github-actions[bot]
de77c89cf6
version: sunnypilot v2026.002.000 (staging) date: 2026-07-21T07:44:02 master commit: 2c334ede443d7391d27575af8c854a095ba702a8
144 lines
4.9 KiB
Python
144 lines
4.9 KiB
Python
from dataclasses import dataclass, field
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from enum import Enum, IntFlag
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from opendbc.car import Bus, CarSpecs, DbcDict, PlatformConfig, Platforms, uds
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from opendbc.car.lateral import AngleSteeringLimits
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from opendbc.car.structs import CarParams
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from opendbc.car.docs_definitions import CarDocs, CarFootnote, CarHarness, CarParts, Column
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from opendbc.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
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Ecu = CarParams.Ecu
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class CarControllerParams:
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ANGLE_LIMITS: AngleSteeringLimits = AngleSteeringLimits(
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# When output steering Angle not within range -1311 and 1310,
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# CANPacker packs wrong angle output to be decoded by panda
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600, # deg, reasonable limit
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([0., 5., 15.], [5., .8, .15]),
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([0., 5., 15.], [5., 3.5, 0.4]),
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)
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LKAS_MIN_TORQUE = 0.2 # Adequate torque when overriding without faulting
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LKAS_MAX_TORQUE = 1 # A value of 1 is easy to overpower
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STEER_THRESHOLD = 1.0
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def __init__(self, CP):
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pass
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class NissanSafetyFlags(IntFlag):
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ALT_EPS_BUS = 1
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class Footnote(Enum):
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SETUP = CarFootnote(
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"See more setup details for <a href=\"https://github.com/commaai/openpilot/wiki/nissan\" target=\"_blank\">Nissan</a>.",
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Column.MAKE, setup_note=True)
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@dataclass
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class NissanCarDocs(CarDocs):
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package: str = "ProPILOT Assist"
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car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.nissan_a]))
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footnotes: list[Enum] = field(default_factory=lambda: [Footnote.SETUP])
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@dataclass(frozen=True)
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class NissanCarSpecs(CarSpecs):
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centerToFrontRatio: float = 0.44
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steerRatio: float = 17.
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@dataclass
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class NissanPlatformConfig(PlatformConfig):
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dbc_dict: DbcDict = field(default_factory=lambda: {Bus.pt: 'nissan_x_trail_2017_generated'})
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class CAR(Platforms):
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NISSAN_XTRAIL = NissanPlatformConfig(
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[NissanCarDocs("Nissan X-Trail 2017")],
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NissanCarSpecs(mass=1610, wheelbase=2.705)
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)
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NISSAN_LEAF = NissanPlatformConfig(
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[NissanCarDocs("Nissan Leaf 2018-23", video="https://youtu.be/vaMbtAh_0cY")],
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NissanCarSpecs(mass=1610, wheelbase=2.705),
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{Bus.pt: 'nissan_leaf_2018_generated'},
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)
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# Leaf with ADAS ECU found behind instrument cluster instead of glovebox
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# Currently the only known difference between them is the inverted seatbelt signal.
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NISSAN_LEAF_IC = NissanPlatformConfig(
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[NissanCarDocs("Nissan Leaf IC 2018-23", video="https://youtu.be/vaMbtAh_0cY")],
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NissanCarSpecs(mass=1610, wheelbase=2.705),
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{Bus.pt: 'nissan_leaf_2018_generated'},
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)
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NISSAN_ROGUE = NissanPlatformConfig(
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[NissanCarDocs("Nissan Rogue 2018-20")],
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NissanCarSpecs(mass=1610, wheelbase=2.705)
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)
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NISSAN_ALTIMA = NissanPlatformConfig(
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[NissanCarDocs("Nissan Altima 2019-24", car_parts=CarParts.common([CarHarness.nissan_b]))],
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NissanCarSpecs(mass=1492, wheelbase=2.824)
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)
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DBC = CAR.create_dbc_map()
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# Default diagnostic session
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NISSAN_DIAGNOSTIC_REQUEST_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, 0x81])
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NISSAN_DIAGNOSTIC_RESPONSE_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40, 0x81])
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# Manufacturer specific
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NISSAN_DIAGNOSTIC_REQUEST_KWP_2 = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, 0xda])
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NISSAN_DIAGNOSTIC_RESPONSE_KWP_2 = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40, 0xda])
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NISSAN_VERSION_REQUEST_KWP = b'\x21\x83'
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NISSAN_VERSION_RESPONSE_KWP = b'\x61\x83'
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NISSAN_RX_OFFSET = 0x20
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# TODO: once we gather enough Altima data on PT bus (1), we can remove OBD queries to speed up fingerprinting
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FW_QUERY_CONFIG = FwQueryConfig(
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requests=[request for bus, obd_multiplexing in ((0, False), (1, False), (1, True)) for request in [
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Request(
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[NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP],
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[NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP],
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bus=bus,
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logging=obd_multiplexing,
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obd_multiplexing=obd_multiplexing,
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),
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Request(
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[NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP],
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[NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP],
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rx_offset=NISSAN_RX_OFFSET,
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bus=bus,
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logging=obd_multiplexing,
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obd_multiplexing=obd_multiplexing,
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),
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# Rogue's engine solely responds to this
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Request(
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[NISSAN_DIAGNOSTIC_REQUEST_KWP_2, NISSAN_VERSION_REQUEST_KWP],
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[NISSAN_DIAGNOSTIC_RESPONSE_KWP_2, NISSAN_VERSION_RESPONSE_KWP],
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bus=bus,
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logging=obd_multiplexing,
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obd_multiplexing=obd_multiplexing,
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),
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Request(
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[StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
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[StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
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rx_offset=NISSAN_RX_OFFSET,
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bus=bus,
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logging=obd_multiplexing,
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obd_multiplexing=obd_multiplexing,
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),
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# Some newer Altima engines respond at normal rx offset
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Request(
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[StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
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[StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
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bus=bus,
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logging=obd_multiplexing,
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obd_multiplexing=obd_multiplexing,
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),
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]],
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)
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