Tesla Bosch Radar

The Bosch radar made for Tesla (Bosch MRRevo14, and with few different part numbers like 1038224-00-A/B or 1057551-00-B) have been used on Tesla Model S cars from October 2014 (AP1) until they have been replaced by the Continental radar with AP2.5). The main difference between 1038224-00-B and 1038224-00-A is that the A version does not have the heater element for winter weather (to melt snow and ice).

The radar has a range of about 160m and for the short beam a cone of 45°.

Bosch radars

Many other car manufacturers use the same radar hardware, including Honda, Nissan, VW, Audi, etc. But Tesla (AFAIK) is the only one that reads and processes raw data from the radar instead of letting the radar make the decision about longitudinal control action needed (acceleration or deceleration).

This radar can ben used on any OP supported car. To insall the radar for a non-Tesla car please find a branch that has the code already done or modify your branch and add the code needed to make the radar talk to the Panda code for your car.

Deconding the radar

With a little help from a group of enthusiasts, we were able to reverse engineer all the messages that AP sends to the radar in order to make it "talk". Then we identified the structure of the CAN messages that describe each of the 32 objects this radar can detect. Signals like longitudinal distance, lateral distance (vs radar), longitudinal relative speed, lateral relative speed, longitudinal acceleration, certainty of detection, etc are all now processed and sent to the radar daemon of OpenPilot, improving longitudinal control for the car.

What you need

In order to get the radar working on your car, you need to buy a radar, a mounting bracket (few options here), a connector and then to create a harness and run the cable back to the Giraffe. As a first temporary setup for my research, I used an Audi bracket which I installed on my car's nose cone. Then I created the harness and connected it for both CAN and power to my Giraffe rev B using a car relay. Please also make sure you add the 120Ω resistor between CAN+ and CAN-.

If you have a Giraffe rev A, you will have to solder the CAN wires from the radar directly to the Giraffe. We are using the middle CAN of the Panda (CAN2 when you think of them as CAN1-CH, CAN3-EPAS) and the pins where you should solder your connector are marked in this diagrams. 
Also, you will have to add the same 120Ω resistor between CAN+ and CAN-.

As for power for the radar, if you don't feel like doing my relay setup from the Giraffe rev B, I recommend tapping into Pin 6 of the EPAS harness (which is "ignition" power) and drive a relay the same way i drove it from the Giraffe, but in this case add a 5 Amp fuse on the power from battery to the relay.

For other cars that want to use the Tesla Bosch Radar, please find an unused CAN in your Panda safety implementation and use that CAN to communicate with the radar. The radar has to be on its own specific CAN because any message outside of the ones that it is supposed to receive will make it stop working.

Panda code changes

If you are on one of my Tesla OP branches (0.5.10 and above), the Panda code already has all you need to get the Tesla Bosch Radar working. 

If you want to implement the code for another car, you will have to modify the code as follow:

• find an existing CAN message on your car that is generated at 100Hz. We will use this message as a clock to trigger all the other messages needed by radar.
• take a look at my test_teslaradar branch which uses the fake message code in safety_teslaradar.h
• edit safety_yourcar.h (specific for your car) and add the following:

- add the include for safety_teslaradar.h at the top

#include "safety_teslaradar.h"

- in the rx_hook function, call the radar rx hook

teslaradar_rx_hook(to_push);

- in the rx_hook function, find the CAN message that provides the speed and parse it (this is a Honda example) saving the value in the actual_speed_kph variable

 //speed for radar
 if ((to_push->RIR>>21) == 0x309) {
   // first 2 bytes
   actual_speed_kph = (int)((((to_push->RDLR & 0xFF) << 8) + ((to_push->RDLR >>8) & 0xFF))*0.01);
 }

- in the fwd_hook function, make sure you do not forward any of the radar messages to any other CAN bus (in this example, the radar is on CAN bus 2)

 if(bus_num == 2) {
   return -1;
 }

- in the tx_hook function add interceptor for the message used to send info to the radar; in this example we use 0x560 as the CAN message ID; it this does not work for your car (already in use) you will have to change it to another ID that is not in use

 //check if this is a teslaradar vin message
 //capture message for radarVIN and settings
 if ((to_send->RIR >> 21) == 0x560) {
   int id = (to_send->RDLR & 0xFF);
   int radarVin_b1 = ((to_send->RDLR >> 8) & 0xFF);
   int radarVin_b2 = ((to_send->RDLR >> 16) & 0xFF);
   int radarVin_b3 = ((to_send->RDLR >> 24) & 0xFF);
   int radarVin_b4 = (to_send->RDHR & 0xFF);
   int radarVin_b5 = ((to_send->RDHR >> 8) & 0xFF);
   int radarVin_b6 = ((to_send->RDHR >> 16) & 0xFF);
   int radarVin_b7 = ((to_send->RDHR >> 24) & 0xFF);
   if (id == 0) {
     tesla_radar_should_send = (radarVin_b2 & 0x01);
     radarPosition =  ((radarVin_b2 >> 1) & 0x03);
     radarEpasType = ((radarVin_b2 >> 3) & 0x07);
     tesla_radar_trigger_message_id = (radarVin_b3 << 8) + radarVin_b4;
     tesla_radar_can = radarVin_b1;
     radar_VIN[0] = radarVin_b5;
     radar_VIN[1] = radarVin_b6;
     radar_VIN[2] = radarVin_b7;
     tesla_radar_vin_complete = tesla_radar_vin_complete | 1;
   }
   if (id == 1) {
     radar_VIN[3] = radarVin_b1;
     radar_VIN[4] = radarVin_b2;
     radar_VIN[5] = radarVin_b3;
     radar_VIN[6] = radarVin_b4;
     radar_VIN[7] = radarVin_b5;
     radar_VIN[8] = radarVin_b6;
     radar_VIN[9] = radarVin_b7;
     tesla_radar_vin_complete = tesla_radar_vin_complete | 2;
   }
   if (id == 2) {
     radar_VIN[10] = radarVin_b1;
     radar_VIN[11] = radarVin_b2;
     radar_VIN[12] = radarVin_b3;
     radar_VIN[13] = radarVin_b4;
     radar_VIN[14] = radarVin_b5;
     radar_VIN[15] = radarVin_b6;
     radar_VIN[16] = radarVin_b7;
     tesla_radar_vin_complete = tesla_radar_vin_complete | 4;
   }
   else {
     return 0;
   }
 }

OP Code Changes

If you are on one of my Tesla OP branches (0.5.10 and above), the OP code already has all you need to get the Tesla Bosch Radar working. 

If you want to implement the code for another car, you will have to modify the code as follow:

• go to /data/openpilot/selfdrive/car/yourcar (of course, yourcar matches one of the supported OP cars like honda/toyota/etc.)
• edit yourcarcan.py and add the code needed to send the VIN and other info to the Panda

def create_radar_VIN_msg(id,radarVIN,radarCAN,radarTriggerMessage,useRadar,radarPosition,radarEpasType):
  msg_id = 0x560
  msg_len = 8
  msg = create_string_buffer(msg_len)
  if id == 0:
    struct.pack_into('BBBBBBBB', msg, 0, id,radarCAN,useRadar + (radarPosition << 1) + (radarEpasType << 3), ((radarTriggerMessage >> 8) & 0xFF),(radarTriggerMessage & 0xFF),ord(radarVIN[0]),ord(radarVIN[1]),ord(radarVIN[2]))
  if id == 1:
    struct.pack_into('BBBBBBBB', msg, 0, id,ord(radarVIN[3]),ord(radarVIN[4]),ord(radarVIN[5]),ord(radarVIN[6]),ord(radarVIN[7]),ord(radarVIN[8]),ord(radarVIN[9]))
  if id == 2:
    struct.pack_into('BBBBBBBB', msg, 0, id,ord(radarVIN[10]),ord(radarVIN[11]),ord(radarVIN[12]),ord(radarVIN[13]),ord(radarVIN[14]),ord(radarVIN[15]),ord(radarVIN[16]))
  return [msg_id, 0, msg.raw, 0]

• edit carcontroller.py and add the code needed to send the VIN and other specific radar info to Panda

- in the __init__ portion add

self.radarVin_idx = 0

- in the update portion add the below code, updating as needed the CAN bus to be used for radar (in this example 2) and the 100Hz message we will use to trigger messages (in this example 0x17c)

