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8 Commits (c724d1c86ce4044bfc03f1e7941871466f51a708)
| Author | SHA1 | Message | Date |
|---|---|---|---|
Cameron Clough
|
c724d1c86c
|
Ford: log interesting module configuration data (#31569)
* Ford: log interesting module configuration data
Ford ECUs have what is called "As-Built Data" which is configured at the
factory/workshop to set what packages/features are enabled on the car.
But they also contain vehicle specific information (VIN, make, model,
weight, wheel base...), DTC information and driver preferences.
I dumped the CAN traffic for the FORScan diagnostic tool to see how it
requests this information from the ECUs.
<details>
<summary>FORScan communication with IPMA (camera)</summary>
<pre>
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': '0200'}
{'addr': 1806, 'type': 'negative_response', 'hex': '2231'}
{'addr': 1798, 'type': 'request', 'service': 'TESTER_PRESENT', 'hex': '00'}
{'addr': 1806, 'type': 'positive_response', 'service': 'TESTER_PRESENT', 'hex': '00'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'f190'}
{'addr': 1806, 'type': 'negative_response', 'hex': '2231'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de00'}
{'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de00020799dbaa10296516a440000000000000000000000000'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'f113'}
{'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'data': b'\xf1\x13JX7T-19H406-CH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', 'hex': 'f1134a5837542d3139483430362d434800000000000000000000'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'f188'}
{'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'data': b'\xf1\x88JX7T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', 'hex': 'f1884a5837542d3134463339372d414800000000000000000000'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'f120'}
{'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'data': b'\xf1 JX7T-14F397-BF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', 'hex': 'f1204a5837542d3134463339372d424600000000000000000000'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'f121'}
{'addr': 1806, 'type': 'negative_response', 'hex': '2231'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'f124'}
{'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'data': b'\xf1$JX7T-14F398-AG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', 'hex': 'f1244a5837542d3134463339382d414700000000000000000000'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'f125'}
{'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'data': b'\xf1%JX7T-14F398-BF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', 'hex': 'f1254a5837542d3134463339382d424600000000000000000000'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'f126'}
{'addr': 1806, 'type': 'negative_response', 'hex': '2231'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'f10a'}
{'addr': 1806, 'type': 'negative_response', 'hex': '2231'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'f111'}
{'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'data': b'\xf1\x11JX7T-14F403-CA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', 'hex': 'f1114a5837542d3134463430332d434100000000000000000000'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'f18c'}
{'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'data': b'\xf1\x8c182762191\x00\x00\x00\x00\x00\x00\x00', 'hex': 'f18c31383237363231393100000000000000'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'f162'}
{'addr': 1806, 'type': 'negative_response', 'hex': '2231'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'f110'}
{'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'data': b'\xf1\x10DS-JX7T-19H406-AD\x00\x00\x00\x00\x00\x00\x00', 'hex': 'f11044532d4a5837542d3139483430362d414400000000000000'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': '0202'}
{'addr': 1806, 'type': 'negative_response', 'hex': '2231'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'd100'}
{'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'd10001'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'd700'}
{'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'd70001010101'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'd701'}
{'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'd70101020000'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'dd01'}
{'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'dd010102f8'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'f113'}
{'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'data': b'\xf1\x13JX7T-19H406-CH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', 'hex': 'f1134a5837542d3139483430362d434800000000000000000000'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'fd08'}
{'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'fd0800000500500100300000000000000000000000300000000000000000200100400300100200001200f00300500000000000000300c00b00400200000000000000000000000000000000200f01201e01501400a00200200400700d02501d01700700e06405005e05503401100a000000002002002001000000'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'fd09'}
{'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'fd09ffec0001fef60002'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de00'}
{'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de00020799dbaa10296516a440000000000000000000000000'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DTC_INFORMATION', 'hex': '028f'}
{'addr': 1806, 'type': 'positive_response', 'service': 'READ_DTC_INFORMATION', 'hex': '02ff50019768c253002cc401862cc418862c'}
... skip DTC requests ...
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de00'}
{'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de00020799dbaa10296516a440000000000000000000000000'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de01'}
{'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de01fd5616db5fffff557fe1f842080000000800000008000000080000000819bfe00f7c00000000000000000000000000000000'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de02'}
{'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de02800000008000000080000000800000008337fc00800000008000000080000000800000008337fc0000000000000000000000'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de03'}
{'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de03fffc26c3800000000000'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de04'}
{'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de04546a8c0000000000'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de05'}
{'addr': 1806, 'type': 'negative_response', 'hex': '2231'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de06'}
{'addr': 1806, 'type': 'negative_response', 'hex': '2231'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de07'}
{'addr': 1806, 'type': 'negative_response', 'hex': '2231'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de08'}
{'addr': 1806, 'type': 'negative_response', 'hex': '2231'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de09'}
{'addr': 1806, 'type': 'negative_response', 'hex': '2231'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de0a'}
{'addr': 1806, 'type': 'negative_response', 'hex': '2231'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de0b'}
{'addr': 1806, 'type': 'negative_response', 'hex': '2231'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de0c'}
{'addr': 1806, 'type': 'negative_response', 'hex': '2231'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de0d'}
{'addr': 1806, 'type': 'negative_response', 'hex': '2231'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de0e'}
{'addr': 1806, 'type': 'negative_response', 'hex': '2231'}
</pre>
</details>
Using UDS service `READ_DATA_BY_IDENTIFIER`, we can read the As-Built
blocks from `0xDExx` with no diagnostic session/security access necessary.
