Source code for selfdrive.car.nissan.values

from dataclasses import dataclass, field

from cereal import car
from panda.python import uds
from openpilot.selfdrive.car import AngleRateLimit, CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
from openpilot.selfdrive.car.docs_definitions import CarDocs, CarHarness, CarParts
from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries

Ecu = car.CarParams.Ecu


[docs] class CarControllerParams: ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[5., .8, .15]) ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[5., 3.5, 0.4]) LKAS_MAX_TORQUE = 1 # A value of 1 is easy to overpower STEER_THRESHOLD = 1.0 def __init__(self, CP): pass
[docs] @dataclass class NissanCarDocs(CarDocs): package: str = "ProPILOT Assist" car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.nissan_a]))
[docs] @dataclass(frozen=True) class NissanCarSpecs(CarSpecs): centerToFrontRatio: float = 0.44 steerRatio: float = 17.
[docs] @dataclass class NissanPlaformConfig(PlatformConfig): dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('nissan_x_trail_2017_generated', None))
[docs] class CAR(Platforms): NISSAN_XTRAIL = NissanPlaformConfig( [NissanCarDocs("Nissan X-Trail 2017")], NissanCarSpecs(mass=1610, wheelbase=2.705) ) NISSAN_LEAF = NissanPlaformConfig( [NissanCarDocs("Nissan Leaf 2018-23", video_link="https://youtu.be/vaMbtAh_0cY")], NissanCarSpecs(mass=1610, wheelbase=2.705), dbc_dict('nissan_leaf_2018_generated', None), ) # Leaf with ADAS ECU found behind instrument cluster instead of glovebox # Currently the only known difference between them is the inverted seatbelt signal. NISSAN_LEAF_IC = NISSAN_LEAF.override(car_docs=[]) NISSAN_ROGUE = NissanPlaformConfig( [NissanCarDocs("Nissan Rogue 2018-20")], NissanCarSpecs(mass=1610, wheelbase=2.705) ) NISSAN_ALTIMA = NissanPlaformConfig( [NissanCarDocs("Nissan Altima 2019-20", car_parts=CarParts.common([CarHarness.nissan_b]))], NissanCarSpecs(mass=1492, wheelbase=2.824) )
DBC = CAR.create_dbc_map() # Default diagnostic session NISSAN_DIAGNOSTIC_REQUEST_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, 0x81]) NISSAN_DIAGNOSTIC_RESPONSE_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40, 0x81]) # Manufacturer specific NISSAN_DIAGNOSTIC_REQUEST_KWP_2 = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, 0xda]) NISSAN_DIAGNOSTIC_RESPONSE_KWP_2 = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40, 0xda]) NISSAN_VERSION_REQUEST_KWP = b'\x21\x83' NISSAN_VERSION_RESPONSE_KWP = b'\x61\x83' NISSAN_RX_OFFSET = 0x20 FW_QUERY_CONFIG = FwQueryConfig( requests=[request for bus, logging in ((0, False), (1, True)) for request in [ Request( [NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP], [NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP], bus=bus, logging=logging, ), Request( [NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP], [NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP], rx_offset=NISSAN_RX_OFFSET, bus=bus, logging=logging, ), # Rogue's engine solely responds to this Request( [NISSAN_DIAGNOSTIC_REQUEST_KWP_2, NISSAN_VERSION_REQUEST_KWP], [NISSAN_DIAGNOSTIC_RESPONSE_KWP_2, NISSAN_VERSION_RESPONSE_KWP], bus=bus, logging=logging, ), Request( [StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST], [StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE], rx_offset=NISSAN_RX_OFFSET, bus=bus, logging=logging, ), ]], )