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FCA: car port for Dodge Durango 2021 (#31015)

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* dodge durango

* add dodge

Co-authored-by: Shane Smiskol <shane@smiskol.com>

* add comment

* more exact

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: 78e4508e3b
pull/32199/head
Justin Newberry 2 years ago committed by GitHub
parent fd90b74ea1
commit cc42100cce
7 changed files with 44 additions and 3 deletions
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  1. 1
      RELEASES.md
  2. 3
      docs/CARS.md
  3. 30
      selfdrive/car/chrysler/fingerprints.py
  4. 5
      selfdrive/car/chrysler/interface.py
  5. 5
      selfdrive/car/chrysler/values.py
  6. 1
      selfdrive/car/tests/routes.py
  7. 2
      selfdrive/car/torque_data/substitute.toml

1
RELEASES.md
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@ -9,6 +9,7 @@ Version 0.9.6 (2024-02-XX)
* AGNOS 9
* comma body streaming and controls over WebRTC
* Improved fuzzy fingerprinting for many makes and models
* Dodge Duranago 2020-21 support
* Hyundai Staria 2023 support thanks to sunnyhaibin!
* Kia Niro Plug-in Hybrid 2022 support thanks to sunnyhaibin!
* Lexus LC 2024 support thanks to nelsonjchen!

3
docs/CARS.md
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@ -4,7 +4,7 @@
A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
# 277 Supported Cars
# 278 Supported Cars
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@ -33,6 +33,7 @@ A supported vehicle is one that just works when you install a comma device. All
|Chrysler|Pacifica Hybrid 2018|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2018">Buy Here</a></sub></details>||
|Chrysler|Pacifica Hybrid 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2019-23">Buy Here</a></sub></details>||
|comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||
|Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Dodge&model=Durango 2020-21">Buy Here</a></sub></details>||
|Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Bronco Sport 2021-22">Buy Here</a></sub></details>||
|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
|Ford|Explorer 2020-23|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Explorer 2020-23">Buy Here</a></sub></details>||

30
selfdrive/car/chrysler/fingerprints.py
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@ -612,4 +612,34 @@ FW_VERSIONS = {
b'M2421132MB',
],
},
CAR.DODGE_DURANGO: {
(Ecu.combinationMeter, 0x742, None): [
b'68454261AD',
b'68471535AE',
],
(Ecu.srs, 0x744, None): [
b'68355362AB',
b'68492238AD',
],
(Ecu.abs, 0x747, None): [
b'68408639AD',
b'68499978AB',
],
(Ecu.fwdRadar, 0x753, None): [
b'68440581AE',
b'68456722AC',
],
(Ecu.eps, 0x75a, None): [
b'68453435AA',
b'68498477AA',
],
(Ecu.engine, 0x7e0, None): [
b'05035786AE ',
b'68449476AE ',
],
(Ecu.transmission, 0x7e1, None): [
b'05035826AC',
b'68449265AC',
],
},
}

5
selfdrive/car/chrysler/interface.py
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@ -28,13 +28,13 @@ class CarInterface(CarInterfaceBase):
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
if candidate not in RAM_CARS:
# Newer FW versions standard on the following platforms, or flashed by a dealer onto older platforms have a higher minimum steering speed.
new_eps_platform = candidate in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_GRAND_CHEROKEE_2019)
new_eps_platform = candidate in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_GRAND_CHEROKEE_2019, CAR.DODGE_DURANGO)
new_eps_firmware = any(fw.ecu == 'eps' and fw.fwVersion[:4] >= b"6841" for fw in car_fw)
if new_eps_platform or new_eps_firmware:
ret.flags |= ChryslerFlags.HIGHER_MIN_STEERING_SPEED.value
# Chrysler
if candidate in (CAR.PACIFICA_2017_HYBRID, CAR.PACIFICA_2018, CAR.PACIFICA_2018_HYBRID, CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020):
if candidate in (CAR.PACIFICA_2017_HYBRID, CAR.PACIFICA_2018, CAR.PACIFICA_2018_HYBRID, CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.DODGE_DURANGO):
ret.mass = 2242.
ret.wheelbase = 3.089
ret.steerRatio = 16.2 # Pacifica Hybrid 2017
@ -80,6 +80,7 @@ class CarInterface(CarInterfaceBase):
if ret.flags & ChryslerFlags.HIGHER_MIN_STEERING_SPEED:
# TODO: allow these cars to steer down to 13 m/s if already engaged.
# TODO: Durango 2020 may be able to steer to zero once above 38 kph
ret.minSteerSpeed = 17.5 # m/s 17 on the way up, 13 on the way down once engaged.
ret.centerToFront = ret.wheelbase * 0.44

5
selfdrive/car/chrysler/values.py
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@ -23,6 +23,9 @@ class CAR(StrEnum):
PACIFICA_2018 = "CHRYSLER PACIFICA 2018"
PACIFICA_2020 = "CHRYSLER PACIFICA 2020"
# Dodge
DODGE_DURANGO = "DODGE DURANGO 2021"
# Jeep
JEEP_GRAND_CHEROKEE = "JEEP GRAND CHEROKEE V6 2018" # includes 2017 Trailhawk
JEEP_GRAND_CHEROKEE_2019 = "JEEP GRAND CHEROKEE 2019" # includes 2020 Trailhawk
@ -74,6 +77,7 @@ CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
],
CAR.JEEP_GRAND_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"),
CAR.JEEP_GRAND_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),
CAR.DODGE_DURANGO: ChryslerCarInfo("Dodge Durango 2020-21"),
CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-24", car_parts=CarParts.common([CarHarness.ram])),
CAR.RAM_HD: [
ChryslerCarInfo("Ram 2500 2020-24", car_parts=CarParts.common([CarHarness.ram])),
@ -128,6 +132,7 @@ DBC = {
CAR.PACIFICA_2020: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
CAR.PACIFICA_2018_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
CAR.PACIFICA_2019_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
CAR.DODGE_DURANGO: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
CAR.JEEP_GRAND_CHEROKEE: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
CAR.JEEP_GRAND_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),

1
selfdrive/car/tests/routes.py
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@ -46,6 +46,7 @@ routes = [
CarTestRoute("3d84727705fecd04|2021-05-25--08-38-56", CHRYSLER.PACIFICA_2020),
CarTestRoute("221c253375af4ee9|2022-06-15--18-38-24", CHRYSLER.RAM_1500),
CarTestRoute("8fb5eabf914632ae|2022-08-04--17-28-53", CHRYSLER.RAM_HD, segment=6),
CarTestRoute("3379c85aeedc8285|2023-12-07--17-49-39", CHRYSLER.DODGE_DURANGO),
CarTestRoute("54827bf84c38b14f|2023-01-25--14-14-11", FORD.BRONCO_SPORT_MK1),
CarTestRoute("f8eaaccd2a90aef8|2023-05-04--15-10-09", FORD.ESCAPE_MK4),

2
selfdrive/car/torque_data/substitute.toml
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@ -5,6 +5,8 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
"MAZDA CX-5 2022" = "MAZDA CX-9 2021"
"MAZDA CX-9" = "MAZDA CX-9 2021"
"DODGE DURANGO 2021" = "CHRYSLER PACIFICA 2020"
"TOYOTA ALPHARD 2020" = "TOYOTA SIENNA 2018"
"TOYOTA PRIUS v 2017" = "TOYOTA PRIUS 2017"
"LEXUS IS 2018" = "LEXUS NX 2018"

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