diff --git a/opendbc_repo/opendbc/car/toyota/carcontroller.py b/opendbc_repo/opendbc/car/toyota/carcontroller.py
index 93437246b9..bf0afcc47a 100644
--- a/opendbc_repo/opendbc/car/toyota/carcontroller.py
+++ b/opendbc_repo/opendbc/car/toyota/carcontroller.py
@@ -9,7 +9,7 @@ from opendbc.car.secoc import add_mac, build_sync_mac
 from opendbc.car.interfaces import CarControllerBase
 from opendbc.car.toyota import toyotacan
 from opendbc.car.toyota import prius_longitudinal, rav4h_filter, pedal, eps8_sdsu, legacy_sdsu, advert_filter, legacy_stop_timer, legacy_advert_filter
-from opendbc.car.toyota import camera_2aa_filter, prius_sdsu
+from opendbc.car.toyota import camera_2aa_filter, prius_sdsu, prius_advert_filter
 from opendbc.car.toyota.door_locks import DoorLocks
 from opendbc.car.toyota.values import CAR, CarControllerParams, ToyotaFlags, TOYOTA_AUTO_HOLD_CARS, uses_toyota_auto_hold_aeb
 from opendbc.can import CANPacker
@@ -75,6 +75,7 @@ class CarController(CarControllerBase):
     self.reverse_cruise_input = None
     self.prius_filter_input = None
     self.original_prius_sdsu = prius_sdsu.configured(CP)
+    self.original_prius_filter = self.original_prius_sdsu or prius_advert_filter.configured(CP)
     self.pedal_input = None
     self.rav4h_filter_input = None
     self.advert_filter_input = None
@@ -146,10 +147,10 @@ class CarController(CarControllerBase):
       _projection.begin(CC.actuators.torque, self.frame)
     filter_allowed = (not self.prius_longitudinal or self.prius_filter_input is not None and
                       self.prius_filter_input.update(now_nanos))
-    original_prius_long = self.original_prius_sdsu and self.CP.openpilotLongitudinalControl
-    if self.original_prius_sdsu:
+    original_prius_long = self.original_prius_filter and self.CP.openpilotLongitudinalControl
+    if self.original_prius_filter:
       filter_allowed = filter_allowed and bool(
-        CS.out.canValid and not CS.out.canTimeout and CS.out.cruiseState.available and CS.sdsu_state == 0 and
+        CS.out.canValid and not CS.out.canTimeout and CS.out.cruiseState.available and (not self.original_prius_sdsu or CS.sdsu_state == 0) and
         not CS.out.accFaulted and not CS.out.stockAeb and not CS.out.steerFaultTemporary and not CS.out.steerFaultPermanent and
         CS.out.gearShifter in (structs.CarState.GearShifter.drive, structs.CarState.GearShifter.sport) and not CS.out.doorOpen and
         not CS.out.seatbeltUnlatched and not CS.out.gasPressed and not CS.out.brakePressed)
@@ -186,7 +187,7 @@ class CarController(CarControllerBase):
     if (rav4h_long or pedal_owner or advert_long or original_prius_long) and not filter_allowed and CS.out.cruiseState.enabled:
       pcm_cancel_cmd = True
     lat_active = CC.latActive and abs(CS.out.steeringTorque) < MAX_USER_TORQUE
-    if self.original_prius_sdsu:
+    if self.original_prius_filter:
       lat_active = lat_active and CS.out.canValid and not CS.out.canTimeout and CS.out.cruiseState.available and not (
         CS.out.accFaulted or CS.out.steerFaultTemporary or CS.out.steerFaultPermanent or CS.out.doorOpen)
     if advert_owner:
diff --git a/opendbc_repo/opendbc/car/toyota/carstate.py b/opendbc_repo/opendbc/car/toyota/carstate.py
index a53ecc82e2..8d00b71892 100644
--- a/opendbc_repo/opendbc/car/toyota/carstate.py
+++ b/opendbc_repo/opendbc/car/toyota/carstate.py
@@ -2,7 +2,7 @@ import copy
 import math
 
 from opendbc.can import CANDefine, CANParser
-from opendbc.car.toyota import pedal, legacy_sdsu, advert_filter, legacy_advert_filter, prius_sdsu
+from opendbc.car.toyota import pedal, legacy_sdsu, advert_filter, legacy_advert_filter, prius_sdsu, prius_advert_filter
 from opendbc.car.toyota.lexus_is import LexusIsCANParser
 from opendbc.car import Bus, DT_CTRL, create_button_events, structs
 from opendbc.car.common.conversions import Conversions as CV
@@ -33,7 +33,8 @@ class CarState(CarStateBase):
   def __init__(self, CP):
     super().__init__(CP)
     can_define = CANDefine(DBC[CP.carFingerprint][Bus.pt])
-    self.eps_torque_scale = (.73 if prius_filter_configured(CP) and not prius_sdsu.configured(CP) else EPS_SCALE[CP.carFingerprint] / 100.)
+    original_prius = prius_sdsu.configured(CP) or prius_advert_filter.configured(CP)
+    self.eps_torque_scale = (.73 if prius_filter_configured(CP) and not original_prius else EPS_SCALE[CP.carFingerprint] / 100.)
     self.cluster_speed_hyst_gap = CV.KPH_TO_MS / 2.
     self.cluster_min_speed = CV.KPH_TO_MS / 2.
 
@@ -244,7 +245,7 @@ class CarState(CarStateBase):
     if (self.CP.carFingerprint in (CAR.TOYOTA_PRIUS, CAR.TOYOTA_PRIUS_RETROFIT) or
         self.CP.flags & ToyotaFlags.LONG_FILTER or advert_filter.configured(self.CP)):
       prev_distance_button = self.distance_button
-      if advert_filter.configured(self.CP):
+      if advert_filter.configured(self.CP) or prius_advert_filter.configured(self.CP):
         fresh = cp.advert_button_ns > 0 and 0 <= cp._last_update_nanos - cp.advert_button_ns <= 200_000_000
         self.distance_button = cp.advert_distance_button if fresh else 0
       else:
@@ -285,7 +286,7 @@ class CarState(CarStateBase):
       sdsu_fresh = source_ns > 0 and source_ns <= cp._last_update_nanos <= valid_until_ns
       ret.accFaulted = ret.accFaulted or not sdsu_fresh or self.sdsu_state not in (0, 7)
       ret.stockAeb = ret.stockAeb or self.sdsu_state == 7
-    if original_prius_sdsu:
+    if original_prius_sdsu or prius_advert_filter.configured(self.CP):
       main_current = cp.main_valid and prius_sdsu.source_current(cp, 'PCM_CRUISE_2', 'MAIN_ON')
       eps_current = cp.eps_valid and prius_sdsu.source_current(cp, 'EPS_STATUS', 'LKA_STATE')
       ret.cruiseState.available = ret.cruiseState.available and main_current and not cp.hardware_ambiguous
@@ -325,18 +326,19 @@ class CarState(CarStateBase):
     if CP.carFingerprint == CAR.LEXUS_IS or alternate_sdsu_main:
       pt_messages.append(("DSU_CRUISE", 10))
 
-    if (advert_filter.configured(CP) and not alternate_sdsu_main) or prius_sdsu.configured(CP):
+    if (advert_filter.configured(CP) and not alternate_sdsu_main) or prius_sdsu.configured(CP) or prius_advert_filter.configured(CP):
       pt_messages.append(("PCM_CRUISE_2", 10))
-    if prius_sdsu.configured(CP):
+    if prius_sdsu.configured(CP) or prius_advert_filter.configured(CP):
       pt_messages.append(("EPS_STATUS", 25))
-    if CP.flags & ToyotaFlags.LONG_FILTER:
+    if CP.flags & ToyotaFlags.LONG_FILTER and not prius_advert_filter.configured(CP):
       pt_messages.append(("SDSU", 50))
     if CP.flags & ToyotaFlags.ZSS:
       pt_messages.append(("SECONDARY_STEER_ANGLE", math.nan))
 
