martinl · martinl · Oct 17, 2025 · Oct 17, 2025 · Oct 17, 2025 · Oct 17, 2025
diff --git a/.gitignore b/.gitignore
@@ -1,3 +1,4 @@
+.idea/
 .cache/
 /build/
 .mypy_cache/

diff --git a/docs/CARS.md b/docs/CARS.md
@@ -1,6 +1,6 @@
 <!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. --->
 
-# Support Information for 383 Known Cars
+# Support Information for 384 Known Cars
 
 |Make|Model|Package|Support Level|
 |---|---|---|:---:|
@@ -259,6 +259,7 @@
 |Subaru|Ascent 2023|All|[Dashcam mode](#dashcam)|
 |Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|[Upstream](#upstream)|
 |Subaru|Crosstrek 2020-23|EyeSight Driver Assistance|[Upstream](#upstream)|
+|Subaru|Crosstrek 2025|All|[Upstream](#upstream)|
 |Subaru|Crosstrek Hybrid 2020|EyeSight Driver Assistance|[Dashcam mode](#dashcam)|
 |Subaru|Forester 2017-18|EyeSight Driver Assistance|[Dashcam mode](#dashcam)|
 |Subaru|Forester 2019-21|All|[Upstream](#upstream)|

diff --git a/opendbc/car/fingerprints.py b/opendbc/car/fingerprints.py
@@ -259,6 +259,7 @@ def all_legacy_fingerprint_cars():
   "SUBARU IMPREZA LIMITED 2019": SUBARU.SUBARU_IMPREZA,
   "SUBARU IMPREZA SPORT 2020": SUBARU.SUBARU_IMPREZA_2020,
   "SUBARU CROSSTREK HYBRID 2020": SUBARU.SUBARU_CROSSTREK_HYBRID,
+  "SUBARU CROSSTREK 2025": SUBARU.SUBARU_CROSSTREK_2025,
   "SUBARU FORESTER 2019": SUBARU.SUBARU_FORESTER,
   "SUBARU FORESTER HYBRID 2020": SUBARU.SUBARU_FORESTER_HYBRID,
   "SUBARU FORESTER 2017 - 2018": SUBARU.SUBARU_FORESTER_PREGLOBAL,

diff --git a/opendbc/car/subaru/carcontroller.py b/opendbc/car/subaru/carcontroller.py
@@ -1,28 +1,32 @@
 import numpy as np
 from opendbc.can import CANPacker
 from opendbc.car import Bus, make_tester_present_msg
-from opendbc.car.lateral import apply_driver_steer_torque_limits, common_fault_avoidance
+from opendbc.car.lateral import apply_driver_steer_torque_limits, common_fault_avoidance, apply_steer_angle_limits_vm
 from opendbc.car.interfaces import CarControllerBase
 from opendbc.car.subaru import subarucan
 from opendbc.car.subaru.values import DBC, GLOBAL_ES_ADDR, CanBus, CarControllerParams, SubaruFlags
+from opendbc.car.vehicle_model import VehicleModel
 
 # FIXME: These limits aren't exact. The real limit is more than likely over a larger time period and
 # involves the total steering angle change rather than rate, but these limits work well for now
 MAX_STEER_RATE = 25  # deg/s
 MAX_STEER_RATE_FRAMES = 7  # tx control frames needed before torque can be cut
 
-
 class CarController(CarControllerBase):
   def __init__(self, dbc_names, CP):
     super().__init__(dbc_names, CP)
     self.apply_torque_last = 0
+    self.apply_steer_last = 0
 
     self.cruise_button_prev = 0
     self.steer_rate_counter = 0
 
     self.p = CarControllerParams(CP)
     self.packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
 
+    # Vehicle model used for lateral limiting
+    self.VM = VehicleModel(CP)
+
   def update(self, CC, CS, now_nanos):
     actuators = CC.actuators
     hud_control = CC.hudControl
@@ -32,30 +36,48 @@ def update(self, CC, CS, now_nanos):
 
