Tesla: MADS full support with VEHICLE bus harness (#239)

* Tesla: MADS full support with VEHICLE bus harness * fix msg size * enable safety * safety tests * 6 instead of 8 bytes * Revert "6 instead of 8 bytes" This reverts commit 240db92d37397b67196a5dbf52fcf4f7d63d3104.
2026-06-08 10:54:51 +08:00 · 2025-10-02 14:07:08 -04:00
parent b0985d3857
commit 296f6b920c
8 changed files with 176 additions and 16 deletions
--- a/opendbc/car/tesla/carstate.py
+++ b/opendbc/car/tesla/carstate.py
@@ -5,12 +5,15 @@ from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.interfaces import CarStateBase
 from opendbc.car.tesla.values import DBC, CANBUS, GEAR_MAP, STEER_THRESHOLD, CAR

+from opendbc.sunnypilot.car.tesla.carstate_ext import CarStateExt
+
 ButtonType = structs.CarState.ButtonEvent.Type


-class CarState(CarStateBase):
+class CarState(CarStateBase, CarStateExt):
  def __init__(self, CP, CP_SP):
-    super().__init__(CP, CP_SP)
+    CarStateBase.__init__(self, CP, CP_SP)
+    CarStateExt.__init__(self, CP, CP_SP)
    self.can_define = CANDefine(DBC[CP.carFingerprint][Bus.party])
    self.shifter_values = self.can_define.dv["DI_systemStatus"]["DI_gear"]

@@ -118,11 +121,14 @@ class CarState(CarStateBase):
    # Messages needed by carcontroller
    self.das_control = copy.copy(cp_ap_party.vl["DAS_control"])

+    CarStateExt.update(self, ret, can_parsers)
+
    return ret, ret_sp

  @staticmethod
  def get_can_parsers(CP, CP_SP):
    return {
      Bus.party: CANParser(DBC[CP.carFingerprint][Bus.party], [], CANBUS.party),
-      Bus.ap_party: CANParser(DBC[CP.carFingerprint][Bus.party], [], CANBUS.autopilot_party)
+      Bus.ap_party: CANParser(DBC[CP.carFingerprint][Bus.party], [], CANBUS.autopilot_party),
+      **CarStateExt.get_parser(CP, CP_SP),
    }
--- a/opendbc/car/tesla/interface.py
+++ b/opendbc/car/tesla/interface.py
@@ -4,6 +4,8 @@ from opendbc.car.tesla.carcontroller import CarController
 from opendbc.car.tesla.carstate import CarState
 from opendbc.car.tesla.values import TeslaSafetyFlags, CAR

+from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP, TeslaSafetyFlagsSP
+

 class CarInterface(CarInterfaceBase):
  CarState = CarState
@@ -41,4 +43,8 @@ class CarInterface(CarInterfaceBase):

    stock_cp.enableBsm = True

+    if 0x3DF in fingerprint[1]:
+      ret.flags |= TeslaFlagsSP.HAS_VEHICLE_BUS.value
+      ret.safetyParam |= TeslaSafetyFlagsSP.HAS_VEHICLE_BUS
+
    return ret
--- a/opendbc/car/tesla/values.py
+++ b/opendbc/car/tesla/values.py
@@ -37,7 +37,7 @@ class TeslaCarDocsHW4(CarDocs):

@dataclass
 class TeslaPlatformConfig(PlatformConfig):
-  dbc_dict: DbcDict = field(default_factory=lambda: {Bus.party: 'tesla_model3_party'})
+  dbc_dict: DbcDict = field(default_factory=lambda: {Bus.party: 'tesla_model3_party', Bus.adas: 'tesla_model3_vehicle'})


 class CAR(Platforms):
--- a/opendbc/dbc/tesla_model3_vehicle.dbc
+++ b/opendbc/dbc/tesla_model3_vehicle.dbc
@@ -236,6 +236,48 @@ BO_ 1013 ID3F5VCFRONT_lighting: 8 VEH
 SG_ VCFRONT_indicatorRightRequest : 2|2@1+ (1,0) [0|2] ""  Receiver
 SG_ VCFRONT_indicatorLeftRequest : 0|2@1+ (1,0) [0|2] ""  Receiver

