Chrysler BSM info signal (#20694)

* Chrysler BSM info signal

* change to ==1

* add checks to enable bsm

* add fingerprint can id for enableBsm

* gate behind enableBsm

* fix indenatation

* update refs

* update refs

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

selfdrive/car/chrysler/carstate.py

@@ -59,6 +59,10 @@ class CarState(CarStateBase):
     ret.steerError = steer_state == 4 or (steer_state == 0 and ret.vEgo > self.CP.minSteerSpeed)
 
     ret.genericToggle = bool(cp.vl["STEERING_LEVERS"]['HIGH_BEAM_FLASH'])
+    
+    if self.CP.enableBsm:
+      ret.leftBlindspot = cp.vl["BLIND_SPOT_WARNINGS"]['BLIND_SPOT_LEFT'] == 1
+      ret.rightBlindspot = cp.vl["BLIND_SPOT_WARNINGS"]['BLIND_SPOT_RIGHT'] == 1
 
     self.lkas_counter = cp_cam.vl["LKAS_COMMAND"]['COUNTER']
     self.lkas_car_model = cp_cam.vl["LKAS_HUD"]['CAR_MODEL']
@@ -115,6 +119,13 @@ class CarState(CarStateBase):
       ("TRACTION_BUTTON", 1),
     ]
 
+    if CP.enableBsm:
+      signals += [
+        ("BLIND_SPOT_RIGHT", "BLIND_SPOT_WARNINGS", 0),
+        ("BLIND_SPOT_LEFT", "BLIND_SPOT_WARNINGS", 0),
+      ]
+      checks += [("BLIND_SPOT_WARNINGS", 2)]
+
     return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
 
   @staticmethod

selfdrive/car/chrysler/interface.py

@@ -50,6 +50,8 @@ class CarInterface(CarInterfaceBase):
     ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
 
     ret.enableCamera = True
+    
+    ret.enableBsm = 720 in fingerprint[0]
 
     return ret
 

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-102840c395c0c19fb27a8f252044284834a0daf1
+f1515b6efca6de7305d411355f286d2c6b9fb19b