From 56f69e8435e26a7381433fcd76f23aa963610adc Mon Sep 17 00:00:00 2001
From: Isaac <48419673+coffee-cake-isaac@users.noreply.github.com>
Date: Mon, 4 Dec 2023 00:02:44 -0500
Subject: [PATCH 1/8] Adding changes back without spacing

(cherry picked from commit 8112017f9290bf02d936dd3869579a662a1fcc27)
---
 selfdrive/car/ford/interface.py | 14 ++++++++++++--
 1 file changed, 12 insertions(+), 2 deletions(-)

diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
index f5c67dc378..2189301db4 100644
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -20,7 +20,6 @@ class CarInterface(CarInterfaceBase):
   @staticmethod
   def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "ford"
-    ret.dashcamOnly = candidate in {CAR.F_150_MK14}
 
     ret.radarUnavailable = True
     ret.steerControlType = car.CarParams.SteerControlType.angle
@@ -62,6 +61,17 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 17.0
       ret.mass = 2000
 
+    elif candidate == CAR.F_150_LIGHTNING_MK1:
+      # required trim only on SuperCrew
+      ret.wheelbase = 3.70
+      ret.steerRatio = 16.9
+      ret.mass = 2948
+
+    elif candidate == CAR.MUSTANG_MACH_E_MK1:
+      ret.wheelbase = 2.984
+      ret.steerRatio = 17.0  # guess
+      ret.mass = 2200
+
     elif candidate == CAR.FOCUS_MK4:
       ret.wheelbase = 2.7
       ret.steerRatio = 15.0
@@ -154,7 +164,7 @@ class CarInterface(CarInterfaceBase):
 
     if not self.CS.vehicle_sensors_valid:
       events.add(car.CarEvent.EventName.vehicleSensorsInvalid)
-    if self.CS.hybrid_platform:
+    if self.CS.hybrid_platform and self.CP.carFingerprint not in CANFD_CAR:
       events.add(car.CarEvent.EventName.startupNoControl)
 
     ret.events = events.to_msg()

From 985778c3e3c51a5944c506917a2a72477918fefd Mon Sep 17 00:00:00 2001
From: Isaac <48419673+coffee-cake-isaac@users.noreply.github.com>
Date: Mon, 4 Dec 2023 00:29:37 -0500
Subject: [PATCH 2/8] Added changes to add CAN-FD support for Ford

---
 selfdrive/car/ford/values.py            | 61 +++++++++++++++++++++++--
 selfdrive/car/tests/routes.py           |  4 +-
 selfdrive/car/torque_data/override.yaml |  2 +
 3 files changed, 63 insertions(+), 4 deletions(-)

diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py
index cb16d7111f..8b76b4d7d2 100644
--- a/selfdrive/car/ford/values.py
+++ b/selfdrive/car/ford/values.py
@@ -57,9 +57,11 @@ class CAR(StrEnum):
   F_150_MK14 = "FORD F-150 14TH GEN"
   FOCUS_MK4 = "FORD FOCUS 4TH GEN"
   MAVERICK_MK1 = "FORD MAVERICK 1ST GEN"
+  F_150_LIGHTNING_MK1 = "FORD F-150 LIGHTNING 1ST GEN"
+  MUSTANG_MACH_E_MK1 = "FORD MUSTANG MACH-E 1ST GEN"
 
 
-CANFD_CAR = {CAR.F_150_MK14}
+CANFD_CAR = {CAR.F_150_MK14, CAR.F_150_LIGHTNING_MK1, CAR.MUSTANG_MACH_E_MK1}
 
 
 class RADAR:
@@ -69,8 +71,10 @@ class RADAR:
 
 DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict("ford_lincoln_base_pt", RADAR.DELPHI_MRR))
 
-# F-150 radar is not yet supported
+# CAN-FD radar is not yet supported
 DBC[CAR.F_150_MK14] = dbc_dict("ford_lincoln_base_pt", None)
+DBC[CAR.F_150_LIGHTNING_MK1] = dbc_dict("ford_lincoln_base_pt", None)
+DBC[CAR.MUSTANG_MACH_E_MK1] = dbc_dict("ford_lincoln_base_pt", None)
 
 
 class Footnote(Enum):
@@ -89,6 +93,10 @@ class FordCarInfo(CarInfo):
   def init_make(self, CP: car.CarParams):
     if CP.carFingerprint in (CAR.BRONCO_SPORT_MK1, CAR.MAVERICK_MK1):
       self.car_parts = CarParts([Device.threex_angled_mount, CarHarness.ford_q3])
+    if CP.carFingerprint in (CAR.F_150_LIGHTNING_MK1, CAR.F_150_MK14, CAR.MUSTANG_MACH_E_MK1):
+      self.car_parts = CarParts([CarHarness.ford_q4])
+    if CP.carFingerprint in (CAR.F_150_LIGHTNING_MK1, CAR.F_150_MK14):
+      self.car_parts = CarParts([Device.threex_angled_mount])
 
