Rivian: Generation 2 Support by lukasloetkolben · Pull Request #3227 · commaai/opendbc

lukasloetkolben · 2026-03-25T00:04:05Z

No description provided.

This reverts commit 10f01a3.

This reverts commit 11520da.

github-actions · 2026-03-25T00:05:16Z

Car behavior report

Replays driving segments through this PR and compares the behavior to master.
Please review any changes carefully to ensure they are expected.

✅ No changes detected

This reverts commit 58c8f23.

sshane · 2026-03-25T01:43:02Z

fault when above 90 degrees which we don't check

lukasloetkolben · 2026-03-25T02:43:25Z

No fingerprinting possible via camera harness
No engage signal available (ACM_Status present, but not showing the ACC state)
Torque control does not work using the camera harness

lukasloetkolben · 2026-03-25T20:51:41Z

Stock ACC disengages when the driver unbuckles the seatbelt - Door locks prevent opening while driving; on standstill, stock ACC disengages when the door is opened

These stock behaviors make it safe to skip seatbelt / door status checks in carstate.

sshane · 2026-03-26T05:34:09Z

    self.sccm_wheel_touch = copy.copy(cp.vl["SCCM_WheelTouch"]) if self.CP.carFingerprint == CAR.RIVIAN_R1_GEN1 else None
    vl_all = cp.vl_all["VDM_AdasSts"]
-    self.vdm_adas_status = [{s: vals[i] for s, vals in vl_all.items()} for i in range(len(next(iter(vl_all.values()))))]
+    num_frames = len(next(iter(vl_all.values()), []))


Why are you using a generator?

elkoled · 2026-03-26T21:21:17Z

We must set torque = 0 when steering >90° to not fault EPS
common_fault_avoidance to steer >90° works with hyundai values

Co-authored-by: elkoled <elkoled@gmail.com>

adeebshihadeh · 2026-03-28T18:30:44Z

+      RivianCarDocs("Rivian R1S 2025"),
+      RivianCarDocs("Rivian R1T 2025"),


do we know anything about 2026?

I only had the chance to look at 2025 rivians

adeebshihadeh · 2026-03-28T18:32:43Z

    # Seatbelt
-    ret.seatbeltUnlatched = cp.vl["RCM_Status"]["RCM_Status_IND_WARN_BELT_DRIVER"] != 0
+    # stock ACC disengages when the driver unbuckles the seatbelt
+    ret.seatbeltUnlatched = cp.vl["RCM_Status"]["RCM_Status_IND_WARN_BELT_DRIVER"] != 0 if self.CP.carFingerprint == CAR.RIVIAN_R1_GEN1 else False


recommend rearranging all the "if GEN1" stuff into a single if block. it'll be much more clear what the difference is between GEN1 and GEN2, as opposed to these inline ifs

I also like setting a GEN2 flag in interface/values and just using that instead of fingerprints. If Rivian comes out with new model type that works with GEN2, you don't need to update this check everywhere

adeebshihadeh · 2026-03-28T19:17:05Z

 @dataclass
 class RivianCarDocs(CarDocs):
  package: str = "All"
  car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.rivian]))


need to make rivian A/B @sshane

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

sshane · 2026-03-29T02:36:55Z

    (Ecu.eps, 0x733, None): [
      b'R1TS_v3.4.1(51),3.4.1\x00',
-      b'R1TS_v4.4.1(63),4.4.1\x00',
+      # b'R1TS_v4.4.1(63),4.4.1\x00',  # shared with GEN2, use VIN matching instead


this file is autogenerated, so this will be deleted. put comment somewhere in values

sshane · 2026-03-29T02:38:27Z

    # Seatbelt
-    ret.seatbeltUnlatched = cp.vl["RCM_Status"]["RCM_Status_IND_WARN_BELT_DRIVER"] != 0
+    # stock ACC disengages when the driver unbuckles the seatbelt
+    ret.seatbeltUnlatched = cp.vl["RCM_Status"]["RCM_Status_IND_WARN_BELT_DRIVER"] != 0 if self.CP.carFingerprint == CAR.RIVIAN_R1_GEN1 else False


I also like setting a GEN2 flag in interface/values and just using that instead of fingerprints. If Rivian comes out with new model type that works with GEN2, you don't need to update this check everywhere

elkoled · 2026-03-29T02:47:25Z

Max lateral acceleration:

Route: c70d59e4150956fc/00000079--10534c389d

sshane · 2026-03-29T03:51:23Z

    ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.rivian)]

+    # GEN2 (2025+) doesn't have SCCM_WheelTouch on the bus
+    if 0x321 not in fingerprint[0]:


You can also hard code flag in values as a separate platform if you want to keep them separate, up to you

i think the FLAG is fine.

sshane · 2026-03-29T03:52:11Z


                matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy({}, vin, FW_VERSIONS)
-                should_match = year != ModelYear.S_2025 and not bad
+                should_match = year in platform.config.years and not bad


Do we test models years above 2025 now or no?

2026 is not in the VIN query, i haven't seen any 2026 VIN yet.

Doesn't mean we can't test for it

lukasloetkolben added 5 commits March 23, 2026 15:56

Rivian Gen2

d805541

ESP_AebFb for brake

11520da

Fixing messages

10f01a3

Revert "Fixing messages"

163e2c8

This reverts commit 10f01a3.

Revert "ESP_AebFb for brake"

58c8f23

This reverts commit 11520da.

github-actions Bot added car related to opendbc/car/ tesla rivian car safety vehicle-specific safety code labels Mar 25, 2026

lukasloetkolben marked this pull request as draft March 25, 2026 00:07

Reapply "ESP_AebFb for brake"

4e53d26

This reverts commit 58c8f23.

github-actions Bot removed the tesla label Mar 25, 2026

90deg fault prevention

7233836

lukasloetkolben force-pushed the rivian-gen-2 branch from cfacbcd to 7233836 Compare March 25, 2026 05:23

lukasloetkolben added 6 commits March 25, 2026 20:22

VDM_AdasSts send all messages

2f8043d

vl_all for VDM_AdasSts to send all frames

2404215

torque fault signal and zero torque when inactive

c2fa022

fix StopIteration when vl_all is empty

73c96b8

not needed

e59fc45

update fault prevention

7ef5992

sshane reviewed Mar 26, 2026

View reviewed changes

lukasloetkolben added 4 commits March 26, 2026 10:25

zip it up

d950c00

fault avoidance part 2

dcaccdc

no need to send elk

3c97c34

250 angle frames

39f5bcc

lukasloetkolben force-pushed the rivian-gen-2 branch 2 times, most recently from 81f1da2 to 42daa2d Compare March 27, 2026 23:58

reduce diff

8f55cd9

lukasloetkolben force-pushed the rivian-gen-2 branch from 8d94f21 to 8f55cd9 Compare March 27, 2026 23:59

lukasloetkolben added 2 commits March 27, 2026 17:05

Merge branch 'master' into rivian-gen-2

f864ea4

reduce diff

637991a

lukasloetkolben force-pushed the rivian-gen-2 branch from ed4ace0 to 637991a Compare March 28, 2026 00:07

lukasloetkolben and others added 4 commits March 27, 2026 17:08

reduce diff

84396a5

remove fw for gen2

75e2cd3

Co-authored-by: elkoled <elkoled@gmail.com>

add test route for gen2

302b01c

Co-authored-by: elkoled <elkoled@gmail.com>

remove fault avoidance and merge it as a standalone

e3a0c5a

Co-authored-by: elkoled <elkoled@gmail.com>

github-actions Bot added car safety vehicle-specific safety code and removed car safety vehicle-specific safety code labels Mar 28, 2026

lukasloetkolben force-pushed the rivian-gen-2 branch from e5a90b0 to e3a0c5a Compare March 28, 2026 03:42

github-actions Bot removed the car safety vehicle-specific safety code label Mar 28, 2026

lukasloetkolben marked this pull request as ready for review March 28, 2026 03:43

fix ruff line too long

306cc1e

Co-authored-by: elkoled <elkoled@gmail.com>

adeebshihadeh reviewed Mar 28, 2026

View reviewed changes

Update opendbc/car/rivian/carstate.py

64e81b2

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

sshane requested changes Mar 29, 2026

View reviewed changes

GEN2 as a Flag

af33443

sshane reviewed Mar 29, 2026

View reviewed changes

lukasloetkolben and others added 2 commits March 28, 2026 21:00

RIVIAN_R1

2a2bbb2

add rivian 2026 VIN

6338d36

elkoled merged commit c9f2ab3 into commaai:master Mar 29, 2026
12 checks passed

lukasloetkolben deleted the rivian-gen-2 branch April 2, 2026 16:48

sshane mentioned this pull request Apr 3, 2026

Rivian: add GEN 2 B harness #3286

Merged

		RivianCarDocs("Rivian R1S 2025"),
		RivianCarDocs("Rivian R1T 2025"),

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lukasloetkolben commented Mar 25, 2026

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Car behavior report

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sshane commented Mar 25, 2026

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github-actions Bot commented Mar 25, 2026 •

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