TSLA

来自Jack's Lab
（版本间的差异）
跳转到： 导航, 搜索
(→‎Tesla EDR)
(→‎CAN Frame)
 
（未显示1个用户的74个中间版本）
第1行： 第1行：
 
== Overview ==
 
== Overview ==
  
−
* https://teslatap.com/modifications/extracting-internal-vehicle-data/
+
[[文件:Tesla-hw-overview.png]]
−
*  
+
 
 +
* CID (Central Information Display) – the large console at the centre of the dash
 +
* IC (Instrument Cluster)
 +
* Conventional CAN connected ECUs
 +
 
 +
 
 +
CAN Buses:
 +
 
 +
* 1 – dedicated connection to diagnostic OBD-II port
 +
* 2 – body – door, lights, mirrors
 +
* 3 – powertrain – drive inverters, battery management system, charger, thermal controller（动力总成 – 驱动逆变器、电池管理系统、充电器、热控制器）
 +
* 4 – body – climate control, seats
 +
* There is no ‘5’ – although the hardware is present on the CID it is not used.
 +
* 6 – chassis – suspension, instrument cluster, stability controller, power steering （底盘 – 悬架、仪表盘、稳定控制器、动力转向）
 +
 
 +
 
 +
例如 Model S 的诊断口 (20pin)：
 +
 
 +
[[文件:Connector TeslaModelS X437A.jpg]]
 +
 
 +
 
 +
'''Model 3 & Y 诊断口：'''
 +
 
 +
[[文件:Diagnostic connector-3Y.jpg]]
 +
 
 +
26pin，右上 P1，左上 P14，右下 P15，P18(CanH), P19(CanL)
 +
 
 +
 
 +
 
 +
[[文件:Obd2-pinout.png | 600px]]
 +
 
 +
<br>
 +
 
 +
== CAN Frame ==
 +
 
 +
[[文件:CAN-frame-msg.png]]
 +
 
 +
* '''SOF:''' The Start of Frame is a 'dominant 0' to tell the other nodes that a CAN node intends to talk
 +
* '''ID:''' The ID is the frame identifier - lower values have higher priority
 +
* '''RTR:''' The Remote Transmission Request indicates whether a node sends data or requests dedicated data from another node
 +
* Control: The Control contains the Identifier Extension Bit (IDE) which is a 'dominant 0' for 11-bit. It also contains the 4 bit Data Length Code (DLC) that specifies the length of the data bytes to be transmitted (0 to 8 bytes)
 +
* Data: The Data contains the data bytes aka payload, which includes CAN signals that can be extracted and decoded for information
 +
* CRC: The Cyclic Redundancy Check is used to ensure data integrity
 +
* ACK: The ACK slot indicates if the node has acknowledged and received the data correctly
 +
* EOF: The EOF marks the end of the CAN frame
 +
 
 +
 
 +
命令行 Send 时，常需指定的就两个： ID 和 Data，12Bit 和 8 Bytes
 +
 
 +
<br>
 +
 
 +
== Model 3 CAN MSG ==
 +
 
 +
[https://www.csselectronics.com/pages/can-bus-simple-intro-tutorial CAN Bus Quick Tutorial]
 +
 
 +
* [https://www.teslaownersonline.com/threads/diagnostic-port-and-data-access.7502/ Diagnostic Port & Data access]
 +
* https://github.com/joshwardell/model3dbc
 +
* https://github.com/commaai/opendbc
 +
 
 +
<source lang=bash>
 +
$ git clone https://github.com/linux-can/can-utils.git
 +
$ cd can-utils/  && make && make install
 +
 
 +
$ ip link set can0 type can bitrate 500000 listen-only on
 +
$ ifconfig can0 up
 +
 
 +
# output all of the CAN messages (including errors) to your terminal:
 +
$ candump -cae can0,0:0,#FFFFFFFF
 +
(1423606588.555165) can0 00E#1E563FFF08FFA066
 +
(1423606588.555434) can0 102#CA98F8FFEEFF
 +
(1423606588.555881) can0 202#845E6B9D00007102
 +
(1423606588.556169) can0 6F2#1634B40D1D43C3D0
 +
(1423606588.556193) can0 212#5800227400
 +
(1423606588.556455) can0 23A#000B001200050000
 +
(1423606588.556678) can0 21A#FE0000FE000000B7
 +
(1423606588.556902) can0 222#0000DA98F01070
 +
(1423606588.557139) can0 29A#0000FE0000000000
 +
(1423606588.557481) can0 27A#292903DC092600
 +
 
