openpilot v0.9.6 release

date: 2024-02-21T23:02:42 master commit: 0b4d08fab8e35a264bc7383e878538f8083c33e5
2024-02-27 16:34:45 -07:00
commit 2901597132
1940 changed files with 647891 additions and 0 deletions
--- a/selfdrive/car/nissan/init.py
+++ b/selfdrive/car/nissan/init.py
--- a/selfdrive/car/nissan/carcontroller.py
+++ b/selfdrive/car/nissan/carcontroller.py
@@ -0,0 +1,81 @@
+from cereal import car
+from opendbc.can.packer import CANPacker
+from openpilot.selfdrive.car import apply_std_steer_angle_limits
+from openpilot.selfdrive.car.nissan import nissancan
+from openpilot.selfdrive.car.nissan.values import CAR, CarControllerParams
+
+VisualAlert = car.CarControl.HUDControl.VisualAlert
+
+
+class CarController:
+  def __init__(self, dbc_name, CP, VM):
+    self.CP = CP
+    self.car_fingerprint = CP.carFingerprint
+    self.frame = 0
+
+    self.lkas_max_torque = 0
+    self.apply_angle_last = 0
+
+    self.packer = CANPacker(dbc_name)
+
+  def update(self, CC, CS, now_nanos):
+    actuators = CC.actuators
+    hud_control = CC.hudControl
+    pcm_cancel_cmd = CC.cruiseControl.cancel
+
+    can_sends = []
+
+    ### STEER ###
+    steer_hud_alert = 1 if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw) else 0
+
+    if CC.latActive:
+      # windup slower
+      apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgoRaw, CarControllerParams)
+
+      # Max torque from driver before EPS will give up and not apply torque
+      if not bool(CS.out.steeringPressed):
+        self.lkas_max_torque = CarControllerParams.LKAS_MAX_TORQUE
+      else:
+        # Scale max torque based on how much torque the driver is applying to the wheel
+        self.lkas_max_torque = max(
+          # Scale max torque down to half LKAX_MAX_TORQUE as a minimum
+          CarControllerParams.LKAS_MAX_TORQUE * 0.5,
+          # Start scaling torque at STEER_THRESHOLD
+          CarControllerParams.LKAS_MAX_TORQUE - 0.6 * max(0, abs(CS.out.steeringTorque) - CarControllerParams.STEER_THRESHOLD)
+        )
+
+    else:
+      apply_angle = CS.out.steeringAngleDeg
+      self.lkas_max_torque = 0
+
+    self.apply_angle_last = apply_angle
+
+    if self.CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA) and pcm_cancel_cmd:
+      can_sends.append(nissancan.create_acc_cancel_cmd(self.packer, self.car_fingerprint, CS.cruise_throttle_msg))
+
+    # TODO: Find better way to cancel!
+    # For some reason spamming the cancel button is unreliable on the Leaf
+    # We now cancel by making propilot think the seatbelt is unlatched,
+    # this generates a beep and a warning message every time you disengage
+    if self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC) and self.frame % 2 == 0:
+      can_sends.append(nissancan.create_cancel_msg(self.packer, CS.cancel_msg, pcm_cancel_cmd))
+
+    can_sends.append(nissancan.create_steering_control(
+      self.packer, apply_angle, self.frame, CC.latActive, self.lkas_max_torque))
+
+    # Below are the HUD messages. We copy the stock message and modify
+    if self.CP.carFingerprint != CAR.ALTIMA:
+      if self.frame % 2 == 0:
+        can_sends.append(nissancan.create_lkas_hud_msg(self.packer, CS.lkas_hud_msg, CC.enabled, hud_control.leftLaneVisible, hud_control.rightLaneVisible,
+                                                       hud_control.leftLaneDepart, hud_control.rightLaneDepart))
+
+      if self.frame % 50 == 0:
