Ford: Support for LCA vehicles (#23331)
* Ford: add Focus Mk4
Also removes support for the Ford Fusion.
* Ford: LKAS/LCA steering and UI CAN commands
* Ford: implement CarController w/ steering and lanes ui
* Ford: FPv2 firmware request
* Ford: Add FW for 2018 Ford Focus
* Ford: add Escape Mk4
* bump panda
* cleanup
* add that back
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: acd455ed3a
taco
Cameron Clough
3 years ago
committed by
GitHub
parent
ebeadd9b41
commit
0830dc0277
8 changed files with 510 additions and 166 deletions
@ -1,86 +1,90 @@ |
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import math |
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from cereal import car |
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from selfdrive.car import make_can_msg |
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from selfdrive.car.ford.fordcan import create_steer_command, create_lkas_ui, spam_cancel_button |
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from common.numpy_fast import clip, interp |
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from selfdrive.car.ford import fordcan |
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from selfdrive.car.ford.values import CarControllerParams |
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from opendbc.can.packer import CANPacker |
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VisualAlert = car.CarControl.HUDControl.VisualAlert |
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MAX_STEER_DELTA = 1 |
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TOGGLE_DEBUG = False |
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def apply_ford_steer_angle_limits(apply_steer, apply_steer_last, vEgo): |
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# rate limit |
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steer_up = apply_steer * apply_steer_last > 0. and abs(apply_steer) > abs(apply_steer_last) |
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rate_limit = CarControllerParams.STEER_RATE_LIMIT_UP if steer_up else CarControllerParams.STEER_RATE_LIMIT_DOWN |
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max_angle_diff = interp(vEgo, rate_limit.speed_points, rate_limit.max_angle_diff_points) |
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apply_steer = clip(apply_steer, (apply_steer_last - max_angle_diff), (apply_steer_last + max_angle_diff)) |
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return apply_steer |
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class CarController(): |
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def __init__(self, dbc_name, CP, VM): |
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self.CP = CP |
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self.VM = VM |
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self.packer = CANPacker(dbc_name) |
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self.enabled_last = False |
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self.apply_steer_last = 0 |
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self.steer_rate_limited = False |
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self.main_on_last = False |
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self.vehicle_model = VM |
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self.generic_toggle_last = 0 |
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self.lkas_enabled_last = False |
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self.steer_alert_last = False |
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self.lkas_action = 0 |
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def update(self, enabled, CS, frame, actuators, visual_alert, pcm_cancel): |
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def update(self, CC, CS, frame): |
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can_sends = [] |
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steer_alert = visual_alert in (VisualAlert.steerRequired, VisualAlert.ldw) |
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apply_steer = actuators.steer |
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if pcm_cancel: |
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#print "CANCELING!!!!" |
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can_sends.append(spam_cancel_button(self.packer)) |
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actuators = CC.actuators |
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hud_control = CC.hudControl |
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if (frame % 3) == 0: |
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main_on = CS.out.cruiseState.available |
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steer_alert = hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw) |
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curvature = self.vehicle_model.calc_curvature(math.radians(actuators.steeringAngleDeg), CS.out.vEgo, 0.0) |
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if CC.cruiseControl.cancel: |
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# cancel stock ACC |
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can_sends.append(fordcan.spam_cancel_button(self.packer)) |
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# The use of the toggle below is handy for trying out the various LKAS modes |
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if TOGGLE_DEBUG: |
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self.lkas_action += int(CS.out.genericToggle and not self.generic_toggle_last) |
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self.lkas_action &= 0xf |
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else: |
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self.lkas_action = 5 # 4 and 5 seem the best. 8 and 9 seem to aggressive and laggy |
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# apply rate limits |
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new_steer = actuators.steeringAngleDeg |
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apply_steer = apply_ford_steer_angle_limits(new_steer, self.apply_steer_last, CS.out.vEgo) |
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self.steer_rate_limited = new_steer != apply_steer |