 +
# log out all the data to a file in your current working directory (name like: candump-2023-02-10_221628.log
 +
$ candump -l any,0:0,#FFFFFFFF
 +
</source>
 +
 
 +
 
 +
 
 +
<br>
 +
 
 +
== DBC (CAN Databases) ==
 +
 
 +
[[文件:CAN-DBC-File-Format-01.png]]
 +
 
 +
'''DBC Message Format:'''
 +
* A message starts with BO_ and the ID must be unique and in decimal (not hexadecimal)
 +
* The DBC ID adds 3 extra bits for 29 bit CAN IDs to serve as an 'extended ID' flag
 +
* The name must be unique, 1-32 characters and may contain [A-z], digits and underscores
 +
* The length (DLC) must be an integer between 0 and 1785
 +
* The sender is the name of the transmitting node, or Vector__XXX if no name is available
 +
 
 +
 
 +
'''DBC Signal Format:'''
 +
* Each message contains 1+ signals that start with SG_
 +
* The name must be unique, 1-32 characters and may contain [A-z], digits and underscores
 +
* The bit start counts from 0 and marks the start of the signal in the data payload
 +
* The bit length is the signal length
 +
* The @1 specifies that the byte order is little-endian/Intel (vs @0 for big-endian/Motorola)
 +
* The + informs that the value type is unsigned (vs - for signed signals)
 +
* The (scale,offset) values are used in the physical value linear equation (more below)
 +
* The [min|max] and unit are optional meta information (they can e.g. be set to [0|0] and "")
 +
* The receiver is the name of the receiving node (again, Vector__XXX is used as default)
 +
 
 +
 
 +
* [https://www.csselectronics.com/screen/page/can-dbc-file-database-intro/ CAN DBC File - QuickStart]
 +
* [https://www.csselectronics.com/pages/dbc-editor-can-bus-database Online DBC Editor]
 +
* https://github.com/joshwardell/model3dbc/blob/master/README.md
 +
* https://github.com/commaai/opendbc
  
 
<br>
 
<br>
第8行： 第122行：
 
== Tesla EDR ==
 
== Tesla EDR ==
  
−
EDR: Event Data Recorder，是指汽车事件数据记录系统，能用于记录车辆碰撞前、碰撞时、碰撞后三个阶段中汽车的运行关键数据，包括速度、ABS状态、方向盘的转向角度、气囊状态、车辆制动状态等数据，能有效还原事故发生前后的真实状态，可视为 Tesla 的 “黑匣子”。
+
EDR: Event Data Recorder，汽车事件数据记录系统，用于记录车辆碰撞前、碰撞时、碰撞后三个阶段的汽车运行关键数据，包括速度、方向盘的转向角度、气囊状态、制动状态、加速踏板状态、ABS 状态等数据，能有效还原事故发生前后的真实状态，可视为 Tesla 的 “黑匣子”。
 +
 
 +
当系统检测到碰撞或类似碰撞的情況（例如撞到道路障碍物）时，EDR 会记录与车辆动力学和安全系统有关的数据。该数据存储在车辆的约束控制模块 (RCM) 中。Tesla Model S/X/3/Y 都有 RCM (Restraint Control Module)，在 Model 3 & Y 上，其位于中央扶手箱的底部。
 +
 
 +
记录的数据可以帮助调查人员更准确地还原事故原因。在正常行驶条件下，EDR不会记录数据；仅当车辆检测到异常事件时，才会记录事件数据。
 +
 
 +
 
 +
 
 +
官方读取工具软件： Tesla EDR https://edr.tesla.com
 +
 
 +
官方推荐 CAN 硬件：[https://www.peak-system.com/PCAN-USB.199.0.html PCAN USB] （不带隔离 IPEH-002021 € 188, 带隔离 IPEH-002022 € 228）[https://www.peak-system.com/fileadmin/media/linux/index.htm Linux and PEAK-System's CAN Interfaces]
 +
 
 +
官方连接线：Tesla Model 3 Direct-To Module EDR Retrieval Cable (Tesla part number 1492139) 约 $200
 +
 
