args = parser.parse_args()
try:
check_output(["pidof", "boardd"])
print("boardd is running, please kill openpilot before running this script! (aborted)")
sys.exit(1)
except CalledProcessError as e:
if e.returncode != 1: # 1 == no process found (boardd not running)
raise e
confirm = input("power on the vehicle keeping the engine off (press start button twice) then type OK to continue: ").upper().strip()
if confirm != "OK":
print("\nyou didn't type 'OK! (aborted)")
sys.exit(0)
panda = Panda() # type: ignore
panda.set_safety_mode(Panda.SAFETY_ELM327)
uds_client = UdsClient(panda, 0x7D0, bus=args.bus, debug=args.debug)
print("\n[START DIAGNOSTIC SESSION]")
session_type : SESSION_TYPE = 0x07 # type: ignore
uds_client.diagnostic_session_control(session_type)
print("[HARDWARE/SOFTWARE VERSION]")
fw_version_data_id : DATA_IDENTIFIER_TYPE = 0xf100 # type: ignore
fw_version = uds_client.read_data_by_identifier(fw_version_data_id)
print(fw_version)
if fw_version not in SUPPORTED_FW_VERSIONS.keys():
print("radar not supported! (aborted)")
sys.exit(1)
print(
"boardd is running, please kill openpilot before running this script! (aborted)"
)
sys.exit(1)
except CalledProcessError as e:
if e.returncode != 1: # 1 == no process found (boardd not running)
raise e
confirm = input(
"power on the vehicle keeping the engine off (press start button twice) then type OK to continue: "
).upper().strip()
if confirm != "OK":
print("\nyou didn't type 'OK! (aborted)")
sys.exit(0)
panda = Panda()
panda.set_safety_mode(Panda.SAFETY_ELM327)
uds_client = UdsClient(panda, 0x7D0, bus=args.bus, debug=args.debug)
print("\n[START DIAGNOSTIC SESSION]")
session_type: SESSION_TYPE = 0x07 # type: ignore
uds_client.diagnostic_session_control(session_type)
print("[HARDWARE/SOFTWARE VERSION]")
fw_version_data_id: DATA_IDENTIFIER_TYPE = 0xf100 # type: ignore
fw_version = uds_client.read_data_by_identifier(fw_version_data_id)
print(fw_version)
if fw_version not in SUPPORTED_FW_VERSIONS.keys():
print("radar not supported! (aborted)")
sys.exit(1)
return max_num_bytes # max number of bytes per transfer data request
def transfer_data(address, block_sequence_count, data=''):
data = chr(block_sequence_count)+data
resp = _uds_request(address, SERVICE_TYPE.TRANSFER_DATA, subfunction=None, data=data)
resp_id = resp[0] if len(resp) > 0 else None
if resp_id != block_sequence_count:
raise ValueError('invalid block_sequence_count: {}'.format(resp_id))
return resp[1:]
def request_transfer_exit(address):
_uds_request(address, SERVICE_TYPE.REQUEST_TRANSFER_EXIT, subfunction=None)
if __name__ == "__main__":
from panda.python import Panda
panda = Panda()
bus = 1
tx_addr = 0x641 # tesla bosch radar RCM addr 0x18da30f1 # EPS
tx_queue = Queue()
rx_queue = Queue()
can_reader_t = threading.Thread(target=_isotp_thread, args=(panda, bus, tx_addr, tx_queue, rx_queue))
can_reader_t.daemon = True
can_reader_t.start()
# examples
print("tester present ...")
tester_present(tx_addr)
print("extended diagnostic session ...")
diagnostic_session_control(tx_addr, SESSION_TYPE.EXTENDED_DIAGNOSTIC)
print("reading VIN from radar...")
vin = read_data_by_identifier(tx_addr, DATA_IDENTIFIER_TYPE.VIN)
#!/usr/bin/env python3
import time
from panda.python import Panda
from hyundai import HyundaiInputOutputController
BUS = 0 # must be C-CAN bus for Honda
p = Panda()
ioc = HyundaiInputOutputController(lambda addr, dat: p.can_send(addr, dat, BUS))
print("surround view ...")
ioc.surround_view_rear_wide(True)
time.sleep(10)
ioc.surround_view_rear_wide(False)