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can_sends.append(create_steer_command(self.packer, apply_steer, enabled, |
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CS.lkas_state, CS.out.steeringAngleDeg, curvature, self.lkas_action)) |
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self.generic_toggle_last = CS.out.genericToggle |
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# send steering commands at 20Hz |
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if (frame % CarControllerParams.LKAS_STEER_STEP) == 0: |
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lca_rq = 1 if CC.latActive else 0 |
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if (frame % 100) == 0: |
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# use LatCtlPath_An_Actl to actuate steering for now until curvature control is implemented |
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path_angle = apply_steer |
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can_sends.append(make_can_msg(973, b'\x00\x00\x00\x00\x00\x00\x00\x00', 0)) |
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#can_sends.append(make_can_msg(984, b'\x00\x00\x00\x00\x80\x45\x60\x30', 0)) |
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# convert steer angle to curvature |
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curvature = self.VM.calc_curvature(apply_steer, CS.out.vEgo, 0.0) |
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if (frame % 100) == 0 or (self.enabled_last != enabled) or (self.main_on_last != CS.out.cruiseState.available) or \ |
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(self.steer_alert_last != steer_alert): |
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can_sends.append(create_lkas_ui(self.packer, CS.out.cruiseState.available, enabled, steer_alert)) |
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# TODO: get other actuators |
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curvature_rate = 0 |
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path_offset = 0 |
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if (frame % 200) == 0: |
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can_sends.append(make_can_msg(1875, b'\x80\xb0\x55\x55\x78\x90\x00\x00', 1)) |
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ramp_type = 3 # 0=Slow, 1=Medium, 2=Fast, 3=Immediately |
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precision = 0 # 0=Comfortable, 1=Precise |
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if (frame % 10) == 0: |
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self.apply_steer_last = apply_steer |
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can_sends.append(fordcan.create_lkas_command(self.packer, apply_steer, curvature)) |
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can_sends.append(fordcan.create_tja_command(self.packer, lca_rq, ramp_type, precision, |
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path_offset, path_angle, curvature_rate, curvature)) |
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can_sends.append(make_can_msg(1648, b'\x00\x00\x00\x40\x00\x00\x50\x00', 1)) |
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can_sends.append(make_can_msg(1649, b'\x10\x10\xf1\x70\x04\x00\x00\x00', 1)) |
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can_sends.append(make_can_msg(1664, b'\x00\x00\x03\xe8\x00\x01\xa9\xb2', 1)) |
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can_sends.append(make_can_msg(1674, b'\x08\x00\x00\xff\x0c\xfb\x6a\x08', 1)) |
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can_sends.append(make_can_msg(1675, b'\x00\x00\x3b\x60\x37\x00\x00\x00', 1)) |
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can_sends.append(make_can_msg(1690, b'\x70\x00\x00\x55\x86\x1c\xe0\x00', 1)) |
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send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert) |
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can_sends.append(make_can_msg(1910, b'\x06\x4b\x06\x4b\x42\xd3\x11\x30', 1)) |
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can_sends.append(make_can_msg(1911, b'\x48\x53\x37\x54\x48\x53\x37\x54', 1)) |
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can_sends.append(make_can_msg(1912, b'\x31\x34\x47\x30\x38\x31\x43\x42', 1)) |
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can_sends.append(make_can_msg(1913, b'\x31\x34\x47\x30\x38\x32\x43\x42', 1)) |
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can_sends.append(make_can_msg(1969, b'\xf4\x40\x00\x00\x00\x00\x00\x00', 1)) |
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can_sends.append(make_can_msg(1971, b'\x0b\xc0\x00\x00\x00\x00\x00\x00', 1)) |
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# send lkas ui command at 1Hz or if ui state changes |
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if (frame % CarControllerParams.LKAS_UI_STEP) == 0 or send_ui: |
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can_sends.append(fordcan.create_lkas_ui_command(self.packer, main_on, CC.latActive, steer_alert, CS.lkas_status_stock_values)) |
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static_msgs = range(1653, 1658) |
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for addr in static_msgs: |
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cnt = (frame % 10) + 1 |
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can_sends.append(make_can_msg(addr, (cnt << 4).to_bytes(1, 'little') + b'\x00\x00\x00\x00\x00\x00\x00', 1)) |
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# send acc ui command at 20Hz or if ui state changes |
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if (frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui: |
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can_sends.append(fordcan.create_acc_ui_command(self.packer, main_on, CC.latActive, CS.acc_tja_status_stock_values)) |
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self.enabled_last = enabled |
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self.main_on_last = CS.out.cruiseState.available |
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self.main_on_last = main_on |
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self.lkas_enabled_last = CC.latActive |
