#!/usr/bin/env python3
import capnp
import time
import cereal.messaging as messaging
from panda.python.uds import SERVICE_TYPE
from openpilot.selfdrive.car import make_can_msg
from openpilot.selfdrive.car.fw_query_definitions import EcuAddrBusType
from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp
from openpilot.common.swaglog import cloudlog
[docs]
def make_tester_present_msg(addr, bus, subaddr=None):
dat = [0x02, SERVICE_TYPE.TESTER_PRESENT, 0x0]
if subaddr is not None:
dat.insert(0, subaddr)
dat.extend([0x0] * (8 - len(dat)))
return make_can_msg(addr, bytes(dat), bus)
[docs]
def is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, 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] == (SERVICE_TYPE.TESTER_PRESENT + 0x40):
return True
# error response
if msg.dat[dat_offset + 1] == 0x7F and msg.dat[dat_offset + 2] == SERVICE_TYPE.TESTER_PRESENT:
return True
return False
[docs]
def get_all_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, bus: int, timeout: float = 1, debug: bool = True) -> 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(logcan, sendcan, queries, responses, timeout=timeout, debug=debug)
[docs]
def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, queries: set[EcuAddrBusType],
responses: set[EcuAddrBusType], timeout: float = 1, debug: bool = False) -> 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]
messaging.drain_sock_raw(logcan)
sendcan.send(can_list_to_can_capnp(msgs, msgtype='sendcan'))
start_time = time.monotonic()
while time.monotonic() - start_time < timeout:
can_packets = messaging.drain_sock(logcan, wait_for_one=True)
for packet in can_packets:
for msg in packet.can:
if not len(msg.dat):
cloudlog.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):
if debug:
print(f"CAN-RX: {hex(msg.address)} - 0x{bytes.hex(msg.dat)}")
if (msg.address, subaddr, msg.src) in ecu_responses:
print(f"Duplicate ECU address: {hex(msg.address)}")
ecu_responses.add((msg.address, subaddr, msg.src))
except Exception:
cloudlog.exception("ECU addr scan exception")
return ecu_responses
if __name__ == "__main__":
import argparse
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('--timeout', type=float, default=1.0)
args = parser.parse_args()
logcan = messaging.sub_sock('can')
sendcan = messaging.pub_sock('sendcan')
time.sleep(1.0)
print("Getting ECU addresses ...")
ecu_addrs = get_all_ecu_addrs(logcan, sendcan, args.bus, args.timeout, debug=args.debug)
print()
print("Found ECUs on addresses:")
for addr, subaddr, _ in ecu_addrs:
msg = f" 0x{hex(addr)}"
if subaddr is not None:
msg += f" (sub-address: {hex(subaddr)})"
print(msg)