openpilot_comma

openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.

History

Cameron Clough c724d1c86c Ford: log interesting module configuration data (#31569 ) * Ford: log interesting module configuration data Ford ECUs have what is called "As-Built Data" which is configured at the factory/workshop to set what packages/features are enabled on the car. But they also contain vehicle specific information (VIN, make, model, weight, wheel base...), DTC information and driver preferences. I dumped the CAN traffic for the FORScan diagnostic tool to see how it requests this information from the ECUs. <details> <summary>FORScan communication with IPMA (camera)</summary> <pre> {'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': '0200'} {'addr': 1806, 'type': 'negative_response', 'hex': '2231'} {'addr': 1798, 'type': 'request', 'service': 'TESTER_PRESENT', 'hex': '00'} {'addr': 1806, 'type': 'positive_response', 'service': 'TESTER_PRESENT', 'hex': '00'} {'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'f190'} {'addr': 1806, 'type': 'negative_response', 'hex': '2231'} {'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de00'} {'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de00020799dbaa10296516a440000000000000000000000000'} {'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'f113'} {'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'data': b'\xf1\x13JX7T-19H406-CH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', 'hex': 'f1134a5837542d3139483430362d434800000000000000000000'} {'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'f188'} {'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'data': b'\xf1\x88JX7T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', 'hex': 'f1884a5837542d3134463339372d414800000000000000000000'} {'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'f120'} {'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'data': b'\xf1 JX7T-14F397-BF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', 'hex': 'f1204a5837542d3134463339372d424600000000000000000000'} {'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'f121'} {'addr': 1806, 'type': 'negative_response', 'hex': '2231'} {'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'f124'} {'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'data': b'\xf1$JX7T-14F398-AG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', 'hex': 'f1244a5837542d3134463339382d414700000000000000000000'} {'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'f125'} {'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'data': b'\xf1%JX7T-14F398-BF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', 'hex': 'f1254a5837542d3134463339382d424600000000000000000000'} {'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'f126'} {'addr': 1806, 'type': 'negative_response', 'hex': '2231'} {'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'f10a'} {'addr': 1806, 'type': 'negative_response', 'hex': '2231'} {'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'f111'} {'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'data': b'\xf1\x11JX7T-14F403-CA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', 'hex': 'f1114a5837542d3134463430332d434100000000000000000000'} {'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'f18c'} {'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'data': b'\xf1\x8c182762191\x00\x00\x00\x00\x00\x00\x00', 'hex': 'f18c31383237363231393100000000000000'} {'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'f162'} {'addr': 1806, 'type': 'negative_response', 'hex': '2231'} {'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'f110'} {'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'data': b'\xf1\x10DS-JX7T-19H406-AD\x00\x00\x00\x00\x00\x00\x00', 'hex': 'f11044532d4a5837542d3139483430362d414400000000000000'} {'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': '0202'} {'addr': 1806, 'type': 'negative_response', 'hex': '2231'} {'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'd100'} {'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'd10001'} {'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'd700'} {'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'd70001010101'} {'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'd701'} {'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'd70101020000'} {'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'dd01'} {'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'dd010102f8'} {'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'f113'} {'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'data': b'\xf1\x13JX7T-19H406-CH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', 'hex': 'f1134a5837542d3139483430362d434800000000000000000000'} {'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'fd08'} {'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'fd0800000500500100300000000000000000000000300000000000000000200100400300100200001200f00300500000000000000300c00b00400200000000000000000000000000000000200f01201e01501400a00200200400700d02501d01700700e06405005e05503401100a000000002002002001000000'} {'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'fd09'} {'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'fd09ffec0001fef60002'} {'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de00'} {'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de00020799dbaa10296516a440000000000000000000000000'} {'addr': 