From 8ae0ba23c4cf65b7b3611114485a9fa3e8fde3f0 Mon Sep 17 00:00:00 2001
From: MoreTore <ryleymccarroll22@gmail.com>
Date: Sat, 15 Nov 2025 11:49:42 -0600
Subject: [PATCH] mazda 2023 can

---
 panda/board/drivers/can_common.h | 13 ++++++++-----
 selfdrive/car/mazda/carstate.py  | 23 +++++++++++++++--------
 2 files changed, 23 insertions(+), 13 deletions(-)

diff --git a/panda/board/drivers/can_common.h b/panda/board/drivers/can_common.h
index c54e587cec..48b9288c28 100644
--- a/panda/board/drivers/can_common.h
+++ b/panda/board/drivers/can_common.h
@@ -197,10 +197,9 @@ void can_set_forwarding(uint8_t from, uint8_t to) {
 
 void ignition_can_hook(CANPacket_t *to_push) {
   int bus = GET_BUS(to_push);
+  int addr = GET_ADDR(to_push);
+  int len = GET_LEN(to_push);
   if (bus == 0) {
-    int addr = GET_ADDR(to_push);
-    int len = GET_LEN(to_push);
-
     // GM exception
     if ((addr == 0x1F1) && (len == 8)) {
       // SystemPowerMode (2=Run, 3=Crank Request)
@@ -226,9 +225,13 @@ void ignition_can_hook(CANPacket_t *to_push) {
       ignition_can_cnt = 0U;
     }
 
+  } else if (bus == 1) {
+    // Mazda 2019 exception
+    if ((addr == 0x274) && (len == 8)) {
+      ignition_can = (GET_BYTE(to_push, 5) & 0x4U) != 0U;
+      ignition_can_cnt = 0U;
+    }
   } else if (bus == 2) {
-    int addr = GET_ADDR(to_push);
-    int len = GET_LEN(to_push);
     // GM exception, SDGM cars have this message on bus 2
     if ((addr == 0x1F1) && (len == 8)) {
       // SystemPowerMode (2=Run, 3=Crank Request)
diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py
index ca758504b6..664f7e0c99 100644
--- a/selfdrive/car/mazda/carstate.py
+++ b/selfdrive/car/mazda/carstate.py
@@ -387,11 +387,16 @@ class CarState(CarStateBase):
           ("GEAR", 40),
         ]
 
-    if CP.flags & MazdaFlags.GEN3:
-      if CP.flags & MazdaFlags.MANUAL_TRANSMISSION:
-        messages += [
-          ("MANUAL_GEAR", 50),
-        ]
+      messages += [
+        # sig_address, frequency
+        ("CRZ_BTNS", 10)
+        ("BLINK_INFO", 10),
+        ("STEER", 67),
+        ("STEER_RATE", 83),
+        ("STEER_TORQUE", 83),
+        ("WHEEL_SPEEDS", 100),
+        ("SYSTEM_SETTINGS", 2),
+      ]
 
     return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2)
 
@@ -399,7 +404,9 @@ class CarState(CarStateBase):
   def get_body_can_parser(CP):
     messages = CarState.get_ti_messages(CP)
     if CP.flags & MazdaFlags.GEN3:
-      messages += [
-        ("SYSTEM_SETTINGS", 2),
-      ]
+      if CP.flags & MazdaFlags.MANUAL_TRANSMISSION:
+        messages += [
+          ("MANUAL_GEAR", 50),
+        ]
+
     return CANParser(DBC[CP.carFingerprint]["pt"], messages, 1)