Skip to content

esp32: M5Stack ATOM Matrix + timer-poll sleep + Chassis-CAN diagnostics #46

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
maslyankov wants to merge 1 commit into
base: main
Choose a base branch
from
Open

esp32: M5Stack ATOM Matrix + timer-poll sleep + Chassis-CAN diagnostics #46

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
24 changes: 24 additions & 0 deletions HARDWARE.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,7 @@
|--------|------|------------|-----------|------|----------|
| **Any ESP32 + MCP2515 → X179** | **~$5-7** | X179 4-wire | 1 (bus 6 = mixed) | Yes | Cheapest full-feature setup |
| M5Stack ATOM Lite + ATOMIC CAN → X179 | ~$13-15 | X179 4-wire | 1 (bus 6) | Yes | Plug & play, no soldering |
| M5Stack ATOM Matrix + ATOMIC CAN → X179 | ~$22-25 | X179 4-wire | 1 (bus 6) | Yes | 5×5 LED status, timer-poll deep sleep |
| **LILYGO T-2CAN ESP32-S3** → X179 | **~$24** | X179 4-wire (+ spare CAN2) | **2 independent** | Yes | Future-proof, dual-CAN ready |
| **LILYGO T-CAN485** → X179 | **~$15** | X179 4-wire | 1 (SN65HVD230) | Yes | SD card CAN dump, tested on Model X/S |
| Waveshare ESP32-S3-RS485-CAN → X179 | ~$18 | X179 4-wire | 1 (TWAI) | Yes | All-in-one board |
Expand Down Expand Up @@ -142,6 +143,29 @@ X179 Pin 15 → 12V ────┤── buck converter → 3.3V/5V
X179 Pin 20 → GND ────┘ (26-pin: use Pin 26 for GND)
```

### enhauto Commander harness — Chassis CAN at the passenger footwell

A separate viable install path for owners of the enhauto Commander cable
who want to repurpose the harness with our firmware. The cable exposes
two CAN pairs labeled **Chassis CAN H/L** and **Vehicle CAN H/L**.

- **Chassis CAN** carries the autopilot control frames (`0x3FD`),
steering (`0x129`), DAS_status / DAS_autopilot (`0x331`), DI_speed
(`0x257`), DI_torque (`0x108`) — i.e. enough for FSD activation,
HW detection (with override — see PR notes), and most diagnostics.
- **Vehicle CAN** does not carry the AP frames; HW auto-detect won't
fire on this bus. Use Chassis CAN instead.

Confirmed limitations on Chassis CAN (2026.8.3 EU HW3):
- `0x398` GTW_carConfig is not on this tap → use the dashboard's
HW Override dropdown to pin HW3 manually
- `0x132` / `0x292` / `0x312` BMS frames are not broadcast on this
bus → battery dashboard stays empty (the enhauto Commander itself
reads them via UDS query/response, which our passive listener
doesn't implement)
- `0x39B` DAS_status is not broadcast (only `0x39D` is, which carries
different fields)

---

## Recommended setups
Expand Down
51 changes: 44 additions & 7 deletions esp32/.firmware/config.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,25 @@
#define CAN_ID_DAS_AP_CONFIG 0x331u // 817 - DAS autopilot config (tier restore target, ~1 Hz)
#define CAN_ID_AP_CONTROL 0x3FDu // 1021 - DAS_autopilotControl: HW3 / HW4 core
#define CAN_ID_DAS_STATUS 0x39Bu // 923 - DAS_status: AP hands-on state (nag gating)
#define CAN_ID_DI_SPEED 0x257u // 599 - DI_speed: vehicle speed
#define CAN_ID_ESP_STATUS 0x145u // 325 - ESP_status: brake apply, stability (Party CAN)
#define CAN_ID_BATT_STATUS 0x420u // 1056 - Empirically (2026.8.3 EU HW3 on Chassis CAN):
// byte 2 = SoC % (verified at 64%)
// Identified on Chassis CAN where the standard
// 0x132/0x292/0x312 BMS frames aren't broadcast.