+BO_ 851 UI_status: 8 VehicleBus
+ SG_ UI_touchActive : 0|1@1+ (1,0) [0|1] ""  VehicleBus
+ SG_ UI_audioActive : 1|1@1+ (1,0) [0|1] ""  VehicleBus
+ SG_ UI_bluetoothActive : 2|1@1+ (1,0) [0|1] ""  VehicleBus
+ SG_ UI_cellActive : 3|1@1+ (1,0) [0|1] ""  VehicleBus
+ SG_ UI_displayReady : 4|1@1+ (1,0) [0|1] ""  VehicleBus
+ SG_ UI_displayOn : 5|1@1+ (1,0) [0|1] ""  VehicleBus
+ SG_ UI_wifiActive : 6|1@1+ (1,0) [0|1] ""  VehicleBus
+ SG_ UI_wifiConnected : 7|1@1+ (1,0) [0|1] ""  VehicleBus
+ SG_ UI_systemActive : 8|1@1+ (1,0) [0|1] ""  VehicleBus
+ SG_ UI_readyForDrive : 9|1@1+ (1,0) [0|1] ""  VehicleBus
+ SG_ UI_cellConnected : 10|1@1+ (1,0) [0|1] ""  VehicleBus
+ SG_ UI_vpnActive : 11|1@1+ (1,0) [0|1] ""  VehicleBus
+ SG_ UI_autopilotTrial : 12|2@1+ (1,0) [0|3] ""  VehicleBus
+ SG_ UI_factoryReset : 14|2@1+ (1,0) [0|3] ""  VehicleBus
+ SG_ UI_gpsActive : 16|1@1+ (1,0) [0|1] ""  VehicleBus
+ SG_ UI_screenshotActive : 17|1@1+ (1,0) [0|1] ""  VehicleBus
+ SG_ UI_radioActive : 18|1@1+ (1,0) [0|1] ""  VehicleBus
+ SG_ UI_cellNetworkTechnology : 19|4@1+ (1,0) [0|15] ""  VehicleBus
+ SG_ UI_cellReceiverPower : 24|8@1+ (1,-128) [-128|127] "dB"  VehicleBus
+ SG_ UI_falseTouchCounter : 32|8@1+ (1,0) [0|255] "1"  VehicleBus
+ SG_ UI_developmentCar : 40|1@1+ (1,0) [0|1] ""  VehicleBus
+ SG_ UI_cameraActive : 41|1@1+ (1,0) [0|1] ""  VehicleBus
+ SG_ UI_cellSignalBars : 42|3@1+ (1,0) [0|7] ""  VehicleBus
+ SG_ UI_trailerModeTelltale : 45|2@1+ (1,0) [0|3] ""  VehicleBus
+ SG_ UI_pcbTemperature : 48|8@1- (1,40) [-87|167] "degC"  VehicleBus
+ SG_ UI_cpuTemperature : 56|8@1- (1,40) [-87|167] "degC"  VehicleBus
+
+BO_ 991 UI_status2: 8 VehicleBus
+ SG_ UI_mobileAppStepCount : 0|16@1+ (1,0) [0|65535] ""  VehicleBus
+ SG_ UI_userRequestSnapshot : 16|1@1+ (1,0) [0|1] ""  VehicleBus
+ SG_ UI_touchDetected : 17|1@1+ (1,0) [0|1] ""  VehicleBus
+ SG_ UI_validDeviceForEUSummon : 18|1@1+ (1,0) [0|1] ""  VehicleBus
+ SG_ UI_locatedAtHome : 19|1@1+ (1,0) [0|1] ""  VehicleBus
+ SG_ UI_locatedAtWork : 20|1@1+ (1,0) [0|1] ""  VehicleBus
+ SG_ UI_locatedAtFavorite : 21|1@1+ (1,0) [0|1] ""  VehicleBus
+ SG_ UI_displayInDarkMode : 22|1@1+ (1,0) [0|1] ""  VehicleBus
+ SG_ UI_userActivity : 23|1@1+ (1,0) [0|1] ""  VehicleBus
+ SG_ UI_activeTouchPoints : 24|8@1+ (1,0) [0|255] ""  VehicleBus
+ SG_ UI_linkState : 32|2@1+ (1,0) [0|3] ""  VehicleBus
+ SG_ UI_sentryModeState : 34|3@1+ (1,0) [0|7] ""  VehicleBus
+
 VAL_ 568 SpdCtrlLvr_Stat 32 "DN_1ST" 16 "UP_1ST" 8 "DN_2ND" 4 "UP_2ND" 2 "RWD" 1 "FWD" 0 "IDLE" ;
 VAL_ 568 DTR_Dist_Rq 255 "SNA" 200 "ACC_DIST_7" 166 "ACC_DIST_6" 133 "ACC_DIST_5" 100 "ACC_DIST_4" 66 "ACC_DIST_3" 33 "ACC_DIST_2" 0 "ACC_DIST_1" ;
 VAL_ 568 TurnIndLvr_Stat 3 "SNA" 2 "RIGHT" 1 "LEFT" 0 "IDLE" ;
--- a/opendbc/safety/modes/tesla.h
+++ b/opendbc/safety/modes/tesla.h
@@ -2,6 +2,20 @@