1798, 'type': 'request', 'service': 'READ_DTC_INFORMATION', 'hex': '028f'} {'addr': 1806, 'type': 'positive_response', 'service': 'READ_DTC_INFORMATION', 'hex': '02ff50019768c253002cc401862cc418862c'} ... skip DTC requests ... {'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de00'} {'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de00020799dbaa10296516a440000000000000000000000000'} {'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de01'} {'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de01fd5616db5fffff557fe1f842080000000800000008000000080000000819bfe00f7c00000000000000000000000000000000'} {'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de02'} {'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de02800000008000000080000000800000008337fc00800000008000000080000000800000008337fc0000000000000000000000'} {'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de03'} {'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de03fffc26c3800000000000'} {'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de04'} {'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de04546a8c0000000000'} {'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de05'} {'addr': 1806, 'type': 'negative_response', 'hex': '2231'} {'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de06'} {'addr': 1806, 'type': 'negative_response', 'hex': '2231'} {'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de07'} {'addr': 1806, 'type': 'negative_response', 'hex': '2231'} {'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de08'} {'addr': 1806, 'type': 'negative_response', 'hex': '2231'} {'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de09'} {'addr': 1806, 'type': 'negative_response', 'hex': '2231'} {'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de0a'} {'addr': 1806, 'type': 'negative_response', 'hex': '2231'} {'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de0b'} {'addr': 1806, 'type': 'negative_response', 'hex': '2231'} {'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de0c'} {'addr': 1806, 'type': 'negative_response', 'hex': '2231'} {'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de0d'} {'addr': 1806, 'type': 'negative_response', 'hex': '2231'} {'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de0e'} {'addr': 1806, 'type': 'negative_response', 'hex': '2231'} </pre> </details> Using UDS service `READ_DATA_BY_IDENTIFIER`, we can read the As-Built blocks from `0xDExx` with no diagnostic session/security access necessary. I used [Online As-Built databases](https://cyanlabs.net/asbuilt-db/) and various coding spreadsheets shared online to find values we might be interested in using for fingerprinting (both vehicle parameters and identifying the platform). ABS: - Payload tier (Base, Mid Payload Upgrade, Heavy Duty Payload Upgrade...) - Wheelbase - Steering ratio - Cruise Control Mode (Normal, Adaptive) - Enable Stop and Go PSCM: - Enable Lane Keeping Aid - Enable Traffic Jam Assist - Enable Lane Centering Assist IPMA (Q4): - Steering ratio - Wheelbase APIM (Sync 3 and Sync 4): - Steering ratio - Vehicle weight - Wheelbase There are more potentially useful signals which I haven't included although they might not be necessary: - Vehicle (Ford platform code, like "C344" or "C519" - although the source of the mapping from index to code is FORScan and not Ford themselves unless we can find a better source). - Fuel type - Vehicle length/height/front track/rear track - Tire circumference (could be useful for converting wheel speed rad/s to m/s) - Steering angle source (Pinion, Wheel) - Country code (letters, e.g. US, CA or UK) - Transmission type - CAN network architecture - More feature flags (the APIM also stores settings for ACC, LCA, BLIS) The full list of settings I have found is [here](https://github.com/incognitojam/op-notebooks/blob/main/ford/settings.py). * FwQueryConfig: add data_requests * add car_data to CarInterface get_params * Revert "add car_data to CarInterface get_params" This reverts commit `aa161a6b82`. * test_ford: add APIM ecu address * Revert "FwQueryConfig: add data_requests" This reverts commit `dc5484a9b8`. * fix block numbers and add extra queries * bump test_fw_query_timing * add missing query whitelists * simplify asbuilt requests * use forscan block ids * formatting --------- Co-authored-by: Shane Smiskol <shane@smiskol.com>		2 years ago
..
.gitignore	selfdrive/car	6 years ago
__init__.py	Cache FW query (#1025 )	6 years ago
big_cars_test.sh	add cd for jenkins replacement scripts (#31355 )	2 years ago
routes.py	use pyupgrade to update to new typing syntax (#31580 )	2 years ago
test_can_fingerprint.py	Update Python packages and pre-commit hooks (#29974 )	2 years ago
test_car_interfaces.py	Toyota: only read gas interceptor if we're using it (#31473 )	2 years ago
test_docs.py	use pyupgrade to update to new typing syntax (#31580 )	2 years ago
test_fingerprints.py	use pyupgrade to update to new typing syntax (#31580 )	2 years ago
test_fw_fingerprint.py	Ford: log interesting module configuration data (#31569 )	2 years ago
test_lateral_limits.py	use pyupgrade to update to new typing syntax (#31580 )	2 years ago
test_models.py	use pyupgrade to update to new typing syntax (#31580 )	2 years ago
test_models_segs.txt	HKG CAN FD: Merge Sorento Plug-in Hybrid and Hybrid (#31241 )	2 years ago