 +
官方读取指南：https://edr.tesla.com/guides/CD-20-20-003_Model_3_EDR_Data_Retrieval_Guide.pdf
 +
 
 +
Hacking: https://www.teslaownersonline.com/threads/tesla-event-data-recorder-access-by-can.6175/page-2
 +
 
 +
 
 +
标准：[http://c.gb688.cn/bzgk/gb/showGb?type=online&hcno=CC68F6BFD3E104560914271598AFE8C8 强制国标 GB 39732-2020 汽车事件数据记录系统], 美标 [https://www.ecfr.gov/current/title-49/subtitle-B/chapter-V/part-563 CFR-49-563]
 +
 
 +
[《机动车运行安全技术条件》(GB7258-2017)]
 +
 
 +
<br>
 +
 
 +
== Model 3 Display & MCU ==
 +
 
 +
* [https://teslamotorsclub.com/tmc/threads/model-3-mcu-on-the-bench.268621/ Model 3 MCU on the bench]
 +
 
 +
<br>
 +
 
 +
== CAN Chip ==
 +
 
 +
* [https://www.nxp.com/docs/en/data-sheet/TJA1042.pdf TJA1042]
 +
* [https://www.ti.com/lit/ds/symlink/sn65hvd231.pdf SN65HVD231]
 +
 
 +
 
 +
CAN (Controller Area Network)，即控制器局域网总线，是一种有效支持分布式控制或实时控制的串行通信网络。
 +
 
 +
广泛应用于工业现场控制、智能楼宇、医疗器械、交通工具以及传感器等领域。
 +
 
 +
CAN 总线规范为 ISO11898。
 +
 
 +
CAN 总线就两条连线，CAN_H 和 CAN_L，通常电压值为： CAN_H = 3.5V，CAN_L= 1.5V
 +
 
 +
 
 +
'''MCP2515:'''
 +
* 工作电压 2.7V ~ 5.5V
 +
* 5mA 典型工作电流
 +
* CAN V2.0B @ 1 Mb/s, 0 ~ 8 byte length in the data field
 +
 
 +
<br>
 +
 
 +
== CAN Tools ==
 +
 
 +
canutils 包含canconfig、canecho、cansend、candump、cansequence 五个命令，用于检测和监控 Socket CAN接口。
 +
 
 +
编译 canutils 依赖 libsocketcan， 可用 canutils-4.0.6 和 libsocketcan-0.0.12 版本。
 +
 
 +
* canutils：https://github.com/linux-can/can-utils    Old: https://public.pengutronix.de/software/socket-can/canutils/
 +
* libsocketcan：https://git.pengutronix.de/cgit/tools/libsocketcan https://public.pengutronix.de/software/libsocketcan/
 +
 
 +
 
 +
如出现如下错误：
 +
 
 +
<source lang=bash>
 +
$ ifconfig can0 up
 +
ifconfig: SIOCSIFFLAGS: Invalid argument
 +
mcp251x spi1.0: bit-timing not yet defined
 +
mcp251x spi1.0: unable to set initial baudrate!
 +
 
 +
$ ip link set can0 type can bitrate 125000 triple-sampling on
 +
</source>
 +
 
 +
需要使用 iproute2 中的 ip 工具：
 +
 
 +
<source lang=bash>
 +
/buildroot-2020.11.2$ scp output/build/iproute2-5.7.0/ip/ip
 +
 
 +
$ ip link set can0 type can bitrate 500000 listen-only on
 +
$ ifconfig can0 up
 +
$ candump -cae can0,0:0,#FFFFFFFF
 +
$ candump -l any,0:0,#FFFFFFFF
 +
 
 +
$ candump -cae -tA can0,0:0,#FFFFFFFF
 +
(2023-07-14 17:30:09.311837)  can0  07EC38C0  [7]  remote request
 +
(2023-07-14 17:30:09.312132)  can0  01E77C60  [2]  12 91                    '..'
 +
</source>
 +
 
 +
<source lang=bash>
 +
$ cansend can0 -i 8 -e 0x11 0x22 0x33 0x44 0x55 0x66 0x77 0x88
 +
</source>
 +
 
