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206 lines
7.7 KiB
206 lines
7.7 KiB
import re
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from collections import defaultdict
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from dataclasses import dataclass
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from enum import Enum, StrEnum
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from typing import Dict, List, Union
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from cereal import car
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from openpilot.selfdrive.car import AngleRateLimit, dbc_dict
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from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column, \
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Device
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from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
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Ecu = car.CarParams.Ecu
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class CarControllerParams:
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STEER_STEP = 5 # LateralMotionControl, 20Hz
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LKA_STEP = 3 # Lane_Assist_Data1, 33Hz
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ACC_CONTROL_STEP = 2 # ACCDATA, 50Hz
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LKAS_UI_STEP = 100 # IPMA_Data, 1Hz
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ACC_UI_STEP = 20 # ACCDATA_3, 5Hz
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BUTTONS_STEP = 5 # Steering_Data_FD1, 10Hz, but send twice as fast
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CURVATURE_MAX = 0.02 # Max curvature for steering command, m^-1
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STEER_DRIVER_ALLOWANCE = 1.0 # Driver intervention threshold, Nm
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# Curvature rate limits
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# The curvature signal is limited to 0.003 to 0.009 m^-1/sec by the EPS depending on speed and direction
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# Limit to ~2 m/s^3 up, ~3 m/s^3 down at 75 mph
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# Worst case, the low speed limits will allow 4.3 m/s^3 up, 4.9 m/s^3 down at 75 mph
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ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.0002, 0.0001])
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ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.000225, 0.00015])
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CURVATURE_ERROR = 0.002 # ~6 degrees at 10 m/s, ~10 degrees at 35 m/s
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ACCEL_MAX = 2.0 # m/s^2 max acceleration
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ACCEL_MIN = -3.5 # m/s^2 max deceleration
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MIN_GAS = -0.5
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INACTIVE_GAS = -5.0
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def __init__(self, CP):
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pass
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class CAR(StrEnum):
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BRONCO_SPORT_MK1 = "FORD BRONCO SPORT 1ST GEN"
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ESCAPE_MK4 = "FORD ESCAPE 4TH GEN"
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EXPLORER_MK6 = "FORD EXPLORER 6TH GEN"
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F_150_MK14 = "FORD F-150 14TH GEN"
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FOCUS_MK4 = "FORD FOCUS 4TH GEN"
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MAVERICK_MK1 = "FORD MAVERICK 1ST GEN"
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F_150_LIGHTNING_MK1 = "FORD F-150 LIGHTNING 1ST GEN"
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MUSTANG_MACH_E_MK1 = "FORD MUSTANG MACH-E 1ST GEN"
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CANFD_CAR = {CAR.F_150_MK14, CAR.F_150_LIGHTNING_MK1, CAR.MUSTANG_MACH_E_MK1}
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class RADAR:
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DELPHI_ESR = 'ford_fusion_2018_adas'
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DELPHI_MRR = 'FORD_CADS'
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DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict("ford_lincoln_base_pt", RADAR.DELPHI_MRR))
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# F-150 radar is not yet supported
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DBC[CAR.F_150_MK14] = dbc_dict("ford_lincoln_base_pt", None)
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DBC[CAR.F_150_LIGHTNING_MK1] = dbc_dict("ford_lincoln_base_pt", None)
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DBC[CAR.MUSTANG_MACH_E_MK1] = dbc_dict("ford_lincoln_base_pt", None)
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class Footnote(Enum):
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FOCUS = CarFootnote(
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"Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in " +
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"North and South America/Southeast Asia.",
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Column.MODEL,
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)
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@dataclass
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class FordCarInfo(CarInfo):
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package: str = "Co-Pilot360 Assist+"
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def init_make(self, CP: car.CarParams):
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harness = CarHarness.ford_q4 if CP.carFingerprint in CANFD_CAR else CarHarness.ford_q3
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if CP.carFingerprint in (CAR.BRONCO_SPORT_MK1, CAR.MAVERICK_MK1, CAR.F_150_MK14):
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self.car_parts = CarParts([Device.threex_angled_mount, harness])
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else:
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self.car_parts = CarParts([Device.threex, harness])
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CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
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CAR.BRONCO_SPORT_MK1: FordCarInfo("Ford Bronco Sport 2021-22"),
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CAR.ESCAPE_MK4: [
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FordCarInfo("Ford Escape 2020-22"),
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FordCarInfo("Ford Kuga 2020-22", "Adaptive Cruise Control with Lane Centering"),
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],
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CAR.EXPLORER_MK6: [
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FordCarInfo("Ford Explorer 2020-23"),
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FordCarInfo("Lincoln Aviator 2020-21", "Co-Pilot360 Plus"),
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],
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CAR.F_150_MK14: FordCarInfo("Ford F-150 2023", "Co-Pilot360 Active 2.0"),
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CAR.F_150_LIGHTNING_MK1: FordCarInfo("Ford F-150 Lightning 2021-23", "Co-Pilot360 Active 2.0"),
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CAR.MUSTANG_MACH_E_MK1: FordCarInfo("Ford Mustang Mach-E 2021-23", "Co-Pilot360 Active 2.0"),
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CAR.FOCUS_MK4: FordCarInfo("Ford Focus 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS]),
