You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
279 lines
11 KiB
279 lines
11 KiB
import copy
|
|
import re
|
|
from dataclasses import dataclass, field, replace
|
|
from enum import Enum, IntFlag
|
|
|
|
import panda.python.uds as uds
|
|
from openpilot.selfdrive.car import AngleRateLimit, CarSpecs, dbc_dict, DbcDict, PlatformConfig, Platforms
|
|
from openpilot.selfdrive.car.structs import CarParams
|
|
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 = 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: 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<model_year_hint>[' + FW_ALPHABET + b'])' +
|
|
b'(?P<platform_hint>[0-9' + FW_ALPHABET + b']{3})-' +
|
|
b'(?P<part_number>[0-9' + FW_ALPHABET + b']{5,6})-' +
|
|
b'(?P<software_revision>[' + 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()
|
|
|