mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-07-02 03:52:11 +08:00
Shane Smiskol
7b4a538eaa
* fix fp debugging * fix these old-commit-hash: 90ce7781f4caf0d0469d8897259612e4117e3a48
52 lines
1.8 KiB
Python
Executable File
52 lines
1.8 KiB
Python
Executable File
#!/usr/bin/env python3
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from openpilot.selfdrive.car import carlog
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from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
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EXT_DIAG_REQUEST = b'\x10\x03'
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EXT_DIAG_RESPONSE = b'\x50\x03'
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COM_CONT_RESPONSE = b''
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def disable_ecu(can_recv, can_send, bus=0, addr=0x7d0, sub_addr=None, com_cont_req=b'\x28\x83\x01', timeout=0.1, retry=10, debug=False):
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"""Silence an ECU by disabling sending and receiving messages using UDS 0x28.
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The ECU will stay silent as long as openpilot keeps sending Tester Present.
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This is used to disable the radar in some cars. Openpilot will emulate the radar.
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WARNING: THIS DISABLES AEB!"""
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carlog.warning(f"ecu disable {hex(addr), sub_addr} ...")
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for i in range(retry):
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try:
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query = IsoTpParallelQuery(can_send, can_recv, bus, [(addr, sub_addr)], [EXT_DIAG_REQUEST], [EXT_DIAG_RESPONSE], debug=debug)
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for _, _ in query.get_data(timeout).items():
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carlog.warning("communication control disable tx/rx ...")
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query = IsoTpParallelQuery(can_send, can_recv, bus, [(addr, sub_addr)], [com_cont_req], [COM_CONT_RESPONSE], debug=debug)
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query.get_data(0)
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carlog.warning("ecu disabled")
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return True
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except Exception:
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carlog.exception("ecu disable exception")
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carlog.error(f"ecu disable retry ({i + 1}) ...")
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carlog.error("ecu disable failed")
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return False
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if __name__ == "__main__":
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import time
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import cereal.messaging as messaging
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from openpilot.selfdrive.car.card import can_comm_callbacks
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sendcan = messaging.pub_sock('sendcan')
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logcan = messaging.sub_sock('can')
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can_callbacks = can_comm_callbacks(logcan, sendcan)
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time.sleep(1)
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# honda bosch radar disable
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disabled = disable_ecu(*can_callbacks, bus=1, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03', timeout=0.5, debug=False)
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print(f"disabled: {disabled}")
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