Ford: use flags for CANFD (#31664)

old-commit-hash: 341b81c0a5c5f378f749a8ba07514f48f0f9faa5

selfdrive/car/ford/carcontroller.py

@@ -1,9 +1,9 @@
 from cereal import car
-from openpilot.common.numpy_fast import clip
 from opendbc.can.packer import CANPacker
+from openpilot.common.numpy_fast import clip
 from openpilot.selfdrive.car import apply_std_steer_angle_limits
 from openpilot.selfdrive.car.ford import fordcan
-from openpilot.selfdrive.car.ford.values import CANFD_CAR, CarControllerParams
+from openpilot.selfdrive.car.ford.values import CarControllerParams, FordFlags
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
 
@@ -70,7 +70,7 @@ class CarController(CarControllerBase):
 
       self.apply_curvature_last = apply_curvature
 
-      if self.CP.carFingerprint in CANFD_CAR:
+      if self.CP.flags & FordFlags.CANFD:
         # TODO: extended mode
         mode = 1 if CC.latActive else 0
         counter = (self.frame // CarControllerParams.STEER_STEP) % 0xF

selfdrive/car/ford/carstate.py

@@ -1,10 +1,10 @@
 from cereal import car
-from openpilot.common.conversions import Conversions as CV
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
-from openpilot.selfdrive.car.interfaces import CarStateBase
+from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car.ford.fordcan import CanBus
-from openpilot.selfdrive.car.ford.values import CANFD_CAR, CarControllerParams, DBC
+from openpilot.selfdrive.car.ford.values import DBC, CarControllerParams, FordFlags
+from openpilot.selfdrive.car.interfaces import CarStateBase
 
 GearShifter = car.CarState.GearShifter
 TransmissionType = car.CarParams.TransmissionType
@@ -49,7 +49,7 @@ class CarState(CarStateBase):
     ret.steerFaultPermanent = cp.vl["EPAS_INFO"]["EPAS_Failure"] in (2, 3)
     ret.espDisabled = cp.vl["Cluster_Info1_FD1"]["DrvSlipCtlMde_D_Rq"] != 0  # 0 is default mode
 
-    if self.CP.carFingerprint in CANFD_CAR:
+    if self.CP.flags & FordFlags.CANFD:
       # 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)
 
@@ -91,7 +91,7 @@ class CarState(CarStateBase):
 
     # blindspot sensors
     if self.CP.enableBsm:
-      cp_bsm = cp_cam if self.CP.carFingerprint in CANFD_CAR else cp
+      cp_bsm = cp_cam if self.CP.flags & FordFlags.CANFD 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
 
@@ -122,7 +122,7 @@ class CarState(CarStateBase):
       ("RCMStatusMessage2_FD1", 10),
     ]
 
-    if CP.carFingerprint in CANFD_CAR:
+    if CP.flags & FordFlags.CANFD:
       messages += [
         ("Lane_Assist_Data3_FD1", 33),
       ]
@@ -137,7 +137,7 @@ class CarState(CarStateBase):
         ("BCM_Lamp_Stat_FD1", 1),
       ]
 
-    if CP.enableBsm and CP.carFingerprint not in CANFD_CAR:
+    if CP.enableBsm and not (CP.flags & FordFlags.CANFD):
       messages += [
         ("Side_Detect_L_Stat", 5),
         ("Side_Detect_R_Stat", 5),
@@ -155,7 +155,7 @@ class CarState(CarStateBase):
       ("IPMA_Data", 1),
     ]
 
-    if CP.enableBsm and CP.carFingerprint in CANFD_CAR:
+    if CP.enableBsm and CP.flags & FordFlags.CANFD:
       messages += [
         ("Side_Detect_L_Stat", 5),
         ("Side_Detect_R_Stat", 5),

selfdrive/car/ford/interface.py

@@ -3,7 +3,7 @@ from panda import Panda
 from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car import get_safety_config
 from openpilot.selfdrive.car.ford.fordcan import CanBus
-from openpilot.selfdrive.car.ford.values import CANFD_CAR, Ecu
+from openpilot.selfdrive.car.ford.values import Ecu, FordFlags
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
 TransmissionType = car.CarParams.TransmissionType
@@ -14,7 +14,7 @@ class CarInterface(CarInterfaceBase):
   @staticmethod
   def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "ford"
-    ret.dashcamOnly = candidate in CANFD_CAR
+    ret.dashcamOnly = bool(ret.flags & FordFlags.CANFD)
 
     ret.radarUnavailable = True
     ret.steerControlType = car.CarParams.SteerControlType.angle
@@ -36,7 +36,7 @@ class CarInterface(CarInterfaceBase):
       ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_LONG_CONTROL
       ret.openpilotLongitudinalControl = True
 
-    if candidate in CANFD_CAR:
+    if ret.flags & FordFlags.CANFD:
       ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_CANFD
 
     # Auto Transmission: 0x732 ECU or Gear_Shift_by_Wire_FD1

selfdrive/car/ford/values.py

@@ -1,5 +1,5 @@
 from dataclasses import dataclass, field
-from enum import Enum
+from enum import Enum, IntFlag
 
 import panda.python.uds as uds
 from cereal import car
@@ -39,6 +39,11 @@ class CarControllerParams:
     pass
 
 
+class FordFlags(IntFlag):
+  # Static flags
+  CANFD = 1
+
+
 class RADAR:
   DELPHI_ESR = 'ford_fusion_2018_adas'
   DELPHI_MRR = 'FORD_CADS'
@@ -57,7 +62,7 @@ class FordCarInfo(CarInfo):
   package: str = "Co-Pilot360 Assist+"
 
   def init_make(self, CP: car.CarParams):
-    harness = CarHarness.ford_q4 if CP.carFingerprint in CANFD_CAR else CarHarness.ford_q3
+    harness = CarHarness.ford_q4 if CP.flags & FordFlags.CANFD else CarHarness.ford_q3
     if CP.carFingerprint in (CAR.BRONCO_SPORT_MK1, CAR.MAVERICK_MK1, CAR.F_150_MK14, CAR.F_150_LIGHTNING_MK1):
       self.car_parts = CarParts([Device.threex_angled_mount, harness])
     else:
@@ -69,6 +74,15 @@ class FordPlatformConfig(PlatformConfig):
   dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('ford_lincoln_base_pt', RADAR.DELPHI_MRR))
 
 
+@dataclass
+class FordCANFDPlatformConfig(FordPlatformConfig):
+  dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('ford_lincoln_base_pt', None))
+
+  def init(self):
+    super().init()
+    self.flags |= FordFlags.CANFD
+
+
 class CAR(Platforms):
   BRONCO_SPORT_MK1 = FordPlatformConfig(
     "FORD BRONCO SPORT 1ST GEN",
@@ -97,19 +111,17 @@ class CAR(Platforms):
     ],
     specs=CarSpecs(mass=2050, wheelbase=3.025, steerRatio=16.8),
   )
-  F_150_MK14 = FordPlatformConfig(
+  F_150_MK14 = FordCANFDPlatformConfig(
     "FORD F-150 14TH GEN",
     [
       FordCarInfo("Ford F-150 2023", "Co-Pilot360 Active 2.0"),
       FordCarInfo("Ford F-150 Hybrid 2023", "Co-Pilot360 Active 2.0"),
     ],
-    dbc_dict=dbc_dict('ford_lincoln_base_pt', None),
     specs=CarSpecs(mass=2000, wheelbase=3.69, steerRatio=17.0),
   )
-  F_150_LIGHTNING_MK1 = FordPlatformConfig(
+  F_150_LIGHTNING_MK1 = FordCANFDPlatformConfig(
     "FORD F-150 LIGHTNING 1ST GEN",
     FordCarInfo("Ford F-150 Lightning 2021-23", "Co-Pilot360 Active 2.0"),
-    dbc_dict=dbc_dict('ford_lincoln_base_pt', None),
     specs=CarSpecs(mass=2948, wheelbase=3.70, steerRatio=16.9),
   )
   FOCUS_MK4 = FordPlatformConfig(
@@ -130,17 +142,13 @@ class CAR(Platforms):
     ],
     specs=CarSpecs(mass=1650, wheelbase=3.076, steerRatio=17.0),
   )
-  MUSTANG_MACH_E_MK1 = FordPlatformConfig(
+  MUSTANG_MACH_E_MK1 = FordCANFDPlatformConfig(
     "FORD MUSTANG MACH-E 1ST GEN",
     FordCarInfo("Ford Mustang Mach-E 2021-23", "Co-Pilot360 Active 2.0"),
-    dbc_dict=dbc_dict('ford_lincoln_base_pt', None),
     specs=CarSpecs(mass=2200, wheelbase=2.984, steerRatio=17.0),  # TODO: check steer ratio
   )
 
 
-CANFD_CAR = {CAR.F_150_MK14, CAR.F_150_LIGHTNING_MK1, CAR.MUSTANG_MACH_E_MK1}
-
-
 DATA_IDENTIFIER_FORD_ASBUILT = 0xDE00
 
 ASBUILT_BLOCKS: list[tuple[int, list]] = [