IQ.Pilot Prebuilt Release @ 7a91404

2026-08-31 23:04:09 -05:00
commit e2b219bcf7
2545 changed files with 677873 additions and 0 deletions
--- a/artifacts/package_runtime/iqdbc/car/nissan/init.py
+++ b/artifacts/package_runtime/iqdbc/car/nissan/init.py
--- a/artifacts/package_runtime/iqdbc/car/nissan/carcontroller.py
+++ b/artifacts/package_runtime/iqdbc/car/nissan/carcontroller.py
@@ -0,0 +1,76 @@
+from iqdbc.can import CANPacker
+from iqdbc.car import Bus, structs
+from iqdbc.car.lateral import apply_std_steer_angle_limits
+from iqdbc.car.interfaces import CarControllerBase
+from iqdbc.car.nissan import nissancan
+from iqdbc.car.nissan.values import CAR, CarControllerParams
+
+VisualAlert = structs.CarControl.HUDControl.VisualAlert
+
+
+class CarController(CarControllerBase):
+  def __init__(self, dbc_names, CP, CP_IQ):
+    super().__init__(dbc_names, CP, CP_IQ)
+    self.car_fingerprint = CP.carFingerprint
+
+    self.apply_angle_last = 0
+
+    self.packer = CANPacker(dbc_names[Bus.pt])
+
+  def update(self, CC, CC_IQ, CS, now_nanos):
+    actuators = CC.actuators
+    hud_control = CC.hudControl
+    pcm_cancel_cmd = CC.cruiseControl.cancel
+
+    can_sends = []
+
+    ### STEER ###
+    steer_hud_alert = 1 if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw) else 0
+
+    # windup slower
+    self.apply_angle_last = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgoRaw,
+                                                         CS.out.steeringAngleDeg, CC.latActive, CarControllerParams.ANGLE_LIMITS)
+
+    lkas_max_torque = 0
+    if CC.latActive:
+      # Max torque from driver before EPS will give up and not apply torque
+      if not bool(CS.out.steeringPressed):
+        lkas_max_torque = CarControllerParams.LKAS_MAX_TORQUE
+      else:
+        # Scale max torque based on how much torque the driver is applying to the wheel
+        lkas_max_torque = max(
+          # Scale max torque down to half LKAX_MAX_TORQUE as a minimum
+          CarControllerParams.LKAS_MAX_TORQUE * 0.5,
+          # Start scaling torque at STEER_THRESHOLD
+          CarControllerParams.LKAS_MAX_TORQUE - 0.6 * max(0, abs(CS.out.steeringTorque) - CarControllerParams.STEER_THRESHOLD)
+        )
+
+    if self.CP.carFingerprint in (CAR.NISSAN_ROGUE, CAR.NISSAN_XTRAIL, CAR.NISSAN_ALTIMA) and pcm_cancel_cmd:
+      can_sends.append(nissancan.create_acc_cancel_cmd(self.packer, self.car_fingerprint, CS.cruise_throttle_msg))
+
+    # TODO: Find better way to cancel!
+    # For some reason spamming the cancel button is unreliable on the Leaf
+    # We now cancel by making propilot think the seatbelt is unlatched,
+    # this generates a beep and a warning message every time you disengage
+    if self.CP.carFingerprint in (CAR.NISSAN_LEAF, CAR.NISSAN_LEAF_IC) and self.frame % 2 == 0:
+      can_sends.append(nissancan.create_cancel_msg(self.packer, CS.cancel_msg, pcm_cancel_cmd))
+
+    can_sends.append(nissancan.create_steering_control(
+      self.packer, self.apply_angle_last, self.frame, CC.latActive, lkas_max_torque))
+
+    # Below are the HUD messages. We copy the stock message and modify
