UI

Keep the imported Bosch arbitration focused on executable behavior and concise tests.

build

@@ -27,6 +27,10 @@ add_panda_targets() {
     panda_h7_remote_can_ignition_only
     panda_hkg_remote_can_ignition_only
     panda_h7_hkg_remote_can_ignition_only
+    panda_tesla_wake
+    panda_h7_tesla_wake
+    panda_tesla_wake_can_ignition_only
+    panda_h7_tesla_wake_can_ignition_only
     panda_jungle_h7
     body_h7
   )

common/params_keys.h

@@ -110,6 +110,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"LocationFilterInitialState", {PERSISTENT, BYTES}},
     {"LongitudinalManeuverMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
     {"LongitudinalPersonality", {PERSISTENT, INT, std::to_string(static_cast<int>(cereal::LongitudinalPersonality::STANDARD))}},
+    {"LongitudinalPersonalityProfiles", {PERSISTENT | DONT_LOG, JSON, "{}", "{}"}},
     {"NetworkMetered", {PERSISTENT, BOOL}},
     {"ObdMultiplexingChanged", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
     {"ObdMultiplexingEnabled", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
@@ -351,6 +352,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"DrivingModelVersion", {PERSISTENT, STRING, "v15", "v15", 1}},
     {"DynamicPathWidth", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
     {"DynamicPedalsOnUI", {PERSISTENT, BOOL, "1", "0", 1, SETTINGS_SIMPLE}},
+    {"GpuModelReadySound", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
     {"EngageVolume", {PERSISTENT, INT, "101", "101", 2, SETTINGS_SIMPLE}},
     {"EVTuning", {PERSISTENT, BOOL, "0", "0", 3}},
     {"Fahrenheit", {PERSISTENT, BOOL, "0", "0", 3}},
@@ -361,6 +363,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"IgnoreIgnitionLine", {PERSISTENT, BOOL, "0", "0", 0, SETTINGS_SIMPLE}},
     {"LongPitch", {PERSISTENT, BOOL, "1", "0", 2, SETTINGS_SIMPLE}},
     {"RemoteStartBootsComma", {PERSISTENT, BOOL, "0", "0", 0, SETTINGS_SIMPLE}},
+    {"TeslaWakeOnCAN", {PERSISTENT, BOOL, "0", "0", 0, SETTINGS_SIMPLE}},
     {"RemapCancelToDistance", {PERSISTENT, BOOL, "0", "0", 0, SETTINGS_SIMPLE}},
     {"NAPAdaptiveAccel", {PERSISTENT, BOOL, "1", "1", 0, SETTINGS_SIMPLE}},
     {"NAPFollowDistance", {PERSISTENT, INT, "4", "4"}},
@@ -465,6 +468,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"LeadDetectionThreshold", {PERSISTENT, INT, "35", "50", 3}},
     {"LeadIndicator", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
     {"LeadInfo", {PERSISTENT, BOOL, "0", "0", 3}},
+    {"LeadInfoMode", {PERSISTENT, INT, "2", "2", 3}},
     {"LKASButtonControl", {PERSISTENT, INT, "5", "0", 2, SETTINGS_SIMPLE}},
     {"LockDoors", {PERSISTENT, BOOL, "1", "0", 0}},
     {"LockDoorsTimer", {PERSISTENT, INT, "0", "0", 0}},

common/tests/test_params.py

@@ -5,7 +5,7 @@ import threading
 import time
 import uuid
 
-from openpilot.common.params import Params, ParamKeyFlag, UnknownKeyName
+from openpilot.common.params import Params, ParamKeyFlag, ParamKeyType, UnknownKeyName
 
 class TestParams:
   def setup_method(self):
@@ -128,6 +128,31 @@ class TestParams:
     assert self.params.get("LiveParameters") is None
     assert self.params.get("LiveParameters", return_default=True) is None
 
+  def test_longitudinal_personality_profiles_json_round_trip(self):
+    key = "LongitudinalPersonalityProfiles"
+    value = {
+      "schemaVersion": 1,
+      "enabled": False,
+      "axes": {
+        "acceleration": {
+          "speed": {"unit": "mph", "values": [0.0, 11.184681, 22.369363, 33.554044, 44.738726, 55.923407, 89.477452]},
+          "value": {"unit": "m/s^2", "meaning": "maximum_requested_acceleration"},
+        },
+        "braking": {
+          "speed": {"unit": "mph", "values": [0.0, 11.184681, 22.369363, 33.554044, 44.738726, 55.923407, 89.477452]},
+          "value": {"unit": "m/s^2", "meaning": "cruise_slc_deceleration_magnitude"},
+        },
+        "following": {"speed": {"unit": "mph", "values": [0, 10, 20, 30, 40, 50, 60, 70, 80, 90]}, "value": {"unit": "s", "meaning": "base_time_headway"}},
+      },
+      "profiles": {},
+    }
+    self.params.remove(key)
+
+    assert self.params.get_type(key) == ParamKeyType.JSON
+    assert self.params.get(key) is None
+    self.params.put(key, value)
+    assert self.params.get(key) == value
+
   def test_params_get_type(self):
     # json
     self.params.put("ApiCache_DriveStats", {"a": 0})

opendbc_repo/opendbc/can/dbc.py

@@ -194,7 +194,7 @@ def get_checksum_state(dbc_name: str) -> ChecksumState | None:
     return ChecksumState(4, 2, 3, 5, False, SignalType.HONDA_CHECKSUM, honda_checksum)
   elif dbc_name.startswith(("toyota_", "lexus_")):
     return ChecksumState(8, -1, 7, -1, False, SignalType.TOYOTA_CHECKSUM, toyota_checksum)
-  elif dbc_name.startswith("hyundai_canfd_generated"):
+  elif dbc_name.startswith(("hyundai_canfd_generated", "hyundai_radar_210_21f_generated")):
     return ChecksumState(16, -1, 0, -1, True, SignalType.HKG_CAN_FD_CHECKSUM, hkg_can_fd_checksum)
   elif dbc_name.startswith(("vw_mqb", "vw_mqbevo", "vw_meb")):
     return ChecksumState(8, 4, 0, 0, True, SignalType.VOLKSWAGEN_MQB_MEB_CHECKSUM, volkswagen_mqb_meb_checksum)

opendbc_repo/opendbc/car/gm/carcontroller.py

@@ -6,7 +6,7 @@ from opendbc.car.lateral import apply_driver_steer_torque_limits
 from opendbc.car.gm import gmcan
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.gm.values import (
-  ASCM_INT, CAMERA_ACC_CAR, CAR, CC_ONLY_CAR, CC_REGEN_PADDLE_CAR, DBC, EV_CAR, SDGM_CAR, AccState, CanBus, CarControllerParams,
+  ASCM_INT, CAMERA_ACC_CAR, CAR, CC_ONLY_CAR, CC_REGEN_PADDLE_CAR, DBC, EV_CAR, GM_AUTO_HOLD_CARS, SDGM_CAR, AccState, CanBus, CarControllerParams,
   CruiseButtons, GMFlags, GMSafetyFlags,
 )
 from opendbc.car.interfaces import CarControllerBase
@@ -309,7 +309,7 @@ def supports_volt_auto_hold(CP, auto_hold_enabled: bool):
     auto_hold_enabled and
     getattr(CP, "openpilotLongitudinalControl", False) and
     stock_hold_safety_ready and
-    CP.carFingerprint in AUTO_HOLD_VOLT_CARS
+    CP.carFingerprint in GM_AUTO_HOLD_CARS
   )
 
 

opendbc_repo/opendbc/car/gm/carstate.py

@@ -18,6 +18,7 @@ from opendbc.car.gm.values import (
   AccState,
   CanBus,
   CruiseButtons,
+  GM_AUTO_HOLD_CARS,
   GMFlags,
   SDGM_CAR,
   STEER_THRESHOLD,
@@ -32,6 +33,7 @@ STANDSTILL_THRESHOLD = 10 * 0.0311
 VOLT_EBCM_BRAKE_PRESSED_THRESHOLD = 6 / 0xd0
 AUTO_HOLD_MIN_DRIVE_TIME_S = 3.0
 AUTO_HOLD_REGEN_RELEASE_COOLDOWN_S = 1.0
+ACC_STARTUP_FAULT_GRACE_PERIOD_S = 5.0
 
 BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
                 CruiseButtons.MAIN: ButtonType.mainCruise, CruiseButtons.CANCEL: ButtonType.cancel}
@@ -67,6 +69,36 @@ def update_auto_hold_drive_timers(in_drive_for_hold: bool, moving_for_hold: bool
   return auto_hold_drive_time, one_pedal_drive_time
 
 
+def is_gm_auto_hold_active(car_fingerprint: str, auto_hold_engaged: bool, in_drive_for_hold: bool,
+                           cruise_available: bool, standstill: bool, gas_pressed: bool) -> bool:
+  return (
+    auto_hold_engaged and
+    car_fingerprint in GM_AUTO_HOLD_CARS and
+    in_drive_for_hold and
+    cruise_available and
+    standstill and
+    not gas_pressed
+  )
+
+
+def update_startup_acc_fault_suppression(car_fingerprint: str, system_power_mode: int,
+                                          previous_system_power_mode: int, timer: float,
+                                          acc_state: int, friction_brake_unavailable: bool) -> tuple[float, bool]:
+  if car_fingerprint != CAR.BUICK_LACROSSE:
+    return 0.0, False
+
+  if system_power_mode == 2 and previous_system_power_mode != 2:
+    timer = ACC_STARTUP_FAULT_GRACE_PERIOD_S
+  elif system_power_mode != 2:
+    timer = 0.0
+
+  if timer <= 0.0 or acc_state != AccState.FAULTED:
+    return 0.0, False
+
+  timer = max(timer - DT_CTRL, 0.0)
+  return timer, timer > 0.0 and not friction_brake_unavailable
+
+
 class CarState(CarStateBase):
   def __init__(self, CP, FPCP):
     super().__init__(CP, FPCP)
@@ -105,6 +137,8 @@ class CarState(CarStateBase):
     self.lkas_previously_enabled = 0
     self.lkas_enabled = 0
     self.pcm_acc_status = AccState.OFF
+    self.system_power_mode = 0
+    self.startup_acc_fault_suppression_timer = 0.0
     self.stock_fcw_alert = 0
     self.car_gps_config = get_car_gps_config(CP)
     self.car_gps_supported = self.car_gps_config is not None
@@ -350,8 +384,18 @@ class CarState(CarStateBase):
 
     ret.cruiseState.available = pt_cp.vl["ECMEngineStatus"]["CruiseMainOn"] != 0
     ret.espDisabled = pt_cp.vl["ESPStatus"]["TractionControlOn"] != 1
-    ret.accFaulted = (pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.FAULTED or
+    acc_state = pt_cp.vl["AcceleratorPedal2"]["CruiseState"]
-                      pt_cp.vl["EBCMFrictionBrakeStatus"]["FrictionBrakeUnavailable"] == 1)
+    friction_brake_unavailable = pt_cp.vl["EBCMFrictionBrakeStatus"]["FrictionBrakeUnavailable"] == 1
+    self.startup_acc_fault_suppression_timer, suppress_startup_acc_fault = update_startup_acc_fault_suppression(
+      self.CP.carFingerprint,
+      int(pt_cp.vl["BCMGeneralPlatformStatus"]["SystemPowerMode"]),
+      self.system_power_mode,
+      self.startup_acc_fault_suppression_timer,
+      acc_state,
+      friction_brake_unavailable,
+    )
+    self.system_power_mode = int(pt_cp.vl["BCMGeneralPlatformStatus"]["SystemPowerMode"])
+    ret.accFaulted = (acc_state == AccState.FAULTED and not suppress_startup_acc_fault) or friction_brake_unavailable
 
     ret.cruiseState.enabled = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] != AccState.OFF
     ret.cruiseState.standstill = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.STANDSTILL
@@ -400,6 +444,11 @@ class CarState(CarStateBase):
       self.auto_hold_fault_suppression_timer = max(self.auto_hold_fault_suppression_timer - DT_CTRL, 0.0)
       ret.accFaulted = False
 
+    ret.brakeHoldActive = is_gm_auto_hold_active(
+      self.CP.carFingerprint, self.auto_hold_engaged, in_drive_for_hold,
+      ret.cruiseState.available, ret.standstill, ret.gasPressed,
+    )
+
     if self.CP.enableBsm and not sdgm_non_volt:
       ret.leftBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
       ret.rightBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1

opendbc_repo/opendbc/car/gm/gmcan.py

@@ -31,6 +31,8 @@ BOLT_CC_DIRECTION_MEMORY_S = 1.5
 VOLT_CC_CARS = {
   CAR.CHEVROLET_VOLT_CC,
 }
+VOLT_CC_TARGET_DEADBAND_MPH = 5.0
+VOLT_CC_ACCEL_DEADBAND_MS2 = 0.15
 
 
 def malibu_phase_map_for_button(button):
@@ -344,7 +346,15 @@ def _create_volt_cc_spam_command(CS, actuators, ms_convert):
   speed_setpoint = int(round(CS.out.cruiseState.speed * ms_convert))
   ego_speed = CS.out.vEgo * ms_convert
 
-  if accel == 0.0:
+  v_cruise_kph = float(getattr(CS.out, "vCruise", 0.0))
+  if 0.0 < v_cruise_kph < 255.0:
+    is_metric = ms_convert == CV.MS_TO_KPH
+    target_setpoint = v_cruise_kph if is_metric else v_cruise_kph * CV.KPH_TO_MPH
+    target_deadband = VOLT_CC_TARGET_DEADBAND_MPH * (CV.MPH_TO_KPH if is_metric else 1.0)
+    if abs(target_setpoint - speed_setpoint) <= target_deadband:
+      return CruiseButtons.INIT, float("inf")
+
+  if abs(accel) <= VOLT_CC_ACCEL_DEADBAND_MS2:
     return CruiseButtons.INIT, float("inf")
 
   if accel < 0.0:

opendbc_repo/opendbc/car/gm/interface.py

@@ -15,6 +15,7 @@ from opendbc.car.gm.values import (
   CC_ONLY_CAR,
   CC_REGEN_PADDLE_CAR,
   EV_CAR,
+  GM_AUTO_HOLD_CARS,
   SDGM_CAR,
   CarControllerParams,
   CanBus,
@@ -710,18 +711,19 @@ class CarInterface(CarInterfaceBase):
     if remote_start_boots_comma:
       ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.FLAG_GM_REMOTE_START_BOOTS_COMMA.value
 
-    volt_stock_friction_brake_safety = (
+    gm_stock_friction_brake_safety = (
       ret.openpilotLongitudinalControl and
-      (gm_auto_hold or volt_one_pedal_mode) and
+      (
-      candidate in {
+        (gm_auto_hold and candidate in GM_AUTO_HOLD_CARS) or
-        CAR.CHEVROLET_VOLT,
+        (volt_one_pedal_mode and candidate in {
-        CAR.CHEVROLET_VOLT_2019,
+          CAR.CHEVROLET_VOLT,
-        CAR.CHEVROLET_VOLT_ASCM,
+          CAR.CHEVROLET_VOLT_2019,
-        CAR.CHEVROLET_VOLT_CAMERA,
+          CAR.CHEVROLET_VOLT_ASCM,
-      }
+          CAR.CHEVROLET_VOLT_CAMERA,
+        })
+      )
     )
-    if volt_stock_friction_brake_safety:
+    if gm_stock_friction_brake_safety:
-      # Reuse the paddle-scheduler safety bit as a Volt stock friction-brake
       # marker on non-pedal paths. Auto hold and one-pedal can run while OP
       # longitudinal is configured but not currently active, so the bit must
       # be present regardless of the current long-control mode. Do not expose

opendbc_repo/opendbc/car/gm/tests/test_carcontroller.py

@@ -431,6 +431,15 @@ def test_volt_auto_hold_requires_toggle_supported_non_cc_only_volt_and_stock_saf
     ),
     True,
   )
+  assert supports_volt_auto_hold(
+    SimpleNamespace(
+      carFingerprint=CAR.BUICK_LACROSSE,
+      openpilotLongitudinalControl=True,
+      networkLocation=CarParams.NetworkLocation.gateway,
+      safetyConfigs=stock_safety,
+    ),
+    True,
+  )
   assert not supports_volt_auto_hold(
     SimpleNamespace(
       carFingerprint=CAR.CHEVROLET_VOLT,

opendbc_repo/opendbc/car/gm/tests/test_gm.py

@@ -8,7 +8,13 @@ from opendbc.can import CANPacker, CANParser
 from opendbc.car import Bus, DT_CTRL, structs
 from opendbc.car.car_helpers import interfaces
 from opendbc.car.gm import gmcan
-from opendbc.car.gm.carstate import CarState as GMCarState, get_hard_cruise_buttons, update_auto_hold_drive_timers
+from opendbc.car.gm.carstate import (
+  CarState as GMCarState,
+  get_hard_cruise_buttons,
+  is_gm_auto_hold_active,
+  update_auto_hold_drive_timers,
+  update_startup_acc_fault_suppression,
+)
 from opendbc.car.gm.carcontroller import (
   VisualAlert,
   get_acc_dashboard_always_one,
@@ -204,6 +210,63 @@ class TestBoltGps:
     assert all(message in parsers[Bus.pt].vl for message in CHEVROLET_BOLT_GPS_MESSAGES)
 
 
+class TestGMCarState:
+  @parameterized.expand([
+    (CAR.BUICK_LACROSSE, True, True, True, True, False, True),
+    (CAR.CHEVROLET_VOLT, True, True, True, True, False, True),
+    (CAR.CHEVROLET_BOLT_CC_2017, True, True, True, True, False, False),
+    (CAR.BUICK_LACROSSE, True, True, True, False, False, False),
+    (CAR.BUICK_LACROSSE, True, True, True, True, True, False),
+  ])
+  def test_auto_hold_alert_state_requires_supported_complete_stop(self, car_fingerprint, engaged, in_drive,
+                                                                    cruise_available, standstill, gas_pressed, expected):
+    assert is_gm_auto_hold_active(
+      car_fingerprint, engaged, in_drive, cruise_available, standstill, gas_pressed,
+    ) is expected
+
+  def test_lacrosse_startup_acc_fault_is_suppressed(self):
+    timer, suppressed = update_startup_acc_fault_suppression(
+      CAR.BUICK_LACROSSE, 2, 0, 0.0, 3, False,
+    )
+
+    assert suppressed
+    assert timer == pytest.approx(5.0 - DT_CTRL)
+
+    timer, suppressed = update_startup_acc_fault_suppression(
+      CAR.BUICK_LACROSSE, 2, 2, timer, 0, False,
+    )
+
+    assert timer == 0.0
+    assert not suppressed
+
+  def test_lacrosse_persistent_acc_fault_is_reported_after_startup(self):
+    timer, suppressed = update_startup_acc_fault_suppression(
+      CAR.BUICK_LACROSSE, 2, 0, 0.0, 3, False,
+    )
+
+    for _ in range(int(5.0 / DT_CTRL)):
+      timer, suppressed = update_startup_acc_fault_suppression(
+        CAR.BUICK_LACROSSE, 2, 2, timer, 3, False,
+      )
+
+    assert timer == 0.0
+    assert not suppressed
+
+  def test_lacrosse_brake_unavailable_fault_is_never_suppressed(self):
+    _, suppressed = update_startup_acc_fault_suppression(
+      CAR.BUICK_LACROSSE, 2, 0, 0.0, 3, True,
+    )
+
+    assert not suppressed
+
+  def test_startup_acc_fault_suppression_is_scoped_to_lacrosse(self):
+    _, suppressed = update_startup_acc_fault_suppression(
+      CAR.BUICK_REGAL, 2, 0, 0.0, 3, False,
+    )
+
+    assert not suppressed
+
+
 class TestGMInterface:
   def test_lacrosse_obd_and_ascm_integrations_remain_separate(self):
     obd_params = interfaces[CAR.BUICK_LACROSSE].get_params(
@@ -521,6 +584,43 @@ class TestGMInterface:
     assert car_params.openpilotLongitudinalControl
     assert car_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_PANDA_PADDLE_SCHED.value
 
