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Ford: fix CAN FD fingerprinting (#28995)

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* fix CAN FD fingerprinting for now

* comment

* this is the simplest for now

* revert

* cmt

* todo and fixme!
This commit is contained in:
Shane Smiskol
2023-07-17 16:56:13 -07:00
committed by GitHub
parent f14447ad66
commit 047bb46d3a
2 changed files with 8 additions and 10 deletions
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14
selfdrive/car/ford/values.py
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@@ -98,21 +98,19 @@ CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
FW_QUERY_CONFIG = FwQueryConfig(
requests=[
# CAN and CAN FD queries are combined.
# FIXME: For CAN FD, ECUs respond with frames larger than 8 bytes on the powertrain bus
# TODO: properly handle auxiliary requests to separate queries and add back whitelists
Request(
[StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
[StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
whitelist_ecus=[Ecu.engine],
# whitelist_ecus=[Ecu.engine],
auxiliary=True,
),
Request(
[StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
[StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
whitelist_ecus=[Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.shiftByWire],
bus=0,
),
Request(
[StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
[StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
whitelist_ecus=[Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.engine, Ecu.shiftByWire],
# whitelist_ecus=[Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.shiftByWire],
bus=0,
auxiliary=True,
),

4
selfdrive/car/tests/test_fw_fingerprint.py
View File

@@ -220,12 +220,12 @@ class TestFwFingerprintTiming(unittest.TestCase):
print(f'get_vin, query time={vin_time / self.N} seconds')
def test_fw_query_timing(self):
total_ref_time = 6.7
total_ref_time = 6.6
brand_ref_times = {
1: {
'body': 0.1,
'chrysler': 0.3,
'ford': 0.3,
'ford': 0.2,
'honda': 0.5,
'hyundai': 0.7,
'mazda': 0.2,