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79 lines
2.6 KiB
79 lines
2.6 KiB
#!/usr/bin/env python3
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from cereal import car
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from common.conversions import Conversions as CV
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from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
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from selfdrive.car.ford.values import CAR, Ecu, TransmissionType, GearShifter
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from selfdrive.car.interfaces import CarInterfaceBase
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EventName = car.CarEvent.EventName
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class CarInterface(CarInterfaceBase):
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@staticmethod
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def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
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if car_fw is None:
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car_fw = []
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ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
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ret.carName = "ford"
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ret.dashcamOnly = True
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ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.ford)]
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# Angle-based steering
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ret.steerControlType = car.CarParams.SteerControlType.angle
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ret.steerActuatorDelay = 0.4
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ret.steerLimitTimer = 1.0
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tire_stiffness_factor = 1.0
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if candidate == CAR.ESCAPE_MK4:
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ret.wheelbase = 2.71
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ret.steerRatio = 14.3 # Copied from Focus
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ret.mass = 1750 + STD_CARGO_KG
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elif candidate == CAR.EXPLORER_MK6:
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ret.wheelbase = 3.025
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ret.steerRatio = 16.8 # learned
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ret.mass = 2050 + STD_CARGO_KG
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elif candidate == CAR.FOCUS_MK4:
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ret.wheelbase = 2.7
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ret.steerRatio = 13.8 # learned
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ret.mass = 1350 + STD_CARGO_KG
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else:
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raise ValueError(f"Unsupported car: ${candidate}")
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# Auto Transmission: 0x732 ECU or Gear_Shift_by_Wire_FD1
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found_ecus = [fw.ecu for fw in car_fw]
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if Ecu.shiftByWire in found_ecus or 0x5A in fingerprint[0]:
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ret.transmissionType = TransmissionType.automatic
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else:
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ret.transmissionType = TransmissionType.manual
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ret.minEnableSpeed = 20.0 * CV.MPH_TO_MS
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# BSM: Side_Detect_L_Stat, Side_Detect_R_Stat
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# TODO: detect bsm in car_fw?
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ret.enableBsm = 0x3A6 in fingerprint[0] and 0x3A7 in fingerprint[0]
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# LCA can steer down to zero
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ret.minSteerSpeed = 0.
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ret.autoResumeSng = ret.minEnableSpeed == -1.
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ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
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ret.centerToFront = ret.wheelbase * 0.44
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ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
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tire_stiffness_factor=tire_stiffness_factor)
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return ret
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def _update(self, c):
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ret = self.CS.update(self.cp, self.cp_cam)
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events = self.create_common_events(ret, extra_gears=[GearShifter.manumatic])
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ret.events = events.to_msg()
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return ret
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def apply(self, c):
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return self.CC.update(c, self.CS)
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