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bootkick: wake on CAN #2393

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bootkick: wake on CAN #2393

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3ef7279
wake on can
dzid26 Apr 25, 2026
222d6d1
Tesla - wake on standby and accessory states (e.g. doors open)
dzid26 Apr 25, 2026
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10 changes: 5 additions & 5 deletions board/drivers/bootkick.h
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Original file line number Diff line number Diff line change
Expand Up @@ -2,18 +2,18 @@

bool bootkick_reset_triggered = false;

void bootkick_tick(bool ignition, bool recent_heartbeat) {
void bootkick_tick(bool wake_up, bool recent_heartbeat) {
static uint16_t bootkick_last_serial_ptr = 0;
static uint8_t waiting_to_boot_countdown = 0;
static uint8_t boot_reset_countdown = 0;
static uint8_t bootkick_harness_status_prev = HARNESS_STATUS_NC;
static bool bootkick_ign_prev = false;
static bool bootkick_wake_up_prev = false;
static BootState boot_state = BOOT_BOOTKICK;
BootState boot_state_prev = boot_state;
const bool harness_inserted = (harness.status != bootkick_harness_status_prev) && (harness.status != HARNESS_STATUS_NC);

if ((ignition && !bootkick_ign_prev) || harness_inserted) {
// bootkick on rising edge of ignition or harness insertion
if ((wake_up && !bootkick_wake_up_prev) || harness_inserted) {
// bootkick on rising edge of wake-up or harness insertion
boot_state = BOOT_BOOTKICK;
} else if (recent_heartbeat) {
// disable bootkick once openpilot is up
Expand Down Expand Up @@ -55,7 +55,7 @@ void bootkick_tick(bool ignition, bool recent_heartbeat) {
}

// update state
bootkick_ign_prev = ignition;
bootkick_wake_up_prev = wake_up;
bootkick_harness_status_prev = harness.status;
bootkick_last_serial_ptr = uart_ring_som_debug.w_ptr_tx;
if (waiting_to_boot_countdown > 0U) {
Expand Down
6 changes: 5 additions & 1 deletion board/drivers/can_common.h
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Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,9 @@ uint32_t rx_buffer_overflow = 0;

can_health_t can_health[PANDA_CAN_CNT] = {{0}, {0}, {0}};

// Ignition detected from CAN meessages
// Wake-up and ignition detected from CAN messages
bool wake_on_can = false;
uint32_t wake_on_can_cnt = 0U;
bool ignition_can = false;
uint32_t ignition_can_cnt = 0U;

Expand Down Expand Up @@ -189,6 +191,8 @@ void ignition_can_hook(CANPacket_t *msg) {
if ((counter == ((prev_counter_tesla + 1) % 16)) && (prev_counter_tesla != -1)) {
// VCFRONT_LVPowerState->VCFRONT_vehiclePowerState
int power_state = (msg->data[0] >> 5U) & 0x3U;
wake_on_can = power_state != 0x0; // VEHICLE_POWER_STATE_OFF=0
wake_on_can_cnt = 0U;
ignition_can = power_state == 0x3; // VEHICLE_POWER_STATE_DRIVE=3
ignition_can_cnt = 0U;
}
Expand Down
6 changes: 4 additions & 2 deletions board/drivers/drivers.h
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Original file line number Diff line number Diff line change
Expand Up @@ -11,7 +11,7 @@

extern bool bootkick_reset_triggered;

void bootkick_tick(bool ignition, bool recent_heartbeat);
void bootkick_tick(bool wake_up, bool recent_heartbeat);

// ******************** can_common ********************

Expand Down Expand Up @@ -41,7 +41,9 @@ extern uint32_t rx_buffer_overflow;

extern can_health_t can_health[PANDA_CAN_CNT];

// Ignition detected from CAN meessages
// Wake-up and ignition detected from CAN messages
extern bool wake_on_can;
extern uint32_t wake_on_can_cnt;
extern bool ignition_can;
extern uint32_t ignition_can_cnt;

Expand Down
7 changes: 6 additions & 1 deletion board/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -173,7 +173,8 @@ 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) {
Expand Down Expand Up @@ -251,11 +252,15 @@ static void tick_handler(void) {
if (ignition_can_cnt > 2U) {
ignition_can = false;
}
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);
Expand Down
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