Tesla CAN Bus Reference
Tesla vehicles run a heavily simplified CAN architecture with most communication on a single high-speed CAN bus at 500 kbps plus internal Ethernet for AP/FSD computer.
82CAN Messages
1095Signals
4Source DBC files
tesla_can.dbc 44 msgs, 572 signals
| ID | Message | DLC | Source ECU | Signals |
|---|---|---|---|---|
30x3 | STW_ANGL_STAT | 8 | STW | StW_Angl, StW_AnglSpd, StW_AnglSens_Stat, StW_AnglSens_Id, MC_STW_ANGL_STAT, CRC_STW_ANGL_STAT |
140xE | STW_ANGLHP_STAT | 8 | STW | StW_AnglHP, StW_AnglHP_Spd, StW_AnglHP_Sens_Stat, StW_AnglHP_Sens_Id, MC_STW_ANGLHP_STAT, CRC_STW_ANGLHP_STAT |
690x45 | STW_ACTN_RQ | 8 | STW | SpdCtrlLvr_Stat, VSL_Enbl_Rq, SpdCtrlLvrStat_Inv, DTR_Dist_Rq, TurnIndLvr_Stat, HiBmLvr_Stat +25 more |
1040x68 | MCU_locationStatus2 | 8 | MCU | MCU_elevation, MCU_navigonExpectedSpeed |
1090x6D | SBW_RQ_SCCM | 4 | STW | StW_Sw_Stat3, MsgTxmtId, TSL_RND_Posn_StW, TSL_P_Psd_StW, MC_SBW_RQ_SCCM, CRC_SBW_RQ_SCCM |
2570x101 | GTW_epasControl | 3 | NEO | GTW_epasControlChecksum, GTW_epasControlCounter, GTW_epasControlType, GTW_epasEmergencyOn, GTW_epasLDWEnabled, GTW_epasPowerMode +1 more |
2640x108 | DI_torque1 | 8 | DI | DI_torqueDriver, DI_torque1Counter, DI_torqueMotor, DI_soptState, DI_motorRPM, DI_pedalPos +1 more |
2800x118 | DI_torque2 | 6 | DI | DI_torqueEstimate, DI_gear, DI_brakePedal, DI_vehicleSpeed, DI_gearRequest, DI_torqueInterfaceFailure +5 more |
3050x131 | EPAS3P_sysStatus | 8 | NEO | EPAS_currentTuneMode, EPAS_eacErrorCode, EPAS_eacStatus, EPAS_handsOnLevel, EPAS_internalSAS, EPAS_steeringFault +5 more |
3090x135 | ESP_135h | 5 | ESP | ESP_135hChecksum, ESP_135hCounter, ESP_absBrakeEvent, ESP_brakeDiscWipingActive, ESP_brakeLamp, ESP_espFaultLamp +13 more |
3410x155 | ESP_B | 8 | ESP | ESP_BChecksum, ESP_BCounter, ESP_vehicleSpeed, ESP_vehicleSpeedQF, ESP_wheelPulseCountFrL, ESP_wheelPulseCountFrR +2 more |
5130x201 | SDM1 | 5 | GTW | SDM_bcklPassStatus, SDM_bcklDrivStatus |
5210x209 | DAS_longControl | 8 | NEO | DAS_locMode, DAS_locState, DAS_locRequest, DAS_locJerkMin, DAS_locJerkMax, DAS_locSpeed +4 more |
5220x20A | BrakeMessage | 8 | XXX | driverBrakeStatus |
5320x214 | EPB_epasControl | 3 | EPB | EPB_epasControlChecksum, EPB_epasControlCounter, EPB_epasEACAllow |
5360x218 | MCU_chassisControl | 8 | GTW | MCU_dasDebugEnable, MCU_parkBrakeRequest, MCU_trailerModeCH, MCU_fcwSensitivity, MCU_fcwEnable, MCU_latControlEnable +22 more |
5680x238 | UI_driverAssistRoadSign | 8 | GTW | UI_roadSign, UI_splineLocConfidence, UI_splineID, UI_roadSignCounter, UI_roadSignChecksum, UI_dummyData +12 more |
5690x239 | DAS_lanes | 8 | NEO | DAS_leftLaneExists, DAS_rightLaneExists, DAS_virtualLaneWidth, DAS_virtualLaneViewRange, DAS_virtualLaneC0, DAS_virtualLaneC1 +7 more |
