openpilot v0.9.6 release

date: 2024-02-21T23:02:42
master commit: 0b4d08fab8e35a264bc7383e878538f8083c33e5

selfdrive/car/ford/interface.py

@@ -0,0 +1,120 @@
+from cereal import car
+from panda import Panda
+from openpilot.common.conversions import Conversions as CV
+from openpilot.selfdrive.car import get_safety_config
+from openpilot.selfdrive.car.ford.fordcan import CanBus
+from openpilot.selfdrive.car.ford.values import CANFD_CAR, CAR, Ecu
+from openpilot.selfdrive.car.interfaces import CarInterfaceBase
+
+TransmissionType = car.CarParams.TransmissionType
+GearShifter = car.CarState.GearShifter
+
+
+class CarInterface(CarInterfaceBase):
+  @staticmethod
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+    ret.carName = "ford"
+    ret.dashcamOnly = candidate in CANFD_CAR
+
+    ret.radarUnavailable = True
+    ret.steerControlType = car.CarParams.SteerControlType.angle
+    ret.steerActuatorDelay = 0.2
+    ret.steerLimitTimer = 1.0
+
+    ret.longitudinalTuning.kpBP = [0.]
+    ret.longitudinalTuning.kpV = [0.5]
+    ret.longitudinalTuning.kiV = [0.]
+
+    CAN = CanBus(fingerprint=fingerprint)
+    cfgs = [get_safety_config(car.CarParams.SafetyModel.ford)]
+    if CAN.main >= 4:
+      cfgs.insert(0, get_safety_config(car.CarParams.SafetyModel.noOutput))
+    ret.safetyConfigs = cfgs
+
+    ret.experimentalLongitudinalAvailable = True
+    if experimental_long:
+      ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_LONG_CONTROL
+      ret.openpilotLongitudinalControl = True
+
+    if candidate in CANFD_CAR:
+      ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_CANFD
+
+    if candidate == CAR.BRONCO_SPORT_MK1:
+      ret.wheelbase = 2.67
+      ret.steerRatio = 17.7
+      ret.mass = 1625
+
+    elif candidate == CAR.ESCAPE_MK4:
+      ret.wheelbase = 2.71
+      ret.steerRatio = 16.7
+      ret.mass = 1750
+
+    elif candidate == CAR.EXPLORER_MK6:
+      ret.wheelbase = 3.025
+      ret.steerRatio = 16.8
+      ret.mass = 2050
+
+    elif candidate == CAR.F_150_MK14:
+      # required trim only on SuperCrew
+      ret.wheelbase = 3.69
+      ret.steerRatio = 17.0
+      ret.mass = 2000
+
+    elif candidate == CAR.F_150_LIGHTNING_MK1:
+      # required trim only on SuperCrew
+      ret.wheelbase = 3.70
+      ret.steerRatio = 16.9
+      ret.mass = 2948
+
+    elif candidate == CAR.MUSTANG_MACH_E_MK1:
+      ret.wheelbase = 2.984
+      ret.steerRatio = 17.0  # guess
+      ret.mass = 2200
+
+    elif candidate == CAR.FOCUS_MK4:
+      ret.wheelbase = 2.7
+      ret.steerRatio = 15.0
+      ret.mass = 1350
+
+    elif candidate == CAR.MAVERICK_MK1:
+      ret.wheelbase = 3.076
+      ret.steerRatio = 17.0
+      ret.mass = 1650
+
+    else:
+      raise ValueError(f"Unsupported car: {candidate}")
+
+    # Auto Transmission: 0x732 ECU or Gear_Shift_by_Wire_FD1
+    found_ecus = [fw.ecu for fw in car_fw]
+    if Ecu.shiftByWire in found_ecus or 0x5A in fingerprint[CAN.main] or docs:
+      ret.transmissionType = TransmissionType.automatic
+    else:
+      ret.transmissionType = TransmissionType.manual
+      ret.minEnableSpeed = 20.0 * CV.MPH_TO_MS
+
+    # BSM: Side_Detect_L_Stat, Side_Detect_R_Stat
+    # TODO: detect bsm in car_fw?
+    ret.enableBsm = 0x3A6 in fingerprint[CAN.main] and 0x3A7 in fingerprint[CAN.main]
+
+    # LCA can steer down to zero
+    ret.minSteerSpeed = 0.
+
+    ret.autoResumeSng = ret.minEnableSpeed == -1.
+    ret.centerToFront = ret.wheelbase * 0.44
+    return ret
+
+  def _update(self, c):
+    ret = self.CS.update(self.cp, self.cp_cam)
+
+    events = self.create_common_events(ret, extra_gears=[GearShifter.manumatic])
+    if not self.CS.vehicle_sensors_valid:
+      events.add(car.CarEvent.EventName.vehicleSensorsInvalid)
+    if self.CS.unsupported_platform:
+      events.add(car.CarEvent.EventName.startupNoControl)
+
+    ret.events = events.to_msg()
+
+    return ret
+
+  def apply(self, c, now_nanos):
+    return self.CC.update(c, self.CS, now_nanos)