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Toyota: remove unecessary ECUs for fingerprinting (#32235)

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* remove some ecus

* missing doc

* fix

* fix

* clean up

* update refs

* rm
This commit is contained in:
Shane Smiskol
2024-04-17 00:09:20 -07:00
committed by GitHub
parent 3d0f9fb18f
commit 5d0dc2ded2
2 changed files with 14 additions and 20 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/car/tests/test_fw_fingerprint.py
+3 -3
View File
@@ -245,7 +245,7 @@ class TestFwFingerprintTiming(unittest.TestCase):
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 @@ class TestFwFingerprintTiming(unittest.TestCase):
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 @@ class TestFwFingerprintTiming(unittest.TestCase):
'nissan': 0.8,
'subaru': 0.65,
'tesla': 0.3,
'toyota': 1.6,
'toyota': 0.7,
'volkswagen': 0.65,
},
2: {
selfdrive/car/toyota/values.py
+11 -17
View File
@@ -494,22 +494,20 @@ FW_QUERY_CONFIG = FwQueryConfig(
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 @@ FW_QUERY_CONFIG = FwQueryConfig(
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,