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commaai
Subaru: Forester 2022 support
Describe the bug
I recently got the comma three and my device will only work in dashcam mode on my 22 Subaru Forester Wilderness. I’m new to all this so I hope I report all this correctly, I apologize in advance.
Which car does this affect?
Subaru Forester Wilderness 2022
Provide a route where the issue occurs
8db3f557a1e70a1a|2022-11-26--19-49-23
openpilot version
Master-ci
Additional info
I first tried the open pilot release dashcam mode only then the Subaru communities fork/branch (sorry new here) and that was dash cam mode only then read the help page for fingerprinting and tried master-ci version and still dashcam mode only. I truly appreciate your help!
Thank you for labeling all this correctly for me, I appreciate your help on this.
I looked at the route and required carFw values for Subaru are missing Eyesight ecu response (0x787).
We also tried to run fw_versions.py --scan on c3 via ssh but no luck:
Found FW versions
{
Brand: hyundai , bus: 1 - (Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00\x00\x00\x02']
Brand: hyundai , bus: 1 - (Ecu.fwdCamera, 0x7c4, None): [b'\xf1\x00\xac\x02\x00']
Brand: hyundai , bus: 1 - (Ecu.transmission, 0x7e1, None): [b'\xf1\x00\xd7\x10@']
Brand: hyundai , bus: 1 - (Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00\x00\x00\x02']
Brand: hyundai , bus: 1 - (Ecu.transmission, 0x7e1, None): [b'\xf1\x00\xd7\x10@']
Brand: subaru , bus: 1 - (Ecu.abs, 0x7b0, None): [b'\xa3 !x\x00']
Brand: subaru , bus: 1 - (Ecu.eps, 0x746, None): [b'-\xc0%0']
Brand: subaru , bus: 1 - (Ecu.engine, 0x7e0, None): [b'\xd5"a0\x07']
Brand: subaru , bus: 1 - (Ecu.transmission, 0x7e1, None): [b'\x1d\x86B0\x00']
Brand: subaru , bus: 1 - (Ecu.unknown, 0x717, None): [b'\xb3 !\x01\x00']
Brand: volkswagen, bus: 1 - (Ecu.transmission, 0x7e1, None): [b'\xf1\x82\x1d\x86B0\x00']
}
Possible matches: set()
Getting fw took 4.573 s
then stopped openpilot and ran ./panda/examples/query_fw_versions.py
comma@tici:/data/openpilot$ ./panda/examples/query_fw_versions.py
opening device 0b0026001850335332313620 0xddcc
connected
querying addresses ...
0x18dafff1: 100%|████████| 512/512 [01:49<00:00, 4.69it/s]
Results for address 0x717
0xF182 APPLICATION_DATA_IDENTIFICATION: b'\xb3 !\x01\x00'
0xF186 ACTIVE_DIAGNOSTIC_SESSION: b'\x03'
0xF197 SYSTEM_NAME_OR_ENGINE_TYPE: b'Electric Brake Booster '
0xF198 REPAIR_SHOP_CODE_OR_TESTER_SERIAL_NUMBER: b'\x11\x11\x11\x11'