+    if self.CP.carFingerprint != CAR.NISSAN_ALTIMA:
+      if self.frame % 2 == 0:
+        can_sends.append(nissancan.create_lkas_hud_msg(self.packer, CS.lkas_hud_msg, CC_IQ.aol.enabled, hud_control.leftLaneVisible,
+                                                       hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart))
+
+      if self.frame % 50 == 0:
+        can_sends.append(nissancan.create_lkas_hud_info_msg(
+          self.packer, CS.lkas_hud_info_msg, steer_hud_alert
+        ))
+
+    new_actuators = actuators.as_builder()
+    new_actuators.steeringAngleDeg = self.apply_angle_last
+
+    self.frame += 1
+    return new_actuators, can_sends
--- a/artifacts/package_runtime/iqdbc/car/nissan/carstate.py
+++ b/artifacts/package_runtime/iqdbc/car/nissan/carstate.py
@@ -0,0 +1,148 @@
+import copy
+from collections import deque
+from iqdbc.can import CANDefine, CANParser
+from iqdbc.car import Bus, create_button_events, structs
+from iqdbc.car.common.conversions import Conversions as CV
+from iqdbc.car.interfaces import CarStateBase
+from iqdbc.car.nissan.values import CAR, DBC, CarControllerParams
+
+from iqdbc.lvbs.car.nissan.iq_carstate import IQCarState
+
+ButtonType = structs.CarState.ButtonEvent.Type
+
+TORQUE_SAMPLES = 12
+
+
+class CarState(CarStateBase, IQCarState):
+  def __init__(self, CP, CP_IQ):
+    CarStateBase.__init__(self, CP, CP_IQ)
+    IQCarState.__init__(self, CP, CP_IQ)
+    can_define = CANDefine(DBC[CP.carFingerprint][Bus.pt])
+
+    self.lkas_hud_msg = {}
+    self.lkas_hud_info_msg = {}
+
+    self.steeringTorqueSamples = deque(TORQUE_SAMPLES*[0], TORQUE_SAMPLES)
+    self.shifter_values = can_define.dv["GEARBOX"]["GEAR_SHIFTER"]
+
+    self.distance_button = 0
+
+  def update(self, can_parsers) -> tuple[structs.CarState, structs.IQCarState]:
+    cp = can_parsers[Bus.pt]
+    cp_cam = can_parsers[Bus.cam]
+    cp_adas = can_parsers[Bus.adas]
+
+    ret = structs.CarState()
+    ret_iq = structs.IQCarState()
+
+    prev_distance_button = self.distance_button
+    self.distance_button = cp.vl["CRUISE_THROTTLE"]["FOLLOW_DISTANCE_BUTTON"]
+
+    if self.CP.carFingerprint in (CAR.NISSAN_ROGUE, CAR.NISSAN_XTRAIL, CAR.NISSAN_ALTIMA):
+      ret.gasPressed = bool(cp.vl["GAS_PEDAL"]["GAS_PEDAL"] > 3)
+    elif self.CP.carFingerprint in (CAR.NISSAN_LEAF, CAR.NISSAN_LEAF_IC):
+      ret.gasPressed = bool(cp.vl["CRUISE_THROTTLE"]["GAS_PEDAL"] > 3)
+
+    if self.CP.carFingerprint in (CAR.NISSAN_ROGUE, CAR.NISSAN_XTRAIL, CAR.NISSAN_ALTIMA):
+      ret.brakePressed = bool(cp.vl["DOORS_LIGHTS"]["USER_BRAKE_PRESSED"])
+    elif self.CP.carFingerprint in (CAR.NISSAN_LEAF, CAR.NISSAN_LEAF_IC):
+      ret.brakePressed = bool(cp.vl["CRUISE_THROTTLE"]["USER_BRAKE_PRESSED"])
+
+    fl = cp.vl["WHEEL_SPEEDS_FRONT"]["WHEEL_SPEED_FL"] * CV.KPH_TO_MS
+    fr = cp.vl["WHEEL_SPEEDS_FRONT"]["WHEEL_SPEED_FR"] * CV.KPH_TO_MS
+    rl = cp.vl["WHEEL_SPEEDS_REAR"]["WHEEL_SPEED_RL"] * CV.KPH_TO_MS
+    rr = cp.vl["WHEEL_SPEEDS_REAR"]["WHEEL_SPEED_RR"] * CV.KPH_TO_MS
+    # safety uses the rear wheel speeds for the speed measurement and angle limiting
+    ret.vEgoRaw = (rl + rr) / 2.0
+
+    v_ego_raw_full = (fl + fr + rl + rr) / 4.0
