| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | #pragma once | ||
| 2 | |||
| 3 | #include "safety_declarations.h" | ||
| 4 | |||
| 5 | static bool nissan_alt_eps = false; | ||
| 6 | |||
| 7 | 77436 | static void nissan_rx_hook(const CANPacket_t *to_push) { | |
| 8 | 77436 | int bus = GET_BUS(to_push); | |
| 9 | 77436 | int addr = GET_ADDR(to_push); | |
| 10 | |||
| 11 |
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77436 | if (bus == (nissan_alt_eps ? 1 : 0)) { |
| 12 |
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60526 | if (addr == 0x2) { |
| 13 | // Current steering angle | ||
| 14 | // Factor -0.1, little endian | ||
| 15 | 36039 | int angle_meas_new = (GET_BYTES(to_push, 0, 4) & 0xFFFFU); | |
| 16 | // Multiply by -10 to match scale of LKAS angle | ||
| 17 | 36039 | angle_meas_new = to_signed(angle_meas_new, 16) * -10; | |
| 18 | |||
| 19 | // update array of samples | ||
| 20 | 36039 | update_sample(&angle_meas, angle_meas_new); | |
| 21 | } | ||
| 22 | |||
| 23 |
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60526 | if (addr == 0x285) { |
| 24 | // Get current speed and standstill | ||
| 25 | 15972 | uint16_t right_rear = (GET_BYTE(to_push, 0) << 8) | (GET_BYTE(to_push, 1)); | |
| 26 | 15972 | uint16_t left_rear = (GET_BYTE(to_push, 2) << 8) | (GET_BYTE(to_push, 3)); | |
| 27 | 15972 | vehicle_moving = (right_rear | left_rear) != 0U; | |
| 28 | 15972 | UPDATE_VEHICLE_SPEED((right_rear + left_rear) / 2.0 * 0.005 / 3.6); | |
| 29 | } | ||
| 30 | |||
| 31 | // X-Trail 0x15c, Leaf 0x239 | ||
| 32 |
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60526 | if ((addr == 0x15c) || (addr == 0x239)) { |
| 33 |
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48 | if (addr == 0x15c){ |
| 34 | 23 | gas_pressed = ((GET_BYTE(to_push, 5) << 2) | ((GET_BYTE(to_push, 6) >> 6) & 0x3U)) > 3U; | |
| 35 | } else { | ||
| 36 | 25 | gas_pressed = GET_BYTE(to_push, 0) > 3U; | |
| 37 | } | ||
| 38 | } | ||
| 39 | |||
| 40 | // X-trail 0x454, Leaf 0x239 | ||
| 41 |
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60526 | if ((addr == 0x454) || (addr == 0x239)) { |
| 42 |
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52 | if (addr == 0x454){ |
| 43 | 27 | brake_pressed = (GET_BYTE(to_push, 2) & 0x80U) != 0U; | |
| 44 | } else { | ||
| 45 | 25 | brake_pressed = ((GET_BYTE(to_push, 4) >> 5) & 1U) != 0U; | |
| 46 | } | ||
| 47 | } | ||
| 48 | } | ||
| 49 | |||
| 50 | // Handle cruise enabled | ||
| 51 |
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77436 | if ((addr == 0x30f) && (bus == (nissan_alt_eps ? 1 : 2))) { |
| 52 | 24 | bool cruise_engaged = (GET_BYTE(to_push, 0) >> 3) & 1U; | |
| 53 | 24 | pcm_cruise_check(cruise_engaged); | |
| 54 | } | ||
| 55 | |||
| 56 |
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77436 | generic_rx_checks((addr == 0x169) && (bus == 0)); |
| 57 | 77436 | } | |
| 58 | |||
| 59 | |||
| 60 | 19614 | static bool nissan_tx_hook(const CANPacket_t *to_send) { | |
| 61 | const SteeringLimits NISSAN_STEERING_LIMITS = { | ||
| 62 | .angle_deg_to_can = 100, | ||
| 63 | .angle_rate_up_lookup = { | ||
| 64 | {0., 5., 15.}, | ||
| 65 | {5., .8, .15} | ||
| 66 | }, | ||
| 67 | .angle_rate_down_lookup = { | ||
| 68 | {0., 5., 15.}, | ||
| 69 | {5., 3.5, .4} | ||
| 70 | }, | ||
| 71 | }; | ||
| 72 | |||
| 73 | 19614 | bool tx = true; | |
| 74 | 19614 | int addr = GET_ADDR(to_send); | |
| 75 | 19614 | bool violation = false; | |
| 76 | |||
| 77 | // steer cmd checks | ||
| 78 |
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19614 | if (addr == 0x169) { |
| 79 | 19581 | int desired_angle = ((GET_BYTE(to_send, 0) << 10) | (GET_BYTE(to_send, 1) << 2) | ((GET_BYTE(to_send, 2) >> 6) & 0x3U)); | |
| 80 | 19581 | bool lka_active = (GET_BYTE(to_send, 6) >> 4) & 1U; | |
| 81 | |||