 
 CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
@@ -101,7 +109,9 @@ CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
     FordCarInfo("Ford Explorer 2020-22"),
     FordCarInfo("Lincoln Aviator 2020-21", "Co-Pilot360 Plus"),
   ],
-  CAR.F_150_MK14: FordCarInfo("Ford F-150 2023", "Co-Pilot360 Active 2.0"),
+  CAR.F_150_MK14: FordCarInfo("Ford F-150 2022-23", "Co-Pilot360 Active 2.0"),
+  CAR.F_150_LIGHTNING_MK1: FordCarInfo("Ford F-150 Lightning 2021-23", "Co-Pilot360 Active 2.0"),
+  CAR.MUSTANG_MACH_E_MK1: FordCarInfo("Ford Mustang Mach-E 2021-23", "Co-Pilot360 Active 2.0"),
   CAR.FOCUS_MK4: FordCarInfo("Ford Focus 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS]),
   CAR.MAVERICK_MK1: [
     FordCarInfo("Ford Maverick 2022", "LARIAT Luxury"),
@@ -229,6 +239,7 @@ FW_VERSIONS = {
     ],
     (Ecu.abs, 0x760, None): [
       b'PL34-2D053-CA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'NL34-2D053-CA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x764, None): [
       b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -238,6 +249,50 @@ FW_VERSIONS = {
     ],
     (Ecu.engine, 0x7E0, None): [
       b'PL3A-14C204-BRB\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PL3A-14C204-BTB\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'ML3A-14C204-VHD\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+  },
+   CAR.F_150_LIGHTNING_MK1: {
+    (Ecu.abs, 0x760, None): [
+      b'PL38-2D053-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x706, None): [
+      b'ML3T-14H102-ABT\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x764, None): [
+      b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7E0, None): [
+      b'NL3A-14C204-BAR\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+  },
+  CAR.MUSTANG_MACH_E_MK1: {
+    (Ecu.eps, 0x730, None): [
+      b'LJ9C-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LJ9C-14D003-AM\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LJ9C-14D003-CC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LJ9C-14D003-EA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x760, None): [
+      b'LK9C-2D053-CC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LK9C-2D053-CD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LK9C-2D053-CK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x764, None): [
+      b'ML3T-14D049-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x706, None): [
+      b'ML3T-14H102-ABS\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'ML3T-14H102-ABP\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PJ6T-14H102-ABK\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7E0, None): [
+      b'MJ98-14C204-BBP\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'MJ98-14C204-AXD\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'NJ98-14C204-VE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PJ98-14C204-BE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
   CAR.FOCUS_MK4: {
diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index 8cf5f3debd..2b30f03aa4 100755
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -16,7 +16,6 @@ from openpilot.selfdrive.car.body.values import CAR as COMMA
 
 # TODO: add routes for these cars
 non_tested_cars = [
-  FORD.F_150_MK14,
   GM.CADILLAC_ATS,
   GM.HOLDEN_ASTRA,
   GM.MALIBU,
@@ -53,6 +52,9 @@ routes = [
   CarTestRoute("62241b0c7fea4589|2022-09-01--15-32-49", FORD.EXPLORER_MK6),
   CarTestRoute("e886087f430e7fe7|2023-06-16--23-06-36", FORD.FOCUS_MK4),
   CarTestRoute("bd37e43731e5964b|2023-04-30--10-42-26", FORD.MAVERICK_MK1),
+  CarTestRoute("112e4d6e0cad05e1|2023-11-14--08-21-43", FORD.F_150_LIGHTNING_MK1),
+  CarTestRoute("24574459dd7fb3e0|2023-11-06--06-23-44", FORD.F_150_MK14),
+  CarTestRoute("83a4e056c7072678|2023-11-13--16-51-33", FORD.MUSTANG_MACH_E_MK1),
   #TestRoute("f1b4c567731f4a1b|2018-04-30--10-15-35", FORD.FUSION),
 
