380 lines
12 KiB
Python
380 lines
12 KiB
Python
from selfdrive.car import dbc_dict
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from cereal import car
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Ecu = car.CarParams.Ecu
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class CarControllerParams:
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def __init__(self, CP):
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if CP.carFingerprint == CAR.IMPREZA_2020:
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self.STEER_MAX = 1439
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else:
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self.STEER_MAX = 2047
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self.STEER_STEP = 2 # how often we update the steer cmd
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self.STEER_DELTA_UP = 50 # torque increase per refresh, 0.8s to max
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self.STEER_DELTA_DOWN = 70 # torque decrease per refresh
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self.STEER_DRIVER_ALLOWANCE = 60 # allowed driver torque before start limiting
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self.STEER_DRIVER_MULTIPLIER = 10 # weight driver torque heavily
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self.STEER_DRIVER_FACTOR = 1 # from dbc
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class CAR:
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ASCENT = "SUBARU ASCENT LIMITED 2019"
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IMPREZA = "SUBARU IMPREZA LIMITED 2019"
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IMPREZA_2020 = "SUBARU IMPREZA SPORT 2020"
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FORESTER = "SUBARU FORESTER 2019"
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FORESTER_PREGLOBAL = "SUBARU FORESTER 2017 - 2018"
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LEGACY_PREGLOBAL = "SUBARU LEGACY 2015 - 2018"
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OUTBACK_PREGLOBAL = "SUBARU OUTBACK 2015 - 2017"
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OUTBACK_PREGLOBAL_2018 = "SUBARU OUTBACK 2018 - 2019"
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FINGERPRINTS = {
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CAR.IMPREZA: [{
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2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 280: 8, 281: 8, 290: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 372: 8, 544: 8, 545: 8, 546: 8, 552: 8, 554: 8, 557: 8, 576: 8, 577: 8, 722: 8, 801: 8, 802: 8, 805: 8, 808: 8, 811: 8, 816: 8, 826: 8, 827: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 1614: 8, 1617: 8, 1632: 8, 1650: 8, 1657: 8, 1658: 8, 1677: 8, 1697: 8, 1722: 8, 1743: 8, 1759: 8, 1786: 5, 1787: 5, 1788: 8, 1809: 8, 1813: 8, 1817: 8, 1821: 8, 1840: 8, 1848: 8, 1924: 8, 1932: 8, 1952: 8, 1960: 8
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}],
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CAR.IMPREZA_2020: [{
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2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 280: 8, 281: 8, 282: 8, 290: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 372: 8, 544: 8, 545: 8, 546: 8, 552: 8, 554: 8, 557: 8, 576: 8, 577: 8, 722: 8, 801: 8, 802: 8, 803: 8, 805: 8, 808: 8, 816: 8, 826: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 1617: 8, 1632: 8, 1650: 8, 1677: 8, 1697: 8, 1722: 8, 1743: 8, 1759: 8, 1786: 5, 1787: 5, 1788: 8, 1809: 8, 1813: 8, 1817: 8, 1821: 8, 1840: 8, 1848: 8, 1924: 8, 1932: 8, 1952: 8, 1960: 8, 1968: 8, 1976: 8, 2015: 8, 2016: 8, 2024: 8
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},
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{
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2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 280: 8, 281: 8, 282: 8, 290: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 544: 8, 545: 8, 546: 8, 554: 8, 557: 8, 576: 8, 577: 8, 801: 8, 802: 8, 803: 8, 805: 8, 808: 8, 816: 8, 826: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 1614: 8, 1617: 8, 1632: 8, 1657: 8, 1658: 8, 1677: 8, 1697: 8, 1743: 8, 1759: 8, 1786: 5, 1787: 5, 1788: 8, 1809: 8, 1813: 8, 1817: 8, 1821: 8, 1840: 8, 1848: 8, 1924: 8, 1932: 8, 1952: 8, 1960: 8
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}],
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CAR.FORESTER: [{
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2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 280: 8, 281: 8, 282: 8, 290: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 372: 8, 544: 8, 545: 8, 546: 8, 552: 8, 554: 8, 557: 8, 576: 8, 577: 8, 722: 8, 801: 8, 802: 8, 803: 8, 805: 8, 808: 8, 811: 8, 816: 8, 826: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 961: 8, 984: 8, 1614: 8, 1617: 8, 1632: 8, 1650: 8, 1651: 8, 1657: 8, 1658: 8, 1677: 8, 1697: 8, 1698: 8, 1722: 8, 1743: 8, 1759: 8, 1787: 5, 1788: 8, 1809: 8, 1813: 8, 1817: 8, 1821: 8, 1840: 8, 1848: 8, 1924: 8, 1932: 8, 1952: 8, 1960: 8
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}],
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}
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FW_VERSIONS = {
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CAR.ASCENT: {
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(Ecu.esp, 0x7b0, None): [
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b'\xa5 \x19\x02\x00',
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b'\xa5 !\002\000',
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b'\xf1\x82\xa5 \x19\x02\x00',
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],
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(Ecu.eps, 0x746, None): [
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b'\x85\xc0\xd0\x00',
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b'\005\xc0\xd0\000',
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b'\x95\xc0\xd0\x00',
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],
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(Ecu.fwdCamera, 0x787, None): [
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b'\x00\x00d\xb9\x1f@ \x10',
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b'\000\000e~\037@ \'',
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b'\x00\x00e@\x1f@ $',
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],
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(Ecu.engine, 0x7e0, None): [
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b'\xbb,\xa0t\a',
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b'\xf1\x82\xbb,\xa0t\x87',
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b'\xf1\x82\xbb,\xa0t\a',
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b'\xf1\x82\xd9,\xa0@\a',
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b'\xf1\x82\xd1,\xa0q\x07',
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],
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(Ecu.transmission, 0x7e1, None): [
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b'\x00\xfe\xf7\x00\x00',
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b'\001\xfe\xf9\000\000',
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b'\x01\xfe\xf7\x00\x00',