#if using radar, we need to send the VIN
if CS.useTeslaRadar and (frame % 100 == 0):
  can_sends.append(hondacan.create_radar_VIN_msg(self.radarVin_idx, CS.radarVIN, 2, 0x17c, CS.useTeslaRadar, CS.radarPosition, CS.radarEpasType))
  self.radarVin_idx += 1
  self.radarVin_idx = self.radarVin_idx  % 3

• copy from my repo the readconfig_min.py and rename it readconfig.py; once you are done with all the code changes and reboot the EON, this will create a minimal OpenPilot Configuration File at /data/bb_openpilot.cfg with the values needed for radar
• edit carstate.py

- add the import for the readconfig.py

from selfdrive.car.honda.readconfig import read_config_file

- add definition in __init__ for the variables needed by radar

   ### START OF MAIN CONFIG OPTIONS ###
   ### Do NOT modify here, modify in /data/bb_openpilot.cfg and reboot
   self.useTeslaRadar = False
   self.radarVIN = "                 "
   self.radarOffset = 0.
   self.radarPosition = 0
   self.radarEpasType = 0
   #read config file
   read_config_file(self)
   ### END OF MAIN CONFIG OPTIONS ###

• copy from my repo the radar_interface.py file and modify if needed
• copy from my repo the radard.py to /data/openpilot/selfdrive/controls and modify as needed
• copy from my repo the radar_helpers.py to /data/openpilot/selfdrive/controls/lib and modify as needed

Obtain the VIN programmed in your radar

Chances are you bought your Tesla Bosch Radar on ebay and was previously installed and programmed in a car (so it will only respond if we send the right VIN, epay type and position). The first step in getting the radar to send data is to obtain the VIN that was previously programmed. To get the VIN you will have to use the readRadarVin.py script (if you are on one of my branches the file is located in /data/openpilot/selfdrive/car/tesla/radar_tools/).

Once you have the scrip do the following steps:

• SSH into the EON
• go to /data/openpilot/selfdrive/car/tesla/radar_tools/ (or to the location where you saved the script)
• kill OpenPilot:

- tmux a

- CTRL + C

- wait for the text KeyboardInterrupted to be displayed

- CTRL + C again

• set the python environment variable

- export PYTHONPATH="/data/openpilot/"

• run the readRadarVin.py script

- python readRadarVin.py

The 17 character VIN number will be displayed in the output of the script. Write it down.

Modifying the configuration file for radar

Now that we have the VIN, we need to configure the OpenPilot Configuration File with the needed parameters.

[OP_CONFIG]
use_tesla_radar = True
radar_vin = YOUR_RADAR_VIN_HERE
radar_offset = 0.0
radar_epas_type = 0
radar_position = 0

So make sure that the use_tesla_radar variable is set to True and that radar_vin matches the one you got from the readRadarVin.py script (do not put any quotes or any other characters on that line, just the VIN).

radar_offset has to be changed only if your radar is not centered on the car (some cars have it closer to the left side of the car, in which case the offset should be positive and equal to the distance between the center of the radar and center of the car, in meters; for example 58cm will be 0.58 for offset).

radar_epas_type and radar_position are more of a guess game to figure out. You can find an explanation of each of the parameters here.

Troubleshooting the Tesla Bosch Radar

The radar send data for the first 5 seconds no matter what we send to it. But if we are sending the wrong info (VIN, position or epas) it will stop sending changes to the data after 5 seconds. At this point we have to see what exactly is happening with the radar by looking at the allerts it generates.

You can use cabana and paste the following code in the DBC in order to understand what errors the radar is sending and what you need to change.

VERSION ""
NS_ : 

NS_DESC_ CM_ BA_DEF_ BA_ VAL_ CAT_DEF_ CAT_ FILTER BA_DEF_DEF_ EV_DATA_ ENVVAR_DATA_ SGTYPE_ SGTYPE_VAL_ BA_DEF_SGTYPE_ BA_SGTYPE_ SIG_TYPE_REF_ VAL_TABLE_ SIG_GROUP_ SIG_VALTYPE_ SIGTYPE_VALTYPE_ BO_TX_BU_ BA_DEF_REL_ BA_REL_ BA_DEF_DEF_REL_ BU_SG_REL_ BU_EV_REL_ BU_BO_REL_ SG_MUL_VAL_

