Add support for Jeep Grand Cherokee SRT 2016-18

opendbc/car/car.capnp

@@ -635,6 +635,7 @@ struct CarParams {
     fcaGiorgio @32;
     rivian @33;
     volkswagenMeb @34;
+    chryslerSrt @35;
   }
 
   enum SteerControlType {

opendbc/car/chrysler/carcontroller.py

@@ -2,14 +2,15 @@
 from opendbc.car import Bus, DT_CTRL
 from opendbc.car.lateral import apply_meas_steer_torque_limits
 from opendbc.car.chrysler import chryslercan
-from opendbc.car.chrysler.values import CUSW_CARS, RAM_CARS, CarControllerParams, ChryslerFlags
+from opendbc.car.chrysler.values import CUSW_CARS, RAM_CARS, SRT_CARS, CarControllerParams, ChryslerFlags
 from opendbc.car.interfaces import CarControllerBase
 
 
 class CarController(CarControllerBase):
   def __init__(self, dbc_names, CP):
     super().__init__(dbc_names, CP)
     self.apply_torque_last = 0
+    self.lkas_active_prev = False
 
     self.hud_count = 0
     self.last_lkas_falling_edge = 0
@@ -45,6 +46,12 @@ def update(self, CC, CS, now_nanos):
                                                      self.hud_count, CS.lkas_car_model, CS.auto_high_beam))
         self.hud_count += 1
 
+    # LKAS heartbeat forwarding for SRT
+    if self.CP.carFingerprint in SRT_CARS and self.frame % 10 == 0:
+      heartbit_msg = chryslercan.create_lkas_heartbit(self.packer, self.CP, CS.lkas_heartbit)
+      if heartbit_msg is not None:
+        can_sends.append(heartbit_msg)
+
     # steering
     if self.frame % self.params.STEER_STEP == 0:
 
@@ -61,6 +68,9 @@ def update(self, CC, CS, now_nanos):
       elif self.CP.carFingerprint in CUSW_CARS:
         if CS.out.vEgo < (self.CP.minSteerSpeed - 2.0):
           lkas_control_bit = False
+      elif self.CP.carFingerprint in SRT_CARS: # may merge with other class if it makes sense
+        if CS.out.vEgo < (self.CP.minSteerSpeed - 2.1):
+          lkas_control_bit = False
 
       # EPS faults if LKAS re-enables too quickly
       lkas_control_bit = lkas_control_bit and (self.frame - self.last_lkas_falling_edge > 200)
@@ -72,12 +82,27 @@ def update(self, CC, CS, now_nanos):
       # steer torque
       new_torque = int(round(CC.actuators.torque * self.params.STEER_MAX))
       apply_torque = apply_meas_steer_torque_limits(new_torque, self.apply_torque_last, CS.out.steeringTorqueEps, self.params)
-      if not lkas_active or not lkas_control_bit:
-        apply_torque = 0
+      lkas_control_bit_cmd = lkas_control_bit
+      if self.CP.carFingerprint in SRT_CARS:
+        if not lkas_active or not lkas_control_bit:
+          if self.apply_torque_last != 0:
+            if self.apply_torque_last > 0:
+              apply_torque = max(self.apply_torque_last - self.params.STEER_DELTA_DOWN, 0)
+            else:
+              apply_torque = min(self.apply_torque_last + self.params.STEER_DELTA_DOWN, 0)
+            if apply_torque != 0:
+              lkas_control_bit_cmd = True
+          else:
+            apply_torque = 0
+        elif not self.lkas_active_prev:
+          apply_torque = apply_meas_steer_torque_limits(apply_torque, 0, CS.out.steeringTorqueEps, self.params)
+      else:
+        if not lkas_active or not lkas_control_bit:
+          apply_torque = 0
+      self.lkas_active_prev = lkas_active
       self.apply_torque_last = apply_torque
 
-      can_sends.append(chryslercan.create_lkas_command(self.packer, self.CP, int(apply_torque), lkas_control_bit))
-
+      can_sends.append(chryslercan.create_lkas_command(self.packer, self.CP, int(apply_torque), lkas_control_bit_cmd))
     self.frame += 1
 
     new_actuators = CC.actuators.as_builder()

opendbc/car/chrysler/carstate.py

@@ -1,6 +1,6 @@
 from opendbc.can import CANDefine, CANParser
 from opendbc.car import Bus, create_button_events, structs
-from opendbc.car.chrysler.values import CUSW_CARS, DBC, STEER_THRESHOLD, RAM_CARS
+from opendbc.car.chrysler.values import CUSW_CARS, DBC, STEER_THRESHOLD, RAM_CARS, SRT_CARS
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.interfaces import CarStateBase
 
