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FPv2: move car-specific configuration into interfaces (#25711)

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* Add VMCU address for EV6

* Rename vmcu

* add to tests

add to tests

* rename to more generic name

* more explicit

* remove print

* Like this much better, removes subtle fingerprinting problems

* clean up

* add test and clean up

* remove hyundai stuffs

* global

* Fpv2Config class

* fix missing fw versions from import order

* unused

* revert for now

* test for fpv2 configs with subtests

* subtests don't work that way

* do toyota as an example

* revert

revert

* do chrysler

* do rest

* stash

* much smaller of a diff than the alternative

* remove unused test

* fix tests

* remove brand from Request

* Make StandardQueries class

* add missing_ecus

clean up

* rename file

* unused

* test implemented

* add comment and rename

add comment and rename

add comment and rename

* should be impossible now

* this is a fixme

* rename to fw_query

* rename this too

* and this

* move vin queries to class

* order

* can use p16!

* formatting

* whoops, this wasn't gated on not len(found_versions)

* make this clear

* Standardize manufacturer software version query
old-commit-hash: 0ef6bb48df
taco
Shane Smiskol 3 years ago committed by GitHub
parent 88d173a925
commit ae77b7edc7
15 changed files with 326 additions and 272 deletions
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  1. 1
      release/files_common
  2. 15
      selfdrive/car/body/values.py
  3. 36
      selfdrive/car/chrysler/values.py
  4. 16
      selfdrive/car/ford/values.py
  5. 66
      selfdrive/car/fw_query_definitions.py
  6. 281
      selfdrive/car/fw_versions.py
  7. 9
      selfdrive/car/honda/values.py
  8. 23
      selfdrive/car/hyundai/values.py
  9. 16
      selfdrive/car/mazda/values.py
  10. 32
      selfdrive/car/nissan/values.py
  11. 17
      selfdrive/car/subaru/values.py
  12. 19
      selfdrive/car/tests/test_fw_fingerprint.py
  13. 30
      selfdrive/car/toyota/values.py
  14. 11
      selfdrive/car/vin.py
  15. 26
      selfdrive/car/volkswagen/values.py

1
release/files_common
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@ -101,6 +101,7 @@ selfdrive/car/interfaces.py
selfdrive/car/vin.py
selfdrive/car/disable_ecu.py
selfdrive/car/fw_versions.py
selfdrive/car/fw_query_definitions.py
selfdrive/car/ecu_addrs.py
selfdrive/car/isotp_parallel_query.py
selfdrive/car/tests/__init__.py

15
selfdrive/car/body/values.py
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@ -3,10 +3,13 @@ from typing import Dict
from cereal import car
from selfdrive.car import dbc_dict
from selfdrive.car.docs_definitions import CarInfo
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
Ecu = car.CarParams.Ecu
SPEED_FROM_RPM = 0.008587
class CarControllerParams:
ANGLE_DELTA_BP = [0., 5., 15.]
ANGLE_DELTA_V = [5., .8, .15] # windup limit
@ -14,13 +17,25 @@ class CarControllerParams:
LKAS_MAX_TORQUE = 1 # A value of 1 is easy to overpower
STEER_THRESHOLD = 1.0
class CAR:
BODY = "COMMA BODY"
CAR_INFO: Dict[str, CarInfo] = {
CAR.BODY: CarInfo("comma body", package="All"),
}
FW_QUERY_CONFIG = FwQueryConfig(
requests=[
Request(
[StdQueries.TESTER_PRESENT_REQUEST, StdQueries.UDS_VERSION_REQUEST],
[StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.UDS_VERSION_RESPONSE],
bus=0,
),
],
)
FW_VERSIONS = {
CAR.BODY: {
(Ecu.engine, 0x720, None): [

