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Nissan Altima port (#612) 

* Nissan Altima port

* Added bus check for Cruise Enabled message
master
Andre Volmensky 2020-12-11 21:41:12 +09:00 committed by GitHub
parent 9f5f437c90
commit 72d6b6de69
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 21 additions and 7 deletions
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28
board/safety/safety_nissan.h
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@ -11,19 +11,27 @@ const struct lookup_t NISSAN_LOOKUP_ANGLE_RATE_DOWN = {
const int NISSAN_DEG_TO_CAN = 100;
const CanMsg NISSAN_TX_MSGS[] = {{0x169, 0, 8}, {0x2b1, 0, 8}, {0x4cc, 0, 8}, {0x20b, 2, 6}, {0x280, 2, 8}};
const CanMsg NISSAN_TX_MSGS[] = {{0x169, 0, 8}, {0x2b1, 0, 8}, {0x4cc, 0, 8}, {0x20b, 2, 6}, {0x20b, 1, 6}, {0x280, 2, 8}};
// Signals duplicated below due to the fact that these messages can come in on either CAN bus, depending on car model.
AddrCheckStruct nissan_rx_checks[] = {
{.msg = {{0x2, 0, 5, .expected_timestep = 10000U}}}, // STEER_ANGLE_SENSOR (100Hz)
{.msg = {{0x285, 0, 8, .expected_timestep = 20000U}}}, // WHEEL_SPEEDS_REAR (50Hz)
{.msg = {{0x30f, 2, 3, .expected_timestep = 100000U}}}, // CRUISE_STATE (10Hz)
{.msg = {{0x2, 0, 5, .expected_timestep = 10000U},
{0x2, 1, 5, .expected_timestep = 10000U}}}, // STEER_ANGLE_SENSOR (100Hz)
{.msg = {{0x285, 0, 8, .expected_timestep = 20000U},
{0x285, 1, 8, .expected_timestep = 20000U}}}, // WHEEL_SPEEDS_REAR (50Hz)
{.msg = {{0x30f, 2, 3, .expected_timestep = 100000U},
{0x30f, 1, 3, .expected_timestep = 100000U}}}, // CRUISE_STATE (10Hz)
{.msg = {{0x15c, 0, 8, .expected_timestep = 20000U},
{0x15c, 1, 8, .expected_timestep = 20000U},
{0x239, 0, 8, .expected_timestep = 20000U}}}, // GAS_PEDAL (100Hz / 50Hz)
{.msg = {{0x454, 0, 8, .expected_timestep = 100000U},
{0x454, 1, 8, .expected_timestep = 100000U},
{0x1cc, 0, 4, .expected_timestep = 10000U}}}, // DOORS_LIGHTS (10Hz) / BRAKE (100Hz)
};
const int NISSAN_RX_CHECK_LEN = sizeof(nissan_rx_checks) / sizeof(nissan_rx_checks[0]);
// EPS Location. false = V-CAN, true = C-CAN
bool nissan_alt_eps = false;
static int nissan_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
@ -34,7 +42,7 @@ static int nissan_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
int bus = GET_BUS(to_push);
int addr = GET_ADDR(to_push);
if (bus == 0) {
if (((bus == 0) && (!nissan_alt_eps)) || ((bus == 1) && (nissan_alt_eps))) {
if (addr == 0x2) {
// Current steering angle
// Factor -0.1, little endian
@ -73,7 +81,7 @@ static int nissan_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
}
// Handle cruise enabled
if ((bus == 2) && (addr == 0x30f)) {
if ((addr == 0x30f) && (((bus == 2) && (!nissan_alt_eps)) || ((bus == 1) && (nissan_alt_eps)))) {
bool cruise_engaged = (GET_BYTE(to_push, 0) >> 3) & 1;
if (cruise_engaged && !cruise_engaged_prev) {
@ -182,8 +190,14 @@ static int nissan_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
return bus_fwd;
}
static void nissan_init(int16_t param) {
controls_allowed = 0;
nissan_alt_eps = param ? 1 : 0;
relay_malfunction_reset();
}
const safety_hooks nissan_hooks = {
.init = nooutput_init,
.init = nissan_init,
.rx = nissan_rx_hook,
.tx = nissan_tx_hook,
.tx_lin = nooutput_tx_lin_hook,