FrogPilot community - Added Realfast Tweaks and New Ram HDs

Co-Authored-By: Vincent Wright <1850511+vincentw56@users.noreply.github.com>

opendbc/chrysler_ram_hd_generated.dbc

@@ -90,9 +90,11 @@ BO_ 500 DAS_3: 8 XXX
  SG_ DISABLE_FUEL_SHUTOFF : 23|1@1+ (1,0) [0|0] "" XXX
  SG_ GR_MAX_REQ : 32|4@1+ (1,0) [0|0] "" XXX
  SG_ ACC_DECEL_REQ : 36|3@1+ (1,0) [0|0] "" XXX
- SG_ ACC_FAULTED : 46|2@1+ (1,0) [0|0] "" XXX
+ SG_ STS : 46|2@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_FAULTED : 47|1@0+ (1,0) [0|1] "" XXX
  SG_ COLLISION_BRK_PREP : 48|1@1+ (1,0) [0|0] "" XXX
  SG_ ACC_BRK_PREP : 49|1@1+ (1,0) [0|0] "" XXX
+ SG_ BRAKE_BOOL_1 : 36|1@0+ (1,0) [0|3] "" XXX
  SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
@@ -137,6 +139,18 @@ BO_ 570 CRUISE_BUTTONS: 3 XXX
  SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX
  SG_ CHECKSUM : 23|8@0+ (1,0) [0|255] "" XXX
 
+BO_ 571 CRUISE_BUTTONS_ALT: 3 XXX
+ SG_ ACC_Cancel : 0|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_Distance_Dec : 1|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_Accel : 2|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_Decel : 3|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_Resume : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ Cruise_OnOff : 6|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_OnOff : 7|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_Distance_Inc : 8|1@1+ (1,0) [0|0] "" XXX
+ SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 23|8@0+ (1,0) [0|255] "" XXX
+
 BO_ 625 DAS_5: 8 XXX
  SG_ FCW_STATE : 2|1@1+ (1,0) [0|0] ""  XXX
  SG_ FCW_DISTANCE : 3|2@1+ (1,0) [0|0] ""  XXX

panda/board/safety/safety_chrysler.h

@@ -37,6 +37,7 @@ typedef struct {
   const int DAS_6;
   const int LKAS_COMMAND;
   const int CRUISE_BUTTONS;
+  const int CRUISE_BUTTONS_ALT;
 } ChryslerAddrs;
 
 // CAN messages for Chrysler/Jeep platforms
@@ -49,6 +50,7 @@ const ChryslerAddrs CHRYSLER_ADDRS = {
   .DAS_6            = 0x2A6,  // LKAS HUD and auto headlight control from DASM
   .LKAS_COMMAND     = 0x292,  // LKAS controls from DASM
   .CRUISE_BUTTONS   = 0x23B,  // Cruise control buttons
+  .CRUISE_BUTTONS_ALT = 0x23B,  // Cruise control buttons
 };
 
 // CAN messages for the 5th gen RAM DT platform
@@ -61,6 +63,7 @@ const ChryslerAddrs CHRYSLER_RAM_DT_ADDRS = {
   .DAS_6            = 0xFA,   // LKAS HUD and auto headlight control from DASM
   .LKAS_COMMAND     = 0xA6,   // LKAS controls from DASM
   .CRUISE_BUTTONS   = 0xB1,   // Cruise control buttons
+  .CRUISE_BUTTONS_ALT = 0xB1,   // Cruise control buttons
 };
 
 // CAN messages for the 5th gen RAM HD platform
@@ -73,6 +76,7 @@ const ChryslerAddrs CHRYSLER_RAM_HD_ADDRS = {
   .DAS_6            = 0x275,  // LKAS HUD and auto headlight control from DASM
   .LKAS_COMMAND     = 0x276,  // LKAS controls from DASM
   .CRUISE_BUTTONS   = 0x23A,  // Cruise control buttons
+  .CRUISE_BUTTONS_ALT = 0x23B,  // Cruise control buttons
 };
 
 const CanMsg CHRYSLER_TX_MSGS[] = {
@@ -83,12 +87,14 @@ const CanMsg CHRYSLER_TX_MSGS[] = {
 
