Ford: Add F-150 Lightning (#30692)

* Update interface.py

* Update values.py

* Update routes.py

* Update override.yaml

* Update values.py

* Update interface.py

* Update selfdrive/car/ford/interface.py

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

selfdrive/car/ford/interface.py

@@ -14,7 +14,7 @@ class CarInterface(CarInterfaceBase):
   @staticmethod
   def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "ford"
-    ret.dashcamOnly = candidate in {CAR.F_150_MK14}
+    ret.dashcamOnly = candidate in CANFD_CAR
 
     ret.radarUnavailable = True
     ret.steerControlType = car.CarParams.SteerControlType.angle
@@ -56,6 +56,12 @@ class CarInterface(CarInterfaceBase):
       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.FOCUS_MK4:
       ret.wheelbase = 2.7
       ret.steerRatio = 15.0
@@ -94,7 +100,9 @@ class CarInterface(CarInterfaceBase):
     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.hybrid_platform:
+
+    # Ford Q3 Hybrids are disabled due to occasional incorrect checksums some stock messages. This must be root caused before enabling support.
+    if self.CS.hybrid_platform and self.CP.carFingerprint not in CANFD_CAR:
       events.add(car.CarEvent.EventName.startupNoControl)
 
     ret.events = events.to_msg()

selfdrive/car/ford/values.py

@@ -47,9 +47,10 @@ class CAR(StrEnum):
   F_150_MK14 = "FORD F-150 14TH GEN"
   FOCUS_MK4 = "FORD FOCUS 4TH GEN"
   MAVERICK_MK1 = "FORD MAVERICK 1ST GEN"
+  F_150_LIGHTNING_MK1 = "FORD F-150 LIGHTNING 1ST GEN"
 
 
-CANFD_CAR = {CAR.F_150_MK14}
+CANFD_CAR = {CAR.F_150_MK14, CAR.F_150_LIGHTNING_MK1}
 
 
 class RADAR:
@@ -61,6 +62,7 @@ DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict("ford_lincoln_base
 
 # F-150 radar is not yet supported
 DBC[CAR.F_150_MK14] = dbc_dict("ford_lincoln_base_pt", None)
+DBC[CAR.F_150_LIGHTNING_MK1] = dbc_dict("ford_lincoln_base_pt", None)
 
 
 class Footnote(Enum):
@@ -94,6 +96,7 @@ CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
     FordCarInfo("Lincoln Aviator 2020-21", "Co-Pilot360 Plus"),
   ],
   CAR.F_150_MK14: FordCarInfo("Ford F-150 2023", "Co-Pilot360 Active 2.0"),
+  CAR.F_150_LIGHTNING_MK1: FordCarInfo("Ford F-150 Lightning 2021-23", "Co-Pilot360 Active 2.0"),
   CAR.FOCUS_MK4: FordCarInfo("Ford Focus 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS]),
   CAR.MAVERICK_MK1: [
     FordCarInfo("Ford Maverick 2022", "LARIAT Luxury"),
@@ -236,6 +239,20 @@ FW_VERSIONS = {
     (Ecu.engine, 0x7E0, None): [
       b'PL3A-14C204-BRB\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
+  },
+   CAR.F_150_LIGHTNING_MK1: {
+    (Ecu.abs, 0x760, None): [
+      b'PL38-2D053-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x706, None): [
+      b'ML3T-14H102-ABT\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x764, None): [
+      b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7E0, None): [
+      b'NL3A-14C204-BAR\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
   },
   CAR.FOCUS_MK4: {
     (Ecu.eps, 0x730, None): [

selfdrive/car/tests/routes.py

@@ -52,6 +52,7 @@ routes = [
   CarTestRoute("62241b0c7fea4589|2022-09-01--15-32-49", FORD.EXPLORER_MK6),
   CarTestRoute("e886087f430e7fe7|2023-06-16--23-06-36", FORD.FOCUS_MK4),
   CarTestRoute("bd37e43731e5964b|2023-04-30--10-42-26", FORD.MAVERICK_MK1),
+  CarTestRoute("112e4d6e0cad05e1|2023-11-14--08-21-43", FORD.F_150_LIGHTNING_MK1),
   #TestRoute("f1b4c567731f4a1b|2018-04-30--10-15-35", FORD.FUSION),
 
   CarTestRoute("7cc2a8365b4dd8a9|2018-12-02--12-10-44", GM.ACADIA),

selfdrive/car/torque_data/override.yaml

@@ -26,6 +26,7 @@ FORD EXPLORER 6TH GEN: [.nan, 1.5, .nan]
 FORD F-150 14TH GEN: [.nan, 1.5, .nan]
 FORD FOCUS 4TH GEN: [.nan, 1.5, .nan]
 FORD MAVERICK 1ST GEN: [.nan, 1.5, .nan]
+FORD F-150 LIGHTNING 1ST GEN: [.nan, 1.5, .nan]
 ###
 
 # No steering wheel