DIY: Installing ACC (Adaptive Cruise Control) and LKA (Lane Keep Alert) to 2022 F-150 Lightning XLT

[B177y]

A friend and I here in Tulsa, OK were just talking about Comma a few days ago. I thought they started encrypting some things on the 24'+ on the FD bus which prevented Comma from working? Is there already a forum post for the Lightning detailing the installation of Comma,, if not can you start one. I'll go ahead and give it a try if someone will do a bit of DIY post on it.

It seems like there were a couple of '24's where the Comma didn't work, but then a whole lot more '24's where the Comma does work, mine included after adding the ACC & LKA mod with the radar CCM. Encryption is coming, maybe even in the '25's but I don't think anyone has tried a Comma in a '25 yet to report.

The main Comma thread to follow on the Lightning forum is here. The better thread to follow is on the ICE F150 thread here. Follow forum member @Ajzride on Lightning, Mach-e, and ICE F150 forums as he's a developer (maybe the only developer?) of BluePilot which is a Ford specific fork of SunnyPilot which is a fork of stock OpenPilot... Or something like that.... If you really want to get into the BluePilot weeds, the Discord link is here for SunnyPilot. Go to the #Ford section for the BluePilot info.

The Lightning does require modifying the USB cable by adding 2 resistors. The parts list and discussion starts around page 22 here. @UncleTony is working on some cleaner coupling prototypes with the resistors built in.

Those threads should get you up to speed. Like this thread, I had to read the entire thing start to finish a couple of times, then I still had questions and made the same mistakes but I had a little bit better understanding.

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[watts/up]

My '24 Pro ended up having some different values from the OP. I posted a list of my Forscan values here at post #553 and attached them to this current post. I started my project at post #531

What I ended up doing on the advice of many others here was to print a sheet of the suggested value changes, see what you have in each of those spaces currently and if anything is different, look it up in the @Livnitup spreadsheet to see what your value means. Print my attachment and compare what you have in each space before going back and writing your changes. Print or have the relevant sections of the Livnitup spreadsheet available while you do this too. In my sheet, the highlighted values are what I changed that were different than the OP values.

I had a value that didn't match anything previously done and it wasn't in the spreadsheet. It wouldn't write if I added the suggested value. Livnitup suggested to me to add 8 and see if it wrote, and it worked. It was: 7D0-05-01 xx*x xxxx xx-- Suggested change 0 to 8, I had a 1 and the spreadsheet didn't show that value, so I changed it to 9 and that successfully wrote and the ACC/LKA worked.

Good luck and keep us posted or ask for any help.

I am on my 3rd week of having a Comma.ai installed with BluePilot 3.0. I saw that you had previously shown interest in the Comma in some older posts on here. It works with this mod and it's AWESOME!

Wow. Really appreciate your detailed response and advice. I'll definitely be posting a follow-up once I'm able to attempt the update. As for Comma, yes, I'm definitely working my way toward that and, as you know, adding ACC is a prerequisite for our Pros. One step at a time.

Edit: One question after reviewing your attached document: it looks like you moved activation of the CCM (706-02-02 in the IPMA section) up in the order. Is this to ensure that the CCM is accessible for inputting the copied IPMA values? Obviously, if this change is made there, it is still correct (and not needing to be changed) later with the rest of the IPMA changes, right?

 

[B177y]

Edit: One question after reviewing your attached document: it looks like you moved activation of the CCM (706-02-02 in the IPMA section) up in the order. Is this to ensure that the CCM is accessible for inputting the copied IPMA values? Obviously, if this change is made there, it is still correct (and not needing to be changed) later with the rest of the IPMA changes, right?

I don't recall exactly why I had to move that but I think it was as you state. I vaguely remember a problem activating the CCM and that order worked to get it going.

 

[B177y]

Edit: One question after reviewing your attached document: it looks like you moved activation of the CCM (706-02-02 in the IPMA section) up in the order. Is this to ensure that the CCM is accessible for inputting the copied IPMA value?....

I used the attachment from this thread by @hturnerfamily to help with my install. This may also help you. It was long enough ago and I had enough issues getting everything to work because of my different values that I didn't remember exactly how I ended up with my order of operations.

 

[B177y]

Pinging @watts/up ... Any updates?

 

[watts/up]

Pinging @watts/up ... Any updates?

Not yet. I hope to try and get it programmed this weekend, schedule permitting. I printed out the PDF you provided, thanks again. It's very helpful. At the very least, I'll compare it to the values I have in FORScan and also verify I've got power to the CCM.

 

[watts/up]

Module connected!

I reversed all of the wires at the CCM

Now on to the rest of the programming!

@B177y I don't seem to have 12v between pins 1 and 4 at the CCM but I have not made any FORScan changes to activate it yet. Do you happen to recall if you had power before programming?

 

[B177y]

@B177y I don't seem to have 12v between pins 1 and 4 at the CCM but I have not made any FORScan changes to activate it yet. Do you happen to recall if you had power before programming?

I didn't have power. That's when I figured out the hard way that I reversed the 4 wires in the CCM connection.

 

[watts/up]

Thanks. OK, moving on to comparing and backing up my current settings.

 

[B177y]

@B177y I don't seem to have 12v between pins 1 and 4 at the CCM but I have not made any FORScan changes to activate it yet. Do you happen to recall if you had power before programming?

I wired my plug as 4, 3, 2, 1 instead of 1, 2, 3, 4. For me it was easier to cut the wires at the IPMA and re-connect to the pin pigtails in the correct order if that makes sense.

 

[watts/up]

That makes sense. I made my own harness as well so we'll see!

 

[ZSC100]

You WILL need to make FORScan changes before the IMPA provides power to the CCM.

 

[watts/up]

Appreciate you confirming as well.

Do either of you know if it's just the 706-02-02 IPMA change that activates the CCM or do multiple or all of those changes need to be made (or along with other modules)? I'd like to confirm it has power before make the majority of the changes. Essentially, I was planning on doing everything up until making the CCM changes but also doing that singular IPMA change and checking for power.

Edit: I'm overthinking this. I guess I'll know once I get to the CCM part if it has power or not because I will or won't be able to access it.

 

[watts/up]

So I fired up FORScan and compared my current values to the PDF. For the most part, I have values that match either the originals or the alternate ones. In one or two places the values have already been changed to what they need to be when adding ACC. Unfortunately, in one instance the current value doesn't match either the original or the alternate. It's this one (in the IPC):

720-09-01 *xxx xxxx xx-- (A to B) or (6 to 7) - My current first value is an E

Any thoughts?

On the plus side, I temporarily changed IPMA's 706-02-02 to turn on the CCM and I was able to confirm power to it.

 

[B177y]

So I fired up FORScan and compared my current values to the PDF. For the most part, I have values that match either the originals or the alternate ones. In one or two places the values have already been changed to what they need to be when adding ACC. Unfortunately, in one instance the current value doesn't match either the original or the alternate. It's this one:

720-09-01 *xxx xxxx xx-- (A to B) or (6 to 7) - My current first value is an E

Any thoughts?

On the plus side, I temporarily changed IPMA's 706-02-02 to turn on the CCM and I was able to confirm power to it.

Check the spreadsheet and see what "E" represents. Look at what B and 7 mean on the spreadsheet (the new ACC values) and see what you need to change your E to in order to activate ACC but keep your other options working. Clear as mud?

To me it looks like you need to change E to F which makes "ESA enabled", but check the sheet.

Spreadsheet

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