 const CanMsg CHRYSLER_RAM_DT_TX_MSGS[] = {
   {CHRYSLER_RAM_DT_ADDRS.CRUISE_BUTTONS, 2, 3},
+  {CHRYSLER_RAM_DT_ADDRS.CRUISE_BUTTONS_ALT, 2, 3},
   {CHRYSLER_RAM_DT_ADDRS.LKAS_COMMAND, 0, 8},
   {CHRYSLER_RAM_DT_ADDRS.DAS_6, 0, 8},
 };
 
 const CanMsg CHRYSLER_RAM_HD_TX_MSGS[] = {
   {CHRYSLER_RAM_HD_ADDRS.CRUISE_BUTTONS, 2, 3},
+  {CHRYSLER_RAM_HD_ADDRS.CRUISE_BUTTONS_ALT, 2, 3},
   {CHRYSLER_RAM_HD_ADDRS.LKAS_COMMAND, 0, 8},
   {CHRYSLER_RAM_HD_ADDRS.DAS_6, 0, 8},
 };
@@ -234,7 +240,7 @@ static bool chrysler_tx_hook(const CANPacket_t *to_send) {
   }
 
   // FORCE CANCEL: only the cancel button press is allowed
-  if (addr == chrysler_addrs->CRUISE_BUTTONS) {
+  if ((addr == chrysler_addrs->CRUISE_BUTTONS) || (addr == CHRYSLER_RAM_HD_ADDRS.CRUISE_BUTTONS_ALT)) {
     const bool is_cancel = GET_BYTE(to_send, 0) == 1U;
     const bool is_resume = GET_BYTE(to_send, 0) == 0x10U;
     const bool allowed = is_cancel || (is_resume && controls_allowed);

selfdrive/car/chrysler/carcontroller.py

@@ -2,7 +2,7 @@ from opendbc.can.packer import CANPacker
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car import apply_meas_steer_torque_limits
 from openpilot.selfdrive.car.chrysler import chryslercan
-from openpilot.selfdrive.car.chrysler.values import RAM_CARS, CarControllerParams, ChryslerFlags
+from openpilot.selfdrive.car.chrysler.values import RAM_CARS, RAM_DT, CarControllerParams, ChryslerFlags
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 
 
@@ -32,12 +32,12 @@ class CarController(CarControllerBase):
       # ACC cancellation
       if CC.cruiseControl.cancel:
         self.last_button_frame = self.frame
-        can_sends.append(chryslercan.create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, cancel=True))
+        can_sends.append(chryslercan.create_cruise_buttons(self.packer, self.CP, CS.button_counter + 1, das_bus, cancel=True))
 
       # ACC resume from standstill
       elif CC.cruiseControl.resume:
         self.last_button_frame = self.frame
-        can_sends.append(chryslercan.create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, resume=True))
+        can_sends.append(chryslercan.create_cruise_buttons(self.packer, self.CP, CS.button_counter + 1, das_bus, resume=True))
 
     # HUD alerts
     if self.frame % 25 == 0:
@@ -51,7 +51,12 @@ class CarController(CarControllerBase):
 
       # TODO: can we make this more sane? why is it different for all the cars?
       lkas_control_bit = self.lkas_control_bit_prev
-      if CS.out.vEgo > self.CP.minSteerSpeed:
+      if self.CP.carFingerprint in RAM_DT:
+        if self.CP.minEnableSpeed <= CS.out.vEgo <= self.CP.minEnableSpeed + 0.5:
+          lkas_control_bit = True
+        if (self.CP.minEnableSpeed >= 14.5) and (CS.out.gearShifter != 2):
+          lkas_control_bit = False
+      elif CS.out.vEgo > self.CP.minSteerSpeed:
         lkas_control_bit = True
       elif self.CP.flags & ChryslerFlags.HIGHER_MIN_STEERING_SPEED:
         if CS.out.vEgo < (self.CP.minSteerSpeed - 3.0):

selfdrive/car/chrysler/carstate.py

@@ -3,7 +3,7 @@ from openpilot.common.conversions import Conversions as CV
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
 from openpilot.selfdrive.car.interfaces import CarStateBase
-from openpilot.selfdrive.car.chrysler.values import DBC, STEER_THRESHOLD, RAM_CARS
+from openpilot.selfdrive.car.chrysler.values import ChryslerFlags, DBC, STEER_THRESHOLD, RAM_CARS
 