+        can_sends.append(nissancan.create_lkas_hud_info_msg(
+          self.packer, CS.lkas_hud_info_msg, steer_hud_alert
+        ))
+
+    new_actuators = actuators.copy()
+    new_actuators.steeringAngleDeg = apply_angle
+
+    self.frame += 1
+    return new_actuators, can_sends
--- a/selfdrive/car/nissan/carstate.py
+++ b/selfdrive/car/nissan/carstate.py
@@ -0,0 +1,191 @@
+import copy
+from collections import deque
+from cereal import car
+from opendbc.can.can_define import CANDefine
+from openpilot.selfdrive.car.interfaces import CarStateBase
+from openpilot.common.conversions import Conversions as CV
+from opendbc.can.parser import CANParser
+from openpilot.selfdrive.car.nissan.values import CAR, DBC, CarControllerParams
+
+TORQUE_SAMPLES = 12
+
+class CarState(CarStateBase):
+  def __init__(self, CP):
+    super().__init__(CP)
+    can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
+
+    self.lkas_hud_msg = {}
+    self.lkas_hud_info_msg = {}
+
+    self.steeringTorqueSamples = deque(TORQUE_SAMPLES*[0], TORQUE_SAMPLES)
+    self.shifter_values = can_define.dv["GEARBOX"]["GEAR_SHIFTER"]
+
+  def update(self, cp, cp_adas, cp_cam):
+    ret = car.CarState.new_message()
+
+    if self.CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA):
+      ret.gas = cp.vl["GAS_PEDAL"]["GAS_PEDAL"]
+    elif self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC):
+      ret.gas = cp.vl["CRUISE_THROTTLE"]["GAS_PEDAL"]
+
+    ret.gasPressed = bool(ret.gas > 3)
+
+    if self.CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA):
+      ret.brakePressed = bool(cp.vl["DOORS_LIGHTS"]["USER_BRAKE_PRESSED"])
+    elif self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC):
+      ret.brakePressed = bool(cp.vl["CRUISE_THROTTLE"]["USER_BRAKE_PRESSED"])
+
+    ret.wheelSpeeds = self.get_wheel_speeds(
+      cp.vl["WHEEL_SPEEDS_FRONT"]["WHEEL_SPEED_FL"],
+      cp.vl["WHEEL_SPEEDS_FRONT"]["WHEEL_SPEED_FR"],
+      cp.vl["WHEEL_SPEEDS_REAR"]["WHEEL_SPEED_RL"],
+      cp.vl["WHEEL_SPEEDS_REAR"]["WHEEL_SPEED_RR"],
+    )
+    ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.
+
+    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
+    ret.standstill = cp.vl["WHEEL_SPEEDS_REAR"]["WHEEL_SPEED_RL"] == 0.0 and cp.vl["WHEEL_SPEEDS_REAR"]["WHEEL_SPEED_RR"] == 0.0
+
+    if self.CP.carFingerprint == CAR.ALTIMA:
+      ret.cruiseState.enabled = bool(cp.vl["CRUISE_STATE"]["CRUISE_ENABLED"])
+    else:
+      ret.cruiseState.enabled = bool(cp_adas.vl["CRUISE_STATE"]["CRUISE_ENABLED"])
+
+    if self.CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL):
+      ret.seatbeltUnlatched = cp.vl["HUD"]["SEATBELT_DRIVER_LATCHED"] == 0
+      ret.cruiseState.available = bool(cp_cam.vl["PRO_PILOT"]["CRUISE_ON"])
+    elif self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC):
+      if self.CP.carFingerprint == CAR.LEAF:
+        ret.seatbeltUnlatched = cp.vl["SEATBELT"]["SEATBELT_DRIVER_LATCHED"] == 0
+      elif self.CP.carFingerprint == CAR.LEAF_IC:
+        ret.seatbeltUnlatched = cp.vl["CANCEL_MSG"]["CANCEL_SEATBELT"] == 1
+      ret.cruiseState.available = bool(cp.vl["CRUISE_THROTTLE"]["CRUISE_AVAILABLE"])
+    elif self.CP.carFingerprint == CAR.ALTIMA:
+      ret.seatbeltUnlatched = cp.vl["HUD"]["SEATBELT_DRIVER_LATCHED"] == 0
+      ret.cruiseState.available = bool(cp_adas.vl["PRO_PILOT"]["CRUISE_ON"])
+
+    if self.CP.carFingerprint == CAR.ALTIMA:
+      speed = cp.vl["PROPILOT_HUD"]["SET_SPEED"]
+    else:
+      speed = cp_adas.vl["PROPILOT_HUD"]["SET_SPEED"]
+
+    if speed != 255:
+      if self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC):
+        conversion = CV.MPH_TO_MS if cp.vl["HUD_SETTINGS"]["SPEED_MPH"] else CV.KPH_TO_MS
+      else:
+        conversion = CV.MPH_TO_MS if cp.vl["HUD"]["SPEED_MPH"] else CV.KPH_TO_MS
+      ret.cruiseState.speed = speed * conversion
+      ret.cruiseState.speedCluster = (speed - 1) * conversion  # Speed on HUD is always 1 lower than actually sent on can bus
+
+    if self.CP.carFingerprint == CAR.ALTIMA:
+      ret.steeringTorque = cp_cam.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"]
+    else:
+      ret.steeringTorque = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"]
+
+    self.steeringTorqueSamples.append(ret.steeringTorque)
+    # Filtering driver torque to prevent steeringPressed false positives
+    ret.steeringPressed = bool(abs(sum(self.steeringTorqueSamples) / TORQUE_SAMPLES) > CarControllerParams.STEER_THRESHOLD)
+
+    ret.steeringAngleDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_ANGLE"]
+
+    ret.leftBlinker = bool(cp.vl["LIGHTS"]["LEFT_BLINKER"])
+    ret.rightBlinker = bool(cp.vl["LIGHTS"]["RIGHT_BLINKER"])
+
+    ret.doorOpen = any([cp.vl["DOORS_LIGHTS"]["DOOR_OPEN_RR"],
+                        cp.vl["DOORS_LIGHTS"]["DOOR_OPEN_RL"],
+                        cp.vl["DOORS_LIGHTS"]["DOOR_OPEN_FR"],
+                        cp.vl["DOORS_LIGHTS"]["DOOR_OPEN_FL"]])
+
+    ret.espDisabled = bool(cp.vl["ESP"]["ESP_DISABLED"])
+
+    can_gear = int(cp.vl["GEARBOX"]["GEAR_SHIFTER"])
+    ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
+
+    if self.CP.carFingerprint == CAR.ALTIMA:
+      self.lkas_enabled = bool(cp.vl["LKAS_SETTINGS"]["LKAS_ENABLED"])
+    else:
+      self.lkas_enabled = bool(cp_adas.vl["LKAS_SETTINGS"]["LKAS_ENABLED"])
+
+    self.cruise_throttle_msg = copy.copy(cp.vl["CRUISE_THROTTLE"])
+
+    if self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC):
+      self.cancel_msg = copy.copy(cp.vl["CANCEL_MSG"])
+
+    if self.CP.carFingerprint != CAR.ALTIMA:
+      self.lkas_hud_msg = copy.copy(cp_adas.vl["PROPILOT_HUD"])
+      self.lkas_hud_info_msg = copy.copy(cp_adas.vl["PROPILOT_HUD_INFO_MSG"])
+
+    return ret
+
+  @staticmethod
+  def get_can_parser(CP):
+    messages = [
+      # sig_address, frequency
+      ("STEER_ANGLE_SENSOR", 100),
+      ("WHEEL_SPEEDS_REAR", 50),
+      ("WHEEL_SPEEDS_FRONT", 50),
+      ("ESP", 25),
+      ("GEARBOX", 25),
+      ("DOORS_LIGHTS", 10),
+      ("LIGHTS", 10),
+    ]
+
+    if CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA):
+      messages += [
+        ("GAS_PEDAL", 100),
+        ("CRUISE_THROTTLE", 50),
+        ("HUD", 25),
+      ]
+
+    elif CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC):
+      messages += [
+        ("BRAKE_PEDAL", 100),
+        ("CRUISE_THROTTLE", 50),
+        ("CANCEL_MSG", 50),
+        ("HUD_SETTINGS", 25),
+        ("SEATBELT", 10),
+      ]
+
+    if CP.carFingerprint == CAR.ALTIMA:
+      messages += [
+        ("CRUISE_STATE", 10),
+        ("LKAS_SETTINGS", 10),
+        ("PROPILOT_HUD", 50),
+      ]
+      return CANParser(DBC[CP.carFingerprint]["pt"], messages, 1)
+
+    messages.append(("STEER_TORQUE_SENSOR", 100))
+
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0)
+
+  @staticmethod
+  def get_adas_can_parser(CP):
