Hyundai: add PT queries for all ECUs (#31334)

* We never had any bus 0 logging queries for CAN! * should be logging * try all, and try on can fd as well * update refs * oof forgot about hda2 can fd where pt is bus 1 * sheesh * fix the timing * fix ref
commaai · Feb 7, 2024 · bcd29a2 · bcd29a2
1 parent 4ec0ed3
commit bcd29a2
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Showing 2 changed files with 32 additions and 3 deletions.
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
@@ -414,6 +414,8 @@ def match_fw_to_car_fuzzy(live_fw_versions, offline_fw_versions) -> Set[str]:
 # TODO: there are date codes in the ABS firmware versions in hex
 DATE_FW_ECUS = [Ecu.fwdCamera]
 
+ALL_HYUNDAI_ECUS = [Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.engine, Ecu.parkingAdas, Ecu.transmission, Ecu.adas, Ecu.hvac, Ecu.cornerRadar]
+
 FW_QUERY_CONFIG = FwQueryConfig(
   requests=[
     # TODO: minimize shared whitelists for CAN and cornerRadar for CAN-FD
@@ -447,6 +449,33 @@ def match_fw_to_car_fuzzy(live_fw_versions, offline_fw_versions) -> Set[str]:
       obd_multiplexing=False,
     ),
 
+    # CAN & CAN FD logging queries (from camera)
+    Request(
+      [HYUNDAI_VERSION_REQUEST_LONG],
+      [HYUNDAI_VERSION_RESPONSE],
+      whitelist_ecus=ALL_HYUNDAI_ECUS,
+      bus=0,
+      auxiliary=True,
+      logging=True,
+    ),
+    Request(
+      [HYUNDAI_VERSION_REQUEST_MULTI],
+      [HYUNDAI_VERSION_RESPONSE],
+      whitelist_ecus=ALL_HYUNDAI_ECUS,
+      bus=0,
+      auxiliary=True,
+      logging=True,
+    ),
+    Request(
+      [HYUNDAI_VERSION_REQUEST_LONG],
+      [HYUNDAI_VERSION_RESPONSE],
+      whitelist_ecus=ALL_HYUNDAI_ECUS,
+      bus=1,
+      auxiliary=True,
+      obd_multiplexing=False,
+      logging=True,
+    ),
+
     # CAN-FD alt request logging queries
     Request(
       [HYUNDAI_VERSION_REQUEST_ALT],

diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py
@@ -254,15 +254,15 @@ def fake_get_ecu_addrs(*_, timeout):
 
   @pytest.mark.timeout(60)
   def test_fw_query_timing(self):
-    total_ref_time = {1: 5.55, 2: 6.05}
+    total_ref_time = {1: 5.85, 2: 6.65}
     brand_ref_times = {
       1: {
         'gm': 0.5,
         'body': 0.1,
         'chrysler': 0.3,
         'ford': 0.1,
         'honda': 0.55,
-        'hyundai': 0.65,
+        'hyundai': 0.95,
         'mazda': 0.1,
         'nissan': 0.8,
         'subaru': 0.45,
@@ -272,7 +272,7 @@ def test_fw_query_timing(self):
       },
       2: {
         'ford': 0.2,
-        'hyundai': 1.05,
+        'hyundai': 1.65,
       }
     }