Projects / nicholasyangyang ODrive STM32

nicholasyangyang ODrive STM32

🔧 STM32

FSD enabler on ODrive v3.x motor controller (STM32F405). Unique experimental approach.

🔗 View on GitHub
🔧 ODrive v3.x (STM32F405) 📱 HW3 experimental 📄 24 files 🕐 Updated Mar 31, 2026
Source: https://github.com/nicholasyangyang/my-tt

CanFeather – Tesla FSD CAN Bus Enabler

Why is this public? Some sellers charge up to 500 € for a solution like this. In our opinion, that is massively overpriced. The board costs around 20 €, and even with labor factored in, a fair price is no more than 50 €. This project exists so nobody has to overpay.

📌 Prerequisites

You must have an active FSD package on the vehicle — either purchased or subscribed. This board enables the FSD functionality on the CAN bus level, but the vehicle still needs a valid FSD entitlement from Tesla.

If FSD subscriptions are not available in your region, you can work around this by:

  1. Creating a Tesla account in a region where FSD subscriptions are offered (e.g. Canada).
  2. Transferring the vehicle to that account.
  3. Subscribing to FSD through that account.

This allows you to activate an FSD subscription from anywhere in the world.

🛠️ What It Does

This firmware runs on an Adafruit Feather with CAN bus support (RP2040 CAN with MCP2515, or M4 CAN Express with native ATSAME51 CAN). It intercepts specific CAN bus messages to enable and configure Full Self-Driving (FSD). Additionally, ASS (Actually Smart Summon) is no longer restricted by EU regulations.

🚗 Core Function

  • Intercepts specific CAN bus messages
  • Re-transmits them onto the vehicle bus

🧠 FSD Activation Logic

  • Listens for Autopilot-related CAN frames
  • Checks if "Traffic Light and Stop Sign Control" is enabled in the Autopilot settings Uses this setting as a trigger for Full Self-Driving (FSD)
  • Adjusts the required bits in the CAN message to activate FSD

⚙️ Additional Behavior

  • Reads the follow-distance stalk setting
  • Maps it dynamically to a speed profile

⚙️ HW4 - FSD V14 Features

  • Approaching Emergency Vehicle Detection

Supported Hardware Variants

Select your hardware in RP2040CAN.ino via the #define HW directive:

Define Target Listens on CAN IDs Notes
LEGACY HW3 Retrofit 1006, 69 Sets FSD enable bit and speed profile control via follow distance
HW3 HW3 vehicles 1016, 1021 Same functionality as legacy
HW4 HW4 vehicles 1016, 1021 Extended speed-profile range (5 levels)

Note: HW4 vehicles on firmware 2026.2.9.X are on FSD v14. However, versions on the 2026.8.X branch are still on FSD v13. If your vehicle is running FSD v13 (including the 2026.8.X branch or anything older than 2026.2.9), compile with HW3 even if your vehicle has HW4 hardware.

How to Determine Your Hardware Variant

  • Legacy — Your vehicle has a portrait-oriented center screen and HW3. This applies to older (pre Palladium) Model S and Model X vehicles that originally came with or were retrofitted with HW3.
  • HW3 — Your vehicle has a landscape-oriented center screen and HW3. You can check your hardware version under Controls → Software → Additional Vehicle Information on the vehicle's touchscreen.
  • HW4 — Same as above, but the Additional Vehicle Information screen shows HW4.

Key Behaviour

  • FSD enable bit is set when "Traffic Light and Stop Sign Control" is enabled in the vehicle's Autopilot settings.
  • Speed profile is derived from the scroll-wheel offset or follow-distance setting.
  • Nag suppression — clears the hands-on-wheel nag bit.
  • Debug output is printed over Serial at 115200 baud when enablePrint is true.

Supported Boards

Board CAN Interface Library Status
Adafruit Feather RP2040 CAN MCP2515 over SPI mcp2515.h (autowp) Tested
Adafruit Feather M4 CAN Express (ATSAME51) Native MCAN peripheral Adafruit_CAN (CANSAME5x) Compiles, needs on-vehicle testing

Hardware Requirements

  • One of the supported boards listed above
  • CAN bus connection to the vehicle (500 kbit/s)

Feather RP2040 CAN — the board must expose these pins (defined by the earlephilhower board variant):

  • PIN_CAN_CS — SPI chip-select for the MCP2515
  • PIN_CAN_INTERRUPT — interrupt pin (unused; polling mode)
  • PIN_CAN_STANDBY — CAN transceiver standby control
  • PIN_CAN_RESET — MCP2515 hardware reset

Feather M4 CAN Express — uses the native ATSAME51 CAN peripheral; requires:

  • PIN_CAN_STANDBY — CAN transceiver standby control
  • PIN_CAN_BOOSTEN — 3V→5V boost converter enable for CAN signal levels

Important: Cut the onboard 120 Ω termination resistor on the Feather CAN board (jumper labeled TERM on RP2040, Trm on M4). The vehicle's CAN bus already has its own termination, and adding a second resistor will cause communication errors.

Installation

Option A: Arduino IDE — Flash Only

Recommended if you just want to flash the firmware onto your board. No command-line tools required.

1. Install the Arduino IDE

Download from https://www.arduino.cc/en/software.

2. Add the Board Package

For Feather RP2040 CAN:

  1. Open File → Preferences.
  2. In Additional Board Manager URLs, add:
    https://github.com/earlephilhower/arduino-pico/releases/download/global/package_rp2040_index.json
  3. Go to Tools → Board → Boards Manager, search for Raspberry PI Pico/RP2040, and install it.
  4. Select Adafruit Feather RP2040 CAN as the Board.

For Feather M4 CAN Express:

  1. In Additional Board Manager URLs, add:
    https://adafruit.github.io/arduino-board-index/package_adafruit_index.json
  2. Install Adafruit SAMD Boards from the Boards Manager.
  3. Select Feather M4 CAN (SAME51) as the Board.
  4. Install the Adafruit CAN library via the Library Manager.

3. Install Required Libraries

Install via Sketch → Include Library → Manage Libraries…:

  • Feather RP2040 CAN: MCP2515 by autowp
  • Feather M4 CAN Express: Adafruit CAN

4. Select Your Board and Vehicle

Near the top of RP2040CAN.ino, uncomment the line that matches your board:

#define DRIVER_MCP2515   // Adafruit Feather RP2040 CAN (MCP2515 over SPI)
//#define DRIVER_SAME51  // Adafruit Feather M4 CAN Express (native ATSAME51 CAN)

Then uncomment the line that matches your vehicle:

#define LEGACY // HW4, HW3, or LEGACY
//#define HW3
//#define HW4

5. Upload

  1. Connect the Feather via USB.
  2. Select the correct board and port under Tools.
  3. Click Upload.

Option B: PlatformIO — Development, Testing & Flash

For developers who want to run unit tests, build for multiple boards, or integrate with CI. Can also flash firmware to the board.

Prerequisites (Windows)

Tool Purpose Install
Python 3 PlatformIO runtime winget install Python.Python.3.14
PlatformIO CLI Build system & test runner pip install platformio
MinGW-w64 GCC Native test compiler winget install BrechtSanders.WinLibs.POSIX.UCRT

After installing MinGW-w64, restart your terminal so gcc and g++ are on PATH. GCC is only needed for pio test -e native (host-side unit tests) — cross-compiling to the Feather boards uses PlatformIO's built-in ARM toolchain.

Build

  1. Select your vehicle by editing the define near the top of src/main.cpp:

    #define LEGACY  // Change to HW4, HW3, or LEGACY

    The board is selected automatically by the PlatformIO environment (-e feather_rp2040_can or -e feather_m4_can).

  2. Build for your board:

    # Adafruit Feather RP2040 CAN
pio run -e feather_rp2040_can

# Adafruit Feather M4 CAN Express (ATSAME51)
pio run -e feather_m4_can

Flash

Connect the Feather via USB, then upload:

# Adafruit Feather RP2040 CAN
pio run -e feather_rp2040_can --target upload

# Adafruit Feather M4 CAN Express (ATSAME51)
pio run -e feather_m4_can --target upload

Tip: If the board is not detected, double-press the Reset button to enter the UF2 bootloader, then retry the upload command.