 #include "opendbc/safety/safety_declarations.h"

+#define TESLA_COMMON_RX_CHECKS \
+  {.msg = {{0x2b9, 2, 8, 25U, .max_counter = 7U, .ignore_quality_flag = true}, { 0 }, { 0 }}},    /* DAS_control */                                  \
+  {.msg = {{0x488, 2, 4, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},   /* DAS_steeringControl */                          \
+  {.msg = {{0x257, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},   /* DI_speed (speed in kph) */                      \
+  {.msg = {{0x155, 0, 8, 50U, .max_counter = 15U}, { 0 }, { 0 }}},                                /* ESP_B (2nd speed in kph) */                     \
+  {.msg = {{0x370, 0, 8, 100U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},  /* EPAS3S_sysStatus (steering angle) */            \
+  {.msg = {{0x118, 0, 8, 100U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},  /* DI_systemStatus (gas pedal) */                  \
+  {.msg = {{0x39d, 0, 5, 25U, .max_counter = 15U}, { 0 }, { 0 }}},                                /* IBST_status (brakes) */                         \
+  {.msg = {{0x286, 0, 8, 10U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},   /* DI_state (acc state) */                         \
+  {.msg = {{0x311, 0, 7, 10U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},   /* UI_warning (blinkers, buckle switch & doors) */ \
+
+#define TESLA_VEHICLE_BUS_ADDR_CHECK \
+  {.msg = {{0x3DF, 1, 8, 2U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},    /* UI_status2 */ \
+
 static bool tesla_longitudinal = false;
 static bool tesla_stock_aeb = false;

@@ -14,6 +28,10 @@ static bool tesla_stock_lkas_prev = false;
 static bool tesla_autopark = false;
 static bool tesla_autopark_prev = false;

+// Detected VEHICLE bus
+extern bool tesla_has_vehicle_bus;
+bool tesla_has_vehicle_bus = false;
+
 static uint8_t tesla_get_counter(const CANPacket_t *msg) {

  uint8_t cnt = 0;
@@ -166,6 +184,12 @@ static void tesla_rx_hook(const CANPacket_t *msg) {
    }
  }

