Ford: add F150 Lightning and Mach-E #30444

coffee-cake-isaac · 2023-11-11T13:38:15Z

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:
route with stock system:

This PR is contingent on the merge of this PR: commaai/panda#1524

The FW responses cannot be obtained otherwise.

Additionally, the CAN-FD platform has not been injection tested so the vehicles added (F150 Lightning and Mach E) are in dashcam only.

I will install this later today and provide routes, however, they will not be able to be stock routes since I can't test this in upstream.

Update carstate.py Update interface.py Update override.yaml

coffee-cake-isaac · 2023-11-11T15:01:54Z

@sshane This is the better PR I spoke about from here: #30163 (comment)

This now puts the Mach E and F150 Lightning in it's own grouping to allow us to bypass the hybrid checksums as we do have the flags but the CAN-FD platform has resolved the checksum issues.

selfdrive/car/ford/values.py

selfdrive/car/ford/carstate.py

selfdrive/car/ford/interface.py

selfdrive/car/ford/values.py

sshane · 2023-11-14T00:00:07Z

selfdrive/car/ford/values.py

+    (Ecu.abs, 0x760, None): [
+      b'PL38-2D053-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x706, None): [
+      b'ML3T-14H102-ABT\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x764, None): [
+      b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7E0, None): [
+      b'NL3A-14C204-BAR\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+  },
+  CAR.MUSTANG_MACH_E_MK1: {
+    (Ecu.eps, 0x730, None): [
+      b'LJ9C-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LJ9C-14D003-AM\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LJ9C-14D003-CC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LJ9C-14D003-EA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x760, None): [
+      b'LK9C-2D053-CC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LK9C-2D053-CD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LK9C-2D053-CK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x764, None): [
+      b'ML3T-14D049-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x706, None): [
+      b'ML3T-14H102-ABS\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'ML3T-14H102-ABP\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PJ6T-14H102-ABK\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7E0, None): [
+      b'MJ98-14C204-BBP\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'MJ98-14C204-AXD\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'NJ98-14C204-VE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PJ98-14C204-BE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',


Let's start by adding FW for known dongle IDs

So, I can grab Dongle IDs from folks that have added their FWs. But do you want to just start with the one for my Dongle ID or do you me to grab the rest of the Dongle IDs as well?

If you can post the dongle IDs, all is fine

e36b272d5679115f - '23 ICE F150
112e4d6e0cad05e1 - '22 F150 Lightning
24574459dd7fb3e0 - '22 Hybrid ICE F150
42f08a29af3699f4 - '22 Mach E GT
09136c309ba9461e - '23 ICE F150
83a4e056c7072678 - '22 Mach E

I'll continue to edit this comment with the known dongle IDs.

I didn't know there was a hybrid F150, does that have the hybrid checksum problem?

It does not. Seems to be entirely specific to the Q3 harness.

sshane · 2023-11-14T00:01:16Z

Test route or add to non-tested cars
Update docs

coffee-cake-isaac · 2023-11-14T00:02:44Z

So, without the panda merges I can't get an actual test route with the above changes. I do have a branch with the merged panda changes. I can provide that route but it's technically not the same branch. Will that be a problem?

And I think the docs have been updated by one of the latest commits. Correct me if I'm wrong. I'm looking at your other comments now.

sshane · 2023-11-14T00:03:03Z

selfdrive/car/ford/values.py

+    if CP.carFingerprint in (CAR.F_150_LIGHTNING_MK1):
+      self.car_parts = CarParts([Device.threex_angled_mount, CarHarness.ford_q4])
+    if CP.carFingerprint in (CAR.MUSTANG_MACH_E_MK1):
+      self.car_parts = CarParts([CarHarness.ford_q4])


Looks like we don't set Q4 for F150?! Let's just check if CANFD car to add the q4 harness. Also probably want to add angled mount to ICE F150, no?

sshane · 2023-11-14T00:06:14Z

test_models skips certain tests for routes that are dashcamOnly, but add to non_tested_routes if that doesn't work for whatever reason. Mainly this would test panda state and rx checks, doesn't need to be the same branch, CAN data is most important.

@sshane

Addresses a few suggestions recommended by @sshane

coffee-cake-isaac · 2023-11-14T00:55:29Z

Routes updated. I ran ./selfdrive/cars/docs.py and it's not changing anything so I believe I have that updated?

I did add F150 ICE to 8 degree mount and set all CANFD cars to Q4. I might have done that wrong, though.

Edit: docs didn't get updated because I'm a dummy and didn't push the change. Updating shortly

Removing old FORDEV_CAR references

@sshane

Fixing more things suggested by @sshane

…openpilot into master-ford

coffee-cake-isaac · 2023-11-14T02:44:58Z

@sshane

So, I went to gather a route that's in dash cam mode but the red panda doesn't open and the relay is blocked if the vehicle doesn't come out of dash cam mode. As a result, a lot of can data is missing.

See this for more info: #30302

I've been in touch with @vanillagorillaa briefly on discord but I don't think we've made a lot of progress yet.

I've placed the vehicles in the non_tested_routes first. Hopefully we can figure out 30302 because it does prevent a seamless experience with the Lightnings.

coffee-cake-isaac · 2023-11-14T03:58:21Z

Docs updated.

sshane · 2023-11-14T11:25:45Z

Let's add a test route, we're trying to remove non_tested_cars

coffee-cake-isaac · 2023-11-14T14:46:41Z

I added a route but the test is failing saying

Exception: Route: '112e4d6e0cad05e1|2023-11-14--08-21-43' with segments: (2, 1, 0) not found or no CAN msgs found. Is it uploaded?