5820x246 | UI_solarData | 5 | GTW | UI_solarAzimuthAngle, UI_solarAzimuthAngleCarRef, UI_isSunUp, UI_solarElevationAngle |
6430x283 | BODY_R1 | 8 | GTW | AirTemp_Insd, AirTemp_Outsd, Bckl_Sw_RL_Stat_SAM_R, Bckl_Sw_RM_Stat_SAM_R, Bckl_Sw_RR_Stat_SAM_R, DL_RLtch_Stat +25 more |
6960x2B8 | UI_radarMapData | 8 | GTW | UI_radarTargetDx, UI_radarTargetDxEnd, UI_radarTargetTrustMap, UI_radarEnableBraking, UI_radarMapDataCounter, UI_radarMapDataChecksum |
6970x2B9 | DAS_control | 8 | NEO | DAS_setSpeed, DAS_accState, DAS_aebEvent, DAS_jerkMin, DAS_jerkMax, DAS_accelMin +3 more |
7120x2C8 | UI_roadCurvature | 8 | GTW | UI_roadCurvC0, UI_roadCurvC1, UI_roadCurvC2, UI_roadCurvC3, UI_roadCurvRange, UI_roadCurvHealth +1 more |
7280x2D8 | UI_csaOfframpCurvature | 8 | GTW | UI_csaOfframpCurvC2, UI_csaOfframpCurvC3, UI_csaOfframpCurvRange, UI_csaOfframpCurvCounter, UI_csaOfframpCurvUsingTspline, UI_csaOfframpCurvReserved +1 more |
7440x2E8 | UI_csaRoadCurvature | 8 | GTW | UI_csaRoadCurvC2, UI_csaRoadCurvC3, UI_csaRoadCurvRange, UI_csaRoadCurvCounter, UI_csaRoadCurvUsingTspline, UI_csaRoadCurvReserved +1 more |
7600x2F8 | UI_gpsVehicleSpeed | 8 | GTW | UI_gpsHDOP, UI_gpsVehicleHeading, UI_gpsVehicleSpeed, UI_userSpeedOffset, UI_mapSpeedLimitUnits, UI_userSpeedOffsetUnits +2 more |
7800x30C | DriverSeat | 8 | XXX | occupancyStatus, buckleStatus |
7920x318 | GTW_carState | 8 | GTW | YEAR, CERRD, MONTH, DOOR_STATE_FL, DOOR_STATE_FR, SECOND +14 more |
8240x338 | UI_status | 8 | GTW | UI_touchActive, UI_audioActive, UI_bluetoothActive, UI_cellActive, UI_displayReady, UI_gpsActive +22 more |
8400x348 | GTW_status | 8 | GTW | GTW_accGoingDown, GTW_accRailReq, GTW_brakePressed, GTW_driveGoingDown, GTW_driveRailReq, GTW_driverIsLeaving +8 more |
8720x368 | DI_state | 8 | DI | DI_systemState, DI_vehicleHoldState, DI_proximity, DI_driveReady, DI_regenLight, DI_state +9 more |
8800x370 | EPAS_sysStatus | 8 | EPAS | EPAS_currentTuneMode, EPAS_eacErrorCode, EPAS_eacStatus, EPAS_handsOnLevel, EPAS_internalSAS, EPAS_steeringFault +5 more |
9040x388 | MCU_clusterBacklightRequest | 3 | NEO | MCU_clusterBacklightOn, MCU_clusterBrightnessLevel, MCU_clusterReadyForDrive, MCU_clusterReadyForPowerOff |
9050x389 | DAS_status2 | 8 | XXX | DAS_accSpeedLimit, DAS_pmmObstacleSeverity, DAS_pmmLoggingRequest, DAS_activationFailureStatus, DAS_pmmUltrasonicsFaultReason, DAS_pmmRadarFaultReason +11 more |
9200x398 | GTW_carConfig | 8 | GTW | GTW_performanceConfig, GTW_fourWheelDrive, GTW_unknown1, GTW_dasHw, GTW_parkAssistInstalled, GTW_forwardRadarHw +18 more |
9210x399 | AutopilotStatus | 8 | XXX | autopilotStatus, DAS_blindSpotRearLeft, DAS_blindSpotRearRight, DAS_fusedSpeedLimit, DAS_suppressSpeedWarning, DAS_summonObstacle +20 more |
9680x3C8 | UI_driverAssistMapData | 8 | GTW | UI_mapSpeedLimitDependency, UI_roadClass, UI_inSuperchargerGeofence, UI_mapSpeedUnits, UI_mapSpeedLimit, UI_mapSpeedLimitType +24 more |
9840x3D8 | MCU_locationStatus | 8 | MCU | MCU_gpsAccuracy, MCU_latitude, MCU_longitude |
10000x3E8 | UI_driverAssistControl | 8 | GTW | UI_autopilotControlRequest, UI_ulcStalkConfirm, UI_summonHeartbeat, UI_curvSpeedAdaptDisable, UI_dasDeveloper, UI_enableVinAssociation +37 more |
10010x3E9 | DAS_bodyControls | 8 | XXX | DAS_headlightRequest, DAS_hazardLightRequest, DAS_wiperSpeed, DAS_turnIndicatorRequest, DAS_highLowBeamDecision, DAS_highLowBeamOffReason +3 more |
10060x3EE | UI_autopilotControl | 8 | GTW | UI_autopilotControlIndex, UI_hovEnabled, UI_donDisableAutoWiperDuration, UI_donDisableOnAutoWiperSpeed, UI_blindspotMinSpeed, UI_blindspotDistance +18 more |
10640x428 | UI_telemetryControl | 8 | GTW | UI_TCR_enable, UI_TCR_moveStateStanding, UI_TCR_moveStateStopped, UI_TCR_moveStateMoving, UI_TCR_moveStateIndeterm, UI_TCR_classConstElem +11 more |
10800x438 | UI_driverAssistAnonDebugParams | 8 | GTW | UI_anonDebugParam1, UI_anonDebugFlag1, UI_anonDebugParam2, UI_anonDebugFlag2, UI_anonDebugParam3, UI_anonDebugFlag3 +6 more |
11600x488 | DAS_steeringControl | 4 | NEO | DAS_steeringControlType, DAS_steeringControlChecksum, DAS_steeringControlCounter, DAS_steeringAngleRequest, DAS_steeringHapticRequest |
tesla_model3_party.dbc 21 msgs, 240 signals
| ID | Message | DLC | Source ECU | Signals |
|---|---|---|---|---|
2640x108 | DI_torque | 8 | PARTY | DI_axleSpeed, DI_torqueActual, DI_torqueCommand, DI_torqueCounter, DI_torqueChecksum |
2800x118 | DI_systemStatus | 8 | PARTY | DI_trackModeState, DI_keepAliveRequest, DI_proximity, DI_epbRequest, DI_tractionControlMode, DI_accelPedalPos +7 more |
2970x129 | SCCM_steeringAngleSensor | 8 | PARTY | SCCM_steeringAngleSensorReservd3, SCCM_steeringAngleSensorReservd2, SCCM_steeringAngleSensorReservd1, SCCM_steeringAngleSpeed, SCCM_steeringAngleValidity, SCCM_steeringAngle +4 more |
3250x145 | ESP_status | 8 | PARTY | ESP_absBrakeEvent2, ESP_absFaultLamp, ESP_brakeApply, ESP_brakeDiscWipingActive, ESP_brakeLamp, ESP_brakeTorqueTarget +18 more |
3410x155 | ESP_B | 8 | PARTY | ESP_wheelRotationChecksum, ESP_wheelRotationCounter, ESP_vehicleSpeed, ESP_vehicleStandstillSts, ESP_wheelSpeedsQF, ESP_WheelRotationFrL +7 more |
3730x175 | ESP_wheelSpeeds | 8 | CH | ESP_wheelSpeedsChecksum, ESP_wheelSpeedsCounter, ESP_wheelSpeedReR, ESP_wheelSpeedReL, ESP_wheelSpeedFrR, ESP_wheelSpeedFrL |
5450x221 | VCFRONT_LVPowerState | 8 | CH | VCFRONT_LVPowerStateChecksum, VCFRONT_LVPowerStateCounter, VCFRONT_uiAudioLVState, VCFRONT_uiHiCurrentLVState, VCFRONT_vcrightHiCurrentLVState, VCFRONT_vcleftHiCurrentLVState +25 more |
5850x249 | SCCM_leftStalk | 3 | PARTY | SCCM_leftStalkReserved1, SCCM_turnIndicatorStalkStatus, SCCM_washWipeButtonStatus, SCCM_highBeamStalkStatus, SCCM_leftStalkCounter, SCCM_leftStalkCrc |
5990x257 | DI_speed | 8 | PARTY | DI_uiSpeedUnits, DI_uiSpeed, DI_vehicleSpeed, DI_speedCounter, DI_speedChecksum |
6050x25D | DAS_road | 6 | XXX | DAS_stopLineDist, DAS_trafficLightColor |
6370x27D | APS_eacMonitor | 3 | PARTY | APS_eacAllow, APS_eacMonitorChecksum, APS_eacMonitorCounter |
6460x286 | DI_state | 8 | ETH | DI_summonInPanic, DI_rollPreventionState, DI_vehicleHoldState, DI_pmmStatus, DI_aebState, DI_autopilotRequest +7 more |
6590x293 | DAS_settings | 8 | XXX | DAS_driverSteeringWeight, DAS_slipStart, DAS_offRoadAssist, DAS_distanceUnits, DAS_aebEnabled, DAS_adaptiveHeadlights +8 more |
6970x2B9 | DAS_control | 8 | PARTY | DAS_controlChecksum, DAS_controlCounter, DAS_accelMax, DAS_accelMin, DAS_jerkMax, DAS_jerkMin +3 more |
7850x311 | UI_warning | 7 | XXX | buckleStatus, scrollWheelPressed, leftBlinkerOn, rightBlinkerOn, leftBlinkerBlinking, rightBlinkerBlinking +5 more |
8800x370 | EPAS3S_sysStatus | 8 | PARTY | EPAS3S_sysStatusChecksum, EPAS3S_sysStatusCounter, EPAS3S_eacStatus, EPAS3S_internalSAS, EPAS3S_handsOnLevel, EPAS3S_torsionBarTorque +6 more |
9050x389 | DAS_status2 | 8 | PARTY | DAS_status2Checksum, DAS_status2Counter, DAS_longCollisionWarning, DAS_ppOffsetDesiredRamp, DAS_driverInteractionLevel, DAS_robState +11 more |
9230x39B | DAS_status | 8 | PARTY | DAS_statusChecksum, DAS_statusCounter, DAS_summonAvailable, DAS_autoLaneChangeState, DAS_autopilotHandsOnState, DAS_fleetSpeedState +20 more |
9250x39D | IBST_status | 5 | PARTY | IBST_sInputRodDriver, IBST_internalState, IBST_driverBrakeApply, IBST_iBoosterStatus, IBST_statusCounter, IBST_statusChecksum |
9690x3C9 | APS_status | 4 | PARTY | APS_statusCounter, APS_apbGpioState, APS_apbStatusMonitorState, APS_switchState, APS_eacInternalState, APS_appGpioState +3 more |
11600x488 | DAS_steeringControl | 4 | PARTY | DAS_steeringControlChecksum, DAS_steeringControlCounter, DAS_steeringControlType, DAS_steeringAngleRequest, DAS_steeringHapticRequest |
tesla_model3_vehicle.dbc 11 msgs, 209 signals
| ID | Message | DLC | Source ECU | Signals |
|---|---|---|---|---|
2580x102 | VCLEFT_doorStatus | 8 | VEH | VCLEFT_mirrorDipped, VCLEFT_frontHandlePulledPersist, VCLEFT_mirrorRecallState, VCLEFT_rearIntSwitchPressed, VCLEFT_rearLatchSwitch, VCLEFT_rearHandlePWM +14 more |
2590x103 | VCRIGHT_doorStatus | 8 | VEH | VCRIGHT_reservedForBackCompat, VCRIGHT_trunkLatchStatus, VCRIGHT_mirrorFoldState, VCRIGHT_rearLatchStatus, VCRIGHT_mirrorTiltYPosition, VCRIGHT_frontRelActuatorSwitch +15 more |
2800x118 | DI_systemStatus | 8 | VEH | DI_epbRequest, DI_systemStatusCounter, DI_proximity, DI_keepAliveRequest, DI_accelPedalPos, DI_gear +7 more |
2970x129 | SCCM_steeringAngleSensor | 8 | VEH | SCCM_steeringAngleValidity, SCCM_supplierID, SCCM_steeringAngleSensorReservd1, SCCM_steeringAngleCrc, SCCM_steeringAngleSensorStatus, SCCM_steeringAngleSpeed +4 more |
5530x229 | SCCM_rightStalk | 3 | VEH | SCCM_rightStalkCounter, SCCM_rightStalkCrc, SCCM_rightStalkReserved1, SCCM_parkButtonStatus, SCCM_rightStalkReserved2, SCCM_rightStalkStatus |
5680x238 | STW_ACTN_RQ | 8 | STW | SpdCtrlLvr_Stat, VSL_Enbl_Rq, SpdCtrlLvrStat_Inv, DTR_Dist_Rq, TurnIndLvr_Stat, HiBmLvr_Stat +25 more |
5850x249 | SCCM_leftStalk | 3 | VEH | SCCM_leftStalkCounter, SCCM_washWipeButtonStatus, SCCM_turnIndicatorStalkStatus, SCCM_leftStalkCrc, SCCM_leftStalkReserved1, SCCM_highBeamStalkStatus |
8350x343 | VCRIGHT_status | 8 | VEH | VCRIGHT_5AVoltage, VCRIGHT_loadShedPriority, VCRIGHT_rearDefrostState, VCRIGHT_vbatProt, VCRIGHT_vehiclePowerStateDBG, VCRIGHT_swEnStatus +4 more |
9620x3C2 | VCLEFT_switchStatus | 8 | VEH | VCLEFT_frontBuckleSwitch, VCLEFT_btnWindowSwPackUpLF, VCLEFT_frontSeatTrackBack, VCLEFT_btnWindowSwPackAutoDownLF, VCLEFT_btnWindowSwPackDownRR, VCLEFT_btnWindowSwPackAutoUpRR +47 more |
10010x3E9 | DAS_bodyControls | 8 | VEH | DAS_headlightRequest, DAS_hazardLightRequest, DAS_wiperSpeed, DAS_turnIndicatorRequest, DAS_highLowBeamDecision, DAS_heaterRequest +5 more |
10130x3F5 | ID3F5VCFRONT_lighting | 8 | VEH | VCFRONT_lowBeamsCalibrated, VCFRONT_lowBeamsOnForDRL, VCFRONT_simLatchingStalk, VCFRONT_highBeamSwitchActive, VCFRONT_parkRightStatus, VCFRONT_parkLeftStatus +22 more |
tesla_powertrain.dbc 6 msgs, 74 signals
| ID | Message | DLC | Source ECU | Signals |
|---|---|---|---|---|
2620x106 | DI_torque1 | 8 | DI | DI_torqueDriver, DI_torque1Counter, DI_torqueMotor, DI_soptState, DI_motorRPM, DI_pedalPos +1 more |
2780x116 | DI_torque2 | 6 | DI | DI_torqueEstimate, DI_gear, DI_brakePedal, DI_vehicleSpeed, DI_gearRequest, DI_torqueInterfaceFailure +5 more |
5040x1F8 | BrakeMessage | 8 | XXX | driverBrakeStatus |
5680x238 | STW_ACTN_RQ | 8 | STW | SpdCtrlLvr_Stat, VSL_Enbl_Rq, SpdCtrlLvrStat_Inv, DTR_Dist_Rq, TurnIndLvr_Stat, HiBmLvr_Stat +25 more |
5980x256 | DI_state | 8 | DI | DI_systemState, DI_vehicleHoldState, DI_proximity, DI_driveReady, DI_regenLight, DI_state +9 more |
7030x2BF | DAS_control | 8 | GTW | DAS_setSpeed, DAS_accState, DAS_aebEvent, DAS_jerkMin, DAS_jerkMax, DAS_accelMin +3 more |
Source: CAN bus definitions are derived from commaai/opendbc — an open-source project that reverse-engineers OEM CAN bus protocols for the openpilot autonomous-driving platform. Licensed MIT. This page presents data for educational and reference purposes — for production use refer directly to the upstream DBC files.