Restore Subaru Firmware Recognition

opendbc_repo/opendbc/car/subaru/fingerprints.py

@@ -37,18 +37,24 @@ FW_VERSIONS = {
   CAR.SUBARU_ASCENT_2023: {
     (Ecu.abs, 0x7b0, None): [
       b'\xa5 #\x03\x00',
+      b'\xa5 %\x03\x01',
     ],
     (Ecu.eps, 0x746, None): [
       b'%\xc0\xd0\x11',
+      b'U\xc0\xd0\x10',
     ],
     (Ecu.fwdCamera, 0x787, None): [
       b'\x05!\x08\x1dK\x05!\x08\x01/',
+      b'\x17!\x08\x01A\x12!\x08\x00;',
+      b'\x17!\x08\x01A\x00\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x7a2, None): [
       b'\xe5,\xa0P\x07',
+      b'\x11,\xa00\x07',
     ],
     (Ecu.transmission, 0x7a3, None): [
       b'\x04\xfe\xf3\x00\x00',
+      b'\x05\xfe\xe7\x00\x00',
     ],
   },
   CAR.SUBARU_LEGACY: {
@@ -587,4 +593,37 @@ FW_VERSIONS = {
       b'\xa8\xfe\xf41\x00',
     ],
   },
+
+  CAR.SUBARU_CROSSTREK_2025: {
+    (Ecu.abs, 0x7b0, None): [
+      b'\xa2 $\x15\x05',
+      b'\xa2 $\x17\x06',
+    ],
+    (Ecu.fwdCamera, 0x787, None): [
+      b'\x1d!\x08\x00F\x14!\x08\x00=',
+      b'\x1b!\x08\x00D\x11!\x08\x01;',
+    ],
+    (Ecu.engine, 0x7a2, None): [
+      b'\x04"cP\x07',
+      b'\xe8!cp\x07',
+    ],
+  },
+
+  CAR.SUBARU_LEGACY_2025: {
+    (Ecu.abs, 0x7b0, None): [
+      b'\xa1 $\x11\x00',
+    ],
+    (Ecu.eps, 0x746, None): [
+      b'[\xc0\xd1\x10\x00',
+    ],
+    (Ecu.fwdCamera, 0x787, None): [
+      b'\x1a!\x08\x00C\x0e!\x08\x018',
+    ],
+    (Ecu.engine, 0x7a2, None): [
+      b'\x08,\xa0p\x07',
+    ],
+    (Ecu.transmission, 0x7a3, None): [
+      b'\xeb\x17U!r',
+    ],
+  },
 }

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

@@ -0,0 +1,69 @@
+"""Supported Subaru identities preserve exact matching and stock-only admission."""
+import unittest
+
+from opendbc.car.structs import CarParams
+from opendbc.car.fw_versions import match_fw_to_car_exact
+from opendbc.car.subaru.fingerprints import FW_VERSIONS
+from opendbc.car.subaru.interface import CarInterface
+from opendbc.car.subaru.values import CAR
+
+RESTORED = [
+  ('SUBARU_ASCENT_2023', 'abs', 1968, 'a520250301'),
+  ('SUBARU_ASCENT_2023', 'eps', 1862, '55c0d010'),
+  ('SUBARU_ASCENT_2023', 'fwdCamera', 1927, '1721080141122108003b'),
+  ('SUBARU_ASCENT_2023', 'fwdCamera', 1927, '17210801410000000000'),
+  ('SUBARU_ASCENT_2023', 'engine', 1954, '112ca03007'),
+  ('SUBARU_ASCENT_2023', 'transmission', 1955, '05fee70000'),
+  ('SUBARU_CROSSTREK_2025', 'abs', 1968, 'a220241505'),
+  ('SUBARU_CROSSTREK_2025', 'abs', 1968, 'a220241706'),
+  ('SUBARU_CROSSTREK_2025', 'fwdCamera', 1927, '1d21080046142108003d'),
+  ('SUBARU_CROSSTREK_2025', 'fwdCamera', 1927, '1b21080044112108013b'),
+  ('SUBARU_CROSSTREK_2025', 'engine', 1954, '0422635007'),
+  ('SUBARU_CROSSTREK_2025', 'engine', 1954, 'e821637007'),
+  ('SUBARU_LEGACY_2025', 'abs', 1968, 'a120241100'),
+  ('SUBARU_LEGACY_2025', 'eps', 1862, '5bc0d11000'),
+  ('SUBARU_LEGACY_2025', 'fwdCamera', 1927, '1a210800430e21080138'),
+  ('SUBARU_LEGACY_2025', 'engine', 1954, '082ca07007'),
+  ('SUBARU_LEGACY_2025', 'transmission', 1955, 'eb17552172'),
+]
+
+
+class TestSupportedSubaruFirmware(unittest.TestCase):
+  def test_each_restored_identity_reaches_the_real_exact_matcher(self):
+    for name, ecu_name, address, encoded in RESTORED:
+      with self.subTest(platform=name, ecu=ecu_name, firmware=encoded):
+        platform = CAR[name]
+        self.assertIn(platform, FW_VERSIONS)
+        versions = FW_VERSIONS[platform]
+        live = {(addr, sub): {values[0]} for (_, addr, sub), values in versions.items()}
+        live[address, None] = {bytes.fromhex(encoded)}
+        self.assertEqual(match_fw_to_car_exact(live, match_brand='subaru', log=False), {platform})
+
+  def test_unknown_engine_and_camera_still_reject_the_platform(self):
+    for name in sorted({row[0] for row in RESTORED}):
+      platform = CAR[name]
+      for (ecu, address, sub), _ in FW_VERSIONS[platform].items():
+        if ecu not in (CarParams.Ecu.engine, CarParams.Ecu.fwdCamera):
+          continue
+        with self.subTest(platform=name, ecu=ecu):
+          live = {(addr, sa): {values[0]} for (_, addr, sa), values in FW_VERSIONS[platform].items()}
+          live[address, sub] = {b'unknown firmware'}
+          self.assertNotIn(platform, match_fw_to_car_exact(live, match_brand='subaru', log=False))
+
+  def test_existing_stock_admission_and_disabled_alpha_are_preserved(self):
+    words = {CAR.SUBARU_ASCENT_2023: 177, CAR.SUBARU_CROSSTREK_2025: 17, CAR.SUBARU_LEGACY_2025: 145}
+    for platform, word in words.items():
+      for alpha in (False, True):
+        for release in (False, True):
+          with self.subTest(platform=platform, alpha=alpha, release=release):
+            cp = CarInterface.get_params(platform, {0: {}, 1: {}, 2: {}}, [], alpha, release, False)
+            self.assertFalse(cp.dashcamOnly)
+            self.assertFalse(cp.alphaLongitudinalAvailable)
+            self.assertFalse(cp.openpilotLongitudinalControl)
+            self.assertTrue(cp.pcmCruise)
+            self.assertEqual(cp.safetyConfigs[0].safetyParam, word)
+
+  def test_three_byte_diagnostic_response_is_not_a_camera_identity(self):
+    for platform in (CAR.SUBARU_ASCENT_2023, CAR.SUBARU_LEGACY_2025):
+      for versions in FW_VERSIONS[platform].values():
+        self.assertNotIn(bytes.fromhex('20020e'), versions)