Tesla Giraffe

Installing the Giraffe

Has 1&9

There are currently three options concerning Giraffes for your Model S. You can even make your own Tesla Giraffe.

1. Giraffe revC from @AsianTea#7596 on the Comma.ai Discord
   • This solution doesn't need any modification to perform a Radar retrofit.
   • This will work as long as your OBD port pins 1 and 9 look like the first picture on the right.
2. An EPAS harness from Flyboy222pa on eBay
   • This path doesn't require a Giraffe.
   • But this will require a 120 Ohm resistor if you want to install a Radar retrofit.
     

     Missing 1&9
3. Giraffe For cars built before May 31, 2013, will need a "TDC Connector".
   • You'll want this variant if your OBD port is missing pins 1 and 9 like the second picture to the right.

Whichever one of these you end up using, install it into the corresponding port under the dash, in the driver's foot well.

Giraffe revB

The Tesla Giraffe rev. B was created and sold by @appleguru.

On top of creating the right pin connections between Panda and the approproate Tesla CAN Bus, it has a number of other nice features:

• automatically connects EPAS conenctor back to Chassis CAN bus when no Panda is present
• offers connector for CAN2 on Panda which is used for Tesla Bosch Radar
• has 12V power out which can be used to power the Tesla Bosch Radar via relay
• has the Comma RJ45 FakeEthernet CAN connector to connect the Comma Pedal
• has 8 GPIO outputs that can be used to drive certain other accessories; the 8th GPIO is used in our Panda firmware for "ignition power" which can be used to drive the relay needed for Tesla Bosch Radar power

Default Output Mapping with Tesla Giraffe rev. B firmware from my branch

The general purpose outputs on the GPIO RJ45 and optional 10 position terminal block are driven from the panda via one of the otherwise unused LIN bus outputs. This output, through the circuitry on the rev. B giraffe, drives an automotive grade 8 ch smart FET (Infineon BTS4880R) that can handle loads up to 500mA per channel (2A max across all outputs).

The initial application for the GPIO is to support the "Tesla Camera switcher" project, which allows intelligent switching between the car's backup camera and a new camera added to the front bumper to help with forward parking on a Model S or Model X. The current firmware automatically switches to the backup camera feed when in reverse, and the front camera feed otherwise, allowing for the use of pressing and holding on the menu button on the steering wheel to manually select.

Other projects that will potentially use this GPIO are the "Tesla 360 camera install", the "Tesla lighted appliqué", and a few owners that have installed light bars/want to drive relays from CAN so they come on with their high beams. The firmware is open-source, so you can configure this interface to suit your project’s needs and get a very capable GPIO from CAN! Please see the table below for the current CAN signals mapped:

Output PIN Number	Function
OUT1	Front Camera Switch (High when car is in Reverse or menu button override is active)
OUT2	Drive
OUT3	Brake Lights
OUT4	Left Turn Signal
OUT5	Right Turn Signal
OUT6	Reverse
OUT7	High Beams On
OUT8	"Ignition" Power

J8 RJ45 GPIO Pinout

RJ45 Pin Number / 568B Color	Function
1 / Orange/White	OUT3
2 / Orange	OUT1
3 / Green / White	OUT4
4 / Blue	OUT2
5 / Blue/White	OUT5
6 / Green	OUT6
7 / Brown/White	Fused +12V
8 / Brown (and Shield)	GND

J7 RJ45 Comma Pinout

RJ45 Pin Number / 568B Color	Function
1 / Orange/White (and Shield)	GND
2 / Orange	Fused +12V
3 / Green / White	EPAS CAN -
4 / Blue	No Connection
5 / Blue/White	GND
6 / Green	EPAS CAN+
7 / Brown/White	CAN2+
8 / Brown	CAN2-

Giraffe CAN Bus Inputs/Outputs

Panda CAN2 is used in my branch to connect the Tesla Bosch Radar. R11 on the bottom of the board is unpopulated and available for an optional 120 Ohm 1206 termination resistor to be installed if needed. CAN2 is broken out on both the Comma RJ45 output and the J3 2pin output (see pinout). If you're not planning to install the R11, please make sure you add an 120 Ohm resistor before the JST connector per the Tesla Bosch Radar instructions.

Panda CAN1 is connected to the Model S and Model X’s Chassis CAN via the giraffe’s male OBD’s Pins 1 (CH+) and 9 (CH-). The J6 EPAS output switches between CH CAN from the Car and CAN3 from the Panda, depending on the state of CAN Select (Which is driven by the panda’s GMLAN output). When it is high (D1 Yellow), J6 is sending Panda CAN3 out. When it is low (D1 Green), the Car’s Chassis CAN is going out J6.

Tesla Giraffe rev B Useful Part Numbers

2pin connectors for J2 / J3 / J6 are JST 2pos 2mm PH headers, PN B2B-PH-K-S(LF)(SN)

Fuse F1 is a standard 3A blade type automotive fuse. OE fuse is a Littlefuse 0287003.PXCN

J1 (Optional) is Phoenix contact Part number 1827787 (plug) and 1827949 (soldered header) in case you misplace your plug or would like to add your own header.

J9 is Phoenix Contact plug 1827703 in case you misplace yours.

Ordering a Tesla Giraffe rev. B

You can order your Tesla Giraffe rev. B directly from @appleguru.