Results for address 0x742
0xF182 APPLICATION_DATA_IDENTIFICATION: b'\xf1\x00\x01'
0xF186 ACTIVE_DIAGNOSTIC_SESSION: b'\x03'
0xF189 VEHICLE_MANUFACTURER_ECU_SOFTWARE_VERSION_NUMBER: b'050000\x00\x00\x00\x00'
0xF18E VEHICLE_MANUFACTURER_KIT_ASSEMBLY_PART_NUMBER: b'87611VC002'
0xF197 SYSTEM_NAME_OR_ENGINE_TYPE: b'RADAR ASSY B&S LH '
0xF198 REPAIR_SHOP_CODE_OR_TESTER_SERIAL_NUMBER: b'\xff\x00\x00\x00'
Results for address 0x743
0xF182 APPLICATION_DATA_IDENTIFICATION: b'\xf1\x10\x01'
0xF186 ACTIVE_DIAGNOSTIC_SESSION: b'\x03'
0xF189 VEHICLE_MANUFACTURER_ECU_SOFTWARE_VERSION_NUMBER: b'050000\x00\x00\x00\x00'
0xF18E VEHICLE_MANUFACTURER_KIT_ASSEMBLY_PART_NUMBER: b'87611VC002'
0xF197 SYSTEM_NAME_OR_ENGINE_TYPE: b'RADAR ASSY B&S RH '
0xF198 REPAIR_SHOP_CODE_OR_TESTER_SERIAL_NUMBER: b'\xff\x00\x00\x00'
Results for address 0x746
0xF182 APPLICATION_DATA_IDENTIFICATION: b'-\xc0%0'
0xF197 SYSTEM_NAME_OR_ENGINE_TYPE: b'Power Steering System '
Results for address 0x747
0xF182 APPLICATION_DATA_IDENTIFICATION: b'!2$\x10'
0xF186 ACTIVE_DIAGNOSTIC_SESSION: b'\x03'
0xF189 VEHICLE_MANUFACTURER_ECU_SOFTWARE_VERSION_NUMBER: b'6046P-10'
0xF18E VEHICLE_MANUFACTURER_KIT_ASSEMBLY_PART_NUMBER: b'84051SJ060'
0xF197 SYSTEM_NAME_OR_ENGINE_TYPE: b'Automatic Headlight Leveling '
Results for address 0x752 *
0xF182 APPLICATION_DATA_IDENTIFICATION: b'G\x83 \x03'
0xF186 ACTIVE_DIAGNOSTIC_SESSION: b'\x03'
0xF197 SYSTEM_NAME_OR_ENGINE_TYPE: b'Integ. Unit mode '
0xF198 REPAIR_SHOP_CODE_OR_TESTER_SERIAL_NUMBER: b'\x00\x00\x00\x00'
Results for address 0x753
0xF182 APPLICATION_DATA_IDENTIFICATION: b'\r\xaa\x04\x00'
0xF197 SYSTEM_NAME_OR_ENGINE_TYPE: b'Tire pressure monitor '
Results for address 0x776
0xF182 APPLICATION_DATA_IDENTIFICATION: b'$\x00!\x04@'
0xF186 ACTIVE_DIAGNOSTIC_SESSION: b'\x03'
0xF189 VEHICLE_MANUFACTURER_ECU_SOFTWARE_VERSION_NUMBER: b'DCM_30.11.07_20210802\x00\x00\x00\x00'
0xF18E VEHICLE_MANUFACTURER_KIT_ASSEMBLY_PART_NUMBER: b'86222SJ210'
0xF197 SYSTEM_NAME_OR_ENGINE_TYPE: b'Data Communication Module\x00\x00\x00\x00\x00\x00\x00'
0xF198 REPAIR_SHOP_CODE_OR_TESTER_SERIAL_NUMBER: b'\x7f$\x9dX'
Results for address 0x780
0xF182 APPLICATION_DATA_IDENTIFICATION: b'\x90\x167\x00\x01'
0xF186 ACTIVE_DIAGNOSTIC_SESSION: b'\x03'
0xF189 VEHICLE_MANUFACTURER_ECU_SOFTWARE_VERSION_NUMBER: b'\x00\x00\x00\x00\x00'
0xF18E VEHICLE_MANUFACTURER_KIT_ASSEMBLY_PART_NUMBER: b'98221SJ370'
0xF197 SYSTEM_NAME_OR_ENGINE_TYPE: b'Airbag System\x7f\x7f\x7f\x7f\x7f\x7f\x7f\x7f\x7f\x7f\x7f\x7f\x7f\x7f\x7f\x7f\x7f\x7f\x7f'
