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Nissan cleanup (#1273)

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* nissan cleanup

* Fix typos

* Remove print statements

* Remove leaf fingerprint
pull/1267/head
Willem Melching 6 years ago committed by GitHub
parent 60431802ba
commit 82fb752e3c
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GPG Key ID: 4AEE18F83AFDEB23
5 changed files with 85 additions and 68 deletions
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  1. 2
      opendbc
  2. 128
      selfdrive/car/nissan/carstate.py
  3. 4
      selfdrive/car/nissan/nissancan.py
  4. 13
      selfdrive/car/nissan/values.py

2
opendbc

@ -1 +1 @@
Subproject commit ce723756f75d7efb74a9664a1761079641923683 Subproject commit 48e3bba5ae2ecc63b1e00e1feaba55a7fa69b0b4

128
selfdrive/car/nissan/carstate.py
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@ -13,19 +13,18 @@ class CarState(CarStateBase):
can_define = CANDefine(DBC[CP.carFingerprint]['pt']) can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
self.shifter_values = can_define.dv["GEARBOX"]["GEAR_SHIFTER"] self.shifter_values = can_define.dv["GEARBOX"]["GEAR_SHIFTER"]
def update(self, cp, cp_adas, cp_cam): def update(self, cp, cp_adas, cp_cam):
ret = car.CarState.new_message() ret = car.CarState.new_message()
ret.gas = cp.vl["Throttle"]["ThrottlePedal"] ret.gas = cp.vl["GAS_PEDAL"]["GAS_PEDAL"]
ret.gasPressed = bool(ret.gas) ret.gasPressed = bool(ret.gas)
ret.brakePressed = bool(cp.vl["DoorsLights"]["USER_BRAKE_PRESSED"]) ret.brakePressed = bool(cp.vl["DOORS_LIGHTS"]["USER_BRAKE_PRESSED"])
ret.brakeLights = bool(cp.vl["DoorsLights"]["BRAKE_LIGHT"]) ret.brakeLights = bool(cp.vl["DOORS_LIGHTS"]["BRAKE_LIGHT"])
ret.wheelSpeeds.fl = cp.vl["WheelspeedFront"]["FL"] * CV.KPH_TO_MS ret.wheelSpeeds.fl = cp.vl["WHEEL_SPEEDS_FRONT"]["WHEEL_SPEED_FL"] * CV.KPH_TO_MS
ret.wheelSpeeds.fr = cp.vl["WheelspeedFront"]["FR"] * CV.KPH_TO_MS ret.wheelSpeeds.fr = cp.vl["WHEEL_SPEEDS_FRONT"]["WHEEL_SPEED_FR"] * CV.KPH_TO_MS
ret.wheelSpeeds.rl = cp.vl["WheelspeedRear"]["RL"] * CV.KPH_TO_MS ret.wheelSpeeds.rl = cp.vl["WHEEL_SPEEDS_REAR"]["WHEEL_SPEED_RL"] * CV.KPH_TO_MS
ret.wheelSpeeds.rr = cp.vl["WheelspeedRear"]["RR"] * CV.KPH_TO_MS ret.wheelSpeeds.rr = cp.vl["WHEEL_SPEEDS_REAR"]["WHEEL_SPEED_RR"] * CV.KPH_TO_MS
ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4. ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.
@ -36,25 +35,26 @@ class CarState(CarStateBase):
can_gear = int(cp.vl["GEARBOX"]["GEAR_SHIFTER"]) can_gear = int(cp.vl["GEARBOX"]["GEAR_SHIFTER"])
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None)) ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
ret.leftBlinker = bool(cp.vl["Lights"]["LEFT_BLINKER"]) # Don't see this in the drive
ret.rightBlinker = bool(cp.vl["Lights"]["RIGHT_BLINKER"]) ret.leftBlinker = bool(cp.vl["LIGHTS"]["LEFT_BLINKER"])
ret.rightBlinker = bool(cp.vl["LIGHTS"]["RIGHT_BLINKER"])
ret.seatbeltUnlatched = cp.vl["_SEATBELT"]["DRIVERS_SEATBELT"] == 0 ret.seatbeltUnlatched = cp.vl["SEATBELT"]["SEATBELT_DRIVER_UNLATCHED"] == 0
