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Ford: move to PlatformConfig (#31554)
* Ford: move to PlatformConfig * Align Aviator model years with Explorer * Add CarSpecs to PlatformConfig --------- Co-authored-by: justin <justin@comma.ai>
This commit is contained in:
Cameron Clough
@@ -3,7 +3,7 @@ from panda import Panda
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from openpilot.common.conversions import Conversions as CV
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from openpilot.selfdrive.car import get_safety_config
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from openpilot.selfdrive.car.ford.fordcan import CanBus
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from openpilot.selfdrive.car.ford.values import CANFD_CAR, CAR, Ecu
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from openpilot.selfdrive.car.ford.values import CANFD_CAR, Ecu
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from openpilot.selfdrive.car.interfaces import CarInterfaceBase
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TransmissionType = car.CarParams.TransmissionType
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@@ -39,51 +39,6 @@ class CarInterface(CarInterfaceBase):
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if candidate in CANFD_CAR:
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ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_CANFD
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if candidate == CAR.BRONCO_SPORT_MK1:
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ret.wheelbase = 2.67
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ret.steerRatio = 17.7
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ret.mass = 1625
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elif candidate == CAR.ESCAPE_MK4:
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ret.wheelbase = 2.71
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ret.steerRatio = 16.7
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ret.mass = 1750
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elif candidate == CAR.EXPLORER_MK6:
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ret.wheelbase = 3.025
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ret.steerRatio = 16.8
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ret.mass = 2050
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elif candidate == CAR.F_150_MK14:
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# required trim only on SuperCrew
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ret.wheelbase = 3.69
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ret.steerRatio = 17.0
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ret.mass = 2000
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elif candidate == CAR.F_150_LIGHTNING_MK1:
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# required trim only on SuperCrew
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ret.wheelbase = 3.70
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ret.steerRatio = 16.9
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ret.mass = 2948
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elif candidate == CAR.MUSTANG_MACH_E_MK1:
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ret.wheelbase = 2.984
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ret.steerRatio = 17.0 # guess
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ret.mass = 2200
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elif candidate == CAR.FOCUS_MK4:
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ret.wheelbase = 2.7
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ret.steerRatio = 15.0
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ret.mass = 1350
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elif candidate == CAR.MAVERICK_MK1:
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ret.wheelbase = 3.076
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ret.steerRatio = 17.0
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ret.mass = 1650
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else:
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raise ValueError(f"Unsupported car: {candidate}")
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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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@@ -1,9 +1,8 @@
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from collections import defaultdict
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from dataclasses import dataclass
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from enum import Enum, StrEnum
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from dataclasses import dataclass, field
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from enum import Enum
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from cereal import car
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from openpilot.selfdrive.car import AngleRateLimit, dbc_dict
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from openpilot.selfdrive.car import AngleRateLimit, CarSpecs, dbc_dict, DbcDict, PlatformConfig, Platforms
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from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column, \
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Device
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from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
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@@ -39,33 +38,11 @@ class CarControllerParams:
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pass
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class CAR(StrEnum):
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BRONCO_SPORT_MK1 = "FORD BRONCO SPORT 1ST GEN"
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ESCAPE_MK4 = "FORD ESCAPE 4TH GEN"
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EXPLORER_MK6 = "FORD EXPLORER 6TH GEN"
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F_150_MK14 = "FORD F-150 14TH GEN"
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FOCUS_MK4 = "FORD FOCUS 4TH GEN"
