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111 lines
3.7 KiB
111 lines
3.7 KiB
from dataclasses import dataclass, field
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from cereal import car
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from panda.python import uds
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from openpilot.selfdrive.car import AngleRateLimit, CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
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from openpilot.selfdrive.car.docs_definitions import CarDocs, CarHarness, CarParts
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from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
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Ecu = car.CarParams.Ecu
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class CarControllerParams:
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ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[5., .8, .15])
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ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[5., 3.5, 0.4])
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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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@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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@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 NissanPlaformConfig(PlatformConfig):
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dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('nissan_x_trail_2017_generated', None))
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class CAR(Platforms):
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XTRAIL = NissanPlaformConfig(
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"NISSAN X-TRAIL 2017",
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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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LEAF = NissanPlaformConfig(
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"NISSAN LEAF 2018",
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[NissanCarDocs("Nissan Leaf 2018-23", video_link="https://youtu.be/vaMbtAh_0cY")],
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NissanCarSpecs(mass=1610, wheelbase=2.705),
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dbc_dict('nissan_leaf_2018_generated', None),
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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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LEAF_IC = LEAF.override(platform_str="NISSAN LEAF 2018 Instrument Cluster", car_docs=[])
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ROGUE = NissanPlaformConfig(
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"NISSAN ROGUE 2019",
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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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ALTIMA = NissanPlaformConfig(
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"NISSAN ALTIMA 2020",
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[NissanCarDocs("Nissan Altima 2019-20", 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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FW_QUERY_CONFIG = FwQueryConfig(
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requests=[request for bus, logging in ((0, 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=logging,
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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=logging,
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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=logging,
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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=logging,
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),
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]],
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)
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