 
 class CarState(CarStateBase):
@@ -15,6 +15,7 @@ class CarState(CarStateBase):
     self.auto_high_beam = 0
     self.button_counter = 0
     self.lkas_car_model = -1
+    self.button_message = "CRUISE_BUTTONS_ALT" if CP.flags & ChryslerFlags.RAM_HD_ALT_BUTTONS else "CRUISE_BUTTONS"
 
     if CP.carFingerprint in RAM_CARS:
       self.shifter_values = can_define.dv["Transmission_Status"]["Gear_State"]
@@ -30,7 +31,7 @@ class CarState(CarStateBase):
     fp_ret = custom.FrogPilotCarState.new_message()
 
     self.prev_distance_button = self.distance_button
-    self.distance_button = cp.vl["CRUISE_BUTTONS"]["ACC_Distance_Dec"]
+    self.distance_button = cp.vl[self.button_message]["ACC_Distance_Dec"]
 
     # lock info
     ret.doorOpen = any([cp.vl["BCM_1"]["DOOR_OPEN_FL"],
@@ -100,7 +101,7 @@ class CarState(CarStateBase):
       ret.rightBlindspot = cp.vl["BSM_1"]["RIGHT_STATUS"] == 1
 
     self.lkas_car_model = cp_cam.vl["DAS_6"]["CAR_MODEL"]
-    self.button_counter = cp.vl["CRUISE_BUTTONS"]["COUNTER"]
+    self.button_counter = cp.vl[self.button_message]["COUNTER"]
 
     return ret, fp_ret
 
@@ -114,6 +115,7 @@ class CarState(CarStateBase):
 
   @staticmethod
   def get_can_parser(CP):
+    button_message = "CRUISE_BUTTONS_ALT" if CP.flags & ChryslerFlags.RAM_HD_ALT_BUTTONS else "CRUISE_BUTTONS"
     messages = [
       # sig_address, frequency
       ("ESP_1", 50),
@@ -121,7 +123,7 @@ class CarState(CarStateBase):
       ("ESP_6", 50),
       ("STEERING", 100),
       ("ECM_5", 50),
-      ("CRUISE_BUTTONS", 50),
+      (button_message, 50),
       ("STEERING_LEVERS", 10),
       ("ORC_1", 2),
       ("BCM_1", 1),

selfdrive/car/chrysler/chryslercan.py

@@ -1,5 +1,5 @@
 from cereal import car
-from openpilot.selfdrive.car.chrysler.values import RAM_CARS
+from openpilot.selfdrive.car.chrysler.values import ChryslerFlags, RAM_CARS
 
 GearShifter = car.CarState.GearShifter
 VisualAlert = car.CarControl.HUDControl.VisualAlert
@@ -62,10 +62,11 @@ def create_lkas_command(packer, CP, apply_steer, lkas_control_bit):
   return packer.make_can_msg("LKAS_COMMAND", 0, values)
 
 
-def create_cruise_buttons(packer, frame, bus, cancel=False, resume=False):
+def create_cruise_buttons(packer, CP, frame, bus, cancel=False, resume=False):
   values = {
     "ACC_Cancel": cancel,
     "ACC_Resume": resume,
     "COUNTER": frame % 0x10,
   }
-  return packer.make_can_msg("CRUISE_BUTTONS", bus, values)
+  button_message = "CRUISE_BUTTONS_ALT" if CP.flags & ChryslerFlags.RAM_HD_ALT_BUTTONS else "CRUISE_BUTTONS"
+  return packer.make_can_msg(button_message, bus, values)

selfdrive/car/chrysler/fingerprints.py

@@ -535,6 +535,7 @@ FW_VERSIONS = {
       b'05149848AC ',
       b'05190341AD',
       b'68378695AJ ',
+      b'68378696AI ',
       b'68378696AJ ',
       b'68378701AI ',
       b'68378702AI ',
@@ -591,6 +592,7 @@ FW_VERSIONS = {
       b'68360081AM',
       b'68360085AJ',
       b'68360085AL',
+      b'68360085AF',
       b'68360086AH',
       b'68360086AK',
       b'68384328AD',
@@ -620,14 +622,21 @@ FW_VERSIONS = {
     (Ecu.combinationMeter, 0x742, None): [
       b'68361606AH',
       b'68437735AC',
+      b'68437746AD',
+      b'68492682AD',
+      b'68525438AB',
       b'68492693AD',
       b'68525485AB',
       b'68525487AB',
       b'68525498AB',
       b'68528791AF',
+      b'68620919AB',
+      b'68620921AC',
+      b'68620923AB',
       b'68628474AB',
     ],
     (Ecu.srs, 0x744, None): [
+      b'68346749AB',
       b'68399794AC',
       b'68428503AA',
       b'68428505AA',
@@ -668,9 +677,12 @@ FW_VERSIONS = {
       b'52401032AE',
       b'52421132AF',
       b'52421332AF',
+      b'52421332AG',
       b'68527616AD ',
       b'M2370131MB',
       b'M2421132MB',
+      b'52421232AF',
+      b'52421492AA',
     ],
   },
   CAR.DODGE_DURANGO: {

