mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-02-19 15:53:57 +08:00
c4bac6bd68
* panda * bring over changes * dont check car model * remove comment * fix typo * more stuff gated behind long * not * not used * gate that too * try honda tuning * clip accel values * fix up merge * fix stopping * add retry logic around knockout * increase timeout * keep flipping lead bit * true for now * less tuning * update comment * 0.1 s is fine now * merge honda and hyundai knockout * more lead fields * another obj bit * increase timeout * fix stopping flag * only lag compensate for braking * no lead * less tuning * only do knockout if not readonly * try controlling using jerk * tuning * try higher stopping rate * set stopping flag at higher speed * clip upper jerk when stopping * remove comments * tester present 1hz * use positive start accel * 1.0 to maybe improve low speed stuff * no point going over 0 * bump panda * bump panda * revert that change * update ref
35 lines
1.3 KiB
Python
35 lines
1.3 KiB
Python
from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
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from selfdrive.swaglog import cloudlog
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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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def disable_ecu(logcan, sendcan, bus=0, addr=0x7d0, com_cont_req=b'\x28\x83\x01', timeout=0.1, retry=10, debug=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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cloudlog.warning(f"ecu disable {hex(addr)} ...")
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for i in range(retry):
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try:
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query = IsoTpParallelQuery(sendcan, logcan, bus, [addr], [EXT_DIAG_REQUEST], [EXT_DIAG_RESPONSE], debug=debug)
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for _, _ in query.get_data(timeout).items():
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cloudlog.warning("communication control disable tx/rx ...")
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query = IsoTpParallelQuery(sendcan, logcan, bus, [addr], [com_cont_req], [COM_CONT_RESPONSE], debug=debug)
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query.get_data(0)
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cloudlog.warning("ecu disabled")
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return True
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except Exception:
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cloudlog.exception("ecu disable exception")
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print(f"ecu disable retry ({i+1}) ...")
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cloudlog.warning("ecu disable failed")
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return False
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