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Ford: check expected radar configuration #1414

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merged 7 commits into from
Oct 24, 2024
Merged

Ford: check expected radar configuration #1414

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5be034f
no functional change, but later
sshane Oct 24, 2024
4668a86
check correct radar configuration
sshane Oct 24, 2024
e856014
add comments
sshane Oct 24, 2024
1a61829
temp
sshane Oct 24, 2024
368e989
Revert "temp"
sshane Oct 24, 2024
f30427f
better cmt
sshane Oct 24, 2024
faa65fd
betteR?
sshane Oct 24, 2024
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25 changes: 19 additions & 6 deletions opendbc/car/ford/radar_interface.py
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Original file line number Diff line number Diff line change
Expand Up @@ -9,9 +9,11 @@
DELPHI_ESR_RADAR_MSGS = list(range(0x500, 0x540))

DELPHI_MRR_RADAR_START_ADDR = 0x120
DELPHI_MRR_RADAR_HEADER_ADDR = 0x170 # MRR_Header_InformationDetections
DELPHI_MRR_RADAR_HEADER_ADDR = 0x174 # MRR_Header_SensorCoverage
DELPHI_MRR_RADAR_MSG_COUNT = 64

DELPHI_MRR_RADAR_RANGE_COVERAGE = {0: 42, 1: 164, 2: 45, 3: 175} # scan index to detection range (m)


def _create_delphi_esr_radar_can_parser(CP) -> CANParser:
msg_n = len(DELPHI_ESR_RADAR_MSGS)
Expand All @@ -21,7 +23,10 @@ def _create_delphi_esr_radar_can_parser(CP) -> CANParser:


def _create_delphi_mrr_radar_can_parser(CP) -> CANParser:
messages = [("MRR_Header_InformationDetections", 33)]
messages = [
("MRR_Header_InformationDetections", 33),
("MRR_Header_SensorCoverage", 33),
]

for i in range(1, DELPHI_MRR_RADAR_MSG_COUNT + 1):
msg = f"MRR_Detection_{i:03d}"
Expand Down Expand Up @@ -63,14 +68,14 @@ def update(self, can_strings):
errors = []
if not self.rcp.can_valid:
errors.append("canError")
ret.errors = errors

if self.radar == RADAR.DELPHI_ESR:
self._update_delphi_esr()
elif self.radar == RADAR.DELPHI_MRR:
self._update_delphi_mrr()
errors.extend(self._update_delphi_mrr())

ret.points = list(self.pts.values())
ret.errors = errors
self.updated_messages.clear()
return ret

Expand Down Expand Up @@ -106,11 +111,17 @@ def _update_delphi_esr(self):
def _update_delphi_mrr(self):
headerScanIndex = int(self.rcp.vl["MRR_Header_InformationDetections"]['CAN_SCAN_INDEX']) & 0b11

errors = []
if DELPHI_MRR_RADAR_RANGE_COVERAGE[headerScanIndex] != int(self.rcp.vl["MRR_Header_SensorCoverage"]["CAN_RANGE_COVERAGE"]):
errors.append("wrongConfig")

for ii in range(1, DELPHI_MRR_RADAR_MSG_COUNT + 1):
msg = self.rcp.vl[f"MRR_Detection_{ii:03d}"]

# SCAN_INDEX rotates through 0..3 on each message
# treat these as separate points
# SCAN_INDEX rotates through 0..3 on each message for different measurement modes
# Indexes 0 and 2 have a max range of ~40m, 1 and 3 are ~170m (MRR_Header_SensorCoverage->CAN_RANGE_COVERAGE)
# TODO: filter out close range index 1 and 3 points, contain false positives
# TODO: can we group into 2 groups?
scanIndex = msg[f"CAN_SCAN_INDEX_2LSB_{ii:02d}"]
i = (ii - 1) * 4 + scanIndex

Expand Down Expand Up @@ -148,3 +159,5 @@ def _update_delphi_mrr(self):

else:
del self.pts[i]

return errors
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