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AngusBell97
58d2b6838d
Keep the wake-on-CAN test documentation aligned with the Galaxy-only integration. Co-authored-by: AngusBell97 <124716116+AngusBell97@users.noreply.github.com>
84 lines
4.5 KiB
Markdown
84 lines
4.5 KiB
Markdown
# Optional Tesla wake-on-CAN
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The Vehicle settings page offers **Wake Comma with Tesla** for detected Tesla Model 3,
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Model Y and Model X platforms that use `VCFRONT_LVPowerState` on the party bus.
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It is hidden for other makes, unknown vehicles and pre-AP Tesla Model S.
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`TeslaWakeOnCAN` is a persistent boolean, default off. Changing it while parked
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uses the existing confirmed Panda firmware update/reboot flow.
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## Wake and ignition contract
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- Only firmware built with `PANDA_TESLA_WAKE_ON_CAN` enables the extra wake path.
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Startup and manual update select it only with the toggle enabled and a matching
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supported Tesla identity. Conflicting selected vehicle or corrupt CarParams
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disables selection. Other firmware variants never set the extra wake flag.
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- Accepted wake packets are standard CAN frames on bus 0, ID `0x221`, length 8.
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Byte 7 must equal the sum of address bytes and payload bytes 0–6 modulo 256.
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Two checksum-valid frames with consecutive modulo-16 upper-byte-6 counters are
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required. Invalid checksum or extended frames break that wake counter sequence.
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- `(data[0] >> 5U) & 0x3U`: OFF=0, CONDITIONING=1, ACCESSORY=2, DRIVE=3.
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Valid non-OFF states set the independent wake flag. Accepted OFF clears it.
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Invalid traffic cannot refresh it; the existing tick expiry clears stale wake.
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- The original DRIVE ignition decoder is unchanged, including its own counter
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tracking. Extra wake never asserts ignition or enters watchdog/control inputs.
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- Bootkick tracks ignition and wake edges separately. A fresh wake edge can boot
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while ignition is false. A held ACCESSORY state cannot mask a later DRIVE edge.
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Harness, heartbeat priority, reset countdown/cancellation and one-reset-per-MCU-
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boot behaviour remain intact.
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- Stock host timeout, battery, voltage, thermal and forced shutdown remain in
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force. This feature does not keep the host or car awake. Held wake does not
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repeatedly boot the host; a new wake edge can wake it after shutdown.
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The checksum layout is defined in
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`opendbc_repo/opendbc/dbc/tesla_model3_party.dbc`; the checksum algorithm is in
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`opendbc_repo/opendbc/car/tesla/teslacan.py`. Checksum validation is integrity
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checking, not authentication. Physical early-message availability and vehicle
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wake behaviour still require hardware validation.
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## Repeatable local checks
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```
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ulimit -c 0
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python3 panda/tests/wake_can/run.py --evidence /absolute/evidence/green
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python3 panda/tests/wake_can/host_policy.py --evidence /absolute/evidence/host
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```
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The runner compiles verbatim production decoder, full 8Hz tick, bootkick,
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ignition-line and safety-mode predicates, and Cuatro GPIO callback, with fixture
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peripherals. Each scenario runs in a fresh process. It covers 48 configurations:
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Tesla, HKG, GM, IgnoreIgnitionLine, and three DEBUG/ALLOW_DEBUG combinations.
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There are 600 scenario executions, 960,000 ignition/watchdog parity frames and
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960,000 no-wake boot/reset/harness/GPIO parity frames against Dom
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`bb04e935272ccbc7551dd5f46d18197757a35587`. Compilation uses warnings-as-errors and
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UBSan. `--base REV` selects another stock reference. `--red` verifies that stock
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lacks the extra non-OFF wake; optional `--regression-ref REV` can test a historical
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version that masked the DRIVE edge if available locally.
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Host tests cover Tesla detection, stale identity, firmware-selection combinations,
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missing files and normal update/signature behaviour. Galaxy settings tests cover
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Tesla-only visibility and capability checks, parked-only writes, required
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confirmation, cancellation and firmware preflight. `host_policy.py` exercises
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actual shutdown methods with synthetic clocks and Params, without device access.
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## Firmware
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SCons supplies F4/H7 Tesla variants, each with and without IgnoreIgnitionLine:
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```
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cd panda
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scons --minimal -j4 board/obj/panda_tesla_wake.bin.signed \
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board/obj/panda_h7_tesla_wake.bin.signed \
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board/obj/panda_tesla_wake_can_ignition_only.bin.signed \
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board/obj/panda_h7_tesla_wake_can_ignition_only.bin.signed
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```
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These use the existing signing configuration. No bootstub, trust key or safety
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limit changes are required. Comma 3/3X and comma 4 use H7; comma 4 retains its
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Cuatro GPIO callback. A local signed image is not installed firmware or physical
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wake/sleep validation. The target Params binding/library must be rebuilt with
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the new key before installation of the settings UI.
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Initial wake mechanism attribution: dzid26's
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[commaai/panda PR2393](https://github.com/commaai/panda/pull/2393/files) and
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[AmyJeanes/sunnypilot](https://github.com/AmyJeanes/sunnypilot/commit/57487d8c48be2907760a1553113f7ae7288025dc).
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