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Improve Hyundai FW query stability (#22344)

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* extend timeout on valid response

* extend total timeout in fw query

* redundant query

* cleanup

* add 2 new sonata fw

* add cloudlog

* total timeout always 10x

* update ref

* time.monotonic()

* more logging
old-commit-hash: 2d7d8fba99
commatwo_master
Willem Melching 4 years ago committed by GitHub
parent 3069dde698
commit 03da450865
4 changed files with 92 additions and 94 deletions
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  1. 11
      selfdrive/car/fw_versions.py
  2. 154
      selfdrive/car/hyundai/values.py
  3. 19
      selfdrive/car/isotp_parallel_query.py
  4. 2
      selfdrive/test/process_replay/ref_commit

11
selfdrive/car/fw_versions.py
Unescape View File

@ -42,15 +42,12 @@ UDS_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40])
p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION)
HYUNDAI_VERSION_REQUEST_SHORT = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
p16(0xf1a0) # 4 Byte version number
HYUNDAI_VERSION_REQUEST_LONG = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
p16(0xf100) # Long description
HYUNDAI_VERSION_REQUEST_MULTI = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_SPARE_PART_NUMBER) + \
p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION) + \
p16(0xf100) + \
p16(0xf1a0)
p16(0xf100)
HYUNDAI_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40])
@ -77,12 +74,6 @@ MAZDA_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40
# brand, request, response, response offset
REQUESTS = [
# Hyundai
(
"hyundai",
[HYUNDAI_VERSION_REQUEST_SHORT],
[HYUNDAI_VERSION_RESPONSE],
DEFAULT_RX_OFFSET,
),
(
"hyundai",
[HYUNDAI_VERSION_REQUEST_LONG],

