"]])
     ret.steerFaultPermanent = cp.vl["Steering_Torque"]["Steer_Error_1"] == 1
 
-    cp_es_distance = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp_cam
+    cp_es_distance = cp_body if self.car_fingerprint in (GLOBAL_GEN2 | HYBRID_CARS) else cp_cam
     if self.car_fingerprint in PREGLOBAL_CARS:
       self.cruise_button = cp_cam.vl["ES_Distance"]["Cruise_Button"]
       self.ready = not cp_cam.vl["ES_DashStatus"]["Not_Ready_Startup"]
@@ -87,63 +95,77 @@ def update(self, cp, cp_cam, cp_body):
       ret.cruiseState.standstill = cp_cam.vl["ES_DashStatus"]["Cruise_State"] == 3
       ret.stockFcw = (cp_cam.vl["ES_LKAS_State"]["LKAS_Alert"] == 1) or \
                      (cp_cam.vl["ES_LKAS_State"]["LKAS_Alert"] == 2)
-      # 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)
+
       self.es_lkas_state_msg = copy.copy(cp_cam.vl["ES_LKAS_State"])
       cp_es_brake = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp_cam
       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
-      self.es_status_msg = copy.copy(cp_es_status.vl["ES_Status"])
-      self.cruise_control_msg = copy.copy(cp_cruise.vl["CruiseControl"])
-      self.brake_status_msg = copy.copy(cp_brakes.vl["Brake_Status"])
 
-    self.es_distance_msg = copy.copy(cp_es_distance.vl["ES_Distance"])
+      if self.car_fingerprint not in HYBRID_CARS: # Hybrid cars don't have es_distance, need a replacement
+        # 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)
+        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"])
 
     return ret
 
   @staticmethod
-  def get_common_global_body_messages():
+  def get_common_global_body_messages(CP):
     messages = [
-      ("CruiseControl", 20),
       ("Wheel_Speeds", 50),
       ("Brake_Status", 50),
     ]
 
+    if CP.carFingerprint not in HYBRID_CARS:
+      messages.append(("CruiseControl", 20))
+
     return messages
 
   @staticmethod
-  def get_common_global_es_messages():
+  def get_common_global_es_messages(CP):
     messages = [
       ("ES_Brake", 20),
-      ("ES_Distance", 20),
-      ("ES_Status", 20),
-      ("ES_Brake", 20),
     ]
 
+    if CP.carFingerprint not in HYBRID_CARS:
+      messages += [
+        ("ES_Distance", 20),
+        ("ES_Status", 20)
+      ]
+
     return messages
 
   @staticmethod
   def get_can_parser(CP):
     messages = [
       # sig_address, frequency
-      ("Throttle", 100),
       ("Dashlights", 10),
-      ("Brake_Pedal", 50),
-      ("Transmission", 100),
       ("Steering_Torque", 50),
       ("BodyInfo", 1),
+      ("Brake_Pedal", 50),
     ]
 
+    if CP.carFingerprint not in HYBRID_CARS:
+      messages += [
+        ("Throttle", 100),
+        ("Transmission", 100)
+      ]
+
     if CP.enableBsm:
       messages.append(("BSD_RCTA", 17))
 
     if CP.carFingerprint not in PREGLOBAL_CARS:
       if CP.carFingerprint not in GLOBAL_GEN2:
-        messages += CarState.get_common_global_body_messages()
+        messages += CarState.get_common_global_body_messages(CP)
 
       messages += [
         ("Dashlights", 10),
@@ -184,7 +206,7 @@ def get_cam_can_parser(CP):
       ]
 
       if CP.carFingerprint not in GLOBAL_GEN2:
-        messages += CarState.get_common_global_es_messages()
+        messages += CarState.get_common_global_es_messages(CP)
 
       if CP.flags & SubaruFlags.SEND_INFOTAINMENT:
         messages.append(("ES_Infotainment", 10))
@@ -193,9 +215,17 @@ def get_cam_can_parser(CP):
 
   @staticmethod
   def get_body_can_parser(CP):
+    messages = []
+
     if CP.carFingerprint in GLOBAL_GEN2:
-      messages = CarState.get_common_global_body_messages()
-      messages += CarState.get_common_global_es_messages()
-      return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.alt)
+      messages += CarState.get_common_global_body_messages(CP)
+      messages += CarState.get_common_global_es_messages(CP)
+
+    if CP.carFingerprint in HYBRID_CARS:
+      messages += [
+        ("Throttle_Hybrid", 40),
+        ("Transmission", 100)
+      ]
+
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.alt)
 
