Status messages to the VDS are sent on CAN ID # 0x100. The first byte (B1) is a sub_message index.
The bitrate is 1Mbps. A simplification of the messages you need and their interpretation is as follows:

Bytes are numbered B1 to B8 not B0-B7
bits are numbered bit0 to bit7
Byte pairs are in little endian order (e.g B4*256+B3)

Charger V1.5
B1=0x95
B2=State (1=charging, 2=top off, 4=done, 13=preparing to charge, 21-25=stopped charging)
B3=Sub State (2=scheduled start, 3=by request, 7=connect power cable, 9=xxMinutes-yyKWHrs,)
B5=Mode (0=standard, 1=storage,3=range,4=performance)
B8=Charging KWhrs (see sub state 9)

Charger settings
B1=0x88
B7=Charge limit
B2=Charging current
B3 & B4 Charge duration in minutes (see charger V1.5 sub state 9)

Charger interface
B1=0x89
B3&B4= Vline
B6=Iavailable(from pilot PWM)

Doors
B1=0x96
bit2 of B2 = Charge port (open=1/closed=0)
bit3 of B2 = Pilot present (true=1/false=0)
bit4 of B2 = Charging (true=1/false=0)

Range
B1=0x80
B2= Adjusted state of charge
B3&B4= Ideal range
B7&B8= Estimated range

messages from the VDS are sent on CAN ID # 0x102.

Set Charge mode
B1=0x5
B2=0x19
B5=Mode (0=standard, 1=storage,3=range,4=performance)

Start/Stop charge
B1=0x05
B2=0x03
B3=0x00
B4=0x00
B5=(Stop=0x00, Start=0x01)
B6=0x00
B7=0x00
B8=0x00

Scott451’s Disclaimer: My CAN bus interpretation could be wrong. I don’t work for Tesla nor have any friends that do. I’m just passionate about Tesla’s products and understanding how they work. The data is the result of my own analysis of my 2008 roadster. CAN bus messages on the 2010 are slightly different (e.g V2.0 charge mode is on B6 bits 7-4 not B5 and the UTC start time offset is in minutes).