@@ -23,6 +23,7 @@ def __init__(self, CP):
       self.shifter_values = can_define.dv["GEAR"]["PRNDL"]
 
     self.distance_button = 0
+    self.lkas_heartbit = {}
 
   def update(self, can_parsers) -> structs.CarState:
     cp = can_parsers[Bus.pt]
@@ -98,6 +99,9 @@ def update(self, can_parsers) -> structs.CarState:
     self.lkas_car_model = cp_cam.vl["DAS_6"]["CAR_MODEL"]
     self.button_counter = cp.vl["CRUISE_BUTTONS"]["COUNTER"]
 
+    if self.CP.carFingerprint in SRT_CARS:
+      self.lkas_heartbit = cp_cam.vl["LKAS_HEARTBIT"]
+
     ret.buttonEvents = create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
 
     return ret

opendbc/car/chrysler/chryslercan.py

@@ -1,6 +1,6 @@
 from opendbc.car import structs
 from opendbc.car.crc import CRC8J1850
-from opendbc.car.chrysler.values import CUSW_CARS, RAM_CARS
+from opendbc.car.chrysler.values import CUSW_CARS, RAM_CARS, SRT_CARS
 
 GearShifter = structs.CarState.GearShifter
 VisualAlert = structs.CarControl.HUDControl.VisualAlert
@@ -50,9 +50,23 @@ def create_lkas_hud(packer, CP, lkas_active, hud_alert, hud_count, car_model, au
 
   if CP.carFingerprint in RAM_CARS:
     values['AUTO_HIGH_BEAM_ON'] = auto_high_beam
+  if CP.carFingerprint in SRT_CARS:
+    values['AUTO_HIGH_BEAM_ON'] = auto_high_beam
+    values['LKAS_DISABLED'] = 0 if lkas_active else 1
 
   return packer.make_can_msg("DAS_6", 0, values)
 
+def create_lkas_heartbit(packer, CP, lkas_heartbit):
+  if not lkas_heartbit or "LKAS_DISABLED" not in lkas_heartbit:
+    return None
+  values = {s: lkas_heartbit[s] for s in [
+    "LKAS_DISABLED",
+    "AUTO_HIGH_BEAM",
+    "FORWARD_1",
+    "FORWARD_2",
+    "FORWARD_3",
+  ]}
+  return packer.make_can_msg("LKAS_HEARTBIT", 0, values)
 
 def create_lkas_command(packer, CP, apply_torque, lkas_control_bit):
   # LKAS_COMMAND Lane-keeping signal to turn the wheel
@@ -63,7 +77,6 @@ def create_lkas_command(packer, CP, apply_torque, lkas_control_bit):
   }
   return packer.make_can_msg("LKAS_COMMAND", 0, values)
 
-
 def create_cruise_buttons(packer, frame, bus, cancel=False, resume=False):
   values = {
     "ACC_Cancel": cancel,

opendbc/car/chrysler/fingerprints.py

@@ -438,6 +438,29 @@
       b'68503664AC',
     ],
   },
+  CAR.JEEP_GRAND_CHEROKEE_SRT_2016: {
+    (Ecu.combinationMeter, 0x742, None): [
+      b'68243353AG',
+    ],
+    (Ecu.srs, 0x744, None): [
+      b'68309533AA',
+    ],
+    (Ecu.abs, 0x747, None): [
+      b'68252642AF',
+    ],
+    (Ecu.fwdRadar, 0x753, None): [
+      b'68251506AF',
+    ],
+    (Ecu.eps, 0x75a, None): [
+      b'68252416AL',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'68277171AG ',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'05035476AE',
+    ],
+  },
   CAR.RAM_1500_5TH_GEN: {
     (Ecu.combinationMeter, 0x742, None): [
       b'68294051AG',

opendbc/car/chrysler/interface.py

@@ -3,7 +3,7 @@
 from opendbc.car.chrysler.carcontroller import CarController
 from opendbc.car.chrysler.carstate import CarState
 from opendbc.car.chrysler.radar_interface import RadarInterface
-from opendbc.car.chrysler.values import CAR, CUSW_CARS, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags, ChryslerSafetyFlags
+from opendbc.car.chrysler.values import CAR, CUSW_CARS, RAM_HD, RAM_DT, RAM_CARS, SRT_CARS, ChryslerFlags, ChryslerSafetyFlags
 from opendbc.car.interfaces import CarInterfaceBase
 
 
@@ -34,6 +34,8 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_lo
       ret.safetyConfigs[0].safetyParam |= ChryslerSafetyFlags.RAM_DT.value
     elif candidate in CUSW_CARS:
       ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.chryslerCusw)]
+    elif candidate in SRT_CARS:
+      ret.safetyConfigs[0].safetyParam |= ChryslerSafetyFlags.SRT.value
 
     CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
     if candidate not in RAM_CARS:
@@ -55,7 +57,7 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_lo
     elif candidate == CAR.JEEP_CHEROKEE_5TH_GEN:
       ret.steerActuatorDelay = 0.15
 
