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Write boardd param to continue startup (#27354)

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disable at the bottom
This commit is contained in:
Shane Smiskol
2023-02-15 15:52:10 -08:00
committed by GitHub
parent 5078c91805
commit 5dde8f2c84
2 changed files with 13 additions and 8 deletions
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3
selfdrive/car/car_helpers.py
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@@ -8,7 +8,7 @@ from system.version import is_comma_remote, is_tested_branch
from selfdrive.car.interfaces import get_interface_attr
from selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
from selfdrive.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN
from selfdrive.car.fw_versions import get_fw_versions_ordered, match_fw_to_car, get_present_ecus
from selfdrive.car.fw_versions import disable_obd_multiplexing, get_fw_versions_ordered, match_fw_to_car, get_present_ecus
from system.swaglog import cloudlog
import cereal.messaging as messaging
from selfdrive.car import gen_empty_fingerprint
@@ -116,6 +116,7 @@ def fingerprint(logcan, sendcan, num_pandas):
params = Params()
params.put("CarVin", vin)
disable_obd_multiplexing(params)
finger = gen_empty_fingerprint()
candidate_cars = {i: all_legacy_fingerprint_cars() for i in [0, 1]} # attempt fingerprint on both bus 0 and 1

18
selfdrive/car/fw_versions.py
View File

@@ -198,6 +198,15 @@ def get_brand_ecu_matches(ecu_rx_addrs):
return brand_matches
def disable_obd_multiplexing(params):
if not params.get_bool("ObdMultiplexingDisabled"):
params.put_bool("FirmwareObdQueryDone", True)
cloudlog.warning("Waiting for OBD multiplexing to be disabled")
params.get_bool("ObdMultiplexingDisabled", block=True)
cloudlog.warning("OBD multiplexing disabled")
def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pandas=1, debug=False, progress=False):
"""Queries for FW versions ordering brands by likelihood, breaks when exact match is found"""
@@ -214,14 +223,9 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pand
matched_brand = brand
break
disable_obd_multiplexing(Params())
# Do non-OBD queries for matched brand, or all if no match is found
params = Params()
params.put_bool("FirmwareObdQueryDone", True)
cloudlog.warning("Waiting for OBD multiplexing to be disabled")
params.get_bool("ObdMultiplexingDisabled", block=True)
cloudlog.warning("OBD multiplexing disabled")
for brand in FW_QUERY_CONFIGS.keys():
if brand == matched_brand or matched_brand is None:
all_car_fw.extend(get_fw_versions(logcan, sendcan, query_brand=brand, timeout=timeout, num_pandas=num_pandas, obd_multiplexed=False, debug=debug, progress=progress))