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2024-04-27 13:48:05 -05:00
parent 2fbe9dbea1
commit 931db76fc6
432 changed files with 12973 additions and 3300 deletions
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72
selfdrive/car/nissan/values.py
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@@ -1,11 +1,9 @@
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 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
@@ -21,29 +19,51 @@ class CarControllerParams:
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):
class NissanCarDocs(CarDocs):
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])),
}
@dataclass(frozen=True)
class NissanCarSpecs(CarSpecs):
centerToFrontRatio: float = 0.44
steerRatio: float = 17.
@dataclass
class NissanPlatformConfig(PlatformConfig):
dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('nissan_x_trail_2017_generated', None))
class CAR(Platforms):
XTRAIL = NissanPlatformConfig(
"NISSAN X-TRAIL 2017",
[NissanCarDocs("Nissan X-Trail 2017")],
NissanCarSpecs(mass=1610, wheelbase=2.705)
)
LEAF = NissanPlatformConfig(
"NISSAN LEAF 2018",
[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.
LEAF_IC = LEAF.override(platform_str="NISSAN LEAF 2018 Instrument Cluster", car_docs=[])
ROGUE = NissanPlatformConfig(
"NISSAN ROGUE 2019",
[NissanCarDocs("Nissan Rogue 2018-20")],
NissanCarSpecs(mass=1610, wheelbase=2.705)
)
ALTIMA = NissanPlatformConfig(
"NISSAN ALTIMA 2020",
[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])
@@ -89,11 +109,3 @@ FW_QUERY_CONFIG = FwQueryConfig(
),
]],
)
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),
}