uds can communication
Greg Hogan
parent
dca176e717
commit
1ddc9735d1
143
python/uds.py
143
python/uds.py
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@ -2,8 +2,11 @@
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import time
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import struct
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from enum import IntEnum
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from Queue import Queue, Empty
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import threading
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DEBUG = True
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class SERVICE_TYPE(IntEnum):
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DIAGNOSTIC_SESSION_CONTROL = 0x10
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ECU_RESET = 0x11
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@ -75,6 +78,8 @@ _negative_response_codes = {
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'\x93': 'voltage too low',
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}
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class MessageTimeoutError(Exception):
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pass
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class NegativeResponseError(Exception):
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pass
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class InvalidServiceIdError(Exception):
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@ -82,13 +87,72 @@ class InvalidServiceIdError(Exception):
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class InvalidSubFunctioneError(Exception):
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pass
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# generic uds request
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def _request(address, service_type, subfunction=None, data=None):
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# TODO: send request
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# TODO: wait for response
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#resp = '\x7f'+chr(service_type)+'\x10'
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resp = '\x62\xf1\x90' + '\x57\x30\x4c\x30\x30\x30\x30\x34\x33\x4d\x42\x35\x34\x31\x33\x32\x36'
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def _isotp_thread(panda, bus, tx_addr, tx_queue, rx_queue):
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try:
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panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
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if tx_addr < 0xFFF8:
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filter_addr = tx_addr+8
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elif tx_addr > 0x10000000 and tx_addr < 0xFFFFFFFF:
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filter_addr = (tx_addr & 0xFFFF0000) + (tx_addr<<8 & 0xFF00) + (tx_addr>>8 & 0xFF)
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else:
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raise ValueError("invalid tx_addr: {}".format(tx_addr))
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rx_frame = {"size": 0, "data": "", "sent": True}
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panda.can_clear(0)
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while True:
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messages = panda.can_recv()
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for rx_addr, rx_ts, rx_data, rx_bus in messages:
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if rx_bus != bus or rx_addr != filter_addr or len(data) == 0:
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continue
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if (DEBUG): print "R:", hex(rx_addr), rx_data.encode('hex')
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if rx_data[0] >> 4 == 0x0:
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# single rx_frame
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rx_frame["size"] = rx_data[0] & 0xFF
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rx_frame["data"] = rx_data[1:1+rx_frame["size"]]
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rx_frame["sent"] = True
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rx_queue.put(rx_frame["data"])
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elif rx_data[0] >> 4 == 0x1:
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# first rx_frame
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rx_frame["size"] = ((rx_data[0] & 0x0F) << 8) + rx_data[1]
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rx_frame["data"] = rx_data[2:]
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rx_frame["sent"] = False
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# send flow control message (send all bytes)
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flow_ctl = "\x30\x00\x00".ljust(8, "\x00")
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if (DEBUG): print "S:", hex(tx_addr), flow_ctl.encode("hex")
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panda.can_send(tx_addr, flow_ctl, bus)
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elif rx_data[0] >> 4 == 0x2:
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# consecutive rx_frame
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assert rx_frame["sent"] == False, "no active frame"
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rx_size = rx_frame["size"] - len(rx_data)
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rx_frame["data"] += rx_data[1:1+min(rx_size, 7)]
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if rx_size <= 7:
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rx_frame["sent"] = True
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rx_queue.put(rx_frame["data"])
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if not tx_queue.empty():
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req = tx_queue.get(block=False)
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# reset rx rx_frame
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rx_frame = {"size": 0, "data": "", "sent": True}
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if (DEBUG): print "S:", hex(tx_addr), req.encode("hex")
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panda.can_send(tx_addr, req, bus)
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else:
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time.sleep(0.001)
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finally:
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panda.close()
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# generic uds request
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def _uds_request(address, service_type, subfunction=None, data=None):
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req = chr(service_type)
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if subfunction is not None:
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req += chr(subfunction)
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if data is not None:
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req += data
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tx_queue.put(req)
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try:
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resp = rx_queue.get(block=True, timeout=10)
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except Empty:
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raise MessageTimeoutError("timeout waiting for response")
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resp_sid = ord(resp[0]) if len(resp) > 0 else None
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# negative response
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@ -126,7 +190,7 @@ class SESSION_TYPE(IntEnum):
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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_TYPE.DIAGNOSTIC_SESSION_CONTROL, subfunction=session_type)
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_uds_request(address, SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, subfunction=session_type)
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class RESET_TYPE(IntEnum):
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HARD = 1
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@ -136,7 +200,7 @@ class RESET_TYPE(IntEnum):
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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_TYPE.ECU_RESET, subfunction=reset_type)
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resp = _uds_request(address, SERVICE_TYPE.ECU_RESET, 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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@ -152,7 +216,7 @@ def security_access(address, access_type, security_key=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_TYPE.SECURITY_ACCESS, subfunction=access_type, data=security_key)
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resp = _uds_request(address, SERVICE_TYPE.SECURITY_ACCESS, subfunction=access_type, data=security_key)
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if request_seed:
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security_seed = resp
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return security_seed
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@ -170,10 +234,10 @@ class MESSAGE_TYPE(IntEnum):
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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_TYPE.COMMUNICATION_CONTROL, subfunction=control_type, data=data)
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_uds_request(address, SERVICE_TYPE.COMMUNICATION_CONTROL, subfunction=control_type, data=data)
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def tester_present(address):
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_request(address, SERVICE_TYPE.TESTER_PRESENT, subfunction=0x00)
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_uds_request(address, SERVICE_TYPE.TESTER_PRESENT, subfunction=0x00)
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class TIMING_PARAMETER_TYPE(IntEnum):
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READ_EXTENDED_SET = 1
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@ -191,7 +255,7 @@ def access_timing_parameter(address, timing_parameter_type, parameter_values):
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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_TYPE.ACCESS_TIMING_PARAMETER, subfunction=timing_parameter_type, data=parameter_values)
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resp = _uds_request(address, SERVICE_TYPE.ACCESS_TIMING_PARAMETER, subfunction=timing_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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parameter_values = resp
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@ -199,7 +263,7 @@ def access_timing_parameter(address, timing_parameter_type, parameter_values):
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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_TYPE.SECURED_DATA_TRANSMISSION, subfunction=None, data=data)
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resp = _uds_request(address, SERVICE_TYPE.SECURED_DATA_TRANSMISSION, subfunction=None, data=data)
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# TODO: parse response into multiple output values?
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return resp
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@ -208,7 +272,7 @@ class DTC_SETTING_TYPE(IntEnum):
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OFF = 2
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def control_dtc_setting(address, dtc_setting_type):
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_request(address, SERVICE_TYPE.CONTROL_DTC_SETTING, subfunction=dtc_setting_type)
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_uds_request(address, SERVICE_TYPE.CONTROL_DTC_SETTING, subfunction=dtc_setting_type)
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class RESPONSE_EVENT_TYPE(IntEnum):
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STOP_RESPONSE_ON_EVENT = 0
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@ -225,7 +289,7 @@ def response_on_event(address, response_event_type, store_event, window_time, ev
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response_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_TYPE.RESPONSE_ON_EVENT, subfunction=response_event_type, data=data)
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resp = _uds_request(address, SERVICE_TYPE.RESPONSE_ON_EVENT, subfunction=response_event_type, data=data)
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if response_event_type == REPORT_ACTIVATED_EVENTS:
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return {
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@ -264,7 +328,7 @@ def link_control(address, link_control_type, baud_rate_type=None):
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data = struct.pack('!I', baud_rate_type)[1:]
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else:
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data = None
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_request(address, SERVICE_TYPE.LINK_CONTROL, subfunction=link_control_type, data=data)
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_uds_request(address, SERVICE_TYPE.LINK_CONTROL, subfunction=link_control_type, data=data)
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class DATA_IDENTIFIER_TYPE(IntEnum):
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BOOT_SOFTWARE_IDENTIFICATION = 0XF180
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@ -302,7 +366,7 @@ class DATA_IDENTIFIER_TYPE(IntEnum):
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def read_data_by_identifier(address, data_identifier_type):
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# TODO: support list of identifiers
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data = struct.pack('!H', data_identifier_type)
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resp = _request(address, SERVICE_TYPE.READ_DATA_BY_IDENTIFIER, subfunction=None, data=data)
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resp = _uds_request(address, SERVICE_TYPE.READ_DATA_BY_IDENTIFIER, subfunction=None, data=data)
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resp_id = struct.unpack('!H', resp[0:2])[0] if len(resp) >= 2 else None
