github-actions[bot]
de77c89cf6
version: sunnypilot v2026.002.000 (staging) date: 2026-07-21T07:44:02 master commit: 2c334ede443d7391d27575af8c854a095ba702a8
41 lines
1.6 KiB
Python
41 lines
1.6 KiB
Python
from opendbc.car import get_safety_config, structs
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from opendbc.car.interfaces import CarInterfaceBase
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from opendbc.car.nissan.carcontroller import CarController
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from opendbc.car.nissan.carstate import CarState
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from opendbc.car.nissan.values import CAR, NissanSafetyFlags
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from opendbc.sunnypilot.car.nissan.values import NissanSafetyFlagsSP
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class CarInterface(CarInterfaceBase):
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CarState = CarState
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CarController = CarController
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DRIVABLE_GEARS = (structs.CarState.GearShifter.brake, structs.CarState.GearShifter.low)
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@staticmethod
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def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
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ret.brand = "nissan"
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ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.nissan)]
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ret.autoResumeSng = False
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ret.steerAtStandstill = True
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ret.steerLimitTimer = 1.0
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ret.steerActuatorDelay = 0.1
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ret.steerControlType = structs.CarParams.SteerControlType.angle
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ret.radarUnavailable = True
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if candidate == CAR.NISSAN_ALTIMA:
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# Altima has EPS on C-CAN unlike the others that have it on V-CAN
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ret.safetyConfigs[0].safetyParam |= NissanSafetyFlags.ALT_EPS_BUS.value
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return ret
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@staticmethod
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def _get_params_sp(stock_cp: structs.CarParams, ret: structs.CarParamsSP, candidate, fingerprint: dict[int, dict[int, int]],
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car_fw: list[structs.CarParams.CarFw], alpha_long: bool, is_release_sp: bool, docs: bool) -> structs.CarParamsSP:
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if candidate in (CAR.NISSAN_LEAF, CAR.NISSAN_LEAF_IC):
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ret.safetyParam |= NissanSafetyFlagsSP.LEAF
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return ret
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