Fix Rivian ignition (commaai#2163)

* fix rivian ignition * rm * fix * wtf copilot
deanlee · Feb 24, 2025 · 9a68935 · 9a68935
1 parent e08311b
commit 9a68935
Showing 1 changed file with 11 additions and 4 deletions.
diff --git a/board/drivers/can_common.h b/board/drivers/can_common.h
@@ -182,10 +182,17 @@ void ignition_can_hook(CANPacket_t *to_push) {
 
     // Tesla Model 3/Y exception
     if ((addr == 0x221) && (len == 8)) {
-      // VCFRONT_LVPowerState->VCFRONT_vehiclePowerState
-      int power_state = (GET_BYTE(to_push, 0) >> 5U) & 0x3U;
-      ignition_can = power_state == 0x3;  // VEHICLE_POWER_STATE_DRIVE=3
-      ignition_can_cnt = 0U;
+      // 0x221 overlaps with Rivian which has random data on byte 0
+      static int prev_counter = -1;
+      int counter = GET_BYTE(to_push, 6) >> 4;
+
+      if ((counter == ((prev_counter + 1) % 16)) && (prev_counter != -1)) {
+        // VCFRONT_LVPowerState->VCFRONT_vehiclePowerState
+        int power_state = (GET_BYTE(to_push, 0) >> 5U) & 0x3U;
+        ignition_can = power_state == 0x3;  // VEHICLE_POWER_STATE_DRIVE=3
+        ignition_can_cnt = 0U;
+      }
+      prev_counter = counter;
     }
 
     // Mazda exception