diff --git a/panda/examples/query_fw_ssm4_subaru.py b/panda/examples/query_fw_ssm4_subaru.py
new file mode 100755
index 000000000000000..e935bcd693d1b5b
--- /dev/null
+++ b/panda/examples/query_fw_ssm4_subaru.py
@@ -0,0 +1,54 @@
+#!/usr/bin/env python3
+import time
+import struct
+from panda import Panda
+from hexdump import hexdump
+from panda.python.isotp import isotp_send, isotp_recv
+
+if __name__ == "__main__":
+  panda = Panda()
+  panda.set_safety_mode(Panda.SAFETY_ELM327)
+  # 0 - white/grey panda in OBD2, 1 - black panda/comma two + CPv2 in OBD2
+  bus = 1
+  panda.can_clear(bus)
+
+  # OBD Mode 22 PIDs for Subaru
+  # 22 F1 00 SSM ID
+  # 22 F1 82 ROM ID
+  # 22 F1 89 Version string - only 5 non-essential ecus
+  # 22 F1 8E Product code
+  # 22 F1 90 VIN - only 7e0
+  # 22 F1 97 System String
+
+  # ECU TX addresses for Crosstrek 2018 discovered by selfdrive/car/fw_versions.py --scan
+  ecu_list = [0x735, 0x746, 0x747, 0x752, 0x753, 0x780, 0x783, 0x787, 0x7b0, 0x7c4, 0x7d0, 0x7e0, 0x7e1, 0x7f1]
+  # 0x756 responds in accessory mode only
+  #ecu_list = [0x756]
+
+  cmd_list = [0x00, 0x82, 0x89, 0x8e, 0x90, 0x97]
+
+  # Query all proprietary UDS DID ranges
+  # identificationOptionVehicleManufacturerSpecific (22 F1 00 - 7F)
+  #cmd_list = []
+  #for i in range(128):
+  #  cmd_list.append(i)
+
+  # identificationOptionSystemSupplierSpecific (22 F1 F0 - FF)
+  #cmd_list = []
+  #for i in range(240, 256):
+  #  cmd_list.append(i)
+
+  cnt = 1
+
+  for n in cmd_list:
+    for tx_addr in ecu_list:
+      rx_addr = tx_addr + 8
+      cmd = b'\x22\xf1' + n.to_bytes(1, byteorder='big')
+
+      print("%d" % cnt)
+      print('0x%x ' % tx_addr + ''.join(r'\x{:02x}'.format(x) for x in cmd))
+      isotp_send(panda, cmd, tx_addr, bus)
+      ret = isotp_recv(panda, rx_addr, bus)
+      hexdump(ret)
+      print("0x%x %s" % (rx_addr, "".join(map(chr, ret[3:]))))
+      cnt += 1
diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py
index 95b970f125cf06d..d4b7f746aca03fe 100755
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@@ -12,6 +12,10 @@
 from cereal import car
 Ecu = car.CarParams.Ecu
 
+# 0 - white/grey panda connected to OBD2
+# 1 - black panda/comma two + CPv2 connected to OBD2
+bus = 1
+
 def p16(val):
   return struct.pack("!H", val)
 
@@ -42,6 +46,10 @@ def p16(val):
 OBD_VERSION_REQUEST = b'\x09\x04'
 OBD_VERSION_RESPONSE = b'\x49\x04'
 
+SUBARU_VERSION_REQUEST= b'\x22\xf1\x82'
+SUBARU_VERSION_RESPONSE= b'\x62\xf1\x82'
+
+
 
 REQUESTS = [
   # Honda
@@ -61,6 +69,11 @@ def p16(val):
   (
     [TESTER_PRESENT_REQUEST, DEFAULT_DIAGNOSTIC_REQUEST, EXTENDED_DIAGNOSTIC_REQUEST, UDS_VERSION_REQUEST],
     [TESTER_PRESENT_RESPONSE, DEFAULT_DIAGNOSTIC_RESPONSE, EXTENDED_DIAGNOSTIC_RESPONSE, UDS_VERSION_RESPONSE]
+  ),
+  # Subaru
+  (
+    [SUBARU_VERSION_REQUEST],
+    [SUBARU_VERSION_RESPONSE]
   )
 ]
 
@@ -186,13 +199,13 @@ def get_fw_versions(logcan, sendcan, bus, extra=None, timeout=0.1, debug=False,
 
   t = time.time()
   print("Getting vin...")
-  addr, vin = get_vin(logcan, sendcan, 1, retry=10, debug=args.debug)
+  addr, vin = get_vin(logcan, sendcan, bus, retry=10, debug=args.debug)
   print(f"VIN: {vin}")
   print("Getting VIN took %.3f s" % (time.time() - t))
   print()
 
   t = time.time()
-  fw_vers = get_fw_versions(logcan, sendcan, 1, extra=extra, debug=args.debug, progress=True)
+  fw_vers = get_fw_versions(logcan, sendcan, bus, extra=extra, debug=args.debug, progress=True)
   candidates = match_fw_to_car(fw_vers)
 
   print()
diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py
index cda36d50fbd5e7f..5100d88f28aa582 100644
--- a/selfdrive/car/isotp_parallel_query.py
+++ b/selfdrive/car/isotp_parallel_query.py
@@ -30,7 +30,7 @@ def __init__(self, sendcan, logcan, bus, addrs, request, response, functional_ad
 
   def rx(self):
     """Drain can socket and sort messages into buffers based on address"""
-    can_packets = messaging.drain_sock(self.logcan, wait_for_one=True)
+    can_packets = messaging.drain_sock(self.logcan, wait_for_one=False)
 
     for packet in can_packets:
       for msg in packet.can:
diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py
index b75fa9c38667898..aa4ed66ba68417f 100644
--- a/selfdrive/car/subaru/values.py
+++ b/selfdrive/car/subaru/values.py
@@ -15,6 +15,19 @@ class CAR:
   }],
 }
 
+FW_VERSIONS = {
+  CAR.IMPREZA: {
+    # Ecu, addr, subaddr: ROM ID
+    (Ecu.esp, 0x7b0, None): [b'\x7a\x94\x3f\x90\x00'],
+    (Ecu.eps, 0x746, None): [b'\x7a\xc0\x0c\x00'],
+    (Ecu.srs, 0x780, None): [b'\x00\x92\x15\x16\x00'],
+    (Ecu.fwdCamera, 0x787, None): [b'\x00\x00\x64\xb5\x1f\x40\x20\x0e'],
+    (Ecu.engine, 0x7e0, None): [b'\xaa\x61\x66\x73\x07'],
+    (Ecu.transmission, 0x7e1, None): [b'\xe3\xe5\x46\x31\x00'],
+  },
+}
+
+
 STEER_THRESHOLD = {
   CAR.IMPREZA: 80,
 }