Toyota: remove unecessary ECUs for fingerprinting (#32235)

* remove some ecus

* missing doc

* fix

* fix

* clean up

* update refs

* rm
old-commit-hash: 5d0dc2ded2

selfdrive/car/tests/test_fw_fingerprint.py

@@ -245,7 +245,7 @@ class TestFwFingerprintTiming(unittest.TestCase):
   def test_startup_timing(self):
     # Tests worse-case VIN query time and typical present ECU query time
     vin_ref_times = {'worst': 1.4, 'best': 0.7}  # best assumes we go through all queries to get a match
-    present_ecu_ref_time = 0.75
+    present_ecu_ref_time = 0.45
 
     def fake_get_ecu_addrs(*_, timeout):
       self.total_time += timeout
@@ -271,7 +271,7 @@ 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: 8.1, 2: 8.7}
+    total_ref_time = {1: 7.2, 2: 7.8}
     brand_ref_times = {
       1: {
         'gm': 1.0,
@@ -284,7 +284,7 @@ class TestFwFingerprintTiming(unittest.TestCase):
         'nissan': 0.8,
         'subaru': 0.65,
         'tesla': 0.3,
-        'toyota': 1.6,
+        'toyota': 0.7,
         'volkswagen': 0.65,
       },
       2: {

selfdrive/car/toyota/values.py

@@ -494,22 +494,20 @@ FW_QUERY_CONFIG = FwQueryConfig(
     Request(
       [StdQueries.SHORT_TESTER_PRESENT_REQUEST, TOYOTA_VERSION_REQUEST_KWP],
       [StdQueries.SHORT_TESTER_PRESENT_RESPONSE, TOYOTA_VERSION_RESPONSE_KWP],
-      whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.dsu, Ecu.abs, Ecu.eps, Ecu.epb, Ecu.telematics,
-                      Ecu.srs, Ecu.combinationMeter, Ecu.transmission, Ecu.gateway, Ecu.hvac],
+      whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.dsu, Ecu.abs, Ecu.eps, Ecu.srs, Ecu.transmission, Ecu.hvac],
       bus=0,
     ),
     Request(
       [StdQueries.SHORT_TESTER_PRESENT_REQUEST, StdQueries.OBD_VERSION_REQUEST],
       [StdQueries.SHORT_TESTER_PRESENT_RESPONSE, StdQueries.OBD_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.engine, Ecu.epb, Ecu.telematics, Ecu.hybrid, Ecu.srs, Ecu.combinationMeter, Ecu.transmission,
-                      Ecu.gateway, Ecu.hvac],
+      whitelist_ecus=[Ecu.engine, Ecu.hybrid, Ecu.srs, Ecu.transmission, Ecu.hvac],
       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],
-      whitelist_ecus=[Ecu.engine, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.abs, Ecu.eps, Ecu.epb, Ecu.telematics,
-                      Ecu.hybrid, Ecu.srs, Ecu.combinationMeter, Ecu.transmission, Ecu.gateway, Ecu.hvac],
+      whitelist_ecus=[Ecu.engine, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.abs, Ecu.eps,
+                      Ecu.hybrid, Ecu.srs, Ecu.transmission, Ecu.hvac],
       bus=0,
     ),
   ],
@@ -523,33 +521,29 @@ FW_QUERY_CONFIG = FwQueryConfig(
   extra_ecus=[
     # All known ECUs on a late-model Toyota vehicle not queried here:
     # Responds to UDS:
+    # - Combination Meter (0x7c0)
     # - HV Battery (0x713, 0x747)
     # - Motor Generator (0x716, 0x724)
     # - 2nd ABS "Brake/EPB" (0x730)
+    # - Electronic Parking Brake ((0x750, 0x2c))
+    # - Telematics ((0x750, 0xc7))
     # Responds to KWP (0x1a8801):
     # - Steering Angle Sensor (0x7b3)
     # - EPS/EMPS (0x7a0, 0x7a1)
+    # - 2nd SRS Airbag (0x784)
+    # - Central Gateway ((0x750, 0x5f))
+    # - Telematics ((0x750, 0xc7))
     # Responds to KWP (0x1a8881):
     # - Body Control Module ((0x750, 0x40))
+    # - Telematics ((0x750, 0xc7))
 
     # Hybrid control computer can be on 0x7e2 (KWP) or 0x7d2 (UDS) depending on platform
     (Ecu.hybrid, 0x7e2, None),  # Hybrid Control Assembly & Computer
-    # TODO: if these duplicate ECUs always exist together, remove one
     (Ecu.srs, 0x780, None),     # SRS Airbag
-    (Ecu.srs, 0x784, None),     # SRS Airbag 2
-    # Likely only exists on cars where EPB isn't standard (e.g. Camry, Avalon (/Hybrid))
-    # On some cars, EPB is controlled by the ABS module
-    (Ecu.epb, 0x750, 0x2c),     # Electronic Parking Brake
-    # This isn't accessible on all cars
-    (Ecu.gateway, 0x750, 0x5f),
-    # On some cars, this only responds to b'\x1a\x88\x81', which is reflected by the b'\x1a\x88\x00' query
-    (Ecu.telematics, 0x750, 0xc7),
     # Transmission is combined with engine on some platforms, such as TSS-P RAV4
     (Ecu.transmission, 0x701, None),
     # A few platforms have a tester present response on this address, add to log
     (Ecu.transmission, 0x7e1, None),
-    # On some cars, this only responds to b'\x1a\x88\x80'
-    (Ecu.combinationMeter, 0x7c0, None),
     (Ecu.hvac, 0x7c4, None),
   ],
   match_fw_to_car_fuzzy=match_fw_to_car_fuzzy,