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MAVERICK_MK1 = "FORD MAVERICK 1ST GEN"
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F_150_LIGHTNING_MK1 = "FORD F-150 LIGHTNING 1ST GEN"
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MUSTANG_MACH_E_MK1 = "FORD MUSTANG MACH-E 1ST GEN"
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CANFD_CAR = {CAR.F_150_MK14, CAR.F_150_LIGHTNING_MK1, CAR.MUSTANG_MACH_E_MK1}
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class RADAR:
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DELPHI_ESR = 'ford_fusion_2018_adas'
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DELPHI_MRR = 'FORD_CADS'
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DBC: dict[str, dict[str, str]] = defaultdict(lambda: dbc_dict("ford_lincoln_base_pt", RADAR.DELPHI_MRR))
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# F-150 radar is not yet supported
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DBC[CAR.F_150_MK14] = dbc_dict("ford_lincoln_base_pt", None)
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DBC[CAR.F_150_LIGHTNING_MK1] = dbc_dict("ford_lincoln_base_pt", None)
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DBC[CAR.MUSTANG_MACH_E_MK1] = dbc_dict("ford_lincoln_base_pt", None)
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class Footnote(Enum):
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FOCUS = CarFootnote(
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"Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in " +
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@@ -86,39 +63,82 @@ class FordCarInfo(CarInfo):
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self.car_parts = CarParts([Device.threex, harness])
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CAR_INFO: dict[str, CarInfo | list[CarInfo]] = {
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CAR.BRONCO_SPORT_MK1: FordCarInfo("Ford Bronco Sport 2021-22"),
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CAR.ESCAPE_MK4: [
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FordCarInfo("Ford Escape 2020-22"),
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FordCarInfo("Ford Escape Hybrid 2020-22"),
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FordCarInfo("Ford Escape Plug-in Hybrid 2020-22"),
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FordCarInfo("Ford Kuga 2020-22", "Adaptive Cruise Control with Lane Centering"),
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FordCarInfo("Ford Kuga Hybrid 2020-22", "Adaptive Cruise Control with Lane Centering"),
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FordCarInfo("Ford Kuga Plug-in Hybrid 2020-22", "Adaptive Cruise Control with Lane Centering"),
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],
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CAR.EXPLORER_MK6: [
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FordCarInfo("Ford Explorer 2020-23"),
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FordCarInfo("Ford Explorer Hybrid 2020-23"), # Limited and Platinum only
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FordCarInfo("Lincoln Aviator 2020-23", "Co-Pilot360 Plus"),
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FordCarInfo("Lincoln Aviator Plug-in Hybrid 2020-23", "Co-Pilot360 Plus"), # Grand Touring only
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],
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CAR.F_150_MK14: [
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FordCarInfo("Ford F-150 2023", "Co-Pilot360 Active 2.0"),
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FordCarInfo("Ford F-150 Hybrid 2023", "Co-Pilot360 Active 2.0"),
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],
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CAR.F_150_LIGHTNING_MK1: FordCarInfo("Ford F-150 Lightning 2021-23", "Co-Pilot360 Active 2.0"),
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CAR.MUSTANG_MACH_E_MK1: FordCarInfo("Ford Mustang Mach-E 2021-23", "Co-Pilot360 Active 2.0"),
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CAR.FOCUS_MK4: [
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FordCarInfo("Ford Focus 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS]),
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FordCarInfo("Ford Focus Hybrid 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS]), # mHEV only
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],
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CAR.MAVERICK_MK1: [
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FordCarInfo("Ford Maverick 2022", "LARIAT Luxury"),
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FordCarInfo("Ford Maverick Hybrid 2022", "LARIAT Luxury"),
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FordCarInfo("Ford Maverick 2023", "Co-Pilot360 Assist"),
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FordCarInfo("Ford Maverick Hybrid 2023", "Co-Pilot360 Assist"),
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],
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}
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@dataclass
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class FordPlatformConfig(PlatformConfig):
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dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('ford_lincoln_base_pt', RADAR.DELPHI_MRR))
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class CAR(Platforms):
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BRONCO_SPORT_MK1 = FordPlatformConfig(
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"FORD BRONCO SPORT 1ST GEN",
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FordCarInfo("Ford Bronco Sport 2021-22"),
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specs=CarSpecs(mass=1625, wheelbase=2.67, steerRatio=17.7),
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)
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ESCAPE_MK4 = FordPlatformConfig(
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"FORD ESCAPE 4TH GEN",
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[
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FordCarInfo("Ford Escape 2020-22"),
