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Tesla - Wake on CAN

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This commit is contained in:
Robin Madsen
2026-09-03 14:48:51 +02:00
parent 7745f48100
commit d99789b487
3 changed files with 18 additions and 1 deletions
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8
artifacts/package_sources/panda/board/drivers/can_common.h
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@@ -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;
}

3
artifacts/package_sources/panda/board/drivers/can_common_declarations.h
View File

@@ -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;

8
artifacts/package_sources/panda/board/main.c
View File

@@ -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);