Ford: Add Mach-E (#30691)

* Update interface.py

* Update values.py

* Update routes.py

* Update override.yaml

* Update selfdrive/car/ford/values.py

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

* Update interface.py

* order

* only have dongles for these

42f08a29af3699f4
83a4e056c7072678

from https://github.com/commaai/openpilot/pull/30444

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: 26a67641d2

selfdrive/car/ford/interface.py

@@ -62,6 +62,11 @@ class CarInterface(CarInterfaceBase):
       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

selfdrive/car/ford/values.py

@@ -48,9 +48,10 @@ class CAR(StrEnum):
   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}
+CANFD_CAR = {CAR.F_150_MK14, CAR.F_150_LIGHTNING_MK1, CAR.MUSTANG_MACH_E_MK1}
 
 
 class RADAR:
@@ -63,6 +64,7 @@ DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict("ford_lincoln_base
 # 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):
@@ -97,6 +99,7 @@ CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
   ],
   CAR.F_150_MK14: FordCarInfo("Ford F-150 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]),
   CAR.MAVERICK_MK1: [
     FordCarInfo("Ford Maverick 2022", "LARIAT Luxury"),
@@ -240,7 +243,7 @@ FW_VERSIONS = {
       b'PL3A-14C204-BRB\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
-   CAR.F_150_LIGHTNING_MK1: {
+  CAR.F_150_LIGHTNING_MK1: {
     (Ecu.abs, 0x760, None): [
       b'PL38-2D053-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
@@ -254,6 +257,25 @@ FW_VERSIONS = {
       b'NL3A-14C204-BAR\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
+  CAR.MUSTANG_MACH_E_MK1: {
+    (Ecu.eps, 0x730, None): [
+      b'LJ9C-14D003-AM\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LJ9C-14D003-CC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x760, None): [
+      b'LK9C-2D053-CK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x764, None): [
+      b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x706, None): [
+      b'ML3T-14H102-ABS\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7E0, None): [
+      b'NJ98-14C204-VH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'MJ98-14C204-BBS\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+  },
   CAR.FOCUS_MK4: {
     (Ecu.eps, 0x730, None): [
       b'JX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',

selfdrive/car/tests/routes.py

@@ -53,6 +53,7 @@ routes = [
   CarTestRoute("e886087f430e7fe7|2023-06-16--23-06-36", FORD.FOCUS_MK4),
   CarTestRoute("bd37e43731e5964b|2023-04-30--10-42-26", FORD.MAVERICK_MK1),
   CarTestRoute("112e4d6e0cad05e1|2023-11-14--08-21-43", FORD.F_150_LIGHTNING_MK1),
+  CarTestRoute("83a4e056c7072678|2023-11-13--16-51-33", FORD.MUSTANG_MACH_E_MK1),
   #TestRoute("f1b4c567731f4a1b|2018-04-30--10-15-35", FORD.FUSION),
 
   CarTestRoute("7cc2a8365b4dd8a9|2018-12-02--12-10-44", GM.ACADIA),

selfdrive/car/torque_data/override.yaml

@@ -27,6 +27,7 @@ FORD F-150 14TH GEN: [.nan, 1.5, .nan]
 FORD FOCUS 4TH GEN: [.nan, 1.5, .nan]
 FORD MAVERICK 1ST GEN: [.nan, 1.5, .nan]
 FORD F-150 LIGHTNING 1ST GEN: [.nan, 1.5, .nan]
+FORD MUSTANG MACH-E 1ST GEN: [.nan, 1.5, .nan]
 ###
 
 # No steering wheel