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@@ -1,13 +1,13 @@
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from collections import defaultdict
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from dataclasses import dataclass
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from enum import Enum, StrEnum
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from typing import Dict, List, Union
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import copy
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from dataclasses import dataclass, field, replace
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from enum import Enum, IntFlag
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import panda.python.uds as uds
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from cereal import car
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from openpilot.selfdrive.car import AngleRateLimit, dbc_dict
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from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column, \
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from openpilot.selfdrive.car import AngleRateLimit, CarSpecs, dbc_dict, DbcDict, PlatformConfig, Platforms
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from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column, \
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Device
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from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
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from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
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Ecu = car.CarParams.Ecu
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@@ -41,18 +41,9 @@ class CarControllerParams:
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pass
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class CAR(StrEnum):
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BRONCO_SPORT_MK1 = "FORD BRONCO SPORT 1ST GEN"
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ESCAPE_MK4 = "FORD ESCAPE 4TH GEN"
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EXPLORER_MK6 = "FORD EXPLORER 6TH GEN"
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F_150_MK14 = "FORD F-150 14TH GEN"
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FOCUS_MK4 = "FORD FOCUS 4TH GEN"
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MAVERICK_MK1 = "FORD MAVERICK 1ST GEN"
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F_150_LIGHTNING_MK1 = "FORD F-150 LIGHTNING 1ST GEN"
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MUSTANG_MACH_E_MK1 = "FORD MUSTANG MACH-E 1ST GEN"
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CANFD_CAR = {CAR.F_150_MK14, CAR.F_150_LIGHTNING_MK1, CAR.MUSTANG_MACH_E_MK1}
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class FordFlags(IntFlag):
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# Static flags
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CANFD = 1
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class RADAR:
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@@ -60,14 +51,6 @@ class RADAR:
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DELPHI_MRR = 'FORD_CADS'
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DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict("ford_lincoln_base_pt", RADAR.DELPHI_MRR))
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# F-150 radar is not yet supported
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DBC[CAR.F_150_MK14] = dbc_dict("ford_lincoln_base_pt", None)
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DBC[CAR.F_150_LIGHTNING_MK1] = dbc_dict("ford_lincoln_base_pt", None)
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DBC[CAR.MUSTANG_MACH_E_MK1] = dbc_dict("ford_lincoln_base_pt", None)
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class Footnote(Enum):
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FOCUS = CarFootnote(
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"Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in " +
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@@ -77,36 +60,120 @@ class Footnote(Enum):
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@dataclass
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class FordCarInfo(CarInfo):
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class FordCarDocs(CarDocs):
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package: str = "Co-Pilot360 Assist+"
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hybrid: bool = False
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plug_in_hybrid: bool = False
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def init_make(self, CP: car.CarParams):
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harness = CarHarness.ford_q4 if CP.carFingerprint in CANFD_CAR else CarHarness.ford_q3
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if CP.carFingerprint in (CAR.BRONCO_SPORT_MK1, CAR.MAVERICK_MK1, CAR.F_150_MK14):
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harness = CarHarness.ford_q4 if CP.flags & FordFlags.CANFD else CarHarness.ford_q3
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if CP.carFingerprint in (CAR.BRONCO_SPORT_MK1, CAR.MAVERICK_MK1, CAR.F_150_MK14, CAR.F_150_LIGHTNING_MK1):
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self.car_parts = CarParts([Device.threex_angled_mount, harness])
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else:
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self.car_parts = CarParts([Device.threex, harness])
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CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
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CAR.BRONCO_SPORT_MK1: FordCarInfo("Ford Bronco Sport 2021-22"),
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CAR.ESCAPE_MK4: [
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FordCarInfo("Ford Escape 2020-22"),
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FordCarInfo("Ford Kuga 2020-22", "Adaptive Cruise Control with Lane Centering"),
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],