I used [Online As-Built databases](https://cyanlabs.net/asbuilt-db/) and
various coding spreadsheets shared online to find values we might be
interested in using for fingerprinting (both vehicle parameters and
identifying the platform).
ABS:
- Payload tier (Base, Mid Payload Upgrade, Heavy Duty Payload
Upgrade...)
- Wheelbase
- Steering ratio
- Cruise Control Mode (Normal, Adaptive)
- Enable Stop and Go
PSCM:
- Enable Lane Keeping Aid
- Enable Traffic Jam Assist
- Enable Lane Centering Assist
IPMA (Q4):
- Steering ratio
- Wheelbase
APIM (Sync 3 and Sync 4):
- Steering ratio
- Vehicle weight
- Wheelbase
There are more potentially useful signals which I haven't included
although they might not be necessary:
- Vehicle (Ford platform code, like "C344" or "C519" - although the
source of the mapping from index to code is FORScan and not Ford
themselves unless we can find a better source).
- Fuel type
- Vehicle length/height/front track/rear track
- Tire circumference (could be useful for converting wheel speed rad/s
to m/s)
- Steering angle source (Pinion, Wheel)
- Country code (letters, e.g. US, CA or UK)
- Transmission type
- CAN network architecture
- More feature flags (the APIM also stores settings for ACC, LCA, BLIS)
The full list of settings I have found is
[here](https://github.com/incognitojam/op-notebooks/blob/main/ford/settings.py).
* FwQueryConfig: add data_requests
* add car_data to CarInterface get_params
* Revert "add car_data to CarInterface get_params"
This reverts commit aa161a6b82082705db97bea2c4317e1888a74845.
* test_ford: add APIM ecu address
* Revert "FwQueryConfig: add data_requests"
This reverts commit dc5484a9b80be5bc61a7fdf55560b8813bc43ef7.
* fix block numbers and add extra queries
* bump test_fw_query_timing
* add missing query whitelists
* simplify asbuilt requests
* use forscan block ids
* formatting
---------
Co-authored-by: Shane Smiskol <shane@smiskol.com>
|
1 year ago |
|
Cameron Clough
|
995250ae49
|
use pyupgrade to update to new typing syntax (#31580)
* add pyupgrade hook * run pyupgrade (pre-commit run -a) * ruff --fix * Revert "add pyupgrade hook" This reverts commit 56ec18bb6b8602a0b612f3803d96cdad14b52066. * revert changes to third_party/ * manual type fixes * explicit Optional wrapping capnp objects |
1 year ago |
Shane Smiskol
|
50a552ab8d
|
Reapply "Ford: don't fingerprint on engine (#31195)" (#31303)
* Reapply "Ford: don't fingerprint on engine (#31195)"
This reverts commit
|
1 year ago |
|
Shane Smiskol
|
7694712cd6 |
Revert "Ford: don't fingerprint on engine (#31195)"
This reverts commit
|
1 year ago |
|
Cameron Clough
|
1d1c9936cf
|
Ford: don't fingerprint on engine (#31195)
* Ford: do not fingerprint engine * add notebook * Ford: add missing Explorer FW * revert * revert * Revert "revert" This reverts commit ad32feaa689f2b497c8bcc9fedc73cae6c87f697. * TestFwFingerprintTiming: try these * TestFwFingerprintTiming: update total ref time * remove notebook * fix ref --------- Co-authored-by: Shane Smiskol <shane@smiskol.com> |
2 years ago |
Justin Newberry
|
28eed156e0
|
Move all fingerprints to fingerprints.py (#30790)
* move fingerpints * fix circular imports * fix circular imports * fix auto fingerprint * fix those tests * and controlsd * add labeler rule * no defaultdict |
2 years ago |
|
Cameron Clough
|
74b9a6af9e
|
add missing openpilot prefix to imports
|
2 years ago |
|
Cameron Clough
|
92a7d702fc
|
Ford: test FW query config and versions (#29016)
* Ford: test FW query config and versions * comments about software p/n * should keep it in bytes * don't need car_model * it prints nicely * add todo * Update selfdrive/car/ford/tests/test_ford.py --------- Co-authored-by: Shane Smiskol <shane@smiskol.com> |
2 years ago |