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whoisdomi
e9b37bd2ea
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>
42 lines
1.8 KiB
Markdown
42 lines
1.8 KiB
Markdown
# Ioniq 6 OEM rear-BSM probe
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Finds whether we can keep the OEM rear blind-spot verdict (`0x1BA`,
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`BLINDSPOTS_REAR_CORNERS`) alive while still silencing SCC (`0x1A0`) so openpilot
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long takes over. If yes → from-behind, lane-filtered OEM BSM comes back for free
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with a one-byte change to the ECU-disable command.
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## What it does
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Sweeps UDS CommunicationControl (`0x28`) control-type × message-type combos on the
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ADAS DRV ECU (`0x730`, ECAN/bus 1). For each combo it samples the bus and reports
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whether `0x1A0` (SCC) stopped and `0x1BA` (BSM) kept transmitting. Restores the ECU
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after every combo and on exit.
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## Preconditions (important)
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1. Car in **IGN-ON, engine OFF, parked** (start button, NO brake). Same state that
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makes the normal ECU-disable succeed. Do **not** drive.
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2. **Stop openpilot first** so it doesn't fight for the panda:
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```
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sudo systemctl stop comma # or: tmux kill-session -t comma # or: pkill -f manager
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```
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3. The probe momentarily disables SCC/AEB per combo — safe because engine is off &
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parked, and it re-enables after each step.
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## Run
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```
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cd /data/openpilot
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python scripts/ioniq6_bsm_uds_probe.py
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```
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Watch the console and `/data/ioniq6_bsm_uds_probe.log`.
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## Reading the result
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- `*** WINNER: SCC off, BSM alive ***` on any combo → tell me which `0x28 CT MT`
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bytes won; we set the ECU-disable `communication_control` in
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`opendbc/car/hyundai/interface.py` to that message-type, and `0x1BA` (real rear
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BSM) will keep flowing under OP long.
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- No winner → SCC and BSM share a message class on this ECU; UDS can't separate
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them. The remaining path is a hardware tap into the rear-corner-radar CAN branch.
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## After running
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Cycle the ignition (full off → on) to make sure the ECU is back to a clean state
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before a normal drive. The script sets the panda back to SILENT on exit.
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