mirror of https://github.com/firestar5683/StarPilot.git synced 2026-07-22 17:52:07 +08:00

Files

T

whoisdomi e9b37bd2ea Add Ioniq 6 OEM rear-BSM UDS probe script

Standalone diagnostic (run on device over SSH, car IGN-ON/engine-off/
parked, openpilot stopped) that sweeps UDS CommunicationControl message
classes on the ADAS DRV ECU (0x730, ECAN) to find a combo that silences
SCC actuation (0x1A0) while leaving the rear-radar BSM verdict (0x1BA)
transmitting. A winner would restore OEM from-behind, lane-filtered blind
spot monitoring under openpilot long via a one-byte change to the disable
command. Does not alter any openpilot code path; only runs when invoked.
Restores the ECU after each combo and sets the panda to SILENT on exit.

Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>

2026-07-18 06:46:00 -05:00

1.8 KiB

Raw Blame History

Ioniq 6 OEM rear-BSM probe

Finds whether we can keep the OEM rear blind-spot verdict (0x1BA, BLINDSPOTS_REAR_CORNERS) alive while still silencing SCC (0x1A0) so openpilot long takes over. If yes → from-behind, lane-filtered OEM BSM comes back for free with a one-byte change to the ECU-disable command.

What it does

Sweeps UDS CommunicationControl (0x28) control-type × message-type combos on the ADAS DRV ECU (0x730, ECAN/bus 1). For each combo it samples the bus and reports whether 0x1A0 (SCC) stopped and 0x1BA (BSM) kept transmitting. Restores the ECU after every combo and on exit.

Preconditions (important)

Car in IGN-ON, engine OFF, parked (start button, NO brake). Same state that makes the normal ECU-disable succeed. Do not drive.

Stop openpilot first so it doesn't fight for the panda:

sudo systemctl stop comma    # or: tmux kill-session -t comma   # or: pkill -f manager

The probe momentarily disables SCC/AEB per combo — safe because engine is off & parked, and it re-enables after each step.

Run

cd /data/openpilot
python scripts/ioniq6_bsm_uds_probe.py

Watch the console and /data/ioniq6_bsm_uds_probe.log.

Reading the result

*** WINNER: SCC off, BSM alive *** on any combo → tell me which 0x28 CT MT bytes won; we set the ECU-disable communication_control in opendbc/car/hyundai/interface.py to that message-type, and 0x1BA (real rear BSM) will keep flowing under OP long.
No winner → SCC and BSM share a message class on this ECU; UDS can't separate them. The remaining path is a hardware tap into the rear-corner-radar CAN branch.

After running

Cycle the ignition (full off → on) to make sure the ECU is back to a clean state before a normal drive. The script sets the panda back to SILENT on exit.

1.8 KiB Raw Blame History Unescape Escape