mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-11-07 04:53:47 +08:00
firestar5683
22a8575199
Keep official openpilot ancestry and dependency licenses. Store resources directly in Git, remove LFS setup requirements, and leave the downloadable big model outside the source tree.
52 lines
2.2 KiB
Python
Executable File
52 lines
2.2 KiB
Python
Executable File
#!/usr/bin/env python3
|
|
|
|
import binascii
|
|
from opendbc.car.structs import CarParams
|
|
from panda import Panda
|
|
|
|
def tesla_tester():
|
|
p = Panda()
|
|
|
|
body_bus_speed = 125 # Tesla Body busses (B, BF) are 125kbps, rest are 500kbps
|
|
body_bus_num = 1 # My TDC to OBD adapter has PT on bus0 BDY on bus1 and CH on bus2
|
|
p.set_can_speed_kbps(body_bus_num, body_bus_speed)
|
|
|
|
# Now set the panda from its default of SAFETY_SILENT (read only) to SAFETY_ALLOUTPUT
|
|
# Careful, as this will let us send any CAN messages we want (which could be very bad!)
|
|
print("Setting Panda to output mode...")
|
|
p.set_safety_mode(CarParams.SafetyModel.allOutput)
|
|
|
|
# BDY 0x248 is the MCU_commands message, which includes folding mirrors, opening the trunk, frunk, setting the cars lock state and more.
|
|
# For our test, we will edit the 3rd byte, which is MCU_lockRequest. 0x01 will lock, 0x02 will unlock:
|
|
print("Unlocking Tesla...")
|
|
p.can_send(0x248, b"\x00\x00\x02\x00\x00\x00\x00\x00", body_bus_num)
|
|
|
|
#Or, we can set the first byte, MCU_frontHoodCommand + MCU_liftgateSwitch, to 0x01 to pop the frunk, or 0x04 to open/close the trunk (0x05 should open both)
|
|
print("Opening Frunk...")
|
|
p.can_send(0x248, b"\x01\x00\x00\x00\x00\x00\x00\x00", body_bus_num)
|
|
|
|
#Back to safety...
|
|
print("Disabling output on Panda...")
|
|
p.set_safety_mode(CarParams.SafetyModel.silent)
|
|
|
|
print("Reading VIN from 0x568. This is painfully slow and can take up to 3 minutes (1 minute per message; 3 messages needed for full VIN)...")
|
|
|
|
vin = {}
|
|
while True:
|
|
#Read the VIN
|
|
can_recv = p.can_recv()
|
|
for address, dat, src in can_recv:
|
|
if src == body_bus_num:
|
|
if address == 1384: # 0x568 is VIN
|
|
vin_index = int(binascii.hexlify(dat)[:2]) # first byte is the index, 00, 01, 02
|
|
vin_string = binascii.hexlify(dat)[2:] # rest of the string is the actual VIN data
|
|
vin[vin_index] = vin_string.decode("hex")
|
|
print("Got VIN index " + str(vin_index) + " data " + vin[vin_index])
|
|
#if we have all 3 parts of the VIN, print it and break out of our while loop
|
|
if 0 in vin and 1 in vin and 2 in vin:
|
|
print("VIN: " + vin[0] + vin[1] + vin[2][:3])
|
|
break
|
|
|
|
if __name__ == "__main__":
|
|
tesla_tester()
|