36
selfdrive/car/chrysler/values.py
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@ -3,8 +3,11 @@ from enum import Enum
from typing import Dict, List, Optional, Union
from cereal import car
from panda.python import uds
from selfdrive.car import dbc_dict
from selfdrive.car.docs_definitions import CarInfo, Harness
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
Ecu = car.CarParams.Ecu
@ -129,6 +132,39 @@ FINGERPRINTS = {
}],
}
CHRYSLER_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
p16(0xf132)
CHRYSLER_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
p16(0xf132)
CHRYSLER_SOFTWARE_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_NUMBER)
CHRYSLER_SOFTWARE_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_NUMBER)
CHRYSLER_RX_OFFSET = -0x280
FW_QUERY_CONFIG = FwQueryConfig(
requests=[
Request(
[CHRYSLER_VERSION_REQUEST],
[CHRYSLER_VERSION_RESPONSE],
whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.srs, Ecu.gateway, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.combinationMeter],
rx_offset=CHRYSLER_RX_OFFSET,
),
Request(
[CHRYSLER_VERSION_REQUEST],
[CHRYSLER_VERSION_RESPONSE],
whitelist_ecus=[Ecu.abs, Ecu.hcp, Ecu.engine, Ecu.transmission],
),
Request(
[CHRYSLER_SOFTWARE_VERSION_REQUEST],
[CHRYSLER_SOFTWARE_VERSION_RESPONSE],
whitelist_ecus=[Ecu.engine, Ecu.transmission],
),
],
)
FW_VERSIONS = {
CAR.PACIFICA_2019_HYBRID: {
(Ecu.hcp, 0x7e2, None): [],

16
selfdrive/car/ford/values.py
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@ -6,6 +6,7 @@ from typing import Dict, List, Union
from cereal import car
from selfdrive.car import dbc_dict
from selfdrive.car.docs_definitions import CarInfo, Harness
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
Ecu = car.CarParams.Ecu
TransmissionType = car.CarParams.TransmissionType
@ -61,6 +62,21 @@ CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
CAR.FOCUS_MK4: FordCarInfo("Ford Focus EU 2019", "Driver Assistance Pack"),
}
FW_QUERY_CONFIG = FwQueryConfig(
requests=[
Request(
[StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
[StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
whitelist_ecus=[Ecu.engine],
),
Request(
[StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
[StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
bus=0,
whitelist_ecus=[Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.shiftByWire],
),
],
)
FW_VERSIONS = {
CAR.ESCAPE_MK4: {

66
selfdrive/car/fw_query_definitions.py
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@ -0,0 +1,66 @@
#!/usr/bin/env python3
import capnp
from dataclasses import dataclass, field
import struct
from typing import Dict, List
import panda.python.uds as uds
def p16(val):
return struct.pack("!H", val)
class StdQueries:
# FW queries
TESTER_PRESENT_REQUEST = bytes([uds.SERVICE_TYPE.TESTER_PRESENT, 0x0])
TESTER_PRESENT_RESPONSE = bytes([uds.SERVICE_TYPE.TESTER_PRESENT + 0x40, 0x0])
SHORT_TESTER_PRESENT_REQUEST = bytes([uds.SERVICE_TYPE.TESTER_PRESENT])
SHORT_TESTER_PRESENT_RESPONSE = bytes([uds.SERVICE_TYPE.TESTER_PRESENT + 0x40])
DEFAULT_DIAGNOSTIC_REQUEST = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL,
uds.SESSION_TYPE.DEFAULT])
DEFAULT_DIAGNOSTIC_RESPONSE = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40,
uds.SESSION_TYPE.DEFAULT, 0x0, 0x32, 0x1, 0xf4])
EXTENDED_DIAGNOSTIC_REQUEST = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL,
uds.SESSION_TYPE.EXTENDED_DIAGNOSTIC])
EXTENDED_DIAGNOSTIC_RESPONSE = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40,
uds.SESSION_TYPE.EXTENDED_DIAGNOSTIC, 0x0, 0x32, 0x1, 0xf4])
MANUFACTURER_SOFTWARE_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER)
MANUFACTURER_SOFTWARE_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER)
UDS_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION)
UDS_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION)
OBD_VERSION_REQUEST = b'\x09\x04'
OBD_VERSION_RESPONSE = b'\x49\x04'
# VIN queries
OBD_VIN_REQUEST = b'\x09\x02'
OBD_VIN_RESPONSE = b'\x49\x02\x01'
UDS_VIN_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + p16(uds.DATA_IDENTIFIER_TYPE.VIN)
UDS_VIN_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + p16(uds.DATA_IDENTIFIER_TYPE.VIN)
@dataclass
class Request:
request: List[bytes]
response: List[bytes]
whitelist_ecus: List[int] = field(default_factory=list)
rx_offset: int = 0x8
bus: int = 1
@dataclass
class FwQueryConfig:
requests: List[Request]
# Overrides and removes from essential ecus for specific models and ecus (exact matching)
non_essential_ecus: Dict[capnp.lib.capnp._EnumModule, List[str]] = field(default_factory=dict)

