mirror of
https://github.com/dragonpilot/dragonpilot.git
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Nissan port - dashcam only (#1203)
* Nissan port * add x-trail to release notes * update readme and model * remove from releases until tested * Don't test Nissan for now * Forced dashcam in test_car_models
This commit is contained in:
Willem Melching
@@ -0,0 +1,73 @@
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from common.numpy_fast import clip, interp
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from selfdrive.car.nissan import nissancan
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from opendbc.can.packer import CANPacker
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# Steer angle limits
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ANGLE_MAX_BP = [1.3, 10., 30.]
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ANGLE_MAX_V = [540., 120., 23.]
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ANGLE_DELTA_BP = [0., 5., 15.]
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ANGLE_DELTA_V = [5., .8, .15] # windup limit
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ANGLE_DELTA_VU = [5., 3.5, 0.4] # unwind limit
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LKAS_MAX_TORQUE = 100 # A value of 100 is easy to overpower
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class CarController():
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def __init__(self, dbc_name, CP, VM):
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self.car_fingerprint = CP.carFingerprint
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self.lkas_max_torque = 0
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self.last_angle = 0
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self.packer = CANPacker(dbc_name)
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def update(self, enabled, CS, frame, actuators, cruise_cancel):
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""" Controls thread """
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# Send CAN commands.
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can_sends = []
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### STEER ###
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acc_active = bool(CS.out.cruiseState.enabled)
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cruise_throttle_msg = CS.cruise_throttle_msg
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apply_angle = actuators.steerAngle
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if enabled:
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# # windup slower
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if self.last_angle * apply_angle > 0. and abs(apply_angle) > abs(self.last_angle):
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angle_rate_lim = interp(CS.out.vEgo, ANGLE_DELTA_BP, ANGLE_DELTA_V)
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else:
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angle_rate_lim = interp(CS.out.vEgo, ANGLE_DELTA_BP, ANGLE_DELTA_VU)
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apply_angle = clip(apply_angle, self.last_angle -
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angle_rate_lim, self.last_angle + angle_rate_lim)
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# steer angle
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angle_lim = interp(CS.out.vEgo, ANGLE_MAX_BP, ANGLE_MAX_V)
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apply_angle = clip(apply_angle, -angle_lim, angle_lim)
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# Max torque from driver before EPS will give up and not apply torque
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if not bool(CS.out.steeringPressed):
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self.lkas_max_torque = LKAS_MAX_TORQUE
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else:
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# Scale max torque based on how much torque the driver is applying to the wheel
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self.lkas_max_torque = max(
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0, LKAS_MAX_TORQUE - 0.4 * abs(CS.out.steeringTorque))
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else:
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apply_angle = CS.out.steeringAngle
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self.lkas_max_torque = 0
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self.last_angle = apply_angle
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if not enabled and acc_active:
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# send acc cancel cmd if drive is disabled but pcm is still on, or if the system can't be activated
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cruise_cancel = 1
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if cruise_cancel:
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can_sends.append(nissancan.create_acc_cancel_cmd(
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self.packer, cruise_throttle_msg, frame))
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can_sends.append(nissancan.create_steering_control(
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self.packer, self.car_fingerprint, apply_angle, frame, acc_active, self.lkas_max_torque))
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return can_sends
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@@ -0,0 +1,137 @@
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import copy
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from cereal import car
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from opendbc.can.can_define import CANDefine
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from selfdrive.car.interfaces import CarStateBase
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from selfdrive.config import Conversions as CV
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from opendbc.can.parser import CANParser
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from selfdrive.car.nissan.values import DBC
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class CarState(CarStateBase):
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def __init__(self, CP):
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super().__init__(CP)
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can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
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self.shifter_values = can_define.dv["GEARBOX"]["GEAR_SHIFTER"]
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def update(self, cp, cp_adas, cp_cam):
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ret = car.CarState.new_message()
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ret.gas = cp.vl["Throttle"]["ThrottlePedal"]
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ret.gasPressed = bool(ret.gas)
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ret.brakePressed = bool(cp.vl["DoorsLights"]["USER_BRAKE_PRESSED"])
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ret.brakeLights = bool(cp.vl["DoorsLights"]["BRAKE_LIGHT"])
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ret.wheelSpeeds.fl = cp.vl["WheelspeedFront"]["FL"] * CV.KPH_TO_MS
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ret.wheelSpeeds.fr = cp.vl["WheelspeedFront"]["FR"] * CV.KPH_TO_MS
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ret.wheelSpeeds.rl = cp.vl["WheelspeedRear"]["RL"] * CV.KPH_TO_MS
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ret.wheelSpeeds.rr = cp.vl["WheelspeedRear"]["RR"] * CV.KPH_TO_MS
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ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.
