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.

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

TODO:

• [x] https://github.com/commaai/cereal/pull/560
• [x] https://github.com/commaai/opendbc/pull/985
• [ ] https://github.com/commaai/panda/pull/1760
• [x] 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)
• [x] ~~Lateral accel controller tuning~~ (going with PIF for now)
• [ ] Isolate and fix occasional steering fault on disengage
• [x] 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

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