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self.steer_alert_last = steer_alert |
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return actuators, can_sends |
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new_actuators = actuators.copy() |
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new_actuators.steeringAngleDeg = apply_steer |
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return new_actuators, can_sends |
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@ -1,58 +1,221 @@ |
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from typing import Dict |
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from cereal import car |
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from common.conversions import Conversions as CV |
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from common.numpy_fast import mean |
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from opendbc.can.can_define import CANDefine |
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from opendbc.can.parser import CANParser |
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from selfdrive.car.interfaces import CarStateBase |
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from selfdrive.car.ford.values import DBC |
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from selfdrive.car.ford.values import CANBUS, DBC |
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GearShifter = car.CarState.GearShifter |
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TransmissionType = car.CarParams.TransmissionType |
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WHEEL_RADIUS = 0.33 |
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class CarState(CarStateBase): |
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def update(self, cp): |
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def __init__(self, CP): |
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super().__init__(CP) |
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can_define = CANDefine(DBC[CP.carFingerprint]["pt"]) |
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if CP.transmissionType == TransmissionType.automatic: |
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self.shifter_values = can_define.dv["Gear_Shift_by_Wire_FD1"]["TrnGear_D_RqDrv"] |
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def update(self, cp, cp_cam): |
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ret = car.CarState.new_message() |
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ret.wheelSpeeds = self.get_wheel_speeds( |
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cp.vl["WheelSpeed_CG1"]["WhlFl_W_Meas"], |
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cp.vl["WheelSpeed_CG1"]["WhlFr_W_Meas"], |
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cp.vl["WheelSpeed_CG1"]["WhlRl_W_Meas"], |
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cp.vl["WheelSpeed_CG1"]["WhlRr_W_Meas"], |
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unit=WHEEL_RADIUS, |
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) |
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ret.vEgoRaw = mean([ret.wheelSpeeds.rr, ret.wheelSpeeds.rl, ret.wheelSpeeds.fr, ret.wheelSpeeds.fl]) |
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# car speed |
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ret.vEgoRaw = cp.vl["EngVehicleSpThrottle2"]["Veh_V_ActlEng"] * CV.KPH_TO_MS |
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ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) |
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ret.standstill = not ret.vEgoRaw > 0.001 |
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ret.steeringAngleDeg = cp.vl["Steering_Wheel_Data_CG1"]["SteWhlRelInit_An_Sns"] |
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ret.steeringPressed = not cp.vl["Lane_Keep_Assist_Status"]["LaHandsOff_B_Actl"] |
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ret.steerFaultPermanent = cp.vl["Lane_Keep_Assist_Status"]["LaActDeny_B_Actl"] == 1 |
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ret.cruiseState.speed = cp.vl["Cruise_Status"]["Set_Speed"] * CV.MPH_TO_MS |
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ret.cruiseState.enabled = not (cp.vl["Cruise_Status"]["Cruise_State"] in (0, 3)) |
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ret.cruiseState.available = cp.vl["Cruise_Status"]["Cruise_State"] != 0 |
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ret.gas = cp.vl["EngineData_14"]["ApedPosScal_Pc_Actl"] / 100. |
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ret.yawRate = cp.vl["Yaw_Data_FD1"]["VehYaw_W_Actl"] * CV.RAD_TO_DEG |
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ret.standstill = cp.vl["DesiredTorqBrk"]["VehStop_D_Stat"] == 1 |
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# gas pedal |
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ret.gas = cp.vl["EngVehicleSpThrottle"]["ApedPos_Pc_ActlArb"] / 100. |
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ret.gasPressed = ret.gas > 1e-6 |
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ret.brakePressed = bool(cp.vl["Cruise_Status"]["Brake_Drv_Appl"]) |
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ret.genericToggle = bool(cp.vl["Steering_Buttons"]["Dist_Incr"]) |
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# TODO: we also need raw driver torque, needed for Assisted Lane Change |
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self.lkas_state = cp.vl["Lane_Keep_Assist_Status"]["LaActAvail_D_Actl"] |
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# brake pedal |
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ret.brake = cp.vl["BrakeSnData_4"]["BrkTot_Tq_Actl"] / 32756. # torque in Nm |
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ret.brakePressed = cp.vl["EngBrakeData"]["BpedDrvAppl_D_Actl"] == 2 |
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ret.parkingBrake = cp.vl["DesiredTorqBrk"]["PrkBrkStatus"] in (1, 2) |
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# steering wheel |
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ret.steeringAngleDeg = cp.vl["SteeringPinion_Data"]["StePinComp_An_Est"] |
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ret.steeringTorque = cp.vl["EPAS_INFO"]["SteeringColumnTorque"] |
