body: add debug ECU for git hash logging + fw version (#24128)

* non-essential ECU for logging

* bump cereal

* debug ECU

* match_fw_to_car_exact

* comment

* version instead of board date

* add old compatible value

* update_refs
old-commit-hash: 7908fb8829

cereal

@@ -1 +1 @@
-Subproject commit c609a29345dc42c90663cb3705bf9c4c2ee13628
+Subproject commit 3d5e7784254ece1b356b47e3327b8e7390b6aa57

selfdrive/car/body/values.py

@@ -24,8 +24,12 @@ CAR_INFO: Dict[str, CarInfo] = {
 FW_VERSIONS = {
   CAR.BODY: {
     (Ecu.engine, 0x720, None): [
+      b'0.0.01',
       b'02/27/2022'
     ],
+    (Ecu.debug, 0x721, None): [
+      b'166bd860' # git hash of the firmware used
+    ],
   },
 }
 

selfdrive/car/fw_versions.py

@@ -208,7 +208,7 @@ def match_fw_to_car_fuzzy(fw_versions_dict, log=True, exclude=None):
   # Getting this exactly right isn't crucial, but excluding camera and radar makes it almost
   # impossible to get 3 matching versions, even if two models with shared parts are released at the same
   # time and only one is in our database.
-  exclude_types = [Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps]
+  exclude_types = [Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps, Ecu.debug]
 
   # Build lookup table from (addr, subaddr, fw) to list of candidate cars
   all_fw_versions = defaultdict(list)
@@ -269,6 +269,10 @@ def match_fw_to_car_exact(fw_versions_dict):
       if ecu_type not in ESSENTIAL_ECUS and found_version is None:
         continue
 
+      # Virtual debug ecu doesn't need to match the database
+      if ecu_type == Ecu.debug:
+        continue
+
       if found_version not in expected_versions:
         invalid.append(candidate)
         break

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-7147228e42963ae7170e142bbacf720508ab83d7
+fa91a008e1f8078fe02520e31d8b007425194cb8