From 8c9ab4d3337f08ea5c084a61967405e00af3f4a0 Mon Sep 17 00:00:00 2001 From: robin-reckmann Date: Mon, 8 Nov 2021 18:51:59 +0900 Subject: [PATCH] Fingerprinting v2 support for Nissan vehicles (#22655) * Add Nissan FPv2 * Update Nissan version response * Add second Nissan FPv2 query * Add multiple offsets for Nissan * Nissan offset fix * Add Nissan diagnostic request * Use 21 83 for Nissan version request * Add partial 2018 Leaf FPv2 * Update 2018 Leaf FPv2 * Nissan FPv2: more RX offsets, add no diagostic request scan for 0x20 * Add FPv2 imports to Nissan values * Change LEAF to LEAF_IC It is an instrument cluster leaf. With this minor change it works :). * fixed ecu addr for nissan eps * Remove FW not used for fpv2 * Remove unused offsets * add fw versions for 2018 Nissan Leaf JP * add standard ecu fw query * add esp fw * add nissan xtrail * Add missing ESP FW for 2018 Nissan Leaf IC * Add fwdCamera FW for Xtrail 2017 * add missing comma * Add 0x8 default offset needed e.g. for xtrail engine ecu * Apply suggestions from code review Co-authored-by: Willem Melching * Fix variable naming * remove unnecessary part of standard fw query * add fw versions for CAN-GW ECU * transmission eco does not reliable answer -> remove * add Altima FWs (part 1) * add Altima EPS FW * Remove NISSAN_KWP_DIAGNOSTIC_REQUEST and cleanup * Revert "Remove NISSAN_KWP_DIAGNOSTIC_REQUEST and cleanup" This reverts commit 808d6f1562e9a6cb57ea365d184b74d51f6da017. * cleanup Co-authored-by: Martin Lillepuu Co-authored-by: Julian Pieles Co-authored-by: Willem Melching old-commit-hash: e2288371f2bd99cd31d141729a77d676ba28b4df --- selfdrive/car/fw_versions.py | 34 +++++++++++++++++++- selfdrive/car/nissan/values.py | 57 ++++++++++++++++++++++++++++++++++ 2 files changed, 90 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index 2c58b8e3a7..2c451b7f48 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -71,6 +71,19 @@ MAZDA_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ MAZDA_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \ p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER) +NISSAN_DIAGNOSTIC_REQUEST_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, 0xc0]) +NISSAN_DIAGNOSTIC_RESPONSE_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40, 0xc0]) + +NISSAN_VERSION_REQUEST_KWP = b'\x21\x83' +NISSAN_VERSION_RESPONSE_KWP = b'\x61\x83' + +NISSAN_VERSION_REQUEST_STANDARD = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ + p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER) +NISSAN_VERSION_RESPONSE_STANDARD = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \ + p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER) + +NISSAN_RX_OFFSET = 0x20 + # brand, request, response, response offset REQUESTS = [ # Hyundai @@ -131,7 +144,26 @@ REQUESTS = [ [MAZDA_VERSION_REQUEST], [MAZDA_VERSION_RESPONSE], DEFAULT_RX_OFFSET, - ) + ), + # Nissan + ( + "nissan", + [NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP], + [NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP], + DEFAULT_RX_OFFSET, + ), + ( + "nissan", + [NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP], + [NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP], + NISSAN_RX_OFFSET, + ), + ( + "nissan", + [NISSAN_VERSION_REQUEST_STANDARD], + [NISSAN_VERSION_RESPONSE_STANDARD], + NISSAN_RX_OFFSET, + ), ] diff --git a/selfdrive/car/nissan/values.py b/selfdrive/car/nissan/values.py index 3c91d3d224..2dedef327b 100644 --- a/selfdrive/car/nissan/values.py +++ b/selfdrive/car/nissan/values.py @@ -1,6 +1,8 @@ # flake8: noqa from selfdrive.car import dbc_dict +from cereal import car +Ecu = car.CarParams.Ecu class CarControllerParams: @@ -55,6 +57,61 @@ FINGERPRINTS = { ] } +FW_VERSIONS = { + CAR.ALTIMA: { + (Ecu.fwdCamera, 0x707, None): [ + b'284N86CA1D', + ], + (Ecu.eps, 0x742, None): [ + b'6CA2B\xa9A\x02\x02G8A89P90D6A\x00\x00\x01\x80', + ], + (Ecu.engine, 0x7e0, None): [ + b'237109HE2B', + ], + (Ecu.gateway, 0x18dad0f1, None): [ + b'284U29HE0A', + ], + }, + CAR.LEAF_IC: { + (Ecu.fwdCamera, 0x707, None): [ + b'5SH1BDB\x04\x18\x00\x00\x00\x00\x00_-?\x04\x91\xf2\x00\x00\x00\x80', + b'5SK0ADB\x04\x18\x00\x00\x00\x00\x00_(5\x07\x9aQ\x00\x00\x00\x80', + ], + (Ecu.esp, 0x740, None): [ + b'476605SH1D', + b'476605SK2A', + ], + (Ecu.eps, 0x742, None): [ + b'5SH2A\x99A\x05\x02N123F\x15\x81\x00\x00\x00\x00\x00\x00\x00\x80', + b'5SK3A\x99A\x05\x02N123F\x15u\x00\x00\x00\x00\x00\x00\x00\x80', + ], + (Ecu.gateway, 0x18dad0f1, None): [ + b'284U25SH3A', + b'284U25SK2D', + ], + }, + CAR.XTRAIL: { + (Ecu.fwdCamera, 0x707, None): [ + b'284N86FR2A', + ], + (Ecu.esp, 0x740, None): [ + b'6FU1BD\x11\x02\x00\x02e\x95e\x80iX#\x01\x00\x00\x00\x00\x00\x80', + ], + (Ecu.eps, 0x742, None): [ + b'6FP2A\x99A\x05\x02N123F\x18\x02\x00\x00\x00\x00\x00\x00\x00\x80', + ], + (Ecu.combinationMeter, 0x743, None): [ + b'6FR2A\x18B\x05\x17\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x80', + ], + (Ecu.engine, 0x7e0, None): [ + b'6FU9B\xa0A\x06\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x80', + ], + (Ecu.gateway, 0x18dad0f1, None): [ + b'284U26FR0E', + ], + }, +} + DBC = { CAR.XTRAIL: dbc_dict('nissan_x_trail_2017', None), CAR.LEAF: dbc_dict('nissan_leaf_2018', None),