From ef9dee71b0484fedcb4179c7f02f939605d73f64 Mon Sep 17 00:00:00 2001
From: bravochar <4663128+bravochar@users.noreply.github.com>
Date: Wed, 11 Sep 2024 09:47:35 -0400
Subject: [PATCH 01/12] Update fingerprint for 2023 Ascent

---
 opendbc/car/subaru/fingerprints.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/opendbc/car/subaru/fingerprints.py b/opendbc/car/subaru/fingerprints.py
index 3c61915fc5..fe1fb2cdbc 100644
--- a/opendbc/car/subaru/fingerprints.py
+++ b/opendbc/car/subaru/fingerprints.py
@@ -45,9 +45,11 @@
     ],
     (Ecu.engine, 0x7a2, None): [
       b'\xe5,\xa0P\x07',
+      b'\xe5,\xa0p\x07',
     ],
     (Ecu.transmission, 0x7a3, None): [
       b'\x04\xfe\xf3\x00\x00',
+      b'\x04\xfe\xf6\x00\x00',
     ],
   },
   CAR.SUBARU_LEGACY: {

From dbaf34e63f2cc41f5723039e85dba8db0ba2c714 Mon Sep 17 00:00:00 2001
From: bravochar <4663128+bravochar@users.noreply.github.com>
Date: Wed, 11 Sep 2024 09:55:37 -0400
Subject: [PATCH 02/12] Remove engine and transmission ECUs

Mentioned in @martinl PR, and it seems these are no longer queries/returned in my vehicle
---
 opendbc/car/subaru/fingerprints.py | 8 --------
 1 file changed, 8 deletions(-)

diff --git a/opendbc/car/subaru/fingerprints.py b/opendbc/car/subaru/fingerprints.py
index fe1fb2cdbc..0218230bf3 100644
--- a/opendbc/car/subaru/fingerprints.py
+++ b/opendbc/car/subaru/fingerprints.py
@@ -43,14 +43,6 @@
     (Ecu.fwdCamera, 0x787, None): [
       b'\x05!\x08\x1dK\x05!\x08\x01/',
     ],
-    (Ecu.engine, 0x7a2, None): [
-      b'\xe5,\xa0P\x07',
-      b'\xe5,\xa0p\x07',
-    ],
-    (Ecu.transmission, 0x7a3, None): [
-      b'\x04\xfe\xf3\x00\x00',
-      b'\x04\xfe\xf6\x00\x00',
-    ],
   },
   CAR.SUBARU_LEGACY: {
     (Ecu.abs, 0x7b0, None): [

From 46f638c40350b55737728d9e57647ef0b323f669 Mon Sep 17 00:00:00 2001
From: bravochar <4663128+bravochar@users.noreply.github.com>
Date: Wed, 11 Sep 2024 10:21:13 -0400
Subject: [PATCH 03/12]  Add LKAS_ANGLE lat controls

Shamelessley copied from jnewb1 to support my 2023 Ascent
---
 opendbc/car/subaru/carcontroller.py | 48 ++++++++++++++++++-----------
 opendbc/car/subaru/carstate.py      | 16 +++++++---
 opendbc/car/subaru/interface.py     |  5 +++
 opendbc/car/subaru/values.py        |  5 ++-
 4 files changed, 50 insertions(+), 24 deletions(-)

diff --git a/opendbc/car/subaru/carcontroller.py b/opendbc/car/subaru/carcontroller.py
index 4ee3655268..46600512c7 100644
--- a/opendbc/car/subaru/carcontroller.py
+++ b/opendbc/car/subaru/carcontroller.py
@@ -1,6 +1,6 @@
 import copy
 from opendbc.can.packer import CANPacker
-from opendbc.car import apply_driver_steer_torque_limits, common_fault_avoidance, make_tester_present_msg
+from opendbc.car import apply_driver_steer_torque_limits, common_fault_avoidance, make_tester_present_msg, apply_std_steer_angle_limits
 from opendbc.car.common.numpy_fast import clip, interp
 from opendbc.car.interfaces import CarControllerBase
 from opendbc.car.subaru import subarucan
@@ -32,26 +32,35 @@ def update(self, CC, CS, now_nanos):
 
     # *** steering ***
     if (self.frame % self.p.STEER_STEP) == 0:
-      apply_steer = int(round(actuators.steer * self.p.STEER_MAX))
+      if self.CP.flags & SubaruFlags.LKAS_ANGLE:
+        apply_steer = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_steer_last, CS.out.vEgoRaw, self.p)
 
-      # limits due to driver torque
+        if not CC.latActive:
+          apply_steer = CS.out.steeringAngleDeg
 
-      new_steer = int(round(apply_steer))
-      apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.p)
+        can_sends.append(subarucan.create_steering_control_angle(self.packer, apply_steer, CC.latActive))
 
-      if not CC.latActive:
-        apply_steer = 0
-
-      if self.CP.flags & SubaruFlags.PREGLOBAL:
-        can_sends.append(subarucan.create_preglobal_steering_control(self.packer, self.frame // self.p.STEER_STEP, apply_steer, CC.latActive))
       else:
-        apply_steer_req = CC.latActive
+        apply_steer = int(round(actuators.steer * self.p.STEER_MAX))
+
+        # limits due to driver torque
 
-        if self.CP.flags & SubaruFlags.STEER_RATE_LIMITED:
-          # Steering rate fault prevention
-          self.steer_rate_counter, apply_steer_req = \
-            common_fault_avoidance(abs(CS.out.steeringRateDeg) > MAX_STEER_RATE, apply_steer_req,
-                                  self.steer_rate_counter, MAX_STEER_RATE_FRAMES)
+        new_steer = int(round(apply_steer))
+        apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.p)
+
+        if not CC.latActive:
+          apply_steer = 0
+
+        if self.CP.flags & SubaruFlags.PREGLOBAL:
+          can_sends.append(subarucan.create_preglobal_steering_control(self.packer, self.frame // self.p.STEER_STEP, apply_steer, CC.latActive))
+        else:
+          apply_steer_req = CC.latActive
+
+          if self.CP.flags & SubaruFlags.STEER_RATE_LIMITED:
+            # Steering rate fault prevention
+            self.steer_rate_counter, apply_steer_req = \
+              common_fault_avoidance(abs(CS.out.steeringRateDeg) > MAX_STEER_RATE, apply_steer_req,
+                                      self.steer_rate_counter, MAX_STEER_RATE_FRAMES)
 
         can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, apply_steer_req))
 
@@ -137,8 +146,11 @@ def update(self, CC, CS, now_nanos):
           can_sends.append(subarucan.create_es_static_2(self.packer))
 
     new_actuators = copy.copy(actuators)
-    new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX
-    new_actuators.steerOutputCan = self.apply_steer_last
+    if self.CP.flags & SubaruFlags.LKAS_ANGLE:
+      new_actuators.steeringAngleDeg = self.apply_steer_last
+    else:
+      new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX
+      new_actuators.steerOutputCan = self.apply_steer_last
 
     self.frame += 1
     return new_actuators, can_sends
diff --git a/opendbc/car/subaru/carstate.py b/opendbc/car/subaru/carstate.py
index 84fa215815..e5a22bbe0f 100644
--- a/opendbc/car/subaru/carstate.py
+++ b/opendbc/car/subaru/carstate.py
@@ -74,13 +74,19 @@ def update(self, cp, cp_cam, _, cp_body, __) -> structs.CarState:
     steer_threshold = 75 if self.CP.flags & SubaruFlags.PREGLOBAL else 80
     ret.steeringPressed = abs(ret.steeringTorque) > steer_threshold
 
