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VW MQB: UDS fingerprinting support (#20271) 

* FPv2 support for MQB

* Comment touch-ups

* Trim extra newlines

* Add Atlas and Tiguan

* Update submodule ref

* Revert "Add Atlas and Tiguan"

This reverts commit a47bc1bca7.

* Curb my enthusiasm

* Drop ABS/ESP from UDS fingerprinting for now

* Use multi-query to grab SW build ID and parameterization

* Resolve merge oops

* Resolve merge conflicts

* Make Ecu.fwdCamera optional for VW

* Where'd that come from?

* Propitiate process replay checks until ready for model dump

* FW values for Audi A3 Prestige

* Revert "Make Ecu.fwdCamera optional for VW"

This reverts commit 56852b99

* Don't try to FP fwdCamera for VW

* Remove FW comments

* Simplify RX offset handling

* Corrected scoping for MQB trans detection

* Add default response_offset

* Remove explicit list of MQB vehicles for now

* Deal with pylint warning

* Clarify and simplify comments

Co-authored-by: Comma Device <device@comma.ai>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
pull/20478/head
Jason Young 2021-03-25 19:06:59 -04:00 committed by GitHub
parent 4d377851a3
commit e7fc11c7fb
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GPG Key ID: 4AEE18F83AFDEB23
4 changed files with 109 additions and 34 deletions
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38
selfdrive/car/fw_versions.py
View File

@ -56,50 +56,78 @@ HYUNDAI_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x4
TOYOTA_VERSION_REQUEST = b'\x1a\x88\x01'
TOYOTA_VERSION_RESPONSE = b'\x5a\x88\x01'
VOLKSWAGEN_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.VEHICLE_MANUFACTURER_ECU_SOFTWARE_VERSION_NUMBER) + \
p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION)
VOLKSWAGEN_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40])
OBD_VERSION_REQUEST = b'\x09\x04'
OBD_VERSION_RESPONSE = b'\x49\x04'
DEFAULT_RX_OFFSET = 0x8
VOLKSWAGEN_RX_OFFSET = 0x6a
# supports subaddressing, request, response
# brand, request, response, response offset
REQUESTS = [
# Hundai
# Hyundai
(
"hyundai",
[HYUNDAI_VERSION_REQUEST_SHORT],
[HYUNDAI_VERSION_RESPONSE],
DEFAULT_RX_OFFSET,
),
(
"hyundai",
[HYUNDAI_VERSION_REQUEST_LONG],
[HYUNDAI_VERSION_RESPONSE],
DEFAULT_RX_OFFSET,
),
(
"hyundai",
[HYUNDAI_VERSION_REQUEST_MULTI],
[HYUNDAI_VERSION_RESPONSE],
DEFAULT_RX_OFFSET,
),
# Honda
(
"honda",
[UDS_VERSION_REQUEST],
[UDS_VERSION_RESPONSE],
DEFAULT_RX_OFFSET,
),
# Toyota
(
"toyota",
[SHORT_TESTER_PRESENT_REQUEST, TOYOTA_VERSION_REQUEST],
[SHORT_TESTER_PRESENT_RESPONSE, TOYOTA_VERSION_RESPONSE],
DEFAULT_RX_OFFSET,
),
(
"toyota",
[SHORT_TESTER_PRESENT_REQUEST, OBD_VERSION_REQUEST],
[SHORT_TESTER_PRESENT_RESPONSE, OBD_VERSION_RESPONSE],
DEFAULT_RX_OFFSET,
),
(
"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],
)
DEFAULT_RX_OFFSET,
),
# Volkswagen
(
"volkswagen",
[VOLKSWAGEN_VERSION_REQUEST_MULTI],
[VOLKSWAGEN_VERSION_RESPONSE],
VOLKSWAGEN_RX_OFFSET,
),
(
"volkswagen",
[VOLKSWAGEN_VERSION_REQUEST_MULTI],
[VOLKSWAGEN_VERSION_RESPONSE],
DEFAULT_RX_OFFSET,
),
]
@ -173,12 +201,12 @@ def get_fw_versions(logcan, sendcan, bus, extra=None, timeout=0.1, debug=False,
fw_versions = {}
for i, addr in enumerate(tqdm(addrs, disable=not progress)):
for addr_chunk in chunks(addr):
for brand, request, response in REQUESTS:
for brand, request, response, response_offset 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)
query = IsoTpParallelQuery(sendcan, logcan, bus, addrs, request, response, response_offset, debug=debug)
t = 2 * timeout if i == 0 else timeout
fw_versions.update(query.get_data(t))
except Exception:

4
selfdrive/car/isotp_parallel_query.py
View File

@ -9,7 +9,7 @@ from panda.python.uds import CanClient, IsoTpMessage, FUNCTIONAL_ADDRS, get_rx_a
class IsoTpParallelQuery():
def __init__(self, sendcan, logcan, bus, addrs, request, response, functional_addr=False, debug=False):
def __init__(self, sendcan, logcan, bus, addrs, request, response, response_offset=0x8, functional_addr=False, debug=False):
self.sendcan = sendcan
self.logcan = logcan
self.bus = bus
@ -25,7 +25,7 @@ class IsoTpParallelQuery():
else:
self.real_addrs.append((a, None))
self.msg_addrs = {tx_addr: get_rx_addr_for_tx_addr(tx_addr[0]) for tx_addr in self.real_addrs}
self.msg_addrs = {tx_addr: get_rx_addr_for_tx_addr(tx_addr[0], rx_offset=response_offset) for tx_addr in self.real_addrs}
self.msg_buffer = defaultdict(list)
def rx(self):