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ret.steeringPressed = cp.vl["Lane_Assist_Data3_FD1"]["LaHandsOff_B_Actl"] == 0 |
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ret.steerFaultTemporary = cp.vl["EPAS_INFO"]["EPAS_Failure"] == 1 |
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ret.steerFaultPermanent = cp.vl["EPAS_INFO"]["EPAS_Failure"] in (2, 3) |
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# ret.espDisabled = False # TODO: find traction control signal |
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# cruise state |
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ret.cruiseState.speed = cp.vl["EngBrakeData"]["Veh_V_DsplyCcSet"] * CV.MPH_TO_MS |
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ret.cruiseState.enabled = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (4, 5) |
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ret.cruiseState.available = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (3, 4, 5) |
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# gear |
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if self.CP.transmissionType == TransmissionType.automatic: |
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gear = int(cp.vl["Gear_Shift_by_Wire_FD1"]["TrnGear_D_RqDrv"]) |
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ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear, None)) |
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elif self.CP.transmissionType == TransmissionType.manual: |
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ret.clutchPressed = cp.vl["Engine_Clutch_Data"]["CluPdlPos_Pc_Meas"] > 0 |
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# TODO: find reverse light signal |
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ret.gearShifter = GearShifter.drive |
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# safety |
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ret.stockFcw = bool(cp_cam.vl["ACCDATA_3"]["FcwVisblWarn_B_Rq"]) |
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ret.stockAeb = ret.stockFcw and ret.cruiseState.enabled |
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# button presses |
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ret.leftBlinker = cp.vl["Steering_Data_FD1"]["TurnLghtSwtch_D_Stat"] == 1 |
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ret.rightBlinker = cp.vl["Steering_Data_FD1"]["TurnLghtSwtch_D_Stat"] == 2 |
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ret.genericToggle = bool(cp.vl["Steering_Data_FD1"]["TjaButtnOnOffPress"]) |
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# lock info |
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ret.doorOpen = any([cp.vl["BodyInfo_3_FD1"]["DrStatDrv_B_Actl"], cp.vl["BodyInfo_3_FD1"]["DrStatPsngr_B_Actl"], |
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cp.vl["BodyInfo_3_FD1"]["DrStatRl_B_Actl"], cp.vl["BodyInfo_3_FD1"]["DrStatRr_B_Actl"]]) |
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ret.seatbeltUnlatched = cp.vl["RCMStatusMessage2_FD1"]["FirstRowBuckleDriver"] == 2 |
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# blindspot sensors |
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if self.CP.enableBsm: |
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ret.leftBlindspot = cp.vl["Side_Detect_L_Stat"]["SodDetctLeft_D_Stat"] != 0 |
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ret.rightBlindspot = cp.vl["Side_Detect_R_Stat"]["SodDetctRight_D_Stat"] != 0 |
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# Stock values from IPMA so that we can retain some stock functionality |
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self.acc_tja_status_stock_values = cp_cam.vl["ACCDATA_3"] |
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self.lkas_status_stock_values = cp_cam.vl["IPMA_Data"] |
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return ret |
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@staticmethod |
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def parse_gear_shifter(gear: str) -> car.CarState.GearShifter: |
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d: Dict[str, car.CarState.GearShifter] = { |
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'Park': GearShifter.park, 'Reverse': GearShifter.reverse, 'Neutral': GearShifter.neutral, |
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'Manual': GearShifter.manumatic, 'Drive': GearShifter.drive, |
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} |
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return d.get(gear, GearShifter.unknown) |
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@staticmethod |
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def get_can_parser(CP): |
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signals = [ |
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# sig_name, sig_address |
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("WhlRr_W_Meas", "WheelSpeed_CG1"), |
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("WhlRl_W_Meas", "WheelSpeed_CG1"), |
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("WhlFr_W_Meas", "WheelSpeed_CG1"), |
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("WhlFl_W_Meas", "WheelSpeed_CG1"), |
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("SteWhlRelInit_An_Sns", "Steering_Wheel_Data_CG1"), |
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("Cruise_State", "Cruise_Status"), |
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("Set_Speed", "Cruise_Status"), |
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("LaActAvail_D_Actl", "Lane_Keep_Assist_Status"), |
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("LaHandsOff_B_Actl", "Lane_Keep_Assist_Status"), |
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("LaActDeny_B_Actl", "Lane_Keep_Assist_Status"), |
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("ApedPosScal_Pc_Actl", "EngineData_14"), |
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("Dist_Incr", "Steering_Buttons"), |
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("Brake_Drv_Appl", "Cruise_Status"), |
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("Veh_V_ActlEng", "EngVehicleSpThrottle2"), # ABS vehicle speed (kph) |
