From d99789b4871d2f6d72ae2131b2b9772704103149 Mon Sep 17 00:00:00 2001
From: Robin Madsen <robin@robserob.dk>
Date: Thu, 3 Sep 2026 14:48:51 +0200
Subject: [PATCH] Tesla - Wake on CAN

---
 .../package_sources/panda/board/drivers/can_common.h      | 8 ++++++++
 .../panda/board/drivers/can_common_declarations.h         | 3 +++
 artifacts/package_sources/panda/board/main.c              | 8 +++++++-
 3 files changed, 18 insertions(+), 1 deletion(-)

diff --git a/artifacts/package_sources/panda/board/drivers/can_common.h b/artifacts/package_sources/panda/board/drivers/can_common.h
index 6d0385a53..6ebe3d2cb 100644
--- a/artifacts/package_sources/panda/board/drivers/can_common.h
+++ b/artifacts/package_sources/panda/board/drivers/can_common.h
@@ -11,6 +11,10 @@ can_health_t can_health[PANDA_CAN_CNT] = {{0}, {0}, {0}};
 bool ignition_can = false;
 uint32_t ignition_can_cnt = 0U;
 
+// Wake (bootkick) the device from CAN messages, without engaging ignition
+bool wake_on_can = false;
+uint32_t wake_on_can_cnt = 0U;
+
 // set only once a Toyota SecOC hybrid gear source is positively identified: those cars keep
 // the harness ignition line live in Park, so the reported line has to follow the gear instead
 bool ignition_can_gates_line = false;
@@ -229,6 +233,10 @@ void ignition_can_hook(CANPacket_t *msg) {
         bool tesla_in_park = !tesla_gear_seen || (tesla_gear == TESLA_DI_GEAR_P);
         ignition_can = (power_state == 0x3) && !tesla_in_park;  // VEHICLE_POWER_STATE_DRIVE=3
         ignition_can_cnt = 0U;
+        // Also bootkick the device on any non-OFF LV power state (e.g. Tesla
+        // app wake / preconditioning), so sunnypilot is loaded before driving
+        wake_on_can = power_state != 0x0;  // not VEHICLE_POWER_STATE_OFF
+        wake_on_can_cnt = 0U;
       }
       prev_counter_tesla = counter;
     }
diff --git a/artifacts/package_sources/panda/board/drivers/can_common_declarations.h b/artifacts/package_sources/panda/board/drivers/can_common_declarations.h
index 2b4c9350d..7ea1a28f0 100644
--- a/artifacts/package_sources/panda/board/drivers/can_common_declarations.h
+++ b/artifacts/package_sources/panda/board/drivers/can_common_declarations.h
@@ -32,6 +32,9 @@ extern can_health_t can_health[PANDA_CAN_CNT];
 extern bool ignition_can;
 extern uint32_t ignition_can_cnt;
 extern bool ignition_can_gates_line;
+// Wake (bootkick) the device from CAN messages, without engaging ignition
+extern bool wake_on_can;
+extern uint32_t wake_on_can_cnt;
 
 extern bool can_silent;
 extern bool can_loopback;
diff --git a/artifacts/package_sources/panda/board/main.c b/artifacts/package_sources/panda/board/main.c
index 8033ad629..959e97610 100644
--- a/artifacts/package_sources/panda/board/main.c
+++ b/artifacts/package_sources/panda/board/main.c
@@ -193,7 +193,8 @@ static void tick_handler(void) {
 
       // tick drivers at 1Hz
       bool started = harness_check_ignition() || ignition_can;
-      bootkick_tick(started, recent_heartbeat);
+      bool wake_up = started || wake_on_can;
+      bootkick_tick(wake_up, recent_heartbeat);
 
       // increase heartbeat counter and cap it at the uint32 limit
       if (heartbeat_counter < UINT32_MAX) {
@@ -273,11 +274,16 @@ static void tick_handler(void) {
       if (ignition_can_cnt > 2U) {
         ignition_can = false;
       }
+      // Set wake on can after 2s of no CAN seen
+      if (wake_on_can_cnt > 2U) {
+        wake_on_can = false;
+      }
 
       // on to the next one
       uptime_cnt += 1U;
       safety_mode_cnt += 1U;
       ignition_can_cnt += 1U;
+      wake_on_can_cnt += 1U;
 
       // synchronous safety check
       safety_tick(&current_safety_config);