Subaru signals - martinl/openpilot GitHub Wiki

Openpilot signals

Global platform Gen2

Outback/Legacy 2020
- can0 and can1 are swapped on eyesight connector (Subaru B car harness)
- CruiseControl, Wheel_Speeds, ES_Brake, ES_Status, ES_Distance and Brake_Status messages have moved to CAN1
- ["Brake_Pedal"]['Brake_Pedal'] signal is used to disengage ACC for brake and gas press

Global platform Hybrid

Crosstrek 2020 Hybrid
- can0 and can1 are swapped on eyesight connector (Subaru B car harness)
- CruiseControl, Transmission, ES_Status and ES_Distance messages are missing
- ["Throttle"]['Throttle_Pedal'] is replaced with ["Throttle_Hybrid"]['Throttle_Pedal'] on can1
- ["Transmission"]['Gear'] is Hybrid specific and on can1
- ES_DashStatus is used instead of CruiseControl for Cruise_On and Cruise_Activated signals (FIXME: Find ES_Status Cruise_Activated equivalent)
- ["Brake_Hybrid"]['Brake'] on can1 is used instead of ["Brake_Status"]['Brake']
- ["Brake_Pedal"]['Brake_Pedal'] signal is used to disengage ACC for brake and gas press

subaru_global_2020_hybrid_generated.dbc

openpilot signal	formula	dbc signal
gas	["Throttle_Hybrid"]['Throttle_Pedal'] / 255.	`SG_ Throttle_Pedal : 32\|8@1+ (1,0) [0\|255] "" XXX`
gasPressed	gas > 1e-5
brakePressed	["Brake_Hybrid"]['Brake']	`SG_ Brake_Pedal : 24\|8@1+ (1,0) [0\|1] "" XXX`
brakeLights	ret.brakePressed
wheelSpeeds.fl	["Wheel_Speeds"]['FL'] * CV.KPH_TO_MS	`SG_ FL : 51\|13@1+ (0.057,0) [0\|255] "kph" XXX`
wheelSpeeds.fr	["Wheel_Speeds"]['FR'] * CV.KPH_TO_MS	`SG_ FR : 12\|13@1+ (0.057,0) [0\|255] "kph" XXX`
wheelSpeeds.rl	["Wheel_Speeds"]['RL'] * CV.KPH_TO_MS	`SG_ RL : 38\|13@1+ (0.057,0) [0\|255] "kph" XXX`
wheelSpeeds.rr	["Wheel_Speeds"]['RR'] * CV.KPH_TO_MS	`SG_ RR : 25\|13@1+ (0.057,0) [0\|255] "kph" XXX`
leftBlinker	["Dashlights"]['LEFT_BLINKER']	`SG_ LEFT_BLINKER : 50\|1@1+ (1,0) [0\|3] "" XXX`
rightBlinker	["Dashlights"]['RIGHT_BLINKER']	`SG_ RIGHT_BLINKER : 51\|1@1+ (1,0) [0\|1] "" XXX`
leftBlindspot	["BSD_RCTA"]['L_ADJACENT'] == 1	`SG_ L_ADJACENT : 49\|1@1+ (1,0) [0\|1] "" XXX`
