Merge remote-tracking branch 'commaai/master' into ford-platform-codes

selfdrive/car/__init__.py

@@ -246,7 +246,7 @@ class CanSignalRateCalculator:
 CarInfos = CarInfo | list[CarInfo]
 
 
-@dataclass(kw_only=True)
+@dataclass(frozen=True, kw_only=True)
 class CarSpecs:
   mass: float
   wheelbase: float
@@ -256,7 +256,7 @@ class CarSpecs:
   minEnableSpeed: float = field(default=-1.)
 
 
-@dataclass(order=True)
+@dataclass(frozen=True, order=True)
 class PlatformConfig:
   platform_str: str
   car_info: CarInfos

selfdrive/car/ford/tests/test_ford.py

@@ -20,6 +20,7 @@ ECU_ADDRESSES = {
   Ecu.fwdCamera: 0x706,    # Image Processing Module A (IPMA)
   Ecu.engine: 0x7E0,       # Powertrain Control Module (PCM)
   Ecu.shiftByWire: 0x732,  # Gear Shift Module (GSM)
+  Ecu.debug: 0x7D0,        # Accessory Protocol Interface Module (APIM)
 }
 
 

selfdrive/car/ford/values.py

@@ -3,11 +3,12 @@ from collections import defaultdict
 from dataclasses import dataclass, field
 from enum import Enum
 
+import panda.python.uds as uds
 from cereal import car
 from openpilot.selfdrive.car import AngleRateLimit, CarSpecs, dbc_dict, DbcDict, PlatformConfig, Platforms
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column, \
                                                      Device
-from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, LiveFwVersions, OfflineFwVersions, Request, StdQueries
+from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, LiveFwVersions, OfflineFwVersions, Request, StdQueries, p16
 
 Ecu = car.CarParams.Ecu
 
@@ -65,7 +66,7 @@ class FordCarInfo(CarInfo):
       self.car_parts = CarParts([Device.threex, harness])
 
 
-@dataclass
+@dataclass(frozen=True)
 class FordPlatformConfig(PlatformConfig):
   dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('ford_lincoln_base_pt', RADAR.DELPHI_MRR))
 
@@ -142,7 +143,6 @@ class CAR(Platforms):
 CANFD_CAR = {CAR.F_150_MK14, CAR.F_150_LIGHTNING_MK1, CAR.MUSTANG_MACH_E_MK1}
 
 
-
 # FW response contains a combined software and part number
 # A-Z except no I, O or W
 # e.g. NZ6A-14C204-AAA
@@ -234,9 +234,37 @@ def match_fw_to_car_fuzzy(live_fw_versions: LiveFwVersions, offline_fw_versions:
 
   return candidates
 
+
 # All of these ECUs must be present and are expected to have platform codes we can match
 PLATFORM_CODE_ECUS = (Ecu.abs, Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps)
 
