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2026-09-10 10:13:45 +08:00 · 2026-09-09 17:58:50 -05:00 · 2026-09-09 17:55:05 -05:00 · 2026-09-09 16:30:43 -05:00 · 2026-09-09 16:28:47 -05:00 · 2026-09-09 16:26:07 -05:00
181 changed files with 14623 additions and 535 deletions
@@ -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}},
@@ -465,6 +466,7 @@ 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}},
@@ -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})
@@ -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)
@@ -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
  )


@@ -32,6 +32,7 @@ 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 +68,24 @@ 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 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 +124,8 @@ 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 +371,18 @@ 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
-                      pt_cp.vl["EBCMFrictionBrakeStatus"]["FrictionBrakeUnavailable"] == 1)
+    acc_state = pt_cp.vl["AcceleratorPedal2"]["CruiseState"]
+    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
@@ -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:
@@ -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 {
-        CAR.CHEVROLET_VOLT,
-        CAR.CHEVROLET_VOLT_2019,
-        CAR.CHEVROLET_VOLT_ASCM,
-        CAR.CHEVROLET_VOLT_CAMERA,
-      }
+      (
+        (gm_auto_hold and candidate in GM_AUTO_HOLD_CARS) or
+        (volt_one_pedal_mode and candidate in {
+          CAR.CHEVROLET_VOLT,
+          CAR.CHEVROLET_VOLT_2019,
+          CAR.CHEVROLET_VOLT_ASCM,
+          CAR.CHEVROLET_VOLT_CAMERA,
+        })
+      )
    )
-    if volt_stock_friction_brake_safety:
-      # Reuse the paddle-scheduler safety bit as a Volt stock friction-brake
+    if gm_stock_friction_brake_safety:
      # 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
@@ -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,
@@ -8,7 +8,12 @@ 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,
+  update_auto_hold_drive_timers,
+  update_startup_acc_fault_suppression,
+)
 from opendbc.car.gm.carcontroller import (
  VisualAlert,
  get_acc_dashboard_always_one,
@@ -204,6 +209,50 @@ class TestBoltGps:
    assert all(message in parsers[Bus.pt].vl for message in CHEVROLET_BOLT_GPS_MESSAGES)


+class TestGMCarState:
+  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 +570,43 @@ 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 +933,63 @@ 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)
@@ -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,
@@ -11,7 +11,7 @@ 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
@@ -860,7 +860,11 @@ class CarController(CarControllerBase):

    lka_steering = self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING
    longitudinal_active = bool(self.long_active_ecu and getattr(CC, "longActive", False))
-    lfa_status_cars = (CAR.HYUNDAI_IONIQ_6, CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN)
+    lfa_status_cars = (
+      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
    lka_steering_long = lka_steering and lfa_longitudinal_active
@@ -892,8 +896,7 @@ class CarController(CarControllerBase):
    if angle_lkas_alt:
      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
-                          self.CP.carFingerprint == CAR.KIA_SPORTAGE_HEV_2026) and angle_lkas_alt and (
+    forward_stock_lkas = self.CP.carFingerprint in CANFD_ANGLE_LONGITUDINAL_CAR 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)
@@ -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))
@@ -8,6 +8,7 @@ from opendbc.car.hyundai.values import HyundaiFlags, CAR, CarControllerParams, \
                                                   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 +28,15 @@ 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 +363,7 @@ class CarInterface(CarInterfaceBase):
    params = Params()

    if communication_control is None:
-      if CP.carFingerprint in CANFD_RADAR_LIVE_LONGITUDINAL_CAR:
-        # 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])
+      communication_control = get_communication_control_request(CP.carFingerprint)

    ecu_log(f"=== init() called: opLong={CP.openpilotLongitudinalControl}, flags=0x{CP.flags:x}, safetyParam={CP.safetyConfigs[-1].safetyParam} ===")

@@ -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
@@ -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 +130,15 @@ def get_test_toggles() -> SimpleNamespace:


 class TestHyundaiFingerprint:
+  def test_ev6_uses_stock_hda2_communication_control_path(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 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 +436,42 @@ 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)
@@ -2552,15 +2598,14 @@ 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", [CAR.HYUNDAI_IONIQ_6, CAR.KIA_EV6])
+  def test_egmp_keeps_lfa_status_when_longitudinal_is_inactive(self, car):
    CP = CarParams.new_message()
-    CP.carFingerprint = CAR.HYUNDAI_IONIQ_6
+    CP.carFingerprint = car
    CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.EV | HyundaiFlags.CANFD_LKA_STEERING)
    CP.openpilotLongitudinalControl = True

    controller = CarController(DBC[CP.carFingerprint], CP)
-    controller.frame = 1
-    controller.long_active_ecu = False
    cc = SimpleNamespace(
      enabled=False, latActive=False, longActive=False,
      actuators=SimpleNamespace(longControlState=LongCtrlState.off),
@@ -2568,12 +2613,15 @@ 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),
    )

-    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)
+    controller.frame = 1
+    for controller.long_active_ecu in (False, 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)

  def test_gv70_electrified_longitudinal_uses_hda2_scc_contract(self):
    CP = CarParams.new_message()
@@ -2707,7 +2755,7 @@ 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_publishes_inactive_status(self, standstill):
    CP = CarParams.new_message()
    CP.carFingerprint = CAR.KIA_SPORTAGE_HEV_2026
    CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.HYBRID | HyundaiFlags.CANFD_ANGLE_STEERING |
@@ -2715,6 +2763,7 @@ class TestHyundaiFingerprint:
    CP.openpilotLongitudinalControl = False

    controller = CarController(DBC[CP.carFingerprint], CP)
+    can_bus = CanBus(CP)
    cc = SimpleNamespace(enabled=False, latActive=False,
                         actuators=SimpleNamespace(longControlState=LongCtrlState.off),
                         leftBlinker=False, rightBlinker=False, hudControl=SimpleNamespace())
@@ -2724,7 +2773,16 @@ class TestHyundaiFingerprint:

    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
+
+    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_ICON"] == 1
+    assert parser.vl["LKAS_ALT"]["LKA_SysIndReq"] == 1
+    assert parser.vl["LKAS_ALT"]["LKA_RcgSta"] == 0
+    assert parser.vl["LKAS_ALT"]["LKAS_ANGLE_ACTIVE"] == 1

  def test_ev9_inactive_angle_steering_does_not_suppress_stock_lfa(self):
    CP = CarParams.new_message()
@@ -1218,7 +1218,9 @@ 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 = CANFD_RADAR_LIVE_LONGITUDINAL_CAR - {CAR.KIA_EV6}
 RADAR_LIVE_LONGITUDINAL_CAR = CANFD_RADAR_LIVE_LONGITUDINAL_CAR | {
  CAR.HYUNDAI_IONIQ,
  CAR.HYUNDAI_KONA_EV_2022,
@@ -302,7 +302,7 @@ 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._legacy_2025_manual_handoff(CS, CC.latActive)
      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
@@ -325,7 +325,7 @@ 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._angle_manual_handoff(CS, lkas_available)
+      manual_handoff = self._angle_manual_handoff(CS, CC.latActive)
      lkas_active = lkas_available and not manual_handoff

      if lkas_active and not self.angle_lkas_active:
@@ -361,7 +361,7 @@ class CarController(CarControllerBase):
    lkas_available = CC.latActive and (not mads_only or mads_only_ok) and \
      getattr(CS.out, "gearShifter", structs.CarState.GearShifter.drive) == structs.CarState.GearShifter.drive and \
      not getattr(CS.out, "standstill", False)
-    manual_handoff = self._angle_manual_handoff(CS, lkas_available)
+    manual_handoff = self._angle_manual_handoff(CS, CC.latActive)
    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
@@ -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"]
@@ -546,6 +546,25 @@ 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)
@@ -707,11 +726,20 @@ def test_ascent_angle_controller_blocks_parking_lot_aol_engagement():
  CS.out.steeringRateDeg = 0.0
  msg = controller.lateral_angle(CC, CS)
  parser.update([(2, [msg])])
+  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
+
+  for i in range(8):
+    msg = controller.lateral_angle(CC, CS)
+    parser.update([(3 + i, [msg])])
+    assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
+
+  msg = controller.lateral_angle(CC, CS)
+  parser.update([(11, [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([(12, [msg])])
  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] == pytest.approx(CS.out.steeringAngleDeg)

