Recognize Outback Wilderness camera firmware and credit jacobw Subaru support

CREDITS.md

@@ -37,3 +37,9 @@ The Pre-AP configuration, pedal codec/feedback, VirtualDAS feedforward table, gr
 ## Ford optional pinion measurement
 
 The default-off Use Pinion Yaw Sensor measurement option is adapted from jrneulight’s BluePilot PR #145 (https://github.com/BluePilotDev/bluepilot/pull/145), merged as `fe5b019568c8c13fb894dc6d8d779d60985051a8`. Its per-platform geometry, native pinion measurement, integrity requirements and host vehicle-model compensation are retained. StarPilot adapts the option to its existing exact safety-profile word, modern curvature checks, AOL authority and Galaxy/native settings; the upstream maintainers do not maintain this integration. Existing upstream copyright and license notices remain in THIRD_PARTY_NOTICES.md.
+
+## Subaru angle steering from Jacob Waller's fork
+
+Subaru angle support includes implementation maintained and integrated by **Jacob Waller (jacobw)** in [jacobwaller/openpilot, jul-angle-based](https://github.com/jacobwaller/openpilot/tree/542816196a18dba5f6f0af093c1ece4f415b5a22), with its [opendbc implementation at 8acbeccdab45a47aa7af170d2d17b61f0eb5e4f0](https://github.com/jacobwaller/opendbc/tree/8acbeccdab45a47aa7af170d2d17b61f0eb5e4f0). Jacob authored the VehicleModel angle-limit type correction and integrated the Crosstrek support. The branch also retains the original angle implementation and follow-up work by **lukasloetkolben and elkoled**, alongside comma contributors; their authorship remains theirs.
+
+The inherited source covers Subaru angle platform/firmware definitions, `ES_Status` cruise state, angle controller/CAN integration, vehicle-model limits and native angle enforcement. StarPilot has additional platform-specific limits, driver handoff, discovery and AOL safety guards; this attribution does not claim identical tuning or complete parity with the reference fork. Original source commits, author names, emails and titles are recorded in [the Subaru origin history](opendbc_repo/opendbc/car/subaru/ORIGIN_HISTORY.tsv).

THIRD_PARTY_NOTICES.md

@@ -140,3 +140,7 @@ dbus-next 0.2.3 (MIT), ifaddr 0.2.0 (MIT) and Zeroconf 0.151.3
 `vendor/VENDOR.json` records each PyPI source file and its SHA-256. Zeroconf is
 kept as separate, unmodified source files that can be replaced with another
 compatible version, as the LGPL requires.
+
+## Subaru angle support from jacobw
+
+The Subaru angle implementation includes work from Jacob Waller's `jul-angle-based` openpilot/opendbc branches and their upstream contributors. See [CREDITS.md](CREDITS.md#subaru-angle-steering-from-jacob-wallers-fork) and `opendbc_repo/opendbc/car/subaru/ORIGIN_HISTORY.tsv` for pinned sources, original authors and titles. The source repositories publish the comma MIT license; the complete applicable notice remains in the project `LICENSE` and `opendbc_repo/LICENSE`. StarPilot's adaptations preserve additional native and caller safety guards.

