100 lines
3.5 KiB
Python
100 lines
3.5 KiB
Python
from dataclasses import dataclass, field
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from enum import StrEnum
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from typing import Dict, List, Optional, Union
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from cereal import car
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from panda.python import uds
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from openpilot.selfdrive.car import AngleRateLimit, dbc_dict
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from openpilot.selfdrive.car.docs_definitions import CarInfo, CarHarness, CarParts
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from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
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Ecu = car.CarParams.Ecu
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class CarControllerParams:
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ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[5., .8, .15])
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ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[5., 3.5, 0.4])
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LKAS_MAX_TORQUE = 1 # A value of 1 is easy to overpower
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STEER_THRESHOLD = 1.0
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def __init__(self, CP):
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pass
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class CAR(StrEnum):
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XTRAIL = "NISSAN X-TRAIL 2017"
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LEAF = "NISSAN LEAF 2018"
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# Leaf with ADAS ECU found behind instrument cluster instead of glovebox
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# Currently the only known difference between them is the inverted seatbelt signal.
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LEAF_IC = "NISSAN LEAF 2018 Instrument Cluster"
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ROGUE = "NISSAN ROGUE 2019"
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ALTIMA = "NISSAN ALTIMA 2020"
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@dataclass
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class NissanCarInfo(CarInfo):
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package: str = "ProPILOT Assist"
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car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.nissan_a]))
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CAR_INFO: Dict[str, Optional[Union[NissanCarInfo, List[NissanCarInfo]]]] = {
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CAR.XTRAIL: NissanCarInfo("Nissan X-Trail 2017"),
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CAR.LEAF: NissanCarInfo("Nissan Leaf 2018-23", video_link="https://youtu.be/vaMbtAh_0cY"),
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CAR.LEAF_IC: None, # same platforms
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CAR.ROGUE: NissanCarInfo("Nissan Rogue 2018-20"),
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CAR.ALTIMA: NissanCarInfo("Nissan Altima 2019-20", car_parts=CarParts.common([CarHarness.nissan_b])),
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}
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# Default diagnostic session
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NISSAN_DIAGNOSTIC_REQUEST_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, 0x81])
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NISSAN_DIAGNOSTIC_RESPONSE_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40, 0x81])
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# Manufacturer specific
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NISSAN_DIAGNOSTIC_REQUEST_KWP_2 = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, 0xda])
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NISSAN_DIAGNOSTIC_RESPONSE_KWP_2 = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40, 0xda])
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NISSAN_VERSION_REQUEST_KWP = b'\x21\x83'
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NISSAN_VERSION_RESPONSE_KWP = b'\x61\x83'
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NISSAN_RX_OFFSET = 0x20
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FW_QUERY_CONFIG = FwQueryConfig(
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requests=[request for bus, logging in ((0, False), (1, True)) for request in [
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Request(
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[NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP],
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[NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP],
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bus=bus,
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logging=logging,
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),
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Request(
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[NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP],
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[NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP],
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rx_offset=NISSAN_RX_OFFSET,
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bus=bus,
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logging=logging,
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),
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# Rogue's engine solely responds to this
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Request(
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[NISSAN_DIAGNOSTIC_REQUEST_KWP_2, NISSAN_VERSION_REQUEST_KWP],
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[NISSAN_DIAGNOSTIC_RESPONSE_KWP_2, NISSAN_VERSION_RESPONSE_KWP],
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bus=bus,
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logging=logging,
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),
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Request(
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[StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
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[StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
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rx_offset=NISSAN_RX_OFFSET,
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bus=bus,
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logging=logging,
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),
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]],
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)
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DBC = {
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CAR.XTRAIL: dbc_dict('nissan_x_trail_2017_generated', None),
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CAR.LEAF: dbc_dict('nissan_leaf_2018_generated', None),
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CAR.LEAF_IC: dbc_dict('nissan_leaf_2018_generated', None),
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CAR.ROGUE: dbc_dict('nissan_x_trail_2017_generated', None),
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CAR.ALTIMA: dbc_dict('nissan_x_trail_2017_generated', None),
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}
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