From b41683d3231232ced665ede540bcc7c77dacf437 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 30 Jan 2024 04:19:12 -0600
Subject: [PATCH] GM: FPv2 logging (#31221)

* bump

* from https://github.com/commaai/openpilot/pull/27929

* get VIN on bolt!

* might as well try on other gms

* remove vin

* ugh gm is going to be slow

* fix

* should really fix this

* revert

* happy?1

* fix unit test

* bump

* functional addressing must be an OBD gateway feature, this does nothing

* fix vin response

* fix addr!

* finally fix fw_versions bugs since boardd IsOnroad refactor

* for

* only bus 0

* clean up

* Update selfdrive/car/gm/values.py

* ChatGPT re-write

* filter out did

* todo

* oof

* preview: what multiple DIDs per ECU would look like in the future

* Revert "preview: what multiple DIDs per ECU would look like in the future"

This reverts commit 88f0d8611e638de644adc5feabade848c03d59e4.

* function to get all ecus

* we can remove this!

* can also do this!

* and this one too :o

* consistency

* yay

* clean up
old-commit-hash: 06f0e5096424acd643046f4bd5a3c84a4f684e8e
---
 selfdrive/car/gm/fingerprints.py           |  4 ++-
 selfdrive/car/gm/values.py                 | 36 ++++++++++++++++++++++
 selfdrive/car/tests/test_fw_fingerprint.py |  3 +-
 3 files changed, 41 insertions(+), 2 deletions(-)

diff --git a/selfdrive/car/gm/fingerprints.py b/selfdrive/car/gm/fingerprints.py
index 9159ddefbf..445d9571d4 100644
--- a/selfdrive/car/gm/fingerprints.py
+++ b/selfdrive/car/gm/fingerprints.py
@@ -1,7 +1,7 @@
 # ruff: noqa: E501
 from openpilot.selfdrive.car.gm.values import CAR
 
-# Trailblazer also matches as a SILVERADO, TODO: split with fw verisions
+# Trailblazer also matches as a SILVERADO, TODO: split with fw versions
 
 
 FINGERPRINTS = {
@@ -54,3 +54,5 @@ FINGERPRINTS = {
     190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
   }],
 }
+
+FW_VERSIONS: dict[str, dict[tuple, list[bytes]]] = {}
diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py
index dbbf15100f..8188ad4e6e 100644
--- a/selfdrive/car/gm/values.py
+++ b/selfdrive/car/gm/values.py
@@ -6,6 +6,8 @@ from typing import Dict, List, Union
 from cereal import car
 from openpilot.selfdrive.car import dbc_dict
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
+from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
+
 Ecu = car.CarParams.Ecu
 
 
@@ -143,8 +145,42 @@ class CanBus:
   DROPPED = 192
 
 
+# In a Data Module, an identifier is a string used to recognize an object,
+# either by itself or together with the identifiers of parent objects.
+# Each returns a 4 byte hex representation of the decimal part number. `b"\x02\x8c\xf0'"` -> 42790951
+GM_SOFTWARE_MODULE_1_REQUEST = b'\x1a\xc1'
+GM_SOFTWARE_MODULE_2_REQUEST = b'\x1a\xc2'
+GM_SOFTWARE_MODULE_3_REQUEST = b'\x1a\xc3'
+# This DID is for identifying the part number that reflects the mix of hardware,
+# software, and calibrations in the ECU when it first arrives at the vehicle assembly plant.
+# If there's an Alpha Code, it's associated with this part number and stored in the DID $DB.
+GM_END_MODEL_PART_NUMBER_REQUEST = b'\x1a\xcb'
+GM_BASE_MODEL_PART_NUMBER_REQUEST = b'\x1a\xcc'
+GM_FW_RESPONSE = b'\x5a'
+
+GM_FW_REQUESTS = [
+  GM_SOFTWARE_MODULE_1_REQUEST,
+  GM_SOFTWARE_MODULE_2_REQUEST,
+  GM_SOFTWARE_MODULE_3_REQUEST,
+  GM_END_MODEL_PART_NUMBER_REQUEST,
+  GM_BASE_MODEL_PART_NUMBER_REQUEST,
+]
+
 GM_RX_OFFSET = 0x400
 
+FW_QUERY_CONFIG = FwQueryConfig(
+  requests=[request for req in GM_FW_REQUESTS for request in [
+    Request(
+      [StdQueries.SHORT_TESTER_PRESENT_REQUEST, req],
+      [StdQueries.SHORT_TESTER_PRESENT_RESPONSE, GM_FW_RESPONSE + bytes([req[-1]])],
+      rx_offset=GM_RX_OFFSET,
+      bus=0,
+      logging=True,
+    ),
+  ]],
+  extra_ecus=[(Ecu.fwdCamera, 0x24b, None)],
+)
+
 DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'))
 
 EV_CAR = {CAR.VOLT, CAR.BOLT_EUV}
diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py
index 7cd670cf7c..e7ba67d433 100755
--- a/selfdrive/car/tests/test_fw_fingerprint.py
+++ b/selfdrive/car/tests/test_fw_fingerprint.py
@@ -246,9 +246,10 @@ class TestFwFingerprintTiming(unittest.TestCase):
 
   @pytest.mark.timeout(60)
   def test_fw_query_timing(self):
-    total_ref_time = 6.5
+    total_ref_time = 7.1
     brand_ref_times = {
       1: {
+        'gm': 0.5,
         'body': 0.1,
         'chrysler': 0.3,
         'ford': 0.2,