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TPMS: decode VCSEC_TPMSData (0x219) and expose tyre pressure and temperature in CarState #270

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Merged
wpmed92 merged 1 commit into from
Nov 1, 2026
Merged

TPMS: decode VCSEC_TPMSData (0x219) and expose tyre pressure and temperature in CarState #270

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8 changes: 8 additions & 0 deletions bridge/bridge_ios.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -43,6 +43,14 @@ static void carStateToBridge(const CarState& cs, BridgeCarState* out) {
out->selfdriveActive = cs.selfdriveActive;
out->experimentalMode = cs.experimentalMode;
out->changingLane = cs.changingLane;
out->tpmsPressureFL = cs.tpmsPressureFL;
out->tpmsPressureFR = cs.tpmsPressureFR;
out->tpmsPressureRL = cs.tpmsPressureRL;
out->tpmsPressureRR = cs.tpmsPressureRR;
out->tpmsTempFL = cs.tpmsTempFL;
out->tpmsTempFR = cs.tpmsTempFR;
out->tpmsTempRL = cs.tpmsTempRL;
out->tpmsTempRR = cs.tpmsTempRR;
}

static std::atomic<bool> receiveLoopRunning{false};
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10 changes: 10 additions & 0 deletions bridge/bridge_ios.h
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Expand Up @@ -50,6 +50,16 @@ typedef struct {
double selfdriveActive;
double experimentalMode;
double changingLane;

// TPMS: pressure (bar, -1 = none) and temperature (degC, -100 = none) per wheel.
double tpmsPressureFL;
double tpmsPressureFR;
double tpmsPressureRL;
double tpmsPressureRR;
double tpmsTempFL;
double tpmsTempFR;
double tpmsTempRL;
double tpmsTempRR;
} BridgeCarState;

// Context
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25 changes: 24 additions & 1 deletion bridge/car/car_state.h
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Expand Up @@ -46,13 +46,26 @@ struct CarState {
double experimentalMode = 0;
double changingLane = 0;

// Tyre pressure (bar) and temperature (degC) per wheel from VCSEC_TPMSData;
// pressure -1 = no reading, temperature -100 = no reading.
double tpmsPressureFL = -1;
double tpmsPressureFR = -1;
double tpmsPressureRL = -1;
double tpmsPressureRR = -1;
double tpmsTempFL = -100;
double tpmsTempFR = -100;
double tpmsTempRL = -100;
double tpmsTempRR = -100;

// Vehicle VIN, empty until fully assembled by the mapper.
static constexpr size_t VIN_LENGTH = 17;
char vin[VIN_LENGTH + 1] = {};

static constexpr size_t VIN_DOUBLE_COUNT = 3;
static constexpr size_t VIN_OFFSET = 36;
static constexpr size_t FIELD_COUNT = VIN_OFFSET + VIN_DOUBLE_COUNT;
static constexpr size_t TPMS_OFFSET = VIN_OFFSET + VIN_DOUBLE_COUNT;
static constexpr size_t TPMS_COUNT = 8;
static constexpr size_t FIELD_COUNT = TPMS_OFFSET + TPMS_COUNT;

void toArray(double* out) const {
// Party bus
Expand Down Expand Up @@ -103,5 +116,15 @@ struct CarState {
char padded[VIN_DOUBLE_COUNT * sizeof(double)] = {};
std::memcpy(padded, vin, VIN_LENGTH);
std::memcpy(out + VIN_OFFSET, padded, sizeof(padded));

// TPMS (after VIN): pressures FL FR RL RR, then temperatures FL FR RL RR.
out[TPMS_OFFSET + 0] = tpmsPressureFL;
out[TPMS_OFFSET + 1] = tpmsPressureFR;
out[TPMS_OFFSET + 2] = tpmsPressureRL;
out[TPMS_OFFSET + 3] = tpmsPressureRR;
out[TPMS_OFFSET + 4] = tpmsTempFL;
out[TPMS_OFFSET + 5] = tpmsTempFR;
out[TPMS_OFFSET + 6] = tpmsTempRL;
out[TPMS_OFFSET + 7] = tpmsTempRR;
}
};
22 changes: 22 additions & 0 deletions bridge/car/cars/tesla.h
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,7 @@
#include <chrono>
#include <cstdint>
#include <cstring>
#include <string>

