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

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