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Ford: detect reverse gear for manual transmissions #24234

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Apr 18, 2022
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Ford: detect reverse gear for manual transmissions #24234

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8 changes: 6 additions & 2 deletions selfdrive/car/ford/carstate.py
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Original file line number Diff line number Diff line change
Expand Up @@ -55,8 +55,10 @@ def update(self, cp, cp_cam):
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear, None))
elif self.CP.transmissionType == TransmissionType.manual:
ret.clutchPressed = cp.vl["Engine_Clutch_Data"]["CluPdlPos_Pc_Meas"] > 0
# TODO: find reverse light signal
ret.gearShifter = GearShifter.drive
if bool(cp.vl["BCM_Lamp_Stat_FD1"]["RvrseLghtOn_B_Stat"]):
ret.gearShifter = GearShifter.reverse
else:
ret.gearShifter = GearShifter.drive

# safety
ret.stockFcw = bool(cp_cam.vl["ACCDATA_3"]["FcwVisblWarn_B_Rq"])
Expand Down Expand Up @@ -148,9 +150,11 @@ def get_can_parser(CP):
elif CP.transmissionType == TransmissionType.manual:
signals += [
("CluPdlPos_Pc_Meas", "Engine_Clutch_Data"), # PCM clutch (pct)
("RvrseLghtOn_B_Stat", "BCM_Lamp_Stat_FD1"), # BCM reverse light
]
checks += [
("Engine_Clutch_Data", 33),
("BCM_Lamp_Stat_FD1", 1),
]

if CP.enableBsm:
Expand Down