Ford: add Ranger 2024 (CAN FD, dashcam only) (#31956)

* Ford: add Ranger 2024 (CAN FD, dashcam only)

* force fingerprint

* debug

* add FW (using debug_fw_fingerprinting_offline)

* add test route

* Revert "debug"

This reverts commit 9d128cb1bbb28fb0cb8da6725c291ebe285e7467.

* Revert "force fingerprint"

This reverts commit 421d92172f354b4713a1371bec9dc9b1bbb6318f.

* update package and finalise steer ratio

"Adaptive Cruise Control with Lane Centering" is part of the Raptor
Standard Equipment Group (i.e. only on the Raptor trim). However,
looking at As-Built/VIN data for Raptor LARIATs show that although Ford
does not advertise it they do come with Lane Centering (the configurator
only says they have ACC with Stop and Go).

ACC with Stop and Go can also be added to the lower XLT trim as part of
the Technology Package, but it is unclear at this point whether that
includes Lane Centering.

The 2021 Ranger had a 17.0 steer ratio. The As-Built data suggests
17/18. PlotJuggler shows the liveParameters.steerRatio between 16.5-17.5
on two short drives.

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: 7bc81341e1

selfdrive/car/ford/fingerprints.py

@@ -148,4 +148,18 @@ FW_VERSIONS = {
       b'NZ6T-14F397-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
+  CAR.FORD_RANGER_MK2: {
+    (Ecu.eps, 0x730, None): [
+      b'NL14-14D003-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x760, None): [
+      b'PB3C-2D053-ZD\x00\x00\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.fwdCamera, 0x706, None): [
+      b'PJ6T-14H102-ABJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+  }
 }

selfdrive/car/ford/values.py

@@ -137,6 +137,10 @@ class CAR(Platforms):
     [FordCarDocs("Ford Mustang Mach-E 2021-23", "Co-Pilot360 Active 2.0")],
     CarSpecs(mass=2200, wheelbase=2.984, steerRatio=17.0),  # TODO: check steer ratio
   )
+  FORD_RANGER_MK2 = FordCANFDPlatformConfig(
+    [FordCarDocs("Ford Ranger 2024", "Adaptive Cruise Control with Lane Centering")],
+    CarSpecs(mass=2000, wheelbase=3.27, steerRatio=17.0),
+  )
 
 
 DATA_IDENTIFIER_FORD_ASBUILT = 0xDE00

selfdrive/car/tests/routes.py

@@ -55,6 +55,7 @@ routes = [
   CarTestRoute("bd37e43731e5964b|2023-04-30--10-42-26", FORD.FORD_MAVERICK_MK1),
   CarTestRoute("112e4d6e0cad05e1|2023-11-14--08-21-43", FORD.FORD_F_150_LIGHTNING_MK1),
   CarTestRoute("83a4e056c7072678|2023-11-13--16-51-33", FORD.FORD_MUSTANG_MACH_E_MK1),
+  CarTestRoute("37998aa0fade36ab/00000000--48f927c4f5", FORD.FORD_RANGER_MK2),
   #TestRoute("f1b4c567731f4a1b|2018-04-30--10-15-35", FORD.FUSION),
 
   CarTestRoute("7cc2a8365b4dd8a9|2018-12-02--12-10-44", GM.GMC_ACADIA),

selfdrive/car/torque_data/override.toml

@@ -29,6 +29,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "FORD_MAVERICK_MK1" = [nan, 1.5, nan]
 "FORD_F_150_LIGHTNING_MK1" = [nan, 1.5, nan]
 "FORD_MUSTANG_MACH_E_MK1" = [nan, 1.5, nan]
+"FORD_RANGER_MK2" = [nan, 1.5, nan]
 ###
 
 # No steering wheel