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IQ.Pilot Release Commit @ 5bc9cd3

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IQ.Lvbs history cleanup
2026-08-22 23:42:42 -05:00
commit d037016281
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iqdbc_repo/iqdbc/safety/modes/nissan.h Normal file
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#pragma once
#include "iqdbc/safety/declarations.h"
#define NISSAN_COMMON_RX_CHECKS \
{.msg = {{0x2, 0, 5, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, \
{0x2, 1, 5, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }}}, /* STEER_ANGLE_SENSOR */ \
{.msg = {{0x285, 0, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, \
{0x285, 1, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }}}, /* WHEEL_SPEEDS_REAR */ \
{.msg = {{0x30f, 2, 3, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, \
{0x30f, 1, 3, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }}}, /* CRUISE_STATE */ \
{.msg = {{0x15c, 0, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, \
{0x15c, 1, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, \
{0x239, 0, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}}}, /* GAS_PEDAL */ \
{.msg = {{0x454, 0, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, \
{0x454, 1, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, \
{0x1cc, 0, 4, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}}}, /* DOORS_LIGHTS / BRAKE */ \
#define NISSAN_PRO_PILOT_RX_CHECKS(alt_eps_bus) \
{.msg = {{0x1B6, alt_eps_bus, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
static bool nissan_alt_eps = false;
static void nissan_rx_hook(const CANPacket_t *msg) {
if (msg->bus == (nissan_alt_eps ? 1U : 0U)) {
if (msg->addr == 0x2U) {
// Current steering angle
// Factor -0.1, little endian
int angle_meas_new = (GET_BYTES(msg, 0, 4) & 0xFFFFU);
// Multiply by -10 to match scale of LKAS angle
angle_meas_new = to_signed(angle_meas_new, 16) * -10;
// update array of samples
update_sample(&angle_meas, angle_meas_new);
}
if (msg->addr == 0x285U) {
// Get current speed and standstill
uint16_t right_rear = (msg->data[0] << 8) | (msg->data[1]);
uint16_t left_rear = (msg->data[2] << 8) | (msg->data[3]);
vehicle_moving = (right_rear | left_rear) != 0U;
UPDATE_VEHICLE_SPEED((right_rear + left_rear) / 2.0 * 0.005 * KPH_TO_MS);
}
// X-Trail 0x15c, Leaf 0x239
if ((msg->addr == 0x15cU) || (msg->addr == 0x239U)) {
if (msg->addr == 0x15cU){
gas_pressed = ((msg->data[5] << 2) | ((msg->data[6] >> 6) & 0x3U)) > 3U;
} else {
gas_pressed = msg->data[0] > 3U;
}
}
// X-trail 0x454, Leaf 0x239
if ((msg->addr == 0x454U) || (msg->addr == 0x239U)) {
if (msg->addr == 0x454U){
brake_pressed = (msg->data[2] & 0x80U) != 0U;
} else {
brake_pressed = ((msg->data[4] >> 5) & 1U) != 0U;
}
}
}
// Handle cruise enabled
if ((msg->addr == 0x30fU) && (msg->bus == (nissan_alt_eps ? 1U : 2U))) {
bool cruise_engaged = (msg->data[0] >> 3) & 1U;
pcm_cruise_check(cruise_engaged);
}
if ((msg->addr == 0x239U) && (msg->bus == 0U)) {
acc_main_on = GET_BIT(msg, 17U);
}
if ((msg->addr == 0x1B6U) && (msg->bus == (nissan_alt_eps ? 2U : 1U))) {
acc_main_on = GET_BIT(msg, 36U);
}
}
static bool nissan_tx_hook(const CANPacket_t *msg) {
const AngleSteeringLimits NISSAN_STEERING_LIMITS = {
.max_angle = 60000, // 600 deg, reasonable limit
.angle_deg_to_can = 100,
.angle_rate_up_lookup = {
{0., 5., 15.},
{5., .8, .15}
},
.angle_rate_down_lookup = {
{0., 5., 15.},
{5., 3.5, .4}
},
};
bool tx = true;
bool violation = false;
// steer cmd checks
if (msg->addr == 0x169U) {
int desired_angle = ((msg->data[0] << 10) | (msg->data[1] << 2) | ((msg->data[2] >> 6) & 0x3U));
bool lka_active = (msg->data[6] >> 4) & 1U;
// Factor is -0.01, offset is 1310. Flip to correct sign, but keep units in CAN scale
desired_angle = -desired_angle + (1310.0f * NISSAN_STEERING_LIMITS.angle_deg_to_can);
if (steer_angle_cmd_checks(desired_angle, lka_active, NISSAN_STEERING_LIMITS)) {
violation = true;
}
}
// acc button check, only allow cancel button to be sent
if (msg->addr == 0x20bU) {
// Violation of any button other than cancel is pressed
violation |= ((msg->data[1] & 0x3dU) > 0U);
}
if (violation) {
tx = false;
}
return tx;
}
static safety_config nissan_init(uint16_t param) {
static const CanMsg NISSAN_TX_MSGS[] = {
{0x169, 0, 8, .check_relay = true}, // LKAS
{0x2b1, 0, 8, .check_relay = true}, // PROPILOT_HUD
{0x4cc, 0, 8, .check_relay = true}, // PROPILOT_HUD_INFO_MSG
{0x20b, 2, 6, .check_relay = false}, // CRUISE_THROTTLE (X-Trail)
{0x20b, 1, 6, .check_relay = false}, // CRUISE_THROTTLE (Altima)
{0x280, 2, 8, .check_relay = true} // CANCEL_MSG (Leaf)
};
// Signals duplicated below due to the fact that these messages can come in on either CAN bus, depending on car model.
static RxCheck nissan_rx_checks[] = {
NISSAN_COMMON_RX_CHECKS
NISSAN_PRO_PILOT_RX_CHECKS(1)
};
static RxCheck nissan_alt_eps_rx_checks[] = {
NISSAN_COMMON_RX_CHECKS
NISSAN_PRO_PILOT_RX_CHECKS(2)
};
static RxCheck nissan_leaf_rx_checks[] = {
NISSAN_COMMON_RX_CHECKS
};
// EPS Location. false = V-CAN, true = C-CAN
const uint16_t NISSAN_PARAM_ALT_EPS_BUS = 1;
const uint16_t NISSAN_PARAM_IQ_LEAF = 1;
nissan_alt_eps = GET_FLAG(param, NISSAN_PARAM_ALT_EPS_BUS);
const bool nissan_leaf = GET_FLAG(current_safety_param_iq, NISSAN_PARAM_IQ_LEAF);
safety_config ret;
SET_TX_MSGS(NISSAN_TX_MSGS, ret);
if (nissan_leaf) {
SET_RX_CHECKS(nissan_leaf_rx_checks, ret);
} else if (nissan_alt_eps) {
SET_RX_CHECKS(nissan_alt_eps_rx_checks, ret);
} else {
SET_RX_CHECKS(nissan_rx_checks, ret);
}
return ret;
}
const safety_hooks nissan_hooks = {
.init = nissan_init,
.rx = nissan_rx_hook,
.tx = nissan_tx_hook,
};