+    # this function generates lists for signal, messages and initial values
+
+    if CP.carFingerprint == CAR.ALTIMA:
+      messages = [
+        ("LKAS", 100),
+        ("PRO_PILOT", 100),
+      ]
+    else:
+      messages = [
+        ("PROPILOT_HUD_INFO_MSG", 2),
+        ("LKAS_SETTINGS", 10),
+        ("CRUISE_STATE", 50),
+        ("PROPILOT_HUD", 50),
+        ("LKAS", 100),
+      ]
+
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2)
+
+  @staticmethod
+  def get_cam_can_parser(CP):
+    messages = []
+
+    if CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL):
+      messages.append(("PRO_PILOT", 100))
+    elif CP.carFingerprint == CAR.ALTIMA:
+      messages.append(("STEER_TORQUE_SENSOR", 100))
+      return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0)
+
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, 1)
--- a/selfdrive/car/nissan/fingerprints.py
+++ b/selfdrive/car/nissan/fingerprints.py
@@ -0,0 +1,119 @@
+# ruff: noqa: E501
+from cereal import car
+from openpilot.selfdrive.car.nissan.values import CAR
+
+Ecu = car.CarParams.Ecu
+
+FINGERPRINTS = {
+  CAR.XTRAIL: [{
+    2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 520: 2, 523: 6, 548: 8, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3, 768: 2, 783: 3, 851: 8, 855: 8, 1041: 8, 1055: 2, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1111: 4, 1227: 8, 1228: 8, 1247: 4, 1266: 8, 1273: 7, 1342: 1, 1376: 6, 1401: 8, 1474: 2, 1497: 3, 1821: 8, 1823: 8, 1837: 8, 2015: 8, 2016: 8, 2024: 8
+  },
+  {
+    2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 520: 2, 523: 6, 527: 1, 548: 8, 637: 4, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3, 768: 6, 783: 3, 851: 8, 855: 8, 1041: 8, 1055: 2, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1111: 4, 1227: 8, 1228: 8, 1247: 4, 1266: 8, 1273: 7, 1342: 1, 1376: 6, 1401: 8, 1474: 8, 1497: 3, 1534: 6, 1792: 8, 1821: 8, 1823: 8, 1837: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 2015: 8, 2016: 8, 2024: 8
+  }],
+  CAR.LEAF: [{
+    2: 5, 42: 6, 264: 3, 361: 8, 372: 8, 384: 8, 389: 8, 403: 8, 459: 7, 460: 4, 470: 8, 520: 1, 569: 8, 581: 8, 634: 7, 640: 8, 644: 8, 645: 8, 646: 5, 658: 8, 682: 8, 683: 8, 689: 8, 724: 6, 758: 3, 761: 2, 783: 3, 852: 8, 853: 8, 856: 8, 861: 8, 944: 1, 976: 6, 1008: 7, 1011: 7, 1057: 3, 1227: 8, 1228: 8, 1261: 5, 1342: 1, 1354: 8, 1361: 8, 1459: 8, 1477: 8, 1497: 3, 1549: 8, 1573: 6, 1821: 8, 1837: 8, 1856: 8, 1859: 8, 1861: 8, 1864: 8, 1874: 8, 1888: 8, 1891: 8, 1893: 8, 1906: 8, 1947: 8, 1949: 8, 1979: 8, 1981: 8, 2016: 8, 2017: 8, 2021: 8, 643: 5, 1792: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8
+  },
+  {
+    2: 5, 42: 8, 264: 3, 361: 8, 372: 8, 384: 8, 389: 8, 403: 8, 459: 7, 460: 4, 470: 8, 520: 1, 569: 8, 581: 8, 634: 7, 640: 8, 643: 5, 644: 8, 645: 8, 646: 5, 658: 8, 682: 8, 683: 8, 689: 8, 724: 6, 758: 3, 761: 2, 772: 8, 773: 6, 774: 7, 775: 8, 776: 6, 777: 7, 778: 6, 783: 3, 852: 8, 853: 8, 856: 8, 861: 8, 943: 8, 944: 1, 976: 6, 1008: 7, 1009: 8, 1010: 8, 1011: 7, 1012: 8, 1013: 8, 1019: 8, 1020: 8, 1021: 8, 1022: 8, 1057: 3, 1227: 8, 1228: 8, 1261: 5, 1342: 1, 1354: 8, 1361: 8, 1402: 8, 1459: 8, 1477: 8, 1497: 3, 1549: 8, 1573: 6, 1821: 8, 1837: 8
+  }],
+  CAR.LEAF_IC: [{
