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Nissan altima (#2742)

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* Altima port

* Add Nissan Altima 2020 to README.md

* Added Nissan Altima test route

* Fixed up checks
pull/20123/head
Andre Volmensky 4 years ago committed by GitHub
parent a0a5abc7ad
commit 11785fe321
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7 changed files with 205 additions and 114 deletions
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  1. 1
      README.md
  2. 7
      selfdrive/car/nissan/carcontroller.py
  3. 84
      selfdrive/car/nissan/carstate.py
  4. 7
      selfdrive/car/nissan/interface.py
  5. 11
      selfdrive/car/nissan/nissancan.py
  6. 7
      selfdrive/car/nissan/values.py
  7. 4
      selfdrive/test/test_car_models.py

1
README.md
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@ -163,6 +163,7 @@ Community Maintained Cars and Features
| Kia | Optima 2019 | SCC + LKAS | Stock | 0mph | 0mph |
| Kia | Sorento 2018 | SCC + LKAS | Stock | 0mph | 0mph |
| Kia | Stinger 2018 | SCC + LKAS | Stock | 0mph | 0mph |
| Nissan | Altima 2020 | ProPILOT | Stock | 0mph | 0mph |
| Nissan | Leaf 2018-20 | ProPILOT | Stock | 0mph | 0mph |
| Nissan | Rogue 2018-19 | ProPILOT | Stock | 0mph | 0mph |
| Nissan | X-Trail 2017 | ProPILOT | Stock | 0mph | 0mph |

7
selfdrive/car/nissan/carcontroller.py
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@ -64,8 +64,8 @@ class CarController():
# send acc cancel cmd if drive is disabled but pcm is still on, or if the system can't be activated
cruise_cancel = 1
if self.CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL] and cruise_cancel:
can_sends.append(nissancan.create_acc_cancel_cmd(self.packer, CS.cruise_throttle_msg, frame))
if self.CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA] and cruise_cancel:
can_sends.append(nissancan.create_acc_cancel_cmd(self.packer, self.car_fingerprint, CS.cruise_throttle_msg, frame))
# TODO: Find better way to cancel!
# For some reason spamming the cancel button is unreliable on the Leaf
@ -75,8 +75,9 @@ class CarController():
can_sends.append(nissancan.create_cancel_msg(self.packer, CS.cancel_msg, cruise_cancel))
can_sends.append(nissancan.create_steering_control(
self.packer, self.car_fingerprint, apply_angle, frame, enabled, self.lkas_max_torque))
self.packer, apply_angle, frame, enabled, self.lkas_max_torque))
if lkas_hud_msg and lkas_hud_info_msg:
if frame % 2 == 0:
can_sends.append(nissancan.create_lkas_hud_msg(
self.packer, lkas_hud_msg, enabled, left_line, right_line, left_lane_depart, right_lane_depart))

