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Ford CAN FD: SecOC is dashcam #1908

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merged 4 commits into from
Mar 3, 2025
Merged

Ford CAN FD: SecOC is dashcam #1908

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5224f96
no tron (2010)
sshane Mar 3, 2025
c18efa0
switch to actual ACC message
sshane Mar 3, 2025
cf64c50
switch to camera
sshane Mar 3, 2025
a03997e
add logging
sshane Mar 3, 2025
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9 changes: 9 additions & 0 deletions opendbc/car/ford/interface.py
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Original file line number Diff line number Diff line change
@@ -1,5 +1,6 @@
import numpy as np
from opendbc.car import Bus, get_safety_config, structs
from opendbc.car.carlog import carlog
from opendbc.car.common.conversions import Conversions as CV
from opendbc.car.ford.fordcan import CanBus
from opendbc.car.ford.values import CarControllerParams, DBC, Ecu, FordFlags, RADAR, FordSafetyFlags
Expand Down Expand Up @@ -47,17 +48,25 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime

if ret.flags & FordFlags.CANFD:
ret.safetyConfigs[-1].safetyParam |= FordSafetyFlags.CANFD.value

# TRON (SecOC) platforms are not supported
# LateralMotionControl2, ACCDATA are 16 bytes on these platforms
if fingerprint[CAN.camera].get(0x3d6) != 8 or fingerprint[CAN.camera].get(0x186) != 8:
carlog.error('dashcamOnly: SecOC is unsupported')
ret.dashcamOnly = True
else:
# Lock out if the car does not have needed lateral and longitudinal control APIs.
# Note that we also check CAN for adaptive cruise, but no known signal for LCA exists
pscm_config = next((fw for fw in car_fw if fw.ecu == Ecu.eps and b'\x22\xDE\x01' in fw.request), None)
if pscm_config:
if len(pscm_config.fwVersion) != 24:
carlog.error('dashcamOnly: Invalid EPS FW version')
ret.dashcamOnly = True
else:
config_tja = pscm_config.fwVersion[7] # Traffic Jam Assist
config_lca = pscm_config.fwVersion[8] # Lane Centering Assist
if config_tja != 0xFF or config_lca != 0xFF:
carlog.error('dashcamOnly: Car lacks required lateral control APIs')
ret.dashcamOnly = True

# Auto Transmission: 0x732 ECU or Gear_Shift_by_Wire_FD1
Expand Down