+    2: 5, 42: 6, 264: 3, 282: 8, 361: 8, 372: 8, 384: 8, 389: 8, 403: 8, 459: 7, 460: 4, 470: 8, 520: 1, 569: 8, 581: 8, 634: 7, 640: 8, 643: 5, 644: 8, 645: 8, 646: 5, 658: 8, 682: 8, 683: 8, 689: 8, 756: 5, 758: 3, 761: 2, 783: 3, 830: 2, 852: 8, 853: 8, 856: 8, 861: 8, 943: 8, 944: 1, 1001: 6, 1057: 3, 1227: 8, 1228: 8, 1229: 8, 1342: 1, 1354: 8, 1361: 8, 1459: 8, 1477: 8, 1497: 3, 1514: 6, 1549: 8, 1573: 6, 1792: 8, 1821: 8, 1822: 8, 1837: 8, 1838: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8, 2016: 8, 2017: 8
+  }],
+  CAR.ROGUE: [{
+    2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 520: 2, 523: 6, 548: 8, 634: 7, 643: 5, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3, 772: 8, 773: 6, 774: 7, 775: 8, 776: 6, 777: 7, 778: 6, 783: 3, 851: 8, 855: 8, 1041: 8, 1042: 8, 1055: 2, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1110: 7, 1111: 7, 1227: 8, 1228: 8, 1247: 4, 1266: 8, 1273: 7, 1342: 1, 1376: 6, 1401: 8, 1474: 2, 1497: 3, 1534: 7, 1792: 8, 1821: 8, 1823: 8, 1837: 8, 1839: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
+  }],
+  CAR.ALTIMA: [{
+    2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 438: 8, 451: 8, 517: 8, 520: 2, 522: 8, 523: 6, 539: 8, 541: 7, 542: 8, 543: 8, 544: 8, 545: 8, 546: 8, 547: 8, 548: 8, 570: 8, 576: 8, 577: 8, 582: 8, 583: 8, 584: 8, 586: 8, 587: 8, 588: 8, 589: 8, 590: 8, 591: 8, 592: 8, 600: 8, 601: 8, 610: 8, 611: 8, 612: 8, 614: 8, 615: 8, 616: 8, 617: 8, 622: 8, 623: 8, 634: 7, 638: 8, 645: 8, 648: 5, 654: 6, 658: 8, 659: 8, 660: 8, 661: 8, 665: 8, 666: 8, 674: 2, 675: 8, 676: 8, 682: 8, 683: 8, 684: 8, 685: 8, 686: 8, 687: 8, 689: 8, 690: 8, 703: 8, 708: 7, 709: 7, 711: 7, 712: 7, 713: 7, 714: 8, 715: 8, 716: 8, 717: 7, 718: 7, 719: 7, 720: 7, 723: 8, 726: 7, 727: 7, 728: 7, 735: 8, 746: 8, 748: 6, 749: 6, 750: 8, 758: 3, 772: 8, 773: 6, 774: 7, 775: 8, 776: 6, 777: 7, 778: 6, 779: 7, 781: 7, 782: 7, 783: 3, 851: 8, 855: 5, 1001: 6, 1041: 8, 1042: 8, 1055: 3, 1100: 7, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1110: 7, 1111: 7, 1144: 7, 1145: 7, 1227: 8, 1228: 8, 1229: 8, 1232: 8, 1247: 4, 1258: 8, 1259: 8, 1266: 8, 1273: 7, 1306: 1, 1314: 8, 1323: 8, 1324: 8, 1342: 1, 1376: 8, 1401: 8, 1454: 8, 1497: 3, 1514: 6, 1526: 8, 1527: 5, 1792: 8, 1821: 8, 1823: 8, 1837: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
+  }],
+}
+
+FW_VERSIONS = {
+  CAR.ALTIMA: {
+    (Ecu.fwdCamera, 0x707, None): [
+      b'284N86CA1D',
+    ],
+    (Ecu.eps, 0x742, None): [
+      b'6CA2B\xa9A\x02\x02G8A89P90D6A\x00\x00\x01\x80',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'237109HE2B',
+    ],
+    (Ecu.gateway, 0x18dad0f1, None): [
+      b'284U29HE0A',
+    ],
+  },
+  CAR.LEAF: {
+    (Ecu.abs, 0x740, None): [
+      b'476605SA1C',
+      b'476605SA7D',
+      b'476605SC2D',
+      b'476606WK7B',
+      b'476606WK9B',
+    ],
+    (Ecu.eps, 0x742, None): [
+      b'5SA2A\x99A\x05\x02N123F\x15b\x00\x00\x00\x00\x00\x00\x00\x80',
+      b'5SA2A\xb7A\x05\x02N123F\x15\xa2\x00\x00\x00\x00\x00\x00\x00\x80',
+      b'5SN2A\xb7A\x05\x02N123F\x15\xa2\x00\x00\x00\x00\x00\x00\x00\x80',
+      b'5SN2A\xb7A\x05\x02N126F\x15\xb2\x00\x00\x00\x00\x00\x00\x00\x80',
+    ],
+    (Ecu.fwdCamera, 0x707, None): [
+      b'5SA0ADB\x04\x18\x00\x00\x00\x00\x00_*6\x04\x94a\x00\x00\x00\x80',
+      b'5SA2ADB\x04\x18\x00\x00\x00\x00\x00_*6\x04\x94a\x00\x00\x00\x80',
+      b'6WK2ADB\x04\x18\x00\x00\x00\x00\x00R;1\x18\x99\x10\x00\x00\x00\x80',
+      b'6WK2BDB\x04\x18\x00\x00\x00\x00\x00R;1\x18\x99\x10\x00\x00\x00\x80',
+      b'6WK2CDB\x04\x18\x00\x00\x00\x00\x00R=1\x18\x99\x10\x00\x00\x00\x80',