ret.cruiseState.enabled = bool(cp_cam.vl["ProPilot"]["CRUISE_ACTIVATED"]) ret.cruiseState.enabled = bool(cp_cam.vl["PRO_PILOT"]["CRUISE_ACTIVATED"])
ret.cruiseState.available = bool(cp_cam.vl["ProPilot"]["CRUISE_ON"]) ret.cruiseState.available = bool(cp_cam.vl["PRO_PILOT"]["CRUISE_ON"])
ret.doorOpen = any([cp.vl["DoorsLights"]["DOOR_OPEN_RR"], ret.doorOpen = any([cp.vl["DOORS_LIGHTS"]["DOOR_OPEN_RR"],
cp.vl["DoorsLights"]["DOOR_OPEN_RL"], cp.vl["DOORS_LIGHTS"]["DOOR_OPEN_RL"],
cp.vl["DoorsLights"]["DOOR_OPEN_FR"], cp.vl["DOORS_LIGHTS"]["DOOR_OPEN_FR"],
cp.vl["DoorsLights"]["DOOR_OPEN_FL"]]) cp.vl["DOORS_LIGHTS"]["DOOR_OPEN_FL"]])
ret.steeringPressed = bool(cp.vl["STEER_TORQUE"]["DriverTouchingWheel"]) ret.steeringPressed = bool(cp.vl["STEER_TORQUE_SENSOR2"]["STEERING_PRESSED"])
ret.steeringTorque = cp.vl["Steering"]["DriverTorque"] ret.steeringTorque = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"]
ret.steeringAngle = cp.vl["SteeringWheel"]["Steering_Angle"] ret.steeringAngle = cp.vl["STEER_ANGLE_SENSOR"]["STEER_ANGLE"]
ret.espDisabled = bool(cp.vl["_ESP"]["ESP_DISABLED"]) ret.espDisabled = bool(cp.vl["ESP"]["ESP_DISABLED"])
self.cruise_throttle_msg = copy.copy(cp.vl["CruiseThrottle"]) self.cruise_throttle_msg = copy.copy(cp.vl["CRUISE_THROTTLE"])
self.lkas_hud_msg = copy.copy(cp_adas.vl["PROPILOT_HUD"]) 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"]) self.lkas_hud_info_msg = copy.copy(cp_adas.vl["PROPILOT_HUD_INFO_MSG"])
@ -65,43 +65,53 @@ class CarState(CarStateBase):
# this function generates lists for signal, messages and initial values # this function generates lists for signal, messages and initial values
signals = [ signals = [
# sig_name, sig_address, default # sig_name, sig_address, default
("FL", "WheelspeedFront", 0), ("WHEEL_SPEED_FL", "WHEEL_SPEEDS_FRONT", 0),
("FR", "WheelspeedFront", 0), ("WHEEL_SPEED_FR", "WHEEL_SPEEDS_FRONT", 0),
("RL", "WheelspeedRear", 0), ("WHEEL_SPEED_RL", "WHEEL_SPEEDS_REAR", 0),
("RR", "WheelspeedRear", 0), ("WHEEL_SPEED_RR", "WHEEL_SPEEDS_REAR", 0),
("DOOR_OPEN_FR", "DoorsLights", 1),
("DOOR_OPEN_FL", "DoorsLights", 1), ("SEATBELT_DRIVER_UNLATCHED", "SEATBELT", 0),
("DOOR_OPEN_RR", "DoorsLights", 1),
("DOOR_OPEN_RL", "DoorsLights", 1), ("DOOR_OPEN_FR", "DOORS_LIGHTS", 1),
("USER_BRAKE_PRESSED", "DoorsLights", 1), ("DOOR_OPEN_FL", "DOORS_LIGHTS", 1),
("BRAKE_LIGHT", "DoorsLights", 1), ("DOOR_OPEN_RR", "DOORS_LIGHTS", 1),
("DriverTorque", "Steering", 0), ("DOOR_OPEN_RL", "DOORS_LIGHTS", 1),
("DriverTouchingWheel", "STEER_TORQUE", 0),
("ThrottlePedal", "Throttle", 0), ("USER_BRAKE_PRESSED", "DOORS_LIGHTS", 1),
("Steering_Angle", "SteeringWheel", 0), ("BRAKE_LIGHT", "DOORS_LIGHTS", 1),
("RIGHT_BLINKER", "Lights", 0),
("LEFT_BLINKER", "Lights", 0), ("GAS_PEDAL", "GAS_PEDAL", 0),
("PROPILOT_BUTTON", "CruiseThrottle", 0),
("CANCEL_BUTTON", "CruiseThrottle", 0), ("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0),
("GAS_PEDAL_INVERTED", "CruiseThrottle", 0), ("STEERING_PRESSED", "STEER_TORQUE_SENSOR2", 0),
("unsure2", "CruiseThrottle", 0),