281
selfdrive/car/fw_versions.py
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@ -1,9 +1,7 @@
#!/usr/bin/env python3
import struct
import traceback
from collections import defaultdict
from dataclasses import dataclass, field
from typing import Any, List, Optional, Set, Tuple
from typing import Any, Optional, Set, Tuple
from tqdm import tqdm
import panda.python.uds as uds
@ -12,237 +10,16 @@ from selfdrive.car.ecu_addrs import get_ecu_addrs
from selfdrive.car.interfaces import get_interface_attr
from selfdrive.car.fingerprints import FW_VERSIONS
from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
from selfdrive.car.toyota.values import CAR as TOYOTA
from system.swaglog import cloudlog
Ecu = car.CarParams.Ecu
ESSENTIAL_ECUS = [Ecu.engine, Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.vsa]
FW_QUERY_CONFIGS = get_interface_attr('FW_QUERY_CONFIG', ignore_none=True)
VERSIONS = get_interface_attr('FW_VERSIONS', ignore_none=True)
def p16(val):
return struct.pack("!H", val)
TESTER_PRESENT_REQUEST = bytes([uds.SERVICE_TYPE.TESTER_PRESENT, 0x0])
TESTER_PRESENT_RESPONSE = bytes([uds.SERVICE_TYPE.TESTER_PRESENT + 0x40, 0x0])
SHORT_TESTER_PRESENT_REQUEST = bytes([uds.SERVICE_TYPE.TESTER_PRESENT])
SHORT_TESTER_PRESENT_RESPONSE = bytes([uds.SERVICE_TYPE.TESTER_PRESENT + 0x40])
DEFAULT_DIAGNOSTIC_REQUEST = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL,
uds.SESSION_TYPE.DEFAULT])
DEFAULT_DIAGNOSTIC_RESPONSE = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40,
uds.SESSION_TYPE.DEFAULT, 0x0, 0x32, 0x1, 0xf4])
EXTENDED_DIAGNOSTIC_REQUEST = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL,
uds.SESSION_TYPE.EXTENDED_DIAGNOSTIC])
EXTENDED_DIAGNOSTIC_RESPONSE = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40,
uds.SESSION_TYPE.EXTENDED_DIAGNOSTIC, 0x0, 0x32, 0x1, 0xf4])
UDS_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION)
UDS_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION)
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)
HYUNDAI_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40])
TOYOTA_VERSION_REQUEST = b'\x1a\x88\x01'
TOYOTA_VERSION_RESPONSE = b'\x5a\x88\x01'
VOLKSWAGEN_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.VEHICLE_MANUFACTURER_ECU_SOFTWARE_VERSION_NUMBER) + \
p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION)
VOLKSWAGEN_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40])
OBD_VERSION_REQUEST = b'\x09\x04'
OBD_VERSION_RESPONSE = b'\x49\x04'
DEFAULT_RX_OFFSET = 0x8
VOLKSWAGEN_RX_OFFSET = 0x6a
MAZDA_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER)
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
SUBARU_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION)
SUBARU_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION)
CHRYSLER_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
p16(0xf132)
CHRYSLER_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
p16(0xf132)
CHRYSLER_SOFTWARE_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_NUMBER)
CHRYSLER_SOFTWARE_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_NUMBER)
CHRYSLER_RX_OFFSET = -0x280
FORD_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER)
FORD_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER)
@dataclass
class Request:
brand: str
request: List[bytes]
response: List[bytes]
whitelist_ecus: List[int] = field(default_factory=list)
rx_offset: int = DEFAULT_RX_OFFSET
bus: int = 1
REQUESTS: List[Request] = [
# Subaru
Request(
"subaru",
[TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST],
[TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE],
),
# Hyundai
Request(
"hyundai",
[HYUNDAI_VERSION_REQUEST_LONG],
[HYUNDAI_VERSION_RESPONSE],
),
Request(
"hyundai",