84
selfdrive/car/nissan/carstate.py
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@ -14,25 +14,28 @@ class CarState(CarStateBase):
super().__init__(CP)
can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
self.lkas_hud_msg = None
self.lkas_hud_info_msg = None
self.steeringTorqueSamples = deque(TORQUE_SAMPLES*[0], TORQUE_SAMPLES)
self.shifter_values = can_define.dv["GEARBOX"]["GEAR_SHIFTER"]
def update(self, cp, cp_adas, cp_cam):
ret = car.CarState.new_message()
if self.CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL]:
if self.CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA]:
ret.gas = cp.vl["GAS_PEDAL"]["GAS_PEDAL"]
elif self.CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC]:
ret.gas = cp.vl["CRUISE_THROTTLE"]["GAS_PEDAL"]
ret.gasPressed = bool(ret.gas > 3)
if self.CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL]:
if self.CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA]:
ret.brakePressed = bool(cp.vl["DOORS_LIGHTS"]["USER_BRAKE_PRESSED"])
elif self.CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC]:
ret.brakePressed = bool(cp.vl["BRAKE_PEDAL"]["BRAKE_PEDAL"] > 3)
if self.CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL]:
if self.CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA]:
ret.brakeLights = bool(cp.vl["DOORS_LIGHTS"]["BRAKE_LIGHT"])
ret.wheelSpeeds.fl = cp.vl["WHEEL_SPEEDS_FRONT"]["WHEEL_SPEED_FL"] * CV.KPH_TO_MS
@ -45,7 +48,11 @@ class CarState(CarStateBase):
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
ret.standstill = ret.vEgoRaw < 0.01
if self.CP.carFingerprint == CAR.ALTIMA:
ret.cruiseState.enabled = bool(cp.vl["CRUISE_STATE"]["CRUISE_ENABLED"])
else:
ret.cruiseState.enabled = bool(cp_adas.vl["CRUISE_STATE"]["CRUISE_ENABLED"])
if self.CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL]:
ret.seatbeltUnlatched = cp.vl["HUD"]["SEATBELT_DRIVER_LATCHED"] == 0
ret.cruiseState.available = bool(cp_cam.vl["PRO_PILOT"]["CRUISE_ON"])
@ -55,8 +62,15 @@ class CarState(CarStateBase):
elif self.CP.carFingerprint == CAR.LEAF_IC:
ret.seatbeltUnlatched = cp.vl["CANCEL_MSG"]["CANCEL_SEATBELT"] == 1
ret.cruiseState.available = bool(cp.vl["CRUISE_THROTTLE"]["CRUISE_AVAILABLE"])
elif self.CP.carFingerprint == CAR.ALTIMA:
ret.seatbeltUnlatched = cp.vl["HUD"]["SEATBELT_DRIVER_LATCHED"] == 0
ret.cruiseState.available = bool(cp_adas.vl["PRO_PILOT"]["CRUISE_ON"])
if self.CP.carFingerprint == CAR.ALTIMA:
speed = cp.vl["PROPILOT_HUD"]["SET_SPEED"]
else:
speed = cp_adas.vl["PROPILOT_HUD"]["SET_SPEED"]
if speed != 255:
if self.CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC]:
conversion = CV.MPH_TO_MS if cp.vl["HUD_SETTINGS"]["SPEED_MPH"] else CV.KPH_TO_MS
@ -65,7 +79,11 @@ class CarState(CarStateBase):
speed -= 1 # Speed on HUD is always 1 lower than actually sent on can bus
ret.cruiseState.speed = speed * conversion
if self.CP.carFingerprint == CAR.ALTIMA:
ret.steeringTorque = cp_cam.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"]
else:
ret.steeringTorque = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"]
self.steeringTorqueSamples.append(ret.steeringTorque)
# Filtering driver torque to prevent steeringPressed false positives
ret.steeringPressed = bool(abs(sum(self.steeringTorqueSamples) / TORQUE_SAMPLES) > CarControllerParams.STEER_THRESHOLD)
