Hyundai fw query (#1540)

* hyundai fw query

* Change query

* this works

* That is not engine

* hyundai fw query

* Change query

* this works

* That is not engine

* Skip FW query in test_car_models

* Those routes don't fingerprint properly after speedup

* only send toyota queries to subaddresses

Co-authored-by: openpilot laptop <laptop@comma.ai>

selfdrive/car/car_helpers.py

@@ -77,8 +77,9 @@ def only_toyota_left(candidate_cars):
 # **** for use live only ****
 def fingerprint(logcan, sendcan, has_relay):
   fixed_fingerprint = os.environ.get('FINGERPRINT', "")
+  skip_fw_query = os.environ.get('SKIP_FW_QUERY', False)
 
-  if has_relay and not fixed_fingerprint:
+  if has_relay and not fixed_fingerprint and not skip_fw_query:
     # Vin query only reliably works thorugh OBDII
     bus = 1
 

selfdrive/car/fw_versions.py

@@ -12,9 +12,11 @@ import panda.python.uds as uds
 from cereal import car
 Ecu = car.CarParams.Ecu
 
+
 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])
 
@@ -36,6 +38,13 @@ UDS_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
 UDS_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
   p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION)
 
+
+HYUNDAI_VERSION_REQUEST = 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(0xf1a0) # 4 Byte version number
+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'
 
@@ -43,24 +52,35 @@ OBD_VERSION_REQUEST = b'\x09\x04'
 OBD_VERSION_RESPONSE = b'\x49\x04'
 
 
+# supports subaddressing, request, response
 REQUESTS = [
+  # Hundai
+  (
+    False,
+    [HYUNDAI_VERSION_REQUEST],
+    [HYUNDAI_VERSION_RESPONSE],
+  ),
   # Honda
   (
+    False,
     [UDS_VERSION_REQUEST],
-   [UDS_VERSION_RESPONSE]
+    [UDS_VERSION_RESPONSE],
   ),
   # Toyota
   (
+    True,
     [SHORT_TESTER_PRESENT_REQUEST, TOYOTA_VERSION_REQUEST],
-    [SHORT_TESTER_PRESENT_RESPONSE, TOYOTA_VERSION_RESPONSE]
+    [SHORT_TESTER_PRESENT_RESPONSE, TOYOTA_VERSION_RESPONSE],
   ),
   (
+    True,
     [SHORT_TESTER_PRESENT_REQUEST, OBD_VERSION_REQUEST],
-    [SHORT_TESTER_PRESENT_RESPONSE, OBD_VERSION_RESPONSE]
+    [SHORT_TESTER_PRESENT_RESPONSE, OBD_VERSION_RESPONSE],
   ),
   (
+    True,
     [TESTER_PRESENT_REQUEST, DEFAULT_DIAGNOSTIC_REQUEST, EXTENDED_DIAGNOSTIC_REQUEST, UDS_VERSION_REQUEST],
-    [TESTER_PRESENT_RESPONSE, DEFAULT_DIAGNOSTIC_RESPONSE, EXTENDED_DIAGNOSTIC_RESPONSE, UDS_VERSION_RESPONSE]
+    [TESTER_PRESENT_RESPONSE, DEFAULT_DIAGNOSTIC_RESPONSE, EXTENDED_DIAGNOSTIC_RESPONSE, UDS_VERSION_RESPONSE],
   )
 ]
 
@@ -134,8 +154,12 @@ def get_fw_versions(logcan, sendcan, bus, extra=None, timeout=0.1, debug=False,
   fw_versions = {}
   for i, addr in enumerate(tqdm(addrs, disable=not progress)):
     for addr_chunk in chunks(addr):
-      for request, response in REQUESTS:
+      for supports_sub_addr, request, response in REQUESTS:
         try:
+          # Don't send Hyundai and Honda requests to subaddress
+          if i != 0 and not supports_sub_addr:
+            continue
+
           query = IsoTpParallelQuery(sendcan, logcan, bus, addr_chunk, request, response, debug=debug)
           t = 2 * timeout if i == 0 else timeout
           fw_versions.update(query.get_data(t))

selfdrive/car/hyundai/values.py

@@ -135,6 +135,16 @@ ECU_FINGERPRINT = {
   Ecu.fwdCamera: [832, 1156, 1191, 1342]
 }
 
+FW_VERSIONS = {
+  CAR.SONATA: {
+    (Ecu.esp, 0x7d1, None): [b'\xf1\x8758910-L0100\xf1\xa01.04'],
+    (Ecu.engine, 0x7e0, None): [b'\xf1\x87391162M003\xf1\xa0000F'],
+    (Ecu.eps, 0x7d4, None): [b'\xf1\x8756310L0010\x00\xf1\xa01.01'],
+    (Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x8799110L0000\xf1\xa01.00'],
+    (Ecu.transmission, 0x7e1, None): [b'U903\x00\x00\x00\x00\x00\x00'],
+  }
+}
+
 CHECKSUM = {
   "crc8": [CAR.SANTA_FE, CAR.SONATA, CAR.PALISADE],
   "6B": [CAR.KIA_SORENTO, CAR.HYUNDAI_GENESIS],

selfdrive/test/test_car_models.py

@@ -247,6 +247,7 @@ routes = {
     'enableCamera': True,
     'enableDsu': True,
     'enableGasInterceptor': False,
+    'fingerprintSource': 'fixed',
   },
   "cdf2f7de565d40ae|2019-04-25--03-53-41": {
     'carFingerprint': TOYOTA.RAV4_TSS2,
@@ -296,6 +297,7 @@ routes = {
     "01b22eb2ed121565|2020-02-02--11-25-51": {
     'carFingerprint': TOYOTA.LEXUS_RX_TSS2,
     'enableCamera': True,
+    'fingerprintSource': 'fixed',
   },
   "ec429c0f37564e3c|2020-02-01--17-28-12": {
     'carFingerprint': TOYOTA.LEXUS_NXH,
@@ -426,6 +428,7 @@ if __name__ == "__main__":
     params.put("CommunityFeaturesToggle", "1")
     params.put("Passive", "1" if route in passive_routes else "0")
 
+    os.environ['SKIP_FW_QUERY'] = "1"
     if checks.get('fingerprintSource', None) == 'fixed':
       os.environ['FINGERPRINT'] = checks['carFingerprint']
     else: