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openpilot v0.4.1 hotfix #184

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Feb 3, 2018
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openpilot v0.4.1 hotfix #184

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2 changes: 1 addition & 1 deletion selfdrive/car/toyota/carcontroller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -167,7 +167,7 @@ def update(self, sendcan, enabled, CS, frame, actuators,

#*** static msgs ***

for addr, (ecu, cars, bus, fr_step, vl) in STATIC_MSGS.iteritems():
for (addr, ecu, cars, bus, fr_step, vl) in STATIC_MSGS:
if frame % fr_step == 0 and ecu in self.fake_ecus and self.car_fingerprint in cars:
# special cases
if fr_step == 5 and ecu == ECU.CAM and bus == 1:
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92 changes: 46 additions & 46 deletions selfdrive/car/toyota/values.py
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Expand Up @@ -7,55 +7,55 @@ class ECU:


# addr: (ecu, cars, bus, 1/freq*100, vl)
STATIC_MSGS = {0x141: (ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 1, 2, '\x00\x00\x00\x46'),
0x128: (ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 1, 3, '\xf4\x01\x90\x83\x00\x37'),

0x292: (ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 3, '\x00\x00\x00\x00\x00\x00\x00\x9e'),
0x283: (ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 3, '\x00\x00\x00\x00\x00\x00\x8c'),
0x2E6: (ECU.DSU, (CAR.PRIUS, CAR.RAV4H,), 0, 3, '\xff\xf8\x00\x08\x7f\xe0\x00\x4e'),
0x2E7: (ECU.DSU, (CAR.PRIUS, CAR.RAV4H,), 0, 3, '\xa8\x9c\x31\x9c\x00\x00\x00\x02'),

0x240: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'),
0x241: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'),
0x244: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'),
0x245: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'),
0x248: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 1, 5, '\x00\x00\x00\x00\x00\x00\x01'),
0x344: (ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 5, '\x00\x00\x01\x00\x00\x00\x00\x50'),

0x160: (ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 1, 7, '\x00\x00\x08\x12\x01\x31\x9c\x51'),
0x161: (ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 1, 7, '\x00\x1e\x00\x00\x00\x80\x07'),

0x32E: (ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 20, '\x00\x00\x00\x00\x00\x00\x00\x00'),
0x33E: (ECU.DSU, (CAR.PRIUS, CAR.RAV4H,), 0, 20, '\x0f\xff\x26\x40\x00\x1f\x00'),
0x365: (ECU.DSU, (CAR.PRIUS, CAR.RAV4H,), 0, 20, '\x00\x00\x00\x80\x03\x00\x08'),
0x365: (ECU.DSU, (CAR.RAV4, CAR.COROLLA), 0, 20, '\x00\x00\x00\x80\xfc\x00\x08'),
0x366: (ECU.DSU, (CAR.PRIUS, CAR.RAV4H,), 0, 20, '\x00\x00\x4d\x82\x40\x02\x00'),
0x366: (ECU.DSU, (CAR.RAV4, CAR.COROLLA), 0, 20, '\x00\x72\x07\xff\x09\xfe\x00'),

0x367: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 40, '\x06\x00'),

0x414: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 100, '\x00\x00\x00\x00\x00\x00\x17\x00'),
0x489: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
0x48a: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
0x48b: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 100, '\x66\x06\x08\x0a\x02\x00\x00\x00'),
0x4d3: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 100, '\x1C\x00\x00\x01\x00\x00\x00\x00'),
0x130: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 1, 100, '\x00\x00\x00\x00\x00\x00\x38'),
0x466: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4), 1, 100, '\x20\x20\xAD'),
0x466: (ECU.CAM, (CAR.COROLLA), 1, 100, '\x24\x20\xB1'),
0x396: (ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 100, '\xBD\x00\x00\x00\x60\x0F\x02\x00'),
0x43A: (ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 100, '\x84\x00\x00\x00\x00\x00\x00\x00'),
0x43B: (ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 100, '\x00\x00\x00\x00\x00\x00\x00\x00'),
0x497: (ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 100, '\x00\x00\x00\x00\x00\x00\x00\x00'),
0x4CC: (ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 100, '\x0D\x00\x00\x00\x00\x00\x00\x00'),
0x4CB: (ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 100, '\x0c\x00\x00\x00\x00\x00\x00\x00'),
0x470: (ECU.DSU, (CAR.PRIUS, CAR.RAV4H,), 1, 100, '\x00\x00\x02\x7a'),
}
STATIC_MSGS = [(0x141, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 1, 2, '\x00\x00\x00\x46'),
(0x128, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 1, 3, '\xf4\x01\x90\x83\x00\x37'),

