Add Chrysler FPv2 requests and logging (#24460)

* Chrylser FPv2

* Update fw_versions.py

* formatting and remove default

* fix rx offset

* move to end

* add fw versions

* this won't be fingerprinted on as it returns from Mazda

* only log FW versions

* add type annotation

* fix typing

* Skip if FW versions are for read/request-only

* Fix crash if no fw versions

Fix crash if no fw versions

Co-authored-by: Shane Smiskol <shane@smiskol.com>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

selfdrive/car/chrysler/values.py

@@ -1,6 +1,7 @@
+import capnp
 from dataclasses import dataclass
 from enum import Enum
-from typing import Dict, List, Optional, Union
+from typing import Dict, List, Optional, Tuple, Union
 
 from cereal import car
 from selfdrive.car import dbc_dict
@@ -110,6 +111,21 @@ FINGERPRINTS = {
   ],
 }
 
+FW_VERSIONS: Dict[str, Dict[Tuple[capnp.lib.capnp._EnumModule, int, Optional[int]], List[str]]] = {
+  CAR.RAM_1500: {
+    (Ecu.combinationMeter, 0x742, None): [],
+    (Ecu.srs, 0x744, None): [],
+    (Ecu.esp, 0x747, None): [],
+    (Ecu.fwdCamera, 0x753, None): [],
+    (Ecu.fwdCamera, 0x764, None): [],
+    (Ecu.eps, 0x761, None): [],
+    (Ecu.fwdRadar, 0x757, None): [],
+    (Ecu.eps, 0x75A, None): [],
+    (Ecu.engine, 0x7e0, None): [],
+    (Ecu.transmission, 0x7e1, None): [],
+    (Ecu.gateway, 0x18DACBF1, None): [],
+  }
+}
 
 DBC = {
   CAR.PACIFICA_2017_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),

selfdrive/car/fw_versions.py

@@ -92,6 +92,13 @@ SUBARU_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
 SUBARU_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
   p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION)
 
+CHRYSLER_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
+  p16(0xf132)
+CHRYSLER_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
+  p16(0xf132)
+
+CHRYSLER_RX_OFFSET = -0x280
+
 
 @dataclass
 class Request:
@@ -188,6 +195,18 @@ REQUESTS: List[Request] = [
     [TESTER_PRESENT_RESPONSE, UDS_VERSION_RESPONSE],
     bus=0,
   ),
+  # Chrysler / FCA / Stellantis
+  Request(
+    "chrysler",
+    [CHRYSLER_VERSION_REQUEST],
+    [CHRYSLER_VERSION_RESPONSE],
+    rx_offset=CHRYSLER_RX_OFFSET,
+  ),
+  Request(
+    "chrysler",
+    [CHRYSLER_VERSION_REQUEST],
+    [CHRYSLER_VERSION_RESPONSE],
+  ),
 ]
 
 
@@ -445,7 +464,7 @@ if __name__ == "__main__":
   print()
   print("Found FW versions")
   print("{")
-  padding = max([len(fw.brand) for fw in fw_vers])
+  padding = max([len(fw.brand) for fw in fw_vers] or [0])
   for version in fw_vers:
     subaddr = None if version.subAddress == 0 else hex(version.subAddress)
     print(f"  Brand: {version.brand:{padding}} - (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}]")

selfdrive/car/tests/test_fw_fingerprint.py

@@ -27,6 +27,8 @@ class TestFwFingerprint(unittest.TestCase):
     for _ in range(200):
       fw = []
       for ecu, fw_versions in ecus.items():
+        if not len(fw_versions):
+          raise unittest.SkipTest("Car model has no FW versions")
         ecu_name, addr, sub_addr = ecu
         fw.append({"ecu": ecu_name, "fwVersion": random.choice(fw_versions), 'brand': brand,
                    "address": addr, "subAddress": 0 if sub_addr is None else sub_addr})