+    ],
+    (Ecu.gateway, 0x18dad0f1, None): [
+      b'284U25SA3C',
+      b'284U25SP0C',
+      b'284U25SP1C',
+      b'284U26WK0A',
+      b'284U26WK0C',
+    ],
+  },
+  CAR.LEAF_IC: {
+    (Ecu.fwdCamera, 0x707, None): [
+      b'5SH1BDB\x04\x18\x00\x00\x00\x00\x00_-?\x04\x91\xf2\x00\x00\x00\x80',
+      b'5SH4BDB\x04\x18\x00\x00\x00\x00\x00_-?\x04\x91\xf2\x00\x00\x00\x80',
+      b'5SK0ADB\x04\x18\x00\x00\x00\x00\x00_(5\x07\x9aQ\x00\x00\x00\x80',
+    ],
+    (Ecu.abs, 0x740, None): [
+      b'476605SD2E',
+      b'476605SH1D',
+      b'476605SK2A',
+    ],
+    (Ecu.eps, 0x742, None): [
+      b'5SH2A\x99A\x05\x02N123F\x15\x81\x00\x00\x00\x00\x00\x00\x00\x80',
+      b'5SH2C\xb7A\x05\x02N123F\x15\xa3\x00\x00\x00\x00\x00\x00\x00\x80',
+      b'5SK3A\x99A\x05\x02N123F\x15u\x00\x00\x00\x00\x00\x00\x00\x80',
+    ],
+    (Ecu.gateway, 0x18dad0f1, None): [
+      b'284U25SF0C',
+      b'284U25SH3A',
+      b'284U25SK2D',
+    ],
+  },
+  CAR.XTRAIL: {
+    (Ecu.fwdCamera, 0x707, None): [
+      b'284N86FR2A',
+    ],
+    (Ecu.abs, 0x740, None): [
+      b'6FU0AD\x11\x02\x00\x02e\x95e\x80iQ#\x01\x00\x00\x00\x00\x00\x80',
+      b'6FU1BD\x11\x02\x00\x02e\x95e\x80iX#\x01\x00\x00\x00\x00\x00\x80',
+    ],
+    (Ecu.eps, 0x742, None): [
+      b'6FP2A\x99A\x05\x02N123F\x18\x02\x00\x00\x00\x00\x00\x00\x00\x80',
+    ],
+    (Ecu.combinationMeter, 0x743, None): [
+      b'6FR2A\x18B\x05\x17\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x80',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'6FR9A\xa0A\x06\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x80',
+      b'6FU9B\xa0A\x06\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x80',
+    ],
+    (Ecu.gateway, 0x18dad0f1, None): [
+      b'284U26FR0E',
+    ],
+  },
+}
--- a/selfdrive/car/nissan/interface.py
+++ b/selfdrive/car/nissan/interface.py
@@ -0,0 +1,60 @@
+from cereal import car
+from panda import Panda
+from openpilot.selfdrive.car import get_safety_config
+from openpilot.selfdrive.car.interfaces import CarInterfaceBase
+from openpilot.selfdrive.car.nissan.values import CAR
+
+
+class CarInterface(CarInterfaceBase):
+
+  @staticmethod
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+    ret.carName = "nissan"
+    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.nissan)]
+    ret.autoResumeSng = False
+
+    ret.steerLimitTimer = 1.0
+
+    ret.steerActuatorDelay = 0.1
+    ret.steerRatio = 17
+
+    ret.steerControlType = car.CarParams.SteerControlType.angle
+    ret.radarUnavailable = True
+
+    if candidate in (CAR.ROGUE, CAR.XTRAIL):
+      ret.mass = 1610
+      ret.wheelbase = 2.705
+      ret.centerToFront = ret.wheelbase * 0.44
+    elif candidate in (CAR.LEAF, CAR.LEAF_IC):
+      ret.mass = 1610
+      ret.wheelbase = 2.705
+      ret.centerToFront = ret.wheelbase * 0.44
+    elif candidate == CAR.ALTIMA:
+      # Altima has EPS on C-CAN unlike the others that have it on V-CAN
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_NISSAN_ALT_EPS_BUS
+      ret.mass = 1492
+      ret.wheelbase = 2.824
+      ret.centerToFront = ret.wheelbase * 0.44
+
+    return ret
+
+  # returns a car.CarState
+  def _update(self, c):
+    ret = self.CS.update(self.cp, self.cp_adas, self.cp_cam)
+
+    buttonEvents = []
+    be = car.CarState.ButtonEvent.new_message()
+    be.type = car.CarState.ButtonEvent.Type.accelCruise
+    buttonEvents.append(be)
+