154
selfdrive/car/hyundai/values.py
Unescape View File

@ -219,21 +219,22 @@ FW_VERSIONS = {
b'\xf1\x00DN8_ SCC F-CUP 1.00 1.02 99110-L1000 ',
b'\xf1\x00DN8_ SCC FHCUP 1.00 1.00 99110-L0000 ',
b'\xf1\x00DN8_ SCC FHCUP 1.00 1.01 99110-L1000 ',
b'\xf1\x00DN89110-L0000 \xaa\xaa\xaa\xaa\xaa\xaa\xaa \xf1\xa01.00\xaa\xaa\xaa\xaa\xaa\xaa\xaa\x00\x00\x00',
b'\xf1\x00DN8 1.00 99110-L0000 \xaa\xaa\xaa\xaa\xaa\xaa\xaa \xf1\xa01.00\xaa\xaa\xaa',
b'\xf1\x00DN89110-L0000 \xaa\xaa\xaa\xaa\xaa\xaa\xaa ',
b'\xf1\x00DN8 1.00 99110-L0000 \xaa\xaa\xaa\xaa\xaa\xaa\xaa ',
b'\xf1\x00DN8 1.00 99110-L0000 \xaa\xaa\xaa\xaa\xaa\xaa\xaa\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'\xf1\x8799110L0000\xf1\x00DN8_ SCC FHCUP 1.00 1.00 99110-L0000 ',
],
(Ecu.esp, 0x7d1, None): [
b'\xf1\x00DN ESC \a 106 \a\x01 58910-L0100',
b'\xf1\x00DN ESC \x01 102\x19\x04\x13 58910-L1300\xf1\xa01.02',
b'\xf1\x00DN ESC \x01 102\x19\x04\x13 58910-L1300',
b'\xf1\x00DN ESC \x03 100 \x08\x01 58910-L0300',
b'\xf1\x00DN ESC \x06 104\x19\x08\x01 58910-L0100',
b'\xf1\x00DN ESC \x07 104\x19\x08\x01 58910-L0100',
b'\xf1\x00DN ESC \x08 103\x19\x06\x01 58910-L1300\xf1\xa01.03',
b'\xf1\x8758910-L0100\xf1\x00DN ESC \a 106 \a\x01 58910-L0100\xf1\xa01.06',
b'\xf1\x8758910-L0100\xf1\x00DN ESC \x06 104\x19\x08\x01 58910-L0100\xf1\xa01.04',
b'\xf1\x8758910-L0100\xf1\x00DN ESC \x06 106 \x07\x01 58910-L0100\xf1\xa01.06',
b'\xf1\x8758910-L0100\xf1\x00DN ESC \x07 104\x19\x08\x01 58910-L0100\xf1\xa01.04',
b'\xf1\x00DN ESC \x08 103\x19\x06\x01 58910-L1300',
b'\xf1\x8758910-L0100\xf1\x00DN ESC \a 106 \a\x01 58910-L0100',
b'\xf1\x8758910-L0100\xf1\x00DN ESC \x06 104\x19\x08\x01 58910-L0100',
b'\xf1\x8758910-L0100\xf1\x00DN ESC \x06 106 \x07\x01 58910-L0100',
b'\xf1\x8758910-L0100\xf1\x00DN ESC \x07 104\x19\x08\x01 58910-L0100',
b'\xf1\x00DN ESC \x06 106 \x07\x01 58910-L0100',
],
(Ecu.engine, 0x7e0, None): [
@ -241,9 +242,8 @@ FW_VERSIONS = {
b'\xf1\x82DNBVN5GMCCXXXDCA',
b'\xf1\x82DNBWN5TMDCXXXG2E',
b'\xf1\x82DNCVN5GMCCXXXG2B',
b'\xf1\x87391162M003\xf1\xa0000F',
b'\xf1\x87391162M003\xf1\xa00240',
b'\xf1\x87391162M013\xf1\xa00240',
b'\xf1\x87391162M003',
b'\xf1\x87391162M013',
b'HM6M1_0a0_F00',
b'HM6M2_0a0_BD0',
b'HM6M1_0a0_G20',
@ -253,13 +253,13 @@ FW_VERSIONS = {
b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0010 4DNAC101',
b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0010\x00 4DNAC101',
b'\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP100',
b'\xf1\x87\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x00DN8 MDPS C 1.00 1.01 \x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00 4DNAC101\xf1\xa01.01',
b'\xf1\x8756310-L0010\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0010 4DNAC101\xf1\xa01.01',
b'\xf1\x8756310-L0210\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC101\xf1\xa01.01',
b'\xf1\x8756310-L1010\xf1\x00DN8 MDPS C 1.00 1.03 56310-L1010 4DNDC103\xf1\xa01.03',
b'\xf1\x8756310-L1030\xf1\x00DN8 MDPS C 1.00 1.03 56310-L1030 4DNDC103\xf1\xa01.03',
b'\xf1\x8756310L0010\x00\xf1\x00DN8 MDPS C 1.00 1.01 56310L0010\x00 4DNAC101\xf1\xa01.01',
b'\xf1\x8756310L0210\x00\xf1\x00DN8 MDPS C 1.00 1.01 56310L0210\x00 4DNAC101\xf1\xa01.01',