leftBlindspot	["BSD_RCTA"]['L_APPROACHING'] == 1	`SG_ L_APPROACHING : 59\|1@1+ (1,0) [0\|1] "" XXX`
rightBlindspot	["BSD_RCTA"]['R_ADJACENT'] == 1	`SG_ R_ADJACENT : 48\|1@1+ (1,0) [0\|1] "" XXX`
rightBlindspot	["BSD_RCTA"]['R_APPROACHING'] == 1	`SG_ R_APPROACHING : 58\|1@1+ (1,0) [0\|1] "" XXX`
can_gear	["Transmission"]['Gear']	`SG_ Gear : 44\|4@1+ (1,0) [0\|15] "" XXX`
steeringAngle	["Steering_Torque"]['Steering_Angle']	`SG_ Steering_Angle : 32\|16@1- (-0.0217,0) [0\|255] "" X`
steeringTorque	["Steering_Torque"]['Steer_Torque_Sensor']	`SG_ Steer_Torque_Sensor : 16\|11@1- (-1,0) [0\|3] "" XXX`
steeringTorqueEPS	["Steering_Torque"]['Steer_Torque_Output']	`SG_ Steer_Torque_Output : 48\|11@1- (-1,0) [-1000\|1000] "" XXX`
steeringPressed	abs(ret.steeringTorque) > STEER_THRESHOLD[self.car_fingerprint]
cruiseState.enabled	["ES_DashStatus"]['Cruise_Activated'] != 0	`SG_ Cruise_Activated : 36\|1@1+ (1,0) [0\|1] "" XXX`
cruiseState.available	["ES_DashStatus"]['Cruise_On'] != 0	`SG_ Cruise_On : 49\|1@1+ (1,0) [0\|1] "" XXX`
cruiseState.speed	["ES_DashStatus"]['Cruise_Set_Speed'] * CV.KPH_TO_MS	`SG_ Cruise_Set_Speed : 40\|8@1+ (1,0) [0\|255] "" XXX`
self.Units	["Dash_State"]['Units']	`SG_ Units : 29\|3@1+ (1,0) [0\|7] "" XXX`
seatbeltUnlatched	["Dashlights"]['SEATBELT_FL'] == 1	`SG_ SEATBELT_FL : 48\|1@1+ (1,0) [0\|1] "" XXX`
doorOpen	["BodyInfo"]['DOOR_OPEN_RR']	`SG_ DOOR_OPEN_RR : 35\|1@1+ (1,0) [0\|1] "" XXX`
doorOpen	["BodyInfo"]['DOOR_OPEN_RL']	`SG_ DOOR_OPEN_RL : 34\|1@1+ (1,0) [0\|1] "" XXX`
doorOpen	["BodyInfo"]['DOOR_OPEN_FR']	`SG_ DOOR_OPEN_FR : 33\|1@1+ (1,0) [0\|3] "" XXX`
doorOpen	["BodyInfo"]['DOOR_OPEN_FL']	`SG_ DOOR_OPEN_FL : 32\|1@1+ (1,0) [0\|255] "" XXX`
steerError	["Steering_Torque"]['Steer_Error_1'] == 1	`SG_ Steer_Error_1 : 12\|1@0+ (1,0) [0\|1] "" XXX`
steerWarning	["Steering_Torque"]['Steer_Warning'] == 1	`SG_ Steer_Warning : 29\|1@1+ (1,0) [0\|1] "" XXX`
self.es_lkas_msg	copy(["ES_LKAS_State"])	`BO_ 802 ES_LKAS_State: 8 XXX`
self.brake_msg	copy(["Brake_Pedal"])	`BO_ 313 Brake_Pedal: 8 XXX`

