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Ford: detect missing LKAS from EPS configuration (#31821)

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* debug: disable FW cache

* Ford: detect missing TJA/LCA config and disable LKAS

* set dashcamOnly

* revert

* clean up

* clean up

* some CAN FD do not have 0x01 block for PSCM

* bump cereal (fork)

* remove confusing comment

* add flags/event

* remove duplicate from events

* copy can be next pr

* dashcamOnly if no config comes back either (this shouldn't happen)

* flipped

* can do this

* Revert "can do this"

This reverts commit c3d311b2ffb7bbc346c7f702ac5c1934bc495c65.

* Revert "flipped"

This reverts commit 75c01fb4c5f7fdc9222ea13b8901f76b5b419c99.

* Revert "dashcamOnly if no config comes back either (this shouldn't happen)"

This reverts commit f82624a0eb28bf683660f86b3ddfd44717a6915f.

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: 9f327aeb4824576497a57f077fe9b8243b95e8c0
This commit is contained in:
Cameron Clough
2024-05-22 01:01:04 +01:00
committed by GitHub
parent 64c444544f
commit 513f571afc
1 changed files with 12 additions and 0 deletions
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selfdrive/car/ford/interface.py
+12
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@@ -39,6 +39,18 @@ class CarInterface(CarInterfaceBase):
if ret.flags & FordFlags.CANFD:
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_CANFD
else:
# Lock out if the car does not have needed lateral and longitudinal control APIs.
# Note that we also check CAN for adaptive cruise, but no known signal for LCA exists
pscm_config = next((fw for fw in car_fw if fw.ecu == Ecu.eps and b'\x22\xDE\x01' in fw.request), None)
if pscm_config:
if len(pscm_config.response) != 24:
ret.dashcamOnly = True
else:
config_tja = pscm_config.response[7] # Traffic Jam Assist
config_lca = pscm_config.response[8] # Lane Centering Assist
if config_tja != 0xFF or config_lca != 0xFF:
ret.dashcamOnly = True
# Auto Transmission: 0x732 ECU or Gear_Shift_by_Wire_FD1
found_ecus = [fw.ecu for fw in car_fw]