support for Nissan Leaf with ADAS ECU in alt location (instrument cluster) (#19619)

selfdrive/car/nissan/carcontroller.py

@@ -71,7 +71,7 @@ class CarController():
     # For some reason spamming the cancel button is unreliable on the Leaf
     # We now cancel by making propilot think the seatbelt is unlatched,
     # this generates a beep and a warning message every time you disengage
-    if self.CP.carFingerprint == CAR.LEAF and frame % 2 == 0:
+    if self.CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC] and frame % 2 == 0:
         can_sends.append(nissancan.create_cancel_msg(self.packer, CS.cancel_msg, cruise_cancel))
 
     can_sends.append(nissancan.create_steering_control(

selfdrive/car/nissan/carstate.py

@@ -22,14 +22,14 @@ class CarState(CarStateBase):
 
     if self.CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL]:
       ret.gas = cp.vl["GAS_PEDAL"]["GAS_PEDAL"]
-    elif self.CP.carFingerprint == CAR.LEAF:
+    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]:
       ret.brakePressed = bool(cp.vl["DOORS_LIGHTS"]["USER_BRAKE_PRESSED"])
-    elif self.CP.carFingerprint == CAR.LEAF:
+    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]:
@@ -49,13 +49,16 @@ class CarState(CarStateBase):
     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"])
-    elif self.CP.carFingerprint == CAR.LEAF:
-      ret.seatbeltUnlatched = cp.vl["SEATBELT"]["SEATBELT_DRIVER_LATCHED"] == 0
+    elif self.CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC]:
+      if self.CP.carFingerprint == CAR.LEAF:
+        ret.seatbeltUnlatched = cp.vl["SEATBELT"]["SEATBELT_DRIVER_LATCHED"] == 0
+      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"])
 
     speed = cp_adas.vl["PROPILOT_HUD"]["SET_SPEED"]
     if speed != 255:
-      if self.CP.carFingerprint == CAR.LEAF:
+      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
       else:
         conversion = CV.MPH_TO_MS if cp.vl["HUD"]["SPEED_MPH"] else CV.KPH_TO_MS
@@ -86,7 +89,7 @@ class CarState(CarStateBase):
 
     self.cruise_throttle_msg = copy.copy(cp.vl["CRUISE_THROTTLE"])
 
-    if self.CP.carFingerprint == CAR.LEAF:
+    if self.CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC]:
       self.cancel_msg = copy.copy(cp.vl["CANCEL_MSG"])
 
     self.lkas_hud_msg = copy.copy(cp_adas.vl["PROPILOT_HUD"])
@@ -159,7 +162,7 @@ class CarState(CarStateBase):
         ("GAS_PEDAL", 50),
       ]
 
-    elif CP.carFingerprint == CAR.LEAF:
+    elif CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC]:
       signals += [
         ("BRAKE_PEDAL", "BRAKE_PEDAL", 0),
 

selfdrive/car/nissan/interface.py

@@ -4,7 +4,6 @@ from selfdrive.car.nissan.values import CAR
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
 from selfdrive.car.interfaces import CarInterfaceBase
 
-
 class CarInterface(CarInterfaceBase):
   def __init__(self, CP, CarController, CarState):
     super().__init__(CP, CarController, CarState)
@@ -40,7 +39,7 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 2.705
       ret.centerToFront = ret.wheelbase * 0.44
       ret.steerRatio = 17
-    elif candidate == CAR.LEAF:
+    elif candidate in [CAR.LEAF, CAR.LEAF_IC]:
       ret.mass = 1610 + STD_CARGO_KG
       ret.wheelbase = 2.705
       ret.centerToFront = ret.wheelbase * 0.44

selfdrive/car/nissan/values.py

@@ -13,6 +13,9 @@ class CarControllerParams:
 class CAR:
   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"
 
 
@@ -34,6 +37,14 @@ FINGERPRINTS = {
       2: 5, 42: 8, 264: 3, 361: 8, 372: 8, 384: 8, 389: 8, 403: 8, 459: 7, 460: 4, 470: 8, 520: 1, 569: 8, 581: 8, 634: 7, 640: 8, 643: 5, 644: 8, 645: 8, 646: 5, 658: 8, 682: 8, 683: 8, 689: 8, 724: 6, 758: 3, 761: 2, 772: 8, 773: 6, 774: 7, 775: 8, 776: 6, 777: 7, 778: 6, 783: 3, 852: 8, 853: 8, 856: 8, 861: 8, 943: 8, 944: 1, 976: 6, 1008: 7, 1009: 8, 1010: 8, 1011: 7, 1012: 8, 1013: 8, 1019: 8, 1020: 8, 1021: 8, 1022: 8, 1057: 3, 1227: 8, 1228: 8, 1261: 5, 1342: 1, 1354: 8, 1361: 8, 1402: 8, 1459: 8, 1477: 8, 1497: 3, 1549: 8, 1573: 6, 1821: 8, 1837: 8
     },
   ],
+  CAR.LEAF_IC: [
+    {
+      2: 5, 42: 6, 264: 3, 361: 8, 372: 8, 384: 8, 389: 8, 403: 8, 459: 7, 460: 4, 470: 8, 520: 1, 569: 8, 581: 8, 634: 7, 640: 8, 643: 5, 644: 8, 645: 8, 646: 5, 658: 8, 682: 8, 683: 8, 689: 8, 724: 6, 758: 3, 761: 2, 783: 3, 852: 8, 853: 8, 856: 8, 861: 8, 943: 8, 944: 1, 976: 6, 1001: 6, 1008: 7, 1011: 7, 1057: 3, 1227: 8, 1228: 8, 1229: 8, 1261: 5, 1342: 1, 1354: 8, 1361: 8, 1402: 8, 1459: 8, 1477: 8, 1497: 3, 1514: 6, 1549: 8, 1573: 6
+    },
+    {
+      2: 5, 42: 6, 264: 3, 282: 8, 361: 8, 372: 8, 384: 8, 389: 8, 403: 8, 459: 7, 460: 4, 470: 8, 520: 1, 569: 8, 581: 8, 634: 7, 640: 8, 643: 5, 644: 8, 645: 8, 646: 5, 658: 8, 682: 8, 683: 8, 689: 8, 756: 5, 758: 3, 761: 2, 783: 3, 830: 2, 852: 8, 853: 8, 856: 8, 861: 8, 943: 8, 944: 1, 1001: 6, 1057: 3, 1227: 8, 1228: 8, 1229: 8, 1342: 1, 1354: 8, 1361: 8, 1459: 8, 1477: 8, 1497: 3, 1514: 6, 1549: 8, 1573: 6, 1821: 8, 1822: 8, 1837: 8, 1838: 8
+    },
+  ],
   CAR.ROGUE: [
     {
       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
@@ -44,5 +55,6 @@ FINGERPRINTS = {
 DBC = {
   CAR.XTRAIL: dbc_dict('nissan_x_trail_2017', None),
   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),
 }

selfdrive/test/test_car_models.py

@@ -477,6 +477,10 @@ routes = {
     'carFingerprint': NISSAN.LEAF,
     'enableCamera': True,
   },
+  "22c3dcce2dd627eb|2020-12-30--16-38-48": {
+    'carFingerprint': NISSAN.LEAF_IC,
+    'enableCamera': True,
+  },
   "059ab9162e23198e|2020-05-30--09-41-01": {
     'carFingerprint': NISSAN.ROGUE,
     'enableCamera': True,