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CAR.MAVERICK_MK1: [
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FordCarInfo("Ford Maverick 2022", "LARIAT Luxury"),
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FordCarInfo("Ford Maverick 2023", "Co-Pilot360 Assist"),
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],
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}
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# FW response contains a combined software and part number
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# A-Z except no I, O or W
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# e.g. NZ6A-14C204-AAA
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# 1222-333333-444
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# 1 = Model year (incremented for each model year)
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# 2 = Platform hint
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# 3 = Part number (effectively maps to ECU)
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# 4 = Software version (reset to AA for each model year)
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# https://regexr.com/7qu7h
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FW_ALPHABET = b'A-HJ-NP-VX-Z'
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FW_RE = re.compile(b'^(?P<model_year>[' + FW_ALPHABET + b'])' +
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b'(?P<platform_hint>[0-9' + FW_ALPHABET + b']{3})-' +
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b'(?P<part_number>[0-9' + FW_ALPHABET + b']{5,6})-' +
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b'(?P<software_version>[' + FW_ALPHABET + b']{2,})$')
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def get_platform_codes(fw_versions: list[bytes]) -> set[tuple[bytes, bytes]]:
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codes = set() # (platform-part, year-version)
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for firmware in fw_versions:
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m = FW_RE.match(firmware.rstrip(b'\0'))
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if m is None:
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continue
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# since "AAA" is higher than "ZZ", prepend "A" to two-letter versions (i.e. "ZZ" -> "AZZ")
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software_version = (b'A' + m.group('software_version'))[-3:]
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code = b'-'.join([m.group('platform_hint'), m.group('part_number')])
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version = b'-'.join([m.group('model_year'), software_version])
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codes.add((code, version))
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return codes
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def match_fw_to_car_fuzzy(live_fw_versions, offline_fw_versions) -> set[str]:
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candidates: set[str] = set()
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for candidate, fws in offline_fw_versions.items():
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# Keep track of ECUs which pass all checks (platform codes, within version range)
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valid_found_ecus = set()
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valid_expected_ecus = {ecu[1:] for ecu in fws}
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for ecu, ecu_fws in fws.items():
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addr = ecu[1:]
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# Expected platform codes and versions
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codes = get_platform_codes(ecu_fws)
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expected_platform_codes = {code for code, _ in codes}
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expected_versions = {version for _, version in codes}
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# Live platform codes and versions
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live_codes = get_platform_codes(live_fw_versions.get(addr, set()))
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found_platform_codes = {code for code, _ in live_codes}
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found_versions = {version for _, version in live_codes}
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# Check platform hint + part number matches for any found firmware
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if not any(found_code in expected_platform_codes for found_code in found_platform_codes):
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break
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# Check version is within range expected range
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if not any(min(expected_versions) <= found_version <= max(expected_versions) for found_version in found_versions):
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break
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valid_found_ecus.add(addr)
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# If all live ECUs pass all checks for candidate, add it as a match
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if valid_expected_ecus.issubset(valid_found_ecus):
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candidates.add(candidate)
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return candidates
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FW_QUERY_CONFIG = FwQueryConfig(
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requests=[
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# CAN and CAN FD queries are combined.
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# FIXME: For CAN FD, ECUs respond with frames larger than 8 bytes on the powertrain bus
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# TODO: properly handle auxiliary requests to separate queries and add back whitelists
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Request(
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[StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
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[StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
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# whitelist_ecus=[Ecu.engine],
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),
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Request(
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[StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
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[StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
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# whitelist_ecus=[Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.shiftByWire],
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bus=0,
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auxiliary=True,
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),
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],
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extra_ecus=[
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(Ecu.shiftByWire, 0x732, None),
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],
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# Custom fuzzy fingerprinting function using platform codes, part numbers and software versions
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match_fw_to_car_fuzzy=match_fw_to_car_fuzzy,
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)
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