Hotfix: fix Toyota EV detection, Honda Nidec fault, and Subaru Ascent misfingerprinting (commaai#23846)

* Toyota: fix flaky EV detection (commaai#23825)

* Honda: revert to button enable on Nidec (commaai#23828)

* Honda: revert to button enable on Nidec

* fix test

* bump panda

* Subaru: remove Impreza CAN fingerprints (commaai#23841)

* Subaru: remove Impreza CAN fingerprints

* fix process replay

* update refs

Author: adeebshihadeh

panda/board/safety/safety_honda.h

@@ -96,7 +96,9 @@ static int honda_rx_hook(CANPacket_t *to_push) {
   bool valid = addr_safety_check(to_push, &honda_rx_checks,
                                  honda_get_checksum, honda_compute_checksum, honda_get_counter);
 
-  const bool pcm_cruise = ((honda_hw == HONDA_BOSCH) && !honda_bosch_long) || ((honda_hw == HONDA_NIDEC) && !gas_interceptor_detected);
+  // TODO: add back Honda Nidec once we handle it properly in openpilot
+  //const bool pcm_cruise = ((honda_hw == HONDA_BOSCH) && !honda_bosch_long) || ((honda_hw == HONDA_NIDEC) && !gas_interceptor_detected);
+  const bool pcm_cruise = ((honda_hw == HONDA_BOSCH) && !honda_bosch_long);
 
   if (valid) {
     int addr = GET_ADDR(to_push);

selfdrive/car/subaru/values.py

@@ -26,9 +26,6 @@ class CAR:
   OUTBACK_PREGLOBAL_2018 = "SUBARU OUTBACK 2018 - 2019"
 
 FINGERPRINTS = {
-  CAR.IMPREZA: [{
-    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
-  }],
   CAR.IMPREZA_2020: [{
     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
   },

selfdrive/car/toyota/interface.py

@@ -2,7 +2,7 @@
 from cereal import car
 from selfdrive.config import Conversions as CV
 from selfdrive.car.toyota.tunes import LatTunes, LongTunes, set_long_tune, set_lat_tune
-from selfdrive.car.toyota.values import Ecu, CAR, ToyotaFlags, TSS2_CAR, NO_DSU_CAR, MIN_ACC_SPEED, EPS_SCALE, CarControllerParams
+from selfdrive.car.toyota.values import Ecu, CAR, ToyotaFlags, TSS2_CAR, NO_DSU_CAR, MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, CarControllerParams
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 
@@ -217,7 +217,9 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]):  # py
     # if the smartDSU is detected, openpilot can send ACC_CMD (and the smartDSU will block it from the DSU) or not (the DSU is "connected")
     ret.openpilotLongitudinalControl = smartDsu or ret.enableDsu or candidate in TSS2_CAR
 
-    if 0x245 in fingerprint[0]:
+    # we can't use the fingerprint to detect this reliably, since
+    # the EV gas pedal signal can take a couple seconds to appear
+    if candidate in EV_HYBRID_CAR:
       ret.flags |= ToyotaFlags.HYBRID.value
 
     # min speed to enable ACC. if car can do stop and go, then set enabling speed

selfdrive/car/toyota/values.py

@@ -1718,5 +1718,9 @@ class CAR:
 
 NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH}
 
+EV_HYBRID_CAR = {CAR.AVALONH_2019, CAR.CAMRYH, CAR.CAMRYH_TSS2, CAR.CHRH, CAR.COROLLAH_TSS2, CAR.HIGHLANDERH, CAR.HIGHLANDERH_TSS2, CAR.PRIUS,
+                 CAR.PRIUS_V, CAR.RAV4H, CAR.RAV4H_TSS2, CAR.LEXUS_CTH, CAR.MIRAI, CAR.LEXUS_ESH, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_NXH, CAR.LEXUS_RXH,
+                 CAR.LEXUS_RXH_TSS2, CAR.PRIUS_TSS2}
+
 # no resume button press required
 NO_STOP_TIMER_CAR = TSS2_CAR | {CAR.PRIUS_V, CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_ESH}