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30 lines
1013 B
30 lines
1013 B
2 months ago
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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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class CarInterface(CarInterfaceBase):
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CarState = CarState
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CarController = CarController
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@staticmethod
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def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, 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.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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