Global platform

subaru_global_2017_generated.dbc

openpilot signal	formula	dbc signal
gas	["Throttle"]['Throttle_Pedal'] / 255.	`SG_ Throttle_Pedal : 32\|8@1+ (1,0) [0\|255] "" XXX`
gasPressed	gas > 1e-5
brakePressed	["Brake_Status"]['Brake']	`SG_ Brake : 62\|1@1+ (1,0) [0\|1] "" XXX`
brakeLights	ret.brakePressed
wheelSpeeds.fl	["Wheel_Speeds"]['FL'] * CV.KPH_TO_MS	`SG_ FL : 51\|13@1+ (0.057,0) [0\|255] "kph" XXX`
wheelSpeeds.fr	["Wheel_Speeds"]['FR'] * CV.KPH_TO_MS	`SG_ FR : 12\|13@1+ (0.057,0) [0\|255] "kph" XXX`
wheelSpeeds.rl	["Wheel_Speeds"]['RL'] * CV.KPH_TO_MS	`SG_ RL : 38\|13@1+ (0.057,0) [0\|255] "kph" XXX`
wheelSpeeds.rr	["Wheel_Speeds"]['RR'] * CV.KPH_TO_MS	`SG_ RR : 25\|13@1+ (0.057,0) [0\|255] "kph" XXX`
leftBlinker	["Dashlights"]['LEFT_BLINKER']	`SG_ LEFT_BLINKER : 50\|1@1+ (1,0) [0\|3] "" XXX`
rightBlinker	["Dashlights"]['RIGHT_BLINKER']	`SG_ RIGHT_BLINKER : 51\|1@1+ (1,0) [0\|1] "" XXX`
leftBlindspot	["BSD_RCTA"]['L_ADJACENT'] == 1	`SG_ L_ADJACENT : 49\|1@1+ (1,0) [0\|1] "" XXX`
leftBlindspot	["BSD_RCTA"]['L_APPROACHING'] == 1	`SG_ L_APPROACHING : 59\|1@1+ (1,0) [0\|1] "" XXX`
rightBlindspot	["BSD_RCTA"]['R_ADJACENT'] == 1	`SG_ R_ADJACENT : 48\|1@1+ (1,0) [0\|1] "" XXX`
rightBlindspot	["BSD_RCTA"]['R_APPROACHING'] == 1	`SG_ R_APPROACHING : 58\|1@1+ (1,0) [0\|1] "" XXX`
can_gear	["Transmission"]['Gear']	`SG_ Gear : 24\|8@1+ (1,0) [0\|255] "" XXX`
steeringAngle	["Steering_Torque"]['Steering_Angle']	`SG_ Steering_Angle : 32\|16@1- (-0.0217,0) [0\|255] "" X`
steeringTorque	["Steering_Torque"]['Steer_Torque_Sensor']	`SG_ Steer_Torque_Sensor : 16\|11@1- (-1,0) [0\|3] "" XXX`
steeringTorqueEPS	["Steering_Torque"]['Steer_Torque_Output']	`SG_ Steer_Torque_Output : 48\|11@1- (-1,0) [-1000\|1000] "" XXX`
steeringPressed	abs(ret.steeringTorque) > STEER_THRESHOLD[self.car_fingerprint]
cruiseState.enabled	["CruiseControl"]['Cruise_Activated'] != 0	`SG_ Cruise_Activated : 41\|1@1+ (1,0) [0\|3] "" XXX`
cruiseState.available	["CruiseControl"]['Cruise_On'] != 0	`SG_ Cruise_On : 40\|1@1+ (1,0) [0\|3] "" XXX`
cruiseState.speed	["ES_DashStatus"]['Cruise_Set_Speed'] * CV.KPH_TO_MS	`SG_ Cruise_Set_Speed : 40\|8@1+ (1,0) [0\|255] "" XXX`
self.Units	["Dash_State"]['Units']	`SG_ Units : 29\|3@1+ (1,0) [0\|7] "" XXX`
seatbeltUnlatched	["Dashlights"]['SEATBELT_FL'] == 1	`SG_ SEATBELT_FL : 48\|1@1+ (1,0) [0\|1] "" XXX`
doorOpen	["BodyInfo"]['DOOR_OPEN_RR']	`SG_ DOOR_OPEN_RR : 35\|1@1+ (1,0) [0\|1] "" XXX`
doorOpen	["BodyInfo"]['DOOR_OPEN_RL']	`SG_ DOOR_OPEN_RL : 34\|1@1+ (1,0) [0\|1] "" XXX`
doorOpen	["BodyInfo"]['DOOR_OPEN_FR']	`SG_ DOOR_OPEN_FR : 33\|1@1+ (1,0) [0\|3] "" XXX`
doorOpen	["BodyInfo"]['DOOR_OPEN_FL']	`SG_ DOOR_OPEN_FL : 32\|1@1+ (1,0) [0\|255] "" XXX`
steerError	["Steering_Torque"]['Steer_Error_1'] == 1	`SG_ Steer_Error_1 : 12\|1@0+ (1,0) [0\|1] "" XXX`
steerWarning	["Steering_Torque"]['Steer_Warning'] == 1	`SG_ Steer_Warning : 29\|1@1+ (1,0) [0\|1] "" XXX`
self.es_distance_msg	copy(["ES_Distance"])	`BO_ 545 ES_Distance: 8 XXX`
self.es_lkas_msg	copy(["ES_LKAS_State"])	`BO_ 802 ES_LKAS_State: 8 XXX`

