From fbf2e531982f2671f57eb3bcd4175e58fd3e059b Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 26 Jan 2023 00:48:59 -0800
Subject: [PATCH] Ram 1500: more generic EPS steer to zero check (#27086)

more generic check
old-commit-hash: 4d231a9d96a54ba0ed163e4aa487876f811a97cb
---
 selfdrive/car/chrysler/interface.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py
index 2f058165ac..c8504d6fb1 100755
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@@ -58,9 +58,9 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 2493. + STD_CARGO_KG
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
       ret.minSteerSpeed = 14.5
-      for fw in car_fw:
-        if fw.ecu == 'eps' and fw.fwVersion.startswith((b"68312176", b"68273275")):
-          ret.minSteerSpeed = 0.
+      # Older EPS FW allow steer to zero
+      if any(fw.ecu == 'eps' and fw.fwVersion[:4] <= b"6831" for fw in car_fw):
+        ret.minSteerSpeed = 0.
 
     elif candidate == CAR.RAM_HD:
       ret.steerActuatorDelay = 0.2