Ford: add Edge 2022

[incognitojam]

Follow up to #30762 since there were conflicts preventing it being merged. (changes one less file!)

FW is from 3d4e31f900dd3a88 (2022 Ford Edge, VIN: 2FMPK4J95NBA30321) and 26da1db30eff4fcc (2022 Ford Edge Titanium but retrofit ACC, VIN: 2FMPK4K98NBA52134)

Alternate steering message

• I'd also like to double check that there is no other steering angle signal that we can use...
• SteeringPinion_Data sent by the PSCM moved to 0x85; StePinComp_An_Est is not populated (-1600) and StePinCompAnEst_D_Qf is faulty/not populated (0).
• BrakeSnData_6 containing StePinOffst_An_Est is missing (couldn't find the new address if it has moved)
• ParkAid_Data.ExtSteeringAngleReq2 has an estimated steering angle we can use instead, and the raw values 32766 and 32767 can be used to detect unknown/invalid state.

The 2GC platform code in the EPS pn/fw is only on the Edge/Nautilus (and Fusion/Continental/MKZ but they can't be supported). (from the Ford FW table)

Dependencies

• Ford: add alternate steering message address opendbc#1026

Checklist

• added entry to CarInfo in selfdrive/car/*/values.py and ran selfdrive/car/docs.py to generate new docs
• test route added to routes.py
• route with openpilot: 3d4e31f900dd3a88|2023-12-15--11-31-09 (experimental mode: 3d4e31f900dd3a88|2023-12-15--11-19-47)
• route with stock system: 3d4e31f900dd3a88|2023-12-17--16-47-36
• car harness: Ford Q3

Full credit goes to @MikeDoyal for getting this supported and @mikehundley for testing

[github-actions]

Thanks for contributing to openpilot! In order for us to review your PR as quickly as possible, check the following:

• Convert your PR to a draft unless it's ready to review
• Read the contributing docs
• Before marking as "ready for review", ensure:
  • the goal is clearly stated in the description
  • all the tests are passing
  • the change is something we merge
  • include a route or your device' dongle ID if relevant

[incognitojam]

I tried moving the ParkAid_Data message to the camera CAN parser since the DBC says it comes from IPMA_ADAS, but it actually comes from the car side of the harness (bus 0)? It could be from the PAM (parking aid module). Moved it back.

[incognitojam]

ParkAid_Data.ExtSteeringAngleReq2 is probably not the "estimated steering angle", but the actual steering angle requested from the PAM. I assume if park assist is enabled this will not be what we want, and I assume not every Edge has the park assist package.

[incognitojam]

The PAM starts sending the true steering angle after 1 second. I'm still not sure how it knows the steering angle offset before the vehicle starts moving (it either learns itself and stores it, or it's getting it from another module?)

[sshane]

We've moved the car interfacing code to our opendbc repository, which is now the new home for car ports and fingerprints. Please re-open your pull request against opendbc at your convenience by using this command below. This will transform all changes under selfdrive/car/ to opendbc_repo/opendbc/car/. Make sure you have initialized submodules beforehand and have checked out the latest opendbc commit.

PR_NUMBER=33045
curl -L https://github.com/commaai/openpilot/pull/$PR_NUMBER.patch | sed -e 's/selfdrive\/car/opendbc_repo\/opendbc\/car/g' | git apply -v --reject

Simply replace the PR number with your own. Once done, add the files, fix any conflicts, and open a new PR. Alternatively, you may start a new PR from scratch if that is easier for you.