@ -85,6 +103,9 @@ class CarState(CarStateBase):
can_gear = int(cp.vl["GEARBOX"]["GEAR_SHIFTER"])
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
if self.CP.carFingerprint == CAR.ALTIMA:
self.lkas_enabled = bool(cp.vl["LKAS_SETTINGS"]["LKAS_ENABLED"])
else:
self.lkas_enabled = bool(cp_adas.vl["LKAS_SETTINGS"]["LKAS_ENABLED"])
self.cruise_throttle_msg = copy.copy(cp.vl["CRUISE_THROTTLE"])
@ -92,6 +113,7 @@ class CarState(CarStateBase):
if self.CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC]:
self.cancel_msg = copy.copy(cp.vl["CANCEL_MSG"])
if self.CP.carFingerprint != CAR.ALTIMA:
self.lkas_hud_msg = copy.copy(cp_adas.vl["PROPILOT_HUD"])
self.lkas_hud_info_msg = copy.copy(cp_adas.vl["PROPILOT_HUD_INFO_MSG"])
@ -107,8 +129,6 @@ class CarState(CarStateBase):
("WHEEL_SPEED_RL", "WHEEL_SPEEDS_REAR", 0),
("WHEEL_SPEED_RR", "WHEEL_SPEEDS_REAR", 0),
("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0),
("STEER_ANGLE", "STEER_ANGLE_SENSOR", 0),
("DOOR_OPEN_FR", "DOORS_LIGHTS", 1),
@ -128,12 +148,11 @@ class CarState(CarStateBase):
# sig_address, frequency
("WHEEL_SPEEDS_REAR", 50),
("WHEEL_SPEEDS_FRONT", 50),
("STEER_TORQUE_SENSOR", 100),
("STEER_ANGLE_SENSOR", 100),
("DOORS_LIGHTS", 10),
]
if CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL]:
if CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA]:
signals += [
("USER_BRAKE_PRESSED", "DOORS_LIGHTS", 1),
("BRAKE_LIGHT", "DOORS_LIGHTS", 1),
@ -159,7 +178,9 @@ class CarState(CarStateBase):
]
checks += [
("GAS_PEDAL", 50),
("GAS_PEDAL", 100),
("CRUISE_THROTTLE", 50),
("HUD", 25),
]
elif CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC]:
@ -182,11 +203,47 @@ class CarState(CarStateBase):
("CRUISE_THROTTLE", 50),
]
if CP.carFingerprint == CAR.ALTIMA:
signals += [
("LKAS_ENABLED", "LKAS_SETTINGS", 0),
("CRUISE_ENABLED", "CRUISE_STATE", 0),
("SET_SPEED", "PROPILOT_HUD", 0),
]
checks += [
("CRUISE_STATE", 10),
("LKAS_SETTINGS", 10),
("PROPILOT_HUD", 50),
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 1)
signals += [
("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0),
]
checks += [
("STEER_TORQUE_SENSOR", 100),
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
@staticmethod
def get_adas_can_parser(CP):
# this function generates lists for signal, messages and initial values
if CP.carFingerprint == CAR.ALTIMA:
signals = [
("DESIRED_ANGLE", "LKAS", 0),
("SET_0x80_2", "LKAS", 0),
("MAX_TORQUE", "LKAS", 0),
("SET_0x80", "LKAS", 0),
("COUNTER", "LKAS", 0),
("LKA_ACTIVE", "LKAS", 0),
("CRUISE_ON", "PRO_PILOT", 0),
]
checks = [
("PRO_PILOT", 100),
]
else:
signals = [
# sig_name, sig_address, default
("LKAS_ENABLED", "LKAS_SETTINGS", 0),
@ -278,12 +335,21 @@ class CarState(CarStateBase):
@staticmethod
def get_cam_can_parser(CP):
signals = []
checks = []
if CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL]:
signals += [
("CRUISE_ON", "PRO_PILOT", 0),
]
checks = [
elif CP.carFingerprint == CAR.ALTIMA:
signals += [
("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0),
]
checks += [
("STEER_TORQUE_SENSOR", 100),
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 1)

