mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-08-19 07:13:44 +08:00
Shane Smiskol
a7db075f08
* start * hmm API doesn't seem great * better * rm line * sendcan -> can_send callable for best static type coverage, list -> tuple msg TODO: logcan * more sendcan -> can_send references * remove pandad's capnp from selfdrive/car * fix and remove cereal from test_can_fingerprint * test_fw_fingerprint: remove pandad, less cereal * comment done too * better comment * fix test_models test * niceeee it works * move to can_definitions * can't come up with a better name :( * I think we can remove SimpleNamespace soon * fix test_can_fingerprint.py * maintain previous behavior * Revert "maintain previous behavior" This reverts commit f848fd32132391692c6191a305bb38f74091ec91. * can test comment * no need for get_one_can now! * big clean up: no SimpleNamespace * now self explanatory! * not needed * use empty can again since this is now real * cmt old-commit-hash: 9880b1393c7bfc2b71aec01b6b91caffb72f9cc0
50 lines
1.7 KiB
Python
Executable File
50 lines
1.7 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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sendcan = messaging.pub_sock('sendcan')
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logcan = messaging.sub_sock('can')
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time.sleep(1)
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# honda bosch radar disable
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disabled = disable_ecu(logcan, sendcan, 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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