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FordCarInfo("Ford Escape Hybrid 2020-22"),
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FordCarInfo("Ford Escape Plug-in Hybrid 2020-22"),
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FordCarInfo("Ford Kuga 2020-22", "Adaptive Cruise Control with Lane Centering"),
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FordCarInfo("Ford Kuga Hybrid 2020-22", "Adaptive Cruise Control with Lane Centering"),
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FordCarInfo("Ford Kuga Plug-in Hybrid 2020-22", "Adaptive Cruise Control with Lane Centering"),
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],
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specs=CarSpecs(mass=1750, wheelbase=2.71, steerRatio=16.7),
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)
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EXPLORER_MK6 = FordPlatformConfig(
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"FORD EXPLORER 6TH GEN",
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[
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FordCarInfo("Ford Explorer 2020-23"),
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FordCarInfo("Ford Explorer Hybrid 2020-23"), # Limited and Platinum only
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FordCarInfo("Lincoln Aviator 2020-23", "Co-Pilot360 Plus"),
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FordCarInfo("Lincoln Aviator Plug-in Hybrid 2020-23", "Co-Pilot360 Plus"), # Grand Touring only
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],
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specs=CarSpecs(mass=2050, wheelbase=3.025, steerRatio=16.8),
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)
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F_150_MK14 = FordPlatformConfig(
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"FORD F-150 14TH GEN",
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[
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FordCarInfo("Ford F-150 2023", "Co-Pilot360 Active 2.0"),
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FordCarInfo("Ford F-150 Hybrid 2023", "Co-Pilot360 Active 2.0"),
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],
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dbc_dict=dbc_dict('ford_lincoln_base_pt', None),
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specs=CarSpecs(mass=2000, wheelbase=3.69, steerRatio=17.0),
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)
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F_150_LIGHTNING_MK1 = FordPlatformConfig(
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"FORD F-150 LIGHTNING 1ST GEN",
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FordCarInfo("Ford F-150 Lightning 2021-23", "Co-Pilot360 Active 2.0"),
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dbc_dict=dbc_dict('ford_lincoln_base_pt', None),
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specs=CarSpecs(mass=2948, wheelbase=3.70, steerRatio=16.9),
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)
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FOCUS_MK4 = FordPlatformConfig(
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"FORD FOCUS 4TH GEN",
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[
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FordCarInfo("Ford Focus 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS]),
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FordCarInfo("Ford Focus Hybrid 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS]), # mHEV only
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],
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specs=CarSpecs(mass=1350, wheelbase=2.7, steerRatio=15.0),
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)
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MAVERICK_MK1 = FordPlatformConfig(
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"FORD MAVERICK 1ST GEN",
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[
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FordCarInfo("Ford Maverick 2022", "LARIAT Luxury"),
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FordCarInfo("Ford Maverick Hybrid 2022", "LARIAT Luxury"),
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FordCarInfo("Ford Maverick 2023", "Co-Pilot360 Assist"),
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FordCarInfo("Ford Maverick Hybrid 2023", "Co-Pilot360 Assist"),
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],
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specs=CarSpecs(mass=1650, wheelbase=3.076, steerRatio=17.0),
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)
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MUSTANG_MACH_E_MK1 = FordPlatformConfig(
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"FORD MUSTANG MACH-E 1ST GEN",
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FordCarInfo("Ford Mustang Mach-E 2021-23", "Co-Pilot360 Active 2.0"),
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dbc_dict=dbc_dict('ford_lincoln_base_pt', None),
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specs=CarSpecs(mass=2200, wheelbase=2.984, steerRatio=17.0), # TODO: check steer ratio
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)
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CANFD_CAR = {CAR.F_150_MK14, CAR.F_150_LIGHTNING_MK1, CAR.MUSTANG_MACH_E_MK1}
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FW_QUERY_CONFIG = FwQueryConfig(
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requests=[
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@@ -142,3 +162,6 @@ FW_QUERY_CONFIG = FwQueryConfig(
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(Ecu.shiftByWire, 0x732, None),
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],
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)
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CAR_INFO = CAR.create_carinfo_map()
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DBC = CAR.create_dbc_map()
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