 +
 
 +
Loopback 测试模式可用于硬件自检，无需连接外部 CAN 总线：
 +
 
 +
<source lang=bash>
 +
$ ip link set can0 up type can bitrate 1000000 loopback on
 +
$ ip -details link show can0
 +
2: can0: <NOARP,UP,LOWER_UP,ECHO> mtu 16 qdisc pfifo_fast state UNKNOWN mode DEFAULT group default qlen 10
 +
    link/can  promiscuity 0
 +
    can <LOOPBACK,LISTEN-ONLY> state ERROR-ACTIVE restart-ms 0
 +
          bitrate 1000000 sample-point 0.750
 +
          tq 83 prop-seg 4 phase-seg1 4 phase-seg2 3 sjw 1
 +
          mcp251x: tseg1 3..16 tseg2 2..8 sjw 1..4 brp 1..64 brp-inc 1
 +
          clock 12000000 numtxqueues 1 gso_max_size 65536 gso_max_segs 65535
 +
 
 +
$ candump can0 -L &
 +
 
 +
$ cansend can0 300#AC.AB.AD.AE.75.49.AD.D0
 +
(0000000887.394367) can0 300#ACABADAE7549ADD0
 +
(0000000887.394465) can0 300#ACABADAE7549ADD0
 +
</source>
 +
<br>
 +
 
 +
== Reference ==
 +
 
 +
* [https://www.pentestpartners.com/security-blog/reverse-engineering-tesla-hardware/ Reverse Engineering Tesla Hardware]
 +
* [https://www.pentestpartners.com/security-blog/reverse-engineering-the-tesla-firmware-update-process/ Reverse Engineering the Tesla Firmware Update Process]
 +
* https://github.com/lewurm/blog/issues
 +
* https://www.teslaownersonline.com/threads/diagnostic-port-and-data-access.7502/
 +
 
 +
* CANServer (ODBLink MX+)
 +
* https://github.com/amund7/CANBUS-Analyzer
 +
* [https://teslatap.com/modifications/extracting-internal-vehicle-data/ Extracting internal vehicle data]
 +
 
 +
* [http://www.inovatek.cn/index.php?case=archive&act=show&aid=332 TeslaOBD]
 +
* Scan MY Tesla, TesLAX ...
 +
* https://carprotool.com/forum/pinouts
 +
 
 +
 
 +
* [https://fn.lc/post/tesla-model-3/ Hacking my Tesla Model 3 - Security Overview]
 +
* [https://fn.lc/post/tesla-model-3-services/ Hacking my Tesla Model 3 - Internal API]
 +
 
 +
* [https://www.instructables.com/Exploring-the-Tesla-Model-S-CAN-Bus/ Exploring the Tesla Model S CAN Bus]
 +
* [https://www.instructables.com/DIY-Beaglebone-CAN-Bus-Cape/ DIY Beaglebone CAN Bus Cape]
  
−
Tesla Model S, Model X 和 Model 3 配备了事件数据记录器 (EDR)。当系统检测到碰撞或类似碰撞的情況（例如撞到道路障碍物）时，EDR会记录与车辆动力学和安全系统有关的数据。该数据存储在车辆的约束控制模块 (RCM) 中。
 
  
−
记录的数据可以帮助特斯拉和其他有关方面更好地了解导致坠毁的情况和受伤的可能性。仅当车辆检测到非平凡的物理事件时，才会记录事件数据。在正常行驶条件下，EDR不会记录数据。
+
* [https://iopscience.iop.org/article/10.1149/1945-7111/ab7900#jesab7900s4 Capacity Recovery Effect in Commercial LiFePO4 / Graphite Cells]
  
 
<br>
 
<br>

2023年7月27日 (四) 16:03的最后版本

目录

[编辑] 1 Overview

Tesla-hw-overview.png

  • CID (Central Information Display) – the large console at the centre of the dash
  • IC (Instrument Cluster)
  • Conventional CAN connected ECUs


CAN Buses:

  • 1 – dedicated connection to diagnostic OBD-II port
  • 2 – body – door, lights, mirrors
  • 3 – powertrain – drive inverters, battery management system, charger, thermal controller（动力总成 – 驱动逆变器、电池管理系统、充电器、热控制器）
  • 4 – body – climate control, seats
  • There is no ‘5’ – although the hardware is present on the CID it is not used.
  • 6 – chassis – suspension, instrument cluster, stability controller, power steering （底盘 – 悬架、仪表盘、稳定控制器、动力转向）


