#!/usr/bin/env python3
from cereal import car
from panda import Panda
from openpilot.selfdrive.car import create_button_events, get_safety_config
from openpilot.selfdrive.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
ButtonType = car.CarState.ButtonEvent.Type
[docs]
class CarInterface(CarInterfaceBase):
@staticmethod
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
ret.carName = "chrysler"
ret.dashcamOnly = candidate in RAM_HD
# radar parsing needs some work, see https://github.com/commaai/openpilot/issues/26842
ret.radarUnavailable = True # DBC[candidate]['radar'] is None
ret.steerActuatorDelay = 0.1
ret.steerLimitTimer = 0.4
# safety config
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.chrysler)]
if candidate in RAM_HD:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_CHRYSLER_RAM_HD
elif candidate in RAM_DT:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_CHRYSLER_RAM_DT
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
if candidate not in RAM_CARS:
# Newer FW versions standard on the following platforms, or flashed by a dealer onto older platforms have a higher minimum steering speed.
new_eps_platform = candidate in (CAR.CHRYSLER_PACIFICA_2019_HYBRID, CAR.CHRYSLER_PACIFICA_2020, CAR.JEEP_GRAND_CHEROKEE_2019, CAR.DODGE_DURANGO)
new_eps_firmware = any(fw.ecu == 'eps' and fw.fwVersion[:4] >= b"6841" for fw in car_fw)
if new_eps_platform or new_eps_firmware:
ret.flags |= ChryslerFlags.HIGHER_MIN_STEERING_SPEED.value
# Chrysler
if candidate in (CAR.CHRYSLER_PACIFICA_2017_HYBRID, CAR.CHRYSLER_PACIFICA_2018, CAR.CHRYSLER_PACIFICA_2018_HYBRID, \
CAR.CHRYSLER_PACIFICA_2019_HYBRID, CAR.CHRYSLER_PACIFICA_2020, CAR.DODGE_DURANGO):
ret.lateralTuning.init('pid')
ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
ret.lateralTuning.pid.kf = 0.00006
# Jeep
elif candidate in (CAR.JEEP_GRAND_CHEROKEE, CAR.JEEP_GRAND_CHEROKEE_2019):
ret.steerActuatorDelay = 0.2
ret.lateralTuning.init('pid')
ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
ret.lateralTuning.pid.kf = 0.00006
# Ram
elif candidate == CAR.RAM_1500_5TH_GEN:
ret.steerActuatorDelay = 0.2
ret.wheelbase = 3.88
# Older EPS FW allow steer to zero
if any(fw.ecu == 'eps' and b"68" < fw.fwVersion[:4] <= b"6831" for fw in car_fw):
ret.minSteerSpeed = 0.
elif candidate == CAR.RAM_HD_5TH_GEN:
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, 1.0, False)
else:
raise ValueError(f"Unsupported car: {candidate}")
if ret.flags & ChryslerFlags.HIGHER_MIN_STEERING_SPEED:
# TODO: allow these cars to steer down to 13 m/s if already engaged.
# TODO: Durango 2020 may be able to steer to zero once above 38 kph
ret.minSteerSpeed = 17.5 # m/s 17 on the way up, 13 on the way down once engaged.
ret.centerToFront = ret.wheelbase * 0.44
ret.enableBsm = 720 in fingerprint[0]
return ret
def _update(self, c):
ret = self.CS.update(self.cp, self.cp_cam)
ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
# events
events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.low])
# Low speed steer alert hysteresis logic
if self.CP.minSteerSpeed > 0. and ret.vEgo < (self.CP.minSteerSpeed + 0.5):
self.low_speed_alert = True
elif ret.vEgo > (self.CP.minSteerSpeed + 1.):
self.low_speed_alert = False
if self.low_speed_alert:
events.add(car.CarEvent.EventName.belowSteerSpeed)
ret.events = events.to_msg()
return ret