opendbc_repo/opendbc/car/subaru/ORIGIN_HISTORY.tsv

@@ -0,0 +1,17 @@
+source_repository	commit	author_name	author_email	original_title
+jacobwaller/opendbc	8b4703bbd678f643659102350d54bc8477c4746f	lukasloetkolben	61192133+lukasloetkolben@users.noreply.github.com	Subaru: Add 2025 Crosstrek angle steering support
+jacobwaller/opendbc	e49bb48bba83078ece71dcfd470990c4a29eee38	elkoled	elkoled@gmail.com	reduce angle rate limit
+jacobwaller/opendbc	7aedc019d208018b6a23f0c071d54eb2a3c86c9d	elkoled	elkoled@gmail.com	add deadband
+jacobwaller/opendbc	9d217de804bf95bd42c838c4e2c57aeb45f31ccc	lukasloetkolben	61192133+lukasloetkolben@users.noreply.github.com	add SUBARU_CROSSTREK_2025 fingerprint
+jacobwaller/opendbc	f3cdd5ff7d1f7415bbc10214f3cd83681bf093ce	lukasloetkolben	61192133+lukasloetkolben@users.noreply.github.com	add fingerprint
+jacobwaller/opendbc	42889e319eb73599ee66b350a777aa68130b1bca	lukasloetkolben	61192133+lukasloetkolben@users.noreply.github.com	10 m/s
+jacobwaller/opendbc	0dd4797ad9eeaf1de66bd99b8c458209b6110611	lukasloetkolben	61192133+lukasloetkolben@users.noreply.github.com	add route
+jacobwaller/opendbc	128daadb19b61b3d54e0e212043fbc7a0412ba46	lukasloetkolben	61192133+lukasloetkolben@users.noreply.github.com	speed dependent steering deadzone
+jacobwaller/opendbc	a358966bc6099b9e022e0a6f0e1647928f904107	lukasloetkolben	61192133+lukasloetkolben@users.noreply.github.com	deadzone filter
+jacobwaller/opendbc	a116120c3b149f02bccbb87665e35122cc9626c8	lukasloetkolben	61192133+lukasloetkolben@users.noreply.github.com	remove unrelated dbc
+jacobwaller/opendbc	3d4400559133d0dbcff6c55abfc37f47ec03a620	lukasloetkolben	61192133+lukasloetkolben@users.noreply.github.com	ES_Status->Cruise_Activated
+jacobwaller/opendbc	db8d3aee3c90013e44aa70f56bb9896d8a42c4cb	lukasloetkolben	61192133+lukasloetkolben@users.noreply.github.com	use ES_Status
+jacobwaller/opendbc	19df75992398f6661c7ed18a1914219d42e5883f	elkoled	elkoled@gmail.com	lateral clip target to avoid jerk violation
+jacobwaller/opendbc	8acbeccdab45a47aa7af170d2d17b61f0eb5e4f0	Jacob Waller	jacobwaller@Jacobs-MacBook-Pro.local	subaru: fix ANGLE_LIMITS to use AngleSteeringLimitsVM
+jacobwaller/openpilot	156ee4240d9029fbf97a1fd87a4e774e4578ddf1	Jacob Waller	jacobwaller@Jacobs-MacBook-Pro.local	bump opendbc to jul-angle-based (Subaru Crosstrek 2025 angle steering)
+jacobwaller/openpilot	542816196a18dba5f6f0af093c1ece4f415b5a22	Jacob Waller	jacobwaller@Jacobs-MacBook-Pro.local	FF 'da Crosstrek

opendbc_repo/opendbc/car/subaru/fingerprints.py

@@ -584,6 +584,7 @@ FW_VERSIONS = {
     ],
     (Ecu.fwdCamera, 0x787, None): [
       b'\t!\x08\x046\x05!\x08\x01/',
+      b'\t!\x08\x046\x00\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x7a2, None): [
       b'\xed,\xa0q\x07',

opendbc_repo/opendbc/car/subaru/tests/test_outback_wilderness_firmware.py

@@ -0,0 +1,42 @@
+"""Recorded 2024 Outback Wilderness identity, with discovery guards intact."""
+import pytest
+
+from opendbc.car import structs
+from opendbc.car.fw_versions import match_fw_to_car
+from opendbc.car.subaru.values import CAR
+
+
+def observed_firmware():
+  # Real non-logging replies; no transmission/EPS reply was available.
+  return [structs.CarParams.CarFw(ecu=ecu, address=address, fwVersion=bytes.fromhex(version), brand='subaru')
+          for ecu, address, version in (
+            (structs.CarParams.Ecu.abs, 0x7b0, 'a120241700'),
+            (structs.CarParams.Ecu.engine, 0x7a2, 'fb2ca27007'),
+            (structs.CarParams.Ecu.fwdCamera, 0x787, '09210804360000000000'),
+          )]
+
+
+def test_recorded_wilderness_automatically_matches_without_a_manual_override():
+  exact, matches = match_fw_to_car(observed_firmware(), '0' * 17, log=False)
+  assert exact
+  assert matches == {CAR.SUBARU_OUTBACK_2023}
+
+
+@pytest.mark.parametrize('ecu', (structs.CarParams.Ecu.abs, structs.CarParams.Ecu.engine, structs.CarParams.Ecu.fwdCamera))
+@pytest.mark.parametrize('failure', ('missing', 'unknown', 'mixed'))
+def test_recorded_wilderness_rejects_incomplete_or_contradictory_platform_ecus(ecu, failure):
+  records = observed_firmware()
+  target = next(record for record in records if record.ecu == ecu)
+  if failure != 'mixed':
+    records.remove(target)
+  if failure != 'missing':
+    records.append(structs.CarParams.CarFw(ecu=ecu, address=target.address, fwVersion=b'unknown firmware', brand='subaru'))
+  _, matches = match_fw_to_car(records, '0' * 17, log=False)
+  assert not matches
+
+
+def test_recorded_wilderness_does_not_accept_the_diagnostic_camera_response():
+  records = observed_firmware()
+  records[-1].fwVersion = bytes.fromhex('20020e')
+  _, matches = match_fw_to_car(records, '0' * 17, log=False)
+  assert not matches

prebuilt.json

@@ -1 +1 @@
-{"protected_inventory_sha256": "9f4c75c4032a85b550d4327a8534c9fa207749ca4b69864dd7ddf433539c6174", "schema_version": 1}
+{"protected_inventory_sha256": "af5e3a835fba4429405da7e9b6c318ceb40aaa118d5708e62e00d4c947a5845b", "schema_version": 1}