例如 Model S 的诊断口 (20pin)：

Connector TeslaModelS X437A.jpg


Model 3 & Y 诊断口：

Diagnostic connector-3Y.jpg

26pin，右上 P1，左上 P14，右下 P15，P18(CanH), P19(CanL)


Obd2-pinout.png


[编辑] 2 CAN Frame

CAN-frame-msg.png

  • SOF: The Start of Frame is a 'dominant 0' to tell the other nodes that a CAN node intends to talk
  • ID: The ID is the frame identifier - lower values have higher priority
  • RTR: The Remote Transmission Request indicates whether a node sends data or requests dedicated data from another node
  • Control: The Control contains the Identifier Extension Bit (IDE) which is a 'dominant 0' for 11-bit. It also contains the 4 bit Data Length Code (DLC) that specifies the length of the data bytes to be transmitted (0 to 8 bytes)
  • Data: The Data contains the data bytes aka payload, which includes CAN signals that can be extracted and decoded for information
  • CRC: The Cyclic Redundancy Check is used to ensure data integrity
  • ACK: The ACK slot indicates if the node has acknowledged and received the data correctly
  • EOF: The EOF marks the end of the CAN frame


命令行 Send 时，常需指定的就两个： ID 和 Data，12Bit 和 8 Bytes


[编辑] 3 Model 3 CAN MSG

CAN Bus Quick Tutorial 

$ git clone https://github.com/linux-can/can-utils.git
$ cd can-utils/   && make && make install

$ ip link set can0 type can bitrate 500000 listen-only on
$ ifconfig can0 up

# output all of the CAN messages (including errors) to your terminal:
$ candump -cae can0,0:0,#FFFFFFFF
(1423606588.555165) can0 00E#1E563FFF08FFA066
(1423606588.555434) can0 102#CA98F8FFEEFF
(1423606588.555881) can0 202#845E6B9D00007102
(1423606588.556169) can0 6F2#1634B40D1D43C3D0
(1423606588.556193) can0 212#5800227400
(1423606588.556455) can0 23A#000B001200050000
(1423606588.556678) can0 21A#FE0000FE000000B7
(1423606588.556902) can0 222#0000DA98F01070
(1423606588.557139) can0 29A#0000FE0000000000
(1423606588.557481) can0 27A#292903DC092600

# log out all the data to a file in your current working directory (name like: candump-2023-02-10_221628.log
$ candump -l any,0:0,#FFFFFFFF



[编辑] 4 DBC (CAN Databases)

CAN-DBC-File-Format-01.png

DBC Message Format:

  • A message starts with BO_ and the ID must be unique and in decimal (not hexadecimal)
  • The DBC ID adds 3 extra bits for 29 bit CAN IDs to serve as an 'extended ID' flag
  • The name must be unique, 1-32 characters and may contain [A-z], digits and underscores
  • The length (DLC) must be an integer between 0 and 1785
  • The sender is the name of the transmitting node, or Vector__XXX if no name is available


DBC Signal Format:

  • Each message contains 1+ signals that start with SG_
  • The name must be unique, 1-32 characters and may contain [A-z], digits and underscores
  • The bit start counts from 0 and marks the start of the signal in the data payload
  • The bit length is the signal length
  • The @1 specifies that the byte order is little-endian/Intel (vs @0 for big-endian/Motorola)
  • The + informs that the value type is unsigned (vs - for signed signals)
  • The (scale,offset) values are used in the physical value linear equation (more below)
  • The [min|max] and unit are optional meta information (they can e.g. be set to [0|0] and "")
  • The receiver is the name of the receiving node (again, Vector__XXX is used as default)



[编辑] 5 Tesla EDR

EDR: Event Data Recorder，汽车事件数据记录系统，用于记录车辆碰撞前、碰撞时、碰撞后三个阶段的汽车运行关键数据，包括速度、方向盘的转向角度、气囊状态、制动状态、加速踏板状态、ABS 状态等数据，能有效还原事故发生前后的真实状态，可视为 Tesla 的 “黑匣子”。

当系统检测到碰撞或类似碰撞的情況（例如撞到道路障碍物）时，EDR 会记录与车辆动力学和安全系统有关的数据。该数据存储在车辆的约束控制模块 (RCM) 中。Tesla Model S/X/3/Y 都有 RCM (Restraint Control Module)，在 Model 3 & Y 上，其位于中央扶手箱的底部。

