You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
97 lines
3.7 KiB
97 lines
3.7 KiB
#!/usr/bin/env python3
|
|
import capnp
|
|
import time
|
|
from typing import Optional, Set, Tuple
|
|
|
|
import cereal.messaging as messaging
|
|
from panda.python.uds import SERVICE_TYPE
|
|
from selfdrive.car import make_can_msg
|
|
from selfdrive.boardd.boardd import can_list_to_can_capnp
|
|
from system.swaglog import cloudlog
|
|
|
|
EcuAddrBusType = Tuple[int, Optional[int], int]
|
|
|
|
|
|
def make_tester_present_msg(addr, bus, subaddr=None):
|
|
dat = [0x02, SERVICE_TYPE.TESTER_PRESENT, 0x0]
|
|
if subaddr is not None:
|
|
dat.insert(0, subaddr)
|
|
|
|
dat.extend([0x0] * (8 - len(dat)))
|
|
return make_can_msg(addr, bytes(dat), bus)
|
|
|
|
|
|
def is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subaddr: Optional[int] = None) -> bool:
|
|
# ISO-TP messages are always padded to 8 bytes
|
|
# tester present response is always a single frame
|
|
dat_offset = 1 if subaddr is not None else 0
|
|
if len(msg.dat) == 8 and 1 <= msg.dat[dat_offset] <= 7:
|
|
# success response
|
|
if msg.dat[dat_offset + 1] == (SERVICE_TYPE.TESTER_PRESENT + 0x40):
|
|
return True
|
|
# error response
|
|
if msg.dat[dat_offset + 1] == 0x7F and msg.dat[dat_offset + 2] == SERVICE_TYPE.TESTER_PRESENT:
|
|
return True
|
|
return False
|
|
|
|
|
|
def get_all_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, bus: int, timeout: float = 1, debug: bool = True) -> Set[EcuAddrBusType]:
|
|
addr_list = [0x700 + i for i in range(256)] + [0x18da00f1 + (i << 8) for i in range(256)]
|
|
queries: Set[EcuAddrBusType] = {(addr, None, bus) for addr in addr_list}
|
|
responses = queries
|
|
return get_ecu_addrs(logcan, sendcan, queries, responses, timeout=timeout, debug=debug)
|
|
|
|
|
|
def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, queries: Set[EcuAddrBusType],
|
|
responses: Set[EcuAddrBusType], timeout: float = 1, debug: bool = False) -> Set[EcuAddrBusType]:
|
|
ecu_responses: Set[EcuAddrBusType] = set() # set((addr, subaddr, bus),)
|
|
try:
|
|
msgs = [make_tester_present_msg(addr, bus, subaddr) for addr, subaddr, bus in queries]
|
|
|
|
messaging.drain_sock_raw(logcan)
|
|
sendcan.send(can_list_to_can_capnp(msgs, msgtype='sendcan'))
|
|
start_time = time.monotonic()
|
|
while time.monotonic() - start_time < timeout:
|
|
can_packets = messaging.drain_sock(logcan, wait_for_one=True)
|
|
for packet in can_packets:
|
|
for msg in packet.can:
|
|
if not len(msg.dat):
|
|
cloudlog.warning("ECU addr scan: skipping empty remote frame")
|
|
continue
|
|
|
|
subaddr = None if (msg.address, None, msg.src) in responses else msg.dat[0]
|
|
if (msg.address, subaddr, msg.src) in responses and is_tester_present_response(msg, subaddr):
|
|
if debug:
|
|
print(f"CAN-RX: {hex(msg.address)} - 0x{bytes.hex(msg.dat)}")
|
|
if (msg.address, subaddr, msg.src) in ecu_responses:
|
|
print(f"Duplicate ECU address: {hex(msg.address)}")
|
|
ecu_responses.add((msg.address, subaddr, msg.src))
|
|
except Exception:
|
|
cloudlog.exception("ECU addr scan exception")
|
|
return ecu_responses
|
|
|
|
|
|
if __name__ == "__main__":
|
|
import argparse
|
|
|
|
parser = argparse.ArgumentParser(description='Get addresses of all ECUs')
|
|
parser.add_argument('--debug', action='store_true')
|
|
parser.add_argument('--bus', type=int, default=1)
|
|
parser.add_argument('--timeout', type=float, default=1.0)
|
|
args = parser.parse_args()
|
|
|
|
logcan = messaging.sub_sock('can')
|
|
sendcan = messaging.pub_sock('sendcan')
|
|
|
|
time.sleep(1.0)
|
|
|
|
print("Getting ECU addresses ...")
|
|
ecu_addrs = get_all_ecu_addrs(logcan, sendcan, args.bus, args.timeout, debug=args.debug)
|
|
|
|
print()
|
|
print("Found ECUs on addresses:")
|
|
for addr, subaddr, bus in ecu_addrs:
|
|
msg = f" 0x{hex(addr)}"
|
|
if subaddr is not None:
|
|
msg += f" (sub-address: {hex(subaddr)})"
|
|
print(msg)
|
|
|