#include "car/car_state_mapper.h"

Expand Down Expand Up @@ -185,6 +186,27 @@ class TeslaDashKitMapper : public CarStateMapper {

updateVehicleBus(cp, cs);
vin_.update(cp, cs);
// TPMS: pressures come from mux 5 (all four wheels, 0.025 bar resolution);
// temperatures from muxes 0-3 (one sensor each). Their per-sensor pressure is
// coarser (0.05 bar) and would alternate with mux 5, so it is not used.
// Fields keep their last value until a frame carries that wheel again.
// getRaw fails until a frame has been seen; get() would read 0 and look like mux 0.
uint64_t tpmsIndex = 0;
if (cp.getRaw(1, "VCSEC_TPMSData", "VCSEC_TPMSDataIndex", &tpmsIndex)) {
if (tpmsIndex == 5) {
double* pressures[4] = {&cs.tpmsPressureFL, &cs.tpmsPressureFR, &cs.tpmsPressureRL, &cs.tpmsPressureRR};
static const char* const kP[4] = {"FL", "FR", "RL", "RR"};
for (int w = 0; w < 4; w++) {
double v = cp.get(1, "VCSEC_TPMSData", std::string("VCSEC_TPMSPressure") + kP[w]);
if (v >= 0.5 && v < 6.36) *pressures[w] = v;
}
} else if (tpmsIndex <= 3) {
// Mux 0 RR, 1 RL, 2 FR, 3 FL (verified against mux 5 in CAN logs).
double* tempOfMux[4] = {&cs.tpmsTempRR, &cs.tpmsTempRL, &cs.tpmsTempFR, &cs.tpmsTempFL};
double t = cp.get(1, "VCSEC_TPMSData", "VCSEC_TPMSTemperature" + std::to_string(tpmsIndex));
if (t < 214.5) *tempOfMux[tpmsIndex] = t;
}
}
}

private:
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36 changes: 18 additions & 18 deletions dashpilot-android/app/src/main/assets/vehicles/tesla/bus_1_tesla_vehicle.dbc
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Expand Up @@ -115,24 +115,24 @@ BO_ 322 VCLEFT_liftgateStatus: 8 VEH
SG_ VCLEFT_liftgateStrutDutyCycle m1 : 3|8@1- (1,0) [-100|100] "%" X
SG_ VCLEFT_liftgateUIChimeRequest m0 : 18|3@1+ (1,0) [0|4] "" X

