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.
106 lines
3.3 KiB
106 lines
3.3 KiB
#!/usr/bin/env python3
|
|
from cereal import car
|
|
from panda import Panda
|
|
from common.conversions import Conversions as CV
|
|
from selfdrive.car import STD_CARGO_KG, get_safety_config
|
|
from selfdrive.car.ford.fordcan import CanBus
|
|
from selfdrive.car.ford.values import CANFD_CAR, CAR, Ecu
|
|
from selfdrive.car.interfaces import CarInterfaceBase
|
|
|
|
TransmissionType = car.CarParams.TransmissionType
|
|
GearShifter = car.CarState.GearShifter
|
|
|
|
|
|
class CarInterface(CarInterfaceBase):
|
|
@staticmethod
|
|
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
|
|
ret.carName = "ford"
|
|
ret.dashcamOnly = candidate in {CAR.F_150_MK14}
|
|
|
|
ret.radarUnavailable = True
|
|
ret.steerControlType = car.CarParams.SteerControlType.angle
|
|
ret.steerActuatorDelay = 0.2
|
|
ret.steerLimitTimer = 1.0
|
|
|
|
CAN = CanBus(fingerprint=fingerprint)
|
|
cfgs = [get_safety_config(car.CarParams.SafetyModel.ford)]
|
|
if CAN.main >= 4:
|
|
cfgs.insert(0, get_safety_config(car.CarParams.SafetyModel.noOutput))
|
|
ret.safetyConfigs = cfgs
|
|
|
|
ret.experimentalLongitudinalAvailable = True
|
|
if experimental_long:
|
|
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_LONG_CONTROL
|
|
ret.openpilotLongitudinalControl = True
|
|
|
|
if candidate in CANFD_CAR:
|
|
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_CANFD
|
|
|
|
if candidate == CAR.BRONCO_SPORT_MK1:
|
|
ret.wheelbase = 2.67
|
|
ret.steerRatio = 17.7
|
|
ret.mass = 1625 + STD_CARGO_KG
|
|
|
|
elif candidate == CAR.ESCAPE_MK4:
|
|
ret.wheelbase = 2.71
|
|
ret.steerRatio = 16.7
|
|
ret.mass = 1750 + STD_CARGO_KG
|
|
|
|
elif candidate == CAR.EXPLORER_MK6:
|
|
ret.wheelbase = 3.025
|
|
ret.steerRatio = 16.8
|
|
ret.mass = 2050 + STD_CARGO_KG
|
|
|
|
elif candidate == CAR.F_150_MK14:
|
|
# required trim only on SuperCrew
|
|
ret.wheelbase = 3.69
|
|
ret.steerRatio = 17.0
|
|
ret.mass = 2000 + STD_CARGO_KG
|
|
|
|
elif candidate == CAR.FOCUS_MK4:
|
|
ret.wheelbase = 2.7
|
|
ret.steerRatio = 15.0
|
|
ret.mass = 1350 + STD_CARGO_KG
|
|
|
|
elif candidate == CAR.MAVERICK_MK1:
|
|
ret.wheelbase = 3.076
|
|
ret.steerRatio = 17.0
|
|
ret.mass = 1650 + STD_CARGO_KG
|
|
|
|
else:
|
|
raise ValueError(f"Unsupported car: {candidate}")
|
|
|
|
# Auto Transmission: 0x732 ECU or Gear_Shift_by_Wire_FD1
|
|
found_ecus = [fw.ecu for fw in car_fw]
|
|
if Ecu.shiftByWire in found_ecus or 0x5A in fingerprint[CAN.main] or docs:
|
|
ret.transmissionType = TransmissionType.automatic
|
|
else:
|
|
ret.transmissionType = TransmissionType.manual
|
|
ret.minEnableSpeed = 20.0 * CV.MPH_TO_MS
|
|
|
|
# BSM: Side_Detect_L_Stat, Side_Detect_R_Stat
|
|
# TODO: detect bsm in car_fw?
|
|
ret.enableBsm = 0x3A6 in fingerprint[CAN.main] and 0x3A7 in fingerprint[CAN.main]
|
|
|
|
# LCA can steer down to zero
|
|
ret.minSteerSpeed = 0.
|
|
|
|
ret.autoResumeSng = ret.minEnableSpeed == -1.
|
|
ret.centerToFront = ret.wheelbase * 0.44
|
|
return ret
|
|
|
|
def _update(self, c):
|
|
ret = self.CS.update(self.cp, self.cp_cam)
|
|
|
|
events = self.create_common_events(ret, extra_gears=[GearShifter.manumatic])
|
|
if not self.CS.vehicle_sensors_valid:
|
|
events.add(car.CarEvent.EventName.vehicleSensorsInvalid)
|
|
if self.CS.hybrid_platform:
|
|
events.add(car.CarEvent.EventName.startupNoControl)
|
|
|
|
ret.events = events.to_msg()
|
|
|
|
return ret
|
|
|
|
def apply(self, c, now_nanos):
|
|
return self.CC.update(c, self.CS, now_nanos)
|
|
|