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73 lines
2.6 KiB
73 lines
2.6 KiB
from cereal import car
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from panda import Panda
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from openpilot.common.conversions import Conversions as CV
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from openpilot.selfdrive.car import create_button_events, get_safety_config
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from openpilot.selfdrive.car.ford.fordcan import CanBus
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from openpilot.selfdrive.car.ford.values import Ecu, FordFlags
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from openpilot.selfdrive.car.interfaces import CarInterfaceBase
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ButtonType = car.CarState.ButtonEvent.Type
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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.dashcamOnly = bool(ret.flags & FordFlags.CANFD)
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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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ret.longitudinalTuning.kpBP = [0.]
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ret.longitudinalTuning.kpV = [0.5]
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ret.longitudinalTuning.kiV = [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 ret.flags & FordFlags.CANFD:
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ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_CANFD
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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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ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
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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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ret.events = events.to_msg()
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return ret
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