+    ret.vEgo, ret.aEgo = self.update_speed_kf(v_ego_raw_full)
+    ret.standstill = cp.vl["WHEEL_SPEEDS_REAR"]["WHEEL_SPEED_RL"] == 0.0 and cp.vl["WHEEL_SPEEDS_REAR"]["WHEEL_SPEED_RR"] == 0.0
+
+    if self.CP.carFingerprint == CAR.NISSAN_ALTIMA:
+      ret.cruiseState.enabled = bool(cp.vl["CRUISE_STATE"]["CRUISE_ENABLED"])
+    else:
+      ret.cruiseState.enabled = bool(cp_adas.vl["CRUISE_STATE"]["CRUISE_ENABLED"])
+
+    if self.CP.carFingerprint in (CAR.NISSAN_ROGUE, CAR.NISSAN_XTRAIL):
+      ret.seatbeltUnlatched = cp.vl["HUD"]["SEATBELT_DRIVER_LATCHED"] == 0
+      ret.cruiseState.available = bool(cp_cam.vl["PRO_PILOT"]["CRUISE_ON"])
+    elif self.CP.carFingerprint in (CAR.NISSAN_LEAF, CAR.NISSAN_LEAF_IC):
+      if self.CP.carFingerprint == CAR.NISSAN_LEAF:
+        ret.seatbeltUnlatched = cp.vl["SEATBELT"]["SEATBELT_DRIVER_LATCHED"] == 0
+      elif self.CP.carFingerprint == CAR.NISSAN_LEAF_IC:
+        ret.seatbeltUnlatched = cp.vl["CANCEL_MSG"]["CANCEL_SEATBELT"] == 1
+      ret.cruiseState.available = bool(cp.vl["CRUISE_THROTTLE"]["CRUISE_AVAILABLE"])
+    elif self.CP.carFingerprint == CAR.NISSAN_ALTIMA:
+      ret.seatbeltUnlatched = cp.vl["HUD"]["SEATBELT_DRIVER_LATCHED"] == 0
+      ret.cruiseState.available = bool(cp_adas.vl["PRO_PILOT"]["CRUISE_ON"])
+
+    if self.CP.carFingerprint == CAR.NISSAN_ALTIMA:
+      speed = cp.vl["PROPILOT_HUD"]["SET_SPEED"]
+    else:
+      speed = cp_adas.vl["PROPILOT_HUD"]["SET_SPEED"]
+
+    if speed != 255:
+      if self.CP.carFingerprint in (CAR.NISSAN_LEAF, CAR.NISSAN_LEAF_IC):
+        conversion = CV.MPH_TO_MS if cp.vl["HUD_SETTINGS"]["SPEED_MPH"] else CV.KPH_TO_MS
+      else:
+        conversion = CV.MPH_TO_MS if cp.vl["HUD"]["SPEED_MPH"] else CV.KPH_TO_MS
+      ret.cruiseState.speed = speed * conversion
+      ret.cruiseState.speedCluster = (speed - 1) * conversion  # Speed on HUD is always 1 lower than actually sent on can bus
+
+    if self.CP.carFingerprint == CAR.NISSAN_ALTIMA:
+      ret.steeringTorque = cp_cam.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"]
+    else:
+      ret.steeringTorque = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"]
+
+    self.steeringTorqueSamples.append(ret.steeringTorque)
+    # Filtering driver torque to prevent steeringPressed false positives
+    ret.steeringPressed = bool(abs(sum(self.steeringTorqueSamples) / TORQUE_SAMPLES) > CarControllerParams.STEER_THRESHOLD)
+
+    ret.steeringAngleDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_ANGLE"]
+
+    ret.leftBlinker = bool(cp.vl["LIGHTS"]["LEFT_BLINKER"])
+    ret.rightBlinker = bool(cp.vl["LIGHTS"]["RIGHT_BLINKER"])
+
+    ret.doorOpen = any([cp.vl["DOORS_LIGHTS"]["DOOR_OPEN_RR"],
+                        cp.vl["DOORS_LIGHTS"]["DOOR_OPEN_RL"],
+                        cp.vl["DOORS_LIGHTS"]["DOOR_OPEN_FR"],
+                        cp.vl["DOORS_LIGHTS"]["DOOR_OPEN_FL"]])
+
+    ret.espDisabled = bool(cp.vl["ESP"]["ESP_DISABLED"])
+
+    can_gear = int(cp.vl["GEARBOX"]["GEAR_SHIFTER"])
+    ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
+
+    # stock lkas should be off
+    # TODO: is this needed?
