Configuration

All configuration is done in a single file: RP2040CAN/sketch_config.h. This file is shared between Arduino IDE and PlatformIO.

Board Selection

Uncomment one of the following lines to match your board:

#define DRIVER_MCP2515   // Adafruit Feather RP2040 CAN (MCP2515 over SPI)
//#define DRIVER_SAME51  // Adafruit Feather M4 CAN Express (native ATSAME51 CAN)
//#define DRIVER_TWAI    // ESP32 boards with built-in TWAI (CAN) peripheral

Vehicle Hardware Selection

Uncomment one of the following lines to match your vehicle:

#define LEGACY // HW3-retrofit (portrait screen)
//#define HW3  // HW3 (landscape screen)
//#define HW4  // HW4 (landscape screen)

note

HW4 vehicles on firmware 2026.2.9.X are on FSD v14. Versions on the 2026.8.X branch are still on FSD v13. If your vehicle is running FSD v13, compile with HW3 even if your vehicle has HW4 hardware.

Optional Features

Uncomment any of the following lines to enable optional features:

// #define ISA_SPEED_CHIME_SUPPRESS         // Suppress ISA speed chime
// #define EMERGENCY_VEHICLE_DETECTION      // Enable emergency vehicle detection (HW4)
// #define BYPASS_TLSSC_REQUIREMENT          // Always enable FSD without requiring toggle

Feature	Description
ISA_SPEED_CHIME_SUPPRESS	Suppresses the ISA speed chime; speed limit sign will be empty while driving
EMERGENCY_VEHICLE_DETECTION	Enables approaching emergency vehicle detection (HW4 only)
BYPASS_TLSSC_REQUIREMENT	Always enables FSD without requiring "Traffic Light and Stop Sign Control" to be toggled on

PlatformIO Command-Line Configuration

You can switch the configuration from the command line instead of editing the file by hand:

python3 scripts/platformio_set_ino_profile.py \
  --driver DRIVER_MCP2515 \
  --vehicle HW3 \
  --enable EMERGENCY_VEHICLE_DETECTION

PlatformIO reads the active board, vehicle, and optional feature defines from sketch_config.h. The -e environment still selects the board, so it must match the uncommented driver define. If they do not match, the build stops with a clear error.

Serial Debug Output

Debug output is printed over Serial at 115200 baud when enablePrint is true. Open the Serial Monitor to see live FSD state and active speed profile.