Chrysler: fix LKAS fault for 2017 Pacifica (#26711)

* gate on FW

* fix

* reverse docs

* fix

* Revert "fix"

This reverts commit a0f2558fba0adc59c70eb92ffb8bd815bf033979.

Revert "reverse docs"

This reverts commit 9a46c517dfa7182f2f30501de801e35f7e1004c4.

Revert "fix"

This reverts commit 7b4d4bd3d2c2216890ea1877d52fdfbd9cec3ed7.

Revert "gate on FW"

This reverts commit 296826e71323e63f8e57b8988e573cef33149022.

* use a flag

* fix

* draft

* clean up

* clean up

* more clear

* comment

* remove

selfdrive/car/chrysler/carcontroller.py

@@ -2,7 +2,7 @@ from opendbc.can.packer import CANPacker
 from common.realtime import DT_CTRL
 from selfdrive.car import apply_toyota_steer_torque_limits
 from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, create_cruise_buttons
-from selfdrive.car.chrysler.values import CAR, RAM_CARS, CarControllerParams
+from selfdrive.car.chrysler.values import RAM_CARS, CarControllerParams, ChryslerFlags
 
 
 class CarController:
@@ -51,7 +51,7 @@ class CarController:
       lkas_control_bit = self.lkas_control_bit_prev
       if CS.out.vEgo > self.CP.minSteerSpeed:
         lkas_control_bit = True
-      elif self.CP.carFingerprint in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019):
+      elif self.CP.flags & ChryslerFlags.HIGHER_MIN_STEERING_SPEED:
         if CS.out.vEgo < (self.CP.minSteerSpeed - 3.0):
           lkas_control_bit = False
       elif self.CP.carFingerprint in RAM_CARS:

selfdrive/car/chrysler/interface.py

@@ -2,7 +2,7 @@
 from cereal import car
 from panda import Panda
 from selfdrive.car import STD_CARGO_KG, get_safety_config
-from selfdrive.car.chrysler.values import CAR, DBC, RAM_HD, RAM_DT
+from selfdrive.car.chrysler.values import CAR, DBC, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags
 from selfdrive.car.interfaces import CarInterfaceBase
 
 
@@ -24,9 +24,12 @@ class CarInterface(CarInterfaceBase):
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_CHRYSLER_RAM_DT
 
     ret.minSteerSpeed = 3.8  # m/s
-    if candidate in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019):
-      # TODO: allow 2019 cars to steer down to 13 m/s if already engaged.
-      ret.minSteerSpeed = 17.5  # m/s 17 on the way up, 13 on the way down once engaged.
+    if candidate not in RAM_CARS:
+      # Newer FW versions standard on the following platforms, or flashed by a dealer onto older platforms have a higher minimum steering speed.
+      new_eps_platform = candidate in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019)
+      new_eps_firmware = any(fw.ecu == 'eps' and fw.fwVersion[:4] >= b"6841" for fw in car_fw)
+      if new_eps_platform or new_eps_firmware:
+        ret.flags |= ChryslerFlags.HIGHER_MIN_STEERING_SPEED.value
 
     # Chrysler
     if candidate in (CAR.PACIFICA_2017_HYBRID, CAR.PACIFICA_2018, CAR.PACIFICA_2018_HYBRID, CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020):
@@ -55,10 +58,9 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 2493. + STD_CARGO_KG
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
       ret.minSteerSpeed = 14.5
-      if car_fw is not None:
-        for fw in car_fw:
-          if fw.ecu == 'eps' and fw.fwVersion[:8] in (b"68312176", b"68273275"):
-            ret.minSteerSpeed = 0.
+      for fw in car_fw:
+        if fw.ecu == 'eps' and fw.fwVersion.startswith((b"68312176", b"68273275")):
+          ret.minSteerSpeed = 0.
 
     elif candidate == CAR.RAM_HD:
       ret.steerActuatorDelay = 0.2
@@ -71,6 +73,10 @@ class CarInterface(CarInterfaceBase):
     else:
       raise ValueError(f"Unsupported car: {candidate}")
 
+    if ret.flags & ChryslerFlags.HIGHER_MIN_STEERING_SPEED:
+      # TODO: allow these cars to steer down to 13 m/s if already engaged.
+      ret.minSteerSpeed = 17.5  # m/s 17 on the way up, 13 on the way down once engaged.
+
     ret.centerToFront = ret.wheelbase * 0.44
     ret.enableBsm = 720 in fingerprint[0]
 

selfdrive/car/chrysler/values.py

@@ -1,3 +1,4 @@
+from enum import IntFlag
 from dataclasses import dataclass
 from enum import Enum
 from typing import Dict, List, Optional, Union
@@ -11,6 +12,10 @@ from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
 Ecu = car.CarParams.Ecu
 
 
+class ChryslerFlags(IntFlag):
+  HIGHER_MIN_STEERING_SPEED = 1
+
+
 class CAR:
   # Chrysler
   PACIFICA_2017_HYBRID = "CHRYSLER PACIFICA HYBRID 2017"