Ram 2500 + 3500 HD support (#25372)
* Ram HD Init * Update selfdrive/car/torque_data/override.yaml * Revert FW for 1500 * little cleanup plus test route * bump panda * revert 1500 changes * bump panda * same error max * dashcam + cleanup Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> old-commit-hash: ab227027c339f6169b20e17454ca40afe8b375fd
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realfast
@@ -491,6 +491,7 @@ opendbc/can/parser_pyx.pyx
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opendbc/comma_body.dbc
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opendbc/chrysler_ram_hd_generated.dbc
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opendbc/chrysler_ram_dt_generated.dbc
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opendbc/chrysler_pacifica_2017_hybrid_generated.dbc
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opendbc/chrysler_pacifica_2017_hybrid_private_fusion.dbc
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@@ -2,7 +2,7 @@
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from cereal import car
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from panda import Panda
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from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
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from selfdrive.car.chrysler.values import CAR, DBC, RAM_CARS
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from selfdrive.car.chrysler.values import CAR, DBC, RAM_HD, RAM_DT
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from selfdrive.car.interfaces import CarInterfaceBase
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@@ -12,14 +12,20 @@ class CarInterface(CarInterfaceBase):
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ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
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ret.carName = "chrysler"
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ret.radarOffCan = DBC[candidate]['radar'] is None
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ret.dashcamOnly = candidate in RAM_HD
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param = Panda.FLAG_CHRYSLER_RAM_DT if candidate in RAM_CARS else None
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ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.chrysler, param)]
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ret.radarOffCan = DBC[candidate]['radar'] is None
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ret.steerActuatorDelay = 0.1
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ret.steerLimitTimer = 0.4
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# safety config
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ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.chrysler)]
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if candidate in RAM_HD:
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ret.safetyConfigs[0].safetyParam |= Panda.FLAG_CHRYSLER_RAM_HD
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elif candidate in RAM_DT:
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ret.safetyConfigs[0].safetyParam |= Panda.FLAG_CHRYSLER_RAM_DT
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ret.minSteerSpeed = 3.8 # m/s
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if candidate in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019):
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# TODO: allow 2019 cars to steer down to 13 m/s if already engaged.
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@@ -47,18 +53,24 @@ class CarInterface(CarInterfaceBase):
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# Ram
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elif candidate == CAR.RAM_1500:
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ret.steerActuatorDelay = 0.2
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ret.wheelbase = 3.88
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ret.steerRatio = 16.3
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ret.mass = 2493. + STD_CARGO_KG
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CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
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ret.minSteerSpeed = 14.5
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if car_fw is not None:
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for fw in car_fw:
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if fw.ecu == 'eps' and fw.fwVersion in (b"68312176AE", b"68312176AG", b"68273275AG"):
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ret.minSteerSpeed = 0.
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elif candidate == CAR.RAM_HD:
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ret.steerActuatorDelay = 0.2
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ret.wheelbase = 3.785
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ret.steerRatio = 15.61
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ret.mass = 3405. + STD_CARGO_KG
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ret.minSteerSpeed = 16
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CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, 1.0, False)
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else:
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raise ValueError(f"Unsupported car: {candidate}")
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@@ -22,23 +22,30 @@ class CAR:
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# Ram
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RAM_1500 = "RAM 1500 5TH GEN"
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RAM_HD = "RAM HD 5TH GEN"
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class CarControllerParams:
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def __init__(self, CP):
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self.STEER_MAX = 261 # higher than this faults the EPS on Chrysler/Jeep. Ram DT allows more
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self.STEER_ERROR_MAX = 80
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if CP.carFingerprint in RAM_CARS:
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if CP.carFingerprint in RAM_HD:
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self.STEER_DELTA_UP = 14
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self.STEER_DELTA_DOWN = 14
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self.STEER_MAX = 361 # higher than this faults the EPS
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elif CP.carFingerprint in RAM_DT:
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self.STEER_DELTA_UP = 6
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self.STEER_DELTA_DOWN = 6
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self.STEER_MAX = 261 # EPS allows more, up to 350?
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else:
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self.STEER_DELTA_UP = 3
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self.STEER_DELTA_DOWN = 3
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self.STEER_MAX = 261 # higher than this faults the EPS
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STEER_THRESHOLD = 120
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RAM_CARS = {CAR.RAM_1500, }
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RAM_DT = {CAR.RAM_1500, }
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RAM_HD = {CAR.RAM_HD, }
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RAM_CARS = RAM_DT | RAM_HD
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@dataclass
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class ChryslerCarInfo(CarInfo):
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@@ -57,6 +64,10 @@ CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
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CAR.JEEP_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"),
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CAR.JEEP_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),
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CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-22", harness=Harness.ram),
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CAR.RAM_HD: [
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ChryslerCarInfo("Ram 2500 2020-22", harness=Harness.ram),
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ChryslerCarInfo("Ram 3500 2020-22", harness=Harness.ram),
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],
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}
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# Unique CAN messages:
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@@ -177,6 +188,41 @@ FW_VERSIONS = {
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b'68500483AB',
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],
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},
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CAR.RAM_HD: {
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(Ecu.combinationMeter, 0x742, None): [
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b'68361606AH',
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b'68492693AD',
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],
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(Ecu.srs, 0x744, None): [
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b'68399794AC',
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b'68428503AA',
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b'68428505AA',
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],
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(Ecu.esp, 0x747, None): [
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b'68334977AH',
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b'68504022AB',
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b'68530686AB',
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],
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(Ecu.fwdRadar, 0x753, None): [
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b'04672895AB',
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b'56029827AG',
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b'68484694AE',
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],
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(Ecu.eps, 0x761, None): [
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b'68421036AC',
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b'68507906AB',
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],
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(Ecu.engine, 0x7e0, None): [
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b'52421132AF',
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b'M2370131MB',
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b'M2421132MB',
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],
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(Ecu.gateway, 0x18DACBF1, None): [
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b'68488419AB',
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b'68535476AB',
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],
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},
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}
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DBC = {
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@@ -188,4 +234,5 @@ DBC = {
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CAR.JEEP_CHEROKEE: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
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CAR.JEEP_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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CAR.RAM_HD: dbc_dict('chrysler_ram_hd_generated', None),
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}
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@@ -39,6 +39,7 @@ routes = [
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TestRoute("8190c7275a24557b|2020-01-29--08-33-58", CHRYSLER.PACIFICA_2019_HYBRID),
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TestRoute("3d84727705fecd04|2021-05-25--08-38-56", CHRYSLER.PACIFICA_2020),
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TestRoute("221c253375af4ee9|2022-06-15--18-38-24", CHRYSLER.RAM_1500),
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TestRoute("8fb5eabf914632ae|2022-08-04--17-28-53", CHRYSLER.RAM_HD, segment=6),
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#TestRoute("f1b4c567731f4a1b|2018-04-30--10-15-35", FORD.FUSION),
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@@ -22,6 +22,7 @@ COMMA BODY: [.nan, 1000, .nan]
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# Totally new cars
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KIA EV6 2022: [3.5, 2.5, 0.0]
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RAM 1500 5TH GEN: [2.0, 2.0, 0.0]
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RAM HD 5TH GEN: [1.4, 1.4, 0.0]
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SUBARU OUTBACK 6TH GEN: [2.3, 2.3, 0.11]
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# Dashcam or fallback configured as ideal car
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