From cf69653440a308c6e7abb7d56847b389b64c819f Mon Sep 17 00:00:00 2001
From: Cameron Clough <cameronjclough@gmail.com>
Date: Wed, 25 Jan 2023 21:18:35 -0800
Subject: [PATCH] Ford: add Maverick 2022 (#27093)

* Ford: add Maverick 2022

VIN: 3FTTW8E36NRA74219

a6427650bff6b419|2022-09-19--10-51-30

* Ford: add missing Maverick 2022 FW

VIN: 3FTTW8F98NRA75889

c845bd8c366e6f3d|2022-12-03--18-57-00--0

* steer ratio
---
 selfdrive/car/ford/interface.py         |  5 +++++
 selfdrive/car/ford/values.py            | 23 +++++++++++++++++++++++
 selfdrive/car/tests/routes.py           |  1 +
 selfdrive/car/torque_data/override.yaml |  1 +
 4 files changed, 30 insertions(+)

diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
index 3139aec9b1..ce4e3e30aa 100644
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -42,6 +42,11 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 13.8  # learned
       ret.mass = 1350 + STD_CARGO_KG
 
+    elif candidate == CAR.MAVERICK_MK1:
+      ret.wheelbase = 3.076
+      ret.steerRatio = 17.0
+      ret.mass = 1650 + STD_CARGO_KG
+
     else:
       raise ValueError(f"Unsupported car: {candidate}")
 
diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py
index 0124a9134f..1348073801 100644
--- a/selfdrive/car/ford/values.py
+++ b/selfdrive/car/ford/values.py
@@ -44,6 +44,7 @@ class CAR:
   ESCAPE_MK4 = "FORD ESCAPE 4TH GEN"
   EXPLORER_MK6 = "FORD EXPLORER 6TH GEN"
   FOCUS_MK4 = "FORD FOCUS 4TH GEN"
+  MAVERICK_MK1 = "FORD MAVERICK 1ST GEN"
 
 
 class RADAR:
@@ -68,6 +69,7 @@ CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
   ],
   CAR.EXPLORER_MK6: FordCarInfo("Ford Explorer 2020-22"),
   CAR.FOCUS_MK4: FordCarInfo("Ford Focus EU 2019", "Driver Assistance Pack"),
+  CAR.MAVERICK_MK1: FordCarInfo("Ford Maverick 2022", "Co-Pilot360 Assist"),
 }
 
 FW_QUERY_CONFIG = FwQueryConfig(
@@ -186,4 +188,25 @@ FW_VERSIONS = {
     (Ecu.shiftByWire, 0x732, None): [
     ],
   },
+  CAR.MAVERICK_MK1: {
+    (Ecu.eps, 0x730, None): [
+      b'NZ6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x760, None): [
+      b'NZ6C-2D053-AG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x764, None): [
+      b'NZ6T-14D049-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x706, None): [
+      b'NZ6T-14F397-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7E0, None): [
+      b'NZ6A-14C204-PA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'NZ6A-14C204-ZA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.shiftByWire, 0x732, None): [
+      b'NZ6P-14G395-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+  },
 }
diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index 3e0a95a38f..d1b73afcf6 100644
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -18,6 +18,7 @@ from selfdrive.car.body.values import CAR as COMMA
 non_tested_cars = [
   FORD.ESCAPE_MK4,
   FORD.FOCUS_MK4,
+  FORD.MAVERICK_MK1,
   GM.CADILLAC_ATS,
   GM.HOLDEN_ASTRA,
   GM.MALIBU,
diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml
index 1506b4176f..733aa34343 100644
--- a/selfdrive/car/torque_data/override.yaml
+++ b/selfdrive/car/torque_data/override.yaml
@@ -16,6 +16,7 @@ FORD BRONCO SPORT 1ST GEN: [.nan, 1.5, .nan]
 FORD ESCAPE 4TH GEN: [.nan, 1.5, .nan]
 FORD EXPLORER 6TH GEN: [.nan, 1.5, .nan]
 FORD FOCUS 4TH GEN: [.nan, 1.5, .nan]
+FORD MAVERICK 1ST GEN: [.nan, 1.5, .nan]
 ###
 
 # No steering wheel