openpilot v0.9.6 release
date: 2024-01-12T10:13:37 master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6
This commit is contained in:
FrogAi
157
selfdrive/debug/vw_mqb_config.py
Executable file
157
selfdrive/debug/vw_mqb_config.py
Executable file
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#!/usr/bin/env python3
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import argparse
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import struct
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from enum import IntEnum
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from panda import Panda
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from panda.python.uds import UdsClient, MessageTimeoutError, NegativeResponseError, SESSION_TYPE,\
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DATA_IDENTIFIER_TYPE, ACCESS_TYPE
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# TODO: extend UDS library to allow custom/vendor-defined data identifiers without ignoring type checks
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class VOLKSWAGEN_DATA_IDENTIFIER_TYPE(IntEnum):
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CODING = 0x0600
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# TODO: extend UDS library security_access() to take an access level offset per ISO 14229-1:2020 10.4 and remove this
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class ACCESS_TYPE_LEVEL_1(IntEnum):
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REQUEST_SEED = ACCESS_TYPE.REQUEST_SEED + 2
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SEND_KEY = ACCESS_TYPE.SEND_KEY + 2
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MQB_EPS_CAN_ADDR = 0x712
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RX_OFFSET = 0x6a
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if __name__ == "__main__":
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desc_text = "Shows Volkswagen EPS software and coding info, and enables or disables Heading Control Assist " + \
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"(Lane Assist). Useful for enabling HCA on cars without factory Lane Assist that want to use " + \
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"openpilot integrated at the CAN gateway (J533)."
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epilog_text = "This tool is meant to run directly on a vehicle-installed comma three, with the " + \
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"openpilot/tmux processes stopped. It should also work on a separate PC with a USB-attached comma " + \
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"panda. Vehicle ignition must be on. Recommend engine not be running when making changes. Must " + \
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"turn ignition off and on again for any changes to take effect."
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parser = argparse.ArgumentParser(description=desc_text, epilog=epilog_text)
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parser.add_argument("--debug", action="store_true", help="enable ISO-TP/UDS stack debugging output")
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parser.add_argument("action", choices={"show", "enable", "disable"}, help="show or modify current EPS HCA config")
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args = parser.parse_args()
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panda = Panda()
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panda.set_safety_mode(Panda.SAFETY_ELM327)
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bus = 1 if panda.has_obd() else 0
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uds_client = UdsClient(panda, MQB_EPS_CAN_ADDR, MQB_EPS_CAN_ADDR + RX_OFFSET, bus, timeout=0.2, debug=args.debug)
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try:
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uds_client.diagnostic_session_control(SESSION_TYPE.EXTENDED_DIAGNOSTIC)
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except MessageTimeoutError:
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print("Timeout opening session with EPS")
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quit()
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odx_file, current_coding = None, None
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try:
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hw_pn = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_HARDWARE_NUMBER).decode("utf-8")
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sw_pn = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_SPARE_PART_NUMBER).decode("utf-8")
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sw_ver = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_VERSION_NUMBER).decode("utf-8")
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component = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.SYSTEM_NAME_OR_ENGINE_TYPE).decode("utf-8")
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odx_file = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.ODX_FILE).decode("utf-8").rstrip('\x00')
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current_coding = uds_client.read_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING) # type: ignore
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coding_text = current_coding.hex()
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print("\nEPS diagnostic data\n")
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print(f" Part No HW: {hw_pn}")
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print(f" Part No SW: {sw_pn}")
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print(f" SW Version: {sw_ver}")
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print(f" Component: {component}")
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print(f" Coding: {coding_text}")
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print(f" ASAM Dataset: {odx_file}")
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except NegativeResponseError:
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print("Error fetching data from EPS")
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quit()
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except MessageTimeoutError:
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print("Timeout fetching data from EPS")
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quit()
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coding_variant, current_coding_array, coding_byte, coding_bit = None, None, 0, 0
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coding_length = len(current_coding)
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# EPS_MQB_ZFLS
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if odx_file in ("EV_SteerAssisMQB", "EV_SteerAssisMNB"):
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coding_variant = "ZFLS"
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coding_byte = 0
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coding_bit = 4
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# MQB_PP_APA, MQB_VWBS_GEN2
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elif odx_file in ("EV_SteerAssisVWBSMQBA", "EV_SteerAssisVWBSMQBGen2"):
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coding_variant = "APA"
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coding_byte = 3
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coding_bit = 0
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else:
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print("Configuration changes not yet supported on this EPS!")