// byte 0 and 3 hold stable values whose meaning
// is unconfirmed.
#define CAN_ID_BATT_TEMP 0x239u // 569 - Empirically (Chassis CAN, low-rate, ~1 Hz):
// byte 5 × 0.5 − 40 = battery temperature °C
// (verified at 22.5°C reported vs cluster 21.8°C —
// matches standard Tesla temp encoding).
#define CAN_ID_DC_BUS 0x2B5u // 693 - Empirically (2026.8.3 EU HW3 on Chassis CAN):
// bytes 0-1 LE × 0.01 = LV (12V) bus voltage
// bytes 2-3 LE × 0.1 = HV pack voltage
// byte 4 × 0.1 = LV bus current (A)
// Verified against enhauto Commander readouts.
#define CAN_ID_DI_TORQUE 0x108u // 264 - DI_torque: drive motor torque
#define CAN_ID_STEER_ANGLE 0x129u // 297 - SCCM_steeringAngleSensor

// ── GPIO ──────────────────────────────────────────────────────────────────────
#if defined(BOARD_LILYGO)
Expand Down Expand Up @@ -75,10 +94,28 @@
#define ME2107_EN 16
#endif

// ── Deep sleep (BOARD_LILYGO only) ───────────────────────────────────────────
// SN65HVD230 RXD (= PIN_CAN_RX, GPIO 26) is an RTC-capable GPIO on ESP32.
// When the CAN bus goes dominant the pin goes LOW — used as ext0 wakeup source.
// The SN65HVD230 Rs pin has an internal 100 kΩ pull-down, so it stays in
// normal-receive mode when GPIO 23 floats during deep sleep.
#define SLEEP_IDLE_MS 120000u // CAN silence before entering deep sleep
#define SLEEP_WARN_MS 5000u // serial/log warning this many ms before sleep
// ── Deep sleep ────────────────────────────────────────────────────────────────
// Two strategies, selected per board:
// SLEEP_STRATEGY_EXT0 — wake on CAN_RX edge. Needs PIN_CAN_RX on an
// RTC-capable GPIO. LilyGO's GPIO 26 qualifies; the
// SN65HVD230 Rs pin has an internal 100 kΩ pull-down
// so the transceiver stays in normal-receive mode
// while GPIO 23 floats during deep sleep.
// SLEEP_STRATEGY_TIMER — wake periodically and listen briefly for CAN
// traffic. Works on any board. Used by M5Stack ATOM
// variants whose ATOMIC CAN Base routes RX to GPIO 19
// (not RTC-capable, so EXT0 is unavailable).
// Both ATOM Lite and ATOM Matrix share the ATOMIC CAN Base wiring (RX on
// GPIO 19, not RTC-capable), so neither can use EXT0-on-CAN_RX. Both opt
// into the timer-poll strategy. To disable sleep on a permanently-powered
// dev setup, raise sleep_idle_ms via the web dashboard (max 3600 s).
#if defined(BOARD_LILYGO)
#define SLEEP_STRATEGY_EXT0 1
#elif defined(BOARD_M5STACK_ATOM) || defined(BOARD_M5STACK_ATOM_MATRIX)
#define SLEEP_STRATEGY_TIMER 1
#endif

#define SLEEP_IDLE_MS 60000u // CAN silence before entering deep sleep (runtime override via web UI)
#define SLEEP_WARN_MS 5000u // serial/log warning this many ms before sleep
#define SLEEP_TIMER_WAKE_S 60u // TIMER strategy: deep-sleep duration between probes
#define SLEEP_PROBE_MS 5000u // TIMER strategy: listen window for CAN after a timer wake
183 changes: 177 additions & 6 deletions esp32/.firmware/fsd_handler.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -53,9 +53,20 @@ void fsd_state_init(FSDState *state, TeslaHWVersion hw) {
state->force_fsd = false;
state->bms_output = false;
state->sleep_idle_ms = SLEEP_IDLE_MS;

strncpy(state->wifi_ssid, "Tesla-FSD", sizeof(state->wifi_ssid));
strncpy(state->wifi_pass, "12345678", sizeof(state->wifi_pass));
state->hw_override = TeslaHW_Unknown; // 0 = auto-detect
state->ota_ignore = false;

// Build-time overridable via WIFI_DEFAULT_SSID / WIFI_DEFAULT_PASS in
// platformio.ini (or a gitignored platformio_local.ini) so personal
// credentials don't ship in the public repo.
#ifndef WIFI_DEFAULT_SSID
#define WIFI_DEFAULT_SSID "Tesla-FSD"
#endif
#ifndef WIFI_DEFAULT_PASS
#define WIFI_DEFAULT_PASS "12345678"
#endif
strncpy(state->wifi_ssid, WIFI_DEFAULT_SSID, sizeof(state->wifi_ssid));
strncpy(state->wifi_pass, WIFI_DEFAULT_PASS, sizeof(state->wifi_pass));
state->wifi_hidden = false;
}

Expand All @@ -74,7 +85,7 @@ void fsd_apply_hw_version(FSDState *state, TeslaHWVersion hw) {

bool fsd_can_transmit(const FSDState *state) {
if (state->op_mode == OpMode_ListenOnly) return false;
if (state->tesla_ota_in_progress) return false;
if (state->tesla_ota_in_progress && !state->ota_ignore) return false;
return true;
}

Expand Down Expand Up @@ -423,11 +434,171 @@ bool fsd_handle_tlssc_restore(FSDState *state, CanFrame *frame) {
return true;
}

// ── DAS status (0x39B) — nag killer gating ───────────────────────────────────
// ── DAS status (0x39B) — nag killer gating + diagnostics readback ───────────

void fsd_handle_das_status(FSDState *state, const CanFrame *frame) {
if (frame->dlc == 0) return;
// Mark seen so the dashboard knows the ID is on this bus, even if a
// particular field's bytes aren't present.
state->das_seen = true;
state->raw_39b_dlc = frame->dlc;
for (uint8_t i = 0; i < frame->dlc && i < 8; i++)
state->raw_39b_bytes[i] = frame->data[i];
if (frame->dlc < 6) return;
// DAS_autopilotHandsOnState: bit42|4 LE → byte5 bits[5:2]
state->das_hands_on_state = (frame->data[5] >> 2) & 0x0Fu;
state->das_seen = true;
// DAS_autoLaneChangeState: bit46|5 LE → byte5 bits[7:6] + byte6 bits[2:0]
if (frame->dlc >= 7) {
state->das_lane_change = ((frame->data[5] >> 6) & 0x03u) |
((frame->data[6] & 0x07u) << 2);
}
// DAS_sideCollisionWarning: bit32|2 → byte4 bits[1:0]
// DAS_sideCollisionAvoid: bit30|2 → byte3 bits[7:6]
if (frame->dlc >= 5) {
state->das_side_coll_warn = frame->data[4] & 0x03u;
state->das_side_coll_avoid = (frame->data[3] >> 6) & 0x03u;
}
// DAS_forwardCollisionWarning: bit22|2 → byte2 bits[7:6]
// DAS_visionOnlySpeedLimit: bit16|5 → byte2 bits[4:0], ×5 = kph
if (frame->dlc >= 3) {
state->das_fcw = (frame->data[2] >> 6) & 0x03u;
state->das_vision_speed_lim = frame->data[2] & 0x1Fu;
}
}

// ── DAS_autopilot config readback (0x331) ────────────────────────────────────
// byte[0] lower 6 bits encodes two 3-bit tiers (DAS_autopilot / Base).