     # *** steering ***
     if (self.frame % self.p.STEER_STEP) == 0:
-      apply_torque = int(round(actuators.torque * self.p.STEER_MAX))
-
-      # limits due to driver torque
+      if self.CP.flags & SubaruFlags.LKAS_ANGLE:
+        actual_steering_angle_deg = CS.out.steeringAngleDeg
+        desired_steering_angle_deg = actuators.steeringAngleDeg
+
+        apply_steer = apply_steer_angle_limits_vm(
+          desired_steering_angle_deg,
+          self.apply_steer_last,
+          CS.out.vEgoRaw,
+          actual_steering_angle_deg,
+          CC.latActive,
+          CarControllerParams,
+          self.VM
+        )
+
+        if not CC.latActive:
+          apply_steer = actual_steering_angle_deg
+
+        can_sends.append(subarucan.create_steering_control_angle(self.packer, apply_steer, CC.latActive))
+        self.apply_steer_last = apply_steer
+      else:
+        apply_torque = int(round(actuators.torque * self.p.STEER_MAX))
 
-      new_torque = int(round(apply_torque))
-      apply_torque = apply_driver_steer_torque_limits(new_torque, self.apply_torque_last, CS.out.steeringTorque, self.p)
+        new_torque = int(round(apply_torque))
+        apply_torque = apply_driver_steer_torque_limits(new_torque, self.apply_torque_last, CS.out.steeringTorque, self.p)
 
-      if not CC.latActive:
-        apply_torque = 0
+        if not CC.latActive:
+          apply_torque = 0
 
-      if self.CP.flags & SubaruFlags.PREGLOBAL:
-        can_sends.append(subarucan.create_preglobal_steering_control(self.packer, self.frame // self.p.STEER_STEP, apply_torque, CC.latActive))
-      else:
-        apply_steer_req = CC.latActive
+        if self.CP.flags & SubaruFlags.PREGLOBAL:
+          can_sends.append(subarucan.create_preglobal_steering_control(self.packer, self.frame // self.p.STEER_STEP, apply_torque, 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)
+          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_torque, apply_steer_req))
+          can_sends.append(subarucan.create_steering_control(self.packer, apply_torque, apply_steer_req))
 
-      self.apply_torque_last = apply_torque
+        self.apply_torque_last = apply_torque
 
     # *** longitudinal ***
 
@@ -137,8 +159,11 @@ def update(self, CC, CS, now_nanos):
           can_sends.append(subarucan.create_es_static_2(self.packer))
 
     new_actuators = actuators.as_builder()
-    new_actuators.torque = self.apply_torque_last / self.p.STEER_MAX
-    new_actuators.torqueOutputCan = self.apply_torque_last
+    if self.CP.flags & SubaruFlags.LKAS_ANGLE:
+      new_actuators.steeringAngleDeg = self.apply_steer_last
+    else:
+      new_actuators.torque = self.apply_torque_last / self.p.STEER_MAX
+      new_actuators.torqueOutputCan = self.apply_torque_last
 
     self.frame += 1
     return new_actuators, can_sends
diff --git a/opendbc/car/subaru/carstate.py b/opendbc/car/subaru/carstate.py
@@ -60,11 +60,17 @@ def update(self, can_parsers) -> structs.CarState:
     can_gear = int(cp_transmission.vl["Transmission"]["Gear"])
     ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
 
-    ret.steeringAngleDeg = cp.vl["Steering_Torque"]["Steering_Angle"]
+    if self.CP.flags & SubaruFlags.LKAS_ANGLE:
+      ret.steeringAngleDeg = cp.vl["Steering_2"]["Steering_Angle"]
+      counter = cp.vl["Steering_2"]["COUNTER"]
 
