From d410206f14fc7a0207464905a1ff2f684bd3ed39 Mon Sep 17 00:00:00 2001
From: Cameron Clough <cameronjclough@gmail.com>
Date: Wed, 25 Jan 2023 20:56:03 -0800
Subject: [PATCH] Ford: add Bronco Sport 2021-22 (#27092)

* cleanup

* add Ford Bronco Sport 2021 fw

VIN: 3FMCR9B61MRA17853

62241b0c7fea4589|2022-10-25--13-40-05--0

* add test route

* add Ford Bronco Sport 2022 fw

VIN: 3FMCR9B69NRD15990

54827bf84c38b14f|2023-01-23--14-58-23--0
---
 selfdrive/car/ford/interface.py         | 12 +++++++++---
 selfdrive/car/ford/values.py            | 26 +++++++++++++++++++++++++
 selfdrive/car/tests/routes.py           |  1 +
 selfdrive/car/torque_data/override.yaml |  1 +
 4 files changed, 37 insertions(+), 3 deletions(-)

diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
index b0e97677b5..3139aec9b1 100644
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -13,15 +13,21 @@ class CarInterface(CarInterfaceBase):
   @staticmethod
   def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
     ret.carName = "ford"
-    ret.dashcamOnly = True
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.ford)]
 
-    # Angle-based steering
+    # These cars are dashcam only until the port is finished
+    ret.dashcamOnly = True
+
     ret.steerControlType = car.CarParams.SteerControlType.angle
     ret.steerActuatorDelay = 0.4
     ret.steerLimitTimer = 1.0
 
-    if candidate == CAR.ESCAPE_MK4:
+    if candidate == CAR.BRONCO_SPORT_MK1:
+      ret.wheelbase = 2.67
+      ret.steerRatio = 17.7  # learned
+      ret.mass = 1625 + STD_CARGO_KG
+
+    elif candidate == CAR.ESCAPE_MK4:
       ret.wheelbase = 2.71
       ret.steerRatio = 14.3  # Copied from Focus
       ret.mass = 1750 + STD_CARGO_KG
diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py
index 87cb98878d..0124a9134f 100644
--- a/selfdrive/car/ford/values.py
+++ b/selfdrive/car/ford/values.py
@@ -40,6 +40,7 @@ class CANBUS:
 
 
 class CAR:
+  BRONCO_SPORT_MK1 = "FORD BRONCO SPORT 1ST GEN"
   ESCAPE_MK4 = "FORD ESCAPE 4TH GEN"
   EXPLORER_MK6 = "FORD EXPLORER 6TH GEN"
   FOCUS_MK4 = "FORD FOCUS 4TH GEN"
@@ -60,6 +61,7 @@ class FordCarInfo(CarInfo):
 
 
 CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
+  CAR.BRONCO_SPORT_MK1: FordCarInfo("Ford Bronco Sport 2021-22"),
   CAR.ESCAPE_MK4: [
     FordCarInfo("Ford Escape 2020-21"),
     FordCarInfo("Ford Kuga 2020-21", "Driver Assistance Pack"),
@@ -85,6 +87,30 @@ FW_QUERY_CONFIG = FwQueryConfig(
 )
 
 FW_VERSIONS = {
+  CAR.BRONCO_SPORT_MK1: {
+    (Ecu.eps, 0x730, None): [
+      b'LX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LX6C-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x760, None): [
+      b'LX6C-2D053-RD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LX6C-2D053-RE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x764, None): [
+      b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x706, None): [
+      b'M1PT-14F397-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7E0, None): [
+      b'M1PA-14C204-GF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'N1PA-14C204-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.shiftByWire, 0x732, None): [
+      b'LX6P-14G395-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PZ1P-14G395-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+  },
   CAR.ESCAPE_MK4: {
     (Ecu.eps, 0x730, None): [
       b'LX6C-14D003-AF\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 29cea9c030..3e0a95a38f 100644
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -42,6 +42,7 @@ routes = [
   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("54827bf84c38b14f|2023-01-25--14-14-11", FORD.BRONCO_SPORT_MK1),
   CarTestRoute("62241b0c7fea4589|2022-09-01--15-32-49", FORD.EXPLORER_MK6),
   #TestRoute("f1b4c567731f4a1b|2018-04-30--10-15-35", FORD.FUSION),
 
diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml
index 6238c6ff99..1506b4176f 100644
--- a/selfdrive/car/torque_data/override.yaml
+++ b/selfdrive/car/torque_data/override.yaml
@@ -12,6 +12,7 @@ TESLA AP1 MODEL S: [.nan, 2.5, .nan]
 TESLA AP2 MODEL S: [.nan, 2.5, .nan]
 
 # Guess
+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]