8000 Subaru: 2023 Ascent & LKAS Angle by bravochar · Pull Request #2217 · commaai/opendbc · GitHub
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Subaru: 2023 Ascent & LKAS Angle #2217

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Subaru: 2023 Ascent & LKAS Angle #2217

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@bravochar bravochar commented May 10, 2025 •
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This is a car port for the 2023 Subaru Ascent, including safety models for the Subaru Angle-based LKAS

2023 Subaru Ascent

  • added entry to CAR in selfdrive/car/*/values.py and ran selfdrive/opcar/docs.py to generate new docs
  • test route added to routes.py
  • route with openpilot: "3d0a2ec61b4035d3|0000021e--146a1ecffd"
  • route 8000 with stock system: "99437cef6d5ff2ee|2023-03-13--21-21-38" (It was like that when I got here)
  • car harness used (if comma doesn't sell it, put N/A): Subaru D

@bravochar bravochar marked this pull request as draft May 10, 2025 12:55
@github-actions github-actions bot added car related to opendbc/car/ subaru car safety vehicle-specific safety code labels May 10, 2025
@bravochar bravochar changed the title WIP: Car Port: Subaru Ascent 2023 WIP: Subaru: LKAS Angle May 10, 2025
@bravochar bravochar changed the title WIP: Subaru: LKAS Angle Subaru: 2023 Ascent & LKAS Angle May 10, 2025
@bravochar bravochar mentioned this pull request May 10, 2025
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bravochar
bravochar commented May 13, 2025
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opendbc/safety/tests/common.py
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LKAS_ANGLE is a signed, 17-bit integer, so angle values larger than ~655 degrees will over/underflow and this test will erroneously fail.

@bravochar bravochar mentioned this pull request May 13, 2025
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@bravochar bravochar marked this pull request as ready for review May 16, 2025 16:19
@bravochar bravochar force-pushed the ascent-2023-rebase branch from d0d2cdd to 556f8ed Compare May 20, 2025 16:07
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The move to safety/modes made git very sad, so I squashed everything to a single patch, re-applied it, and then force-pushed the new branch here. Bonus: cleaner history!

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