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96 lines
3.0 KiB
96 lines
3.0 KiB
#!/usr/bin/env python3
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from cereal import car
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from panda import Panda
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from common.conversions import Conversions as CV
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from selfdrive.car import STD_CARGO_KG, get_safety_config
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from selfdrive.car.ford.fordcan import CanBus
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from selfdrive.car.ford.values import CAR, Ecu
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from selfdrive.car.interfaces import CarInterfaceBase
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TransmissionType = car.CarParams.TransmissionType
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GearShifter = car.CarState.GearShifter
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class CarInterface(CarInterfaceBase):
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@staticmethod
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def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
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ret.carName = "ford"
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ret.radarUnavailable = True
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ret.steerControlType = car.CarParams.SteerControlType.angle
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ret.steerActuatorDelay = 0.2
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ret.steerLimitTimer = 1.0
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CAN = CanBus(fingerprint=fingerprint)
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cfgs = [get_safety_config(car.CarParams.SafetyModel.ford)]
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if CAN.main >= 4:
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cfgs.insert(0, get_safety_config(car.CarParams.SafetyModel.noOutput))
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ret.safetyConfigs = cfgs
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ret.experimentalLongitudinalAvailable = True
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if experimental_long:
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ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_LONG_CONTROL
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ret.openpilotLongitudinalControl = True
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if candidate == CAR.BRONCO_SPORT_MK1:
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ret.wheelbase = 2.67
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ret.steerRatio = 17.7
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ret.mass = 1625 + STD_CARGO_KG
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elif candidate == CAR.ESCAPE_MK4:
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ret.wheelbase = 2.71
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ret.steerRatio = 16.7
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ret.mass = 1750 + STD_CARGO_KG
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elif candidate == CAR.EXPLORER_MK6:
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ret.wheelbase = 3.025
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ret.steerRatio = 16.8
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ret.mass = 2050 + STD_CARGO_KG
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elif candidate == CAR.FOCUS_MK4:
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ret.wheelbase = 2.7
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ret.steerRatio = 15.0
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ret.mass = 1350 + STD_CARGO_KG
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elif candidate == CAR.MAVERICK_MK1:
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ret.wheelbase = 3.076
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ret.steerRatio = 17.0
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ret.mass = 1650 + STD_CARGO_KG
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else:
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raise ValueError(f"Unsupported car: {candidate}")
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# Auto Transmission: 0x732 ECU or Gear_Shift_by_Wire_FD1
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found_ecus = [fw.ecu for fw in car_fw]
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if Ecu.shiftByWire in found_ecus or 0x5A in fingerprint[CAN.main] or docs:
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ret.transmissionType = TransmissionType.automatic
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else:
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ret.transmissionType = TransmissionType.manual
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ret.minEnableSpeed = 20.0 * CV.MPH_TO_MS
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# BSM: Side_Detect_L_Stat, Side_Detect_R_Stat
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# TODO: detect bsm in car_fw?
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ret.enableBsm = 0x3A6 in fingerprint[CAN.main] and 0x3A7 in fingerprint[CAN.main]
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# LCA can steer down to zero
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ret.minSteerSpeed = 0.
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ret.autoResumeSng = ret.minEnableSpeed == -1.
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ret.centerToFront = ret.wheelbase * 0.44
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return ret
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def _update(self, c):
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ret = self.CS.update(self.cp, self.cp_cam)
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events = self.create_common_events(ret, extra_gears=[GearShifter.manumatic])
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if not self.CS.vehicle_sensors_valid:
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events.add(car.CarEvent.EventName.vehicleSensorsInvalid)
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if self.CS.hybrid_platform:
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events.add(car.CarEvent.EventName.startupNoControl)
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ret.events = events.to_msg()
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return ret
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def apply(self, c, now_nanos):
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return self.CC.update(c, self.CS, now_nanos)
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