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("VehYaw_W_Actl", "Yaw_Data_FD1"), # ABS vehicle yaw rate (rad/s) |
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("VehStop_D_Stat", "DesiredTorqBrk"), # ABS vehicle stopped |
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("PrkBrkStatus", "DesiredTorqBrk"), # ABS park brake status |
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("ApedPos_Pc_ActlArb", "EngVehicleSpThrottle"), # PCM throttle (pct) |
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("BrkTot_Tq_Actl", "BrakeSnData_4"), # ABS brake torque (Nm) |
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("BpedDrvAppl_D_Actl", "EngBrakeData"), # PCM driver brake pedal pressed |
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("Veh_V_DsplyCcSet", "EngBrakeData"), # PCM ACC set speed (mph) |
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# The units might change with IPC settings? |
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("CcStat_D_Actl", "EngBrakeData"), # PCM ACC status |
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("StePinComp_An_Est", "SteeringPinion_Data"), # PSCM estimated steering angle (deg) |
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# Calculates steering angle (and offset) from pinion |
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# angle and driving measurements. |
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# StePinRelInit_An_Sns is the pinion angle, initialised |
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# to zero at the beginning of the drive. |
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("SteeringColumnTorque", "EPAS_INFO"), # PSCM steering column torque (Nm) |
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("EPAS_Failure", "EPAS_INFO"), # PSCM EPAS status |
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("LaHandsOff_B_Actl", "Lane_Assist_Data3_FD1"), # PSCM LKAS hands off wheel |
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("TurnLghtSwtch_D_Stat", "Steering_Data_FD1"), # SCCM Turn signal switch |
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("TjaButtnOnOffPress", "Steering_Data_FD1"), # SCCM ACC button, lane-centering/traffic jam assist toggle |
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("DrStatDrv_B_Actl", "BodyInfo_3_FD1"), # BCM Door open, driver |
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("DrStatPsngr_B_Actl", "BodyInfo_3_FD1"), # BCM Door open, passenger |
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("DrStatRl_B_Actl", "BodyInfo_3_FD1"), # BCM Door open, rear left |
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("DrStatRr_B_Actl", "BodyInfo_3_FD1"), # BCM Door open, rear right |
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("FirstRowBuckleDriver", "RCMStatusMessage2_FD1"), # RCM Seatbelt status, driver |
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] |
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checks = [] |
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return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0, enforce_checks=False) |
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checks = [ |
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# sig_address, frequency |
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("EngVehicleSpThrottle2", 50), |
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("Yaw_Data_FD1", 100), |
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("DesiredTorqBrk", 50), |
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("EngVehicleSpThrottle", 100), |
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("BrakeSnData_4", 50), |
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("EngBrakeData", 10), |
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("SteeringPinion_Data", 100), |
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("EPAS_INFO", 50), |
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("Lane_Assist_Data3_FD1", 33), |
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("Steering_Data_FD1", 10), |
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("BodyInfo_3_FD1", 2), |
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("RCMStatusMessage2_FD1", 10), |
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] |
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|
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if CP.transmissionType == TransmissionType.automatic: |
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signals += [ |
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("TrnGear_D_RqDrv", "Gear_Shift_by_Wire_FD1"), # GWM transmission gear position |
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] |
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checks += [ |
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("Gear_Shift_by_Wire_FD1", 10), |
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] |
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elif CP.transmissionType == TransmissionType.manual: |
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signals += [ |
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("CluPdlPos_Pc_Meas", "Engine_Clutch_Data"), # PCM clutch (pct) |
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] |
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checks += [ |
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("Engine_Clutch_Data", 33), |
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] |
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|
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if CP.enableBsm: |
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signals += [ |
||||
("SodDetctLeft_D_Stat", "Side_Detect_L_Stat"), # Blindspot sensor, left |
||||
("SodDetctRight_D_Stat", "Side_Detect_R_Stat"), # Blindspot sensor, right |
||||
] |
||||
checks += [ |
||||
("Side_Detect_L_Stat", 5), |
||||
("Side_Detect_R_Stat", 5), |
||||
] |
||||
|
||||
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CANBUS.main) |
||||
|
||||
@staticmethod |
||||
def get_cam_can_parser(CP): |
||||
signals = [ |
||||
# sig_name, sig_address |
||||
("HaDsply_No_Cs", "ACCDATA_3"), |
||||
("HaDsply_No_Cnt", "ACCDATA_3"), |
||||
("AccStopStat_D_Dsply", "ACCDATA_3"), # ACC stopped status message |
||||
