Toyota: remove unecessary ECUs for fingerprinting (commaai#32235)

* remove some ecus

* missing doc

* fix

* fix

* clean up

* update refs

* rm

selfdrive/car/tests/test_fw_fingerprint.py

@@ -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
@@ -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,
@@ -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: {

selfdrive/car/toyota/values.py

@@ -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,
  ),
  ],
@@ -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,