[HYUNDAI_VERSION_REQUEST_MULTI],
[HYUNDAI_VERSION_RESPONSE],
),
# Honda
Request(
"honda",
[UDS_VERSION_REQUEST],
[UDS_VERSION_RESPONSE],
),
# Toyota
Request(
"toyota",
[SHORT_TESTER_PRESENT_REQUEST, TOYOTA_VERSION_REQUEST],
[SHORT_TESTER_PRESENT_RESPONSE, TOYOTA_VERSION_RESPONSE],
bus=0,
),
Request(
"toyota",
[SHORT_TESTER_PRESENT_REQUEST, OBD_VERSION_REQUEST],
[SHORT_TESTER_PRESENT_RESPONSE, OBD_VERSION_RESPONSE],
bus=0,
),
Request(
"toyota",
[TESTER_PRESENT_REQUEST, DEFAULT_DIAGNOSTIC_REQUEST, EXTENDED_DIAGNOSTIC_REQUEST, UDS_VERSION_REQUEST],
[TESTER_PRESENT_RESPONSE, DEFAULT_DIAGNOSTIC_RESPONSE, EXTENDED_DIAGNOSTIC_RESPONSE, UDS_VERSION_RESPONSE],
bus=0,
),
# Volkswagen
Request(
"volkswagen",
[VOLKSWAGEN_VERSION_REQUEST_MULTI],
[VOLKSWAGEN_VERSION_RESPONSE],
whitelist_ecus=[Ecu.srs, Ecu.eps, Ecu.fwdRadar],
rx_offset=VOLKSWAGEN_RX_OFFSET,
),
Request(
"volkswagen",
[VOLKSWAGEN_VERSION_REQUEST_MULTI],
[VOLKSWAGEN_VERSION_RESPONSE],
whitelist_ecus=[Ecu.engine, Ecu.transmission],
),
# Mazda
Request(
"mazda",
[MAZDA_VERSION_REQUEST],
[MAZDA_VERSION_RESPONSE],
),
# Nissan
Request(
"nissan",
[NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP],
[NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP],
),
Request(
"nissan",
[NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP],
[NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP],
rx_offset=NISSAN_RX_OFFSET,
),
Request(
"nissan",
[NISSAN_VERSION_REQUEST_STANDARD],
[NISSAN_VERSION_RESPONSE_STANDARD],
rx_offset=NISSAN_RX_OFFSET,
),
# Body
Request(
"body",
[TESTER_PRESENT_REQUEST, UDS_VERSION_REQUEST],
[TESTER_PRESENT_RESPONSE, UDS_VERSION_RESPONSE],
bus=0,
),
# Chrysler / FCA / Stellantis
Request(
"chrysler",
[CHRYSLER_VERSION_REQUEST],
[CHRYSLER_VERSION_RESPONSE],
whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.srs, Ecu.gateway, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.combinationMeter],
rx_offset=CHRYSLER_RX_OFFSET,
),
Request(
"chrysler",
[CHRYSLER_VERSION_REQUEST],
[CHRYSLER_VERSION_RESPONSE],
whitelist_ecus=[Ecu.abs, Ecu.hcp, Ecu.engine, Ecu.transmission],
),
Request(
"chrysler",
[CHRYSLER_SOFTWARE_VERSION_REQUEST],
[CHRYSLER_SOFTWARE_VERSION_RESPONSE],
whitelist_ecus=[Ecu.engine, Ecu.transmission],
),
# Ford
Request(
"ford",
[TESTER_PRESENT_REQUEST, FORD_VERSION_REQUEST],
[TESTER_PRESENT_RESPONSE, FORD_VERSION_RESPONSE],
whitelist_ecus=[Ecu.engine],
),
Request(
"ford",
[TESTER_PRESENT_REQUEST, FORD_VERSION_REQUEST],
[TESTER_PRESENT_RESPONSE, FORD_VERSION_RESPONSE],
bus=0,
whitelist_ecus=[Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.shiftByWire],
),
]
MODEL_TO_BRAND = {c: b for b, e in VERSIONS.items() for c in e}
REQUESTS = [(brand, r) for brand, config in FW_QUERY_CONFIGS.items() for r in config.requests]
def chunks(l, n=128):
@ -261,9 +38,8 @@ def build_fw_dict(fw_versions, filter_brand=None):
def get_brand_addrs():
versions = get_interface_attr('FW_VERSIONS', ignore_none=True)
brand_addrs = defaultdict(set)
for brand, cars in versions.items():
for brand, cars in VERSIONS.items():
for fw in cars.values():
brand_addrs[brand] |= {(addr, sub_addr) for _, addr, sub_addr in fw.keys()}
return brand_addrs
@ -325,19 +101,19 @@ def match_fw_to_car_exact(fw_versions_dict):
for candidate, fws in candidates.items():
for ecu, expected_versions in fws.items():
config = FW_QUERY_CONFIGS[MODEL_TO_BRAND[candidate]]
ecu_type = ecu[0]
addr = ecu[1:]
found_versions = fw_versions_dict.get(addr, set())
if ecu_type == Ecu.abs and candidate in (TOYOTA.RAV4, TOYOTA.COROLLA, TOYOTA.HIGHLANDER, TOYOTA.SIENNA, TOYOTA.LEXUS_IS) and not len(found_versions):
continue
# On some Toyota models, the engine can show on two different addresses
if ecu_type == Ecu.engine and candidate in (TOYOTA.CAMRY, TOYOTA.COROLLA_TSS2, TOYOTA.CHR, TOYOTA.LEXUS_IS) and not len(found_versions):