("AccTrgDist2_D_Dsply", "ACCDATA_3"), # ACC target distance |
||||
("AccStopRes_B_Dsply", "ACCDATA_3"), |
||||
("TjaWarn_D_Rq", "ACCDATA_3"), # TJA warning |
||||
("Tja_D_Stat", "ACCDATA_3"), # TJA status |
||||
("TjaMsgTxt_D_Dsply", "ACCDATA_3"), # TJA text |
||||
("IaccLamp_D_Rq", "ACCDATA_3"), # iACC status icon |
||||
("AccMsgTxt_D2_Rq", "ACCDATA_3"), # ACC text |
||||
("FcwDeny_B_Dsply", "ACCDATA_3"), # FCW disabled |
||||
("FcwMemStat_B_Actl", "ACCDATA_3"), # FCW enabled setting |
||||
("AccTGap_B_Dsply", "ACCDATA_3"), # ACC time gap display setting |
||||
("CadsAlignIncplt_B_Actl", "ACCDATA_3"), |
||||
("AccFllwMde_B_Dsply", "ACCDATA_3"), # ACC follow mode display setting |
||||
("CadsRadrBlck_B_Actl", "ACCDATA_3"), |
||||
("CmbbPostEvnt_B_Dsply", "ACCDATA_3"), # AEB event status |
||||
("AccStopMde_B_Dsply", "ACCDATA_3"), # ACC stop mode display setting |
||||
("FcwMemSens_D_Actl", "ACCDATA_3"), # FCW sensitivity setting |
||||
("FcwMsgTxt_D_Rq", "ACCDATA_3"), # FCW text |
||||
("AccWarn_D_Dsply", "ACCDATA_3"), # ACC warning |
||||
("FcwVisblWarn_B_Rq", "ACCDATA_3"), # FCW visible alert |
||||
("FcwAudioWarn_B_Rq", "ACCDATA_3"), # FCW audio alert |
||||
("AccTGap_D_Dsply", "ACCDATA_3"), # ACC time gap |
||||
("AccMemEnbl_B_RqDrv", "ACCDATA_3"), # ACC adaptive/normal setting |
||||
("FdaMem_B_Stat", "ACCDATA_3"), # FDA enabled setting |
||||
|
||||
("FeatConfigIpmaActl", "IPMA_Data"), |
||||
("FeatNoIpmaActl", "IPMA_Data"), |
||||
("PersIndexIpma_D_Actl", "IPMA_Data"), |
||||
("AhbcRampingV_D_Rq", "IPMA_Data"), # AHB ramping |
||||
("LaActvStats_D_Dsply", "IPMA_Data"), # LKAS status (lines) |
||||
("LaDenyStats_B_Dsply", "IPMA_Data"), # LKAS error |
||||
("LaHandsOff_D_Dsply", "IPMA_Data"), # LKAS hands on chime |
||||
("CamraDefog_B_Req", "IPMA_Data"), # Windshield heater? |
||||
("CamraStats_D_Dsply", "IPMA_Data"), # Camera status |
||||
("DasAlrtLvl_D_Dsply", "IPMA_Data"), # DAS alert level |
||||
("DasStats_D_Dsply", "IPMA_Data"), # DAS status |
||||
("DasWarn_D_Dsply", "IPMA_Data"), # DAS warning |
||||
("AhbHiBeam_D_Rq", "IPMA_Data"), # AHB status |
||||
("Set_Me_X1", "IPMA_Data"), |
||||
] |
||||
|
||||
checks = [ |
||||
# sig_address, frequency |
||||
("ACCDATA_3", 5), |
||||
("IPMA_Data", 1), |
||||
] |
||||
|
||||
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CANBUS.camera) |
||||
|
||||
@ -1,50 +1,144 @@ |
||||
from common.numpy_fast import clip |
||||
from selfdrive.car.ford.values import MAX_ANGLE |
||||
|
||||
|
||||
def create_steer_command(packer, angle_cmd, enabled, lkas_state, angle_steers, curvature, lkas_action): |
||||
"""Creates a CAN message for the Ford Steer Command.""" |
||||
def create_lkas_command(packer, angle_deg: float, curvature: float): |
||||
""" |
||||
Creates a CAN message for the Ford LKAS Command. |
||||
|
||||
#if enabled and lkas available: |
||||
if enabled and lkas_state in (2, 3): # and (frame % 500) >= 3: |
||||
action = lkas_action |
||||
else: |
||||
action = 0xf |
||||
angle_cmd = angle_steers/MAX_ANGLE |
||||
This command can apply "Lane Keeping Aid" manoeuvres, which are subject to the |
||||
PSCM lockout. |
||||
|
||||
angle_cmd = clip(angle_cmd * MAX_ANGLE, - MAX_ANGLE, MAX_ANGLE) |
||||
Frequency is 20Hz. |
||||
""" |
||||
|
||||
values = { |
||||
"Lkas_Action": action, |
||||
"Lkas_Alert": 0xf, # no alerts |
||||
"Lane_Curvature": clip(curvature, -0.01, 0.01), # is it just for debug? |
||||
#"Lane_Curvature": 0, # is it just for debug? |
||||
"Steer_Angle_Req": angle_cmd |
||||
"LkaDrvOvrrd_D_Rq": 0, # driver override level? [0|3] |
||||
"LkaActvStats_D2_Req": 0, # action [0|7] |
||||
"LaRefAng_No_Req": angle_deg, # angle [-102.4|102.3] degrees |
||||
"LaRampType_B_Req": 0, # Ramp speed: 0=Smooth, 1=Quick |
||||
"LaCurvature_No_Calc": curvature, # curvature [-0.01024|0.01023] 1/meter |
||||
"LdwActvStats_D_Req": 0, # LDW status [0|7] |
||||
"LdwActvIntns_D_Req": 0, # LDW intensity [0|3], shake alert strength |
||||
} |
||||
return packer.make_can_msg("Lane_Keep_Assist_Control", 0, values) |
||||
return packer.make_can_msg("Lane_Assist_Data1", 0, values) |
||||
|
||||
|
||||
def create_tja_command(packer, lca_rq: int, ramp_type: int, precision: int, path_offset: float, path_angle: float, curvature_rate: float, curvature: float): |
||||
""" |
||||
Creates a CAN message for the Ford TJA/LCA Command. |
||||
|
||||
This command can apply "Lane Centering" manoeuvres: continuous lane centering |
||||
for traffic jam assist and highway driving. It is not subject to the PSCM |
||||
lockout. |
||||
|
||||
The PSCM should be configured to accept TJA/LCA commands before these |
||||
commands will be processed. This can be done using tools such as Forscan. |
||||
|
||||
Frequency is 20Hz. |
||||
""" |
||||
|
||||
values = { |
||||
"LatCtlRng_L_Max": 0, # Unknown [0|126] meter |
||||
"HandsOffCnfm_B_Rq": 0, # Unknown: 0=Inactive, 1=Active [0|1] |
||||
"LatCtl_D_Rq": lca_rq, # Mode: 0=None, 1=ContinuousPathFollowing, 2=InterventionLeft, 3=InterventionRight, 4-7=NotUsed [0|7] |
||||
"LatCtlRampType_D_Rq": ramp_type, # Ramp speed: 0=Slow, 1=Medium, 2=Fast, 3=Immediate [0|3] |
||||
"LatCtlPrecision_D_Rq": precision, # Precision: 0=Comfortable, 1=Precise, 2/3=NotUsed [0|3] |
||||
"LatCtlPathOffst_L_Actl": clip(path_offset, -5.12, 5.11), # Path offset [-5.12|5.11] meter |
||||
"LatCtlPath_An_Actl": clip(path_angle, -0.5, 0.5235), # Path angle [-0.5|0.5235] radians |
||||
"LatCtlCurv_NoRate_Actl": clip(curvature_rate, -0.001024, 0.00102375), # Curvature rate [-0.001024|0.00102375] 1/meter^2 |
||||
"LatCtlCurv_No_Actl": clip(curvature, -0.02, 0.02094), # Curvature [-0.02|0.02094] 1/meter |
||||
} |
||||
return packer.make_can_msg("LateralMotionControl", 0, values) |
||||
|
||||
|
||||
def create_lkas_ui_command(packer, main_on: bool, enabled: bool, steer_alert: bool, stock_values): |
||||
""" |
||||
Creates a CAN message for the Ford IPC IPMA/LKAS status. |
||||
|
||||
Show the LKAS status with the "driver assist" lines in the IPC. |
||||
|
||||
def create_lkas_ui(packer, main_on, enabled, steer_alert): |
||||
"""Creates a CAN message for the Ford Steer Ui.""" |
||||
Stock functionality is maintained by passing through unmodified signals. |
||||
|
||||
if not main_on: |
||||
lines = 0xf |
||||
elif enabled: |
||||
lines = 0x3 |
||||
Frequency is 1Hz. |
||||