+    if self.CP.carFingerprint == CAR.NISSAN_ALTIMA:
+      ret.invalidLkasSetting = bool(cp.vl["LKAS_SETTINGS"]["LKAS_ENABLED"])
+    else:
+      ret.invalidLkasSetting = bool(cp_adas.vl["LKAS_SETTINGS"]["LKAS_ENABLED"])
+
+    self.cruise_throttle_msg = copy.copy(cp.vl["CRUISE_THROTTLE"])
+
+    if self.CP.carFingerprint in (CAR.NISSAN_LEAF, CAR.NISSAN_LEAF_IC):
+      self.cancel_msg = copy.copy(cp.vl["CANCEL_MSG"])
+
+    if self.CP.carFingerprint != CAR.NISSAN_ALTIMA:
+      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"])
+
+    IQCarState.update(self, ret, ret_iq, can_parsers)
+
+    ret.buttonEvents = [
+      *create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise}),
+      *self.button_events,
+    ]
+
+    return ret, ret_iq
+
+  @staticmethod
+  def get_can_parsers(CP, CP_IQ):
+    return {
+      Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], [], 1 if CP.carFingerprint == CAR.NISSAN_ALTIMA else 0),
+      Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [], 0 if CP.carFingerprint == CAR.NISSAN_ALTIMA else 1),
+      Bus.adas: CANParser(DBC[CP.carFingerprint][Bus.pt], [], 2),
+    }
--- a/artifacts/package_runtime/iqdbc/car/nissan/fingerprints.py
+++ b/artifacts/package_runtime/iqdbc/car/nissan/fingerprints.py
@@ -0,0 +1,108 @@
+""" AUTO-FORMATTED USING iqdbc/car/debug/format_fingerprints.py, EDIT STRUCTURE THERE."""
+from iqdbc.car.structs import CarParams
+from iqdbc.car.nissan.values import CAR
+
+Ecu = CarParams.Ecu
+
+FW_VERSIONS = {
+  CAR.NISSAN_ALTIMA: {
+    (Ecu.fwdCamera, 0x707, None): [
+      b'284N86CA1D',
+    ],
+    (Ecu.eps, 0x742, None): [
+      b'6CA2B\xa9A\x02\x02G8A89P90D6A\x00\x00\x01\x80',
+      b'6CA2C\xa9A\x02\x02G8A89P90D6A\x00\x00\x01\x80',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'237106GU3B',
+      b'237109HE2B',
+    ],
+    (Ecu.gateway, 0x18dad0f1, None): [
+      b'284U29HE0A',
+      b'284U29HF0A',
+    ],
+  },
+  CAR.NISSAN_LEAF: {
+    (Ecu.abs, 0x740, None): [
+      b'476605SA1C',
+      b'476605SA7D',
+      b'476605SC2D',
+      b'476606WK7B',
+      b'476606WK9B',
+    ],
+    (Ecu.eps, 0x742, None): [
+      b'5SA2A\x99A\x05\x02N123F\x15b\x00\x00\x00\x00\x00\x00\x00\x80',
+      b'5SA2A\xb7A\x05\x02N123F\x15\xa2\x00\x00\x00\x00\x00\x00\x00\x80',
+      b'5SN2A\xb7A\x05\x02N123F\x15\xa2\x00\x00\x00\x00\x00\x00\x00\x80',
+      b'5SN2A\xb7A\x05\x02N126F\x15\xb2\x00\x00\x00\x00\x00\x00\x00\x80',
+    ],
+    (Ecu.fwdCamera, 0x707, None): [
+      b'5SA0ADB\x04\x18\x00\x00\x00\x00\x00_*6\x04\x94a\x00\x00\x00\x80',
+      b'5SA2ADB\x04\x18\x00\x00\x00\x00\x00_*6\x04\x94a\x00\x00\x00\x80',
+      b'6WK2ADB\x04\x18\x00\x00\x00\x00\x00R;1\x18\x99\x10\x00\x00\x00\x80',
+      b'6WK2BDB\x04\x18\x00\x00\x00\x00\x00R;1\x18\x99\x10\x00\x00\x00\x80',
+      b'6WK2CDB\x04\x18\x00\x00\x00\x00\x00R=1\x18\x99\x10\x00\x00\x00\x80',
+    ],
+    (Ecu.gateway, 0x18dad0f1, None): [
+      b'284U25SA3C',
+      b'284U25SP0C',
