115 lines
5.1 KiB
Python
Executable File
115 lines
5.1 KiB
Python
Executable File
#!/usr/bin/env python3
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"""Some Hyundai radars can be reconfigured to output (debug) radar points on bus 1.
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Reconfiguration is done over UDS by reading/writing to 0x0142 using the Read/Write Data By Identifier
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endpoints (0x22 & 0x2E). This script checks your radar firmware version against a list of known
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firmware versions. If you want to try on a new radar make sure to note the default config value
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in case it's different from the other radars and you need to revert the changes.
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After changing the config the car should not show any faults when openpilot is not running.
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These config changes are persistent accross car reboots. You need to run this script again
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to go back to the default values.
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USE AT YOUR OWN RISK! Safety features, like AEB and FCW, might be affected by these changes."""
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import sys
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import argparse
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from typing import NamedTuple
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from subprocess import check_output, CalledProcessError
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from panda.python import Panda
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from panda.python.uds import UdsClient, SESSION_TYPE, DATA_IDENTIFIER_TYPE
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class ConfigValues(NamedTuple):
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default_config: bytes
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tracks_enabled: bytes
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# If your radar supports changing data identifier 0x0142 as well make a PR to
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# this file to add your firmware version. Make sure to post a drive as proof!
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# NOTE: these firmware versions do not match what openpilot uses
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# because this script uses a different diagnostic session type
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SUPPORTED_FW_VERSIONS = {
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# 2020 SONATA
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b"DN8_ SCC FHCUP 1.00 1.00 99110-L0000\x19\x08)\x15T ": ConfigValues(
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default_config=b"\x00\x00\x00\x01\x00\x00",
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tracks_enabled=b"\x00\x00\x00\x01\x00\x01"),
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# 2021 SONATA HYBRID
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b"DNhe SCC FHCUP 1.00 1.02 99110-L5000 \x01#\x15# ": ConfigValues(
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default_config=b"\x00\x00\x00\x01\x00\x00",
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tracks_enabled=b"\x00\x00\x00\x01\x00\x01"),
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# 2020 PALISADE
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b"LX2_ SCC FHCUP 1.00 1.04 99110-S8100\x19\x05\x02\x16V ": ConfigValues(
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default_config=b"\x00\x00\x00\x01\x00\x00",
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tracks_enabled=b"\x00\x00\x00\x01\x00\x01"),
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# 2022 PALISADE
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b"LX2_ SCC FHCUP 1.00 1.00 99110-S8110!\x04\x05\x17\x01 ": ConfigValues(
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default_config=b"\x00\x00\x00\x01\x00\x00",
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tracks_enabled=b"\x00\x00\x00\x01\x00\x01"),
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# 2020 SANTA FE
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b"TM__ SCC F-CUP 1.00 1.03 99110-S2000\x19\x050\x13' ": ConfigValues(
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default_config=b"\x00\x00\x00\x01\x00\x00",
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tracks_enabled=b"\x00\x00\x00\x01\x00\x01"),
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# 2020 GENESIS G70
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b'IK__ SCC F-CUP 1.00 1.02 96400-G9100\x18\x07\x06\x17\x12 ': ConfigValues(
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default_config=b"\x00\x00\x00\x01\x00\x00",
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tracks_enabled=b"\x00\x00\x00\x01\x00\x01"),
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}
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if __name__ == "__main__":
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parser = argparse.ArgumentParser(description='configure radar to output points (or reset to default)')
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parser.add_argument('--default', action="store_true", default=False, help='reset to default configuration (default: false)')
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parser.add_argument('--debug', action="store_true", default=False, help='enable debug output (default: false)')
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parser.add_argument('--bus', type=int, default=0, help='can bus to use (default: 0)')
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args = parser.parse_args()
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try:
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check_output(["pidof", "boardd"])
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print("boardd is running, please kill openpilot before running this script! (aborted)")
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sys.exit(1)
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except CalledProcessError as e:
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if e.returncode != 1: # 1 == no process found (boardd not running)
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raise e
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confirm = input("power on the vehicle keeping the engine off (press start button twice) then type OK to continue: ").upper().strip()
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if confirm != "OK":
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print("\nyou didn't type 'OK! (aborted)")
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sys.exit(0)
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panda = Panda() # type: ignore
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panda.set_safety_mode(Panda.SAFETY_ELM327)
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uds_client = UdsClient(panda, 0x7D0, bus=args.bus, debug=args.debug)
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print("\n[START DIAGNOSTIC SESSION]")
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session_type : SESSION_TYPE = 0x07 # type: ignore
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uds_client.diagnostic_session_control(session_type)
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print("[HARDWARE/SOFTWARE VERSION]")
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fw_version_data_id : DATA_IDENTIFIER_TYPE = 0xf100 # type: ignore
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fw_version = uds_client.read_data_by_identifier(fw_version_data_id)
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print(fw_version)
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if fw_version not in SUPPORTED_FW_VERSIONS.keys():
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print("radar not supported! (aborted)")
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sys.exit(1)
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print("[GET CONFIGURATION]")
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config_data_id : DATA_IDENTIFIER_TYPE = 0x0142 # type: ignore
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current_config = uds_client.read_data_by_identifier(config_data_id)
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config_values = SUPPORTED_FW_VERSIONS[fw_version]
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new_config = config_values.default_config if args.default else config_values.tracks_enabled
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print(f"current config: 0x{current_config.hex()}")
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if current_config != new_config:
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print("[CHANGE CONFIGURATION]")
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print(f"new config: 0x{new_config.hex()}")
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uds_client.write_data_by_identifier(config_data_id, new_config)
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if not args.default and current_config != SUPPORTED_FW_VERSIONS[fw_version].default_config:
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print("\ncurrent config does not match expected default! (aborted)")
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sys.exit(1)
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print("[DONE]")
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print("\nrestart your vehicle and ensure there are no faults")
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if not args.default:
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print("you can run this script again with --default to go back to the original (factory) settings")
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else:
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print("[DONE]")
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print("\ncurrent config is already the desired configuration")
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sys.exit(0)
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