396 lines
13 KiB
Python
Executable File
396 lines
13 KiB
Python
Executable File
#!/usr/bin/env python3
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import struct
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import traceback
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from typing import Any
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from collections import defaultdict
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from tqdm import tqdm
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import panda.python.uds as uds
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from cereal import car
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from selfdrive.car.fingerprints import FW_VERSIONS, get_attr_from_cars
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from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
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from selfdrive.car.toyota.values import CAR as TOYOTA
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from selfdrive.swaglog import cloudlog
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Ecu = car.CarParams.Ecu
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def p16(val):
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return struct.pack("!H", val)
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TESTER_PRESENT_REQUEST = bytes([uds.SERVICE_TYPE.TESTER_PRESENT, 0x0])
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TESTER_PRESENT_RESPONSE = bytes([uds.SERVICE_TYPE.TESTER_PRESENT + 0x40, 0x0])
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SHORT_TESTER_PRESENT_REQUEST = bytes([uds.SERVICE_TYPE.TESTER_PRESENT])
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SHORT_TESTER_PRESENT_RESPONSE = bytes([uds.SERVICE_TYPE.TESTER_PRESENT + 0x40])
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DEFAULT_DIAGNOSTIC_REQUEST = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL,
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uds.SESSION_TYPE.DEFAULT])
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DEFAULT_DIAGNOSTIC_RESPONSE = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40,
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uds.SESSION_TYPE.DEFAULT, 0x0, 0x32, 0x1, 0xf4])
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EXTENDED_DIAGNOSTIC_REQUEST = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL,
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uds.SESSION_TYPE.EXTENDED_DIAGNOSTIC])
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EXTENDED_DIAGNOSTIC_RESPONSE = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40,
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uds.SESSION_TYPE.EXTENDED_DIAGNOSTIC, 0x0, 0x32, 0x1, 0xf4])
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UDS_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
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p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION)
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UDS_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
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p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION)
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HYUNDAI_VERSION_REQUEST_LONG = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
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p16(0xf100) # Long description
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HYUNDAI_VERSION_REQUEST_MULTI = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
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p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_SPARE_PART_NUMBER) + \
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p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION) + \
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p16(0xf100)
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HYUNDAI_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40])
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TOYOTA_VERSION_REQUEST = b'\x1a\x88\x01'
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TOYOTA_VERSION_RESPONSE = b'\x5a\x88\x01'
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VOLKSWAGEN_VERSION_REQUEST_MULTI = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
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p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_SPARE_PART_NUMBER) + \
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p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_VERSION_NUMBER) + \
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p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION)
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VOLKSWAGEN_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40])
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OBD_VERSION_REQUEST = b'\x09\x04'
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OBD_VERSION_RESPONSE = b'\x49\x04'
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DEFAULT_RX_OFFSET = 0x8
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VOLKSWAGEN_RX_OFFSET = 0x6a
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MAZDA_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
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p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER)
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MAZDA_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
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p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER)
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NISSAN_DIAGNOSTIC_REQUEST_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, 0xc0])
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NISSAN_DIAGNOSTIC_RESPONSE_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40, 0xc0])
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NISSAN_VERSION_REQUEST_KWP = b'\x21\x83'
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NISSAN_VERSION_RESPONSE_KWP = b'\x61\x83'
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NISSAN_VERSION_REQUEST_STANDARD = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
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p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER)
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NISSAN_VERSION_RESPONSE_STANDARD = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
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p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER)
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NISSAN_RX_OFFSET = 0x20
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SUBARU_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
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p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION)
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SUBARU_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
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p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION)
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# brand, request, response, response offset
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REQUESTS = [
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# Subaru
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(
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"subaru",
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[TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST],
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[TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE],
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DEFAULT_RX_OFFSET,
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),
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# Hyundai
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(
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"hyundai",
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[HYUNDAI_VERSION_REQUEST_LONG],
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[HYUNDAI_VERSION_RESPONSE],
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DEFAULT_RX_OFFSET,
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),
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(
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"hyundai",
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[HYUNDAI_VERSION_REQUEST_MULTI],
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[HYUNDAI_VERSION_RESPONSE],
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DEFAULT_RX_OFFSET,
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),
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# Honda
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(
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"honda",
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[UDS_VERSION_REQUEST],
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[UDS_VERSION_RESPONSE],
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DEFAULT_RX_OFFSET,
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),
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# Toyota
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(