("SET_BUTTON", "CruiseThrottle", 0), ("STEER_ANGLE", "STEER_ANGLE_SENSOR", 0),
("RES_BUTTON", "CruiseThrottle", 0),
("FOLLOW_DISTANCE_BUTTON", "CruiseThrottle", 0), ("RIGHT_BLINKER", "LIGHTS", 0),
("NO_BUTTON_PRESSED", "CruiseThrottle", 0), ("LEFT_BLINKER", "LIGHTS", 0),
("GAS_PEDAL", "CruiseThrottle", 0),
("unsure3", "CruiseThrottle", 0), ("PROPILOT_BUTTON", "CRUISE_THROTTLE", 0),
("unsure", "CruiseThrottle", 0), ("CANCEL_BUTTON", "CRUISE_THROTTLE", 0),
("DRIVERS_SEATBELT", "_SEATBELT", 0), ("GAS_PEDAL_INVERTED", "CRUISE_THROTTLE", 0),
("ESP_DISABLED", "_ESP", 0), ("SET_BUTTON", "CRUISE_THROTTLE", 0),
("RES_BUTTON", "CRUISE_THROTTLE", 0),
("FOLLOW_DISTANCE_BUTTON", "CRUISE_THROTTLE", 0),
("NO_BUTTON_PRESSED", "CRUISE_THROTTLE", 0),
("GAS_PEDAL", "CRUISE_THROTTLE", 0),
("unsure1", "CRUISE_THROTTLE", 0),
("unsure2", "CRUISE_THROTTLE", 0),
("unsure3", "CRUISE_THROTTLE", 0),
# TODO: why are USER_BRAKE_PRESSED, NEW_SIGNAL_2 and GAS_PRESSED_INVERTED not forwarded
("ESP_DISABLED", "ESP", 0),
("GEAR_SHIFTER", "GEARBOX", 0), ("GEAR_SHIFTER", "GEARBOX", 0),
] ]
checks = [ checks = [
# sig_address, frequency # sig_address, frequency
("WheelspeedRear", 50), ("WHEEL_SPEEDS_REAR", 50),
("WheelspeedFront", 50), ("WHEEL_SPEEDS_FRONT", 50),
("DoorsLights", 10), ("DOORS_LIGHTS", 10),
] ]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0) return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
@ -117,6 +127,7 @@ class CarState(CarStateBase):
("SET_0x80", "LKAS", 0), ("SET_0x80", "LKAS", 0),
("COUNTER", "LKAS", 0), ("COUNTER", "LKAS", 0),
("LKA_ACTIVE", "LKAS", 0), ("LKA_ACTIVE", "LKAS", 0),
# Below are the HUD messages. We copy the stock message and modify # Below are the HUD messages. We copy the stock message and modify
("LARGE_WARNING_FLASHING", "PROPILOT_HUD", 0), ("LARGE_WARNING_FLASHING", "PROPILOT_HUD", 0),
("SIDE_RADAR_ERROR_FLASHING1", "PROPILOT_HUD", 0), ("SIDE_RADAR_ERROR_FLASHING1", "PROPILOT_HUD", 0),
@ -141,9 +152,10 @@ class CarState(CarStateBase):
("unknown31", "PROPILOT_HUD", 0), ("unknown31", "PROPILOT_HUD", 0),
("unknown39", "PROPILOT_HUD", 0), ("unknown39", "PROPILOT_HUD", 0),
("unknown43", "PROPILOT_HUD", 0), ("unknown43", "PROPILOT_HUD", 0),
("unknown8", "PROPILOT_HUD", 0), ("unknown08", "PROPILOT_HUD", 0),
("unknown05", "PROPILOT_HUD", 0), ("unknown05", "PROPILOT_HUD", 0),
("unknown02", "PROPILOT_HUD", 0), ("unknown02", "PROPILOT_HUD", 0),
("NA_HIGH_ACCEL_TEMP", "PROPILOT_HUD_INFO_MSG", 0), ("NA_HIGH_ACCEL_TEMP", "PROPILOT_HUD_INFO_MSG", 0),
("SIDE_RADAR_NA_HIGH_CABIN_TEMP", "PROPILOT_HUD_INFO_MSG", 0), ("SIDE_RADAR_NA_HIGH_CABIN_TEMP", "PROPILOT_HUD_INFO_MSG", 0),
("SIDE_RADAR_MALFUNCTION", "PROPILOT_HUD_INFO_MSG", 0), ("SIDE_RADAR_MALFUNCTION", "PROPILOT_HUD_INFO_MSG", 0),
@ -195,9 +207,9 @@ class CarState(CarStateBase):
@staticmethod @staticmethod
def get_cam_can_parser(CP): def get_cam_can_parser(CP):
signals = [ signals = [
("CRUISE_ON", "ProPilot", 0), ("CRUISE_ON", "PRO_PILOT", 0),
("CRUISE_ACTIVATED", "ProPilot", 0), ("CRUISE_ACTIVATED", "PRO_PILOT", 0),
("STEER_STATUS", "ProPilot", 0), ("STEER_STATUS", "PRO_PILOT", 0),
] ]
checks = [ checks = [