+      b'284U25SP1C',
+      b'284U26WK0A',
+      b'284U26WK0C',
+    ],
+  },
+  CAR.NISSAN_LEAF_IC: {
+    (Ecu.fwdCamera, 0x707, None): [
+      b'5SH1BDB\x04\x18\x00\x00\x00\x00\x00_-?\x04\x91\xf2\x00\x00\x00\x80',
+      b'5SH3BDB\x04\x18\x00\x00\x00\x00\x00_-?\x04\x91\xf2\x00\x00\x00\x80',
+      b'5SH4BDB\x04\x18\x00\x00\x00\x00\x00_-?\x04\x91\xf2\x00\x00\x00\x80',
+      b'5SK0ADB\x04\x18\x00\x00\x00\x00\x00_(5\x07\x9aQ\x00\x00\x00\x80',
+    ],
+    (Ecu.abs, 0x740, None): [
+      b'476605SD2D',
+      b'476605SD2E',
+      b'476605SH1D',
+      b'476605SH7D',
+      b'476605SH7E',
+      b'476605SK2A',
+    ],
+    (Ecu.eps, 0x742, None): [
+      b'5SH2A\x99A\x05\x02N123F\x15\x81\x00\x00\x00\x00\x00\x00\x00\x80',
+      b'5SH2A\xb7A\x05\x02N123F\x15\xa3\x00\x00\x00\x00\x00\x00\x00\x80',
+      b'5SH2C\xb7A\x05\x02N123F\x15\xa3\x00\x00\x00\x00\x00\x00\x00\x80',
+      b'5SH3A\x99A\x05\x02N123F\x15\x81\x00\x00\x00\x00\x00\x00\x00\x80',
+      b'5SH3C\xb7A\x05\x02N123F\x15\xa3\x00\x00\x00\x00\x00\x00\x00\x80',
+      b'5SK3A\x99A\x05\x02N123F\x15u\x00\x00\x00\x00\x00\x00\x00\x80',
+    ],
+    (Ecu.gateway, 0x18dad0f1, None): [
+      b'284U25SF0C',
+      b'284U25SH3A',
+      b'284U25SH3B',
+      b'284U25SK2D',
+      b'284U25SR0B',
+      b'284U25SR0C',
+    ],
+  },
+  CAR.NISSAN_XTRAIL: {
+    (Ecu.fwdCamera, 0x707, None): [
+      b'284N86FR2A',
+    ],
+    (Ecu.abs, 0x740, None): [
+      b'6FU0AD\x11\x02\x00\x02e\x95e\x80iQ#\x01\x00\x00\x00\x00\x00\x80',
+      b'6FU1BD\x11\x02\x00\x02e\x95e\x80iX#\x01\x00\x00\x00\x00\x00\x80',
+    ],
+    (Ecu.eps, 0x742, None): [
+      b'6FP2A\x99A\x05\x02N123F\x18\x02\x00\x00\x00\x00\x00\x00\x00\x80',
+    ],
+    (Ecu.combinationMeter, 0x743, None): [
+      b'6FR2A\x18B\x05\x17\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x80',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'6FR9A\xa0A\x06\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x80',
+      b'6FU9B\xa0A\x06\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x80',
+    ],
+    (Ecu.gateway, 0x18dad0f1, None): [
+      b'284U26FR0E',
+    ],
+  },
+}
--- a/artifacts/package_runtime/iqdbc/car/nissan/interface.py
+++ b/artifacts/package_runtime/iqdbc/car/nissan/interface.py
@@ -0,0 +1,40 @@
+from iqdbc.car import get_safety_config, structs
+from iqdbc.car.interfaces import CarInterfaceBase
+from iqdbc.car.nissan.carcontroller import CarController
+from iqdbc.car.nissan.carstate import CarState
+from iqdbc.car.nissan.values import CAR, NissanSafetyFlags
+from iqdbc.lvbs.car.nissan.values import NissanSafetyFlagsIQ
+
+class CarInterface(CarInterfaceBase):
+  CarState = CarState
+  CarController = CarController
+
+  DRIVABLE_GEARS = (structs.CarState.GearShifter.brake,)
+
+  @staticmethod
+  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
+    ret.brand = "nissan"
+    ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.nissan)]
+    ret.autoResumeSng = False
+    ret.steerAtStandstill = True