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# Kalman filter, even though Subaru raw wheel speed is heaviliy filtered by default
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ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
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ret.standstill = ret.vEgoRaw < 0.01
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can_gear = int(cp.vl["GEARBOX"]["GEAR_SHIFTER"])
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ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
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ret.leftBlinker = bool(cp.vl["Lights"]["LEFT_BLINKER"])
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ret.rightBlinker = bool(cp.vl["Lights"]["RIGHT_BLINKER"])
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ret.seatbeltUnlatched = cp.vl["_SEATBELT"]["DRIVERS_SEATBELT"] == 0
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ret.cruiseState.enabled = bool(cp_cam.vl["ProPilot"]["CRUISE_ACTIVATED"])
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ret.cruiseState.available = bool(cp_cam.vl["ProPilot"]["CRUISE_ON"])
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ret.doorOpen = any([cp.vl["DoorsLights"]["DOOR_OPEN_RR"],
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cp.vl["DoorsLights"]["DOOR_OPEN_RL"],
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cp.vl["DoorsLights"]["DOOR_OPEN_FR"],
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cp.vl["DoorsLights"]["DOOR_OPEN_FL"]])
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ret.steeringPressed = bool(cp.vl["STEER_TORQUE"]["DriverTouchingWheel"])
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ret.steeringTorque = cp.vl["Steering"]["DriverTorque"]
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ret.steeringAngle = cp.vl["SteeringWheel"]["Steering_Angle"]
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ret.espDisabled = bool(cp.vl["_ESP"]["ESP_DISABLED"])
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self.cruise_throttle_msg = copy.copy(cp.vl["CruiseThrottle"])
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return ret
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@staticmethod
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def get_can_parser(CP):
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# this function generates lists for signal, messages and initial values
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signals = [
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# sig_name, sig_address, default
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("FL", "WheelspeedFront", 0),
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("FR", "WheelspeedFront", 0),
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("RL", "WheelspeedRear", 0),
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("RR", "WheelspeedRear", 0),
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("DOOR_OPEN_FR", "DoorsLights", 1),
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("DOOR_OPEN_FL", "DoorsLights", 1),
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("DOOR_OPEN_RR", "DoorsLights", 1),
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("DOOR_OPEN_RL", "DoorsLights", 1),
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("USER_BRAKE_PRESSED", "DoorsLights", 1),
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("BRAKE_LIGHT", "DoorsLights", 1),
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("DriverTorque", "Steering", 0),
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("DriverTouchingWheel", "STEER_TORQUE", 0),
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("ThrottlePedal", "Throttle", 0),
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("Steering_Angle", "SteeringWheel", 0),
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("RIGHT_BLINKER", "Lights", 0),
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("LEFT_BLINKER", "Lights", 0),
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("PROPILOT_BUTTON", "CruiseThrottle", 0),
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("CANCEL_BUTTON", "CruiseThrottle", 0),
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("GAS_PEDAL_INVERTED", "CruiseThrottle", 0),
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("unsure2", "CruiseThrottle", 0),
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("SET_BUTTON", "CruiseThrottle", 0),
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("RES_BUTTON", "CruiseThrottle", 0),
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("FOLLOW_DISTANCE_BUTTON", "CruiseThrottle", 0),
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("NO_BUTTON_PRESSED", "CruiseThrottle", 0),
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("GAS_PEDAL", "CruiseThrottle", 0),
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("unsure3", "CruiseThrottle", 0),
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("unsure", "CruiseThrottle", 0),
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("DRIVERS_SEATBELT", "_SEATBELT", 0),
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("ESP_DISABLED", "_ESP", 0),
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("GEAR_SHIFTER", "GEARBOX", 0),
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]
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checks = [
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# sig_address, frequency
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("WheelspeedRear", 50),
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("WheelspeedFront", 50),
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("DoorsLights", 10),
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]
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return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
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@staticmethod
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def get_adas_can_parser(CP):
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# this function generates lists for signal, messages and initial values
