diff --git a/selfdrive/car/mazda/radar_interface.py b/selfdrive/car/mazda/radar_interface.py
index b2f765113..ef0d8ecd5 100755
--- a/selfdrive/car/mazda/radar_interface.py
+++ b/selfdrive/car/mazda/radar_interface.py
@@ -1,5 +1,76 @@
 #!/usr/bin/env python3
+import math
+
+from cereal import car
+from opendbc.can.parser import CANParser
 from selfdrive.car.interfaces import RadarInterfaceBase
+from selfdrive.car.mazda.values import DBC
+
+def get_radar_can_parser(CP):
+  #if DBC[CP.carFingerprint]['radar'] is None:
+  #  return None
+
+  signals = []
+  checks = []
+  for addr in range(361,367):
+    msg = f"RADAR_{addr}"
+    signals += [
+      ("ANG_OBJ", msg),
+      ("DIST_OBJ", msg),
+      ("RELV_OBJ", msg),
+    ]
+    checks += [(msg, 10)]
+  return CANParser(DBC[CP.carFingerprint]['radar'], signals, checks, 2)
 
 class RadarInterface(RadarInterfaceBase):
-  pass
+  def __init__(self, CP):
+    super().__init__(CP)
+    self.updated_messages = set()
+    self.track_id = 0
+
+    self.radar_off_can = CP.radarOffCan
+    self.rcp = get_radar_can_parser(CP)
+
+  def update(self, can_strings):
+    #if self.radar_off_can or (self.rcp is None):
+      #print(self.radar_off_can)
+      #return super().update(None)
+    vls = self.rcp.update_strings(can_strings)
+    self.updated_messages.update(vls)
+    rr = self._update(self.updated_messages)
+    self.updated_messages.clear()
+    return rr
+
+  def _update(self, updated_messages):
+      ret = car.RadarData.new_message()
+      if self.rcp is None:
+        return ret
+
+      errors = []
+
+      if not self.rcp.can_valid:
+        errors.append("canError")
+      ret.errors = errors
+
+      for addr in range(361,367):
+        msg = self.rcp.vl[f"RADAR_{addr}"]
+        if addr not in self.pts:
+          self.pts[addr] = car.RadarData.RadarPoint.new_message()
+          self.pts[addr].trackId = self.track_id
+          self.track_id += 1
+
+        valid = (msg['DIST_OBJ'] != 4095) and (msg['ANG_OBJ'] != 2046) and (msg['RELV_OBJ'] != -16)
+        if valid:
+          azimuth = math.radians(msg['ANG_OBJ']/64)
+          self.pts[addr].measured = True
+          self.pts[addr].dRel = msg['DIST_OBJ']/16
+          self.pts[addr].yRel = -math.sin(azimuth) * msg['DIST_OBJ']/16
+          self.pts[addr].vRel = msg['RELV_OBJ']/64
+          self.pts[addr].aRel = float('nan')
+          self.pts[addr].yvRel = float('nan')
+        else:
+          del self.pts[addr]
+
+      ret.points = list(self.pts.values())
+      return ret
+