Release 260111

2026-01-11 18:23:29 +08:00
commit 3721ecbf8a
2601 changed files with 855070 additions and 0 deletions
--- a/opendbc_repo/opendbc/car/nissan/values.py
+++ b/opendbc_repo/opendbc/car/nissan/values.py
@@ -0,0 +1,124 @@
+from dataclasses import dataclass, field
+from enum import Enum, IntFlag
+
+from opendbc.car import AngleSteeringLimits, Bus, CarSpecs, DbcDict, PlatformConfig, Platforms, uds
+from opendbc.car.structs import CarParams
+from opendbc.car.docs_definitions import CarDocs, CarFootnote, CarHarness, CarParts, Column
+from opendbc.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
+
+Ecu = CarParams.Ecu
+
+
+class CarControllerParams:
+  ANGLE_LIMITS: AngleSteeringLimits = AngleSteeringLimits(
+    # When output steering Angle not within range -1311 and 1310,
+    #   CANPacker packs wrong angle output to be decoded by panda
+    600,  # deg, reasonable limit
+    ([0., 5., 15.], [5., .8, .15]),
+    ([0., 5., 15.], [5., 3.5, 0.4]),
+  )
+
+  LKAS_MAX_TORQUE = 1               # A value of 1 is easy to overpower
+  STEER_THRESHOLD = 1.0
+
+  def __init__(self, CP):
+    pass
+
+
+class NissanSafetyFlags(IntFlag):
+  ALT_EPS_BUS = 1
+
+
+class Footnote(Enum):
+  SETUP = CarFootnote(
+    "See more setup details for <a href=\"https://github.com/commaai/openpilot/wiki/nissan\" target=\"_blank\">Nissan</a>.",
+    Column.MAKE, setup_note=True)
+
+
+@dataclass
+class NissanCarDocs(CarDocs):
+  package: str = "ProPILOT Assist"
+  car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.nissan_a]))
+  footnotes: list[Enum] = field(default_factory=lambda: [Footnote.SETUP])
+
+
+@dataclass(frozen=True)
+class NissanCarSpecs(CarSpecs):
+  centerToFrontRatio: float = 0.44
+  steerRatio: float = 17.
+
+
+@dataclass
+class NissanPlatformConfig(PlatformConfig):
+  dbc_dict: DbcDict = field(default_factory=lambda: {Bus.pt: 'nissan_x_trail_2017_generated'})
+
+
+class CAR(Platforms):
+  NISSAN_XTRAIL = NissanPlatformConfig(
+    [NissanCarDocs("Nissan X-Trail 2017")],
+    NissanCarSpecs(mass=1610, wheelbase=2.705)
+  )
+  NISSAN_LEAF = NissanPlatformConfig(
+    [NissanCarDocs("Nissan Leaf 2018-23", video="https://youtu.be/vaMbtAh_0cY")],
+    NissanCarSpecs(mass=1610, wheelbase=2.705),
+    {Bus.pt: 'nissan_leaf_2018_generated'},
+  )
+  # Leaf with ADAS ECU found behind instrument cluster instead of glovebox
+  # Currently the only known difference between them is the inverted seatbelt signal.
+  NISSAN_LEAF_IC = NISSAN_LEAF.override(car_docs=[])
+  NISSAN_ROGUE = NissanPlatformConfig(
+    [NissanCarDocs("Nissan Rogue 2018-20")],
+    NissanCarSpecs(mass=1610, wheelbase=2.705)
+  )
+  NISSAN_ALTIMA = NissanPlatformConfig(
+    [NissanCarDocs("Nissan Altima 2019-20", car_parts=CarParts.common([CarHarness.nissan_b]))],
+    NissanCarSpecs(mass=1492, wheelbase=2.824)
+  )
+
+
+DBC = CAR.create_dbc_map()
+
+# Default diagnostic session
+NISSAN_DIAGNOSTIC_REQUEST_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, 0x81])
+NISSAN_DIAGNOSTIC_RESPONSE_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40, 0x81])
+
+# Manufacturer specific
+NISSAN_DIAGNOSTIC_REQUEST_KWP_2 = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, 0xda])
+NISSAN_DIAGNOSTIC_RESPONSE_KWP_2 = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40, 0xda])
+
+NISSAN_VERSION_REQUEST_KWP = b'\x21\x83'
+NISSAN_VERSION_RESPONSE_KWP = b'\x61\x83'
+
+NISSAN_RX_OFFSET = 0x20
+
+FW_QUERY_CONFIG = FwQueryConfig(
+  requests=[request for bus, logging in ((0, False), (1, True)) for request in [
+    Request(
+      [NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP],
+      [NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP],
+      bus=bus,
+      logging=logging,
+    ),
+    Request(
+      [NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP],
+      [NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP],
+      rx_offset=NISSAN_RX_OFFSET,
+      bus=bus,
+      logging=logging,
+    ),
+    # Rogue's engine solely responds to this
+    Request(
+      [NISSAN_DIAGNOSTIC_REQUEST_KWP_2, NISSAN_VERSION_REQUEST_KWP],
+      [NISSAN_DIAGNOSTIC_RESPONSE_KWP_2, NISSAN_VERSION_RESPONSE_KWP],
+      bus=bus,
+      logging=logging,
+    ),
+    Request(
+      [StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
+      [StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
+      rx_offset=NISSAN_RX_OFFSET,
+      bus=bus,
+      logging=logging,
+    ),
+  ]],
+)