b'\xf1\x87\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x00DN8 MDPS C 1.00 1.01 \x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00 4DNAC101',
b'\xf1\x8756310-L0010\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0010 4DNAC101',
b'\xf1\x8756310-L0210\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC101',
b'\xf1\x8756310-L1010\xf1\x00DN8 MDPS C 1.00 1.03 56310-L1010 4DNDC103',
b'\xf1\x8756310-L1030\xf1\x00DN8 MDPS C 1.00 1.03 56310-L1030 4DNDC103',
b'\xf1\x8756310L0010\x00\xf1\x00DN8 MDPS C 1.00 1.01 56310L0010\x00 4DNAC101',
b'\xf1\x8756310L0210\x00\xf1\x00DN8 MDPS C 1.00 1.01 56310L0210\x00 4DNAC101',
],
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00DN8 MFC AT KOR LHD 1.00 1.02 99211-L1000 190422',
@ -288,6 +288,7 @@ FW_VERSIONS = {
b'\xf1\x87SALDBA6347404GJ3wwwwff\x86hx\x88\x97\x88\x88\x88\x88\x88vfgf\x88?\xfc\xff\x86Uo\xff\xec/\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00',
b'\xf1\x87SALDBA6901634GJ3UUuWVeVUww\x87wwwwwvUge\x86/\xfb\xff\xbb\x99\x7f\xff]2\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00',
b'\xf1\x87SALDBA7077724GJ3\x98\x88\x88\x88ww\x97ygwvwww\x87ww\x88\x87x\x87_\xfd\xff\xba\x99o\xff\x99\x01\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00',
b'\xf1\x87SALFBA4195874GJ2EVugvf\x86hgwvwww\x87wgw\x86wc_\xfb\xff\x98\x88\x8f\xff\xe23\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
b'\xf1\x87SAMDBA8054504GJ3gw\x87xffvgffffwwwweUVUf?\xfc\xffvU_\xff\xddl\xf1\x89HT6WAD10A1\xf1\x82SDN8G25NB2\x00\x00\x00\x00\x00\x00',
],
},
@ -317,21 +318,20 @@ FW_VERSIONS = {
},
CAR.SANTA_FE: {
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00TM__ SCC F-CUP 1.00 1.01 99110-S2000 \xf1\xa01.01',
b'\xf1\x00TM__ SCC F-CUP 1.00 1.02 99110-S2000 \xf1\xa01.02',
b'\xf1\x00TM__ SCC F-CUP 1.00 1.03 99110-S2000 \xf1\xa01.03',
b'\xf1\x00TM__ SCC F-CUP 1.00 1.01 99110-S2000 ',
b'\xf1\x00TM__ SCC F-CUP 1.00 1.02 99110-S2000 ',
b'\xf1\x00TM__ SCC F-CUP 1.00 1.03 99110-S2000 ',
],
(Ecu.esp, 0x7d1, None): [
b'\xf1\x00TM ESC \r 100\x18\x031 58910-S2650\xf1\xa01.00',
b'\xf1\x00TM ESC \r 103\x18\x11\x08 58910-S2650\xf1\xa01.03',
b'\xf1\x00TM ESC \r 104\x19\a\b 58910-S2650\xf1\xa01.04',
b'\xf1\x00TM ESC \x02 100\x18\x030 58910-S2600\xf1\xa01.00',
b'\xf1\x00TM ESC \x02 102\x18\x07\x01 58910-S2600\xf1\xa01.02',
b'\xf1\x00TM ESC \x02 103\x18\x11\x07 58910-S2600\xf1\xa01.03',
b'\xf1\x00TM ESC \x02 104\x19\x07\x07 58910-S2600\xf1\xa01.04',
b'\xf1\x00TM ESC \x03 103\x18\x11\x07 58910-S2600\xf1\xa01.03',
b'\xf1\x00TM ESC \r 100\x18\x031 58910-S2650',
b'\xf1\x00TM ESC \r 103\x18\x11\x08 58910-S2650',
b'\xf1\x00TM ESC \r 104\x19\a\b 58910-S2650',
b'\xf1\x00TM ESC \x02 100\x18\x030 58910-S2600',
b'\xf1\x00TM ESC \x02 102\x18\x07\x01 58910-S2600',
b'\xf1\x00TM ESC \x02 103\x18\x11\x07 58910-S2600',
b'\xf1\x00TM ESC \x02 104\x19\x07\x07 58910-S2600',
b'\xf1\x00TM ESC \x03 103\x18\x11\x07 58910-S2600',
b'\xf1\x00TM ESC \x0c 103\x18\x11\x08 58910-S2650',
b'\xf1\x00TM ESC \x0c 103\x18\x11\x08 58910-S2650\xf1\xa01.03',
],
(Ecu.engine, 0x7e0, None): [
b'\xf1\x81606EA051\x00\x00\x00\x00\x00\x00\x00\x00',
@ -393,8 +393,8 @@ FW_VERSIONS = {
},
CAR.KIA_STINGER: {
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00CK__ SCC F_CUP 1.00 1.01 96400-J5100 \xf1\xa01.01',
b'\xf1\x00CK__ SCC F_CUP 1.00 1.03 96400-J5100 \xf1\xa01.03',
b'\xf1\x00CK__ SCC F_CUP 1.00 1.01 96400-J5100 ',
b'\xf1\x00CK__ SCC F_CUP 1.00 1.03 96400-J5100 ',
],
(Ecu.engine, 0x7e0, None): [
b'\xf1\x81606DE051\x00\x00\x00\x00\x00\x00\x00\x00',
@ -424,23 +424,21 @@ FW_VERSIONS = {
},
CAR.PALISADE: {
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\000LX2_ SCC F-CUP 1.00 1.05 99110-S8100 \xf1\xa01.05',
b'\xf1\x00LX2 SCC FHCUP 1.00 1.04 99110-S8100 \xf1\xa01.04',
b'\xf1\x00LX2_ SCC FHCUP 1.00 1.04 99110-S8100 \xf1\xa01.04',
b'\xf1\x00LX2_ SCC FHCUP 1.00 1.05 99110-S8100 \xf1\xa01.05',
b'\xf1\000LX2_ SCC F-CUP 1.00 1.05 99110-S8100 ',
b'\xf1\x00LX2 SCC FHCUP 1.00 1.04 99110-S8100 ',
b'\xf1\x00LX2_ SCC FHCUP 1.00 1.04 99110-S8100 ',
b'\xf1\x00LX2_ SCC FHCUP 1.00 1.05 99110-S8100 ',
],
(Ecu.esp, 0x7d1, None): [
b'\xf1\x00LX ESC \v 102\x19\x05\a 58910-S8330\xf1\xa01.02',
b'\xf1\x00LX ESC \v 103\x19\t\x10 58910-S8360\xf1\xa01.03',
b'\xf1\x00LX ESC \x01 103\x19\t\x10 58910-S8360\xf1\xa01.03',
b'\xf1\x00LX ESC \x01 103\x31\t\020 58910-S8360\xf1\xa01.03',
b'\xf1\x00LX ESC \x0b 101\x19\x03\x17 58910-S8330\xf1\xa01.01',
b'\xf1\x00LX ESC \x01 103\x19\t\x10 58910-S8360',
b'\xf1\x00LX ESC \x01 103\x31\t\020 58910-S8360',
b'\xf1\x00LX ESC \x0b 101\x19\x03\x17 58910-S8330',
b'\xf1\x00LX ESC \x0b 102\x19\x05\x07 58910-S8330',
b'\xf1\x00LX ESC \x0b 103\x19\t\x07 58910-S8330\xf1\xa01.03',
b'\xf1\x00LX ESC \x0b 103\x19\t\x07 58910-S8330',
b'\xf1\x00LX ESC \x0b 103\x19\t\x10 58910-S8360',
b'\xf1\x00LX ESC \x0b 104 \x10\x16 58910-S8360\xf1\xa01.04',
b'\xf1\x00ON ESC \x0b 100\x18\x12\x18 58910-S9360\xf1\xa01.00',
b'\xf1\x00ON ESC \x0b 101\x19\t\x08 58910-S9360\xf1\xa01.01',
b'\xf1\x00LX ESC \x0b 104 \x10\x16 58910-S8360',
b'\xf1\x00ON ESC \x0b 100\x18\x12\x18 58910-S9360',
b'\xf1\x00ON ESC \x0b 101\x19\t\x08 58910-S9360',
],
(Ecu.engine, 0x7e0, None): [
b'\xf1\x81640J0051\x00\x00\x00\x00\x00\x00\x00\x00',
@ -507,15 +505,15 @@ FW_VERSIONS = {
],
},
CAR.GENESIS_G70: {
(Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00IK__ SCC F-CUP 1.00 1.02 96400-G9100 \xf1\xa01.02', ],
(Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00IK__ SCC F-CUP 1.00 1.02 96400-G9100 ', ],
(Ecu.engine, 0x7e0, None): [b'\xf1\x81640F0051\x00\x00\x00\x00\x00\x00\x00\x00', ],
(Ecu.eps, 0x7d4, None): [b'\xf1\x00IK MDPS R 1.00 1.06 57700-G9420 4I4VL106', ],
(Ecu.fwdCamera, 0x7c4, None): [b'\xf1\x00IK MFC AT USA LHD 1.00 1.01 95740-G9000 170920', ],
(Ecu.transmission, 0x7e1, None): [b'\xf1\x87VDJLT17895112DN4\x88fVf\x99\x88\x88\x88\x87fVe\x88vhwwUFU\x97eFex\x99\xff\xb7\x82\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB2\x11\x1am\xda', ],
},
CAR.KONA: {
(Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00OS__ SCC F-CUP 1.00 1.00 95655-J9200 \xf1\xa01.00', ],
(Ecu.esp, 0x7d1, None): [b'\xf1\x816V5RAK00018.ELF\xf1\x00\x00\x00\x00\x00\x00\x00\xf1\xa01.05', ],
(Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00OS__ SCC F-CUP 1.00 1.00 95655-J9200 ', ],
(Ecu.esp, 0x7d1, None): [b'\xf1\x816V5RAK00018.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', ],
(Ecu.engine, 0x7e0, None): [b'"\x01TOS-0NU06F301J02', ],
(Ecu.eps, 0x7d4, None): [b'\xf1\x00OS MDPS C 1.00 1.05 56310J9030\x00 4OSDC105', ],