// Tier enum: 0=NONE 1=HIGHWAY 2=ENHANCED 3=SELF_DRIVING 4=BASIC.
void fsd_handle_das_ap_config(FSDState *state, const CanFrame *frame) {
if (frame->dlc < 1) return;
uint8_t b0 = frame->data[0];
state->das_autopilot = (b0 >> 3) & 0x07u;
state->das_autopilot_base = b0 & 0x07u;
state->das_ap_seen = true;
}

// ── DI_speed (0x257) — vehicle speed ─────────────────────────────────────────
// DI_vehicleSpeed: 12-bit LE starting at bit 12 → byte1 high nibble + byte2
// scale 0.08, offset -40, units kph.
// DI_uiSpeed: bit24|8 → byte 3 (display speed, integer kph or mph).
void fsd_handle_di_speed(FSDState *state, const CanFrame *frame) {
if (frame->dlc < 4) return;
uint16_t raw = (((uint16_t)frame->data[2]) << 4) | ((frame->data[1] >> 4) & 0x0Fu);
float v = (float)raw * 0.08f - 40.0f;
if (v < 0.0f) v = 0.0f;
state->vehicle_speed_kph = v;
state->ui_speed = frame->data[3];
state->speed_seen = true;
}

// ── ESP_v118 (0x145) — driver brake pedal ────────────────────────────────────
// opendbc tesla_model3_party.dbc:
// ESP_brakePedalPressed: 19|1@1+ → byte 2, bit 3 (LE)
// (The Flipper code reads byte 3 bits [6:5]; that's a different bit on this
// firmware version and reads as constantly non-zero, so we use the opendbc
// position here.)
void fsd_handle_esp_status(FSDState *state, const CanFrame *frame) {
if (frame->dlc == 0) return;
state->raw_145_dlc = frame->dlc;
for (uint8_t i = 0; i < frame->dlc && i < 8; i++)
state->raw_145_bytes[i] = frame->data[i];
if (frame->dlc < 3) return;
// Note: this position (byte 2 bit 3 per opendbc) is observed to NOT toggle
// on EU HW3 firmware via Chassis CAN — the Chassis-CAN brake bit lives in
// 0x102 instead (see fsd_handle_vcleft_brake). We only set brake_applied
// here when the brake_seen flag isn't already being driven by 0x102.
if (!state->brake_seen) {
state->driver_brake_applied = ((frame->data[2] >> 3) & 0x01u) != 0;
state->brake_seen = true;
}
}

// (NOTE: 0x102 byte 4 bit 1 was tested as a brake candidate from a 3-tap
// capture but turned out to flicker independently of brake input — false
// correlation. Brake on Chassis CAN appears to live somewhere we haven't
// identified yet; needs more reverse engineering. The 0x145 ESP_status
// parser above remains the Party-CAN brake source per opendbc.)

// ── DI_torque1 (0x108) — drive motor torque ──────────────────────────────────
// opendbc tesla_model3_party.dbc:
// DI_torqueMotor: 21|13@1+ (0.222656, -750) — actual motor output, Nm
// LE 13-bit unsigned starting at bit 21:
// byte[2] bits [7:5] = bits 21..23 (low 3 bits)
// byte[3] bits [7:0] = bits 24..31 (mid 8 bits)
// byte[4] bits [1:0] = bits 32..33 (high 2 bits)
// (The Flipper code read DI_torqueDriver at bit 0 with scale 0.25 — on this
// firmware that value moves around unrelated to actual motor torque.)
void fsd_handle_di_torque(FSDState *state, const CanFrame *frame) {
if (frame->dlc < 5) return;
uint16_t raw = (uint16_t)((frame->data[2] >> 5) & 0x07u)
| ((uint16_t)frame->data[3] << 3)
| ((uint16_t)(frame->data[4] & 0x03u) << 11);
state->motor_torque_nm = (float)raw * 0.222656f - 750.0f;
state->torque_seen = true;
}

// ── SCCM_steeringAngleSensor (0x129) — steering wheel angle ──────────────────
// opendbc tesla_model3_party.dbc:
// SCCM_steeringAngleSensor: 16|14@1+ (0.1, -819.2)
// LE 14-bit unsigned starting at bit 16 = byte 2, with offset:
// byte[2] = bits 16..23 (low 8 bits)
// byte[3] bits [5:0] = bits 24..29 (high 6 bits)
// (The Flipper code read raw int16 from bytes 0-1, which on this firmware is
// a different field that jumps unrelated to wheel position.)
