81 lines
3.2 KiB
Python
81 lines
3.2 KiB
Python
from iqdbc.car.can_definitions import CanData
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from iqdbc.car.carlog import carlog
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from iqdbc.car.isotp_parallel_query import IsoTpParallelQuery
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EXT_DIAG_REQUEST = b'\x10\x03'
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EXT_DIAG_RESPONSE = b'\x50\x03'
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COM_CONT_RESPONSE = b''
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CLEAR_DTC_REQUEST = b'\x14\xff\xff\xff'
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CLEAR_DTC_RESPONSE = b'\x54'
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FUNCTIONAL_ADDR_29BIT = 0x18DB33F1
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CLEAR_DTC_ISOTP_SF = bytes([len(CLEAR_DTC_REQUEST)]) + CLEAR_DTC_REQUEST + b'\x00' * (7 - len(CLEAR_DTC_REQUEST))
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def clear_all_dtcs(can_send, buses, functional_addr=FUNCTIONAL_ADDR_29BIT):
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# broadcast clears stored DTCs on every ECU on the bus, including safety-relevant modules
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for bus in buses:
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carlog.warning(f"clear all DTCs (functional) on bus {bus} ...")
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can_send([CanData(functional_addr, CLEAR_DTC_ISOTP_SF, bus)])
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def clear_ecu_dtcs(can_recv, can_send, bus=0, addr=0x7d0, sub_addr=None, timeout=0.1, retry=10, response_offset: int = 0x8):
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carlog.warning(f"ecu clear DTCs {hex(addr), sub_addr} ...")
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for i in range(retry):
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try:
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query = IsoTpParallelQuery(can_send, can_recv, bus, [(addr, sub_addr)], [EXT_DIAG_REQUEST], [EXT_DIAG_RESPONSE], response_offset)
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for _, _ in query.get_data(timeout).items():
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carlog.warning("clear diagnostic information ...")
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query = IsoTpParallelQuery(can_send, can_recv, bus, [(addr, sub_addr)], [CLEAR_DTC_REQUEST], [CLEAR_DTC_RESPONSE], response_offset)
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query.get_data(timeout)
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carlog.warning("ecu DTCs cleared")
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return True
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except Exception:
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carlog.exception("ecu clear DTCs exception")
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carlog.error(f"ecu clear DTCs retry ({i + 1}) ...")
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carlog.error("ecu clear DTCs failed")
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return False
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def disable_ecu(can_recv, can_send, bus=0, addr=0x7d0, sub_addr=None, com_cont_req=b'\x28\x83\x01',
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timeout=0.1, retry=10, response_offset: int = 0x8, clear_dtc=False):
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"""Silence an ECU by disabling sending and receiving messages using UDS 0x28.
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The ECU will stay silent as long as openpilot keeps sending Tester Present.
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This is used to disable the radar in some cars. Openpilot will emulate the radar.
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WARNING: THIS DISABLES AEB!"""
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carlog.warning(f"ecu disable {hex(addr), sub_addr} ...")
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for i in range(retry):
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try:
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query = IsoTpParallelQuery(can_send, can_recv, bus, [(addr, sub_addr)], [EXT_DIAG_REQUEST], [EXT_DIAG_RESPONSE], response_offset)
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for _, _ in query.get_data(timeout).items():
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# a DTC clear can take the ECU several hundred ms, so it must complete before comms go down
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if clear_dtc:
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carlog.warning("clear diagnostic information ...")
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query = IsoTpParallelQuery(can_send, can_recv, bus, [(addr, sub_addr)], [CLEAR_DTC_REQUEST], [CLEAR_DTC_RESPONSE], response_offset)
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query.get_data(timeout)
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carlog.warning("communication control disable tx/rx ...")
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query = IsoTpParallelQuery(can_send, can_recv, bus, [(addr, sub_addr)], [com_cont_req], [COM_CONT_RESPONSE], response_offset)
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query.get_data(0)
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carlog.warning("ecu disabled")
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return True
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except Exception:
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carlog.exception("ecu disable exception")
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carlog.error(f"ecu disable retry ({i + 1}) ...")
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carlog.error("ecu disable failed")
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return False
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