-    cp_cruise = cp_body if self.CP.flags & SubaruFlags.GLOBAL_GEN2 else cp
-    if self.CP.flags & SubaruFlags.HYBRID:
-      ret.cruiseState.enabled = cp_cam.vl["ES_DashStatus"]['Cruise_Activated'] != 0
+    if self.CP.flags & SubaruFlags.LKAS_ANGLE:
+      cp_es_status = cp_body if self.CP.flags & SubaruFlags.GLOBAL_GEN2 else cp_cam
+      ret.cruiseState.enabled = cp_es_status.vl["ES_Status"]['Cruise_Activated'] != 0
       ret.cruiseState.available = cp_cam.vl["ES_DashStatus"]['Cruise_On'] != 0
+
     else:
-      ret.cruiseState.enabled = cp_cruise.vl["CruiseControl"]["Cruise_Activated"] != 0
-      ret.cruiseState.available = cp_cruise.vl["CruiseControl"]["Cruise_On"] != 0
+      cp_cruise = cp_body if self.CP.flags & SubaruFlags.GLOBAL_GEN2 else cp
+      if self.CP.flags & SubaruFlags.HYBRID:
+        ret.cruiseState.enabled = cp_cam.vl["ES_DashStatus"]['Cruise_Activated'] != 0
+        ret.cruiseState.available = cp_cam.vl["ES_DashStatus"]['Cruise_On'] != 0
+      else:
+        ret.cruiseState.enabled = cp_cruise.vl["CruiseControl"]["Cruise_Activated"] != 0
+        ret.cruiseState.available = cp_cruise.vl["CruiseControl"]["Cruise_On"] != 0
     ret.cruiseState.speed = cp_cam.vl["ES_DashStatus"]["Cruise_Set_Speed"] * CV.KPH_TO_MS
 
     if (self.CP.flags & SubaruFlags.PREGLOBAL and cp.vl["Dash_State2"]["UNITS"] == 1) or \
diff --git a/opendbc/car/subaru/interface.py b/opendbc/car/subaru/interface.py
index 782f73e8c6..c0ea9e6971 100644
--- a/opendbc/car/subaru/interface.py
+++ b/opendbc/car/subaru/interface.py
@@ -30,6 +30,9 @@ def _get_params(ret: structs.CarParams, candidate: CAR, fingerprint, car_fw, exp
       ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.subaru)]
       if ret.flags & SubaruFlags.GLOBAL_GEN2:
         ret.safetyConfigs[0].safetyParam |= Panda.FLAG_SUBARU_GEN2
+      if ret.flags & SubaruFlags.LKAS_ANGLE:
+        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_SUBARU_LKAS_ANGLE
+        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_SUBARU_ES_STATUS
 
     ret.steerLimitTimer = 0.4
     ret.steerActuatorDelay = 0.1
@@ -45,6 +48,8 @@ def _get_params(ret: structs.CarParams, candidate: CAR, fingerprint, car_fw, exp
       ret.lateralTuning.pid.kf = 0.00003
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.0025, 0.1], [0.00025, 0.01]]
+      if candidate == CAR.SUBARU_ASCENT_2023:
+        ret.dashcamOnly = False
 
     elif candidate == CAR.SUBARU_IMPREZA:
       ret.steerActuatorDelay = 0.4  # end-to-end angle controller
diff --git a/opendbc/car/subaru/values.py b/opendbc/car/subaru/values.py
index c7f93f9fae..4d0f0b0747 100644
--- a/opendbc/car/subaru/values.py
+++ b/opendbc/car/subaru/values.py
@@ -2,7 +2,7 @@
 from enum import Enum, IntFlag
 
 from panda import uds
-from opendbc.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
+from opendbc.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict, AngleRateLimit
 from opendbc.car.structs import CarParams
 from opendbc.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Tool, Column
 from opendbc.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
@@ -27,6 +27,9 @@ def __init__(self, CP):
     elif CP.carFingerprint == CAR.SUBARU_IMPREZA_2020:
       self.STEER_DELTA_UP = 35
       self.STEER_MAX = 1439
+    elif CP.flags & SubaruFlags.LKAS_ANGLE:
+      self.ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[0.], angle_v=[1.])
+      self.ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[0.], angle_v=[1.])
     else:
       self.STEER_MAX = 2047
 

From f5d6fe34734ec1fb80ede533cb7df687d841982e Mon Sep 17 00:00:00 2001
From: bravochar <4663128+bravochar@users.noreply.github.com>
Date: Wed, 11 Sep 2024 10:43:21 -0400
Subject: [PATCH 04/12] Add engine/transmission to extra ECUS for Subarus