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CAR.EXPLORER_MK6: [
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FordCarInfo("Ford Explorer 2020-23"),
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FordCarInfo("Lincoln Aviator 2020-21", "Co-Pilot360 Plus"),
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],
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CAR.F_150_MK14: FordCarInfo("Ford F-150 2023", "Co-Pilot360 Active 2.0"),
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CAR.F_150_LIGHTNING_MK1: FordCarInfo("Ford F-150 Lightning 2021-23", "Co-Pilot360 Active 2.0"),
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CAR.MUSTANG_MACH_E_MK1: FordCarInfo("Ford Mustang Mach-E 2021-23", "Co-Pilot360 Active 2.0"),
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CAR.FOCUS_MK4: FordCarInfo("Ford Focus 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS]),
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CAR.MAVERICK_MK1: [
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FordCarInfo("Ford Maverick 2022", "LARIAT Luxury"),
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FordCarInfo("Ford Maverick 2023", "Co-Pilot360 Assist"),
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],
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}
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@dataclass
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class FordPlatformConfig(PlatformConfig):
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dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('ford_lincoln_base_pt', RADAR.DELPHI_MRR))
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def init(self):
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for car_docs in list(self.car_docs):
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if car_docs.hybrid:
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name = f"{car_docs.make} {car_docs.model} Hybrid {car_docs.years}"
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self.car_docs.append(replace(copy.deepcopy(car_docs), name=name))
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if car_docs.plug_in_hybrid:
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name = f"{car_docs.make} {car_docs.model} Plug-in Hybrid {car_docs.years}"
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self.car_docs.append(replace(copy.deepcopy(car_docs), name=name))
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@dataclass
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class FordCANFDPlatformConfig(FordPlatformConfig):
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dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('ford_lincoln_base_pt', None))
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def init(self):
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super().init()
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self.flags |= FordFlags.CANFD
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class CAR(Platforms):
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BRONCO_SPORT_MK1 = FordPlatformConfig(
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"FORD BRONCO SPORT 1ST GEN",
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[FordCarDocs("Ford Bronco Sport 2021-23")],
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CarSpecs(mass=1625, wheelbase=2.67, steerRatio=17.7),
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)
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ESCAPE_MK4 = FordPlatformConfig(
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"FORD ESCAPE 4TH GEN",
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[
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FordCarDocs("Ford Escape 2020-22", hybrid=True, plug_in_hybrid=True),
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FordCarDocs("Ford Kuga 2020-22", "Adaptive Cruise Control with Lane Centering", hybrid=True, plug_in_hybrid=True),
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],
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CarSpecs(mass=1750, wheelbase=2.71, steerRatio=16.7),
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)
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EXPLORER_MK6 = FordPlatformConfig(
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"FORD EXPLORER 6TH GEN",
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[
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FordCarDocs("Ford Explorer 2020-23", hybrid=True), # Hybrid: Limited and Platinum only
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FordCarDocs("Lincoln Aviator 2020-23", "Co-Pilot360 Plus", plug_in_hybrid=True), # Hybrid: Grand Touring only
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],
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CarSpecs(mass=2050, wheelbase=3.025, steerRatio=16.8),
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)
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F_150_MK14 = FordCANFDPlatformConfig(
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"FORD F-150 14TH GEN",
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[FordCarDocs("Ford F-150 2022-23", "Co-Pilot360 Active 2.0", hybrid=True)],
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CarSpecs(mass=2000, wheelbase=3.69, steerRatio=17.0),
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)
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F_150_LIGHTNING_MK1 = FordCANFDPlatformConfig(
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"FORD F-150 LIGHTNING 1ST GEN",
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[FordCarDocs("Ford F-150 Lightning 2021-23", "Co-Pilot360 Active 2.0")],
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CarSpecs(mass=2948, wheelbase=3.70, steerRatio=16.9),
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)
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FOCUS_MK4 = FordPlatformConfig(
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"FORD FOCUS 4TH GEN",
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[FordCarDocs("Ford Focus 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS], hybrid=True)], # mHEV only
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CarSpecs(mass=1350, wheelbase=2.7, steerRatio=15.0),
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)
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MAVERICK_MK1 = FordPlatformConfig(
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"FORD MAVERICK 1ST GEN",
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[
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FordCarDocs("Ford Maverick 2022", "LARIAT Luxury", hybrid=True),
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FordCarDocs("Ford Maverick 2023-24", "Co-Pilot360 Assist", hybrid=True),
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],
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CarSpecs(mass=1650, wheelbase=3.076, steerRatio=17.0),
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)
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MUSTANG_MACH_E_MK1 = FordCANFDPlatformConfig(
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"FORD MUSTANG MACH-E 1ST GEN",
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[FordCarDocs("Ford Mustang Mach-E 2021-23", "Co-Pilot360 Active 2.0")],
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CarSpecs(mass=2200, wheelbase=2.984, steerRatio=17.0), # TODO: check steer ratio
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)
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DATA_IDENTIFIER_FORD_ASBUILT = 0xDE00
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ASBUILT_BLOCKS: list[tuple[int, list]] = [
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(1, [Ecu.debug, Ecu.fwdCamera, Ecu.eps]),
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(2, [Ecu.abs, Ecu.debug, Ecu.eps]),
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(3, [Ecu.abs, Ecu.debug, Ecu.eps]),
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(4, [Ecu.debug, Ecu.fwdCamera]),
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(5, [Ecu.debug]),
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(6, [Ecu.debug]),
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(7, [Ecu.debug]),
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(8, [Ecu.debug]),
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(9, [Ecu.debug]),
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(16, [Ecu.debug, Ecu.fwdCamera]),
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(18, [Ecu.fwdCamera]),
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(20, [Ecu.fwdCamera]),
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(21, [Ecu.fwdCamera]),
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]
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def ford_asbuilt_block_request(block_id: int):
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return bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + p16(DATA_IDENTIFIER_FORD_ASBUILT + block_id - 1)
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def ford_asbuilt_block_response(block_id: int):
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return bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + p16(DATA_IDENTIFIER_FORD_ASBUILT + block_id - 1)
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FW_QUERY_CONFIG = FwQueryConfig(
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requests=[
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@@ -115,13 +182,30 @@ FW_QUERY_CONFIG = FwQueryConfig(
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Request(
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[StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
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[StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
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whitelist_ecus=[Ecu.abs, Ecu.debug, Ecu.engine, Ecu.eps, Ecu.fwdCamera, Ecu.fwdRadar, Ecu.shiftByWire],
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logging=True,
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),
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Request(
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[StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
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[StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
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whitelist_ecus=[Ecu.abs, Ecu.debug, Ecu.engine, Ecu.eps, Ecu.fwdCamera, Ecu.fwdRadar, Ecu.shiftByWire],
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bus=0,
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auxiliary=True,
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),
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*[Request(
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[StdQueries.TESTER_PRESENT_REQUEST, ford_asbuilt_block_request(block_id)],
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[StdQueries.TESTER_PRESENT_RESPONSE, ford_asbuilt_block_response(block_id)],
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whitelist_ecus=ecus,
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bus=0,
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logging=True,
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) for block_id, ecus in ASBUILT_BLOCKS],
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],
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extra_ecus=[
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# We are unlikely to get a response from the PCM from behind the gateway
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(Ecu.engine, 0x7e0, None),
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(Ecu.shiftByWire, 0x732, None),
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(Ecu.engine, 0x7e0, None), # Powertrain Control Module
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# Note: We are unlikely to get a response from behind the gateway
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(Ecu.shiftByWire, 0x732, None), # Gear Shift Module
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(Ecu.debug, 0x7d0, None), # Accessory Protocol Interface Module
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],
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)
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DBC = CAR.create_dbc_map()
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