Release 260111

selfdrive/debug/car/disable_ecu.py

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+#!/usr/bin/env python3
+import time
+import cereal.messaging as messaging
+from opendbc.car.disable_ecu import disable_ecu
+from openpilot.selfdrive.car.card import can_comm_callbacks
+
+if __name__ == "__main__":
+  sendcan = messaging.pub_sock('sendcan')
+  logcan = messaging.sub_sock('can')
+  can_callbacks = can_comm_callbacks(logcan, sendcan)
+  time.sleep(1)
+
+  # honda bosch radar disable
+  disabled = disable_ecu(*can_callbacks, bus=1, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03', timeout=0.5)
+  print(f"disabled: {disabled}")

selfdrive/debug/car/ecu_addrs.py

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+#!/usr/bin/env python3
+import argparse
+import time
+import cereal.messaging as messaging
+from opendbc.car.carlog import carlog
+from opendbc.car.ecu_addrs import get_all_ecu_addrs
+from openpilot.common.params import Params
+from openpilot.selfdrive.car.card import can_comm_callbacks, obd_callback
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description='Get addresses of all ECUs')
+  parser.add_argument('--debug', action='store_true')
+  parser.add_argument('--bus', type=int, default=1)
+  parser.add_argument('--no-obd', action='store_true')
+  parser.add_argument('--timeout', type=float, default=1.0)
+  args = parser.parse_args()
+
+  if args.debug:
+    carlog.setLevel('DEBUG')
+
+  logcan = messaging.sub_sock('can')
+  sendcan = messaging.pub_sock('sendcan')
+  can_callbacks = can_comm_callbacks(logcan, sendcan)
+
+  # Set up params for pandad
+  params = Params()
+  params.remove("FirmwareQueryDone")
+  params.put_bool("IsOnroad", False)
+  time.sleep(0.2)  # thread is 10 Hz
+  params.put_bool("IsOnroad", True)
+
+  obd_callback(params)(not args.no_obd)
+
+  print("Getting ECU addresses ...")
+  ecu_addrs = get_all_ecu_addrs(*can_callbacks, args.bus, args.timeout)
+
+  print()
+  print("Found ECUs on rx addresses:")
+  for addr, subaddr, _ in ecu_addrs:
+    msg = f"  {hex(addr)}"
+    if subaddr is not None:
+      msg += f" (sub-address: {hex(subaddr)})"
+    print(msg)

selfdrive/debug/car/fw_versions.py

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+#!/usr/bin/env python3
+import time
+import argparse
+import cereal.messaging as messaging
+from cereal import car
+from opendbc.car.carlog import carlog
+from opendbc.car.fw_versions import get_fw_versions, match_fw_to_car
+from opendbc.car.vin import get_vin
+from openpilot.common.params import Params
+from openpilot.selfdrive.car.card import can_comm_callbacks, obd_callback
+from typing import Any
+
+Ecu = car.CarParams.Ecu
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description='Get firmware version of ECUs')
+  parser.add_argument('--scan', action='store_true')
+  parser.add_argument('--debug', action='store_true')
+  parser.add_argument('--brand', help='Only query addresses/with requests for this brand')
+  args = parser.parse_args()
+
+  if args.debug:
+    carlog.setLevel('DEBUG')
+
+  logcan = messaging.sub_sock('can')
+  pandaStates_sock = messaging.sub_sock('pandaStates')
+  sendcan = messaging.pub_sock('sendcan')
+  can_callbacks = can_comm_callbacks(logcan, sendcan)
+
+  # Set up params for pandad
+  params = Params()
+  params.remove("FirmwareQueryDone")
+  params.put_bool("IsOnroad", False)
+  time.sleep(0.2)  # thread is 10 Hz
+  params.put_bool("IsOnroad", True)
+  set_obd_multiplexing = obd_callback(params)
+
+  extra: Any = None
+  if args.scan:
+    extra = {}
+    # Honda
+    for i in range(256):
+      extra[(Ecu.unknown, 0x18da00f1 + (i << 8), None)] = []
+      extra[(Ecu.unknown, 0x700 + i, None)] = []
+      extra[(Ecu.unknown, 0x750, i)] = []
+    extra = {"any": {"debug": extra}}
+
+  num_pandas = len(messaging.recv_one_retry(pandaStates_sock).pandaStates)
+
+  t = time.time()
+  print("Getting vin...")
+  set_obd_multiplexing(True)
+  vin_rx_addr, vin_rx_bus, vin = get_vin(*can_callbacks, (0, 1))
+  print(f'RX: {hex(vin_rx_addr)}, BUS: {vin_rx_bus}, VIN: {vin}')
+  print(f"Getting VIN took {time.time() - t:.3f} s")
+  print()
+
+  t = time.time()
+  fw_vers = get_fw_versions(*can_callbacks, set_obd_multiplexing, query_brand=args.brand, extra=extra, num_pandas=num_pandas, progress=True)
+  _, candidates = match_fw_to_car(fw_vers, vin)
+
+  print()
+  print("Found FW versions")
+  print("{")
+  padding = max([len(fw.brand) for fw in fw_vers] or [0])
+  for version in fw_vers:
+    subaddr = None if version.subAddress == 0 else hex(version.subAddress)
+    print(f"  Brand: {version.brand:{padding}}, bus: {version.bus}, OBD: {version.obdMultiplexing} - " +
+          f"(Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion!r}]")
+  print("}")
+
+  print()
+  print("Possible matches:", candidates)
+  print(f"Getting fw took {time.time() - t:.3f} s")

selfdrive/debug/car/vin.py

@@ -0,0 +1,26 @@
+#!/usr/bin/env python3
+import argparse
+import time
+import cereal.messaging as messaging
+from opendbc.car.carlog import carlog
+from opendbc.car.vin import get_vin
+from openpilot.selfdrive.car.card import can_comm_callbacks
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description='Get VIN of the car')
+  parser.add_argument('--debug', action='store_true')
+  parser.add_argument('--bus', type=int, default=1)
+  parser.add_argument('--timeout', type=float, default=0.1)
+  parser.add_argument('--retry', type=int, default=5)
+  args = parser.parse_args()
+
+  if args.debug:
+    carlog.setLevel('DEBUG')
+
+  sendcan = messaging.pub_sock('sendcan')
+  logcan = messaging.sub_sock('can')
+  can_callbacks = can_comm_callbacks(logcan, sendcan)
+  time.sleep(1)
+
+  vin_rx_addr, vin_rx_bus, vin = get_vin(*can_callbacks, (args.bus,), args.timeout, args.retry)
+  print(f'RX: {hex(vin_rx_addr)}, BUS: {vin_rx_bus}, VIN: {vin}')