I've uploaded the route and all the files. I've preserved it and marked it as public. I'm not sure why it's saying it can't find it. I've checked and there's definitely CAN messages as well.

Edit: Docs are not updated due to the new vehicles being placed in dashcam mode. Took me forever to figure this out lol

sshane · 2023-11-14T22:37:28Z

I'll need to upload the route for it to find it (it checks another, public, Azure bucket). You can run test_models on your own routes with selfdrive/car/debug/test_car_model.py to test if it succeeds. And yes, we're just preparing for when it's out of dashcam

selfdrive/car/tests/routes.py

coffee-cake-isaac · 2023-11-14T22:45:15Z

Seems like it worked.

…openpilot into master-ford

sshane · 2023-11-28T22:19:30Z

I like that we have the final changes ready to go in one PR, at this point we usually split individual changes out into separate PRs. Such as adding the Mach E and F150 Lightning platforms as their own PRs, docs updates as its own PR, etc. That way we can merge changes that are ready to go now, rather than holding everything up. For example, I'd already have merged the docs updates.

coffee-cake-isaac · 2023-11-29T02:04:56Z

I'll break it out tonight. Thanks @sshane

sshane · 2023-12-11T23:32:22Z

@coffee-cake-isaac any updates?

coffee-cake-isaac · 2023-12-11T23:36:33Z

Hey, sorry. Holidays have made life busy. Will have it done tomorrow. I have a day off.

42f08a29af3699f4 83a4e056c7072678 from commaai#30444

sshane · 2023-12-13T17:00:26Z

Done in #30692 and #30691

* Update interface.py * Update values.py * Update routes.py * Update override.yaml * Update selfdrive/car/ford/values.py Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * Update interface.py * order * only have dongles for these 42f08a29af3699f4 83a4e056c7072678 from #30444 --------- Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> Co-authored-by: Shane Smiskol <shane@smiskol.com>

coffee-cake-isaac added 2 commits November 11, 2023 08:30

Ford EV Support

eb49379

Update carstate.py Update interface.py Update override.yaml

Adding Ford EVs to Dashcam Only

c947474

github-actions bot added the car vehicle-specific label Nov 11, 2023

Added additional F150 ECUs

2ea21d2

coffee-cake-isaac added 5 commits November 11, 2023 19:53

Update values.py

a3ee866

Update values.py

3541389

Fixed typo

9c17f7b

Update values.py

dc4850f

Added Lightning to CARS.md

58e1ee3

sshane reviewed Nov 13, 2023

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selfdrive/car/ford/values.py Outdated Show resolved Hide resolved

selfdrive/car/ford/carstate.py Outdated Show resolved Hide resolved

selfdrive/car/ford/interface.py Outdated Show resolved Hide resolved

sshane reviewed Nov 14, 2023

View reviewed changes

coffee-cake-isaac added 2 commits November 13, 2023 19:20

Ford Fixes

bb34a29

Addresses a few suggestions recommended by @sshane

Update routes.py

9ad9695

coffee-cake-isaac and others added 6 commits November 13, 2023 20:02

Update carstate.py

d83ef45

Removing old FORDEV_CAR references

Ford CAN-FD Updates

324ae0a

Fixing more things suggested by @sshane

Update values.py

bd00af8

Fixing CARS.md

2d7f5ff

Adding lightning back

34589b2

Merge branch 'master-ford' of https://github.com/coffee-cake-studios/…

54efe0b

…openpilot into master-ford

coffee-cake-isaac added 2 commits November 14, 2023 13:49

Added route for tests

3158dd2

Updated values

9c97f4c

Expanding Mach E

68cd9e3

sshane reviewed Nov 14, 2023

View reviewed changes

selfdrive/car/tests/routes.py Outdated Show resolved Hide resolved

coffee-cake-isaac and others added 3 commits November 14, 2023 21:40

Added Mach E and F150 ICE

df4e4f1

Removing non tested routes for Ford F150 ICE and Mach E

0fb1682

Merge branch 'master-ford' of https://github.com/coffee-cake-studios/…

8f6ea85

…openpilot into master-ford

adeebshihadeh changed the title ~~Ford EV Support~~ Ford: add F150 Lightning and Mach-E Nov 19, 2023

coffee-cake-isaac changed the title ~~Ford: add F150 Lightning and Mach-E~~ Ford: CAN-FD improvements Nov 19, 2023

coffee-cake-isaac changed the title ~~Ford: CAN-FD improvements~~ Ford: add F150 Lightning and Mach-E Nov 29, 2023

This was referenced Dec 12, 2023

Ford: Add F-150 Lightning #30692

Merged

Ford: Add Mach-E #30691

Merged

sshane mentioned this pull request Dec 12, 2023

Ford: add CAN FD harness info #30698

Merged

sshane added a commit to coffee-cake-studios/openpilot that referenced this pull request Dec 13, 2023

only have dongles for these

5cd327d

42f08a29af3699f4 83a4e056c7072678 from commaai#30444

sshane closed this Dec 13, 2023

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Ford: add F150 Lightning and Mach-E #30444

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Ford: add F150 Lightning and Mach-E #30444

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