BO_ 537 VCSEC_TPMSData: 5 CH
SG_ VCSEC_TPMSDataIndex M : 0|2@1+ (1,0) [0|3] "" Receiver
SG_ VCSEC_TPMSBatVoltage0 m0 : 24|8@1+ (0.01,1.5) [1.5|4.04] "V" X
SG_ VCSEC_TPMSBatVoltage1 m1 : 24|8@1+ (0.01,1.5) [1.5|4.04] "V" X
SG_ VCSEC_TPMSBatVoltage2 m2 : 24|8@1+ (0.01,1.5) [1.5|4.04] "V" X
SG_ VCSEC_TPMSBatVoltage3 m3 : 24|8@1+ (0.01,1.5) [1.5|4.04] "V" X
SG_ VCSEC_TPMSLocation0 m0 : 32|3@1+ (1,0) [0|4] "" X
SG_ VCSEC_TPMSLocation1 m1 : 32|3@1+ (1,0) [0|4] "" X
SG_ VCSEC_TPMSLocation2 m2 : 32|3@1+ (1,0) [0|4] "" X
SG_ VCSEC_TPMSLocation3 m3 : 32|3@1+ (1,0) [0|4] "" X
SG_ VCSEC_TPMSPressure0 m0 : 8|8@1+ (0.025,0) [0|6.35] "bar" X
SG_ VCSEC_TPMSPressure1 m1 : 8|8@1+ (0.025,0) [0|6.35] "bar" X
SG_ VCSEC_TPMSPressure2 m2 : 8|8@1+ (0.025,0) [0|6.35] "bar" X
SG_ VCSEC_TPMSPressure3 m3 : 8|8@1+ (0.025,0) [0|6.35] "bar" X
SG_ VCSEC_TPMSTemperature0 m0 : 16|8@1+ (1,-40) [-40|214] "C" X
SG_ VCSEC_TPMSTemperature1 m1 : 16|8@1+ (1,-40) [-40|214] "C" X
SG_ VCSEC_TPMSTemperature2 m2 : 16|8@1+ (1,-40) [-40|214] "C" X
SG_ VCSEC_TPMSTemperature3 m3 : 16|8@1+ (1,-40) [-40|214] "C" X
BO_ 537 VCSEC_TPMSData: 7 CH
SG_ VCSEC_TPMSDataIndex M : 0|3@1+ (1,0) [0|5] "" Receiver
SG_ VCSEC_TPMSPressureFL m5 : 16|8@1+ (0.025,0) [0|6.375] "bar" X
SG_ VCSEC_TPMSPressureFR m5 : 24|8@1+ (0.025,0) [0|6.375] "bar" X
SG_ VCSEC_TPMSPressureRL m5 : 32|8@1+ (0.025,0) [0|6.375] "bar" X
SG_ VCSEC_TPMSPressureRR m5 : 40|8@1+ (0.025,0) [0|6.375] "bar" X
SG_ VCSEC_TPMSPressure0 m0 : 16|8@1+ (0.05,-1) [-1|11.75] "bar" X
SG_ VCSEC_TPMSPressure1 m1 : 16|8@1+ (0.05,-1) [-1|11.75] "bar" X
SG_ VCSEC_TPMSPressure2 m2 : 16|8@1+ (0.05,-1) [-1|11.75] "bar" X
SG_ VCSEC_TPMSPressure3 m3 : 16|8@1+ (0.05,-1) [-1|11.75] "bar" X
SG_ VCSEC_TPMSTemperature0 m0 : 24|8@1+ (1,-40) [-40|215] "C" X
SG_ VCSEC_TPMSTemperature1 m1 : 24|8@1+ (1,-40) [-40|215] "C" X
SG_ VCSEC_TPMSTemperature2 m2 : 24|8@1+ (1,-40) [-40|215] "C" X
SG_ VCSEC_TPMSTemperature3 m3 : 24|8@1+ (1,-40) [-40|215] "C" X
SG_ VCSEC_TPMSBatVoltage0 m0 : 32|8@1+ (0.01,1.5) [1.5|4.04] "V" X
SG_ VCSEC_TPMSBatVoltage1 m1 : 32|8@1+ (0.01,1.5) [1.5|4.04] "V" X
SG_ VCSEC_TPMSBatVoltage2 m2 : 32|8@1+ (0.01,1.5) [1.5|4.04] "V" X
SG_ VCSEC_TPMSBatVoltage3 m3 : 32|8@1+ (0.01,1.5) [1.5|4.04] "V" X

BO_ 1066 VCSEC_TPMSConnectionData: 8 VEH
SG_ VCSEC_TPMSConnectionTypeCurrent0 : 11|2@1+ (1,0) [0|2] "" X
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12 changes: 11 additions & 1 deletion dashpilot-android/app/src/main/java/com/softwiredtech/dashpilot/datamodel/dash/CarState.kt
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Expand Up @@ -43,6 +43,16 @@ data class CarState(

val changingLane: Boolean = false,

// TPMS: pressure (bar, -1 = none) and temperature (degC, -100 = none) per wheel.
val tpmsPressureFL: Float = -1f,
val tpmsPressureFR: Float = -1f,
val tpmsPressureRL: Float = -1f,
val tpmsPressureRR: Float = -1f,
val tpmsTempFL: Float = -100f,
val tpmsTempFR: Float = -100f,
val tpmsTempRL: Float = -100f,
val tpmsTempRR: Float = -100f,

// Empty until fully assembled from the CAN stream by the native mapper.
val vin: String = ""
) {
Expand All @@ -56,7 +66,7 @@ data class CarState(
)

companion object {
const val FIELD_COUNT = 39
const val FIELD_COUNT = 47
private const val KM_TO_MILES = 0.621371f

private val MILES_COUNTRIES = setOf("US", "GB", "MM", "LR")
Expand Down
11 changes: 10 additions & 1 deletion dashpilot-android/app/src/main/java/com/softwiredtech/dashpilot/vehicle/CanFrameDecoder.kt
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Expand Up @@ -65,7 +65,16 @@ class CanFrameDecoder(
hvacRecirc = values[33].toFloat(),
hvacKeepClimateOn = values[34].toFloat(),
powerLevel = values[35].toFloat(),
vin = decodeVin(values, offset = 36)
vin = decodeVin(values, offset = 36),
// TPMS after VIN (see CarState::TPMS_OFFSET): pressures FL FR RL RR, temperatures FL FR RL RR.
tpmsPressureFL = values[39].toFloat(),
tpmsPressureFR = values[40].toFloat(),
tpmsPressureRL = values[41].toFloat(),
tpmsPressureRR = values[42].toFloat(),
tpmsTempFL = values[43].toFloat(),
tpmsTempFR = values[44].toFloat(),
tpmsTempRL = values[45].toFloat(),
tpmsTempRR = values[46].toFloat()
)
}

Expand Down
2 changes: 1 addition & 1 deletion dashpilot-android/bridge/tests/tesla_vin_mapper_test.cpp
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Expand Up @@ -140,7 +140,7 @@ void empty_vin_encodes_as_zero_doubles() {
CarState cs;
double out[CarState::FIELD_COUNT];
cs.toArray(out);
for (size_t i = CarState::VIN_OFFSET; i < CarState::FIELD_COUNT; i++) {
for (size_t i = CarState::VIN_OFFSET; i < CarState::TPMS_OFFSET; i++) {
CHECK(out[i] == 0.0);
}
}
Expand Down
18 changes: 18 additions & 0 deletions dashpilot-ios/dashpilot/Models/CarState.swift
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Expand Up @@ -43,6 +43,16 @@ struct CarState: Codable {
var experimentalMode: Bool = false
var changingLane: Bool = false

// Tyre pressure (bar, -1 = none) and temperature (degC, -100 = none) per wheel.
var tpmsPressureFL: Float = -1
var tpmsPressureFR: Float = -1
var tpmsPressureRL: Float = -1
var tpmsPressureRR: Float = -1
var tpmsTempFL: Float = -100
var tpmsTempFR: Float = -100
var tpmsTempRL: Float = -100
var tpmsTempRR: Float = -100

init() {}

init(from bridge: BridgeCarState) {
Expand Down Expand Up @@ -82,6 +92,14 @@ struct CarState: Codable {
selfdriveActive = bridge.selfdriveActive > 0
experimentalMode = bridge.experimentalMode > 0
changingLane = bridge.changingLane > 0
tpmsPressureFL = Float(bridge.tpmsPressureFL)
tpmsPressureFR = Float(bridge.tpmsPressureFR)
tpmsPressureRL = Float(bridge.tpmsPressureRL)
tpmsPressureRR = Float(bridge.tpmsPressureRR)
tpmsTempFL = Float(bridge.tpmsTempFL)
tpmsTempFR = Float(bridge.tpmsTempFR)
tpmsTempRL = Float(bridge.tpmsTempRL)
tpmsTempRR = Float(bridge.tpmsTempRR)
}

private static let kmToMiles: Float = 0.621371
Expand Down
36 changes: 18 additions & 18 deletions dashpilot-ios/dashpilot/Resources/vehicles/tesla/bus_1_tesla_vehicle.dbc
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Original file line number Diff line number Diff line change
Expand Up @@ -115,24 +115,24 @@ BO_ 322 VCLEFT_liftgateStatus: 8 VEH
SG_ VCLEFT_liftgateStrutDutyCycle m1 : 3|8@1- (1,0) [-100|100] "%" X
SG_ VCLEFT_liftgateUIChimeRequest m0 : 18|3@1+ (1,0) [0|4] "" X