BS_:
BU_:  FrontCamera Radar
BO_ 769 TeslaRadarSguInfo: 8 Radar
 SG_ RADC_VerticalMisalignment : 0|8@1+ (1,0) [0|255] ""  FrontCamera
 SG_ RADC_SCUTemperature : 8|8@1+ (1,-128) [-128|127] ""  FrontCamera
 SG_ RADC_VMA_Plaus : 16|8@1+ (1,0) [0|255] ""  FrontCamera
 SG_ RADC_SGU_ITC : 24|8@1+ (1,0) [0|255] ""  FrontCamera
 SG_ RADC_HorizontMisalignment : 32|12@1+ (1,0) [0|4096] ""  FrontCamera
 SG_ RADC_SensorDirty : 44|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_HWFail : 45|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_SGUFail : 46|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_SGUInfoConsistBit : 47|1@1+ (1,0) [0|1] ""  FrontCamera
BO_ 770 TeslaRadarTguInfo: 8 Radar
 SG_ RADC_ACCTargObj1_sguIndex : 0|6@1+ (1,0) [0|63] ""  FrontCamera
 SG_ RADC_ACCTargObj2_sguIndex : 6|6@1+ (1,0) [0|63] ""  FrontCamera
 SG_ RADC_ACCTargObj3_sguIndex : 12|6@1+ (1,0) [0|63] ""  FrontCamera
 SG_ RADC_ACCTargObj4_sguIndex : 18|6@1+ (1,0) [0|63] ""  FrontCamera
 SG_ RADC_ACCTargObj5_sguIndex : 24|6@1+ (1,0) [0|63] ""  FrontCamera
 SG_ unused30 : 30|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_TGUInfoConsistBit : 31|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_ACCTargObj1_dBPower : 32|16@1+ (1,0) [0|65535] ""  FrontCamera
 SG_ RADC_ACCTargObj5_dBPower : 48|16@1+ (1,0) [0|65535] ""  FrontCamera 
BO_ 1281 TeslaRadarAlertMatrix: 8 Radar
 SG_ RADC_a001_ecuInternalPerf : 0|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a002_flashPerformance : 1|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a003_vBatHigh : 2|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a004_adjustmentNotDone : 3|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a005_adjustmentReq : 4|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a006_adjustmentNotOk : 5|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a007_sensorBlinded : 6|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a008_plantModeActive : 7|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a009_configMismatch : 8|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a010_canBusOff : 9|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a011_bdyMIA : 10|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a012_espMIA : 11|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a013_gtwMIA : 12|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a014_sccmMIA : 13|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a015_adasMIA : 14|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a016_bdyInvalidCount : 15|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a017_adasInvalidCount : 16|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a018_espInvalidCount : 17|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a019_sccmInvalidCount : 18|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a020_bdyInvalidChkSm : 19|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a021_espInvalidChkSm : 20|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a022_sccmInvalidChkSm : 21|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a023_sccmInvalidChkSm : 22|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a024_absValidity : 23|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a025_ambTValidity : 24|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a026_brakeValidity : 25|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a027_CntryCdValidity : 26|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a028_espValidity : 27|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a029_longAccOffValidity : 28|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a030_longAccValidity : 29|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a031_odoValidity : 30|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a032_gearValidity : 31|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a033_steerAngValidity : 32|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a034_steerAngSpdValidity : 33|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a035_indctrValidity : 34|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a036_vehStandStillValidity : 35|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a037_vinValidity : 36|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a038_whlRotValidity : 37|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a039_whlSpdValidity : 38|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a040_whlStandStillValidity : 39|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a041_wiperValidity : 40|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a042_xwdValidity : 41|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a043_yawOffValidity : 42|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a044_yawValidity : 43|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a045_bsdSanity : 44|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a046_rctaSanity : 45|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a047_lcwSanity : 46|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a048_steerAngOffSanity : 47|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a049_tireSizeSanity : 48|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a050_velocitySanity : 49|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a051_yawSanity : 50|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a052_radomeHtrInop : 51|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a053_espmodValidity : 52|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a054_gtwmodValidity : 53|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a055_stwmodValidity : 54|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a056_bcmodValidity : 55|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a057_dimodValidity : 56|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a058_opmodValidity : 57|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a059_drmiInvalidChkSm : 58|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a060_drmiInvalidCount : 59|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a061_radPositionMismatch : 60|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a062_strRackMismatch : 61|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ unused62 : 62|2@1+ (1,0) [0|3] ""  FrontCamera