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],
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},
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CAR.IMPREZA: {
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(Ecu.esp, 0x7b0, None): [
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b'\x7a\x94\x3f\x90\x00',
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b'\xa2 \x185\x00',
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b'\xa2 \x193\x00',
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b'z\x94.\x90\x00',
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b'z\x94\b\x90\x01',
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b'\xa2 \x19`\x00',
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b'z\x94\f\x90\001',
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b'z\x9c\x19\x80\x01',
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b'z\x94\x08\x90\x00',
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],
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(Ecu.eps, 0x746, None): [
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b'\x7a\xc0\x0c\x00',
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b'z\xc0\b\x00',
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b'\x8a\xc0\x00\x00',
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b'z\xc0\x04\x00',
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b'z\xc0\x00\x00',
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b'\x8a\xc0\x10\x00',
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],
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(Ecu.fwdCamera, 0x787, None): [
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b'\x00\x00\x64\xb5\x1f\x40\x20\x0e',
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b'\x00\x00d\xdc\x1f@ \x0e',
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b'\x00\x00e\x1c\x1f@ \x14',
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b'\x00\x00d)\x1f@ \a',
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b'\x00\x00e+\x1f@ \x14',
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b'\000\000e+\000\000\000\000',
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b'\000\000dd\037@ \016',
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b'\000\000e\002\037@ \024',
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b'\x00\x00d)\x00\x00\x00\x00',
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b'\x00\x00c\xf4\x00\x00\x00\x00',
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],
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(Ecu.engine, 0x7e0, None): [
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b'\xaa\x61\x66\x73\x07',
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b'\xbeacr\a',
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b'\xc5!`r\a',
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b'\xaa!ds\a',
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b'\xaa!`u\a',
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b'\xaa!dq\a',
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b'\xaa!dt\a',
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b'\xf1\x00\xa2\x10\t',
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b'\xc5!ar\a',
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b'\xbe!as\a',
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b'\xc5!ds\a',
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b'\xc5!`s\a',
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b'\xaa!au\a',
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b'\xbe!at\a',
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b'\xaa\x00Bu\x07',
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b'\xc5!dr\x07',
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b'\xaa!aw\x07',
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],
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(Ecu.transmission, 0x7e1, None): [
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b'\xe3\xe5\x46\x31\x00',
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b'\xe4\xe5\x061\x00',
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b'\xe5\xf5\x04\x00\x00',
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b'\xe3\xf5G\x00\x00',
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b'\xe3\xf5\a\x00\x00',
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b'\xe3\xf5C\x00\x00',
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b'\xe5\xf5B\x00\x00',
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b'\xe5\xf5$\000\000',
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b'\xe4\xf5\a\000\000',
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b'\xe3\xf5F\000\000',
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b'\xe4\xf5\002\000\000',
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b'\xe3\xd0\x081\x00',
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b'\xe3\xf5\x06\x00\x00',
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],
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},
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CAR.IMPREZA_2020: {
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(Ecu.esp, 0x7b0, None): [
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b'\xa2 \0314\000',
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b'\xa2 \0313\000',
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b'\xa2 !i\000',
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b'\xa2 !`\000',
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],
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(Ecu.eps, 0x746, None): [
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b'\x9a\xc0\000\000',
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b'\n\xc0\004\000',
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],
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(Ecu.fwdCamera, 0x787, None): [
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b'\000\000eb\037@ \"',
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b'\000\000e\x8f\037@ )',
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],
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(Ecu.engine, 0x7e0, None): [
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b'\xca!ap\a',
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b'\xca!`p\a',
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b'\xca!`0\a',
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b'\xcc\"f0\a',
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b'\xcc!fp\a',
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],
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(Ecu.transmission, 0x7e1, None): [
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b'\xe6\xf5\004\000\000',
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b'\xe6\xf5$\000\000',
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b'\xe7\xf6B0\000',
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b'\xe7\xf5D0\000',
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],
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},
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CAR.FORESTER: {
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(Ecu.esp, 0x7b0, None): [
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b'\xa3 \030\024\000',