(0x292, ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 3, '\x00\x00\x00\x00\x00\x00\x00\x9e'),
(0x283, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 3, '\x00\x00\x00\x00\x00\x00\x8c'),
(0x2E6, ECU.DSU, (CAR.PRIUS, CAR.RAV4H), 0, 3, '\xff\xf8\x00\x08\x7f\xe0\x00\x4e'),
(0x2E7, ECU.DSU, (CAR.PRIUS, CAR.RAV4H), 0, 3, '\xa8\x9c\x31\x9c\x00\x00\x00\x02'),

(0x240, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'),
(0x241, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'),
(0x244, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'),
(0x245, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'),
(0x248, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 1, 5, '\x00\x00\x00\x00\x00\x00\x01'),
(0x344, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 5, '\x00\x00\x01\x00\x00\x00\x00\x50'),

(0x160, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 1, 7, '\x00\x00\x08\x12\x01\x31\x9c\x51'),
(0x161, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 1, 7, '\x00\x1e\x00\x00\x00\x80\x07'),

(0x32E, ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 20, '\x00\x00\x00\x00\x00\x00\x00\x00'),
(0x33E, ECU.DSU, (CAR.PRIUS, CAR.RAV4H), 0, 20, '\x0f\xff\x26\x40\x00\x1f\x00'),
(0x365, ECU.DSU, (CAR.PRIUS, CAR.RAV4H), 0, 20, '\x00\x00\x00\x80\x03\x00\x08'),
(0x365, ECU.DSU, (CAR.RAV4, CAR.COROLLA), 0, 20, '\x00\x00\x00\x80\xfc\x00\x08'),
(0x366, ECU.DSU, (CAR.PRIUS, CAR.RAV4H), 0, 20, '\x00\x00\x4d\x82\x40\x02\x00'),
(0x366, ECU.DSU, (CAR.RAV4, CAR.COROLLA), 0, 20, '\x00\x72\x07\xff\x09\xfe\x00'),

(0x367, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 40, '\x06\x00'),

(0x414, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 100, '\x00\x00\x00\x00\x00\x00\x17\x00'),
(0x489, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
(0x48a, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
(0x48b, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 100, '\x66\x06\x08\x0a\x02\x00\x00\x00'),
(0x4d3, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 100, '\x1C\x00\x00\x01\x00\x00\x00\x00'),
(0x130, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 1, 100, '\x00\x00\x00\x00\x00\x00\x38'),
(0x466, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4), 1, 100, '\x20\x20\xAD'),
(0x466, ECU.CAM, (CAR.COROLLA), 1, 100, '\x24\x20\xB1'),
(0x396, ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 100, '\xBD\x00\x00\x00\x60\x0F\x02\x00'),
(0x43A, ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 100, '\x84\x00\x00\x00\x00\x00\x00\x00'),
(0x43B, ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 100, '\x00\x00\x00\x00\x00\x00\x00\x00'),
(0x497, ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 100, '\x00\x00\x00\x00\x00\x00\x00\x00'),
(0x4CC, ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 100, '\x0D\x00\x00\x00\x00\x00\x00\x00'),
(0x4CB, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 100, '\x0c\x00\x00\x00\x00\x00\x00\x00'),
(0x470, ECU.DSU, (CAR.PRIUS, CAR.RAV4H), 1, 100, '\x00\x00\x02\x7a'),
]


def check_ecu_msgs(fingerprint, candidate, ecu):
# return True if fingerprint contains messages normally sent by a given ecu
ecu_msgs = [x for x in STATIC_MSGS if (ecu == STATIC_MSGS[x][0] and
candidate in STATIC_MSGS[x][1] and
STATIC_MSGS[x][2] == 0)]
ecu_msgs = [x[0] for x in STATIC_MSGS if (x[1] == ecu and
candidate in x[2] and
x[3] == 0)]

return any(msg for msg in fingerprint if msg in ecu_msgs)