Subaru: non-obd FW queries logging (commaai#30552)

* add subaru logging fw * whitelist + comma * whitelist is empty for the other requests * all whitelisted
deanlee · Nov 30, 2023 · a2bb41e · a2bb41e
1 parent 44ef143
commit a2bb41e
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Showing 2 changed files with 20 additions and 2 deletions.
diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py
@@ -141,12 +141,30 @@ def init_make(self, CP: car.CarParams):
     Request(
       [StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST],
       [StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE],
+      whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.fwdCamera, Ecu.engine, Ecu.transmission],
     ),
     # Some Eyesight modules fail on TESTER_PRESENT_REQUEST
     # TODO: check if this resolves the fingerprinting issue for the 2023 Ascent and other new Subaru cars
     Request(
       [SUBARU_VERSION_REQUEST],
       [SUBARU_VERSION_RESPONSE],
+      whitelist_ecus=[Ecu.fwdCamera],
+    ),
+    # Non-OBD requests
+    Request(
+      [StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST],
+      [StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE],
+      whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.fwdCamera, Ecu.engine, Ecu.transmission],
+      bus=0,
+      logging=True,
+    ),
+    Request(
+      [StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST],
+      [StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE],
+      whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.fwdCamera, Ecu.engine, Ecu.transmission],
+      bus=1,
+      logging=True,
+      obd_multiplexing=False,
     ),
   ],
 )

diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py
@@ -227,7 +227,7 @@ def test_startup_timing(self):
 
   @pytest.mark.timeout(60)
   def test_fw_query_timing(self):
-    total_ref_time = 6.07
+    total_ref_time = 6.27
     brand_ref_times = {
       1: {
         'body': 0.11,
@@ -237,7 +237,7 @@ def test_fw_query_timing(self):
         'hyundai': 0.72,
         'mazda': 0.2,
         'nissan': 0.4,
-        'subaru': 0.2,
+        'subaru': 0.4,
         'tesla': 0.2,
         'toyota': 1.6,
         'volkswagen': 0.2,