---
 opendbc/car/subaru/values.py | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/opendbc/car/subaru/values.py b/opendbc/car/subaru/values.py
index 4d0f0b0747..30ca439b2f 100644
--- a/opendbc/car/subaru/values.py
+++ b/opendbc/car/subaru/values.py
@@ -274,7 +274,13 @@ class CAR(Platforms):
   # We don't get the EPS from non-OBD queries on GEN2 cars. Note that we still attempt to match when it exists
   non_essential_ecus={
     Ecu.eps: list(CAR.with_flags(SubaruFlags.GLOBAL_GEN2)),
-  }
+  },
+  extra_ecus=[
+    (Ecu.engine, 0x7e0, None),
+    (Ecu.engine, 0x7e2, None),
+    (Ecu.transmission, 0x7e1, None),
+    (Ecu.transmission, 0x7a3, None),
+  ],
 )
 
 DBC = CAR.create_dbc_map()

From fe317c2729ec2b2551e533b2e03f85c32ddad5a8 Mon Sep 17 00:00:00 2001
From: bravochar <4663128+bravochar@users.noreply.github.com>
Date: Wed, 11 Sep 2024 12:32:40 -0400
Subject: [PATCH 05/12] Subaru: add fwdCamera to non_essential for ANGLE_LKAS
 cars

---
 opendbc/car/subaru/values.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/opendbc/car/subaru/values.py b/opendbc/car/subaru/values.py
index 30ca439b2f..632fc469e2 100644
--- a/opendbc/car/subaru/values.py
+++ b/opendbc/car/subaru/values.py
@@ -274,6 +274,7 @@ class CAR(Platforms):
   # We don't get the EPS from non-OBD queries on GEN2 cars. Note that we still attempt to match when it exists
   non_essential_ecus={
     Ecu.eps: list(CAR.with_flags(SubaruFlags.GLOBAL_GEN2)),
+    Ecu.fwdCamera: list(CAR.with_flags(SubaruFlags.LKAS_ANGLE)),
   },
   extra_ecus=[
     (Ecu.engine, 0x7e0, None),

From 860fa0986f0af826dd9d8e5bd101e1f46ea110b6 Mon Sep 17 00:00:00 2001
From: bravochar <4663128+bravochar@users.noreply.github.com>
Date: Wed, 11 Sep 2024 16:13:25 -0400
Subject: [PATCH 06/12] Update fingerprints

---
 opendbc/car/subaru/fingerprints.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/opendbc/car/subaru/fingerprints.py b/opendbc/car/subaru/fingerprints.py
index 0218230bf3..9b59b341a7 100644
--- a/opendbc/car/subaru/fingerprints.py
+++ b/opendbc/car/subaru/fingerprints.py
@@ -42,6 +42,7 @@
     ],
     (Ecu.fwdCamera, 0x787, None): [
       b'\x05!\x08\x1dK\x05!\x08\x01/',
+      b'\x05!\x08\x1dK\x00\x00\x00\x00\x00',
     ],
   },
   CAR.SUBARU_LEGACY: {

From a053a61db4349025ead1c8816ae4b601b68a8011 Mon Sep 17 00:00:00 2001
From: Charlie <4663128+bravochar@users.noreply.github.com>
Date: Thu, 12 Sep 2024 17:03:28 +0000
Subject: [PATCH 07/12] Fixes for failing tests

scope errors, non-existent variables, other silly things
---
 opendbc/car/subaru/carcontroller.py | 3 ++-
 opendbc/car/subaru/carstate.py      | 3 ++-
 opendbc/car/subaru/interface.py     | 1 -
 opendbc/car/subaru/values.py        | 6 +++---
 4 files changed, 7 insertions(+), 6 deletions(-)

diff --git a/opendbc/car/subaru/carcontroller.py b/opendbc/car/subaru/carcontroller.py
index 46600512c7..1be4735774 100644
--- a/opendbc/car/subaru/carcontroller.py
+++ b/opendbc/car/subaru/carcontroller.py
@@ -32,6 +32,7 @@ def update(self, CC, CS, now_nanos):
 
     # *** steering ***
     if (self.frame % self.p.STEER_STEP) == 0:
+      apply_steer = 0
       if self.CP.flags & SubaruFlags.LKAS_ANGLE:
         apply_steer = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_steer_last, CS.out.vEgoRaw, self.p)
 
@@ -62,7 +63,7 @@ def update(self, CC, CS, now_nanos):
               common_fault_avoidance(abs(CS.out.steeringRateDeg) > MAX_STEER_RATE, apply_steer_req,
                                       self.steer_rate_counter, MAX_STEER_RATE_FRAMES)
 
-        can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, apply_steer_req))
+          can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, apply_steer_req))
 
       self.apply_steer_last = apply_steer
 
diff --git a/opendbc/car/subaru/carstate.py b/opendbc/car/subaru/carstate.py
index e5a22bbe0f..d71ab5407e 100644
--- a/opendbc/car/subaru/carstate.py
+++ b/opendbc/car/subaru/carstate.py
@@ -74,19 +74,20 @@ def update(self, cp, cp_cam, _, cp_body, __) -> structs.CarState:
     steer_threshold = 75 if self.CP.flags & SubaruFlags.PREGLOBAL else 80
     ret.steeringPressed = abs(ret.steeringTorque) > steer_threshold
 
+    cp_cruise = cp_body if self.CP.flags & SubaruFlags.GLOBAL_GEN2 else cp
     if self.CP.flags & SubaruFlags.LKAS_ANGLE:
       cp_es_status = cp_body if self.CP.flags & SubaruFlags.GLOBAL_GEN2 else cp_cam
       ret.cruiseState.enabled = cp_es_status.vl["ES_Status"]['Cruise_Activated'] != 0
       ret.cruiseState.available = cp_cam.vl["ES_DashStatus"]['Cruise_On'] != 0
 
     else:
-      cp_cruise = cp_body if self.CP.flags & SubaruFlags.GLOBAL_GEN2 else cp
       if self.CP.flags & SubaruFlags.HYBRID:
         ret.cruiseState.enabled = cp_cam.vl["ES_DashStatus"]['Cruise_Activated'] != 0
         ret.cruiseState.available = cp_cam.vl["ES_DashStatus"]['Cruise_On'] != 0
       else:
         ret.cruiseState.enabled = cp_cruise.vl["CruiseControl"]["Cruise_Activated"] != 0
         ret.cruiseState.available = cp_cruise.vl["CruiseControl"]["Cruise_On"] != 0
+
     ret.cruiseState.speed = cp_cam.vl["ES_DashStatus"]["Cruise_Set_Speed"] * CV.KPH_TO_MS
 
     if (self.CP.flags & SubaruFlags.PREGLOBAL and cp.vl["Dash_State2"]["UNITS"] == 1) or \
diff --git a/opendbc/car/subaru/interface.py b/opendbc/car/subaru/interface.py
index c0ea9e6971..a03c742ab5 100644
--- a/opendbc/car/subaru/interface.py
+++ b/opendbc/car/subaru/interface.py
@@ -32,7 +32,6 @@ def _get_params(ret: structs.CarParams, candidate: CAR, fingerprint, car_fw, exp
         ret.safetyConfigs[0].safetyParam |= Panda.FLAG_SUBARU_GEN2
       if ret.flags & SubaruFlags.LKAS_ANGLE:
         ret.safetyConfigs[0].safetyParam |= Panda.FLAG_SUBARU_LKAS_ANGLE
-        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_SUBARU_ES_STATUS
 
     ret.steerLimitTimer = 0.4
     ret.steerActuatorDelay = 0.1
diff --git a/opendbc/car/subaru/values.py b/opendbc/car/subaru/values.py
index 632fc469e2..47105b77df 100644
--- a/opendbc/car/subaru/values.py
+++ b/opendbc/car/subaru/values.py
@@ -27,9 +27,6 @@ def __init__(self, CP):
     elif CP.carFingerprint == CAR.SUBARU_IMPREZA_2020:
       self.STEER_DELTA_UP = 35
       self.STEER_MAX = 1439
-    elif CP.flags & SubaruFlags.LKAS_ANGLE:
-      self.ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[0.], angle_v=[1.])
-      self.ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[0.], angle_v=[1.])
     else:
       self.STEER_MAX = 2047
 
@@ -56,6 +53,9 @@ def __init__(self, CP):
   BRAKE_LOOKUP_BP = [-3.5, 0]
   BRAKE_LOOKUP_V = [BRAKE_MAX, BRAKE_MIN]
 
+  ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[0.], angle_v=[1.])
+  ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[0.], angle_v=[1.])
+
 
 class SubaruFlags(IntFlag):
   # Detected flags

From e7537815d25ca1ab8cf17d65647d9911c58ff0e3 Mon Sep 17 00:00:00 2001
From: Charlie <4663128+bravochar@users.noreply.github.com>
Date: Fri, 13 Sep 2024 16:21:33 -0400
Subject: [PATCH 08/12] revert to Gen2 cruise activated message

---
 opendbc/car/subaru/carstate.py | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/opendbc/car/subaru/carstate.py b/opendbc/car/subaru/carstate.py
index d71ab5407e..b721f4f776 100644
--- a/opendbc/car/subaru/carstate.py
+++ b/opendbc/car/subaru/carstate.py
@@ -76,8 +76,7 @@ def update(self, cp, cp_cam, _, cp_body, __) -> structs.CarState:
 
     cp_cruise = cp_body if self.CP.flags & SubaruFlags.GLOBAL_GEN2 else cp
     if self.CP.flags & SubaruFlags.LKAS_ANGLE:
-      cp_es_status = cp_body if self.CP.flags & SubaruFlags.GLOBAL_GEN2 else cp_cam
-      ret.cruiseState.enabled = cp_es_status.vl["ES_Status"]['Cruise_Activated'] != 0
+      ret.cruiseState.enabled = cp_cam.vl["ES_DashStatus"]['Cruise_Activated'] != 0
       ret.cruiseState.available = cp_cam.vl["ES_DashStatus"]['Cruise_On'] != 0
 
     else:

From c871c372817688db8193481dbc41d9f861dfb4f3 Mon Sep 17 00:00:00 2001
From: bravochar <4663128+bravochar@users.noreply.github.com>
Date: Fri, 13 Sep 2024 19:59:33 -0400
Subject: [PATCH 09/12] Add back Ascent engine/transmission ECUs

---
 opendbc/car/subaru/fingerprints.py | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/opendbc/car/subaru/fingerprints.py b/opendbc/car/subaru/fingerprints.py
index 9b59b341a7..970636734c 100644
--- a/opendbc/car/subaru/fingerprints.py
+++ b/opendbc/car/subaru/fingerprints.py
@@ -44,6 +44,14 @@
       b'\x05!\x08\x1dK\x05!\x08\x01/',
       b'\x05!\x08\x1dK\x00\x00\x00\x00\x00',
     ],
+    (Ecu.engine, 0x7a2, None): [
+      b'\xe5,\xa0P\x07',
+      b'\xe5,\xa0p\x07',
+    ],
+    (Ecu.transmission, 0x7a3, None): [
+      b'\x04\xfe\xf3\x00\x00',
+      b'\x04\xfe\xf6\x00\x00',
+    ],
   },
   CAR.SUBARU_LEGACY: {
     (Ecu.abs, 0x7b0, None): [

From 395dc3abf86e0a927e3fcfdaaecda597f84805e1 Mon Sep 17 00:00:00 2001
From: bravochar <4663128+bravochar@users.noreply.github.com>
Date: Fri, 13 Sep 2024 20:05:03 -0400
Subject: [PATCH 10/12] Add back engine/transmission ECUs

---
 opendbc/car/subaru/values.py | 7 -------
 1 file changed, 7 deletions(-)

diff --git a/opendbc/car/subaru/values.py b/opendbc/car/subaru/values.py
index 47105b77df..84ebb178a0 100644
--- a/opendbc/car/subaru/values.py
+++ b/opendbc/car/subaru/values.py
@@ -274,14 +274,7 @@ class CAR(Platforms):
   # We don't get the EPS from non-OBD queries on GEN2 cars. Note that we still attempt to match when it exists
   non_essential_ecus={
     Ecu.eps: list(CAR.with_flags(SubaruFlags.GLOBAL_GEN2)),
-    Ecu.fwdCamera: list(CAR.with_flags(SubaruFlags.LKAS_ANGLE)),
   },
-  extra_ecus=[
-    (Ecu.engine, 0x7e0, None),
-    (Ecu.engine, 0x7e2, None),
-    (Ecu.transmission, 0x7e1, None),
-    (Ecu.transmission, 0x7a3, None),
-  ],
 )
 