     if pedal.configured(CP):
       pt_messages.append(("GAS_SENSOR", 50))
-    pt_parser = (prius_sdsu.PriusSDSUCANParser if prius_sdsu.configured(CP) else
+    pt_parser = (prius_advert_filter.PriusAdvertCANParser if prius_advert_filter.configured(CP) else
+                 prius_sdsu.PriusSDSUCANParser if prius_sdsu.configured(CP) else
                  camera_2aa_filter.CameraTwoAACANParser if camera_twoaa else
                  legacy_advert_filter.LegacyAdvertCANParser if legacy_advert else
                  legacy_sdsu.AlternateMainSDSUCANParser if alternate_sdsu_main else
diff --git a/opendbc_repo/opendbc/car/toyota/interface.py b/opendbc_repo/opendbc/car/toyota/interface.py
index 302190628a..5089832f0c 100644
--- a/opendbc_repo/opendbc/car/toyota/interface.py
+++ b/opendbc_repo/opendbc/car/toyota/interface.py
@@ -239,6 +239,9 @@ class CarInterface(CarInterfaceBase):
     from opendbc.car.toyota import prius_sdsu
     if prius_sdsu.hardware_supported(candidate, fingerprint, car_fw):
       prius_sdsu.apply(ret)
+    from opendbc.car.toyota import prius_advert_filter
+    if prius_advert_filter.hardware_supported(candidate, fingerprint, car_fw):
+      prius_advert_filter.apply(ret)
     from opendbc.car.toyota import pedal
     if pedal.hardware_supported(candidate, fingerprint, car_fw):
       ret.flags |= int(ToyotaFlags.GAS_INTERCEPTOR)
diff --git a/opendbc_repo/opendbc/car/toyota/prius_advert_filter.py b/opendbc_repo/opendbc/car/toyota/prius_advert_filter.py
new file mode 100644
index 0000000000..b4528cb544
--- /dev/null
+++ b/opendbc_repo/opendbc/car/toyota/prius_advert_filter.py
@@ -0,0 +1,75 @@
+"""Original EPS66 Prius four-byte filter; no smartDSU status is inferred."""
+from opendbc.car import structs
+from opendbc.car.toyota.advert_filter import AdvertFilterCANParser
+from opendbc.car.toyota.values import CAR, ToyotaFlags
+
+LONG_WORD = 0xC042
+STOCK_WORD = 0xC242
+WORDS = frozenset((LONG_WORD, STOCK_WORD))
+RETROFIT_EPS = b'8965B47070\x00\x00\x00\x00\x00\x00'
+
+
+def hardware_supported(candidate, fingerprint, car_fw):
+  if (candidate != CAR.TOYOTA_PRIUS or fingerprint.get(0, {}).get(0x2FF) != 4 or
+      any(0x2FF in messages and (bus != 2 or messages[0x2FF] != 4) for bus, messages in fingerprint.items() if bus != 0) or
+      any(address in messages for messages in fingerprint.values() for address in (0x201, 0x2AA)) or
+      any(fingerprint.get(0, {}).get(address, 8) != 8 for address in (0x1D3, 0x262)) or
+      any(fingerprint.get(2, {}).get(address, 8) != 8 for address in (0x343, 0x4CB))):
+    return False
+  from opendbc.car.toyota.fingerprints import FW_VERSIONS
+  known = FW_VERSIONS[candidate]
+  required = {structs.CarParams.Ecu.eps, structs.CarParams.Ecu.fwdCamera}
+  if any(ecu == structs.CarParams.Ecu.fwdRadar for ecu, _, _ in known):
+    required.add(structs.CarParams.Ecu.fwdRadar)
+  for ecu in required:
+    observed = [fw for fw in car_fw if fw.ecu == ecu]
+    if not observed or any(fw.logging or fw.bus != 0 or fw.brand != 'toyota' or
+                           bytes(fw.fwVersion) not in known.get((ecu, fw.address, fw.subAddress or None), ()) or
+                           ecu == structs.CarParams.Ecu.eps and bytes(fw.fwVersion) == RETROFIT_EPS for fw in observed):
+      return False
+  return True
+
+
+def apply(cp):
+  cp.flags |= int(ToyotaFlags.HYBRID | ToyotaFlags.LONG_FILTER | ToyotaFlags.RAISED_ACCEL_LIMIT)
+  cp.safetyConfigs[0].safetyParam = LONG_WORD
+  cp.openpilotLongitudinalControl = True
+  cp.alphaLongitudinalAvailable = False
+
+
+def configured(cp):
+  if (cp is None or cp.brand != 'toyota' or cp.carFingerprint != CAR.TOYOTA_PRIUS or cp.notCar or cp.passive or
+      cp.dashcamOnly or cp.secOcRequired or not cp.pcmCruise or len(cp.safetyConfigs) != 1 or
+      cp.steerControlType != structs.CarParams.SteerControlType.torque):
+    return False
+  flags = int(ToyotaFlags.HYBRID | ToyotaFlags.LONG_FILTER | ToyotaFlags.RAISED_ACCEL_LIMIT)
+  config = cp.safetyConfigs[0]
+  return bool(cp.flags & ~int(ToyotaFlags.ZSS) == flags and
+              config.safetyModel == structs.CarParams.SafetyModel.toyota and
+              config.safetyParam == (LONG_WORD if cp.openpilotLongitudinalControl else STOCK_WORD))
+
+
+def prepare_stock(cp):
+  if not configured(cp):
+    return False
+  cp.openpilotLongitudinalControl = False
+  cp.safetyConfigs[0].safetyParam = STOCK_WORD
+  cp.autoResumeSng = False
+  return True
+
+
+class PriusAdvertCANParser(AdvertFilterCANParser):
+  """The discriminator carries FD_BUTTON only; MAIN/EPS retain authority."""
+  def __init__(self, *args):
+    super().__init__(*args)
+    self.hardware_ambiguous = False
+
+  def update(self, strings, sendcan=False):
+    batches = []
+    for stamp, frames in strings:
+      frames = list(frames)
+      for address, data, bus in frames:
+        if address in (0x201, 0x2AA) or address == 0x2FF and (bus not in (0, 2) or len(data) != 4):
+          self.hardware_ambiguous = True
+      batches.append((stamp, frames))
+    return super().update(batches, sendcan)
diff --git a/opendbc_repo/opendbc/car/toyota/prius_longitudinal.py b/opendbc_repo/opendbc/car/toyota/prius_longitudinal.py
index a89df31ed9..f1cce7f7af 100644
--- a/opendbc_repo/opendbc/car/toyota/prius_longitudinal.py
+++ b/opendbc_repo/opendbc/car/toyota/prius_longitudinal.py
@@ -13,8 +13,8 @@ TOYOTA_NO_LEAD_CRUISE_SIGN_FLIP_MIN_SET_SPEED_ERROR = .35
 
 
 def configured(cp):
-  from opendbc.car.toyota import prius_sdsu
-  if prius_sdsu.configured(cp):
+  from opendbc.car.toyota import prius_sdsu, prius_advert_filter
+  if prius_sdsu.configured(cp) or prius_advert_filter.configured(cp):
     return True
   return (cp.brand == 'toyota' and cp.carFingerprint in (CAR.TOYOTA_PRIUS, CAR.TOYOTA_PRIUS_RETROFIT) and
           cp.pcmCruise and not cp.dashcamOnly and not cp.notCar and
@@ -34,8 +34,8 @@ def stopping_decel_rate(cp):
 
 
 def prepare_stock(cp):
-  from opendbc.car.toyota import prius_sdsu
-  if prius_sdsu.prepare_stock(cp):
+  from opendbc.car.toyota import prius_sdsu, prius_advert_filter
+  if prius_sdsu.prepare_stock(cp) or prius_advert_filter.prepare_stock(cp):
     return True
   if not configured(cp):
     return False
diff --git a/opendbc_repo/opendbc/safety/modes/toyota.h b/opendbc_repo/opendbc/safety/modes/toyota.h
index f1d7391813..2b61ee274a 100644
--- a/opendbc_repo/opendbc/safety/modes/toyota.h
+++ b/opendbc_repo/opendbc/safety/modes/toyota.h
@@ -110,12 +110,12 @@ static bool toyota_legacy_main_current(void) {
 
 static bool toyota_legacy_advert_ready(void) {
   bool ready = true;
-  if (toyota_legacy_advert() || toyota_camera_2aa() || toyota_prius_sdsu()) {
+  if (toyota_legacy_advert() || toyota_camera_2aa() || toyota_prius_filter()) {
     static const uint32_t timeout[4] = {303031U, 10000000U, 3333334U, 400000U};
     const uint32_t now = microsecond_timer_get();
     ready = aol_rx_healthy() && toyota_aol_main && toyota_aol_drive && toyota_aol_doors_closed && toyota_aol_eps &&
             (!toyota_camera_2aa() || !toyota_camera_2aa_ambiguous) &&
-            (!toyota_prius_sdsu() || !toyota_prius_sdsu_ambiguous);
+            (!toyota_prius_filter() || !toyota_prius_sdsu_ambiguous);
     for (unsigned int i = 0U; i < 4U; i++) {
       ready &= toyota_aol_seen[i] && (safety_get_ts_elapsed(now, toyota_aol_ts[i]) <= timeout[i]);
     }
@@ -193,6 +193,10 @@ static bool toyota_get_quality_flag_valid(const CANPacket_t *msg) {
 }
 
