Add Subaru XV 2018 support

selfdrive/car/subaru/carcontroller.py

@@ -13,7 +13,7 @@ def __init__(self, car_fingerprint):
     self.STEER_STEP = 2                # how often we update the steer cmd
     self.STEER_DELTA_UP = 50           # torque increase per refresh, 0.8s to max
     self.STEER_DELTA_DOWN = 70         # torque decrease per refresh
-    if car_fingerprint == CAR.IMPREZA:
+    if car_fingerprint in [CAR.IMPREZA, CAR.XV]:
       self.STEER_DRIVER_ALLOWANCE = 60   # allowed driver torque before start limiting
       self.STEER_DRIVER_MULTIPLIER = 10   # weight driver torque heavily
       self.STEER_DRIVER_FACTOR = 1     # from dbc

selfdrive/car/subaru/interface.py

@@ -59,7 +59,7 @@ def get_params(candidate, fingerprint):
     std_cargo = 136
     ret.steerRateCost = 0.7
 
-    if candidate in [CAR.IMPREZA]:
+    if candidate in [CAR.IMPREZA, CAR.XV]:
       ret.mass = 1568 + std_cargo
       ret.wheelbase = 2.67
       ret.centerToFront = ret.wheelbase * 0.5

selfdrive/car/subaru/subarucan.py

@@ -11,9 +11,9 @@ def subaru_checksum(packer, values, addr):
 
 def create_steering_control(packer, car_fingerprint, apply_steer, frame, steer_step):
 
-  if car_fingerprint == CAR.IMPREZA:
+  if car_fingerprint in [CAR.IMPREZA, CAR.XV]:
     #counts from 0 to 15 then back to 0 + 16 for enable bit
-    idx = ((frame // steer_step) % 16)
+    idx = ((frame / steer_step) % 16)
 
     values = {
       "Counter": idx,
@@ -27,7 +27,7 @@ def create_steering_control(packer, car_fingerprint, apply_steer, frame, steer_s
 
 def create_steering_status(packer, car_fingerprint, apply_steer, frame, steer_step):
 
-  if car_fingerprint == CAR.IMPREZA:
+  if car_fingerprint in [CAR.IMPREZA, CAR.XV]:
     values = {}
     values["Checksum"] = subaru_checksum(packer, {}, 0x322)
 

selfdrive/car/subaru/values.py

@@ -2,17 +2,23 @@
 
 class CAR:
   IMPREZA = "SUBARU IMPREZA LIMITED 2019"
+  XV = "SUBARU XV ACTIVE 2018"
 
 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, 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, 816: 8, 826: 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.XV: [{
+    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, 554: 8, 557: 8, 576: 8, 577: 8, 722: 8, 801: 8, 802: 8, 805: 8, 808: 8, 811: 8, 826: 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, 1759: 8, 1786: 5, 1787: 5, 1788: 8
+  }],
 }
 
 STEER_THRESHOLD = {
   CAR.IMPREZA: 80,
+  CAR.XV: 80,
 }
 
 DBC = {
   CAR.IMPREZA: dbc_dict('subaru_global_2017', None),
+  CAR.XV: dbc_dict('subaru_global_2017', None),
 }