openpilot v0.9.6 release

date: 2024-01-12T10:13:37 master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6
2024-01-12 22:39:28 -07:00
commit 08e9fb1edc
1881 changed files with 653708 additions and 0 deletions
--- a/selfdrive/car/nissan/values.py
+++ b/selfdrive/car/nissan/values.py
@@ -0,0 +1,91 @@
+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(
+      [NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP],
+      [NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP],
+    ),
+    Request(
+      [NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP],
+      [NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP],
+      rx_offset=NISSAN_RX_OFFSET,
+    ),
+    # 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],
+    ),
+    Request(
+      [StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
+      [StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
+      rx_offset=NISSAN_RX_OFFSET,
+    ),
+  ],
+)
+
+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),
+}