Safety replay: support Rivian

deanlee · Feb 24, 2025 · e08311b · e08311b
1 parent 7f4af6e
commit e08311b
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/tests/safety_replay/helpers.py b/tests/safety_replay/helpers.py
@@ -26,6 +26,8 @@ def is_steering_msg(mode, param, addr):
     ret = addr == 0x3d3
   elif mode == CarParams.SafetyModel.nissan:
     ret = addr == 0x169
+  elif mode == CarParams.SafetyModel.rivian:
+    ret = addr == 0x120
   return ret
 
 def get_steer_value(mode, param, to_send):
@@ -55,6 +57,8 @@ def get_steer_value(mode, param, to_send):
   elif mode == CarParams.SafetyModel.nissan:
     angle = (to_send.data[0] << 10) | (to_send.data[1] << 2) | (to_send.data[2] >> 6)
     angle = -angle + (1310 * 100)
+  elif mode == CarParams.SafetyModel.rivian:
+    torque = ((to_send.data[2] << 3) | (to_send.data[3] >> 5)) - 1024
   return torque, angle
 
 def package_can_msg(msg):