@@ -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,
@@ -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]
@@ -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):
-    can_sends = []
-    brake_hold_allowed = (CS.out.standstill and CS.out.cruiseState.available and
+  def update_auto_hold_state(self, CS: structs.CarState, cancel_requested: bool = False,
+                             activation_frames: int = TOYOTA_AUTO_HOLD_ACTIVATION_FRAMES):
+    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:
-      can_sends.append(toyotacan.create_brake_hold_command(self.packer, self.frame, CS.pre_collision_2, self.brake_hold_active))
+    return 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))
-    elif self.brake_hold_active:
-      self._brake_hold_counter = 0
-      self.brake_hold_active = False
+      self.update_auto_hold_state(CS, pcm_cancel_cmd)
+    else:
+      self.reset_auto_hold_state()

    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,
@@ -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),
@@ -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:
-      ret.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ALLOW_AEB
+    if toyota_auto_hold and ret.openpilotLongitudinalControl and candidate in TOYOTA_AUTO_HOLD_CARS:
+      ret.alternativeExperience |= ALTERNATIVE_EXPERIENCE.TOYOTA_AUTO_HOLD
      ret.flags |= ToyotaFlags.AUTO_BRAKE_HOLD.value

    if not ret.openpilotLongitudinalControl:
@@ -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.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.gasPressed = True
-    controller.frame = 4
-    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_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["PRE_COLLISION_2"]["PBRTRGR"] == 1
+    assert parser.vl["ACC_CONTROL"]["ACCEL_CMD"] == -1.0
+    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()
@@ -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,
@@ -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,
-                                        create_lca_5_message, create_lca_6_message, create_lca_7_message, create_pscm_related_message)
-from opendbc.car.volvo.values import CarControllerParams
+from opendbc.car.volvo.volvocan import (create_c1_cancel, create_c1_pscm_message, create_c1_steering_control, create_lca_message,
+                                        create_pscm_message, create_lca_3_message, create_lca_2_message, create_lca_4_message, create_lca_5_message,
+                                        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
@@ -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),
@@ -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
  }],
@@ -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):
-      safety_param = VOLVO_FLAG_SPA
+    if isinstance(platform, VolvoSPAPlatformConfig):
+      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
@@ -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)
@@ -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
@@ -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(
@@ -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):
@@ -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
@@ -11,3 +11,4 @@ class ALTERNATIVE_EXPERIENCE:

  ALWAYS_ON_LATERAL = 32
  GM_REMAP_CANCEL_TO_DISTANCE = 64
+  TOYOTA_AUTO_HOLD = 128
@@ -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;

@@ -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) && ((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) {
+    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,
@@ -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;
@@ -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):
-    self.safety.set_alternative_experience(ALTERNATIVE_EXPERIENCE.ALLOW_AEB)
-    hold_msg = libsafety_py.make_CANPacket(0x344, 0, b"\xfd\x80\x00\x00\x00\x00\x00\xcc")
+  def test_auto_hold_acc_control_is_narrowly_allowed_only_at_standstill(self):
+    if (not self.LONGITUDINAL or
+        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):
@@ -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
-but use *different* PT-bus addresses and signal scales for ECM_1 and
-BUS1_CRUISE_CONTROL. Vehicle speed is read from main-bus SPEED on both, so it
-is not platform-dependent. This test file exercises both platforms through the
-same generic ``CarSafetyTest`` harness so that any future divergence between
-``carstate.py`` and ``volvo.h`` — e.g. a threshold drifting out of sync — is
-caught on a laptop instead of in the car.
+CMA and SPA share LCA/PSCM/etc. addresses on the main and party buses but use
+different PT-bus addresses and signal scales. C1 uses the V40's legacy CAN
+layout and its own safety allowlist. The tests exercise all three through the
+generic ``CarSafetyTest`` harness so divergence between ``carstate.py`` and
+``volvo.h`` is caught before running in a 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
-VOLVO_FLAG_SPA = 1
+# Must match the flags in opendbc/safety/modes/volvo.h
+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()
@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-c03d06b4-DEBUG";
+const uint8_t gitversion[19] = "DEV-eedd73e5-DEBUG";
@@ -1 +1 @@
-DEV-c03d06b4-DEBUG
+DEV-eedd73e5-DEBUG
@@ -19,6 +19,7 @@ import shlex
 import shutil
 import subprocess
 import sys
+import tempfile
 import urllib.error
 import urllib.parse
 import urllib.request
@@ -619,6 +620,70 @@ def update_manifest(repo: Path, info: ReleaseInfo, result: dict, manifest_versio
  return path


+def manifest_models(payload: object) -> list[dict]:
+  models = payload.get("models") if isinstance(payload, dict) else payload
+  if not isinstance(models, list) or not models:
+    raise ReleaseError("Unsupported or empty Hugging Face manifest")
+  if any(not isinstance(model, dict) or not str(model.get("id") or "").strip() for model in models):
+    raise ReleaseError("Hugging Face manifest contains an invalid model entry")
+  model_ids = [str(model["id"]).strip() for model in models]
+  if len(model_ids) != len(set(model_ids)):
+    raise ReleaseError("Hugging Face manifest contains duplicate model IDs")
+  return models
+
+
+def accelerator_artifact_map(payload: object) -> dict[tuple[str, str], dict]:
+  artifacts: dict[tuple[str, str], dict] = {}
+  for model in manifest_models(payload):
+    model_id = str(model.get("id") or "").strip()
+    model_artifacts = model.get("accelerator_artifacts")
+    if not model_id or not isinstance(model_artifacts, dict):
+      continue
+    for accelerator, metadata in model_artifacts.items():
+      if isinstance(metadata, dict):
+        artifacts[(model_id, str(accelerator))] = metadata
+  return artifacts
+
+
+def validate_manifest_update(before: object, after: object, replacing_model_id: str) -> None:
+  before_by_id = {str(model["id"]).strip(): model for model in manifest_models(before)}
+  after_by_id = {str(model["id"]).strip(): model for model in manifest_models(after)}
+  before_ids = set(before_by_id)
+  after_ids = set(after_by_id)
+  expected_ids = before_ids | {replacing_model_id}
+  if after_ids != expected_ids:
+    missing = sorted(expected_ids - after_ids)
+    unexpected = sorted(after_ids - expected_ids)
+    raise ReleaseError(
+      "Refusing to publish a manifest with an unexpected model set"
+      + (f"; missing: {', '.join(missing)}" if missing else "")
+      + (f"; unexpected: {', '.join(unexpected)}" if unexpected else "")
+    )
+
+  before_artifacts = accelerator_artifact_map(before)
+  after_artifacts = accelerator_artifact_map(after)
+  regressions = [
+    f"{model_id}:{accelerator}"
+    for (model_id, accelerator), metadata in before_artifacts.items()
+    if model_id != replacing_model_id and after_artifacts.get((model_id, accelerator)) != metadata
+  ]
+  if regressions:
+    raise ReleaseError(
+      "Refusing to publish a manifest that removes or changes existing accelerator metadata for: "
+      + ", ".join(sorted(regressions))
+    )
+
+  unrelated_changes = sorted(
+    model_id for model_id, model in before_by_id.items()
+    if model_id != replacing_model_id and after_by_id[model_id] != model
+  )
+  if unrelated_changes:
+    raise ReleaseError(
+      "Refusing to publish a manifest that changes unrelated model entries: "
+      + ", ".join(unrelated_changes)
+    )
+
+
 def find_hf() -> str:
  candidates = [shutil.which("hf"), str(Path.home() / ".local/bin/hf")]
  for candidate in candidates:
@@ -633,15 +698,42 @@ def hf_copy(source: Path, bucket: str, remote_path: str) -> None:
  run([hf, "buckets", "cp", str(source), destination, "--format", "quiet"])


