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Reapply "Ford: detect missing LKAS from EPS configuration (#31821)" (#32518) 

* Reapply "Ford: detect missing LKAS from EPS configuration (#31821)"

This reverts commit 79247ab507d239c2e80bc0ecbf08e654af0c0c5b.

* catch

* now fix

* clean up
old-commit-hash: 7a6818da7e
This commit is contained in:
Shane Smiskol 2024-05-22 19:27:22 -05:00 committed by GitHub
parent 04a7ae120c
commit 0aae777597
1 changed files with 12 additions and 0 deletions
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12
selfdrive/car/ford/interface.py
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@ -39,6 +39,18 @@ class CarInterface(CarInterfaceBase):
if ret.flags & FordFlags.CANFD:
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_CANFD
else:
# Lock out if the car does not have needed lateral and longitudinal control APIs.
# Note that we also check CAN for adaptive cruise, but no known signal for LCA exists
pscm_config = next((fw for fw in car_fw if fw.ecu == Ecu.eps and b'\x22\xDE\x01' in fw.request), None)
if pscm_config:
if len(pscm_config.fwVersion) != 24:
ret.dashcamOnly = True
else:
config_tja = pscm_config.fwVersion[7] # Traffic Jam Assist
config_lca = pscm_config.fwVersion[8] # Lane Centering Assist
if config_tja != 0xFF or config_lca != 0xFF:
ret.dashcamOnly = True
# Auto Transmission: 0x732 ECU or Gear_Shift_by_Wire_FD1
found_ecus = [fw.ecu for fw in car_fw]