 static void toyota_optional_rx_hook(const CANPacket_t *msg) {
+  if (toyota_prius_advert() && ((msg->addr == 0x201U) || (msg->addr == 0x2AAU) ||
+      ((msg->addr == 0x2FFU) && (((msg->bus != 0U) && (msg->bus != 2U)) || (GET_LEN(msg) != 4U))))) {
+    toyota_prius_sdsu_ambiguous = true;
+  }
   if (toyota_prius_sdsu() && ((msg->addr == 0x201U) || (msg->addr == 0x2AAU) ||
       ((msg->addr == 0x2FFU) && (((msg->bus != 0U) && (msg->bus != 2U)) || (GET_LEN(msg) == 4U))))) {
     toyota_prius_sdsu_ambiguous = true;
@@ -207,7 +211,7 @@ static void toyota_optional_rx_hook(const CANPacket_t *msg) {
   const unsigned int aol_source_len = ((toyota_aol_rav4h_filter || toyota_alt_cruise || toyota_legacy_sdsu || toyota_legacy_advert()) && (msg->addr == 0x262U)) ? 5U : 8U;
   if (!aol_checksum_source || ((GET_LEN(msg) == aol_source_len) && (toyota_get_checksum(msg) == toyota_compute_checksum(msg)))) {
     toyota_aol_observe(msg);
-  } else if ((toyota_aol_enabled || toyota_legacy_advert() || toyota_camera_2aa() || toyota_prius_sdsu()) && (msg->bus == 0U)) {
+  } else if ((toyota_aol_enabled || toyota_legacy_advert() || toyota_camera_2aa() || toyota_prius_filter()) && (msg->bus == 0U)) {
     unsigned int index = 3U;
     if (msg->addr == 0x1D3U) {
       index = 0U;
@@ -242,7 +246,7 @@ static void toyota_optional_rx_hook(const CANPacket_t *msg) {
 static void toyota_rx_hook(const CANPacket_t *msg) {
   // Required sources have already passed RX length/checksum validation here.
   // Optional ingress only runs for messages outside the required RX catalog.
-  if ((toyota_legacy_advert() || toyota_camera_2aa() || toyota_prius_sdsu()) && ((msg->addr == 0x262U) || (!toyota_alt_cruise && (msg->addr == 0x1D3U)))) {
+  if ((toyota_legacy_advert() || toyota_camera_2aa() || toyota_prius_filter()) && ((msg->addr == 0x262U) || (!toyota_alt_cruise && (msg->addr == 0x1D3U)))) {
     toyota_aol_observe(msg);
   }
   if (toyota_alt_cruise && msg_matches(msg, 0x365U, 0U) && (GET_LEN(msg) == 7U)) {
@@ -628,7 +632,7 @@ static safety_config toyota_init(uint16_t param) {
 
   toyota_alt_brake = GET_FLAG(param, TOYOTA_PARAM_ALT_BRAKE);
   toyota_stock_longitudinal = GET_FLAG(param, TOYOTA_PARAM_STOCK_LONGITUDINAL);
-  toyota_radar_diagnostics_allowed = !toyota_stock_longitudinal && !toyota_secoc && (param != 0x1049U) && (param != 0x1449U) && !toyota_eps8_sdsu && !toyota_legacy_sdsu && !toyota_legacy_advert_param(param) && !toyota_camera_2aa_param(param) && !toyota_prius_sdsu_param(param);
+  toyota_radar_diagnostics_allowed = !toyota_stock_longitudinal && !toyota_secoc && (param != 0x1049U) && (param != 0x1449U) && !toyota_eps8_sdsu && !toyota_legacy_sdsu && !toyota_legacy_advert_param(param) && !toyota_camera_2aa_param(param) && !toyota_prius_filter_param(param);
   toyota_lta = !toyota_legacy_advert_param(param) && GET_FLAG(param, TOYOTA_PARAM_LTA);
   toyota_dbc_eps_torque_factor = param & TOYOTA_EPS_FACTOR;
 
@@ -649,7 +653,7 @@ static safety_config toyota_init(uint16_t param) {
     if (toyota_stock_longitudinal) {
       SET_TX_MSGS(TOYOTA_TX_MSGS, ret);
     } else {
-      if ((param == 0x1049U) || (param == 0x9049U) || (param == 0x1449U) || toyota_eps8_sdsu || toyota_legacy_sdsu || toyota_legacy_advert_param(param) || toyota_camera_2aa_param(param) || toyota_prius_sdsu_param(param)) {
+      if ((param == 0x1049U) || (param == 0x9049U) || (param == 0x1449U) || toyota_eps8_sdsu || toyota_legacy_sdsu || toyota_legacy_advert_param(param) || toyota_camera_2aa_param(param) || toyota_prius_filter_param(param)) {
         SET_TX_MSGS(TOYOTA_FILTER_LONG_TX_MSGS_SET, ret);
       } else {
         SET_TX_MSGS(TOYOTA_LONG_TX_MSGS, ret);
@@ -688,8 +692,8 @@ static safety_config toyota_init(uint16_t param) {
     // Restore the sixth row on every warm switch before specializing the new owner.
     toyota_rx_checks[5].msg[0] = (CanMsgCheck){.addr = 0x365, .bus = 0U, .len = 7, .frequency = 10U,
       .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true};
-    if (toyota_legacy_advert_param(param) || toyota_camera_2aa_param(param)) {
-      toyota_rx_checks[4].msg[0] = (CanMsgCheck){.addr = 0x262, .bus = 0U, .len = toyota_camera_2aa_param(param) ? 8 : 5, .frequency = 25U,
+    if (toyota_legacy_advert_param(param) || toyota_camera_2aa_param(param) || toyota_prius_advert_param(param)) {
+      toyota_rx_checks[4].msg[0] = (CanMsgCheck){.addr = 0x262, .bus = 0U, .len = (toyota_camera_2aa_param(param) || toyota_prius_advert_param(param)) ? 8 : 5, .frequency = 25U,
         .ignore_counter = true, .ignore_quality_flag = true};
       if (!toyota_alt_cruise) {
         toyota_rx_checks[5].msg[0] = (CanMsgCheck){.addr = 0x1D3, .bus = 0U, .len = 8, .frequency = 10U,
@@ -706,7 +710,7 @@ static safety_config toyota_init(uint16_t param) {
     ret.disable_forwarding = false;
     if (toyota_prius_sdsu_param(param)) {
       ret.rx_checks_len = 7;
-    } else if ((toyota_legacy_sdsu && toyota_alt_cruise) || toyota_legacy_advert_param(param) || toyota_camera_2aa_param(param)) {
+    } else if ((toyota_legacy_sdsu && toyota_alt_cruise) || toyota_legacy_advert_param(param) || toyota_camera_2aa_param(param) || toyota_prius_advert_param(param)) {
       ret.rx_checks_len = 6;
     } else if (toyota_pedal || toyota_alt_cruise || toyota_sdsu_status) {
       ret.rx_checks_len = 5;
@@ -715,7 +719,7 @@ static safety_config toyota_init(uint16_t param) {
     }
   }
 
-  if (((param & 0xC000U) != 0U) && !toyota_alt_cruise && !toyota_sdsu_status && !toyota_legacy_advert_param(param) && !toyota_camera_2aa_param(param)) {
+  if (((param & 0xC000U) != 0U) && !toyota_alt_cruise && !toyota_sdsu_status && !toyota_legacy_advert_param(param) && !toyota_camera_2aa_param(param) && !toyota_prius_advert_param(param)) {
     ret.tx_msgs_len = 0;
   }
   if (((param & 0x2000U) != 0U) && !toyota_pedal) {
diff --git a/opendbc_repo/opendbc/safety/modes/toyota_aol.h b/opendbc_repo/opendbc/safety/modes/toyota_aol.h
index 156450e8ec..77948cb0a0 100644
--- a/opendbc_repo/opendbc/safety/modes/toyota_aol.h
+++ b/opendbc_repo/opendbc/safety/modes/toyota_aol.h
@@ -8,6 +8,23 @@ static bool toyota_prius_sdsu(void) {
   return toyota_prius_sdsu_param(current_safety_param);
 }
 
+static bool toyota_prius_advert_param(uint16_t param) {
+  return (param == 0xC042U) || (param == 0xC242U);
+}
+
+static bool toyota_prius_advert(void) {
+  return toyota_prius_advert_param(current_safety_param);
+}
+
+static bool toyota_prius_filter_param(uint16_t param) {
+  return toyota_prius_sdsu_param(param) || toyota_prius_advert_param(param);
+}
+
+static bool toyota_prius_filter(void) {
+  return toyota_prius_filter_param(current_safety_param);
+}
+
+// Disjoint original Prius owners share this sticky receiver identity latch.
 static bool toyota_prius_sdsu_ambiguous = false;
 