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if resp_id != data_identifier_type:
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raise ValueError('invalid response data identifier: {}'.format(hex(resp_id)))
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@ -322,12 +386,12 @@ def read_memory_by_address(address, memory_address, memory_size, memory_address_
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raise ValueError('invalid memory_size: {}'.format(memory_size))
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data += struct.pack('!I', memory_size)[4-memory_size_bytes:]
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resp = _request(address, SERVICE_TYPE.READ_MEMORY_BY_ADDRESS, subfunction=None, data=data)
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resp = _uds_request(address, SERVICE_TYPE.READ_MEMORY_BY_ADDRESS, subfunction=None, data=data)
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return resp
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def read_scaling_data_by_identifier(address, data_identifier_type):
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data = struct.pack('!H', data_identifier_type)
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resp = _request(address, SERVICE_TYPE.READ_SCALING_DATA_BY_IDENTIFIER, subfunction=None, data=data)
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resp = _uds_request(address, SERVICE_TYPE.READ_SCALING_DATA_BY_IDENTIFIER, subfunction=None, data=data)
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resp_id = struct.unpack('!H', resp[0:2])[0] if len(resp) >= 2 else None
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if resp_id != data_identifier_type:
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raise ValueError('invalid response data identifier: {}'.format(hex(resp_id)))
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@ -342,7 +406,7 @@ class TRANSMISSION_MODE_TYPE(IntEnum):
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def read_data_by_periodic_identifier(address, transmission_mode_type, periodic_data_identifier):
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# TODO: support list of identifiers
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data = chr(transmission_mode_type) + chr(periodic_data_identifier)
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_request(address, SERVICE_TYPE.READ_DATA_BY_PERIODIC_IDENTIFIER, subfunction=None, data=data)
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_uds_request(address, SERVICE_TYPE.READ_DATA_BY_PERIODIC_IDENTIFIER, subfunction=None, data=data)
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class DYNAMIC_DEFINITION_TYPE(IntEnum):
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DEFINE_BY_IDENTIFIER = 1
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@ -373,11 +437,11 @@ def dynamically_define_data_identifier(address, dynamic_definition_type, dynamic
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pass
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else:
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raise ValueError('invalid dynamic identifier type: {}'.format(hex(dynamic_definition_type)))
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_request(address, SERVICE_TYPE.DYNAMICALLY_DEFINE_DATA_IDENTIFIER, subfunction=dynamic_definition_type, data=data)
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_uds_request(address, SERVICE_TYPE.DYNAMICALLY_DEFINE_DATA_IDENTIFIER, subfunction=dynamic_definition_type, data=data)
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def write_data_by_identifier(address, data_identifier_type, data_record):
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data = struct.pack('!H', data_identifier_type) + data_record
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resp = _request(address, SERVICE_TYPE.WRITE_DATA_BY_IDENTIFIER, subfunction=None, data=data)
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resp = _uds_request(address, SERVICE_TYPE.WRITE_DATA_BY_IDENTIFIER, subfunction=None, data=data)
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resp_id = struct.unpack('!H', resp[0:2])[0] if len(resp) >= 2 else None
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if resp_id != data_identifier_type:
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raise ValueError('invalid response data identifier: {}'.format(hex(resp_id)))
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@ -397,7 +461,7 @@ def write_memory_by_address(address, memory_address, memory_size, data_record, m
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data += struct.pack('!I', memory_size)[4-memory_size_bytes:]
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data += data_record
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_request(address, SERVICE_TYPE.WRITE_MEMORY_BY_ADDRESS, subfunction=0x00, data=data)
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_uds_request(address, SERVICE_TYPE.WRITE_MEMORY_BY_ADDRESS, subfunction=0x00, data=data)
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class DTC_GROUP_TYPE(IntEnum):
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EMISSIONS = 0x000000
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@ -405,7 +469,7 @@ class DTC_GROUP_TYPE(IntEnum):
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def clear_diagnostic_information(address, dtc_group_type):
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data = struct.pack('!I', dtc_group_type)[1:] # 3 bytes
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_request(address, SERVICE_TYPE.CLEAR_DIAGNOSTIC_INFORMATION, subfunction=None, data=data)
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_uds_request(address, SERVICE_TYPE.CLEAR_DIAGNOSTIC_INFORMATION, subfunction=None, data=data)
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class DTC_REPORT_TYPE(IntEnum):
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NUMBER_OF_DTC_BY_STATUS_MASK = 0x01
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@ -438,7 +502,7 @@ class DTC_STATUS_MASK_TYPE(IntEnum):
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TEST_NOT_COMPLETED_SINCE_LAST_CLEAR = 0x10
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TEST_FAILED_SINCE_LAST_CLEAR = 0x20
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TEST_NOT_COMPLETED_THIS_OPERATION_CYCLE = 0x40
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WARNING_INDICATOR_REQUESTED = 0x80
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WARNING_INDICATOR_uds_requestED = 0x80
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ALL = 0xFF
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class DTC_SEVERITY_MASK_TYPE(IntEnum):
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@ -478,7 +542,7 @@ def read_dtc_information(address, dtc_report_type, dtc_status_mask_type=DTC_STAT
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dtc_report_type == DTC_REPORT_TYPE.DTC_BY_SEVERITY_MASK_RECORD:
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data += chr(dtc_severity_mask_type) + chr(dtc_status_mask_type)
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resp = _request(address, SERVICE_TYPE.READ_DTC_INFORMATION, subfunction=dtc_report_type, data=data)