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b'\xa3 \024\000',
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b'\xa3 \031\024\000',
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b'\xa3 \024\001',
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],
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(Ecu.eps, 0x746, None): [
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b'\x8d\xc0\004\000',
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],
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(Ecu.fwdCamera, 0x787, None): [
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b'\000\000e!\037@ \021',
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b'\000\000e\x97\037@ 0',
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b'\000\000e`\037@ ',
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b'\xf1\x00\xac\x02\x00',
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],
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(Ecu.engine, 0x7e0, None): [
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b'\xb6\"`A\a',
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b'\xcf"`0\a',
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b'\xcb\"`@\a',
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b'\xcb\"`p\a',
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b'\xf1\x00\xa2\x10\n',
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],
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(Ecu.transmission, 0x7e1, None): [
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b'\032\xf6B0\000',
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b'\032\xf6F`\000',
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b'\032\xf6b`\000',
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b'\032\xf6B`\000',
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b'\xf1\x00\xa4\x10@',
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],
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},
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CAR.FORESTER_PREGLOBAL: {
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(Ecu.esp, 0x7b0, None): [
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b'\x7d\x97\x14\x40',
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b'\xf1\x00\xbb\x0c\x04',
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],
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(Ecu.eps, 0x746, None): [
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b'}\xc0\x10\x00',
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b'm\xc0\x10\x00',
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],
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(Ecu.fwdCamera, 0x787, None): [
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b'\x00\x00\x64\x35\x1f\x40\x20\x09',
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b'\x00\x00c\xe9\x1f@ \x03',
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b'\x00\x00d\xd3\x1f@ \t'
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],
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(Ecu.engine, 0x7e0, None): [
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b'\xba"@p\a',
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b'\xa7)\xa0q\a',
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b'\xf1\x82\xa7)\xa0q\a',
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b'\xba"@@\a',
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],
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(Ecu.transmission, 0x7e1, None): [
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b'\xdc\xf2\x60\x60\x00',
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b'\xdc\xf2@`\x00',
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b'\xda\xfd\xe0\x80\x00',
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b'\xdc\xf2`\x81\000',
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b'\xdc\xf2`\x80\x00',
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],
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},
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CAR.LEGACY_PREGLOBAL: {
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(Ecu.esp, 0x7b0, None): [
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b'k\x97D\x00',
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b'[\xba\xc4\x03',
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b'{\x97D\x00',
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b'[\x97D\000',
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],
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(Ecu.eps, 0x746, None): [
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b'[\xb0\x00\x01',
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b'K\xb0\x00\x01',
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b'k\xb0\x00\x00',
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],
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(Ecu.fwdCamera, 0x787, None): [
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b'\x00\x00c\xb7\x1f@\x10\x16',
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b'\x00\x00c\x94\x1f@\x10\x08',
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b'\x00\x00c\xec\x1f@ \x04',
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],
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(Ecu.engine, 0x7e0, None): [
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b'\xab*@r\a',
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b'\xa0+@p\x07',
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b'\xb4"@0\x07',
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b'\xa0"@q\a',
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],
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(Ecu.transmission, 0x7e1, None): [
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b'\xbe\xf2\x00p\x00',
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b'\xbf\xfb\xc0\x80\x00',
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b'\xbd\xf2\x00`\x00',
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b'\xbf\xf2\000\x80\000',
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],
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},
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CAR.OUTBACK_PREGLOBAL: {
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(Ecu.esp, 0x7b0, None): [
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b'{\x9a\xac\x00',
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b'k\x97\xac\x00',
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b'\x5b\xf7\xbc\x03',
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b'[\xf7\xac\x03',
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b'{\x97\xac\x00',
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b'k\x9a\xac\000',
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b'[\xba\xac\x03',
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b'[\xf7\xac\000',
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],
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(Ecu.eps, 0x746, None): [
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b'k\xb0\x00\x00',
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b'[\xb0\x00\x00',
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b'\x4b\xb0\x00\x02',
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b'K\xb0\x00\x00',