-    return None

selfdrive/car/subaru/interface.py

@@ -3,7 +3,7 @@
 from panda import Panda
 from openpilot.selfdrive.car import get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
-from openpilot.selfdrive.car.subaru.values import CAR, LKAS_ANGLE, GLOBAL_GEN2, PREGLOBAL_CARS, SubaruFlags
+from openpilot.selfdrive.car.subaru.values import CAR, LKAS_ANGLE, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, SubaruFlags
 
 
 class CarInterface(CarInterfaceBase):
@@ -12,7 +12,11 @@ class CarInterface(CarInterfaceBase):
   def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "subaru"
     ret.radarUnavailable = True
-    ret.dashcamOnly = candidate in (PREGLOBAL_CARS | LKAS_ANGLE)
+    # for HYBRID CARS to be upstreamed, we need:
+    #   - replacement for ES_Distance so we can cancel the cruise control
+    #   - to find the Cruise_Activated bit from the car
+    #   - 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
 
     # Detect infotainment message sent from the camera
@@ -68,6 +72,13 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.045, 0.042, 0.20], [0.04, 0.035, 0.045]]
 
+    elif candidate == CAR.CROSSTREK_HYBRID:
+      ret.mass = 1668.
+      ret.wheelbase = 2.67
+      ret.centerToFront = ret.wheelbase * 0.5
+      ret.steerRatio = 17
+      ret.steerActuatorDelay = 0.1
+
     elif candidate in (CAR.FORESTER, CAR.FORESTER_2022):
       ret.mass = 1568.
       ret.wheelbase = 2.67
@@ -107,7 +118,7 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     else:
       raise ValueError(f"unknown car: {candidate}")
 
-    #ret.experimentalLongitudinalAvailable = candidate not in (GLOBAL_GEN2 | PREGLOBAL_CARS | LKAS_ANGLE)
+    #ret.experimentalLongitudinalAvailable = candidate not in (GLOBAL_GEN2 | PREGLOBAL_CARS | LKAS_ANGLE | HYBRID_CARS)
     ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable
 
     if ret.openpilotLongitudinalControl:

selfdrive/car/subaru/values.py

@@ -70,6 +70,7 @@ class CAR:
   IMPREZA_2020 = "SUBARU IMPREZA SPORT 2020"
   FORESTER = "SUBARU FORESTER 2019"
   OUTBACK = "SUBARU OUTBACK 6TH GEN"
+  CROSSTREK_HYBRID = "SUBARU CROSSTREK HYBRID 2020"
   LEGACY = "SUBARU LEGACY 7TH GEN"
   FORESTER_2022 = "SUBARU FORESTER 2022"
   OUTBACK_2023 = "SUBARU OUTBACK 7TH GEN"
@@ -110,6 +111,8 @@ def init_make(self, CP: car.CarParams):
     SubaruCarInfo("Subaru Crosstrek 2020-23"),
     SubaruCarInfo("Subaru XV 2020-21"),
   ],
+  # TODO: is there an XV and Impreza too?
+  CAR.CROSSTREK_HYBRID: SubaruCarInfo("Subaru Crosstrek 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"),
@@ -325,6 +328,24 @@ def init_make(self, CP: car.CarParams):
       b'\xe9\xf6B0\x00',
     ],
   },
+  CAR.CROSSTREK_HYBRID: {
+    (Ecu.abs, 0x7b0, None): [
+      b'\xa2 \x19e\x01',
+      b'\xa2 !e\x01',
+    ],
+    (Ecu.eps, 0x746, None): [
+      b'\x9a\xc2\x01\x00',
+      b'\n\xc2\x01\x00',
+    ],
+    (Ecu.fwdCamera, 0x787, None): [
+      b'\x00\x00el\x1f@ #',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xd7!`@\x07',
+      b'\xd7!`p\a',
+      b'\xf4!`0\x07',
+    ],
+  },
   CAR.FORESTER: {
     (Ecu.abs, 0x7b0, None): [
       b'\xa3 \x18\x14\x00',
@@ -628,6 +649,7 @@ def init_make(self, CP: car.CarParams):
   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.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),
   CAR.FORESTER_PREGLOBAL: dbc_dict('subaru_forester_2017_generated', None),
@@ -639,3 +661,4 @@ def init_make(self, CP: car.CarParams):
 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, }

selfdrive/car/tests/routes.py

@@ -240,6 +240,7 @@ class CarTestRoute(NamedTuple):
   CarTestRoute("8bf7e79a3ce64055|2021-05-24--09-36-27", SUBARU.IMPREZA_2020),
   CarTestRoute("1bbe6bf2d62f58a8|2022-07-14--17-11-43", SUBARU.OUTBACK, segment=10),
   CarTestRoute("c56e69bbc74b8fad|2022-08-18--09-43-51", SUBARU.LEGACY, segment=3),
+  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),
   # Pre-global, dashcam

selfdrive/car/torque_data/substitute.yaml

@@ -76,6 +76,7 @@ VOLKSWAGEN POLO 6TH GEN: VOLKSWAGEN GOLF 7TH GEN
 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 LEGACY 7TH GEN: SUBARU OUTBACK 6TH GEN
 
 # Old subarus don't have much data guessing it's like low torque impreza