EV6

hackathon
2026-09-18 05:23:57 +08:00 · 2026-09-17 08:33:35 -05:00 · 2026-09-17 08:33:10 -05:00 · 2026-09-16 13:12:42 -05:00 · 2026-09-16 12:20:32 -05:00 · 2026-09-16 12:19:59 -05:00
218 changed files with 6520 additions and 2067 deletions
@@ -152,7 +152,8 @@ class FrequencyTracker:
 class SubMaster:
  def __init__(self, services: List[str], poll: Optional[str] = None,
               ignore_alive: Optional[List[str]] = None, ignore_avg_freq: Optional[List[str]] = None,
-               ignore_valid: Optional[List[str]] = None, addr: str = "127.0.0.1", frequency: Optional[float] = None):
+               ignore_valid: Optional[list[str]] = None, addr: str = "127.0.0.1", frequency: Optional[float] = None,
+               drain_services: list[str] | None = None):
    self.frame = -1
    self.services = services
    self.seen = {s: False for s in services}
@@ -160,6 +161,9 @@ class SubMaster:
    self.recv_time = {s: 0. for s in services}
    self.recv_frame = {s: 0 for s in services}
    self.sock = {}
+    self.drained = {s: [] for s in (drain_services or [])}
+    if not self.drained.keys() <= set(services):
+      raise ValueError("Drained services must be subscribed")
    self.data = {}
    self.logMonoTime = {s: 0 for s in services}

@@ -187,7 +191,7 @@ class SubMaster:

    for s in services:
      p = self.poller if s not in self.non_polled_services else None
-      self.sock[s] = sub_sock(s, poller=p, addr=addr, conflate=True)
+      self.sock[s] = sub_sock(s, poller=p, addr=addr, conflate=s not in self.drained)

      try:
        data = new_message(s)
@@ -207,14 +211,28 @@ class SubMaster:
  def _check_avg_freq(self, s: str) -> bool:
    return SERVICE_LIST[s].frequency > 0.99 and (s not in self.ignore_average_freq) and (s not in self.ignore_alive)

+  def _recv_socket(self, sock):
+    message = recv_one_or_none(sock)
+    if not self.drained or message is None:
+      return message
+    # Native Poller returns fresh socket wrappers; identify the service by data.
+    service = message.which()
+    if service not in self.drained:
+      return message
+    # Preserve event edges for observers, but update state/frequency only once.
+    self.drained[service] = [message, *drain_sock(sock)]
+    return self.drained[service][-1]
+
  def update(self, timeout: int = 100) -> None:
+    for service in self.drained:
+      self.drained[service] = []
    msgs = []
    for sock in self.poller.poll(timeout):
-      msgs.append(recv_one_or_none(sock))
+      msgs.append(self._recv_socket(sock))

    # non-blocking receive for non-polled sockets
    for s in self.non_polled_services:
-      msgs.append(recv_one_or_none(self.sock[s]))
+      msgs.append(self._recv_socket(self.sock[s]))
    self.update_msgs(time.monotonic(), msgs)

  def update_msgs(self, cur_time: float, msgs: List[capnp.lib.capnp._DynamicStructReader]) -> None:
@@ -262,6 +280,7 @@ class SubMaster:
      ignore_valid=self.ignore_valid,
      addr=self.addr,
      frequency=None if self.poll is not None else self.update_freq,
+      drain_services=list(self.drained),
    )


@@ -1,5 +1,6 @@
 import random
 import time
+import pytest
 from typing import Sized, cast

 import cereal.messaging as messaging
@@ -16,6 +17,29 @@ class TestSubMaster:
    # sleep to prevent multiple publishers error between tests
    zmq_sleep(3)

+  @pytest.mark.parametrize("poll", [None, "deviceState"])
+  def test_drain_preserves_short_events_with_native_socket_wrappers(self, poll):
+    pub = messaging.PubMaster(["carState", "deviceState"])
+    sm = messaging.SubMaster(["carState", "deviceState"], poll=poll, drain_services=["carState"])
+    zmq_sleep()
+    pressed = messaging.new_message("carState", valid=True)
+    button = pressed.carState.init("buttonEvents", 1)[0]
+    button.type, button.pressed = "accelCruise", True
+    pub.send("carState", pressed)
+    latest = messaging.new_message("carState", valid=True)
+    latest.carState.vEgo = 12.0
+    pub.send("carState", latest)
+    pub.send("deviceState", messaging.new_message("deviceState", valid=True))
+    sm.update(1000)
+    assert len(sm.drained["carState"]) == 2
+    assert sm.drained["carState"][0].carState.buttonEvents[0].pressed
+    assert sm["carState"].vEgo == 12.0 and not sm["carState"].buttonEvents
+    assert sm.logMonoTime["carState"] == latest.logMonoTime
+    assert sm.frame == 0 and all(sm.updated.values())
+    sm.update(0)
+    assert sm.drained["carState"] == []
+    assert sm.frame == 1 and not any(sm.updated.values())
+
  def test_init(self):
    sm = messaging.SubMaster(events)
    for p in [sm.updated, sm.recv_time, sm.recv_frame, sm.alive,
@@ -625,6 +625,10 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"RotatingWheel", {PERSISTENT, BOOL, "1", "0", 1, SETTINGS_SIMPLE}},
    {"ScreenBrightness", {PERSISTENT, INT, "101", "101", 2, SETTINGS_SIMPLE}},
    {"ScreenBrightnessOnroad", {PERSISTENT, INT, "101", "101", 2, SETTINGS_SIMPLE}},
+    {"ScreenBrightnessManual", {PERSISTENT, INT, "100", "100", 2, SETTINGS_SIMPLE}},
+    {"ScreenBrightnessOffset", {PERSISTENT, INT, "0", "0", 2, SETTINGS_SIMPLE}},
+    {"ScreenBrightnessOnroadManual", {PERSISTENT, INT, "100", "100", 2, SETTINGS_SIMPLE}},
+    {"ScreenBrightnessOnroadOffset", {PERSISTENT, INT, "0", "0", 2, SETTINGS_SIMPLE}},
    {"ScreenManagement", {PERSISTENT, BOOL, "1", "0", 1, SETTINGS_SIMPLE}},
    {"ScreenRecorder", {PERSISTENT, BOOL, "1", "0", 2, SETTINGS_SIMPLE}},
    {"ScreenTimeout", {PERSISTENT, INT, "30", "30", 2, SETTINGS_SIMPLE}},
@@ -696,6 +700,14 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"StandardJerkSpeed", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
    {"StandardJerkSpeedDecrease", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
    {"StandbyMode", {PERSISTENT, BOOL, "0", "0", 1, SETTINGS_SIMPLE}},
+    {"StandbyWakeButton", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
+    {"StandbyButtonPressTime", {CLEAR_ON_MANAGER_START | DONT_LOG, INT, "0", "0"}},
+    {"StandbyWakeEngage", {PERSISTENT, BOOL, "1", "1", 2, SETTINGS_SIMPLE}},
+    {"StandbyWakeDisengage", {PERSISTENT, BOOL, "1", "1", 2, SETTINGS_SIMPLE}},
+    {"StandbyWakeInfoAlert", {PERSISTENT, BOOL, "1", "1", 2, SETTINGS_SIMPLE}},
+    {"StandbyWakeWarningAlert", {PERSISTENT, BOOL, "1", "1", 2, SETTINGS_SIMPLE}},
+    {"StandbyWakeCriticalAlert", {PERSISTENT, BOOL, "1", "1", 2, SETTINGS_SIMPLE}},
+    {"StandbyWakeTurnSignal", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
    {"StartAccel", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
    {"StartAccelStock", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
    {"StartupMessageBottom", {PERSISTENT, STRING, "Always keep hands on wheel and eyes on road", "Always keep hands on wheel and eyes on road", 0}},
@@ -1,3 +1,4 @@
 include opendbc/car/car.capnp
 include opendbc/car/include/c++.capnp
+include opendbc/dbc/hyundai_kia_ray_pedal.dbc
 recursive-include opendbc/safety *.h
@@ -90,6 +90,7 @@ class Bus(StrEnum):
  main = auto()
  party = auto()
  ap_party = auto()
+  ap_pt = auto()


 def rate_limit(new_value, last_value, dw_step, up_step):
@@ -4,7 +4,7 @@ from dataclasses import dataclass
 # hkg-angle-steering-2025 branch at cc4b08625. See CREDITS.md and THIRD_PARTY_NOTICES.md.
 import numpy as np
 from opendbc.can import CANPacker
-from opendbc.car import Bus, DT_CTRL, make_tester_present_msg, rate_limit, structs
+from opendbc.car import Bus, DT_CTRL, create_gas_interceptor_command, make_tester_present_msg, rate_limit, structs
 from opendbc.car.common.filter_simple import FirstOrderFilter
 from opendbc.car.lateral import apply_driver_steer_torque_limits, apply_steer_angle_limits_vm, common_fault_avoidance, get_max_angle_delta_vm, get_max_angle_vm
 from opendbc.car.common.conversions import Conversions as CV
@@ -17,7 +17,7 @@ from opendbc.car.hyundai.values import HyundaiFlags, HyundaiSafetyFlags, Hyundai
 from opendbc.car.interfaces import CarControllerBase
 from opendbc.car.vehicle_model import VehicleModel
 from openpilot.common.params import Params
-from openpilot.selfdrive.controls.lib.longitudinal_vehicle_tunes import get_hyundai_canfd_scc_jerk_limits
+from openpilot.selfdrive.controls.lib.longitudinal_vehicle_tunes import get_hyundai_canfd_scc_jerk_limits, shape_hyundai_canfd_scc_accel
 from openpilot.starpilot.common.testing_grounds import testing_ground

 VisualAlert = structs.CarControl.HUDControl.VisualAlert
@@ -42,6 +42,9 @@ IONIQ_6_RESPONSE_MULTIPLIER = 1.2
 IONIQ_6_CANFD_SCC_ACCEL_STEP = (6.0 / 50.0) * IONIQ_6_RESPONSE_MULTIPLIER
 IONIQ_6_CANFD_SCC_DECEL_STEP = (15.0 / 50.0) * IONIQ_6_RESPONSE_MULTIPLIER
 EV9_CANFD_SCC_DECEL_STEP = 10.0 / 50.0
+RAY_PEDAL_COMMAND_CAP = 0.35  # Ray firmware voltage scaling is route-derived; validate before raising.
+RAY_PEDAL_RATE_UP = 0.012     # per 25 Hz command (0.30 normalized pedal per second)
+RAY_PEDAL_RATE_DOWN = 0.06
 GENESIS_G90_STOP_HOLD_SPEED_BP = [0.0, 0.03, 0.08, 0.16, 0.3, 0.5, 0.8, 1.2, 2.0, 3.0]
 GENESIS_G90_STOP_HOLD_ACCEL_V = [-0.10, -0.10, -0.12, -0.18, -0.30, -0.50, -0.75, -1.00, -1.40, -1.80]
 GENESIS_G90_STOP_HOLD_RELAX_SPEED_BP = [0.0, 0.08, 0.16, 0.3, 0.5, 0.8, 1.2, 2.0, 3.0]
@@ -485,6 +488,9 @@ class CarController(CarControllerBase):
      CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.CAN_REFRESH_MSGS
    )
    self._ray_lfa_packer = CANPacker("hyundai_kia_ray_lfa") if self._ray_lfa_8byte else None
+    self._ray_pedal = CP.carFingerprint == CAR.KIA_RAY_EV and CP.enableGasInterceptorDEPRECATED
+    self._ray_pedal_packer = CANPacker("hyundai_kia_ray_pedal") if self._ray_pedal else None
+    self._ray_pedal_gas_last = 0.0

  def _update_dash_icon_state(self, CC):
    if CC.latActive:
@@ -776,6 +782,7 @@ class CarController(CarControllerBase):
    if blended_hda2:
      can_sends.extend(hyundaicanfd.create_steering_messages(
        self.packer, self.CP, self.CAN, CC.enabled, apply_steer_req, apply_torque, 0.0,
+        lka_icon=lka_icon,
        longitudinal_active=longitudinal_active,
      ))
      if self.long_active_ecu:
@@ -786,6 +793,7 @@ class CarController(CarControllerBase):
          left_lane_warning, right_lane_warning, CS.msg_364,
          include_alerts=False,
          counter_mod=0xF,
+          fcw_opt_usm=2 if apply_steer_req or lka_icon == 3 else 1,
        ))
      if self.frame % 5 == 0:
        can_sends.append(hyundaicanfd.create_suppress_lfa(
@@ -811,7 +819,11 @@ class CarController(CarControllerBase):
    if not self.long_active_ecu:
      if self.cancel_counter > CANCEL_BUTTON_DELAY_FRAMES:
        can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP))
-      elif CC.cruiseControl.resume:
+      elif self._ray_pedal and CC.longActive and CS.out.cruiseState.enabled:
+        if (self.frame - self.last_button_frame) * DT_CTRL > 0.1:
+          can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP))
+          self.last_button_frame = self.frame
+      elif CC.cruiseControl.resume and not self._ray_pedal:
        # send resume at a max freq of 10Hz
        if (self.frame - self.last_button_frame) * DT_CTRL > 0.1:
          # send 25 messages at a time to increases the likelihood of resume being accepted
@@ -819,7 +831,24 @@ class CarController(CarControllerBase):
          if (self.frame - self.last_button_frame) * DT_CTRL >= 0.15:
            self.last_button_frame = self.frame
      else:
-        can_sends.extend(self._create_can_redneck_button_messages(CS))
+        if not self._ray_pedal:
+          can_sends.extend(self._create_can_redneck_button_messages(CS))
+
+    if self._ray_pedal and self.frame % 4 == 0:
+      pedal_ready = CS.ray_pedal_valid and CS.ray_pedal_state == 0
+      pedal_active = (CC.longActive and pedal_ready and not CC.cruiseControl.override and
+                      not CS.out.gasPressed and not CS.out.brakePressed and
+                      not CS.out.cruiseState.enabled and CS.out.vEgo >= self.CP.minEnableSpeed)
+      if pedal_active:
+        target = float(np.clip(accel / CarControllerParams.ACCEL_MAX * RAY_PEDAL_COMMAND_CAP,
+                               0.0, RAY_PEDAL_COMMAND_CAP))
+        self._ray_pedal_gas_last = rate_limit(
+          target, self._ray_pedal_gas_last, -RAY_PEDAL_RATE_DOWN, RAY_PEDAL_RATE_UP,
+        )
+      else:
+        self._ray_pedal_gas_last = 0.0
+      can_sends.append(create_gas_interceptor_command(
+        self._ray_pedal_packer, self._ray_pedal_gas_last, (self.frame // 4) & 0xF))

    if self.long_active_ecu and can_canfd_blended:
      if blended_hda2:
@@ -1004,7 +1033,9 @@ class CarController(CarControllerBase):
            left_sound_active=left_warning.sound_active, right_sound_active=right_warning.sound_active,
          )
        else:
-          adrv_messages = hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame)
+          adrv_messages = hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame,
+                                                             car_fingerprint=self.CP.carFingerprint,
+                                                             drive_gear=drive_gear)
        can_sends.extend(adrv_messages)
        # The front radar treats ADAS_DRV's 0x100 broadcast as its host heartbeat
        # and stops publishing object tracks when it disappears.
@@ -1035,8 +1066,14 @@ class CarController(CarControllerBase):
      if self.frame % 2 == 0:
        lead_visible, lead_distance, lead_rel_speed = self._get_canfd_scc_lead_state(CC, CS, now_nanos)
        if self.CP.carFingerprint == CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN:
-          scc_jerk_limits = get_hyundai_canfd_scc_jerk_limits(self.CP)
+          scc_jerk_limits = get_hyundai_canfd_scc_jerk_limits(self.CP, stopping, accel)
+          raw_accel = accel
+          accel = shape_hyundai_canfd_scc_accel(
+            self.CP, CC.enabled, CC.cruiseControl.override, stopping, accel, self.accel_last,
+          )
          acc_kwargs = {
+            "direct_accel": True,
+            "raw_accel": raw_accel,
            "jerk_upper": scc_jerk_limits[0],
            "jerk_lower": scc_jerk_limits[1],
            "lead_distance": lead_distance,
@@ -138,6 +138,9 @@ class CarState(CarStateBase):
    self.buttons_counter = 0
    self.main_cruise_on = False
    self.main_cruise_tracking = bool(getattr(FPCP, "flags", 0) & HyundaiStarPilotFlags.MAIN_CRUISE_STATE_TRACKING)
+    if CP.carFingerprint == CAR.KIA_RAY_EV:
+      self.ray_pedal_state = 5
+      self.ray_pedal_valid = False

    self.cruise_info = {}
    self.msg_161 = {}
@@ -300,6 +303,7 @@ class CarState(CarStateBase):
    cp = can_parsers[Bus.pt]
    cp_cam = can_parsers[Bus.cam]
    cp_alt = can_parsers.get(Bus.alt)
+    cp_pedal = can_parsers.get(Bus.party)

    if self.CP.flags & HyundaiFlags.CANFD:
      return self.update_canfd(can_parsers)
@@ -393,6 +397,11 @@ class CarState(CarStateBase):
    ret.espDisabled = cp.vl["TCS11"]["TCS_PAS"] == 1
    ret.espActive = cp.vl["TCS11"]["ABS_ACT"] == 1
    ret.accFaulted = False if no_scc else cp.vl["TCS13"]["ACCEnable"] != 0  # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
+    if self.CP.carFingerprint == CAR.KIA_RAY_EV and self.CP.enableGasInterceptorDEPRECATED:
+      self.ray_pedal_valid = bool(cp_pedal is not None and cp_pedal.can_valid and
+                                  cp_pedal.ts_nanos["GAS_SENSOR"]["STATE"] > 0)
+      self.ray_pedal_state = int(cp_pedal.vl["GAS_SENSOR"]["STATE"]) if cp_pedal is not None else 5
+      ret.accFaulted = not self.ray_pedal_valid or self.ray_pedal_state != 0

    if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV | HyundaiFlags.FCEV):
      if self.CP.flags & HyundaiFlags.FCEV:
@@ -404,6 +413,12 @@ class CarState(CarStateBase):
    else:
      ret.gasPressed = bool(cp.vl["EMS16"]["CF_Ems_AclAct"])

+    if self.CP.carFingerprint == CAR.KIA_RAY_EV and self.CP.enableGasInterceptorDEPRECATED and self.ray_pedal_valid:
+      driver_pedal = cp_pedal.vl_raw["GAS_SENSOR"]
+      track1 = int.from_bytes(driver_pedal[:2], "big")
+      track2 = int.from_bytes(driver_pedal[2:4], "big")
+      ret.gasPressed = track1 > 272 or track2 > 513
+
    # Gear Selection via Cluster - For those Kia/Hyundai which are not fully discovered, we can use the Cluster Indicator for Gear Selection,
    # as this seems to be standard over all cars, but is not the preferred method.
    if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV):
@@ -748,4 +763,6 @@ class CarState(CarStateBase):
    }
    if CP.carFingerprint in ALT_BUS_LDA_BUTTON_CARS:
      parsers[Bus.alt] = CANParser(DBC[CP.carFingerprint][Bus.pt], [("CLU13", 0)], 1)
+    if CP.carFingerprint == CAR.KIA_RAY_EV and CP.enableGasInterceptorDEPRECATED:
+      parsers[Bus.party] = CANParser("hyundai_kia_ray_pedal", [("GAS_SENSOR", 50)], 0)
    return parsers
@@ -52,7 +52,7 @@ def create_lkas11(packer, frame, CP, apply_torque, steer_req,
    # FcwOpt_USM 2 = Green car + lanes
    # FcwOpt_USM 1 = White car + lanes
    # FcwOpt_USM 0 = No car + lanes
-    values["CF_Lkas_FcwOpt_USM"] = lka_icon if CP.carFingerprint == CAR.GENESIS_G70_2020 else 2 if enabled else 1
+    values["CF_Lkas_FcwOpt_USM"] = lka_icon

    # SysWarning 4 = keep hands on wheel
    # SysWarning 5 = keep hands on wheel (red)
@@ -129,13 +129,13 @@ def create_lkas11_can_canfd_blended(packer, frame, CP, apply_steer, steer_req,
                                    torque_fault, lkas11, sys_warning, sys_state, enabled,
                                    left_lane, right_lane,
                                    left_lane_depart, right_lane_depart, msg_364,
-                                    include_alerts=True, counter_mod=0x10):
+                                    include_alerts=True, counter_mod=0x10, fcw_opt_usm=None):
  bus = CanBus(CP).ECAN
  values = {
    "CF_Lkas_LdwsActivemode": int(left_lane) + (int(right_lane) << 1),
    "CF_Lkas_LdwsLHWarning": left_lane_depart,
    "CF_Lkas_LdwsRHWarning": right_lane_depart,
-    "CF_Lkas_FcwOpt_USM": 2 if enabled else 1,
+    "CF_Lkas_FcwOpt_USM": (2 if enabled else 1) if fcw_opt_usm is None else fcw_opt_usm,
    "CR_Lkas_StrToqReq": apply_steer,
    "CF_Lkas_ActToi": steer_req,
    "CF_Lkas_ToiFlt": torque_fault,
@@ -8,6 +8,34 @@ from opendbc.car.crc import CRC16_XMODEM
 from opendbc.car.hyundai.values import HyundaiFlags, CAR, CANFD_ALT_BUTTONS_RESUME_CAR


+_adrv_0x51_templates: dict[CAR, bytes] = {}
+
+
+def cache_adrv_0x51_template(car_fingerprint: CAR, dat: bytes | None) -> None:
+  if car_fingerprint != CAR.KIA_EV6:
+    return
+
+  if dat is None:
+    _adrv_0x51_templates.pop(car_fingerprint, None)
+  elif len(dat) == 32 and any(dat[3:]):
+    _adrv_0x51_templates[car_fingerprint] = bytes(dat)
+
+
+def create_adrv_0x51(packer, CAN, frame: int, car_fingerprint: CAR | None = None, drive_gear: bool = False):
+  template = _adrv_0x51_templates.get(car_fingerprint)
+  if template is None:
+    return packer.make_can_msg("ADRV_0x51", CAN.ACAN, {})
+
+  # EV6 MRR30 tracks stop when the ADAS takeover replaces this platform payload with zeros.
+  dat = bytearray(template)
+  dat[2] = (template[2] + frame + 1) & 0xFF
+  dat[3] = (dat[3] & ~0x1) | int(drive_gear)
+  crc = hkg_can_fd_checksum(0x51, None, dat)
+  dat[0] = crc & 0xFF
+  dat[1] = (crc >> 8) & 0xFF
+  return CanData(0x51, bytes(dat), CAN.ACAN)
+
+
 def _set_value(msg: bytearray, sig, ival: int) -> None:
  i = sig.lsb // 8
  bits = sig.size
@@ -704,13 +732,13 @@ def create_ioniq_6_cluster_lane_change_messages(CAN, frame, side=None):

 def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_override, set_speed, hud_control,
                       main_mode_acc=1, jerk_lower=None, jerk_upper=None, direct_accel=False,
-                       lead_distance=None, lead_rel_speed=None, lead_visible=None, cruise_info=None):
+                       lead_distance=None, lead_rel_speed=None, lead_visible=None, cruise_info=None, raw_accel=None):
  jerk = 5
  jn = jerk / 50
  if not enabled or gas_override:
    a_val, a_raw = 0, 0
  elif direct_accel:
-    a_raw = accel
+    a_raw = accel if raw_accel is None else raw_accel
    a_val = accel
  else:
    a_raw = accel
@@ -788,15 +816,13 @@ def create_fca_warning_light(packer, CAN, frame):
  return ret


-def create_adrv_messages(packer, CAN, frame, blended_hda2=False):
+def create_adrv_messages(packer, CAN, frame, blended_hda2=False, car_fingerprint=None, drive_gear=False):
  # messages needed to car happy after disabling
  # the ADAS Driving ECU to do longitudinal control

  ret = []

-  values = {
-  }
-  ret.append(packer.make_can_msg("ADRV_0x51", CAN.ACAN, values))
+  ret.append(create_adrv_0x51(packer, CAN, frame, car_fingerprint, drive_gear))

  if blended_hda2:
    return ret
@@ -2,6 +2,7 @@ import time
 # Provenance: portions of HKG angle integration are adapted from sunnypilot/opendbc's
 # hkg-angle-steering-2025 branch at cc4b08625. See CREDITS.md and THIRD_PARTY_NOTICES.md.
 from opendbc.car import get_safety_config, structs, uds
+from opendbc.car.hyundai import hyundaicanfd
 from opendbc.car.hyundai.hyundaicanfd import CanBus
 from opendbc.car.hyundai.values import HyundaiFlags, CAR, CarControllerParams, \
                                                   CANFD_UNSUPPORTED_LONGITUDINAL_CAR, \
@@ -43,6 +44,7 @@ ENABLE_BUTTONS = (ButtonType.accelCruise, ButtonType.decelCruise, ButtonType.can
 ECU_DISABLE_TIMESTAMP = 0.0
 KONA_NON_SCC_FCA_RADAR_ADDR = 0x602
 KIA_EV9_ACCEL_MAX = 2.2
+RAY_PEDAL_SENSOR_ADDR = 0x201


 def apply_platform_longitudinal_params(ret: structs.CarParams) -> None:
@@ -302,6 +304,18 @@ class CarInterface(CarInterfaceBase):
    elif ret.flags & HyundaiFlags.FCEV:
      ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.FCEV_GAS.value

+    if (candidate == CAR.KIA_RAY_EV and fingerprint[0].get(RAY_PEDAL_SENSOR_ADDR) == 6 and
+        ret.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.CAN_REFRESH_MSGS and
+        ret.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.HAS_LDA_BUTTON):
+      ret.enableGasInterceptorDEPRECATED = True
+      ret.alphaLongitudinalAvailable = True
+      ret.openpilotLongitudinalControl = True
+      ret.pcmCruise = False
+      ret.radarUnavailable = True
+      ret.autoResumeSng = False
+      ret.minEnableSpeed = 5.0  # pedal-only: no commanded friction brake/standstill hold
+      ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.LONG.value
+
    # Car specific configuration overrides

    if candidate == CAR.GENESIS_G90:
@@ -378,11 +392,25 @@ class CarInterface(CarInterfaceBase):
        skip_disable_ecu = True

      if not skip_disable_ecu:
+        disable_can_recv = can_recv
+        if CP.carFingerprint == CAR.KIA_EV6 and can_recv is not None:
+          hyundaicanfd.cache_adrv_0x51_template(CP.carFingerprint, None)
+          base_can_recv = can_recv
+          adrv_bus = CanBus(CP).ACAN
+
+          def disable_can_recv(*args, **kwargs):
+            packets = base_can_recv(*args, **kwargs)
+            for packet in packets or []:
+              for msg in packet:
+                if msg.src == adrv_bus and msg.address == 0x51:
+                  hyundaicanfd.cache_adrv_0x51_template(CP.carFingerprint, msg.dat)
+            return packets
+
        # Try ECU disable. If it succeeds (IGN-ON mode), enable longitudinal.
        # If it fails (READY mode returns NRC 0x22, or timeout), strip LONG safety flag
        # so panda forwards stock SCC messages normally (lateral-only mode).
        ecu_log(f"=== ECU DISABLE attempt: addr=0x{addr:x}, bus={bus} ===")
-        ecu_disabled = disable_ecu(can_recv, can_send, bus=bus, addr=addr, com_cont_req=communication_control,
+        ecu_disabled = disable_ecu(disable_can_recv, can_send, bus=bus, addr=addr, com_cont_req=communication_control,
                                   reset=bool(CP.flags & HyundaiFlags.CAN_CANFD_BLENDED))

        if CP.carFingerprint in (CAR.HYUNDAI_IONIQ_6, CAR.HYUNDAI_IONIQ_5_PE):
@@ -149,6 +149,60 @@ class TestHyundaiFingerprint:

    assert get_communication_control_request(CAR.HYUNDAI_IONIQ_6) == radar_keepalive_request

+  def test_ev6_adrv_0x51_replays_factory_payload(self):
+    CP = CarParams.new_message()
+    CP.carFingerprint = CAR.KIA_EV6
+    CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.CANFD_LKA_STEERING | HyundaiFlags.EV)
+    packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
+    can_bus = CanBus(CP)
+    factory = bytes.fromhex("88ed2e091700ffff5e0d0000012006ff021c2200000000000800000010000000")
+
+    hyundaicanfd.cache_adrv_0x51_template(CAR.KIA_EV6, factory)
+    try:
+      address, dat, bus = hyundaicanfd.create_adrv_0x51(packer, can_bus, 7, CAR.KIA_EV6, drive_gear=True)
+      _, parked_dat, _ = hyundaicanfd.create_adrv_0x51(packer, can_bus, 8, CAR.KIA_EV6, drive_gear=False)
+      _, other_dat, _ = hyundaicanfd.create_adrv_0x51(packer, can_bus, 7, CAR.HYUNDAI_IONIQ_6)
+    finally:
+      hyundaicanfd.cache_adrv_0x51_template(CAR.KIA_EV6, None)
+
+    assert address == 0x51
+    assert bus == can_bus.ACAN
+    assert dat[2] == (factory[2] + 8) & 0xFF
+    assert dat[3:] == factory[3:]
+    assert int.from_bytes(dat[:2], "little") == hkg_can_fd_checksum(address, None, bytearray(dat))
+    assert parked_dat[3] == factory[3] & ~0x1
+    assert parked_dat[4:] == factory[4:]
+    assert int.from_bytes(parked_dat[:2], "little") == hkg_can_fd_checksum(address, None, bytearray(parked_dat))
+    assert other_dat[3:] == bytes(29)
+
+  def test_ev6_init_captures_factory_adrv_0x51(self, monkeypatch):
+    fingerprint = gen_empty_fingerprint()
+    fingerprint[CanBus(None, fingerprint).CAM][0x50] = 16
+    radar_config = get_radar_track_config(CAR.KIA_EV6)
+    fingerprint[radar_config.bus][radar_config.start_addr] = radar_config.expected_length
+    car_fw = [CarParams.CarFw(ecu=Ecu.adas, fwVersion=b"", address=0x730, brand="hyundai")]
+    CP = CarInterface.get_params(CAR.KIA_EV6, fingerprint, car_fw, True, False, False, get_test_toggles())
+    factory = bytes.fromhex("6b657d090900e1ff000000000020ffff00000000000000000800000010000000")
+
+    def can_recv(*, wait_for_one=True):
+      msg = SimpleNamespace(address=0x51, src=CanBus(CP).ACAN, dat=factory)
+      return [[msg]]
+
+    def fake_disable_ecu(capturing_can_recv, *_args, **_kwargs):
+      capturing_can_recv(wait_for_one=True)
+      return True
+
+    monkeypatch.setattr("opendbc.car.hyundai.interface.disable_ecu", fake_disable_ecu)
+    CarInterface.init(CP, can_recv, None)
+
+    packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
+    try:
+      _, dat, _ = hyundaicanfd.create_adrv_0x51(packer, CanBus(CP), 0, CAR.KIA_EV6, drive_gear=True)
+    finally:
+      hyundaicanfd.cache_adrv_0x51_template(CAR.KIA_EV6, None)
+
+    assert dat[3:] == factory[3:]
+
  def test_carnival_hev_low_speed_torque_rate_limits(self):
    CP = CarInterface.get_params(CAR.KIA_CARNIVAL_HEV_4TH_GEN, gen_empty_fingerprint(), [],
                                 False, False, False, None)
@@ -727,6 +781,45 @@ class TestHyundaiFingerprint:
    } <= msg_addrs_buses
    assert (0x364, 1) not in msg_addrs_buses

+  def test_palisade_telluride_hda2_aol_keeps_lkas_status_after_long_cancel(self):
+    fingerprint = gen_empty_fingerprint()
+    fingerprint[2][0x50] = 16
+    car_fw = [CarParams.CarFw(ecu=Ecu.adas, fwVersion=b"", address=0x730, brand="hyundai")]
+    CP = CarInterface.get_params(CAR.HYUNDAI_PALISADE_2023, fingerprint, car_fw, True, False, False, None)
+    controller = CarController(DBC[CP.carFingerprint], CP)
+    controller.frame = 1
+
+    hud_control = SimpleNamespace(
+      visualAlert=CarControl.HUDControl.VisualAlert.none,
+      leftLaneVisible=True,
+      rightLaneVisible=True,
+      leftLaneDepart=False,
+      rightLaneDepart=False,
+      leadDistanceBars=3,
+      leadVisible=False,
+    )
+    lfa_block_msg = {f"BYTE{i}": 0 for i in range(3, 24) if i != 7}
+    lfa_block_msg["COUNTER"] = 0
+    CS = SimpleNamespace(lfa_block_msg=lfa_block_msg, redneck_send_button=Buttons.NONE, lkas11={}, msg_364={},
+                         out=SimpleNamespace(vEgoRaw=5.0))
+    CC = SimpleNamespace(enabled=False, latActive=True, longActive=False,
+                         cruiseControl=SimpleNamespace(cancel=False, resume=False, override=False))
+    actuators = SimpleNamespace(longControlState=LongCtrlState.off)
+    adas_parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LKAS", 0)], 0)
+    ecan_parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LKAS11", 0)], 1)
+
+    for steering_requested, icon, expected_status in ((True, 2, 2), (False, 1, 1)):
+      msgs = controller.create_can_msgs(steering_requested, 16 if steering_requested else 0, False,
+                                        0.0, 0.0, False, hud_control, actuators, CS, CC, icon, icon)
+      adas_parser.update([(1, [msg for msg in msgs if msg[0] == 0x50])])
+      ecan_parser.update([(1, [msg for msg in msgs if msg[0] == 0x340])])
+
+      assert adas_parser.vl["LKAS"]["LKA_ICON"] == icon
+      assert adas_parser.vl["LKAS"]["STEER_REQ"] == int(steering_requested)
+      assert ecan_parser.vl["LKAS11"]["CF_Lkas_FcwOpt_USM"] == expected_status
+      assert ecan_parser.vl["LKAS11"]["CF_Lkas_ActToi"] == int(steering_requested)
+      assert not any(msg[0] == 0x364 for msg in msgs)
+
  def test_g70_aol_uses_active_lkas_icon(self):
    CP = CarInterface.get_params(CAR.GENESIS_G70_2020, gen_empty_fingerprint(), [], False, False, False, None)
    controller = CarController(DBC[CP.carFingerprint], CP)
@@ -749,6 +842,48 @@ class TestHyundaiFingerprint:

    assert parser.vl["LKAS11"]["CF_Lkas_FcwOpt_USM"] == 2

+  @pytest.mark.parametrize(("candidate", "expected_status"), (
+    (CAR.KIA_NIRO_PHEV_2022, 2),
+    (CAR.KIA_NIRO_HEV_2021, 2),
+  ))
+  def test_classic_niro_aol_keeps_active_lkas_status(self, candidate, expected_status):
+    CP = CarInterface.get_params(candidate, gen_empty_fingerprint(), [], True, False, False, get_test_toggles())
+    controller = CarController(DBC[CP.carFingerprint], CP)
+    controller.frame = 1
+    parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LKAS11", 0)], 0)
+
+    hud_control = SimpleNamespace(
+      visualAlert=CarControl.HUDControl.VisualAlert.none,
+      leftLaneVisible=True,
+      rightLaneVisible=True,
+      leftLaneDepart=False,
+      rightLaneDepart=False,
+      leadVisible=False,
+    )
+    CS = SimpleNamespace(lkas11=parser.vl["LKAS11"])
+    CC = SimpleNamespace(
+      enabled=False,
+      latActive=True,
+      longActive=False,
+      cruiseControl=SimpleNamespace(cancel=False, resume=False, override=False),
+    )
+    actuators = SimpleNamespace(longControlState=LongCtrlState.off)
+
+    msgs = controller.create_can_msgs(True, 156, False, 0.0, 0.0, False, hud_control, actuators, CS, CC, 2, 0)
+    lkas11 = next(msg for msg in msgs if msg[0] == 0x340)
+    parser.update([(1, [lkas11])])
+
+    assert parser.vl["LKAS11"]["CF_Lkas_ActToi"] == 1
+    assert parser.vl["LKAS11"]["CF_Lkas_FcwOpt_USM"] == expected_status
+
+    CC.latActive = False
+    msgs = controller.create_can_msgs(False, 0, False, 0.0, 0.0, False, hud_control, actuators, CS, CC, 1, 0)
+    lkas11 = next(msg for msg in msgs if msg[0] == 0x340)
+    parser.update([(2, [lkas11])])
+
+    assert parser.vl["LKAS11"]["CF_Lkas_ActToi"] == 0
+    assert parser.vl["LKAS11"]["CF_Lkas_FcwOpt_USM"] == 1
+
  def test_kona_non_scc_uses_no_individual_lane_lkas_status(self):
    CP = CarInterface.get_params(CAR.HYUNDAI_KONA_NON_SCC, gen_empty_fingerprint(), [], False, False, False, None)
    packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
@@ -0,0 +1,170 @@
+from types import SimpleNamespace
+
+import pytest
+
+from opendbc.can import CANPacker, CANParser
+from opendbc.car import Bus, gen_empty_fingerprint
+from opendbc.car.hyundai.carcontroller import CarController
+from opendbc.car.hyundai.carstate import CarState
+from opendbc.car.hyundai.interface import CarInterface
+from opendbc.car.hyundai.values import CAR, DBC, HyundaiSafetyFlags
+from opendbc.car.structs import CarControl
+
+
+def ray_fingerprint(sensor_length=6, lfa_length=8):
+  fingerprint = gen_empty_fingerprint()
+  fingerprint[0][0x201] = sensor_length
+  fingerprint[0][0x391] = 8
+  fingerprint[2][0x485] = lfa_length
+  return fingerprint
+
+
+@pytest.mark.parametrize(("candidate", "fingerprint", "has_pedal"), [
+  (CAR.KIA_RAY_EV, ray_fingerprint(), True),
+  (CAR.KIA_RAY_EV, ray_fingerprint(sensor_length=8), False),
+  (CAR.KIA_RAY_EV, ray_fingerprint(lfa_length=4), False),
+  (CAR.HYUNDAI_KONA_EV_NON_SCC, ray_fingerprint(), False),
+])
+def test_ray_pedal_fingerprint_isolation(candidate, fingerprint, has_pedal):
+  CP = CarInterface.get_params(candidate, fingerprint, [], False, False, False, None)
+  assert CP.enableGasInterceptorDEPRECATED is has_pedal
+  assert CP.openpilotLongitudinalControl is has_pedal
+  if has_pedal:
+    assert not CP.pcmCruise
+    assert CP.safetyConfigs[-1].safetyParam == 0x9405
+    assert CP.minEnableSpeed == 5.0
+    assert not CP.autoResumeSng
+    FPCP = CarInterface.get_starpilot_params(candidate, fingerprint, [], CP, SimpleNamespace())
+    assert FPCP.canUsePedal
+    assert not FPCP.pcmCruiseSpeed
+    assert not FPCP.redneckCruiseAvailable
+  else:
+    assert CP.pcmCruise
+    assert not (CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.LONG)
+
+
+def test_ray_pedal_safety_signature_is_unique_across_hyundai_platforms():
+  for candidate in CAR:
+    for alpha_long in (False, True):
+      CP = CarInterface.get_params(candidate, ray_fingerprint(), [],
+                                   alpha_long, False, False, None)
+      has_ray_signature = (CP.safetyConfigs[-1].safetyParam & ~(32 | 128 | 2048)) == 0x9405
+      assert has_ray_signature is (candidate == CAR.KIA_RAY_EV)
+      assert CP.enableGasInterceptorDEPRECATED is (candidate == CAR.KIA_RAY_EV)
+
+
+def test_ray_pedal_parser_validates_actual_route_frames():
+  CP = CarInterface.get_params(CAR.KIA_RAY_EV, ray_fingerprint(), [], False, False, False, None)
+  parser = CarState(CP, None).get_can_parsers(CP)[Bus.party]
+  assert parser.dbc_name == "hyundai_kia_ray_pedal"
+  # Consecutive bus-0 GAS_SENSOR frames from Sept. 15 Ray rlog segment 4.
+  samples = [bytes.fromhex(s) for s in (
+    "01f403d55de8", "01f603d55ef1", "01f403d55f51", "01f603d3503f",
+    "01f903d551ab", "01f903d552a4", "01f703d55370",
+  )]
+  for idx, dat in enumerate(samples):
+    parser.update([(1_000_000_000 + idx * 20_000_000, [(0x201, dat, 0)])])
+    assert parser.can_valid
+    assert parser.vl["GAS_SENSOR"]["STATE"] == 5  # FAULT_TIMEOUT: no 0x200 was sent
+
+  prior = parser.vl_raw["GAS_SENSOR"]
+  bad = bytearray(samples[-1])
+  bad[-1] ^= 1
+  parser.update([(1_160_000_000, [(0x201, bytes(bad), 0)])])
+  assert parser.vl_raw["GAS_SENSOR"] == prior
+
+
+def test_ray_pedal_fault_clears_only_with_healthy_sensor_state():
+  CP = CarInterface.get_params(CAR.KIA_RAY_EV, ray_fingerprint(), [], False, False, False, None)
+  state = CarState(CP, None)
+  parsers = state.get_can_parsers(CP)
+  packer = CANPacker("hyundai_kia_ray_pedal")
+  sensor = packer.make_can_msg("GAS_SENSOR", 0, {
+    "INTERCEPTOR_GAS": 0, "INTERCEPTOR_GAS2": 0,
+    "STATE": 0, "COUNTER_PEDAL": 1,
+  })
+  for parser in parsers.values():
+    parser.update([(1_000_000_000, [sensor])])
+  ret, _ = state.update(parsers, SimpleNamespace())
+  assert state.ray_pedal_valid
+  assert state.ray_pedal_state == 0
+  assert not ret.accFaulted
+
+
+def test_ray_driver_override_uses_physical_interceptor_tracks():
+  CP = CarInterface.get_params(CAR.KIA_RAY_EV, ray_fingerprint(), [], False, False, False, None)
+  state = CarState(CP, None)
+  parsers = state.get_can_parsers(CP)
+  native_gas = (0x371, bytes.fromhex("004e008000ae0700"), 0)
+  physical_rest = (0x201, bytes.fromhex("010801f30cef"), 0)
+  for parser in parsers.values():
+    parser.update([(1_000_000_000, [native_gas, physical_rest])])
+  ret, _ = state.update(parsers, SimpleNamespace())
+  assert state.ray_pedal_valid
+  assert not ret.gasPressed
+
+  packer = CANPacker("hyundai_kia_ray_pedal")
+  physical_press = packer.make_can_msg("GAS_SENSOR", 0, {
+    "INTERCEPTOR_GAS": (310 - 264) * 0.672,
+    "INTERCEPTOR_GAS2": (593 - 497) * 0.332,
+    "STATE": 0, "COUNTER_PEDAL": 13,
+  })
+  for parser in parsers.values():
+    parser.update([(1_020_000_000, [physical_press])])
+  ret, _ = state.update(parsers, SimpleNamespace())
+  assert ret.gasPressed
+
+
+def test_ray_without_pedal_keeps_native_gas_detection():
+  CP = CarInterface.get_params(CAR.KIA_RAY_EV, ray_fingerprint(sensor_length=8), [], False, False, False, None)
+  assert not CP.enableGasInterceptorDEPRECATED
+  state = CarState(CP, None)
+  parsers = state.get_can_parsers(CP)
+  assert Bus.party not in parsers
+  native_gas = (0x371, bytes.fromhex("004e008000ae0700"), 0)
+  for parser in parsers.values():
+    parser.update([(1_000_000_000, [native_gas])])
+  ret, _ = state.update(parsers, SimpleNamespace())
+  assert ret.gasPressed
+
+
+def test_ray_controller_heartbeats_and_only_actuates_when_ready():
+  CP = CarInterface.get_params(CAR.KIA_RAY_EV, ray_fingerprint(), [], False, False, False, None)
+  controller = CarController(DBC[CP.carFingerprint], CP)
+  parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LKAS11", 0), ("CLU11", 0)], 0)
+  CS = SimpleNamespace(
+    lkas11=parser.vl["LKAS11"], clu11=parser.vl["CLU11"],
+    out=SimpleNamespace(vEgo=12.0, gasPressed=False, brakePressed=False,
+                        cruiseState=SimpleNamespace(enabled=False)),
+    ray_pedal_valid=True, ray_pedal_state=5, is_metric=True,
+  )
+  CC = SimpleNamespace(
+    enabled=True, longActive=True, latActive=True,
+    cruiseControl=SimpleNamespace(cancel=False, resume=False, override=False),
+  )
+  hud = SimpleNamespace(
+    visualAlert=CarControl.HUDControl.VisualAlert.none,
+    leftLaneVisible=True, rightLaneVisible=True,
+    leftLaneDepart=False, rightLaneDepart=False,
+  )
+  actuators = SimpleNamespace(longControlState=CarControl.Actuators.LongControlState.pid)
+
+  def pedal_msg(accel, frame):
+    controller.frame = frame
+    messages = controller.create_can_msgs(True, 0, False, 0.0, accel, False,
+                                          hud, actuators, CS, CC, 2, 0)
+    return next(dat for addr, dat, bus in messages if addr == 0x200 and bus == 0)
+
+  assert pedal_msg(2.0, 0)[:4] == bytes(4)  # fault timeout: heartbeat only
+  CS.ray_pedal_state = 0
+  assert pedal_msg(2.0, 4)[:4] != bytes(4)
+  CS.out.gasPressed = True
+  assert pedal_msg(2.0, 8)[:4] == bytes(4)
+  CS.out.gasPressed = False
+  assert pedal_msg(-1.0, 12)[:4] == bytes(4)  # decel = EV lift/regen, not gas
+  CS.out.cruiseState.enabled = True
+  controller.frame = 16
+  messages = controller.create_can_msgs(True, 0, False, 0.0, 2.0, False,
+                                        hud, actuators, CS, CC, 2, 0)
+  assert next(dat for addr, dat, bus in messages if addr == 0x200 and bus == 0)[:4] == bytes(4)
+  assert any(addr == 0x4F1 and bus == 0 for addr, _, bus in messages)  # cancel stock CC
@@ -233,6 +233,9 @@ class CarInterfaceBase(ABC):
          fp_ret.flags |= int(HondaStarPilotFlags.HAS_CAMERA_MESSAGES)

      elif platform in HYUNDAI:
+        if candidate == HYUNDAI.KIA_RAY_EV and CP.enableGasInterceptorDEPRECATED:
+          fp_ret.canUsePedal = True
+          fp_ret.pcmCruiseSpeed = False
        if candidate in CANFD_CAR:
          hda2 = Ecu.adas in [fw.ecu for fw in car_fw]
          CAN = CanBus(None, fingerprint, bool(CP.flags & HyundaiFlags.CANFD_LKA_STEERING))
@@ -244,7 +247,9 @@ class CarInterfaceBase(ABC):
        if candidate != HYUNDAI.KIA_RAY_EV and not (CP.flags & HyundaiFlags.CANFD) and 0x53E in fingerprint[2]:
          fp_ret.flags |= HyundaiStarPilotFlags.HAS_LKAS12.value

-        fp_ret.redneckCruiseAvailable = bool(CP.flags & HyundaiFlags.NON_SCC) and not bool(CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS)
+        fp_ret.redneckCruiseAvailable = (bool(CP.flags & HyundaiFlags.NON_SCC) and
+                                         not bool(CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS) and
+                                         not (candidate == HYUNDAI.KIA_RAY_EV and CP.enableGasInterceptorDEPRECATED))
        if fp_ret.redneckCruiseAvailable and params.get_bool("RedneckCruise"):
          fp_ret.pcmCruiseSpeed = False
          CP.openpilotLongitudinalControl = True
@@ -130,14 +130,12 @@ class CarController(CarControllerBase):
    self.angle_override_confirm_frames = 0
    self.angle_handoff_active = False

-  def _angle_manual_handoff(self, CS, lat_active, use_steering_pressed=False):
+  def _angle_manual_handoff(self, CS, lat_active):
    if not lat_active:
      self._reset_angle_handoff()
      return False

    driver_override = self._update_angle_driver_override(CS)
-    if use_steering_pressed:
-      driver_override = driver_override or getattr(CS.out, "steeringPressed", False)
    steering_rate = abs(getattr(CS.out, "steeringRateDeg", 0.0))
    if driver_override:
      self.angle_handoff_active = True
@@ -216,33 +214,23 @@ class CarController(CarControllerBase):
        else:
          self.ascent_aol_arm_frames = _ASCENT_AOL_ARM_FRAMES if lkas_available else 0

-      manual_handoff = self._angle_manual_handoff(
-        CS, lkas_available, use_steering_pressed=self.CP.carFingerprint == CAR.SUBARU_OUTBACK_2023,
-      )
+      if self.CP.carFingerprint == CAR.SUBARU_OUTBACK_2023:
+        manual_handoff = False
+      else:
+        manual_handoff = self._angle_manual_handoff(CS, lkas_available)
      lkas_active = lkas_available and not manual_handoff

      if lkas_active and not self.angle_lkas_active:
        self.apply_steer_last = CS.out.steeringAngleDeg

-      if self.CP.carFingerprint in (CAR.SUBARU_ASCENT_2023, CAR.SUBARU_OUTBACK_2023):
-        apply_steer = apply_std_steer_angle_limits(
-          CC.actuators.steeringAngleDeg,
-          self.apply_steer_last,
-          CS.out.vEgoRaw,
-          CS.out.steeringAngleDeg,
-          lkas_active,
-          self.p.FIXED_ANGLE_LIMITS,
-        )
-      else:
-        apply_steer = apply_steer_angle_limits_vm(
-          steer_target,
-          self.apply_steer_last,
-          CS.out.vEgoRaw,
-          CS.out.steeringAngleDeg,
-          lkas_active,
-          self.p,
-          self.VM,
-        )
+      apply_steer = apply_std_steer_angle_limits(
+        CC.actuators.steeringAngleDeg,
+        self.apply_steer_last,
+        CS.out.vEgoRaw,
+        CS.out.steeringAngleDeg,
+        lkas_active,
+        self.p.FIXED_ANGLE_LIMITS,
+      )
      self.apply_steer_last = apply_steer
      self.angle_lkas_active = lkas_active
      return subarucan.create_steering_control_angle(self.packer, apply_steer, lkas_active, self.angle_bus)
@@ -380,9 +368,11 @@ class CarController(CarControllerBase):
                                                        CC.longActive, hud_control.leadVisible,
                                                        self.status_bus))

-        can_sends.append(subarucan.create_es_lkas_state(self.packer, self.frame // 10, CS.es_lkas_state_msg, self._lkas_status_active(CC), hud_control.visualAlert,
-                                                        hud_control.leftLaneVisible, hud_control.rightLaneVisible,
-                                                        hud_control.leftLaneDepart, hud_control.rightLaneDepart, self.status_bus))
+        can_sends.append(subarucan.create_es_lkas_state(
+          self.packer, self.frame // 10, CS.es_lkas_state_msg, self._lkas_status_active(CC), hud_control.visualAlert,
+          hud_control.leftLaneVisible, hud_control.rightLaneVisible,
+          hud_control.leftLaneDepart, hud_control.rightLaneDepart, self.status_bus,
+        ))

        if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT:
          can_sends.append(subarucan.create_es_infotainment(self.packer, self.frame // 10, CS.es_infotainment_msg,
@@ -643,8 +643,8 @@ def test_angle_controller_uses_fixed_angle_rate_limits(platform):
  assert CS.out.steeringAngleDeg < parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] < -25.0


-@pytest.mark.parametrize("platform", (CAR.SUBARU_ASCENT_2023, CAR.SUBARU_OUTBACK_2023))
-def test_angle_controller_reengages_immediately_after_manual_steering_stops(platform):
+def test_ascent_angle_controller_reengages_immediately_after_manual_steering_stops():
+  platform = CAR.SUBARU_ASCENT_2023
  CP = CarInterface.get_non_essential_params(platform)
  controller = CarController({}, CP)
  CC = SimpleNamespace(enabled=True, latActive=True, actuators=SimpleNamespace(steeringAngleDeg=-10.0))
@@ -775,7 +775,7 @@ def test_ascent_angle_controller_does_not_delay_normal_engagement():
 def test_lkas_hud_state_uses_angle_request_state():
  update_source = inspect.getsource(CarController.update)

-  assert "create_es_lkas_state(self.packer, self.frame // 10, CS.es_lkas_state_msg, self._lkas_status_active(CC)" in update_source
+  assert "CS.es_lkas_state_msg, self._lkas_status_active(CC), hud_control.visualAlert" in update_source
  assert "create_es_lkas_state(self.packer, self.frame // 10, CS.es_lkas_state_msg, CC.enabled" not in update_source


@@ -795,7 +795,7 @@ def test_lkas_hud_active_bit_follows_lateral_state(enabled, expected):
  assert parser.vl["ES_LKAS_State"]["LKAS_ACTIVE"] == expected


-def test_outback_manual_steering_releases_angle_request_before_lkas_fault():
+def test_outback_manual_steering_keeps_cooperative_angle_request():
  CP = CarInterface.get_non_essential_params(CAR.SUBARU_OUTBACK_2023)
  controller = CarController({}, CP)
  CC = SimpleNamespace(
@@ -807,19 +807,22 @@ def test_outback_manual_steering_releases_angle_request_before_lkas_fault():
    vEgoRaw=0.9,
    steeringAngleDeg=-57.0,
    steeringRateDeg=-45.0,
-    steeringTorque=-127.0,
+    steeringTorque=0.0,
    steeringPressed=True,
    gearShifter=structs.CarState.GearShifter.drive,
    standstill=False,
  ))
  parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("ES_LKAS_ANGLE", 0)], CanBus.main)

-  msg = controller.lateral_angle(CC, CS)
-  parser.update([(1, [msg])])
+  for frame, steering_torque in enumerate((-79.0, -81.0, -170.0, -250.0, -250.0, 79.0, 81.0, 170.0, 250.0, 250.0), start=1):
+    CS.out.steeringTorque = steering_torque
+    CS.out.steeringPressed = abs(steering_torque) > 80.0
+    msg = controller.lateral_angle(CC, CS)
+    parser.update([(frame, [msg])])

-  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
-  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] == pytest.approx(CS.out.steeringAngleDeg)
-  assert not controller._lkas_status_active(CC)
+    assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 1
+    assert CC.actuators.steeringAngleDeg < parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] < CS.out.steeringAngleDeg
+    assert controller._lkas_status_active(CC)


 def test_ascent_hud_waits_for_angle_request():
@@ -5,9 +5,10 @@ from opendbc.car.lateral import apply_steer_angle_limits_vm
 from opendbc.car.interfaces import CarControllerBase
 from opendbc.car.tesla.coop_steering import CooperativeSteeringController
 from opendbc.car.tesla.teslacan import TeslaCAN
+from opendbc.car.tesla.teslacan_legacy import TeslaCANRaven
 from opendbc.car.tesla.preap.carcontroller import PreAPLongController, init_preap_can
 from opendbc.car.tesla.preap.stock_cc_spoofer import StockCCSpoofer
-from opendbc.car.tesla.values import CANBUS, CAR, CarControllerParams, TeslaSafetyFlags
+from opendbc.car.tesla.values import CANBUS, CAR, CarControllerParams, TeslaSafetyFlags, LEGACY_CARS
 from opendbc.car.vehicle_model import VehicleModel

 def get_safety_CP():
@@ -39,6 +40,13 @@ class CarController(CarControllerBase):
      self.stock_cc = StockCCSpoofer()
      from opendbc.car.tesla.interface import CarInterface
      self.VM = VehicleModel(CarInterface.get_non_essential_params(CAR.TESLA_MODEL_S_PREAP))
+    elif CP.carFingerprint in LEGACY_CARS:
+      self.packers = {
+        CANBUS.party: CANPacker(dbc_names[Bus.party]),
+      }
+      self.tesla_can = TeslaCANRaven(self.packers)
+      from opendbc.car.tesla.interface import CarInterface
+      self.VM = VehicleModel(CarInterface.get_non_essential_params(CAR.TESLA_MODEL_S_HW1))

  def _clear_steering_limit_info(self):
    self.steering_limit_info_valid = False
@@ -104,9 +112,13 @@ class CarController(CarControllerBase):
        else:
          self._clear_steering_limit_info()

-      can_sends.append(self.tesla_can.create_steering_control(self.apply_angle_command_last, lat_active))
+      if self.CP.carFingerprint in LEGACY_CARS:
+        cntr = (self.frame // 2) % 16
+        can_sends.append(self.tesla_can.create_steering_control(cntr, self.apply_angle_command_last, lat_active))
+      else:
+        can_sends.append(self.tesla_can.create_steering_control(self.apply_angle_command_last, lat_active))

-    if self.frame % 10 == 0:
+    if self.frame % 10 == 0 and self.CP.carFingerprint not in LEGACY_CARS:
      can_sends.append(self.tesla_can.create_steering_allowed())

    # Longitudinal control
@@ -115,13 +127,21 @@ class CarController(CarControllerBase):
        state = 13 if CC.cruiseControl.cancel else 4  # 4=ACC_ON, 13=ACC_CANCEL_GENERIC_SILENT
        accel = float(np.clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX))
        cntr = (self.frame // 4) % 8
-        can_sends.append(self.tesla_can.create_longitudinal_command(state, accel, cntr, self.frame, CS.out.vEgo, CS.out.gasPressed))
+        if self.CP.carFingerprint in LEGACY_CARS:
+          hw1_accel = accel if CC.longActive and not CC.cruiseControl.cancel else 0.
+          hw1_active = CC.longActive and not CC.cruiseControl.cancel
+          can_sends.append(self.tesla_can.create_longitudinal_command(state, hw1_accel, cntr, CS.out.vEgo, hw1_active, CS.out.gasPressed))
+        else:
+          can_sends.append(self.tesla_can.create_longitudinal_command(state, accel, cntr, self.frame, CS.out.vEgo, CS.out.gasPressed))

    else:
      # Increment counter so cancel is prioritized even without openpilot longitudinal
      if CC.cruiseControl.cancel:
        cntr = (CS.das_control["DAS_controlCounter"] + 1) % 8
-        can_sends.append(self.tesla_can.create_longitudinal_command(13, 0, cntr, self.frame, CS.out.vEgo, False))
+        if self.CP.carFingerprint in LEGACY_CARS:
+          can_sends.append(self.tesla_can.create_longitudinal_command(13, 0, cntr, CS.out.vEgo, False, CS.out.gasPressed))
+        else:
+          can_sends.append(self.tesla_can.create_longitudinal_command(13, 0, cntr, self.frame, CS.out.vEgo, False))

    # TODO: HUD control
    new_actuators = actuators.as_builder()
@@ -4,7 +4,10 @@ from opendbc.can import CANDefine, CANParser
 from opendbc.car import Bus, structs
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.interfaces import CarStateBase
-from opendbc.car.tesla.values import DBC, CANBUS, GEAR_MAP, STEER_DISENGAGE_THRESHOLD, STEER_THRESHOLD, TeslaSafetyFlags, CAR
+from opendbc.car.tesla.values import (
+  DBC, CANBUS, GEAR_MAP, STEER_DISENGAGE_THRESHOLD, STEER_THRESHOLD, TeslaSafetyFlags,
+  CAR, LEGACY_CARS,
+)
 from opendbc.car.tesla.preap.carstate import get_preap_can_parsers, update_preap
 from opendbc.car.tesla.preap.engagement import PreAPEngagement
 from opendbc.car.tesla.preap.nap_conf import nap_conf
@@ -25,8 +28,19 @@ class CarState(CarStateBase):
  def __init__(self, CP, FPCP):
    super().__init__(CP, FPCP)
    self.can_define = CANDefine(DBC[CP.carFingerprint][Bus.party])
-    self.shifter_values = self.can_define.dv["DI_systemStatus"]["DI_gear"] if CP.carFingerprint != CAR.TESLA_MODEL_S_PREAP else \
-                          self.can_define.dv["DI_torque2"]["DI_gear"]
+    if CP.carFingerprint in LEGACY_CARS:
+      self.can_define_party = CANDefine(DBC[CP.carFingerprint][Bus.party])
+      self.can_define_pt = CANDefine(DBC[CP.carFingerprint][Bus.pt])
+      self.can_define_chassis = CANDefine(DBC[CP.carFingerprint][Bus.chassis])
+      self.can_defines = {
+        **self.can_define_party.dv,
+        **self.can_define_pt.dv,
+        **self.can_define_chassis.dv,
+      }
+      self.shifter_values = self.can_defines["DI_torque2"]["DI_gear"]
+    else:
+      self.shifter_values = self.can_define.dv["DI_systemStatus"]["DI_gear"] if CP.carFingerprint != CAR.TESLA_MODEL_S_PREAP else \
+                            self.can_define.dv["DI_torque2"]["DI_gear"]

    self.autopark = False
    self.autopark_prev = False
@@ -75,6 +89,8 @@ class CarState(CarStateBase):
  def update(self, can_parsers, starpilot_toggles) -> structs.CarState:
    if self.CP.carFingerprint == CAR.TESLA_MODEL_S_PREAP:
      return update_preap(self, can_parsers)
+    if self.CP.carFingerprint in LEGACY_CARS:
+      return self.update_legacy(can_parsers)

    cp_party = can_parsers[Bus.party]
    cp_ap_party = can_parsers[Bus.ap_party]
@@ -173,10 +189,94 @@ class CarState(CarStateBase):

    return ret, fp_ret

+  def update_legacy(self, can_parsers):
+    cp_party = can_parsers[Bus.party]
+    cp_ap_party = can_parsers[Bus.ap_party]
+    cp_pt = can_parsers[Bus.pt]
+    cp_ap_pt = can_parsers[Bus.ap_pt]
+    cp_chassis = can_parsers[Bus.chassis]
+    ret = structs.CarState()
+    fp_ret = custom.StarPilotCarState.new_message()
+
+    # Vehicle speed
+    ret.vEgoRaw = cp_chassis.vl["ESP_B"]["ESP_vehicleSpeed"] * CV.KPH_TO_MS
+    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
+
+    # Gas and brake
+    ret.gasPressed = cp_pt.vl["DI_torque1"]["DI_pedalPos"] > 0
+    ret.brake = 0
+    ret.brakePressed = cp_chassis.vl["BrakeMessage"]["driverBrakeStatus"] != 1
+
+    # Steering wheel and EPAS status
+    epas_status = cp_chassis.vl["EPAS_sysStatus"]
+    self.hands_on_level = epas_status["EPAS_handsOnLevel"]
+    ret.steeringAngleDeg = -epas_status["EPAS_internalSAS"]
+    ret.steeringRateDeg = -cp_chassis.vl["STW_ANGLHP_STAT"]["StW_AnglHP_Spd"]
+    ret.steeringTorque = -epas_status["EPAS_torsionBarTorque"]
+    ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > STEER_THRESHOLD, 5)
+
+    eac_status = self.can_defines["EPAS_sysStatus"]["EPAS_eacStatus"].get(int(epas_status["EPAS_eacStatus"]), None)
+    ret.steerFaultPermanent = eac_status == "EAC_FAULT"
+    ret.steerFaultTemporary = eac_status == "EAC_INHIBITED"
+    eac_error_code = self.can_defines["EPAS_sysStatus"]["EPAS_eacErrorCode"].get(int(epas_status["EPAS_eacErrorCode"]), None)
+    ret.steeringDisengage = self.hands_on_level >= 3 or (
+      eac_status == "EAC_INHIBITED" and eac_error_code == "EAC_ERROR_HIGH_ANGLE_RATE_SAFETY"
+    )
+
+    # Cruise
+    cruise_state = self.can_defines["DI_state"]["DI_cruiseState"].get(int(cp_chassis.vl["DI_state"]["DI_cruiseState"]), None)
+    speed_units = self.can_defines["DI_state"]["DI_speedUnits"].get(int(cp_chassis.vl["DI_state"]["DI_speedUnits"]), None)
+    cruise_enabled = cruise_state in ("ENABLED", "STANDSTILL", "OVERRIDE", "PRE_FAULT", "PRE_CANCEL")
+    ret.cruiseState.enabled = cruise_enabled
+    if speed_units == "KPH":
+      ret.cruiseState.speed = max(cp_chassis.vl["DI_state"]["DI_hw1CruiseSet"] * CV.KPH_TO_MS, 1e-3)
+    elif speed_units == "MPH":
+      ret.cruiseState.speed = max(cp_chassis.vl["DI_state"]["DI_hw1CruiseSet"] * CV.MPH_TO_MS, 1e-3)
+    ret.cruiseState.available = cruise_state == "STANDBY" or ret.cruiseState.enabled
+    ret.cruiseState.standstill = False
+    ret.standstill = ret.vEgoRaw < 0.1
+    ret.accFaulted = cruise_state == "FAULT"
+
+    # Gear, body state, and safety state
+    ret.gearShifter = GEAR_MAP[self.can_defines["DI_torque2"]["DI_gear"].get(
+      int(cp_chassis.vl["DI_torque2"]["DI_gear"]), "DI_GEAR_INVALID")]
+
+    doors = ("DOOR_STATE_FL", "DOOR_STATE_FR", "DOOR_STATE_RL", "DOOR_STATE_RR", "DOOR_STATE_FrontTrunk", "BOOT_STATE")
+    ret.doorOpen = any(
+      self.can_defines["GTW_carState"][door].get(int(cp_chassis.vl["GTW_carState"][door]), "OPEN") == "OPEN"
+      for door in doors
+    )
+    ret.leftBlinker = cp_chassis.vl["GTW_carState"]["BC_indicatorLStatus"] == 1
+    ret.rightBlinker = cp_chassis.vl["GTW_carState"]["BC_indicatorRStatus"] == 1
+
+    _ = cp_chassis.vl["SDM1"]
+    _ = cp_chassis.vl["RCM_status"]
+    sd_time = cp_chassis.ts_nanos["SDM1"]["SDM_bcklDrivStatus"]
+    rcm_time = cp_chassis.ts_nanos["RCM_status"]["RCM_buckleDriverStatus"]
+    if sd_time and cp_chassis._last_update_nanos - sd_time <= 1_000_000_000:
+      ret.seatbeltUnlatched = cp_chassis.vl["SDM1"]["SDM_bcklDrivStatus"] != 1
+    elif rcm_time and cp_chassis._last_update_nanos - rcm_time <= 1_000_000_000:
+      ret.seatbeltUnlatched = cp_chassis.vl["RCM_status"]["RCM_buckleDriverStatus"] != 1
+    else:
+      ret.seatbeltUnlatched = True
+
+    ret.stockAeb = cp_ap_pt.vl["DAS_control"]["DAS_aebEvent"] == 1
+    ret.stockLkas = cp_ap_party.vl["DAS_steeringControl"]["DAS_steeringControlType"] == 2
+    self.das_control = copy.copy(cp_ap_pt.vl["DAS_control"])
+    return ret, fp_ret
+
  @staticmethod
  def get_can_parsers(CP):
    if CP.carFingerprint == CAR.TESLA_MODEL_S_PREAP:
      return get_preap_can_parsers(CP)
+    if CP.carFingerprint in LEGACY_CARS:
+      return {
+        Bus.party: CANParser(DBC[CP.carFingerprint][Bus.party], [], CANBUS.party),
+        Bus.ap_party: CANParser(DBC[CP.carFingerprint][Bus.party], [], CANBUS.autopilot_party),
+        Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CANBUS.party),
+        Bus.ap_pt: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CANBUS.autopilot_party),
+        Bus.chassis: CANParser(DBC[CP.carFingerprint][Bus.chassis], [("SDM1", 0), ("RCM_status", 0)], CANBUS.party),
+      }
    return {
      Bus.party: CANParser(DBC[CP.carFingerprint][Bus.party], [], CANBUS.party),
      Bus.ap_party: CANParser(DBC[CP.carFingerprint][Bus.party], [], CANBUS.autopilot_party)
@@ -5,6 +5,12 @@ from opendbc.car.tesla.values import CAR
 Ecu = CarParams.Ecu

 FW_VERSIONS = {
+  CAR.TESLA_MODEL_S_HW1: {
+    (Ecu.eps, 0x730, None): [
+      b'1016704-00-HAA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x10\x00A',
+    ],
+  },
  CAR.TESLA_MODEL_3: {
    (Ecu.eps, 0x730, None): [
      b'TeM3_E014p10_0.0.0 (16),E014.17.00',
@@ -1,9 +1,9 @@
-from opendbc.car import get_safety_config, structs
+from opendbc.car import Bus, get_safety_config, structs
 from opendbc.car.interfaces import CarInterfaceBase
 from opendbc.car.tesla.carcontroller import CarController
 from opendbc.car.tesla.carstate import CarState
 from opendbc.car.tesla.radar_interface import RadarInterface
-from opendbc.car.tesla.values import TeslaSafetyFlags, CAR
+from opendbc.car.tesla.values import TeslaSafetyFlags, CAR, DBC, LEGACY_CARS
 from opendbc.car.tesla.preap.interface import get_preap_accel_limits, get_preap_params


@@ -32,6 +32,21 @@ class CarInterface(CarInterfaceBase):
    if candidate == CAR.TESLA_MODEL_S_PREAP:
      return get_preap_params(ret)

+    if candidate in LEGACY_CARS:
+      ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.tesla, TeslaSafetyFlags.FLAG_HW1.value)]
+      ret.steerLimitTimer = 0.4
+      ret.steerActuatorDelay = 0.1
+      ret.steerAtStandstill = True
+      ret.steerControlType = structs.CarParams.SteerControlType.angle
+      ret.radarUnavailable = Bus.radar not in DBC[candidate]
+      ret.radarTimeStepDEPRECATED = 0.125
+      ret.alphaLongitudinalAvailable = True
+
+      if alpha_long:
+        ret.openpilotLongitudinalControl = True
+        ret.safetyConfigs[0].safetyParam |= TeslaSafetyFlags.LONG_CONTROL.value
+      return ret
+
    ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.tesla)]

    ret.steerLimitTimer = 0.4
@@ -16,7 +16,7 @@ class RadarInterface(RadarInterfaceBase):
  def __init__(self, CP):
    super().__init__(CP)

-    self.radar_off_can = CP.radarUnavailable or CP.carFingerprint != CAR.TESLA_MODEL_S_PREAP
+    self.radar_off_can = CP.radarUnavailable or Bus.radar not in DBC[CP.carFingerprint]
    self.updated_messages: set[int] = set()
    self.track_id = 0
    self.radar_offset = float(nap_conf.radar_offset) if CP.carFingerprint == CAR.TESLA_MODEL_S_PREAP else 0.0
@@ -0,0 +1,53 @@
+from opendbc.car.common.conversions import Conversions as CV
+from opendbc.car.interfaces import V_CRUISE_MAX
+from opendbc.car.tesla.values import CANBUS, CarControllerParams
+
+
+class TeslaCANRaven:
+  """CAN commands used by the legacy Model S/X powertrain and EPAS buses."""
+
+  def __init__(self, packers):
+    self.packers = packers
+    self.CCP = CarControllerParams
+    self.jerk_upper = self.CCP.JERK_LIMIT_MAX
+    self.jerk_lower = self.CCP.JERK_LIMIT_MIN
+
+  @staticmethod
+  def checksum(msg_id, dat):
+    return ((msg_id & 0xFF) + ((msg_id >> 8) & 0xFF) + sum(dat)) & 0xFF
+
+  def create_steering_control(self, counter, angle, enabled):
+    values = {
+      "DAS_steeringControlCounter": counter,
+      "DAS_steeringAngleRequest": -angle,
+      "DAS_steeringHapticRequest": 0,
+      "DAS_steeringControlType": 1 if enabled else 0,
+    }
+    data = self.packers[CANBUS.party].make_can_msg("DAS_steeringControl", CANBUS.party, values)[1]
+    values["DAS_steeringControlChecksum"] = self.checksum(0x488, data[:3])
+    return self.packers[CANBUS.party].make_can_msg("DAS_steeringControl", CANBUS.party, values)
+
+  def create_longitudinal_command(self, acc_state, accel, counter, v_ego, active, gas_pressed):
+    set_speed = max(v_ego * CV.MS_TO_KPH, 0)
+    if active:
+      set_speed = 0 if accel < 0 else V_CRUISE_MAX
+
+    if gas_pressed:
+      self.jerk_upper = self.jerk_lower = 0.0
+    else:
+      self.jerk_lower = max(self.jerk_lower - self.CCP.JERK_RAMP_RATE, self.CCP.JERK_LIMIT_MIN)
+      self.jerk_upper = min(self.jerk_upper + self.CCP.JERK_RAMP_RATE, self.CCP.JERK_LIMIT_MAX)
+
+    values = {
+      "DAS_setSpeed": set_speed,
+      "DAS_accState": acc_state,
+      "DAS_aebEvent": 0,
+      "DAS_jerkMin": self.jerk_lower,
+      "DAS_jerkMax": self.jerk_upper,
+      "DAS_accelMin": accel,
+      "DAS_accelMax": max(accel, 0),
+      "DAS_controlCounter": counter,
+    }
+    data = self.packers[CANBUS.party].make_can_msg("DAS_control", CANBUS.party, values)[1]
+    values["DAS_controlChecksum"] = self.checksum(0x2b9, data[:7])
+    return self.packers[CANBUS.party].make_can_msg("DAS_control", CANBUS.party, values)
@@ -0,0 +1,148 @@
+#!/usr/bin/env python3
+"""Offline AP1/HW1 CAN, radar, controller, and panda-safety replay.
+
+Usage: PYTHONPATH=. python -m opendbc.car.tesla.tests.replay_hw1_route PATH_TO_RLOGS
+
+The supplied Pre-AP recording contains stock AP commands copied to bus 0 while
+ELM327/old firmware forwarded traffic. The counterfactual run skips those copies:
+the HW1 safety mode blocks stock 0x488/0x2b9 forwarding on bus 2. This is NOT a
+physical HW1 drive; it cannot validate engagement or steering actuation on-car.
+"""
+
+import argparse
+from collections import Counter
+from pathlib import Path
+
+from cereal import custom
+from openpilot.tools.lib.logreader import LogReader
+from opendbc.car import Bus, structs
+from opendbc.car.tesla.carcontroller import CarController
+from opendbc.car.tesla.carstate import CarState
+from opendbc.car.tesla.interface import CarInterface
+from opendbc.car.tesla.radar_interface import RadarInterface
+from opendbc.car.tesla.values import CAR, DBC, TeslaSafetyFlags
+from opendbc.safety.tests.libsafety import libsafety_py
+
+
+def replay(paths: list[Path], simulate_active: bool = False):
+  fp = {0: {0x201: 5}, 1: {}, 2: {}}
+  cp = CarInterface.get_params(CAR.TESLA_MODEL_S_HW1, fp, [], True, False, False, None)
+  assert cp.safetyConfigs[0].safetyModel == structs.CarParams.SafetyModel.tesla
+  assert cp.safetyConfigs[0].safetyParam == TeslaSafetyFlags.FLAG_HW1.value | TeslaSafetyFlags.LONG_CONTROL.value
+  safety = libsafety_py.libsafety
+  assert safety.set_safety_hooks(int(structs.CarParams.SafetyModel.tesla), cp.safetyConfigs[0].safetyParam) == 0
+  safety.init_tests()
+
+  parsers = CarState.get_can_parsers(cp)
+  cs = CarState(cp, custom.StarPilotCarParams.new_message())
+  controller = CarController(DBC[CAR.TESLA_MODEL_S_HW1], cp)
+  active_controller = CarController(DBC[CAR.TESLA_MODEL_S_HW1], cp) if simulate_active else None
+  radar = RadarInterface(cp)
+  stats = Counter()
+  first_rejected = []
+  active_rejected = []
+  last_ap_command: dict[tuple[int, bytes], int] = {}
+  suppressed_examples = []
+
+  for path in paths:
+    for event in LogReader(str(path)):
+      if event.which() != "can":
+        continue
+      t = event.logMonoTime
+      frames = [(x.address, bytes(x.dat), x.src) for x in event.can]
+      stock_in_event = {(a, d) for a, d, b in frames if b == 2 and a in (0x488, 0x2b9)}
+      for a, d, b in frames:
+        if b == 2 and a in (0x488, 0x2b9):
+          last_ap_command[(a, d)] = t
+        if b == 0 and a in (0x488, 0x2b9):
+          seen = last_ap_command.get((a, d), -1)
+          if (a, d) in stock_in_event or (0 <= t - seen < 250_000_000):
+            stats["suppressed_bus0_stock_copies"] += 1
+            continue
+          stats["unmatched_bus0_stock_commands"] += 1
+          if len(suppressed_examples) < 5:
+            suppressed_examples.append((path.name, t, hex(a), d.hex()))
+        if b < 128:
+          stats["physical_rx"] += 1
+          if not safety.safety_rx_hook(libsafety_py.make_CANPacket(a, b, d)):
+            stats["rx_rejected"] += 1
+          if b == 2 and a in (0x488, 0x2b9):
+            stats["stock_forward_blocked"] += safety.safety_fwd_hook(b, a) == -1
+
+      safety.set_timer((t // 1000) & 0xffffffff)
+      safety.safety_tick_current_safety_config()
+      stats["safety_invalid_ticks"] += not safety.safety_config_valid()
+      stats["relay_malfunction_ticks"] += safety.get_relay_malfunction()
+      stats["controls_allowed_ticks"] += safety.get_controls_allowed()
+
+      batch = [(t, frames)]
+      for parser in parsers.values():
+        parser.update(batch)
+        stats["invalid_car_parser_ticks"] += not parser.can_valid
+      out, _ = cs.update(parsers, None)
+      cs.out = out
+      stats["carstate_faulted_ticks"] += out.accFaulted
+      stats["seatbelt_unlatched_ticks"] += out.seatbeltUnlatched
+      stats["steering_inhibited_ticks"] += out.steerFaultTemporary
+      stats["cruise_engaged_ticks"] += out.cruiseState.enabled
+
+      radar_data = radar.update(batch)
+      if radar_data is not None:
+        stats["radar_updates"] += 1
+        stats["radar_points"] += len(radar_data.points)
+        stats["radar_error_updates"] += radar_data.errors.canError or radar_data.errors.radarFault
+
+      cc = structs.CarControl.new_message()
+      cc.actuators.steeringAngleDeg = out.steeringAngleDeg
+      cc.actuators.accel = 0.
+      # Do not fabricate engagement on the actual faulted/standby route.
+      _, sends = controller.update(cc.as_reader(), cs, t, None)
+      for a, d, b in sends:
+        stats["generated_tx"] += 1
+        stats[f"generated_{hex(a)}"] += 1
+        if not safety.safety_tx_hook(libsafety_py.make_CANPacket(a, b, d)):
+          stats["tx_rejected"] += 1
+          if len(first_rejected) < 5:
+            first_rejected.append((path.name, t, hex(a), d.hex(), out.steeringAngleDeg, safety.get_relay_malfunction()))
+
+      if active_controller is not None:
+        # A synthetic gate test only. This recording never engaged cruise, so
+        # enabling controls here does NOT represent an actual car-state transition.
+        eligible = (not (out.steerFaultTemporary or out.steerFaultPermanent or out.steeringDisengage or out.accFaulted or
+                         out.gasPressed or out.brakePressed or out.stockAeb or out.stockLkas) and out.vEgoRaw > 2.)
+        simulated = structs.CarControl.new_message()
+        simulated.latActive = eligible
+        simulated.longActive = eligible
+        simulated.actuators.steeringAngleDeg = out.steeringAngleDeg
+        simulated.actuators.accel = 0.5 if eligible else 0.
+        _, active_sends = active_controller.update(simulated.as_reader(), cs, t, None)
+        if eligible:
+          stats["simulated_eligible_ticks"] += 1
+          safety.set_controls_allowed(True)
+          for a, d, b in active_sends:
+            stats["simulated_tx"] += 1
+            stats[f"simulated_{hex(a)}"] += 1
+            if not safety.safety_tx_hook(libsafety_py.make_CANPacket(a, b, d)):
+              stats["simulated_tx_rejected"] += 1
+              if len(active_rejected) < 5:
+                active_rejected.append((path.name, t, hex(a), d.hex(), out.steeringAngleDeg, out.vEgoRaw))
+          safety.set_controls_allowed(False)
+      stats["can_events"] += 1
+    print(f"{path.name}: {dict(stats)}", flush=True)
+
+  print(f"unmatched bus-0 command examples: {suppressed_examples}")
+  print(f"rejected TX examples: {first_rejected}")
+  print(f"rejected synthetic-active TX examples: {active_rejected}")
+  print(f"final: {dict(stats)}")
+  return stats
+
+
+if __name__ == "__main__":
+  argp = argparse.ArgumentParser(description=__doc__)
+  argp.add_argument("rlogs", type=Path, help="directory containing segment rlog.zst files")
+  argp.add_argument("--simulate-active", action="store_true", help="force safety engagement only on healthy standby samples")
+  args = argp.parse_args()
+  files = sorted(args.rlogs.glob("*.rlog.zst"))
+  if not files:
+    argp.error("no *.rlog.zst files found")
+  replay(files, args.simulate_active)
@@ -0,0 +1,134 @@
+import pytest
+
+from cereal import custom
+
+from opendbc.can import CANPacker, CANParser
+from opendbc.car import Bus, structs
+from opendbc.car.fw_versions import match_fw_to_car
+from opendbc.car.tesla.carcontroller import CarController
+from opendbc.car.tesla.carstate import CarState
+from opendbc.car.tesla.fingerprints import FW_VERSIONS
+from opendbc.car.tesla.interface import CarInterface
+from opendbc.car.tesla.teslacan_legacy import TeslaCANRaven
+from opendbc.car.tesla.values import CANBUS, CAR, DBC, TeslaSafetyFlags
+
+
+def test_hw1_is_distinct_from_preap_and_does_not_change_can_buses():
+  preap = CarInterface.get_non_essential_params(CAR.TESLA_MODEL_S_PREAP)
+  hw1 = CarInterface.get_non_essential_params(CAR.TESLA_MODEL_S_HW1)
+
+  assert preap.safetyConfigs[0].safetyModel == structs.CarParams.SafetyModel.teslaPreAP
+  assert hw1.safetyConfigs[0].safetyModel == structs.CarParams.SafetyModel.tesla
+  assert hw1.safetyConfigs[0].safetyParam == TeslaSafetyFlags.FLAG_HW1.value
+  assert hw1.radarTimeStepDEPRECATED == pytest.approx(0.125)
+  assert preap.radarTimeStepDEPRECATED == pytest.approx(0.05)
+  assert CANBUS.party == 0 and CANBUS.autopilot_party == 2
+  assert CarState.get_can_parsers(hw1)[Bus.ap_pt].bus == 2
+  assert CarState.get_can_parsers(hw1)[Bus.chassis].message_states[0x211].ignore_alive
+  assert CarState.get_can_parsers(preap)[Bus.party].bus == 0
+
+
+def test_hw1_requires_explicit_alpha_long_for_acceleration():
+  ret = CarInterface.get_non_essential_params(CAR.TESLA_MODEL_S_HW1)
+  hw1 = CarInterface._get_params(ret, CAR.TESLA_MODEL_S_HW1, {0: {0x201: 5}}, [], True, False, False)
+  assert hw1.openpilotLongitudinalControl
+  assert hw1.safetyConfigs[0].safetyParam == TeslaSafetyFlags.FLAG_HW1.value | TeslaSafetyFlags.LONG_CONTROL.value
+
+
+def test_ap1_eps_fw_matches_hw1_without_matching_preap():
+  version = FW_VERSIONS[CAR.TESLA_MODEL_S_HW1][(structs.CarParams.Ecu.eps, 0x730, None)][0]
+  fw = structs.CarParams.CarFw(ecu=structs.CarParams.Ecu.eps, address=0x730, brand="tesla", fwVersion=version)
+  exact, candidates = match_fw_to_car([fw], "", log=False)
+  assert exact and candidates == {CAR.TESLA_MODEL_S_HW1}
+
+
+def test_hw1_display_and_cruise_bytes_do_not_change_preap_signals():
+  # Captured bus-0 DI_state (0x368) from the AP1 route: display 9 MPH, set speed 10 MPH.
+  parser = CANParser("tesla_can", [(0x368, 0)], 0)
+  parser.message_states[0x368].ignore_counter = True
+  frames = [(0x368, bytes.fromhex("84185e3009980a2d"), 0)]
+  parser.update([(1_000_000_000, frames)])
+  parser.update([(2_000_000_000, frames)])
+  state = parser.vl["DI_state"]
+  assert state["DI_hw1DigitalSpeed"] == 9
+  assert state["DI_hw1CruiseSet"] == 10
+  assert state["DI_digitalSpeed"] == 10
+  assert state["DI_cruiseSet"] != 10
+
+
+def test_hw1_packer_emits_bus_zero_with_matching_checksums():
+  packer = CANPacker(DBC[CAR.TESLA_MODEL_S_HW1][Bus.party])
+  tesla_can = TeslaCANRaven({CANBUS.party: packer})
+  for msg, expected_addr, checksum_index in (
+    (tesla_can.create_steering_control(0, 0, False), 0x488, 3),
+    (tesla_can.create_longitudinal_command(13, 0, 0, 10, False, False), 0x2b9, 7),
+  ):
+    addr, data, bus = msg
+    assert addr == expected_addr and bus == 0
+    assert data[checksum_index] == TeslaCANRaven.checksum(addr, data[:checksum_index])
+
+
+def test_hw1_cancel_clears_acceleration_and_does_not_request_max_speed():
+  cp = CarInterface._get_params(CarInterface.get_non_essential_params(CAR.TESLA_MODEL_S_HW1),
+                                CAR.TESLA_MODEL_S_HW1, {0: {}}, [], True, False, False)
+  controller = CarController(DBC[CAR.TESLA_MODEL_S_HW1], cp)
+  state = CarState(cp, custom.StarPilotCarParams.new_message())
+  state.out.vEgo = 10.
+  cc = structs.CarControl.new_message()
+  cc.longActive = True
+  cc.cruiseControl.cancel = True
+  cc.actuators.accel = 2.
+  _, sends = controller.update(cc.as_reader(), state, 0, None)
+  _, data, bus = next(msg for msg in sends if msg[0] == 0x2b9)
+  assert bus == 0
+  parser = CANParser("tesla_can", [(0x2b9, 0)], 0)
+  parser.update([(1_000_000_000, [(0x2b9, data, bus)])])
+  decoded = parser.vl["DAS_control"]
+  assert decoded["DAS_accState"] == 13
+  assert decoded["DAS_accelMin"] == pytest.approx(0, abs=0.05)
+  assert decoded["DAS_accelMax"] == pytest.approx(0, abs=0.05)
+  assert decoded["DAS_setSpeed"] != 200
+
+
+def test_hw1_carstate_uses_ap1_powertrain_and_chassis():
+  cp = CarInterface.get_non_essential_params(CAR.TESLA_MODEL_S_HW1)
+  parsers = CarState.get_can_parsers(cp)
+  frames = [
+    (0x155, bytes.fromhex("000000000005e308"), 0),  # ESP speed 15.07 kph
+    (0x368, bytes.fromhex("84185e3009980a2d"), 0),
+    (0x201, bytes.fromhex("5444008df2"), 0),
+  ]
+  for parser in parsers.values():
+    for addr in (0x155, 0x368, 0x201):
+      _ = parser.vl[addr]
+      parser.message_states[addr].ignore_counter = True
+      parser.message_states[addr].ignore_checksum = True
+    parser.update([(1_000_000_000, frames)])
+    parser.update([(2_000_000_000, frames)])
+  state = CarState(cp, custom.StarPilotCarParams.new_message())
+  ret, _ = state.update(parsers, None)
+  assert not ret.cruiseState.enabled
+  assert ret.cruiseState.speed == pytest.approx(10 * 0.44704)
+  assert ret.vEgoRaw == pytest.approx(15.07 / 3.6)
+  assert not ret.seatbeltUnlatched
+
+  # A stale belt frame cannot allow an engagement indefinitely.
+  for parser in parsers.values():
+    parser.update([(4_000_000_000, [])])
+  ret, _ = state.update(parsers, None)
+  assert ret.seatbeltUnlatched
+
+
+def test_hw1_can_use_rcm_buckle_when_sdm1_is_absent():
+  cp = CarInterface.get_non_essential_params(CAR.TESLA_MODEL_S_HW1)
+  parsers = CarState.get_can_parsers(cp)
+  packer = CANPacker(DBC[CAR.TESLA_MODEL_S_HW1][Bus.chassis])
+  addr, data, bus = packer.make_can_msg("RCM_status", 0, {"RCM_buckleDriverStatus": 1})
+  assert addr == 0x211 and bus == 0
+  frames = [(addr, data, bus)]
+  for parser in parsers.values():
+    _ = parser.vl["RCM_status"]
+    parser.update([(1_000_000_000, frames)])
+  state = CarState(cp, custom.StarPilotCarParams.new_message())
+  out, _ = state.update(parsers, None)
+  assert not out.seatbeltUnlatched
@@ -70,6 +70,16 @@ class CAR(Platforms):
      Bus.radar: 'tesla_radar_bosch_generated',
    },
  )
+  TESLA_MODEL_S_HW1 = TeslaPlatformConfig(
+    [CarDocs("Tesla Model S (with HW1) 2014-16", "All", support_type=SupportType.COMMUNITY, support_link="#community")],
+    CarSpecs(mass=2100., wheelbase=2.960, steerRatio=15.0),
+    {
+      Bus.chassis: 'tesla_can',
+      Bus.party: 'tesla_can',
+      Bus.pt: 'tesla_can',
+      Bus.radar: 'tesla_radar_bosch_generated',
+    },
+  )


 FW_QUERY_CONFIG = FwQueryConfig(
@@ -125,10 +135,14 @@ class CarControllerParams:
  ACCEL_MAX = 2.0    # m/s^2
  ACCEL_MIN = -3.48  # m/s^2
  JERK_LIMIT_MAX = 4.9  # m/s^3, ACC faults at 5.0
+  JERK_LIMIT_MIN = -4.9  # m/s^3, ACC faults at 5.0
+  JERK_RAMP_RATE = JERK_LIMIT_MAX * 0.002


 class TeslaSafetyFlags(IntFlag):
  LONG_CONTROL = 1
+  FLAG_EXTERNAL_PANDA = 4
+  FLAG_HW1 = 8
  COOP_STEERING = 256


@@ -157,5 +171,7 @@ class CruiseButtons:

 DBC = CAR.create_dbc_map()

+LEGACY_CARS = (CAR.TESLA_MODEL_S_HW1,)
+
 STEER_THRESHOLD = 1
 STEER_DISENGAGE_THRESHOLD = 5.0
@@ -26,6 +26,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "TESLA_MODEL_3" = [nan, 2.5, nan]
 "TESLA_MODEL_Y" = [nan, 2.5, nan]
 "TESLA_MODEL_X" = [nan, 2.5, nan]
+"TESLA_MODEL_S_HW1" = [nan, 2.5, nan]

 # Guess
 "VOLKSWAGEN_ID3_MK1" = [nan, 2.5, nan]
@@ -46,8 +46,7 @@ TOYOTA_AUTO_HOLD_ACTIVATION_FRAMES = 100
 # LKA limits
 # EPS faults if you apply torque while the steering rate is above 100 deg/s for too long
 MAX_STEER_RATE = 100  # deg/s
-MAX_STEER_RATE_FRAMES = 18  # tx control frames needed before torque can be cut
-TOYOTA_COROLLA_TSS2_MAX_STEER_RATE_FRAMES = 8
+MAX_STEER_RATE_FRAMES = 17  # tx control frames needed before torque can be cut

 # EPS allows user torque above threshold for 50 frames before permanently faulting
 MAX_USER_TORQUE = 500
@@ -78,9 +77,12 @@ def should_bypass_toyota_long_pid(CP, starpilot_toggles=None) -> bool:
  ) or highlander_sdsu)


-def get_steer_rate_limit_frames(car_fingerprint) -> int:
-  return (TOYOTA_COROLLA_TSS2_MAX_STEER_RATE_FRAMES
-          if car_fingerprint == CAR.TOYOTA_COROLLA_TSS2 else MAX_STEER_RATE_FRAMES)
+def get_toyota_lat_active(car_fingerprint, requested_active: bool, steering_torque: float,
+                          steering_pressed: bool) -> bool:
+  if not requested_active or abs(steering_torque) >= MAX_USER_TORQUE:
+    return False
+
+  return not (car_fingerprint == CAR.TOYOTA_COROLLA_TSS2 and steering_pressed)


 def supports_toyota_auto_hold(CP, auto_hold_enabled: bool) -> bool:
@@ -250,7 +252,6 @@ class CarController(CarControllerBase):
    self.standstill_req = False
    self.permit_braking = True
    self.steer_rate_counter = 0
-    self.steer_rate_limit_frames = get_steer_rate_limit_frames(self.CP.carFingerprint)
    self.distance_button = 0

    # *** start long control state ***
@@ -342,7 +343,8 @@ class CarController(CarControllerBase):
    stopping = actuators.longControlState == LongCtrlState.stopping
    hud_control = CC.hudControl
    pcm_cancel_cmd = CC.cruiseControl.cancel
-    lat_active = CC.latActive and abs(CS.out.steeringTorque) < MAX_USER_TORQUE
+    lat_active = get_toyota_lat_active(self.CP.carFingerprint, CC.latActive,
+                                       CS.out.steeringTorque, CS.out.steeringPressed)

    if len(CC.orientationNED) == 3:
      self.pitch.update(CC.orientationNED[1])
@@ -370,7 +372,7 @@ class CarController(CarControllerBase):
    # >100 degree/sec steering fault prevention
    self.steer_rate_counter, apply_steer_req = common_fault_avoidance(
      abs(CS.out.steeringRateDeg) >= MAX_STEER_RATE, lat_active,
-      self.steer_rate_counter, self.steer_rate_limit_frames,
+      self.steer_rate_counter, MAX_STEER_RATE_FRAMES,
    )

    if not lat_active:
@@ -11,7 +11,7 @@ from opendbc.car.toyota import toyotacan
 from opendbc.car.toyota.carcontroller import CarController, get_camry_hybrid_feedforward, get_long_tune, get_prius_feedforward, \
                                             get_prius_positive_feedforward_scale, \
                                             get_rav4_interceptor_pedal_scale, \
-                                             get_steer_rate_limit_frames, \
+                                             get_toyota_lat_active, \
                                             limit_interceptor_pcm_accel, \
                                             limit_interceptor_stopping_accel, limit_no_lead_cruise_sign_flip, \
                                             limit_prius_stopping_accel, should_bypass_toyota_long_pid, supports_toyota_auto_hold, \
@@ -735,9 +735,14 @@ class TestToyotaFingerprint:


 class TestToyotaCarController:
-  def test_corolla_tss2_uses_early_steer_rate_fault_guard(self):
-    assert get_steer_rate_limit_frames(CAR.TOYOTA_COROLLA_TSS2) == 8
-    assert get_steer_rate_limit_frames(CAR.TOYOTA_RAV4_TSS2) == 18
+  def test_corolla_tss2_hands_off_immediately_when_driver_is_steering(self):
+    assert not get_toyota_lat_active(CAR.TOYOTA_COROLLA_TSS2, True, 117, True)
+
+  def test_corolla_tss2_stays_active_without_driver_input(self):
+    assert get_toyota_lat_active(CAR.TOYOTA_COROLLA_TSS2, True, 99, False)
+
+  def test_toyota_driver_handoff_behavior_is_corolla_only(self):
+    assert get_toyota_lat_active(CAR.TOYOTA_RAV4_TSS2, True, 117, True)

  @staticmethod
  def _make_controller(*, standstill_req=False, last_standstill=False):
@@ -0,0 +1,23 @@
+VERSION ""
+
+NS_ :
+BS_:
+BU_: INTERCEPTOR NEO
+
+BO_ 512 GAS_COMMAND: 6 NEO
+ SG_ GAS_COMMAND : 7|16@0+ (0.672,-177.408) [0|255] "" INTERCEPTOR
+ SG_ GAS_COMMAND2 : 23|16@0+ (0.332,-165.004) [0|255] "" INTERCEPTOR
+ SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+
+BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+ SG_ INTERCEPTOR_GAS : 7|16@0+ (0.672,-177.408) [0|255] "" NEO
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.332,-165.004) [0|255] "" NEO
+ SG_ STATE : 39|4@0+ (1,0) [0|15] "" NEO
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" NEO
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" NEO
+
+VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
+CM_ "Kia Ray EV comma pedal uses the standard 0x200/0x201 rolling counter and CRC8 protocol. Channel scaling is Ray-only, estimated from the September 15 route: sensor rest raw 264/497, slopes about 3.79/7.68 raw counts per native E_EMS11 pedal unit, and 100 native units mapped to 255 comma pedal command units. Confirm against installed Ray firmware before increasing the command cap.";
@@ -217,6 +217,9 @@ BO_ 513 SDM1: 5 GTW
 SG_ SDM_bcklPassStatus : 3|2@0+ (1,0) [0|3] "" NEO
 SG_ SDM_bcklDrivStatus : 5|2@0+ (1,0) [0|3] "" NEO

+BO_ 529 RCM_status: 8 RCM
+ SG_ RCM_buckleDriverStatus : 15|2@0+ (1,0) [0|3] "" GTW,OCS,DAS
+
 BO_ 532 EPB_epasControl: 3 EPB
 SG_ EPB_epasControlChecksum : 23|8@0+ (1,0) [0|255] ""  NEO,EPAS
 SG_ EPB_epasControlCounter : 11|4@0+ (1,0) [0|15] ""  NEO,EPAS
@@ -256,9 +259,11 @@ BO_ 872 DI_state: 8 DI
 SG_ DI_immobilizerState : 28|3@1+ (1,0) [0|0] ""  NEO
 SG_ DI_speedUnits : 31|1@1+ (1,0) [0|1] ""  NEO
 SG_ DI_cruiseSet : 32|9@1+ (0.5,0) [0|255.5] "speed"  NEO
+ SG_ DI_hw1DigitalSpeed : 32|8@1+ (1,0) [0|250] "speed" NEO
 SG_ DI_aebState : 41|3@1+ (1,0) [0|0] ""  NEO
 SG_ DI_stateCounter : 44|4@1+ (1,0) [0|0] ""  NEO
 SG_ DI_digitalSpeed : 48|8@1+ (1,0) [0|250] ""  NEO
+ SG_ DI_hw1CruiseSet : 48|8@1+ (1,0) [0|250] "speed" NEO
 SG_ DI_stateChecksum : 56|8@1+ (1,0) [0|0] ""  NEO

 BO_ 109 SBW_RQ_SCCM: 4 STW
@@ -906,4 +911,3 @@ VAL_ 1001 DAS_turnIndicatorRequestReason 6 "DAS_ACTIVE_COMMANDED_LANE_CHANGE" 5
 VAL_ 1160 DAS_steeringAngleRequest 16384 "ZERO_ANGLE" ;
 VAL_ 1160 DAS_steeringControlType 1 "ANGLE_CONTROL" 3 "DISABLED" 0 "NONE" 2 "RESERVED" ;
 VAL_ 1160 DAS_steeringHapticRequest 1 "ACTIVE" 0 "IDLE" ;
-
@@ -384,3 +384,4 @@ extern const safety_hooks rivian_hooks;
 extern const safety_hooks psa_hooks;
 extern const safety_hooks volvo_hooks;
 extern const safety_hooks tesla_preap_hooks;
+extern const safety_hooks tesla_legacy_hooks;
@@ -67,6 +67,9 @@ const LongitudinalLimits HYUNDAI_LONG_LIMITS = {
 #define HYUNDAI_NON_SCC_EV_ADDR_CHECK \
  {.msg = {{0x592U, 0, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \

+#define HYUNDAI_RAY_PEDAL_ADDR_CHECK \
+  {.msg = {{0x201U, 0, 6, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
+
 static const CanMsg HYUNDAI_TX_MSGS[] = {
  HYUNDAI_COMMON_TX_MSGS(0, false)
 };
@@ -75,6 +78,11 @@ static const CanMsg HYUNDAI_REFRESH_TX_MSGS[] = {
  HYUNDAI_COMMON_TX_MSGS(0, true)
 };

+static const CanMsg HYUNDAI_RAY_PEDAL_TX_MSGS[] = {
+  HYUNDAI_COMMON_TX_MSGS(0, true)
+  {0x200, 0, 6, .check_relay = false},  // comma pedal only, not Hyundai EMS20
+};
+
 static const CanMsg HYUNDAI_LONG_TX_MSGS[] = {
  HYUNDAI_LONG_COMMON_TX_MSGS(0, false)
  {0x38D, 0, 8, .check_relay = false}, // FCA11 Bus 0
@@ -90,6 +98,7 @@ static const CanMsg HYUNDAI_LONG_REFRESH_TX_MSGS[] = {
 };

 static bool hyundai_legacy = false;
+static bool hyundai_ray_pedal = false;
 static bool hyundai_can_canfd_blended_hda2 = false;
 static bool hyundai_acc_main_on_rx_prev = false;

@@ -120,6 +129,8 @@ static uint8_t hyundai_get_counter(const CANPacket_t *msg) {
    cnt = byte_421 & 0xFU;
  } else if (msg->addr == 0x4F1U) {
    cnt = (msg->data[3] >> 4) & 0xFU;
+  } else if (hyundai_ray_pedal && (msg->addr == 0x201U)) {
+    cnt = msg->data[4] & 0xFU;
  } else {
  }
  return cnt;
@@ -136,11 +147,24 @@ static uint32_t hyundai_get_checksum(const CANPacket_t *msg) {
    chksum = msg->data[6] & 0xFU;
  } else if (msg->addr == 0x421U) {
    chksum = hyundai_can_canfd_blended ? msg->data[0] : msg->data[7] >> 4;
+  } else if (hyundai_ray_pedal && (msg->addr == 0x201U)) {
+    chksum = msg->data[5];
  } else {
  }
  return chksum;
 }

+static uint8_t hyundai_ray_pedal_checksum(const CANPacket_t *msg) {
+  uint8_t crc = 0xFFU;
+  for (int i = 4; i >= 0; i--) {
+    crc ^= msg->data[i];
+    for (int j = 0; j < 8; j++) {
+      crc = (crc & 0x80U) ? (uint8_t)((crc << 1U) ^ 0xD5U) : (uint8_t)(crc << 1U);
+    }
+  }
+  return crc;
+}
+
 static void hyundai_rx_all_hook(const CANPacket_t *msg) {
  if ((msg->addr == 0x53EU) && (msg->bus == 2U) && (GET_LEN(msg) == 6U)) {
    hyundai_has_lkas12 = true;
@@ -148,6 +172,10 @@ static void hyundai_rx_all_hook(const CANPacket_t *msg) {
 }

 static uint32_t hyundai_compute_checksum(const CANPacket_t *msg) {
+  if (hyundai_ray_pedal && (msg->addr == 0x201U)) {
+    return hyundai_ray_pedal_checksum(msg);
+  }
+
  uint8_t chksum = 0;
  if (msg->addr == 0x386U) {
    // count the bits
@@ -231,7 +259,11 @@ static void hyundai_rx_hook(const CANPacket_t *msg) {
    }

    // gas press, different for EV, hybrid, and ICE models
-    if ((msg->addr == 0x371U) && hyundai_ev_gas_signal) {
+    if ((msg->addr == 0x201U) && hyundai_ray_pedal) {
+      const uint16_t track1 = ((uint16_t)msg->data[0] << 8U) | msg->data[1];
+      const uint16_t track2 = ((uint16_t)msg->data[2] << 8U) | msg->data[3];
+      gas_pressed = (track1 > 272U) || (track2 > 513U);
+    } else if ((msg->addr == 0x371U) && hyundai_ev_gas_signal && !hyundai_ray_pedal) {
      gas_pressed = (((msg->data[4] & 0x7FU) << 1) | (msg->data[3] >> 7)) != 0U;
    } else if ((msg->addr == 0x371U) && hyundai_hybrid_gas_signal) {
      gas_pressed = msg->data[7] != 0U;
@@ -291,6 +323,22 @@ static bool hyundai_tx_hook(const CANPacket_t *msg) {

  bool tx = true;

+  if (hyundai_ray_pedal && (msg->addr == 0x200U)) {
+    const uint16_t track1 = ((uint16_t)msg->data[0] << 8U) | msg->data[1];
+    const uint16_t track2 = ((uint16_t)msg->data[2] << 8U) | msg->data[3];
+    const bool enabled = (msg->data[4] & 0x80U) != 0U;
+    const int expected_track2 = 497 + (2 * ((int)track1 - 264));
+    if ((msg->data[4] & 0x70U) != 0U ||
+        (msg->data[5] != hyundai_ray_pedal_checksum(msg)) ||
+        (enabled && (track1 < 264U || track1 > 397U || track2 < 497U || track2 > 766U ||
+                     SAFETY_ABS((int)track2 - expected_track2) > 40)) ||
+        (!enabled && ((track1 != 0U) || (track2 != 0U))) ||
+        longitudinal_interceptor_checks(msg) ||
+        (enabled && (!get_longitudinal_allowed() || brake_pressed_prev))) {
+      tx = false;
+    }
+  }
+
  if ((msg->addr == 0x53EU) && !hyundai_has_lkas12) {
    tx = false;
  }
@@ -390,6 +438,10 @@ static bool hyundai_tx_hook(const CANPacket_t *msg) {
  return tx;
 }

+static bool hyundai_fwd_hook(int bus_num, int addr) {
+  return (bus_num == 2) && (addr == 0x53E) && hyundai_has_lkas12;
+}
+
 static safety_config hyundai_init(uint16_t param) {
  static const CanMsg HYUNDAI_CAMERA_SCC_TX_MSGS[] = {
    HYUNDAI_COMMON_TX_MSGS(2, false)
@@ -457,6 +509,10 @@ static safety_config hyundai_init(uint16_t param) {
  };

  hyundai_common_init(param);
+  hyundai_ray_pedal = (param & (uint16_t)~(32U | 128U | 2048U)) == 0x9405U;
+  if (hyundai_ray_pedal) {
+    hyundai_longitudinal = true;  // button engagement; no Hyundai SCC TX
+  }
  hyundai_legacy = false;
  hyundai_can_canfd_blended_hda2 = hyundai_can_canfd_blended && hyundai_canfd_lka_steering;
  hyundai_aol_main_lkas_sync = GET_FLAG(param, 32U);
@@ -467,6 +523,17 @@ static safety_config hyundai_init(uint16_t param) {
  }

  safety_config ret;
+  if (hyundai_ray_pedal) {
+    static RxCheck hyundai_ray_pedal_rx_checks[] = {
+      HYUNDAI_COMMON_RX_CHECKS(false)
+      HYUNDAI_NON_SCC_EV_ADDR_CHECK
+      HYUNDAI_LDA_BUTTON_ADDR_CHECK
+      HYUNDAI_RAY_PEDAL_ADDR_CHECK
+    };
+    SET_RX_CHECKS(hyundai_ray_pedal_rx_checks, ret);
+    SET_TX_MSGS(HYUNDAI_RAY_PEDAL_TX_MSGS, ret);
+    return ret;
+  }
  if (hyundai_longitudinal) {
    // Use CLU11 (buttons) to manage controls allowed instead of SCC cruise state
    static RxCheck hyundai_long_rx_checks[] = {
@@ -696,6 +763,7 @@ static safety_config hyundai_legacy_init(uint16_t param) {

  hyundai_common_init(param);
  hyundai_legacy = true;
+  hyundai_ray_pedal = false;
  hyundai_can_canfd_blended_hda2 = false;
  hyundai_camera_scc = false;
  hyundai_can_refresh_msgs = false;
@@ -711,6 +779,7 @@ const safety_hooks hyundai_hooks = {
  .get_counter = hyundai_get_counter,
  .get_checksum = hyundai_get_checksum,
  .compute_checksum = hyundai_compute_checksum,
+  .fwd = hyundai_fwd_hook,
 };

 const safety_hooks hyundai_legacy_hooks = {
@@ -721,4 +790,5 @@ const safety_hooks hyundai_legacy_hooks = {
  .get_counter = hyundai_get_counter,
  .get_checksum = hyundai_get_checksum,
  .compute_checksum = hyundai_compute_checksum,
+  .fwd = hyundai_fwd_hook,
 };
@@ -0,0 +1,241 @@
+#pragma once
+
+#include "opendbc/safety/declarations.h"
+
+#define TESLA_LEGACY_FLAG_HW1 8U
+
+static bool tesla_external_panda = false;
+static bool tesla_hw1 = false;
+static bool tesla_hw2 = false;
+static bool tesla_hw3 = false;
+static bool tesla_legacy_longitudinal = false;
+
+static int chassis_bus = 0U;
+static int das_control_msg = 0x2bfU;
+static int di_torque1_msg = 0x106U;
+
+static bool tesla_legacy_stock_aeb = false;
+static bool tesla_legacy_stock_lkas = false;
+static bool tesla_legacy_stock_lkas_prev = false;
+
+static void tesla_legacy_rx_hook(const CANPacket_t *msg) {
+  // EPAS_sysStatus: steering angle, driver hands, and EAC status.
+  if (!tesla_external_panda && (msg->bus == 0U) && (msg->addr == 0x370U)) {
+    const int angle_meas_new = (((msg->data[4] & 0x3FU) << 8) | msg->data[5]) - 8192U;
+    update_sample(&angle_meas, angle_meas_new);
+
+    const int hands_on_level = msg->data[4] >> 6;
+    const int eac_status = msg->data[6] >> 5;
+    const int eac_error_code = msg->data[2] >> 4;
+    steering_disengage = (hands_on_level >= 3) || ((eac_status == 0) && (eac_error_code == 9));
+  }
+
+  // ESP_B: ESP_vehicleSpeed.
+  if (!tesla_external_panda && (msg->bus == (unsigned)chassis_bus) && (msg->addr == 0x155U)) {
+    const float speed = ((msg->data[6] | (msg->data[5] << 8)) * 0.01) * KPH_TO_MS;
+    UPDATE_VEHICLE_SPEED(speed);
+  }
+
+  // DI_torque1: pedal position. HW1 uses the 0x108 message variant.
+  if ((tesla_external_panda || tesla_hw1) && (msg->bus == 0U) && (msg->addr == di_torque1_msg)) {
+    gas_pressed = msg->data[6] != 0U;
+  }
+
+  if (((tesla_external_panda) && (msg->bus == 0U) && (msg->addr == 0x1f8U)) ||
+      ((!tesla_external_panda) && (msg->bus == (unsigned)chassis_bus) && (msg->addr == 0x20aU))) {
+    brake_pressed = (((msg->data[0] & 0x0CU) >> 2) != 1U);
+  }
+
+  // DI_state: cruise state.
+  if (((tesla_external_panda) && (msg->bus == 0U) && (msg->addr == 0x256U)) ||
+      ((!tesla_external_panda) && (msg->bus == (unsigned)chassis_bus) && (msg->addr == 0x368U))) {
+    const int cruise_state = (msg->data[1] >> 4) & 0x07U;
+    const bool cruise_engaged = (cruise_state == 2) || (cruise_state == 3) || (cruise_state == 4) ||
+                                (cruise_state == 6) || (cruise_state == 7);
+    vehicle_moving = cruise_state != 3;
+    pcm_cruise_check(cruise_engaged);
+  }
+
+  if (msg->bus == 2U) {
+    if ((tesla_external_panda || tesla_hw1) && msg->addr == das_control_msg) {
+      tesla_legacy_stock_aeb = (msg->data[2] & 0x03U) == 1U;
+    }
+
+    if (!tesla_external_panda && msg->addr == 0x488U) {
+      const int steering_control_type = msg->data[2] >> 6;
+      const bool stock_lkas_now = steering_control_type == 2;
+      if (stock_lkas_now && !tesla_legacy_stock_lkas_prev && !controls_allowed) {
+        tesla_legacy_stock_lkas = true;
+      }
+      if (!stock_lkas_now) {
+        tesla_legacy_stock_lkas = false;
+      }
+      tesla_legacy_stock_lkas_prev = stock_lkas_now;
+    }
+  }
+}
+
+static bool tesla_legacy_tx_hook(const CANPacket_t *msg) {
+  const AngleSteeringLimits TESLA_STEERING_LIMITS = {
+    .max_angle = 3600,
+    .angle_deg_to_can = 10,
+    .frequency = 50U,
+  };
+
+  const AngleSteeringParams TESLA_LEGACY_STEERING_PARAMS = {
+    .slip_factor = -0.0005666493436310427,
+    .steer_ratio = 15.,
+    .wheelbase = 2.96,
+  };
+
+  const LongitudinalLimits TESLA_LONG_LIMITS = {
+    .max_accel = 425,
+    .min_accel = 288,
+    .inactive_accel = 375,
+  };
+
+  bool violation = false;
+
+  // DAS_steeringControl: angle is encoded in 0.1 degree units with a 1638.35 offset.
+  if (!tesla_external_panda && (msg->addr == 0x488U)) {
+    const int raw_angle_can = ((msg->data[0] & 0x7FU) << 8) | msg->data[1];
+    const int desired_angle = raw_angle_can - 16384;
+    const int steer_control_type = msg->data[2] >> 6;
+    const bool steer_control_enabled = steer_control_type == 1;
+
+    violation |= steer_angle_cmd_checks_vm(desired_angle, steer_control_enabled,
+                                           TESLA_STEERING_LIMITS, TESLA_LEGACY_STEERING_PARAMS);
+
+    const bool valid_steer_control_type = (steer_control_type == 0) || (steer_control_type == 1);
+    violation |= !valid_steer_control_type;
+    violation |= tesla_legacy_stock_lkas;
+  }
+
+  // DAS_control: HW1 longitudinal control is sent to the powertrain bus (bus 0).
+  if ((tesla_external_panda || tesla_hw1) && (msg->addr == das_control_msg)) {
+    const int aeb_event = msg->data[2] & 0x03U;
+    violation |= aeb_event != 0;
+    violation |= tesla_legacy_stock_aeb;
+
+    const int raw_accel_max = ((msg->data[6] & 0x1FU) << 4) | (msg->data[5] >> 4);
+    const int raw_accel_min = ((msg->data[5] & 0x0FU) << 5) | (msg->data[4] >> 3);
+    if (tesla_legacy_longitudinal) {
+      violation |= (raw_accel_max < TESLA_LONG_LIMITS.inactive_accel) &&
+                   (raw_accel_min < TESLA_LONG_LIMITS.inactive_accel);
+      violation |= longitudinal_accel_checks(raw_accel_max, TESLA_LONG_LIMITS);
+      violation |= longitudinal_accel_checks(raw_accel_min, TESLA_LONG_LIMITS);
+    } else {
+      // Stock ACC may only be cancelled, never spoofed or accelerated.
+      const int acc_state = msg->data[1] >> 4;
+      violation |= acc_state != 13;
+      violation |= (raw_accel_max != TESLA_LONG_LIMITS.inactive_accel) ||
+                   (raw_accel_min != TESLA_LONG_LIMITS.inactive_accel);
+    }
+  }
+
+  return !violation;
+}
+
+static bool tesla_legacy_fwd_hook(int bus_num, int addr) {
+  bool block_msg = false;
+
+  if (bus_num == 2) {
+    if (!tesla_external_panda && !tesla_hw1 && (addr == 0x27dU)) {
+      block_msg = true;
+    }
+    if (!tesla_external_panda && (addr == 0x488U) && !tesla_legacy_stock_lkas) {
+      block_msg = true;
+    }
+    if ((tesla_external_panda || tesla_hw1) && (addr == das_control_msg) && !tesla_legacy_stock_aeb) {
+      block_msg = true;
+    }
+  }
+
+  return block_msg;
+}
+
+static safety_config tesla_legacy_init(uint16_t param) {
+  const int TESLA_FLAG_EXTERNAL_PANDA = 4;
+  const int TESLA_FLAG_HW2 = 16;
+  const int TESLA_FLAG_HW3 = 32;
+
+  tesla_external_panda = GET_FLAG(param, TESLA_FLAG_EXTERNAL_PANDA);
+  tesla_hw1 = GET_FLAG(param, TESLA_LEGACY_FLAG_HW1);
+  tesla_hw2 = GET_FLAG(param, TESLA_FLAG_HW2);
+  tesla_hw3 = GET_FLAG(param, TESLA_FLAG_HW3);
+  tesla_legacy_longitudinal = GET_FLAG(param, 1);
+
+  tesla_legacy_stock_aeb = false;
+  tesla_legacy_stock_lkas = false;
+  tesla_legacy_stock_lkas_prev = false;
+  chassis_bus = 0U;
+  di_torque1_msg = 0x106U;
+  das_control_msg = tesla_external_panda ? 0x2bfU : 0x2b9U;
+
+  static const CanMsg TESLA_TX_LEGACY_MSGS[] = {
+    {0x488, 0, 4, .check_relay = true, .disable_static_blocking = true},
+    {0x27D, 0, 3, .check_relay = true, .disable_static_blocking = true},
+  };
+
+  static const CanMsg TESLA_LEGACY_PT_MSGS[] = {
+    {0x2bf, 0, 8, .check_relay = true, .disable_static_blocking = true},
+  };
+
+  static const CanMsg TESLA_TX_LEGACY_HW1_MSGS[] = {
+    {0x488, 0, 4, .check_relay = true, .disable_static_blocking = true},
+    {0x2b9, 0, 8, .check_relay = true, .disable_static_blocking = true},
+  };
+
+  static RxCheck tesla_legacy_pt_rx_checks[] = {
+    {.msg = {{0x106, 0, 8, 100U, .ignore_quality_flag = true, .ignore_checksum = true, .ignore_counter = true}, {0}, {0}}},
+    {.msg = {{0x1f8, 0, 8, 50U, .ignore_quality_flag = true, .ignore_checksum = true, .ignore_counter = true}, {0}, {0}}},
+    {.msg = {{0x2bf, 2, 8, 25U, .ignore_quality_flag = true, .ignore_checksum = true, .ignore_counter = true}, {0}, {0}}},
+    {.msg = {{0x256, 0, 8, 10U, .ignore_quality_flag = true, .ignore_checksum = true, .ignore_counter = true}, {0}, {0}}},
+  };
+
+  static RxCheck tesla_legacy_hw1_rx_checks[] = {
+    {.msg = {{0x108, 0, 8, 100U, .ignore_quality_flag = true, .ignore_checksum = true, .ignore_counter = true}, {0}, {0}}},
+    {.msg = {{0x2b9, 2, 8, 25U, .ignore_quality_flag = true, .ignore_checksum = true, .ignore_counter = true}, {0}, {0}}},
+    {.msg = {{0x370, 0, 8, 25U, .ignore_quality_flag = true, .ignore_checksum = true, .ignore_counter = true}, {0}, {0}}},
+    {.msg = {{0x155, 0, 8, 50U, .ignore_quality_flag = true, .ignore_checksum = true, .ignore_counter = true}, {0}, {0}}},
+    {.msg = {{0x20a, 0, 8, 50U, .ignore_quality_flag = true, .ignore_checksum = true, .ignore_counter = true}, {0}, {0}}},
+    {.msg = {{0x368, 0, 8, 10U, .ignore_quality_flag = true, .ignore_checksum = true, .ignore_counter = true}, {0}, {0}}},
+    {.msg = {{0x488, 2, 4, 50U, .ignore_quality_flag = true, .ignore_checksum = true, .ignore_counter = true}, {0}, {0}}},
+  };
+
+  static RxCheck tesla_legacy_hw2_rx_checks[] = {
+    {.msg = {{0x370, 0, 8, 25U, .ignore_quality_flag = true, .ignore_checksum = true, .ignore_counter = true}, {0}, {0}}},
+    {.msg = {{0x155, 0, 8, 50U, .ignore_quality_flag = true, .ignore_checksum = true, .ignore_counter = true}, {0}, {0}}},
+    {.msg = {{0x20a, 0, 8, 50U, .ignore_quality_flag = true, .ignore_checksum = true, .ignore_counter = true}, {0}, {0}}},
+    {.msg = {{0x368, 0, 8, 10U, .ignore_quality_flag = true, .ignore_checksum = true, .ignore_counter = true}, {0}, {0}}},
+    {.msg = {{0x488, 2, 4, 50U, .ignore_quality_flag = true, .ignore_checksum = true, .ignore_counter = true}, {0}, {0}}},
+  };
+
+  static RxCheck tesla_legacy_hw3_rx_checks[] = {
+    {.msg = {{0x370, 0, 8, 100U, .ignore_quality_flag = true, .ignore_checksum = true, .ignore_counter = true}, {0}, {0}}},
+    {.msg = {{0x155, 1, 8, 50U, .ignore_quality_flag = true, .ignore_checksum = true, .ignore_counter = true}, {0}, {0}}},
+    {.msg = {{0x20a, 1, 8, 50U, .ignore_quality_flag = true, .ignore_checksum = true, .ignore_counter = true}, {0}, {0}}},
+    {.msg = {{0x368, 1, 8, 10U, .ignore_quality_flag = true, .ignore_checksum = true, .ignore_counter = true}, {0}, {0}}},
+    {.msg = {{0x488, 2, 4, 50U, .ignore_quality_flag = true, .ignore_checksum = true, .ignore_counter = true}, {0}, {0}}},
+  };
+
+  if (tesla_external_panda && (tesla_hw3 || tesla_hw2)) {
+    return BUILD_SAFETY_CFG(tesla_legacy_pt_rx_checks, TESLA_LEGACY_PT_MSGS);
+  }
+  if (tesla_hw3) {
+    chassis_bus = 1U;
+    return BUILD_SAFETY_CFG(tesla_legacy_hw3_rx_checks, TESLA_TX_LEGACY_MSGS);
+  }
+  if (tesla_hw1) {
+    di_torque1_msg = 0x108U;
+    return BUILD_SAFETY_CFG(tesla_legacy_hw1_rx_checks, TESLA_TX_LEGACY_HW1_MSGS);
+  }
+  return BUILD_SAFETY_CFG(tesla_legacy_hw2_rx_checks, TESLA_TX_LEGACY_MSGS);
+}
+
+const safety_hooks tesla_legacy_hooks = {
+  .init = tesla_legacy_init,
+  .rx = tesla_legacy_rx_hook,
+  .tx = tesla_legacy_tx_hook,
+  .fwd = tesla_legacy_fwd_hook,
+};
@@ -235,9 +235,9 @@ static bool toyota_tx_hook(const CANPacket_t *msg) {

    // the EPS faults when the steering angle rate is above a certain threshold for too long. to prevent this,
    // we allow setting STEER_REQUEST bit to 0 while maintaining the requested torque value for a single frame
-    .min_valid_request_frames = 18,
+    .min_valid_request_frames = 17,
    .max_invalid_request_frames = 1,
-    .min_valid_request_rt_interval = 171000,  // 171ms; a ~10% buffer on cutting every 19 frames
+    .min_valid_request_rt_interval = 162000,  // 162ms; a ~10% buffer on cutting every 18 frames
    .has_steer_req_tolerance = true,
  };

@@ -12,6 +12,7 @@
 #include "opendbc/safety/modes/toyota.h"
 #include "opendbc/safety/modes/tesla.h"
 #include "opendbc/safety/modes/tesla_preap.h"
+#include "opendbc/safety/modes/tesla_legacy.h"
 #include "opendbc/safety/modes/gm.h"
 #include "opendbc/safety/modes/ford.h"
 #include "opendbc/safety/modes/hyundai.h"
@@ -502,7 +503,8 @@ int set_safety_hooks(uint16_t mode, uint16_t param) {
  int hook_config_count = sizeof(safety_hook_registry) / sizeof(safety_hook_config);
  for (int i = 0; i < hook_config_count; i++) {
    if (safety_hook_registry[i].id == mode) {
-      current_hooks = safety_hook_registry[i].hooks;
+      current_hooks = ((mode == SAFETY_TESLA) && GET_FLAG(param, TESLA_LEGACY_FLAG_HW1)) ?
+                      &tesla_legacy_hooks : safety_hook_registry[i].hooks;
      current_safety_mode = mode;
      current_safety_param = param;
      set_status = 0;  // set
@@ -434,9 +434,11 @@ def test_hyundai_lkas12_tx_requires_stock_camera_message():

  lkas12 = libsafety_py.make_CANPacket(0x53E, 0, bytes(6))
  assert not safety.safety_tx_hook(lkas12)
+  assert safety.safety_fwd_hook(2, 0x53E) == 0

  safety.safety_rx_hook(libsafety_py.make_CANPacket(0x53E, 2, bytes(6)))
  assert safety.safety_tx_hook(lkas12)
+  assert safety.safety_fwd_hook(2, 0x53E) == -1


 class TestHyundaiLongitudinalSafety(HyundaiLongitudinalBase, TestHyundaiSafety):
@@ -0,0 +1,84 @@
+import pytest
+
+from opendbc.can import CANPacker
+from opendbc.car import create_gas_interceptor_command
+from opendbc.car.structs import CarParams
+from opendbc.safety.tests.libsafety import libsafety_py
+
+
+@pytest.mark.parametrize("param", [0x9405, 0x9C05, 0x9401, 0x1005, 0])
+def test_ray_pedal_tx_isolation_and_limits(param):
+  safety = libsafety_py.libsafety
+  safety.set_safety_hooks(CarParams.SafetyModel.hyundai, param)
+  safety.init_tests()
+  safety.set_controls_allowed(True)
+  packer = CANPacker("hyundai_kia_ray_pedal")
+
+  def tx(gas):
+    addr, dat, bus = create_gas_interceptor_command(packer, gas, 3)
+    return safety.safety_tx_hook(libsafety_py.make_CANPacket(addr, bus, dat))
+
+  has_ray_signature = param in (0x9405, 0x9C05)
+  assert tx(0) is has_ray_signature
+  assert tx(0.35) is has_ray_signature
+  assert not tx(0.36)  # above the Ray-only initial command cap
+  assert not tx(1.0)
+
+  if has_ray_signature:
+    safety.set_controls_allowed(False)
+    assert tx(0)
+    assert not tx(0.1)
+    safety.set_controls_allowed(True)
+    safety.set_gas_pressed_prev(True)
+    assert not tx(0.1)
+    safety.set_gas_pressed_prev(False)
+    addr, dat, bus = create_gas_interceptor_command(packer, 0.1, 3)
+    bad_crc = bytearray(dat)
+    bad_crc[-1] ^= 1
+    assert not safety.safety_tx_hook(libsafety_py.make_CANPacket(addr, bus, bytes(bad_crc)))
+
+
+def test_ray_pedal_rx_crc_is_checked_only_for_ray_signature():
+  safety = libsafety_py.libsafety
+  safety.set_safety_hooks(CarParams.SafetyModel.hyundai, 0x9405)
+  safety.init_tests()
+  dat = bytes.fromhex("01f403d55de8")
+  assert safety.safety_rx_hook(libsafety_py.make_CANPacket(0x201, 0, dat))
+  bad_crc = bytearray(dat)
+  bad_crc[-1] ^= 1
+  assert not safety.safety_rx_hook(libsafety_py.make_CANPacket(0x201, 0, bytes(bad_crc)))
+
+
+def test_ray_native_commanded_gas_does_not_cancel_driver_override_safety():
+  safety = libsafety_py.libsafety
+  safety.set_safety_hooks(CarParams.SafetyModel.hyundai, 0x9405)
+  safety.init_tests()
+  safety.set_controls_allowed(True)
+  packer = CANPacker("hyundai_kia_ray_pedal")
+
+  physical_rest = bytes.fromhex("010801f30cef")
+  native_gas = bytes.fromhex("004e008000ae0700")
+  assert safety.safety_rx_hook(libsafety_py.make_CANPacket(0x201, 0, physical_rest))
+  assert safety.safety_rx_hook(libsafety_py.make_CANPacket(0x371, 0, native_gas))
+  assert not safety.get_gas_pressed_prev()
+  addr, dat, bus = create_gas_interceptor_command(packer, 0.1, 3)
+  assert safety.safety_tx_hook(libsafety_py.make_CANPacket(addr, bus, dat))
+
+  physical_press = packer.make_can_msg("GAS_SENSOR", 0, {
+    "INTERCEPTOR_GAS": (310 - 264) * 0.672,
+    "INTERCEPTOR_GAS2": (593 - 497) * 0.332,
+    "STATE": 0, "COUNTER_PEDAL": 13,
+  })
+  press_addr, press_dat, press_bus = physical_press
+  assert safety.safety_rx_hook(libsafety_py.make_CANPacket(press_addr, press_bus, press_dat))
+  assert safety.get_gas_pressed_prev()
+  assert not safety.safety_tx_hook(libsafety_py.make_CANPacket(addr, bus, dat))
+
+
+def test_non_ray_hyundai_ev_keeps_native_driver_gas_detection():
+  safety = libsafety_py.libsafety
+  safety.set_safety_hooks(CarParams.SafetyModel.hyundai, 0x1001)
+  safety.init_tests()
+  native_gas = bytes.fromhex("004e008000ae0700")
+  assert safety.safety_rx_hook(libsafety_py.make_CANPacket(0x371, 0, native_gas))
+  assert safety.get_gas_pressed_prev()
@@ -0,0 +1,73 @@
+import pytest
+
+from opendbc.can import CANPacker
+from opendbc.car import Bus
+from opendbc.car.tesla.teslacan_legacy import TeslaCANRaven
+from opendbc.car.tesla.values import CANBUS, CAR, DBC, TeslaSafetyFlags
+from opendbc.safety.tests.libsafety import libsafety_py
+
+
+@pytest.fixture
+def legacy_safety():
+  safety = libsafety_py.libsafety
+  packer = CANPacker(DBC[CAR.TESLA_MODEL_S_HW1][Bus.pt])
+  return safety, TeslaCANRaven({CANBUS.party: packer})
+
+
+def tx(safety, msg):
+  addr, data, bus = msg
+  return safety.safety_tx_hook(libsafety_py.make_CANPacket(addr, bus, data))
+
+
+def test_hw1_steering_requires_controls_allowed(legacy_safety):
+  safety, can = legacy_safety
+  safety.set_safety_hooks(10, TeslaSafetyFlags.FLAG_HW1.value)
+  safety.init_tests()
+  safety.set_angle_meas(0, 0)
+  safety.set_controls_allowed(False)
+  assert tx(safety, can.create_steering_control(0, 0, False))
+  assert not tx(safety, can.create_steering_control(0, 0, True))
+  safety.set_controls_allowed(True)
+  assert tx(safety, can.create_steering_control(0, 0, True))
+
+
+@pytest.mark.parametrize("alpha_long", [False, True])
+def test_hw1_accel_only_allowed_with_alpha_long_and_engagement(legacy_safety, alpha_long):
+  safety, can = legacy_safety
+  param = TeslaSafetyFlags.FLAG_HW1.value | (TeslaSafetyFlags.LONG_CONTROL.value if alpha_long else 0)
+  safety.set_safety_hooks(10, param)
+  safety.init_tests()
+  safety.set_controls_allowed(True)
+  assert tx(safety, can.create_longitudinal_command(13, 0, 0, 10, False, False))
+  assert tx(safety, can.create_longitudinal_command(4, 1, 0, 10, True, False)) == alpha_long
+  safety.set_controls_allowed(False)
+  assert not tx(safety, can.create_longitudinal_command(4, 1, 0, 10, True, False))
+
+
+def test_hw1_stock_ap_steer_and_acc_are_blocked_from_forwarding(legacy_safety):
+  safety, _ = legacy_safety
+  safety.set_safety_hooks(10, TeslaSafetyFlags.FLAG_HW1.value)
+  safety.init_tests()
+  assert safety.safety_fwd_hook(2, 0x488) == -1
+  assert safety.safety_fwd_hook(2, 0x2b9) == -1
+  assert safety.safety_fwd_hook(2, 0x370) == 0
+
+
+def test_hw1_flag_dispatch_does_not_change_modern_or_preap_hooks(legacy_safety):
+  safety, can = legacy_safety
+  steer = can.create_steering_control(0, 0, False)
+  safety.set_safety_hooks(10, TeslaSafetyFlags.FLAG_HW1.value)
+  safety.init_tests()
+  assert tx(safety, steer)
+
+  # APS monitor exists only in the modern Tesla TX whitelist; HW1 must not
+  # accidentally inherit it from the unflagged hook.
+  monitor = libsafety_py.make_CANPacket(0x27d, 0, bytes(3))
+  assert not safety.safety_tx_hook(monitor)
+  safety.set_safety_hooks(10, 0)
+  safety.init_tests()
+  assert safety.safety_tx_hook(monitor)
+
+  safety.set_safety_hooks(35, 0)
+  safety.init_tests()
+  assert safety.safety_fwd_hook(2, 0x370) == -1
@@ -254,7 +254,7 @@ class TestToyotaSafetyTorque(TestToyotaSafetyBase, common.MotorTorqueSteeringSaf
  TORQUE_MEAS_TOLERANCE = 1  # toyota safety adds one to be conservative for rounding

  # Safety around steering req bit
-  MIN_VALID_STEERING_FRAMES = 18
+  MIN_VALID_STEERING_FRAMES = 17
  MAX_INVALID_STEERING_FRAMES = 1

  def setUp(self):
@@ -130,4 +130,5 @@ flake8-implicit-str-concat.allow-multiline=false
 include-package-data = true

 [tool.setuptools.package-data]
+"opendbc.dbc" = ["hyundai_kia_ray_pedal.dbc"]
 "opendbc.safety" = ["*.h", "board/*.h", "board/drivers/*.h", "modes/*.h"]
@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-c51b9687-DEBUG";
+const uint8_t gitversion[19] = "DEV-14370fe9-DEBUG";
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
firestar5683	44beb5b778	EV6	2026-09-17 08:33:35 -05:00
firestar5683	00ac287223	EV6	2026-09-17 08:33:10 -05:00
firestar5683	09b53ccf9f	hackathon	2026-09-16 13:12:42 -05:00
firestar5683	0fee545400	build	2026-09-16 12:20:32 -05:00
firestar5683	14370fe9cf	dopa	2026-09-16 12:19:59 -05:00
Prabhaav Pillai	7316871e62	firefox friendly :)	2026-09-16 00:34:47 -04:00
firestar5683	239121b0e1	build	2026-09-15 20:25:19 -05:00
firestar5683	26de11932a	In&Out	2026-09-15 20:23:01 -05:00
firestar5683	1f8b955a0f	niro	2026-09-15 16:10:15 -05:00
firestar5683	b41b0ab95f	build	2026-09-15 15:00:36 -05:00
firestar5683	a8d1f2318e	whoopity scoop	2026-09-15 15:00:02 -05:00
firestar5683	dac7140410	fingerprint	2026-09-15 14:01:39 -05:00
firestar5683	0cf86c5c3b	build	2026-09-15 13:07:18 -05:00
firestar5683	d3ec77b0b4	lunch time	2026-09-15 13:05:50 -05:00
firestar5683	814af739d0	Keep screen settings in Galaxy Leave the existing UI-state consumer in place so Galaxy values still control the display, but remove the native settings pages and tests. Hide the new brightness and wake-choice controls behind Galaxy Developer Mode while preserving current defaults. Co-authored-by: AngusBell97 <124716116+AngusBell97@users.noreply.github.com>	2026-09-15 12:53:17 -05:00
AngusBell97	68b75fc51e	Reuse the UI carState reader for standby button wake	2026-09-15 12:27:02 -05:00
AngusBell97	7ff3682aba	Verify native screen timeout and toggle saves	2026-09-15 12:27:02 -05:00
AngusBell97	91052ea0e1	Make standby button wake optional and retain ignition wake	2026-09-15 12:27:02 -05:00
AngusBell97	20f38f3d8e	Use general standby wakes and six event selections	2026-09-15 12:27:02 -05:00
AngusBell97	cdaf33529a	Add configurable screen brightness and standby wakes	2026-09-15 12:26:49 -05:00
firestar5683	6e37c0917c	build	2026-09-15 12:17:10 -05:00
firestar5683	1db1ff9b91	waffles	2026-09-15 12:15:34 -05:00
Prabhaav Pillai	3ba36ed4fc	GalaxySelect refactor, update tests, rename components to be more accurate, Discord Support button	2026-09-15 01:06:17 -04:00
Prabhaav Pillai	cbe6f39030	Refactor navigation components and enhance slider functionality with fine scrubbing feature	2026-09-15 00:16:49 -04:00
firestarsdog	6aa9abf046	Purple RainX	2026-09-14 21:10:16 -04:00
firestarsdog	9332886242	SLC: Man with a slow hand	2026-09-14 17:45:36 -04:00