7
selfdrive/car/nissan/interface.py
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@ -44,6 +44,13 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.705
ret.centerToFront = ret.wheelbase * 0.44
ret.steerRatio = 17
elif candidate == CAR.ALTIMA:
# Altima has EPS on C-CAN unlike the others that have it on V-CAN
ret.safetyParam = 1 # EPS is on alternate bus
ret.mass = 1492 + STD_CARGO_KG
ret.wheelbase = 2.824
ret.centerToFront = ret.wheelbase * 0.44
ret.steerRatio = 17
ret.steerControlType = car.CarParams.SteerControlType.angle
ret.radarOffCan = True

11
selfdrive/car/nissan/nissancan.py
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@ -1,10 +1,11 @@
import copy
import crcmod
from selfdrive.car.nissan.values import CAR
nissan_checksum = crcmod.mkCrcFun(0x11d, initCrc=0x00, rev=False, xorOut=0xff)
def create_steering_control(packer, car_fingerprint, apply_steer, frame, steer_on, lkas_max_torque):
def create_steering_control(packer, apply_steer, frame, steer_on, lkas_max_torque):
idx = (frame % 16)
values = {
"DESIRED_ANGLE": apply_steer,
@ -21,8 +22,12 @@ def create_steering_control(packer, car_fingerprint, apply_steer, frame, steer_o
return packer.make_can_msg("LKAS", 0, values)
def create_acc_cancel_cmd(packer, cruise_throttle_msg, frame):
def create_acc_cancel_cmd(packer, car_fingerprint, cruise_throttle_msg, frame):
values = copy.copy(cruise_throttle_msg)
can_bus = 2
if car_fingerprint == CAR.ALTIMA:
can_bus = 1
values["CANCEL_BUTTON"] = 1
values["NO_BUTTON_PRESSED"] = 0
@ -32,7 +37,7 @@ def create_acc_cancel_cmd(packer, cruise_throttle_msg, frame):
values["FOLLOW_DISTANCE_BUTTON"] = 0
values["COUNTER"] = (frame % 4)
return packer.make_can_msg("CRUISE_THROTTLE", 2, values)
return packer.make_can_msg("CRUISE_THROTTLE", can_bus, values)
def create_cancel_msg(packer, cancel_msg, cruise_cancel):

7
selfdrive/car/nissan/values.py
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@ -17,6 +17,7 @@ class CAR:
# 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"
FINGERPRINTS = {
@ -49,6 +50,11 @@ FINGERPRINTS = {
{
2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 520: 2, 523: 6, 548: 8, 634: 7, 643: 5, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3, 772: 8, 773: 6, 774: 7, 775: 8, 776: 6, 777: 7, 778: 6, 783: 3, 851: 8, 855: 8, 1041: 8, 1042: 8, 1055: 2, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1110: 7, 1111: 7, 1227: 8, 1228: 8, 1247: 4, 1266: 8, 1273: 7, 1342: 1, 1376: 6, 1401: 8, 1474: 2, 1497: 3, 1534: 7, 1792: 8, 1821: 8, 1823: 8, 1837: 8, 1839: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
},
],
CAR.ALTIMA: [
{
2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 386: 8, 397: 8, 398: 8, 520: 2, 523: 6, 548: 8, 634: 7, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3, 772: 8, 773: 6, 774: 7, 775: 8, 776: 6, 777: 7, 778: 6, 783: 3, 851: 8, 855: 5, 1001: 6, 1041: 8, 1042: 8, 1055: 3, 1100: 7, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1110: 7, 1111: 7, 1227: 8, 1228: 8, 1229: 8, 1232: 8, 1247: 4, 1266: 8, 1273: 7, 1306: 1, 1342: 1, 1376: 8, 1401: 8, 1497: 3, 1514: 6, 1526: 8, 1527: 5, 1792: 8, 1821: 8, 1823: 8, 1837: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
},
]
}
@ -57,4 +63,5 @@ DBC = {
CAR.LEAF: dbc_dict('nissan_leaf_2018', None),
CAR.LEAF_IC: dbc_dict('nissan_leaf_2018', None),
CAR.ROGUE: dbc_dict('nissan_x_trail_2017', None),
CAR.ALTIMA: dbc_dict('nissan_x_trail_2017', None),
}

4
selfdrive/test/test_car_models.py
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@ -497,6 +497,10 @@ routes = {
'carFingerprint': MAZDA.Mazda3,
'enableCamera': True,
},
"b72d3ec617c0a90f|2020-12-11--15-38-17": {
'carFingerprint': NISSAN.ALTIMA,
'enableCamera': True,
},
}
passive_routes: List[str] = [

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