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@ -237,8 +237,8 @@ STATIC_DSU_MSGS = [ |
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def get_platform_codes(fw_versions: List[bytes]) -> Dict[bytes, Set[bytes]]: |
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# Returns minor versions in a dict so comparisons can be made within part-platform-version combos |
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codes = defaultdict(set) # Optional[part]-platform-major_version: set of minor_version |
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# Returns sub versions in a dict so comparisons can be made within part-platform-major_version combos |
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codes = defaultdict(set) # Optional[part]-platform-major_version: set of sub_version |
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for fw in fw_versions: |
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# FW versions returned from UDS queries can return multiple fields/chunks of data (different ECU calibrations, different data?) |
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# and are prefixed with a byte that describes how many chunks of data there are. |
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@ -330,13 +330,16 @@ def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]: |
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# Regex patterns for parsing more general platform-specific identifiers from FW versions. |
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# - Part number: Toyota part number (usually last character needs to be ignored to find a match). |
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# - Platform: usually multiple codes per an openpilot platform, however this has the less variability and |
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# Each ECU address has just one part number. |
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# - Platform: usually multiple codes per an openpilot platform, however this is the least variable and |
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# is usually shared across ECUs and model years signifying this describes something about the specific platform. |
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# - Major version: second least variable part of the FW version. Seen splitting cars by model year such as RAV4 2022/2023 and Prius. |
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# This describes more generational changes (TSS-P vs TSS2), or manufacture region. |
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# - Major version: second least variable part of the FW version. Seen splitting cars by model year/API such as |
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# RAV4 2022/2023 and Avalon. Used to differentiate cars where API has changed slightly, but is not a generational change. |
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# It is important to note that these aren't always consecutive, for example: |
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# Prius TSS-P has these major versions over 16 FW: 2, 3, 4, 6, 8 while Prius TSS2 has: 5 |
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# - Sub version: exclusive to major version, but shared with other cars. Should only be used for further filtering, |
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# more exploration is needed. |
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# Avalon 2016-18's fwdCamera has these major versions: 01, 03 while 2019 has: 02 |
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# - Sub version: exclusive to major version, but shared with other cars. Should only be used for further filtering. |
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# Seen bumped in TSB FW updates, and describes other minor differences. |
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SHORT_FW_PATTERN = re.compile(b'[A-Z0-9](?P<platform>[A-Z0-9]{2})(?P<major_version>[A-Z0-9]{2})(?P<sub_version>[A-Z0-9]{3})') |
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MEDIUM_FW_PATTERN = re.compile(b'(?P<part>[A-Z0-9]{5})(?P<platform>[A-Z0-9]{2})(?P<major_version>[A-Z0-9]{1})(?P<sub_version>[A-Z0-9]{2})') |
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LONG_FW_PATTERN = re.compile(b'(?P<part>[A-Z0-9]{5})(?P<platform>[A-Z0-9]{2})(?P<major_version>[A-Z0-9]{2})(?P<sub_version>[A-Z0-9]{3})') |
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@ -345,7 +348,12 @@ FW_CHUNK_LEN = 16 |
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# List of ECUs that are most unique across openpilot platforms |
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# TODO: use hybrid ECU, splits similar ICE and hybrid variants |
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PLATFORM_CODE_ECUS = [Ecu.abs, Ecu.eps, Ecu.fwdCamera] |
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# - fwdCamera: describes actual features related to ADAS. For example, on the Avalon it describes |
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# when TSS-P became standard, whether the car supports stop and go, and whether it's TSS2. |
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# On the RAV4, it describes the move to the radar doing ACC, and the use of LTA for lane keeping. |
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# - abs: differentiates hybrid/ICE on most cars (Corolla TSS2 is an exception) |
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# - eps: describes lateral API changes for the EPS, such as using LTA for lane keeping and rejecting LKA messages |
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PLATFORM_CODE_ECUS = [Ecu.fwdCamera, Ecu.abs, Ecu.eps] |
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# Some ECUs that use KWP2000 have their FW versions on non-standard data identifiers. |
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Shane Smiskol
2 years ago