gate on FW

selfdrive/car/chrysler/interface.py

@@ -2,7 +2,7 @@
 from cereal import car
 from panda import Panda
 from selfdrive.car import STD_CARGO_KG, get_safety_config
-from selfdrive.car.chrysler.values import CAR, DBC, RAM_HD, RAM_DT
+from selfdrive.car.chrysler.values import CAR, DBC, RAM_HD, RAM_DT, RAM_CARS
 from selfdrive.car.interfaces import CarInterfaceBase
 
 
@@ -24,9 +24,13 @@ class CarInterface(CarInterfaceBase):
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_CHRYSLER_RAM_DT
 
     ret.minSteerSpeed = 3.8  # m/s
-    if candidate in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019):
-      # TODO: allow 2019 cars to steer down to 13 m/s if already engaged.
-      ret.minSteerSpeed = 17.5  # m/s 17 on the way up, 13 on the way down once engaged.
+    # Traditionally, CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019 have newer firmware with higher steering speeds.
+    # However, the dealer can reflash the EPS in older cars with newer firmware, raising their minimum steering speed with it.
+    if candidate not in RAM_CARS:
+      for fw in car_fw:
+        if fw.ecu == 'eps' and fw.fwVersion[:4] >= b"6852":
+          # TODO: allow these cars to steer down to 13 m/s if already engaged.
+          ret.minSteerSpeed = 17.5  # m/s 17 on the way up, 13 on the way down once engaged.
 
     # Chrysler
     if candidate in (CAR.PACIFICA_2017_HYBRID, CAR.PACIFICA_2018, CAR.PACIFICA_2018_HYBRID, CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020):
@@ -55,10 +59,9 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 2493. + STD_CARGO_KG
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
       ret.minSteerSpeed = 14.5
-      if car_fw is not None:
-        for fw in car_fw:
-          if fw.ecu == 'eps' and fw.fwVersion[:8] in (b"68312176", b"68273275"):
-            ret.minSteerSpeed = 0.
+      for fw in car_fw:
+        if fw.ecu == 'eps' and fw.fwVersion[:8] in (b"68312176", b"68273275"):
+          ret.minSteerSpeed = 0.
 
     elif candidate == CAR.RAM_HD:
       ret.steerActuatorDelay = 0.2