selfdrive/car/chrysler/interface.py

@@ -12,7 +12,6 @@ class CarInterface(CarInterfaceBase):
   @staticmethod
   def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs, params):
     ret.carName = "chrysler"
-    ret.dashcamOnly = candidate in RAM_HD
 
     # radar parsing needs some work, see https://github.com/commaai/openpilot/issues/26842
     ret.radarUnavailable = True # DBC[candidate]['radar'] is None
@@ -55,14 +54,24 @@ class CarInterface(CarInterfaceBase):
     elif candidate == CAR.RAM_1500_5TH_GEN:
       ret.steerActuatorDelay = 0.2
       ret.wheelbase = 3.88
+      ret.minSteerSpeed = 0.5
+      ret.minEnableSpeed = 14.5
       # Older EPS FW allow steer to zero
       if any(fw.ecu == 'eps' and b"68" < fw.fwVersion[:4] <= b"6831" for fw in car_fw):
         ret.minSteerSpeed = 0.
 
     elif candidate == CAR.RAM_HD_5TH_GEN:
       ret.steerActuatorDelay = 0.2
+      ret.wheelbase = 3.785
+      ret.steerRatio = 15.61
+      ret.mass = 3405.
+      ret.minSteerSpeed = 16
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, 1.0, False)
 
+      # Some RAM HD use Chrysler button address
+      if 570 not in fingerprint[0]:
+        ret.flags |= ChryslerFlags.RAM_HD_ALT_BUTTONS.value
+
     else:
       raise ValueError(f"Unsupported car: {candidate}")
 
@@ -85,10 +94,16 @@ class CarInterface(CarInterfaceBase):
     events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.low])
 
     # Low speed steer alert hysteresis logic
-    if self.CP.minSteerSpeed > 0. and ret.vEgo < (self.CP.minSteerSpeed + 0.5):
-      self.low_speed_alert = True
-    elif ret.vEgo > (self.CP.minSteerSpeed + 1.):
-      self.low_speed_alert = False
+    if self.CP.carFingerprint in RAM_DT:
+      if self.CS.out.vEgo >= self.CP.minEnableSpeed:
+        self.low_speed_alert = False
+      if (self.CP.minEnableSpeed >= 14.5) and (self.CS.out.gearShifter != car.CarState.GearShifter.drive):
+        self.low_speed_alert = True
+    else:
+      if self.CP.minSteerSpeed > 0. and ret.vEgo < (self.CP.minSteerSpeed + 0.5):
+        self.low_speed_alert = True
+      elif ret.vEgo > (self.CP.minSteerSpeed + 1.):
+        self.low_speed_alert = False
     if self.low_speed_alert:
       events.add(car.CarEvent.EventName.belowSteerSpeed)
 

selfdrive/car/chrysler/values.py

@@ -13,6 +13,7 @@ Ecu = car.CarParams.Ecu
 class ChryslerFlags(IntFlag):
   # Detected flags
   HIGHER_MIN_STEERING_SPEED = 1
+  RAM_HD_ALT_BUTTONS = 2
 
 @dataclass
 class ChryslerCarDocs(CarDocs):
@@ -100,7 +101,7 @@ class CarControllerParams:
     elif CP.carFingerprint in RAM_DT:
       self.STEER_DELTA_UP = 6
       self.STEER_DELTA_DOWN = 6
-      self.STEER_MAX = 261  # EPS allows more, up to 350?
+      self.STEER_MAX = 350  # EPS allows more, up to 350?
     else:
       self.STEER_DELTA_UP = 3
       self.STEER_DELTA_DOWN = 3