GAC: Ford support (commaai#226)

* GAC: Ford support * Update CHANGELOGS.md
opgm · Aug 11, 2023 · 9bc1632 · 9bc1632
1 parent d7a2214
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Showing 4 changed files with 4 additions and 4 deletions.
diff --git a/CHANGELOGS.md b/CHANGELOGS.md
@@ -3,7 +3,6 @@ sunnypilot - 0.9.4.1 (2023-08-xx)
 * UPDATED: Synced with commaai's 0.9.4 release
 * NEW❗: Moonrise driving model
 * NEW❗: Ford upstream models support
-  * G.A.C. support for Ford will be implemented in future updates
 * UPDATED: Dynamic Lane Profile selector in the "SP - Controls" menu
 * REMOVED: Dynamic Lane Profile driving screen UI button
 * FIXED: Disallow torque lateral control for angle control platforms (e.g. Ford, Nissan, Tesla)

diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py
@@ -102,7 +102,7 @@ def update(self, CC, CS, now_nanos):
     if (self.frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui:
       can_sends.append(create_acc_ui_msg(self.packer, self.CAN, self.CP, main_on, CC.latActive,
                                          fcw_alert, CS.out.cruiseState.standstill, hud_control,
-                                         CS.acc_tja_status_stock_values))
+                                         CS.acc_tja_status_stock_values, CS.gac_tr))
 
     self.main_on_last = main_on
     self.lkas_enabled_last = CC.latActive

diff --git a/selfdrive/car/ford/fordcan.py b/selfdrive/car/ford/fordcan.py
@@ -143,7 +143,7 @@ def create_acc_msg(packer, CAN: CanBus, long_active: bool, gas: float, accel: fl
 
 
 def create_acc_ui_msg(packer, CAN: CanBus, CP, main_on: bool, enabled: bool, fcw_alert: bool, standstill: bool,
-                      hud_control, stock_values: dict):
+                      hud_control, stock_values: dict, gac_tr):
   """
   Creates a CAN message for the Ford IPC adaptive cruise, forward collision warning and traffic jam
   assist status.
@@ -211,7 +211,7 @@ def create_acc_ui_msg(packer, CAN: CanBus, CP, main_on: bool, enabled: bool, fcw
       "AccFllwMde_B_Dsply": 1 if hud_control.leadVisible else 0,  # Lead indicator
       "AccStopMde_B_Dsply": 1 if standstill else 0,
       "AccWarn_D_Dsply": 0,                                       # ACC warning
-      "AccTGap_D_Dsply": 4,                                       # Fixed time gap in UI
+      "AccTGap_D_Dsply": gac_tr,                                  # Fixed time gap in UI
     })
 
   # Forwards FCW alert from IPMA

diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
@@ -120,6 +120,7 @@ def _update(self, c):
         if not self.CS.prev_lkas_enabled and self.CS.lkas_enabled:
           self.CS.madsEnabled = not self.CS.madsEnabled
         self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled)
+      ret, self.CS = self.toggle_gac(ret, self.CS, self.CS.buttonStates["gapAdjustCruise"], 1, 3, 4, "-")
     else:
       self.CS.madsEnabled = False