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Ford: add Bronco Sport 2021-22 (#27092)

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* cleanup

* add Ford Bronco Sport 2021 fw

VIN: 3FMCR9B61MRA17853

62241b0c7fea4589|2022-10-25--13-40-05--0

* add test route

* add Ford Bronco Sport 2022 fw

VIN: 3FMCR9B69NRD15990

54827bf84c38b14f|2023-01-23--14-58-23--0
This commit is contained in:
Cameron Clough
2023-01-25 20:56:03 -08:00
committed by GitHub
parent 3cd60a4724
commit d410206f14
4 changed files with 37 additions and 3 deletions
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selfdrive/car/ford/interface.py
+9 -3
View File
@@ -13,15 +13,21 @@ class CarInterface(CarInterfaceBase):
@staticmethod
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
ret.carName = "ford"
ret.dashcamOnly = True
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.ford)]
# Angle-based steering
# These cars are dashcam only until the port is finished
ret.dashcamOnly = True
ret.steerControlType = car.CarParams.SteerControlType.angle
ret.steerActuatorDelay = 0.4
ret.steerLimitTimer = 1.0
if candidate == CAR.ESCAPE_MK4:
if candidate == CAR.BRONCO_SPORT_MK1:
ret.wheelbase = 2.67
ret.steerRatio = 17.7 # learned
ret.mass = 1625 + STD_CARGO_KG
elif candidate == CAR.ESCAPE_MK4:
ret.wheelbase = 2.71
ret.steerRatio = 14.3 # Copied from Focus
ret.mass = 1750 + STD_CARGO_KG
selfdrive/car/ford/values.py
+26
View File
@@ -40,6 +40,7 @@ class CANBUS:
class CAR:
BRONCO_SPORT_MK1 = "FORD BRONCO SPORT 1ST GEN"
ESCAPE_MK4 = "FORD ESCAPE 4TH GEN"
EXPLORER_MK6 = "FORD EXPLORER 6TH GEN"
FOCUS_MK4 = "FORD FOCUS 4TH GEN"
@@ -60,6 +61,7 @@ class FordCarInfo(CarInfo):
CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
CAR.BRONCO_SPORT_MK1: FordCarInfo("Ford Bronco Sport 2021-22"),
CAR.ESCAPE_MK4: [
FordCarInfo("Ford Escape 2020-21"),
FordCarInfo("Ford Kuga 2020-21", "Driver Assistance Pack"),
@@ -85,6 +87,30 @@ FW_QUERY_CONFIG = FwQueryConfig(
)
FW_VERSIONS = {
CAR.BRONCO_SPORT_MK1: {
(Ecu.eps, 0x730, None): [
b'LX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'LX6C-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.abs, 0x760, None): [
b'LX6C-2D053-RD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'LX6C-2D053-RE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x764, None): [
b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x706, None): [
b'M1PT-14F397-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.engine, 0x7E0, None): [
b'M1PA-14C204-GF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'N1PA-14C204-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.shiftByWire, 0x732, None): [
b'LX6P-14G395-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PZ1P-14G395-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
},
CAR.ESCAPE_MK4: {
(Ecu.eps, 0x730, None): [
b'LX6C-14D003-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
selfdrive/car/tests/routes.py
+1
View File
@@ -42,6 +42,7 @@ routes = [
CarTestRoute("221c253375af4ee9|2022-06-15--18-38-24", CHRYSLER.RAM_1500),
CarTestRoute("8fb5eabf914632ae|2022-08-04--17-28-53", CHRYSLER.RAM_HD, segment=6),
CarTestRoute("54827bf84c38b14f|2023-01-25--14-14-11", FORD.BRONCO_SPORT_MK1),
CarTestRoute("62241b0c7fea4589|2022-09-01--15-32-49", FORD.EXPLORER_MK6),
#TestRoute("f1b4c567731f4a1b|2018-04-30--10-15-35", FORD.FUSION),
selfdrive/car/torque_data/override.yaml
+1
View File
@@ -12,6 +12,7 @@ TESLA AP1 MODEL S: [.nan, 2.5, .nan]
TESLA AP2 MODEL S: [.nan, 2.5, .nan]
# Guess
FORD BRONCO SPORT 1ST GEN: [.nan, 1.5, .nan]
FORD ESCAPE 4TH GEN: [.nan, 1.5, .nan]
FORD EXPLORER 6TH GEN: [.nan, 1.5, .nan]
FORD FOCUS 4TH GEN: [.nan, 1.5, .nan]