   CarTestRoute("7cc2a8365b4dd8a9|2018-12-02--12-10-44", GM.ACADIA),
diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml
index 61f8dc2b3c..e6f637e794 100644
--- a/selfdrive/car/torque_data/override.yaml
+++ b/selfdrive/car/torque_data/override.yaml
@@ -26,6 +26,8 @@ FORD EXPLORER 6TH GEN: [.nan, 1.5, .nan]
 FORD F-150 14TH GEN: [.nan, 1.5, .nan]
 FORD FOCUS 4TH GEN: [.nan, 1.5, .nan]
 FORD MAVERICK 1ST GEN: [.nan, 1.5, .nan]
+FORD F-150 LIGHTNING 1ST GEN: [.nan, 1.5, .nan]
+FORD MUSTANG MACH-E 1ST GEN: [.nan, 1.5, .nan]
 ###
 
 # No steering wheel

From 2b0bec9e651c2229e35d80a760dec6e871077d30 Mon Sep 17 00:00:00 2001
From: Isaac Barham <isaac@coffeecakestudios.com>
Date: Tue, 5 Dec 2023 20:10:18 +0000
Subject: [PATCH 3/8] Updated to include deadzone for stopping

---
 selfdrive/car/ford/interface.py | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
index 2189301db4..60c9a3a0b6 100644
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -84,6 +84,12 @@ class CarInterface(CarInterfaceBase):
 
     else:
       raise ValueError(f"Unsupported car: {candidate}")
+    
+    ret.longitudinalTuning.kpBP = [0.]
+    ret.longitudinalTuning.kpV = [0.5]
+    ret.longitudinalTuning.kiV = [0.]
+    ret.longitudinalTuning.deadzoneBP = [0., 9.]
+    ret.longitudinalTuning.deadzoneV = [.0, .20]
 
     # Auto Transmission: 0x732 ECU or Gear_Shift_by_Wire_FD1
     found_ecus = [fw.ecu for fw in car_fw]

From bb940d1a78d3219562607e5c67c99ee24cf792df Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 7 Dec 2023 11:43:19 -0500
Subject: [PATCH 4/8] Update FCR and CHANGELOGS.md

---
 CHANGELOGS.md                         | 3 +++
 selfdrive/car/sunnypilot_carname.json | 4 +++-
 2 files changed, 6 insertions(+), 1 deletion(-)

diff --git a/CHANGELOGS.md b/CHANGELOGS.md
index 483cf496ee..51a9786f96 100644
--- a/CHANGELOGS.md
+++ b/CHANGELOGS.md
@@ -17,6 +17,9 @@ sunnypilot - 0.9.5.2 (2023-12-07)
     * Hybrid 2022-23
     * Plug-in Hybrid 2022-23
 * NEW❗: Lane Change: When manually braking with steering engaged, turning on the turn signal will default to Nudge mode
+* Ford F-150 2022-23 support
+* Ford F-150 Lightning 2021-23 support
+* Ford Mustang Mach-E 2021-23 support
 * Volkswagen MQB CC only platforms (radar or no radar) support thanks to jyoung8607!
 
 sunnypilot - 0.9.5.1 (2023-11-17)
diff --git a/selfdrive/car/sunnypilot_carname.json b/selfdrive/car/sunnypilot_carname.json
index 444e40515a..85bb432c0b 100644
--- a/selfdrive/car/sunnypilot_carname.json
+++ b/selfdrive/car/sunnypilot_carname.json
@@ -26,10 +26,13 @@
   "Ford Bronco Sport 2021-22": "FORD BRONCO SPORT 1ST GEN",
   "Ford Escape 2020-22": "FORD ESCAPE 4TH GEN",
   "Ford Explorer 2020-22": "FORD EXPLORER 6TH GEN",
+  "Ford F-150 2022-23": "FORD F-150 14TH GEN",
+  "Ford F-150 Lightning 2021-23": "FORD F-150 LIGHTNING 1ST GEN",
   "Ford Focus 2018": "FORD FOCUS 4TH GEN",
   "Ford Kuga 2020-22": "FORD ESCAPE 4TH GEN",
   "Ford Maverick 2022": "FORD MAVERICK 1ST GEN",
   "Ford Maverick 2023": "FORD MAVERICK 1ST GEN",
+  "Ford Mustang Mach-E 2021-23": "FORD MUSTANG MACH-E 1ST GEN",
   "Genesis G70 2018-19": "GENESIS G70 2018",
   "Genesis G70 2020": "GENESIS G70 2020",
   "Genesis G70 Non-SCC 2021": "GENESIS G70 2021 NON-SCC",
@@ -202,7 +205,6 @@
   "Škoda Octavia RS 2016": "SKODA OCTAVIA 3RD GEN",
   "Škoda Scala 2020-23": "SKODA SCALA 1ST GEN",
   "Škoda Superb 2015-22": "SKODA SUPERB 3RD GEN",
-  "Škoda Superb 2015-22 CC Only": "SKODA SUPERB 3RD GEN CC ONLY",
   "Toyota Alphard 2019-20": "TOYOTA ALPHARD 2020",
   "Toyota Alphard Hybrid 2021": "TOYOTA ALPHARD 2020",
   "Toyota Avalon 2016": "TOYOTA AVALON 2016",