+  if (msg->bus == 1U) {
+    if (msg->addr == 0x3DFU) {
+      mads_button_press = (msg->data[3] == 3U) ? MADS_BUTTON_PRESSED : MADS_BUTTON_NOT_PRESSED;
+    }
+  }
+
  if (msg->bus == 2U) {
    // DAS_control
    if (msg->addr == 0x2b9U) {
@@ -336,6 +360,10 @@ static safety_config tesla_init(uint16_t param) {
  tesla_longitudinal = GET_FLAG(param, TESLA_FLAG_LONGITUDINAL_CONTROL);
 #endif

+  const int TESLA_PARAM_SP_VEHICLE_BUS = 1;
+
+  tesla_has_vehicle_bus = GET_FLAG(current_safety_param_sp, TESLA_PARAM_SP_VEHICLE_BUS);
+
  tesla_stock_aeb = false;
  tesla_stock_lkas = false;
  tesla_stock_lkas_prev = false;
@@ -345,22 +373,25 @@ static safety_config tesla_init(uint16_t param) {
  tesla_autopark_prev = false;

  static RxCheck tesla_model3_y_rx_checks[] = {
-    {.msg = {{0x2b9, 2, 8, 25U, .max_counter = 7U, .ignore_quality_flag = true}, { 0 }, { 0 }}},    // DAS_control
-    {.msg = {{0x488, 2, 4, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},   // DAS_steeringControl
-    {.msg = {{0x257, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},   // DI_speed (speed in kph)
-    {.msg = {{0x155, 0, 8, 50U, .max_counter = 15U}, { 0 }, { 0 }}},                                // ESP_B (2nd speed in kph)
-    {.msg = {{0x370, 0, 8, 100U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},  // EPAS3S_sysStatus (steering angle)
-    {.msg = {{0x118, 0, 8, 100U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},  // DI_systemStatus (gas pedal)
-    {.msg = {{0x39d, 0, 5, 25U, .max_counter = 15U}, { 0 }, { 0 }}},                                // IBST_status (brakes)
-    {.msg = {{0x286, 0, 8, 10U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},   // DI_state (acc state)
-    {.msg = {{0x311, 0, 7, 10U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},   // UI_warning (blinkers, buckle switch & doors)
+    TESLA_COMMON_RX_CHECKS
+  };
+
+  static RxCheck tesla_model3_y_vehicle_bus_rx_checks[] = {
+    TESLA_COMMON_RX_CHECKS
+    TESLA_VEHICLE_BUS_ADDR_CHECK
  };

  safety_config ret;
  if (tesla_longitudinal) {
-    ret = BUILD_SAFETY_CFG(tesla_model3_y_rx_checks, TESLA_M3_Y_LONG_TX_MSGS);
+    SET_TX_MSGS(TESLA_M3_Y_LONG_TX_MSGS, ret);
  } else {
-    ret = BUILD_SAFETY_CFG(tesla_model3_y_rx_checks, TESLA_M3_Y_TX_MSGS);
+    SET_TX_MSGS(TESLA_M3_Y_TX_MSGS, ret);
+  }
+
+  if (tesla_has_vehicle_bus) {
+    SET_RX_CHECKS(tesla_model3_y_vehicle_bus_rx_checks, ret);
+  } else {
+    SET_RX_CHECKS(tesla_model3_y_rx_checks, ret);
  }
  return ret;
 }
--- a/opendbc/safety/tests/test_tesla.py
+++ b/opendbc/safety/tests/test_tesla.py
@@ -4,7 +4,7 @@ import unittest
 import numpy as np

 from opendbc.car.lateral import get_max_angle_delta_vm, get_max_angle_vm
-from opendbc.car.tesla.values import CarControllerParams, TeslaSafetyFlags
+from opendbc.car.tesla.values import CarControllerParams, TeslaSafetyFlags, CANBUS
 from opendbc.car.tesla.carcontroller import get_safety_CP
 from opendbc.car.structs import CarParams
 from opendbc.car.vehicle_model import VehicleModel
@@ -13,6 +13,8 @@ from opendbc.safety.tests.libsafety import libsafety_py
 import opendbc.safety.tests.common as common
 from opendbc.safety.tests.common import CANPackerPanda, MAX_SPEED_DELTA, MAX_WRONG_COUNTERS, away_round, round_speed