+
+    ret.steerLimitTimer = 1.0
+
+    ret.steerActuatorDelay = 0.1
+
+    ret.steerControlType = structs.CarParams.SteerControlType.angle
+    ret.radarUnavailable = True
+
+    if candidate == CAR.NISSAN_ALTIMA:
+      # Altima has EPS on C-CAN unlike the others that have it on V-CAN
+      ret.safetyConfigs[0].safetyParam |= NissanSafetyFlags.ALT_EPS_BUS.value
+
+    return ret
+
+  @staticmethod
+  def _get_params_iq(stock_cp: structs.CarParams, ret: structs.IQCarParams, candidate, fingerprint: dict[int, dict[int, int]],
+                     car_fw: list[structs.CarParams.CarFw], alpha_long: bool, is_release_iq: bool, docs: bool) -> structs.IQCarParams:
+    if candidate in (CAR.NISSAN_LEAF, CAR.NISSAN_LEAF_IC):
+      ret.iqSafetyFlags |= NissanSafetyFlagsIQ.LEAF
+
+    return ret
--- a/artifacts/package_runtime/iqdbc/car/nissan/nissancan.py
+++ b/artifacts/package_runtime/iqdbc/car/nissan/nissancan.py
@@ -0,0 +1,154 @@
+import crcmod
+from iqdbc.car.nissan.values import CAR
+
+# TODO: add this checksum to the CANPacker
+nissan_checksum = crcmod.mkCrcFun(0x11d, initCrc=0x00, rev=False, xorOut=0xff)
+
+
+def create_steering_control(packer, apply_torque, frame, steer_on, lkas_max_torque):
+  values = {
+    "COUNTER": frame % 0x10,
+    "DESIRED_ANGLE": apply_torque,
+    "SET_0x80_2": 0x80,
+    "SET_0x80": 0x80,
+    "MAX_TORQUE": lkas_max_torque if steer_on else 0,
+    "LKA_ACTIVE": steer_on,
+  }
+
+  dat = packer.make_can_msg("LKAS", 0, values)[1]
+
+  values["CHECKSUM"] = nissan_checksum(dat[:7])
+  return packer.make_can_msg("LKAS", 0, values)
+
+
+def create_acc_cancel_cmd(packer, car_fingerprint, cruise_throttle_msg):
+  values = {s: cruise_throttle_msg[s] for s in [
+    "COUNTER",
+    "PROPILOT_BUTTON",
+    "CANCEL_BUTTON",
+    "GAS_PEDAL_INVERTED",
+    "SET_BUTTON",
+    "RES_BUTTON",
+    "FOLLOW_DISTANCE_BUTTON",
+    "NO_BUTTON_PRESSED",
+    "GAS_PEDAL",
+    "USER_BRAKE_PRESSED",
+    "NEW_SIGNAL_2",
+    "GAS_PRESSED_INVERTED",
+    "unsure1",
+    "unsure2",
+    "unsure3",
+  ]}
+  can_bus = 1 if car_fingerprint == CAR.NISSAN_ALTIMA else 2
+
+  values["CANCEL_BUTTON"] = 1
+  values["NO_BUTTON_PRESSED"] = 0
+  values["PROPILOT_BUTTON"] = 0
+  values["SET_BUTTON"] = 0
+  values["RES_BUTTON"] = 0
+  values["FOLLOW_DISTANCE_BUTTON"] = 0
+
+  return packer.make_can_msg("CRUISE_THROTTLE", can_bus, values)
+
+
+def create_cancel_msg(packer, cancel_msg, cruise_cancel):
+  values = {s: cancel_msg[s] for s in [
+    "CANCEL_SEATBELT",
+    "NEW_SIGNAL_1",
+    "NEW_SIGNAL_2",
+    "NEW_SIGNAL_3",
+  ]}
+
+  if cruise_cancel:
+    values["CANCEL_SEATBELT"] = 1
+
+  return packer.make_can_msg("CANCEL_MSG", 2, values)
+
+
+def create_lkas_hud_msg(packer, lkas_hud_msg, enabled, left_line, right_line, left_lane_depart, right_lane_depart):
+  values = {s: lkas_hud_msg[s] for s in [
+    "LARGE_WARNING_FLASHING",
+    "SIDE_RADAR_ERROR_FLASHING1",
+    "SIDE_RADAR_ERROR_FLASHING2",
