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https://github.com/dragonpilot/dragonpilot.git
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acd455ed3a
* Ford: add Focus Mk4 Also removes support for the Ford Fusion. * Ford: LKAS/LCA steering and UI CAN commands * Ford: implement CarController w/ steering and lanes ui * Ford: FPv2 firmware request * Ford: Add FW for 2018 Ford Focus * Ford: add Escape Mk4 * bump panda * cleanup * add that back Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
83 lines
2.2 KiB
Python
83 lines
2.2 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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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 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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}
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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', 'ford_fusion_2018_adas'),
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CAR.FOCUS_MK4: dbc_dict('ford_lincoln_base_pt', 'ford_fusion_2018_adas'),
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}
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