""" |
||||
|
||||
# LaActvStats_D_Dsply |
||||
# TODO: get LDW state from OP |
||||
if enabled: |
||||
lines = 6 |
||||
elif main_on: |
||||
lines = 0 |
||||
else: |
||||
lines = 0x6 |
||||
lines = 30 |
||||
|
||||
values = { |
||||
"Set_Me_X80": 0x80, |
||||
"Set_Me_X45": 0x45, |
||||
"Set_Me_X30": 0x30, |
||||
"Lines_Hud": lines, |
||||
"Hands_Warning_W_Chime": steer_alert, |
||||
"FeatConfigIpmaActl": stock_values["FeatConfigIpmaActl"], # [0|65535] |
||||
"FeatNoIpmaActl": stock_values["FeatNoIpmaActl"], # [0|65535] |
||||
"PersIndexIpma_D_Actl": stock_values["PersIndexIpma_D_Actl"], # [0|7] |
||||
"AhbcRampingV_D_Rq": stock_values["AhbcRampingV_D_Rq"], # AHB ramping [0|3] |
||||
"LaActvStats_D_Dsply": lines, # LKAS status (lines) [0|31] |
||||
"LaDenyStats_B_Dsply": stock_values["LaDenyStats_B_Dsply"], # LKAS error [0|1] |
||||
"LaHandsOff_D_Dsply": 2 if steer_alert else 0, # 0=HandsOn, 1=Level1 (w/o chime), 2=Level2 (w/ chime), 3=Suppressed |
||||
"CamraDefog_B_Req": stock_values["CamraDefog_B_Req"], # Windshield heater? [0|1] |
||||
"CamraStats_D_Dsply": stock_values["CamraStats_D_Dsply"], # Camera status [0|3] |
||||
"DasAlrtLvl_D_Dsply": stock_values["DasAlrtLvl_D_Dsply"], # DAS alert level [0|7] |
||||
"DasStats_D_Dsply": stock_values["DasStats_D_Dsply"], # DAS status [0|3] |
||||
"DasWarn_D_Dsply": stock_values["DasWarn_D_Dsply"], # DAS warning [0|3] |
||||
"AhbHiBeam_D_Rq": stock_values["AhbHiBeam_D_Rq"], # AHB status [0|3] |
||||
"Set_Me_X1": stock_values["Set_Me_X1"], # [0|15] |
||||
} |
||||
return packer.make_can_msg("Lane_Keep_Assist_Ui", 0, values) |
||||
return packer.make_can_msg("IPMA_Data", 0, values) |
||||
|
||||
|
||||
def create_acc_ui_command(packer, main_on: bool, enabled: bool, stock_values): |
||||
""" |
||||
Creates a CAN message for the Ford IPC adaptive cruise, forward collision |
||||
warning and traffic jam assist status. |
||||
|
||||
Stock functionality is maintained by passing through unmodified signals. |
||||
|
||||
Frequency is 20Hz. |
||||
""" |
||||
|
||||
values = { |
||||
"HaDsply_No_Cs": stock_values["HaDsply_No_Cs"], # [0|255] |
||||
"HaDsply_No_Cnt": stock_values["HaDsply_No_Cnt"], # [0|15] |
||||
"AccStopStat_D_Dsply": stock_values["AccStopStat_D_Dsply"], # ACC stopped status message: 0=NoDisplay, 1=ResumeReady, 2=Stopped, 3=PressResume [0|3] |
||||
"AccTrgDist2_D_Dsply": stock_values["AccTrgDist2_D_Dsply"], # ACC target distance [0|15] |
||||
"AccStopRes_B_Dsply": stock_values["AccStopRes_B_Dsply"], # [0|1] |
||||
"TjaWarn_D_Rq": stock_values["TjaWarn_D_Rq"], # TJA warning: 0=NoWarning, 1=Cancel, 2=HardTakeOverLevel1, 3=HardTakeOverLevel2 [0|7] |
||||
"Tja_D_Stat": 2 if enabled else (1 if main_on else 0), # TJA status: 0=Off, 1=Standby, 2=Active, 3=InterventionLeft, 4=InterventionRight, 5=WarningLeft, 6=WarningRight, 7=NotUsed [0|7] |
||||
"TjaMsgTxt_D_Dsply": stock_values["TjaMsgTxt_D_Dsply"], # TJA text [0|7] |
||||
"IaccLamp_D_Rq": stock_values["IaccLamp_D_Rq"], # iACC status icon [0|3] |
||||
"AccMsgTxt_D2_Rq": stock_values["AccMsgTxt_D2_Rq"], # ACC text [0|15] |
||||
"FcwDeny_B_Dsply": stock_values["FcwDeny_B_Dsply"], # FCW disabled [0|1] |
||||
"FcwMemStat_B_Actl": stock_values["FcwMemStat_B_Actl"], # FCW enabled setting [0|1] |
||||
"AccTGap_B_Dsply": stock_values["AccTGap_B_Dsply"], # ACC time gap display setting [0|1] |
||||
"CadsAlignIncplt_B_Actl": stock_values["CadsAlignIncplt_B_Actl"], # Radar alignment? [0|1] |
||||
"AccFllwMde_B_Dsply": stock_values["AccFllwMde_B_Dsply"], # ACC follow mode display setting [0|1] |
||||
"CadsRadrBlck_B_Actl": stock_values["CadsRadrBlck_B_Actl"], # Radar blocked? [0|1] |
||||
"CmbbPostEvnt_B_Dsply": stock_values["CmbbPostEvnt_B_Dsply"], # AEB event status [0|1] |
||||
"AccStopMde_B_Dsply": stock_values["AccStopMde_B_Dsply"], # ACC stop mode display setting [0|1] |
||||
"FcwMemSens_D_Actl": stock_values["FcwMemSens_D_Actl"], # FCW sensitivity setting [0|3] |
||||
"FcwMsgTxt_D_Rq": stock_values["FcwMsgTxt_D_Rq"], # FCW text [0|7] |
||||
"AccWarn_D_Dsply": stock_values["AccWarn_D_Dsply"], # ACC warning [0|3] |
||||
"FcwVisblWarn_B_Rq": stock_values["FcwVisblWarn_B_Rq"], # FCW alert: 0=Off, 1=On [0|1] |
||||
"FcwAudioWarn_B_Rq": stock_values["FcwAudioWarn_B_Rq"], # FCW audio: 0=Off, 1=On [0|1] |
||||
"AccTGap_D_Dsply": stock_values["AccTGap_D_Dsply"], # ACC time gap: 1=Time_Gap_1, 2=Time_Gap_2, ..., 5=Time_Gap_5 [0|7] |
||||
"AccMemEnbl_B_RqDrv": stock_values["AccMemEnbl_B_RqDrv"], # ACC setting: 0=NormalCruise, 1=AdaptiveCruise [0|1] |
||||
"FdaMem_B_Stat": stock_values["FdaMem_B_Stat"], # FDA enabled setting [0|1] |
||||
} |
||||
return packer.make_can_msg("ACCDATA_3", 0, values) |
||||
|
||||
|
||||
def spam_cancel_button(packer, cancel=1): |
||||
""" |
||||
Creates a CAN message for the Ford SCCM buttons/switches. |
||||
|
||||
Includes cruise control buttons, turn lights and more. |
||||
""" |
||||
|
||||
def spam_cancel_button(packer): |
||||
values = { |
||||
"Cancel": 1 |
||||
"CcAslButtnCnclPress": cancel, # CC cancel button |
||||
} |
||||
return packer.make_can_msg("Steering_Buttons", 0, values) |
||||
return packer.make_can_msg("Steering_Data_FD1", 0, values) |
||||
|
||||
@ -1,65 +1,84 @@ |
||||
#!/usr/bin/env python3 |
||||
from cereal import car |
||||
from common.conversions import Conversions as CV |
||||
from selfdrive.car.ford.values import MAX_ANGLE |
||||
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config |
||||
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint |
||||
from selfdrive.car.ford.values import TransmissionType, CAR |
||||
from selfdrive.car.interfaces import CarInterfaceBase |
||||
|
||||
|
||||
EventName = car.CarEvent.EventName |
||||
|
||||
|
||||
class CarInterface(CarInterfaceBase): |
||||
@staticmethod |
||||
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False): |
||||
ret = CarInterfaceBase.get_std_params(candidate, fingerprint) |
||||
|
||||
ret.carName = "ford" |
||||
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.ford)] |
||||
#ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.ford)] |
||||
ret.dashcamOnly = True |
||||
|
||||
ret.wheelbase = 2.85 |
||||
ret.steerRatio = 14.8 |
||||
ret.mass = 3045. * CV.LB_TO_KG + STD_CARGO_KG |
||||
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] |
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01], [0.005]] # TODO: tune this |