0xF198 REPAIR_SHOP_CODE_OR_TESTER_SERIAL_NUMBER: b'\xd5R\xab\x95'
Results for address 0x783
0xF182 APPLICATION_DATA_IDENTIFICATION: b'214\x00\x02'
0xF186 ACTIVE_DIAGNOSTIC_SESSION: b'\x03'
0xF189 VEHICLE_MANUFACTURER_ECU_SOFTWARE_VERSION_NUMBER: b'214A050000'
0xF18E VEHICLE_MANUFACTURER_KIT_ASSEMBLY_PART_NUMBER: b'85012SJ540'
0xF197 SYSTEM_NAME_OR_ENGINE_TYPE: b'METER '
0xF198 REPAIR_SHOP_CODE_OR_TESTER_SERIAL_NUMBER: b'\x00\x00\x00\x00'
Results for address 0x786
0xF182 APPLICATION_DATA_IDENTIFICATION: b'\xab\t@'
0xF186 ACTIVE_DIAGNOSTIC_SESSION: b'\x03'
0xF189 VEHICLE_MANUFACTURER_ECU_SOFTWARE_VERSION_NUMBER: b'V9816000'
0xF18E VEHICLE_MANUFACTURER_KIT_ASSEMBLY_PART_NUMBER: b'87631SJ020'
0xF197 SYSTEM_NAME_OR_ENGINE_TYPE: b'Sonar system '
0xF198 REPAIR_SHOP_CODE_OR_TESTER_SERIAL_NUMBER: b'\x01\x02\x04\x03'
Results for address 0x787
0xF182 APPLICATION_DATA_IDENTIFICATION: b'\x04!\x01\x1eD\x07!\x00\x04,'
0xF186 ACTIVE_DIAGNOSTIC_SESSION: b'\x01'
0xF197 SYSTEM_NAME_OR_ENGINE_TYPE: b'EyeSight '
0xF198 REPAIR_SHOP_CODE_OR_TESTER_SERIAL_NUMBER: b'!\x853F'
Results for address 0x7B0 *
0xF182 APPLICATION_DATA_IDENTIFICATION: b'\xa3 !x\x00'
0xF186 ACTIVE_DIAGNOSTIC_SESSION: b'\x03'
0xF18E VEHICLE_MANUFACTURER_KIT_ASSEMBLY_PART_NUMBER: b'27536SJ140'
0xF197 SYSTEM_NAME_OR_ENGINE_TYPE: b'VDC/Parking Brake System '
0xF198 REPAIR_SHOP_CODE_OR_TESTER_SERIAL_NUMBER: b'\x11\x11\x11\x11'
Results for address 0x7B4
0xF182 APPLICATION_DATA_IDENTIFICATION: b'\x00\x02\x00\x100'
0xF186 ACTIVE_DIAGNOSTIC_SESSION: b'\x03'
0xF189 VEHICLE_MANUFACTURER_ECU_SOFTWARE_VERSION_NUMBER: b'0002001030'
0xF197 SYSTEM_NAME_OR_ENGINE_TYPE: b'Keyless Access & Push Start (C) '
0xF198 REPAIR_SHOP_CODE_OR_TESTER_SERIAL_NUMBER: b'KATO'
Results for address 0x7C1
0xF182 APPLICATION_DATA_IDENTIFICATION: b'\x00\x01\x00\x110'
0xF186 ACTIVE_DIAGNOSTIC_SESSION: b'\x03'
0xF189 VEHICLE_MANUFACTURER_ECU_SOFTWARE_VERSION_NUMBER: b'0001001130'
0xF197 SYSTEM_NAME_OR_ENGINE_TYPE: b'Keyless Access & Push Start (P) '
0xF198 REPAIR_SHOP_CODE_OR_TESTER_SERIAL_NUMBER: b'KATO'
Results for address 0x7C4
0xF182 APPLICATION_DATA_IDENTIFICATION: b'"\x02\x10\x01\x01'
0xF186 ACTIVE_DIAGNOSTIC_SESSION: b'\x03'
0xF189 VEHICLE_MANUFACTURER_ECU_SOFTWARE_VERSION_NUMBER: b'S2V ver7.60'
0xF197 SYSTEM_NAME_OR_ENGINE_TYPE: b'Air Condition System '
Results for address 0x7D0
0xF182 APPLICATION_DATA_IDENTIFICATION: b'\x00\x00\x01'
0xF186 ACTIVE_DIAGNOSTIC_SESSION: b'\x01'
0xF18E VEHICLE_MANUFACTURER_KIT_ASSEMBLY_PART_NUMBER: b'86271SJ650'
