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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