Rivian CAN Bus Reference
Rivian R1T/R1S uses multi-bus CAN architecture with CAN-FD for vehicle dynamics and standard CAN for body modules. Heavy Ethernet for ADAS sensor fusion.
69CAN Messages
403Signals
2Source DBC files
rivian_park_assist_can.dbc 2 msgs, 12 signals
| ID | Message | DLC | Source ECU | Signals |
|---|---|---|---|---|
7940x31A | WheelButtons | 7 | XXX | LeftButton_ScrollClick, LeftButton_RightClick, LeftButton_LeftClick, LeftButton_Scroll, RightButton_ScrollClick, RightButton_RightClick +2 more |
8480x350 | BSM_BlindSpotIndicator | 4 | XXX | BSM_BlindSpotIndicator_Checksum, BSM_BlindSpotIndicator_Counter, BSM_BlindSpotIndicator_Left, BSM_BlindSpotIndicator_Right |
rivian_primary_actuator.dbc 67 msgs, 391 signals
| ID | Message | DLC | Source ECU | Signals |
|---|---|---|---|---|
640x40 | SAS_Status | 8 | SAS | SAS_Status_Checksum, SAS_Status_Counter, SAS_Status_AngleSafe, SAS_Status_Calibrated, SAS_Status_AngleSpeedSafe, SAS_StatusQ |
2560x100 | ACM_Status | 8 | ACM | ACM_Status_Checksum, ACM_Status_Counter, ACM_Unkown1, ACM_FeatureStatus, ACM_FaultStatus, ACM_FaultSupervisorState |
2570x101 | ACM_AebRequest | 8 | ACM | ACM_AebRequest_Checksum, ACM_AebRequest_Counter, ACM_StopRequest, ACM_FailInfo, ACM_DbsLevel, ACM_OnOffStatus +4 more |
2580x102 | ESP_AebFb | 8 | ESP | ESP_AebFeedback_Checksum, ESP_AebFeedback_Counter, iB_BrakePedalApplied_Q, iB_BrakePedalApplied, ESP_DecelFeedback, ESP_AebActive +5 more |
2720x110 | ACM_SteeringControl | 8 | ACM | ACM_SteeringControl_Checksum, ACM_SteeringControl_Counter, ACM_EacEnabled, ACM_HapticRequired, ACM_SteeringAngleRequest |
2880x120 | ACM_lkaHbaCmd | 8 | ACM | ACM_lkaHbaCmd_Checksum, ACM_lkaHbaCmd_Counter, ACM_lkaElkRequest, ACM_HapticRequest, ACM_lkaStrToqReq, ACM_lkaSymbolState +15 more |
3040x130 | RCM_IMU_LatAccYaw | 8 | RCM | RCM_LateralAccelYaw_Checksum, RCM_LateralAccelYaw_Counter, RCM_IMU_LatAcc_Stat_SensAvail, RCM_IMU_LatAcc_Stat_Fail, RCM_IMU_LatAcc_Stat_Init, RCM_IMU_LatAcc_Stat_Startup +6 more |
3090x135 | RCM_IMU_HeaveRoll | 8 | RCM | RCM_HeaveRoll_Checksum, RCM_HeaveRoll_Counter, RCM_IMU_Heave, RCM_IMU_Roll, RCM_IMU_Roll_Stat_SensAvail, RCM_IMU_Roll_Stat_Fail +6 more |
3200x140 | RCM_IMU_LongAcc | 8 | RCM | RCM_LongAcc_Checksum, RCM_LongAcc_Counter, RCM_IMU_LongAcc_Sig, RCM_IMU_LongAcc_Stat_SensAvail, RCM_IMU_LongAcc_Stat_Fail, RCM_IMU_LongAcc_Stat_Init +1 more |
3360x150 | VDM_PropStatus | 7 | VDM | VDM_PropStatus_Checksum, VDM_PropStatus_Counter, VDM_PropsnActv, VDM_VehicleSpeedQ, VDM_Prndl_Status, VDM_Prndl_Request +2 more |
3380x152 | VDM_OutputSignals | 8 | VDM | VDM_OutputSigs_Checksum, VDM_OutputSigs_Counter, VDM_LfcRequestType, VDM_LfcActiveRequest, VDM_BrakeLightRequest, VDM_Lfc_BrakeTorqueRequest +9 more |
3520x160 | ACM_longitudinalRequest | 5 | ACM | ACM_longitudinalRequest_Checksum, ACM_longitudinalRequest_Counter, ACM_AccelerationRequest, ACM_PrndRequest, ACM_longInterfaceEnable, ACM_VehicleHoldRequest |
3540x162 | VDM_AdasSts | 8 | VDM | VDM_AdasStatus_Checksum, VDM_AdasStatus_Counter, VDM_AdasDecelLimit, VDM_AdasDriverAccelPriorityStatus, VDM_AdasFaultStatus, VDM_AdasAccelLimit +5 more |
3570x165 | VDM_AdasStalk | 4 | VDM | VDM_AdasStalk_Checksum, VDM_AdasStalk_Counter, VDM_AdasStalkGapAdjust, VDM_AdasStalkAccCancelRes, VDM_AdasStalkAutonomyButton, VDM_AdasStalkAccEnableAdj |
3840x180 | VDM_CGM_GW | 8 | CGM | VDM_CGM_GW_Checksum, VDM_CGM_GW_Counter, CGM_TrailerPresent, CGM_DriverPresent, CGM_TimeSinceLastIgnitionOn, CGM_IgnSwtState |
4320x1B0 | ESP_TorqueLimit_Front | 8 | ESP | ESP_Torque_Front_Checksum, ESP_Torque_Front_Counter, ESP_Torque_Front_MinQ, ESP_Torque_Front_MaxQ, ESP_Torque_Front_Max, ESP_Torque_Front_Min |
4480x1C0 | ESP_TorqueLimit_Rear | 8 | ESP | ESP_Torque_Rear_Checksum, ESP_Torque_Rear_Counter, ESP_Torque_Rear_MinQ, ESP_Torque_Rear_MaxQ, ESP_Torque_Rear_Max, ESP_Torque_Rear_Min |
5160x204 | RCM_ALR_Status | 8 | RCM | RCM_ALR_Status_Signal |
5200x208 | ESP_Status | 8 | ESP | ESP_Status_Checksum, ESP_Status_Counter, ESP_BrakeLightActive_Q, ESP_BrakeLightActive, ESP_Hhc_Active, ESP_Hhc_Available +15 more |
5210x209 | ESP_WSpeed_Front | 8 | ESP | ESP_WSpeed_Front_CRC, ESP_WSpeed_Front_Message_Counter, ESP_Wheel_Speed_Left_Front_Q, ESP_Wheel_Speed_Right_Front_Q, ESP_Wheel_Speed_Left_Front, ESP_Wheel_Speed_Right_Front +2 more |
5220x20A | ESP_WSpeed_Rear | 8 | ESP | ESP_WSpeed_Rear_CRC, ESP_WSpeed_Rear_Message_Counter, ESP_Wheel_Speed_Left_Rear_Q, ESP_Wheel_Speed_Right_Rear_Q, ESP_Wheel_Speed_Left_Rear, ESP_Wheel_Speed_Right_Rear +2 more |
5230x20B | ESP_Wheel_Pulse_Veh | 8 | ESP | ESP_Wheel_Pulse_CRC, ESP_Wheel_Pulse_Message_Counter, ESP_Wheel_Pulse_Left_Front, ESP_Wheel_Pulse_Left_Rear, ESP_Wheel_Pulse_Right_Front, ESP_Wheel_Pulse_Right_Rear +4 more |
5240x20C | ESP_Brake_Pressure | 8 | ESP | ESP_BrakeP_Checksum, ESP_BrakeP_Message_Counter, ESP_BrakePressure_RF_Q, ESP_BrakePressure_LF_Q, ESP_BrakePressure_LF, ESP_BrakePressure_LR +6 more |
5290x211 | VDM_Torque_Front | 8 | VDM | VDM_Torque_Front_Checksum, VDM_Torque_Front_Counter, VDM_Torque_Front_Max, VDM_Torque_Front_Min, VDM_Torque_Front_MaxQ, VDM_OutputTorqueFront +3 more |
5300x212 | VDM_Torque_Rear | 8 | VDM | VDM_Torque_Rear_Checksum, VDM_Torque_Rear_Counter, VDM_Torque_Rear_Max, VDM_Torque_Rear_Min, VDM_Torque_Rear_MaxQ, VDM_OutputTorqueRear +3 more |
5650x235 | IndicatorLights | 8 | XXX | checksum, counter, RearDriverDoor, FrontPassengerDoor, DriverDoor, RearPassengerDoor +3 more |
5920x250 | VDM_EcasStatus | 8 | VDM | VDM_EcasHeightFL, VDM_EcasHeightFR, VDM_EcasHeightRL, VDM_EcasHeightRR |
7890x315 | BCM_Status | 8 | VDM | BCM_AmbientAirTemperature |
8010x321 | SCCM_WheelTouch | 7 | SCCM | SCCM_WheelTouch_Checksum, SCCM_WheelTouch_Counter, SCCM_WheelTouch_HandsOn, SETME_X52, SCCM_WheelTouch_CapacitiveValue |
8110x32B | ESP_EpbStatus | 8 | ESP | ESP_EpbStatus_Checksum, ESP_EpbStatus_Counter, ESP_EpbAvailable, ESP_EpbServiceMode, ESP_EpbWarningLamp, ESP_EpbMessageDisplayRequest +3 more |
8260x33A | RCM_Status | 8 | RCM | RCM_IMU_LongAcc_Checksum, RCM_IMU_LongAcc_MSG_Counter, RCM_Status_DETECT_CRUSH, RCM_Status_IND_WARN_RCM, RCM_Status_IND_ACT_RCM_PASS, RCM_Status_IND_WARN_BELT_DRIVER +1 more |
8480x350 | EPASP_Status | 4 | EPAS_P | EPAS_Ecu1Status_Checksum, EPAS_Ecu1Status_Counter, EPAS_Ecu1EacSts, EPAS_Ecu1PowerMode, EPAS_Ecu1Role, EPAS_Ecu1State |
8640x360 | EPASS_Status | 4 | VDM | EPASS_Ecu2Status_Checksum, EPASS_Ecu2Status_Counter, EPAS_Ecu2EacSts, EPAS_Ecu2PowerMode, EPASS_Ecu2Role, EPASS_Ecu2State |
8800x370 | ACM_tsrCmd | 8 | ACM | ACM_tsrCmd_Checksum, ACM_tsrCmd_Counter, ACM_tsrConInfoStaCon2, ACM_tsrConInfoStaCon1, ACM_tsrSpdDisClsMain, ACM_tsrSpdDisCluCon1 +5 more |
8960x380 | EPAS_SystemStatus | 5 | EPAS_P | EPAS_SytemStatus_Checksum, EPAS_SystemStatus_Counter, EPAS_SteeringReduced, EPAS_SteeringFault, EPAS_SteeringMode, EPAS_TorsionBarTorque +7 more |
9070x38B | ESPiB1 | 6 | ESP | ESPiB1_Checksum, ESPiB1_AliveCounter, ESPiB1_IgnitionOn, ESPiB1_VehicleSpeed_Q, ESPiB1_VehicleSpeed |
9080x38C | ESPiB2 | 4 | ESP | ESPiB2_Checksum, ESPiB2_Alive_Counter, ESPiB2_qTargetExternal_Q, ESPiB2_qTargetExternal |
9090x38D | ESPiB3 | 7 | ESP | ESPiB3_Checksum, ESPiB3_AliveCounter, ESPiB3_ABSActive, ESPiB3_ForceBlendingActive, ESPiB3_pMcVirtual, ESPiB3_pMcVirtual_Q +4 more |
9100x38E | iBESP1 | 7 | IBM | iBESP1_Checksum, iBESP1_AliveCounter, iBESP1_ExtReqPrio, iBESP1_ExtReqStatus, iBESP1_sOutputRodDriver, iBESP1_sOutputRodDriver_Q +2 more |
9110x38F | iBESP2 | 6 | IBM | iBESP2_Checksum, iBESP2_AliveCounter, iBESP2_CompatibilityIndex, iBESP2_pRunout_Q, iBESP2_iBDiagActive, iBESP2_HbcRequest +4 more |
9120x390 | EPAS_AdasStatus | 7 | EPAS_P | EPAS_AdasStatus_Checksum, EPAS_AdasStatus_Counter, EPAS_SteeringAngleSpeed, EPAS_EacStatus, EPAS_EacErrorCode, EPAS_InternalSas +1 more |
9290x3A1 | VDM_ModSw_DrvModPosSts_GW | 8 | VDM | VDM_AchDriveModeRequestConfirm, VDM_AchDriveModeRequestPullRearw, VDM_AchDriveModeRequestPushDown, VDM_AchDriveModeRequestPushForwa, VDM_AchDriveModeRequestPushUp, VDM_AchDriveModeRequestRest +10 more |
10240x400 | VehicleConfig | 7 | CGM | VCM_VehicleType, VCM_HandOfDrive, VCM_BatterySize, VCM_Market |
12650x4F1 | Cluster | 6 | XXX | Cluster_Unit, Cluster_VehicleSpeed, Cluster_Odometer |
12800x500 | RCM_Dtc | 8 | RCM | RCM_Dtc_Checksum, RCM_Dtc_Counter, RCM_Dtc_HighByte, RCM_Dtc_MidByte, RCM_Dtc_LowByte, RCM_Dtc_Stat_Bit +1 more |
12810x501 | RCM_SerialIdentifier | 8 | RCM | RCM_SerialNumber |
13280x530 | Dummy_ACM_PrimaryActuatorCAN | 8 | ACM | Dummy_ACM_PrimaryActuatorCAN |
13290x531 | Dummy_CGM_PrimaryActuatorCAN | 1 | CGM | Dummy_CGM_PrimaryActuatorCAN |
13300x532 | Dummy_VDM_PrimaryActuatorCAN | 1 | VDM | Dummy_VDM_PrimaryActuatorCAN |
15350x5FF | DoorStatus | 8 | XXX | DoorOpen |
Showing first 50 of 67 messages in this DBC. See full source on GitHub →
Source: CAN bus definitions are derived from commaai/opendbc — an open-source project that reverse-engineers OEM CAN bus protocols for the openpilot autonomous-driving platform. Licensed MIT. This page presents data for educational and reference purposes — for production use refer directly to the upstream DBC files.