import copy import re from dataclasses import dataclass, field, replace from enum import Enum, IntFlag import panda.python.uds as uds from cereal import car from openpilot.selfdrive.car import AngleRateLimit, CarSpecs, dbc_dict, DbcDict, PlatformConfig, Platforms from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column, \ Device from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, LiveFwVersions, OfflineFwVersions, Request, StdQueries, p16 Ecu = car.CarParams.Ecu class CarControllerParams: STEER_STEP = 5 # LateralMotionControl, 20Hz LKA_STEP = 3 # Lane_Assist_Data1, 33Hz ACC_CONTROL_STEP = 2 # ACCDATA, 50Hz LKAS_UI_STEP = 100 # IPMA_Data, 1Hz ACC_UI_STEP = 20 # ACCDATA_3, 5Hz BUTTONS_STEP = 5 # Steering_Data_FD1, 10Hz, but send twice as fast CURVATURE_MAX = 0.02 # Max curvature for steering command, m^-1 STEER_DRIVER_ALLOWANCE = 1.0 # Driver intervention threshold, Nm # Curvature rate limits # The curvature signal is limited to 0.003 to 0.009 m^-1/sec by the EPS depending on speed and direction # Limit to ~2 m/s^3 up, ~3 m/s^3 down at 75 mph # Worst case, the low speed limits will allow 4.3 m/s^3 up, 4.9 m/s^3 down at 75 mph ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.0002, 0.0001]) ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.000225, 0.00015]) CURVATURE_ERROR = 0.002 # ~6 degrees at 10 m/s, ~10 degrees at 35 m/s ACCEL_MAX = 2.0 # m/s^2 max acceleration ACCEL_MIN = -3.5 # m/s^2 max deceleration MIN_GAS = -0.5 INACTIVE_GAS = -5.0 def __init__(self, CP): pass class FordFlags(IntFlag): # Static flags CANFD = 1 class RADAR: DELPHI_ESR = 'ford_fusion_2018_adas' DELPHI_MRR = 'FORD_CADS' class Footnote(Enum): FOCUS = CarFootnote( "Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in " + "North and South America/Southeast Asia.", Column.MODEL, ) @dataclass class FordCarDocs(CarDocs): package: str = "Co-Pilot360 Assist+" hybrid: bool = False plug_in_hybrid: bool = False def init_make(self, CP: car.CarParams): harness = CarHarness.ford_q4 if CP.flags & FordFlags.CANFD else CarHarness.ford_q3 if CP.carFingerprint in (CAR.FORD_BRONCO_SPORT_MK1, CAR.FORD_MAVERICK_MK1, CAR.FORD_F_150_MK14, CAR.FORD_F_150_LIGHTNING_MK1): self.car_parts = CarParts([Device.threex_angled_mount, harness]) else: self.car_parts = CarParts([Device.threex, harness]) @dataclass class FordPlatformConfig(PlatformConfig): dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('ford_lincoln_base_pt', RADAR.DELPHI_MRR)) def init(self): for car_docs in list(self.car_docs): if car_docs.hybrid: name = f"{car_docs.make} {car_docs.model} Hybrid {car_docs.years}" self.car_docs.append(replace(copy.deepcopy(car_docs), name=name)) if car_docs.plug_in_hybrid: name = f"{car_docs.make} {car_docs.model} Plug-in Hybrid {car_docs.years}" self.car_docs.append(replace(copy.deepcopy(car_docs), name=name)) @dataclass class FordCANFDPlatformConfig(FordPlatformConfig): dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('ford_lincoln_base_pt', None)) def init(self): super().init() self.flags |= FordFlags.CANFD class CAR(Platforms): FORD_BRONCO_SPORT_MK1 = FordPlatformConfig( [FordCarDocs("Ford Bronco Sport 2021-23")], CarSpecs(mass=1625, wheelbase=2.67, steerRatio=17.7), ) FORD_ESCAPE_MK4 = FordPlatformConfig( [ FordCarDocs("Ford Escape 2020-22", hybrid=True, plug_in_hybrid=True), FordCarDocs("Ford Kuga 2020-22", "Adaptive Cruise Control with Lane Centering", hybrid=True, plug_in_hybrid=True), ], CarSpecs(mass=1750, wheelbase=2.71, steerRatio=16.7), ) FORD_EXPLORER_MK6 = FordPlatformConfig( [ FordCarDocs("Ford Explorer 2020-23", hybrid=True), # Hybrid: Limited and Platinum only FordCarDocs("Lincoln Aviator 2020-23", "Co-Pilot360 Plus", plug_in_hybrid=True), # Hybrid: Grand Touring only ], CarSpecs(mass=2050, wheelbase=3.025, steerRatio=16.8), ) FORD_F_150_MK14 = FordCANFDPlatformConfig( [FordCarDocs("Ford F-150 2022-23", "Co-Pilot360 Active 2.0", hybrid=True)], CarSpecs(mass=2000, wheelbase=3.69, steerRatio=17.0), ) FORD_F_150_LIGHTNING_MK1 = FordCANFDPlatformConfig( [FordCarDocs("Ford F-150 Lightning 2021-23", "Co-Pilot360 Active 2.0")], CarSpecs(mass=2948, wheelbase=3.70, steerRatio=16.9), ) FORD_FOCUS_MK4 = FordPlatformConfig( [FordCarDocs("Ford Focus 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS], hybrid=True)], # mHEV only CarSpecs(mass=1350, wheelbase=2.7, steerRatio=15.0), ) FORD_MAVERICK_MK1 = FordPlatformConfig( [ FordCarDocs("Ford Maverick 2022", "LARIAT Luxury", hybrid=True), FordCarDocs("Ford Maverick 2023-24", "Co-Pilot360 Assist", hybrid=True), ], CarSpecs(mass=1650, wheelbase=3.076, steerRatio=17.0), ) FORD_MUSTANG_MACH_E_MK1 = FordCANFDPlatformConfig( [FordCarDocs("Ford Mustang Mach-E 2021-23", "Co-Pilot360 Active 2.0")], CarSpecs(mass=2200, wheelbase=2.984, steerRatio=17.0), # TODO: check steer ratio ) FORD_RANGER_MK2 = FordCANFDPlatformConfig( [FordCarDocs("Ford Ranger 2024", "Adaptive Cruise Control with Lane Centering")], CarSpecs(mass=2000, wheelbase=3.27, steerRatio=17.0), ) # FW response contains a combined software and part number # A-Z except no I, O or W # e.g. NZ6A-14C204-AAA # 1222-333333-444 # 1 = Model year hint (approximates model year/generation) # 2 = Platform hint # 3 = Part number # 4 = Software version FW_ALPHABET = b'A-HJ-NP-VX-Z' FW_PATTERN = re.compile(b'^(?P[' + FW_ALPHABET + b'])' + b'(?P[0-9' + FW_ALPHABET + b']{3})-' + b'(?P[0-9' + FW_ALPHABET + b']{5,6})-' + b'(?P[' + FW_ALPHABET + b']{2,})\x00*$') def get_platform_codes(fw_versions: list[bytes] | set[bytes]) -> set[tuple[bytes, bytes]]: codes = set() for fw in fw_versions: match = FW_PATTERN.match(fw) if match is not None: codes.add((match.group('platform_hint'), match.group('model_year_hint'))) return codes def match_fw_to_car_fuzzy(live_fw_versions: LiveFwVersions, vin: str, offline_fw_versions: OfflineFwVersions) -> set[str]: candidates: set[str] = set() for candidate, fws in offline_fw_versions.items(): # Keep track of ECUs which pass all checks (platform hint, within model year hint range) valid_found_ecus = set() valid_expected_ecus = {ecu[1:] for ecu in fws if ecu[0] in PLATFORM_CODE_ECUS} for ecu, expected_versions in fws.items(): addr = ecu[1:] # Only check ECUs expected to have platform codes if ecu[0] not in PLATFORM_CODE_ECUS: continue # Expected platform codes & model year hints codes = get_platform_codes(expected_versions) expected_platform_codes = {code for code, _ in codes} expected_model_year_hints = {model_year_hint for _, model_year_hint in codes} # Found platform codes & model year hints codes = get_platform_codes(live_fw_versions.get(addr, set())) found_platform_codes = {code for code, _ in codes} found_model_year_hints = {model_year_hint for _, model_year_hint in codes} # Check platform code matches for any found versions if not any(found_platform_code in expected_platform_codes for found_platform_code in found_platform_codes): break # Check any model year hint within range in the database. Note that some models have more than one # platform code per ECU which we don't consider as separate ranges if not any(min(expected_model_year_hints) <= found_model_year_hint <= max(expected_model_year_hints) for found_model_year_hint in found_model_year_hints): break valid_found_ecus.add(addr) # If all live ECUs pass all checks for candidate, add it as a match if valid_expected_ecus.issubset(valid_found_ecus): candidates.add(candidate) return candidates # All of these ECUs must be present and are expected to have platform codes we can match PLATFORM_CODE_ECUS = (Ecu.abs, Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps) DATA_IDENTIFIER_FORD_ASBUILT = 0xDE00 ASBUILT_BLOCKS: list[tuple[int, list]] = [ (1, [Ecu.debug, Ecu.fwdCamera, Ecu.eps]), (2, [Ecu.abs, Ecu.debug, Ecu.eps]), (3, [Ecu.abs, Ecu.debug, Ecu.eps]), (4, [Ecu.debug, Ecu.fwdCamera]), (5, [Ecu.debug]), (6, [Ecu.debug]), (7, [Ecu.debug]), (8, [Ecu.debug]), (9, [Ecu.debug]), (16, [Ecu.debug, Ecu.fwdCamera]), (18, [Ecu.fwdCamera]), (20, [Ecu.fwdCamera]), (21, [Ecu.fwdCamera]), ] def ford_asbuilt_block_request(block_id: int): return bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + p16(DATA_IDENTIFIER_FORD_ASBUILT + block_id - 1) def ford_asbuilt_block_response(block_id: int): return bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + p16(DATA_IDENTIFIER_FORD_ASBUILT + block_id - 1) FW_QUERY_CONFIG = FwQueryConfig( requests=[ # CAN and CAN FD queries are combined. # FIXME: For CAN FD, ECUs respond with frames larger than 8 bytes on the powertrain bus Request( [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST], [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE], whitelist_ecus=[Ecu.abs, Ecu.debug, Ecu.engine, Ecu.eps, Ecu.fwdCamera, Ecu.fwdRadar, Ecu.shiftByWire], logging=True, ), Request( [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST], [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE], whitelist_ecus=[Ecu.abs, Ecu.debug, Ecu.engine, Ecu.eps, Ecu.fwdCamera, Ecu.fwdRadar, Ecu.shiftByWire], bus=0, auxiliary=True, ), *[Request( [StdQueries.TESTER_PRESENT_REQUEST, ford_asbuilt_block_request(block_id)], [StdQueries.TESTER_PRESENT_RESPONSE, ford_asbuilt_block_response(block_id)], whitelist_ecus=ecus, bus=0, logging=True, ) for block_id, ecus in ASBUILT_BLOCKS], ], extra_ecus=[ (Ecu.engine, 0x7e0, None), # Powertrain Control Module # Note: We are unlikely to get a response from behind the gateway (Ecu.shiftByWire, 0x732, None), # Gear Shift Module (Ecu.debug, 0x7d0, None), # Accessory Protocol Interface Module ], # Custom fuzzy fingerprinting function using platform and model year hints match_fw_to_car_fuzzy=match_fw_to_car_fuzzy, ) DBC = CAR.create_dbc_map()