Preglobal platform

subaru_outback_2015_generated.dbc

openpilot signal	formula	dbc signal
gas	["Throttle"]['Throttle_Pedal'] / 255.	`SG_ Throttle_Pedal : 0\|8@1+ (0.392157,0) [0\|255] "" XXX`
gasPressed	gas > 1e-5
brakePressed	["Brake_Pedal"]['Brake_Pedal'] > 2	`SG_ Brake_Pedal : 16\|8@1+ (1,0) [0\|255] "" XXX`
brakeLights	ret.brakePressed
wheelSpeeds.fl	["Wheel_Speeds"]['FL'] * CV.KPH_TO_MS	`SG_ FL : 0\|16@1+ (0.0592,0) [0\|255] "KPH" XXX`
wheelSpeeds.fr	["Wheel_Speeds"]['FR'] * CV.KPH_TO_MS	`SG_ FR : 16\|16@1+ (0.0592,0) [0\|255] "KPH" XXX`
wheelSpeeds.rl	["Wheel_Speeds"]['RL'] * CV.KPH_TO_MS	`SG_ RL : 32\|16@1+ (0.0592,0) [0\|255] "KPH" XXX`
wheelSpeeds.rr	["Wheel_Speeds"]['RR'] * CV.KPH_TO_MS	`SG_ RR : 48\|16@1+ (0.0592,0) [0\|255] "KPH" XXX`
leftBlinker	["Dashlights"]['LEFT_BLINKER']	`SG_ LEFT_BLINKER : 44\|1@1+ (1,0) [0\|1] "" XXX`
rightBlinker	["Dashlights"]['RIGHT_BLINKER']	`SG_ RIGHT_BLINKER : 45\|1@1+ (1,0) [0\|1] "" XXX`
leftBlindspot	["BSD_RCTA"]['L_ADJACENT']	`SG_ L_ADJACENT : 33\|1@1+ (1,0) [0\|1] "" XXX`
leftBlindspot	["BSD_RCTA"]['L_APPROACHING']	`SG_ L_APPROACHING : 43\|1@1+ (1,0) [0\|1] "" XXX`
rightBlindspot	["BSD_RCTA"]['R_ADJACENT']	`SG_ R_ADJACENT : 32\|1@1+ (1,0) [0\|1] "" XXX`
rightBlindspot	["BSD_RCTA"]['R_APPROACHING']	`SG_ R_APPROACHING : 42\|1@1+ (1,0) [0\|1] "" XXX`
can_gear	["Transmission"]['Gear']	`SG_ Gear : 48\|4@1+ (1,0) [0\|15] "" XXX`
steeringAngle	["Steering_Torque"]['Steering_Angle']	`SG_ Steering_Angle : 40\|16@1- (-0.033,0) [-600\|600] "" XXX`
steeringTorque	["Steering_Torque"]['Steer_Torque_Sensor']	`SG_ Steer_Torque_Sensor : 29\|11@1- (1,0) [-1000\|1000] "" XXX`
steeringTorqueEPS	["Steering_Torque"]['Steer_Torque_Output']	`SG_ Steer_Torque_Output : 48\|11@1- (-1,0) [-1000\|1000] "" XXX`
steeringPressed	abs(ret.steeringTorque) > STEER_THRESHOLD[self.car_fingerprint]
cruiseState.enabled	["CruiseControl"]['Cruise_Activated'] != 0	`SG_ Cruise_Activated : 49\|1@1+ (1,0) [0\|1] "" XXX`
cruiseState.available	["CruiseControl"]['Cruise_On'] != 0	`SG_ Cruise_On : 48\|1@1+ (1,0) [0\|1] "" XXX`
cruiseState.speed	["ES_DashStatus"]['Cruise_Set_Speed'] * CV.KPH_TO_MS	`SG_ Cruise_Set_Speed : 24\|8@1+ (1,0) [0\|255] "" XXX`
speedUnits	["Dash_State"]['Units']	`SG_ Units : 15\|1@1+ (1,0) [0\|1] "" XXX`
seatbeltUnlatched	["Dashlights"]['SEATBELT_FL'] == 1	`SG_ SEATBELT_FL : 40\|1@1+ (1,0) [0\|1] "" XXX`
doorOpen	["BodyInfo"]['DOOR_OPEN_RR']	`SG_ DOOR_OPEN_RR : 27\|1@1+ (1,0) [0\|1] "" XXX`
doorOpen	["BodyInfo"]['DOOR_OPEN_RL']	`SG_ DOOR_OPEN_RL : 26\|1@1+ (1,0) [0\|1] "" XXX`
doorOpen	["BodyInfo"]['DOOR_OPEN_FR']	`SG_ DOOR_OPEN_FR : 24\|1@1+ (1,0) [0\|1] "" XXX`
doorOpen	["BodyInfo"]['DOOR_OPEN_FL']	`SG_ DOOR_OPEN_FL : 25\|1@1+ (1,0) [0\|1] "" XXX`
steerError	["Steering_Torque"]["Steer_Error_1"] == 1	`SG_ Steer_Error_1 : 27\|1@1+ (1,0) [0\|1] "" XXX`
self.cruise_button	["ES_CruiseThrottle"]["Cruise_Button"]	`SG_ Cruise_Button : 48\|3@1+ (1,0) [0\|7] "" XXX`
self.ready	not ["ES_DashStatus"]["Not_Ready_Startup"]	`SG_ Not_Ready_Startup : 0\|3@1+ (1,0) [0\|7] "" XXX`
self.es_accel_msg	copy(["ES_CruiseThrottle"])	`BO_ 353 ES_CruiseThrottle: 8 XXX`

