IQ.Pilot Prebuilt Release @ 27f668a

artifacts/package_runtime/iqdbc/car/disable_ecu.py

@@ -0,0 +1,80 @@
+from iqdbc.car.can_definitions import CanData
+from iqdbc.car.carlog import carlog
+from iqdbc.car.isotp_parallel_query import IsoTpParallelQuery
+
+EXT_DIAG_REQUEST = b'\x10\x03'
+EXT_DIAG_RESPONSE = b'\x50\x03'
+
+COM_CONT_RESPONSE = b''
+
+CLEAR_DTC_REQUEST = b'\x14\xff\xff\xff'
+CLEAR_DTC_RESPONSE = b'\x54'
+
+FUNCTIONAL_ADDR_29BIT = 0x18DB33F1
+CLEAR_DTC_ISOTP_SF = bytes([len(CLEAR_DTC_REQUEST)]) + CLEAR_DTC_REQUEST + b'\x00' * (7 - len(CLEAR_DTC_REQUEST))
+
+
+def clear_all_dtcs(can_send, buses, functional_addr=FUNCTIONAL_ADDR_29BIT):
+  # broadcast clears stored DTCs on every ECU on the bus, including safety-relevant modules
+  for bus in buses:
+    carlog.warning(f"clear all DTCs (functional) on bus {bus} ...")
+    can_send([CanData(functional_addr, CLEAR_DTC_ISOTP_SF, bus)])
+
+
+def clear_ecu_dtcs(can_recv, can_send, bus=0, addr=0x7d0, sub_addr=None, timeout=0.1, retry=10, response_offset: int = 0x8):
+  carlog.warning(f"ecu clear DTCs {hex(addr), sub_addr} ...")
+
+  for i in range(retry):
+    try:
+      query = IsoTpParallelQuery(can_send, can_recv, bus, [(addr, sub_addr)], [EXT_DIAG_REQUEST], [EXT_DIAG_RESPONSE], response_offset)
+
+      for _, _ in query.get_data(timeout).items():
+        carlog.warning("clear diagnostic information ...")
+        query = IsoTpParallelQuery(can_send, can_recv, bus, [(addr, sub_addr)], [CLEAR_DTC_REQUEST], [CLEAR_DTC_RESPONSE], response_offset)
+        query.get_data(timeout)
+
+        carlog.warning("ecu DTCs cleared")
+        return True
+
+    except Exception:
+      carlog.exception("ecu clear DTCs exception")
+
+    carlog.error(f"ecu clear DTCs retry ({i + 1}) ...")
+  carlog.error("ecu clear DTCs failed")
+  return False
+
+
+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, response_offset: int = 0x8, clear_dtc=False):
+  """Silence an ECU by disabling sending and receiving messages using UDS 0x28.
+  The ECU will stay silent as long as openpilot keeps sending Tester Present.
+
+  This is used to disable the radar in some cars. Openpilot will emulate the radar.
+  WARNING: THIS DISABLES AEB!"""
+  carlog.warning(f"ecu disable {hex(addr), sub_addr} ...")
+
+  for i in range(retry):
+    try:
+      query = IsoTpParallelQuery(can_send, can_recv, bus, [(addr, sub_addr)], [EXT_DIAG_REQUEST], [EXT_DIAG_RESPONSE], response_offset)
+
+      for _, _ in query.get_data(timeout).items():
+        # a DTC clear can take the ECU several hundred ms, so it must complete before comms go down
+        if clear_dtc:
+          carlog.warning("clear diagnostic information ...")
+          query = IsoTpParallelQuery(can_send, can_recv, bus, [(addr, sub_addr)], [CLEAR_DTC_REQUEST], [CLEAR_DTC_RESPONSE], response_offset)
+          query.get_data(timeout)
+
+        carlog.warning("communication control disable tx/rx ...")
+
+        query = IsoTpParallelQuery(can_send, can_recv, bus, [(addr, sub_addr)], [com_cont_req], [COM_CONT_RESPONSE], response_offset)
+        query.get_data(0)
+
+        carlog.warning("ecu disabled")
+        return True
+
+    except Exception:
+      carlog.exception("ecu disable exception")
+
+    carlog.error(f"ecu disable retry ({i + 1}) ...")
+  carlog.error("ecu disable failed")
+  return False