Chrysler: Jeep Cherokee 2019-23

[jyoung8607]

This covers the Chrysler Compact US Wide platform. Credit to @Tundergit for the original reverse engineering work.

This has been tested with several model-years of Jeep Cherokee as well as Chrysler 200. I'm told this should cover 2014-2018 Chrysler 200, 2014-2023 Jeep Cherokee (KL), late model Jeep Renegade, late model Jeep Compass, 2014-2018 Dodge Charger, and 2014-2018 Chrysler 300 equipped with ACC and LaneSense.

It appears that MY2019 and forward use the existing FCA harness adapter. Older vehicles are (mostly) software-compatible but use a different harness that comma doesn't have. Parts and a wiring diagram are available, but we'll come back for that later.

• Dashcam route: c5e3aa51055c8f47|2023-12-05--18-58-24
• CI test route: c5e3aa51055c8f47|2023-12-06--20-01-44
• process_replay route: (not until exit from dashcam, out of scope)

TODO:

• Chrysler: Add safety mode for Compact US Wide msgq#560
• Chrysler: DBCs for Compact US Wide opendbc#985
• Chrysler: Safety mode for Compact US Wide panda#1760
• Cleanup and optimize factoring together with existing Chrysler port
• UDS fingerprinting
• Revalidate some of the ancillary signals from the original RE work (doors, seatbelts, etc etc)
• Lateral accel controller tuning (going with PIF for now)
• Isolate and fix occasional steering fault on disengage
• Blind spot monitors

Out of scope for this PR:

• Add truly official support for earlier model years (will require a new harness)
• Optimize asymmetric steer speed handling by model-year or fingerprint

[github-actions]

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[sshane]

We've moved the car interfacing code to our opendbc repository, which is now the new home for car ports and fingerprints. Please re-open your pull request against opendbc at your convenience by using this command below. This will transform all changes under selfdrive/car/ to opendbc_repo/opendbc/car/. Make sure you have initialized submodules beforehand and have checked out the latest opendbc commit.

PR_NUMBER=33045
curl -L https://github.com/commaai/openpilot/pull/$PR_NUMBER.patch | sed -e 's/selfdrive\/car/opendbc_repo\/opendbc\/car/g' | git apply -v --reject

Simply replace the PR number with your own. Once done, add the files, fix any conflicts, and open a new PR. Alternatively, you may start a new PR from scratch if that is easier for you.