Run Tests

Unit tests run on your host machine — no hardware required:

pio test -e native

Wiring

The recommended connection point is the X179 connector:

Pin Signal
13 CAN-H
14 CAN-L

Connect the Feather's CAN-H and CAN-L lines to pins 13 and 14 on the X179 connector.

The recommended connection point for legacy Model 3 (2020 and earlier) is the X652 connector if the vehicle is not equipped with the X179 port (varies depending on production date):

Pin Signal
1 CAN-H
2 CAN-L

Connect the Feather's CAN-H and CAN-L lines to pins 1 and 2 on the X652 connector.

Speed Profiles

The speed profile controls how aggressively the vehicle drives under FSD. It is configured differently depending on the hardware variant:

Legacy, HW3 & HW4 Profiles

Distance Profile (HW3) Profile (HW4)
2 ⚡ Hurry 🔥 Max
3 🟢 Normal ⚡ Hurry
4 ❄️ Chill 🟢 Normal
5 — ❄️ Chill
6 — 🐢 Sloth

Serial Monitor

Open the Serial Monitor at 115200 baud to see live debug output showing FSD state and the active speed profile. Disable logging by setting enablePrint = false.

Feather M4 CAN Express — Porting Notes

The Adafruit Feather M4 CAN Express (ATSAME51) has a native CAN controller built into the MCU — there is no MCP2515 on this board. The CAN driver abstraction layer handles the differences transparently.

What changes per board:

  • Library: RP2040 uses mcp2515.h (autowp); M4 uses Adafruit_CAN (CANSAME5x class)
  • CAN API: RP2040 uses struct-based read/write (can_frame); M4 uses a packet-stream API (parsePacket/beginPacket/write/endPacket)
  • Pin setup: RP2040 needs PIN_CAN_CS (SPI chip-select); M4 needs PIN_CAN_BOOSTEN (3V→5V boost enable). Only PIN_CAN_STANDBY and PIN_LED exist on both boards.

What stays identical:

  • All handler structs and bit manipulation logic
  • Vehicle-specific behavior (FSD enable, nag suppression, speed profiles)
  • Serial debug output

Development & Testing

The project uses PlatformIO with the Unity test framework.

Project Structure

include/
  can_frame_types.h       # Portable CanFrame struct
  can_driver.h            # Abstract CanDriver interface
  can_helpers.h           # setBit, readMuxID, isFSDSelectedInUI, setSpeedProfileV12V13
  handlers.h              # CarManagerBase, LegacyHandler, HW3Handler, HW4Handler
  drivers/
    mcp2515_driver.h      # MCP2515 driver (Feather RP2040 CAN)
    same51_driver.h       # CANSAME5x driver (Feather M4 CAN Express)
    mock_driver.h         # Mock driver for unit tests
src/
  main.cpp                # PlatformIO entry point
test/
  test_native_helpers/    # Tests for bit manipulation helpers
  test_native_legacy/     # LegacyHandler tests
  test_native_hw3/        # HW3Handler tests
  test_native_hw4/        # HW4Handler tests
RP2040CAN.ino             # Arduino IDE entry point (uses same headers)

Running Tests

pio test -e native

Tests run on your host machine — no hardware required. They cover all handler logic including FSD activation, nag suppression, speed profile mapping, and bit manipulation correctness.

Disclaimer

Use this project at your own risk. Modifying CAN bus messages on a vehicle can lead to unexpected or dangerous behavior. The authors accept no responsibility for any damage to your vehicle, injury, or legal consequences resulting from the use of this software. This project may void your vehicle warranty and may not comply with road safety regulations in your jurisdiction. Always keep your hands on the wheel and stay attentive while driving.

License

This project is licensed under the GNU General Public License v3.0 — see the GPL-3.0 License for details.

Third-Party Licenses

This project uses the MCP2515 library by autowp, which is licensed under the MIT License:

Copyright (c) 2013 Seeed Technology Inc.
Copyright (c) 2016 Dmitry

Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.