Ford: add Escape Mk4

Author: incognitojam

selfdrive/car/ford/interface.py

@@ -27,7 +27,13 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disa
     # TODO: detect stop-and-go vehicles
     stop_and_go = False
 
-    if candidate == CAR.FOCUS_MK4:
+    if candidate == CAR.ESCAPE_MK4:
+      ret.wheelbase = 2.71
+      ret.steerRatio = 14.3  # Copied from Focus
+      tire_stiffness_factor = 0.5328  # Copied from Focus
+      ret.mass = 1750 + STD_CARGO_KG
+
+    elif candidate == CAR.FOCUS_MK4:
       ret.wheelbase = 2.7
       ret.steerRatio = 14.3
       tire_stiffness_factor = 0.5328

selfdrive/car/ford/values.py

@@ -31,6 +31,7 @@ class CANBUS:
 
 
 class CAR:
+  ESCAPE_MK4 = "FORD ESCAPE 4TH GEN"
   FOCUS_MK4 = "FORD FOCUS 4TH GEN"
 
 
@@ -40,11 +41,29 @@ class FordCarInfo(CarInfo):
 
 
 CAR_INFO: Dict[str, Union[FordCarInfo, List[FordCarInfo]]] = {
+  CAR.ESCAPE_MK4: FordCarInfo("Ford Escape 2020"),
   CAR.FOCUS_MK4: FordCarInfo("Ford Focus 2018"),
 }
 
 
 FW_VERSIONS = {
+  CAR.ESCAPE_MK4: {
+    (Ecu.eps, 0x730, None): [
+      b'LX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.esp, 0x760, None): [
+      b'LX6C-2D053-NS\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x764, None): [
+      b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x706, None): [
+      b'LJ6T-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'LX6A-14C204-ESG\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+  },
   CAR.FOCUS_MK4: {
     (Ecu.eps, 0x730, None): [
       b'JX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -66,5 +85,6 @@ class FordCarInfo(CarInfo):
 
 
 DBC = {
+  CAR.ESCAPE_MK4: dbc_dict('ford_lincoln_base_pt', 'ford_fusion_2018_adas'),
   CAR.FOCUS_MK4: dbc_dict('ford_lincoln_base_pt', 'ford_fusion_2018_adas'),
 }

selfdrive/car/tests/routes.py

@@ -16,6 +16,7 @@
 
 # TODO: add routes for these cars
 non_tested_cars = [
+  FORD.ESCAPE_MK4,
   FORD.FOCUS_MK4,
   GM.CADILLAC_ATS,
   GM.HOLDEN_ASTRA,