feat(sim): drive the brake vote from the DI's hardwired switch (DI_VC_SHARED) #18

Merged

outlandnish merged 1 commit from feat/sim-di-wired-brake-switch into main

2026-09-11 10:15:00 -05:00

outlandnish commented

2026-09-11 10:14:41 -05:00

Owner

Models the stock DI_VC_SHARED brake-switch topology so the DI's own hardwired brake switch drives DI_brakePedalState on the bench — the mechanism an add-on inverter controller uses over CAN (it doesn't change the DIR's vote logic; it bridges CAN signals).

Firmware basis (12803, gen-28 2022.45.15)
The DIR broadcasts its own wired brake switch (GPADAT bit1, active-low) on 0x1D6 bit 33 (TX-table builder FUN_000a70f4), and votes DI_brakePedalState on VCLEFT 0x3C2 + iBooster 0x39D + ESP 0x38D. GTW_brakeLineSwitchType (0=DI_VC_SHARED, 1=VC_ONLY) is a VC-side wiring-topology flag — the DIR itself never reads it.

Sim changes

DI node broadcasts 0x1D6 bit33 from a settable wired-switch state (the virtual-car case; a real DIR/PMR sources 0x1D6 itself on the bench and the peers react to it).
VCLEFT relays 0x1D6 → VCLEFT_brakeSwitchPressed (0x3C2) when GTW_brakeLineSwitchType == DI_VC_SHARED (read live from GTW_carConfig 0x7FF mux3); in VC_ONLY it sources its own switch and ignores the DI report.
ESP / IBST mirror 0x1D6 into their brake posture (0x145 / 0x39D), so all three vote sources agree and the DI's plausibility supervisor doesn't fault the state to INVALID.
The dashboard brake toggle also drives the virtual DI switch, keeping the toggle and the mirror consistent.
tesla_frames: DI_BRAKE_SWITCH_ID/DI_BRAKE_SWITCH_BIT + di_brake_switch_pressed().

Tests: DI 0x1D6 broadcast, VCLEFT relay (shared) vs ignore (vc_only), carconfig mux3 read, ESP/IBST mirror, facade→DI. Full suite green (3163), ruff clean on changed files.

🤖 Generated with Claude Code

Models the stock **DI_VC_SHARED** brake-switch topology so the DI's own hardwired brake switch drives `DI_brakePedalState` on the bench — the mechanism an add-on inverter controller uses over CAN (it doesn't change the DIR's vote logic; it bridges CAN signals). **Firmware basis (12803, gen-28 2022.45.15)** The DIR broadcasts its own wired brake switch (GPADAT bit1, active-low) on **0x1D6 bit 33** (TX-table builder `FUN_000a70f4`), and votes `DI_brakePedalState` on VCLEFT 0x3C2 + iBooster 0x39D + ESP 0x38D. `GTW_brakeLineSwitchType` (`0=DI_VC_SHARED, 1=VC_ONLY`) is a VC-side wiring-topology flag — the DIR itself never reads it. **Sim changes** - **DI node** broadcasts 0x1D6 bit33 from a settable wired-switch state (the virtual-car case; a real DIR/PMR sources 0x1D6 itself on the bench and the peers react to it). - **VCLEFT** relays 0x1D6 → `VCLEFT_brakeSwitchPressed` (0x3C2) when `GTW_brakeLineSwitchType == DI_VC_SHARED` (read live from `GTW_carConfig` 0x7FF mux3); in VC_ONLY it sources its own switch and ignores the DI report. - **ESP / IBST** mirror 0x1D6 into their brake posture (0x145 / 0x39D), so all three vote sources agree and the DI's plausibility supervisor doesn't fault the state to INVALID. - The dashboard brake toggle also drives the virtual DI switch, keeping the toggle and the mirror consistent. - `tesla_frames`: `DI_BRAKE_SWITCH_ID`/`DI_BRAKE_SWITCH_BIT` + `di_brake_switch_pressed()`. Tests: DI 0x1D6 broadcast, VCLEFT relay (shared) vs ignore (vc_only), carconfig mux3 read, ESP/IBST mirror, facade→DI. Full suite green (3163), ruff clean on changed files. 🤖 Generated with [Claude Code](https://claude.com/claude-code)

outlandnish added 1 commit

2026-09-11 10:14:41 -05:00

feat(sim): drive the brake vote from the DI's hardwired switch (DI_VC_SHARED)

Tests / test (pull_request) Has been cancelled

Details

1cdd7bdb40

Model the stock DI_VC_SHARED brake-switch topology so the DI's own wired switch
drives DI_brakePedalState on the bench -- the way an add-on inverter controller
does it over CAN. The DIR broadcasts its wired switch on 0x1D6 bit33; the peers
mirror it into the three brake-vote sources:

- DI node broadcasts 0x1D6 bit33 from a settable wired-switch state (the virtual-car
  case; a real DIR/PMR sources 0x1D6 itself on the bench and the peers react to it).
- VCLEFT relays 0x1D6 onto VCLEFT_brakeSwitchPressed (0x3C2) when
  GTW_brakeLineSwitchType == DI_VC_SHARED (read live from GTW_carConfig 0x7FF mux3);
  in VC_ONLY it sources its own switch and ignores the DI report.
- ESP and IBST mirror 0x1D6 into their brake posture (0x145 / 0x39D), so all three
  vote sources agree and the DI's plausibility supervisor doesn't fault to INVALID.
- The dashboard brake toggle also drives the virtual DI switch, keeping the toggle
  and the mirror consistent.

tesla_frames gains DI_BRAKE_SWITCH_ID/BIT + di_brake_switch_pressed().

Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>

outlandnish merged commit 974be4e8e2 into main

2026-09-11 10:15:00 -05:00

outlandnish referenced this pull request from a commit

2026-09-11 10:15:01 -05:00

Merge pull request 'feat(sim): drive the brake vote from the DI's hardwired switch (DI_VC_SHARED)' (#18) from feat/sim-di-wired-brake-switch into main

outlandnish referenced this pull request

2026-09-11 11:01:36 -05:00

feat(sim): gate the DI wired-switch mirror on GTW_brakeLineSwitchType #19