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Toyota: remove unecessary ECUs for fingerprinting #32235

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merged 7 commits into from
Apr 17, 2024
Merged

Toyota: remove unecessary ECUs for fingerprinting #32235

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fb29363
remove some ecus
sshane Apr 17, 2024
a699b31
missing doc
sshane Apr 17, 2024
360d5d6
fix
sshane Apr 17, 2024
5c66b37
fix
sshane Apr 17, 2024
7340496
clean up
sshane Apr 17, 2024
6ef3fde
update refs
sshane Apr 17, 2024
b2030a4
rm
sshane Apr 17, 2024
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6 changes: 3 additions & 3 deletions selfdrive/car/tests/test_fw_fingerprint.py
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Original file line number Diff line number Diff line change
Expand Up @@ -245,7 +245,7 @@ def _assert_timing(self, avg_time, ref_time):
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
Expand All @@ -271,7 +271,7 @@ def fake_get_ecu_addrs(*_, timeout):
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,
Expand All @@ -284,7 +284,7 @@ def test_fw_query_timing(self):
'nissan': 0.8,
'subaru': 0.65,
'tesla': 0.3,
'toyota': 1.6,
'toyota': 0.7,
'volkswagen': 0.65,
},
2: {
Expand Down
28 changes: 11 additions & 17 deletions selfdrive/car/toyota/values.py
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Original file line number Diff line number Diff line change
Expand Up @@ -494,22 +494,20 @@ def match_fw_to_car_fuzzy(live_fw_versions, vin, offline_fw_versions) -> set[str
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,
),
],
Expand All @@ -523,33 +521,29 @@ def match_fw_to_car_fuzzy(live_fw_versions, vin, offline_fw_versions) -> set[str
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,
Expand Down
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