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119 lines
5.0 KiB
119 lines
5.0 KiB
import copy
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from dataclasses import dataclass, field
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import struct
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from collections.abc import Callable
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import panda.python.uds as uds
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from openpilot.selfdrive.car.structs import CarParams
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AddrType = tuple[int, int | None]
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EcuAddrBusType = tuple[int, int | None, int]
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EcuAddrSubAddr = tuple[CarParams.Ecu, int, int | None]
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LiveFwVersions = dict[AddrType, set[bytes]]
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OfflineFwVersions = dict[str, dict[EcuAddrSubAddr, list[bytes]]]
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# A global list of addresses we will only ever consider for VIN responses
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# engine, hybrid controller, Ford abs, Hyundai CAN FD cluster, 29-bit engine, PGM-FI
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# TODO: move these to each brand's FW query config
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STANDARD_VIN_ADDRS = [0x7e0, 0x7e2, 0x760, 0x7c6, 0x18da10f1, 0x18da0ef1]
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def p16(val):
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return struct.pack("!H", val)
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class StdQueries:
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# FW queries
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TESTER_PRESENT_REQUEST = bytes([uds.SERVICE_TYPE.TESTER_PRESENT, 0x0])
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TESTER_PRESENT_RESPONSE = bytes([uds.SERVICE_TYPE.TESTER_PRESENT + 0x40, 0x0])
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SHORT_TESTER_PRESENT_REQUEST = bytes([uds.SERVICE_TYPE.TESTER_PRESENT])
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SHORT_TESTER_PRESENT_RESPONSE = bytes([uds.SERVICE_TYPE.TESTER_PRESENT + 0x40])
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DEFAULT_DIAGNOSTIC_REQUEST = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL,
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uds.SESSION_TYPE.DEFAULT])
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DEFAULT_DIAGNOSTIC_RESPONSE = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40,
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uds.SESSION_TYPE.DEFAULT, 0x0, 0x32, 0x1, 0xf4])
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EXTENDED_DIAGNOSTIC_REQUEST = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL,
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uds.SESSION_TYPE.EXTENDED_DIAGNOSTIC])
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EXTENDED_DIAGNOSTIC_RESPONSE = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40,
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uds.SESSION_TYPE.EXTENDED_DIAGNOSTIC, 0x0, 0x32, 0x1, 0xf4])
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MANUFACTURER_SOFTWARE_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
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p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER)
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MANUFACTURER_SOFTWARE_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
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p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER)
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SUPPLIER_SOFTWARE_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
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p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_VERSION_NUMBER)
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SUPPLIER_SOFTWARE_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
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p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_VERSION_NUMBER)
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UDS_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
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p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION)
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UDS_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
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p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION)
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OBD_VERSION_REQUEST = b'\x09\x04'
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OBD_VERSION_RESPONSE = b'\x49\x04'
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# VIN queries
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OBD_VIN_REQUEST = b'\x09\x02'
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OBD_VIN_RESPONSE = b'\x49\x02\x01'
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UDS_VIN_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + p16(uds.DATA_IDENTIFIER_TYPE.VIN)
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UDS_VIN_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + p16(uds.DATA_IDENTIFIER_TYPE.VIN)
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GM_VIN_REQUEST = b'\x1a\x90'
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GM_VIN_RESPONSE = b'\x5a\x90'
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KWP_VIN_REQUEST = b'\x21\x81'
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KWP_VIN_RESPONSE = b'\x61\x81'
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@dataclass
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class Request:
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request: list[bytes]
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response: list[bytes]
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whitelist_ecus: list[CarParams.Ecu] = field(default_factory=list)
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rx_offset: int = 0x8
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bus: int = 1
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# Whether this query should be run on the first auxiliary panda (CAN FD cars for example)
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auxiliary: bool = False
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# FW responses from these queries will not be used for fingerprinting
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logging: bool = False
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# pandad toggles OBD multiplexing on/off as needed
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obd_multiplexing: bool = True
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@dataclass
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class FwQueryConfig:
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requests: list[Request]
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# TODO: make this automatic and remove hardcoded lists, or do fingerprinting with ecus
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# Overrides and removes from essential ecus for specific models and ecus (exact matching)
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non_essential_ecus: dict[CarParams.Ecu, list[str]] = field(default_factory=dict)
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# Ecus added for data collection, not to be fingerprinted on
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extra_ecus: list[tuple[CarParams.Ecu, int, int | None]] = field(default_factory=list)
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# Function a brand can implement to provide better fuzzy matching. Takes in FW versions and VIN,
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# returns set of candidates. Only will match if one candidate is returned
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match_fw_to_car_fuzzy: Callable[[LiveFwVersions, str, OfflineFwVersions], set[str]] | None = None
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def __post_init__(self):
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for i in range(len(self.requests)):
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if self.requests[i].auxiliary:
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new_request = copy.deepcopy(self.requests[i])
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new_request.bus += 4
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self.requests.append(new_request)
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def get_all_ecus(self, offline_fw_versions: OfflineFwVersions,
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include_extra_ecus: bool = True) -> set[EcuAddrSubAddr]:
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# Add ecus in database + extra ecus
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brand_ecus = {ecu for ecus in offline_fw_versions.values() for ecu in ecus}
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if include_extra_ecus:
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brand_ecus |= set(self.extra_ecus)
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return brand_ecus
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