+def refresh_huggingface_manifest(manifest: Path, bucket: str) -> dict:
+  remote_path = f"manifests/{manifest.name}"
+  source = f"hf://buckets/{bucket}/{remote_path}"
+  manifest.parent.mkdir(parents=True, exist_ok=True)
+  with tempfile.TemporaryDirectory(prefix=".model-release-", dir=manifest.parent) as temporary_dir:
+    candidate = Path(temporary_dir) / manifest.name
+    run([find_hf(), "buckets", "cp", source, str(candidate), "--format", "quiet"])
+    try:
+      payload = json.loads(candidate.read_text(encoding="utf-8"))
+    except (OSError, json.JSONDecodeError) as error:
+      raise ReleaseError(f"Invalid live Hugging Face manifest: {error}") from error
+    accelerator_artifact_map(payload)
+    candidate.replace(manifest)
+  return payload
+
+
+def prepare_huggingface_manifest(manifest: Path, info: ReleaseInfo, result: dict,
+                                 bucket: str, manifest_version: str) -> Path:
+  live_payload = refresh_huggingface_manifest(manifest, bucket)
+  updated_manifest = update_manifest(manifest.parent, info, result, manifest_version)
+  updated_payload = json.loads(updated_manifest.read_text(encoding="utf-8"))
+  validate_manifest_update(live_payload, updated_payload, info.model_id)
+  return updated_manifest
+
+
 def upload_huggingface(info: ReleaseInfo, result: dict, workspace: Path, bucket: str, manifest_version: str,
-                       manifest: Path, upload_onnx: bool, source: Path) -> None:
+                       manifest: Path, upload_onnx: bool, source: Path) -> Path:
  artifact_dir = Path(result["path"])
  for filename in result["files"]:
    hf_copy(artifact_dir / filename, bucket, f"models/{manifest_version}/{info.model_id}/{filename}")
  if upload_onnx:
    hf_copy(source, bucket, f"onnx/{info.model_id}/{source.name}")
+  manifest = prepare_huggingface_manifest(manifest, info, result, bucket, manifest_version)
  hf_copy(manifest, bucket, f"manifests/{manifest.name}")
  print(f"Hugging Face upload complete: {bucket}/models/{manifest_version}/{info.model_id}/")
+  return manifest


 def git_output(repo: Path, args: list[str]) -> str:
@@ -777,9 +869,9 @@ def main() -> int:
    result = remote_compile(info, source, ip, workspace, args.keep_device_files)
    resources_repo = args.resources_repo.expanduser().resolve()
    check_resources_repo(resources_repo, args.resources_branch)
-    manifest = update_manifest(resources_repo, info, result, args.manifest_version)
-    upload_huggingface(info, result, workspace, args.hf_bucket, args.manifest_version,
-                       manifest, not args.no_onnx_upload, source)
+    manifest = resources_repo / f"model_names_{args.manifest_version}.json"
+    manifest = upload_huggingface(info, result, workspace, args.hf_bucket, args.manifest_version,
+                                  manifest, not args.no_onnx_upload, source)
    push_github(info, result, resources_repo, args.manifest_version, manifest, args.resources_branch, args.force)
    print("\nRelease complete.")
    print(f"  local artifact: {result['path']}")
@@ -3,8 +3,20 @@ from __future__ import annotations
 import json
 from pathlib import Path

+import pytest
+
 from scripts import model_release
-from scripts.model_release import parse_lfs_pointer, parse_pasted_release, runtime_file, update_manifest
+from scripts.model_release import (
+  ReleaseError,
+  parse_lfs_pointer,
+  parse_pasted_release,
+  prepare_huggingface_manifest,
+  refresh_huggingface_manifest,
+  runtime_file,
+  update_manifest,
+  upload_huggingface,
+  validate_manifest_update,
+)


