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Nissan: log EPS faults (#3406)

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* new lkas status

* log faults

* cmt

* rm

* why wtf
This commit is contained in:
Shane Smiskol
2026-05-26 23:15:20 -07:00
committed by GitHub
parent ed14aa6faa
commit ca0febae4c
2 changed files with 7 additions and 0 deletions
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4
opendbc/car/nissan/carstate.py
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@@ -86,10 +86,14 @@ class CarState(CarStateBase):
ret.cruiseState.speed = speed * conversion
ret.cruiseState.speedCluster = (speed - 1) * conversion # Speed on HUD is always 1 lower than actually sent on can bus
# Altima EPS faults when user overrides above a certain torque.
# It also faults on sharp curves, although the threshold is unknown at this time
if self.CP.carFingerprint == CAR.NISSAN_ALTIMA:
ret.steeringTorque = cp_cam.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"]
ret.steerFaultTemporary = cp_cam.vl["STEER_TORQUE_SENSOR"]["LKAS_STATUS"] == 9
else:
ret.steeringTorque = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"]
ret.steerFaultTemporary = cp.vl["STEER_TORQUE_SENSOR"]["LKAS_STATUS"] == 9
self.steeringTorqueSamples.append(ret.steeringTorque)
# Filtering driver torque to prevent steeringPressed false positives

3
opendbc/dbc/generator/nissan/_nissan_common.dbc
View File

@@ -15,6 +15,7 @@ BO_ 361 LKAS: 8 XXX
BO_ 389 STEER_TORQUE_SENSOR: 8 XXX
SG_ LKAS_ACTIVE : 37|1@0+ (1,0) [0|3] "" XXX
SG_ LKAS_STATUS : 55|4@0+ (1,0) [0|15] "" XXX
SG_ STEER_TORQUE_LKAS : 47|8@0+ (1,0) [0|255] "" XXX
SG_ STEER_ANGLE : 23|18@0+ (-0.01,1310) [0|262143] "" XXX
SG_ STEER_TORQUE_DRIVER : 7|12@0+ (-0.01,20.47) [0|4095] "Nm" XXX
@@ -109,6 +110,8 @@ BO_ 1228 PROPILOT_HUD_INFO_MSG: 8 XXX
BO_ 1227 LKAS_SETTINGS: 8 XXX
SG_ LKAS_ENABLED : 51|1@0+ (1,0) [0|1] "" XXX
CM_ SG_ 389 LKAS_STATUS "EPS LKAS state. Encoded as two redundant 2-bit halves (each always 0b01 or 0b10).";
VAL_ 389 LKAS_STATUS 5 "INACTIVE" 6 "ACTIVE" 9 "FAULT" ;
VAL_ 1228 PROPILOT_NA_MSGS 0 "NO_MSG" 1 "NA_FRONT_CAMERA_IMPARED" 2 "STEERING_ASSIST_ON_STANDBY" 3 "NA_PARKING_ASSIST_ENABLED" 4 "STEER_ASSIST_CURRENTLY_NA" 5 "NA_BAD_WEATHER" 6 "NA_PARK_BRAKE_ON" 7 "NA_SEATBELT_NOT_FASTENED" ;
VAL_ 1228 BOTTOM_MSG 0 "OK_STEER_ASSIST_SETTINGS" 1 "NO_MSG" 2 "PRESS_SET_TO_SET_SPEED" 3 "PRESS_RES_SET_TO_CHANGE_SPEED" 4 "PRESS_RES_TO_RESTART" 5 "NO_MSG" 6 "CRUISE_NOT_AVAIL" 7 "NO_MSG" ;
VAL_ 689 FOLLOW_DISTANCE 0 "NO_FOLLOW_DISTANCE" 1 "FOLLOW_DISTANCE_1" 2 "FOLLOW_DISTANCE_2" 3 "FOLLOW_DISTANCE_3" ;