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signals = [
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# sig_name, sig_address, default
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("DESIRED_ANGLE", "LKAS", 0),
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("SET_0x80_2", "LKAS", 0),
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("MAX_TORQUE", "LKAS", 0),
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("SET_0x80", "LKAS", 0),
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("COUNTER", "LKAS", 0),
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("LKA_ACTIVE", "LKAS", 0),
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]
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checks = [
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# sig_address, frequency
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]
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return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
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@staticmethod
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def get_cam_can_parser(CP):
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signals = [
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("CRUISE_ON", "ProPilot", 0),
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("CRUISE_ACTIVATED", "ProPilot", 0),
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("STEER_STATUS", "ProPilot", 0),
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]
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checks = [
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]
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return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 1)
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@@ -0,0 +1,120 @@
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#!/usr/bin/env python3
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from cereal import car
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from selfdrive.config import Conversions as CV
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from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
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from selfdrive.car.nissan.values import CAR
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from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
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from selfdrive.car.interfaces import CarInterfaceBase
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class CarInterface(CarInterfaceBase):
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def __init__(self, CP, CarController, CarState):
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super().__init__(CP, CarController, CarState)
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self.cp_adas = self.CS.get_adas_can_parser(CP)
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@staticmethod
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def compute_gb(accel, speed):
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return float(accel) / 4.0
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@staticmethod
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def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):
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ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
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ret.dashcamOnly = True
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ret.carName = "nissan"
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ret.carFingerprint = candidate
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ret.isPandaBlack = has_relay
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ret.safetyModel = car.CarParams.SafetyModel.nissan
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ret.steerLimitAlert = False
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ret.enableCamera = True
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ret.steerRateCost = 0.5
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if candidate in [CAR.XTRAIL]:
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ret.mass = 1610 + STD_CARGO_KG
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ret.wheelbase = 2.705
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ret.centerToFront = ret.wheelbase * 0.44
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ret.steerRatio = 17
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ret.steerActuatorDelay = 0.1
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ret.lateralTuning.pid.kf = 0.00006
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.0], [0.0]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01], [0.005]]
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ret.steerMaxBP = [0.] # m/s
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ret.steerMaxV = [1.]
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ret.steerControlType = car.CarParams.SteerControlType.angle
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ret.steerRatioRear = 0.
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# testing tuning
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# No long control in nissan
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ret.gasMaxBP = [0.]
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ret.gasMaxV = [0.]
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ret.brakeMaxBP = [0.]
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ret.brakeMaxV = [0.]
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ret.longitudinalTuning.deadzoneBP = [0.]
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ret.longitudinalTuning.deadzoneV = [0.]
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ret.longitudinalTuning.kpBP = [0.]
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ret.longitudinalTuning.kpV = [0.]
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ret.longitudinalTuning.kiBP = [0.]
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ret.longitudinalTuning.kiV = [0.]
