eps_tool

Usage:

Python3 eps_tool.py with user.bin in same directory to generate patched rwd
Python3 eps_tool.py -stock with user.bin in same directory to generate stock rwd

Patches:

fw version contains "," for detection by openpilot
torque table values doubled for range unused by stock lkas (a00-e00)
minimum steer speed reduced to 0mph

Supported versions:

39990-TLA-A040 Honda CR-V
39990-TBA-A030 Honda Civic Sedan
39990-TEG-A010 Honda Civic Sedan (Japan)
39990-TEA-T330 Honda Civic Hatch (Australia)
39990-TGG-A120 Honda Civic Hatch
39990-TRW-A020 Honda Clarity
39990-TXM-A040 Honda Insight

Coming soon:

39990-TVA-A150 Honda Accord

table_search.py

Usage:

Python3 table_search.py -bytes 18 with user.bin in same directory to find addresses with consecutive matching sets of 18 bytes. This assumes tables will have at least one set of matching adjacent rows.

rwd-xray

Honda/Acura calibration file (rwd) firmware extractor

NOTE THAT THIS IS A WORK IN PROGRESS AND THE ONLY FIRMWARE THAT MAY WORK IS 39990-TV9-A910

Usage

From a terminal using python 2.x:
./rwd-xray.py ./39990-TV9-A910.rwd.gz

This will output a file containing the firmware named:
39990-TV9-A910.bin

What are .rwd files?

Part of the Honda Diagnostic System (HDS) software is a tool to flash firmware updates (J2534 Rewrite application) and a set of firmware update files.

The firmeware update files can be found in the directory:
C:\Program Files (x86)\Honda\J2534 Pass Thru\CalibFiles

Each firmware file is named according to the part number
(usually found printed on outside of the part)
MODULE-VEHICLE-VERSION.rwd.gz

for example, here is a firmware update for a 2016 Acura ILX EPS module:
39990-TV9-A910.rwd.gz

token	value	description
MODULE	39990	EPS module
VEHICLE	TV9	Acura ILX
VERSION	A910	manufacturer region/code

See the File Name Vehicle Reference to see what model and year each rwd file corresponds to.

.rwd File Formats

Each file has a signature, headers, firmware and checksum

---

Z (0x5a) format

TODO:

• signature
• headers
  • encryption keys
• firmware
  • cipher
  • checksums - need to find some to validate

(many files use this format)

SIGNATURE

+---+
|S←↓|
+---+

label	bytes	description
S	1	signature (0x5a)
←↓	2	delimiter (0x0d0a)

HEADERS

+-+-+=====+===+-+=====+
|C|L|V...V|...|L|V...V|
+-+-+=====+===+-+=====+
|C|L|V...V|...|L|V...V|
+-+-+=====+===+-+=====+
|C|L|V...V|...|L|V...V|
+-+-+=====+===+-+=====+
|C|L|V...V|...|L|V...V|
+-+-+=====+===+-+=====+
|C|L|V...V|...|L|V...V|
+-+-+=====+===+-+=====+
|C|L|V...V|...|L|V...V|
+-+-+=====+===+-+=====+

label	bytes	description
C	1	number of values in header (can be zero)
L	1	length header value
V	varies	header value (length = preceding L)

FIRMWARE

+--------+
|SSSSSSSS|
+--------+
|LLLLLLLL|
+--------+-------+
|DDDDDDDDDDDDDDDD|
| ...            |
| (repeat)       |
| ...            |
|DDDDDDDDDDDDDDDD|
+----+-----------+

label	bytes	description
S	8	start address of firmware block
L	8	length of firmware block
D	varies	data (length = last end of block address)

CHECKSUM

+----+
|CCCC|
+----+

label	bytes	description
C	4	sum of all bytes in file (excluding these bytes)

---

1 (0x31) format

TODO:

• signature
• headers
  • encryption keys
• firmware
  • cipher
  • checksums - validated for 39990-TV9-A910, can we generalize for all files?

(many files use this format)

SIGNATURE

+---+
|S←↓|
+---+

label	bytes	description
S	1	signature (0x31)
←↓	2	delimiter (0x0d0a)

HEADERS

+---+=======+===+=======+---+
|T←↓|V...V←↓|...|V...V←↓|T←↓|
+---+=======+===+=======+---+
|T←↓|V...V←↓|...|V...V←↓|T←↓|
+---+=======+===+=======+---+
|T←↓|V...V←↓|...|V...V←↓|T←↓|
+---+=======+===+=======+---+
|T←↓|V...V←↓|...|V...V←↓|T←↓|
+---+=======+===+=======+---+
|T←↓|V...V←↓|...|V...V←↓|T←↓|
+---+=======+===+=======+---+
|T←↓|V...V←↓|...|V...V←↓|T←↓|
+---+=======+===+=======+---+

label	bytes	description
T	1	type of header
V	varies	header value
←↓	2	delimiter (0x0d0a)

FIRMWARE

+----+----------------+
|AAAA|DDDDDDDDDDDDDDDD|
|    |DDDDDDDDDDDDDDDD|
|    |DDDDDDDDDDDDDDDD|
|    |DDDDDDDDDDDDDDDD|
|    |DDDDDDDDDDDDDDDD|
|    |DDDDDDDDDDDDDDDD|
|    |DDDDDDDDDDDDDDDD|
|    |DDDDDDDDDDDDDDDD|
+----+----------------+
| ...                 |
| (repeat)            |
| ...                 |
+----+----------------+
|AAAA|DDDDDDDDDDDDDDDD|
|    |DDDDDDDDDDDDDDDD|
|    |DDDDDDDDDDDDDDDD|
|    |DDDDDDDDDDDDDDDD|
|    |DDDDDDDDDDDDDDDD|
|    |DDDDDDDDDDDDDDDD|
|    |DDDDDDDDDDDDDDDD|
|    |DDDDDDDDDDDDDDDD|
+----+----------------+

label	bytes	description
A	4	address >> 4
D	128	data

CHECKSUM

+----+
|CCCC|
+----+

label	bytes	description
C	4	sum of all bytes in file (excluding these bytes)

---

X (0x58) format

TODO:

• signature
• headers
• firmware

(very few files in this format)

SIGNATURE

+---+
|S←↓|
+---+

label	bytes	description
S	1	signature (0x58)
←↓	2	delimiter (0x0d0a)

HEADERS

TBD

FIRMWARE

TBD

---

Y (0x59) format

TODO:

• signature
• headers
• firmware

(very few files in this format)

SIGNATURE

+---+
|S←↓|
+---+

label	bytes	description
S	1	signature (0x59)
←↓	2	delimiter (0x0d0a)

HEADERS

TBD

FIRMWARE

TBD

---

0 (0x30) format

TODO:

• signature
• headers
• firmware

(very few files in this format)

SIGNATURE

+---+
|S←↓|
+---+

label	bytes	description
S	1	signature (0x30)
←↓	2	delimiter (0x0d0a)

HEADERS

TBD

FIRMWARE

TBD

---

credit goes to george hotz for reverse engineering the first firmware cipher