Ford: add F-150 2023 support (dashcam only) (#28974)

old-commit-hash: 17e71cdf4476d0d1b90b6e5e7c5be433e93d50c5

selfdrive/car/ford/carstate.py

@@ -4,7 +4,7 @@ from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from selfdrive.car.interfaces import CarStateBase
 from selfdrive.car.ford.fordcan import CanBus
-from selfdrive.car.ford.values import DBC, CarControllerParams
+from selfdrive.car.ford.values import CANFD_CARS, CarControllerParams, DBC
 
 GearShifter = car.CarState.GearShifter
 TransmissionType = car.CarParams.TransmissionType
@@ -55,6 +55,10 @@ class CarState(CarStateBase):
     ret.steerFaultPermanent = cp.vl["EPAS_INFO"]["EPAS_Failure"] in (2, 3)
     # ret.espDisabled = False  # TODO: find traction control signal
 
+    if self.CP.carFingerprint in CANFD_CARS:
+      # this signal is always 0 on non-CAN FD cars
+      ret.steerFaultTemporary |= cp.vl["Lane_Assist_Data3_FD1"]["LatCtlSte_D_Stat"] not in (1, 2, 3)
+
     # cruise state
     ret.cruiseState.speed = cp.vl["EngBrakeData"]["Veh_V_DsplyCcSet"] * CV.MPH_TO_MS
     ret.cruiseState.enabled = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (4, 5)
@@ -93,8 +97,9 @@ class CarState(CarStateBase):
 
     # blindspot sensors
     if self.CP.enableBsm:
-      ret.leftBlindspot = cp.vl["Side_Detect_L_Stat"]["SodDetctLeft_D_Stat"] != 0
-      ret.rightBlindspot = cp.vl["Side_Detect_R_Stat"]["SodDetctRight_D_Stat"] != 0
+      cp_bsm = cp_cam if self.CP.carFingerprint in CANFD_CARS else cp
+      ret.leftBlindspot = cp_bsm.vl["Side_Detect_L_Stat"]["SodDetctLeft_D_Stat"] != 0
+      ret.rightBlindspot = cp_bsm.vl["Side_Detect_R_Stat"]["SodDetctRight_D_Stat"] != 0
 
     # Stock steering buttons so that we can passthru blinkers etc.
     self.buttons_stock_values = cp.vl["Steering_Data_FD1"]
@@ -181,12 +186,19 @@ class CarState(CarStateBase):
       ("Cluster_Info1_FD1", 10),
       ("SteeringPinion_Data", 100),
       ("EPAS_INFO", 50),
-      ("Lane_Assist_Data3_FD1", 33),
       ("Steering_Data_FD1", 10),
       ("BodyInfo_3_FD1", 2),
       ("RCMStatusMessage2_FD1", 10),
     ]
 
+    if CP.carFingerprint in CANFD_CARS:
+      signals += [
+        ("LatCtlSte_D_Stat", "Lane_Assist_Data3_FD1"),       # PSCM lateral control status
+      ]
+      checks += [
+        ("Lane_Assist_Data3_FD1", 33),
+      ]
+
     if CP.transmissionType == TransmissionType.automatic:
       signals += [
         ("TrnRng_D_RqGsm", "Gear_Shift_by_Wire_FD1"),        # GWM transmission gear position
@@ -204,7 +216,7 @@ class CarState(CarStateBase):
         ("BCM_Lamp_Stat_FD1", 1),
       ]
 
-    if CP.enableBsm:
+    if CP.enableBsm and CP.carFingerprint not in CANFD_CARS:
       signals += [
         ("SodDetctLeft_D_Stat", "Side_Detect_L_Stat"),       # Blindspot sensor, left
         ("SodDetctRight_D_Stat", "Side_Detect_R_Stat"),      # Blindspot sensor, right
@@ -274,4 +286,14 @@ class CarState(CarStateBase):
       ("IPMA_Data", 1),
     ]
 
+    if CP.enableBsm and CP.carFingerprint in CANFD_CARS:
+      signals += [
+        ("SodDetctLeft_D_Stat", "Side_Detect_L_Stat"),       # Blindspot sensor, left
+        ("SodDetctRight_D_Stat", "Side_Detect_R_Stat"),      # Blindspot sensor, right
+      ]
+      checks += [
+        ("Side_Detect_L_Stat", 5),
+        ("Side_Detect_R_Stat", 5),
+      ]
+
     return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus(CP).camera)

selfdrive/car/ford/interface.py

@@ -15,6 +15,7 @@ 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
@@ -50,6 +51,12 @@ class CarInterface(CarInterfaceBase):
       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

