Ford: Car Port for Edge 2nd Generation #30762
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@@ -4,7 +4,7 @@ | |
| from opendbc.can.parser import CANParser | ||
| from openpilot.selfdrive.car.interfaces import CarStateBase | ||
| from openpilot.selfdrive.car.ford.fordcan import CanBus | ||
| from openpilot.selfdrive.car.ford.values import CANFD_CAR, CAN_EDGE, CarControllerParams, DBC | ||
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| GearShifter = car.CarState.GearShifter | ||
| TransmissionType = car.CarParams.TransmissionType | ||
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@@ -29,9 +29,14 @@ def update(self, cp, cp_cam): | |
| self.unsupported_platform = (cp.vl["VehicleOperatingModes"]["TrnAinTq_D_Qf"] == 0 and | ||
| self.CP.carFingerprint not in CANFD_CAR) | ||
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| if self.CP.carFingerprint in CAN_EDGE: | ||
| # Ford Edge calibrated steering wheel angle comes from the IPMA_ADAS instead of PSCM | ||
| # Check for Ford Edge Unknown/Invalid steering wheel position | ||
| self.vehicle_sensors_valid = cp.vl["ParkAid_Data"]["ExtSteeringAngleReq2"] < 32766 | ||
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There was a problem hiding this comment. Saw your opendbc PR. If There was a problem hiding this comment. I can update the existing ford_lincoln_base_pt DBC with the alternate ID for documentation/future-use purposes. However,
I initially tried using I found the signal
There was a problem hiding this comment. Dang, that's unfortunate. What about There was a problem hiding this comment. On our Bronco, when the Qf signal is invalid,
Can you turn your car on and off repeatedly and then send the latest route? It took maybe 50 tries on our Bronco to get it into this state where the angle's offset was wrong. You can just turn the ignition to "on" you don't need to start the engine (as long as 3X goes onroad). There was a problem hiding this comment. No data at
Are you asking about getting a wrong angle offset at
The responses I mentioned receiving earlier from other Ford drivers on #ford Discord all seemed to be CAN_FD vehicles. I just found another route from a CAN vehicle, There was a problem hiding this comment. Here's the route you asked for. I toggled the vehicle on and off 50 times and then left it on for about a minute to collect data. Accessory power only. The steering wheel is turned 90 to the left, so should read about +90 when calibrated
There was a problem hiding this comment.
Wrote a script to analyze the rlogs (or qlogs if rlogs not uploaded) for |
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| else: | ||
| # Occasionally on startup, the ABS module recalibrates the steering pinion offset, so we need to block engagement | ||
| # The vehicle usually recovers out of this state within a minute of normal driving | ||
| self.vehicle_sensors_valid = cp.vl["SteeringPinion_Data"]["StePinCompAnEst_D_Qf"] == 3 | ||
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| # car speed | ||
| ret.vEgoRaw = cp.vl["BrakeSysFeatures"]["Veh_V_ActlBrk"] * CV.KPH_TO_MS | ||
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@@ -49,7 +54,10 @@ def update(self, cp, cp_cam): | |
| ret.parkingBrake = cp.vl["DesiredTorqBrk"]["PrkBrkStatus"] in (1, 2) | ||
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| # steering wheel | ||
| if self.CP.carFingerprint in CAN_EDGE: | ||
| ret.steeringAngleDeg = cp.vl["ParkAid_Data"]["ExtSteeringAngleReq2"] | ||
| else: | ||
| ret.steeringAngleDeg = cp.vl["SteeringPinion_Data"]["StePinComp_An_Est"] | ||
| ret.steeringTorque = cp.vl["EPAS_INFO"]["SteeringColumnTorque"] | ||
| ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > CarControllerParams.STEER_DRIVER_ALLOWANCE, 5) | ||
| ret.steerFaultTemporary = cp.vl["EPAS_INFO"]["EPAS_Failure"] == 1 | ||
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@@ -122,7 +130,6 @@ def get_can_parser(CP): | |
| ("BrakeSnData_4", 50), | ||
| ("EngBrakeData", 10), | ||
| ("Cluster_Info1_FD1", 10), | ||
| ("EPAS_INFO", 50), | ||
| ("Steering_Data_FD1", 10), | ||
| ("BodyInfo_3_FD1", 2), | ||
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@@ -134,6 +141,16 @@ def get_can_parser(CP): | |
| ("Lane_Assist_Data3_FD1", 33), | ||
| ] | ||
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| # Ford Edge gets steering wheel angle from IPMA instead of PSCM | ||
| if CP.carFingerprint in CAN_EDGE: | ||
| messages += [ | ||
| ("ParkAid_Data", 50), | ||
| ] | ||
| else: | ||
| messages += [ | ||
| ("SteeringPinion_Data", 100), | ||
| ] | ||
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| if CP.transmissionType == TransmissionType.automatic: | ||
| messages += [ | ||
| ("Gear_Shift_by_Wire_FD1", 10), | ||
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any idea why the EDGE is different?
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I'm not sure why. I checked with other Ford drivers and they confirmed that the F-150's have no data at
ExtSteeringAngleReq2. Likewise, my Edge has no data atStePinCompAnEst_D_QforStePinComp_An_Est. There's another Edge user that just bought a C3x. He has a different ABS fingerprint, the rest matches, and his data matches with mine.SteeringPinion_Datashows up at a different ID in the Edges as well. I originally created a new DBC, changing ID from 7e to 85, but abandoned that once I foundStePinComp_An_Esthas no data. That changed CAN ID may indicate a larger change to the PSCM?There was a problem hiding this comment.
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I can confirm this is working with my Ford Edge Titanium 2022. Stock openpilot:master did not work after fingerprinting and required these extra steps. I can provide logs if they would be helpful.