-    if not (self.CP.flags & SubaruFlags.PREGLOBAL):
-      # ideally we get this from the car, but unclear if it exists. diagnostic software doesn't even have it
-      ret.steeringRateDeg = self.angle_rate_calulator.update(ret.steeringAngleDeg, cp.vl["Steering_Torque"]["COUNTER"])
+      ret.steeringRateDeg = self.angle_rate_calulator.update(ret.steeringAngleDeg, counter)
+    else:
+      ret.steeringAngleDeg = cp.vl["Steering_Torque"]["Steering_Angle"]
+
+      if not (self.CP.flags & SubaruFlags.PREGLOBAL):
+        # ideally we get this from the car, but unclear if it exists. diagnostic software doesn't even have it
+        ret.steeringRateDeg = self.angle_rate_calulator.update(ret.steeringAngleDeg, cp.vl["Steering_Torque"]["COUNTER"])
 
     ret.steeringTorque = cp.vl["Steering_Torque"]["Steer_Torque_Sensor"]
     ret.steeringTorqueEps = cp.vl["Steering_Torque"]["Steer_Torque_Output"]
@@ -73,7 +79,7 @@ def update(self, can_parsers) -> structs.CarState:
     ret.steeringPressed = abs(ret.steeringTorque) > steer_threshold
 
     cp_cruise = cp_alt if self.CP.flags & SubaruFlags.GLOBAL_GEN2 else cp
-    if self.CP.flags & SubaruFlags.HYBRID:
+    if self.CP.flags & SubaruFlags.HYBRID or self.CP.flags & SubaruFlags.LKAS_ANGLE:
       ret.cruiseState.enabled = cp_cam.vl["ES_DashStatus"]['Cruise_Activated'] != 0
       ret.cruiseState.available = cp_cam.vl["ES_DashStatus"]['Cruise_On'] != 0
     else:

diff --git a/opendbc/car/subaru/fingerprints.py b/opendbc/car/subaru/fingerprints.py
@@ -243,6 +243,20 @@
       b'\xd7!`p\x07',
       b'\xf4!`0\x07',
     ],
+  },
+    CAR.SUBARU_CROSSTREK_2025: {
+    (Ecu.abs, 0x7b0, None): [
+      b'\xa2 $\x17\x06',
+    ],
+    (Ecu.eps, 0x746, None): [
+      b'\xc2 $\x00\x01',
+    ],
+    (Ecu.fwdCamera, 0x787, None): [
+      b'\x1d!\x08\x00F\x14!\x08\x00=',
+    ],
+    (Ecu.engine, 0x7a2, None): [
+      b'\x04"cP\x07',
+    ],
   },
   CAR.SUBARU_FORESTER: {
     (Ecu.abs, 0x7b0, None): [

diff --git a/opendbc/car/subaru/interface.py b/opendbc/car/subaru/interface.py
@@ -42,6 +42,9 @@ def _get_params(ret: structs.CarParams, candidate: CAR, fingerprint, car_fw, alp
     else:
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
+    if ret.flags & SubaruFlags.LKAS_ANGLE:
+      ret.safetyConfigs[0].safetyParam |= SubaruSafetyFlags.LKAS_ANGLE.value
+
     if candidate in (CAR.SUBARU_ASCENT, CAR.SUBARU_ASCENT_2023):
       ret.steerActuatorDelay = 0.3  # end-to-end angle controller
       ret.lateralTuning.init('pid')
@@ -65,6 +68,10 @@ def _get_params(ret: structs.CarParams, candidate: CAR, fingerprint, car_fw, alp
     elif candidate == CAR.SUBARU_CROSSTREK_HYBRID:
       ret.steerActuatorDelay = 0.1
 
+    elif candidate == CAR.SUBARU_CROSSTREK_2025:
+      ret.dashcamOnly = False
+      ret.steerActuatorDelay = 0.3
+
     elif candidate in (CAR.SUBARU_FORESTER, CAR.SUBARU_FORESTER_2022, CAR.SUBARU_FORESTER_HYBRID):
       ret.lateralTuning.init('pid')
       ret.lateralTuning.pid.kf = 0.000038

diff --git a/opendbc/car/subaru/values.py b/opendbc/car/subaru/values.py
@@ -1,7 +1,8 @@
 from dataclasses import dataclass, field
 from enum import Enum, IntFlag
 
-from opendbc.car import Bus, CarSpecs, DbcDict, PlatformConfig, Platforms, uds
+from opendbc.car import Bus, CarSpecs, DbcDict, PlatformConfig, Platforms, uds, ACCELERATION_DUE_TO_GRAVITY
+from opendbc.car.lateral import AngleSteeringLimits, ISO_LATERAL_ACCEL
 from opendbc.car.structs import CarParams
 from opendbc.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column
 from opendbc.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
@@ -52,11 +53,30 @@ def __init__(self, CP):
   BRAKE_LOOKUP_BP = [-3.5, 0]
   BRAKE_LOOKUP_V = [BRAKE_MAX, BRAKE_MIN]
 
