Write boardd param to continue startup (#27354)

disable at the bottom
old-commit-hash: 5dde8f2c84

selfdrive/car/car_helpers.py

@@ -8,7 +8,7 @@ from system.version import is_comma_remote, is_tested_branch
 from selfdrive.car.interfaces import get_interface_attr
 from selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
 from selfdrive.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN
-from selfdrive.car.fw_versions import get_fw_versions_ordered, match_fw_to_car, get_present_ecus
+from selfdrive.car.fw_versions import disable_obd_multiplexing, get_fw_versions_ordered, match_fw_to_car, get_present_ecus
 from system.swaglog import cloudlog
 import cereal.messaging as messaging
 from selfdrive.car import gen_empty_fingerprint
@@ -116,6 +116,7 @@ def fingerprint(logcan, sendcan, num_pandas):
 
   params = Params()
   params.put("CarVin", vin)
+  disable_obd_multiplexing(params)
 
   finger = gen_empty_fingerprint()
   candidate_cars = {i: all_legacy_fingerprint_cars() for i in [0, 1]}  # attempt fingerprint on both bus 0 and 1

selfdrive/car/fw_versions.py

@@ -198,6 +198,15 @@ def get_brand_ecu_matches(ecu_rx_addrs):
   return brand_matches
 
 
+def disable_obd_multiplexing(params):
+  if not params.get_bool("ObdMultiplexingDisabled"):
+    params.put_bool("FirmwareObdQueryDone", True)
+
+    cloudlog.warning("Waiting for OBD multiplexing to be disabled")
+    params.get_bool("ObdMultiplexingDisabled", block=True)
+    cloudlog.warning("OBD multiplexing disabled")
+
+
 def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pandas=1, debug=False, progress=False):
   """Queries for FW versions ordering brands by likelihood, breaks when exact match is found"""
 
@@ -214,14 +223,9 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pand
       matched_brand = brand
       break
 
-  # Do non-OBD queries for matched brand, or all if no match is found
-  params = Params()
-  params.put_bool("FirmwareObdQueryDone", True)
-
-  cloudlog.warning("Waiting for OBD multiplexing to be disabled")
-  params.get_bool("ObdMultiplexingDisabled", block=True)
-  cloudlog.warning("OBD multiplexing disabled")
+  disable_obd_multiplexing(Params())
 
+  # Do non-OBD queries for matched brand, or all if no match is found
   for brand in FW_QUERY_CONFIGS.keys():
     if brand == matched_brand or matched_brand is None:
       all_car_fw.extend(get_fw_versions(logcan, sendcan, query_brand=brand, timeout=timeout, num_pandas=num_pandas, obd_multiplexed=False, debug=debug, progress=progress))