this should work

selfdrive/car/fw_versions.py

@@ -147,7 +147,24 @@ def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True):
   return True, set()
 
 
-def get_present_ecus(logcan, sendcan, num_pandas=1) -> Set[Tuple[int, Optional[int], int]]:
+def get_brand_addrs_bus(num_pandas=1):
+  brand_addrs = defaultdict(set)
+  for brand, r in REQUESTS:
+    # Skip query if no panda available
+    if r.bus > num_pandas * 4 - 1:
+      continue
+
+    for brand_versions in VERSIONS[brand].values():
+      for ecu_type, addr, sub_addr in brand_versions:
+        # Only query ecus in whitelist if whitelist is not empty
+        if len(r.whitelist_ecus) == 0 or ecu_type in r.whitelist_ecus:
+          brand_addrs[brand].add((addr, sub_addr, r.bus))
+
+  return brand_addrs
+
+
+
+def get_present_ecus_original(logcan, sendcan, num_pandas=1) -> Set[Tuple[int, Optional[int], int]]:
   # TODO: batch requests by multiplexed OBD
   queries = list()
   parallel_queries = list()
@@ -175,14 +192,61 @@ def get_present_ecus(logcan, sendcan, num_pandas=1) -> Set[Tuple[int, Optional[i
           response_addr = uds.get_rx_addr_for_tx_addr(addr, r.rx_offset)
           responses.add((response_addr, sub_addr, r.bus))
 
+  # print(queries)
+  # print()
+  # print(parallel_queries)
   queries.insert(0, parallel_queries)
 
+
   ecu_responses = set()
   for query in queries:
+    print(query)
     ecu_responses.update(get_ecu_addrs(logcan, sendcan, set(query), responses, timeout=0.1))
   return ecu_responses
 
 
+def get_present_ecus(logcan, sendcan, num_pandas=1) -> Set[Tuple[int, Optional[int], int]]:
+  # TODO: batch requests by multiplexed OBD
+  params = Params()
+  queries = {"obd": [], "non_obd": []}  # list()
+  parallel_queries = {"obd": [], "non_obd": []}  # list()
+  responses = set()
+
+  for brand, r in REQUESTS:
+    # Skip query if no panda available
+    if r.bus > num_pandas * 4 - 1:
+      continue
+
+    for brand_versions in VERSIONS[brand].values():
+      for ecu_type, addr, sub_addr in brand_versions:
+        # Only query ecus in whitelist if whitelist is not empty
+        if len(r.whitelist_ecus) == 0 or ecu_type in r.whitelist_ecus:
+          a = (addr, sub_addr, r.bus)
+          print((a, r.non_obd))
+          # Build set of queries
+          multiplexed_key = "non_obd" if r.non_obd else "obd"
+          if sub_addr is None:
+            if a not in parallel_queries[multiplexed_key]:
+              parallel_queries[multiplexed_key].append(a)
+          else:  # subaddresses must be queried one by one
+            if [a] not in queries[multiplexed_key]:
+              queries[multiplexed_key].append([a])
+
+          # Build set of expected responses to filter
+          response_addr = uds.get_rx_addr_for_tx_addr(addr, r.rx_offset)
+          responses.add((response_addr, sub_addr, r.bus))
+
+  for multiplexed_key in queries:
+    queries[multiplexed_key].insert(0, parallel_queries[multiplexed_key])
+
+  ecu_responses = set()
+  for multiplexed_key in queries:
+    set_obd_multiplexing(params, multiplexed_key == 'obd')
+    for query in queries[multiplexed_key]:
+      ecu_responses.update(get_ecu_addrs(logcan, sendcan, set(query), responses, timeout=0.1))
+  return ecu_responses
+
+
 def get_brand_ecu_matches(ecu_rx_addrs):
   """Returns dictionary of brands and matches with ECUs in their FW versions"""