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Ford: move to PlatformConfig (#31554)

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* Ford: move to PlatformConfig

* Align Aviator model years with Explorer

* Add CarSpecs to PlatformConfig

---------

Co-authored-by: justin <justin@comma.ai>
pull/31595/head
Cameron Clough 2 years ago committed by GitHub
parent 5012e15aa6
commit 8e03cdfc2a
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2 changed files with 83 additions and 105 deletions
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  1. 47
      selfdrive/car/ford/interface.py
  2. 141
      selfdrive/car/ford/values.py

47
selfdrive/car/ford/interface.py
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@ -3,7 +3,7 @@ from panda import Panda
from openpilot.common.conversions import Conversions as CV
from openpilot.selfdrive.car import get_safety_config
from openpilot.selfdrive.car.ford.fordcan import CanBus
from openpilot.selfdrive.car.ford.values import CANFD_CAR, CAR, Ecu
from openpilot.selfdrive.car.ford.values import CANFD_CAR, Ecu
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
TransmissionType = car.CarParams.TransmissionType
@ -39,51 +39,6 @@ class CarInterface(CarInterfaceBase):
if candidate in CANFD_CAR:
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_CANFD
if candidate == CAR.BRONCO_SPORT_MK1:
ret.wheelbase = 2.67
ret.steerRatio = 17.7
ret.mass = 1625
elif candidate == CAR.ESCAPE_MK4:
ret.wheelbase = 2.71
ret.steerRatio = 16.7
ret.mass = 1750
elif candidate == CAR.EXPLORER_MK6:
ret.wheelbase = 3.025
ret.steerRatio = 16.8
ret.mass = 2050
elif candidate == CAR.F_150_MK14:
# required trim only on SuperCrew
ret.wheelbase = 3.69
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.MUSTANG_MACH_E_MK1:
ret.wheelbase = 2.984
ret.steerRatio = 17.0 # guess
ret.mass = 2200
elif candidate == CAR.FOCUS_MK4:
ret.wheelbase = 2.7
ret.steerRatio = 15.0
ret.mass = 1350
elif candidate == CAR.MAVERICK_MK1:
ret.wheelbase = 3.076
ret.steerRatio = 17.0
ret.mass = 1650
else:
raise ValueError(f"Unsupported car: {candidate}")
# Auto Transmission: 0x732 ECU or Gear_Shift_by_Wire_FD1
found_ecus = [fw.ecu for fw in car_fw]
if Ecu.shiftByWire in found_ecus or 0x5A in fingerprint[CAN.main] or docs:

141
selfdrive/car/ford/values.py
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@ -1,9 +1,8 @@
from collections import defaultdict
from dataclasses import dataclass
from enum import Enum, StrEnum
from dataclasses import dataclass, field
from enum import Enum
from cereal import car
from openpilot.selfdrive.car import AngleRateLimit, dbc_dict
from openpilot.selfdrive.car import AngleRateLimit, CarSpecs, dbc_dict, DbcDict, PlatformConfig, Platforms
from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column, \
Device
from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
@ -39,33 +38,11 @@ class CarControllerParams:
pass
class CAR(StrEnum):
BRONCO_SPORT_MK1 = "FORD BRONCO SPORT 1ST GEN"
ESCAPE_MK4 = "FORD ESCAPE 4TH GEN"
EXPLORER_MK6 = "FORD EXPLORER 6TH GEN"
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"
MUSTANG_MACH_E_MK1 = "FORD MUSTANG MACH-E 1ST GEN"
CANFD_CAR = {CAR.F_150_MK14, CAR.F_150_LIGHTNING_MK1, CAR.MUSTANG_MACH_E_MK1}
class RADAR:
DELPHI_ESR = 'ford_fusion_2018_adas'
DELPHI_MRR = 'FORD_CADS'
DBC: dict[str, dict[str, str]] = defaultdict(lambda: dbc_dict("ford_lincoln_base_pt", RADAR.DELPHI_MRR))
# 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)
DBC[CAR.MUSTANG_MACH_E_MK1] = dbc_dict("ford_lincoln_base_pt", None)
class Footnote(Enum):
FOCUS = CarFootnote(
"Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in " +
@ -86,39 +63,82 @@ class FordCarInfo(CarInfo):
self.car_parts = CarParts([Device.threex, harness])
CAR_INFO: dict[str, CarInfo | list[CarInfo]] = {
CAR.BRONCO_SPORT_MK1: FordCarInfo("Ford Bronco Sport 2021-22"),
CAR.ESCAPE_MK4: [
FordCarInfo("Ford Escape 2020-22"),
FordCarInfo("Ford Escape Hybrid 2020-22"),
FordCarInfo("Ford Escape Plug-in Hybrid 2020-22"),
FordCarInfo("Ford Kuga 2020-22", "Adaptive Cruise Control with Lane Centering"),
FordCarInfo("Ford Kuga Hybrid 2020-22", "Adaptive Cruise Control with Lane Centering"),
FordCarInfo("Ford Kuga Plug-in Hybrid 2020-22", "Adaptive Cruise Control with Lane Centering"),
],
CAR.EXPLORER_MK6: [
FordCarInfo("Ford Explorer 2020-23"),
FordCarInfo("Ford Explorer Hybrid 2020-23"), # Limited and Platinum only
FordCarInfo("Lincoln Aviator 2020-23", "Co-Pilot360 Plus"),
FordCarInfo("Lincoln Aviator Plug-in Hybrid 2020-23", "Co-Pilot360 Plus"), # Grand Touring only
],
CAR.F_150_MK14: [
FordCarInfo("Ford F-150 2023", "Co-Pilot360 Active 2.0"),
FordCarInfo("Ford F-150 Hybrid 2023", "Co-Pilot360 Active 2.0"),
],
CAR.F_150_LIGHTNING_MK1: FordCarInfo("Ford F-150 Lightning 2021-23", "Co-Pilot360 Active 2.0"),
CAR.MUSTANG_MACH_E_MK1: FordCarInfo("Ford Mustang Mach-E 2021-23", "Co-Pilot360 Active 2.0"),
CAR.FOCUS_MK4: [
FordCarInfo("Ford Focus 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS]),
FordCarInfo("Ford Focus Hybrid 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS]), # mHEV only
],
CAR.MAVERICK_MK1: [
FordCarInfo("Ford Maverick 2022", "LARIAT Luxury"),
FordCarInfo("Ford Maverick Hybrid 2022", "LARIAT Luxury"),
FordCarInfo("Ford Maverick 2023", "Co-Pilot360 Assist"),
FordCarInfo("Ford Maverick Hybrid 2023", "Co-Pilot360 Assist"),
],
}
@dataclass
class FordPlatformConfig(PlatformConfig):
dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('ford_lincoln_base_pt', RADAR.DELPHI_MRR))
class CAR(Platforms):
BRONCO_SPORT_MK1 = FordPlatformConfig(
"FORD BRONCO SPORT 1ST GEN",
FordCarInfo("Ford Bronco Sport 2021-22"),
specs=CarSpecs(mass=1625, wheelbase=2.67, steerRatio=17.7),
)
ESCAPE_MK4 = FordPlatformConfig(
"FORD ESCAPE 4TH GEN",
[
FordCarInfo("Ford Escape 2020-22"),
FordCarInfo("Ford Escape Hybrid 2020-22"),
FordCarInfo("Ford Escape Plug-in Hybrid 2020-22"),
FordCarInfo("Ford Kuga 2020-22", "Adaptive Cruise Control with Lane Centering"),
FordCarInfo("Ford Kuga Hybrid 2020-22", "Adaptive Cruise Control with Lane Centering"),
FordCarInfo("Ford Kuga Plug-in Hybrid 2020-22", "Adaptive Cruise Control with Lane Centering"),
],
specs=CarSpecs(mass=1750, wheelbase=2.71, steerRatio=16.7),
)
EXPLORER_MK6 = FordPlatformConfig(
"FORD EXPLORER 6TH GEN",
[
FordCarInfo("Ford Explorer 2020-23"),
FordCarInfo("Ford Explorer Hybrid 2020-23"), # Limited and Platinum only
FordCarInfo("Lincoln Aviator 2020-23", "Co-Pilot360 Plus"),
FordCarInfo("Lincoln Aviator Plug-in Hybrid 2020-23", "Co-Pilot360 Plus"), # Grand Touring only
],
specs=CarSpecs(mass=2050, wheelbase=3.025, steerRatio=16.8),
)
F_150_MK14 = FordPlatformConfig(
"FORD F-150 14TH GEN",
[
FordCarInfo("Ford F-150 2023", "Co-Pilot360 Active 2.0"),
FordCarInfo("Ford F-150 Hybrid 2023", "Co-Pilot360 Active 2.0"),
],
dbc_dict=dbc_dict('ford_lincoln_base_pt', None),
specs=CarSpecs(mass=2000, wheelbase=3.69, steerRatio=17.0),
)
F_150_LIGHTNING_MK1 = FordPlatformConfig(
"FORD F-150 LIGHTNING 1ST GEN",
FordCarInfo("Ford F-150 Lightning 2021-23", "Co-Pilot360 Active 2.0"),
dbc_dict=dbc_dict('ford_lincoln_base_pt', None),
specs=CarSpecs(mass=2948, wheelbase=3.70, steerRatio=16.9),
)
FOCUS_MK4 = FordPlatformConfig(
"FORD FOCUS 4TH GEN",
[
FordCarInfo("Ford Focus 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS]),
FordCarInfo("Ford Focus Hybrid 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS]), # mHEV only
],
specs=CarSpecs(mass=1350, wheelbase=2.7, steerRatio=15.0),
)
MAVERICK_MK1 = FordPlatformConfig(
"FORD MAVERICK 1ST GEN",
[
FordCarInfo("Ford Maverick 2022", "LARIAT Luxury"),
FordCarInfo("Ford Maverick Hybrid 2022", "LARIAT Luxury"),
FordCarInfo("Ford Maverick 2023", "Co-Pilot360 Assist"),
FordCarInfo("Ford Maverick Hybrid 2023", "Co-Pilot360 Assist"),
],
specs=CarSpecs(mass=1650, wheelbase=3.076, steerRatio=17.0),
)
MUSTANG_MACH_E_MK1 = FordPlatformConfig(
"FORD MUSTANG MACH-E 1ST GEN",
FordCarInfo("Ford Mustang Mach-E 2021-23", "Co-Pilot360 Active 2.0"),
dbc_dict=dbc_dict('ford_lincoln_base_pt', None),
specs=CarSpecs(mass=2200, wheelbase=2.984, steerRatio=17.0), # TODO: check steer ratio
)
CANFD_CAR = {CAR.F_150_MK14, CAR.F_150_LIGHTNING_MK1, CAR.MUSTANG_MACH_E_MK1}
FW_QUERY_CONFIG = FwQueryConfig(
requests=[
@ -142,3 +162,6 @@ FW_QUERY_CONFIG = FwQueryConfig(
(Ecu.shiftByWire, 0x732, None),
],
)
CAR_INFO = CAR.create_carinfo_map()
DBC = CAR.create_dbc_map()

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