(Ecu.fwdCamera, 0x7c4, None): [b'\xf1\x00OS9 LKAS AT USA LHD 1.00 1.00 95740-J9300 g21', ],
@ -537,13 +535,13 @@ FW_VERSIONS = {
b'\xf1\x00BD LKAS AT USA LHD 1.00 1.04 95740-M6000 J33',
],
(Ecu.fwdRadar, 0x7D0, None): [
b'\xf1\x00BD__ SCC H-CUP 1.00 1.02 99110-M6000 \xf1\xa01.02',
b'\xf1\x00BD__ SCC H-CUP 1.00 1.02 99110-M6000 ',
],
(Ecu.engine, 0x7e0, None): [
b'\x01TBDM1NU06F200H01',
],
(Ecu.esp, 0x7d1, None): [
b'\xf1\x816VGRAH00018.ELF\xf1\x00\x00\x00\x00\x00\x00\x00\xf1\xa01.04',
b'\xf1\x816VGRAH00018.ELF\xf1\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.transmission, 0x7e1, None): [
b"\xf1\x816U2VC051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DBD0T16SS0\xcf\x1e'\xc3",
@ -551,11 +549,11 @@ FW_VERSIONS = {
},
CAR.KONA_EV: {
(Ecu.esp, 0x7D1, None): [
b'\xf1\x00OS IEB \r 105\x18\t\x18 58520-K4000\xf1\xa01.05',
b'\xf1\x00OS IEB \x01 212 \x11\x13 58520-K4000\xf1\xa02.12',
b'\xf1\x00OS IEB \x02 212 \x11\x13 58520-K4000\xf1\xa02.12',
b'\xf1\x00OS IEB \x03 210 \x02\x14 58520-K4000\xf1\xa02.10',
b'\xf1\x00OS IEB \x03 212 \x11\x13 58520-K4000\xf1\xa02.12',
b'\xf1\x00OS IEB \r 105\x18\t\x18 58520-K4000',
b'\xf1\x00OS IEB \x01 212 \x11\x13 58520-K4000',
b'\xf1\x00OS IEB \x02 212 \x11\x13 58520-K4000',
b'\xf1\x00OS IEB \x03 210 \x02\x14 58520-K4000',
b'\xf1\x00OS IEB \x03 212 \x11\x13 58520-K4000',
],
(Ecu.fwdCamera, 0x7C4, None): [
b'\xf1\x00OE2 LKAS AT EUR LHD 1.00 1.00 95740-K4200 200',
@ -570,27 +568,23 @@ FW_VERSIONS = {
b'\xf1\x00OS MDPS C 1.00 1.04 56310K4050\x00 4OEDC104',
],
(Ecu.fwdRadar, 0x7D0, None): [
b'\xf1\x00OSev SCC F-CUP 1.00 1.00 99110-K4000 \xf1\xa01.00',
b'\xf1\x00OSev SCC F-CUP 1.00 1.00 99110-K4100 \xf1\xa01.00',
b'\xf1\x00OSev SCC F-CUP 1.00 1.01 99110-K4000 \xf1\xa01.01',
b'\xf1\x00OSev SCC FNCUP 1.00 1.01 99110-K4000 \xf1\xa01.01',
b'\xf1\x00OSev SCC F-CUP 1.00 1.00 99110-K4000 ',
b'\xf1\x00OSev SCC F-CUP 1.00 1.00 99110-K4100 ',
b'\xf1\x00OSev SCC F-CUP 1.00 1.01 99110-K4000 ',
b'\xf1\x00OSev SCC FNCUP 1.00 1.01 99110-K4000 ',
],
},
CAR.KIA_NIRO_EV: {
(Ecu.fwdRadar, 0x7D0, None): [
b'\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4000 ',
b'\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4000 \xf1\xa01.00',
b'\xf1\x00DEev SCC F-CUP 1.00 1.03 96400-Q4100 \xf1\xa01.03',
b'\xf1\x00OSev SCC F-CUP 1.00 1.01 99110-K4000 \xf1\xa01.01',
b'\xf1\x8799110Q4000\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4000 \xf1\xa01.00',
b'\xf1\x8799110Q4100\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4100 \xf1\xa01.00',
b'\xf1\x8799110Q4500\xf1\000DEev SCC F-CUP 1.00 1.00 99110-Q4500 \xf1\xa01.00',
b'\xf1\x00DEev SCC F-CUP 1.00 1.03 96400-Q4100 ',
b'\xf1\x00OSev SCC F-CUP 1.00 1.01 99110-K4000 ',
b'\xf1\x8799110Q4000\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4000 ',
b'\xf1\x8799110Q4100\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4100 ',
b'\xf1\x8799110Q4500\xf1\000DEev SCC F-CUP 1.00 1.00 99110-Q4500 ',
],
(Ecu.esp, 0x7D1, None): [
b'\xf1\x00OS IEB \r 212 \x11\x13 58520-K4000\xf1\xa02.12',
b'\xf1\x00OS IEB \r 212 \x11\x13 58520-K4000',
b'\xf1\xa01.06',
b'\xf1\xa01.07',
],
(Ecu.eps, 0x7D4, None): [
b'\xf1\x00DE MDPS C 1.00 1.05 56310Q4000\x00 4DEEC105',
@ -642,10 +636,10 @@ FW_VERSIONS = {
],
},
CAR.KIA_SELTOS: {
(Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x8799110Q5100\xf1\000SP2_ SCC FHCUP 1.01 1.05 99110-Q5100 \xf1\xa01.05',],
(Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x8799110Q5100\xf1\000SP2_ SCC FHCUP 1.01 1.05 99110-Q5100 ',],
(Ecu.esp, 0x7d1, None): [
b'\xf1\x8758910-Q5450\xf1\000SP ESC \a 101\031\t\005 58910-Q5450\xf1\xa01.01',
b'\xf1\x8758910-Q5450\xf1\000SP ESC \t 101\031\t\005 58910-Q5450\xf1\xa01.01',
b'\xf1\x8758910-Q5450\xf1\000SP ESC \a 101\031\t\005 58910-Q5450',
b'\xf1\x8758910-Q5450\xf1\000SP ESC \t 101\031\t\005 58910-Q5450',
],
(Ecu.engine, 0x7e0, None): [
b'\xf1\x81616D2051\000\000\000\000\000\000\000\000',
@ -684,12 +678,12 @@ FW_VERSIONS = {
b'\xf1\x00CN7_ SCC F-CUP 1.00 1.01 99110-AA000 ',
],
(Ecu.eps, 0x7d4, None): [
b'\xf1\x87\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x00CN7 MDPS C 1.00 1.06 \x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00 4CNDC106\xf1\xa01.06',
b'\xf1\x8756310AA050\x00\xf1\x00CN7 MDPS C 1.00 1.06 56310AA050\x00 4CNDC106\xf1\xa01.06',
b'\xf1\x87\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x00CN7 MDPS C 1.00 1.06 \x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00 4CNDC106',
b'\xf1\x8756310AA050\x00\xf1\x00CN7 MDPS C 1.00 1.06 56310AA050\x00 4CNDC106',
],
(Ecu.fwdCamera, 0x7c4, None): [b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.00 99210-AB000 200819'],
(Ecu.esp, 0x7d1, None): [
b'\xf1\x8758910-AB800\xf1\x00CN ESC \t 101 \x10\x03 58910-AB800\xf1\xa01.01',
b'\xf1\x8758910-AB800\xf1\x00CN ESC \t 101 \x10\x03 58910-AB800',
b'\xf1\x00CN ESC \t 101 \x10\x03 58910-AB800',
],
(Ecu.transmission, 0x7e1, None): [
@ -711,7 +705,7 @@ FW_VERSIONS = {
b'\xf1\000CNhe SCC FHCUP 1.00 1.01 99110-BY000 '
],
(Ecu.eps, 0x7d4, None) :[
b'\xf1\x8756310/BY050\xf1\000CN7 MDPS C 1.00 1.02 56310/BY050 4CNHC102\xf1\xa01.02'
b'\xf1\x8756310/BY050\xf1\000CN7 MDPS C 1.00 1.02 56310/BY050 4CNHC102'
],
(Ecu.transmission, 0x7e1, None) :[
b'\xf1\0006U3L0_C2\000\0006U3K3051\000\000HCN0G16NS0\xb9?A\xaa',
@ -725,10 +719,10 @@ FW_VERSIONS = {
},
CAR.KONA_HEV: {
(Ecu.esp, 0x7d1, None): [
b'\xf1\x00OS IEB \x01 104 \x11 58520-CM000\xf1\xa01.04',
b'\xf1\x00OS IEB \x01 104 \x11 58520-CM000',
],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00OShe SCC FNCUP 1.00 1.01 99110-CM000 \xf1\xa01.01',
b'\xf1\x00OShe SCC FNCUP 1.00 1.01 99110-CM000 ',
],
(Ecu.eps, 0x7d4, None): [
b'\xf1\x00OS MDPS C 1.00 1.00 56310CM030\x00 4OHDC100',
@ -746,12 +740,12 @@ FW_VERSIONS = {
CAR.SONATA_HYBRID: {
(Ecu.fwdRadar, 0x7d0, None): [b'\xf1\000DNhe SCC FHCUP 1.00 1.02 99110-L5000 ',],
(Ecu.eps, 0x7d4, None): [
b'\xf1\x8756310-L5500\xf1\000DN8 MDPS C 1.00 1.02 56310-L5500 4DNHC102\xf1\xa01.02',
b'\xf1\x8756310-L5450\xf1\x00DN8 MDPS C 1.00 1.02 56310-L5450 4DNHC102\xf1\xa01.02',
b'\xf1\x8756310-L5500\xf1\000DN8 MDPS C 1.00 1.02 56310-L5500 4DNHC102',
b'\xf1\x8756310-L5450\xf1\x00DN8 MDPS C 1.00 1.02 56310-L5450 4DNHC102',
],
(Ecu.fwdCamera, 0x7c4, None): [b'\xf1\000DN8HMFC AT USA LHD 1.00 1.04 99211-L1000 191016',],
(Ecu.transmission, 0x7e1, None): [b'\xf1\000PSBG2323 E09\000\000\000\000\000\000\000TDN2H20SA5\x97R\x88\x9e',],
(Ecu.engine, 0x7e0, None): [b'\xf1\x87391162J012\xf1\xa0000R',],
(Ecu.engine, 0x7e0, None): [b'\xf1\x87391162J012',],
},
}

19
selfdrive/car/isotp_parallel_query.py
Unescape View File

@ -71,7 +71,10 @@ class IsoTpParallelQuery:
messaging.drain_sock(self.logcan)
self.msg_buffer = defaultdict(list)
def get_data(self, timeout):
def get_data(self, timeout, total_timeout=None):
if total_timeout is None:
total_timeout = 10 * timeout
self._drain_rx()
# Create message objects
@ -96,7 +99,8 @@ class IsoTpParallelQuery:
request_done[tx_addr] = False
results = {}
start_time = time.time()
start_time = time.monotonic()
last_response_time = start_time
while True:
self.rx()
@ -114,6 +118,7 @@ class IsoTpParallelQuery:
response_valid = dat[:len(expected_response)] == expected_response
if response_valid:
last_response_time = time.monotonic()
if counter + 1 < len(self.request):
msg.send(self.request[counter + 1])
request_counter[tx_addr] += 1
@ -124,7 +129,15 @@ class IsoTpParallelQuery:
request_done[tx_addr] = True
cloudlog.warning(f"iso-tp query bad response: 0x{dat.hex()}")
if time.time() - start_time > timeout:
cur_time = time.monotonic()
if cur_time - last_response_time > timeout:
for tx_addr in msgs:
if (request_counter[tx_addr] > 0) and (not request_done[tx_addr]):
cloudlog.warning(f"iso-tp query timeout after receiving response: {tx_addr}")
break
if cur_time - start_time > total_timeout:
cloudlog.warning("iso-tp query timeout while receiving data")
break
return results

2
selfdrive/test/process_replay/ref_commit
Unescape View File

@ -1 +1 @@
594080dd866205cf34b8d3ac9537ab0050575afa
8c733450bb28bcdb11d6b9991c8784e1f720f7b2
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