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Ford: align car groups with convention

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This commit is contained in:
Cameron Clough
2023-07-18 11:42:15 +01:00
parent c01ba907c0
commit e7c858d590
4 changed files with 11 additions and 11 deletions
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selfdrive/car/ford/carcontroller.py
+2 -2
View File
@@ -4,7 +4,7 @@ from opendbc.can.packer import CANPacker
from selfdrive.car import apply_std_steer_angle_limits
from selfdrive.car.ford.fordcan import CanBus, create_acc_msg, create_acc_ui_msg, create_button_msg, \
create_lat_ctl_msg, create_lat_ctl2_msg, create_lka_msg, create_lkas_ui_msg
from selfdrive.car.ford.values import CANFD_CARS, CarControllerParams
from selfdrive.car.ford.values import CANFD_CAR, CarControllerParams
LongCtrlState = car.CarControl.Actuators.LongControlState
VisualAlert = car.CarControl.HUDControl.VisualAlert
@@ -69,7 +69,7 @@ class CarController:
self.apply_curvature_last = apply_curvature
if self.CP.carFingerprint in CANFD_CARS:
if self.CP.carFingerprint in CANFD_CAR:
# TODO: extended mode
mode = 1 if CC.latActive else 0
counter = (self.frame // CarControllerParams.STEER_STEP) % 0xF
selfdrive/car/ford/carstate.py
+6 -6
View File
@@ -4,7 +4,7 @@ from opendbc.can.can_define import CANDefine
from opendbc.can.parser import CANParser
from selfdrive.car.interfaces import CarStateBase
from selfdrive.car.ford.fordcan import CanBus
from selfdrive.car.ford.values import CANFD_CARS, CarControllerParams, DBC
from selfdrive.car.ford.values import CANFD_CAR, CarControllerParams, DBC
GearShifter = car.CarState.GearShifter
TransmissionType = car.CarParams.TransmissionType
@@ -55,7 +55,7 @@ class CarState(CarStateBase):
ret.steerFaultPermanent = cp.vl["EPAS_INFO"]["EPAS_Failure"] in (2, 3)
# ret.espDisabled = False # TODO: find traction control signal
if self.CP.carFingerprint in CANFD_CARS:
if self.CP.carFingerprint in CANFD_CAR:
# 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)
@@ -97,7 +97,7 @@ class CarState(CarStateBase):
# blindspot sensors
if self.CP.enableBsm:
cp_bsm = cp_cam if self.CP.carFingerprint in CANFD_CARS else cp
cp_bsm = cp_cam if self.CP.carFingerprint in CANFD_CAR 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
@@ -191,7 +191,7 @@ class CarState(CarStateBase):
("RCMStatusMessage2_FD1", 10),
]
if CP.carFingerprint in CANFD_CARS:
if CP.carFingerprint in CANFD_CAR:
signals += [
("LatCtlSte_D_Stat", "Lane_Assist_Data3_FD1"), # PSCM lateral control status
]
@@ -216,7 +216,7 @@ class CarState(CarStateBase):
("BCM_Lamp_Stat_FD1", 1),
]
if CP.enableBsm and CP.carFingerprint not in CANFD_CARS:
if CP.enableBsm and CP.carFingerprint not in CANFD_CAR:
signals += [
("SodDetctLeft_D_Stat", "Side_Detect_L_Stat"), # Blindspot sensor, left
("SodDetctRight_D_Stat", "Side_Detect_R_Stat"), # Blindspot sensor, right
@@ -286,7 +286,7 @@ class CarState(CarStateBase):
("IPMA_Data", 1),
]
if CP.enableBsm and CP.carFingerprint in CANFD_CARS:
if CP.enableBsm and CP.carFingerprint in CANFD_CAR:
signals += [
("SodDetctLeft_D_Stat", "Side_Detect_L_Stat"), # Blindspot sensor, left
("SodDetctRight_D_Stat", "Side_Detect_R_Stat"), # Blindspot sensor, right
selfdrive/car/ford/interface.py
+2 -2
View File
@@ -4,7 +4,7 @@ from panda import Panda
from common.conversions import Conversions as CV
from selfdrive.car import STD_CARGO_KG, get_safety_config
from selfdrive.car.ford.fordcan import CanBus
from selfdrive.car.ford.values import CANFD_CARS, CAR, Ecu
from selfdrive.car.ford.values import CANFD_CAR, CAR, Ecu
from selfdrive.car.interfaces import CarInterfaceBase
TransmissionType = car.CarParams.TransmissionType
@@ -33,7 +33,7 @@ class CarInterface(CarInterfaceBase):
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_LONG_CONTROL
ret.openpilotLongitudinalControl = True
if candidate in CANFD_CARS:
if candidate in CANFD_CAR:
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_CANFD
if candidate == CAR.BRONCO_SPORT_MK1:
selfdrive/car/ford/values.py
+1 -1
View File
@@ -49,7 +49,7 @@ class CAR:
MAVERICK_MK1 = "FORD MAVERICK 1ST GEN"
CANFD_CARS = {CAR.F_150_MK14}
CANFD_CAR = {CAR.F_150_MK14}
class RADAR: