Ford: detect missing LKAS from EPS configuration (commaai#31821)

* debug: disable FW cache

* Ford: detect missing TJA/LCA config and disable LKAS

* set dashcamOnly

* revert

* clean up

* clean up

* some CAN FD do not have 0x01 block for PSCM

* bump cereal (fork)

* remove confusing comment

* add flags/event

* remove duplicate from events

* copy can be next pr

* dashcamOnly if no config comes back either (this shouldn't happen)

* flipped

* can do this

* Revert "can do this"

This reverts commit c3d311b.

* Revert "flipped"

This reverts commit 75c01fb.

* Revert "dashcamOnly if no config comes back either (this shouldn't happen)"

This reverts commit f82624a.

---------

Co-authored-by: Shane Smiskol <[email protected]>
old-commit-hash: 9f327ae

selfdrive/car/ford/interface.py

@@ -39,6 +39,18 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
 
     if ret.flags & FordFlags.CANFD:
       ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_CANFD
+    else:
+      # Lock out if the car does not have needed lateral and longitudinal control APIs.
+      # Note that we also check CAN for adaptive cruise, but no known signal for LCA exists
+      pscm_config = next((fw for fw in car_fw if fw.ecu == Ecu.eps and b'\x22\xDE\x01' in fw.request), None)
+      if pscm_config:
+        if len(pscm_config.response) != 24:
+          ret.dashcamOnly = True
+        else:
+          config_tja = pscm_config.response[7]  # Traffic Jam Assist
+          config_lca = pscm_config.response[8]  # Lane Centering Assist
+          if config_tja != 0xFF or config_lca != 0xFF:
+            ret.dashcamOnly = True
 
     # Auto Transmission: 0x732 ECU or Gear_Shift_by_Wire_FD1
     found_ecus = [fw.ecu for fw in car_fw]