+DATA_IDENTIFIER_FORD_ASBUILT = 0xDE
+
+ASBUILT_BLOCKS: list[tuple[int, list]] = [
+  (1, [Ecu.debug, Ecu.fwdCamera, Ecu.eps]),
+  (2, [Ecu.abs, Ecu.debug, Ecu.eps]),
+  (3, [Ecu.abs, Ecu.debug, Ecu.eps]),
+  (4, [Ecu.debug, Ecu.fwdCamera]),
+  (5, [Ecu.debug]),
+  (6, [Ecu.debug]),
+  (7, [Ecu.debug]),
+  (8, [Ecu.debug]),
+  (9, [Ecu.debug]),
+  (16, [Ecu.debug, Ecu.fwdCamera]),
+  (18, [Ecu.fwdCamera]),
+  (20, [Ecu.fwdCamera]),
+  (21, [Ecu.fwdCamera]),
+]
+
+
+def ford_asbuilt_block_request(block_id: int):
+  return bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + p16(DATA_IDENTIFIER_FORD_ASBUILT + block_id - 1)
+
+
+def ford_asbuilt_block_response(block_id: int):
+  return bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + p16(DATA_IDENTIFIER_FORD_ASBUILT + block_id - 1)
+
+
 FW_QUERY_CONFIG = FwQueryConfig(
   requests=[
     # CAN and CAN FD queries are combined.
@@ -244,19 +272,29 @@ FW_QUERY_CONFIG = FwQueryConfig(
     Request(
       [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
       [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
+      whitelist_ecus=[Ecu.abs, Ecu.debug, Ecu.engine, Ecu.eps, Ecu.fwdCamera, Ecu.fwdRadar, Ecu.shiftByWire],
       logging=True,
     ),
     Request(
       [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
       [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
+      whitelist_ecus=[Ecu.abs, Ecu.debug, Ecu.engine, Ecu.eps, Ecu.fwdCamera, Ecu.fwdRadar, Ecu.shiftByWire],
       bus=0,
       auxiliary=True,
     ),
+    *[Request(
+      [StdQueries.TESTER_PRESENT_REQUEST, ford_asbuilt_block_request(block_id)],
+      [StdQueries.TESTER_PRESENT_RESPONSE, ford_asbuilt_block_response(block_id)],
+      whitelist_ecus=ecus,
+      bus=0,
+      logging=True,
+    ) for block_id, ecus in ASBUILT_BLOCKS],
   ],
   extra_ecus=[
-    # We are unlikely to get a response from the PCM from behind the gateway
+    (Ecu.engine, 0x7e0, None),        # Powertrain Control Module
-    (Ecu.engine, 0x7e0, None),
+                                      # Note: We are unlikely to get a response from behind the gateway
-    (Ecu.shiftByWire, 0x732, None),
+    (Ecu.shiftByWire, 0x732, None),   # Gear Shift Module
+    (Ecu.debug, 0x7d0, None),         # Accessory Protocol Interface Module
   ],
   # Custom fuzzy fingerprinting function using platform codes, part numbers and software versions
   match_fw_to_car_fuzzy=match_fw_to_car_fuzzy,

selfdrive/car/gm/values.py

@@ -79,7 +79,7 @@ class GMCarInfo(CarInfo):
       self.footnotes.append(Footnote.OBD_II)
 
 
-@dataclass
+@dataclass(frozen=True)
 class GMPlatformConfig(PlatformConfig):
   dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'))
 

selfdrive/car/interfaces.py

@@ -4,7 +4,7 @@ import numpy as np
 import tomllib
 from abc import abstractmethod, ABC
 from enum import StrEnum
-from typing import Any, NamedTuple, cast
+from typing import Any, NamedTuple
 from collections.abc import Callable
 
 from cereal import car
@@ -13,7 +13,7 @@ from openpilot.common.conversions import Conversions as CV
 from openpilot.common.simple_kalman import KF1D, get_kalman_gain
 from openpilot.common.numpy_fast import clip
 from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.car import PlatformConfig, apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG
+from openpilot.selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG
 from openpilot.selfdrive.car.values import Platform
 from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, get_friction
 from openpilot.selfdrive.controls.lib.events import Events
@@ -113,14 +113,13 @@ class CarInterfaceBase(ABC):
     ret = CarInterfaceBase.get_std_params(candidate)
 
     if hasattr(candidate, "config"):
-      platform_config = cast(PlatformConfig, candidate.config)
+      if candidate.config.specs is not None:
-      if platform_config.specs is not None:
+        ret.mass = candidate.config.specs.mass
-        ret.mass = platform_config.specs.mass
+        ret.wheelbase = candidate.config.specs.wheelbase
-        ret.wheelbase = platform_config.specs.wheelbase
+        ret.steerRatio = candidate.config.specs.steerRatio
-        ret.steerRatio = platform_config.specs.steerRatio
+        ret.centerToFront = ret.wheelbase * candidate.config.specs.centerToFrontRatio
-        ret.centerToFront = ret.wheelbase * platform_config.specs.centerToFrontRatio
+        ret.minEnableSpeed = candidate.config.specs.minEnableSpeed
-        ret.minEnableSpeed = platform_config.specs.minEnableSpeed
+        ret.minSteerSpeed = candidate.config.specs.minSteerSpeed
-        ret.minSteerSpeed = platform_config.specs.minSteerSpeed
 
     ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs)
 

selfdrive/car/subaru/values.py

@@ -89,7 +89,7 @@ class SubaruCarInfo(CarInfo):
       self.footnotes.append(Footnote.EXP_LONG)
 
