mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-06-30 19:12:07 +08:00
Shane Smiskol
35a99d7fc6
* use CP * no car control, consistent _update function signatures * eh it's fine to name it whatever * clean up * oops * !! * now we can delete this! * nobody does anymore old-commit-hash: 7248b00086f9b8d5d95c80a2eb7fe89c387f44ea
67 lines
2.6 KiB
Python
67 lines
2.6 KiB
Python
from cereal import car
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from panda import Panda
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from openpilot.selfdrive.car import get_safety_config
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from openpilot.selfdrive.car.conversions import Conversions as CV
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from openpilot.selfdrive.car.ford.fordcan import CanBus
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from openpilot.selfdrive.car.ford.values import Ecu, FordFlags
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from openpilot.selfdrive.car.interfaces import CarInterfaceBase
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TransmissionType = car.CarParams.TransmissionType
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class CarInterface(CarInterfaceBase):
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@staticmethod
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def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
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ret.carName = "ford"
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ret.dashcamOnly = bool(ret.flags & FordFlags.CANFD)
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ret.radarUnavailable = True
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ret.steerControlType = car.CarParams.SteerControlType.angle
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ret.steerActuatorDelay = 0.2
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ret.steerLimitTimer = 1.0
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CAN = CanBus(fingerprint=fingerprint)
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cfgs = [get_safety_config(car.CarParams.SafetyModel.ford)]
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if CAN.main >= 4:
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cfgs.insert(0, get_safety_config(car.CarParams.SafetyModel.noOutput))
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ret.safetyConfigs = cfgs
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ret.experimentalLongitudinalAvailable = True
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if experimental_long:
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ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_LONG_CONTROL
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ret.openpilotLongitudinalControl = True
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if ret.flags & FordFlags.CANFD:
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ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_CANFD
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else:
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# Lock out if the car does not have needed lateral and longitudinal control APIs.
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# Note that we also check CAN for adaptive cruise, but no known signal for LCA exists
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pscm_config = next((fw for fw in car_fw if fw.ecu == Ecu.eps and b'\x22\xDE\x01' in fw.request), None)
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if pscm_config:
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if len(pscm_config.fwVersion) != 24:
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ret.dashcamOnly = True
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else:
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config_tja = pscm_config.fwVersion[7] # Traffic Jam Assist
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config_lca = pscm_config.fwVersion[8] # Lane Centering Assist
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if config_tja != 0xFF or config_lca != 0xFF:
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ret.dashcamOnly = True
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# Auto Transmission: 0x732 ECU or Gear_Shift_by_Wire_FD1
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found_ecus = [fw.ecu for fw in car_fw]
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if Ecu.shiftByWire in found_ecus or 0x5A in fingerprint[CAN.main] or docs:
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ret.transmissionType = TransmissionType.automatic
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else:
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ret.transmissionType = TransmissionType.manual
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ret.minEnableSpeed = 20.0 * CV.MPH_TO_MS
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# BSM: Side_Detect_L_Stat, Side_Detect_R_Stat
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# TODO: detect bsm in car_fw?
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ret.enableBsm = 0x3A6 in fingerprint[CAN.main] and 0x3A7 in fingerprint[CAN.main]
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# LCA can steer down to zero
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ret.minSteerSpeed = 0.
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ret.autoResumeSng = ret.minEnableSpeed == -1.
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ret.centerToFront = ret.wheelbase * 0.44
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return ret
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