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IsoTpMessage: support ISO-TP w/ CAN FD #1524

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IsoTpMessage: support ISO-TP w/ CAN FD #1524

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fc6635e
receive iso-tp responses on can fd
sshane Jul 18, 2023
1961614
fix byte idx
sshane Jul 18, 2023
1859419
try this
sshane Jul 18, 2023
7dcf532
check offset and length
sshane Jul 18, 2023
b876be6
Merge remote-tracking branch 'upstream/master' into isotp-canfd-support
sshane Feb 6, 2024
0dcc048
handle can fd first frames
sshane Feb 6, 2024
f555488
these are only if the msg dat is > 4095 bytes
sshane Feb 6, 2024
a459389
this is mostly max_tx_len
sshane Feb 6, 2024
8eab8eb
fix
sshane Feb 6, 2024
bf2c75f
Revert "fix"
sshane Feb 6, 2024
395aee4
Revert "this is mostly max_tx_len"
sshane Feb 6, 2024
6027f78
Merge remote-tracking branch 'upstream/master' into isotp-canfd-support
sshane Apr 24, 2024
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11 changes: 9 additions & 2 deletions python/uds.py
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Original file line number Diff line number Diff line change
Expand Up @@ -473,15 +473,22 @@ def _isotp_rx_next(self, rx_data: bytes) -> ISOTP_FRAME_TYPE:

if rx_data[0] >> 4 == ISOTP_FRAME_TYPE.SINGLE:
self.rx_len = rx_data[0] & 0x0F
assert self.rx_len < self.max_len, f"isotp - rx: invalid single frame length: {self.rx_len}"
self.rx_dat = rx_data[1:1 + self.rx_len]
# "if the first byte of SF=0, then second byte specifies the size of the data."
# - https://en.wikipedia.org/wiki/CAN_FD
offset = 1
if self.rx_len == 0x0 and len(rx_data) > 8:
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self.rx_len = rx_data[1]
offset = 2
# assert self.rx_len < self.max_len, f"isotp - rx: invalid single frame length: {self.rx_len}"
self.rx_dat = rx_data[offset:offset + self.rx_len]
self.rx_idx = 0
self.rx_done = True
if self.debug:
print(f"ISO-TP: RX - single frame - {hex(self._can_client.rx_addr)} idx={self.rx_idx} done={self.rx_done}")
return ISOTP_FRAME_TYPE.SINGLE

elif rx_data[0] >> 4 == ISOTP_FRAME_TYPE.FIRST:
# should work with CAN FD. maybe a check for max 62 bytes from the spec?
Comment on lines 493 to +494
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@sheaduncan can you get a route where you cause a query longer than the single frame can hold, so we can see the first and consecutive frame action?

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@sheaduncan sheaduncan Feb 7, 2024 •
edited
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This is with a fresh copy of master and pointing to this Panda Branch (isotp-canfd-support):
09136c309ba9461d/2024-02-07--08-51-50

This is with a fresh copy of master with current Panda master:
09136c309ba9461d/2024-02-07--14-42-56

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2 more routes:

Red Panda in Aux port of C3 and USB Power into Main
09136c309ba9461d/2024-02-07--17-31-57

Red Panda in Aux port and OBD2 Power in Main
09136c309ba9461d/2024-02-07--17-36-38

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@sheaduncan can you try this branch and upload the rlog? It won't fingerprint. https://github.com/commaai/openpilot/tree/ford-test

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@sshane None of these fingerprinted for that branch. Getting Hyundai responses and getting new FW extended versions.

09136c309ba9461d/00000000--7340e1444b
09136c309ba9461d/00000001--578b507ed2
09136c309ba9461d/00000002--b138639015
09136c309ba9461d/00000003--7e95bc66d8

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Thanks, that's what I was looking for. I'll check it out when I have time.

self.rx_len = ((rx_data[0] & 0x0F) << 8) + rx_data[1]
assert self.max_len <= self.rx_len, f"isotp - rx: invalid first frame length: {self.rx_len}"
self.rx_dat = rx_data[2:]
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