Pacifica mod support

opendbc_repo/opendbc/car/chrysler/carcontroller.py

@@ -2,7 +2,7 @@ from opendbc.can import CANPacker
 from opendbc.car import Bus, DT_CTRL
 from opendbc.car.lateral import apply_meas_steer_torque_limits
 from opendbc.car.chrysler import chryslercan
-from opendbc.car.chrysler.values import RAM_CARS, RAM_DT, CarControllerParams, ChryslerFlags
+from opendbc.car.chrysler.values import RAM_CARS, RAM_DT, CarControllerParams, ChryslerFlags, ChryslerStarPilotFlags
 from opendbc.car.interfaces import CarControllerBase
 
 
@@ -50,7 +50,9 @@ 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 self.CP.carFingerprint in RAM_DT:
+      if self.FPCP is not None and self.FPCP.flags & ChryslerStarPilotFlags.NO_MIN_STEERING_SPEED:
+        lkas_control_bit = CC.latActive
+      elif 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):

opendbc_repo/opendbc/car/chrysler/values.py

@@ -21,6 +21,7 @@ class ChryslerFlags(IntFlag):
 
 class ChryslerStarPilotFlags(IntFlag):
   RAM_HD_ALT_BUTTONS = 1
+  NO_MIN_STEERING_SPEED = 2
 
 
 @dataclass

opendbc_repo/opendbc/car/interfaces.py

@@ -134,6 +134,7 @@ class CarInterfaceBase(ABC):
 
     dbc_names = {bus: cp.dbc_name for bus, cp in self.can_parsers.items()}
     self.CC: CarControllerBase = self.CarController(dbc_names, CP)
+    self.CC.FPCP = FPCP
 
     self.FPCP = FPCP
 
@@ -215,6 +216,9 @@ class CarInterfaceBase(ABC):
         if candidate == CHRYSLER.RAM_HD_5TH_GEN:
           if 570 not in fingerprint[0]:
             fp_ret.flags |= ChryslerStarPilotFlags.RAM_HD_ALT_BUTTONS.value
+        if 0x4FF in fingerprint[0]:
+          fp_ret.flags |= ChryslerStarPilotFlags.NO_MIN_STEERING_SPEED.value
+          CP.minSteerSpeed = 0.
 
       elif platform in GM:
         fp_ret.canUsePedal = True
@@ -505,6 +509,7 @@ class CarStateBase(ABC):
 class CarControllerBase(ABC):
   def __init__(self, dbc_names: dict[StrEnum, str], CP: structs.CarParams):
     self.CP = CP
+    self.FPCP: custom.StarPilotCarParams | None = None
     self.frame = 0
     self.secoc_key: bytes = b"00" * 16
 

opendbc_repo/opendbc/car/tests/test_car_interfaces.py

@@ -8,9 +8,13 @@ from collections.abc import Callable
 from typing import Any
 
 from cereal import custom
-from opendbc.car import DT_CTRL, CanData, structs
+from opendbc.can import CANParser
+from opendbc.car import Bus, DT_CTRL, CanData, structs
 from opendbc.car.car_helpers import _apply_disable_openpilot_long, interfaces
+from opendbc.car.chrysler.carcontroller import CarController as ChryslerCarController
 from opendbc.car.chrysler.carstate import CarState as ChryslerCarState
+from opendbc.car.chrysler.interface import CarInterface as ChryslerCarInterface
+from opendbc.car.chrysler.values import CAR as CHRYSLER_CAR, DBC as CHRYSLER_DBC, ChryslerStarPilotFlags
 from opendbc.car.fingerprints import FW_VERSIONS
 from opendbc.car.fw_versions import FW_QUERY_CONFIGS
 from opendbc.car.hyundai.interface import CarInterface as HyundaiCarInterface
@@ -161,6 +165,53 @@ class TestCarInterfaces:
       "Center_Stack_2": {"LKAS_Button": 1},
     }, is_ram=True)
 
+  def test_chrysler_wd_mod_enables_steer_to_zero(self):
+    fingerprint = {bus: {} for bus in range(8)}
+    fingerprint[0][0x4FF] = 8
+    toggles = get_test_starpilot_toggles()
+
+    car_params = ChryslerCarInterface.get_params(
+      CHRYSLER_CAR.CHRYSLER_PACIFICA_2020,
+      fingerprint,
+      [],
+      alpha_long=False,
+      is_release=False,
+      docs=False,
+      starpilot_toggles=toggles,
+    )
+    assert car_params.minSteerSpeed > 0.
+
+    fp_car_params = ChryslerCarInterface.get_starpilot_params(
+      CHRYSLER_CAR.CHRYSLER_PACIFICA_2020,
+      fingerprint,
+      [],
+      car_params,
+      toggles,
+    )
+    assert fp_car_params.flags & ChryslerStarPilotFlags.NO_MIN_STEERING_SPEED
+    assert car_params.minSteerSpeed == 0.
+
+    controller = ChryslerCarController({Bus.pt: CHRYSLER_DBC[car_params.carFingerprint][Bus.pt]}, car_params)
+    controller.FPCP = fp_car_params
+    controller.frame = 202
+
+    CC = structs.CarControl()
+    CC.latActive = True
+    CC.actuators.torque = 0.1
+    CC = CC.as_reader()
+    CS = SimpleNamespace(
+      out=SimpleNamespace(vEgo=0.0, steeringTorqueEps=0.0, gearShifter=structs.CarState.GearShifter.drive),
+      lkas_car_model=-1,
+      button_counter=0,
+      button_message="CRUISE_BUTTONS",
+      auto_high_beam=0,
+    )
+    _, can_sends = controller.update(CC, CS, 0, toggles)
+
+    lkas_parser = CANParser(CHRYSLER_DBC[car_params.carFingerprint][Bus.pt], [("LKAS_COMMAND", 50)], 0)
+    lkas_parser.update([0, can_sends])
+    assert lkas_parser.vl["LKAS_COMMAND"]["LKAS_CONTROL_BIT"] == 1
+
   def test_gm_bolt_gen2_pedal_safety_flags(self):
     CarInterface = interfaces[GM_CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL]