mirror of https://github.com/commaai/panda.git
uds lib
This commit is contained in:
Greg Hogan
parent
162f4853df
commit
c1c5b0356b
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#!/usr/bin/env python
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import time
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import struct
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from enum import Enum
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import threading
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# class Services(Enum):
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# DiagnosticSessionControl = 0x10
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# ECUReset = 0x11
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# SecurityAccess = 0x27
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# CommunicationControl = 0x28
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# TesterPresent = 0x3E
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# AccessTimingParameter = 0x83
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# SecuredDataTransmission = 0x84
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# ControlDTCSetting = 0x85
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# ResponseOnEvent = 0x86
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# LinkControl = 0x87
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# ReadDataByIdentifier = 0x22
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# ReadMemoryByAddress = 0x23
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# ReadScalingDataByIdentifier = 0x24
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# ReadDataByPeriodicIdentifier = 0x2A
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# DynamicallyDefineDataIdentifier = 0x2C
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# WriteDataByIdentifier = 0x2E
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# WriteMemoryByAddress = 0x3D
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# ClearDiagnosticInformation = 0x14
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# ReadDTCInformation = 0x19
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# InputOutputControlByIdentifier = 0x2F
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# RoutineControl = 0x31
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# RequestDownload = 0x34
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# RequestUpload = 0x35
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# TransferData = 0x36
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# RequestTransferExit = 0x37
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_negative_response_codes = {
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'\x00': 'positive response',
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'\x10': 'general reject',
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'\x11': 'service not supported',
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'\x12': 'sub-function not supported',
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'\x13': 'incorrect message length or invalid format',
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'\x14': 'response too long',
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'\x21': 'busy repeat request',
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'\x22': 'conditions not correct',
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'\x24': 'request sequence error',
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'\x25': 'no response from subnet component',
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'\x26': 'failure prevents execution of requested action',
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'\x31': 'request out of range',
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'\x33': 'security access denied',
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'\x35': 'invalid key',
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'\x36': 'exceed numebr of attempts',
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'\x37': 'required time delay not expired',
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'\x70': 'upload download not accepted',
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'\x71': 'transfer data suspended',
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'\x72': 'general programming failure',
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'\x73': 'wrong block sequence counter',
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'\x78': 'request correctly received - response pending',
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'\x7e': 'sub-function not supported in active session',
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'\x7f': 'service not supported in active session',
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'\x81': 'rpm too high',
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'\x82': 'rpm too low',
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'\x83': 'engine is running',
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'\x84': 'engine is not running',
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'\x85': 'engine run time too low',
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'\x86': 'temperature too high',
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'\x87': 'temperature too low',
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'\x88': 'vehicle speed too high',
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'\x89': 'vehicle speed too low',
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'\x8a': 'throttle/pedal too high',
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'\x8b': 'throttle/pedal too low',
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'\x8c': 'transmission not in neutral',
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'\x8d': 'transmission not in gear',
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'\x8f': 'brake switch(es) not closed',
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'\x90': 'shifter lever not in park',
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'\x91': 'torque converter clutch locked',
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'\x92': 'voltage too high',
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'\x93': 'voltage too low',
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}
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# generic uds request
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def _request(address, service, subfunction, data=None):
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# TODO: send request
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# TODO: wait for response
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# raise exception on error
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if resp[0] == '\x7f'
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error_code = resp[2]
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error_desc = _negative_response_codes[error_code]
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raise Exception('[{}] {}'.format(hex(ord(error_code)), error_desc))
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resp_sid = ord(resp[0]) if len(resp) > 0 else None
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if service != resp_sid + 0x40:
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resp_sid_hex = hex(resp_sid) if resp_sid is not None else None
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raise Exception('invalid response service id: {}'.format(resp_sid_hex))
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if subfunction is None:
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resp_subf = ord(resp[1]) if len(resp) > 1 else None
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if subfunction != resp_subf:
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resp_subf_hex = hex(resp_subf) if resp_subf is not None else None
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raise Exception('invalid response subfunction: {}'.format(hex(resp_subf)))
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# return data (exclude service id and sub-function id)
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return resp[(1 if subfunction is None else 2):]
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# services
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class DIAGNOSTIC_SESSION_CONTROL_TYPE(Enum):
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DEFAULT = 1
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PROGRAMMING = 2
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EXTENDED_DIAGNOSTIC = 3
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SAFETY_SYSTEM_DIAGNOSTIC = 4
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def diagnostic_session_control(address, session_type):
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_request(address, service=0x10, subfunction=session_type)
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class ECU_RESET_TYPE(Enum):
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HARD = 1
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KEY_OFF_ON = 2
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SOFT = 3
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ENABLE_RAPID_POWER_SHUTDOWN = 4
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DISABLE_RAPID_POWER_SHUTDOWN = 5
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def ecu_reset(address, reset_type):
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resp = _request(address, service=0x11, subfunction=reset_type)
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power_down_time = None
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if reset_type == RESET_TYPE.ENABLE_RAPID_POWER_SHUTDOWN
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power_down_time = ord(resp[0])
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return {"power_down_time": power_down_time}
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class SECURITY_ACCESS_TYPE(Enum):
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REQUEST_SEED = 1
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SEND_KEY = 2
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def security_access(address, access_type, security_key=None):
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request_seed = access_type % 2 == 0
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if request_seed and security_key is not None:
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raise ValueError('security_key not allowed')
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if not request_seed and security_key is None:
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raise ValueError('security_key is missing')
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resp = _request(address, service=0x27, subfunction=access_type, data=security_key)
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if request_seed:
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return {"security_seed": resp}
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class COMMUNICATION_CONTROL_TYPE(Enum):
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ENABLE_RX_ENABLE_TX = 0
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ENABLE_RX_DISABLE_TX = 1
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DISABLE_RX_ENABLE_TX = 2
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DISABLE_RX_DISABLE_TX = 3
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class COMMUNICATION_CONTROL_MESSAGE_TYPE(Enum):
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NORMAL = 1
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NETWORK_MANAGEMENT = 2
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NORMAL_AND_NETWORK_MANAGEMENT = 3
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def communication_control(address, control_type, message_type):
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data = chr(message_type)
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_request(address, service=0x28, subfunction=control_type, data=data)
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def tester_present(address):
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_request(address, service=0x3E, subfunction=0x00)
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class ACCESS_TIMING_PARAMETER_TYPE(Enum):
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READ_EXTENDED_SET = 1
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SET_TO_DEFAULT_VALUES = 2
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READ_CURRENTLY_ACTIVE = 3
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SET_TO_GIVEN_VALUES = 4
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def access_timing_parameter(address, parameter_type, parameter_values):
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write_custom_values = parameter_type == ACCESS_TIMING_PARAMETER_TYPE.SET_TO_GIVEN_VALUES
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read_values = (
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parameter_type == ACCESS_TIMING_PARAMETER_TYPE.READ_CURRENTLY_ACTIVE or
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parameter_type == ACCESS_TIMING_PARAMETER_TYPE.READ_EXTENDED_SET
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)
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if not write_custom_values and parameter_values is not None:
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raise ValueError('parameter_values not allowed')
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if write_custom_values and parameter_values is None:
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raise ValueError('parameter_values is missing')
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resp = _request(address, service=0x83, subfunction=parameter_type, data=parameter_values)
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if read_values:
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# TODO: parse response into values?
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return {"parameter_values": resp}
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def secured_data_transmission(address, data):
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# TODO: split data into multiple input parameters?
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resp = _request(address, service=0x84, subfunction=None, data=data)
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# TODO: parse response into multiple output values?
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return {"data"=resp}
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class CONTROL_DTC_SETTING_TYPE(Enum):
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ON = 1
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OFF = 2
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def control_dtc_setting(address, setting_type):
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_request(address, service=0x85, subfunction=setting_type)
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class RESPONSE_ON_EVENT_TYPE(Enum):
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STOP_RESPONSE_ON_EVENT = 0
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ON_DTC_STATUS_CHANGE = 1
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ON_TIMER_INTERRUPT = 2
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ON_CHANGE_OF_DATA_IDENTIFIER = 3
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REPORT_ACTIVATED_EVENTS = 4
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START_RESPONSE_ON_EVENT = 5
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CLEAR_RESPONSE_ON_EVENT = 6
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ON_COMPARISON_OF_VALUES = 7
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def response_on_event(address, event_type, store_event, window_time, event_type_record, service_response_record):
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if store_event:
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event_type |= 0x20
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# TODO: split record parameters into arrays
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data = char(window_time) + event_type_record + service_response_record
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resp = _request(address, service=0x86, subfunction=event_type, data=data)
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# TODO: parse the reset of response
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class LINK_CONTROL_TYPE(Enum):
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VERIFY_BAUDRATE_TRANSITION_WITH_FIXED_BAUDRATE = 1
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VERIFY_BAUDRATE_TRANSITION_WITH_SPECIFIC_BAUDRATE = 2
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TRANSITION_BAUDRATE = 3
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class LINK_CONTROL_BAUD_RATE(Enum):
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PC9600 = 1
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PC19200 = 2
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PC38400 = 3
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PC57600 = 4
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PC115200 = 5
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CAN125000 = 16
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CAN250000 = 17
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CAN500000 = 18
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CAN1000000 = 19
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def link_control(address, control_type, baud_rate=None):
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if LINK_CONTROL_TYPE.VERIFY_BAUDRATE_TRANSITION_WITH_FIXED_BAUDRATE:
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# baud_rate = LINK_CONTROL_BAUD_RATE
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data = chr(baud_rate)
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elif LINK_CONTROL_TYPE.VERIFY_BAUDRATE_TRANSITION_WITH_SPECIFIC_BAUDRATE:
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# baud_rate = custom value (3 bytes big-endian)
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data = struct.pack('!I', baud_rate)[1:]
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else:
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data = None
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_request(address, service=0x87, subfunction=control_type, data=data)
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class DATA_IDENTIFIER(Enum):
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BOOT_SOFTWARE_IDENTIFICATION = 0XF180
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APPLICATION_SOFTWARE_IDENTIFICATION = 0XF181
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APPLICATION_DATA_IDENTIFICATION = 0XF182
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BOOT_SOFTWARE_FINGERPRINT = 0XF183
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APPLICATION_SOFTWARE_FINGERPRINT = 0XF184
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APPLICATION_DATA_FINGERPRINT = 0XF185
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ACTIVE_DIAGNOSTIC_SESSION = 0XF186
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VEHICLE_MANUFACTURER_SPARE_PART_NUMBER = 0XF187
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VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER = 0XF188
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VEHICLE_MANUFACTURER_ECU_SOFTWARE_VERSION_NUMBER = 0XF189
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SYSTEM_SUPPLIER_IDENTIFIER = 0XF18A
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ECU_MANUFACTURING_DATE = 0XF18B
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ECU_SERIAL_NUMBER = 0XF18C
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SUPPORTED_FUNCTIONAL_UNITS = 0XF18D
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VEHICLE_MANUFACTURER_KIT_ASSEMBLY_PART_NUMBER = 0XF18E
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VIN = 0XF190
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VEHICLE_MANUFACTURER_ECU_HARDWARE_NUMBER = 0XF191
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SYSTEM_SUPPLIER_ECU_HARDWARE_NUMBER = 0XF192
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SYSTEM_SUPPLIER_ECU_HARDWARE_VERSION_NUMBER = 0XF193
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SYSTEM_SUPPLIER_ECU_SOFTWARE_NUMBER = 0XF194
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SYSTEM_SUPPLIER_ECU_SOFTWARE_VERSION_NUMBER = 0XF195
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EXHAUST_REGULATION_OR_TYPE_APPROVAL_NUMBER = 0XF196
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SYSTEM_NAME_OR_ENGINE_TYPE = 0XF197
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REPAIR_SHOP_CODE_OR_TESTER_SERIAL_NUMBER = 0XF198
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PROGRAMMING_DATE = 0XF199
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CALIBRATION_REPAIR_SHOP_CODE_OR_CALIBRATION_EQUIPMENT_SERIAL_NUMBER = 0XF19A
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CALIBRATION_DATE = 0XF19B
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CALIBRATION_EQUIPMENT_SOFTWARE_NUMBER = 0XF19C
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ECU_INSTALLATION_DATE = 0XF19D
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ODX_FILE = 0XF19E
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ENTITY = 0XF19F
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def read_data_by_identifier(address, data_identifier):