+    events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.brake])
+
+    if self.CS.lkas_enabled:
+      events.add(car.CarEvent.EventName.invalidLkasSetting)
+
+    ret.events = events.to_msg()
+
+    return ret
+
+  def apply(self, c, now_nanos):
+    return self.CC.update(c, self.CS, now_nanos)
--- a/selfdrive/car/nissan/nissancan.py
+++ b/selfdrive/car/nissan/nissancan.py
@@ -0,0 +1,154 @@
+import crcmod
+from openpilot.selfdrive.car.nissan.values import CAR
+
+# TODO: add this checksum to the CANPacker
+nissan_checksum = crcmod.mkCrcFun(0x11d, initCrc=0x00, rev=False, xorOut=0xff)
+
+
+def create_steering_control(packer, apply_steer, frame, steer_on, lkas_max_torque):
+  values = {
+    "COUNTER": frame % 0x10,
+    "DESIRED_ANGLE": apply_steer,
+    "SET_0x80_2": 0x80,
+    "SET_0x80": 0x80,
+    "MAX_TORQUE": lkas_max_torque if steer_on else 0,
+    "LKA_ACTIVE": steer_on,
+  }
+
+  dat = packer.make_can_msg("LKAS", 0, values)[2]
+
+  values["CHECKSUM"] = nissan_checksum(dat[:7])
+  return packer.make_can_msg("LKAS", 0, values)
+
+
+def create_acc_cancel_cmd(packer, car_fingerprint, cruise_throttle_msg):
+  values = {s: cruise_throttle_msg[s] for s in [
+    "COUNTER",
+    "PROPILOT_BUTTON",
+    "CANCEL_BUTTON",
+    "GAS_PEDAL_INVERTED",
+    "SET_BUTTON",
+    "RES_BUTTON",
+    "FOLLOW_DISTANCE_BUTTON",
+    "NO_BUTTON_PRESSED",
+    "GAS_PEDAL",
+    "USER_BRAKE_PRESSED",
+    "NEW_SIGNAL_2",
+    "GAS_PRESSED_INVERTED",
+    "unsure1",
+    "unsure2",
+    "unsure3",
+  ]}
+  can_bus = 1 if car_fingerprint == CAR.ALTIMA else 2
+
+  values["CANCEL_BUTTON"] = 1
+  values["NO_BUTTON_PRESSED"] = 0
+  values["PROPILOT_BUTTON"] = 0
+  values["SET_BUTTON"] = 0
+  values["RES_BUTTON"] = 0
+  values["FOLLOW_DISTANCE_BUTTON"] = 0
+
+  return packer.make_can_msg("CRUISE_THROTTLE", can_bus, values)
+
+
+def create_cancel_msg(packer, cancel_msg, cruise_cancel):
+  values = {s: cancel_msg[s] for s in [
+    "CANCEL_SEATBELT",
+    "NEW_SIGNAL_1",
+    "NEW_SIGNAL_2",
+    "NEW_SIGNAL_3",
+  ]}
+
+  if cruise_cancel:
+    values["CANCEL_SEATBELT"] = 1
+
+  return packer.make_can_msg("CANCEL_MSG", 2, values)
+
+
+def create_lkas_hud_msg(packer, lkas_hud_msg, enabled, left_line, right_line, left_lane_depart, right_lane_depart):
+  values = {s: lkas_hud_msg[s] for s in [
+    "LARGE_WARNING_FLASHING",
+    "SIDE_RADAR_ERROR_FLASHING1",
+    "SIDE_RADAR_ERROR_FLASHING2",
+    "LEAD_CAR",
+    "LEAD_CAR_ERROR",
+    "FRONT_RADAR_ERROR",
+    "FRONT_RADAR_ERROR_FLASHING",
+    "SIDE_RADAR_ERROR_FLASHING3",
+    "LKAS_ERROR_FLASHING",
+    "SAFETY_SHIELD_ACTIVE",
+    "RIGHT_LANE_GREEN_FLASH",
+    "LEFT_LANE_GREEN_FLASH",
+    "FOLLOW_DISTANCE",
+    "AUDIBLE_TONE",
+    "SPEED_SET_ICON",
+    "SMALL_STEERING_WHEEL_ICON",
+    "unknown59",
+    "unknown55",
+    "unknown26",
+    "unknown28",
+    "unknown31",
+    "SET_SPEED",
+    "unknown43",
+    "unknown08",
+    "unknown05",
+    "unknown02",
+  ]}
+
+  values["RIGHT_LANE_YELLOW_FLASH"] = 1 if right_lane_depart else 0
+  values["LEFT_LANE_YELLOW_FLASH"] = 1 if left_lane_depart else 0
+
+  values["LARGE_STEERING_WHEEL_ICON"] = 2 if enabled else 0
+  values["RIGHT_LANE_GREEN"] = 1 if right_line and enabled else 0
+  values["LEFT_LANE_GREEN"] = 1 if left_line and enabled else 0
+
+  return packer.make_can_msg("PROPILOT_HUD", 0, values)
+
+
+def create_lkas_hud_info_msg(packer, lkas_hud_info_msg, steer_hud_alert):