continue
found_versions = fw_versions_dict.get(addr, set())
if not len(found_versions):
# Some models can sometimes miss an ecu, or show on two different addresses
if candidate in config.non_essential_ecus.get(ecu_type, []):
continue
# Ignore non essential ecus
if ecu_type not in ESSENTIAL_ECUS and not len(found_versions):
continue
# Ignore non essential ecus
if ecu_type not in ESSENTIAL_ECUS:
continue
# Virtual debug ecu doesn't need to match the database
if ecu_type == Ecu.debug:
@ -358,11 +134,10 @@ def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True):
if allow_fuzzy:
exact_matches.append((False, match_fw_to_car_fuzzy))
brands = get_interface_attr('FW_VERSIONS', ignore_none=True).keys()
for exact_match, match_func in exact_matches:
# For each brand, attempt to fingerprint using all FW returned from its queries
matches = set()
for brand in brands:
for brand in VERSIONS.keys():
fw_versions_dict = build_fw_dict(fw_versions, filter_brand=brand)
matches |= match_func(fw_versions_dict)
@ -376,13 +151,9 @@ def get_present_ecus(logcan, sendcan):
queries = list()
parallel_queries = list()
responses = set()
versions = get_interface_attr('FW_VERSIONS', ignore_none=True)
for r in REQUESTS:
if r.brand not in versions:
continue
for brand_versions in versions[r.brand].values():
for brand, r in REQUESTS:
for brand_versions in VERSIONS[brand].values():
for ecu_type, addr, sub_addr in brand_versions:
# Only query ecus in whitelist if whitelist is not empty
if len(r.whitelist_ecus) == 0 or ecu_type in r.whitelist_ecus:
@ -411,9 +182,9 @@ def get_brand_ecu_matches(ecu_rx_addrs):
"""Returns dictionary of brands and matches with ECUs in their FW versions"""
brand_addrs = get_brand_addrs()
brand_matches = {r.brand: set() for r in REQUESTS}
brand_matches = {brand: set() for brand, _ in REQUESTS}
brand_rx_offsets = set((r.brand, r.rx_offset) for r in REQUESTS)
brand_rx_offsets = set((brand, r.rx_offset) for brand, r in REQUESTS)
for addr, sub_addr, _ in ecu_rx_addrs:
# Since we can't know what request an ecu responded to, add matches for all possible rx offsets
for brand, rx_offset in brand_rx_offsets:
@ -442,7 +213,7 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, debug=Fa
def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, debug=False, progress=False):
versions = get_interface_attr('FW_VERSIONS', ignore_none=True)
versions = VERSIONS.copy()
if query_brand is not None:
versions = {query_brand: versions[query_brand]}
@ -473,12 +244,12 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1,
# Get versions and build capnp list to put into CarParams
car_fw = []
requests = [r for r in REQUESTS if query_brand is None or r.brand == query_brand]
requests = [(brand, r) for brand, r in REQUESTS if query_brand is None or brand == query_brand]
for addr in tqdm(addrs, disable=not progress):
for addr_chunk in chunks(addr):
for r in requests:
for brand, r in requests:
try:
addrs = [(a, s) for (b, a, s) in addr_chunk if b in (r.brand, 'any') and
addrs = [(a, s) for (b, a, s) in addr_chunk if b in (brand, 'any') and
(len(r.whitelist_ecus) == 0 or ecu_types[(b, a, s)] in r.whitelist_ecus)]
if addrs:
@ -486,12 +257,12 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1,
for (addr, rx_addr), version in query.get_data(timeout).items():
f = car.CarParams.CarFw.new_message()
f.ecu = ecu_types.get((r.brand, addr[0], addr[1]), Ecu.unknown)
f.ecu = ecu_types.get((brand, addr[0], addr[1]), Ecu.unknown)
f.fwVersion = version
f.address = addr[0]
f.responseAddress = rx_addr
f.request = r.request
f.brand = r.brand
f.brand = brand
f.bus = r.bus
if addr[1] is not None:

9
selfdrive/car/honda/values.py
Unescape View File

@ -6,6 +6,7 @@ from cereal import car
from common.conversions import Conversions as CV
from selfdrive.car import dbc_dict
from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
Ecu = car.CarParams.Ecu
VisualAlert = car.CarControl.HUDControl.VisualAlert
@ -142,6 +143,14 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
CAR.HONDA_E: HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
}
FW_QUERY_CONFIG = FwQueryConfig(
requests=[
Request(
[StdQueries.UDS_VERSION_REQUEST],
[StdQueries.UDS_VERSION_RESPONSE],
),
],
)
FW_VERSIONS = {
CAR.ACCORD: {

23
selfdrive/car/hyundai/values.py
Unescape View File

@ -3,9 +3,12 @@ from dataclasses import dataclass
from typing import Dict, List, Optional, Union
from cereal import car
from panda.python import uds
from common.conversions import Conversions as CV
from selfdrive.car import dbc_dict
from selfdrive.car.docs_definitions import CarInfo, Harness
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
Ecu = car.CarParams.Ecu
@ -272,6 +275,26 @@ FINGERPRINTS = {
}],
}
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)
HYUNDAI_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40])
FW_QUERY_CONFIG = FwQueryConfig(
requests=[
Request(
[HYUNDAI_VERSION_REQUEST_LONG],
[HYUNDAI_VERSION_RESPONSE],
),
Request(
[HYUNDAI_VERSION_REQUEST_MULTI],
[HYUNDAI_VERSION_RESPONSE],
),
],
)
FW_VERSIONS = {
CAR.IONIQ: {

16
selfdrive/car/mazda/values.py
Unescape View File

@ -2,9 +2,11 @@ from dataclasses import dataclass
from enum import Enum
from typing import Dict, List, Union
from cereal import car
from selfdrive.car import dbc_dict
from selfdrive.car.docs_definitions import CarInfo, Harness
from cereal import car
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
Ecu = car.CarParams.Ecu
@ -50,6 +52,7 @@ class LKAS_LIMITS:
DISABLE_SPEED = 45 # kph
ENABLE_SPEED = 52 # kph
class Buttons:
NONE = 0
SET_PLUS = 1
@ -58,8 +61,17 @@ class Buttons:
CANCEL = 4
FW_QUERY_CONFIG = FwQueryConfig(
requests=[
Request(
[StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
[StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
),
],
)
FW_VERSIONS = {
CAR.CX5_2022 : {
CAR.CX5_2022: {
(Ecu.eps, 0x730, None): [
b'KSD5-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],

32
selfdrive/car/nissan/values.py
Unescape View File

@ -2,9 +2,12 @@ from dataclasses import dataclass
from typing import Dict, List, Optional, Union
from enum import Enum
from cereal import car
from panda.python import uds
from selfdrive.car import dbc_dict
from selfdrive.car.docs_definitions import CarInfo, Harness
from cereal import car
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
Ecu = car.CarParams.Ecu
@ -75,6 +78,33 @@ FINGERPRINTS = {
]
}
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_RX_OFFSET = 0x20
FW_QUERY_CONFIG = FwQueryConfig(
requests=[
Request(
[NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP],
[NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP],
),
Request(
[NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP],
[NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP],
rx_offset=NISSAN_RX_OFFSET,
),
Request(
[StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
[StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
rx_offset=NISSAN_RX_OFFSET,
),
],
)
FW_VERSIONS = {
CAR.ALTIMA: {
(Ecu.fwdCamera, 0x707, None): [

