Merge remote-tracking branch 'upstream/master' into fuzzy-panda-carstate

selfdrive/car/README.md

@@ -1,11 +1,10 @@
 # selfdrive/car
 
-### Check out this blogpost for a high level overview of car ports
-https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/
+Check out [this blog post](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/) for a high-level overview of porting a car.
 
 ## Useful car porting utilities
 
-Testing car ports in your car is very time consuming! Checkout these utilities to do basic checks on your work before running it in your car.
+Testing car ports in your car is very time-consuming. Check out these utilities to do basic checks on your work before running it in your car.
 
 ### [Cabana](/tools/cabana/README.md)
 
@@ -28,12 +27,12 @@ Attempting to add fw version for:  SUBARU OUTBACK 6TH GEN
 
 ### [selfdrive/car/tests/test_car_interfaces.py](/selfdrive/car/tests/test_car_interfaces.py)
 
-Finds common bugs for car interfaces, without even requiring a route!
+Finds common bugs for car interfaces, without even requiring a route.
 
 
 #### Example: Typo in signal name
 ```bash
-> pytest selfdrive/car/tests/test_car_interfaces.py -k subaru # (replace with the brand you are working on!)
+> pytest selfdrive/car/tests/test_car_interfaces.py -k subaru  # replace with the brand you are working on
 
 =====================================================================
 FAILED selfdrive/car/tests/test_car_interfaces.py::TestCarInterfaces::test_car_interfaces_165_SUBARU_LEGACY_7TH_GEN - KeyError: 'CruiseControlOOPS'
@@ -42,9 +41,9 @@ FAILED selfdrive/car/tests/test_car_interfaces.py::TestCarInterfaces::test_car_i
 
 ### [selfdrive/debug/test_car_model.py](/selfdrive/debug/test_car_model.py)
 
-Given a route, runs most of the car interface to check for common errors like missing signals, blocked panda messages, and mismatches.
+Given a route, runs most of the car interface to check for common errors like missing signals, blocked panda messages, and safety mismatches.
 
-#### Example: Panda safety mismatch for gasPressed
+#### Example: panda safety mismatch for gasPressed
 ```bash
 > python selfdrive/debug/test_car_model.py '4822a427b188122a|2023-08-14--16-22-21'
 
@@ -59,7 +58,7 @@ AssertionError: 1 is not false : panda safety doesn't agree with openpilot: {'ga
 ```
 
 
-## Car Port structure
+## Car port structure
 
 ### interface.py
 Generic interface to send and receive messages from CAN (controlsd uses this to communicate with car)
@@ -71,7 +70,7 @@ Builds CAN messages to send to car
 Reads CAN from car and builds openpilot CarState message
 
 ##### values.py
-Fingerprints, limits for actuation, car doc information, etc
+Fingerprints, limits for actuation, and supported car documentation
 
 ##### radar_interface.py
 Interface for parsing radar points from the car

selfdrive/car/ford/carstate.py

@@ -18,15 +18,16 @@ class CarState(CarStateBase):
       self.shifter_values = can_define.dv["Gear_Shift_by_Wire_FD1"]["TrnRng_D_RqGsm"]
 
     self.vehicle_sensors_valid = False
-    self.hybrid_platform = False
+    self.unsupported_platform = False
 
   def update(self, cp, cp_cam):
     ret = car.CarState.new_message()
 
-    # Hybrid variants experience a bug where a message from the PCM sends invalid checksums,
-    # we do not support these cars at this time.
+    # Ford Q3 hybrid variants experience a bug where a message from the PCM sends invalid checksums,
+    # this must be root-caused before enabling support. Ford Q4 hybrids do not have this problem.
     # TrnAin_Tq_Actl and its quality flag are only set on ICE platform variants
-    self.hybrid_platform = cp.vl["VehicleOperatingModes"]["TrnAinTq_D_Qf"] == 0
+    self.unsupported_platform = (cp.vl["VehicleOperatingModes"]["TrnAinTq_D_Qf"] == 0 and
+                                 self.CP.carFingerprint not in CANFD_CAR)
 
     # Occasionally on startup, the ABS module recalibrates the steering pinion offset, so we need to block engagement
     # The vehicle usually recovers out of this state within a minute of normal driving

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 +100,7 @@ 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:
+    if self.CS.unsupported_platform:
       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