250 lines
7.8 KiB
Python
Executable file
250 lines
7.8 KiB
Python
Executable file
#!/usr/bin/env python3
|
|
import traceback
|
|
import struct
|
|
from tqdm import tqdm
|
|
|
|
from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
|
|
from selfdrive.swaglog import cloudlog
|
|
from selfdrive.car.fingerprints import get_attr_from_cars, FW_VERSIONS
|
|
from selfdrive.car.toyota.values import CAR as TOYOTA
|
|
import panda.python.uds as uds
|
|
|
|
from cereal import car
|
|
Ecu = car.CarParams.Ecu
|
|
|
|
|
|
def p16(val):
|
|
return struct.pack("!H", val)
|
|
|
|
|
|
TESTER_PRESENT_REQUEST = bytes([uds.SERVICE_TYPE.TESTER_PRESENT, 0x0])
|
|
TESTER_PRESENT_RESPONSE = bytes([uds.SERVICE_TYPE.TESTER_PRESENT + 0x40, 0x0])
|
|
|
|
SHORT_TESTER_PRESENT_REQUEST = bytes([uds.SERVICE_TYPE.TESTER_PRESENT])
|
|
SHORT_TESTER_PRESENT_RESPONSE = bytes([uds.SERVICE_TYPE.TESTER_PRESENT + 0x40])
|
|
|
|
DEFAULT_DIAGNOSTIC_REQUEST = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL,
|
|
uds.SESSION_TYPE.DEFAULT])
|
|
DEFAULT_DIAGNOSTIC_RESPONSE = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40,
|
|
uds.SESSION_TYPE.DEFAULT, 0x0, 0x32, 0x1, 0xf4])
|
|
|
|
EXTENDED_DIAGNOSTIC_REQUEST = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL,
|
|
uds.SESSION_TYPE.EXTENDED_DIAGNOSTIC])
|
|
EXTENDED_DIAGNOSTIC_RESPONSE = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40,
|
|
uds.SESSION_TYPE.EXTENDED_DIAGNOSTIC, 0x0, 0x32, 0x1, 0xf4])
|
|
|
|
UDS_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
|
|
p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION)
|
|
UDS_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
|
|
p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION)
|
|
|
|
|
|
HYUNDAI_VERSION_REQUEST_SHORT = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
|
|
p16(0xf1a0) # 4 Byte version number
|
|
HYUNDAI_VERSION_REQUEST_LONG = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
|
|
p16(0xf100) # 4 Byte version number
|
|
HYUNDAI_VERSION_REQUEST_MULTI = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
|
|
p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_SPARE_PART_NUMBER) + \
|
|
p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION) + \
|
|
p16(0xf100) + \
|
|
p16(0xf1a0) # 4 Byte version number
|
|
HYUNDAI_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40])
|
|
|
|
|
|
TOYOTA_VERSION_REQUEST = b'\x1a\x88\x01'
|
|
TOYOTA_VERSION_RESPONSE = b'\x5a\x88\x01'
|
|
|
|
OBD_VERSION_REQUEST = b'\x09\x04'
|
|
OBD_VERSION_RESPONSE = b'\x49\x04'
|
|
|
|
|
|
# supports subaddressing, request, response
|
|
REQUESTS = [
|
|
# Hundai
|
|
(
|
|
"hyundai",
|
|
[HYUNDAI_VERSION_REQUEST_SHORT],
|
|
[HYUNDAI_VERSION_RESPONSE],
|
|
),
|
|
(
|
|
"hyundai",
|
|
[HYUNDAI_VERSION_REQUEST_LONG],
|
|
[HYUNDAI_VERSION_RESPONSE],
|
|
),
|
|
(
|
|
"hyundai",
|
|
[HYUNDAI_VERSION_REQUEST_MULTI],
|
|
[HYUNDAI_VERSION_RESPONSE],
|
|
),
|
|
# Honda
|
|
(
|
|
"honda",
|
|
[UDS_VERSION_REQUEST],
|
|
[UDS_VERSION_RESPONSE],
|
|
),
|
|
# Toyota
|
|
(
|
|
"toyota",
|
|
[SHORT_TESTER_PRESENT_REQUEST, TOYOTA_VERSION_REQUEST],
|
|
[SHORT_TESTER_PRESENT_RESPONSE, TOYOTA_VERSION_RESPONSE],
|
|
),
|
|
(
|
|
"toyota",
|
|
[SHORT_TESTER_PRESENT_REQUEST, OBD_VERSION_REQUEST],
|
|
[SHORT_TESTER_PRESENT_RESPONSE, OBD_VERSION_RESPONSE],
|
|
),
|
|
(
|
|
"toyota",
|
|
[TESTER_PRESENT_REQUEST, DEFAULT_DIAGNOSTIC_REQUEST, EXTENDED_DIAGNOSTIC_REQUEST, UDS_VERSION_REQUEST],
|
|
[TESTER_PRESENT_RESPONSE, DEFAULT_DIAGNOSTIC_RESPONSE, EXTENDED_DIAGNOSTIC_RESPONSE, UDS_VERSION_RESPONSE],
|
|
)
|
|
]
|
|
|
|
|
|
def chunks(l, n=128):
|
|
for i in range(0, len(l), n):
|
|
yield l[i:i + n]
|
|
|
|
|
|
def match_fw_to_car(fw_versions):
|
|
candidates = FW_VERSIONS
|
|
invalid = []
|
|
|
|
fw_versions_dict = {}
|
|
for fw in fw_versions:
|
|
addr = fw.address
|
|
sub_addr = fw.subAddress if fw.subAddress != 0 else None
|
|
fw_versions_dict[(addr, sub_addr)] = fw.fwVersion
|
|
|
|
for candidate, fws in candidates.items():
|
|
for ecu, expected_versions in fws.items():
|
|
ecu_type = ecu[0]
|
|
