You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
81 lines
2.8 KiB
81 lines
2.8 KiB
#!/usr/bin/env python3
|
|
import unittest
|
|
from parameterized import parameterized
|
|
from collections.abc import Iterable
|
|
|
|
import capnp
|
|
|
|
from cereal import car
|
|
from openpilot.selfdrive.car.ford.values import FW_QUERY_CONFIG
|
|
from openpilot.selfdrive.car.ford.fingerprints import FW_VERSIONS
|
|
|
|
Ecu = car.CarParams.Ecu
|
|
|
|
|
|
ECU_ADDRESSES = {
|
|
Ecu.eps: 0x730, # Power Steering Control Module (PSCM)
|
|
Ecu.abs: 0x760, # Anti-Lock Brake System (ABS)
|
|
Ecu.fwdRadar: 0x764, # Cruise Control Module (CCM)
|
|
Ecu.fwdCamera: 0x706, # Image Processing Module A (IPMA)
|
|
Ecu.engine: 0x7E0, # Powertrain Control Module (PCM)
|
|
Ecu.shiftByWire: 0x732, # Gear Shift Module (GSM)
|
|
}
|
|
|
|
|
|
ECU_FW_CORE = {
|
|
Ecu.eps: [
|
|
b"14D003",
|
|
],
|
|
Ecu.abs: [
|
|
b"2D053",
|
|
],
|
|
Ecu.fwdRadar: [
|
|
b"14D049",
|
|
],
|
|
Ecu.fwdCamera: [
|
|
b"14F397", # Ford Q3
|
|
b"14H102", # Ford Q4
|
|
],
|
|
Ecu.engine: [
|
|
b"14C204",
|
|
],
|
|
}
|
|
|
|
|
|
class TestFordFW(unittest.TestCase):
|
|
def test_fw_query_config(self):
|
|
for (ecu, addr, subaddr) in FW_QUERY_CONFIG.extra_ecus:
|
|
self.assertIn(ecu, ECU_ADDRESSES, "Unknown ECU")
|
|
self.assertEqual(addr, ECU_ADDRESSES[ecu], "ECU address mismatch")
|
|
self.assertIsNone(subaddr, "Unexpected ECU subaddress")
|
|
|
|
@parameterized.expand(FW_VERSIONS.items())
|
|
def test_fw_versions(self, car_model: str, fw_versions: dict[tuple[capnp.lib.capnp._EnumModule, int, int | None], Iterable[bytes]]):
|
|
for (ecu, addr, subaddr), fws in fw_versions.items():
|
|
self.assertIn(ecu, ECU_FW_CORE, "Unexpected ECU")
|
|
self.assertEqual(addr, ECU_ADDRESSES[ecu], "ECU address mismatch")
|
|
self.assertIsNone(subaddr, "Unexpected ECU subaddress")
|
|
|
|
# Software part number takes the form: PREFIX-CORE-SUFFIX
|
|
# Prefix changes based on the family of part. It includes the model year
|
|
# and likely the platform.
|
|
# Core identifies the type of the item (e.g. 14D003 = PSCM, 14C204 = PCM).
|
|
# Suffix specifies the version of the part. -AA would be followed by -AB.
|
|
# Small increments in the suffix are usually compatible.
|
|
# Details: https://forscan.org/forum/viewtopic.php?p=70008#p70008
|
|
for fw in fws:
|
|
self.assertEqual(len(fw), 24, "Expected ECU response to be 24 bytes")
|
|
|
|
# TODO: parse with regex, don't need detailed error message
|
|
fw_parts = fw.rstrip(b'\x00').split(b'-')
|
|
self.assertEqual(len(fw_parts), 3, "Expected FW to be in format: prefix-core-suffix")
|
|
|
|
prefix, core, suffix = fw_parts
|
|
self.assertEqual(len(prefix), 4, "Expected FW prefix to be 4 characters")
|
|
self.assertIn(len(core), (5, 6), "Expected FW core to be 5-6 characters")
|
|
self.assertIn(core, ECU_FW_CORE[ecu], f"Unexpected FW core for {ecu}")
|
|
self.assertIn(len(suffix), (2, 3), "Expected FW suffix to be 2-3 characters")
|
|
|
|
|
|
if __name__ == "__main__":
|
|
unittest.main()
|
|
|