Merge remote-tracking branch 'upstream/master' into niro-hev-2023-port

# Conflicts: # opendbc
commaai · Feb 3, 2023 · fab4933 · fab4933
2 parents 27e67a6 + b1e7449
commit fab4933
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Showing 5 changed files with 21 additions and 15 deletions.
diff --git a/opendbc b/opendbc
diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py
@@ -14,7 +14,7 @@ def __init__(self, CP):
     super().__init__(CP)
     can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
     if CP.transmissionType == TransmissionType.automatic:
-      self.shifter_values = can_define.dv["Gear_Shift_by_Wire_FD1"]["TrnGear_D_RqDrv"]
+      self.shifter_values = can_define.dv["Gear_Shift_by_Wire_FD1"]["TrnRng_D_RqGsm"]
 
   def update(self, cp, cp_cam):
     ret = car.CarState.new_message()
@@ -51,7 +51,7 @@ def update(self, cp, cp_cam):
 
     # gear
     if self.CP.transmissionType == TransmissionType.automatic:
-      gear = self.shifter_values.get(cp.vl["Gear_Shift_by_Wire_FD1"]["TrnGear_D_RqDrv"], None)
+      gear = self.shifter_values.get(cp.vl["Gear_Shift_by_Wire_FD1"]["TrnRng_D_RqGsm"])
       ret.gearShifter = self.parse_gear_shifter(gear)
     elif self.CP.transmissionType == TransmissionType.manual:
       ret.clutchPressed = cp.vl["Engine_Clutch_Data"]["CluPdlPos_Pc_Meas"] > 0
@@ -171,7 +171,7 @@ def get_can_parser(CP):
 
     if CP.transmissionType == TransmissionType.automatic:
       signals += [
-        ("TrnGear_D_RqDrv", "Gear_Shift_by_Wire_FD1"),       # GWM transmission gear position
+        ("TrnRng_D_RqGsm", "Gear_Shift_by_Wire_FD1"),        # GWM transmission gear position
       ]
       checks += [
         ("Gear_Shift_by_Wire_FD1", 10),

diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py
@@ -75,7 +75,10 @@ class FordCarInfo(CarInfo):
     FordCarInfo("Ford Escape 2020-21"),
     FordCarInfo("Ford Kuga 2020-21", "Driver Assistance Pack"),
   ],
-  CAR.EXPLORER_MK6: FordCarInfo("Ford Explorer 2020-22"),
+  CAR.EXPLORER_MK6: [
+    FordCarInfo("Ford Explorer 2020-22"),
+    FordCarInfo("Lincoln Aviator 2021", "Co-Pilot360 Plus"),
+  ],
   CAR.FOCUS_MK4: FordCarInfo("Ford Focus EU 2019", "Driver Assistance Pack"),
   CAR.MAVERICK_MK1: FordCarInfo("Ford Maverick 2022", "Co-Pilot360 Assist"),
 }
@@ -165,13 +168,16 @@ class FordCarInfo(CarInfo):
     (Ecu.fwdCamera, 0x706, None): [
       b'LB5T-14F397-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'LB5T-14F397-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LC5T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x7E0, None): [
       b'LB5A-14C204-EAC\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'MB5A-14C204-MD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'MB5A-14C204-RC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'NB5A-14C204-HB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.shiftByWire, 0x732, None): [
+      b'L1MP-14C561-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'L1MP-14G395-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'L1MP-14G395-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'L1MP-14G395-JB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',

diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
@@ -401,15 +401,15 @@ def parse_gear_shifter(gear: Optional[str]) -> car.CarState.GearShifter:
       return GearShifter.unknown
 
     d: Dict[str, car.CarState.GearShifter] = {
-        'P': GearShifter.park, 'PARK': GearShifter.park,
-        'R': GearShifter.reverse, 'REVERSE': GearShifter.reverse,
-        'N': GearShifter.neutral, 'NEUTRAL': GearShifter.neutral,
-        'E': GearShifter.eco, 'ECO': GearShifter.eco,
-        'T': GearShifter.manumatic, 'MANUAL': GearShifter.manumatic,
-        'D': GearShifter.drive, 'DRIVE': GearShifter.drive,
-        'S': GearShifter.sport, 'SPORT': GearShifter.sport,
-        'L': GearShifter.low, 'LOW': GearShifter.low,
-        'B': GearShifter.brake, 'BRAKE': GearShifter.brake,
+      'P': GearShifter.park, 'PARK': GearShifter.park,
+      'R': GearShifter.reverse, 'REVERSE': GearShifter.reverse,
+      'N': GearShifter.neutral, 'NEUTRAL': GearShifter.neutral,
+      'E': GearShifter.eco, 'ECO': GearShifter.eco,
+      'T': GearShifter.manumatic, 'MANUAL': GearShifter.manumatic,
+      'D': GearShifter.drive, 'DRIVE': GearShifter.drive,
+      'S': GearShifter.sport, 'SPORT': GearShifter.sport,
+      'L': GearShifter.low, 'LOW': GearShifter.low,
+      'B': GearShifter.brake, 'BRAKE': GearShifter.brake,
     }
     return d.get(gear.upper(), GearShifter.unknown)
 

diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-2beed04e654cdf84fac5842869f38c8cd55e9867
+7c2a98f4a94b6dded6a90d8913ab85a63069c186