4
selfdrive/car/nissan/nissancan.py
Unescape View File

@ -19,7 +19,7 @@ def create_steering_control(packer, car_fingerprint, apply_steer, frame, steer_o
dat = packer.make_can_msg("LKAS", 0, values)[2] dat = packer.make_can_msg("LKAS", 0, values)[2]
values["CRC"] = nissan_checksum(dat[:7]) values["CHECKSUM"] = nissan_checksum(dat[:7])
return packer.make_can_msg("LKAS", 0, values) return packer.make_can_msg("LKAS", 0, values)
@ -35,7 +35,7 @@ def create_acc_cancel_cmd(packer, cruise_throttle_msg, frame):
values["FOLLOW_DISTANCE_BUTTON"] = 0 values["FOLLOW_DISTANCE_BUTTON"] = 0
values["COUNTER"] = (frame % 4) values["COUNTER"] = (frame % 4)
return packer.make_can_msg("CruiseThrottle", 2, values) return packer.make_can_msg("CRUISE_THROTTLE", 2, values)
def create_lkas_hud_msg(packer, lkas_hud_msg, enabled, left_line, right_line, left_lane_depart, right_lane_depart): def create_lkas_hud_msg(packer, lkas_hud_msg, enabled, left_line, right_line, left_lane_depart, right_lane_depart):

13
selfdrive/car/nissan/values.py
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@ -1,16 +1,21 @@
from selfdrive.car import dbc_dict from selfdrive.car import dbc_dict
class CAR: class CAR:
XTRAIL = "NISSAN X-TRAIL 2017" XTRAIL = "NISSAN X-TRAIL 2017"
FINGERPRINTS = { FINGERPRINTS = {
CAR.XTRAIL: [{ CAR.XTRAIL: [
{
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, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3, 768: 2, 783: 3, 851: 8, 855: 8, 1041: 8, 1055: 2, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1111: 4, 1227: 8, 1228: 8, 1247: 4, 1266: 8, 1273: 7, 1342: 1, 1376: 6, 1401: 8, 1474: 2, 1497: 3, 1821: 8, 1823: 8, 1837:8, 2015: 8, 2016: 8, 2024: 8 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, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3, 768: 2, 783: 3, 851: 8, 855: 8, 1041: 8, 1055: 2, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1111: 4, 1227: 8, 1228: 8, 1247: 4, 1266: 8, 1273: 7, 1342: 1, 1376: 6, 1401: 8, 1474: 2, 1497: 3, 1821: 8, 1823: 8, 1837:8, 2015: 8, 2016: 8, 2024: 8
}, { },
{
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, 527: 1, 548: 8, 637: 4, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3, 768: 6, 783: 3, 851: 8, 855: 8, 1041: 8, 1055: 2, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1111: 4, 1227: 8, 1228: 8, 1247: 4, 1266: 8, 1273: 7, 1342: 1, 1376: 6, 1401: 8, 1474: 8, 1497: 3,1534: 6, 1792: 8, 1821: 8, 1823: 8, 1837: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 2015: 8, 2016: 8, 2024: 8 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, 527: 1, 548: 8, 637: 4, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3, 768: 6, 783: 3, 851: 8, 855: 8, 1041: 8, 1055: 2, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1111: 4, 1227: 8, 1228: 8, 1247: 4, 1266: 8, 1273: 7, 1342: 1, 1376: 6, 1401: 8, 1474: 8, 1497: 3,1534: 6, 1792: 8, 1821: 8, 1823: 8, 1837: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 2015: 8, 2016: 8, 2024: 8
}], },
]
} }
DBC = { DBC = {
CAR.XTRAIL: dbc_dict('nissan_2017', None), CAR.XTRAIL: dbc_dict('nissan_x_trail_2017', None),
} }

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