mirror of https://github.com/commaai/openpilot.git
FCA: car port for Dodge Durango 2021 (#31015)
* dodge durango
* add dodge
Co-authored-by: Shane Smiskol <shane@smiskol.com>
* add comment
* more exact
---------
Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: 78e4508e3b
This commit is contained in:
Justin Newberry
GitHub
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cc42100cce
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@ -9,6 +9,7 @@ Version 0.9.6 (2024-02-XX)
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* AGNOS 9
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* comma body streaming and controls over WebRTC
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* Improved fuzzy fingerprinting for many makes and models
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* Dodge Duranago 2020-21 support
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* Hyundai Staria 2023 support thanks to sunnyhaibin!
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* Kia Niro Plug-in Hybrid 2022 support thanks to sunnyhaibin!
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* Lexus LC 2024 support thanks to nelsonjchen!
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@ -4,7 +4,7 @@
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A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
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# 277 Supported Cars
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# 278 Supported Cars
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|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br> |Video|
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|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
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@ -33,6 +33,7 @@ A supported vehicle is one that just works when you install a comma device. All
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|Chrysler|Pacifica Hybrid 2018|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2018">Buy Here</a></sub></details>||
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|Chrysler|Pacifica Hybrid 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2019-23">Buy Here</a></sub></details>||
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|comma|body|All|openpilot|0 mph|0 mph|[](##)|[](##)|None||
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|Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Dodge&model=Durango 2020-21">Buy Here</a></sub></details>||
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|Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Bronco Sport 2021-22">Buy Here</a></sub></details>||
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|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
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|Ford|Explorer 2020-23|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Explorer 2020-23">Buy Here</a></sub></details>||
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@ -612,4 +612,34 @@ FW_VERSIONS = {
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b'M2421132MB',
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],
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},
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CAR.DODGE_DURANGO: {
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(Ecu.combinationMeter, 0x742, None): [
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b'68454261AD',
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b'68471535AE',
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],
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(Ecu.srs, 0x744, None): [
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b'68355362AB',
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b'68492238AD',
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],
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(Ecu.abs, 0x747, None): [
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b'68408639AD',
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b'68499978AB',
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],
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(Ecu.fwdRadar, 0x753, None): [
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b'68440581AE',
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b'68456722AC',
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],
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(Ecu.eps, 0x75a, None): [
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b'68453435AA',
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b'68498477AA',
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],
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(Ecu.engine, 0x7e0, None): [
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b'05035786AE ',
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b'68449476AE ',
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],
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(Ecu.transmission, 0x7e1, None): [
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b'05035826AC',
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b'68449265AC',
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],
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},
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}
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@ -28,13 +28,13 @@ class CarInterface(CarInterfaceBase):
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CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
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if candidate not in RAM_CARS:
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# Newer FW versions standard on the following platforms, or flashed by a dealer onto older platforms have a higher minimum steering speed.
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new_eps_platform = candidate in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_GRAND_CHEROKEE_2019)
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new_eps_platform = candidate in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_GRAND_CHEROKEE_2019, CAR.DODGE_DURANGO)
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new_eps_firmware = any(fw.ecu == 'eps' and fw.fwVersion[:4] >= b"6841" for fw in car_fw)
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if new_eps_platform or new_eps_firmware:
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ret.flags |= ChryslerFlags.HIGHER_MIN_STEERING_SPEED.value
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# Chrysler
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if candidate in (CAR.PACIFICA_2017_HYBRID, CAR.PACIFICA_2018, CAR.PACIFICA_2018_HYBRID, CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020):
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if candidate in (CAR.PACIFICA_2017_HYBRID, CAR.PACIFICA_2018, CAR.PACIFICA_2018_HYBRID, CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.DODGE_DURANGO):
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ret.mass = 2242.
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ret.wheelbase = 3.089
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ret.steerRatio = 16.2 # Pacifica Hybrid 2017
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@ -80,6 +80,7 @@ class CarInterface(CarInterfaceBase):
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if ret.flags & ChryslerFlags.HIGHER_MIN_STEERING_SPEED:
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# TODO: allow these cars to steer down to 13 m/s if already engaged.
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# TODO: Durango 2020 may be able to steer to zero once above 38 kph
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ret.minSteerSpeed = 17.5 # m/s 17 on the way up, 13 on the way down once engaged.
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ret.centerToFront = ret.wheelbase * 0.44
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@ -23,6 +23,9 @@ class CAR(StrEnum):
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PACIFICA_2018 = "CHRYSLER PACIFICA 2018"
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PACIFICA_2020 = "CHRYSLER PACIFICA 2020"
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# Dodge
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DODGE_DURANGO = "DODGE DURANGO 2021"
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# Jeep
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JEEP_GRAND_CHEROKEE = "JEEP GRAND CHEROKEE V6 2018" # includes 2017 Trailhawk
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JEEP_GRAND_CHEROKEE_2019 = "JEEP GRAND CHEROKEE 2019" # includes 2020 Trailhawk
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@ -74,6 +77,7 @@ CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
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],
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CAR.JEEP_GRAND_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"),
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CAR.JEEP_GRAND_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),
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CAR.DODGE_DURANGO: ChryslerCarInfo("Dodge Durango 2020-21"),
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CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-24", car_parts=CarParts.common([CarHarness.ram])),
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CAR.RAM_HD: [
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ChryslerCarInfo("Ram 2500 2020-24", car_parts=CarParts.common([CarHarness.ram])),
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@ -128,6 +132,7 @@ DBC = {
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CAR.PACIFICA_2020: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
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CAR.PACIFICA_2018_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
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CAR.PACIFICA_2019_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
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CAR.DODGE_DURANGO: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
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CAR.JEEP_GRAND_CHEROKEE: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
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CAR.JEEP_GRAND_CHEROKEE_2019: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
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CAR.RAM_1500: dbc_dict('chrysler_ram_dt_generated', None),
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@ -46,6 +46,7 @@ routes = [
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CarTestRoute("3d84727705fecd04|2021-05-25--08-38-56", CHRYSLER.PACIFICA_2020),
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CarTestRoute("221c253375af4ee9|2022-06-15--18-38-24", CHRYSLER.RAM_1500),
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CarTestRoute("8fb5eabf914632ae|2022-08-04--17-28-53", CHRYSLER.RAM_HD, segment=6),
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CarTestRoute("3379c85aeedc8285|2023-12-07--17-49-39", CHRYSLER.DODGE_DURANGO),
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CarTestRoute("54827bf84c38b14f|2023-01-25--14-14-11", FORD.BRONCO_SPORT_MK1),
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CarTestRoute("f8eaaccd2a90aef8|2023-05-04--15-10-09", FORD.ESCAPE_MK4),
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@ -5,6 +5,8 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
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"MAZDA CX-5 2022" = "MAZDA CX-9 2021"
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"MAZDA CX-9" = "MAZDA CX-9 2021"
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"DODGE DURANGO 2021" = "CHRYSLER PACIFICA 2020"
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"TOYOTA ALPHARD 2020" = "TOYOTA SIENNA 2018"
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"TOYOTA PRIUS v 2017" = "TOYOTA PRIUS 2017"
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"LEXUS IS 2018" = "LEXUS NX 2018"
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