0xF197 SYSTEM_NAME_OR_ENGINE_TYPE: b'Infotainment System\x7f\x7f\x7f\x7f\x7f\x7f\x7f\x7f\x7f\x7f\x7f\x7f\x7f'
0xF198 REPAIR_SHOP_CODE_OR_TESTER_SERIAL_NUMBER: b'\xff\xff\xff\xff'
Results for address 0x7D5
0xF182 APPLICATION_DATA_IDENTIFICATION: b'\x02\x9f\x81\x02\x00\x04\x84\x82\x10\x00'
0xF186 ACTIVE_DIAGNOSTIC_SESSION: b'\x03'
0xF189 VEHICLE_MANUFACTURER_ECU_SOFTWARE_VERSION_NUMBER: b'4848100020'
0xF18E VEHICLE_MANUFACTURER_KIT_ASSEMBLY_PART_NUMBER: b'85261SJ810'
0xF197 SYSTEM_NAME_OR_ENGINE_TYPE: b'MFD '
0xF198 REPAIR_SHOP_CODE_OR_TESTER_SERIAL_NUMBER: b'\x7f$\x9dX'
Results for address 0x7E0
0xF182 APPLICATION_DATA_IDENTIFICATION: b'\xd5"a0\x07'
0xF186 ACTIVE_DIAGNOSTIC_SESSION: b'\x03'
0xF187 VEHICLE_MANUFACTURER_SPARE_PART_NUMBER: b'\x00\x00\x00\x00\x00\x00\x00\x00'
0xF190 VIN: b'JF2xxxxxxxxxxxxxxxxxx'
0xF197 SYSTEM_NAME_OR_ENGINE_TYPE: b'2.5 DOHC '
Results for address 0x7E1
0xF182 APPLICATION_DATA_IDENTIFICATION: b'\x1d\x86B0\x00'
0xF186 ACTIVE_DIAGNOSTIC_SESSION: b'\x03'
0xF197 SYSTEM_NAME_OR_ENGINE_TYPE: b'CVT '
comma@tici:/data/openpilot$
so Eyesight is still 0x787 and fw version is b'\x04!\x01\x1eD\x07!\x00\x04,'
could this be timing issue?
Also, 2022 Forester does not have CruiseControl On and Activated signals, same as 2020+ Forester Hybrid. We'll test with ES_DashStatus
Route: 8db3f557a1e70a1a|2022-11-27--19-44-26
Looks like 0x787 responds negatively to the tester present query we make, so it doesn't continue to get the FW version.
we have initial Forester 2022 port using ES_LKAS_2 working, currently needs tuning https://github.com/martinl/openpilot/tree/forester-2022
So did this work? Thinking about getting a comma for my 2024 Forester, but don’t want to spend that much if it is only a dashcam. Glad to help where I can with development, though (testing, etc.).
So did this work? Thinking about getting a comma for my 2024 Forester, but don’t want to spend that much if it is only a dashcam. Glad to help where I can with development, though (testing, etc.).
Angle-based models like Forester 2022-2023 have support in a separate branch but are still waiting for review before getting merged to upstream. You can always return the comma device within 30 days no questions asked if you are not happy with it
@martinl With the relatively recent release of 0.9.6 with support of Toyota's angle based steering control API, does that make Subaru Forest 2022-2024 more likely to be implemented? I have a 2022 Forest Wilderness Edition and I'd love to buy a 3x and use comma.
