commaai · martinl · Dec 4, 2022 · Dec 11, 2022 · Dec 11, 2022 · Jul 5, 2023
diff --git a/.gitmodules b/.gitmodules
@@ -1,6 +1,7 @@
 [submodule "panda"]
   path = panda
-  url = ../../commaai/panda.git
+  url = ../../martinl/panda.git
+  branch = forester-2022-PR
 [submodule "opendbc"]
   path = opendbc
   url = ../../commaai/opendbc.git

diff --git a/docs/CARS.md b/docs/CARS.md
@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system.
 
-# 217 Supported Cars
+# 218 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -141,6 +141,7 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
 |Subaru|Crosstrek 2020-23|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
 |Subaru|Forester 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
+|Subaru|Forester 2022|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru C|
 |Subaru|Impreza 2017-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
 |Subaru|Impreza 2020-22|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
 |Subaru|Legacy 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru B|

diff --git a/panda b/panda
diff --git a/release/files_common b/release/files_common
@@ -560,6 +560,7 @@ opendbc/nissan_x_trail_2017.dbc
 opendbc/nissan_leaf_2018.dbc
 
 opendbc/subaru_global_2017_generated.dbc
+opendbc/subaru_global_2022_generated.dbc
 opendbc/subaru_outback_2015_generated.dbc
 opendbc/subaru_outback_2019_generated.dbc
 opendbc/subaru_forester_2017_generated.dbc

diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py
@@ -36,6 +36,7 @@ class Harness(Enum):
   toyota = "Toyota"
   subaru_a = "Subaru A"
   subaru_b = "Subaru B"
+  subaru_c = "Subaru C"
   fca = "FCA"
   ram = "Ram"
   vw = "VW"

diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py
@@ -1,7 +1,7 @@
 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, GLOBAL_GEN2, PREGLOBAL_CARS, CarControllerParams
+from selfdrive.car.subaru.values import DBC, CAR, GLOBAL_GEN2, PREGLOBAL_CARS, CarControllerParams
 
 
 class CarController:
@@ -41,6 +41,8 @@ def update(self, CC, CS):
 
       if self.CP.carFingerprint in PREGLOBAL_CARS:
         can_sends.append(subarucan.create_preglobal_steering_control(self.packer, apply_steer))
+      elif self.CP.carFingerprint == CAR.FORESTER_2022:
+        can_sends.append(subarucan.create_steering_control_2(self.packer, apply_steer))
       else:
         can_sends.append(subarucan.create_steering_control(self.packer, apply_steer))
 

diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py
@@ -53,9 +53,13 @@ def update(self, cp, cp_cam, cp_body):
     steer_threshold = 75 if self.CP.carFingerprint in PREGLOBAL_CARS else 80
     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 == CAR.FORESTER_2022:
+      ret.cruiseState.enabled = cp_cam.vl["ES_DashStatus"]['Cruise_Activated'] != 0
+      ret.cruiseState.available = cp_cam.vl["ES_DashStatus"]['Cruise_On'] != 0
+    else:
+      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
     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 \

diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py
@@ -23,6 +23,8 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
       ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaru)]
       if candidate in GLOBAL_GEN2:
         ret.safetyConfigs[0].safetyParam |= Panda.FLAG_SUBARU_GEN2
+      elif candidate == CAR.FORESTER_2022:
+        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_SUBARU_FORESTER_2022
 
     ret.steerLimitTimer = 0.4
     ret.steerActuatorDelay = 0.1
@@ -60,7 +62,7 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
       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.FORESTER:
+    elif candidate in (CAR.FORESTER, CAR.FORESTER_2022):
       ret.mass = 1568. + STD_CARGO_KG
       ret.wheelbase = 2.67
       ret.centerToFront = ret.wheelbase * 0.5

diff --git a/selfdrive/car/subaru/subarucan.py b/selfdrive/car/subaru/subarucan.py
@@ -11,6 +11,14 @@ def create_steering_control(packer, apply_steer):
   }
   return packer.make_can_msg("ES_LKAS", 0, values)
 
+def create_steering_control_2(packer, apply_steer):
+  values = {
+    "LKAS_Output": apply_steer,
+    "LKAS_Request": 1 if apply_steer != 0 else 0,
+    "SET_3": 3
+  }
+  return packer.make_can_msg("ES_LKAS_2", 0, values)
+
 def create_steering_status(packer):
   return packer.make_can_msg("ES_LKAS_State", 0, {})
 

diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py
@@ -36,6 +36,7 @@ class CAR:
   IMPREZA = "SUBARU IMPREZA LIMITED 2019"
   IMPREZA_2020 = "SUBARU IMPREZA SPORT 2020"
   FORESTER = "SUBARU FORESTER 2019"
+  FORESTER_2022 = "SUBARU FORESTER 2022"
   OUTBACK = "SUBARU OUTBACK 6TH GEN"
   LEGACY = "SUBARU LEGACY 7TH GEN"
 
@@ -67,6 +68,7 @@ class SubaruCarInfo(CarInfo):
     SubaruCarInfo("Subaru XV 2020-21"),
   ],
   CAR.FORESTER: SubaruCarInfo("Subaru Forester 2019-21", "All"),
+  CAR.FORESTER_2022: SubaruCarInfo("Subaru Forester 2022", harness=Harness.subaru_c),
   CAR.FORESTER_PREGLOBAL: SubaruCarInfo("Subaru Forester 2017-18"),
   CAR.LEGACY_PREGLOBAL: SubaruCarInfo("Subaru Legacy 2015-18"),
   CAR.OUTBACK_PREGLOBAL: SubaruCarInfo("Subaru Outback 2015-17"),
@@ -299,6 +301,27 @@ class SubaruCarInfo(CarInfo):
       b'\x1a\xf6b0\x00',
     ],
   },
+  CAR.FORESTER_2022: {
+    (Ecu.abs, 0x7b0, None): [
+      b'\xa3 !x\x00',
+      b'\xa3 !v\x00',
+    ],
+    (Ecu.eps, 0x746, None): [
+      b'-\xc0%0',
+      b'-\xc0\x040',
+    ],
+    (Ecu.fwdCamera, 0x787, None): [
+      b'\x04!\x01\x1eD\x07!\x00\x04,'
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xd5"a0\x07',
+      b'\xd5"`0\x07',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\x1d\x86B0\x00',
+      b'\x1d\xf6B0\x00',
+    ],
+  },
   CAR.FORESTER_PREGLOBAL: {
     (Ecu.abs, 0x7b0, None): [
       b'\x7d\x97\x14\x40',
@@ -505,6 +528,7 @@ class SubaruCarInfo(CarInfo):
   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.FORESTER_2022: dbc_dict('subaru_global_2022_generated', None),
   CAR.OUTBACK: 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),

diff --git a/selfdrive/car/torque_data/substitute.yaml b/selfdrive/car/torque_data/substitute.yaml
@@ -69,6 +69,7 @@ SEAT LEON 3RD GEN: VOLKSWAGEN GOLF 7TH GEN
 SEAT ATECA 1ST GEN: VOLKSWAGEN GOLF 7TH GEN
 
 SUBARU LEGACY 7TH GEN: SUBARU OUTBACK 6TH GEN
+SUBARU FORESTER 2022: SUBARU FORESTER 2019
 
 # Old subarus don't have much data guessing it's like low torque impreza
 SUBARU OUTBACK 2018 - 2019: SUBARU IMPREZA LIMITED 2019
+41 −3		board/safety/safety_subaru.h
+1 −0		python/__init__.py
+18 −0		tests/safety/test_subaru.py