From 71de09824c27022c83db14aba6ab0f92f0849c72 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 7 Dec 2023 11:44:08 -0500
Subject: [PATCH 5/8] bump panda

---
 panda | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/panda b/panda
index 467e0e2ca0..46141c8bed 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 467e0e2ca06ee746103e6de6f26ab18b01f928e3
+Subproject commit 46141c8bed55f8dd9b604980b299bf8e30c5a1a6

From 3196ade663a08d7c8223c1207f3769f352943cb2 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 7 Dec 2023 17:33:11 -0500
Subject: [PATCH 6/8] oops by issac ;)

---
 panda | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/panda b/panda
index 46141c8bed..30c47d0066 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 46141c8bed55f8dd9b604980b299bf8e30c5a1a6
+Subproject commit 30c47d00669cf5c0d02b2aa9edcb844208ec80d1

From d852e4a4f0c37eca2138b20e17efdf55f65b37e6 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 16 May 2024 02:00:38 -0400
Subject: [PATCH 7/8] FCR: sync with upstream supported car platforms

---
 selfdrive/car/sunnypilot_carname.json | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/selfdrive/car/sunnypilot_carname.json b/selfdrive/car/sunnypilot_carname.json
index b42d6702e4..14bd5df389 100644
--- a/selfdrive/car/sunnypilot_carname.json
+++ b/selfdrive/car/sunnypilot_carname.json
@@ -28,6 +28,9 @@
   "Ford Escape Plug-in Hybrid 2020-22": "FORD_ESCAPE_MK4",
   "Ford Explorer 2020-23": "FORD_EXPLORER_MK6",
   "Ford Explorer Hybrid 2020-23": "FORD_EXPLORER_MK6",
+  "Ford F-150 2022-23": "FORD_F_150_MK14",
+  "Ford F-150 Hybrid 2022-23": "FORD_F_150_MK14",
+  "Ford F-150 Lightning 2021-23": "FORD_F_150_LIGHTNING_MK1",
   "Ford Focus 2018": "FORD_FOCUS_MK4",
   "Ford Focus Hybrid 2018": "FORD_FOCUS_MK4",
   "Ford Kuga 2020-22": "FORD_ESCAPE_MK4",
@@ -37,6 +40,8 @@
   "Ford Maverick 2023-24": "FORD_MAVERICK_MK1",
   "Ford Maverick Hybrid 2022": "FORD_MAVERICK_MK1",
   "Ford Maverick Hybrid 2023-24": "FORD_MAVERICK_MK1",
+  "Ford Mustang Mach-E 2021-23": "FORD_MUSTANG_MACH_E_MK1",
+  "Ford Ranger 2024": "FORD_RANGER_MK2",
   "Genesis G70 2018": "GENESIS_G70",
   "Genesis G70 2019-21": "GENESIS_G70_2020",
   "Genesis G70 2022-23": "GENESIS_G70_2020",

From 2833cf9d48d812cc0ad662c6565fcdf970e91b12 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 16 May 2024 02:01:34 -0400
Subject: [PATCH 8/8] Update CHANGELOGS.md

---
 CHANGELOGS.md | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/CHANGELOGS.md b/CHANGELOGS.md
index 8569e02674..a25d3e0ce5 100644
--- a/CHANGELOGS.md
+++ b/CHANGELOGS.md
@@ -45,6 +45,9 @@ sunnypilot - 0.9.7.0 (2024-05-xx)
   * Display Metrics Below Chevron
     * NEW❗: Metrics is now being displayed below the chevron instead of above
     * NEW❗: Display both Distance and Speed simultaneously
+* Ford F-150 2022-23 support
+* Ford F-150 Lightning 2021-23 support
+* Ford Mustang Mach-E 2021-23 support
 
 sunnypilot - 0.9.6.1 (2024-02-27)
 ========================
@@ -167,9 +170,6 @@ sunnypilot - 0.9.5.2 (2023-12-07)
     * Hybrid 2022-23
     * Plug-in Hybrid 2022-23
 * NEW❗: Lane Change: When manually braking with steering engaged, turning on the turn signal will default to Nudge mode
-* Ford F-150 2022-23 support
-* Ford F-150 Lightning 2021-23 support
-* Ford Mustang Mach-E 2021-23 support
 * Volkswagen MQB CC only platforms (radar or no radar) support thanks to jyoung8607!
 
 sunnypilot - 0.9.5.1 (2023-11-17)