+  AVERAGE_ROAD_ROLL = 0.06  # ~3.4 degrees, 6% superelevation.
+
+  ANGLE_LIMITS: AngleSteeringLimits = AngleSteeringLimits(
+    100,
+    # v1 limits, not used
+    ([], []),
+    ([], []),
+
+    # Vehicle model angle limits
+    # Add extra tolerance for average banked road since safety doesn't have the roll
+    MAX_LATERAL_ACCEL=ISO_LATERAL_ACCEL + (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL),  # ~3.6 m/s^2
+    MAX_LATERAL_JERK=3.0 + (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL),  # ~3.6 m/s^3
+
+    # limit angle rate to both prevent a fault and for low speed comfort (~12 mph rate down to 0 mph)
+    # FIXME: convert from carcontroller known limit
+    # MAX_STEER_RATE = 25  # deg/s
+    MAX_ANGLE_RATE=5,  # deg/20ms frame
+  )
 
 class SubaruSafetyFlags(IntFlag):
   GEN2 = 1
   LONG = 2
   PREGLOBAL_REVERSED_DRIVER_TORQUE = 4
+  LKAS_ANGLE = 8
 
 
 class SubaruFlags(IntFlag):
@@ -211,6 +231,11 @@ class CAR(Platforms):
     SUBARU_ASCENT.specs,
     flags=SubaruFlags.LKAS_ANGLE,
   )
+  SUBARU_CROSSTREK_2025 = SubaruGen2PlatformConfig(
+    [SubaruCarDocs("Subaru Crosstrek 2025", "All", car_parts=CarParts.common([CarHarness.subaru_d]))],
+    CarSpecs(mass=1529, wheelbase=2.5781, steerRatio=13.5),
+    flags=SubaruFlags.LKAS_ANGLE
+  )
 
 
 SUBARU_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \

diff --git a/opendbc/car/tests/routes.py b/opendbc/car/tests/routes.py
@@ -299,6 +299,7 @@ class CarTestRoute(NamedTuple):
   CarTestRoute("1bbe6bf2d62f58a8/2022-07-14--17-11-43", SUBARU.SUBARU_OUTBACK, segment=10),
   CarTestRoute("c56e69bbc74b8fad/2022-08-18--09-43-51", SUBARU.SUBARU_LEGACY, segment=3),
   CarTestRoute("f4e3a0c511a076f4/2022-08-04--16-16-48", SUBARU.SUBARU_CROSSTREK_HYBRID, segment=2),
+  CarTestRoute("38b065e31c0a9ed7/00000001--5656806473", SUBARU.SUBARU_CROSSTREK_2025, segment=2),
   CarTestRoute("7fd1e4f3a33c1673/2022-12-04--15-09-53", SUBARU.SUBARU_FORESTER_2022, segment=4),
   CarTestRoute("f3b34c0d2632aa83/2023-07-23--20-43-25", SUBARU.SUBARU_OUTBACK_2023, segment=7),
   CarTestRoute("99437cef6d5ff2ee/2023-03-13--21-21-38", SUBARU.SUBARU_ASCENT_2023, segment=7),

diff --git a/opendbc/car/torque_data/override.toml b/opendbc/car/torque_data/override.toml
@@ -14,6 +14,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "SUBARU_FORESTER_2022" = [nan, 3.0, nan]
 "SUBARU_OUTBACK_2023" = [nan, 3.0, nan]
 "SUBARU_ASCENT_2023" = [nan, 3.0, nan]
+"SUBARU_CROSSTREK_2025" = [nan, 3.0, nan]
 
 # Toyota LTA also has torque
 "TOYOTA_RAV4_TSS2_2023" = [nan, 3.0, nan]
-Original file line number
+Diff line change
@@ -1,3 +1,4 @@
+    .idea/
     .cache/
     /build/
     .mypy_cache/
@@ Expand Down @@