Ram 2500 + 3500 HD support (#25372)

* Ram HD Init

* Update selfdrive/car/torque_data/override.yaml

* Revert FW for 1500

* little cleanup plus test route

* bump panda

* revert 1500 changes

* bump panda

* same error max

* dashcam + cleanup

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

release/files_common

@@ -491,6 +491,7 @@ opendbc/can/parser_pyx.pyx
 
 opendbc/comma_body.dbc
 
+opendbc/chrysler_ram_hd_generated.dbc
 opendbc/chrysler_ram_dt_generated.dbc
 opendbc/chrysler_pacifica_2017_hybrid_generated.dbc
 opendbc/chrysler_pacifica_2017_hybrid_private_fusion.dbc

selfdrive/car/chrysler/interface.py

@@ -2,7 +2,7 @@
 from cereal import car
 from panda import Panda
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
-from selfdrive.car.chrysler.values import CAR, DBC, RAM_CARS
+from selfdrive.car.chrysler.values import CAR, DBC, RAM_HD, RAM_DT
 from selfdrive.car.interfaces import CarInterfaceBase
 
 
@@ -12,14 +12,20 @@ class CarInterface(CarInterfaceBase):
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
     ret.carName = "chrysler"
 
-    ret.radarOffCan = DBC[candidate]['radar'] is None
+    ret.dashcamOnly = candidate in RAM_HD
 
-    param = Panda.FLAG_CHRYSLER_RAM_DT if candidate in RAM_CARS else None
-    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.chrysler, param)]
+    ret.radarOffCan = DBC[candidate]['radar'] is None
 
     ret.steerActuatorDelay = 0.1
     ret.steerLimitTimer = 0.4
 
+    # safety config
+    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.chrysler)]
+    if candidate in RAM_HD:
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_CHRYSLER_RAM_HD
+    elif candidate in RAM_DT:
+      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.
@@ -47,18 +53,24 @@ class CarInterface(CarInterfaceBase):
     # Ram
     elif candidate == CAR.RAM_1500:
       ret.steerActuatorDelay = 0.2
-
       ret.wheelbase = 3.88
       ret.steerRatio = 16.3
       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 in (b"68312176AE", b"68312176AG", b"68273275AG"):
             ret.minSteerSpeed = 0.
 
+    elif candidate == CAR.RAM_HD:
+      ret.steerActuatorDelay = 0.2
+      ret.wheelbase = 3.785
+      ret.steerRatio = 15.61
+      ret.mass = 3405. + STD_CARGO_KG
+      ret.minSteerSpeed = 16
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, 1.0, False)
+
     else:
       raise ValueError(f"Unsupported car: {candidate}")
 

selfdrive/car/chrysler/values.py

@@ -22,23 +22,30 @@ class CAR:
 
   # Ram
   RAM_1500 = "RAM 1500 5TH GEN"
+  RAM_HD = "RAM HD 5TH GEN"
 
 
 class CarControllerParams:
   def __init__(self, CP):
-    self.STEER_MAX = 261  # higher than this faults the EPS on Chrysler/Jeep. Ram DT allows more
     self.STEER_ERROR_MAX = 80
-
-    if CP.carFingerprint in RAM_CARS:
+    if CP.carFingerprint in RAM_HD:
+      self.STEER_DELTA_UP = 14
+      self.STEER_DELTA_DOWN = 14
+      self.STEER_MAX = 361  # higher than this faults the EPS
+    elif CP.carFingerprint in RAM_DT:
       self.STEER_DELTA_UP = 6
       self.STEER_DELTA_DOWN = 6
+      self.STEER_MAX = 261  # EPS allows more, up to 350?
     else:
       self.STEER_DELTA_UP = 3
       self.STEER_DELTA_DOWN = 3
+      self.STEER_MAX = 261  # higher than this faults the EPS
 
 STEER_THRESHOLD = 120
 
-RAM_CARS = {CAR.RAM_1500, }
+RAM_DT = {CAR.RAM_1500, }
+RAM_HD = {CAR.RAM_HD, }
+RAM_CARS = RAM_DT | RAM_HD
 
 @dataclass
 class ChryslerCarInfo(CarInfo):
@@ -57,6 +64,10 @@ CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
   CAR.JEEP_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"),
   CAR.JEEP_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),
   CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-22", harness=Harness.ram),
+  CAR.RAM_HD: [
+    ChryslerCarInfo("Ram 2500 2020-22", harness=Harness.ram),
+    ChryslerCarInfo("Ram 3500 2020-22", harness=Harness.ram),
+  ],
 }
 
 # Unique CAN messages:
@@ -177,6 +188,41 @@ FW_VERSIONS = {
       b'68500483AB',
     ],
   },
+
+  CAR.RAM_HD: {
+    (Ecu.combinationMeter, 0x742, None): [
+      b'68361606AH',
+      b'68492693AD',
+    ],
+    (Ecu.srs, 0x744, None): [
+      b'68399794AC',
+      b'68428503AA',
+      b'68428505AA',
+    ],
+    (Ecu.esp, 0x747, None): [
+      b'68334977AH',
+      b'68504022AB',
+      b'68530686AB',
+    ],
+    (Ecu.fwdRadar, 0x753, None): [
+      b'04672895AB',
+      b'56029827AG',
+      b'68484694AE',
+    ],
+    (Ecu.eps, 0x761, None): [
+      b'68421036AC',
+      b'68507906AB',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'52421132AF',
+      b'M2370131MB',
+      b'M2421132MB',
+    ],
+    (Ecu.gateway, 0x18DACBF1, None): [
+      b'68488419AB',
+      b'68535476AB',
+    ],
+  },
 }
 
 DBC = {
@@ -188,4 +234,5 @@ DBC = {
   CAR.JEEP_CHEROKEE: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
   CAR.JEEP_CHEROKEE_2019: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
   CAR.RAM_1500: dbc_dict('chrysler_ram_dt_generated', None),
+  CAR.RAM_HD: dbc_dict('chrysler_ram_hd_generated', None),
 }

selfdrive/car/tests/routes.py

@@ -39,6 +39,7 @@ routes = [
   TestRoute("8190c7275a24557b|2020-01-29--08-33-58", CHRYSLER.PACIFICA_2019_HYBRID),
   TestRoute("3d84727705fecd04|2021-05-25--08-38-56", CHRYSLER.PACIFICA_2020),
   TestRoute("221c253375af4ee9|2022-06-15--18-38-24", CHRYSLER.RAM_1500),
+  TestRoute("8fb5eabf914632ae|2022-08-04--17-28-53", CHRYSLER.RAM_HD, segment=6),
 
   #TestRoute("f1b4c567731f4a1b|2018-04-30--10-15-35", FORD.FUSION),
 

selfdrive/car/torque_data/override.yaml

@@ -22,6 +22,7 @@ COMMA BODY: [.nan, 1000, .nan]
 # Totally new cars
 KIA EV6 2022: [3.5, 2.5, 0.0]
 RAM 1500 5TH GEN: [2.0, 2.0, 0.0]
+RAM HD 5TH GEN: [1.4, 1.4, 0.0]
 SUBARU OUTBACK 6TH GEN: [2.3, 2.3, 0.11]
 
 # Dashcam or fallback configured as ideal car