 RELEASE_TEXT = """
@@ -95,3 +107,138 @@ def test_update_manifest_replaces_one_entry(tmp_path: Path):
  assert entry["artifact_size"] == 123
  assert entry["artifact_chunk_count"] == 2
  assert entry["uses_external_gpu"]
+
+
+def test_prepare_manifest_refreshes_live_copy_before_adding_model(tmp_path: Path, monkeypatch):
+  manifest = tmp_path / "model_names_v25.json"
+  manifest.write_text(json.dumps({"models": [{"id": "stale"}]}) + "\n")
+  live_payload = {
+    "models": [{
+      "id": "small-model",
+      "model_lab_eligible": True,
+      "accelerator_artifacts": {
+        "chestnut": {
+          "artifact_filename": "small-model_driving_chestnut_tinygrad.pkl",
+          "artifact_sha256": "b" * 64,
+          "execution_device": "AMD",
+        },
+      },
+    }],
+  }
+
+  def fake_refresh(path, bucket):
+    assert bucket == "StarPilot-Driving/StarPilot-Resources"
+    path.write_text(json.dumps(live_payload) + "\n")
+    return live_payload
+
+  monkeypatch.setattr(model_release, "refresh_huggingface_manifest", fake_refresh)
+  info = parse_pasted_release(RELEASE_TEXT, "bmrlnapv4", "v16")
+  prepared = prepare_huggingface_manifest(
+    manifest,
+    info,
+    {"size": 123, "sha256": "a" * 64, "chunk_count": 2},
+    "StarPilot-Driving/StarPilot-Resources",
+    "v25",
+  )
+
+  models = {entry["id"]: entry for entry in json.loads(prepared.read_text())["models"]}
+  assert set(models) == {"small-model", "bmrlnapv4"}
+  assert models["small-model"] == live_payload["models"][0]
+  assert models["bmrlnapv4"]["artifact_sha256"] == "a" * 64
+
+
+def test_manifest_guard_rejects_unrelated_accelerator_metadata_regression():
+  chestnut = {"execution_device": "AMD", "artifact_sha256": "a" * 64}
+  before = {"models": [
+    {"id": "keep", "accelerator_artifacts": {"chestnut": chestnut}},
+    {"id": "replace", "accelerator_artifacts": {"chestnut": chestnut}},
+  ]}
+  after = {"models": [{"id": "keep"}, {"id": "replace"}]}
+
+  with pytest.raises(ReleaseError, match="keep:chestnut"):
+    validate_manifest_update(before, after, "replace")
+
+  validate_manifest_update(
+    {"models": [{"id": "replace", "accelerator_artifacts": {"chestnut": chestnut}}]},
+    {"models": [{"id": "replace"}]},
+    "replace",
+  )
+
+  with pytest.raises(ReleaseError, match="unrelated model entries: keep"):
+    validate_manifest_update(
+      {"models": [{"id": "keep", "model_lab_eligible": True}]},
+      {"models": [{"id": "keep", "model_lab_eligible": False}, {"id": "replace"}]},
+      "replace",
+    )
+
+
+def test_refresh_manifest_is_atomic_and_uses_hugging_face_bucket(tmp_path: Path, monkeypatch):
+  manifest = tmp_path / "model_names_v25.json"
+  manifest.write_text(json.dumps({"models": [{"id": "stale"}]}) + "\n")
+  live_payload = {"models": [{"id": "live"}]}
+  commands = []
+
+  monkeypatch.setattr(model_release, "find_hf", lambda: "/usr/bin/hf")
+
+  def fake_run(command, **kwargs):
+    commands.append(command)
+    Path(command[4]).write_text(json.dumps(live_payload) + "\n")
+
+  monkeypatch.setattr(model_release, "run", fake_run)
+  assert refresh_huggingface_manifest(manifest, "owner/resources") == live_payload
+  assert json.loads(manifest.read_text()) == live_payload
+  assert commands[0][0:4] == [
+    "/usr/bin/hf",
+    "buckets",
+    "cp",
+    "hf://buckets/owner/resources/manifests/model_names_v25.json",
+  ]
+
+
+def test_refresh_manifest_keeps_local_copy_when_live_json_is_invalid(tmp_path: Path, monkeypatch):
+  manifest = tmp_path / "model_names_v25.json"
+  original = {"models": [{"id": "safe"}]}
+  manifest.write_text(json.dumps(original) + "\n")
+  monkeypatch.setattr(model_release, "find_hf", lambda: "/usr/bin/hf")
+  monkeypatch.setattr(model_release, "run", lambda command, **kwargs: Path(command[4]).write_text("{"))
+
+  with pytest.raises(ReleaseError, match="Invalid live Hugging Face manifest"):
+    refresh_huggingface_manifest(manifest, "owner/resources")
+  assert json.loads(manifest.read_text()) == original
+
+
+def test_upload_refreshes_manifest_after_artifacts(tmp_path: Path, monkeypatch):
+  artifact_dir = tmp_path / "artifacts"
+  artifact_dir.mkdir()
+  manifest = tmp_path / "resources" / "model_names_v25.json"
+  manifest.parent.mkdir()
+  manifest.write_text(json.dumps({"models": [{"id": "old"}]}) + "\n")
+  source = tmp_path / "model.onnx"
+  calls = []
+  info = parse_pasted_release(RELEASE_TEXT, "bmrlnapv4", "v16")
+  result = {
+    "path": str(artifact_dir),
+    "files": ["bmrlnapv4_driving_tinygrad.pkl"],
+    "size": 123,
+    "sha256": "a" * 64,
+    "chunk_count": 0,
+  }
+
+  monkeypatch.setattr(model_release, "hf_copy", lambda source, bucket, remote: calls.append(("copy", remote)))
+
+  def fake_prepare(path, release_info, release_result, bucket, version):
+    calls.append(("prepare", path.name))
+    return path
+
+  monkeypatch.setattr(model_release, "prepare_huggingface_manifest", fake_prepare)
+  returned = upload_huggingface(
+    info, result, tmp_path, "owner/resources", "v25", manifest, True, source,
+  )
+
+  assert returned == manifest
+  assert calls == [
+    ("copy", "models/v25/bmrlnapv4/bmrlnapv4_driving_tinygrad.pkl"),
+    ("copy", "onnx/bmrlnapv4/model.onnx"),
+    ("prepare", "model_names_v25.json"),
+    ("copy", "manifests/model_names_v25.json"),
+  ]
@@ -652,9 +652,6 @@ class Controls:
      elif CC.latActive and CS.steeringPressed and CS.steeringTorque * blinker_dir < 0.0 and \
           self.curvature * blinker_dir > CURVATURE_HOLD_CONFIRM_MIN and \
           self.turn_blinker_swept < CURVATURE_HOLD_CONFIRM_SWEPT:
-        # an active driver push into the signaled turn BEFORE the turn is made is fresh
-        # turn intent: re-arm the cycle even after a prior handoff. A long blinker-on
-        # approach can latch done on a trivial micro-handoff and lock out
        # nudge-to-commit ten seconds later at the real turn (0000087f seg 1: +418 haul
        # unassisted). The swept gate keeps a light same-direction touch during the
        # EXIT unwind from re-latching a large hold against the model's recentering
@@ -632,6 +632,9 @@ class LatControlTorque(LatControl):
        output_torque *= get_kia_ev6_center_output_scale(setpoint, CS.vEgo)
      elif kia_carnival_active:
        output_torque *= kia_carnival_center_taper
+        output_torque *= get_kia_carnival_unwind_output_scale(
+          setpoint, measurement, desired_lateral_jerk, CS.vEgo,
+        )
        output_torque *= get_kia_carnival_highway_transition_output_scale(setpoint, desired_lateral_jerk, CS.vEgo)
      elif palisade_active:
        output_torque *= get_palisade_center_output_scale(setpoint, CS.vEgo)
@@ -314,7 +314,7 @@ GENESIS_G70_LOW_SPEED_OUTPUT_LIMIT_LAT = 0.14
 GENESIS_G70_LOW_SPEED_OUTPUT_LIMIT_LAT_WIDTH = 0.05
 GENESIS_G70_LOW_SPEED_OUTPUT_LIMIT_SPEED = 6.0
 GENESIS_G70_LOW_SPEED_OUTPUT_LIMIT_SPEED_WIDTH = 1.5
-GENESIS_G70_CURVE_UNWIND_OUTPUT_REDUCTION_MAX = 0.08
+GENESIS_G70_CURVE_UNWIND_OUTPUT_REDUCTION_MAX = 0.10
 GENESIS_G70_CURVE_UNWIND_SPEED = 18.0
 GENESIS_G70_CURVE_UNWIND_SPEED_WIDTH = 3.0
 GENESIS_G70_CURVE_UNWIND_LAT = 0.25
@@ -629,6 +629,15 @@ KIA_CARNIVAL_UNWIND_FF_OVERSHOOT = 0.08
 KIA_CARNIVAL_UNWIND_FF_OVERSHOOT_WIDTH = 0.06
 KIA_CARNIVAL_UNWIND_FF_JERK = 0.45
 KIA_CARNIVAL_UNWIND_FF_JERK_WIDTH = 0.20
+KIA_CARNIVAL_UNWIND_OUTPUT_DAMPING_MAX = 0.28
+KIA_CARNIVAL_UNWIND_OUTPUT_DAMPING_SPEED = 8.0
+KIA_CARNIVAL_UNWIND_OUTPUT_DAMPING_SPEED_WIDTH = 2.0
+KIA_CARNIVAL_UNWIND_OUTPUT_DAMPING_SPEED_CUTOFF = 16.0
+KIA_CARNIVAL_UNWIND_OUTPUT_DAMPING_SPEED_CUTOFF_WIDTH = 2.5
+KIA_CARNIVAL_UNWIND_OUTPUT_DAMPING_OVERSHOOT = 0.25
+KIA_CARNIVAL_UNWIND_OUTPUT_DAMPING_OVERSHOOT_WIDTH = 0.15
+KIA_CARNIVAL_UNWIND_OUTPUT_DAMPING_JERK = 0.45
+KIA_CARNIVAL_UNWIND_OUTPUT_DAMPING_JERK_WIDTH = 0.20

 TUCSON_4TH_GEN_CENTER_TAPER_MAX = 0.44
 TUCSON_4TH_GEN_CENTER_TAPER_LAT = 0.28
@@ -2854,6 +2863,27 @@ def get_kia_carnival_unwind_ff_scale(setpoint: float, measured_lateral_accel: fl
  return 1.0 - (KIA_CARNIVAL_UNWIND_FF_REDUCTION_MAX * speed_weight * overshoot_weight * jerk_weight)


+def get_kia_carnival_unwind_output_scale(setpoint: float, measured_lateral_accel: float,
+                                         desired_lateral_jerk: float, v_ego: float) -> float:
+  if (setpoint * desired_lateral_jerk >= 0.0 or
+      setpoint * measured_lateral_accel <= 0.0):
+    return 1.0
+
+  overshoot = max(abs(measured_lateral_accel) - abs(setpoint), 0.0)
+  if overshoot <= 0.0:
+    return 1.0
+
+  speed_weight = (_sigmoid((v_ego - KIA_CARNIVAL_UNWIND_OUTPUT_DAMPING_SPEED) /
+                           KIA_CARNIVAL_UNWIND_OUTPUT_DAMPING_SPEED_WIDTH) *
+                  _sigmoid((KIA_CARNIVAL_UNWIND_OUTPUT_DAMPING_SPEED_CUTOFF - v_ego) /
+                           KIA_CARNIVAL_UNWIND_OUTPUT_DAMPING_SPEED_CUTOFF_WIDTH))
+  overshoot_weight = _sigmoid((overshoot - KIA_CARNIVAL_UNWIND_OUTPUT_DAMPING_OVERSHOOT) /
+                              KIA_CARNIVAL_UNWIND_OUTPUT_DAMPING_OVERSHOOT_WIDTH)
+  jerk_weight = _sigmoid((abs(desired_lateral_jerk) - KIA_CARNIVAL_UNWIND_OUTPUT_DAMPING_JERK) /
+                         KIA_CARNIVAL_UNWIND_OUTPUT_DAMPING_JERK_WIDTH)
+  return 1.0 - (KIA_CARNIVAL_UNWIND_OUTPUT_DAMPING_MAX * speed_weight * overshoot_weight * jerk_weight)
+
+
 def _tucson_4th_gen_center_weights(desired_lateral_accel: float, v_ego: float) -> tuple[float, float]:
  speed_weight = _sigmoid((TUCSON_4TH_GEN_CENTER_TAPER_SPEED_MAX - v_ego) / TUCSON_4TH_GEN_CENTER_TAPER_SPEED_WIDTH)
  center_weight = _sigmoid((TUCSON_4TH_GEN_CENTER_TAPER_LAT - abs(desired_lateral_accel)) / TUCSON_4TH_GEN_CENTER_TAPER_LAT_WIDTH)
@@ -3126,8 +3156,6 @@ def get_genesis_gv70_unwind_ff_scale(setpoint: float, measured_lateral_accel: fl
    return 1.0

  overshoot = max(abs(measured_lateral_accel) - abs(setpoint), 0.0)
-  if overshoot <= 0.0:
-    return 1.0
  overshoot_weight = _sigmoid((overshoot - GENESIS_GV70_UNWIND_FF_OVERSHOOT) /
                              GENESIS_GV70_UNWIND_FF_OVERSHOOT_WIDTH)
  jerk_weight = _sigmoid((abs(desired_lateral_jerk) - GENESIS_GV70_UNWIND_FF_JERK) /
@@ -262,7 +262,7 @@ class LongControl:
        output_accel = min(output_accel, 0.0)
        output_accel -= starpilot_toggles.stoppingDecelRate * DT_CTRL
      output_accel = self.vehicle_tuning.shape_stopping_accel(
-        output_accel, a_target, should_stop, CS.vEgo, has_lead, starpilot_toggles.stopAccel,
+        output_accel, a_target, should_stop, CS.vEgo, has_lead, starpilot_toggles.stopAccel, leads=leads,
      )
      output_accel = self._apply_moving_stop_target_follow(output_accel, a_target, should_stop, CS, starpilot_toggles)
      self.reset(preserve_stop_release=True)
@@ -3,6 +3,7 @@ import numpy as np
 from opendbc.car.gm.values import CAR, GMFlags
 from opendbc.car.subaru.values import CAR as SUBARU_CAR
 from opendbc.car.toyota.values import CAR as TOYOTA_CAR
+from opendbc.car.volkswagen.values import CAR as VOLKSWAGEN_CAR
 from openpilot.common.realtime import DT_CTRL
 from openpilot.starpilot.common.testing_grounds import testing_ground

@@ -63,6 +64,12 @@ HYUNDAI_ELANTRA_FINAL_STOP_URGENCY_MARGIN = 0.45
 HYUNDAI_SANTA_FE_FINAL_STOP_MAX_SPEED = 1.0
 HYUNDAI_SANTA_FE_FINAL_STOP_CAP_BP = [0.0, 0.2, 0.5, HYUNDAI_SANTA_FE_FINAL_STOP_MAX_SPEED]
 HYUNDAI_SANTA_FE_FINAL_STOP_CAP_V = [-0.25, -0.30, -0.50, -0.90]
+VOLKSWAGEN_TAOS_COMFORT_STOP_MAX_SPEED = 4.5
+VOLKSWAGEN_TAOS_COMFORT_STOP_MIN_DISTANCE = 5.0
+VOLKSWAGEN_TAOS_COMFORT_STOP_MIN_TTC = 4.0
+VOLKSWAGEN_TAOS_COMFORT_STOP_MAX_CLOSING_SPEED = 1.5
+VOLKSWAGEN_TAOS_COMFORT_STOP_CAP_BP = [0.0, 0.5, 1.0, 2.0, 3.5, VOLKSWAGEN_TAOS_COMFORT_STOP_MAX_SPEED]
+VOLKSWAGEN_TAOS_COMFORT_STOP_CAP_V = [-0.45, -0.55, -0.65, -0.80, -0.95, -1.10]


 def get_bolt_acc_pedal_friction_bias(output_accel, a_target, v_ego):
@@ -152,6 +159,10 @@ class LongControlVehicleTuning:
    self.is_hyundai_santa_fe_2022 = bool(
      CP.brand == "hyundai" and str(getattr(CP, "carFingerprint", "")) == "HYUNDAI_SANTA_FE_2022"
    )
+    self.is_volkswagen_taos = bool(
+      CP.brand == "volkswagen" and
+      str(getattr(CP, "carFingerprint", "")) == str(VOLKSWAGEN_CAR.VOLKSWAGEN_TAOS_MK1)
+    )
    self.is_bolt_acc_pedal_friction_car = bool(
      CP.brand == "gm" and
      CP.enableGasInterceptorDEPRECATED and
@@ -172,8 +183,32 @@ class LongControlVehicleTuning:
    self.bolt_start_handoff_frames = 0
    self.subaru_stop_release_frames = 0

-  def shape_stopping_accel(self, output_accel, a_target, should_stop, v_ego, has_lead, stop_accel):
+  def shape_stopping_accel(self, output_accel, a_target, should_stop, v_ego, has_lead, stop_accel, leads=None):
    """Shape low-speed stop braking without overriding urgent targets."""
+    if self.is_volkswagen_taos and should_stop and has_lead and v_ego < VOLKSWAGEN_TAOS_COMFORT_STOP_MAX_SPEED:
+      comfort_lead = next((
+        lead for lead in (leads or ())
+        if bool(getattr(lead, "status", False)) and
+        abs(float(getattr(lead, "yRel", 0.0))) <= 1.75 and
+        float(getattr(lead, "dRel", 0.0)) > 0.0
+      ), None)
+      if comfort_lead is not None:
+        lead_distance = float(getattr(comfort_lead, "dRel", 0.0))
+        lead_speed = max(0.0, float(getattr(comfort_lead, "vLead", 0.0)))
+        closing_speed = max(0.0, float(v_ego) - lead_speed)
+        ttc = lead_distance / max(closing_speed, 0.1) if closing_speed > 0.1 else float("inf")
+        if (
+          lead_distance >= VOLKSWAGEN_TAOS_COMFORT_STOP_MIN_DISTANCE and
+          ttc >= VOLKSWAGEN_TAOS_COMFORT_STOP_MIN_TTC and
+          closing_speed <= VOLKSWAGEN_TAOS_COMFORT_STOP_MAX_CLOSING_SPEED
+        ):
+          comfort_cap = float(interp(
+            v_ego,
+            VOLKSWAGEN_TAOS_COMFORT_STOP_CAP_BP,
+            VOLKSWAGEN_TAOS_COMFORT_STOP_CAP_V,
+          ))
+          return max(float(output_accel), comfort_cap)
+
    if (
      self.is_hyundai_elantra_2021 and
      should_stop and
@@ -38,6 +38,10 @@ HONDA_BOSCH_A_CHALLENGER_STALE_CYCLES = 2
 HONDA_BOSCH_A_GROSS_DISTANCE_STALE_CYCLES = 3
 HONDA_BOSCH_A_GROSS_DISTANCE_M = 25.0

+POST_STANDSTILL_RADAR_LEAD_PERSISTENCE_FRAMES = 3
+POST_STANDSTILL_RADAR_LEAD_URGENT_TTC = 1.5
+POST_STANDSTILL_RADAR_LEAD_URGENT_DISTANCE = 1.5
+

 def is_bosch_a_radar_car(CP) -> bool:
  return CP.brand == "honda" and CP.carFingerprint in HONDA_BOSCH_A and not CP.radarUnavailable
@@ -242,10 +246,17 @@ def g90_low_speed_radar_lead_sane(track: Track, v_ego: float) -> bool:


 def honda_bosch_a_low_speed_radar_lead_sane(track: Track, v_ego: float) -> bool:
-  """Require a few real Bosch sweeps before a radar-only low-speed takeover."""
  return track.cnt >= HONDA_BOSCH_A_LOW_SPEED_MIN_COUNT and track.potential_low_speed_lead(v_ego)


+def post_standstill_radar_lead_is_urgent(lead: dict[str, Any]) -> bool:
+  d_rel = float(lead.get("dRel", math.inf))
+  v_rel = float(lead.get("vRel", 0.0))
+  closing_speed = max(-v_rel, 0.0)
+  ttc = d_rel / closing_speed if closing_speed > 0.1 else math.inf
+  return d_rel <= POST_STANDSTILL_RADAR_LEAD_URGENT_DISTANCE or ttc <= POST_STANDSTILL_RADAR_LEAD_URGENT_TTC
+
+
 def track_matches_vision(track: Track, lead: capnp._DynamicStructReader, v_ego: float, *,
                         dist_scale: float, dist_floor: float, vel_limit: float,
                         y_std_scale: float, y_floor: float) -> bool:
@@ -454,6 +465,11 @@ class RadarD:
    self.preferred_stale_track_ids = [-1, -1]
    self.preferred_challenger_stale_counts = [0, 0]
    self.preferred_gross_distance_stale_counts = [0, 0]
+    self._was_standstill = False
+    self._standstill_had_lead = False
+    self._post_standstill_gate_active = False
+    self._post_standstill_candidate_id = -1
+    self._post_standstill_candidate_frames = 0

    self.v_ego = 0.0
    self.v_ego_hist = deque([0.0], maxlen=int(round(delay / DT_MDL)) + 1)
@@ -525,9 +541,57 @@ class RadarD:
      self.prev_lead_track_ids[lead_index] = -1
      self._reset_preferred_stale_evidence(lead_index)

+  def _prepare_post_standstill_gate(self, standstill: bool) -> None:
+    if standstill:
+      self._post_standstill_gate_active = False
+      self._post_standstill_candidate_id = -1
+      self._post_standstill_candidate_frames = 0
+    elif self._was_standstill and not self._standstill_had_lead:
+      self._post_standstill_gate_active = True
+      self._post_standstill_candidate_id = -1
+      self._post_standstill_candidate_frames = 0
+
+  def _filter_post_standstill_lead(self, lead: dict[str, Any]) -> dict[str, Any]:
+    if not self._post_standstill_gate_active:
+      return lead
+
+    model_lead = float(lead.get("modelProb", 0.0)) > float(
+      getattr(self.starpilot_toggles, "lead_detection_probability", 0.35))
+    radar_only = bool(lead.get("status", False) and lead.get("radar", False) and not model_lead)
+    if not radar_only:
+      if lead.get("status", False):
+        self._post_standstill_gate_active = False
+      self._post_standstill_candidate_id = -1
+      self._post_standstill_candidate_frames = 0
+      return lead
+
+    track_id = int(lead.get("radarTrackId", -1))
+    if track_id == self._post_standstill_candidate_id:
+      self._post_standstill_candidate_frames += 1
+    else:
+      self._post_standstill_candidate_id = track_id
+      self._post_standstill_candidate_frames = 1
+
+    persistent = self._post_standstill_candidate_frames >= POST_STANDSTILL_RADAR_LEAD_PERSISTENCE_FRAMES
+    if persistent or post_standstill_radar_lead_is_urgent(lead):
+      self._post_standstill_gate_active = False
+      return lead
+
+    return {"status": False}
+
+  def _remember_post_standstill_state(self, standstill: bool, lead_status: bool) -> None:
+    if standstill:
+      self._was_standstill = True
+      self._standstill_had_lead |= lead_status
+    else:
+      self._was_standstill = False
+      self._standstill_had_lead = False
+
  def update(self, sm: messaging.SubMaster, rr: car.RadarData):
    self.ready = sm.seen['modelV2']
    self.current_time = 1e-9 * max(sm.logMonoTime.values())
+    standstill = bool(sm['carState'].standstill)
+    self._prepare_post_standstill_gate(standstill)

    if sm.recv_frame['carState'] != self.last_v_ego_frame:
      self.v_ego = sm['carState'].vEgo
@@ -585,11 +649,12 @@ class RadarD:

        self._update_honda_bosch_a_preferred_staleness(i, leads_v3[i], self.lead_prob_filters[i].x)

-      self.radar_state.leadOne = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[0], model_v_ego, sm['modelV2'],
-                                          sm['carState'].standstill, sm['starpilotPlan'], self.starpilot_toggles, low_speed_override=True,
-                                          g90_radar_filter=self.g90_radar_filter, lead_prob=self.lead_prob_filters[0].x,
-                                          preferred_track_id=self.prev_lead_track_ids[0],
-                                          honda_bosch_a_radar=self.honda_bosch_a_radar)
+      lead_one = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[0], model_v_ego, sm['modelV2'],
+                          standstill, sm['starpilotPlan'], self.starpilot_toggles, low_speed_override=True,
+                          g90_radar_filter=self.g90_radar_filter, lead_prob=self.lead_prob_filters[0].x,
+                          preferred_track_id=self.prev_lead_track_ids[0],
+                          honda_bosch_a_radar=self.honda_bosch_a_radar)
+      self.radar_state.leadOne = self._filter_post_standstill_lead(lead_one)
      self.radar_state.leadTwo = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[1], model_v_ego, sm['modelV2'],
                                          sm['carState'].standstill, sm['starpilotPlan'], self.starpilot_toggles, low_speed_override=False,
                                          g90_radar_filter=self.g90_radar_filter, lead_prob=self.lead_prob_filters[1].x,
@@ -616,6 +681,8 @@ class RadarD:
    if self.ready:
      self.starpilot_radar_state.adjacentStopped = get_adjacent_stopped(self.tracks, sm['modelV2'])

+    self._remember_post_standstill_state(standstill, bool(self.radar_state.leadOne.status))
+
    self.starpilot_toggles = get_starpilot_toggles(sm)

  def publish(self, pm: messaging.PubMaster):
@@ -0,0 +1,117 @@
+"""Exact class and planner branch, fake clocks/scene/Params; no native runtime."""
+import ast
+from pathlib import Path
+from types import SimpleNamespace as NS
+import pytest
+
+ROOT = Path(__file__).resolve().parents[3]
+
+def make_modes():
+  now = [100.0]
+  statuses = {'OFF': 0, 'LEAD': 1, 'SPEED': 2, 'USER_EXPERIMENTAL': 99, 'USER_OVERRIDDEN': 99}
+  memory = {}
+  params = NS(get_bool=lambda _: False)
+  planner = NS(params=params, params_memory=NS(put_int=lambda k,v: memory.update({k:v})))
+  ns = {'time': NS(monotonic=lambda: now[0]), 'CV': NS(MPH_TO_MS=0.44704), 'CCStatus': statuses, 'CEStatus': statuses,
+        'restore_persisted_cc_state': lambda *_: memory.get('manual', 0), 'restore_persisted_ce_state': lambda *_: memory.get('manual', 0),
+        'is_manual_cc_status': lambda s: s == 99, 'is_manual_ce_status': lambda s: s == 99,
+        'FirstOrderFilter': lambda *args: NS(x=0), 'DT_MDL': .05}
+  for file, name in [('conditional_chill_mode.py','ConditionalChillMode'), ('conditional_experimental_mode.py','ConditionalExperimentalMode')]:
+    path = ROOT/'starpilot/controls/lib'/file
+    cls = next(n for n in ast.parse(path.read_text()).body if isinstance(n, ast.ClassDef) and n.name == name)
+    exec(compile(ast.Module(body=[cls], type_ignores=[]), str(path), 'exec'), ns)
+  cem = ns['ConditionalExperimentalMode'](planner)
+  ccm = ns['ConditionalChillMode'](planner, cem)
+  planner.starpilot_cem, planner.starpilot_ccm = cem, ccm
+  ccm._refresh_detector = lambda *_: None
+  ccm._get_chill_status = lambda *_: (1, False)
+  ccm._has_hard_veto = lambda *a, **k: False
+  cem.update_conditions = lambda *_: None
+  cem.check_conditions = lambda *_: False
+  cem.stop_sign_and_light = lambda *_: None
+  return planner, now, memory
+
+def branch(planner, mode):
+  path = ROOT/'starpilot/controls/starpilot_planner.py'
+  node = next(n for n in ast.walk(ast.parse(path.read_text())) if isinstance(n, ast.If) and ast.unparse(n.test).startswith('conditional_tracking_active and'))
+  exec(compile(ast.Module(body=[node],type_ignores=[]), str(path), 'exec'),
+       {'self': planner, 'conditional_tracking_active': True, 'starpilot_toggles': NS(conditional_experimental_mode=mode=='cem', conditional_chill_mode=mode=='ccm'), 'v_ego':20, 'v_cruise':30, 'sm':{}, 'PLANNER_TIME':10})
+
+@pytest.mark.parametrize('absence', [.1, 100])
+@pytest.mark.parametrize('other', ['fixed', 'cem'])
+def test_ccm_reentry_requires_new_confirmation(absence, other):
+  p, now, _ = make_modes()
+  p.starpilot_ccm.update(20,30,{},NS())
+  original_update = p.starpilot_cem.update
+  p.starpilot_cem.update = lambda *_: None
+  branch(p, other)
+  p.starpilot_cem.update = original_update
+  now[0] += absence
+  p.starpilot_ccm.update(20,30,{},NS())
+  assert p.starpilot_ccm.experimental_mode
+  assert p.starpilot_ccm._candidate_since == now[0]
+  now[0] += 1.01
+  p.starpilot_ccm.update(20,30,{},NS())
+  assert not p.starpilot_ccm.experimental_mode
+
+@pytest.mark.parametrize('other', ['fixed', 'ccm'])
+def test_cem_reentry_does_not_inherit_mode_hold(other):
+  p, now, _ = make_modes()
+  cem = p.starpilot_cem
+  cem.prev_experimental_mode = True
+  cem.mode_hold_until = now[0] + .5
+  cem.slow_lead_mode_hold_until = now[0] + 1.5
+  original_update = p.starpilot_ccm.update
+  p.starpilot_ccm.update = lambda *_: None
+  branch(p, other)
+  p.starpilot_ccm.update = original_update
+  now[0] += .1
+  cem.update(20, {'carState': NS(standstill=False)}, NS(conditional_lead=False,conditional_open_road=False))
+  assert not cem.experimental_mode
+
+@pytest.mark.parametrize('other', ['fixed', 'cem'])
+def test_ccm_manual_override_survives_deactivation(other):
+  p, _, memory = make_modes()
+  memory['manual'] = 99
+  p.starpilot_cem.update = lambda *_: None
+  branch(p, other)
+  p.starpilot_ccm.update(20,30,{},NS())
+  assert p.starpilot_ccm.experimental_mode
+  assert memory['manual'] == 99
+
+def test_cem_deactivation_retains_shared_hazard_detector_state():
+  p, _, _ = make_modes()
+  cem = p.starpilot_cem
+  cem.stop_light_detected = True
+  cem.stop_light_filter.x = .9
+  cem.standstill_stop_reason = 'sign'
+  branch(p, 'fixed')
+  assert cem.stop_light_detected and cem.stop_light_filter.x == .9
+  assert cem.standstill_stop_reason == 'sign'
+
+
+@pytest.mark.parametrize('condition', ['none', 'veto', 'safe'])
+def test_ccm_reentry_still_honors_current_scene_and_safety(condition):
+  p, now, _ = make_modes()
+  ccm = p.starpilot_ccm
+  ccm.update(20,30,{},NS())
+  branch(p, 'fixed')
+  now[0] += 100
+  if condition == 'none':
+    ccm._get_chill_status = lambda *_: (0, False)
+  elif condition == 'veto':
+    ccm._has_hard_veto = lambda *a, **k: True
+  else:
+    p.params.get_bool = lambda key: key == 'SafeMode'
+  ccm.update(20,30,{},NS())
+  assert ccm.experimental_mode == (condition != 'safe')
+  assert ccm._candidate_since == 0
+
+
+def test_cem_manual_override_survives_inactive_interval():
+  p, _, memory = make_modes()
+  memory['manual'] = 99
+  branch(p, 'fixed')
+  p.starpilot_cem.update(20, {'carState': NS(standstill=False)}, NS())
+  assert p.starpilot_cem.experimental_mode
+  assert memory['manual'] == 99
@@ -161,6 +161,7 @@ from openpilot.selfdrive.controls.lib.latcontrol_torque import (
  get_kia_carnival_friction_threshold,
  get_kia_carnival_highway_transition_output_scale,
  get_kia_carnival_unwind_ff_scale,
+  get_kia_carnival_unwind_output_scale,
  get_kia_stinger_2022_center_taper_scale,
  get_kia_stinger_2022_friction_threshold,
  get_tucson_4th_gen_center_taper_scale,
@@ -742,6 +743,17 @@ class TestLatControl:
    low_speed_exit = get_kia_carnival_unwind_ff_scale(0.31, 0.43, -0.88, 11.0)
    assert low_speed_exit < 0.90

+  def test_kia_carnival_unwind_output_scale_is_bounded_and_phase_gated(self):
+    steady_turn = get_kia_carnival_unwind_output_scale(0.80, 0.90, 0.60, 11.0)
+    clean_unwind = get_kia_carnival_unwind_output_scale(0.20, 0.20, -1.5, 11.0)
+    overshooting_unwind = get_kia_carnival_unwind_output_scale(0.20, 0.90, -1.5, 11.0)
+    high_speed_overshoot = get_kia_carnival_unwind_output_scale(0.20, 0.90, -1.5, 25.0)
+
+    assert steady_turn == pytest.approx(1.0)
+    assert clean_unwind == pytest.approx(1.0)
+    assert 0.70 < overshooting_unwind < 1.0
+    assert high_speed_overshoot > overshooting_unwind
+
  def test_genesis_g90_ff_scale_curve(self):
    assert get_genesis_g90_ff_scale(0.0, 0.0, 20.0) == 1.0
    assert get_genesis_g90_ff_scale(0.5, 0.0, 20.0) > get_genesis_g90_ff_scale(-0.5, 0.0, 20.0)
@@ -771,9 +783,13 @@ class TestLatControl:
    assert base > left_unwind > right_unwind

  def test_genesis_gv70_unwind_ff_scale(self):
-    assert get_genesis_gv70_unwind_ff_scale(-0.3, -0.3, 0.8, 15.0) == 1.0
+    steady_unwind = get_genesis_gv70_unwind_ff_scale(-0.3, -0.3, 0.8, 15.0)
+    assert steady_unwind < 1.0
    assert get_genesis_gv70_unwind_ff_scale(-0.3, 0.1, 0.8, 15.0) == 1.0
+    assert get_genesis_gv70_unwind_ff_scale(-0.3, -0.3, -0.8, 15.0) == 1.0

+    early_unwind = get_genesis_gv70_unwind_ff_scale(-0.7, -0.6, 0.8, 15.0)
+    assert early_unwind < 1.0
    reduced = get_genesis_gv70_unwind_ff_scale(-0.2, -1.0, 1.0, 20.0)
    assert 0.6 < reduced < 1.0
    assert get_genesis_gv70_unwind_ff_scale(-0.2, -1.0, -1.0, 20.0) == 1.0
@@ -967,7 +983,7 @@ class TestLatControl:
      get_genesis_g70_high_speed_transition_scale(0.0, 0.8, 65.0 * 0.44704)
    assert get_genesis_g70_high_speed_transition_scale(0.0, 0.8, 20.0 * 0.44704) > \
      get_genesis_g70_high_speed_transition_scale(0.0, 0.8, 65.0 * 0.44704)
-    assert 0.90 < get_genesis_g70_curve_unwind_output_scale(0.7, -0.5, 25.0) < 1.0
+    assert 0.88 < get_genesis_g70_curve_unwind_output_scale(0.7, -0.5, 25.0) < 1.0
    assert get_genesis_g70_curve_unwind_output_scale(0.7, 0.5, 25.0) == 1.0
    assert get_genesis_g70_angle_output_scale(55.0, 1.0) > get_genesis_g70_angle_output_scale(85.0, 1.0)
    assert get_genesis_g70_angle_output_scale(85.0, -1.0) == pytest.approx(1.0)
@@ -12,6 +12,8 @@ from openpilot.selfdrive.controls.radard import (
  DT_MDL,
  HONDA_BOSCH_A_RADAR_TS,
  RadarD,
+  POST_STANDSTILL_RADAR_LEAD_PERSISTENCE_FRAMES,
+  post_standstill_radar_lead_is_urgent,
  g90_low_speed_radar_lead_sane,
  g90_radar_lead_lateral_sane,
  has_slow_radar_tracks,
@@ -106,6 +108,64 @@ class TestLeads:
    assert not has_slow_radar_tracks(normal_radar)
    assert not has_slow_radar_tracks(unavailable_radar)

+  @staticmethod
+  def make_radar_only_lead(track_id: int, d_rel: float = 8.0, v_rel: float = 0.0):
+    return {
+      "status": True,
+      "radar": True,
+      "modelProb": 0.0,
+      "radarTrackId": track_id,
+      "dRel": d_rel,
+      "vRel": v_rel,
+    }
+
+  def test_post_standstill_radar_lead_requires_same_track_persistence(self):
+    radar = RadarD()
+    radar._post_standstill_gate_active = True
+    lead = self.make_radar_only_lead(42)
+
+    assert not radar._filter_post_standstill_lead(lead)["status"]
+    assert not radar._filter_post_standstill_lead(lead)["status"]
+    assert radar._filter_post_standstill_lead(lead)["status"]
+    assert radar._post_standstill_candidate_frames == POST_STANDSTILL_RADAR_LEAD_PERSISTENCE_FRAMES
+
+  def test_post_standstill_radar_lead_resets_for_new_track(self):
+    radar = RadarD()
+    radar._post_standstill_gate_active = True
+
+    assert not radar._filter_post_standstill_lead(self.make_radar_only_lead(42))["status"]
+    assert not radar._filter_post_standstill_lead(self.make_radar_only_lead(43))["status"]
+    assert radar._post_standstill_candidate_frames == 1
+
+  def test_post_standstill_gate_only_arms_after_no_lead_stop(self):
+    radar = RadarD()
+    radar._remember_post_standstill_state(standstill=True, lead_status=False)
+    radar._prepare_post_standstill_gate(standstill=False)
+    assert radar._post_standstill_gate_active
+
+    radar = RadarD()
+    radar._remember_post_standstill_state(standstill=True, lead_status=True)
+    radar._prepare_post_standstill_gate(standstill=False)
+    assert not radar._post_standstill_gate_active
+
+  def test_post_standstill_model_lead_bypasses_gate(self):
+    radar = RadarD()
+    radar._post_standstill_gate_active = True
+    lead = self.make_radar_only_lead(42)
+    lead["modelProb"] = 0.9
+
+    assert radar._filter_post_standstill_lead(lead)["status"]
+    assert not radar._post_standstill_gate_active
+
+  def test_post_standstill_urgent_radar_lead_bypasses_gate(self):
+    radar = RadarD()
+    radar._post_standstill_gate_active = True
+    lead = self.make_radar_only_lead(42, d_rel=3.0, v_rel=-2.1)
+
+    assert post_standstill_radar_lead_is_urgent(lead)
+    assert radar._filter_post_standstill_lead(lead)["status"]
+    assert not radar._post_standstill_gate_active
+
  @pytest.mark.skipif(platform.system() == "Darwin", reason="SocketEventHandle requires eventfd")
  def test_radar_fault(self):
    # if there's no radar-related can traffic, radard should either not respond or respond with an error
@@ -8,6 +8,7 @@ import openpilot.selfdrive.controls.lib.longcontrol_vehicle_tunes as vehicle_tun
 from opendbc.car.gm.values import CAR, GMFlags
 from opendbc.car.subaru.values import CAR as SUBARU_CAR
 from opendbc.car.toyota.values import CAR as TOYOTA_CAR
+from opendbc.car.volkswagen.values import CAR as VOLKSWAGEN_CAR
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.controls.lib.longcontrol import (
  LongControl,
@@ -1236,6 +1237,34 @@ def test_santa_fe_final_stop_cap_softens_only_last_kmh():
  assert tuning.shape_stopping_accel(-2.0, 0.3, False, 0.2, False, -2.0) == pytest.approx(-2.0)


+def test_taos_comfort_stop_cap_softens_non_urgent_moving_lead():
+  CP = make_longcontrol_cp(
+    brand="volkswagen",
+    carFingerprint=VOLKSWAGEN_CAR.VOLKSWAGEN_TAOS_MK1,
+  )
+  tuning = vehicle_tunes.LongControlVehicleTuning(CP)
+  moving_lead = SimpleNamespace(status=True, dRel=7.0, vLead=2.6, yRel=0.0)
+
+  output = tuning.shape_stopping_accel(
+    -1.88, -2.12, True, 3.4, True, -0.55, leads=(moving_lead,)
+  )
+
+  assert output == pytest.approx(-0.94)
+
+
+def test_taos_comfort_stop_cap_preserves_urgent_lead_braking():
+  CP = make_longcontrol_cp(
+    brand="volkswagen",
+    carFingerprint=VOLKSWAGEN_CAR.VOLKSWAGEN_TAOS_MK1,
+  )
+  tuning = vehicle_tunes.LongControlVehicleTuning(CP)
+  stopped_lead = SimpleNamespace(status=True, dRel=6.0, vLead=0.2, yRel=0.0)
+
+  assert tuning.shape_stopping_accel(
+    -1.88, -2.12, True, 3.4, True, -0.55, leads=(stopped_lead,)
+  ) == pytest.approx(-1.88)
+
+
 def test_toyota_sienna_target_filter_smooths_mild_high_speed_handoffs():
  CP = make_longcontrol_cp(brand="toyota", carFingerprint=TOYOTA_CAR.TOYOTA_SIENNA_4TH_GEN)
  tuning = vehicle_tunes.LongControlVehicleTuning(CP)
--- a/Show More
+++ b/Show More
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firestar5683	95a7f3b398	Connor	2026-09-09 17:58:50 -05:00
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firestar5683	b7775991bf	build	2026-09-09 15:33:21 -05:00
firestar5683	eedd73e522	iPhone FoldGate	2026-09-09 15:32:38 -05:00