 DBC = CAR.create_dbc_map()

From beac94516b4a151f8f68863d78e0061110b65a9b Mon Sep 17 00:00:00 2001
From: bravochar <4663128+bravochar@users.noreply.github.com>
Date: Sat, 21 Sep 2024 12:18:54 -0400
Subject: [PATCH 11/12] Break out 2023 Ascent tuning parameters

---
 opendbc/car/subaru/interface.py | 14 +++++++++++---
 1 file changed, 11 insertions(+), 3 deletions(-)

diff --git a/opendbc/car/subaru/interface.py b/opendbc/car/subaru/interface.py
index a03c742ab5..cb9e1b9261 100644
--- a/opendbc/car/subaru/interface.py
+++ b/opendbc/car/subaru/interface.py
@@ -41,14 +41,22 @@ def _get_params(ret: structs.CarParams, candidate: CAR, fingerprint, car_fw, exp
     else:
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
-    if candidate in (CAR.SUBARU_ASCENT, CAR.SUBARU_ASCENT_2023):
+    if candidate == CAR.SUBARU_ASCENT:
       ret.steerActuatorDelay = 0.3  # end-to-end angle controller
       ret.lateralTuning.init('pid')
       ret.lateralTuning.pid.kf = 0.00003
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.0025, 0.1], [0.00025, 0.01]]
-      if candidate == CAR.SUBARU_ASCENT_2023:
-        ret.dashcamOnly = False
+
+    elif candidate == CAR.SUBARU_ASCENT_2023:
+      ret.dashcamOnly = False
+      ret.steerActuatorDelay = 0.3  # end-to-end angle controller
+      ret.lateralTuning.init('pid')
+      ret.lateralTuning.pid.kf = 0.00003
+      ret.lateralTuning.pid.kpBP = [0., 20.]
+      ret.lateralTuning.pid.kiBP = [0., 20.]
+      ret.lateralTuning.pid.kpV = [0.0025, 0.1]
+      ret.lateralTuning.pid.kiV = [0.00225, 0.09]
 
     elif candidate == CAR.SUBARU_IMPREZA:
       ret.steerActuatorDelay = 0.4  # end-to-end angle controller

From ea17eb0593c20530a91a385c0230f18de54fced7 Mon Sep 17 00:00:00 2001
From: bravochar <4663128+bravochar@users.noreply.github.com>
Date: Sat, 21 Sep 2024 20:08:41 -0400
Subject: [PATCH 12/12] Remove engine/transmission fingerprints

---
 opendbc/car/subaru/fingerprints.py | 17 +++++++++--------
 1 file changed, 9 insertions(+), 8 deletions(-)

diff --git a/opendbc/car/subaru/fingerprints.py b/opendbc/car/subaru/fingerprints.py
index 970636734c..1ffeaf074b 100644
--- a/opendbc/car/subaru/fingerprints.py
+++ b/opendbc/car/subaru/fingerprints.py
@@ -44,14 +44,15 @@
       b'\x05!\x08\x1dK\x05!\x08\x01/',
       b'\x05!\x08\x1dK\x00\x00\x00\x00\x00',
     ],
-    (Ecu.engine, 0x7a2, None): [
-      b'\xe5,\xa0P\x07',
-      b'\xe5,\xa0p\x07',
-    ],
-    (Ecu.transmission, 0x7a3, None): [
-      b'\x04\xfe\xf3\x00\x00',
-      b'\x04\xfe\xf6\x00\x00',
-    ],
+    # XXX: No longer showing up?!
+    #(Ecu.engine, 0x7a2, None): [
+    #  b'\xe5,\xa0P\x07',
+    #  b'\xe5,\xa0p\x07',
+    #],
+    #(Ecu.transmission, 0x7a3, None): [
+    #  b'\x04\xfe\xf3\x00\x00',
+    #  b'\x04\xfe\xf6\x00\x00',
+    #],
   },
   CAR.SUBARU_LEGACY: {
     (Ecu.abs, 0x7b0, None): [