mawei/sunnypilot
1
0
Fork 0
mirror of https://github.com/sunnypilot/sunnypilot.git synced 2026-02-18 22:23:56 +08:00
Code Issues Packages Projects Releases Wiki Activity

boardd: enable fingerprinting with both multiplexed modes (#27159)

Browse Source 
Co-authored-by: Shane Smiskol <shane@smiskol.com>
This commit is contained in:
Adeeb Shihadeh
2023-02-01 19:50:48 -08:00
committed by GitHub
parent 2a6de71cc0
commit 0eeb69a5d0
3 changed files with 11 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1
common/params.cc
View File

@@ -111,6 +111,7 @@ std::unordered_map<std::string, uint32_t> keys = {
{"DoReboot", CLEAR_ON_MANAGER_START},
{"DoShutdown", CLEAR_ON_MANAGER_START},
{"DoUninstall", CLEAR_ON_MANAGER_START},
{"FirmwareObdQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
{"ForcePowerDown", CLEAR_ON_MANAGER_START},
{"GitBranch", PERSISTENT},
{"GitCommit", PERSISTENT},

15
selfdrive/boardd/boardd.cc
View File

@@ -106,6 +106,8 @@ void sync_time(Panda *panda, SyncTimeDir dir) {
bool safety_setter_thread(std::vector<Panda *> pandas) {
LOGD("Starting safety setter thread");
Params p;
// there should be at least one panda connected
if (pandas.size() == 0) {
return false;
@@ -117,25 +119,20 @@ bool safety_setter_thread(std::vector<Panda *> pandas) {
pandas[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, safety_param);
}
Params p = Params();
// wait for VIN to be read
// wait for FW query at OBD port to finish
while (true) {
if (do_exit || !check_all_connected(pandas) || !ignition) {
return false;
}
std::string value_vin = p.get("CarVin");
if (value_vin.size() > 0) {
// sanity check VIN format
assert(value_vin.size() == 17);
LOGW("got CarVin %s", value_vin.c_str());
if (p.getBool("FirmwareObdQueryDone")) {
LOGW("finished FW query at OBD port");
break;
}
util::sleep_for(20);
}
// set to ELM327 for ECU knockouts
// set to ELM327 to finish fingerprinting and for potential ECU knockouts
for (Panda *panda : pandas) {
panda->set_safety_model(cereal::CarParams::SafetyModel::ELM327, 1U);
}

5
selfdrive/car/car_helpers.py
View File

@@ -113,7 +113,10 @@ def fingerprint(logcan, sendcan, num_pandas):
cloudlog.event("Malformed VIN", vin=vin, error=True)
vin = VIN_UNKNOWN
cloudlog.warning("VIN %s", vin)
Params().put("CarVin", vin)
params = Params()
params.put("CarVin", vin)
params.put_bool("FirmwareObdQueryDone", True)
finger = gen_empty_fingerprint()
candidate_cars = {i: all_legacy_fingerprint_cars() for i in [0, 1]} # attempt fingerprint on both bus 0 and 1