Openpilot output messages

Global Platform Gen2 / Hybrid

Cancel on gas and brake press message (ES_Distance) is replaced with Brake_Pedal

BO_ 313 Brake_Pedal: 8 XXX
 SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX
 SG_ Speed : 16|12@1+ (0.05625,0) [0|255] "kph" XXX
 SG_ Signal2 : 28|6@1+ (1,0) [0|63] "" XXX
 SG_ Brake_Lights : 34|1@1+ (1,0) [0|1] "" XXX
 SG_ Signal3 : 35|1@1+ (1,0) [0|1] "" XXX
 SG_ Brake_Pedal : 36|12@1+ (1,0) [0|4095] "" XXX
 SG_ Signal4 : 48|16@1+ (1,0) [0|65535] "" XXX

Global Platform

BO_ 290 ES_LKAS: 8 XXX
 SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ SET_1 : 12|1@0+ (1,0) [0|3] "" XXX
 SG_ LKAS_Output : 16|13@1- (-1,0) [0|3] "" XXX
 SG_ LKAS_Request : 29|1@0+ (1,0) [0|3] "" XXX

BO_ 802 ES_LKAS_State: 8 XXX
 SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ Keep_Hands_On_Wheel : 12|1@1+ (1,0) [0|1] "" XXX
 SG_ Empty_Box : 13|1@1+ (1,0) [0|1] "" XXX
 SG_ Signal1 : 14|3@1+ (1,0) [0|7] "" XXX
 SG_ LKAS_ACTIVE : 17|1@1+ (1,0) [0|1] "" XXX
 SG_ Signal2 : 18|5@1+ (1,0) [0|31] "" XXX
 SG_ Backward_Speed_Limit_Menu : 23|1@1+ (1,0) [0|1] "" XXX
 SG_ LKAS_ENABLE_3 : 24|1@1+ (1,0) [0|1] "" XXX
 SG_ LKAS_Left_Line_Light_Blink : 25|1@1+ (1,0) [0|1] "" XXX
 SG_ LKAS_ENABLE_2 : 26|1@1+ (1,0) [0|1] "" XXX
 SG_ LKAS_Right_Line_Light_Blink : 27|1@1+ (1,0) [0|1] "" XXX
 SG_ LKAS_Left_Line_Visible : 28|1@1+ (1,0) [0|1] "" XXX
 SG_ LKAS_Left_Line_Green : 29|1@1+ (1,0) [0|1] "" XXX
 SG_ LKAS_Right_Line_Visible : 30|1@1+ (1,0) [0|1] "" XXX
 SG_ LKAS_Right_Line_Green : 31|1@1+ (1,0) [0|1] "" XXX
 SG_ LKAS_Alert : 32|4@1+ (1,0) [0|15] "" XXX
 SG_ Signal3 : 36|28@1+ (1,0) [0|1] "" XXX