selfdrive/car/ford/values.py

@@ -1,7 +1,7 @@
 from collections import defaultdict
 from dataclasses import dataclass, field
 from enum import Enum
-from typing import Dict, List, Set, Union
+from typing import Dict, List, Union
 
 from cereal import car
 from selfdrive.car import AngleRateLimit, dbc_dict
@@ -44,11 +44,12 @@ class CAR:
   BRONCO_SPORT_MK1 = "FORD BRONCO SPORT 1ST GEN"
   ESCAPE_MK4 = "FORD ESCAPE 4TH GEN"
   EXPLORER_MK6 = "FORD EXPLORER 6TH GEN"
+  F_150_MK14 = "FORD F-150 14TH GEN"
   FOCUS_MK4 = "FORD FOCUS 4TH GEN"
   MAVERICK_MK1 = "FORD MAVERICK 1ST GEN"
 
 
-CANFD_CARS: Set[str] = set()
+CANFD_CARS = {CAR.F_150_MK14}
 
 
 class RADAR:
@@ -58,6 +59,9 @@ class RADAR:
 
 DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict("ford_lincoln_base_pt", RADAR.DELPHI_MRR))
 
+# F-150 radar is not yet supported
+DBC[CAR.F_150_MK14] = dbc_dict("ford_lincoln_base_pt", None)
+
 
 class Footnote(Enum):
   FOCUS = CarFootnote(
@@ -87,6 +91,7 @@ CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
     FordCarInfo("Ford Explorer 2020-22"),
     FordCarInfo("Lincoln Aviator 2020-21", "Co-Pilot360 Plus"),
   ],
+  CAR.F_150_MK14: FordCarInfo("Ford F-150 2023", "Co-Pilot360 Active 2.0"),
   CAR.FOCUS_MK4: FordCarInfo("Ford Focus 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS]),
   CAR.MAVERICK_MK1: FordCarInfo("Ford Maverick 2022-23", "Co-Pilot360 Assist"),
 }
@@ -96,13 +101,17 @@ FW_QUERY_CONFIG = FwQueryConfig(
     Request(
       [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
       [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.engine],
     ),
     Request(
       [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
       [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
       bus=0,
-      whitelist_ecus=[Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.shiftByWire],
+    ),
+    Request(
+      [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
+      [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
+      bus=0,
+      auxiliary=True,
     ),
   ],
   extra_ecus=[
@@ -197,6 +206,23 @@ FW_VERSIONS = {
       b'NB5A-14C204-HB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
+  CAR.F_150_MK14: {
+    (Ecu.eps, 0x730, None): [
+      b'ML3V-14D003-BC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x760, None): [
+      b'PL34-2D053-CA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x764, None): [
+      b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x706, None): [
+      b'PJ6T-14H102-ABJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7E0, None): [
+      b'PL3A-14C204-BRB\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+  },
   CAR.FOCUS_MK4: {
     (Ecu.eps, 0x730, None): [
       b'JX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',

selfdrive/car/tests/routes.py

@@ -16,6 +16,7 @@ from selfdrive.car.body.values import CAR as COMMA
 
 # TODO: add routes for these cars
 non_tested_cars = [
+  FORD.F_150_MK14,
   GM.CADILLAC_ATS,
   GM.HOLDEN_ASTRA,
   GM.MALIBU,

selfdrive/car/tests/test_fw_fingerprint.py

@@ -220,12 +220,12 @@ class TestFwFingerprintTiming(unittest.TestCase):
     print(f'get_vin, query time={vin_time / self.N} seconds')
 
   def test_fw_query_timing(self):
-    total_ref_time = 6.2
+    total_ref_time = 6.7
     brand_ref_times = {
       1: {
         'body': 0.1,
         'chrysler': 0.3,
-        'ford': 0.2,
+        'ford': 0.3,
         'honda': 0.5,
         'hyundai': 0.7,
         'mazda': 0.2,
@@ -236,6 +236,7 @@ class TestFwFingerprintTiming(unittest.TestCase):
         'volkswagen': 0.2,
       },
       2: {
+        'ford': 0.4,
         'hyundai': 1.1,
       }
     }

selfdrive/car/torque_data/override.yaml

@@ -19,6 +19,7 @@ TESLA AP2 MODEL S: [.nan, 2.5, .nan]
 FORD BRONCO SPORT 1ST GEN: [.nan, 1.5, .nan]
 FORD ESCAPE 4TH GEN: [.nan, 1.5, .nan]
 FORD EXPLORER 6TH GEN: [.nan, 1.5, .nan]
+FORD F-150 14TH GEN: [.nan, 1.5, .nan]
 FORD FOCUS 4TH GEN: [.nan, 1.5, .nan]
 FORD MAVERICK 1ST GEN: [.nan, 1.5, .nan]
 ###