53
selfdrive/car/volkswagen/interface.py
View File

@ -25,42 +25,47 @@ class CarInterface(CarInterfaceBase):
# VW port is a community feature, since we don't own one to test
ret.communityFeature = True
if candidate in [CAR.GOLF, CAR.AUDI_A3]:
if True: # pylint: disable=using-constant-test
# Set common MQB parameters that will apply globally
ret.carName = "volkswagen"
ret.radarOffCan = True
ret.safetyModel = car.CarParams.SafetyModel.volkswagen
ret.steerActuatorDelay = 0.05
# Additional common MQB parameters that may be overridden per-vehicle
ret.steerRateCost = 1.0
ret.steerActuatorDelay = 0.05 # Hopefully all MQB racks are similar here
ret.steerLimitTimer = 0.4
if 0xAD in fingerprint[0]:
# Getriebe_11 detected: traditional automatic or DSG gearbox
ret.transmissionType = TransmissionType.automatic
elif 0x187 in fingerprint[0]:
# EV_Gearshift detected: e-Golf or similar direct-drive electric
ret.transmissionType = TransmissionType.direct
else:
# No trans message at all, must be a true stick-shift manual
ret.transmissionType = TransmissionType.manual
cloudlog.info("Detected transmission type: %s", ret.transmissionType)
ret.lateralTuning.pid.kpBP = [0.]
ret.lateralTuning.pid.kiBP = [0.]
# Global tuning defaults, can be overridden per-vehicle
ret.steerRateCost = 1.0
ret.steerLimitTimer = 0.4
ret.steerRatio = 15.6 # Let the params learner figure this out
tire_stiffness_factor = 1.0 # Let the params learner figure this out
ret.lateralTuning.pid.kpBP = [0.]
ret.lateralTuning.pid.kiBP = [0.]
ret.lateralTuning.pid.kf = 0.00006
ret.lateralTuning.pid.kpV = [0.6]
ret.lateralTuning.pid.kiV = [0.2]
# Per-chassis tuning values, override tuning defaults here if desired
if candidate in [CAR.AUDI_A3, CAR.GOLF]:
# Temporarily carry forward old tuning values while we test vehicle identification
ret.mass = 1500 + STD_CARGO_KG
ret.wheelbase = 2.64
ret.centerToFront = ret.wheelbase * 0.45
ret.steerRatio = 15.6
ret.lateralTuning.pid.kf = 0.00006
ret.lateralTuning.pid.kpV = [0.6]
ret.lateralTuning.pid.kiV = [0.2]
tire_stiffness_factor = 1.0
ret.centerToFront = ret.wheelbase * 0.45
ret.enableCamera = True # Stock camera detection doesn't apply to VW
if 0xAD in fingerprint[0]:
# Getriebe_11 detected: traditional automatic or DSG gearbox
ret.transmissionType = TransmissionType.automatic
elif 0x187 in fingerprint[0]:
# EV_Gearshift detected: e-Golf or similar direct-drive electric
ret.transmissionType = TransmissionType.direct
else:
# No trans message at all, must be a true stick-shift manual
ret.transmissionType = TransmissionType.manual
cloudlog.info("Detected transmission type: %s", ret.transmissionType)
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)

48
selfdrive/car/volkswagen/values.py
View File

@ -1,7 +1,8 @@
# flake8: noqa
from cereal import car
from selfdrive.car import dbc_dict
from cereal import car
Ecu = car.CarParams.Ecu
class CarControllerParams:
HCA_STEP = 2 # HCA_01 message frequency 50Hz
@ -49,9 +50,13 @@ MQB_LDW_MESSAGES = {
"laneAssistDeactivated": 10, # "Lane Assist deactivated." silent with persistent icon afterward
}
# Check the 7th and 8th characters of the VIN before adding a new CAR. If the
# chassis code is already listed below, don't add a new CAR, just add to the
# FW_VERSIONS for that existing CAR.
class CAR:
GOLF = "VOLKSWAGEN GOLF"
AUDI_A3 = "AUDI A3"
GOLF = "VOLKSWAGEN GOLF" # Chassis 5G/AU/BA/BE, Mk7 VW Golf and variants
AUDI_A3 = "AUDI A3" # Chassis 8V/FF, Mk3 Audi A3 and variants
FINGERPRINTS = {
CAR.GOLF: [{
@ -62,6 +67,43 @@ FINGERPRINTS = {
}],
}
FW_VERSIONS = {
CAR.AUDI_A3: {
(Ecu.engine, 0x7e0, None): [
b'\xf1\x875G0906259L \xf1\x890002',
],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x870D9300013B \xf1\x894931',
],
(Ecu.srs, 0x715, None): [
b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\023121111111211--261117141112231291163221',
],
(Ecu.eps, 0x712, None): [
b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\00521G00807A1',
],
(Ecu.fwdRadar, 0x757, None): [
b'\xf1\x875Q0907572G \xf1\x890571',
],
},
CAR.GOLF: {
(Ecu.engine, 0x7e0, None): [
b'\xf1\x878V0906259P \xf1\x890001',
],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x870GC300012A \xf1\x891403',
],
(Ecu.srs, 0x715, None): [
b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13271212111312--071104171838103891131211',
],
(Ecu.eps, 0x712, None): [
b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571A0JA15A1',
],
(Ecu.fwdRadar, 0x757, None): [
b'\xf1\x875Q0907572J \xf1\x890654',
],
}
}
DBC = {
CAR.GOLF: dbc_dict('vw_mqb_2010', None),
CAR.AUDI_A3: dbc_dict('vw_mqb_2010', None),