void fsd_handle_steering_angle(FSDState *state, const CanFrame *frame) {
if (frame->dlc == 0) return;
state->steering_seen = true;
state->raw_129_dlc = frame->dlc;
for (uint8_t i = 0; i < frame->dlc && i < 8; i++)
state->raw_129_bytes[i] = frame->data[i];
if (frame->dlc < 4) return;
uint16_t raw = (uint16_t)frame->data[2] | ((uint16_t)(frame->data[3] & 0x3Fu) << 8);
state->steering_angle_deg = (float)raw * 0.1f - 819.2f;
}

// ── 0x420 — Chassis-CAN battery status fallback ─────────────────────────────
// Reverse-engineered against a 2026.8.3 EU HW3 car (Chassis CAN tap):
// byte 0 = battery temp °C × 2 (tentative — verified at 0x28 = 40 raw,
// so 20°C, vs cluster reading of ~21.5°C — within sensor delta).
// byte 2 = SoC % (verified at 64% with byte 2 = 0x40).
// byte 3 = stable value, meaning unknown (verified != charge target).
// Standard BMS frames (0x132/0x292/0x312) aren't broadcast on Chassis CAN
// here. Pack voltage/current still unavailable without UDS query/response.
void fsd_handle_batt_status_chassis(FSDState *state, const CanFrame *frame) {
if (frame->dlc < 3) return;
state->soc_percent = (float)frame->data[2];
state->bms_seen = true;
}

// ── 0x239 — Chassis-CAN battery temperature ──────────────────────────────────
// Low-rate broadcast. byte 5 × 0.5 − 40 = battery temperature °C using the
// standard Tesla cell-temp encoding. Verified on live data against a
// 22°C-cluster reading. byte 2 also decodes in the temp range but the
// values don't track with the actual battery temp — likely some other
// field that just happens to fall in the same numeric range.
void fsd_handle_batt_temp(FSDState *state, const CanFrame *frame) {
if (frame->dlc < 6) return;
int t = (int)frame->data[5] / 2 - 40;
state->batt_temp_min_c = (int8_t)t;
state->batt_temp_max_c = (int8_t)t;
state->bms_seen = true;
}

// ── 0x2B5 — Chassis-CAN DC bus status ────────────────────────────────────────
// Reverse-engineered against a 2026.8.3 EU HW3 car (Chassis CAN tap),
// values cross-verified against enhauto Commander:
// bytes 0-1 LE × 0.01 = LV (12V) bus voltage (e.g. 1580 = 15.80 V)
// bytes 2-3 LE × 0.1 = HV pack voltage (e.g. 3785 = 378.5 V)
// byte 4 × 0.1 = LV bus current (A) (e.g. 0xC8 = 20.0 A)
// Populates pack_voltage_v (HV) and the new lv_bus_* fields. HV pack
// current isn't in this message; left as 0.
void fsd_handle_dc_bus(FSDState *state, const CanFrame *frame) {
if (frame->dlc < 5) return;
uint16_t lv_raw = (uint16_t)frame->data[0] | ((uint16_t)frame->data[1] << 8);
uint16_t hv_raw = (uint16_t)frame->data[2] | ((uint16_t)frame->data[3] << 8);
state->lv_bus_voltage_v = (float)lv_raw * 0.01f;
state->lv_bus_current_a = (float)frame->data[4] * 0.1f;
state->pack_voltage_v = (float)hv_raw * 0.1f;
state->lv_bus_seen = true;
state->bms_seen = true;
}
Loading