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b'{\xb0\x00\x01',
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],
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(Ecu.fwdCamera, 0x787, None): [
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b'\x00\x00c\xec\x1f@ \x04',
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b'\x00\x00c\xd1\x1f@\x10\x17',
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b'\xf1\x00\xf0\xe0\x0e',
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b'\x00\x00c\x94\x00\x00\x00\x00',
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b'\x00\x00c\x94\x1f@\x10\b',
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b'\x00\x00c\xb7\x1f@\x10\x16',
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b'\000\000c\x90\037@\020\016',
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b'\x00\x00c\xec\x37@\x04',
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],
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(Ecu.engine, 0x7e0, None): [
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b'\xb4+@p\a',
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b'\xab\"@@\a',
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b'\xa0\x62\x41\x71\x07',
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b'\xa0*@q\a',
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b'\xab*@@\a',
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b'\xb4"@0\a',
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b'\xb4"@p\a',
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b'\xab"@s\a',
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b'\xab+@@\a',
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b'\xb4"@r\a',
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b'\xa0+@@\x07',
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b'\xa0\"@\x80\a',
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],
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(Ecu.transmission, 0x7e1, None): [
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b'\xbd\xfb\xe0\x80\x00',
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b'\xbe\xf2@\x80\x00',
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b'\xbf\xe2\x40\x80\x00',
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b'\xbf\xf2@\x80\x00',
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b'\xbe\xf2@p\x00',
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b'\xbd\xf2@`\x00',
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b'\xbd\xf2@\x81\000',
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b'\xbe\xfb\xe0p\000',
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b'\xbf\xfb\xe0b\x00',
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],
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},
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CAR.OUTBACK_PREGLOBAL_2018: {
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(Ecu.esp, 0x7b0, None): [
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b'\x8b\x97\xac\x00',
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b'\x8b\x9a\xac\x00',
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b'\x9b\x97\xac\x00',
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b'\x8b\x97\xbc\x00',
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b'\x8b\x99\xac\x00',
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b'\x9b\x9a\xac\000',
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b'\x9b\x97\xbe\x10',
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],
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(Ecu.eps, 0x746, None): [
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b'{\xb0\x00\x00',
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b'{\xb0\x00\x01',
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],
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(Ecu.fwdCamera, 0x787, None): [
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b'\x00\x00df\x1f@ \n',
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b'\x00\x00d\xfe\x1f@ \x15',
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b'\x00\x00d\x95\x00\x00\x00\x00',
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b'\x00\x00d\x95\x1f@ \x0f',
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b'\x00\x00d\xfe\x00\x00\x00\x00',
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b'\x00\x00e\x19\x1f@ \x15',
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],
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(Ecu.engine, 0x7e0, None): [
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b'\xb5"@p\a',
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b'\xb5+@@\a',
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b'\xb5"@P\a',
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b'\xc4"@0\a',
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b'\xb5b@1\x07',
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b'\xb5q\xe0@\a',
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b'\xc4+@0\a',
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b'\xc4b@p\a',
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],
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(Ecu.transmission, 0x7e1, None): [
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b'\xbc\xf2@\x81\x00',
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b'\xbc\xfb\xe0\x80\x00',
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b'\xbc\xf2@\x80\x00',
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b'\xbb\xf2@`\x00',
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b'\xbc\xe2@\x80\x00',
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b'\xbc\xfb\xe0`\x00',
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b'\xbc\xaf\xe0`\x00',
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b'\xbb\xfb\xe0`\000',
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],
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},
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}
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STEER_THRESHOLD = {
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CAR.ASCENT: 80,
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CAR.IMPREZA: 80,
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CAR.IMPREZA_2020: 80,
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CAR.FORESTER: 80,
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CAR.FORESTER_PREGLOBAL: 75,
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CAR.LEGACY_PREGLOBAL: 75,
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CAR.OUTBACK_PREGLOBAL: 75,
|
|
CAR.OUTBACK_PREGLOBAL_2018: 75,
|
|
}
|
|
|
|
DBC = {
|
|
CAR.ASCENT: dbc_dict('subaru_global_2017_generated', None),
|
|
CAR.IMPREZA: dbc_dict('subaru_global_2017_generated', None),
|
|
CAR.IMPREZA_2020: dbc_dict('subaru_global_2017_generated', None),
|
|
CAR.FORESTER: dbc_dict('subaru_global_2017_generated', None),
|
|
CAR.FORESTER_PREGLOBAL: dbc_dict('subaru_forester_2017_generated', None),
|
|
CAR.LEGACY_PREGLOBAL: dbc_dict('subaru_outback_2015_generated', None),
|
|
CAR.OUTBACK_PREGLOBAL: dbc_dict('subaru_outback_2015_generated', None),
|
|
CAR.OUTBACK_PREGLOBAL_2018: dbc_dict('subaru_outback_2019_generated', None),
|
|
}
|
|
|
|
PREGLOBAL_CARS = [CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018]
|