Release 260111

opendbc_repo/opendbc/car/ecu_addrs.py

@@ -0,0 +1,55 @@
+import time
+
+from opendbc.car import make_tester_present_msg, uds
+from opendbc.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
+from opendbc.car.carlog import carlog
+from opendbc.car.fw_query_definitions import EcuAddrBusType
+
+
+def _is_tester_present_response(msg: CanData, subaddr: int = None) -> bool:
+  # ISO-TP messages are always padded to 8 bytes
+  # tester present response is always a single frame
+  dat_offset = 1 if subaddr is not None else 0
+  if len(msg.dat) == 8 and 1 <= msg.dat[dat_offset] <= 7:
+    # success response
+    if msg.dat[dat_offset + 1] == (uds.SERVICE_TYPE.TESTER_PRESENT + 0x40):
+      return True
+    # error response
+    if msg.dat[dat_offset + 1] == 0x7F and msg.dat[dat_offset + 2] == uds.SERVICE_TYPE.TESTER_PRESENT:
+      return True
+  return False
+
+
+def get_all_ecu_addrs(can_recv: CanRecvCallable, can_send: CanSendCallable, bus: int, timeout: float = 1) -> set[EcuAddrBusType]:
+  addr_list = [0x700 + i for i in range(256)] + [0x18da00f1 + (i << 8) for i in range(256)]
+  queries: set[EcuAddrBusType] = {(addr, None, bus) for addr in addr_list}
+  responses = queries
+  return get_ecu_addrs(can_recv, can_send, queries, responses, timeout=timeout)
+
+
+def get_ecu_addrs(can_recv: CanRecvCallable, can_send: CanSendCallable, queries: set[EcuAddrBusType],
+                  responses: set[EcuAddrBusType], timeout: float = 1) -> set[EcuAddrBusType]:
+  ecu_responses: set[EcuAddrBusType] = set()  # set((addr, subaddr, bus),)
+  try:
+    msgs = [make_tester_present_msg(addr, bus, subaddr) for addr, subaddr, bus in queries]
+
+    can_recv()
+    can_send(msgs)
+    start_time = time.monotonic()
+    while time.monotonic() - start_time < timeout:
+      can_packets = can_recv(wait_for_one=True)
+      for packet in can_packets:
+        for msg in packet:
+          if not len(msg.dat):
+            carlog.warning("ECU addr scan: skipping empty remote frame")
+            continue
+
+          subaddr = None if (msg.address, None, msg.src) in responses else msg.dat[0]
+          if (msg.address, subaddr, msg.src) in responses and _is_tester_present_response(msg, subaddr):
+            carlog.debug(f"CAN-RX: {hex(msg.address)} - 0x{bytes.hex(msg.dat)}")
+            if (msg.address, subaddr, msg.src) in ecu_responses:
+              carlog.debug(f"Duplicate ECU address: {hex(msg.address)}")
+            ecu_responses.add((msg.address, subaddr, msg.src))
+  except Exception:
+    carlog.exception("ECU addr scan exception")
+  return ecu_responses