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resp = _uds_request(address, SERVICE_TYPE.READ_DTC_INFORMATION, subfunction=dtc_report_type, data=data)
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# TODO: parse response
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return resp
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@ -491,7 +555,7 @@ class CONTROL_OPTION_TYPE(IntEnum):
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def input_output_control_by_identifier(address, data_identifier_type, control_option_record, control_enable_mask_record=''):
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data = struct.pack('!H', data_identifier_type) + control_option_record + control_enable_mask_record
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resp = _request(address, SERVICE_TYPE.INPUT_OUTPUT_CONTROL_BY_IDENTIFIER, subfunction=None, data=data)
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resp = _uds_request(address, SERVICE_TYPE.INPUT_OUTPUT_CONTROL_BY_IDENTIFIER, subfunction=None, data=data)
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resp_id = struct.unpack('!H', resp[0:2])[0] if len(resp) >= 2 else None
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if resp_id != data_identifier_type:
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raise ValueError('invalid response data identifier: {}'.format(hex(resp_id)))
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@ -509,7 +573,7 @@ class ROUTINE_IDENTIFIER_TYPE(IntEnum):
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def routine_control(address, routine_control_type, routine_identifier_type, routine_option_record=''):
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data = struct.pack('!H', routine_identifier_type) + routine_option_record
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_request(address, SERVICE_TYPE.ROUTINE_CONTROL, subfunction=routine_control_type, data=data)
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_uds_request(address, SERVICE_TYPE.ROUTINE_CONTROL, subfunction=routine_control_type, data=data)
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resp = resp_id = struct.unpack('!H', resp[0:2])[0] if len(resp) >= 2 else None
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if resp_id != routine_identifier_type:
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raise ValueError('invalid response routine identifier: {}'.format(hex(resp_id)))
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@ -531,7 +595,7 @@ def request_download(address, memory_address, memory_size, memory_address_bytes=
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raise ValueError('invalid memory_size: {}'.format(memory_size))
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data += struct.pack('!I', memory_size)[4-memory_size_bytes:]
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resp = _request(address, SERVICE_TYPE.REQUEST_DOWNLOAD, subfunction=None, data=data)
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resp = _uds_request(address, SERVICE_TYPE.REQUEST_DOWNLOAD, subfunction=None, data=data)
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max_num_bytes_len = ord(resp[0]) >> 4 if len(resp) > 0 else None
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if max_num_bytes_len >= 1 and max_num_bytes_len <= 4:
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max_num_bytes = struct.unpack('!I', ('\x00'*(4-max_num_bytes_len))+resp[1:max_num_bytes_len+1])[0]
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@ -556,7 +620,7 @@ def request_upload(address, memory_address, memory_size, memory_address_bytes=4,
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raise ValueError('invalid memory_size: {}'.format(memory_size))
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data += struct.pack('!I', memory_size)[4-memory_size_bytes:]
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resp = _request(address, SERVICE_TYPE.REQUEST_UPLOAD, subfunction=None, data=data)
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resp = _uds_request(address, SERVICE_TYPE.REQUEST_UPLOAD, subfunction=None, data=data)
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max_num_bytes_len = ord(resp[0]) >> 4 if len(resp) > 0 else None
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if max_num_bytes_len >= 1 and max_num_bytes_len <= 4:
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max_num_bytes = struct.unpack('!I', ('\x00'*(4-max_num_bytes_len))+resp[1:max_num_bytes_len+1])[0]
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@ -566,16 +630,27 @@ def request_upload(address, memory_address, memory_size, memory_address_bytes=4,
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return max_num_bytes # max number of bytes per transfer data request
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def transfer_data(address, block_sequence_count, data=''):
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resp = _request(address, SERVICE_TYPE.TRANSFER_DATA, subfunction=None, data=data)
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resp = _uds_request(address, SERVICE_TYPE.TRANSFER_DATA, subfunction=None, data=data)
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resp_id = ord(resp[0]) if len(resp) > 0 else None
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if resp_id != block_sequence_count:
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raise ValueError('invalid block_sequence_count: {}'.format(resp_id))
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return resp[1:]
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def request_transfer_exit(address):
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_request(address, SERVICE_TYPE.REQUEST_TRANSFER_EXIT, subfunction=None)
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_uds_request(address, SERVICE_TYPE.REQUEST_TRANSFER_EXIT, subfunction=None)
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if __name__ == "__main__":
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from python import Panda
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panda = Panda()
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bus = 0
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tx_addr = 0x18daf130 # EPS
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tx_queue = Queue()
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rx_queue = Queue()
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can_reader_t = threading.Thread(target=_isotp_thread, args=(panda, bus, tx_addr, tx_queue, rx_queue))
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can_reader_t.daemon = True
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can_reader_t.start()
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# examples
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vin = read_data_by_identifier(0x18da10f1, DATA_IDENTIFIER_TYPE.VIN)
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print(vin)
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tester_present(tx_addr)
|
||||
app_id = read_data_by_identifier(tx_addr, DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION)
|
||||
print(app_id)
|
||||
|
|
|
|||
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Reference in New Issue