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"toyota",
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[SHORT_TESTER_PRESENT_REQUEST, TOYOTA_VERSION_REQUEST],
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[SHORT_TESTER_PRESENT_RESPONSE, TOYOTA_VERSION_RESPONSE],
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DEFAULT_RX_OFFSET,
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),
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(
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"toyota",
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[SHORT_TESTER_PRESENT_REQUEST, OBD_VERSION_REQUEST],
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[SHORT_TESTER_PRESENT_RESPONSE, OBD_VERSION_RESPONSE],
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DEFAULT_RX_OFFSET,
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),
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(
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"toyota",
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[TESTER_PRESENT_REQUEST, DEFAULT_DIAGNOSTIC_REQUEST, EXTENDED_DIAGNOSTIC_REQUEST, UDS_VERSION_REQUEST],
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[TESTER_PRESENT_RESPONSE, DEFAULT_DIAGNOSTIC_RESPONSE, EXTENDED_DIAGNOSTIC_RESPONSE, UDS_VERSION_RESPONSE],
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DEFAULT_RX_OFFSET,
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),
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# Volkswagen
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(
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"volkswagen",
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[VOLKSWAGEN_VERSION_REQUEST_MULTI],
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[VOLKSWAGEN_VERSION_RESPONSE],
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VOLKSWAGEN_RX_OFFSET,
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),
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(
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"volkswagen",
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[VOLKSWAGEN_VERSION_REQUEST_MULTI],
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[VOLKSWAGEN_VERSION_RESPONSE],
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DEFAULT_RX_OFFSET,
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),
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# Mazda
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(
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"mazda",
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[MAZDA_VERSION_REQUEST],
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[MAZDA_VERSION_RESPONSE],
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DEFAULT_RX_OFFSET,
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),
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# Nissan
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(
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"nissan",
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[NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP],
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[NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP],
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DEFAULT_RX_OFFSET,
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),
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(
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"nissan",
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[NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP],
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[NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP],
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NISSAN_RX_OFFSET,
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),
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(
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"nissan",
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[NISSAN_VERSION_REQUEST_STANDARD],
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[NISSAN_VERSION_RESPONSE_STANDARD],
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NISSAN_RX_OFFSET,
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),
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]
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def chunks(l, n=128):
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for i in range(0, len(l), n):
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yield l[i:i + n]
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def build_fw_dict(fw_versions):
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fw_versions_dict = {}
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for fw in fw_versions:
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addr = fw.address
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sub_addr = fw.subAddress if fw.subAddress != 0 else None
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fw_versions_dict[(addr, sub_addr)] = fw.fwVersion
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return fw_versions_dict
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def match_fw_to_car_fuzzy(fw_versions_dict, log=True, exclude=None):
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"""Do a fuzzy FW match. This function will return a match, and the number of firmware version
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that were matched uniquely to that specific car. If multiple ECUs uniquely match to different cars
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the match is rejected."""
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# These ECUs are known to be shared between models (EPS only between hybrid/ICE version)
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# Getting this exactly right isn't crucial, but excluding camera and radar makes it almost
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# impossible to get 3 matching versions, even if two models with shared parts are released at the same
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# time and only one is in our database.
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exclude_types = [Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps]
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# Build lookup table from (addr, subaddr, fw) to list of candidate cars
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all_fw_versions = defaultdict(list)
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for candidate, fw_by_addr in FW_VERSIONS.items():
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if candidate == exclude:
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continue
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for addr, fws in fw_by_addr.items():
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if addr[0] in exclude_types:
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continue
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for f in fws:
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all_fw_versions[(addr[1], addr[2], f)].append(candidate)
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match_count = 0
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candidate = None
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for addr, version in fw_versions_dict.items():
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# All cars that have this FW response on the specified address
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candidates = all_fw_versions[(addr[0], addr[1], version)]
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if len(candidates) == 1:
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match_count += 1
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if candidate is None:
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candidate = candidates[0]
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# We uniquely matched two different cars. No fuzzy match possible
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elif candidate != candidates[0]:
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return set()
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if match_count >= 2:
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if log:
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cloudlog.error(f"Fingerprinted {candidate} using fuzzy match. {match_count} matching ECUs")
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return {candidate}
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else:
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return set()
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def match_fw_to_car_exact(fw_versions_dict):
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"""Do an exact FW match. Returns all cars that match the given
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FW versions for a list of "essential" ECUs. If an ECU is not considered
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essential the FW version can be missing to get a fingerprint, but if it's present it
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needs to match the database."""
