From 4796f674dacd6d549ac6b552491ceb763b165325 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 28 May 2023 19:51:22 -0400
Subject: [PATCH] Higher torque limit (3071) for 2018 Crosstrek / 2017 Impreza
 @ClockeNessMnstr (#146)

* Higher torque limit (3071) for 2018 Crosstrek / 2017 Impreza @ClockeNessMnstr

* bump panda

* set with int flag

* bump panda

* flag

* sync tune

* bump panda

* fix

* fix

* oops

* update FW

* List comprehension

* bump panda
---
 panda                             | 2 +-
 selfdrive/car/subaru/interface.py | 6 ++++++
 selfdrive/car/subaru/values.py    | 3 +++
 3 files changed, 10 insertions(+), 1 deletion(-)

diff --git a/panda b/panda
index ea44b41f91..03cc1738f0 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit ea44b41f918dc3dddabf56320779126400f75f08
+Subproject commit 03cc1738f02346a806295a5de29d3ad528dc26d5
diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py
index 60c3c9dd22..3f5f6f8e87 100644
--- a/selfdrive/car/subaru/interface.py
+++ b/selfdrive/car/subaru/interface.py
@@ -52,6 +52,12 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kf = 0.00005
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.3], [0.02, 0.03]]
+      # Certain Impreza / Crosstrek EPS use 3071 max value and do not work with stock value/scaling.
+      if any(fw.ecu == "eps" and fw.fwVersion in (b'z\xc0\x00\x00', b'z\xc0\x04\x00', b'z\xc0\x08\x00', b'\x8a\xc0\x00\x00') for fw in car_fw):
+        ret.safetyConfigs[0].safetyParam = Panda.FLAG_SUBARU_MAX_STEER_IMPREZA_2018
+        ret.steerActuatorDelay = 0.18  # measured
+        ret.lateralTuning.pid.kf = 0.00003333
+        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.133, 0.2], [0.0133, 0.02]]
 
     elif candidate == CAR.IMPREZA_2020:
       ret.mass = 1480. + STD_CARGO_KG
diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py
index f90f015bfb..82650e77d5 100644
--- a/selfdrive/car/subaru/values.py
+++ b/selfdrive/car/subaru/values.py
@@ -1,5 +1,6 @@
 from dataclasses import dataclass
 from enum import IntFlag
+from panda import Panda
 from typing import Dict, List, Union
 
 from cereal import car
@@ -26,6 +27,8 @@ class CarControllerParams:
       self.STEER_DELTA_DOWN = 40
     elif CP.carFingerprint == CAR.IMPREZA_2020:
       self.STEER_MAX = 1439
+    elif CP.safetyConfigs[0].safetyParam == Panda.FLAG_SUBARU_MAX_STEER_IMPREZA_2018:
+      self.STEER_MAX = 3071
     else:
       self.STEER_MAX = 2047