+  values = {s: lkas_hud_info_msg[s] for s in [
+    "NA_HIGH_ACCEL_TEMP",
+    "SIDE_RADAR_NA_HIGH_CABIN_TEMP",
+    "SIDE_RADAR_MALFUNCTION",
+    "LKAS_MALFUNCTION",
+    "FRONT_RADAR_MALFUNCTION",
+    "SIDE_RADAR_NA_CLEAN_REAR_CAMERA",
+    "NA_POOR_ROAD_CONDITIONS",
+    "CURRENTLY_UNAVAILABLE",
+    "SAFETY_SHIELD_OFF",
+    "FRONT_COLLISION_NA_FRONT_RADAR_OBSTRUCTION",
+    "PEDAL_MISSAPPLICATION_SYSTEM_ACTIVATED",
+    "SIDE_IMPACT_NA_RADAR_OBSTRUCTION",
+    "WARNING_DO_NOT_ENTER",
+    "SIDE_IMPACT_SYSTEM_OFF",
+    "SIDE_IMPACT_MALFUNCTION",
+    "FRONT_COLLISION_MALFUNCTION",
+    "SIDE_RADAR_MALFUNCTION2",
+    "LKAS_MALFUNCTION2",
+    "FRONT_RADAR_MALFUNCTION2",
+    "PROPILOT_NA_MSGS",
+    "BOTTOM_MSG",
+    "HANDS_ON_WHEEL_WARNING",
+    "WARNING_STEP_ON_BRAKE_NOW",
+    "PROPILOT_NA_FRONT_CAMERA_OBSTRUCTED",
+    "PROPILOT_NA_HIGH_CABIN_TEMP",
+    "WARNING_PROPILOT_MALFUNCTION",
+    "ACC_UNAVAILABLE_HIGH_CABIN_TEMP",
+    "ACC_NA_FRONT_CAMERA_IMPARED",
+    "unknown07",
+    "unknown10",
+    "unknown15",
+    "unknown23",
+    "unknown19",
+    "unknown31",
+    "unknown32",
+    "unknown46",
+    "unknown61",
+    "unknown55",
+    "unknown50",
+  ]}
+
+  if steer_hud_alert:
+    values["HANDS_ON_WHEEL_WARNING"] = 1
+
+  return packer.make_can_msg("PROPILOT_HUD_INFO_MSG", 0, values)
--- a/selfdrive/car/nissan/radar_interface.py
+++ b/selfdrive/car/nissan/radar_interface.py
@@ -0,0 +1,4 @@
+from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
+
+class RadarInterface(RadarInterfaceBase):
+  pass
--- a/selfdrive/car/nissan/values.py
+++ b/selfdrive/car/nissan/values.py
@@ -0,0 +1,99 @@
+from dataclasses import dataclass, field
+from enum import StrEnum
+from typing import Dict, List, Optional, Union
+
+from cereal import car
+from panda.python import uds
+from openpilot.selfdrive.car import AngleRateLimit, dbc_dict
+from openpilot.selfdrive.car.docs_definitions import CarInfo, CarHarness, CarParts
+from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
+
+Ecu = car.CarParams.Ecu
+
+
+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
+
+
+class CAR(StrEnum):
+  XTRAIL = "NISSAN X-TRAIL 2017"
+  LEAF = "NISSAN LEAF 2018"
+  # Leaf with ADAS ECU found behind instrument cluster instead of glovebox
+  # Currently the only known difference between them is the inverted seatbelt signal.
+  LEAF_IC = "NISSAN LEAF 2018 Instrument Cluster"
+  ROGUE = "NISSAN ROGUE 2019"
+  ALTIMA = "NISSAN ALTIMA 2020"
+
+
+@dataclass
+class NissanCarInfo(CarInfo):
+  package: str = "ProPILOT Assist"
+  car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.nissan_a]))
+
+
+CAR_INFO: Dict[str, Optional[Union[NissanCarInfo, List[NissanCarInfo]]]] = {
+  CAR.XTRAIL: NissanCarInfo("Nissan X-Trail 2017"),
+  CAR.LEAF: NissanCarInfo("Nissan Leaf 2018-23", video_link="https://youtu.be/vaMbtAh_0cY"),
+  CAR.LEAF_IC: None,  # same platforms
+  CAR.ROGUE: NissanCarInfo("Nissan Rogue 2018-20"),
+  CAR.ALTIMA: NissanCarInfo("Nissan Altima 2019-20", car_parts=CarParts.common([CarHarness.nissan_b])),
+}
+
+# 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,
+    ),
+  ]],
+)
+
+DBC = {
+  CAR.XTRAIL: dbc_dict('nissan_x_trail_2017_generated', None),
+  CAR.LEAF: dbc_dict('nissan_leaf_2018_generated', None),
+  CAR.LEAF_IC: dbc_dict('nissan_leaf_2018_generated', None),
+  CAR.ROGUE: dbc_dict('nissan_x_trail_2017_generated', None),
+  CAR.ALTIMA: dbc_dict('nissan_x_trail_2017_generated', None),
+}