17
selfdrive/car/subaru/values.py
Unescape View File

@ -2,9 +2,11 @@ from dataclasses import dataclass
from enum import Enum
from typing import Dict, List, Union
from cereal import car
from panda.python import uds
from selfdrive.car import dbc_dict
from selfdrive.car.docs_definitions import CarInfo, Harness
from cereal import car
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
Ecu = car.CarParams.Ecu
@ -71,6 +73,19 @@ CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
CAR.OUTBACK_PREGLOBAL_2018: SubaruCarInfo("Subaru Outback 2018-19"),
}
SUBARU_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION)
SUBARU_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION)
FW_QUERY_CONFIG = FwQueryConfig(
requests=[
Request(
[StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST],
[StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE],
),
],
)
FW_VERSIONS = {
CAR.ASCENT: {

19
selfdrive/car/tests/test_fw_fingerprint.py
Unescape View File

@ -6,7 +6,7 @@ from parameterized import parameterized
from cereal import car
from selfdrive.car.car_helpers import get_interface_attr, interfaces
from selfdrive.car.fingerprints import FW_VERSIONS
from selfdrive.car.fw_versions import REQUESTS, match_fw_to_car
from selfdrive.car.fw_versions import FW_QUERY_CONFIGS, match_fw_to_car
CarFw = car.CarParams.CarFw
Ecu = car.CarParams.Ecu
@ -59,14 +59,25 @@ class TestFwFingerprint(unittest.TestCase):
for ecu in ecus.keys():
self.assertNotEqual(ecu[0], Ecu.transmission, f"{car_model}: Blacklisted ecu: (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])})")
def test_missing_versions_and_configs(self):
brand_versions = set(VERSIONS.keys())
brand_configs = set(FW_QUERY_CONFIGS.keys())
if len(brand_configs - brand_versions):
with self.subTest():
self.fail(f"Brands do not implement FW_VERSIONS: {brand_configs - brand_versions}")
if len(brand_versions - brand_configs):
with self.subTest():
self.fail(f"Brands do not implement FW_QUERY_CONFIG: {brand_versions - brand_configs}")
def test_fw_request_ecu_whitelist(self):
for brand in set(r.brand for r in REQUESTS):
for brand, config in FW_QUERY_CONFIGS.items():
with self.subTest(brand=brand):
whitelisted_ecus = [ecu for r in REQUESTS for ecu in r.whitelist_ecus if r.brand == brand]
whitelisted_ecus = set([ecu for r in config.requests for ecu in r.whitelist_ecus])
brand_ecus = set([fw[0] for car_fw in VERSIONS[brand].values() for fw in car_fw])
# each ecu in brand's fw versions needs to be whitelisted at least once
ecus_not_whitelisted = set(brand_ecus) - set(whitelisted_ecus)
ecus_not_whitelisted = brand_ecus - whitelisted_ecus
ecu_strings = ", ".join([f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_not_whitelisted])
self.assertFalse(len(whitelisted_ecus) and len(ecus_not_whitelisted),

30
selfdrive/car/toyota/values.py
Unescape View File

@ -7,6 +7,7 @@ from cereal import car
from common.conversions import Conversions as CV
from selfdrive.car import dbc_dict
from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
Ecu = car.CarParams.Ecu
MIN_ACC_SPEED = 19. * CV.MPH_TO_MS
@ -198,6 +199,35 @@ STATIC_DSU_MSGS = [
(0x4CB, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'),
]
TOYOTA_VERSION_REQUEST = b'\x1a\x88\x01'
TOYOTA_VERSION_RESPONSE = b'\x5a\x88\x01'
FW_QUERY_CONFIG = FwQueryConfig(
requests=[
Request(
[StdQueries.SHORT_TESTER_PRESENT_REQUEST, TOYOTA_VERSION_REQUEST],
[StdQueries.SHORT_TESTER_PRESENT_RESPONSE, TOYOTA_VERSION_RESPONSE],
bus=0,
),
Request(
[StdQueries.SHORT_TESTER_PRESENT_REQUEST, StdQueries.OBD_VERSION_REQUEST],
[StdQueries.SHORT_TESTER_PRESENT_RESPONSE, StdQueries.OBD_VERSION_RESPONSE],
bus=0,
),
Request(
[StdQueries.TESTER_PRESENT_REQUEST, StdQueries.DEFAULT_DIAGNOSTIC_REQUEST, StdQueries.EXTENDED_DIAGNOSTIC_REQUEST, StdQueries.UDS_VERSION_REQUEST],
[StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.DEFAULT_DIAGNOSTIC_RESPONSE, StdQueries.EXTENDED_DIAGNOSTIC_RESPONSE, StdQueries.UDS_VERSION_RESPONSE],
bus=0,
),
],
non_essential_ecus={
# FIXME: On some models, abs can sometimes be missing
Ecu.abs: [CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_IS],
# On some models, the engine can show on two different addresses
Ecu.engine: [CAR.CAMRY, CAR.COROLLA_TSS2, CAR.CHR, CAR.LEXUS_IS],
}
)
FW_VERSIONS = {
CAR.AVALON: {
(Ecu.abs, 0x7b0, None): [

11
selfdrive/car/vin.py
Unescape View File

@ -1,19 +1,12 @@
#!/usr/bin/env python3
import re
import struct
import traceback
import cereal.messaging as messaging
import panda.python.uds as uds
from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
from selfdrive.car.fw_query_definitions import StdQueries
from system.swaglog import cloudlog
OBD_VIN_REQUEST = b'\x09\x02'
OBD_VIN_RESPONSE = b'\x49\x02\x01'
UDS_VIN_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + struct.pack("!H", uds.DATA_IDENTIFIER_TYPE.VIN)
UDS_VIN_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + struct.pack("!H", uds.DATA_IDENTIFIER_TYPE.VIN)
VIN_UNKNOWN = "0" * 17
VIN_RE = "[A-HJ-NPR-Z0-9]{17}"
@ -25,7 +18,7 @@ def is_valid_vin(vin: str):
def get_vin(logcan, sendcan, bus, timeout=0.1, retry=5, debug=False):
addrs = [0x7e0, 0x7e2, 0x18da10f1, 0x18da0ef1] # engine, VMCU, 29-bit engine, PGM-FI
for i in range(retry):
for request, response in ((UDS_VIN_REQUEST, UDS_VIN_RESPONSE), (OBD_VIN_REQUEST, OBD_VIN_RESPONSE)):
for request, response in ((StdQueries.UDS_VIN_REQUEST, StdQueries.UDS_VIN_RESPONSE), (StdQueries.OBD_VIN_REQUEST, StdQueries.OBD_VIN_RESPONSE)):
try:
query = IsoTpParallelQuery(sendcan, logcan, bus, addrs, [request, ], [response, ], debug=debug)
for (addr, rx_addr), vin in query.get_data(timeout).items():

26
selfdrive/car/volkswagen/values.py
Unescape View File

@ -4,9 +4,11 @@ from enum import Enum
from typing import Dict, List, Union
from cereal import car
from panda.python import uds
from opendbc.can.can_define import CANDefine
from selfdrive.car import dbc_dict
from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
Ecu = car.CarParams.Ecu
NetworkLocation = car.CarParams.NetworkLocation
@ -243,6 +245,30 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
# ECU SW part numbers are invalid for vehicle ID and compatibility checks. Try to have
# them repaired by the tuner before including them in openpilot.
VOLKSWAGEN_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.VEHICLE_MANUFACTURER_ECU_SOFTWARE_VERSION_NUMBER) + \
p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION)
VOLKSWAGEN_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40])
VOLKSWAGEN_RX_OFFSET = 0x6a
FW_QUERY_CONFIG = FwQueryConfig(
requests=[
Request(
[VOLKSWAGEN_VERSION_REQUEST_MULTI],
[VOLKSWAGEN_VERSION_RESPONSE],
whitelist_ecus=[Ecu.srs, Ecu.eps, Ecu.fwdRadar],
rx_offset=VOLKSWAGEN_RX_OFFSET,
),
Request(
[VOLKSWAGEN_VERSION_REQUEST_MULTI],
[VOLKSWAGEN_VERSION_RESPONSE],
whitelist_ecus=[Ecu.engine, Ecu.transmission],
),
],
)
FW_VERSIONS = {
CAR.ARTEON_MK1: {
(Ecu.engine, 0x7e0, None): [

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