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ret.radarOffCan = True
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# TODO: get actual value, for now starting with reasonable value for
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# civic and scaling by mass and wheelbase
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ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
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# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
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# mass and CG position, so all cars will have approximately similar dyn behaviors
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ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
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return ret
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# returns a car.CarState
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def update(self, c, can_strings):
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self.cp.update_strings(can_strings)
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self.cp_cam.update_strings(can_strings)
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self.cp_adas.update_strings(can_strings)
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ret = self.CS.update(self.cp, self.cp_adas, self.cp_cam)
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ret.canValid = self.cp.can_valid and self.cp_adas.can_valid and self.cp_cam.can_valid
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ret.yawRate = self.VM.yaw_rate(ret.steeringAngle * CV.DEG_TO_RAD, ret.vEgo)
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buttonEvents = []
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be = car.CarState.ButtonEvent.new_message()
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be.type = car.CarState.ButtonEvent.Type.accelCruise
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buttonEvents.append(be)
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events = self.create_common_events(ret)
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if ret.cruiseState.enabled and not self.cruise_enabled_prev:
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events.append(create_event('pcmEnable', [ET.ENABLE]))
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if not ret.cruiseState.enabled:
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events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
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# disable on pedals rising edge or when brake is pressed and speed isn't zero
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if (ret.gasPressed and not self.gas_pressed_prev) or \
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(ret.brakePressed and (not self.brake_pressed_prev or ret.vEgo > 0.001)):
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events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
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if ret.gasPressed:
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events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
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ret.events = events
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# update previous brake/gas pressed
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self.gas_pressed_prev = ret.gasPressed
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self.brake_pressed_prev = ret.brakePressed
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self.cruise_enabled_prev = ret.cruiseState.enabled
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self.CS.out = ret.as_reader()
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return self.CS.out
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def apply(self, c):
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can_sends = self.CC.update(c.enabled, self.CS, self.frame, c.actuators,
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c.cruiseControl.cancel,)
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self.frame += 1
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return can_sends
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@@ -0,0 +1,38 @@
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import copy
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import crcmod
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from selfdrive.car.nissan.values import CAR
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nissan_checksum = crcmod.mkCrcFun(0x11d, initCrc=0x00, rev=False, xorOut=0xff)
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def create_steering_control(packer, car_fingerprint, apply_steer, frame, steer_on, lkas_max_torque):
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if car_fingerprint == CAR.XTRAIL:
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idx = (frame % 16)
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values = {
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"DESIRED_ANGLE": apply_steer,
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"SET_0x80_2": 0x80,
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"SET_0x80": 0x80,
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"MAX_TORQUE": lkas_max_torque if steer_on else 0,
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"COUNTER": idx,
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"LKA_ACTIVE": steer_on,
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}
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dat = packer.make_can_msg("LKAS", 0, values)[2]