addr = ecu[1:]
|
|
found_version = fw_versions_dict.get(addr, None)
|
|
ESSENTIAL_ECUS = [Ecu.engine, Ecu.eps, Ecu.esp, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.vsa, Ecu.electricBrakeBooster]
|
|
if ecu_type == Ecu.esp and candidate in [TOYOTA.RAV4, TOYOTA.COROLLA, TOYOTA.HIGHLANDER] and found_version is None:
|
|
continue
|
|
|
|
# TODO: COROLLA_TSS2 engine can show on two different addresses
|
|
if ecu_type == Ecu.engine and candidate in [TOYOTA.COROLLA_TSS2, TOYOTA.CHR] and found_version is None:
|
|
continue
|
|
|
|
# ignore non essential ecus
|
|
if ecu_type not in ESSENTIAL_ECUS and found_version is None:
|
|
continue
|
|
|
|
if found_version not in expected_versions:
|
|
invalid.append(candidate)
|
|
break
|
|
|
|
return set(candidates.keys()) - set(invalid)
|
|
|
|
|
|
def get_fw_versions(logcan, sendcan, bus, extra=None, timeout=0.1, debug=False, progress=False):
|
|
ecu_types = {}
|
|
|
|
# Extract ECU adresses to query from fingerprints
|
|
# ECUs using a subadress need be queried one by one, the rest can be done in parallel
|
|
addrs = []
|
|
parallel_addrs = []
|
|
|
|
versions = get_attr_from_cars('FW_VERSIONS', combine_brands=False)
|
|
if extra is not None:
|
|
versions.update(extra)
|
|
|
|
for brand, brand_versions in versions.items():
|
|
for c in brand_versions.values():
|
|
for ecu_type, addr, sub_addr in c.keys():
|
|
a = (brand, addr, sub_addr)
|
|
if a not in ecu_types:
|
|
ecu_types[(addr, sub_addr)] = ecu_type
|
|
|
|
if sub_addr is None:
|
|
if a not in parallel_addrs:
|
|
parallel_addrs.append(a)
|
|
else:
|
|
if [a] not in addrs:
|
|
addrs.append([a])
|
|
|
|
addrs.insert(0, parallel_addrs)
|
|
|
|
fw_versions = {}
|
|
for i, addr in enumerate(tqdm(addrs, disable=not progress)):
|
|
for addr_chunk in chunks(addr):
|
|
for brand, request, response in REQUESTS:
|
|
try:
|
|
addrs = [(a, s) for (b, a, s) in addr_chunk if b in (brand, 'any')]
|
|
|
|
if addrs:
|
|
query = IsoTpParallelQuery(sendcan, logcan, bus, addrs, request, response, debug=debug)
|
|
t = 2 * timeout if i == 0 else timeout
|
|
fw_versions.update(query.get_data(t))
|
|
except Exception:
|
|
cloudlog.warning(f"FW query exception: {traceback.format_exc()}")
|
|
|
|
# Build capnp list to put into CarParams
|
|
car_fw = []
|
|
for addr, version in fw_versions.items():
|
|
f = car.CarParams.CarFw.new_message()
|
|
|
|
f.ecu = ecu_types[addr]
|
|
f.fwVersion = version
|
|
f.address = addr[0]
|
|
|
|
if addr[1] is not None:
|
|
f.subAddress = addr[1]
|
|
|
|
car_fw.append(f)
|
|
|
|
return car_fw
|
|
|
|
|
|
if __name__ == "__main__":
|
|
import time
|
|
import argparse
|
|
import cereal.messaging as messaging
|
|
from selfdrive.car.vin import get_vin
|
|
|
|
parser = argparse.ArgumentParser(description='Get firmware version of ECUs')
|
|
parser.add_argument('--scan', action='store_true')
|
|
parser.add_argument('--debug', action='store_true')
|
|
args = parser.parse_args()
|
|
|
|
logcan = messaging.sub_sock('can')
|
|
sendcan = messaging.pub_sock('sendcan')
|
|
|
|
extra = None
|
|
if args.scan:
|
|
extra = {}
|
|
# Honda
|
|
for i in range(256):
|
|
extra[(Ecu.unknown, 0x18da00f1 + (i << 8), None)] = []
|
|
extra[(Ecu.unknown, 0x700 + i, None)] = []
|
|
extra[(Ecu.unknown, 0x750, i)] = []
|
|
extra = {"any": {"debug": extra}}
|
|
|
|
time.sleep(1.)
|
|
|
|
t = time.time()
|
|
print("Getting vin...")
|
|
addr, vin = get_vin(logcan, sendcan, 1, retry=10, debug=args.debug)
|
|
print(f"VIN: {vin}")
|
|
print("Getting VIN took %.3f s" % (time.time() - t))
|
|
print()
|
|
|
|
t = time.time()
|
|
fw_vers = get_fw_versions(logcan, sendcan, 1, extra=extra, debug=args.debug, progress=True)
|
|
candidates = match_fw_to_car(fw_vers)
|
|
|
|
print()
|
|
print("Found FW versions")
|
|
print("{")
|
|
for version in fw_vers:
|
|
subaddr = None if version.subAddress == 0 else hex(version.subAddress)
|
|
print(f" (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}]")
|
|
print("}")
|
|
|
|
print()
|
|
print("Possible matches:", candidates)
|
|
print("Getting fw took %.3f s" % (time.time() - t))
|