记录的数据可以帮助调查人员更准确地还原事故原因。在正常行驶条件下，EDR不会记录数据；仅当车辆检测到异常事件时，才会记录事件数据。


官方读取工具软件： Tesla EDR https://edr.tesla.com

官方推荐 CAN 硬件：PCAN USB （不带隔离 IPEH-002021 € 188, 带隔离 IPEH-002022 € 228）Linux and PEAK-System's CAN Interfaces

官方连接线：Tesla Model 3 Direct-To Module EDR Retrieval Cable (Tesla part number 1492139) 约 $200

官方读取指南：https://edr.tesla.com/guides/CD-20-20-003_Model_3_EDR_Data_Retrieval_Guide.pdf

Hacking: https://www.teslaownersonline.com/threads/tesla-event-data-recorder-access-by-can.6175/page-2


标准：强制国标 GB 39732-2020 汽车事件数据记录系统, 美标 CFR-49-563

[《机动车运行安全技术条件》(GB7258-2017)]


[编辑] 6 Model 3 Display & MCU


[编辑] 7 CAN Chip


CAN (Controller Area Network)，即控制器局域网总线，是一种有效支持分布式控制或实时控制的串行通信网络。

广泛应用于工业现场控制、智能楼宇、医疗器械、交通工具以及传感器等领域。

CAN 总线规范为 ISO11898。

CAN 总线就两条连线，CAN_H 和 CAN_L，通常电压值为： CAN_H = 3.5V，CAN_L= 1.5V


MCP2515:

  • 工作电压 2.7V ~ 5.5V
  • 5mA 典型工作电流
  • CAN V2.0B @ 1 Mb/s, 0 ~ 8 byte length in the data field


[编辑] 8 CAN Tools

canutils 包含canconfig、canecho、cansend、candump、cansequence 五个命令，用于检测和监控 Socket CAN接口。

编译 canutils 依赖 libsocketcan， 可用 canutils-4.0.6 和 libsocketcan-0.0.12 版本。


如出现如下错误： 

$ ifconfig can0 up
ifconfig: SIOCSIFFLAGS: Invalid argument
mcp251x spi1.0: bit-timing not yet defined
mcp251x spi1.0: unable to set initial baudrate!

$ ip link set can0 type can bitrate 125000 triple-sampling on

需要使用 iproute2 中的 ip 工具： 

/buildroot-2020.11.2$ scp output/build/iproute2-5.7.0/ip/ip

$ ip link set can0 type can bitrate 500000 listen-only on
$ ifconfig can0 up
$ candump -cae can0,0:0,#FFFFFFFF
$ candump -l any,0:0,#FFFFFFFF

$ candump -cae -tA can0,0:0,#FFFFFFFF
 (2023-07-14 17:30:09.311837)  can0  07EC38C0   [7]  remote request
 (2023-07-14 17:30:09.312132)  can0  01E77C60   [2]  12 91                     '..'

$ cansend can0 -i 8 -e 0x11 0x22 0x33 0x44 0x55 0x66 0x77 0x88


Loopback 测试模式可用于硬件自检，无需连接外部 CAN 总线： 

$ ip link set can0 up type can bitrate 1000000 loopback on
$ ip -details link show can0
2: can0: <NOARP,UP,LOWER_UP,ECHO> mtu 16 qdisc pfifo_fast state UNKNOWN mode DEFAULT group default qlen 10
    link/can  promiscuity 0
    can <LOOPBACK,LISTEN-ONLY> state ERROR-ACTIVE restart-ms 0
          bitrate 1000000 sample-point 0.750
          tq 83 prop-seg 4 phase-seg1 4 phase-seg2 3 sjw 1
          mcp251x: tseg1 3..16 tseg2 2..8 sjw 1..4 brp 1..64 brp-inc 1
          clock 12000000 numtxqueues 1 gso_max_size 65536 gso_max_segs 65535

$ candump can0 -L &

$ cansend can0 300#AC.AB.AD.AE.75.49.AD.D0
(0000000887.394367) can0 300#ACABADAE7549ADD0
(0000000887.394465) can0 300#ACABADAE7549ADD0


[编辑] 9 Reference




来自“http://wiki.jackslab.org/index.php?title=TSLA&oldid=16271”
个人工具
名字空间

变换
操作
导航
工具箱