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values["CRC"] = nissan_checksum(dat[:7])
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return packer.make_can_msg("LKAS", 0, values)
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def create_acc_cancel_cmd(packer, cruise_throttle_msg, frame):
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values = copy.copy(cruise_throttle_msg)
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values["CANCEL_BUTTON"] = 1
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values["NO_BUTTON_PRESSED"] = 0
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values["PROPILOT_BUTTON"] = 0
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values["SET_BUTTON"] = 0
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values["RES_BUTTON"] = 0
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values["FOLLOW_DISTANCE_BUTTON"] = 0
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values["COUNTER"] = (frame % 4)
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return packer.make_can_msg("CruiseThrottle", 2, values)
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@@ -0,0 +1,5 @@
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#!/usr/bin/env python3
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from selfdrive.car.interfaces import RadarInterfaceBase
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class RadarInterface(RadarInterfaceBase):
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pass
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@@ -0,0 +1,20 @@
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from selfdrive.car import dbc_dict
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class CAR:
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XTRAIL = "NISSAN X-TRAIL 2017"
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FINGERPRINTS = {
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CAR.XTRAIL: [{
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2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 520: 2, 523: 6, 548: 8, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3, 768: 2, 783: 3, 851: 8, 855: 8, 1041: 8, 1055: 2, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1111: 4, 1227: 8, 1228: 8, 1247: 4, 1266: 8, 1273: 7, 1342: 1, 1376: 6, 1401: 8, 1474: 2, 1497: 3, 2015: 8, 2016: 8, 2024: 8
|
||||
}, {
|
||||
2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 520: 2, 523: 6, 548: 8, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 723: 8, 758: 3, 768: 2, 851: 8, 855: 8, 1041: 8, 1055: 2, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1111: 4, 1266: 8, 1273: 7, 1376: 6, 1497: 3
|
||||
}, {
|
||||
2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 520: 2, 523: 6, 548: 8, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3,768: 2, 783: 3, 851: 8, 855: 8, 1041: 8, 1055: 2, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1111: 4, 1227: 8, 1228: 8, 1247: 4, 1266: 8, 1273: 7, 1342: 1, 1376: 6, 1401: 8, 1474: 2, 1497: 3, 1821: 8, 1823: 8, 1837:8, 2015: 8, 2024: 8
|
||||
}, {
|
||||
2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 520: 2, 523: 6, 527: 1, 548: 8, 637: 4, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3, 768: 6, 783: 3, 851: 8, 855: 8, 1041: 8, 1055: 2, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1111: 4, 1227: 8, 1228: 8, 1247: 4, 1266: 8, 1273: 7, 1342: 1, 1376: 6, 1401: 8, 1474: 8, 1497: 3,1534: 6, 1792: 8, 1821: 8, 1823: 8, 1837: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 2015: 8, 2016: 8, 2024: 8
|
||||
}],
|
||||
}
|
||||
|
||||
DBC = {
|
||||
CAR.XTRAIL: dbc_dict('nissan_2017', None),
|
||||
}
|
||||
@@ -1 +1 @@
|
||||
95638846316e5de7f0314ed2330b01428792c889
|
||||
6829c5c76f3527af06e1c2b685f98a5e1bbef00a
|
||||
@@ -22,11 +22,14 @@ segments = [
|
||||
("HYUNDAI", "38bfd238edecbcd7|2018-08-29--22-02-15--4"), # HYUNDAI.SANTA_FE
|
||||
#("CHRYSLER", "b6e1317e1bfbefa6|2020-03-04--13-11-40"), # CHRYSLER.JEEP_CHEROKEE
|
||||
("SUBARU", "7873afaf022d36e2|2019-07-03--18-46-44--0"), # SUBARU.IMPREZA
|
||||
("VOLKSWAGEN", "b0c9d2329ad1606b|2020-02-19--16-29-36--7"), # VW.GOLF
|
||||
("VOLKSWAGEN", "b0c9d2329ad1606b|2020-02-19--16-29-36--7"), # VW.GOLF
|
||||
|
||||
# Enable when port is tested and dascamOnly is no longer set
|
||||
# ("NISSAN", "fbbfa6af821552b9|2020-03-03--08-09-43--0"), # NISSAN.XTRAIL
|
||||
]
|
||||
|
||||
# ford doesn't need to be tested until a full port is done
|
||||
excluded_interfaces = ["mock", "ford"]
|
||||
excluded_interfaces = ["mock", "ford", "nissan"]
|
||||
|
||||
BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
|
||||
|
||||
|
||||
@@ -20,6 +20,7 @@ from selfdrive.car.hyundai.values import CAR as HYUNDAI
|
||||
from selfdrive.car.chrysler.values import CAR as CHRYSLER
|
||||
from selfdrive.car.subaru.values import CAR as SUBARU
|
||||
from selfdrive.car.volkswagen.values import CAR as VOLKSWAGEN
|
||||
from selfdrive.car.nissan.values import CAR as NISSAN
|
||||
from selfdrive.car.mock.values import CAR as MOCK
|
||||
|
||||
|
||||
@@ -434,6 +435,10 @@ routes = {
|
||||
#"bfa17080b080f3ec|2018-06-28--23-27-47": {
|
||||
# 'carFingerprint': MOCK.MOCK,
|
||||
#},
|
||||
"fbbfa6af821552b9|2020-03-03--08-09-43": {
|
||||
'carFingerprint': NISSAN.XTRAIL,
|
||||
'enableCamera': True,
|
||||
},
|
||||
}
|
||||
|
||||
passive_routes = [
|
||||
@@ -445,6 +450,9 @@ forced_dashcam_routes = [
|
||||
# Ford fusion
|
||||
"f1b4c567731f4a1b|2018-04-18--11-29-37",
|
||||
"f1b4c567731f4a1b|2018-04-30--10-15-35",
|
||||
|
||||
# Nissan
|
||||
"fbbfa6af821552b9|2020-03-03--08-09-43",
|
||||
]
|
||||
|
||||
# TODO: replace all these with public routes
|
||||
|
||||
Reference in New Issue
Block a user