||||
ret.lateralTuning.pid.kf = 1. / MAX_ANGLE # MAX Steer angle to normalize FF |
||||
ret.steerActuatorDelay = 0.1 # Default delay, not measured yet |
||||
# Angle-based steering |
||||
# TODO: use curvature control when ready |
||||
ret.steerControlType = car.CarParams.SteerControlType.angle |
||||
ret.steerActuatorDelay = 0.1 |
||||
ret.steerLimitTimer = 1.0 |
||||
|
||||
# TODO: detect stop-and-go vehicles |
||||
stop_and_go = False |
||||
|
||||
if candidate == CAR.ESCAPE_MK4: |
||||
ret.wheelbase = 2.71 |
||||
ret.steerRatio = 14.3 # Copied from Focus |
||||
tire_stiffness_factor = 0.5328 # Copied from Focus |
||||
ret.mass = 1750 + STD_CARGO_KG |
||||
|
||||
elif candidate == CAR.FOCUS_MK4: |
||||
ret.wheelbase = 2.7 |
||||
ret.steerRatio = 14.3 |
||||
tire_stiffness_factor = 0.5328 |
||||
ret.mass = 1350 + STD_CARGO_KG |
||||
|
||||
else: |
||||
raise ValueError(f"Unsupported car: ${candidate}") |
||||
|
||||
# Auto Transmission: Gear_Shift_by_Wire_FD1 |
||||
# TODO: detect transmission in car_fw? |
||||
if 0x5A in fingerprint[0]: |
||||
ret.transmissionType = TransmissionType.automatic |
||||
else: |
||||
ret.transmissionType = TransmissionType.manual |
||||
|
||||
# BSM: Side_Detect_L_Stat, Side_Detect_R_Stat |
||||
# TODO: detect bsm in car_fw? |
||||
ret.enableBsm = 0x3A6 in fingerprint[0] and 0x3A7 in fingerprint[0] |
||||
|
||||
# min speed to enable ACC. if car can do stop and go, then set enabling speed |
||||
# to a negative value, so it won't matter. |
||||
ret.minEnableSpeed = -1. if (stop_and_go) else 20. * CV.MPH_TO_MS |
||||
# LCA can steer down to zero |
||||
ret.minSteerSpeed = 0. |
||||
|
||||
ret.steerRateCost = 1.0 |
||||
ret.centerToFront = ret.wheelbase * 0.44 |
||||
tire_stiffness_factor = 0.5328 |
||||
# TODO: add minSteerSpeed |
||||
ret.minEnableSpeed = 12. * CV.MPH_TO_MS |
||||
|
||||
# TODO: get actual value, for now starting with reasonable value for |
||||
# civic and scaling by mass and wheelbase |
||||
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) |
||||
|
||||
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by |
||||
# mass and CG position, so all cars will have approximately similar dyn behaviors |
||||
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront, |
||||
tire_stiffness_factor=tire_stiffness_factor) |
||||
|
||||
ret.steerControlType = car.CarParams.SteerControlType.angle |
||||
|
||||
return ret |
||||
|
||||
def _update(self, c): |
||||
ret = self.CS.update(self.cp) |
||||
ret = self.CS.update(self.cp, self.cp_cam) |
||||
|
||||
# events |
||||
events = self.create_common_events(ret) |
||||
|
||||
if self.CS.lkas_state not in (2, 3) and ret.vEgo > 13. * CV.MPH_TO_MS and ret.cruiseState.enabled: |
||||
events.add(car.CarEvent.EventName.steerTempUnavailable) |
||||
ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False |
||||
|
||||
events = self.create_common_events(ret) |
||||
ret.events = events.to_msg() |
||||
|
||||
return ret |
||||
|
||||
# pass in a car.CarControl |
||||
# to be called @ 100hz |
||||
def apply(self, c): |
||||
|
||||
ret = self.CC.update(c.enabled, self.CS, self.frame, c.actuators, |
||||
c.hudControl.visualAlert, c.cruiseControl.cancel) |
||||
|
||||
ret = self.CC.update(c, self.CS, self.frame) |
||||
self.frame += 1 |
||||
return ret |
||||
|
||||
@ -1,21 +1,82 @@ |
||||
from collections import namedtuple |
||||
from typing import Dict, List, Union |
||||
|
||||
from cereal import car |
||||
from selfdrive.car import dbc_dict |
||||
from selfdrive.car.docs_definitions import CarInfo |
||||
|
||||
Ecu = car.CarParams.Ecu |
||||
TransmissionType = car.CarParams.TransmissionType |
||||
|
||||
AngleRateLimit = namedtuple('AngleRateLimit', ['speed_points', 'max_angle_diff_points']) |
||||
|
||||
|
||||
class CarControllerParams: |
||||
# Messages: Lane_Assist_Data1, LateralMotionControl |
||||
LKAS_STEER_STEP = 5 |
||||
# Message: IPMA_Data |
||||
LKAS_UI_STEP = 100 |
||||
# Message: ACCDATA_3 |
||||
ACC_UI_STEP = 5 |
||||
|
||||
STEER_RATE_LIMIT_UP = AngleRateLimit(speed_points=[0., 5., 15.], max_angle_diff_points=[5., .8, .15]) |
||||
STEER_RATE_LIMIT_DOWN = AngleRateLimit(speed_points=[0., 5., 15.], max_angle_diff_points=[5., 3.5, 0.4]) |
||||
|
||||
MAX_ANGLE = 87. # make sure we never command the extremes (0xfff) which cause latching fault |
||||
|
||||
class CANBUS: |
||||
main = 0 |
||||
radar = 1 |
||||
camera = 2 |
||||
|
||||
|
||||
class CAR: |
||||
FUSION = "FORD FUSION 2018" |
||||
ESCAPE_MK4 = "FORD ESCAPE 4TH GEN" |
||||
FOCUS_MK4 = "FORD FOCUS 4TH GEN" |
||||
|
||||
|
||||
CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = { |
||||
CAR.FUSION: CarInfo("Ford Fusion 2018", "All") |
||||
} |
||||
|
||||
|
||||
FW_VERSIONS = { |
||||
CAR.ESCAPE_MK4: { |
||||
(Ecu.eps, 0x730, None): [ |
||||
b'LX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', |
||||
], |
||||
(Ecu.esp, 0x760, None): [ |
||||
b'LX6C-2D053-NS\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', |
||||
], |
||||
(Ecu.fwdRadar, 0x764, None): [ |
||||
b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', |
||||
], |
||||
(Ecu.fwdCamera, 0x706, None): [ |
||||
b'LJ6T-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', |
||||
], |
||||
(Ecu.engine, 0x7E0, None): [ |
||||
b'LX6A-14C204-ESG\x00\x00\x00\x00\x00\x00\x00\x00\x00', |
||||
], |
||||
}, |
||||
CAR.FOCUS_MK4: { |
||||
(Ecu.eps, 0x730, None): [ |
||||
b'JX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', |
||||
], |
||||
(Ecu.esp, 0x760, None): [ |
||||
b'JX61-2D053-CJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', |
||||
], |
||||
(Ecu.fwdRadar, 0x764, None): [ |
||||
b'JX7T-14D049-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', |
||||
], |
||||
(Ecu.fwdCamera, 0x706, None): [ |
||||
b'JX7T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', |
||||
], |
||||
(Ecu.engine, 0x7E0, None): [ |
||||
b'JX6A-14C204-BPL\x00\x00\x00\x00\x00\x00\x00\x00\x00', |
||||
], |
||||
}, |
||||
} |
||||
|
||||
|
||||
DBC = { |
||||
CAR.FUSION: dbc_dict('ford_fusion_2018_pt', 'ford_fusion_2018_adas'), |
||||
CAR.ESCAPE_MK4: dbc_dict('ford_lincoln_base_pt', 'ford_fusion_2018_adas'), |
||||
CAR.FOCUS_MK4: dbc_dict('ford_lincoln_base_pt', 'ford_fusion_2018_adas'), |
||||
} |
||||
|
||||
Loading…
Reference in new issue