From 39bc5a488686dc28b6bd7b53f555fa22ae9e5860 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Wed, 6 Sep 2023 03:46:33 -0400 Subject: [PATCH] Nissan Altima: add a param for alternate EPS bus (#1649) * Nissan Altima: Specify panda flag for alt bus safety config * test this safety mode * test this safety mode * rm * nl --------- Co-authored-by: Shane Smiskol --- board/safety/safety_nissan.h | 4 +++- python/__init__.py | 2 ++ tests/safety/test_nissan.py | 2 +- 3 files changed, 6 insertions(+), 2 deletions(-) diff --git a/board/safety/safety_nissan.h b/board/safety/safety_nissan.h index 3810c375..ccb2b9fb 100644 --- a/board/safety/safety_nissan.h +++ b/board/safety/safety_nissan.h @@ -38,6 +38,8 @@ AddrCheckStruct nissan_addr_checks[] = { addr_checks nissan_rx_checks = {nissan_addr_checks, NISSAN_ADDR_CHECK_LEN}; // EPS Location. false = V-CAN, true = C-CAN +const int NISSAN_PARAM_ALT_EPS_BUS = 1; + bool nissan_alt_eps = false; static int nissan_rx_hook(CANPacket_t *to_push) { @@ -158,7 +160,7 @@ static int nissan_fwd_hook(int bus_num, int addr) { } static const addr_checks* nissan_init(uint16_t param) { - nissan_alt_eps = param ? 1 : 0; + nissan_alt_eps = GET_FLAG(param, NISSAN_PARAM_ALT_EPS_BUS); return &nissan_rx_checks; } diff --git a/python/__init__.py b/python/__init__.py index 828108d7..e0c2007b 100644 --- a/python/__init__.py +++ b/python/__init__.py @@ -237,6 +237,8 @@ class Panda: FLAG_SUBARU_GEN2 = 1 FLAG_SUBARU_LONG = 2 + FLAG_NISSAN_ALT_EPS_BUS = 1 + FLAG_GM_HW_CAM = 1 FLAG_GM_HW_CAM_LONG = 2 diff --git a/tests/safety/test_nissan.py b/tests/safety/test_nissan.py index 5ab519fa..03f88b0d 100755 --- a/tests/safety/test_nissan.py +++ b/tests/safety/test_nissan.py @@ -90,7 +90,7 @@ class TestNissanSafetyAltEpsBus(TestNissanSafety): def setUp(self): self.packer = CANPackerPanda("nissan_x_trail_2017_generated") self.safety = libpanda_py.libpanda - self.safety.set_safety_hooks(Panda.SAFETY_NISSAN, 1) + self.safety.set_safety_hooks(Panda.SAFETY_NISSAN, Panda.FLAG_NISSAN_ALT_EPS_BUS) self.safety.init_tests()