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- #!/usr/bin/env python3
- from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
- from openpilot.common.swaglog import cloudlog
- EXT_DIAG_REQUEST = b'\x10\x03'
- EXT_DIAG_RESPONSE = b'\x50\x03'
- COM_CONT_RESPONSE = b''
- def disable_ecu(logcan, sendcan, bus=0, addr=0x7d0, sub_addr=None, com_cont_req=b'\x28\x83\x01', timeout=0.1, retry=10, debug=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!"""
- cloudlog.warning(f"ecu disable {hex(addr), sub_addr} ...")
- for i in range(retry):
- try:
- query = IsoTpParallelQuery(sendcan, logcan, bus, [(addr, sub_addr)], [EXT_DIAG_REQUEST], [EXT_DIAG_RESPONSE], debug=debug)
- for _, _ in query.get_data(timeout).items():
- cloudlog.warning("communication control disable tx/rx ...")
- query = IsoTpParallelQuery(sendcan, logcan, bus, [(addr, sub_addr)], [com_cont_req], [COM_CONT_RESPONSE], debug=debug)
- query.get_data(0)
- cloudlog.warning("ecu disabled")
- return True
- except Exception:
- cloudlog.exception("ecu disable exception")
- cloudlog.error(f"ecu disable retry ({i + 1}) ...")
- cloudlog.error("ecu disable failed")
- return False
- if __name__ == "__main__":
- import time
- import cereal.messaging as messaging
- sendcan = messaging.pub_sock('sendcan')
- logcan = messaging.sub_sock('can')
- time.sleep(1)
- # honda bosch radar disable
- disabled = disable_ecu(logcan, sendcan, bus=1, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03', timeout=0.5, debug=False)
- print(f"disabled: {disabled}")
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