mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-08-19 23:23:42 +08:00
Cameron Clough
ebea805aa8
* Ford: use FORD_CADS radar dbc * Ford: CADS radar interface impl Co-authored-by: ReFil <31960031+ReFil@users.noreply.github.com> * fixup radar interface for FORD_CADS dbc * CADS treat different scan indexes as separate points * Ford: support both Fusion and CADS radars * Ford: rename radars to DELPHI_ESR and DELPHI_MRR Co-authored-by: ReFil <31960031+ReFil@users.noreply.github.com>
91 lines
2.4 KiB
Python
91 lines
2.4 KiB
Python
from collections import namedtuple
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from typing import Dict, List, Union
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from cereal import car
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from selfdrive.car import dbc_dict
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from selfdrive.car.docs_definitions import CarInfo
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Ecu = car.CarParams.Ecu
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TransmissionType = car.CarParams.TransmissionType
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GearShifter = car.CarState.GearShifter
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AngleRateLimit = namedtuple('AngleRateLimit', ['speed_points', 'max_angle_diff_points'])
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class CarControllerParams:
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# Messages: Lane_Assist_Data1, LateralMotionControl
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LKAS_STEER_STEP = 5
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# Message: IPMA_Data
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LKAS_UI_STEP = 100
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# Message: ACCDATA_3
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ACC_UI_STEP = 5
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STEER_RATE_LIMIT_UP = AngleRateLimit(speed_points=[0., 5., 15.], max_angle_diff_points=[5., .8, .15])
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STEER_RATE_LIMIT_DOWN = AngleRateLimit(speed_points=[0., 5., 15.], max_angle_diff_points=[5., 3.5, 0.4])
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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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class CANBUS:
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main = 0
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radar = 1
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camera = 2
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class CAR:
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ESCAPE_MK4 = "FORD ESCAPE 4TH GEN"
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FOCUS_MK4 = "FORD FOCUS 4TH GEN"
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CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
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CAR.ESCAPE_MK4: CarInfo("Ford Escape", "NA"),
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CAR.FOCUS_MK4: CarInfo("Ford Focus", "NA"),
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}
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FW_VERSIONS = {
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CAR.ESCAPE_MK4: {
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(Ecu.eps, 0x730, None): [
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b'LX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
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],
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(Ecu.esp, 0x760, None): [
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b'LX6C-2D053-NS\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
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],
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(Ecu.fwdRadar, 0x764, None): [
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b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
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],
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(Ecu.fwdCamera, 0x706, None): [
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b'LJ6T-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
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],
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(Ecu.engine, 0x7E0, None): [
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b'LX6A-14C204-ESG\x00\x00\x00\x00\x00\x00\x00\x00\x00',
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],
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},
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CAR.FOCUS_MK4: {
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(Ecu.eps, 0x730, None): [
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b'JX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
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],
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(Ecu.esp, 0x760, None): [
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b'JX61-2D053-CJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
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],
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(Ecu.fwdRadar, 0x764, None): [
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b'JX7T-14D049-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
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],
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(Ecu.fwdCamera, 0x706, None): [
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b'JX7T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
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],
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(Ecu.engine, 0x7E0, None): [
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b'JX6A-14C204-BPL\x00\x00\x00\x00\x00\x00\x00\x00\x00',
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],
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},
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}
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DBC = {
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CAR.ESCAPE_MK4: dbc_dict('ford_lincoln_base_pt', RADAR.DELPHI_MRR),
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CAR.FOCUS_MK4: dbc_dict('ford_lincoln_base_pt', RADAR.DELPHI_MRR),
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}
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