mirror of
https://github.com/firestar5683/StarPilot.git
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firestar5683
108 lines
3.8 KiB
Python
108 lines
3.8 KiB
Python
import time
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import datetime
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from opendbc.car.carlog import carlog
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from opendbc.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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RESET_REQUEST = b'\x11\x01'
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RESET_RESPONSE = b''
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# File-based logging for debugging
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ECU_LOG_FILE = "/data/ecu_disable.log"
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def ecu_log(msg):
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"""Write to both carlog and a dedicated log file for debugging."""
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timestamp = datetime.datetime.now().strftime("%Y-%m-%d %H:%M:%S.%f")[:-3]
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log_line = f"[{timestamp}] {msg}"
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carlog.warning(msg)
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try:
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with open(ECU_LOG_FILE, "a") as f:
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f.write(log_line + "\n")
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except Exception:
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pass
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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, reset=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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ecu_log(f"=== ECU DISABLE START === addr={hex(addr)}, bus={bus}")
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if reset:
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try:
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ecu_log("sending ECU reset before communication control...")
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reset_query = IsoTpParallelQuery(can_send, can_recv, bus, [(addr, sub_addr)], [RESET_REQUEST], [RESET_RESPONSE])
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reset_query.get_data(timeout=timeout)
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time.sleep(0.2)
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except Exception as e:
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ecu_log(f"reset exception: {e}")
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# Try multiple times with different approaches
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for i in range(retry):
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try:
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# Enter extended diagnostic session
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ecu_log(f"attempt {i+1}/{retry}: diag session...")
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query = IsoTpParallelQuery(can_send, can_recv, bus, [(addr, sub_addr)], [EXT_DIAG_REQUEST], [EXT_DIAG_RESPONSE])
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for _, _ in query.get_data(timeout).items():
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ecu_log("diag session OK")
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# Small delay to let ECU fully enter diagnostic mode
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time.sleep(0.05)
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# Send CC command and log the response
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ecu_log("sending CC...")
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cc_query = IsoTpParallelQuery(can_send, can_recv, bus, [(addr, sub_addr)], [com_cont_req], [b''])
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cc_response = cc_query.get_data(timeout)
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# Log what we got back
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cc_success = False
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cc_rejected = False
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cc_nrc = None
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for (rx_addr, _), data in cc_response.items():
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ecu_log(f"CC response: {data.hex() if data else 'empty'}")
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# Check for positive response (0x68 = 0x28 + 0x40)
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if len(data) >= 1 and data[0] == 0x68:
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ecu_log("=== ECU DISABLE CONFIRMED ===")
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cc_success = True
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# Check for negative response
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elif len(data) >= 3 and data[0] == 0x7F:
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nrc = data[2]
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cc_nrc = nrc
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nrc_meanings = {
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0x12: "subFunctionNotSupported",
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0x13: "incorrectMessageLengthOrInvalidFormat",
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0x22: "conditionsNotCorrect (car must be in IGN-ON, not READY)",
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0x31: "requestOutOfRange",
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0x33: "securityAccessDenied",
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}
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nrc_name = nrc_meanings.get(nrc, "unknown")
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ecu_log(f"CC rejected: NRC 0x{nrc:02x} = {nrc_name}")
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cc_rejected = True
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if cc_success:
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return True
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elif cc_rejected:
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if reset and cc_nrc == 0x22 and i < retry - 1:
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ecu_log("CC rejected with NRC 0x22 after reset; retrying...")
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time.sleep(0.2)
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continue
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# ECU explicitly rejected - don't retry, it won't work
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ecu_log("=== ECU DISABLE REJECTED ===")
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return False
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else:
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# No response - consider it sent (ECU might have stopped responding)
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ecu_log("=== ECU DISABLE SENT (no response) ===")
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return True
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except Exception as e:
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ecu_log(f"attempt {i+1} exception: {e}")
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time.sleep(0.1)
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ecu_log("=== ECU DISABLE FAILED ===")
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return False
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