+from opendbc.sunnypilot.car.tesla.values import TeslaSafetyFlagsSP
+
 MSG_DAS_steeringControl = 0x488
 MSG_APS_eacMonitor = 0x27d
 MSG_DAS_Control = 0x2b9
@@ -448,5 +450,22 @@ class TestTeslaLongitudinalSafety(TestTeslaSafetyBase):
    self.assertFalse(self._tx(self._long_control_msg(set_speed=0, accel_limits=(-0.1, -0.1))))


+class TestTeslaVehicleBusSafety(TestTeslaSafetyBase):
+
+  LONGITUDINAL = False
+
+  def setUp(self):
+    super().setUp()
+    self.safety = libsafety_py.libsafety
+    self.packer_adas = CANPackerPanda("tesla_model3_vehicle")
+    self.safety.set_current_safety_param_sp(TeslaSafetyFlagsSP.HAS_VEHICLE_BUS)
+    self.safety.set_safety_hooks(CarParams.SafetyModel.tesla, 0)
+    self.safety.init_tests()
+
+  def _lkas_button_msg(self, enabled):
+    values = {"UI_activeTouchPoints": 3 if enabled else 0}
+    return self.packer_adas.make_can_msg_panda("UI_status2", CANBUS.vehicle, values)
+
+
 if __name__ == "__main__":
  unittest.main()
--- a/opendbc/sunnypilot/car/tesla/carstate_ext.py
+++ b/opendbc/sunnypilot/car/tesla/carstate_ext.py
@@ -0,0 +1,41 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from enum import StrEnum
+
+from opendbc.car import Bus, create_button_events, structs
+from opendbc.can.parser import CANParser
+from opendbc.car.tesla.values import DBC, CANBUS
+from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
+
+ButtonType = structs.CarState.ButtonEvent.Type
+
+
+class CarStateExt:
+  def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP):
+    self.CP = CP
+    self.CP_SP = CP_SP
+
+    self.infotainment_3_finger_press = 0
+
+  def update(self, ret: structs.CarState, can_parsers: dict[StrEnum, CANParser]) -> None:
+    if self.CP_SP.flags & TeslaFlagsSP.HAS_VEHICLE_BUS:
+      cp_adas = can_parsers[Bus.adas]
+
+      prev_infotainment_3_finger_press = self.infotainment_3_finger_press
+      self.infotainment_3_finger_press = int(cp_adas.vl["UI_status2"]["UI_activeTouchPoints"])
+
+      ret.buttonEvents = [*create_button_events(self.infotainment_3_finger_press, prev_infotainment_3_finger_press,
+                                                {3: ButtonType.lkas})]
+
+  @staticmethod
+  def get_parser(CP: structs.CarParams, CP_SP: structs.CarParamsSP) -> dict[StrEnum, CANParser]:
+    messages = {}
+
+    if CP_SP.flags & TeslaFlagsSP.HAS_VEHICLE_BUS:
+      messages[Bus.adas] = CANParser(DBC[CP.carFingerprint][Bus.adas], [], CANBUS.vehicle)
+
+    return messages
--- a/opendbc/sunnypilot/car/tesla/values.py
+++ b/opendbc/sunnypilot/car/tesla/values.py
@@ -0,0 +1,15 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from enum import IntFlag
+
+
+class TeslaFlagsSP(IntFlag):
+  HAS_VEHICLE_BUS = 1  # 3-finger infotainment press signal is present on the VEHICLE bus with the deprecated Tesla harness installed
+
+
+class TeslaSafetyFlagsSP:
+  HAS_VEHICLE_BUS = 1