| 82 | // Factor is -0.01, offset is 1310. Flip to correct sign, but keep units in CAN scale | ||
| 83 | 19581 | desired_angle = -desired_angle + (1310.0f * NISSAN_STEERING_LIMITS.angle_deg_to_can); | |
| 84 | |||
| 85 |
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19581 | if (steer_angle_cmd_checks(desired_angle, lka_active, NISSAN_STEERING_LIMITS)) { |
| 86 | 7494 | violation = true; | |
| 87 | } | ||
| 88 | } | ||
| 89 | |||
| 90 | // acc button check, only allow cancel button to be sent | ||
| 91 |
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19614 | if (addr == 0x20b) { |
| 92 | // Violation of any button other than cancel is pressed | ||
| 93 | 24 | violation |= ((GET_BYTE(to_send, 1) & 0x3dU) > 0U); | |
| 94 | } | ||
| 95 | |||
| 96 |
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19614 | if (violation) { |
| 97 | 7514 | tx = false; | |
| 98 | } | ||
| 99 | |||
| 100 | 19614 | return tx; | |
| 101 | } | ||
| 102 | |||
| 103 | |||
| 104 | 25344 | static int nissan_fwd_hook(int bus_num, int addr) { | |
| 105 | 25344 | int bus_fwd = -1; | |
| 106 | |||
| 107 |
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25344 | if (bus_num == 0) { |
| 108 | 8448 | bool block_msg = (addr == 0x280); // CANCEL_MSG | |
| 109 |
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8448 | if (!block_msg) { |
| 110 | 8445 | bus_fwd = 2; // ADAS | |
| 111 | } | ||
| 112 | } | ||
| 113 | |||
| 114 |
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25344 | if (bus_num == 2) { |
| 115 | // 0x169 is LKAS, 0x2b1 LKAS_HUD, 0x4cc LKAS_HUD_INFO_MSG | ||
| 116 |
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8448 | bool block_msg = ((addr == 0x169) || (addr == 0x2b1) || (addr == 0x4cc)); |
| 117 |
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8448 | if (!block_msg) { |
| 118 | 8439 | bus_fwd = 0; // V-CAN | |
| 119 | } | ||
| 120 | } | ||
| 121 | |||
| 122 | 25344 | return bus_fwd; | |
| 123 | } | ||
| 124 | |||
| 125 | 4161 | static safety_config nissan_init(uint16_t param) { | |
| 126 | static const CanMsg NISSAN_TX_MSGS[] = { | ||
| 127 | {0x169, 0, 8}, // LKAS | ||
| 128 | {0x2b1, 0, 8}, // PROPILOT_HUD | ||
| 129 | {0x4cc, 0, 8}, // PROPILOT_HUD_INFO_MSG | ||
| 130 | {0x20b, 2, 6}, // CRUISE_THROTTLE (X-Trail) | ||
| 131 | {0x20b, 1, 6}, // CRUISE_THROTTLE (Altima) | ||
| 132 | {0x280, 2, 8} // CANCEL_MSG (Leaf) | ||
| 133 | }; | ||
| 134 | |||
| 135 | // Signals duplicated below due to the fact that these messages can come in on either CAN bus, depending on car model. | ||
| 136 | static RxCheck nissan_rx_checks[] = { | ||
| 137 | {.msg = {{0x2, 0, 5, .frequency = 100U}, | ||
| 138 | {0x2, 1, 5, .frequency = 100U}, { 0 }}}, // STEER_ANGLE_SENSOR | ||
| 139 | {.msg = {{0x285, 0, 8, .frequency = 50U}, | ||
| 140 | {0x285, 1, 8, .frequency = 50U}, { 0 }}}, // WHEEL_SPEEDS_REAR | ||
| 141 | {.msg = {{0x30f, 2, 3, .frequency = 10U}, | ||
| 142 | {0x30f, 1, 3, .frequency = 10U}, { 0 }}}, // CRUISE_STATE | ||
| 143 | {.msg = {{0x15c, 0, 8, .frequency = 50U}, | ||
| 144 | {0x15c, 1, 8, .frequency = 50U}, | ||
| 145 | {0x239, 0, 8, .frequency = 50U}}}, // GAS_PEDAL | ||
| 146 | {.msg = {{0x454, 0, 8, .frequency = 10U}, | ||
| 147 | {0x454, 1, 8, .frequency = 10U}, | ||
| 148 | {0x1cc, 0, 4, .frequency = 100U}}}, // DOORS_LIGHTS / BRAKE | ||
| 149 | }; | ||
| 150 | |||
| 151 | // EPS Location. false = V-CAN, true = C-CAN | ||
| 152 | 4161 | const int NISSAN_PARAM_ALT_EPS_BUS = 1; | |
| 153 | |||
| 154 | 4161 | nissan_alt_eps = GET_FLAG(param, NISSAN_PARAM_ALT_EPS_BUS); | |
| 155 | 4161 | return BUILD_SAFETY_CFG(nissan_rx_checks, NISSAN_TX_MSGS); | |
| 156 | } | ||
| 157 | |||
| 158 | const safety_hooks nissan_hooks = { | ||
| 159 | .init = nissan_init, | ||
| 160 | .rx = nissan_rx_hook, | ||
| 161 | .tx = nissan_tx_hook, | ||
| 162 | .fwd = nissan_fwd_hook, | ||
| 163 | }; | ||
| 164 |