-    elif candidate in (CAR.JEEP_GRAND_CHEROKEE, CAR.JEEP_GRAND_CHEROKEE_2019):
+    elif candidate in (CAR.JEEP_GRAND_CHEROKEE, CAR.JEEP_GRAND_CHEROKEE_2019, CAR.JEEP_GRAND_CHEROKEE_SRT_2016):
       ret.steerActuatorDelay = 0.2
 
       ret.lateralTuning.init('pid')

opendbc/car/chrysler/values.py

@@ -12,6 +12,7 @@
 class ChryslerSafetyFlags(IntFlag):
   RAM_DT = 1
   RAM_HD = 2
+  SRT = 4
 
 
 class ChryslerFlags(IntFlag):
@@ -82,6 +83,12 @@ class CAR(Platforms):
     JEEP_GRAND_CHEROKEE.specs,
   )
 
+  JEEP_GRAND_CHEROKEE_SRT_2016 = ChryslerPlatformConfig(  # SRT Trim Specs
+    [ChryslerCarDocs("Jeep Grand Cherokee SRT 2016-18")],
+    ChryslerCarSpecs(mass=1836.0, wheelbase=2.70, steerRatio=13.0),
+    {Bus.pt: 'chrysler_srt_generated'},
+  )
+
   # Ram
   RAM_1500_5TH_GEN = ChryslerPlatformConfig(
     [ChryslerCarDocs("Ram 1500 2019-24", car_parts=CarParts.common([CarHarness.ram]))],
@@ -115,6 +122,10 @@ def __init__(self, CP):
       self.STEER_DELTA_UP = 4
       self.STEER_DELTA_DOWN = 4
       self.STEER_MAX = 250  # TODO: Some CUSW will go to 261, some not quite, exact boundaries not yet determined
+    elif CP.carFingerprint in SRT_CARS:
+      self.STEER_DELTA_UP = 6
+      self.STEER_DELTA_DOWN = 6
+      self.STEER_MAX = 261
     else:
       self.STEER_DELTA_UP = 3
       self.STEER_DELTA_DOWN = 3
@@ -127,6 +138,7 @@ def __init__(self, CP):
 RAM_HD = {CAR.RAM_HD_5TH_GEN, }
 RAM_CARS = RAM_DT | RAM_HD
 CUSW_CARS = {CAR.JEEP_CHEROKEE_5TH_GEN, }
+SRT_CARS = {CAR.JEEP_GRAND_CHEROKEE_SRT_2016, }
 
 
 CHRYSLER_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \

opendbc/car/tests/routes.py

@@ -49,6 +49,7 @@ class CarTestRoute(NamedTuple):
   CarTestRoute("c5e3aa51055c8f47|2023-12-06--20-01-44", CHRYSLER.JEEP_CHEROKEE_5TH_GEN),
   CarTestRoute("0c94aa1e1296d7c6/2021-05-05--19-48-37", CHRYSLER.JEEP_GRAND_CHEROKEE),
   CarTestRoute("91dfedae61d7bd75/2021-05-22--20-07-52", CHRYSLER.JEEP_GRAND_CHEROKEE_2019),
+  CarTestRoute("0d229e810a3e34c5/0000000d--f284666791", CHRYSLER.JEEP_GRAND_CHEROKEE_SRT_2016),
   CarTestRoute("420a8e183f1aed48/2020-03-05--07-15-29", CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID),  # 2017
   CarTestRoute("43a685a66291579b/2021-05-27--19-47-29", CHRYSLER.CHRYSLER_PACIFICA_2018),
   CarTestRoute("378472f830ee7395/2021-05-28--07-38-43", CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID),

opendbc/car/torque_data/params.toml

@@ -37,8 +37,9 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "HYUNDAI_SONATA" = [2.9638737459977467, 2.1259108157250735, 0.07813665616927593]
 "HYUNDAI_SONATA_HYBRID" = [2.8990264092395734, 2.061410192222139, 0.0899805488717382]
 "HYUNDAI_TUCSON_4TH_GEN" = [2.960174, 2.860284, 0.108745]
-"JEEP_GRAND_CHEROKEE_2019" = [2.30972, 1.289689569171081, 0.117048]
 "JEEP_GRAND_CHEROKEE" = [2.27116, 1.4057367824262523, 0.11725947414922003]
+"JEEP_GRAND_CHEROKEE_2019" = [2.30972, 1.289689569171081, 0.117048]
+"JEEP_GRAND_CHEROKEE_SRT_2016" = [2.27116, 1.4057367824262523, 0.11725947414922003]
 "KIA_EV6" = [3.2, 2.093457, 0.005]
 "KIA_K5_2021" = [2.405339728085138, 1.460032270828705, 0.11650989850813716]
 "KIA_NIRO_EV" = [2.9215954981365337, 2.1500583840260044, 0.09236802474810267]