draft 2

selfdrive/boardd/boardd.cc

@@ -113,10 +113,11 @@ bool safety_setter_thread(std::vector<Panda *> pandas) {
     return false;
   }
 
-  // set to ELM327 for fingerprinting
+  // set to ELM327 with OBD multiplexing for fingerprinting
+  p.putBool("ObdMultiplexingEnabled", true);
   for (int i = 0; i < pandas.size(); i++) {
 //    const uint16_t safety_param = (i > 0) ? 1U : 0U;
-    pandas[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, 0);
+    pandas[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, 0U);
   }
 
   // openpilot can switch between multiplexing modes for different FW queries,
@@ -128,7 +129,7 @@ bool safety_setter_thread(std::vector<Panda *> pandas) {
 
 //    bool obd_multiplexing_requested = p.getBool("ObdMultiplexingRequested");
     std::string obd_multiplexing_requested = p.get("ObdMultiplexingRequested");
-    if (!obd_multiplexing_requested.empty()) {
+    if (!obd_multiplexing_requested.isEmpty()) {
       const uint16_t safety_param = obd_multiplexing_requested == "1" ? 0U : 1U;
       for (int i = 0; i < pandas.size(); i++) {
         pandas[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, safety_param);

selfdrive/car/fw_versions.py

@@ -233,8 +233,18 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pand
   return all_car_fw
 
 
+def set_obd_multiplexing(params, obd_multiplexing):
+  cloudlog.warning(f"Setting OBD multiplexing: {obd_multiplexing}")
+  # Remove response param that boardd writes to block on it
+  params.remove("ObdMultiplexingDisabled")
+  params.put_bool("ObdMultiplexingRequested", obd_multiplexing)
+  params.get_bool("ObdMultiplexingDisabled", block=True)
+  cloudlog.warning(f"OBD multiplexing set successfully")
+
+
 def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, num_pandas=1, obd_multiplexed=True, debug=False, progress=False):
   versions = VERSIONS.copy()
+  params = Params()
 
   # Each brand can define extra ECUs to query for data collection
   for brand, config in FW_QUERY_CONFIGS.items():
@@ -281,9 +291,9 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1,
         # Skip query if no panda available
         if r.bus > num_pandas * 4 - 1:
           continue
-        # Or if request is not designated for current multiplexing mode
-        elif r.non_obd == obd_multiplexed:
-          continue
+
+        # Toggle OBD multiplexing for each request
+        set_obd_multiplexing(params, not r.non_obd)
 
         try:
           addrs = [(a, s) for (b, a, s) in addr_chunk if b in (brand, 'any') and