 static bool toyota_camera_2aa_param(uint16_t param) {
@@ -82,7 +99,7 @@ static uint8_t toyota_aol_permission(void) {
   uint8_t permission = 0U;
   if (fresh && toyota_aol_main && toyota_aol_drive && toyota_aol_doors_closed && toyota_aol_eps &&
       (!toyota_camera_2aa() || !toyota_camera_2aa_ambiguous) &&
-      (!toyota_prius_sdsu() || !toyota_prius_sdsu_ambiguous)) {
+      (!toyota_prius_filter() || !toyota_prius_sdsu_ambiguous)) {
     permission = request & 1U;
     if (!toyota_aol_stock && controls_allowed && toyota_aol_belt && !gas_pressed && !brake_pressed &&
         (!toyota_sdsu_status || toyota_sdsu_control)) {
@@ -102,7 +119,7 @@ static void toyota_aol_observe(const CANPacket_t *msg) {
     expected_len = 5U;
   } else {
   }
-  if ((toyota_aol_enabled || toyota_legacy_advert() || toyota_camera_2aa() || toyota_prius_sdsu()) && (msg->bus == 0U) && (GET_LEN(msg) != expected_len)) {
+  if ((toyota_aol_enabled || toyota_legacy_advert() || toyota_camera_2aa() || toyota_prius_filter()) && (msg->bus == 0U) && (GET_LEN(msg) != expected_len)) {
     unsigned int index = 4U;
     if (msg->addr == main_addr) {
       index = 0U;
@@ -117,7 +134,7 @@ static void toyota_aol_observe(const CANPacket_t *msg) {
     if (index < 4U) {
       toyota_aol_seen[index] = false;
     }
-  } else if ((toyota_aol_enabled || toyota_legacy_advert() || toyota_camera_2aa() || toyota_prius_sdsu()) && (msg->bus == 0U) && (GET_LEN(msg) == expected_len)) {
+  } else if ((toyota_aol_enabled || toyota_legacy_advert() || toyota_camera_2aa() || toyota_prius_filter()) && (msg->bus == 0U) && (GET_LEN(msg) == expected_len)) {
     unsigned int index = 4U;
     if (msg->addr == main_addr) {
       index = 0U;
@@ -166,13 +183,13 @@ static void toyota_aol_configure(uint16_t param) {
   toyota_pedal = (param == 0x2049U) || (param == 0x2249U);
   toyota_aol_rav4h_filter = (param == 0x9049U) || (param == 0x9249U);
   toyota_sdsu_status = toyota_aol_rav4h_filter || toyota_eps8_sdsu || toyota_legacy_sdsu || toyota_prius_sdsu_param(param);
-  toyota_aol_stock = (param == 585U) || (param == 4681U) || (param == 0x9249U) || (param == 0x2249U) || (param == 0x424DU) || (param == 0x649U) || (param == 0x1649U) || (param == 0x8249U) || (param == 0x8649U) || ((toyota_legacy_sdsu || toyota_legacy_advert_param(param) || toyota_camera_2aa_param(param) || toyota_prius_sdsu_param(param)) && ((param & 0x200U) != 0U));
+  toyota_aol_stock = (param == 585U) || (param == 4681U) || (param == 0x9249U) || (param == 0x2249U) || (param == 0x424DU) || (param == 0x649U) || (param == 0x1649U) || (param == 0x8249U) || (param == 0x8649U) || ((toyota_legacy_sdsu || toyota_legacy_advert_param(param) || toyota_camera_2aa_param(param) || toyota_prius_filter_param(param)) && ((param & 0x200U) != 0U));
 #ifdef ALLOW_DEBUG
   toyota_aol_secoc = (param == 2121U);
 #else
   toyota_aol_secoc = false;
 #endif
-  toyota_aol_enabled = ((toyota_eps8_sdsu || toyota_legacy_sdsu || toyota_legacy_advert_param(param) || toyota_camera_2aa_param(param) || toyota_prius_sdsu_param(param)) && (alternative_experience == 32)) || (toyota_aol_lta && (alternative_experience == 32)) || (toyota_aol_stock && (alternative_experience == 32)) ||
+  toyota_aol_enabled = ((toyota_eps8_sdsu || toyota_legacy_sdsu || toyota_legacy_advert_param(param) || toyota_camera_2aa_param(param) || toyota_prius_filter_param(param)) && (alternative_experience == 32)) || (toyota_aol_lta && (alternative_experience == 32)) || (toyota_aol_stock && (alternative_experience == 32)) ||
 #ifdef ALLOW_DEBUG
                        (toyota_aol_secoc && (alternative_experience == 32)) ||
 #endif
diff --git a/opendbc_repo/opendbc/safety/tests/test_toyota_prius_advert.py b/opendbc_repo/opendbc/safety/tests/test_toyota_prius_advert.py
new file mode 100644
index 0000000000..327d47ad49
--- /dev/null
+++ b/opendbc_repo/opendbc/safety/tests/test_toyota_prius_advert.py
@@ -0,0 +1,150 @@
+"""Original Prius four-byte identity never provides a status or source lease."""
+
+import pytest
+from opendbc.car import structs
+from opendbc.car.toyota import prius_advert_filter as owner, prius_sdsu
+from opendbc.safety.tests.libsafety import libsafety_py
+from opendbc.safety.tests.test_toyota_prius_sdsu import Physical
+from openpilot.starpilot.car.toyota.tests import test_rav4h_caller_native as helpers
+
+source_matched_native = helpers.source_matched_native
+
+
+class AdvertPhysical(Physical):
+  def tick(self, cruise=True, *, status=0, malformed=False, mirror=False, source=None, failure=None, conflict=None, ad=True):
+    assert status == 0 and not malformed and not mirror, 'Advertisement profiles have no SDSU status input'
+    self.now += 10_000
+    self.native.set_timer(self.now)
+    frames = [frame for frame in helpers.physical(self.packer, cruise=cruise) if frame[0] != 0x2FF]
+    if ad:
+      # Nibble7 is not a status or AEB source; a mirror cannot replace MAIN/EPS.
+      frames.extend(((0x2FF, bytes.fromhex('00007409'), 0), (0x2FF, bytes.fromhex('80007409'), 2)))
+    if conflict is not None:
+      frames.append(conflict)
+    for address, raw, bus in frames:
+      expected = True
+      if address == source and bus == 0:
+        if failure == 'missing':
+          continue
+        if failure == 'checksum':
+          raw = raw[:-1] + bytes([raw[-1] ^ 1])
+          expected = False
+        elif failure == 'length':
+          raw = raw[:-1]
+        elif failure == 'mirror':
+          bus = 2
+      assert bool(self.native.safety_rx_hook(libsafety_py.make_CANPacket(address, bus, raw))) == expected
+    self.native.safety_tick()
+    self.native.aol_set_host_request(3)
+
+
+def active(case, stock, experience):
+  assert case.native.safety_config_valid() and case.native.get_controls_allowed()
+  assert case.native.aol_get_permission_mask() == ((1 if stock else 3) if experience else 0)
+  assert case.tx('STEERING_LKA', {'STEER_REQUEST': 1, 'STEER_TORQUE_CMD': 3})
+  assert case.tx('ACC_CONTROL', {'ACCEL_CMD': 0.1}) == (not stock)
+
+
+def refused(case):
+  assert case.native.aol_get_permission_mask() == 0
+  assert not case.tx('STEERING_LKA', {'STEER_REQUEST': 1, 'STEER_TORQUE_CMD': 3})
+  assert not case.tx('ACC_CONTROL', {'ACCEL_CMD': 0.1})
+  assert case.tx('ACC_CONTROL', {'ACCEL_CMD': 0, 'CANCEL_REQ': 1})
+
+
+@pytest.mark.parametrize('stock', (False, True))
+@pytest.mark.parametrize('experience', (0, 32))
+def test_original_prius_advert_six_independent_rx_and_limits(stock, experience):
+  case = AdvertPhysical(owner.STOCK_WORD if stock else owner.LONG_WORD, experience)
+  try:
+    cfg = case.native.current_safety_config
+    assert cfg.rx_checks_len == 6
+    checks = {cfg.rx_checks[i].msg[0].addr: cfg.rx_checks[i].msg[0] for i in range(6)}
+    assert set(checks) == {0xAA, 0x260, 0x1D2, 0x226, 0x262, 0x1D3}
+    assert all(checks[a].len == 8 and not checks[a].ignore_checksum for a in (0x262, 0x1D3))
+    assert not case.tx('STEERING_LKA', {'STEER_REQUEST': 1, 'STEER_TORQUE_CMD': 3})
+    case.earn()
+    active(case, stock, experience)
+    for _ in range(50):
+      case.tick(ad=False)
+    active(case, stock, experience)
+    for accel in (-3.501, 2.001):
+      assert not case.tx('ACC_CONTROL', {'ACCEL_CMD': accel})
+    assert not case.tx('STEERING_LTA', {'STEER_REQUEST': 1})
+    assert not case.native.safety_tx_hook(libsafety_py.make_CANPacket(0x750, 0, bytes.fromhex('0f02280100000000')))
+    assert case.native.safety_fwd_hook(2, 0x343) == 0
+  finally:
+    case.close()
+
+
+@pytest.mark.parametrize('stock', (False, True))
+@pytest.mark.parametrize('experience', (0, 32))
+@pytest.mark.parametrize('source', (0x1D3, 0x262))
+@pytest.mark.parametrize('failure', ('checksum', 'length', 'missing', 'mirror'))
+def test_original_prius_advert_main_eps_refusal_and_recovery(stock, experience, source, failure):
+  case = AdvertPhysical(owner.STOCK_WORD if stock else owner.LONG_WORD, experience)
+  try:
+    case.earn()
+    cfg = case.native.current_safety_config
+    index = 5 if source == 0x1D3 else 4
+    prior = int(cfg.rx_checks[index].status.last_timestamp)
+    for _ in range(41):
+      case.tick(source=source, failure=failure)
+    if failure == 'checksum':
+      assert int(cfg.rx_checks[index].status.last_timestamp) == case.now
+      assert not cfg.rx_checks[index].status.valid_checksum
+    else:
+      assert int(cfg.rx_checks[index].status.last_timestamp) == prior
+    refused(case)
+    case.earn()
+    active(case, stock, experience)
+  finally:
+    case.close()
+
+
+@pytest.mark.parametrize('stock', (False, True))
+@pytest.mark.parametrize('experience', (0, 32))
+@pytest.mark.parametrize('address,bus,length', ((0x201, 0, 6), (0x2AA, 0, 8), (0x2FF, 1, 4), (0x2FF, 0, 8), (0x2FF, 2, 8), (0x2FF, 0, 7)))
+def test_original_prius_advert_sticky_conflict_until_reconfiguration(stock, experience, address, bus, length):
+  word = owner.STOCK_WORD if stock else owner.LONG_WORD
+  case = AdvertPhysical(word, experience)
+  try:
+    case.earn()
+    case.tick(conflict=(address, bytes(length), bus))
+    case.tick(source=0x262, failure='checksum')
+    case.earn()
+    assert case.native.safety_config_valid()
+    refused(case)
+    assert case.native.set_safety_hooks(structs.CarParams.SafetyModel.toyota, word) == 0
+    case.native.set_aol_test_heartbeat(True)
+    cfg = case.native.current_safety_config
+    assert cfg.rx_checks_len == 6
+    assert all(cfg.rx_checks[i].status.last_timestamp == 0 for i in range(6))
+    case.earn()
+    active(case, stock, experience)
+  finally:
+    case.close()
+
+
+@pytest.mark.parametrize('stock', (False, True))
+@pytest.mark.parametrize('experience', (0, 32))
+def test_original_prius_advert_warm_switch_keeps_separate_status_owner(stock, experience):
+  case = AdvertPhysical(owner.STOCK_WORD if stock else owner.LONG_WORD, experience)
+  try:
+    case.earn()
+    assert case.native.set_safety_hooks(structs.CarParams.SafetyModel.toyota, prius_sdsu.STOCK_WORD if stock else prius_sdsu.LONG_WORD) == 0
+    case.native.set_aol_test_heartbeat(True)
+    assert case.native.current_safety_config.rx_checks_len == 7
+    assert not case.tx('STEERING_LKA', {'STEER_REQUEST': 1, 'STEER_TORQUE_CMD': 3})
+    # The old owner earns status from genuine eight-byte SDSU traffic.
+    for cruise in (False, True):
+      for _ in range(25):
+        Physical.tick(case, cruise)
+    active(case, stock, experience)
+    assert case.native.set_safety_hooks(structs.CarParams.SafetyModel.toyota, owner.STOCK_WORD if stock else owner.LONG_WORD) == 0
+    case.native.set_aol_test_heartbeat(True)
+    assert case.native.current_safety_config.rx_checks_len == 6
+    case.earn()
+    active(case, stock, experience)
+  finally:
+    case.close()
diff --git a/openpilot/selfdrive/pandad/tests/test_aol_protocol.cc b/openpilot/selfdrive/pandad/tests/test_aol_protocol.cc
index 4b38b3f24c..c312ce0620 100644
--- a/openpilot/selfdrive/pandad/tests/test_aol_protocol.cc
+++ b/openpilot/selfdrive/pandad/tests/test_aol_protocol.cc
@@ -179,7 +179,7 @@ int main() {
   }
 
   for (uint32_t word = 0U; word <= 65535U; ++word) {
-    const bool expected = (word == 0x8042U) || (word == 0x8242U) || (word == 0xC049U) || (word == 0xC249U) || (word == 73U) || (word == 585U) || (word == 4169U) || (word == 4681U) || (word == 2121U) || (word == 0x9049U) || (word == 0x9249U) || (word == 0x2049U) || (word == 0x2249U) || (word == 0x424DU) || (word == 0x449U) || (word == 0x649U) || (word == 0x1449U) || (word == 0x1649U) || (word == 0x8049U) || (word == 0x8249U) || (word == 0x8449U) || (word == 0x8649U) || (word == 0x9158U) || (word == 0x9358U) || (word == 0x9149U) || (word == 0x9349U) || (word == 0x9164U) || (word == 0x9364U) || (word == 0xd149U) || (word == 0xd349U) || (word == 0xd04dU) || (word == 0xd24dU) || (word == 0x9449U) || (word == 0x9549U) || (word == 0x9558U) || (word == 0x9564U) || (word == 0x9649U) || (word == 0x9749U) || (word == 0x9758U) || (word == 0x9764U) || (word == 0xD44DU) || (word == 0xD549U) || (word == 0xD64DU) || (word == 0xD749U);
+    const bool expected = (word == 0xC042U) || (word == 0xC242U) || (word == 0x8042U) || (word == 0x8242U) || (word == 0xC049U) || (word == 0xC249U) || (word == 73U) || (word == 585U) || (word == 4169U) || (word == 4681U) || (word == 2121U) || (word == 0x9049U) || (word == 0x9249U) || (word == 0x2049U) || (word == 0x2249U) || (word == 0x424DU) || (word == 0x449U) || (word == 0x649U) || (word == 0x1449U) || (word == 0x1649U) || (word == 0x8049U) || (word == 0x8249U) || (word == 0x8449U) || (word == 0x8649U) || (word == 0x9158U) || (word == 0x9358U) || (word == 0x9149U) || (word == 0x9349U) || (word == 0x9164U) || (word == 0x9364U) || (word == 0xd149U) || (word == 0xd349U) || (word == 0xd04dU) || (word == 0xd24dU) || (word == 0x9449U) || (word == 0x9549U) || (word == 0x9558U) || (word == 0x9564U) || (word == 0x9649U) || (word == 0x9749U) || (word == 0x9758U) || (word == 0x9764U) || (word == 0xD44DU) || (word == 0xD549U) || (word == 0xD64DU) || (word == 0xD749U);
     auto toyota = status();
     toyota.safety_mode = 2U;
     toyota.safety_param = static_cast<uint16_t>(word);
diff --git a/openpilot/starpilot/car/toyota/aol.py b/openpilot/starpilot/car/toyota/aol.py
index d2e8471870..4c9228bddd 100644
--- a/openpilot/starpilot/car/toyota/aol.py
+++ b/openpilot/starpilot/car/toyota/aol.py
@@ -6,7 +6,7 @@ from openpilot.starpilot.aol.policy import AolVehiclePolicy
 from openpilot.starpilot.aol.intent import AolCardIntent, AOL_TOGGLE
 
 AOL_WORDS = frozenset((
-  0x8042, 0x8242,
+  0x8042, 0x8242, 0xC042, 0xC242,
   0xC049, 0xC249,
   0x9449, 0x9549, 0x9558, 0x9564, 0x9649, 0x9749, 0x9758, 0x9764, 0xD44D, 0xD549, 0xD64D, 0xD749,
   73, 585, 4169, 4681, 2121, 0x9049, 0x9249,
diff --git a/openpilot/starpilot/car/toyota/aol_policy.h b/openpilot/starpilot/car/toyota/aol_policy.h
index 2690bb0123..9278ac114a 100644
--- a/openpilot/starpilot/car/toyota/aol_policy.h
+++ b/openpilot/starpilot/car/toyota/aol_policy.h
@@ -3,7 +3,7 @@
 #include "selfdrive/pandad/aol_protocol.h"
 
 inline bool toyota_aol_param(uint16_t param) {
-  return (param == 0x8042U || param == 0x8242U || param == 0xC049U) || (param == 0xC249U) || (param == 73U) || (param == 585U) || (param == 4169U) || (param == 4681U) || (param == 2121U) || (param == 0x9049U) || (param == 0x9249U) || (param == 0x2049U) || (param == 0x2249U) || (param == 0x424DU) || (param == 0x449U) || (param == 0x649U) || (param == 0x1449U) || (param == 0x1649U) || (param == 0x8049U) || (param == 0x8249U) || (param == 0x8449U) || (param == 0x8649U) || (param == 0x9158U) || (param == 0x9358U) || (param == 0x9149U) || (param == 0x9349U) || (param == 0x9164U) || (param == 0x9364U) || (param == 0xd149U) || (param == 0xd349U) || (param == 0xd04dU) || (param == 0xd24dU) || (param == 0x9449U) || (param == 0x9549U) || (param == 0x9558U) || (param == 0x9564U) || (param == 0x9649U) || (param == 0x9749U) || (param == 0x9758U) || (param == 0x9764U) || (param == 0xD44DU) || (param == 0xD549U) || (param == 0xD64DU) || (param == 0xD749U);
+  return (param == 0xC042U || param == 0xC242U || param == 0x8042U || param == 0x8242U || param == 0xC049U) || (param == 0xC249U) || (param == 73U) || (param == 585U) || (param == 4169U) || (param == 4681U) || (param == 2121U) || (param == 0x9049U) || (param == 0x9249U) || (param == 0x2049U) || (param == 0x2249U) || (param == 0x424DU) || (param == 0x449U) || (param == 0x649U) || (param == 0x1449U) || (param == 0x1649U) || (param == 0x8049U) || (param == 0x8249U) || (param == 0x8449U) || (param == 0x8649U) || (param == 0x9158U) || (param == 0x9358U) || (param == 0x9149U) || (param == 0x9349U) || (param == 0x9164U) || (param == 0x9364U) || (param == 0xd149U) || (param == 0xd349U) || (param == 0xd04dU) || (param == 0xd24dU) || (param == 0x9449U) || (param == 0x9549U) || (param == 0x9558U) || (param == 0x9564U) || (param == 0x9649U) || (param == 0x9749U) || (param == 0x9758U) || (param == 0x9764U) || (param == 0xD44DU) || (param == 0xD549U) || (param == 0xD64DU) || (param == 0xD749U);
 }
 
 inline constexpr AolSafetyProfile TOYOTA_AOL_PROFILE{2U, toyota_aol_param, true};
diff --git a/openpilot/starpilot/car/toyota/tests/test_prius_advert_callers.py b/openpilot/starpilot/car/toyota/tests/test_prius_advert_callers.py
new file mode 100644
index 0000000000..718bde24e2
--- /dev/null
+++ b/openpilot/starpilot/car/toyota/tests/test_prius_advert_callers.py
@@ -0,0 +1,199 @@
+"""Draft actual full caller catalog for original Prius four-byte advertisements."""
+
+from dataclasses import replace
+import pytest
+from opendbc.car import Bus
+from opendbc.car.toyota import prius_advert_filter as owner
+from opendbc.car.toyota.values import CAR
+from openpilot.starpilot.aol.wire import decode_safety, encode_safety
+from openpilot.starpilot.car.toyota.tests import test_rav4h_caller_native as helpers
+from openpilot.starpilot.car.toyota.tests.test_prius_sdsu_filter import original_firmware, ORIGINAL
+from openpilot.starpilot.car.toyota.tests.test_toyota_cpp_transport import host_heartbeat_bridge as host_heartbeat_bridge
+
+source_matched_native = helpers.source_matched_native
+daemon_gc_scope = helpers.daemon_gc_scope
+
+
+def run(version, stock, bridge, scenario='nominal', *, aol=True, fault=None, mirror=False):
+  tick = 0
+
+  def physical(packer, **fields):
+    nonlocal tick
+    tick += 1
+    if scenario == 'physical':
+      if 410 <= tick < 415:
+        fields['gear'] = 32
+      if 475 <= tick < 480:
+        fields.update(main=False, cruise=False)
+    if scenario == 'identity_refusal':
+      fields.update(cruise=tick >= 150 and not 330 <= tick < 360, main=not 340 <= tick < 350)
+    if fault in ('eps-temporary', 'eps-permanent') and 260 <= tick < 311:
+      fields['eps'] = 9 if fault == 'eps-temporary' else 3
+    if fault == 'configured-brake' and 260 <= tick < 311:
+      fields.update(brake=True, cruise=False, stopped=False)
+    frames = helpers.physical(packer, **fields)
+    if scenario == 'physical' and 470 <= tick < 475:
+      frames = [f for f in frames if f[0] != 0x620]
+      frames.append(packer.make_can_msg('BODY_CONTROL_STATE', 0, {'DOOR_OPEN_FL': 1}))
+    frames = [f for f in frames if f[0] != 0x2FF]
+    frames += [(0x2FF, bytes.fromhex('80007409' if 220 <= tick < 240 else '00007409'), 0)]
+    if mirror:
+      frames.append((0x2FF, bytes.fromhex('80007409'), 2))
+    if fault == 'aeb' and 260 <= tick < 311:
+      frames = [f for f in frames if f[0] != 0x283]
+      frames.append(packer.make_can_msg('PRE_COLLISION', 0, {'PRECOLLISION_ACTIVE': 1, 'FORCE': -20}))
+    if fault is not None and fault.startswith('identity-') and tick == 260:
+      markers = {
+        'identity-advert': (0x2AA, bytes(8), 0),
+        'identity-pedal': (0x201, bytes(6), 0),
+        'identity-bus': (0x2FF, bytes(8), 1),
+        'identity-status-advert': (0x2FF, bytes(8), 0),
+        'identity-mirror-advert': (0x2FF, bytes(8), 2),
+        'identity-length': (0x2FF, bytes(7), 0),
+      }
+      frames.append(markers[fault])
+    if fault is not None and fault.startswith('identity-') and tick == 275:
+      # A genuine invalid-source reset must not erase contradictory identity.
+      frames = [frame for frame in frames if frame[0] != 0x262]
+      a, data, bus = packer.make_can_msg('EPS_STATUS', 0, {'LKA_STATE': 1, 'LTA_STATE': 1})
+      frames.append((a, data[:-1] + bytes([data[-1] ^ 1]), bus))
+    if fault is not None and fault.split('-')[0] in ('main', 'eps') and fault not in ('eps-temporary', 'eps-permanent') and 260 <= tick < 311:
+      source, kind = fault.split('-')
+      address = 0x1D3 if source == 'main' else 0x262
+      kept = []
+      for a, data, bus in frames:
+        if a == address and bus == 0:
+          if kind == 'drop':
+            continue
+          if kind == 'length':
+            data = data[:-1]
+          elif kind == 'checksum':
+            data = data[:-1] + bytes([data[-1] ^ 1])
+          else:
+            assert kind == 'bus'
+            bus = 2
+        kept.append((a, data, bus))
+      frames = kept
+    return frames
+
+  def observe(tick, host, cs, cc, safety, native):
+    del native
+    parser = host.CI.can_parsers[Bus.pt]
+    assert isinstance(parser, owner.PriusAdvertCANParser)
+    assert 0x2FF not in parser.message_states and 'SDSU' not in parser.vl
+    if tick == 220:
+      assert host.CI.CS.distance_button == parser.advert_distance_button == 1
+    if tick == 240:
+      assert host.CI.CS.distance_button == parser.advert_distance_button == 0, 'Mirror button cannot replace primary release'
+    if 200 <= tick < 250:
+      assert not cs.stockAeb, 'Advertisement nibble7 is not SDSU STATE/AEB'
+    assert host.CI.CS.eps_torque_scale == 0.66
+    assert abs(host.CP.longitudinalActuatorDelay - 0.15) < 1e-6
+    assert host.CP.safetyConfigs[0].safetyParam == (owner.STOCK_WORD if stock else owner.LONG_WORD)
+    assert safety.safety_fwd_hook(2, 0x343) == 0 and safety.safety_fwd_hook(2, 0x4CB) == 0
+    if scenario == 'physical' and (410 <= tick < 430 or 470 <= tick < 475):
+      assert host.CI.CC.last_torque == 0
+      if not stock:
+        assert host.CI.CC.standstill_req
+    if fault == 'aeb' and 270 <= tick < 300:
+      assert cs.stockAeb and not cc.latActive and not cc.longActive
+    if fault is not None and 301 <= tick < 308:
+      assert not cc.latActive and not cc.longActive and safety.aol_get_permission_mask() == 0
+    if scenario == 'identity_refusal' and tick >= 270:
+      assert parser.hardware_ambiguous
+      assert not cc.latActive and not cc.longActive and safety.aol_get_permission_mask() == 0
+      if tick >= 390:
+        assert safety.safety_config_valid(), 'all real required sources recovered, but identity must stay refused'
+
+  def rx_expected(address, data, bus, default, cp):
+    if fault is not None and fault.startswith('identity-') and tick == 275 and address == 0x262 and bus == 0:
+      from opendbc.car.toyota.toyotacan import toyota_checksum
+
+      assert owner.configured(cp) and len(data) == 8 and data[-1] != toyota_checksum(address, None, bytearray(data))
+      return False
+    if fault == 'eps-checksum' and address == 0x262 and bus == 0 and 260 <= tick < 311:
+      assert owner.configured(cp) and len(data) == 8
+      return False
+    if fault == 'main-checksum' and address == 0x1D3 and bus == 0 and 260 <= tick < 311:
+      assert owner.configured(cp) and len(data) == 8
+      return False
+    return default
+
+  original_native = helpers.native_events
+
+  def native_events(*args, **kwargs):
+    messages = original_native(*args, **kwargs)
+    if fault in ('native-identity', 'native-session') and 260 <= tick < 311:
+      original = next(event for event in messages if event.which() == 'aolSafetyWire')
+      reader = original.as_reader() if hasattr(original, 'as_reader') else original
+      wire = reader.as_builder()
+      state = decode_safety(bytes(wire.aolSafetyWire))
+      assert state is not None
+      # USB producer boundary: change identity/session only, preserving all actual native bits.
+      wrong = replace(state, safetyParam=state.safetyParam ^ 1) if fault == 'native-identity' else replace(state, axisSessionId='f' * 32)
+      wire.aolSafetyWire = encode_safety(wrong)
+      messages = [wire.as_reader() if event.which() == 'aolSafetyWire' else event for event in messages]
+    return messages
+
+  with pytest.MonkeyPatch.context() as monkeypatch:
+    if fault in ('native-identity', 'native-session'):
+      monkeypatch.setattr(helpers, 'native_events', native_events)
+    helpers.run_case(
+      stock,
+      scenario,
+      candidate=CAR.TOYOTA_PRIUS,
+      firmware_override=original_firmware(version),
+      bridge=bridge,
+      input_clock=True,
+      aol=aol,
+      sdsu_words=(owner.LONG_WORD, owner.STOCK_WORD),
+      physical_frames=physical,
+      fingerprint_frames=[(0x2FF, bytes(4), 0)] + ([(0x2FF, bytes(4), 2)] if mirror else []),
+      on_sample=observe,
+      native_rx_expected=rx_expected,
+      brake_stop_check_start=355,
+      brake_pause_mps=25.0 if fault == 'configured-brake' else None,
+    )
+
+
+@pytest.mark.parametrize('version', ORIGINAL)
+@pytest.mark.parametrize('stock', (False, True))
+def test_original_prius_advert_all_known_firmware(version, stock, host_heartbeat_bridge):
+  run(version, stock, host_heartbeat_bridge, mirror=True)
+
+
+@pytest.mark.parametrize('version', (ORIGINAL[0], next(v for v in ORIGINAL if v.startswith(b'8965B47060'))))
+@pytest.mark.parametrize('stock', (False, True))
+@pytest.mark.parametrize('scenario', ('physical', 'off', 'cold_low', 'ordinary_aol_off'))
+def test_original_prius_advert_physical_and_preferences(version, stock, scenario, host_heartbeat_bridge):
+  run(version, stock, host_heartbeat_bridge, 'nominal' if scenario == 'ordinary_aol_off' else scenario, aol=scenario != 'ordinary_aol_off', mirror=True)
+
+
+@pytest.mark.parametrize('stock', (False, True))
+@pytest.mark.parametrize(
+  'fault',
+  (
+    'main-drop',
+    'main-length',
+    'main-checksum',
+    'main-bus',
+    'eps-drop',
+    'eps-length',
+    'eps-checksum',
+    'eps-bus',
+    'eps-temporary',
+    'eps-permanent',
+    'native-identity',
+    'native-session',
+    'identity-advert',
+    'identity-pedal',
+    'identity-bus',
+    'identity-status-advert',
+    'identity-mirror-advert',
+    'identity-length',
+    'configured-brake',
+    'aeb',
+  ),
+)
+def test_original_prius_advert_actual_source_refusals(stock, fault, host_heartbeat_bridge):
+  run(ORIGINAL[0], stock, host_heartbeat_bridge, 'identity_refusal' if fault.startswith('identity-') else 'main_lease', fault=fault, mirror=True)
diff --git a/openpilot/starpilot/car/toyota/tests/test_prius_advert_ci.py b/openpilot/starpilot/car/toyota/tests/test_prius_advert_ci.py
new file mode 100644
index 0000000000..8506309deb
--- /dev/null
+++ b/openpilot/starpilot/car/toyota/tests/test_prius_advert_ci.py
@@ -0,0 +1,32 @@
+"""Prius four-byte regressions remain mandatory in serial and native CI."""
+import ast
+import json
+from pathlib import Path
+
+ROOT = Path(__file__).resolve().parents[5]
+CALLER = 'openpilot/starpilot/car/toyota/tests/test_prius_advert_callers.py'
+NATIVE = 'opendbc_repo/opendbc/safety/tests/test_toyota_prius_advert.py'
+FACTORY = 'openpilot/starpilot/car/toyota/tests/test_prius_advert_filter.py'
+
+
+def constant(name):
+  module = ast.parse((ROOT / 'tools/ci/run_vehicle_tests.py').read_text())
+  return next(ast.literal_eval(node.value) for node in module.body if isinstance(node, ast.Assign)
+              and any(isinstance(target, ast.Name) and target.id == name for target in node.targets))
+
+
+def test_prius_advert_mandatory_native_and_joined_targets():
+  lifecycle = constant('AOL_LIFECYCLE_TARGETS')
+  assert all(lifecycle.count(path) == 1 for path in (CALLER, NATIVE, FACTORY))
+  assert constant('RELEASE_TARGETS').count(NATIVE) == 1
+  assert (ROOT / NATIVE).name.startswith('test_')
+
+
+def test_prius_advert_serial_group_bounds_and_timing():
+  custom = json.loads((ROOT / 'tools/ci/custom_pytest_workloads.json').read_text())
+  lifecycle = json.loads((ROOT / 'tools/ci/lifecycle_workloads.json').read_text())
+  assert custom['independent_functions'][CALLER]['seconds_per_case'] == 4.0
+  assert lifecycle['function_groups'][CALLER]['estimated_seconds_per_case'] == 4.0
+  assert lifecycle['function_groups'][CALLER]['independent_parameters']
+  assert custom['independent_max_cases'] <= 60
+  assert custom['independent_max_seconds'] <= 240
diff --git a/openpilot/starpilot/car/toyota/tests/test_prius_advert_filter.py b/openpilot/starpilot/car/toyota/tests/test_prius_advert_filter.py
new file mode 100644
index 0000000000..f0d4b15be3
--- /dev/null
+++ b/openpilot/starpilot/car/toyota/tests/test_prius_advert_filter.py
@@ -0,0 +1,90 @@
+"""Four-byte Prius admission is independent of eight-byte status and EPS73."""
+
+import pytest
+from opendbc.can import CANPacker
+from opendbc.car import Bus, gen_empty_fingerprint, structs
+from opendbc.car.toyota import prius_advert_filter as owner
+from opendbc.car.toyota.interface import CarInterface
+from opendbc.car.toyota.values import CAR, DBC
+from openpilot.starpilot.car.toyota.tests.test_prius_sdsu_filter import original_firmware, ORIGINAL
+
+
+@pytest.mark.parametrize(
+  'bad',
+  (
+    'unknown_eps',
+    'unknown_camera',
+    'missing_eps',
+    'missing_camera',
+    'logging_eps',
+    'logging_camera',
+    'wrong_brand',
+    'wrong_fw_bus',
+    'pedal',
+    'twoaa',
+    'bus1',
+    'mixed_mirror8',
+    'bad_primary7',
+    'bad_eps5',
+    'bad_main7',
+    'retrofit47070',
+  ),
+)
+def test_original_prius_advert_refuses_unqualified_factory_sources(bad):
+  fw = original_firmware(ORIGINAL[0])
+  fp = gen_empty_fingerprint()
+  fp[0][0x2FF] = 4
+  if bad.startswith(('unknown_', 'missing_', 'logging_')):
+    ecu = structs.CarParams.Ecu.eps if bad.endswith('eps') else structs.CarParams.Ecu.fwdCamera
+    if bad.startswith('missing'):
+      fw = [item for item in fw if item.ecu != ecu]
+    else:
+      for item in fw:
+        if item.ecu == ecu:
+          if bad.startswith('unknown'):
+            item.fwVersion = b'unknown'
+          else:
+            item.logging = True
+  elif bad in ('wrong_brand', 'wrong_fw_bus'):
+    eps = next(item for item in fw if item.ecu == structs.CarParams.Ecu.eps)
+    if bad == 'wrong_brand':
+      eps.brand = 'other'
+    else:
+      eps.bus = 1
+  elif bad == 'pedal':
+    fp[0][0x201] = 6
+  elif bad == 'twoaa':
+    fp[0][0x2AA] = 8
+  elif bad == 'bus1':
+    fp[1][0x2FF] = 4
+  elif bad == 'mixed_mirror8':
+    fp[2][0x2FF] = 8
+  elif bad == 'bad_primary7':
+    fp[0][0x2FF] = 7
+  elif bad == 'bad_eps5':
+    fp[0][0x262] = 5
+  elif bad == 'bad_main7':
+    fp[0][0x1D3] = 7
+  else:
+    fw = original_firmware(owner.RETROFIT_EPS)
+  assert not owner.hardware_supported(CAR.TOYOTA_PRIUS, fp, fw)
+  cp = CarInterface.get_params(CAR.TOYOTA_PRIUS, fp, fw, True, False, False)
+  assert not owner.configured(cp) and cp.safetyConfigs[0].safetyParam not in owner.WORDS
+
+
+@pytest.mark.parametrize('address,bus,length', ((0x201, 0, 6), (0x2AA, 0, 8), (0x2FF, 1, 4), (0x2FF, 0, 8), (0x2FF, 2, 8), (0x2FF, 0, 7)))
+def test_original_prius_advert_parser_conflict_survives_source_recovery(address, bus, length):
+  packer = CANPacker(DBC[CAR.TOYOTA_PRIUS][Bus.pt])
+  parser = owner.PriusAdvertCANParser(DBC[CAR.TOYOTA_PRIUS][Bus.pt], [('PCM_CRUISE_2', 10), ('EPS_STATUS', 25)], 0)
+  main = packer.make_can_msg('PCM_CRUISE_2', 0, {'MAIN_ON': 1, 'SET_SPEED': 90})
+  eps = packer.make_can_msg('EPS_STATUS', 0, {'LKA_STATE': 1})
+  parser.update([(2_000_000_000, [main, eps, (0x2FF, bytes(4), 0), (0x2FF, bytes(4), 2)])])
+  assert parser.main_valid and parser.eps_valid and not parser.hardware_ambiguous
+  parser.update([(2_010_000_000, [(address, bytes(length), bus)])])
+  assert parser.hardware_ambiguous
+  invalid = (eps[0], eps[1][:-1] + bytes([eps[1][-1] ^ 1]), 0)
+  parser.update([(2_020_000_000, [invalid])])
+  assert parser.hardware_ambiguous and not parser.eps_valid
+  parser.update([(2_030_000_000, [main, eps, (0x2FF, bytes(4), 0)])])
+  assert parser.hardware_ambiguous and parser.main_valid and parser.eps_valid
+  assert 0x2FF not in parser.message_states and 'SDSU' not in parser.vl
diff --git a/openpilot/starpilot/car/toyota/tests/test_prius_sdsu_filter.py b/openpilot/starpilot/car/toyota/tests/test_prius_sdsu_filter.py
index df71d1d168..16eb587112 100644
--- a/openpilot/starpilot/car/toyota/tests/test_prius_sdsu_filter.py
+++ b/openpilot/starpilot/car/toyota/tests/test_prius_sdsu_filter.py
@@ -4,7 +4,7 @@ import json
 from pathlib import Path
 import pytest
 from opendbc.car import gen_empty_fingerprint, structs
-from opendbc.car.toyota import prius_sdsu, prius_longitudinal
+from opendbc.car.toyota import prius_sdsu, prius_longitudinal, prius_advert_filter
 from opendbc.car.toyota.carstate import CarState
 from opendbc.car.toyota.interface import CarInterface
 from opendbc.car.toyota.values import CAR, ToyotaFlags
@@ -28,7 +28,7 @@ def factory(version=ORIGINAL[0], *, hardware='2FF8', alpha=False, mirror=False):
   if hardware != 'none':
     fp[0][0x2FF] = int(hardware[-1])
   if mirror:
-    fp[2][0x2FF] = 8
+    fp[2][0x2FF] = int(hardware[-1])
   return CarInterface.get_params(CAR.TOYOTA_PRIUS, fp, original_firmware(version), alpha, False, False)
 
 
@@ -39,19 +39,20 @@ def test_full_factory_cp_and_numeric_tunes(label):
   alpha = alpha == 'alpha=True'
   cp = factory(version, hardware=hardware, alpha=alpha)
   expected = deepcopy(BASE[label])
-  if version in ORIGINAL and hardware == '2FF8':
+  owner = prius_sdsu if hardware == '2FF8' else prius_advert_filter
+  if version in ORIGINAL and hardware in ('2FF4', '2FF8'):
     expected['flags'] |= int(ToyotaFlags.HYBRID | ToyotaFlags.LONG_FILTER | ToyotaFlags.RAISED_ACCEL_LIMIT)
     expected['openpilotLongitudinalControl'] = True
-    expected['safetyConfigs'][0]['safetyParam'] = prius_sdsu.LONG_WORD
-    assert prius_sdsu.configured(cp) and prius_longitudinal.enabled(cp)
-    assert factory(version, alpha=alpha, mirror=True).to_dict() == cp.to_dict()
+    expected['safetyConfigs'][0]['safetyParam'] = owner.LONG_WORD
+    assert owner.configured(cp) and prius_longitudinal.enabled(cp)
+    assert factory(version, hardware=hardware, alpha=alpha, mirror=True).to_dict() == cp.to_dict()
     assert CarState(cp).eps_torque_scale == .66
     actual = cp.to_dict()
     assert actual == expected
     assert prius_longitudinal.prepare_stock(cp)
     expected['openpilotLongitudinalControl'] = False
-    expected['safetyConfigs'][0]['safetyParam'] = prius_sdsu.STOCK_WORD
-    assert cp.to_dict() == expected and prius_sdsu.configured(cp)
+    expected['safetyConfigs'][0]['safetyParam'] = owner.STOCK_WORD
+    assert cp.to_dict() == expected and owner.configured(cp)
     assert CarState(cp).eps_torque_scale == .66
   else:
     assert not prius_sdsu.configured(cp)
diff --git a/prebuilt.json b/prebuilt.json
index e76a14e17c..af7a04cc2d 100644
--- a/prebuilt.json
+++ b/prebuilt.json
@@ -1 +1 @@
-{"protected_inventory_sha256": "fb0f5469122a7bb2cf29f71b69a3d32709e54a94cdcb04026548828be6185226", "schema_version": 1}
+{"protected_inventory_sha256": "01e53e88a4f6bfbe1d3b7f4adca886a6636e20b3bf058cf2d1b0e4c2df362902", "schema_version": 1}
diff --git a/tools/ci/custom_pytest_shards.py b/tools/ci/custom_pytest_shards.py
index a8709e30d6..59f88ed266 100644
--- a/tools/ci/custom_pytest_shards.py
+++ b/tools/ci/custom_pytest_shards.py
@@ -19,6 +19,7 @@ HEAVY_MODULES = {
   'openpilot/starpilot/car/toyota/tests/test_camera_2aa_callers.py',
   'openpilot/starpilot/car/toyota/tests/test_advert_filter_callers.py',
   'openpilot/starpilot/car/toyota/tests/test_prius_sdsu_callers.py',
+  'openpilot/starpilot/car/toyota/tests/test_prius_advert_callers.py',
   'openpilot/starpilot/car/toyota/tests/test_legacy_sdsu_callers.py',
   'openpilot/starpilot/car/toyota/tests/test_2aa_forwarded_copy_callers.py',
 }
diff --git a/tools/ci/custom_pytest_workloads.json b/tools/ci/custom_pytest_workloads.json
index ebca161ee9..5000349dd8 100644
--- a/tools/ci/custom_pytest_workloads.json
+++ b/tools/ci/custom_pytest_workloads.json
@@ -150,6 +150,10 @@
       "basis": "6d hosted shard8: 205/240 cases completed in587.445481209 phase seconds before whole-shard900s cutoff; Fresh per-case caller/native state and cleanup source-verified; full in-case timeline remains unchanged.",
       "seconds_per_case": 4.0
     },
+    "openpilot/starpilot/car/toyota/tests/test_prius_advert_callers.py": {
+      "basis": "Scheduling estimate4s/case; all132 mirror caller cases actually passed across eight bounded debug/release phases; worst20case phase55.81s. Fresh per-case Params/rawCAN/native configuration/C++ reset and cleanup reviewed; no shared outcomes; full in-case timelines retained.",
+      "seconds_per_case": 4.0
+    },
     "openpilot/starpilot/car/toyota/tests/test_prius_sdsu_callers.py": {
       "basis": "90 actual DEBUG/RELEASE caller cases passed in four bounded phases (186.885s combined wall time including startup). Scheduling estimate 3s/case; fresh per-case Params, raw CAN, native configuration and C++ host reset; no shared outcome dependence.",
       "seconds_per_case": 3.0
diff --git a/tools/ci/lifecycle_shards.py b/tools/ci/lifecycle_shards.py
index 028e77586a..e0c6ef9464 100644
--- a/tools/ci/lifecycle_shards.py
+++ b/tools/ci/lifecycle_shards.py
@@ -93,7 +93,8 @@ def workload_policy():
   if policy['version'] != 1 or set(policy['function_groups']) != {
       'openpilot/starpilot/car/toyota/tests/test_legacy_advert_callers.py',
       'openpilot/starpilot/car/toyota/tests/test_camera_2aa_callers.py',
-      'openpilot/starpilot/car/toyota/tests/test_prius_sdsu_callers.py'}:
+      'openpilot/starpilot/car/toyota/tests/test_prius_sdsu_callers.py',
+      'openpilot/starpilot/car/toyota/tests/test_prius_advert_callers.py'}:
     raise ValueError('Unreviewed lifecycle function grouping policy')
   if type(policy['independent_function_max_cases']) is not int or not 1 <= policy['independent_function_max_cases'] <= 60:
     raise ValueError('Invalid independent function group size')
diff --git a/tools/ci/lifecycle_workloads.json b/tools/ci/lifecycle_workloads.json
index f11bcc6686..cebfc45598 100644
--- a/tools/ci/lifecycle_workloads.json
+++ b/tools/ci/lifecycle_workloads.json
@@ -10,6 +10,11 @@
       "estimated_seconds_per_case": 4.0,
       "independent_parameters": true
     },
+    "openpilot/starpilot/car/toyota/tests/test_prius_advert_callers.py": {
+      "basis": "Scheduling estimate4s/case; all132 mirror caller cases actually passed across eight bounded debug/release phases; worst20case phase55.81s. Fresh per-case Params/rawCAN/native configuration/C++ reset and cleanup reviewed; no shared outcomes; full in-case timelines retained.",
+      "estimated_seconds_per_case": 4.0,
+      "independent_parameters": true
+    },
     "openpilot/starpilot/car/toyota/tests/test_prius_sdsu_callers.py": {
       "basis": "90 actual DEBUG/RELEASE caller cases passed in four bounded phases (186.885s combined wall time including startup). Scheduling estimate 3s/case; fresh per-case Params, raw CAN, native configuration and C++ host reset; no shared outcome dependence.",
       "estimated_seconds_per_case": 3.0,
diff --git a/tools/ci/run_vehicle_tests.py b/tools/ci/run_vehicle_tests.py
index 486b5eae61..bbf79152fd 100644
--- a/tools/ci/run_vehicle_tests.py
+++ b/tools/ci/run_vehicle_tests.py
@@ -100,6 +100,10 @@ AOL_LIFECYCLE_TARGETS = (
   "openpilot/starpilot/car/toyota/tests/test_prius_sdsu_filter.py",
   "openpilot/starpilot/car/toyota/tests/test_prius_sdsu_callers.py",
   "opendbc_repo/opendbc/safety/tests/test_toyota_prius_sdsu.py",
+  "openpilot/starpilot/car/toyota/tests/test_prius_advert_filter.py",
+  "openpilot/starpilot/car/toyota/tests/test_prius_advert_callers.py",
+  "opendbc_repo/opendbc/safety/tests/test_toyota_prius_advert.py",
+  "openpilot/starpilot/car/toyota/tests/test_prius_advert_ci.py",
   "openpilot/starpilot/car/toyota/tests/test_legacy_advert_filter.py",
   "openpilot/starpilot/car/toyota/tests/test_legacy_advert_callers.py",
   "openpilot/starpilot/car/toyota/tests/test_legacy_advert_native.py",
@@ -191,6 +195,7 @@ DEBUG_SAFETY_CLASS_TARGETS = {
 
 
 RELEASE_TARGETS = (
+  "opendbc_repo/opendbc/safety/tests/test_toyota_prius_advert.py",
   'opendbc_repo/opendbc/safety/tests/test_hyundai_gv60_long.py::TestGV60LongReleaseDenied',
   'openpilot/starpilot/tests/test_ford_configuration_parity.py',
   'openpilot/starpilot/tests/test_ford_configuration_admission.py',