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quit()
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current_coding_array = struct.unpack(f"!{coding_length}B", current_coding)
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hca_enabled = (current_coding_array[coding_byte] & (1 << coding_bit) != 0)
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hca_text = ("DISABLED", "ENABLED")[hca_enabled]
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print(f" Lane Assist: {hca_text}")
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try:
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params = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION).decode("utf-8")
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param_version_system_params = params[1:3]
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param_vehicle_type = params[3:5]
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param_index_char_curve = params[5:7]
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param_version_char_values = params[7:9]
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param_version_memory_map = params[9:11]
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print("\nEPS parameterization (per-vehicle calibration) data\n")
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print(f" Version of system parameters: {param_version_system_params}")
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print(f" Vehicle type: {param_vehicle_type}")
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print(f" Index of characteristic curve: {param_index_char_curve}")
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print(f" Version of characteristic values: {param_version_char_values}")
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print(f" Version of memory map: {param_version_memory_map}")
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except (NegativeResponseError, MessageTimeoutError):
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print("Error fetching parameterization data from EPS!")
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quit()
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if args.action in ["enable", "disable"]:
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print("\nAttempting configuration update")
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assert(coding_variant in ("ZFLS", "APA"))
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# ZFLS EPS config coding length can be anywhere from 1 to 4 bytes, but the
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# bit we care about is always in the same place in the first byte
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if args.action == "enable":
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new_byte = current_coding_array[coding_byte] | (1 << coding_bit)
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else:
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new_byte = current_coding_array[coding_byte] & ~(1 << coding_bit)
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new_coding = current_coding[0:coding_byte] + new_byte.to_bytes(1, "little") + current_coding[coding_byte+1:]
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try:
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seed = uds_client.security_access(ACCESS_TYPE_LEVEL_1.REQUEST_SEED) # type: ignore
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key = struct.unpack("!I", seed)[0] + 28183 # yeah, it's like that
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uds_client.security_access(ACCESS_TYPE_LEVEL_1.SEND_KEY, struct.pack("!I", key)) # type: ignore
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except (NegativeResponseError, MessageTimeoutError):
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print("Security access failed!")
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print("Open the hood and retry (disables the \"diagnostic firewall\" on newer vehicles)")
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quit()
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try:
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# Programming date and tester number must be written before making
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# a change, or write to CODING will fail with request sequence error
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# Encoding on tester is unclear, it contains the workshop code in the
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# last two bytes, but not the VZ/importer or tester serial number
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# Can't seem to read it back, but we can read the calibration tester,
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# so fib a little and say that same tester did the programming
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# TODO: encode the actual current date
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prog_date = b'\x22\x02\x08'
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uds_client.write_data_by_identifier(DATA_IDENTIFIER_TYPE.PROGRAMMING_DATE, prog_date)
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tester_num = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.CALIBRATION_REPAIR_SHOP_CODE_OR_CALIBRATION_EQUIPMENT_SERIAL_NUMBER)
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uds_client.write_data_by_identifier(DATA_IDENTIFIER_TYPE.REPAIR_SHOP_CODE_OR_TESTER_SERIAL_NUMBER, tester_num)
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uds_client.write_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING, new_coding) # type: ignore
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except (NegativeResponseError, MessageTimeoutError):
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print("Writing new configuration failed!")
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print("Make sure the comma processes are stopped: tmux kill-session -t comma")
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quit()
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try:
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# Read back result just to make 100% sure everything worked
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current_coding_text = uds_client.read_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING).hex() # type: ignore
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print(f" New coding: {current_coding_text}")
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except (NegativeResponseError, MessageTimeoutError):
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print("Reading back updated coding failed!")
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quit()
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print("EPS configuration successfully updated")
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