BO_ 545 ES_Distance: 8 XXX
 SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ Signal1 : 12|3@1+ (1,0) [0|7] "" XXX
 SG_ Cruise_Fault : 15|1@1+ (1,0) [0|1] "" XXX
 SG_ Cruise_Throttle : 16|12@1+ (1,0) [0|4095] "" XXX
 SG_ Signal2 : 28|4@1+ (1,0) [0|15] "" XXX
 SG_ Car_Follow : 32|1@1+ (1,0) [0|1] "" XXX
 SG_ Signal3 : 33|3@1+ (1,0) [0|1] "" XXX
 SG_ Cruise_Brake_Active : 36|1@1+ (1,0) [0|1] "" XXX
 SG_ Distance_Swap : 37|1@1+ (1,0) [0|1] "" XXX
 SG_ Cruise_EPB : 38|1@1+ (1,0) [0|1] "" XXX
 SG_ Signal4 : 39|1@0+ (1,0) [0|1] "" XXX
 SG_ Close_Distance : 40|8@1+ (1,0) [0|1] "" XXX
 SG_ Signal5 : 48|8@1+ (1,0) [0|1] "" XXX
 SG_ Cruise_Cancel : 56|1@1+ (1,0) [0|1] "" XXX
 SG_ Cruise_Set : 57|1@1+ (1,0) [0|1] "" XXX
 SG_ Cruise_Resume : 58|1@1+ (1,0) [0|1] "" XXX
 SG_ Signal6 : 59|5@1+ (1,0) [0|1] "" XXX

Preglobal platform

BO_ 356 ES_LKAS: 8 XXX
 SG_ Counter : 0|3@1+ (1,0) [0|7] "" XXX
 SG_ LKAS_Command : 8|13@1- (-1,0) [-4096|4096] "" XXX
 SG_ LKAS_Active : 24|1@1+ (1,0) [0|1] "" XXX
 SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX

BO_ 353 ES_CruiseThrottle: 8 XXX
 SG_ Throttle_Cruise : 0|12@1+ (1,0) [0|4095] "" XXX
 SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX
 SG_ Cruise_Activated : 16|1@1+ (1,0) [0|1] "" XXX
 SG_ Signal2 : 17|3@1+ (1,0) [0|7] "" XXX
 SG_ Brake_On : 20|1@1+ (1,0) [0|1] "" XXX
 SG_ Distance_Swap : 21|1@1+ (1,0) [0|1] "" XXX
 SG_ Standstill : 22|1@1+ (1,0) [0|1] "" XXX
 SG_ Signal3 : 23|1@1+ (1,0) [0|1] "" XXX
 SG_ Close_Distance : 24|8@1+ (0.0196,0) [0|255] "m" XXX
 SG_ Signal4 : 32|9@1+ (1,0) [0|255] "" XXX
 SG_ Standstill_2 : 41|1@1+ (1,0) [0|1] "" XXX
 SG_ Cruise_Fault : 42|1@1+ (1,0) [0|1] "" XXX
 SG_ Signal5 : 43|1@1+ (1,0) [0|1] "" XXX
 SG_ Counter : 44|3@1+ (1,0) [0|7] "" XXX
 SG_ Signal6 : 47|1@1+ (1,0) [0|1] "" XXX
 SG_ Cruise_Button : 48|3@1+ (1,0) [0|7] "" XXX
 SG_ Signal7 : 51|5@1+ (1,0) [0|31] "" XXX
 SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX