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98 lines
4.1 KiB
98 lines
4.1 KiB
import numpy as np
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from opendbc.car import Bus, get_safety_config, structs
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from opendbc.car.carlog import carlog
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from opendbc.car.common.conversions import Conversions as CV
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from opendbc.car.ford.carcontroller import CarController
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from opendbc.car.ford.carstate import CarState
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from opendbc.car.ford.fordcan import CanBus
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from opendbc.car.ford.radar_interface import RadarInterface
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from opendbc.car.ford.values import CarControllerParams, DBC, Ecu, FordFlags, RADAR, FordSafetyFlags
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from opendbc.car.interfaces import CarInterfaceBase
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TransmissionType = structs.CarParams.TransmissionType
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class CarInterface(CarInterfaceBase):
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CarState = CarState
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CarController = CarController
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RadarInterface = RadarInterface
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@staticmethod
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def get_pid_accel_limits(CP, current_speed, cruise_speed):
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# PCM doesn't allow acceleration near cruise_speed,
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# so limit limits of pid to prevent windup
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ACCEL_MAX_VALS = [CarControllerParams.ACCEL_MAX, 0.2]
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ACCEL_MAX_BP = [cruise_speed - 2., cruise_speed - .4]
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return CarControllerParams.ACCEL_MIN, np.interp(current_speed, ACCEL_MAX_BP, ACCEL_MAX_VALS)
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@staticmethod
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def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, docs) -> structs.CarParams:
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ret.brand = "ford"
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ret.radarUnavailable = Bus.radar not in DBC[candidate]
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ret.steerControlType = structs.CarParams.SteerControlType.angle
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ret.steerActuatorDelay = 0.2
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ret.steerLimitTimer = 1.0
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ret.steerAtStandstill = True
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ret.longitudinalTuning.kiBP = [0.]
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ret.longitudinalTuning.kiV = [0.5]
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if not ret.radarUnavailable and DBC[candidate][Bus.radar] == RADAR.DELPHI_MRR:
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# average of 33.3 Hz radar timestep / 4 scan modes = 60 ms
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# MRR_Header_Timestamps->CAN_DET_TIME_SINCE_MEAS reports 61.3 ms
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ret.radarDelay = 0.06
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CAN = CanBus(fingerprint=fingerprint)
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cfgs = [get_safety_config(structs.CarParams.SafetyModel.ford)]
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if CAN.main >= 4:
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cfgs.insert(0, get_safety_config(structs.CarParams.SafetyModel.noOutput))
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ret.safetyConfigs = cfgs
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ret.alphaLongitudinalAvailable = ret.radarUnavailable
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if alpha_long or not ret.radarUnavailable:
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ret.safetyConfigs[-1].safetyParam |= FordSafetyFlags.LONG_CONTROL.value
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ret.openpilotLongitudinalControl = True
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if ret.flags & FordFlags.CANFD:
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ret.safetyConfigs[-1].safetyParam |= FordSafetyFlags.CANFD.value
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# TRON (SecOC) platforms are not supported
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# LateralMotionControl2, ACCDATA are 16 bytes on these platforms
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if len(fingerprint[CAN.camera]):
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if fingerprint[CAN.camera].get(0x3d6) != 8 or fingerprint[CAN.camera].get(0x186) != 8:
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carlog.error('dashcamOnly: SecOC is unsupported')
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ret.dashcamOnly = True
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else:
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# Lock out if the car does not have needed lateral and longitudinal control APIs.
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# Note that we also check CAN for adaptive cruise, but no known signal for LCA exists
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pscm_config = next((fw for fw in car_fw if fw.ecu == Ecu.eps and b'\x22\xDE\x01' in fw.request), None)
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if pscm_config:
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if len(pscm_config.fwVersion) != 24:
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carlog.error('dashcamOnly: Invalid EPS FW version')
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ret.dashcamOnly = True
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else:
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config_tja = pscm_config.fwVersion[7] # Traffic Jam Assist
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config_lca = pscm_config.fwVersion[8] # Lane Centering Assist
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if config_tja != 0xFF or config_lca != 0xFF:
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carlog.error('dashcamOnly: Car lacks required lateral control APIs')
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ret.dashcamOnly = True
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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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