BO_ 537 VCSEC_TPMSData: 5 CH
SG_ VCSEC_TPMSDataIndex M : 0|2@1+ (1,0) [0|3] "" Receiver
SG_ VCSEC_TPMSBatVoltage0 m0 : 24|8@1+ (0.01,1.5) [1.5|4.04] "V" X
SG_ VCSEC_TPMSBatVoltage1 m1 : 24|8@1+ (0.01,1.5) [1.5|4.04] "V" X
SG_ VCSEC_TPMSBatVoltage2 m2 : 24|8@1+ (0.01,1.5) [1.5|4.04] "V" X
SG_ VCSEC_TPMSBatVoltage3 m3 : 24|8@1+ (0.01,1.5) [1.5|4.04] "V" X
SG_ VCSEC_TPMSLocation0 m0 : 32|3@1+ (1,0) [0|4] "" X
SG_ VCSEC_TPMSLocation1 m1 : 32|3@1+ (1,0) [0|4] "" X
SG_ VCSEC_TPMSLocation2 m2 : 32|3@1+ (1,0) [0|4] "" X
SG_ VCSEC_TPMSLocation3 m3 : 32|3@1+ (1,0) [0|4] "" X
SG_ VCSEC_TPMSPressure0 m0 : 8|8@1+ (0.025,0) [0|6.35] "bar" X
SG_ VCSEC_TPMSPressure1 m1 : 8|8@1+ (0.025,0) [0|6.35] "bar" X
SG_ VCSEC_TPMSPressure2 m2 : 8|8@1+ (0.025,0) [0|6.35] "bar" X
SG_ VCSEC_TPMSPressure3 m3 : 8|8@1+ (0.025,0) [0|6.35] "bar" X
SG_ VCSEC_TPMSTemperature0 m0 : 16|8@1+ (1,-40) [-40|214] "C" X
SG_ VCSEC_TPMSTemperature1 m1 : 16|8@1+ (1,-40) [-40|214] "C" X
SG_ VCSEC_TPMSTemperature2 m2 : 16|8@1+ (1,-40) [-40|214] "C" X
SG_ VCSEC_TPMSTemperature3 m3 : 16|8@1+ (1,-40) [-40|214] "C" X
BO_ 537 VCSEC_TPMSData: 7 CH
SG_ VCSEC_TPMSDataIndex M : 0|3@1+ (1,0) [0|5] "" Receiver
SG_ VCSEC_TPMSPressureFL m5 : 16|8@1+ (0.025,0) [0|6.375] "bar" X
SG_ VCSEC_TPMSPressureFR m5 : 24|8@1+ (0.025,0) [0|6.375] "bar" X
SG_ VCSEC_TPMSPressureRL m5 : 32|8@1+ (0.025,0) [0|6.375] "bar" X
SG_ VCSEC_TPMSPressureRR m5 : 40|8@1+ (0.025,0) [0|6.375] "bar" X
SG_ VCSEC_TPMSPressure0 m0 : 16|8@1+ (0.05,-1) [-1|11.75] "bar" X
SG_ VCSEC_TPMSPressure1 m1 : 16|8@1+ (0.05,-1) [-1|11.75] "bar" X
SG_ VCSEC_TPMSPressure2 m2 : 16|8@1+ (0.05,-1) [-1|11.75] "bar" X
SG_ VCSEC_TPMSPressure3 m3 : 16|8@1+ (0.05,-1) [-1|11.75] "bar" X
SG_ VCSEC_TPMSTemperature0 m0 : 24|8@1+ (1,-40) [-40|215] "C" X
SG_ VCSEC_TPMSTemperature1 m1 : 24|8@1+ (1,-40) [-40|215] "C" X
SG_ VCSEC_TPMSTemperature2 m2 : 24|8@1+ (1,-40) [-40|215] "C" X
SG_ VCSEC_TPMSTemperature3 m3 : 24|8@1+ (1,-40) [-40|215] "C" X
SG_ VCSEC_TPMSBatVoltage0 m0 : 32|8@1+ (0.01,1.5) [1.5|4.04] "V" X
SG_ VCSEC_TPMSBatVoltage1 m1 : 32|8@1+ (0.01,1.5) [1.5|4.04] "V" X
SG_ VCSEC_TPMSBatVoltage2 m2 : 32|8@1+ (0.01,1.5) [1.5|4.04] "V" X
SG_ VCSEC_TPMSBatVoltage3 m3 : 32|8@1+ (0.01,1.5) [1.5|4.04] "V" X

BO_ 1066 VCSEC_TPMSConnectionData: 8 VEH
SG_ VCSEC_TPMSConnectionTypeCurrent0 : 11|2@1+ (1,0) [0|2] "" X
Expand Down
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