+    "LEAD_CAR",
+    "LEAD_CAR_ERROR",
+    "FRONT_RADAR_ERROR",
+    "FRONT_RADAR_ERROR_FLASHING",
+    "SIDE_RADAR_ERROR_FLASHING3",
+    "LKAS_ERROR_FLASHING",
+    "SAFETY_SHIELD_ACTIVE",
+    "RIGHT_LANE_GREEN_FLASH",
+    "LEFT_LANE_GREEN_FLASH",
+    "FOLLOW_DISTANCE",
+    "AUDIBLE_TONE",
+    "SPEED_SET_ICON",
+    "SMALL_STEERING_WHEEL_ICON",
+    "unknown59",
+    "unknown55",
+    "unknown26",
+    "unknown28",
+    "unknown31",
+    "SET_SPEED",
+    "unknown43",
+    "unknown08",
+    "unknown05",
+    "unknown02",
+  ]}
+
+  values["RIGHT_LANE_YELLOW_FLASH"] = 1 if right_lane_depart else 0
+  values["LEFT_LANE_YELLOW_FLASH"] = 1 if left_lane_depart else 0
+
+  values["LARGE_STEERING_WHEEL_ICON"] = 2 if enabled else 0
+  values["RIGHT_LANE_GREEN"] = 1 if right_line and enabled else 0
+  values["LEFT_LANE_GREEN"] = 1 if left_line and enabled else 0
+
+  return packer.make_can_msg("PROPILOT_HUD", 0, values)
+
+
+def create_lkas_hud_info_msg(packer, lkas_hud_info_msg, steer_hud_alert):
+  values = {s: lkas_hud_info_msg[s] for s in [
+    "NA_HIGH_ACCEL_TEMP",
+    "SIDE_RADAR_NA_HIGH_CABIN_TEMP",
+    "SIDE_RADAR_MALFUNCTION",
+    "LKAS_MALFUNCTION",
+    "FRONT_RADAR_MALFUNCTION",
+    "SIDE_RADAR_NA_CLEAN_REAR_CAMERA",
+    "NA_POOR_ROAD_CONDITIONS",
+    "CURRENTLY_UNAVAILABLE",
+    "SAFETY_SHIELD_OFF",
+    "FRONT_COLLISION_NA_FRONT_RADAR_OBSTRUCTION",
+    "PEDAL_MISSAPPLICATION_SYSTEM_ACTIVATED",
+    "SIDE_IMPACT_NA_RADAR_OBSTRUCTION",
+    "WARNING_DO_NOT_ENTER",
+    "SIDE_IMPACT_SYSTEM_OFF",
+    "SIDE_IMPACT_MALFUNCTION",
+    "FRONT_COLLISION_MALFUNCTION",
+    "SIDE_RADAR_MALFUNCTION2",
+    "LKAS_MALFUNCTION2",
+    "FRONT_RADAR_MALFUNCTION2",
+    "PROPILOT_NA_MSGS",
+    "BOTTOM_MSG",
+    "HANDS_ON_WHEEL_WARNING",
+    "WARNING_STEP_ON_BRAKE_NOW",
+    "PROPILOT_NA_FRONT_CAMERA_OBSTRUCTED",
+    "PROPILOT_NA_HIGH_CABIN_TEMP",
+    "WARNING_PROPILOT_MALFUNCTION",
+    "ACC_UNAVAILABLE_HIGH_CABIN_TEMP",
+    "ACC_NA_FRONT_CAMERA_IMPARED",
+    "unknown07",
+    "unknown10",
+    "unknown15",
+    "unknown23",
+    "unknown19",
+    "unknown31",
+    "unknown32",
+    "unknown46",
+    "unknown61",
+    "unknown55",
+    "unknown50",
+  ]}
+
+  if steer_hud_alert:
+    values["HANDS_ON_WHEEL_WARNING"] = 1
+
+  return packer.make_can_msg("PROPILOT_HUD_INFO_MSG", 0, values)
--- a/artifacts/package_runtime/iqdbc/car/nissan/values.py
+++ b/artifacts/package_runtime/iqdbc/car/nissan/values.py
@@ -0,0 +1,125 @@
+from dataclasses import dataclass, field
+from enum import Enum, IntFlag
+
+from iqdbc.car import Bus, CarSpecs, DbcDict, PlatformConfig, Platforms, uds
+from iqdbc.car.lateral import AngleSteeringLimits
+from iqdbc.car.structs import CarParams
+from iqdbc.car.docs_definitions import CarDocs, CarFootnote, CarHarness, CarParts, Column
+from iqdbc.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, 2024", 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,
+    ),
+  ]],
+)