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95 lines
3.8 KiB
95 lines
3.8 KiB
#!/usr/bin/env python3
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import capnp
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import time
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import cereal.messaging as messaging
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from panda.python.uds import SERVICE_TYPE
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from openpilot.selfdrive.car import make_tester_present_msg, carlog
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from openpilot.selfdrive.car.fw_query_definitions import EcuAddrBusType
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from openpilot.selfdrive.pandad import can_list_to_can_capnp
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def _is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subaddr: int = None) -> bool:
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# ISO-TP messages are always padded to 8 bytes
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# tester present response is always a single frame
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dat_offset = 1 if subaddr is not None else 0
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if len(msg.dat) == 8 and 1 <= msg.dat[dat_offset] <= 7:
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# success response
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if msg.dat[dat_offset + 1] == (SERVICE_TYPE.TESTER_PRESENT + 0x40):
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return True
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# error response
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if msg.dat[dat_offset + 1] == 0x7F and msg.dat[dat_offset + 2] == SERVICE_TYPE.TESTER_PRESENT:
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return True
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return False
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def _get_all_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, bus: int, timeout: float = 1, debug: bool = True) -> set[EcuAddrBusType]:
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addr_list = [0x700 + i for i in range(256)] + [0x18da00f1 + (i << 8) for i in range(256)]
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queries: set[EcuAddrBusType] = {(addr, None, bus) for addr in addr_list}
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responses = queries
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return get_ecu_addrs(logcan, sendcan, queries, responses, timeout=timeout, debug=debug)
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def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, queries: set[EcuAddrBusType],
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responses: set[EcuAddrBusType], timeout: float = 1, debug: bool = False) -> set[EcuAddrBusType]:
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ecu_responses: set[EcuAddrBusType] = set() # set((addr, subaddr, bus),)
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try:
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msgs = [make_tester_present_msg(addr, bus, subaddr) for addr, subaddr, bus in queries]
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messaging.drain_sock_raw(logcan)
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sendcan.send(can_list_to_can_capnp(msgs, msgtype='sendcan'))
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start_time = time.monotonic()
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while time.monotonic() - start_time < timeout:
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can_packets = messaging.drain_sock(logcan, wait_for_one=True)
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for packet in can_packets:
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for msg in packet.can:
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if not len(msg.dat):
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carlog.warning("ECU addr scan: skipping empty remote frame")
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continue
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subaddr = None if (msg.address, None, msg.src) in responses else msg.dat[0]
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if (msg.address, subaddr, msg.src) in responses and _is_tester_present_response(msg, subaddr):
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if debug:
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print(f"CAN-RX: {hex(msg.address)} - 0x{bytes.hex(msg.dat)}")
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if (msg.address, subaddr, msg.src) in ecu_responses:
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print(f"Duplicate ECU address: {hex(msg.address)}")
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ecu_responses.add((msg.address, subaddr, msg.src))
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except Exception:
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carlog.exception("ECU addr scan exception")
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return ecu_responses
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if __name__ == "__main__":
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import argparse
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from openpilot.common.params import Params
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from openpilot.selfdrive.car.fw_versions import set_obd_multiplexing
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parser = argparse.ArgumentParser(description='Get addresses of all ECUs')
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parser.add_argument('--debug', action='store_true')
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parser.add_argument('--bus', type=int, default=1)
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parser.add_argument('--no-obd', action='store_true')
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parser.add_argument('--timeout', type=float, default=1.0)
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args = parser.parse_args()
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logcan = messaging.sub_sock('can')
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sendcan = messaging.pub_sock('sendcan')
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# Set up params for pandad
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params = Params()
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params.remove("FirmwareQueryDone")
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params.put_bool("IsOnroad", False)
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time.sleep(0.2) # thread is 10 Hz
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params.put_bool("IsOnroad", True)
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set_obd_multiplexing(params, not args.no_obd)
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print("Getting ECU addresses ...")
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ecu_addrs = _get_all_ecu_addrs(logcan, sendcan, args.bus, args.timeout, debug=args.debug)
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print()
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print("Found ECUs on rx addresses:")
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for addr, subaddr, _ in ecu_addrs:
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msg = f" {hex(addr)}"
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if subaddr is not None:
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msg += f" (sub-address: {hex(subaddr)})"
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print(msg)
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