+  def test_buick_lacrosse_auto_hold_sets_stock_hold_safety_bit_with_op_long_enabled(self):
+    params = Params()
+    try:
+      params.put_bool("GMAutoHold", True)
+      car_params = interfaces[CAR.BUICK_LACROSSE].get_params(
+        CAR.BUICK_LACROSSE,
+        _empty_fingerprint(),
+        [],
+        alpha_long=False,
+        is_release=False,
+        docs=False,
+        starpilot_toggles=_test_starpilot_toggles(),
+      )
+    finally:
+      params.remove("GMAutoHold")
+
+    assert car_params.openpilotLongitudinalControl
+    assert car_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_PANDA_PADDLE_SCHED.value
+
+  def test_buick_lacrosse_auto_hold_is_off_when_toggle_is_disabled(self):
+    params = Params()
+    try:
+      params.put_bool("GMAutoHold", False)
+      car_params = interfaces[CAR.BUICK_LACROSSE].get_params(
+        CAR.BUICK_LACROSSE,
+        _empty_fingerprint(),
+        [],
+        alpha_long=False,
+        is_release=False,
+        docs=False,
+        starpilot_toggles=_test_starpilot_toggles(),
+      )
+    finally:
+      params.remove("GMAutoHold")
+
+    assert not car_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_PANDA_PADDLE_SCHED.value
+
   def test_volt_auto_hold_does_not_set_stock_hold_safety_bit_with_op_long_disabled(self):
     CarInterface = interfaces[CAR.CHEVROLET_VOLT_ASCM]
     fingerprint = _empty_fingerprint()
@@ -847,6 +947,63 @@ class TestGMCarController:
 
     assert len(msgs) == 1
 
+  def test_volt_cc_redneck_holds_when_stock_setpoint_is_within_target_deadband(self):
+    packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_CC][Bus.pt])
+    controller = SimpleNamespace(frame=int(2.0 / DT_CTRL), last_button_frame=0, apply_speed=0, malibu_button_phase=0)
+    cs = SimpleNamespace(
+      CP=SimpleNamespace(
+        carFingerprint=CAR.CHEVROLET_VOLT_CC,
+        flags=GMFlags.NO_CAMERA.value,
+        networkLocation=structs.CarParams.NetworkLocation.gateway,
+        minEnableSpeed=0.0,
+      ),
+      buttons_counter=2,
+      out=SimpleNamespace(
+        vEgo=100.0 * CV.KPH_TO_MS,
+        cruiseState=SimpleNamespace(speed=99.0 * CV.KPH_TO_MS),
+        vCruise=100.0,
+      ),
+    )
+
+    msgs = gmcan.create_gm_cc_spam_command(
+      packer, controller, cs, SimpleNamespace(accel=0.5), SimpleNamespace(is_metric=True),
+    )
+
+    assert msgs == []
+    assert controller.apply_speed == 99
+
+  def test_volt_cc_redneck_catches_up_when_target_exceeds_deadband(self):
+    packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_CC][Bus.pt])
+    controller = SimpleNamespace(frame=int(0.5 / DT_CTRL), last_button_frame=0, apply_speed=0, malibu_button_phase=0)
+    cs = SimpleNamespace(
+      CP=SimpleNamespace(
+        carFingerprint=CAR.CHEVROLET_VOLT_CC,
+        flags=GMFlags.NO_CAMERA.value,
+        networkLocation=structs.CarParams.NetworkLocation.gateway,
+        minEnableSpeed=0.0,
+      ),
+      buttons_counter=2,
+      out=SimpleNamespace(
+        vEgo=90.0 * CV.KPH_TO_MS,
+        cruiseState=SimpleNamespace(speed=90.0 * CV.KPH_TO_MS),
+        vCruise=100.0,
+      ),
+    )
+
+    msgs = gmcan.create_gm_cc_spam_command(
+      packer, controller, cs, SimpleNamespace(accel=0.5), SimpleNamespace(is_metric=True),
+    )
+
+    assert msgs == []
+
+    controller.frame = int(0.7 / DT_CTRL)
+    msgs = gmcan.create_gm_cc_spam_command(
+      packer, controller, cs, SimpleNamespace(accel=0.5), SimpleNamespace(is_metric=True),
+    )
+
+    assert len(msgs) == 1
+    assert controller.apply_speed == 91
+
   def test_volt_cc_no_camera_redneck_spam_stays_on_powertrain_bus(self):
     packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_CC][Bus.pt])
     controller = SimpleNamespace(frame=int(0.3 / DT_CTRL), last_button_frame=0, apply_speed=0, malibu_button_phase=0)

opendbc_repo/opendbc/car/gm/values.py

@@ -533,6 +533,14 @@ EV_CAR = {
   CAR.CHEVROLET_MALIBU_HYBRID_CC,
 }
 
+GM_AUTO_HOLD_CARS = {
+  CAR.CHEVROLET_VOLT,
+  CAR.CHEVROLET_VOLT_2019,
+  CAR.CHEVROLET_VOLT_ASCM,
+  CAR.CHEVROLET_VOLT_CAMERA,
+  CAR.BUICK_LACROSSE,
+}
+
 # We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)
 CAMERA_ACC_CAR = {
   CAR.CHEVROLET_BOLT_ACC_2022_2023,

opendbc_repo/opendbc/car/honda/carcontroller.py

@@ -23,6 +23,20 @@ from openpilot.common.params import Params
 VisualAlert = structs.CarControl.HUDControl.VisualAlert
 LongCtrlState = structs.CarControl.Actuators.LongControlState
 
+BOSCH_BRAKE_FORCE_ON = -0.12
+BOSCH_BRAKE_FORCE_RELEASE = -0.02
+
+
+def update_honda_bosch_braking(braking: bool, gas_pedal_force: float, stopping: bool, long_active: bool) -> bool:
+  """Select Bosch brake mode from the same road-load-adjusted force used for gas."""
+  if not long_active:
+    return False
+  if stopping:
+    return True
+  if braking:
+    return gas_pedal_force <= BOSCH_BRAKE_FORCE_RELEASE
+  return gas_pedal_force < BOSCH_BRAKE_FORCE_ON
+
 
 def get_civic_bosch_modified_torque_lpf_tau(torque_cmd: float, prev_torque_cmd: float, v_ego: float) -> float:
   torque_delta = abs(float(torque_cmd) - float(prev_torque_cmd))
@@ -238,6 +252,7 @@ class CarController(CarControllerBase):
     self.steering_pressed_filter_s = 0.0
     self.steering_pressed_robust_prev = False
     self.bosch_last_gas = 0.0
+    self.bosch_braking = False
     self.bosch_gas_factor = self.param_store.get_float("HondaGasFactorParams", default=1.0)
     self.bosch_wind_factor = self.param_store.get_float("HondaWindFactorParams", default=1.0)
     self.bosch_wind_factor_before_brake = self.bosch_wind_factor
@@ -472,12 +487,16 @@ class CarController(CarControllerBase):
           self.bosch_last_gas = self.gas
 
           stopping = actuators.longControlState == LongCtrlState.stopping
+          bosch_braking = None
+          if not self.mvl_accord_mode:
+            self.bosch_braking = update_honda_bosch_braking(self.bosch_braking, gas_pedal_force, stopping, CC.longActive)
+            bosch_braking = self.bosch_braking
           self.stopping_counter = self.stopping_counter + 1 if stopping else 0
           if not self.mvl_accord_mode or mvl_radar_owned:
             can_sends.extend(
               hondacan.create_acc_commands(
                 self.packer, self.CAN, CC.enabled, CC.longActive, self.accel, self.gas, self.stopping_counter, self.CP,
-                gas_force=gas_pedal_force if self.mvl_accord_mode else None,
+                gas_force=gas_pedal_force, braking=bosch_braking,
               )
             )
         else:

opendbc_repo/opendbc/car/honda/hondacan.py

@@ -71,16 +71,18 @@ def create_brake_command(packer, CAN, apply_brake, pump_on, pcm_override, pcm_ca
   return packer.make_can_msg("BRAKE_COMMAND", CAN.pt, values)
 
 
-def create_acc_commands(packer, CAN, enabled, active, accel, gas, stopping_counter, CP, gas_force=None):
+def create_acc_commands(packer, CAN, enabled, active, accel, gas, stopping_counter, CP, gas_force=None, braking=None):
   commands = []
   min_gas_accel = CarControllerParams.BOSCH_GAS_LOOKUP_BP[0]
 
   control_on = 5 if enabled else 0
   if gas_force is None:
     gas_force = accel
-  gas_command = gas if active and gas_force > min_gas_accel else -30000
+  if braking is None:
+    braking = gas_force < min_gas_accel
+  braking = int(active and braking)
+  gas_command = gas if active and gas_force > min_gas_accel and not braking else -30000
   accel_command = accel if active else 0
-  braking = 1 if active and gas_force < min_gas_accel else 0
   standstill = 1 if active and stopping_counter > 0 else 0
   standstill_release = 1 if active and stopping_counter == 0 else 0
 

opendbc_repo/opendbc/car/honda/tests/test_honda.py

@@ -7,13 +7,16 @@ from opendbc.car.structs import CarParams
 from opendbc.car import gen_empty_fingerprint
 from opendbc.car.honda.interface import CarInterface
 from opendbc.car.honda.carcontroller import (
+  BOSCH_BRAKE_FORCE_ON,
+  BOSCH_BRAKE_FORCE_RELEASE,
   CarController,
   get_civic_bosch_modified_steering_pressed,
   get_civic_bosch_modified_torque_lpf_tau,
   get_honda_bosch_wind_brake_mps2,
+  update_honda_bosch_braking,
   update_honda_bosch_live_learning,
 )
-from opendbc.car.honda.hondacan import create_lkas_hud
+from opendbc.car.honda.hondacan import create_acc_commands, create_lkas_hud
 from opendbc.car.honda.fingerprints import FW_VERSIONS
 from opendbc.car.honda.values import CAR, DBC, HONDA_BOSCH, HONDA_BOSCH_TJA_CONTROL, CarControllerParams, HondaFlags, HondaSafetyFlags, \
                                      HondaStarPilotFlags
@@ -26,6 +29,67 @@ def get_test_toggles() -> SimpleNamespace:
 
 
 class TestHondaFingerprint:
+  @staticmethod
+  def _acc_control_values(active, accel, gas=500, gas_force=0.5, braking=False):
+    class FakePacker:
+      @staticmethod
+      def make_can_msg(name, bus, values):
+        return name, bus, values
+
+    can = SimpleNamespace(pt=1)
+    cp = SimpleNamespace(carFingerprint=CAR.HONDA_CRV_5G)
+    commands = create_acc_commands(FakePacker(), can, True, active, accel, gas, 0, cp, gas_force, braking)
+    assert commands[-1][0] == "ACC_CONTROL"
+    return commands[-1][2]
+
+  def test_bosch_acc_commands_reject_fault_route_gas_brake_conflict(self):
+    braking = update_honda_bosch_braking(False, 0.2, False, True)
+    values = self._acc_control_values(True, -0.27, gas=160, gas_force=0.2, braking=braking)
+
+    assert values["GAS_COMMAND"] == 160
+    assert values["ACCEL_COMMAND"] == pytest.approx(-0.27)
+    assert values["BRAKE_REQUEST"] == 0
+    assert values["BRAKE_LIGHTS"] == 0
+
+  @pytest.mark.parametrize("active", [False, True])
+  @pytest.mark.parametrize("accel", [-3.5, -0.27, -0.2, -0.1, 0.0, 0.01, 2.0])
+  @pytest.mark.parametrize("gas_force", [-0.5, 0.0, 0.5])
+  @pytest.mark.parametrize("braking", [False, True])
+  def test_bosch_acc_commands_never_request_gas_and_braking_together(self, active, accel, gas_force, braking):
+    values = self._acc_control_values(active, accel, gas_force=gas_force, braking=braking)
+
+    assert not (values["GAS_COMMAND"] > 0 and values["BRAKE_REQUEST"] == 1)
+    assert not (values["GAS_COMMAND"] > 0 and values["BRAKE_LIGHTS"] == 1)
+    if values["GAS_COMMAND"] > 0:
+      assert active
+
+  def test_bosch_acc_commands_preserve_road_load_gas_above_brake_threshold(self):
+    values = self._acc_control_values(True, -0.27, gas=500, gas_force=0.3)
+
+    assert values["GAS_COMMAND"] == 500
+    assert values["ACCEL_COMMAND"] == pytest.approx(-0.27)
+    assert values["BRAKE_REQUEST"] == 0
+    assert values["BRAKE_LIGHTS"] == 0
+
+  def test_bosch_acc_commands_do_not_send_gas_without_positive_force(self):
+    values = self._acc_control_values(True, 0.2, gas=500, gas_force=-0.4)
+
+    assert values["GAS_COMMAND"] == -30000
+
+  def test_bosch_braking_uses_force_hysteresis(self):
+    braking = update_honda_bosch_braking(False, BOSCH_BRAKE_FORCE_ON - 0.01, False, True)
+    assert braking
+
+    braking = update_honda_bosch_braking(braking, -0.05, False, True)
+    assert braking
+
+    braking = update_honda_bosch_braking(braking, BOSCH_BRAKE_FORCE_RELEASE + 0.01, False, True)
+    assert not braking
+
+  def test_bosch_braking_preserves_stopping_and_resets_inactive(self):
+    assert update_honda_bosch_braking(False, 0.5, True, True)
+    assert not update_honda_bosch_braking(True, -1.0, False, False)
+
   def test_honda_lkas_hud_shows_lane_lines_when_lateral_only_is_active(self):
     class FakePacker:
       @staticmethod

opendbc_repo/opendbc/car/hyundai/carcontroller.py

@@ -11,11 +11,12 @@ from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.hyundai import hyundaicanfd, hyundaican
 from opendbc.car.hyundai.hyundaicanfd import CanBus
 from opendbc.car.hyundai.values import HyundaiFlags, HyundaiSafetyFlags, HyundaiStarPilotFlags, Buttons, CarControllerParams, CAR, CANFD_ANGLE_LONGITUDINAL_CAR, \
-                                        CANFD_RADAR_LIVE_LONGITUDINAL_CAR, CANFD_ALT_BUTTONS_RESUME_CAR, kia_ev6_gt_line_longitudinal_tuning, \
+                                        CANFD_RADAR_ECU_KEEPALIVE_CAR, CANFD_ALT_BUTTONS_RESUME_CAR, kia_ev6_gt_line_longitudinal_tuning, \
                                         KIA_EV6_GT_LINE_LONG_TUNING_TESTING_GROUND_ID
 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.starpilot.common.testing_grounds import testing_ground
 
 VisualAlert = structs.CarControl.HUDControl.VisualAlert
@@ -859,10 +860,13 @@ class CarController(CarControllerBase):
     can_sends = []
 
     lka_steering = self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING
-    longitudinal_active = bool(self.long_active_ecu and getattr(CC, "longActive", False))
+    persistent_lfa_status_cars = (
-    lfa_status_cars = (CAR.HYUNDAI_IONIQ_6, CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN)
+      CAR.HYUNDAI_IONIQ_6,
+      CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN,
+      CAR.KIA_EV6,
+    )
     lfa_longitudinal_active = self.CP.openpilotLongitudinalControl \
-      if self.CP.carFingerprint in lfa_status_cars else longitudinal_active
+      if self.CP.carFingerprint in persistent_lfa_status_cars else self.long_active_ecu
     lka_steering_long = lka_steering and lfa_longitudinal_active
     ccnc_non_hda2 = self.CP.flags & HyundaiFlags.CCNC and not lka_steering
     use_egmp_dynamic_long_tuning = egmp_dynamic_longitudinal_tuning(self.CP) and self.long_active_ecu and \
@@ -889,11 +893,10 @@ class CarController(CarControllerBase):
 
     gear = getattr(getattr(CS, "out", None), "gearShifter", None)
     drive_gear = gear == structs.CarState.GearShifter.drive
-    if angle_lkas_alt:
+    if angle_lkas_alt and self.CP.carFingerprint != CAR.KIA_SPORTAGE_HEV_2026:
       steering_msg_active = bool(steering_msg_active and drive_gear)
     angle_lkas_alt_standstill_handoff = bool(getattr(CS.out, "standstill", False) and not CC.latActive)
-    forward_stock_lkas = (self.CP.carFingerprint in CANFD_ANGLE_LONGITUDINAL_CAR or
+    forward_stock_lkas = self.CP.carFingerprint in CANFD_ANGLE_LONGITUDINAL_CAR and angle_lkas_alt and (
-                          self.CP.carFingerprint == CAR.KIA_SPORTAGE_HEV_2026) and angle_lkas_alt and (
       angle_lkas_alt_standstill_handoff or not (drive_gear and (CC.latActive or CC.enabled))
     )
     preserve_stock_lfa_status = preserve_stock_canfd_lfa_status(self.CP.carFingerprint)
@@ -920,7 +923,7 @@ class CarController(CarControllerBase):
 
     # prevent LFA from activating on LKA steering cars by sending "no lane lines detected" to ADAS ECU
     suppress_lfa = bool(lka_steering)
-    if angle_lkas_alt:
+    if angle_lkas_alt and self.CP.carFingerprint != CAR.KIA_SPORTAGE_HEV_2026:
       suppress_lfa = bool(lka_steering and drive_gear and (CC.latActive or (ccnc_angle_long and CC.enabled)))
     if self.frame % 5 == 0 and suppress_lfa:
       can_sends.append(hyundaicanfd.create_suppress_lfa(self.packer, self.CAN, CS.lfa_block_msg,
@@ -995,7 +998,7 @@ class CarController(CarControllerBase):
         # The front radar treats ADAS_DRV's 0x100 broadcast as its host heartbeat
         # and stops publishing object tracks when it disappears.
         radar_heartbeat_step = 1 if ccnc_angle_long else 4
-        if self.CP.carFingerprint in CANFD_RADAR_LIVE_LONGITUDINAL_CAR and self.frame % radar_heartbeat_step == 0:
+        if self.CP.carFingerprint in CANFD_RADAR_ECU_KEEPALIVE_CAR and self.frame % radar_heartbeat_step == 0:
           can_sends.append(hyundaicanfd.create_accelerator_brake_alt_spoof(0, self.frame // radar_heartbeat_step,
                                                                             CS.out.brakePressed, CS.out.gasPressed,
                                                                             self.CP.carFingerprint))
@@ -1020,7 +1023,11 @@ class CarController(CarControllerBase):
                                                                                  CC.rightBlinker))
       if self.frame % 2 == 0:
         if self.CP.carFingerprint == CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN:
-          acc_kwargs = {}
+          scc_jerk_limits = get_hyundai_canfd_scc_jerk_limits(self.CP)
+          acc_kwargs = {
+            "jerk_upper": scc_jerk_limits[0],
+            "jerk_lower": scc_jerk_limits[1],
+          }
         else:
           lead_visible, lead_distance, lead_rel_speed = self._get_canfd_scc_lead_state(CC, CS, now_nanos)
           acc_kwargs = {

opendbc_repo/opendbc/car/hyundai/fingerprints.py

@@ -185,6 +185,7 @@ FW_VERSIONS = {
     ],
     (Ecu.abs, 0x7d1, None): [
       b'\xf1\x00DN ESC \x01 102\x19\x04\x13 58910-L1300',
+      b'\xf1\x00DN ESC \x01 107 \x07\x03 58910-L1300',
       b'\xf1\x00DN ESC \x03 100 \x08\x01 58910-L0300',
       b'\xf1\x00DN ESC \x06 104\x19\x08\x01 58910-L0100',
       b'\xf1\x00DN ESC \x06 106 \x07\x01 58910-L0100',
@@ -208,6 +209,7 @@ FW_VERSIONS = {
       b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0210\x00 4DNAC102',
       b'\xf1\x00DN8 MDPS C 1.00 1.03 56310-L1010 4DNDC103',
       b'\xf1\x00DN8 MDPS C 1.00 1.03 56310-L1030 4DNDC103',
+      b'\xf1\x00DN8 MDPS C 1.00 1.03 56310-L1210 4DNDC103',
       b'\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP100',
       b'\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP101',
       b'\xf1\x00DN8 MDPS R 1.00 1.02 57700-L1000 4DNDP105',
@@ -215,6 +217,7 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00DN8 MFC  AT KOR LHD 1.00 1.02 99211-L1000 190422',
       b'\xf1\x00DN8 MFC  AT KOR LHD 1.00 1.04 99211-L1000 191016',
+      b'\xf1\x00DN8 MFC  AT KOR LHD 1.00 1.06 99211-L1000 210325',
       b'\xf1\x00DN8 MFC  AT RUS LHD 1.00 1.03 99211-L1000 190705',
       b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.00 99211-L0000 190716',
       b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.01 99211-L0000 191016',

opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py

@@ -142,7 +142,21 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_torque,
     lkas_values["LKAS_ANGLE_ACTIVE"] = 2 if lat_active else 1
     lkas_values["ADAS_ACIAnglTqRedcGainVal"] = apply_torque if lat_active else 0.0
     if angle_lkas_alt:
-      if lat_active:
+      if CP.carFingerprint == CAR.KIA_SPORTAGE_HEV_2026:
+        lkas_values = {
+          "LKA_OptUsmSta": 0,
+          "LKA_SysIndReq": 2 if enabled else 1,
+          "StrTqReqVal": 0,
+          "LKA_SysWrn": 0,
+          "ActToiSta": 0,
+          "LKA_UsmMod": 0,
+          "LKA_RcgSta": 3 if lat_active else 0,
+          "Damping_Gain": 100,
+          "ADAS_StrAnglReqVal": apply_angle,
+          "LKAS_ANGLE_ACTIVE": 2 if lat_active else 1,
+          "ADAS_ACIAnglTqRedcGainVal": apply_torque if lat_active else 0.0,
+        }
+      elif lat_active:
         lkas_values = {
           "LKA_OptUsmSta": 0,
           "LKA_RcgSta": 3,

opendbc_repo/opendbc/car/hyundai/interface.py

@@ -7,7 +7,7 @@ from opendbc.car.hyundai.values import HyundaiFlags, CAR, CarControllerParams, \
                                                    CANFD_UNSUPPORTED_LONGITUDINAL_CAR, \
                                                    CANFD_SECURITYACCESS_CAR, \
                                                    CANFD_ANGLE_LONGITUDINAL_CAR, \
-                                                   CANFD_RADAR_LIVE_LONGITUDINAL_CAR, \
+                                                   CANFD_RADAR_ECU_KEEPALIVE_CAR, \
                                                    RADAR_LIVE_LONGITUDINAL_CAR, \
                                                    UNSUPPORTED_LONGITUDINAL_CAR, HyundaiSafetyFlags, \
                                                    LEGACY_LONGITUDINAL_CAR, \
@@ -27,6 +27,15 @@ from openpilot.starpilot.common.testing_grounds import testing_ground
 ButtonType = structs.CarState.ButtonEvent.Type
 Ecu = structs.CarParams.Ecu
 
+
+def get_communication_control_request(car_fingerprint):
+  if car_fingerprint in CANFD_RADAR_ECU_KEEPALIVE_CAR:
+    return bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, uds.CONTROL_TYPE.ENABLE_RX_DISABLE_TX,
+                  uds.MESSAGE_TYPE.NORMAL])
+
+  return bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, 0x80 | uds.CONTROL_TYPE.DISABLE_RX_DISABLE_TX,
+                uds.MESSAGE_TYPE.NORMAL])
+
 # Cancel button can sometimes be ACC pause/resume button, main button can also enable on some cars
 ENABLE_BUTTONS = (ButtonType.accelCruise, ButtonType.decelCruise, ButtonType.cancel, ButtonType.mainCruise)
 
@@ -353,14 +362,7 @@ class CarInterface(CarInterfaceBase):
     params = Params()
 
     if communication_control is None:
-      if CP.carFingerprint in CANFD_RADAR_LIVE_LONGITUDINAL_CAR:
+      communication_control = get_communication_control_request(CP.carFingerprint)
-        # Don't use 0x80 suppress bit so we can read the ECU response.
-        # Use ENABLE_RX_DISABLE_TX (0x01) so the ECU can still receive from rear radars for BSM
-        # while blocking SCC TX.
-        communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, uds.CONTROL_TYPE.ENABLE_RX_DISABLE_TX, uds.MESSAGE_TYPE.NORMAL])
-      else:
-        # 0x80 silences response for other cars (original behavior)
-        communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, 0x80 | uds.CONTROL_TYPE.DISABLE_RX_DISABLE_TX, uds.MESSAGE_TYPE.NORMAL])
 
     ecu_log(f"=== init() called: opLong={CP.openpilotLongitudinalControl}, flags=0x{CP.flags:x}, safetyParam={CP.safetyConfigs[-1].safetyParam} ===")
 

opendbc_repo/opendbc/car/hyundai/radar_interface.py

@@ -19,6 +19,9 @@ MRR30_RADAR_START_ADDR = 0x210
 MRR30_RADAR_MSG_COUNT = 16
 MRR35_RADAR_START_ADDR = 0x3A5
 MRR35_RADAR_MSG_COUNT = 32
+GV70_RADAR_START_ADDR = 0x210
+GV70_RADAR_MSG_COUNT = 16
+GV70_RADAR_DBC = "hyundai_radar_210_21f_generated"
 
 
 @dataclass(frozen=True)
@@ -30,6 +33,7 @@ class RadarTrackConfig:
   frequency: int = 50
   parser_msg_count: int | None = None
   expected_length: int | None = None
+  dbc_name: str | None = None
 
   @property
   def can_parser_msg_count(self) -> int:
@@ -47,6 +51,10 @@ RADAR_TRACK_CONFIGS = {
 
 
 def get_radar_track_config(car_fingerprint, flags: int = 0) -> RadarTrackConfig | None:
+  if car_fingerprint == CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN:
+    return RadarTrackConfig(GV70_RADAR_START_ADDR, GV70_RADAR_MSG_COUNT, "gv70_210", bus=0,
+                            frequency=20, expected_length=32, dbc_name=GV70_RADAR_DBC)
+
   radar_dbc = DBC[car_fingerprint].get(Bus.radar)
   if car_fingerprint == CAR.GENESIS_G90 and radar_dbc == HYUNDAI_MANDO_FRONT_RADAR_DBC:
     return RadarTrackConfig(RADAR_START_ADDR, G90_RADAR_MSG_COUNT, "mando", parser_msg_count=RADAR_MSG_COUNT)
@@ -65,6 +73,10 @@ def radar_tracks_available(radar_config: RadarTrackConfig | None, fingerprint) -
   if radar_config is None:
     return False
 
+  if radar_config.radar_type == "gv70_210":
+    return all(fingerprint[radar_config.bus].get(addr) == radar_config.expected_length
+               for addr in range(radar_config.start_addr, radar_config.start_addr + radar_config.msg_count))
+
   msg_len = fingerprint[radar_config.bus].get(radar_config.start_addr)
   if msg_len is None:
     return False
@@ -78,7 +90,8 @@ def get_radar_can_parser(CP, radar_config):
 
   messages = [(f"RADAR_TRACK_{addr:x}", radar_config.frequency)
               for addr in range(radar_config.start_addr, radar_config.start_addr + radar_config.can_parser_msg_count)]
-  return CANParser(DBC[CP.carFingerprint][Bus.radar], messages, radar_config.bus)
+  dbc_name = radar_config.dbc_name or DBC[CP.carFingerprint][Bus.radar]
+  return CANParser(dbc_name, messages, radar_config.bus)
 
 
 class RadarInterface(RadarInterfaceBase):
@@ -223,6 +236,27 @@ class RadarInterface(RadarInterfaceBase):
             del self.pts[track_key]
         continue
 
+      if radar_type == "gv70_210":
+        for i in ("1", "2"):
+          track_key = addr * 2 + int(i) - 1
+          valid = msg[f"{i}_STATE"] in (3, 4)
+          if valid:
+            pt = self.pts.get(track_key)
+            if pt is None:
+              pt = structs.RadarData.RadarPoint()
+              pt.trackId = self.track_id
+              self.track_id += 1
+              self.pts[track_key] = pt
+            pt.measured = True
+            pt.dRel = msg[f"{i}_LONG_DIST"]
+            pt.yRel = msg[f"{i}_LAT_DIST"]
+            pt.vRel = msg[f"{i}_REL_SPEED"]
+            pt.aRel = msg[f"{i}_REL_ACCEL"]
+            pt.yvRel = msg[f"{i}_REL_LAT_SPEED"]
+          elif track_key in self.pts:
+            del self.pts[track_key]
+        continue
+
       if radar_type == "mrrevo14f":
         for i in ("1", "2"):
           track_key = addr * 2 + int(i) - 1

opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py

@@ -24,16 +24,17 @@ from opendbc.car.hyundai.carcontroller import CarController, CANCEL_BUTTON_DELAY
                                              clear_ioniq_6_torque_when_request_inactive
 from opendbc.car.hyundai.carstate import CarState, decode_canfd_camera_lead, decode_ioniq_6_blindspot_radar_state, \
                                              get_canfd_cruise_available
-from opendbc.car.hyundai.interface import CarInterface, KIA_EV9_ACCEL_MAX
+from opendbc.car.hyundai.interface import CarInterface, KIA_EV9_ACCEL_MAX, get_communication_control_request
 from opendbc.car.hyundai import hyundaican, hyundaicanfd
 from opendbc.car.hyundai.hyundaicanfd import CanBus, hkg_can_fd_checksum
 from opendbc.car.hyundai.radar_interface import MRREVO14F_RADAR_START_ADDR, MRR30_RADAR_START_ADDR, MRR35_RADAR_START_ADDR, \
-                                             RADAR_START_ADDR, get_radar_track_config
+                                             RADAR_START_ADDR, RadarInterface, get_radar_track_config, radar_tracks_available
 from opendbc.car.hyundai.values import CAMERA_SCC_CAR, CANFD_CAR, CAN_GEARS, CAR, CHECKSUM, DATE_FW_ECUS, DATELESS_FUZZY_CARS, \
                                          HYBRID_CAR, EV_CAR, FW_QUERY_CONFIG, LEGACY_SAFETY_MODE_CAR, CANFD_FUZZY_WHITELIST, \
                                          UNSUPPORTED_LONGITUDINAL_CAR, PLATFORM_CODE_ECUS, HYUNDAI_VERSION_REQUEST_LONG, \
                                          LEGACY_LONGITUDINAL_CAR, DBC, HyundaiFlags, get_platform_codes, HyundaiSafetyFlags, \
-                                         HyundaiStarPilotFlags, HyundaiStarPilotSafetyFlags, Buttons, CarControllerParams, kia_ev6_gt_line_longitudinal_tuning
+                                         HyundaiStarPilotFlags, HyundaiStarPilotSafetyFlags, Buttons, CarControllerParams, \
+                                         CANFD_RADAR_ECU_KEEPALIVE_CAR, CANFD_RADAR_LIVE_LONGITUDINAL_CAR, kia_ev6_gt_line_longitudinal_tuning
 
 LongCtrlState = CarControl.Actuators.LongControlState
 from opendbc.car.hyundai.fingerprints import FW_VERSIONS
@@ -129,6 +130,24 @@ def get_test_toggles() -> SimpleNamespace:
 
 
 class TestHyundaiFingerprint:
+  def test_egmp_communication_control_paths(self):
+    stock_request = bytes([0x28, 0x83, 0x01])
+    radar_keepalive_request = bytes([0x28, 0x01, 0x01])
+
+    assert CAR.KIA_EV6 in CANFD_RADAR_LIVE_LONGITUDINAL_CAR
+    assert CAR.KIA_EV6 not in CANFD_RADAR_ECU_KEEPALIVE_CAR
+    assert get_communication_control_request(CAR.KIA_EV6) == stock_request
+
+    assert CAR.HYUNDAI_IONIQ_5 in CANFD_RADAR_LIVE_LONGITUDINAL_CAR
+    assert CAR.HYUNDAI_IONIQ_5 not in CANFD_RADAR_ECU_KEEPALIVE_CAR
+    assert get_communication_control_request(CAR.HYUNDAI_IONIQ_5) == stock_request
+
+    assert CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN in CANFD_RADAR_LIVE_LONGITUDINAL_CAR
+    assert CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN not in CANFD_RADAR_ECU_KEEPALIVE_CAR
+    assert get_communication_control_request(CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN) == stock_request
+
+    assert get_communication_control_request(CAR.HYUNDAI_IONIQ_6) == radar_keepalive_request
+
   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)
@@ -426,6 +445,42 @@ class TestHyundaiFingerprint:
     assert CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.CANFD_LKA_STEERING
     assert CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.EV_GAS
 
+    gv70_radar_config = get_radar_track_config(CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN)
+    assert gv70_radar_config.radar_type == "gv70_210"
+    for addr in range(gv70_radar_config.start_addr, gv70_radar_config.start_addr + gv70_radar_config.msg_count):
+      gv70_fingerprint[gv70_radar_config.bus][addr] = gv70_radar_config.expected_length
+    assert radar_tracks_available(gv70_radar_config, gv70_fingerprint)
+
+    CP = CarInterface.get_params(CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN, gv70_fingerprint, gv70_car_fw,
+                                 True, False, False, None)
+    assert not CP.radarUnavailable
+
+    radar = RadarInterface(CP)
+    packer = CANPacker(gv70_radar_config.dbc_name)
+    messages = []
+    for addr in range(gv70_radar_config.start_addr, gv70_radar_config.start_addr + gv70_radar_config.msg_count):
+      message = packer.make_can_msg(f"RADAR_TRACK_{addr:x}", 0, {
+        "1_STATE": 3,
+        "1_LONG_DIST": 25.0,
+        "1_LAT_DIST": 0.5,
+        "1_REL_SPEED": -2.0,
+        "1_REL_LAT_SPEED": 0.1,
+        "1_REL_ACCEL": -0.2,
+      })
+      data = bytearray(message[1])
+      checksum = hkg_can_fd_checksum(addr, None, data)
+      data[0] = checksum & 0xff
+      data[1] = (checksum >> 8) & 0xff
+      messages.append((message[0], bytes(data), message[2]))
+    radar_data = radar.update([(1, messages)])
+    assert radar_data is not None
+    assert len(radar_data.points) == 16
+    assert radar_data.points[0].dRel == pytest.approx(25.0)
+
+    other_config = get_radar_track_config(CAR.HYUNDAI_IONIQ_5)
+    assert other_config.radar_type == "mrr30"
+    assert other_config.dbc_name is None
+
     for candidate in HYUNDAI_NON_SCC_CARS:
       CP = CarInterface.get_params(candidate, gen_empty_fingerprint(), [], True, False, False, None)
       assert bool(CP.flags & HyundaiFlags.NON_SCC)
@@ -2509,6 +2564,7 @@ class TestHyundaiFingerprint:
       "DAMP_FACTOR": 100,
     }
     cc = SimpleNamespace(enabled=True, latActive=True,
+                         longActive=False,
                          actuators=SimpleNamespace(longControlState=LongCtrlState.off),
                          leftBlinker=False, rightBlinker=False,
                          hudControl=SimpleNamespace())
@@ -2552,9 +2608,46 @@ class TestHyundaiFingerprint:
                       if controller.packer.dbc.addr_to_msg[addr].name in ("LFA", "LKAS")]
     assert steering_names == [("LFA", can_bus.ECAN), ("LKAS", can_bus.ACAN)]
 
-  def test_ioniq_6_keeps_lfa_status_when_longitudinal_is_inactive(self):
+  @pytest.mark.parametrize(("car", "powertrain_flag"), [
+    (CAR.HYUNDAI_IONIQ_5, HyundaiFlags.EV),
+    (CAR.HYUNDAI_IONIQ_6, HyundaiFlags.EV),
+    (CAR.KIA_EV6, HyundaiFlags.EV),
+    (CAR.KIA_CARNIVAL_2025, 0),
+    (CAR.KIA_CARNIVAL_HEV_4TH_GEN, HyundaiFlags.HYBRID),
+    (CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN, HyundaiFlags.EV),
+  ])
+  def test_hda2_keeps_lfa_status_when_longitudinal_is_inactive(self, car, powertrain_flag):
     CP = CarParams.new_message()
-    CP.carFingerprint = CAR.HYUNDAI_IONIQ_6
+    CP.carFingerprint = car
+    CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.CANFD_LKA_STEERING | powertrain_flag)
+    CP.openpilotLongitudinalControl = True
+
+    controller = CarController(DBC[CP.carFingerprint], CP)
+    cc = SimpleNamespace(
+      enabled=False, latActive=False, longActive=False,
+      actuators=SimpleNamespace(longControlState=LongCtrlState.off),
+      leftBlinker=False, rightBlinker=False, hudControl=SimpleNamespace(),
+    )
+    cs = SimpleNamespace(
+      stock_lfa_msg=None, stock_lkas_msg=None,
+      left_blindspot_from_radar=False, right_blindspot_from_radar=False,
+      out=SimpleNamespace(gearShifter=structs.CarState.GearShifter.park),
+    )
+
+    controller.frame = 1
+    controller.long_active_ecu = True
+    msgs = controller.create_canfd_msgs(0, False, 0.0, 0.0, 0.0, 0.0, False,
+                                        cc.hudControl, cs, cc, get_test_toggles(), lka_icon=1, lfa_icon=1)
+    assert any(addr == 0x12A for addr, _, _ in msgs)
+
+  @pytest.mark.parametrize("car", [
+    CAR.HYUNDAI_IONIQ_6,
+    CAR.KIA_EV6,
+    CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN,
+  ])
+  def test_egmp_persistent_lfa_status_survives_ecu_fallback_state(self, car):
+    CP = CarParams.new_message()
+    CP.carFingerprint = car
     CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.EV | HyundaiFlags.CANFD_LKA_STEERING)
     CP.openpilotLongitudinalControl = True
 
@@ -2568,6 +2661,7 @@ class TestHyundaiFingerprint:
     )
     cs = SimpleNamespace(
       stock_lfa_msg=None, stock_lkas_msg=None,
+      left_blindspot_from_radar=False, right_blindspot_from_radar=False,
       out=SimpleNamespace(gearShifter=structs.CarState.GearShifter.park),
     )
 
@@ -2707,7 +2801,7 @@ class TestHyundaiFingerprint:
     assert len([msg for msg in msgs if msg[0] == 0x110]) == expected_lkas_msgs
 
   @pytest.mark.parametrize("standstill", [False, True])
-  def test_sportage_angle_lkas_alt_forwards_stock_status_when_inactive(self, standstill):
+  def test_sportage_angle_lkas_alt_keeps_status_and_suppression_alive(self, standstill):
     CP = CarParams.new_message()
     CP.carFingerprint = CAR.KIA_SPORTAGE_HEV_2026
     CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.HYBRID | HyundaiFlags.CANFD_ANGLE_STEERING |
@@ -2715,16 +2809,67 @@ class TestHyundaiFingerprint:
     CP.openpilotLongitudinalControl = False
 
     controller = CarController(DBC[CP.carFingerprint], CP)
+    controller.frame = 5
+    can_bus = CanBus(CP)
     cc = SimpleNamespace(enabled=False, latActive=False,
                          actuators=SimpleNamespace(longControlState=LongCtrlState.off),
                          leftBlinker=False, rightBlinker=False, hudControl=SimpleNamespace())
-    cs = SimpleNamespace(stock_lfa_msg=None, stock_lkas_msg={},
+    lfa_block_msg = {f"BYTE{i}": 0 for i in range(3, 32) if i != 7}
+    lfa_block_msg["COUNTER"] = 0
+    cs = SimpleNamespace(stock_lfa_msg=None, stock_lkas_msg={}, lfa_block_msg=lfa_block_msg,
                          out=SimpleNamespace(standstill=standstill, steeringAngleDeg=0.0,
                                              gearShifter=structs.CarState.GearShifter.drive))
 
     msgs = controller.create_canfd_msgs(0, False, 0.0, 0.0, 0.0, 0.0, False, cc.hudControl, cs, cc,
                                         get_test_toggles(), lka_icon=1, lfa_icon=1)
-    assert not [msg for msg in msgs if msg[0] in (0x110, 0x12A)]
+    lkas_msgs = [msg for msg in msgs if msg[0] == 0x110]
+    assert len(lkas_msgs) == 1
+    assert len([msg for msg in msgs if msg[0] == 0x362]) == 1
+
+    parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LKAS_ALT", 0)], can_bus.ACAN)
+    parser.update([(1, lkas_msgs)])
+    assert parser.can_valid
+    assert parser.vl["LKAS_ALT"]["LKA_OptUsmSta"] == 0
+    assert parser.vl["LKAS_ALT"]["LKA_SysIndReq"] == 1
+    assert parser.vl["LKAS_ALT"]["LKA_RcgSta"] == 0
+    assert parser.vl["LKAS_ALT"]["Damping_Gain"] == 100
+    assert parser.vl["LKAS_ALT"]["LKAS_ANGLE_ACTIVE"] == 1
+    assert parser.vl["LKAS_ALT"]["ADAS_ACIAnglTqRedcGainVal"] == 0.0
+
+  def test_sportage_angle_lkas_alt_active_status_matches_vehicle_contract(self):
+    CP = CarParams.new_message()
+    CP.carFingerprint = CAR.KIA_SPORTAGE_HEV_2026
+    CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.HYBRID | HyundaiFlags.CANFD_ANGLE_STEERING |
+                   HyundaiFlags.CANFD_LKA_STEERING | HyundaiFlags.CANFD_LKA_STEERING_ALT)
+    CP.openpilotLongitudinalControl = False
+
+    controller = CarController(DBC[CP.carFingerprint], CP)
+    controller.frame = 5
+    can_bus = CanBus(CP)
+    cc = SimpleNamespace(enabled=True, latActive=True,
+                         actuators=SimpleNamespace(longControlState=LongCtrlState.off),
+                         leftBlinker=False, rightBlinker=False, hudControl=SimpleNamespace())
+    lfa_block_msg = {f"BYTE{i}": 0 for i in range(3, 32) if i != 7}
+    lfa_block_msg["COUNTER"] = 0
+    cs = SimpleNamespace(stock_lfa_msg=None, stock_lkas_msg={}, lfa_block_msg=lfa_block_msg,
+                         out=SimpleNamespace(standstill=False, steeringAngleDeg=10.0,
+                                             gearShifter=structs.CarState.GearShifter.drive))
+
+    msgs = controller.create_canfd_msgs(0, True, 0.4, 12.0, 0.0, 0.0, False, cc.hudControl, cs, cc,
+                                        get_test_toggles(), lka_icon=2, lfa_icon=2)
+    lkas_msgs = [msg for msg in msgs if msg[0] == 0x110]
+    assert len(lkas_msgs) == 1
+    assert len([msg for msg in msgs if msg[0] == 0x362]) == 1
+
+    parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LKAS_ALT", 0)], can_bus.ACAN)
+    parser.update([(1, lkas_msgs)])
+    assert parser.can_valid
+    assert parser.vl["LKAS_ALT"]["LKA_OptUsmSta"] == 0
+    assert parser.vl["LKAS_ALT"]["LKA_SysIndReq"] == 2
+    assert parser.vl["LKAS_ALT"]["LKA_RcgSta"] == 3
+    assert parser.vl["LKAS_ALT"]["Damping_Gain"] == 100
+    assert parser.vl["LKAS_ALT"]["LKAS_ANGLE_ACTIVE"] == 2
+    assert parser.vl["LKAS_ALT"]["ADAS_ACIAnglTqRedcGainVal"] == pytest.approx(0.4)
 
   def test_ev9_inactive_angle_steering_does_not_suppress_stock_lfa(self):
     CP = CarParams.new_message()

opendbc_repo/opendbc/car/hyundai/values.py

@@ -1218,6 +1218,13 @@ CANFD_ALT_BUTTONS_RESUME_CAR = {CAR.KIA_CARNIVAL_2025, CAR.KIA_CARNIVAL_HEV_4TH_
 CANFD_CORNER_RADAR_BSM_CAR = {CAR.HYUNDAI_IONIQ_6, CAR.HYUNDAI_IONIQ_5_PE, CAR.KIA_EV9}
 CANFD_RADAR_LIVE_LONGITUDINAL_CAR = {
   CAR.HYUNDAI_IONIQ_5, CAR.HYUNDAI_IONIQ_5_PE, CAR.HYUNDAI_IONIQ_6, CAR.KIA_EV6, CAR.KIA_EV9, CAR.GENESIS_GV60_EV_1ST_GEN,
+  CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN,
+}
+CANFD_RADAR_ECU_KEEPALIVE_CAR = {
+  CAR.HYUNDAI_IONIQ_5_PE,
+  CAR.HYUNDAI_IONIQ_6,
+  CAR.KIA_EV9,
+  CAR.GENESIS_GV60_EV_1ST_GEN,
 }
 RADAR_LIVE_LONGITUDINAL_CAR = CANFD_RADAR_LIVE_LONGITUDINAL_CAR | {
   CAR.HYUNDAI_IONIQ,

opendbc_repo/opendbc/car/interfaces.py

@@ -109,6 +109,7 @@ class RadarInterfaceBase(ABC):
     self.CP = CP
     self.rcp = None
     self.pts: dict[int, structs.RadarData.RadarPoint] = {}
+    self.track_id: int = 0
     self.frame = 0
 
   def update(self, can_packets: list[tuple[int, list[CanData]]]) -> structs.RadarDataT | None:

opendbc_repo/opendbc/car/subaru/carcontroller.py

@@ -16,21 +16,11 @@ _SNG_ACC_MIN_DIST = 3
 _SNG_ACC_MAX_DIST = 4.5
 _LEGACY_2025_MADS_MIN_SPEED = 0.44704
 _LEGACY_2025_MADS_MAX_STEER_ANGLE = 120.0
-_LEGACY_2025_OVERRIDE_HOLD_FRAMES = 10
-_LEGACY_2025_REENGAGE_SETTLE_FRAMES = 8
-_LEGACY_2025_REENGAGE_MAX_STEER_RATE = 2.0
-_LEGACY_2025_REENGAGE_MAX_ANGLE_DELTA = 1.0
-_LEGACY_2025_RECLAIM_FRAMES = 36
-_LEGACY_2025_RECLAIM_EXPONENT = 2.5
 _ANGLE_OVERRIDE_CONFIRM_FRAMES = 2
-_ANGLE_OVERRIDE_HOLD_FRAMES = 10
-_ANGLE_REENGAGE_SETTLE_FRAMES = 8
 _ANGLE_REENGAGE_MAX_STEER_RATE = 2.0
-_ANGLE_REENGAGE_MAX_ANGLE_DELTA = 1.0
-_ANGLE_RECLAIM_FRAMES = 36
-_ANGLE_RECLAIM_EXPONENT = 2.5
 _ANGLE_MADS_MIN_SPEED = 0.44704
 _ANGLE_MADS_MAX_STEER_ANGLE = 120.0
+_ASCENT_AOL_ARM_FRAMES = 30
 _STOP_START_STARTUP_DELAY_FRAMES = 100
 # StarPilot's first populated toggle message can arrive several seconds after
 # the car controller starts while fingerprinting and settings settle.
@@ -53,20 +43,9 @@ class CarController(CarControllerBase):
     self.apply_steer_last = 0
     self.driver_override = False
     self.angle_override_confirm_frames = 0
-    self.legacy_2025_lkas_active = False
-    self.legacy_2025_handoff_active = False
-    self.legacy_2025_override_hold_frames = 0
-    self.legacy_2025_reengage_settle_frames = 0
-    self.legacy_2025_reengage_reference_angle = 0.0
-    self.legacy_2025_reclaim_frames = 0
-    self.legacy_2025_reclaim_start_angle = 0.0
     self.angle_lkas_active = False
     self.angle_handoff_active = False
-    self.angle_override_hold_frames = 0
+    self.ascent_aol_arm_frames = 0
-    self.angle_reengage_settle_frames = 0
-    self.angle_reengage_reference_angle = 0.0
-    self.angle_reclaim_frames = 0
-    self.angle_reclaim_start_angle = 0.0
 
     self.cruise_button_prev = 0
     self.steer_rate_counter = 0
@@ -146,126 +125,36 @@ class CarController(CarControllerBase):
     self.stop_start_counter = (self.stop_start_counter + 1) % 0x10
     return msg
 
-  def _reset_legacy_2025_handoff(self):
-    self.driver_override = False
-    self.angle_override_confirm_frames = 0
-    self.legacy_2025_handoff_active = False
-    self.legacy_2025_override_hold_frames = 0
-    self.legacy_2025_reengage_settle_frames = 0
-    self.legacy_2025_reengage_reference_angle = 0.0
-    self.legacy_2025_reclaim_frames = 0
-    self.legacy_2025_reclaim_start_angle = 0.0
-
-  def _legacy_2025_manual_handoff(self, CS, lkas_available):
-    if not lkas_available:
-      self._reset_legacy_2025_handoff()
-      return False
-
-    driver_override = self._update_angle_driver_override(CS)
-    if driver_override:
-      self.legacy_2025_handoff_active = True
-      self.legacy_2025_override_hold_frames = _LEGACY_2025_OVERRIDE_HOLD_FRAMES
-      self.legacy_2025_reengage_settle_frames = 0
-      self.legacy_2025_reengage_reference_angle = CS.out.steeringAngleDeg
-      self.legacy_2025_reclaim_frames = 0
-      return True
-
-    if not self.legacy_2025_handoff_active and not self.legacy_2025_lkas_active and \
-       abs(getattr(CS.out, "steeringRateDeg", 0.0)) > _LEGACY_2025_REENGAGE_MAX_STEER_RATE:
-      self.legacy_2025_handoff_active = True
-      self.legacy_2025_reengage_reference_angle = CS.out.steeringAngleDeg
-
-    if not self.legacy_2025_handoff_active:
-      return False
-
-    if self.legacy_2025_override_hold_frames > 0:
-      self.legacy_2025_override_hold_frames -= 1
-      if self.legacy_2025_override_hold_frames == 0:
-        self.legacy_2025_reengage_reference_angle = CS.out.steeringAngleDeg
-      return True
-
-    wheel_stable = abs(getattr(CS.out, "steeringRateDeg", 0.0)) <= _LEGACY_2025_REENGAGE_MAX_STEER_RATE and \
-      abs(CS.out.steeringAngleDeg - self.legacy_2025_reengage_reference_angle) <= _LEGACY_2025_REENGAGE_MAX_ANGLE_DELTA
-    if wheel_stable:
-      self.legacy_2025_reengage_settle_frames += 1
-    else:
-      self.legacy_2025_reengage_settle_frames = 0
-      self.legacy_2025_reengage_reference_angle = CS.out.steeringAngleDeg
-
-    if self.legacy_2025_reengage_settle_frames < _LEGACY_2025_REENGAGE_SETTLE_FRAMES:
-      return True
-
-    self.legacy_2025_handoff_active = False
-    self.legacy_2025_reengage_settle_frames = 0
-    self.legacy_2025_reclaim_frames = _LEGACY_2025_RECLAIM_FRAMES
-    self.legacy_2025_reclaim_start_angle = CS.out.steeringAngleDeg
-    return True
-
-  def _legacy_2025_reclaim_target(self, target_angle):
-    if self.legacy_2025_reclaim_frames <= 0:
-      return target_angle
-
-    progress = (_LEGACY_2025_RECLAIM_FRAMES - self.legacy_2025_reclaim_frames + 1) / _LEGACY_2025_RECLAIM_FRAMES
-    eased_progress = progress ** _LEGACY_2025_RECLAIM_EXPONENT
-    target_angle = self.legacy_2025_reclaim_start_angle + eased_progress * \
-      (target_angle - self.legacy_2025_reclaim_start_angle)
-    self.legacy_2025_reclaim_frames -= 1
-    return target_angle
-
   def _reset_angle_handoff(self):
     self.driver_override = False
     self.angle_override_confirm_frames = 0
     self.angle_handoff_active = False
-    self.angle_override_hold_frames = 0
-    self.angle_reengage_settle_frames = 0
-    self.angle_reengage_reference_angle = 0.0
-    self.angle_reclaim_frames = 0
-    self.angle_reclaim_start_angle = 0.0
 
-  def _angle_manual_handoff(self, CS, lat_active):
+  def _angle_manual_handoff(self, CS, lat_active, use_steering_pressed=False):
     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
-      self.angle_override_hold_frames = _ANGLE_OVERRIDE_HOLD_FRAMES
-      self.angle_reengage_settle_frames = 0
-      self.angle_reengage_reference_angle = CS.out.steeringAngleDeg
-      self.angle_reclaim_frames = 0
       return True
 
-    if not self.angle_handoff_active and not self.angle_lkas_active and \
+    if self.angle_handoff_active:
-       abs(getattr(CS.out, "steeringRateDeg", 0.0)) > _ANGLE_REENGAGE_MAX_STEER_RATE:
+      if steering_rate > _ANGLE_REENGAGE_MAX_STEER_RATE:
+        return True
+
+      self.angle_handoff_active = False
+      return True
+
+    if not self.angle_lkas_active and steering_rate > _ANGLE_REENGAGE_MAX_STEER_RATE:
       self.angle_handoff_active = True
-      self.angle_reengage_reference_angle = CS.out.steeringAngleDeg
-
-    if not self.angle_handoff_active:
-      return False
-
-    if self.angle_override_hold_frames > 0:
-      self.angle_override_hold_frames -= 1
-      if self.angle_override_hold_frames == 0:
-        self.angle_reengage_reference_angle = CS.out.steeringAngleDeg
       return True
 
-    wheel_stable = abs(getattr(CS.out, "steeringRateDeg", 0.0)) <= _ANGLE_REENGAGE_MAX_STEER_RATE and \
+    return False
-      abs(CS.out.steeringAngleDeg - self.angle_reengage_reference_angle) <= _ANGLE_REENGAGE_MAX_ANGLE_DELTA
-    if wheel_stable:
-      self.angle_reengage_settle_frames += 1
-    else:
-      self.angle_reengage_settle_frames = 0
-      self.angle_reengage_reference_angle = CS.out.steeringAngleDeg
-
-    if self.angle_reengage_settle_frames < _ANGLE_REENGAGE_SETTLE_FRAMES:
-      return True
-
-    self.angle_handoff_active = False
-    self.angle_reengage_settle_frames = 0
-    self.angle_reclaim_frames = _ANGLE_RECLAIM_FRAMES
-    self.angle_reclaim_start_angle = CS.out.steeringAngleDeg
-    return True
 
   def _update_angle_driver_override(self, CS):
     """Debounce the higher-confidence raw torque override signal for angle cars."""
@@ -283,16 +172,13 @@ class CarController(CarControllerBase):
 
     return self.driver_override
 
-  def _angle_reclaim_target(self, target_angle):
+  def _ascent_aol_ready(self, ready):
-    if self.angle_reclaim_frames <= 0:
+    if not ready:
-      return target_angle
+      self.ascent_aol_arm_frames = 0
+      return False
 
-    progress = (_ANGLE_RECLAIM_FRAMES - self.angle_reclaim_frames + 1) / _ANGLE_RECLAIM_FRAMES
+    self.ascent_aol_arm_frames = min(self.ascent_aol_arm_frames + 1, _ASCENT_AOL_ARM_FRAMES)
-    eased_progress = progress ** _ANGLE_RECLAIM_EXPONENT
+    return self.ascent_aol_arm_frames >= _ASCENT_AOL_ARM_FRAMES
-    target_angle = self.angle_reclaim_start_angle + eased_progress * \
-      (target_angle - self.angle_reclaim_start_angle)
-    self.angle_reclaim_frames -= 1
-    return target_angle
 
   def lateral_angle(self, CC, CS):
     if self.CP.carFingerprint == CAR.SUBARU_LEGACY_2025:
@@ -302,12 +188,11 @@ class CarController(CarControllerBase):
       lkas_available = CC.latActive and (not mads_only or mads_only_ok) and \
         CS.out.gearShifter == structs.CarState.GearShifter.drive and not CS.out.standstill
 
-      manual_handoff = self._legacy_2025_manual_handoff(CS, lkas_available)
+      manual_handoff = self._angle_manual_handoff(CS, lkas_available)
       lkas_active = lkas_available and not manual_handoff
 
-      steer_target = self._legacy_2025_reclaim_target(CC.actuators.steeringAngleDeg) if lkas_active else CC.actuators.steeringAngleDeg
       apply_steer = apply_std_steer_angle_limits(
-        steer_target,
+        CC.actuators.steeringAngleDeg,
         self.apply_steer_last,
         CS.out.vEgoRaw,
         CS.out.steeringAngleDeg,
@@ -315,7 +200,7 @@ class CarController(CarControllerBase):
         self.p.LEGACY_2025_ANGLE_LIMITS,
       )
       self.apply_steer_last = apply_steer
-      self.legacy_2025_lkas_active = lkas_active
+      self.angle_lkas_active = lkas_active
       return subarucan.create_steering_control_angle(self.packer, apply_steer, lkas_active, self.angle_bus)
 
     if self.CP.carFingerprint in (CAR.SUBARU_ASCENT_2023, CAR.SUBARU_OUTBACK_2023):
@@ -324,17 +209,24 @@ class CarController(CarControllerBase):
         abs(CS.out.steeringAngleDeg) < _ANGLE_MADS_MAX_STEER_ANGLE
       lkas_available = CC.latActive and (not mads_only or mads_only_ok) and \
         CS.out.gearShifter == structs.CarState.GearShifter.drive and not CS.out.standstill
+      if self.CP.carFingerprint == CAR.SUBARU_ASCENT_2023:
+        if mads_only:
+          cruise_available = getattr(getattr(CS.out, "cruiseState", None), "available", True)
+          lkas_available = self._ascent_aol_ready(lkas_available and cruise_available)
+        else:
+          self.ascent_aol_arm_frames = _ASCENT_AOL_ARM_FRAMES if lkas_available else 0
 
-      manual_handoff = self._angle_manual_handoff(CS, lkas_available)
+      manual_handoff = self._angle_manual_handoff(
+        CS, lkas_available, use_steering_pressed=self.CP.carFingerprint == CAR.SUBARU_OUTBACK_2023,
+      )
       lkas_active = lkas_available and not manual_handoff
 
       if lkas_active and not self.angle_lkas_active:
         self.apply_steer_last = CS.out.steeringAngleDeg
 
-      steer_target = self._angle_reclaim_target(CC.actuators.steeringAngleDeg) if lkas_active else CC.actuators.steeringAngleDeg
       if self.CP.carFingerprint in (CAR.SUBARU_ASCENT_2023, CAR.SUBARU_OUTBACK_2023):
         apply_steer = apply_std_steer_angle_limits(
-          steer_target,
+          CC.actuators.steeringAngleDeg,
           self.apply_steer_last,
           CS.out.vEgoRaw,
           CS.out.steeringAngleDeg,
@@ -365,9 +257,8 @@ class CarController(CarControllerBase):
     lat_active = lkas_available and not self.driver_override and not manual_handoff
     if lat_active and not self.angle_lkas_active:
       self.apply_steer_last = CS.out.steeringAngleDeg
-    steer_target = self._angle_reclaim_target(CC.actuators.steeringAngleDeg) if lat_active else CC.actuators.steeringAngleDeg
     apply_steer = apply_steer_angle_limits_vm(
-      steer_target,
+      CC.actuators.steeringAngleDeg,
       self.apply_steer_last,
       CS.out.vEgoRaw,
       CS.out.steeringAngleDeg,
@@ -408,6 +299,11 @@ class CarController(CarControllerBase):
 
     return subarucan.create_steering_control(self.packer, apply_torque, apply_steer_req)
 
+  def _lkas_status_active(self, CC):
+    if self.CP.carFingerprint in (CAR.SUBARU_ASCENT_2023, CAR.SUBARU_OUTBACK_2023):
+      return self.angle_lkas_active
+    return CC.latActive
+
   def update(self, CC, CS, now_nanos, starpilot_toggles):
     actuators = CC.actuators
     hud_control = CC.hudControl
@@ -484,7 +380,7 @@ 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, CC.latActive, hud_control.visualAlert,
+        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))
 

opendbc_repo/opendbc/car/subaru/carstate.py

@@ -85,14 +85,14 @@ class CarState(CarStateBase):
 
     if self.CP.flags & SubaruFlags.LKAS_ANGLE:
       ret.steeringAngleDeg = cp_angle.vl["Steering_2"]["Steering_Angle"]
-      steering_updated = len(cp_angle.vl_all["Steering_2"]["Steering_Angle"]) > 0
+      steering_counter = cp_angle.vl["Steering_2"]["COUNTER"]
     else:
       ret.steeringAngleDeg = cp.vl["Steering_Torque"]["Steering_Angle"]
-      steering_updated = len(cp.vl_all["Steering_Torque"]["Steering_Angle"]) > 0
+      steering_counter = cp.vl["Steering_Torque"].get("COUNTER", 0)
 
     if not (self.CP.flags & SubaruFlags.PREGLOBAL):
       # ideally we get this from the car, but unclear if it exists. diagnostic software doesn't even have it
-      ret.steeringRateDeg = self.angle_rate_calulator.update(ret.steeringAngleDeg, steering_updated)
+      ret.steeringRateDeg = self.angle_rate_calulator.update(ret.steeringAngleDeg, steering_counter)
 
     ret.steeringTorque = cp_angle.vl["Steering_Torque"]["Steer_Torque_Sensor"]
     ret.steeringTorqueEps = cp_angle.vl["Steering_Torque"]["Steer_Torque_Output"]

opendbc_repo/opendbc/car/subaru/tests/test_subaru.py

@@ -8,7 +8,7 @@ from opendbc.can import CANPacker, CANParser
 from opendbc.car import Bus, fw_versions, gen_empty_fingerprint, structs
 from opendbc.car.fw_query_definitions import StdQueries
 from opendbc.car.subaru import subarucan
-from opendbc.car.subaru.carcontroller import CarController
+from opendbc.car.subaru.carcontroller import CarController, _ASCENT_AOL_ARM_FRAMES
 from opendbc.car.subaru.carstate import CarState
 from opendbc.car.subaru.fingerprints import FW_VERSIONS
 from opendbc.car.fw_versions import match_fw_to_car
@@ -414,7 +414,7 @@ def test_legacy_2025_engagement_continues_from_last_sent_angle():
   assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] == pytest.approx(0.47)
 
 
-def test_legacy_2025_waits_for_manual_steering_to_settle_before_reengaging():
+def test_legacy_2025_reengages_immediately_after_manual_steering_stops():
   CP = CarInterface.get_non_essential_params(CAR.SUBARU_LEGACY_2025)
   controller = CarController({}, CP)
   CC = SimpleNamespace(
@@ -444,42 +444,20 @@ def test_legacy_2025_waits_for_manual_steering_to_settle_before_reengaging():
   CS.out.steeringPressed = False
   CS.out.steeringTorque = 0.0
   CS.out.steeringAngleDeg = -113.78
+  CS.out.steeringRateDeg = 0.0
   msg = controller.lateral_angle(CC, CS)
-  parser.update([(2, [msg])])
+  parser.update([(3, [msg])])
   assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
   assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] == pytest.approx(CS.out.steeringAngleDeg)
 
-  for i in range(9):
-    CS.out.steeringAngleDeg += 0.5
-    CS.out.steeringRateDeg = 20.0
-    msg = controller.lateral_angle(CC, CS)
-    parser.update([(3 + i, [msg])])
-    assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
-    assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] == pytest.approx(CS.out.steeringAngleDeg)
-
-  for i in range(6):
-    if i % 2:
-      CS.out.steeringAngleDeg += 0.5
-    CS.out.steeringRateDeg = 0.0 if i % 2 == 0 else 20.0
-    msg = controller.lateral_angle(CC, CS)
-    parser.update([(12 + i, [msg])])
-    assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
-    assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] == pytest.approx(CS.out.steeringAngleDeg)
-
   CS.out.steeringRateDeg = 0.0
-  for i in range(8):
-    msg = controller.lateral_angle(CC, CS)
-    parser.update([(18 + i, [msg])])
-    assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
-
-  measured_angle = CS.out.steeringAngleDeg
   msg = controller.lateral_angle(CC, CS)
-  parser.update([(26, [msg])])
+  parser.update([(4, [msg])])
   assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 1
-  assert abs(parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] - measured_angle) < 0.1
+  assert -113.78 < parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] < -100.0
 
 
-def test_legacy_2025_manual_handoff_reclaim_is_gradual():
+def test_legacy_2025_manual_handoff_reentry_uses_normal_angle_limits():
   CP = CarInterface.get_non_essential_params(CAR.SUBARU_LEGACY_2025)
   controller = CarController({}, CP)
   CC = SimpleNamespace(
@@ -508,22 +486,24 @@ def test_legacy_2025_manual_handoff_reclaim_is_gradual():
   CS.out.steeringPressed = False
   CS.out.steeringTorque = 0.0
   CS.out.steeringRateDeg = 0.0
-  for i in range(19):
+  msg = controller.lateral_angle(CC, CS)
-    msg = controller.lateral_angle(CC, CS)
+  parser.update([(3, [msg])])
-    parser.update([(2 + i, [msg])])
+  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
 
+  msg = controller.lateral_angle(CC, CS)
+  parser.update([(4, [msg])])
   assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 1
-  first_reclaim_angle = parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"]
+  first_reentry_angle = parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"]
-  assert first_reclaim_angle == pytest.approx(CS.out.steeringAngleDeg, abs=0.1)
+  assert CC.actuators.steeringAngleDeg < first_reentry_angle < CS.out.steeringAngleDeg
 
-  reclaim_angles = []
+  reentry_angles = []
   for i in range(6):
     msg = controller.lateral_angle(CC, CS)
     parser.update([(20 + i, [msg])])
-    reclaim_angles.append(parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"])
+    reentry_angles.append(parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"])
 
-  assert all(reclaim_angles[i] >= reclaim_angles[i + 1] for i in range(len(reclaim_angles) - 1))
+  assert all(reentry_angles[i] >= reentry_angles[i + 1] for i in range(len(reentry_angles) - 1))
-  assert reclaim_angles[-1] > CC.actuators.steeringAngleDeg
+  assert reentry_angles[-1] > CC.actuators.steeringAngleDeg
 
 
 def test_ascent_2023_uses_gen2_angle_bus_layout():
@@ -546,6 +526,25 @@ def test_ascent_2023_uses_gen2_angle_bus_layout():
   assert controller.status_bus == CanBus.main
 
 
+def test_ascent_steering_rate_retains_last_can_sample():
+  CP = CarInterface.get_non_essential_params(CAR.SUBARU_ASCENT_2023)
+  car_state = CarState(CP, None)
+  parsers = car_state.get_can_parsers(CP)
+  toggles = SimpleNamespace(subaru_sng=False)
+
+  parsers[Bus.pt].vl["Steering_2"]["Steering_Angle"] = 1.0
+  parsers[Bus.pt].vl["Steering_2"]["COUNTER"] = 1
+  car_state.update(parsers, toggles)
+
+  parsers[Bus.pt].vl["Steering_2"]["Steering_Angle"] = 2.0
+  parsers[Bus.pt].vl["Steering_2"]["COUNTER"] = 2
+  state, _ = car_state.update(parsers, toggles)
+  assert state.steeringRateDeg == pytest.approx(50.0)
+
+  state, _ = car_state.update(parsers, toggles)
+  assert state.steeringRateDeg == pytest.approx(50.0)
+
+
 def test_other_angle_platforms_keep_existing_bus_layout():
   CP = CarInterface.get_non_essential_params(CAR.SUBARU_CROSSTREK_2025)
   parsers = CarState.get_can_parsers(CP)
@@ -645,7 +644,7 @@ def test_angle_controller_uses_fixed_angle_rate_limits(platform):
 
 
 @pytest.mark.parametrize("platform", (CAR.SUBARU_ASCENT_2023, CAR.SUBARU_OUTBACK_2023))
-def test_angle_controller_yields_until_manual_steering_settles(platform):
+def test_angle_controller_reengages_immediately_after_manual_steering_stops(platform):
   CP = CarInterface.get_non_essential_params(platform)
   controller = CarController({}, CP)
   CC = SimpleNamespace(enabled=True, latActive=True, actuators=SimpleNamespace(steeringAngleDeg=-10.0))
@@ -672,18 +671,18 @@ def test_angle_controller_yields_until_manual_steering_settles(platform):
   CS.out.steeringTorque = 0.0
   CS.out.steeringAngleDeg = -17.91
   CS.out.steeringRateDeg = 0.0
-  for i in range(18):
+  msg = controller.lateral_angle(CC, CS)
-    msg = controller.lateral_angle(CC, CS)
+  parser.update([(3, [msg])])
-    parser.update([(2 + i, [msg])])
+  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
-    assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
+  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] == pytest.approx(CS.out.steeringAngleDeg)
 
   msg = controller.lateral_angle(CC, CS)
-  parser.update([(20, [msg])])
+  parser.update([(4, [msg])])
   assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 1
-  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] == pytest.approx(CS.out.steeringAngleDeg, abs=0.1)
+  assert CS.out.steeringAngleDeg < parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] < CC.actuators.steeringAngleDeg
 
 
-def test_ascent_angle_controller_blocks_parking_lot_aol_engagement():
+def test_ascent_angle_controller_waits_for_parking_lot_safety_envelope():
   CP = CarInterface.get_non_essential_params(CAR.SUBARU_ASCENT_2023)
   controller = CarController({}, CP)
   CC = SimpleNamespace(enabled=False, latActive=True, actuators=SimpleNamespace(steeringAngleDeg=-206.12))
@@ -693,6 +692,7 @@ def test_ascent_angle_controller_blocks_parking_lot_aol_engagement():
     steeringRateDeg=96.0,
     steeringTorque=7.0,
     steeringPressed=False,
+    cruiseState=SimpleNamespace(available=True),
     gearShifter=structs.CarState.GearShifter.drive,
     standstill=False,
   ))
@@ -705,21 +705,77 @@ def test_ascent_angle_controller_blocks_parking_lot_aol_engagement():
 
   CS.out.steeringAngleDeg = -100.0
   CS.out.steeringRateDeg = 0.0
+  for frame in range(2, _ASCENT_AOL_ARM_FRAMES + 1):
+    msg = controller.lateral_angle(CC, CS)
+    parser.update([(frame, [msg])])
+    assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
+
   msg = controller.lateral_angle(CC, CS)
-  parser.update([(2, [msg])])
+  parser.update([(_ASCENT_AOL_ARM_FRAMES + 1, [msg])])
   assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 1
 
   CS.out.gearShifter = structs.CarState.GearShifter.reverse
   msg = controller.lateral_angle(CC, CS)
-  parser.update([(3, [msg])])
+  parser.update([(_ASCENT_AOL_ARM_FRAMES + 2, [msg])])
   assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
   assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] == pytest.approx(CS.out.steeringAngleDeg)
 
 
-def test_lkas_hud_state_uses_lateral_active():
+def test_ascent_aol_does_not_arm_before_cruise_main_is_available():
+  CP = CarInterface.get_non_essential_params(CAR.SUBARU_ASCENT_2023)
+  controller = CarController({}, CP)
+  CC = SimpleNamespace(enabled=False, latActive=True, actuators=SimpleNamespace(steeringAngleDeg=5.0))
+  CS = SimpleNamespace(out=SimpleNamespace(
+    vEgoRaw=10.0,
+    steeringAngleDeg=0.0,
+    steeringRateDeg=0.0,
+    steeringTorque=0.0,
+    steeringPressed=False,
+    cruiseState=SimpleNamespace(available=False),
+    gearShifter=structs.CarState.GearShifter.drive,
+    standstill=False,
+  ))
+  parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("ES_LKAS_ANGLE", 0)], CanBus.main)
+
+  for frame in range(_ASCENT_AOL_ARM_FRAMES):
+    msg = controller.lateral_angle(CC, CS)
+    parser.update([(frame + 1, [msg])])
+
+  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
+  assert controller.ascent_aol_arm_frames == 0
+
+  CS.out.cruiseState.available = True
+  msg = controller.lateral_angle(CC, CS)
+  parser.update([(_ASCENT_AOL_ARM_FRAMES + 1, [msg])])
+  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
+  assert controller.ascent_aol_arm_frames == 1
+
+
+def test_ascent_angle_controller_does_not_delay_normal_engagement():
+  CP = CarInterface.get_non_essential_params(CAR.SUBARU_ASCENT_2023)
+  controller = CarController({}, CP)
+  CC = SimpleNamespace(enabled=True, latActive=True, actuators=SimpleNamespace(steeringAngleDeg=5.0))
+  CS = SimpleNamespace(out=SimpleNamespace(
+    vEgoRaw=10.0,
+    steeringAngleDeg=0.0,
+    steeringRateDeg=0.0,
+    steeringTorque=0.0,
+    steeringPressed=False,
+    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])])
+
+  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 1
+
+
+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, CC.latActive" in update_source
+  assert "create_es_lkas_state(self.packer, self.frame // 10, CS.es_lkas_state_msg, self._lkas_status_active(CC)" in update_source
   assert "create_es_lkas_state(self.packer, self.frame // 10, CS.es_lkas_state_msg, CC.enabled" not in update_source
 
 
@@ -737,3 +793,48 @@ def test_lkas_hud_active_bit_follows_lateral_state(enabled, expected):
 
   assert parser.can_valid
   assert parser.vl["ES_LKAS_State"]["LKAS_ACTIVE"] == expected
+
+
+def test_outback_manual_steering_releases_angle_request_before_lkas_fault():
+  CP = CarInterface.get_non_essential_params(CAR.SUBARU_OUTBACK_2023)
+  controller = CarController({}, CP)
+  CC = SimpleNamespace(
+    enabled=False,
+    latActive=True,
+    actuators=SimpleNamespace(steeringAngleDeg=-225.0),
+  )
+  CS = SimpleNamespace(out=SimpleNamespace(
+    vEgoRaw=0.9,
+    steeringAngleDeg=-57.0,
+    steeringRateDeg=-45.0,
+    steeringTorque=-127.0,
+    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])])
+
+  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)
+
+
+def test_ascent_hud_waits_for_angle_request():
+  CP = CarInterface.get_non_essential_params(CAR.SUBARU_ASCENT_2023)
+  controller = CarController({}, CP)
+  CC = SimpleNamespace(latActive=True)
+
+  assert not controller._lkas_status_active(CC)
+  controller.angle_lkas_active = True
+  assert controller._lkas_status_active(CC)
+
+
+def test_other_angle_cars_keep_lateral_status_behavior():
+  CP = CarInterface.get_non_essential_params(CAR.SUBARU_CROSSTREK_2025)
+  controller = CarController({}, CP)
+  controller.angle_lkas_active = False
+
+  assert controller._lkas_status_active(SimpleNamespace(latActive=True))

opendbc_repo/opendbc/car/tests/routes.py

@@ -108,6 +108,7 @@ non_tested_cars = [
   TOYOTA.TOYOTA_RAV4H,
 
   # No recorded routes yet
+  VOLVO.VOLVO_V40,
   VOLVO.VOLVO_XC40_RECHARGE,
   VOLVO.VOLVO_S60_RECHARGE,
   VOLVO.POLESTAR_2,

opendbc_repo/opendbc/car/torque_data/override.toml

@@ -145,6 +145,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "PORSCHE_MACAN_MK1" = [2.0, 2.0, 0.2]
 "VOLVO_XC40_RECHARGE" = [1.5, 1.5, 0.1]
 "VOLVO_S60_RECHARGE" = [1.5, 1.5, 0.1]
+"VOLVO_V40" = [1.5, 1.5, 0.1]
 
 # Dashcam or fallback configured as ideal car
 "MOCK" = [10.0, 10, 0.0]

opendbc_repo/opendbc/car/toyota/carcontroller.py

@@ -40,6 +40,8 @@ TOYOTA_NO_LEAD_CRUISE_SIGN_FLIP_MIN_SET_SPEED_ERROR = 0.35  # m/s
 TOYOTA_RAV4_LAUNCH_PEDAL_BLEND_SPEED = 5.0  # m/s
 TOYOTA_RAV4_LAUNCH_PEDAL_SCALE = 0.11
 TOYOTA_RAV4_LOW_SPEED_PEDAL_SCALE = 0.23
+TOYOTA_AUTO_HOLD_ACCEL = -1.0
+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
@@ -309,23 +311,24 @@ class CarController(CarControllerBase):
 
     self.last_standstill = CS.out.standstill
 
-  def create_auto_brake_hold_messages(self, CS: structs.CarState, brake_hold_allowed_timer: int = 100):
+  def update_auto_hold_state(self, CS: structs.CarState, cancel_requested: bool = False,
-    can_sends = []
+                             activation_frames: int = TOYOTA_AUTO_HOLD_ACTIVATION_FRAMES):
-    brake_hold_allowed = (CS.out.standstill and CS.out.cruiseState.available and
+    brake_hold_allowed = (not cancel_requested and CS.out.standstill and CS.out.cruiseState.available and
                           not CS.out.gasPressed and not CS.out.cruiseState.enabled and
                           CS.out.gearShifter not in (PARK, REVERSE))
 
     if brake_hold_allowed and not self.brake_hold_active and CS.out.brakePressed:
       self._brake_hold_counter += 1
-      self.brake_hold_active = self._brake_hold_counter > brake_hold_allowed_timer
+      self.brake_hold_active = self._brake_hold_counter > activation_frames
     elif not brake_hold_allowed:
       self._brake_hold_counter = 0
       self.brake_hold_active = False
 
-    if self.frame % 2 == 0:
+    return self.brake_hold_active
-      can_sends.append(toyotacan.create_brake_hold_command(self.packer, self.frame, CS.pre_collision_2, self.brake_hold_active))
 
-    return can_sends
+  def reset_auto_hold_state(self):
+    self._brake_hold_counter = 0
+    self.brake_hold_active = False
 
   def update(self, CC, CS, now_nanos, starpilot_toggles):
     actuators = CC.actuators
@@ -423,10 +426,9 @@ class CarController(CarControllerBase):
 
     self._update_standstill_request(CC, CS, actuators, starpilot_toggles)
     if supports_toyota_auto_hold(self.CP, getattr(starpilot_toggles, "toyota_auto_hold", False)):
-      can_sends.extend(self.create_auto_brake_hold_messages(CS))
+      self.update_auto_hold_state(CS, pcm_cancel_cmd)
-    elif self.brake_hold_active:
+    else:
-      self._brake_hold_counter = 0
+      self.reset_auto_hold_state()
-      self.brake_hold_active = False
 
     interceptor_gas_cmd = self._compute_interceptor_gas_cmd(CC, CS)
 
@@ -534,6 +536,11 @@ class CarController(CarControllerBase):
 
         pcm_accel_cmd = float(np.clip(pcm_accel_cmd, self.params.ACCEL_MIN, self.params.ACCEL_MAX))
 
+        if self.brake_hold_active:
+          pcm_accel_cmd = TOYOTA_AUTO_HOLD_ACCEL
+          self.permit_braking = True
+          self.standstill_req = True
+
         main_accel_cmd = 0. if self.CP.flags & ToyotaFlags.SECOC.value else pcm_accel_cmd
         can_sends.append(toyotacan.create_accel_command(self.packer, main_accel_cmd, pcm_cancel_cmd, self.permit_braking, self.standstill_req, lead,
                                                         CS.acc_type, fcw_alert, self.distance_button,

opendbc_repo/opendbc/car/toyota/carstate.py

@@ -90,8 +90,6 @@ class CarState(CarStateBase):
     self.has_can_filter = self.FPCP.flags & ToyotaStarPilotFlags.RADAR_CAN_FILTER.value
     self.has_SDSU = self.FPCP.flags & ToyotaStarPilotFlags.SMART_DSU.value
     self.has_ZSS = self.FPCP.flags & ToyotaStarPilotFlags.ZSS.value
-    self.auto_brake_hold = bool(self.CP.flags & ToyotaFlags.AUTO_BRAKE_HOLD.value)
-    self.pre_collision_2 = {}
 
   def update(self, can_parsers, starpilot_toggles) -> structs.CarState:
     cp = can_parsers[Bus.pt]
@@ -227,9 +225,6 @@ class CarState(CarStateBase):
     if self.CP.carFingerprint != CAR.TOYOTA_PRIUS_V:
       self.lkas_hud = copy.copy(cp_cam.vl["LKAS_HUD"])
 
-    if self.auto_brake_hold:
-      self.pre_collision_2 = copy.copy(cp_cam.vl["PRE_COLLISION_2"])
-
     if self.CP.carFingerprint not in UNSUPPORTED_DSU_CAR:
       self.pcm_follow_distance = cp.vl["PCM_CRUISE_2"]["PCM_FOLLOW_DISTANCE"]
 
@@ -314,9 +309,6 @@ class CarState(CarStateBase):
     if CP.carFingerprint in DISTANCE_BUTTON_CAR:
       pt_messages.append(("PCM_CRUISE_4", 1))
 
-    if CP.flags & ToyotaFlags.AUTO_BRAKE_HOLD.value:
-      cam_messages.append(("PRE_COLLISION_2", 50))
-
     return {
       Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], pt_messages, 0),
       Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], cam_messages, 2),

opendbc_repo/opendbc/car/toyota/interface.py

@@ -164,8 +164,8 @@ class CarInterface(CarInterfaceBase):
       ret.safetyConfigs[0].safetyParam |= ToyotaSafetyFlags.GAS_INTERCEPTOR.value
 
     toyota_auto_hold = Params(return_defaults=True).get_bool("ToyotaAutoHold")
-    if toyota_auto_hold and candidate in TOYOTA_AUTO_HOLD_CARS:
+    if toyota_auto_hold and ret.openpilotLongitudinalControl and candidate in TOYOTA_AUTO_HOLD_CARS:
-      ret.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ALLOW_AEB
+      ret.alternativeExperience |= ALTERNATIVE_EXPERIENCE.TOYOTA_AUTO_HOLD
       ret.flags |= ToyotaFlags.AUTO_BRAKE_HOLD.value
 
     if not ret.openpilotLongitudinalControl:

opendbc_repo/opendbc/car/toyota/tests/test_toyota.py

@@ -196,7 +196,8 @@ class TestToyotaInterfaces:
       params.put_bool("ToyotaAutoHold", True)
       car_params = CarInterface.get_params(
         candidate,
-        {bus: {} for bus in range(8)},
+        {bus: ({0x2FF: 8} if candidate in (CAR.TOYOTA_RAV4, CAR.TOYOTA_RAV4H) and bus == 0 else {})
+         for bus in range(8)},
         [],
         alpha_long=False,
         is_release=False,
@@ -207,12 +208,13 @@ class TestToyotaInterfaces:
       params.remove("ToyotaAutoHold")
 
     assert car_params.flags & ToyotaFlags.AUTO_BRAKE_HOLD.value
-    assert car_params.alternativeExperience & ALTERNATIVE_EXPERIENCE.ALLOW_AEB
+    assert car_params.alternativeExperience & ALTERNATIVE_EXPERIENCE.TOYOTA_AUTO_HOLD
+    assert not car_params.alternativeExperience & ALTERNATIVE_EXPERIENCE.ALLOW_AEB
 
     can_parsers = CarState.get_can_parsers(car_params)
     car_state = CarState(car_params, SimpleNamespace(flags=0))
     car_state.update(can_parsers, SimpleNamespace(cluster_offset=1.0))
-    assert "PRE_COLLISION_2" in can_parsers[Bus.cam].vl
+    assert "PRE_COLLISION_2" not in can_parsers[Bus.cam].vl
 
   @pytest.mark.parametrize("candidate", [CAR.TOYOTA_CAMRY_TSS2, CAR.TOYOTA_RAV4, CAR.TOYOTA_RAV4H])
   def test_auto_hold_is_disabled_by_default(self, candidate):
@@ -229,7 +231,7 @@ class TestToyotaInterfaces:
     )
 
     assert not car_params.flags & ToyotaFlags.AUTO_BRAKE_HOLD.value
-    assert not car_params.alternativeExperience & ALTERNATIVE_EXPERIENCE.ALLOW_AEB
+    assert not car_params.alternativeExperience & ALTERNATIVE_EXPERIENCE.TOYOTA_AUTO_HOLD
 
   def test_prius_openpilot_long_uses_hybrid_long_defaults(self):
     car_params = CarInterface.get_params(
@@ -744,6 +746,8 @@ class TestToyotaCarController:
     controller.standstill_req = standstill_req
     controller.last_standstill = last_standstill
     controller.accel = 0.0
+    controller.brake_hold_active = False
+    controller._brake_hold_counter = 0
     return controller
 
   @staticmethod
@@ -806,9 +810,6 @@ class TestToyotaCarController:
   def test_toyota_auto_hold_latches_after_brake_press_until_gas(self):
     controller = self._make_controller()
     controller.packer = CANPacker(DBC[CAR.TOYOTA_CAMRY_TSS2][Bus.pt])
-    controller.frame = 0
-    controller.brake_hold_active = False
-    controller._brake_hold_counter = 0
 
     cs = SimpleNamespace(
       out=SimpleNamespace(
@@ -818,28 +819,22 @@ class TestToyotaCarController:
         brakePressed=True,
         gearShifter=structs.CarState.GearShifter.drive,
       ),
-      pre_collision_2={},
     )
 
-    controller.create_auto_brake_hold_messages(cs, brake_hold_allowed_timer=0)
+    controller.update_auto_hold_state(cs, activation_frames=0)
     assert controller.brake_hold_active
 
     cs.out.brakePressed = False
-    controller.frame = 2
+    controller.update_auto_hold_state(cs, activation_frames=0)
-    controller.create_auto_brake_hold_messages(cs, brake_hold_allowed_timer=0)
     assert controller.brake_hold_active
 
     cs.out.gasPressed = True
-    controller.frame = 4
+    controller.update_auto_hold_state(cs, activation_frames=0)
-    controller.create_auto_brake_hold_messages(cs, brake_hold_allowed_timer=0)
     assert not controller.brake_hold_active
 
   def test_toyota_auto_hold_does_not_trigger_without_brake_press(self):
     controller = self._make_controller()
     controller.packer = CANPacker(DBC[CAR.TOYOTA_CAMRY_TSS2][Bus.pt])
-    controller.frame = 0
-    controller.brake_hold_active = False
-    controller._brake_hold_counter = 0
     cs = SimpleNamespace(
       out=SimpleNamespace(
         standstill=True,
@@ -848,10 +843,9 @@ class TestToyotaCarController:
         brakePressed=False,
         gearShifter=structs.CarState.GearShifter.drive,
       ),
-      pre_collision_2={},
     )
 
-    controller.create_auto_brake_hold_messages(cs, brake_hold_allowed_timer=0)
+    controller.update_auto_hold_state(cs, activation_frames=0)
     assert not controller.brake_hold_active
 
   def test_prius_resume_request_releases_standstill_latch(self):
@@ -991,12 +985,9 @@ class TestToyotaCarController:
     assert parser.can_valid
     assert parser.vl["ACC_CONTROL"]["ALLOW_LONG_PRESS"] == 1
 
-  def test_auto_brake_hold_sends_modified_pre_collision_after_timer(self):
+  def test_auto_hold_uses_acc_control_brake_path(self):
     controller = self._make_controller()
     controller.packer = CANPacker(DBC[CAR.TOYOTA_CAMRY_TSS2][Bus.pt])
-    controller.frame = 0
-    controller.brake_hold_active = False
-    controller._brake_hold_counter = 0
     cs = SimpleNamespace(
       out=SimpleNamespace(
         standstill=True,
@@ -1005,16 +996,19 @@ class TestToyotaCarController:
         brakePressed=True,
         gearShifter=structs.CarState.GearShifter.drive,
       ),
-      pre_collision_2={},
     )
 
-    can_sends = controller.create_auto_brake_hold_messages(cs, brake_hold_allowed_timer=0)
+    controller.update_auto_hold_state(cs, activation_frames=0)
+    can_sends = [toyotacan.create_accel_command(
+      controller.packer, -1.0, False, True, True, False, 1, False, 0, False,
+    )]
 
-    parser = CANParser(DBC[CAR.TOYOTA_CAMRY_TSS2][Bus.pt], [("PRE_COLLISION_2", 0)], 0)
+    parser = CANParser(DBC[CAR.TOYOTA_CAMRY_TSS2][Bus.pt], [("ACC_CONTROL", 0)], 0)
     parser.update([(1, can_sends)])
     assert controller.brake_hold_active
-    assert parser.vl["PRE_COLLISION_2"]["DSS1GDRV"] == -1.0
+    assert parser.vl["ACC_CONTROL"]["ACCEL_CMD"] == -1.0
-    assert parser.vl["PRE_COLLISION_2"]["PBRTRGR"] == 1
+    assert parser.vl["ACC_CONTROL"]["PERMIT_BRAKING"] == 1
+    assert parser.vl["ACC_CONTROL"]["RELEASE_STANDSTILL"] == 0
 
   def test_interceptor_stop_and_go_holds_small_launch_at_standstill(self):
     controller = self._make_controller()

opendbc_repo/opendbc/car/toyota/toyotacan.py

@@ -89,38 +89,6 @@ def create_pcs_commands(packer, accel, active, mass):
   return [msg1, msg2]
 
 
-def create_brake_hold_command(packer, frame, pre_collision_2, brake_hold_active):
-  values = {s: pre_collision_2[s] for s in [
-    "DSS1GDRV",
-    "DS1STAT2",
-    "DS1STBK2",
-    "PCSWAR",
-    "PCSALM",
-    "PCSOPR",
-    "PCSABK",
-    "PBATRGR",
-    "PPTRGR",
-    "IBTRGR",
-    "CLEXTRGR",
-    "IRLT_REQ",
-    "BRKHLD",
-    "AVSTRGR",
-    "VGRSTRGR",
-    "PREFILL",
-    "PBRTRGR",
-    "PCSDIS",
-    "PBPREPMP",
-  ] if s in pre_collision_2}
-
-  if brake_hold_active:
-    values = {
-      "DSS1GDRV": 0x3FF,
-      "PBRTRGR": frame % 730 < 727,
-    }
-
-  return packer.make_can_msg("PRE_COLLISION_2", 0, values)
-
-
 def create_acc_cancel_command(packer):
   values = {
     "GAS_RELEASED": 0,

opendbc_repo/opendbc/car/volkswagen/mqbcan.py

@@ -243,6 +243,8 @@ VOLKSWAGEN_MQB_MEB_CONSTANTS: dict[int, list[int]] = {
             0xC5, 0x91, 0x0F, 0x27, 0x34, 0x04, 0x7F, 0x02],  # EA_02
     0x20A: [0x9D, 0xE8, 0x36, 0xA1, 0xCA, 0x3B, 0x1D, 0x33,
             0xE0, 0xD5, 0xBB, 0x5F, 0xAE, 0x3C, 0x31, 0x9F],  # EML_06
+    0x25D: [0xDA, 0x6B, 0x0E, 0xB2, 0x78, 0xBD, 0x5A, 0x81,
+            0x7B, 0xD6, 0x41, 0x39, 0x76, 0xB6, 0xD7, 0x35],  # KLR_01
     0x26B: [0xCE, 0xCC, 0xBD, 0x69, 0xA1, 0x3C, 0x18, 0x76,
             0x0F, 0x04, 0xF2, 0x3A, 0x93, 0x24, 0x19, 0x51],  # TA_01
     0x30C: [0x0F] * 16,  # ACC_02

opendbc_repo/opendbc/car/volkswagen/tests/test_volkswagen.py

@@ -1,10 +1,16 @@
 import random
 import re
 
+import pytest
+
+from opendbc.can.packer import CANPacker
+from opendbc.car import Bus
 from opendbc.car.structs import CarParams
 from opendbc.car.volkswagen.interface import CarInterface
-from opendbc.car.volkswagen.values import CAR, FW_QUERY_CONFIG, WMI, VolkswagenFlags, VolkswagenSafetyFlags
 from opendbc.car.volkswagen.fingerprints import FW_VERSIONS
+from opendbc.car.volkswagen.mqbcan import volkswagen_mqb_meb_checksum
+from opendbc.car.volkswagen.radar_interface import RadarInterface
+from opendbc.car.volkswagen.values import CAR, DBC, FW_QUERY_CONFIG, WMI, CanBus, VolkswagenFlags, VolkswagenSafetyFlags
 
 Ecu = CarParams.Ecu
 
@@ -60,6 +66,35 @@ class TestVolkswagenPlatformConfigs:
     assert not cp.pcmCruise
     assert cp.safetyConfigs[-1].safetyParam & VolkswagenSafetyFlags.LONG_CONTROL
 
+  @pytest.mark.parametrize("data_hex", (
+    "fc03fcfcfc0f0000",
+    "e304fcfcfc0f0000",
+    "1105fcfcfc0f0000",
+  ))
+  def test_meb_klr_checksum(self, data_hex):
+    data = bytearray.fromhex(data_hex)
+    assert volkswagen_mqb_meb_checksum(0x25D, None, data) == data[0]
+
+  def test_meb_camera_radar_tracks(self):
+    cp = self._get_meb_params(CAR.SKODA_ENYAQ_MK1)
+    radar = RadarInterface(cp)
+    packer = CANPacker(DBC[cp.carFingerprint][Bus.radar])
+    message = packer.make_can_msg("MEB_Distance_01", CanBus(cp).cam, {
+      "Distance_Status": 0,
+      "Same_Lane_01_ObjectID": 1,
+      "Same_Lane_01_Long_Distance": 25.0,
+      "Same_Lane_01_Lat_Distance": 0.5,
+      "Same_Lane_01_Rel_Velo": -2.0,
+    })
+
+    radar_data = radar.update([(1_000_000_000, [message])])
+    assert radar_data is not None
+    assert len(radar_data.points) == 1
+    assert radar_data.points[0].trackId == 0
+    assert radar_data.points[0].dRel == pytest.approx(25.0, abs=0.1)
+    assert radar_data.points[0].yRel == pytest.approx(0.5, abs=0.1)
+    assert radar_data.points[0].vRel == pytest.approx(-2.0, abs=0.1)
+
   def test_taos_longitudinal_actuator_delay(self):
     taos_cp = CarInterface.get_non_essential_params(CAR.VOLKSWAGEN_TAOS_MK1)
     golf_cp = CarInterface.get_non_essential_params(CAR.VOLKSWAGEN_GOLF_MK7)

opendbc_repo/opendbc/car/volvo/carcontroller.py

@@ -1,3 +1,5 @@
+from collections import deque
+
 import numpy as np
 
 from opendbc.can.packer import CANPacker
@@ -5,16 +7,20 @@ from opendbc.car import Bus
 from opendbc.car.interfaces import CarControllerBase
 from opendbc.car.lateral import apply_std_steer_angle_limits
 from opendbc.car.volvo.helpers import LCA3CounterSync
-from opendbc.car.volvo.volvocan import (create_lca_message, create_pscm_message, create_lca_3_message, create_lca_2_message, create_lca_4_message,
+from opendbc.car.volvo.volvocan import (create_c1_cancel, create_c1_pscm_message, create_c1_steering_control, create_lca_message,
-                                        create_lca_5_message, create_lca_6_message, create_lca_7_message, create_pscm_related_message)
+                                        create_pscm_message, create_lca_3_message, create_lca_2_message, create_lca_4_message, create_lca_5_message,
-from opendbc.car.volvo.values import CarControllerParams
+                                        create_lca_6_message, create_lca_7_message, create_pscm_related_message)
+from opendbc.car.volvo.values import CAR, CarControllerParams, VolvoC1PlatformConfig
 
 
 class CarController(CarControllerBase):
   def __init__(self, dbc_names, CP):
     super().__init__(dbc_names, CP)
-    self.packer = CANPacker(dbc_names[Bus.party])
+    self.is_c1 = isinstance(CAR(CP.carFingerprint).config, VolvoC1PlatformConfig)
+    self.packer = CANPacker(dbc_names[Bus.pt] if self.is_c1 else dbc_names[Bus.party])
     self.apply_angle_last = 0.0  # Track last applied steering angle
+    self.c1_torque_samples = deque(maxlen=CarControllerParams.C1_N_ZERO_TORQUE)
+    self.c1_recovery_until = -1
 
     self.gear_acc = 60
     self.lca_4_acc = 0  # Bresenham accumulator for 29 Hz
@@ -62,6 +68,9 @@ class CarController(CarControllerBase):
     self.lca_auth_drv_mag_filt = 0.0
 
   def update(self, CC, CS, now_nanos, starpilot_toggles):
+    if self.is_c1:
+      return self._update_c1(CC, CS)
+
     can_sends = []
     actuators = CC.actuators
 
@@ -285,3 +294,50 @@ class CarController(CarControllerBase):
     self.frame += 1
     self.last_lat_active = CC.latActive
     return new_actuators, can_sends
+
+  def _update_c1(self, CC, CS):
+    can_sends = []
+    actuators = CC.actuators
+
+    if self.frame % 2 == 0:  # stock FSM1 and PSCM1 messages are 50 Hz
+      requested_active = CC.latActive and CS.out.vEgo > self.CP.minSteerSpeed
+      recovering = requested_active and self.frame < self.c1_recovery_until
+
+      if not requested_active:
+        self.c1_torque_samples.clear()
+        self.c1_recovery_until = -1
+      elif recovering:
+        self.c1_torque_samples.clear()
+      else:
+        if self.c1_recovery_until >= 0:
+          self.c1_recovery_until = -1
+          self.c1_torque_samples.clear()
+        self.c1_torque_samples.append(CS.c1_lka_torque)
+        if (len(self.c1_torque_samples) == CarControllerParams.C1_N_ZERO_TORQUE and
+            all(torque == 0 for torque in self.c1_torque_samples)):
+          self.c1_recovery_until = self.frame + 100
+          self.c1_torque_samples.clear()
+          recovering = True
+
+      lat_active = requested_active and not recovering
+      desired_angle = float(np.clip(
+        actuators.steeringAngleDeg,
+        CS.out.steeringAngleDeg - CarControllerParams.C1_ANGLE_ERROR,
+        CS.out.steeringAngleDeg + CarControllerParams.C1_ANGLE_ERROR,
+      ))
+      apply_angle = apply_std_steer_angle_limits(
+        desired_angle, self.apply_angle_last, CS.out.vEgoRaw,
+        CS.out.steeringAngleDeg, lat_active, CarControllerParams.C1_ANGLE_LIMITS,
+      )
+
+      can_sends.append(create_c1_pscm_message(self.packer, CS.c1_msg_pscm))
+      can_sends.append(create_c1_steering_control(self.packer, apply_angle, lat_active))
+      self.apply_angle_last = apply_angle
+
+    if CC.cruiseControl.cancel and self.frame % 10 == 0:
+      can_sends.append(create_c1_cancel(self.packer))
+
+    new_actuators = actuators.as_builder()
+    new_actuators.steeringAngleDeg = self.apply_angle_last
+    self.frame += 1
+    return new_actuators, can_sends

opendbc_repo/opendbc/car/volvo/carstate.py

@@ -1,8 +1,9 @@
 from cereal import custom
-from opendbc.car import structs, Bus
+from opendbc.car import Bus, ButtonType, create_button_events, structs
 from opendbc.can.parser import CANParser
-from opendbc.car.volvo.values import DBC, VolvoSPAPlatformConfig, CAR
+from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.interfaces import CarStateBase
+from opendbc.car.volvo.values import CAR, DBC, VolvoC1PlatformConfig, VolvoSPAPlatformConfig
 
 GearShifter = structs.CarState.GearShifter
 TransmissionType = structs.CarParams.TransmissionType
@@ -16,6 +17,7 @@ STEERING_PRESSED_THRESHOLD = 2
 class CarState(CarStateBase):
   def __init__(self, CP, FPCP):
     super().__init__(CP, FPCP)
+    self.is_c1 = isinstance(CAR(CP.carFingerprint).config, VolvoC1PlatformConfig)
     self.is_spa = isinstance(CAR(CP.carFingerprint).config, VolvoSPAPlatformConfig)
     self.gas_pressed_prev = False
     self.dispatch_lca_2_msg = False
@@ -34,8 +36,22 @@ class CarState(CarStateBase):
     self.msg_lca_4 = {}
     self.msg_lca_6 = {}
     self.msg_lca_7 = {}
+    self.c1_msg_pscm = {}
+    self.c1_lka_torque = 0
+    self.c1_button_states = {
+      "ACCOnOffBtn": False,
+      "ACCStopBtn": False,
+      "ACCSetBtn": False,
+      "ACCResumeBtn": False,
+      "ACCMinusBtn": False,
+      "TimeGapIncreaseBtn": False,
+      "TimeGapDecreaseBtn": False,
+    }
 
   def update(self, can_parsers, starpilot_toggles) -> structs.CarState:
+    if self.is_c1:
+      return self._update_c1(can_parsers)
+
     cp_main = can_parsers[Bus.main]
     cp_pt = can_parsers[Bus.pt]
     cp_party = can_parsers[Bus.party]
@@ -137,8 +153,83 @@ class CarState(CarStateBase):
     fp_ret = custom.StarPilotCarState.new_message()
     return ret, fp_ret
 
+  def _update_c1(self, can_parsers):
+    cp = can_parsers[Bus.pt]
+    cp_cam = can_parsers[Bus.cam]
+    ret = structs.CarState()
+
+    ret.vEgoRaw = cp.vl["VehicleSpeed1"]["VehicleSpeed"] * CV.KPH_TO_MS
+    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
+    ret.standstill = ret.vEgoRaw < 0.1
+
+    ret.steeringAngleDeg = cp.vl["PSCM1"]["SteeringAngleServo"]
+    ret.steeringTorque = cp.vl["PSCM1"]["LKATorque"]
+    ret.steeringPressed = False
+
+    ret.gasPressed = cp.vl["PedalandBrake"]["AccPedal"] > 5.0
+    ret.brakePressed = bool(cp.vl["PedalandBrake"]["BrakePedalActive2"] or
+                            cp.vl["PedalandBrake"]["BrakePedalActive"])
+
+    ret.gearShifter = {
+      0: GearShifter.park,
+      1: GearShifter.reverse,
+      2: GearShifter.neutral,
+      3: GearShifter.drive,
+    }.get(int(cp.vl["TCM0"]["GearShifter"]), GearShifter.unknown)
+
+    ret.cruiseState.available = bool(cp_cam.vl["FSM0"]["ACCStatusOnOff"])
+    ret.cruiseState.enabled = bool(cp_cam.vl["FSM0"]["ACCStatusActive"])
+    ret.cruiseState.speed = cp.vl["ACC"]["SpeedTargetACC"] * CV.KPH_TO_MS
+    ret.cruiseState.nonAdaptive = False
+    ret.cruiseState.standstill = ret.standstill
+
+    turn_signal = int(cp.vl["MiscCarInfo"]["TurnSignal"])
+    ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_stalk(
+      50, turn_signal == 1, turn_signal == 3)
+    ret.doorOpen = False
+    ret.seatbeltUnlatched = False
+
+    button_types = {
+      "ACCOnOffBtn": ButtonType.mainCruise,
+      "ACCStopBtn": ButtonType.cancel,
+      "ACCSetBtn": ButtonType.setCruise,
+      "ACCResumeBtn": ButtonType.resumeCruise,
+      "ACCMinusBtn": ButtonType.decelCruise,
+      "TimeGapIncreaseBtn": ButtonType.gapAdjustCruise,
+      "TimeGapDecreaseBtn": ButtonType.gapAdjustCruise,
+    }
+    button_events = []
+    for signal, button_type in button_types.items():
+      pressed = bool(cp.vl["CCButtons"][signal])
+      button_events.extend(create_button_events(pressed, self.c1_button_states[signal], {True: button_type}))
+      self.c1_button_states[signal] = pressed
+    ret.buttonEvents = button_events
+
+    self.c1_msg_pscm = cp.vl["PSCM1"]
+    self.c1_lka_torque = int(cp.vl["PSCM1"]["LKATorque"])
+
+    fp_ret = custom.StarPilotCarState.new_message()
+    return ret, fp_ret
+
   @staticmethod
   def get_can_parsers(CP):
+    if isinstance(CAR(CP.carFingerprint).config, VolvoC1PlatformConfig):
+      return {
+        Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], [
+          ("VehicleSpeed1", 50),
+          ("CCButtons", 100),
+          ("PSCM1", 50),
+          ("PedalandBrake", 100),
+          ("TCM0", 10),
+          ("ACC", 17),
+          ("MiscCarInfo", 25),
+        ], 0),
+        Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.cam], [
+          ("FSM0", 100),
+          ("FSM1", 50),
+        ], 2),
+      }
+
     return {
       Bus.main: CANParser(DBC[CP.carFingerprint][Bus.main], [], 0),
       Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], [], 1),

opendbc_repo/opendbc/car/volvo/fingerprints.py

@@ -3,6 +3,14 @@
 from opendbc.car.volvo.values import CAR
 
 FINGERPRINTS = {
+  CAR.VOLVO_V40: [
+    # V40 2017
+    {8: 8, 16: 8, 48: 8, 64: 8, 85: 8, 101: 8, 112: 8, 114: 8, 117: 8, 128: 8, 176: 8, 192: 8, 208: 8, 224: 8, 240: 8, 245: 8, 256: 8, 272: 8, 288: 8, 291: 8, 293: 8, 304: 8, 325: 8, 336: 8, 352: 8, 424: 8, 432: 8, 437: 8, 464: 8, 472: 8, 480: 8, 528: 8, 608: 8, 624: 8, 640: 8, 648: 8, 652: 8, 656: 8, 657: 8, 681: 8, 693: 8, 704: 8, 707: 8, 709: 8, 816: 8, 832: 8, 848: 8, 853: 8, 864: 8, 880: 8, 912: 8, 928: 8, 943: 8, 944: 8, 968: 8, 970: 8, 976: 8, 992: 8, 997: 8, 1024: 8, 1029: 8, 1061: 8, 1072: 8, 1409: 8},
+    # V40 2015
+    {8: 8, 16: 8, 64: 8, 85: 8, 101: 8, 112: 8, 114: 8, 117: 8, 128: 8, 176: 8, 192: 8, 224: 8, 240: 8, 245: 8, 256: 8, 272: 8, 288: 8, 291: 8, 293: 8, 304: 8, 325: 8, 336: 8, 424: 8, 432: 8, 437: 8, 464: 8, 472: 8, 480: 8, 528: 8, 608: 8, 648: 8, 652: 8, 656: 8, 657: 8, 681: 8, 693: 8, 704: 8, 707: 8, 709: 8, 816: 8, 832: 8, 864: 8, 880: 8, 912: 8, 928: 8, 943: 8, 944: 8, 968: 8, 970: 8, 976: 8, 992: 8, 997: 8, 1024: 8, 1029: 8, 1061: 8, 1072: 8, 1409: 8},
+    # V40 2014
+    {8: 8, 16: 8, 64: 8, 85: 8, 101: 8, 112: 8, 114: 8, 117: 8, 128: 8, 176: 8, 192: 8, 224: 8, 240: 8, 245: 8, 256: 8, 272: 8, 288: 8, 291: 8, 293: 8, 304: 8, 325: 8, 336: 8, 424: 8, 432: 8, 437: 8, 464: 8, 472: 8, 480: 8, 528: 8, 608: 8, 648: 8, 652: 8, 657: 8, 681: 8, 693: 8, 704: 8, 707: 8, 709: 8, 816: 8, 864: 8, 880: 8, 912: 8, 928: 8, 943: 8, 944: 8, 968: 8, 970: 8, 976: 8, 992: 8, 997: 8, 1024: 8, 1029: 8, 1072: 8, 1409: 8},
+  ],
   CAR.VOLVO_XC40_RECHARGE: [{
     21: 8, 22: 8, 23: 8, 26: 8, 69: 8, 85: 8, 87: 8, 88: 8, 96: 8, 103: 8, 104: 8, 105: 8, 128: 8, 144: 8, 146: 8, 147: 8, 151: 8, 304: 8, 336: 8, 339: 8, 341: 8, 394: 8, 395: 8, 640: 8, 656: 8, 666: 8, 773: 8, 778: 8, 1072: 8, 1120: 8, 1302: 8, 1336: 8, 1407: 8, 1422: 8, 1423: 8, 1424: 8, 1425: 8, 1426: 8
   }],

opendbc_repo/opendbc/car/volvo/interface.py

@@ -2,11 +2,10 @@ from opendbc.car import structs, get_safety_config
 from opendbc.car.interfaces import CarInterfaceBase
 from opendbc.car.volvo.carcontroller import CarController
 from opendbc.car.volvo.carstate import CarState
-from opendbc.car.volvo.values import VolvoSPAPlatformConfig, CAR
+from opendbc.car.volvo.values import CAR, VolvoC1PlatformConfig, VolvoSafetyFlags, VolvoSPAPlatformConfig
 
 TransmissionType = structs.CarParams.TransmissionType
 
-VOLVO_FLAG_SPA = 1
 SAFETY_VOLVO = structs.CarParams.SafetyModel.volvo
 
 
@@ -18,17 +17,20 @@ class CarInterface(CarInterfaceBase):
   def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
     ret.brand = 'volvo'
 
+    platform = CAR(candidate).config
     safety_param = 0
-    if isinstance(CAR(candidate).config, VolvoSPAPlatformConfig):
+    if isinstance(platform, VolvoSPAPlatformConfig):
-      safety_param = VOLVO_FLAG_SPA
+      safety_param = VolvoSafetyFlags.SPA.value
+    elif isinstance(platform, VolvoC1PlatformConfig):
+      safety_param = VolvoSafetyFlags.C1.value
     ret.safetyConfigs = [get_safety_config(SAFETY_VOLVO, safety_param)]
     #ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.noOutput)]
 
     ret.dashcamOnly = False
 
-    ret.steerActuatorDelay = 0.3
+    ret.steerActuatorDelay = 0.2 if isinstance(platform, VolvoC1PlatformConfig) else 0.3
     ret.steerLimitTimer = 0.1
-    ret.steerAtStandstill = True
+    ret.steerAtStandstill = not isinstance(platform, VolvoC1PlatformConfig)
 
     # Use angle-based steering control for Volvo CMA platform
     ret.steerControlType = structs.CarParams.SteerControlType.angle
@@ -39,4 +41,7 @@ class CarInterface(CarInterfaceBase):
 
     ret.pcmCruise = True
 
+    if isinstance(platform, VolvoC1PlatformConfig):
+      ret.transmissionType = TransmissionType.automatic
+
     return ret

opendbc_repo/opendbc/car/volvo/tests/test_c1_carstate.py

@@ -0,0 +1,57 @@
+import pytest
+
+from cereal import custom
+from opendbc.can.packer import CANPacker
+from opendbc.car import Bus, ButtonType, CanData, structs
+from opendbc.car.volvo.carstate import CarState
+from opendbc.car.volvo.interface import CarInterface
+from opendbc.car.volvo.values import CAR, DBC
+
+
+def _can_data(msg):
+  address, data, bus = msg
+  return CanData(address, data, bus)
+
+
+def test_c1_carstate_decodes_vehicle_and_cruise_signals():
+  cp = CarInterface.get_non_essential_params(CAR.VOLVO_V40)
+  cs = CarState(cp, custom.StarPilotCarParams.new_message())
+  parsers = CarState.get_can_parsers(cp)
+  packer = CANPacker(DBC[cp.carFingerprint][Bus.pt])
+
+  messages = [
+    packer.make_can_msg("VehicleSpeed1", 0, {"VehicleSpeed": 72}),
+    packer.make_can_msg("CCButtons", 0, {"ACCStopBtn": 1, "ACCSetBtn": 1}),
+    packer.make_can_msg("PSCM1", 0, {"SteeringAngleServo": -12.5, "LKATorque": 7}),
+    packer.make_can_msg("PedalandBrake", 0, {"AccPedal": 6, "BrakePedalActive2": 1}),
+    packer.make_can_msg("TCM0", 0, {"GearShifter": 3}),
+    packer.make_can_msg("ACC", 0, {"SpeedTargetACC": 100}),
+    packer.make_can_msg("MiscCarInfo", 0, {"TurnSignal": 1}),
+    packer.make_can_msg("FSM0", 2, {"ACCStatusOnOff": 1, "ACCStatusActive": 1}),
+    packer.make_can_msg("FSM1", 2, {}),
+  ]
+  packets = [(1_000_000, [_can_data(msg) for msg in messages])]
+  for parser in parsers.values():
+    parser.update(packets)
+
+  ret, _ = cs.update(parsers, None)
+  assert ret.vEgoRaw == pytest.approx(20.0)
+  assert ret.steeringAngleDeg == pytest.approx(-12.5, abs=0.05)
+  assert ret.steeringTorque == 7
+  assert ret.gasPressed and ret.brakePressed
+  assert ret.gearShifter == structs.CarState.GearShifter.drive
+  assert ret.cruiseState.available and ret.cruiseState.enabled
+  assert ret.cruiseState.speed == pytest.approx(100 / 3.6)
+  assert ret.leftBlinker and not ret.rightBlinker
+  assert len(ret.buttonEvents) == 2
+  assert any(event.type == ButtonType.cancel and event.pressed for event in ret.buttonEvents)
+  assert any(event.type == ButtonType.setCruise and event.pressed for event in ret.buttonEvents)
+
+  release = packer.make_can_msg("CCButtons", 0, {})
+  packets = [(2_000_000, [_can_data(release)])]
+  for parser in parsers.values():
+    parser.update(packets)
+  ret, _ = cs.update(parsers, None)
+  assert len(ret.buttonEvents) == 2
+  assert any(event.type == ButtonType.cancel and not event.pressed for event in ret.buttonEvents)
+  assert any(event.type == ButtonType.setCruise and not event.pressed for event in ret.buttonEvents)

opendbc_repo/opendbc/car/volvo/tests/test_controller.py

@@ -4,7 +4,8 @@ from types import SimpleNamespace
 from opendbc.car.volvo.carcontroller import CarController
 from opendbc.car.volvo.helpers import checksum_lca_5_message
 from opendbc.car.volvo.interface import CarInterface
-from opendbc.car.volvo.values import DBC
+from opendbc.car.volvo.values import CAR, DBC
+from opendbc.car.volvo.volvocan import create_c1_checksum
 
 
 def _zero_message():
@@ -67,3 +68,70 @@ def test_controller_relays_stock_lca5_angle_when_inactive():
   if raw & (1 << 14):
     raw -= 1 << 15
   assert abs(raw * 0.05596 - 12.0) < 0.1
+
+
+def _c1_state():
+  return SimpleNamespace(
+    out=SimpleNamespace(steeringAngleDeg=10.0, vEgo=12.0, vEgoRaw=12.0),
+    c1_lka_torque=5,
+    c1_msg_pscm=_zero_message(),
+  )
+
+
+def test_c1_controller_emits_checked_steering_and_pscm_relay():
+  cp = CarInterface.get_non_essential_params(CAR.VOLVO_V40)
+  controller = CarController(DBC[cp.carFingerprint], cp)
+  cc = SimpleNamespace(
+    latActive=True,
+    actuators=_Actuators(),
+    cruiseControl=SimpleNamespace(cancel=False),
+  )
+
+  actuators, can_sends = controller.update(cc, _c1_state(), 0, None)
+  assert [(msg[0], msg[2]) for msg in can_sends] == [(0x125, 2), (0xD0, 0)]
+
+  fsm = can_sends[1][1]
+  assert fsm[7] & 0x3 == 3
+  assert fsm[6] == create_c1_checksum(fsm)
+  assert 0.0 < actuators.steeringAngleDeg <= 2.0
+
+
+def test_c1_controller_sends_only_cancel_button():
+  cp = CarInterface.get_non_essential_params(CAR.VOLVO_V40)
+  controller = CarController(DBC[cp.carFingerprint], cp)
+  cc = SimpleNamespace(
+    latActive=False,
+    actuators=_Actuators(),
+    cruiseControl=SimpleNamespace(cancel=True),
+  )
+
+  _, can_sends = controller.update(cc, _c1_state(), 0, None)
+  buttons = next(msg for msg in can_sends if msg[0] == 0x10)
+  assert buttons[2] == 0
+  assert buttons[1][7] == 0x10
+  assert buttons[1][6] == 0
+
+
+def test_c1_controller_temporarily_drops_steering_on_zero_torque_fault():
+  cp = CarInterface.get_non_essential_params(CAR.VOLVO_V40)
+  controller = CarController(DBC[cp.carFingerprint], cp)
+  cs = _c1_state()
+  cs.c1_lka_torque = 0
+  cc = SimpleNamespace(
+    latActive=True,
+    actuators=_Actuators(),
+    cruiseControl=SimpleNamespace(cancel=False),
+  )
+
+  directions = []
+  for _ in range(23):
+    _, can_sends = controller.update(cc, cs, 0, None)
+    directions.extend(msg[1][7] & 0x3 for msg in can_sends if msg[0] == 0xD0)
+
+  assert directions[:-1] == [3] * 11
+  assert directions[-1] == 0
+
+  while controller.frame <= 122:
+    _, can_sends = controller.update(cc, cs, 0, None)
+  fsm = next(msg for msg in can_sends if msg[0] == 0xD0)
+  assert fsm[1][7] & 0x3 == 3

opendbc_repo/opendbc/car/volvo/values.py

@@ -1,13 +1,23 @@
 from dataclasses import dataclass, field
+from enum import IntFlag
 
 from opendbc.car.structs import CarParams
 from opendbc.car import Bus, CarSpecs, DbcDict, PlatformConfig, Platforms
 from opendbc.car.lateral import AngleSteeringLimits
+from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.docs_definitions import CarDocs, CarHarness, CarParts
 from opendbc.car.fw_query_definitions import FwQueryConfig
 
 Ecu = CarParams.Ecu
 
+# C1 support is adapted from the original dragonpilot V40 port:
+# https://github.com/dragonpilot/dragonpilot/commit/773dce507082d931236b64dca8024dce9625446f
+
+
+class VolvoSafetyFlags(IntFlag):
+  SPA = 1
+  C1 = 2
+
 
 class CarControllerParams:
   STEER_STEP = 1  # 100 Hz LCA command frequency (controlsd runs at 100 Hz)
@@ -81,6 +91,19 @@ class CarControllerParams:
     ([0., 5., 25.], [5., 2., .3]),    # rate down limits at different speeds
   )
 
+  C1_STEER_NO = 0
+  C1_STEER = 3
+  C1_N_ZERO_TORQUE = 12
+  C1_ANGLE_ERROR = 20.0
+  C1_ANGLE_DELTA_BP = [0., 8.33, 13.89, 19.44, 25., 30.55, 36.1]
+  C1_ANGLE_DELTA_UP = [2., 1.2, .25, .20, .15, .10, .10]
+  C1_ANGLE_DELTA_DOWN = [2., 1.2, .25, .20, .15, .10, .10]
+  C1_ANGLE_LIMITS: AngleSteeringLimits = AngleSteeringLimits(
+    359.9,
+    (C1_ANGLE_DELTA_BP, C1_ANGLE_DELTA_UP),
+    (C1_ANGLE_DELTA_BP, C1_ANGLE_DELTA_DOWN),
+  )
+
 
 @dataclass
 class VolvoCarDocs(CarDocs):
@@ -105,7 +128,26 @@ class VolvoSPAPlatformConfig(PlatformConfig):
   })
 
 
+@dataclass
+class VolvoC1PlatformConfig(PlatformConfig):
+  dbc_dict: DbcDict = field(default_factory=lambda: {
+    Bus.pt: 'volvo_v40_2017_pt',
+    Bus.cam: 'volvo_v40_2017_pt',
+  })
+
+
 class CAR(Platforms):
+  VOLVO_V40 = VolvoC1PlatformConfig(
+    [VolvoCarDocs("Volvo V40 2013-19")],
+    CarSpecs(
+      mass=1610,
+      wheelbase=2.647,
+      steerRatio=14.7,
+      centerToFrontRatio=0.44,
+      minSteerSpeed=1.0 * CV.KPH_TO_MS,
+    ),
+  )
+
   VOLVO_XC40_RECHARGE = VolvoCMAPlatformConfig(
     [VolvoCarDocs("Volvo XC40 Recharge 2021-23")],
     CarSpecs(

opendbc_repo/opendbc/car/volvo/volvocan.py

@@ -2,6 +2,47 @@ from opendbc.car.volvo.helpers import (checksum_lca_2_message, checksum_2_0x69_m
                                        checksum_2_pscm_related_message, checksum_lca_5_message)
 from opendbc.car.carlog import carlog
 
+
+def create_c1_pscm_message(packer, msg_pscm: dict):
+  values = {
+    "LKATorque": 0,
+    "SteeringAngleServo": msg_pscm["SteeringAngleServo"],
+    "byte0": msg_pscm["byte0"],
+    "byte3": msg_pscm["byte3"],
+    "byte4": msg_pscm["byte4"],
+    "byte7": msg_pscm["byte7"],
+    "LKAActive": int(msg_pscm["LKAActive"]) & 0xD,
+  }
+  return packer.make_can_msg("PSCM1", 2, values)
+
+
+def create_c1_checksum(data: bytes) -> int:
+  angle_raw = ((data[4] & 0x3F) << 8) | data[5]
+  direction = data[7] & 0x3
+  checksum_sum = (data[3] + direction + angle_raw + (angle_raw >> 8)) & 0xFF
+  return checksum_sum ^ 0xFF
+
+
+def create_c1_steering_control(packer, apply_angle: float, lat_active: bool):
+  values = {
+    "SET_X_E3": 0xE3,
+    "SET_X_B4": 0xB4,
+    "SET_X_08": 0x08,
+    "TrqLim": 0,
+    "LKAAngleReq": apply_angle,
+    "LKASteerDirection": 3 if lat_active else 0,
+    "SET_X_25": 0x25,
+    "SET_X_02": 0x02,
+  }
+  data = packer.make_can_msg("FSM1", 0, values)[1]
+  values["Checksum"] = create_c1_checksum(data)
+  return packer.make_can_msg("FSM1", 0, values)
+
+
+def create_c1_cancel(packer):
+  return packer.make_can_msg("CCButtons", 0, {"ACCStopBtn": 1})
+
+
 def create_lca_message(packer, lat_active: bool, apply_angle: float, msg_lca: dict,
                        authority_pos: int = 614, authority_neg: int = -614,
                        overrides: dict | None = None):

opendbc_repo/opendbc/dbc/hyundai_can_refresh_generated.dbc

@@ -1497,7 +1497,7 @@ BO_ 913 BCM_PO_11: 8 Vector__XXX
  SG_ BCM_Door_Dri_Status : 5|1@0+ (1,0) [0|1] "" PT_ESC_ABS
  SG_ BCM_Shift_R_MT_SW_Status : 39|2@0+ (1,0) [0|3] "" PT_ESC_ABS
  SG_ LDA_BTN : 4|1@0+ (1,0) [0|1] "" XXX
- SG_ RAY_LKAS_BTN : 0|2@1+ (1,0) [0|3] "" XXX
+ SG_ RAY_LKAS_BTN : 4|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1426 LABEL11: 8 XXX
  SG_ CC_React : 34|1@1+ (1,0) [0|1] "" XXX

opendbc_repo/opendbc/safety/__init__.py

@@ -11,3 +11,4 @@ class ALTERNATIVE_EXPERIENCE:
 
   ALWAYS_ON_LATERAL = 32
   GM_REMAP_CANCEL_TO_DISTANCE = 64
+  TOYOTA_AUTO_HOLD = 128

opendbc_repo/opendbc/safety/declarations.h

@@ -339,6 +339,7 @@ extern bool gm_remote_start_boots_comma;
 
 #define ALT_EXP_ALWAYS_ON_LATERAL 32
 #define ALT_EXP_GM_REMAP_CANCEL_TO_DISTANCE 64
+#define ALT_EXP_TOYOTA_AUTO_HOLD 128
 
 extern int alternative_experience;
 

opendbc_repo/opendbc/safety/modes/gm.h

@@ -60,6 +60,7 @@ static bool gm_panda_3d1_sched = false;
 static bool gm_panda_paddle_sched = false;
 static bool gm_bolt_2022_pedal = false;
 static bool gm_alt_brake = false;
+static bool gm_volt_cc_gateway = false;
 static bool gm_volt_auto_hold = false;
 static bool gm_volt_one_pedal = false;
 
@@ -261,7 +262,8 @@ static void gm_rx_hook(const CANPacket_t *msg) {
     }
 
     if ((msg->addr == 0xF1U) && gm_alt_brake) {
-      brake_pressed = msg->data[1] >= 6U;
+      const uint8_t brake_threshold = gm_volt_cc_gateway ? 21U : 6U;
+      brake_pressed = msg->data[1] >= brake_threshold;
     }
 
     if ((msg->addr == 0xC9U) && (gm_hw == GM_CAM) && !gm_force_brake_c9) {
@@ -720,7 +722,7 @@ static safety_config gm_init(uint16_t param) {
   gm_cc_long = GET_FLAG(param, GM_PARAM_CC_LONG);
   gm_has_acc = !GET_FLAG(param, GM_PARAM_NO_ACC);
   gm_pedal_long = GET_FLAG(param, GM_PARAM_PEDAL_LONG);
-  const bool gm_volt_cc_gateway = GET_FLAG(param, GM_PARAM_VOLT_CC_GATEWAY) && gm_no_camera && !gm_pedal_long && !gm_has_acc;
+  gm_volt_cc_gateway = GET_FLAG(param, GM_PARAM_VOLT_CC_GATEWAY) && gm_no_camera && !gm_pedal_long && !gm_has_acc;
   enable_gas_interceptor = GET_FLAG(param, GM_PARAM_PEDAL_INTERCEPTOR);
   gm_force_ascm = GET_FLAG(param, GM_PARAM_HW_ASCM_LONG);
   gm_force_brake_c9 = GET_FLAG(param, GM_PARAM_FORCE_BRAKE_C9);

opendbc_repo/opendbc/safety/modes/toyota.h

@@ -2,6 +2,8 @@
 
 #include "opendbc/safety/declarations.h"
 
+#define TOYOTA_AUTO_HOLD_ACCEL -1000  // -1.0 m/s^2 in ACC_CONTROL units
+
 // Stock longitudinal
 #define TOYOTA_BASE_TX_MSGS \
   {0x191, 0, 8, .check_relay = true}, {0x412, 0, 8, .check_relay = true}, {0x1D2, 0, 8, .check_relay = false},  /* LKAS + LTA + PCM cancel cmd */  \
@@ -277,7 +279,15 @@ static bool toyota_tx_hook(const CANPacket_t *msg) {
         // SecOC cars move accel to 0x183. Only allow inactive accel on 0x343 to match stock behavior
         violation = desired_accel != TOYOTA_LONG_LIMITS.inactive_accel;
       }
-      violation |= longitudinal_accel_checks(desired_accel, TOYOTA_LONG_LIMITS);
+
+      bool toyota_auto_hold =
+        !toyota_stock_longitudinal &&
+        ((alternative_experience & ALT_EXP_TOYOTA_AUTO_HOLD) != 0) &&
+        !vehicle_moving && !gas_pressed && acc_main_on &&
+        (desired_accel == TOYOTA_AUTO_HOLD_ACCEL) &&
+        GET_BIT(msg, 30U) && !GET_BIT(msg, 31U) && !GET_BIT(msg, 24U);
+
+      violation |= !toyota_auto_hold && longitudinal_accel_checks(desired_accel, TOYOTA_LONG_LIMITS);
 
       // only ACC messages that cancel are allowed when openpilot is not controlling longitudinal
       if (toyota_stock_longitudinal) {
@@ -394,12 +404,7 @@ static bool toyota_tx_hook(const CANPacket_t *msg) {
       tx = false;
     }
 
-    // Auto brake hold replaces the camera AEB message only while stopped.
+    if ((msg->addr == 0x344U) && toyota_stock_longitudinal) {
-    if ((msg->addr == 0x344U) && ((alternative_experience & ALT_EXP_ALLOW_AEB) != 0)) {
-      if (vehicle_moving || gas_pressed || !acc_main_on) {
-        tx = false;
-      }
-    } else if ((msg->addr == 0x344U) && toyota_stock_longitudinal) {
       tx = false;
     }
   }
@@ -566,21 +571,11 @@ static safety_config toyota_init(uint16_t param) {
   return ret;
 }
 
-static bool toyota_fwd_hook(int bus_num, int addr) {
-  bool block_msg = false;
-  if (bus_num == 2) {
-    block_msg = (addr == 0x344) && ((alternative_experience & ALT_EXP_ALLOW_AEB) != 0) &&
-                !vehicle_moving && !gas_pressed && acc_main_on;
-  }
-  return block_msg;
-}
-
 const safety_hooks toyota_hooks = {
   .init = toyota_init,
   .rx = toyota_rx_hook,
   .rx_all = toyota_rx_all_hook,
   .tx = toyota_tx_hook,
-  .fwd = toyota_fwd_hook,
   .get_checksum = toyota_get_checksum,
   .compute_checksum = toyota_compute_checksum,
   .get_quality_flag_valid = toyota_get_quality_flag_valid,

opendbc_repo/opendbc/safety/modes/volvo.h

@@ -2,9 +2,11 @@
 
 #include "opendbc/safety/declarations.h"
 
-// safetyParam: 0 = CMA (XC40 Recharge), 1 = SPA (S60 Recharge, Polestar 2)
+// safetyParam: 0 = CMA (XC40 Recharge), 1 = SPA (S60 Recharge, Polestar 2),
+// 2 = C1 (V40)
 // Polestar 2 is technically CMA, but appears to use SPA DBC for CAN 1 bus
 #define VOLVO_FLAG_SPA 1U
+#define VOLVO_FLAG_C1 2U
 
 // Volvo CAN message addresses shared between CMA and SPA
 #define VOLVO_LCA_STEER           0x58U    // TX from VCU1 to PSCM, LCA steering command (0x58)
@@ -24,6 +26,15 @@
 #define VOLVO_LCA_6               0x97U   // TX LCA_6 message
 #define VOLVO_LCA_7               0x92U   // TX LCA_7 message
 
+// C1-specific addresses (V40). The V40 powertrain bus is bus 0 and its
+// forward-camera bus is bus 2; bus 1 is unused by this port.
+#define VOLVO_C1_BUTTONS           0x10U
+#define VOLVO_C1_FSM_0             0x30U
+#define VOLVO_C1_FSM_1             0xD0U
+#define VOLVO_C1_PSCM_1            0x125U
+#define VOLVO_C1_PEDAL_AND_BRAKE   0x55U
+#define VOLVO_C1_SPEED             0x150U
+
 // CMA-specific PT bus addresses
 #define VOLVO_CMA_BUS1_SPEED          0x70U   // RX vehicle speed
 #define VOLVO_CMA_ECM_1               0x250U  // RX accelerator pedal position
@@ -44,6 +55,10 @@
 #define VOLVO_MAX_ANGLE_CAN 9650
 #define VOLVO_RELAY_ANGLE_TOLERANCE 54  // approximately 3 degrees
 
+#define VOLVO_C1_ANGLE_DEG_TO_CAN 22.753128f
+#define VOLVO_C1_MAX_ANGLE_CAN 8189
+#define VOLVO_C1_RELAY_ANGLE_TOLERANCE 2
+
 
 // CAN bus definitions for Volvo
 // Using same naming as carstate.py for consistency: main, pt, party
@@ -54,6 +69,7 @@
 // Runtime addresses set by volvo_init based on safetyParam
 static uint16_t volvo_ecm_1_addr;
 static uint16_t volvo_bus1_cruise_control_addr;
+static bool volvo_c1;
 
 static int volvo_be_15(const CANPacket_t *msg, uint8_t byte) {
   return (int)(((uint16_t)(msg->data[byte] & 0x7FU) << 8U) | msg->data[byte + 1U]);
@@ -67,6 +83,21 @@ static int volvo_lca_5_angle(const CANPacket_t *msg) {
   return to_signed(volvo_be_15(msg, 6U), 15);
 }
 
+static int volvo_c1_pscm_angle(const CANPacket_t *msg) {
+  return (int)(((uint16_t)msg->data[5] << 8U) | msg->data[6]) - 32768;
+}
+
+static int volvo_c1_fsm_angle(const CANPacket_t *msg) {
+  return (int)(((uint16_t)(msg->data[4] & 0x3FU) << 8U) | msg->data[5]) - 8192;
+}
+
+static uint8_t volvo_c1_fsm_checksum(const CANPacket_t *msg) {
+  const uint16_t angle_raw = ((uint16_t)(msg->data[4] & 0x3FU) << 8U) | msg->data[5];
+  const uint8_t direction = msg->data[7] & 0x3U;
+  const uint8_t checksum_sum = (msg->data[3] + direction + angle_raw + (angle_raw >> 8U)) & 0xFFU;
+  return checksum_sum ^ 0xFFU;
+}
+
 static const AngleSteeringLimits VOLVO_ANGLE_STEERING_LIMITS = {
   .max_angle = VOLVO_MAX_ANGLE_CAN,
   .angle_deg_to_can = VOLVO_ANGLE_DEG_TO_CAN,
@@ -81,8 +112,51 @@ static const AngleSteeringLimits VOLVO_ANGLE_STEERING_LIMITS = {
   .frequency = 50U,
 };
 
+static const AngleSteeringLimits VOLVO_C1_ANGLE_STEERING_LIMITS = {
+  .max_angle = VOLVO_C1_MAX_ANGLE_CAN,
+  .angle_deg_to_can = VOLVO_C1_ANGLE_DEG_TO_CAN,
+  .angle_rate_up_lookup = {
+    {7.0f, 17.0f, 36.0f},
+    {2.0f, 0.25f, 0.1f},
+  },
+  .angle_rate_down_lookup = {
+    {7.0f, 17.0f, 36.0f},
+    {2.0f, 0.25f, 0.1f},
+  },
+  .max_angle_error = 455,  // 20 degrees
+  .angle_error_min_speed = 0.0f,
+  .frequency = 50U,
+  .enforce_angle_error = true,
+};
+
 static void volvo_rx_hook(const CANPacket_t *msg) {
 
+  if (volvo_c1) {
+    if (msg->bus == VOLVO_MAIN_BUS) {
+      if (msg->addr == VOLVO_C1_PSCM_1) {
+        update_sample(&angle_meas, volvo_c1_pscm_angle(msg));
+      }
+
+      if (msg->addr == VOLVO_C1_SPEED) {
+        const uint16_t speed_raw = ((uint16_t)msg->data[6] << 8U) | msg->data[7];
+        const float speed = ((float)speed_raw * 0.01f) / 3.6f;
+        vehicle_moving = speed > 0.1f;
+        UPDATE_VEHICLE_SPEED(speed);
+      }
+
+      if (msg->addr == VOLVO_C1_PEDAL_AND_BRAKE) {
+        const uint16_t gas_raw = ((uint16_t)(msg->data[1] & 0x3U) << 8U) | msg->data[2];
+        gas_pressed = gas_raw > 50U;  // DBC factor 0.1: greater than 5 percent
+        brake_pressed = GET_BIT(msg, 24U) || GET_BIT(msg, 38U);
+      }
+    }
+
+    if ((msg->bus == VOLVO_PARTY_BUS) && (msg->addr == VOLVO_C1_FSM_0)) {
+      pcm_cruise_check(GET_BIT(msg, 58U));
+    }
+    return;
+  }
+
   // Main bus (bus 0) messages
   if (msg->bus == VOLVO_MAIN_BUS) {
     // Update brake pedal and cruise state from BCM2
@@ -158,6 +232,33 @@ static void volvo_rx_hook(const CANPacket_t *msg) {
 static bool volvo_tx_hook(const CANPacket_t *msg) {
   bool tx = true;
 
+  if (volvo_c1) {
+    if (msg->addr == VOLVO_C1_FSM_1) {
+      const int desired_angle = volvo_c1_fsm_angle(msg);
+      const uint8_t direction = msg->data[7] & 0x3U;
+      const bool steer_control_enabled = direction != 0U;
+      tx &= SAFETY_ABS(desired_angle) <= VOLVO_C1_MAX_ANGLE_CAN;
+      tx &= !steer_angle_cmd_checks(desired_angle, steer_control_enabled, VOLVO_C1_ANGLE_STEERING_LIMITS);
+      tx &= (direction == 0U) || (direction == 3U);
+      tx &= (msg->data[0] == 0xE3U) && (msg->data[1] == 0xB4U) && (msg->data[2] == 0x08U);
+      tx &= (msg->data[3] == 0x80U) && ((msg->data[4] & 0xC0U) == 0x80U) && ((msg->data[7] & 0xFCU) == 0x94U);
+      tx &= msg->data[6] == volvo_c1_fsm_checksum(msg);
+    }
+
+    if (msg->addr == VOLVO_C1_PSCM_1) {
+      const int relayed_angle = volvo_c1_pscm_angle(msg);
+      const int measured_max = angle_meas.max + VOLVO_C1_RELAY_ANGLE_TOLERANCE;
+      const int measured_min = angle_meas.min - VOLVO_C1_RELAY_ANGLE_TOLERANCE;
+      tx &= !safety_max_limit_check(relayed_angle, measured_max, measured_min);
+    }
+
+    // Only ACC cancel (byte 7 bit 4) may be synthesized.
+    if (msg->addr == VOLVO_C1_BUTTONS) {
+      tx &= ((msg->data[7] & 0xEFU) == 0U) && (msg->data[6] == 0U);
+    }
+    return tx;
+  }
+
   // LCA_5 carries the actual angle command used by the controller. The stock
   // LCA frame also contains an angle-shaped field, but the imported controller
   // deliberately leaves that field at the observed vehicle value.
@@ -255,6 +356,22 @@ static bool volvo_tx_hook(const CANPacket_t *msg) {
 
 static safety_config volvo_init(uint16_t param) {
   bool spa = GET_FLAG(param, VOLVO_FLAG_SPA);
+  volvo_c1 = GET_FLAG(param, VOLVO_FLAG_C1);
+
+  if (volvo_c1) {
+    static const CanMsg VOLVO_C1_TX_MSGS[] = {
+      {VOLVO_C1_FSM_1, VOLVO_MAIN_BUS, 8, .check_relay = true},
+      {VOLVO_C1_PSCM_1, VOLVO_PARTY_BUS, 8, .check_relay = true},
+      {VOLVO_C1_BUTTONS, VOLVO_MAIN_BUS, 8, .check_relay = false},
+    };
+    static RxCheck volvo_c1_rx_checks[] = {
+      {.msg = {{VOLVO_C1_PSCM_1, VOLVO_MAIN_BUS, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
+      {.msg = {{VOLVO_C1_FSM_0, VOLVO_PARTY_BUS, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
+      {.msg = {{VOLVO_C1_PEDAL_AND_BRAKE, VOLVO_MAIN_BUS, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
+      {.msg = {{VOLVO_C1_SPEED, VOLVO_MAIN_BUS, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
+    };
+    return BUILD_SAFETY_CFG(volvo_c1_rx_checks, VOLVO_C1_TX_MSGS);
+  }
 
   // Set PT bus addresses based on platform
   volvo_ecm_1_addr = spa ? VOLVO_SPA_ECM_1 : VOLVO_CMA_ECM_1;

opendbc_repo/opendbc/safety/tests/test_gm.py

@@ -654,6 +654,31 @@ class TestGmCcLongitudinalNoCameraSafety(TestGmCcLongitudinalSafety):
     self.safety.init_tests()
 
 
+def test_gm_volt_cc_gateway_brake_threshold_matches_carstate():
+  safety = libsafety_py.libsafety
+  safety.set_safety_hooks(
+    CarParams.SafetyModel.gm,
+    GMSafetyFlags.FLAG_GM_NO_CAMERA |
+    GMSafetyFlags.FLAG_GM_NO_ACC |
+    GMSafetyFlags.FLAG_GM_CC_LONG |
+    GMSafetyFlags.FLAG_GM_VOLT_CC_GATEWAY,
+  )
+  safety.init_tests()
+  safety.set_controls_allowed(True)
+
+  cruise = common.make_msg(0, 0x3D1, 8, bytes([0, 0, 0, 0, 0x80, 0, 0, 0]))
+  safety.safety_rx_hook(cruise)
+  assert safety.get_controls_allowed()
+
+  noisy_brake = libsafety_py.make_CANPacket(0xF1, 0, b"\x34\x06\x05\x40\x00\x00")
+  safety.safety_rx_hook(noisy_brake)
+  assert safety.get_controls_allowed()
+
+  pressed_brake = libsafety_py.make_CANPacket(0xF1, 0, b"\x34\x15\x05\x40\x00\x00")
+  safety.safety_rx_hook(pressed_brake)
+  assert not safety.get_controls_allowed()
+
+
 class TestGmCcLongitudinalPandaSchedSafety(TestGmCcLongitudinalSafety):
   FWD_BLACKLISTED_ADDRS = {2: [0x180, 0x370], 0: [0x184, 0x3D1]}
   INTERCEPTOR_GAS_PRESSED = 596

opendbc_repo/opendbc/safety/tests/test_toyota.py

@@ -97,29 +97,55 @@ class TestToyotaSafetyBase(common.CarSafetyTest, common.LongitudinalAccelSafetyT
           msg = libsafety_py.make_CANPacket(0x283, 0, bytes(dat))
           self.assertEqual(not bad and not stock_longitudinal, self._tx(msg))
 
-  def test_auto_brake_hold_aeb_replacement_only_at_standstill(self):
+  def test_auto_hold_acc_control_is_narrowly_allowed_only_at_standstill(self):
-    self.safety.set_alternative_experience(ALTERNATIVE_EXPERIENCE.ALLOW_AEB)
+    if (not self.LONGITUDINAL or
-    hold_msg = libsafety_py.make_CANPacket(0x344, 0, b"\xfd\x80\x00\x00\x00\x00\x00\xcc")
+        self.safety.get_current_safety_param() & (ToyotaSafetyFlags.STOCK_LONGITUDINAL.value | ToyotaSafetyFlags.SECOC.value)):
+      raise unittest.SkipTest("Toyota Auto Hold requires non-SecOC openpilot longitudinal control")
+
+    self.safety.set_alternative_experience(ALTERNATIVE_EXPERIENCE.TOYOTA_AUTO_HOLD)
+    hold_msg = self.packer.make_can_msg_safety("ACC_CONTROL", 0, {
+      "ACCEL_CMD": -1.0,
+      "PERMIT_BRAKING": 1,
+      "RELEASE_STANDSTILL": 0,
+      "CANCEL_REQ": 0,
+    })
 
     self._rx(self._speed_msg(0))
     self._rx(self._toggle_aol(True))
     self._rx(self._user_gas_msg(False))
+    self.safety.set_controls_allowed(False)
     self.assertTrue(self._tx(hold_msg))
-    self.assertEqual(-1, self.safety.safety_fwd_hook(2, 0x344))
+
+    self.assertFalse(self._tx(self.packer.make_can_msg_safety("ACC_CONTROL", 0, {
+      "ACCEL_CMD": -1.1,
+      "PERMIT_BRAKING": 1,
+      "RELEASE_STANDSTILL": 0,
+    })))
 
     self._rx(self._speed_msg(1.0))
     self.assertFalse(self._tx(hold_msg))
-    self.assertEqual(0, self.safety.safety_fwd_hook(2, 0x344))
 
     self._rx(self._speed_msg(0))
     self._rx(self._user_gas_msg(True))
     self.assertFalse(self._tx(hold_msg))
-    self.assertEqual(0, self.safety.safety_fwd_hook(2, 0x344))
 
     self._rx(self._user_gas_msg(False))
     self._rx(self._toggle_aol(False))
     self.assertFalse(self._tx(hold_msg))
-    self.assertEqual(0, self.safety.safety_fwd_hook(2, 0x344))
+
+  def test_auto_hold_acc_control_is_blocked_without_toyota_hold_toggle(self):
+    hold_msg = self.packer.make_can_msg_safety("ACC_CONTROL", 0, {
+      "ACCEL_CMD": -1.0,
+      "PERMIT_BRAKING": 1,
+      "RELEASE_STANDSTILL": 0,
+      "CANCEL_REQ": 0,
+    })
+    self._rx(self._speed_msg(0))
+    self._rx(self._toggle_aol(True))
+    self._rx(self._user_gas_msg(False))
+    self.safety.set_controls_allowed(False)
+    self.safety.set_alternative_experience(0)
+    self.assertFalse(self._tx(hold_msg))
 
   # Only allow LTA msgs with no actuation
   def test_lta_steer_cmd(self):

opendbc_repo/opendbc/safety/tests/test_volvo.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 """
-Safety tests for Volvo CMA/SPA.
+Safety tests for Volvo C1/CMA/SPA.
 
 The safety mode lives at ``opendbc/safety/modes/volvo.h`` and is parameterized
 by ``safetyParam``:
@@ -8,14 +8,13 @@ by ``safetyParam``:
   - ``safetyParam == 0``       → CMA platform (Volvo XC40 Recharge)
   - ``safetyParam == VOLVO_FLAG_SPA`` → SPA platform (Volvo S60 Recharge,
     Polestar 2)
+  - ``safetyParam == VOLVO_FLAG_C1``  → C1 platform (Volvo V40)
 
-The two platforms share LCA/PSCM/etc. addresses on the main and party buses
+CMA and SPA share LCA/PSCM/etc. addresses on the main and party buses but use
-but use *different* PT-bus addresses and signal scales for ECM_1 and
+different PT-bus addresses and signal scales. C1 uses the V40's legacy CAN
-BUS1_CRUISE_CONTROL. Vehicle speed is read from main-bus SPEED on both, so it
+layout and its own safety allowlist. The tests exercise all three through the
-is not platform-dependent. This test file exercises both platforms through the
+generic ``CarSafetyTest`` harness so divergence between ``carstate.py`` and
-same generic ``CarSafetyTest`` harness so that any future divergence between
+``volvo.h`` is caught before running in a car.
-``carstate.py`` and ``volvo.h`` — e.g. a threshold drifting out of sync — is
-caught on a laptop instead of in the car.
 
 Companion to: ``opendbc/car/volvo/carstate.py`` (must agree on thresholds).
 """
@@ -25,13 +24,16 @@ import re
 import unittest
 
 from opendbc.car.volvo.interface import SAFETY_VOLVO
+from opendbc.car.volvo.values import VolvoSafetyFlags
+from opendbc.car.volvo.volvocan import create_c1_checksum, create_c1_steering_control
 from opendbc.safety.tests.libsafety import libsafety_py
 import opendbc.safety.tests.common as common
 from opendbc.safety.tests.common import CANPackerSafety
 
 
-# Must match VOLVO_FLAG_SPA in opendbc/safety/modes/volvo.h
+# Must match the flags in opendbc/safety/modes/volvo.h
-VOLVO_FLAG_SPA = 1
+VOLVO_FLAG_SPA = VolvoSafetyFlags.SPA.value
+VOLVO_FLAG_C1 = VolvoSafetyFlags.C1.value
 
 # Must match VOLVO_SPEED_TO_MS in volvo.h and SPEED_TO_MS in carstate.py
 VOLVO_SPEED_TO_MS = 0.003977
@@ -332,5 +334,124 @@ class TestVolvoSPA(TestVolvoSafetyBase):
       "BUS1_CRUISE_CONTROL", VOLVO_PT_BUS, values)
 
 
+class TestVolvoC1(common.CarSafetyTest, common.AngleSteeringSafetyTest):
+  TX_MSGS = [[0xD0, VOLVO_MAIN_BUS], [0x125, VOLVO_PARTY_BUS], [0x10, VOLVO_MAIN_BUS]]
+  RELAY_MALFUNCTION_ADDRS = {
+    VOLVO_MAIN_BUS: (0xD0,),
+    VOLVO_PARTY_BUS: (0x125,),
+  }
+  FWD_BLACKLISTED_ADDRS = {
+    VOLVO_MAIN_BUS: [0x125],
+    VOLVO_PARTY_BUS: [0xD0],
+  }
+  STANDSTILL_THRESHOLD = 0.1
+  GAS_PRESSED_THRESHOLD = 5.0
+
+  STEER_ANGLE_MAX = 359.9
+  STEER_ANGLE_TEST_MAX = 350.0
+  DEG_TO_CAN = 1 / 0.04395
+  ANGLE_RATE_BP = [7.0, 17.0, 36.0]
+  ANGLE_RATE_UP = [2.0, 0.25, 0.1]
+  ANGLE_RATE_DOWN = [2.0, 0.25, 0.1]
+
+  def setUp(self):
+    self.packer = CANPackerSafety("volvo_v40_2017_pt")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(SAFETY_VOLVO, VOLVO_FLAG_C1)
+    self.safety.init_tests()
+
+  def _angle_cmd_msg(self, angle: float, enabled: bool, increment_timer: bool = True):
+    values = {
+      "SET_X_E3": 0xE3,
+      "SET_X_B4": 0xB4,
+      "SET_X_08": 0x08,
+      "LKAAngleReq": angle,
+      "LKASteerDirection": 3 if enabled else 0,
+      "TrqLim": 0,
+      "SET_X_25": 0x25,
+      "SET_X_02": 0x02,
+    }
+
+    def fix_checksum(msg):
+      address, data, bus = msg
+      data = bytearray(data)
+      data[6] = create_c1_checksum(data)
+      return address, data, bus
+
+    return self.packer.make_can_msg_safety("FSM1", VOLVO_MAIN_BUS, values, fix_checksum)
+
+  def _angle_meas_msg(self, angle: float):
+    return self.packer.make_can_msg_safety(
+      "PSCM1", VOLVO_MAIN_BUS, {"SteeringAngleServo": angle})
+
+  def _speed_msg(self, speed):
+    return self.packer.make_can_msg_safety(
+      "VehicleSpeed1", VOLVO_MAIN_BUS, {"VehicleSpeed": speed * 3.6})
+
+  def _speed_msg_2(self, speed):
+    return None
+
+  def _user_brake_msg(self, brake):
+    return self.packer.make_can_msg_safety(
+      "PedalandBrake", VOLVO_MAIN_BUS, {"BrakePedalActive2": bool(brake)})
+
+  def _user_gas_msg(self, gas):
+    return self.packer.make_can_msg_safety(
+      "PedalandBrake", VOLVO_MAIN_BUS, {"AccPedal": gas})
+
+  def _pcm_status_msg(self, enable):
+    return self.packer.make_can_msg_safety(
+      "FSM0", VOLVO_PARTY_BUS, {"ACCStatusActive": bool(enable)})
+
+  def test_cancel_button_only(self):
+    allowed = self.packer.make_can_msg_safety(
+      "CCButtons", VOLVO_MAIN_BUS, {"ACCStopBtn": 1})
+    self.assertTrue(self._tx(allowed))
+
+    for signal in ("ACCOnOffBtn", "ACCSetBtn", "ACCResumeBtn", "ACCMinusBtn",
+                   "TimeGapIncreaseBtn", "TimeGapDecreaseBtn"):
+      msg = self.packer.make_can_msg_safety("CCButtons", VOLVO_MAIN_BUS, {signal: 1})
+      self.assertFalse(self._tx(msg), signal)
+
+  def test_pscm_relay_cannot_invent_angle(self):
+    for _ in range(common.MAX_SAMPLE_VALS):
+      self._rx(self._angle_meas_msg(10))
+    valid = self.packer.make_can_msg_safety(
+      "PSCM1", VOLVO_PARTY_BUS, {"SteeringAngleServo": 10})
+    invalid = self.packer.make_can_msg_safety(
+      "PSCM1", VOLVO_PARTY_BUS, {"SteeringAngleServo": 20})
+    self.assertTrue(self._tx(valid))
+    self.assertFalse(self._tx(invalid))
+
+  def test_pscm_relay_preserves_full_lock_angle(self):
+    for angle in (-720, 500):
+      for _ in range(common.MAX_SAMPLE_VALS):
+        self._rx(self._angle_meas_msg(angle))
+      relayed = self.packer.make_can_msg_safety(
+        "PSCM1", VOLVO_PARTY_BUS, {"SteeringAngleServo": angle})
+      self.assertTrue(self._tx(relayed), angle)
+
+  def test_steering_static_fields_and_checksum(self):
+    self.safety.set_controls_allowed(True)
+    self._reset_angle_measurement(0)
+    self._reset_speed_measurement(10)
+    self._set_prev_desired_angle(0)
+    valid = self._angle_cmd_msg(0, True)
+    self.assertTrue(self._tx(valid))
+
+    for byte_index in (0, 1, 2, 3, 4, 6, 7):
+      invalid = self._angle_cmd_msg(0, True)
+      invalid[0].data[byte_index] ^= 0x4 if byte_index in (4, 7) else 0x1
+      self.assertFalse(self._tx(invalid), byte_index)
+
+  def test_controller_steering_message_is_allowed(self):
+    self.safety.set_controls_allowed(True)
+    self._reset_angle_measurement(0)
+    self._reset_speed_measurement(10)
+    self._set_prev_desired_angle(0)
+    address, data, bus = create_c1_steering_control(self.packer, 0, True)
+    self.assertTrue(self._tx(libsafety_py.make_CANPacket(address, bus, data)))
+
+
 if __name__ == "__main__":
   unittest.main()

panda/SConscript

@@ -181,6 +181,11 @@ build_project("panda_h7_remote_can_ignition_only", base_project_h7, "./board/mai
 build_project("panda_hkg_remote_can_ignition_only", base_project_f4, "./board/main.c", ["-DPANDA_HKG_REMOTE_START", "-DPANDA_IGNORE_IGNITION_LINE"])
 build_project("panda_h7_hkg_remote_can_ignition_only", base_project_h7, "./board/main.c", ["-DPANDA_HKG_REMOTE_START", "-DPANDA_IGNORE_IGNITION_LINE"])
 
+build_project("panda_tesla_wake", base_project_f4, "./board/main.c", ["-DPANDA_TESLA_WAKE_ON_CAN"])
+build_project("panda_h7_tesla_wake", base_project_h7, "./board/main.c", ["-DPANDA_TESLA_WAKE_ON_CAN"])
+build_project("panda_tesla_wake_can_ignition_only", base_project_f4, "./board/main.c", ["-DPANDA_TESLA_WAKE_ON_CAN", "-DPANDA_IGNORE_IGNITION_LINE"])
+build_project("panda_h7_tesla_wake_can_ignition_only", base_project_h7, "./board/main.c", ["-DPANDA_TESLA_WAKE_ON_CAN", "-DPANDA_IGNORE_IGNITION_LINE"])
+
 # panda jungle fw
 flags = [
   "-DPANDA_JUNGLE",

panda/board/drivers/bootkick.h

@@ -2,18 +2,18 @@
 
 bool bootkick_reset_triggered = false;
 
-void bootkick_tick(bool ignition, bool recent_heartbeat) {
+void bootkick_tick(bool ignition, bool recent_heartbeat, bool wake) {
   static uint16_t bootkick_last_serial_ptr = 0;
   static uint8_t waiting_to_boot_countdown = 0;
   static uint8_t boot_reset_countdown = 0;
   static uint8_t bootkick_harness_status_prev = HARNESS_STATUS_NC;
   static bool bootkick_ign_prev = false;
+  static bool bootkick_wake_prev = false;
   static BootState boot_state = BOOT_BOOTKICK;
   BootState boot_state_prev = boot_state;
   const bool harness_inserted = (harness.status != bootkick_harness_status_prev) && (harness.status != HARNESS_STATUS_NC);
 
-  if ((ignition && !bootkick_ign_prev) || harness_inserted) {
+  if ((ignition && !bootkick_ign_prev) || harness_inserted || (wake && !bootkick_wake_prev && !ignition)) {
-    // bootkick on rising edge of ignition or harness insertion
     boot_state = BOOT_BOOTKICK;
   } else if (recent_heartbeat) {
     // disable bootkick once openpilot is up
@@ -56,6 +56,7 @@ void bootkick_tick(bool ignition, bool recent_heartbeat) {
 
   // update state
   bootkick_ign_prev = ignition;
+  bootkick_wake_prev = wake;
   bootkick_harness_status_prev = harness.status;
   bootkick_last_serial_ptr = uart_ring_som_debug.w_ptr_tx;
   if (waiting_to_boot_countdown > 0U) {

panda/board/drivers/bootkick_declarations.h

@@ -2,4 +2,4 @@
 
 extern bool bootkick_reset_triggered;
 
-void bootkick_tick(bool ignition, bool recent_heartbeat);
+void bootkick_tick(bool ignition, bool recent_heartbeat, bool wake);

panda/board/drivers/can_common.h

@@ -7,7 +7,9 @@ uint32_t rx_buffer_overflow = 0;
 
 can_health_t can_health[PANDA_CAN_CNT] = {{0}, {0}, {0}};
 
-// Ignition detected from CAN meessages
+bool wake_on_can = false;
+uint32_t wake_on_can_cnt = 0U;
+
 bool ignition_can = false;
 uint32_t ignition_can_cnt = 0U;
 #ifdef PANDA_HKG_REMOTE_START
@@ -225,6 +227,23 @@ void ignition_can_hook(CANPacket_t *msg) {
         ignition_can_cnt = 0U;
       }
       prev_counter_tesla = counter;
+
+      #ifdef PANDA_TESLA_WAKE_ON_CAN
+      uint32_t checksum = (msg->addr & 0xFFU) + (msg->addr >> 8U);
+      for (uint8_t i = 0U; i < 7U; i++) {
+        checksum += msg->data[i];
+      }
+      static int prev_counter_tesla_wake = -1;
+      if (!msg->extended && (msg->data[7] == (checksum & 0xFFU))) {
+        if ((prev_counter_tesla_wake != -1) && (counter == ((prev_counter_tesla_wake + 1) % 16))) {
+          wake_on_can = ((msg->data[0] >> 5U) & 0x3U) != 0U;
+          wake_on_can_cnt = 0U;
+        }
+        prev_counter_tesla_wake = counter;
+      } else {
+        prev_counter_tesla_wake = -1;
+      }
+      #endif
     }
 
     // Tesla Model S pre-AP exception
@@ -249,6 +268,19 @@ void ignition_can_hook(CANPacket_t *msg) {
       ignition_can_cnt = 0U;
     }
 
+    // Volkswagen MEB exception
+    if ((msg->addr == 0x3C0U) && (len == 4)) {
+      int counter = msg->data[1] & 0xFU;
+
+      static int prev_counter_vw_meb = -1;
+      if ((counter == ((prev_counter_vw_meb + 1) % 16)) && (prev_counter_vw_meb != -1)) {
+        // Klemmen_Status_01->ZAS_Kl_15
+        ignition_can = ((msg->data[2] >> 1) & 1U) != 0U;
+        ignition_can_cnt = 0U;
+      }
+      prev_counter_vw_meb = counter;
+    }
+
   }
 }
 

panda/board/drivers/can_common_declarations.h

@@ -28,7 +28,9 @@ extern uint32_t rx_buffer_overflow;
 
 extern can_health_t can_health[PANDA_CAN_CNT];
 
-// Ignition detected from CAN meessages
+extern bool wake_on_can;
+extern uint32_t wake_on_can_cnt;
+
 extern bool ignition_can;
 extern uint32_t ignition_can_cnt;
 

panda/board/main.c

@@ -192,7 +192,7 @@ static void tick_handler(void) {
       #ifdef PANDA_HKG_REMOTE_START
       started = started || hkg_remote_climate_wake;
       #endif
-      bootkick_tick(started, recent_heartbeat);
+      bootkick_tick(started, recent_heartbeat, wake_on_can);
 
       // increase heartbeat counter and cap it at the uint32 limit
       if (heartbeat_counter < UINT32_MAX) {
@@ -270,6 +270,9 @@ static void tick_handler(void) {
       if (ignition_can_cnt > 2U) {
         ignition_can = false;
       }
+      if (wake_on_can_cnt > 2U) {
+        wake_on_can = false;
+      }
       #ifdef PANDA_HKG_REMOTE_START
       if (hkg_remote_climate_wake_cnt > 2U) {
         hkg_remote_climate_wake = false;
@@ -280,6 +283,7 @@ static void tick_handler(void) {
       uptime_cnt += 1U;
       safety_mode_cnt += 1U;
       ignition_can_cnt += 1U;
+      wake_on_can_cnt += 1U;
       #ifdef PANDA_HKG_REMOTE_START
       hkg_remote_climate_wake_cnt += 1U;
       #endif

panda/board/obj/gitversion.h

@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-c03d06b4-DEBUG";
+const uint8_t gitversion[19] = "DEV-bf00f88b-DEBUG";