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# TODO: support list of identifiers
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data = struct.pack('!H', data_id)
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resp = _request(address, service=0x22, subfunction=None, data=data)
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resp_id = struct.unpack('!H', data[0:2])[0] if len(data) >= 2 else None
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if resp_id != data_id:
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raise ValueError('invalid response data identifier: {}'.format(hex(resp_id)))
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return resp[2:]
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def read_memory_by_address(address, memory_address, memory_size, memory_address_bytes=4, memory_size_bytes=4):
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if memory_address_bytes < 1 or memory_address_bytes > 4:
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raise ValueError('invalid memory_address_bytes: {}'.format(memory_address_bytes))
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if memory_size_bytes < 1 or memory_size_bytes > 4:
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raise ValueError('invalid memory_size_bytes: {}'.format(memory_size_bytes))
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data = struct.pack('!BB', memory_size_bytes, memory_address_bytes)
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if memory_address >= 1<<(memory_address_bytes*8)
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raise ValueError('invalid memory_address: {}'.format(memory_address))
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data += struct.pack('!I', memory_address)[4-memory_address_bytes:]
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if memory_size >= 1<<(memory_size_bytes*8)
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raise ValueError('invalid memory_size: {}'.format(memory_address))
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data += struct.pack('!I', memory_size)[4-memory_size_bytes:]
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resp = _request(address, service=0x23, subfunction=None, data=data)
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return resp
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def read_scaling_data_by_identifier(address):
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raise NotImplementedError()
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_request(address, service=0x24, subfunction=0x00)
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def read_data_by_periodic_identifier(address):
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raise NotImplementedError()
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_request(address, service=0x2A, subfunction=0x00)
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def dynamically_define_data_identifier(address):
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raise NotImplementedError()
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_request(address, service=0x2C, subfunction=0x00)
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def write_data_by_identifier(address):
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raise NotImplementedError()
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_request(address, service=0x2E, subfunction=0x00)
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def write_memory_by_address(address):
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raise NotImplementedError()
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_request(address, service=0x3D, subfunction=0x00)
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def clear_diagnostic_information(address):
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raise NotImplementedError()
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_request(address, service=0x14, subfunction=0x00)
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def read_dtc_information(address):
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raise NotImplementedError()
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_request(address, service=0x19, subfunction=0x00)
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class INPUT_OUTPUT_CONTROL_PARAMETER(Enum):
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RETURN_CONTROL_TO_ECU = 0
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RESET_TO_DEFAULT = 1
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FREEZE_CURRENT_STATE = 2
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SHORT_TERM_ADJUSTMENT = 3
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def input_output_control_by_identifier(address):
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raise NotImplementedError()
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_request(address, service=0x2F, subfunction=0x00)
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class ROUTINE_CONTROL_TYPE(Enum):
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ERASE_MEMORY = 0xFF00
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CHECK_PROGRAMMING_DEPENDENCIES = 0xFF01
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ERASE_MIRROR_MEMORY_DTCS = 0xFF02
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def routine_control(address):
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raise NotImplementedError()
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_request(address, service=0x31, subfunction=0x00)
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def request_download(address):
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raise NotImplementedError()
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_request(address, service=0x34, subfunction=0x00)
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def request_upload(address):
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raise NotImplementedError()
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_request(address, service=0x35, subfunction=0x00)
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def transfer_data(address):
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raise NotImplementedError()
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_request(address, service=0x36, subfunction=0x00)
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def request_transfer_exit(address)
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raise NotImplementedError()
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_request(address, service=0x37, subfunction=0x00)
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if __name__ == "__main__":
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from . import uds
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# examples
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vin = uds.read_data_by_identifier(0x18da10f1, uds.DATA_IDENTIFIER.VIN)
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