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invalid = []
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candidates = FW_VERSIONS
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for candidate, fws in candidates.items():
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for ecu, expected_versions in fws.items():
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ecu_type = ecu[0]
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addr = ecu[1:]
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found_version = fw_versions_dict.get(addr, None)
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ESSENTIAL_ECUS = [Ecu.engine, Ecu.eps, Ecu.esp, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.vsa]
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if ecu_type == Ecu.esp and candidate in (TOYOTA.RAV4, TOYOTA.COROLLA, TOYOTA.HIGHLANDER, TOYOTA.SIENNA, TOYOTA.LEXUS_IS) and found_version is None:
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continue
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# On some Toyota models, the engine can show on two different addresses
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if ecu_type == Ecu.engine and candidate in (TOYOTA.CAMRY, TOYOTA.COROLLA_TSS2, TOYOTA.CHR, TOYOTA.LEXUS_IS) and found_version is None:
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continue
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# Ignore non essential ecus
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if ecu_type not in ESSENTIAL_ECUS and found_version is None:
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continue
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if found_version not in expected_versions:
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invalid.append(candidate)
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break
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return set(candidates.keys()) - set(invalid)
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def match_fw_to_car(fw_versions, allow_fuzzy=True):
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fw_versions_dict = build_fw_dict(fw_versions)
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matches = match_fw_to_car_exact(fw_versions_dict)
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exact_match = True
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if allow_fuzzy and len(matches) == 0:
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matches = match_fw_to_car_fuzzy(fw_versions_dict)
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# Fuzzy match found
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if len(matches) == 1:
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exact_match = False
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return exact_match, matches
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def get_fw_versions(logcan, sendcan, bus, extra=None, timeout=0.1, debug=False, progress=False):
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ecu_types = {}
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# Extract ECU addresses to query from fingerprints
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# ECUs using a subadress need be queried one by one, the rest can be done in parallel
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addrs = []
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parallel_addrs = []
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versions = get_attr_from_cars('FW_VERSIONS', combine_brands=False)
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if extra is not None:
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versions.update(extra)
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for brand, brand_versions in versions.items():
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for c in brand_versions.values():
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for ecu_type, addr, sub_addr in c.keys():
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a = (brand, addr, sub_addr)
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if a not in ecu_types:
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ecu_types[(addr, sub_addr)] = ecu_type
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if sub_addr is None:
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if a not in parallel_addrs:
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parallel_addrs.append(a)
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else:
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if [a] not in addrs:
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addrs.append([a])
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addrs.insert(0, parallel_addrs)
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fw_versions = {}
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for i, addr in enumerate(tqdm(addrs, disable=not progress)):
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for addr_chunk in chunks(addr):
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for brand, request, response, response_offset in REQUESTS:
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try:
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addrs = [(a, s) for (b, a, s) in addr_chunk if b in (brand, 'any')]
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if addrs:
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query = IsoTpParallelQuery(sendcan, logcan, bus, addrs, request, response, response_offset, debug=debug)
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t = 2 * timeout if i == 0 else timeout
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fw_versions.update(query.get_data(t))
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except Exception:
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cloudlog.warning(f"FW query exception: {traceback.format_exc()}")
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# Build capnp list to put into CarParams
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car_fw = []
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for addr, version in fw_versions.items():
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f = car.CarParams.CarFw.new_message()
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f.ecu = ecu_types[addr]
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f.fwVersion = version
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f.address = addr[0]
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if addr[1] is not None:
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f.subAddress = addr[1]
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car_fw.append(f)
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return car_fw
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if __name__ == "__main__":
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import time
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import argparse
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import cereal.messaging as messaging
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from selfdrive.car.vin import get_vin
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parser = argparse.ArgumentParser(description='Get firmware version of ECUs')
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parser.add_argument('--scan', action='store_true')
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parser.add_argument('--debug', action='store_true')
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args = parser.parse_args()
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logcan = messaging.sub_sock('can')
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sendcan = messaging.pub_sock('sendcan')
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extra: Any = None
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if args.scan:
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extra = {}
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# Honda
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for i in range(256):
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extra[(Ecu.unknown, 0x18da00f1 + (i << 8), None)] = []
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extra[(Ecu.unknown, 0x700 + i, None)] = []
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extra[(Ecu.unknown, 0x750, i)] = []
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extra = {"any": {"debug": extra}}
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time.sleep(1.)
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t = time.time()
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print("Getting vin...")
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addr, vin = get_vin(logcan, sendcan, 1, retry=10, debug=args.debug)
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print(f"VIN: {vin}")
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print(f"Getting VIN took {time.time() - t:.3f} s")
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print()
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t = time.time()
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fw_vers = get_fw_versions(logcan, sendcan, 1, extra=extra, debug=args.debug, progress=True)
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_, candidates = match_fw_to_car(fw_vers)
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print()
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print("Found FW versions")
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print("{")
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for version in fw_vers:
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subaddr = None if version.subAddress == 0 else hex(version.subAddress)
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print(f" (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}]")
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print("}")
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print()
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print("Possible matches:", candidates)
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print(f"Getting fw took {time.time() - t:.3f} s")
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