Ford: fix CAN FD fingerprinting (#28995)

* fix CAN FD fingerprinting for now

* comment

* this is the simplest for now

* revert

* cmt

* todo and fixme!

selfdrive/car/ford/values.py

@@ -98,21 +98,19 @@ CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
 
 FW_QUERY_CONFIG = FwQueryConfig(
   requests=[
+    # CAN and CAN FD queries are combined.
+    # FIXME: For CAN FD, ECUs respond with frames larger than 8 bytes on the powertrain bus
+    # TODO: properly handle auxiliary requests to separate queries and add back whitelists
     Request(
       [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
       [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.engine],
+      # whitelist_ecus=[Ecu.engine],
-    ),
+      auxiliary=True,
-    Request(
-      [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
-      [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.shiftByWire],
-      bus=0,
     ),
     Request(
       [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
       [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.engine, Ecu.shiftByWire],
+      # whitelist_ecus=[Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.shiftByWire],
       bus=0,
       auxiliary=True,
     ),

selfdrive/car/tests/test_fw_fingerprint.py

@@ -220,12 +220,12 @@ class TestFwFingerprintTiming(unittest.TestCase):
     print(f'get_vin, query time={vin_time / self.N} seconds')
 
   def test_fw_query_timing(self):
-    total_ref_time = 6.7
+    total_ref_time = 6.6
     brand_ref_times = {
       1: {
         'body': 0.1,
         'chrysler': 0.3,
-        'ford': 0.3,
+        'ford': 0.2,
         'honda': 0.5,
         'hyundai': 0.7,
         'mazda': 0.2,