 
-@dataclass
+@dataclass(frozen=True)
 class SubaruPlatformConfig(PlatformConfig):
   dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('subaru_global_2017_generated', None))
 

selfdrive/car/tests/test_fw_fingerprint.py

@@ -263,13 +263,13 @@ class TestFwFingerprintTiming(unittest.TestCase):
         print(f'get_vin {name} case, query time={self.total_time / self.N} seconds')
 
   def test_fw_query_timing(self):
-    total_ref_time = {1: 6.5, 2: 7.4}
+    total_ref_time = {1: 7.8, 2: 8.7}
     brand_ref_times = {
       1: {
         'gm': 0.5,
         'body': 0.1,
         'chrysler': 0.3,
-        'ford': 0.2,
+        'ford': 1.5,
         'honda': 0.55,
         'hyundai': 1.05,
         'mazda': 0.1,
@@ -280,7 +280,7 @@ class TestFwFingerprintTiming(unittest.TestCase):
         'volkswagen': 0.65,
       },
       2: {
-        'ford': 0.3,
+        'ford': 1.6,
         'hyundai': 1.85,
       }
     }

selfdrive/car/toyota/fingerprints.py

@@ -573,6 +573,7 @@ FW_VERSIONS = {
       b'\x018821F6201400\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'\x028646F12010C0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
       b'\x028646F12010D0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
       b'\x028646F1201100\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
       b'\x028646F1201200\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
@@ -843,6 +844,7 @@ FW_VERSIONS = {
       b'8965B47023\x00\x00\x00\x00\x00\x00',
       b'8965B47050\x00\x00\x00\x00\x00\x00',
       b'8965B47060\x00\x00\x00\x00\x00\x00',
+      b'8965B47070\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x7b0, None): [
       b'F152647290\x00\x00\x00\x00\x00\x00',
@@ -1024,6 +1026,7 @@ FW_VERSIONS = {
       b'\x02896634A13000\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x02896634A13001\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
       b'\x02896634A13101\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
+      b'\x02896634A13201\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
       b'\x02896634A14001\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00',
       b'\x02896634A14001\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
       b'\x02896634A14101\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',

selfdrive/car/volkswagen/values.py

@@ -112,15 +112,15 @@ class CANBUS:
 class VolkswagenFlags(IntFlag):
   STOCK_HCA_PRESENT = 1
 
-@dataclass
+@dataclass(frozen=True)
 class VolkswagenMQBPlatformConfig(PlatformConfig):
   dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('vw_mqb_2010', None))
 
-@dataclass
+@dataclass(frozen=True)
 class VolkswagenPQPlatformConfig(PlatformConfig):
   dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('vw_golf_mk4', None))
 
-@dataclass(kw_only=True)
+@dataclass(frozen=True, kw_only=True)
 class VolkswagenCarSpecs(CarSpecs):
   steerRatio: float = field(default=15.6)
 

system/hardware/tici/amplifier.py

@@ -97,6 +97,7 @@ CONFIGS = {
     AmpConfig("Right DAC input mixer: DAI2 right", 0b1, 0x22, 0, 0b00000001),
     AmpConfig("Volume adjustment smoothing disabled", 0b1, 0x49, 6, 0b01000000),
   ],
+  "mici": [],
 }
 
 class Amplifier:

system/hardware/tici/hardware.h

@@ -20,12 +20,12 @@ public:
   }
 
   static std::string get_name() {
-    std::string devicetree_model = util::read_file("/sys/firmware/devicetree/base/model");
+    std::string model = util::read_file("/sys/firmware/devicetree/base/model");
-    return (devicetree_model.find("tizi") != std::string::npos) ? "tizi" : "tici";
+    return model.substr(std::string("comma ").size());
   }
 
   static cereal::InitData::DeviceType get_device_type() {
-    return (get_name() == "tizi") ? cereal::InitData::DeviceType::TIZI : cereal::InitData::DeviceType::TICI;
+    return (get_name() == "tizi") ? cereal::InitData::DeviceType::TIZI : (get_name() == "mici" ? cereal::InitData::DeviceType::MICI : cereal::InitData::DeviceType::TICI);
   }
 
   static int get_voltage() { return std::atoi(util::read_file("/sys/class/hwmon/hwmon1/in1_input").c_str()); }