test10

force stop: fast approach 2
Revert "Stops on curves false positives"
2026-08-25 10:13:43 +08:00 · 2026-08-24 20:59:30 -05:00 · 2026-08-24 20:13:13 -05:00 · 2026-08-24 20:03:54 -05:00 · 2026-08-24 23:53:55 +00:00 · 2026-08-24 18:38:25 -05:00
178 changed files with 15968 additions and 1922 deletions
@@ -224,6 +224,7 @@ struct StarPilotPlan @0xf98d843bfd7004a3 {
  cscOverridden @38 :Bool;          # driver cancelled this curve with RES+
  cscLearnedLatAccel @39 :Float32;  # learned comfort at the current curvature, before margin
  cscBindingDistance @40 :Float32;  # distance to the horizon point setting the target, m
+  approachStopLength @41 :Float32;  # pre-commit distance to a detected stop, m; 0 when off
 }

 struct StarPilotRadarState @0xb86e6369214c01c8 {
@@ -472,6 +472,10 @@ struct CanData {
 struct DeviceState @0xa4d8b5af2aa492eb {
  deviceType @45 :InitData.DeviceType;

+  # usb
+  chestnutPresent @51 :Bool;
+  usbState @52 :UsbState;
+
  networkType @22 :NetworkType;
  networkInfo @31 :NetworkInfo;
  networkStrength @24 :NetworkStrength;
@@ -503,7 +507,8 @@ struct DeviceState @0xa4d8b5af2aa492eb {
  pmicTempC @39 :List(Float32);
  intakeTempC @46 :Float32;
  exhaustTempC @47 :Float32;
-  caseTempC @48 :Float32;
+  gnssTempC @48 :Float32;
+  bottomSocTempC @50 :Float32;
  maxTempC @44 :Float32;  # max of other temps, used to control fan
  thermalZones @38 :List(ThermalZone);
  thermalStatus @14 :ThermalStatus;
@@ -517,10 +522,10 @@ struct DeviceState @0xa4d8b5af2aa492eb {
  }

  enum ThermalStatus {
-    green @0;
-    yellow @1;
-    red @2;
-    danger @3;
+    ok @0;
+    warmDEPRECATED @1;
+    overheated @2;
+    critical @3;
  }

  enum NetworkType {
@@ -736,6 +741,28 @@ struct PeripheralState {
  }
 }

+struct UsbState {
+  devices @0 :List(Device);
+
+  struct Device {
+    busnum @0 :UInt8;
+    devnum @1 :UInt8;
+    vendorId @2 :UInt16;
+    productId @3 :UInt16;
+    speedMbps @4 :UInt16;
+    manufacturer @6 :Text;
+    product @5 :Text;
+    linkErrorCount @7 :UInt16;
+    usb3Lane @8 :Usb3Lane;
+
+    enum Usb3Lane {
+      unknown @0;
+      a @1;
+      b @2;
+    }
+  }
+}
+
 struct ChestnutState {
  tempC @0 :Float32;
  memoryTempC @1 :Float32;
@@ -1,6 +1,6 @@
 <!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. --->

-# Support Information for 489 Known Cars
+# Support Information for 518 Known Cars

 |Make|Model|Package|Support Level|
 |---|---|---|:---:|
@@ -38,16 +38,26 @@
 |Audi|A5 2016-24|All|[Not compatible](#flexray)|
 |Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 |Audi|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
+|Audi|Q4 e-tron 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
+|Audi|Q4 e-tron 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
 |Audi|Q5 2017-24|All|[Not compatible](#flexray)|
 |Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 |Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 |Buick|Baby Enclave 2020-23|Driver Assist Package|[Upstream](#upstream)|
+|Buick|LaCrosse 2017-19|Driver Confidence Package 2|[Upstream](#upstream)|
 |Buick|LaCrosse ASCM Harness 2017-19|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
 |Buick|LaCrosse US ASCM Harness 2019|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
+|Buick|Regal Essence 2018|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
+|Cadillac|ATS Premium Performance 2018|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
 |Cadillac|CT6 No-ACC 2016-20|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
+|Cadillac|Escalade 2017|Driver Assist Package|[Upstream](#upstream)|
 |Cadillac|Escalade ASCM Harness 2018|Driver Assist Package|[Upstream](#upstream)|
+|Cadillac|Escalade ESV 2016|Adaptive Cruise Control (ACC) & LKAS|[Upstream](#upstream)|
+|Cadillac|Escalade ESV 2019|Adaptive Cruise Control (ACC) & LKAS|[Upstream](#upstream)|
 |Cadillac|Escalade ESV Platinum ASCM Harness 2019|Adaptive Cruise Control (ACC) & LKAS|[Upstream](#upstream)|
+|Cadillac|XT4 2023|Driver Assist Package|[Upstream](#upstream)|
 |Cadillac|XT4 No-ACC 2023|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
+|Cadillac|XT5 2022|Driver Assist Package|[Upstream](#upstream)|
 |Cadillac|XT5 No-ACC 2022|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
 |Cadillac|XT6 2020|Driver Assist Package|[Upstream](#upstream)|
 |Chevrolet|Blazer 2019-25|Driver Assist Package|[Upstream](#upstream)|
@@ -62,13 +72,17 @@
 |Chevrolet|Malibu ASCM Harness 2017-19|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
 |Chevrolet|Malibu Hybrid No-ACC 2017|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
 |Chevrolet|Malibu No-ACC 2023|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
+|Chevrolet|Malibu Premier 2017|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
 |Chevrolet|Silverado 1500 2020-21|Safety Package II|[Upstream](#upstream)|
 |Chevrolet|Silverado 1500 No-ACC 2020-21|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
 |Chevrolet|Suburban Premier 2016-20|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
 |Chevrolet|Suburban Premier No-ACC 2016-20|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
 |Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
 |Chevrolet|Trailblazer No-ACC 2021-22|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
-|Chevrolet|TRAX 2024|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
+|Chevrolet|Traverse 2022-23|RS, Premier, or High Country Trim|[Upstream](#upstream)|
+|Chevrolet|TRAX 2024-25|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
+|Chevrolet|Volt 2017-18|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
+|Chevrolet|Volt 2019|Adaptive Cruise Control (ACC) & LKAS|[Upstream](#upstream)|
 |Chevrolet|Volt ASCM Harness 2017-18|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
 |Chevrolet|Volt Camera Harness 2017-18|Flashed camera-forward integration with ACC|[Upstream](#upstream)|
 |Chevrolet|Volt No-ACC 2017-18|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
@@ -79,8 +93,10 @@
 |Chrysler|Pacifica Hybrid 2019-25|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
 |comma|body|All|[Upstream](#upstream)|
 |CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
+|CUPRA|Born 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
 |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
 |Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|[Upstream](#upstream)|
+|Ford|Edge 2022|Co-Pilot360 Assist+|[Upstream](#upstream)|
 |Ford|Escape 2020-22|Co-Pilot360 Assist+|[Upstream](#upstream)|
 |Ford|Escape 2023-24|Co-Pilot360 Assist+|[Upstream](#upstream)|
 |Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|[Upstream](#upstream)|
@@ -92,8 +108,9 @@
 |Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|[Upstream](#upstream)|
 |Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|[Upstream](#upstream)|
 |Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|[Upstream](#upstream)|
-|Ford|Focus 2018|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)|
-|Ford|Focus Hybrid 2018|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)|
+|Ford|F-150 Lightning 2022-25|Co-Pilot360 Assist 2.0|[Upstream](#upstream)|
+|Ford|Focus 2018-22|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)|
+|Ford|Focus Hybrid 2018-22|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)|
 |Ford|Kuga 2020-23|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)|
 |Ford|Kuga Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)|
 |Ford|Kuga Hybrid 2024|All|[Upstream](#upstream)|
@@ -103,6 +120,7 @@
 |Ford|Maverick 2023-24|Co-Pilot360 Assist|[Upstream](#upstream)|
 |Ford|Maverick Hybrid 2022|LARIAT Luxury|[Upstream](#upstream)|
 |Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|[Upstream](#upstream)|
+|Ford|Mondeo 2014-22|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)|
 |Ford|Mustang Mach-E 2021-24|All|[Upstream](#upstream)|
 |Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)|
 |Ford|Transit 2025|Co-Pilot360 Assist+|[Upstream](#upstream)|
@@ -124,11 +142,13 @@
 |Genesis|GV80 2023|All|[Upstream](#upstream)|
 |Genesis|GV80 (3.5T Prestige Trim, with HDA II & LFA2) 2025|Highway Driving Assist II & Lane Follow Assist 2|[Upstream](#upstream)|
 |Genesis|GV80 Coupe (with HDA II & LFA2) 2025|Highway Driving Assist II & Lane Follow Assist 2|[Upstream](#upstream)|
+|GMC|Acadia 2018|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
 |GMC|Acadia ASCM Harness 2018|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
 |GMC|Sierra 1500 2020-21|Driver Alert Package II|[Upstream](#upstream)|
 |GMC|Sierra 1500 No-ACC 2020-21|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
 |GMC|Yukon 2019-20|Adaptive Cruise Control (ACC) & LKAS|[Upstream](#upstream)|
 |GMC|Yukon No-ACC 2019-20|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
+|Holden|Astra 2017|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
 |Honda|Accord 2016-17|Honda Sensing|[Upstream](#upstream)|
 |Honda|Accord 2016-17|Honda Sensing|[Community](#community)|
 |Honda|Accord 2018-22|All|[Upstream](#upstream)|
@@ -218,8 +238,8 @@
 |Hyundai|Kona Non-SCC 2019|No Smart Cruise Control (Non-SCC)|[Community](community)|
 |Hyundai|Nexo 2021|All|[Upstream](#upstream)|
 |Hyundai|Palisade 2020-22|All|[Upstream](#upstream)|
-|Hyundai|Palisade 2023-24|HDA2|[Community](#community)|
-|Hyundai|Palisade (with HDA II) 2023-24|Highway Driving Assist II|[Upstream](#upstream)|
+|Hyundai|Palisade 2023-25|HDA2|[Community](#community)|
+|Hyundai|Palisade (with HDA II) 2023-25|Highway Driving Assist II|[Upstream](#upstream)|
 |Hyundai|Palisade (without HDA II) 2023-25|Highway Driving Assist|[Upstream](#upstream)|
 |Hyundai|Santa Cruz 2022-24|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Hyundai|Santa Cruz (without HDA II) 2025|Smart Cruise Control (SCC)|[Upstream](#upstream)|
@@ -353,7 +373,9 @@
 |Ram|2500 2020-24|Adaptive Cruise Control (ACC)|[Dashcam mode](#dashcam)|
 |Ram|3500 2019-22|Adaptive Cruise Control (ACC)|[Dashcam mode](#dashcam)|
 |Rivian|R1S 2022-24|All|[Upstream](#upstream)|
+|Rivian|R1S 2025|All|[Upstream](#upstream)|
 |Rivian|R1T 2022-24|All|[Upstream](#upstream)|
+|Rivian|R1T 2025|All|[Upstream](#upstream)|
 |SEAT|Alhambra 2018-20|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
 |SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 |SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
@@ -379,6 +401,8 @@
 |Subaru|Solterra 2023-25|Any|[Not compatible](#can-bus-security)|
 |Subaru|XV 2018-19|EyeSight Driver Assistance|[Upstream](#upstream)|
 |Subaru|XV 2020-21|EyeSight Driver Assistance|[Upstream](#upstream)|
+|Škoda|Enyaq 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
+|Škoda|Enyaq 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
 |Škoda|Fabia 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 |Škoda|Kamiq 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 |Škoda|Karoq 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
@@ -474,6 +498,11 @@
 |Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 |Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 |Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
+|Volkswagen|ID.3 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
+|Volkswagen|ID.3 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
+|Volkswagen|ID.4 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
+|Volkswagen|ID.4 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
+|Volkswagen|ID.5 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
 |Volkswagen|Jetta 2015-18|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
 |Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 |Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
@@ -55,7 +55,7 @@ class CAR(Platforms):

  EXTRA_HYUNDAI = ExtraPlatformConfig(
    [
-      CommunityCarDocs("Hyundai Palisade 2023-24", package="HDA2"),
+      CommunityCarDocs("Hyundai Palisade 2023-25", package="HDA2"),
      CommunityCarDocs("Kia Telluride 2023-24", package="HDA2"),
    ],
  )
@@ -132,11 +132,7 @@ class FordLKASteeringPlatformConfig(FordPlatformConfig):

@dataclass
 class FordF150LightningPlatform(FordCANFDPlatformConfig):
-  def init(self):
-    super().init()
-
-    # Don't show in docs until this issue is resolved. See https://github.com/commaai/openpilot/issues/30302
-    self.car_docs = []
+  pass


 MY_2020, MY_2021, MY_2022, MY_2023, MY_2024, MY_2025 = 'L', 'M', 'N', 'P', 'R', 'S'
@@ -110,8 +110,13 @@ class FwQueryConfig:
  # Function a brand can implement to provide better fuzzy matching. Takes in FW versions and VIN,
  # returns set of candidates. Only will match if one candidate is returned
  match_fw_to_car_fuzzy: Callable[[LiveFwVersions, str, OfflineFwVersions], set[str]] | None = None
+  # Platforms whose shared firmware must be disambiguated by the brand fuzzy matcher.
+  fuzzy_only_platforms: set[str] = field(default_factory=set)

  def __post_init__(self):
+    assert not self.fuzzy_only_platforms or self.match_fw_to_car_fuzzy is not None, \
+      "Fuzzy-only platforms require a brand fuzzy matcher"
+
    # Asserts that a request exists if extra ecus are used
    if len(self.extra_ecus):
      assert len(self.requests), "Must define a request with extra ecus"
@@ -111,7 +111,8 @@ def match_fw_to_car_exact(live_fw_versions: LiveFwVersions, match_brand: str = N

  invalid = set()
  candidates = {c: f for c, f in FW_VERSIONS.items() if
-                is_brand(MODEL_TO_BRAND[c], match_brand)}
+                is_brand(MODEL_TO_BRAND[c], match_brand) and
+                c not in FW_QUERY_CONFIGS[MODEL_TO_BRAND[c]].fuzzy_only_platforms}

  for candidate, fws in candidates.items():
    config = FW_QUERY_CONFIGS[MODEL_TO_BRAND[candidate]]
@@ -214,16 +214,12 @@ class GMPlatformConfig(PlatformConfig):

@dataclass
 class GMASCMPlatformConfig(GMPlatformConfig):
-  def init(self):
-    # ASCM is supported, but due to a janky install and hardware configuration, we are not showing in the car docs
-    self.car_docs = []
+  pass


@dataclass
 class GMSDGMPlatformConfig(GMPlatformConfig):
-  def init(self):
-    # Don't show in docs until the harness is sold. See https://github.com/commaai/openpilot/issues/32471
-    self.car_docs = []
+  pass


 class CAR(Platforms):
@@ -721,15 +721,25 @@ class CarController(CarControllerBase):
  def create_can_msgs(self, apply_steer_req, apply_torque, torque_fault, set_speed_in_units, accel, stopping, hud_control, actuators, CS, CC, lka_icon, lfa_icon):
    can_sends = []
    can_canfd_blended = bool(self.CP.flags & HyundaiFlags.CAN_CANFD_BLENDED)
+    blended_hda2 = can_canfd_blended and bool(self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING)

    # HUD messages
    sys_warning, sys_state, left_lane_warning, right_lane_warning = process_hud_alert(CC.enabled, self.car_fingerprint,
                                                                                      hud_control)

-    if can_canfd_blended and self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING:
+    if blended_hda2:
      can_sends.extend(hyundaicanfd.create_steering_messages(
        self.packer, self.CP, self.CAN, CC.enabled, apply_steer_req, apply_torque, 0.0,
      ))
+      if self.long_active_ecu:
+        can_sends.extend(hyundaican.create_lkas11_can_canfd_blended(
+          self.packer, self.frame, self.CP, apply_torque, apply_steer_req,
+          torque_fault, CS.lkas11, sys_warning, sys_state, CC.enabled,
+          hud_control.leftLaneVisible, hud_control.rightLaneVisible,
+          left_lane_warning, right_lane_warning, CS.msg_364,
+          include_alerts=False,
+          counter_mod=0xF,
+        ))
      if self.frame % 5 == 0:
        can_sends.append(hyundaicanfd.create_suppress_lfa(
          self.packer, self.CAN, CS.lfa_block_msg, False,
@@ -760,13 +770,22 @@ class CarController(CarControllerBase):
        can_sends.extend(self._create_can_redneck_button_messages(CS))

    if self.long_active_ecu and can_canfd_blended:
-      can_sends.extend(hyundaican.create_radar_aux_messages(self.packer, self.CAN, self.frame))
+      if blended_hda2:
+        can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame, blended_hda2=True))
+      can_sends.extend(hyundaican.create_radar_aux_messages(self.packer, self.CAN, self.frame, hda2=blended_hda2))

    if self.frame % 2 == 0 and self.long_active_ecu:
      # TODO: unclear if this is needed
      jerk = 3.0 if actuators.longControlState == LongCtrlState.pid else 1.0
      use_fca = self.CP.flags & HyundaiFlags.USE_FCA.value
-      if can_canfd_blended:
+      if blended_hda2:
+        stopping = stopping and CS.out.vEgoRaw < 0.1
+        can_sends.extend(hyundaican.create_acc_commands_can_canfd_blended_hda2(
+          self.packer, CC.enabled, accel, self.accel_last, jerk, int(self.frame / 2), hud_control,
+          set_speed_in_units, stopping, CC.cruiseControl.override, use_fca, self.CP,
+        ))
+        self.accel_last = accel
+      elif can_canfd_blended:
        can_sends.extend(hyundaican.create_acc_commands_can_canfd_blended(self.packer, CC.enabled, accel, jerk,
                                                                          int(self.frame / 2), hud_control,
                                                                          set_speed_in_units, stopping,
@@ -777,7 +796,7 @@ class CarController(CarControllerBase):
                                                        CC.cruiseControl.override, use_fca, self.CP))

    # 20 Hz LFA MFA message
-    if self.frame % 5 == 0 and self.CP.flags & HyundaiFlags.SEND_LFA.value:
+    if self.frame % 5 == 0 and (self.CP.flags & HyundaiFlags.SEND_LFA.value or (self.long_active_ecu and blended_hda2)):
      can_sends.append(hyundaican.create_lfahda_mfc(self.packer, CC.enabled, self.frame, self.CP, lfa_icon))

    # 5 Hz ACC options
@@ -28,6 +28,11 @@ IONIQ_6_BLINDSPOT_LEFT_MASK = 0x10
 CANFD_CAMERA_LEAD_MIN_DISTANCE = 0.1
 ALT_BUS_LDA_BUTTON_BURST_DEBOUNCE_NS = int(1.3e9)

+CLASSIC_MEDIA_BUTTON_CARS = frozenset({
+  CAR.HYUNDAI_ELANTRA_2024,
+  CAR.HYUNDAI_ELANTRA_HEV_2024,
+})
+

 def get_non_scc_cruise_signals(CP) -> tuple[str, str, str, str, str, str]:
  if CP.flags & HyundaiFlags.EV:
@@ -437,6 +442,9 @@ class CarState(CarStateBase):
    ret.lowSpeedAlert = self.low_speed_alert

    fp_ret = custom.StarPilotCarState.new_message()
+    if self.CP.carFingerprint in CLASSIC_MEDIA_BUTTON_CARS:
+      fp_ret.modePressed = bool(cp.vl["GW_SWRC_PE"]["C_ModeSW"])
+      fp_ret.customPressed = bool(cp.vl["GW_SWRC_PE"]["C_MTSSW"])

    return ret, fp_ret

@@ -667,7 +675,7 @@ class CarState(CarStateBase):
        ("CGW2", 5),
        ("WHL_SPD11", 50),
        ("SAS11", 100),
-        ("SCC12", 50),
+        ("SCC12", 0 if CP.openpilotLongitudinalControl and CP.flags & HyundaiFlags.CANFD_LKA_STEERING else 50),
        ("EMS12", 100),
        ("EMS16", 100),
        ("LVR12", 100),
@@ -686,6 +694,9 @@ class CarState(CarStateBase):
      ("BCM_PO_11", 0),
      ("CLU13", 0),
    ]
+    if CP.carFingerprint in CLASSIC_MEDIA_BUTTON_CARS:
+      # Steering-wheel media switches are event-driven on the refresh Elantra.
+      msgs.append(("GW_SWRC_PE", 0))
    if CP.flags & HyundaiFlags.NON_SCC and not (CP.flags & HyundaiFlags.NON_SCC_NO_FCA):
      msgs.append(("FCA11", 0))  # Non-SCC trims can stop publishing FCA11; don't let it poison canValid

@@ -106,7 +106,8 @@ def create_checksum_can_canfd_blended(packer, bus, addr, values):
 def create_lkas11_can_canfd_blended(packer, frame, CP, apply_steer, steer_req,
                                    torque_fault, lkas11, sys_warning, sys_state, enabled,
                                    left_lane, right_lane,
-                                    left_lane_depart, right_lane_depart, msg_364):
+                                    left_lane_depart, right_lane_depart, msg_364,
+                                    include_alerts=True, counter_mod=0x10):
  bus = CanBus(CP).ECAN
  values = {
    "CF_Lkas_LdwsActivemode": int(left_lane) + (int(right_lane) << 1),
@@ -116,7 +117,7 @@ def create_lkas11_can_canfd_blended(packer, frame, CP, apply_steer, steer_req,
    "CR_Lkas_StrToqReq": apply_steer,
    "CF_Lkas_ActToi": steer_req,
    "CF_Lkas_ToiFlt": torque_fault,
-    "CF_Lkas_MsgCount": frame % 0x10,
+    "CF_Lkas_MsgCount": frame % counter_mod,
    "NEW_SIGNAL_1": 0,
    "NEW_SIGNAL_5": 100,
  }
@@ -130,13 +131,13 @@ def create_lkas11_can_canfd_blended(packer, frame, CP, apply_steer, steer_req,
  alerts_364.setdefault("BYTE5", 0)
  alerts_364.setdefault("BYTE6", 0)
  alerts_364.setdefault("BYTE7", 0)
-  alerts_364["COUNTER"] = frame % 0x10
+  alerts_364["COUNTER"] = frame % counter_mod
  alerts_364["CHECKSUM"] = create_checksum_can_canfd_blended(packer, bus, "ALERTS_364", alerts_364)

-  return [
-    packer.make_can_msg("LKAS11", bus, values),
-    packer.make_can_msg("ALERTS_364", bus, alerts_364),
-  ]
+  ret = [packer.make_can_msg("LKAS11", bus, values)]
+  if include_alerts:
+    ret.append(packer.make_can_msg("ALERTS_364", bus, alerts_364))
+  return ret


 def create_clu11(packer, frame, clu11, button, CP):
@@ -233,6 +234,56 @@ def create_acc_commands_can_canfd_blended(packer, enabled, accel, upper_jerk, id
  return commands


+def create_acc_commands_can_canfd_blended_hda2(packer, enabled, accel, accel_last, upper_jerk, idx,
+                                               hud_control, set_speed, stopping, long_override, use_fca, CP):
+  commands = []
+  bus = CanBus(CP).ECAN
+  jerk = 5.0
+
+  if not enabled or long_override:
+    accel_raw, accel_value = 0.0, 0.0
+  else:
+    accel_raw = accel
+    accel_value = max(accel_last - jerk / 50.0, min(accel, accel_last + jerk / 50.0))
+
+  message_values = [
+    ("SCC11", {
+      "aReqRaw": accel_raw,
+      "aReqValue": accel_value,
+      "JerkUpperLimit": upper_jerk,
+      "JerkLowerLimit": jerk if enabled else 1.0,
+    }),
+    ("SCC12", {
+      "MainMode_ACC": 1,
+      "ACCMode_Inactive": 0 if enabled else 1,
+      "TauGapSet": hud_control.leadDistanceBars,
+      "VSetDis": set_speed,
+      "ACC_ObjDist": 1,
+      "ACCMode": 2 if enabled and long_override else 1 if enabled else 0,
+      "StopReq": 1 if stopping else 0,
+    }),
+    ("SCC14", {
+      "ACC_ObjRelSpd": 0,
+      "ObjValid": 0,
+      "ObjStatus": 2 if hud_control.leadVisible and enabled else 1 if hud_control.leadVisible else 0,
+    }),
+  ]
+
+  if use_fca and not (CP.flags & HyundaiFlags.CAMERA_SCC):
+    # These values reproduce the stock status bytes without requesting AEB/FCA actuation.
+    message_values.append(("FCA11", {
+      "cr_vsm_deccmd": 255,
+      "cf_vsm_deccmdact": 0,
+    }))
+
+  for name, values in message_values:
+    values["COUNTER"] = idx % 0xF
+    values["CHECKSUM"] = create_checksum_can_canfd_blended(packer, bus, name, values)
+    commands.append(packer.make_can_msg(name, bus, values))
+
+  return commands
+
+
 def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, set_speed, stopping, long_override, use_fca, CP):
  commands = []

@@ -324,17 +375,27 @@ def create_frt_radar_opt(packer):
  return packer.make_can_msg("FRT_RADAR11", 0, frt_radar11_values)


-def create_radar_aux_messages(packer, CAN, frame):
+def create_radar_aux_messages(packer, CAN, frame, hda2=False):
  commands = []

-  for addr, freq, values in (
+  message_specs = (
+    ("RADAR_0x363", 2, {"FCA_ESA": 1}),
+    ("RADAR_0x398", 5, {"BYTE4": 0x80, "BYTE5": 0x5D}),
+    ("RADAR_0x399", 5, {"BYTE2": 0x02}),
+    ("RADAR_0x39a", 5, {"BYTE7": 0xFF}),
+    ("RADAR_0x39b", 5, {}),
+    ("RADAR_0x39c", 5, {"BYTE5": 0xE0, "BYTE6": 0x79}),
+    ("RADAR_0x43a", 20, {"BYTE2": 0x07}),
+  ) if hda2 else (
    ("RADAR_0x363", 2, {"FCA_ESA": 1}),
    ("RADAR_0x398", 5, {"BYTE4": 0x80, "BYTE5": 0x10}),
-  ):
+  )
+
+  for addr, freq, values in message_specs:
    if frame % freq != 0:
      continue

-    msg_values = values | {"COUNTER": frame % 0x10}
+    msg_values = values | {"COUNTER": frame % (0xF if hda2 else 0x10)}
    msg_values["CHECKSUM"] = create_checksum_can_canfd_blended(packer, CAN.ECAN, addr, msg_values)
    commands.append(packer.make_can_msg(addr, CAN.ECAN, msg_values))

@@ -258,7 +258,7 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_torque,
  ret = []
  if CP.flags & HyundaiFlags.CANFD_LKA_STEERING:
    lkas_msg = "LKAS_ALT" if CP.flags & HyundaiFlags.CANFD_LKA_STEERING_ALT else "LKAS"
-    if CP.openpilotLongitudinalControl or send_lfa_status:
+    if (CP.openpilotLongitudinalControl and not CP.flags & HyundaiFlags.CAN_CANFD_BLENDED) or send_lfa_status:
      ret.append(packer.make_can_msg("LFA", CAN.ECAN, lfa_values))
    if lfa_only:
      return ret
@@ -820,7 +820,7 @@ def create_fca_warning_light(packer, CAN, frame):
  return ret


-def create_adrv_messages(packer, CAN, frame):
+def create_adrv_messages(packer, CAN, frame, blended_hda2=False):
  # messages needed to car happy after disabling
  # the ADAS Driving ECU to do longitudinal control

@@ -830,6 +830,9 @@ def create_adrv_messages(packer, CAN, frame):
  }
  ret.append(packer.make_can_msg("ADRV_0x51", CAN.ACAN, values))

+  if blended_hda2:
+    return ret
+
  ret.extend(create_fca_warning_light(packer, CAN, frame))

  if frame % 5 == 0:
@@ -9,6 +9,7 @@ from opendbc.car.hyundai.values import HyundaiFlags, CAR, CarControllerParams, \
                                                   RADAR_LIVE_LONGITUDINAL_CAR, \
                                                   UNSUPPORTED_LONGITUDINAL_CAR, HyundaiSafetyFlags, \
                                                   LEGACY_LONGITUDINAL_CAR, \
+                                                   CAN_CANFD_BLENDED_HDA2_LONGITUDINAL_CAR, \
                                                   HyundaiStarPilotSafetyFlags, \
                                                   hyundai_cancel_button_enables_cruise, \
                                                   kia_ev6_gt_line_longitudinal_tuning
@@ -199,7 +200,8 @@ class CarInterface(CarInterfaceBase):
    else:
      # Shared configuration for non CAN-FD cars
      ret.alphaLongitudinalAvailable = candidate not in UNSUPPORTED_LONGITUDINAL_CAR or candidate in LEGACY_LONGITUDINAL_CAR
-      if ret.flags & HyundaiFlags.CAN_CANFD_BLENDED and ret.flags & HyundaiFlags.CANFD_LKA_STEERING:
+      if ret.flags & HyundaiFlags.CAN_CANFD_BLENDED and ret.flags & HyundaiFlags.CANFD_LKA_STEERING and \
+          candidate not in CAN_CANFD_BLENDED_HDA2_LONGITUDINAL_CAR:
        ret.alphaLongitudinalAvailable = False
      ret.enableBsm = 0x58b in fingerprint[CAN.ECAN]

@@ -549,14 +549,17 @@ class TestHyundaiFingerprint:

    assert CP.flags & HyundaiFlags.CAN_CANFD_BLENDED
    assert CP.flags & HyundaiFlags.CANFD_LKA_STEERING
-    assert not CP.alphaLongitudinalAvailable
-    assert not CP.openpilotLongitudinalControl
+    assert CP.alphaLongitudinalAvailable
+    assert CP.openpilotLongitudinalControl
    assert CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.CAN_CANFD_BLENDED
    assert CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.CANFD_LKA_STEERING
+    assert CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.LONG
    assert can_bus.ACAN == 0
    assert can_bus.ECAN == 1
    assert parsers[Bus.pt].bus == 1
    assert parsers[Bus.cam].bus == 2
+    scc12_state = next(state for state in parsers[Bus.pt].message_states.values() if state.name == "SCC12")
+    assert scc12_state.frequency == 0
    assert CarControllerParams(CP).STEER_MAX == 384

  def test_palisade_telluride_hda2_sends_lkas_and_camera_suppression(self):
@@ -587,6 +590,41 @@ class TestHyundaiFingerprint:
    assert (0x2A4, 0) in msg_addrs_buses
    assert not ({0x340, 0x364} & {addr for addr, _, _ in msgs})

+  def test_palisade_telluride_hda2_long_sends_complete_support_set(self):
+    fingerprint = gen_empty_fingerprint()
+    fingerprint[2][0x50] = 16
+    fingerprint[1][0x38D] = 8
+    car_fw = [CarParams.CarFw(ecu=Ecu.adas, fwVersion=b"", address=0x730, brand="hyundai")]
+    CP = CarInterface.get_params(CAR.HYUNDAI_PALISADE_2023, fingerprint, car_fw, True, False, False, None)
+    controller = CarController(DBC[CP.carFingerprint], CP)
+    controller.frame = 0
+
+    hud_control = SimpleNamespace(
+      visualAlert=CarControl.HUDControl.VisualAlert.none,
+      leftLaneVisible=True,
+      rightLaneVisible=True,
+      leftLaneDepart=False,
+      rightLaneDepart=False,
+      leadDistanceBars=3,
+      leadVisible=True,
+    )
+    lfa_block_msg = {f"BYTE{i}": 0 for i in range(3, 24) if i != 7}
+    lfa_block_msg["COUNTER"] = 0
+    CS = SimpleNamespace(lfa_block_msg=lfa_block_msg, redneck_send_button=Buttons.NONE, lkas11={}, msg_364={},
+                         out=SimpleNamespace(vEgoRaw=5.0))
+    CC = SimpleNamespace(enabled=True, cruiseControl=SimpleNamespace(cancel=False, resume=False, override=False))
+    actuators = SimpleNamespace(longControlState=LongCtrlState.pid)
+
+    msgs = controller.create_can_msgs(True, 0, False, 42.0, 0.0, False, hud_control, actuators, CS, CC, 2, 2)
+    msg_addrs_buses = {(addr, bus) for addr, _, bus in msgs}
+
+    assert {
+      (0x50, 0), (0x2A4, 0), (0x51, 0),
+      (0x340, 1), (0x485, 1), (0x420, 1), (0x421, 1), (0x389, 1), (0x38D, 1),
+      (0x363, 1), (0x398, 1), (0x399, 1), (0x39A, 1), (0x39B, 1), (0x39C, 1), (0x43A, 1),
+    } <= msg_addrs_buses
+    assert (0x364, 1) not in msg_addrs_buses
+
  def test_g70_aol_uses_active_lkas_icon(self):
    CP = CarInterface.get_params(CAR.GENESIS_G70_2020, gen_empty_fingerprint(), [], False, False, False, None)
    controller = CarController(DBC[CP.carFingerprint], CP)
@@ -616,6 +654,22 @@ class TestHyundaiFingerprint:
    assert DBC[CP.carFingerprint][Bus.pt] == "hyundai_can_refresh_generated"
    assert CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.CAN_REFRESH_MSGS

+  def test_elantra_refresh_decodes_classic_media_buttons(self):
+    toggles = get_test_toggles()
+    CP = CarInterface.get_params(CAR.HYUNDAI_ELANTRA_HEV_2024, gen_empty_fingerprint(), [], True, False, False, toggles)
+    FPCP = CarInterface.get_starpilot_params(CAR.HYUNDAI_ELANTRA_HEV_2024, gen_empty_fingerprint(), [], CP, toggles)
+
+    car_state = CarState(CP, FPCP)
+    can_parsers = car_state.get_can_parsers(CP)
+    packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
+    media_msg = packer.make_can_msg("GW_SWRC_PE", 0, {"C_ModeSW": 1, "C_MTSSW": 1})
+
+    can_parsers[Bus.pt].update([(1_000_000_000, [media_msg])])
+    _, fp_ret = car_state.update(can_parsers, toggles)
+
+    assert fp_ret.modePressed
+    assert fp_ret.customPressed
+
  def test_hyundai_lkas_button_sets_starpilot_safety_flag(self):
    fingerprint = gen_empty_fingerprint()
    fingerprint[0][0x391] = 8
@@ -2418,6 +2472,46 @@ class TestHyundaiFingerprint:
    assert parser.vl["SCC14"]["ObjStatus"] == 1
    assert parser.vl["RADAR_0x363"]["FCA_ESA"] == 1

+  def test_can_canfd_blended_hda2_acc_commands_use_hda2_layout(self):
+    CP = CarParams.new_message()
+    CP.carFingerprint = CAR.HYUNDAI_PALISADE_2023
+    CP.flags = int(HyundaiFlags.CAN_CANFD_BLENDED | HyundaiFlags.CANFD_LKA_STEERING | HyundaiFlags.USE_FCA)
+
+    packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
+    parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [
+      ("SCC11", 0),
+      ("SCC12", 0),
+      ("SCC14", 0),
+      ("FCA11", 0),
+    ], 1)
+
+    msgs = hyundaican.create_acc_commands_can_canfd_blended_hda2(
+      packer,
+      enabled=True,
+      accel=-1.0,
+      accel_last=0.0,
+      upper_jerk=2.5,
+      idx=15,
+      hud_control=SimpleNamespace(leadDistanceBars=3, leadVisible=True),
+      set_speed=42,
+      stopping=False,
+      long_override=False,
+      use_fca=True,
+      CP=CP,
+    )
+    parser.update([(1, msgs)])
+
+    assert parser.can_valid
+    assert parser.vl["SCC11"]["aReqRaw"] == pytest.approx(-1.0)
+    assert parser.vl["SCC11"]["aReqValue"] == pytest.approx(-0.1)
+    assert parser.vl["SCC11"]["COUNTER"] == 0
+    assert parser.vl["SCC12"]["VSetDis"] == 42
+    assert parser.vl["SCC14"]["ObjValid"] == 0
+    assert parser.vl["SCC14"]["ObjStatus"] == 2
+    assert parser.vl["FCA11"]["aeb_cmd_act"] == 0
+    assert parser.vl["FCA11"]["fca_cmd_act"] == 0
+    assert next(dat for addr, dat, _ in msgs if addr == 0x38D)[4:7] == b"\xC0\x3F\x7F"
+
  def test_can_acc_optional_messages_use_enabled_fca_usm(self):
    CP = CarParams.new_message()
    CP.carFingerprint = CAR.GENESIS_G90
@@ -481,7 +481,7 @@ class CAR(Platforms):
    [
      HyundaiCarDocs("Hyundai Palisade (without HDA II) 2023-25", "Highway Driving Assist",
                     car_parts=CarParts.common([CarHarness.hyundai_a])),
-      HyundaiCarDocs("Hyundai Palisade (with HDA II) 2023-24", "Highway Driving Assist II",
+      HyundaiCarDocs("Hyundai Palisade (with HDA II) 2023-25", "Highway Driving Assist II",
                     car_parts=CarParts.common([CarHarness.hyundai_r])),
      HyundaiCarDocs("Kia Telluride (without HDA II) 2023-25", "Highway Driving Assist",
                     car_parts=CarParts.common([CarHarness.hyundai_l])),
@@ -968,6 +968,10 @@ CANCEL_BUTTON_ENABLE_CARS = frozenset({
  CAR.HYUNDAI_PALISADE_2023,
 })

+CAN_CANFD_BLENDED_HDA2_LONGITUDINAL_CAR = frozenset({
+  CAR.HYUNDAI_PALISADE_2023,
+})
+
 KIA_EV6_GT_LINE_LONG_TUNING_VDS_PREFIXES = frozenset({
  "C4DLC",
 })
@@ -1,7 +1,7 @@
 import math
 import numpy as np
 from dataclasses import dataclass
-from opendbc.car import structs, rate_limit, DT_CTRL
+from opendbc.car import ACCELERATION_DUE_TO_GRAVITY, structs, rate_limit, DT_CTRL
 from opendbc.car.vehicle_model import VehicleModel

 FRICTION_THRESHOLD = 0.3
@@ -10,6 +10,12 @@ FRICTION_THRESHOLD = 0.3
 ISO_LATERAL_ACCEL = 3.0  # m/s^2
 ISO_LATERAL_JERK = 5.0  # m/s^3

+# Common angle/curvature safety limits. The road-roll allowance keeps the
+# controller and panda limits aligned on normally banked roads.
+AVERAGE_ROAD_ROLL = 0.06
+MAX_LATERAL_ACCEL = ISO_LATERAL_ACCEL + (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL)
+MAX_LATERAL_JERK = 3.0 + (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL)
+

@dataclass
 class AngleSteeringLimits:
@@ -24,6 +30,29 @@ class AngleSteeringLimits:
  MAX_ANGLE_RATE: float = math.inf


+@dataclass
+class CurvatureSteeringLimits:
+  CURVATURE_MAX: float
+  MAX_LATERAL_ACCEL: float = MAX_LATERAL_ACCEL
+  MAX_LATERAL_JERK: float = MAX_LATERAL_JERK
+
+  def apply_limits(self, apply_curvature: float, apply_curvature_last: float, v_ego: float, curvature: float,
+                   lat_active: bool, steer_step: int) -> float:
+    """Apply lateral acceleration and jerk constraints to curvature."""
+    v_ego = max(v_ego, 1)
+
+    max_curvature = self.MAX_LATERAL_ACCEL / (v_ego ** 2)
+    new_apply_curvature = float(np.clip(apply_curvature, -max_curvature, max_curvature))
+
+    max_jerk = (self.MAX_LATERAL_JERK / (v_ego ** 2)) * (steer_step * DT_CTRL)
+    new_apply_curvature = float(np.clip(new_apply_curvature, apply_curvature_last - max_jerk, apply_curvature_last + max_jerk))
+
+    if not lat_active:
+      new_apply_curvature = curvature
+
+    return float(np.clip(new_apply_curvature, -self.CURVATURE_MAX, self.CURVATURE_MAX))
+
+
 def apply_driver_steer_torque_limits(apply_torque: int, apply_torque_last: int, driver_torque: float, LIMITS, steer_max: int = None):
  # some safety modes utilize a dynamic max steer
  if steer_max is None:
@@ -1,7 +1,7 @@
 import numpy as np

 from opendbc.can import CANPacker
-from opendbc.car import Bus, DT_CTRL, make_tester_present_msg, structs
+from opendbc.car import Bus, DT_CTRL, structs
 from opendbc.car.common.filter_simple import FirstOrderFilter
 from opendbc.car.lateral import apply_std_steer_angle_limits
 from opendbc.car.interfaces import CarControllerBase
@@ -55,7 +55,7 @@ class CarController(CarControllerBase):
                                                      CC.longActive and brake_pressure > 0, brake_mode))

      if self.frame % 100 == 0:
-        can_sends.append(make_tester_present_msg(0x707, 0, suppress_response=True))
+        can_sends.append(nissancan.create_leaf_adas_tester_present())

    ### STEER ###
    steer_hud_alert = 1 if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw) else 0
@@ -1,6 +1,9 @@
-from opendbc.car import get_safety_config, structs, uds
+import time
+
+from opendbc.car import get_safety_config, structs
 from opendbc.car.disable_ecu import disable_ecu, ecu_log
 from opendbc.car.interfaces import CarInterfaceBase
+from opendbc.car.isotp_parallel_query import IsoTpParallelQuery
 from opendbc.car.nissan.carcontroller import CarController
 from opendbc.car.nissan.carstate import CarState
 from opendbc.car.nissan.values import CAR, CarControllerParams, NissanSafetyFlags, \
@@ -9,8 +12,19 @@ from opendbc.car.nissan.values import CAR, CarControllerParams, NissanSafetyFlag

 LEAF_ADAS_ECU_ADDR = 0x707
 LEAF_ADAS_ECU_BUS = 0
+LEAF_ADAS_COMMAND_BUS = 1
+LEAF_ADAS_COMMAND_ADDRS = frozenset((0x1C3, 0x2B0))
 LEAF_2025_SV_PLUS_CAMERA_FW = b'6WK2CDB\x04\x18\x00\x00\x00\x00\x00R=1\x18\x99\x10\x00\x00\x00\x80'

+# This Leaf camera uses KWP2000 rather than UDS for session management.
+LEAF_KWP_DATA_MONITOR_REQUEST = b"\x10\xF0"
+LEAF_KWP_DATA_MONITOR_RESPONSE = b"\x50\xF0"
+LEAF_KWP_DISABLE_NORMAL_TX = b"\x28\x01"
+
+LEAF_KWP_TAKEOVER_SESSIONS = (
+  (LEAF_KWP_DATA_MONITOR_REQUEST, LEAF_KWP_DATA_MONITOR_RESPONSE),
+)
+

 def is_leaf_2025_sv_plus_longitudinal(candidate, car_fw):
  return candidate == CAR.NISSAN_LEAF and any(
@@ -19,6 +33,82 @@ def is_leaf_2025_sv_plus_longitudinal(candidate, car_fw):
  )


+def leaf_adas_commands_silent(can_recv, settle_time=0.05, observe_time=0.15):
+  """Confirm the stock ADAS command sender stopped while bus 1 is still observable."""
+  if can_recv is None:
+    return False
+
+  try:
+    # Let already-published CAN batches age out, then discard everything queued
+    # before the communication-control response.
+    time.sleep(settle_time)
+    can_recv()
+
+    saw_adas_bus_traffic = False
+    deadline = time.monotonic() + observe_time
+    while time.monotonic() < deadline:
+      packets = can_recv(wait_for_one=True)
+      for packet in packets:
+        for msg in packet:
+          if msg.src != LEAF_ADAS_COMMAND_BUS:
+            continue
+          saw_adas_bus_traffic = True
+          if msg.address in LEAF_ADAS_COMMAND_ADDRS:
+            ecu_log(f"Nissan Leaf ADAS TX still active: {hex(msg.address)} on bus {msg.src}")
+            return False
+  except Exception as e:
+    ecu_log(f"Nissan Leaf ADAS TX silence verification exception: {e}")
+    return False
+
+  if not saw_adas_bus_traffic:
+    ecu_log("Nissan Leaf ADAS TX silence could not be verified: no bus 1 traffic observed")
+  return saw_adas_bus_traffic
+
+
+def leaf_adas_commands_present(can_recv, settle_time=0.05, observe_time=0.15):
+  """Confirm the stock ADAS command sender resumed on bus 1."""
+  if can_recv is None:
+    return False
+
+  try:
+    time.sleep(settle_time)
+    can_recv()
+
+    deadline = time.monotonic() + observe_time
+    while time.monotonic() < deadline:
+      for packet in can_recv(wait_for_one=True):
+        if any(msg.src == LEAF_ADAS_COMMAND_BUS and msg.address in LEAF_ADAS_COMMAND_ADDRS for msg in packet):
+          return True
+  except Exception as e:
+    ecu_log(f"Nissan Leaf ADAS TX recovery verification exception: {e}")
+    return False
+
+  ecu_log("Nissan Leaf ADAS normal TX recovery could not be verified")
+  return False
+
+
+def restore_leaf_adas_tx(can_recv, can_send):
+  """Return to the confirmed KWP default session and verify normal TX resumes."""
+  if can_recv is None or can_send is None:
+    return False
+
+  try:
+    ecu_log("Nissan Leaf ADAS TX restore using KWP default session 1081")
+    query = IsoTpParallelQuery(
+      can_send, can_recv, LEAF_ADAS_ECU_BUS, [LEAF_ADAS_ECU_ADDR],
+      [NISSAN_DIAGNOSTIC_REQUEST_KWP], [NISSAN_DIAGNOSTIC_RESPONSE_KWP],
+      response_offset=NISSAN_RX_OFFSET,
+    )
+    if query.get_data(0.2) and leaf_adas_commands_present(can_recv):
+      ecu_log("Nissan Leaf ADAS normal TX restored and command traffic confirmed")
+      return True
+  except Exception as e:
+    ecu_log(f"Nissan Leaf ADAS TX restore exception: {e}")
+
+  ecu_log("Nissan Leaf ADAS normal TX restore was not confirmed")
+  return False
+
+
 class CarInterface(CarInterfaceBase):
  CarState = CarState
  CarController = CarController
@@ -62,39 +152,36 @@ class CarInterface(CarInterfaceBase):

  @staticmethod
  def init(CP, can_recv, can_send):
-    if not (CP.openpilotLongitudinalControl and CP.carFingerprint == CAR.NISSAN_LEAF):
+    if not (CP.openpilotLongitudinalControl and CP.alphaLongitudinalAvailable and CP.carFingerprint == CAR.NISSAN_LEAF):
      return

    from openpilot.common.params import Params
    params = Params()
-    communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL,
-                                   uds.CONTROL_TYPE.ENABLE_RX_DISABLE_TX,
-                                   uds.MESSAGE_TYPE.NORMAL])
-    ecu_disabled = disable_ecu(can_recv, can_send, bus=LEAF_ADAS_ECU_BUS, addr=LEAF_ADAS_ECU_ADDR,
-                               com_cont_req=communication_control, require_response=True, response_offset=NISSAN_RX_OFFSET)
-    if not ecu_disabled:
-      # Nissan firmware queries use the KWP-style default session. Try it after
-      # standard UDS extended-session control, but still require a positive 0x68 response.
+    ecu_disabled = False
+    for diag_request, diag_response in LEAF_KWP_TAKEOVER_SESSIONS:
+      ecu_log(f"Nissan Leaf ADAS takeover using KWP session {diag_request.hex()}")
      ecu_disabled = disable_ecu(can_recv, can_send, bus=LEAF_ADAS_ECU_BUS, addr=LEAF_ADAS_ECU_ADDR,
-                                 com_cont_req=communication_control, require_response=True,
-                                 diag_request=NISSAN_DIAGNOSTIC_REQUEST_KWP, diag_response=NISSAN_DIAGNOSTIC_RESPONSE_KWP,
-                                 response_offset=NISSAN_RX_OFFSET)
-    params.put_bool("EcuDisableFailed", not ecu_disabled)
-    if ecu_disabled:
-      ecu_log("Nissan Leaf ADAS TX disabled; experimental longitudinal control enabled")
+                                 com_cont_req=LEAF_KWP_DISABLE_NORMAL_TX, require_response=True, retry=1,
+                                 diag_request=diag_request, diag_response=diag_response, response_offset=NISSAN_RX_OFFSET)
+      if ecu_disabled:
+        break
+
+    takeover_confirmed = ecu_disabled and leaf_adas_commands_silent(can_recv)
+    params.put_bool("EcuDisableFailed", not takeover_confirmed)
+    if takeover_confirmed:
+      ecu_log("Nissan Leaf ADAS TX disable and command silence confirmed; experimental longitudinal control enabled")
    else:
+      # A response can be lost after the ECU accepts 0x28. Always attempt to
+      # restore stock transmission before falling back to stock longitudinal.
+      restore_leaf_adas_tx(can_recv, can_send)
      CP.safetyConfigs[-1].safetyParam &= ~NissanSafetyFlags.LONG_CONTROL.value
      CP.openpilotLongitudinalControl = False
      CP.pcmCruise = True
-      ecu_log("Nissan Leaf ADAS TX disable failed; falling back to stock longitudinal control")
+      ecu_log("Nissan Leaf ADAS takeover was not confirmed; falling back to stock longitudinal control")

  @staticmethod
  def deinit(CP, can_recv, can_send):
-    if not (CP.openpilotLongitudinalControl and CP.carFingerprint == CAR.NISSAN_LEAF):
+    if not (CP.openpilotLongitudinalControl and CP.alphaLongitudinalAvailable and CP.carFingerprint == CAR.NISSAN_LEAF):
      return

-    communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL,
-                                   0x80 | uds.CONTROL_TYPE.ENABLE_RX_ENABLE_TX,
-                                   uds.MESSAGE_TYPE.NORMAL])
-    disable_ecu(can_recv, can_send, bus=LEAF_ADAS_ECU_BUS, addr=LEAF_ADAS_ECU_ADDR,
-                com_cont_req=communication_control, response_offset=NISSAN_RX_OFFSET)
+    restore_leaf_adas_tx(can_recv, can_send)
@@ -6,6 +6,11 @@ from opendbc.car.nissan.values import CAR
 nissan_checksum = crcmod.mkCrcFun(0x11d, initCrc=0x00, rev=False, xorOut=0xff)


+def create_leaf_adas_tester_present():
+  """KWP2000 tester-present with a response requested, for the 2025 Leaf ADAS ECU."""
+  return CanData(0x707, b"\x02\x3E\x01\x00\x00\x00\x00\x00", 0)
+
+
 def create_accel_command(raw_command, frame, active):
  """Build the Leaf ADAS propulsion/regen request (0x2B0)."""
  raw_command = int(raw_command)
@@ -2,9 +2,11 @@ from types import SimpleNamespace

 import pytest

-from opendbc.car import Bus, ButtonType, gen_empty_fingerprint, structs, uds
+from opendbc.car import Bus, ButtonType, gen_empty_fingerprint, structs
+from opendbc.car.can_definitions import CanData
 from opendbc.car.nissan.carstate import CarState
-from opendbc.car.nissan.interface import CarInterface, LEAF_2025_SV_PLUS_CAMERA_FW
+from opendbc.car.nissan.interface import CarInterface, LEAF_2025_SV_PLUS_CAMERA_FW, leaf_adas_commands_present, \
+                                          leaf_adas_commands_silent, restore_leaf_adas_tx
 from opendbc.car.nissan.values import CAR, CarControllerParams, NissanSafetyFlags


@@ -82,7 +84,7 @@ def test_alpha_long_controller_sends_stock_shaped_commands_and_keepalive():

  assert can_sends[0x2B0][1].hex() == "ff6090ac5b000e03"
  assert can_sends[0x1C3][1].hex() == "000000006400ff27"
-  assert can_sends[0x707][1].hex() == "023e800000000000"
+  assert can_sends[0x707][1].hex() == "023e010000000000"
  assert all(can_sends[addr][2] == 1 for addr in (0x2B0, 0x1C3))
  assert can_sends[0x707][2] == 0

@@ -137,33 +139,92 @@ def test_leaf_ecu_disable_is_strict_and_falls_back(monkeypatch, ecu_disabled):
    return ecu_disabled

  monkeypatch.setattr("opendbc.car.nissan.interface.disable_ecu", fake_disable_ecu)
+  monkeypatch.setattr("opendbc.car.nissan.interface.leaf_adas_commands_silent", lambda *_: ecu_disabled)
+  monkeypatch.setattr("opendbc.car.nissan.interface.restore_leaf_adas_tx", lambda *_: True)
  monkeypatch.setattr("opendbc.car.nissan.interface.ecu_log", lambda *_: None)
  CarInterface.init(CP, None, None)

-  assert len(calls) == (1 if ecu_disabled else 2)
+  assert len(calls) == 1
  assert calls[0]["addr"] == 0x707
  assert calls[0]["bus"] == 0
  assert calls[0]["response_offset"] == 0x20
  assert calls[0]["require_response"] is True
-  assert calls[0]["com_cont_req"] == bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL,
-                                             uds.CONTROL_TYPE.ENABLE_RX_DISABLE_TX,
-                                             uds.MESSAGE_TYPE.NORMAL])
-  if not ecu_disabled:
-    assert calls[1]["diag_request"] == b"\x10\x81"
-    assert calls[1]["diag_response"] == b"\x50\x81"
+  assert calls[0]["diag_request"] == b"\x10\xf0"
+  assert calls[0]["diag_response"] == b"\x50\xf0"
+  assert calls[0]["com_cont_req"] == b"\x28\x01"
+  assert calls[0]["retry"] == 1
  assert CP.openpilotLongitudinalControl is ecu_disabled
  assert CP.pcmCruise is not ecu_disabled
  assert bool(CP.safetyConfigs[-1].safetyParam & NissanSafetyFlags.LONG_CONTROL) is ecu_disabled


-def test_leaf_kwp_session_can_confirm_ecu_disable(monkeypatch):
+def test_leaf_kwp_data_monitor_session_can_confirm_ecu_disable(monkeypatch):
  CP = CarInterface.get_params(CAR.NISSAN_LEAF, gen_empty_fingerprint(), SUPPORTED_LEAF_FW, True, False, False, None)
-  results = iter((False, True))

-  monkeypatch.setattr("opendbc.car.nissan.interface.disable_ecu", lambda *args, **kwargs: next(results))
+  monkeypatch.setattr("opendbc.car.nissan.interface.disable_ecu", lambda *args, **kwargs: True)
+  monkeypatch.setattr("opendbc.car.nissan.interface.leaf_adas_commands_silent", lambda *_: True)
  monkeypatch.setattr("opendbc.car.nissan.interface.ecu_log", lambda *_: None)
  CarInterface.init(CP, None, None)

  assert CP.openpilotLongitudinalControl
  assert not CP.pcmCruise
  assert CP.safetyConfigs[-1].safetyParam & NissanSafetyFlags.LONG_CONTROL
+
+
+def test_leaf_positive_disable_response_without_command_silence_falls_back(monkeypatch):
+  CP = CarInterface.get_params(CAR.NISSAN_LEAF, gen_empty_fingerprint(), SUPPORTED_LEAF_FW, True, False, False, None)
+  restore_calls = []
+
+  monkeypatch.setattr("opendbc.car.nissan.interface.disable_ecu", lambda *args, **kwargs: True)
+  monkeypatch.setattr("opendbc.car.nissan.interface.leaf_adas_commands_silent", lambda *_: False)
+  monkeypatch.setattr("opendbc.car.nissan.interface.restore_leaf_adas_tx", lambda *args: restore_calls.append(args) or True)
+  monkeypatch.setattr("opendbc.car.nissan.interface.ecu_log", lambda *_: None)
+  CarInterface.init(CP, None, None)
+
+  assert len(restore_calls) == 1
+  assert not CP.openpilotLongitudinalControl
+  assert CP.pcmCruise
+  assert not (CP.safetyConfigs[-1].safetyParam & NissanSafetyFlags.LONG_CONTROL)
+
+
+def test_leaf_adas_command_silence_requires_live_bus_without_stock_commands(monkeypatch):
+  monkeypatch.setattr("opendbc.car.nissan.interface.ecu_log", lambda *_: None)
+
+  def unrelated_bus_traffic(wait_for_one=False):
+    return [] if not wait_for_one else [[CanData(0x123, b"\x00", 1)]]
+
+  assert leaf_adas_commands_silent(unrelated_bus_traffic, settle_time=0, observe_time=0.001)
+
+  def stock_command_traffic(wait_for_one=False):
+    return [] if not wait_for_one else [[CanData(0x2B0, b"\x00" * 8, 1)]]
+
+  assert not leaf_adas_commands_silent(stock_command_traffic, settle_time=0, observe_time=0.001)
+  assert not leaf_adas_commands_silent(lambda wait_for_one=False: [], settle_time=0, observe_time=0.001)
+
+
+def test_leaf_adas_command_recovery_requires_stock_command(monkeypatch):
+  monkeypatch.setattr("opendbc.car.nissan.interface.ecu_log", lambda *_: None)
+
+  def stock_command_traffic(wait_for_one=False):
+    return [] if not wait_for_one else [[CanData(0x1C3, b"\x00" * 8, 1)]]
+
+  assert leaf_adas_commands_present(stock_command_traffic, settle_time=0, observe_time=0.001)
+  assert not leaf_adas_commands_present(lambda wait_for_one=False: [], settle_time=0, observe_time=0.001)
+
+
+def test_leaf_adas_restore_returns_to_kwp_default_session(monkeypatch):
+  queries = []
+
+  class FakeQuery:
+    def __init__(self, can_send, can_recv, bus, addrs, request, response, response_offset):
+      queries.append((bus, addrs, request, response, response_offset))
+
+    def get_data(self, timeout):
+      return {(0x707, None): b""}
+
+  monkeypatch.setattr("opendbc.car.nissan.interface.IsoTpParallelQuery", FakeQuery)
+  monkeypatch.setattr("opendbc.car.nissan.interface.leaf_adas_commands_present", lambda *_: True)
+  monkeypatch.setattr("opendbc.car.nissan.interface.ecu_log", lambda *_: None)
+
+  assert restore_leaf_adas_tx(lambda **kwargs: [], lambda msgs: None)
+  assert queries == [(0, [0x707], [b"\x10\x81"], [b"\x50\x81"], 0x20)]
@@ -85,6 +85,12 @@ non_tested_cars = [
  TESLA.TESLA_MODEL_S_PREAP,
  TOYOTA.TOYOTA_MATRIX_RETROFIT,
  VOLKSWAGEN.VOLKSWAGEN_CRAFTER_MK2,  # need a route from an ACC-equipped Crafter
+  VOLKSWAGEN.VOLKSWAGEN_ID3_MK1,
+  VOLKSWAGEN.VOLKSWAGEN_ID3_MK2,
+  VOLKSWAGEN.AUDI_Q4_MK1,
+  VOLKSWAGEN.AUDI_Q4_MK2,
+  VOLKSWAGEN.SKODA_ENYAQ_MK1,
+  VOLKSWAGEN.SKODA_ENYAQ_MK2,
  SUBARU.SUBARU_FORESTER_HYBRID,
  SUBARU.SUBARU_CROSSTREK_2025,
  VOLKSWAGEN.PORSCHE_MACAN_MK1,
@@ -348,6 +354,8 @@ routes = [
  CarTestRoute("202c40641158a6e5/2021-09-21--09-43-24", VOLKSWAGEN.VOLKSWAGEN_ARTEON_MK1),
  CarTestRoute("2c68dda277d887ac/2021-05-11--15-22-20", VOLKSWAGEN.VOLKSWAGEN_ATLAS_MK1),
  CarTestRoute("ffcd23abbbd02219/2024-02-28--14-59-38", VOLKSWAGEN.VOLKSWAGEN_CADDY_MK3),
+  CarTestRoute("aebd8f1d4ea16066/00000009--b31e222338", VOLKSWAGEN.VOLKSWAGEN_ID4_MK1),
+  CarTestRoute("f73c01590368ee5b/00000aea--dc31ef6d5f", VOLKSWAGEN.VOLKSWAGEN_ID4_MK2),
  CarTestRoute("cae14e88932eb364/2021-03-26--14-43-28", VOLKSWAGEN.VOLKSWAGEN_GOLF_MK7),  # Stock ACC
  CarTestRoute("3cfdec54aa035f3f/2022-10-13--14-58-58", VOLKSWAGEN.VOLKSWAGEN_GOLF_MK7),  # openpilot longitudinal
  CarTestRoute("578742b26807f756|00000010--41ee3e5bec", VOLKSWAGEN.VOLKSWAGEN_JETTA_MK6),
@@ -367,6 +375,7 @@ routes = [
  CarTestRoute("0cd0b7f7e31a3853/2021-12-03--03-12-05", VOLKSWAGEN.AUDI_Q3_MK2),
  CarTestRoute("8f205bdd11bcbb65/2021-03-26--01-00-17", VOLKSWAGEN.SEAT_ATECA_MK1),
  CarTestRoute("fc6b6c9a3471c846/2021-05-27--13-39-56", VOLKSWAGEN.SEAT_ATECA_MK1),  # Leon
+  CarTestRoute("d4dd69160a48f11f/00000003--9cfe00cb74", VOLKSWAGEN.CUPRA_BORN_MK1),
  CarTestRoute("0bbe367c98fa1538/2023-03-04--17-46-11", VOLKSWAGEN.SKODA_FABIA_MK4),
  CarTestRoute("12d6ae3057c04b0d/2021-09-15--00-04-07", VOLKSWAGEN.SKODA_KAMIQ_MK1),
  CarTestRoute("12d6ae3057c04b0d/2021-09-04--21-21-21", VOLKSWAGEN.SKODA_KAROQ_MK1),
@@ -5,9 +5,20 @@ from opendbc.car.car_helpers import interfaces
 from opendbc.car.docs import get_all_car_docs
 from opendbc.car.docs_definitions import Cable, Column, PartType, Star, SupportType
 from opendbc.car.honda.values import CAR as HONDA
+from opendbc.car.mock.values import CAR as MOCK
 from opendbc.car.values import PLATFORMS


+# These platform IDs use different messages or DBCs, but are represented by the
+# same customer-facing model rows as their base platforms.
+DOCUMENTED_PLATFORM_ALIASES = {
+  HONDA.HONDA_CIVIC_BOSCH_DIESEL: HONDA.HONDA_CIVIC_BOSCH,
+  HONDA.HONDA_CRV_EU: HONDA.HONDA_CRV,
+  HONDA.HONDA_CRV_SA: HONDA.HONDA_CRV,
+  HONDA.HONDA_E_ADVANCE: HONDA.HONDA_E,
+}
+
+
 class TestCarDocs:
  @classmethod
  def setup_class(cls):
@@ -26,10 +37,17 @@ class TestCarDocs:
          make_model_years[make_model].append(year)

  def test_missing_car_docs(self, subtests):
-    all_car_docs_platforms = [name for name, config in PLATFORMS.items()]
+    documented_platforms = {car.car_fingerprint for car in self.all_cars}
    for platform in sorted(interfaces.keys()):
      with subtests.test(platform=platform):
-        assert platform in all_car_docs_platforms, f"Platform: {platform} doesn't have a CarDocs entry"
+        assert platform in PLATFORMS, f"Platform: {platform} isn't registered"
+        if platform in DOCUMENTED_PLATFORM_ALIASES:
+          assert DOCUMENTED_PLATFORM_ALIASES[platform] in documented_platforms, \
+            f"Platform: {platform} has no documented base platform"
+          continue
+        if platform == MOCK.MOCK:
+          continue
+        assert platform in documented_platforms, f"Platform: {platform} doesn't have a generated CarDocs entry"

  def test_naming_conventions(self, subtests):
    # Asserts market-standard car naming conventions by brand
@@ -32,6 +32,9 @@ class TestFwFingerprint:
                           [(b, c, e[c], n) for b, e in VERSIONS.items() for c in e for n in (True, False)])
  def test_exact_match(self, brand, car_model, ecus, test_non_essential):
    config = FW_QUERY_CONFIGS[brand]
+    if car_model in config.fuzzy_only_platforms:
+      pytest.skip("Platform requires VIN-aware fuzzy matching")
+
    CP = CarParams()
    for _ in range(20):
      fw = []
@@ -28,6 +28,15 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "TESLA_MODEL_X" = [nan, 2.5, nan]

 # Guess
+"VOLKSWAGEN_ID3_MK1" = [nan, 2.5, nan]
+"VOLKSWAGEN_ID3_MK2" = [nan, 2.5, nan]
+"VOLKSWAGEN_ID4_MK1" = [nan, 2.5, nan]
+"VOLKSWAGEN_ID4_MK2" = [nan, 2.5, nan]
+"AUDI_Q4_MK1" = [nan, 2.5, nan]
+"AUDI_Q4_MK2" = [nan, 2.5, nan]
+"CUPRA_BORN_MK1" = [nan, 2.5, nan]
+"SKODA_ENYAQ_MK1" = [nan, 2.5, nan]
+"SKODA_ENYAQ_MK2" = [nan, 2.5, nan]
 "FORD_BRONCO_SPORT_MK1" = [nan, 1.5, nan]
 "FORD_ESCAPE_MK4" = [nan, 1.5, nan]
 "FORD_ESCAPE_MK4_5" = [nan, 1.5, nan]
@@ -4,7 +4,7 @@ from opendbc.car import Bus, DT_CTRL, structs
 from opendbc.car.lateral import apply_driver_steer_torque_limits
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.interfaces import CarControllerBase
-from opendbc.car.volkswagen import mlbcan, mqbcan, pqcan
+from opendbc.car.volkswagen import mebcan, mlbcan, mqbcan, pqcan
 from opendbc.car.volkswagen.values import CanBus, CarControllerParams, VolkswagenFlags

 VisualAlert = structs.CarControl.HUDControl.VisualAlert
@@ -19,6 +19,9 @@ class CarController(CarControllerBase):
    self.packer_pt = CANPacker(dbc_names[Bus.pt])
    self.aeb_available = not CP.flags & VolkswagenFlags.PQ

+    if CP.flags & VolkswagenFlags.MEB:
+      self.meb_long_state = mebcan.MebLongStateMachine(self.CP, self.CCP)
+
    if CP.flags & VolkswagenFlags.PQ:
      self.CCS = pqcan
    elif CP.flags & VolkswagenFlags.MLB:
@@ -27,6 +30,11 @@ class CarController(CarControllerBase):
      self.CCS = mqbcan

    self.apply_torque_last = 0
+    self.apply_curvature_last = 0.
+    self.steering_power_last = 0
+    self.accel_last = 0.
+    self.lead_distance_bars_last = None
+    self.distance_bar_frame = 0
    self.gra_acc_counter_last = None
    self.eps_timer_soft_disable_alert = False
    self.hca_frame_timer_running = 0
@@ -40,37 +48,66 @@ class CarController(CarControllerBase):
    # **** Steering Controls ************************************************ #

    if self.frame % self.CCP.STEER_STEP == 0:
-      # Logic to avoid HCA state 4 "refused":
-      #   * Don't steer unless HCA is in state 3 "ready" or 5 "active"
-      #   * Don't steer at standstill
-      #   * Don't send > 3.00 Newton-meters torque
-      #   * Don't send the same torque for > 6 seconds
-      #   * Don't send uninterrupted steering for > 360 seconds
-      # MQB racks reset the uninterrupted steering timer after a single frame
-      # of HCA disabled; this is done whenever output happens to be zero.
+      apply_torque = 0
+      if self.CP.flags & VolkswagenFlags.MEB:
+        if CC.latActive:
+          hca_enabled = True
+          apply_curvature = actuators.curvature + (CS.curvature_meas - CC.currentCurvature)
+          apply_curvature = self.CCP.CURVATURE_LIMITS.apply_limits(apply_curvature, self.apply_curvature_last, CS.out.vEgoRaw,
+                                                                   CS.curvature_meas, CC.latActive, self.CCP.STEER_STEP)

-      if CC.latActive:
-        new_torque = int(round(actuators.torque * self.CCP.STEER_MAX))
-        apply_torque = apply_driver_steer_torque_limits(new_torque, self.apply_torque_last, CS.out.steeringTorque, self.CCP)
-        self.hca_frame_timer_running += self.CCP.STEER_STEP
-        if self.apply_torque_last == apply_torque:
-          self.hca_frame_same_torque += self.CCP.STEER_STEP
-          if self.hca_frame_same_torque > self.CCP.STEER_TIME_STUCK_TORQUE / DT_CTRL:
-            apply_torque -= (1, -1)[apply_torque < 0]
-            self.hca_frame_same_torque = 0
+          min_power = max(self.steering_power_last - self.CCP.STEERING_POWER_STEP, self.CCP.STEERING_POWER_MIN)
+          max_power = min(self.steering_power_last + self.CCP.STEERING_POWER_STEP, self.CCP.STEERING_POWER_MAX)
+          target_power_driver = int(np.interp(CS.out.steeringTorque, [self.CCP.STEER_DRIVER_ALLOWANCE, self.CCP.STEER_DRIVER_MAX],
+                                                                     [self.CCP.STEERING_POWER_MAX, self.CCP.STEERING_POWER_MIN]))
+          target_power = int(np.interp(CS.out.vEgo, [0., 0.5], [self.CCP.STEERING_POWER_MIN, target_power_driver]))
+          steering_power = min(max(target_power, min_power), max_power)
+        elif self.steering_power_last > 0:
+          # Wind steering authority down instead of abruptly faulting the EPS at disengagement.
+          hca_enabled = True
+          apply_curvature = float(np.clip(CS.curvature_meas, -self.CCP.CURVATURE_MAX, self.CCP.CURVATURE_MAX))
+          steering_power = max(self.steering_power_last - self.CCP.STEERING_POWER_STEP, 0)
        else:
-          self.hca_frame_same_torque = 0
-        hca_enabled = abs(apply_torque) > 0
+          hca_enabled = False
+          apply_curvature = 0.
+          steering_power = 0
+
+        can_sends.append(mebcan.create_steering_control(self.packer_pt, self.CAN.pt, apply_curvature, hca_enabled, steering_power))
+        self.apply_curvature_last = apply_curvature
+        self.steering_power_last = steering_power
+
      else:
-        hca_enabled = False
-        apply_torque = 0
+        # Logic to avoid HCA state 4 "refused":
+        #   * Don't steer unless HCA is in state 3 "ready" or 5 "active"
+        #   * Don't steer at standstill
+        #   * Don't send > 3.00 Newton-meters torque
+        #   * Don't send the same torque for > 6 seconds
+        #   * Don't send uninterrupted steering for > 360 seconds
+        # MQB racks reset the uninterrupted steering timer after a single frame
+        # of HCA disabled; this is done whenever output happens to be zero.

-      if not hca_enabled:
-        self.hca_frame_timer_running = 0
+        if CC.latActive:
+          new_torque = int(round(actuators.torque * self.CCP.STEER_MAX))
+          apply_torque = apply_driver_steer_torque_limits(new_torque, self.apply_torque_last, CS.out.steeringTorque, self.CCP)
+          self.hca_frame_timer_running += self.CCP.STEER_STEP
+          if self.apply_torque_last == apply_torque:
+            self.hca_frame_same_torque += self.CCP.STEER_STEP
+            if self.hca_frame_same_torque > self.CCP.STEER_TIME_STUCK_TORQUE / DT_CTRL:
+              apply_torque -= (1, -1)[apply_torque < 0]
+              self.hca_frame_same_torque = 0
+          else:
+            self.hca_frame_same_torque = 0
+          hca_enabled = abs(apply_torque) > 0
+        else:
+          hca_enabled = False
+          apply_torque = 0

-      self.eps_timer_soft_disable_alert = self.hca_frame_timer_running > self.CCP.STEER_TIME_ALERT / DT_CTRL
-      self.apply_torque_last = apply_torque
-      can_sends.append(self.CCS.create_steering_control(self.packer_pt, self.CAN.pt, apply_torque, hca_enabled))
+        if not hca_enabled:
+          self.hca_frame_timer_running = 0
+
+        self.eps_timer_soft_disable_alert = self.hca_frame_timer_running > self.CCP.STEER_TIME_ALERT / DT_CTRL
+        self.apply_torque_last = apply_torque
+        can_sends.append(self.CCS.create_steering_control(self.packer_pt, self.CAN.pt, apply_torque, hca_enabled))

      if self.CP.flags & VolkswagenFlags.STOCK_HCA_PRESENT:
        # Pacify VW Emergency Assist driver inactivity detection by changing its view of driver steering input torque
@@ -81,16 +118,29 @@ class CarController(CarControllerBase):
          ea_simulated_torque = CS.out.steeringTorque
        can_sends.append(self.CCS.create_eps_update(self.packer_pt, self.CAN.cam, CS.eps_stock_values, ea_simulated_torque))

+    if self.CP.flags & VolkswagenFlags.MEB and self.CP.flags & VolkswagenFlags.STOCK_KLR_PRESENT:
+      if self.frame % self.CCP.KLR_01_STEP == 0:
+        can_sends.append(mebcan.create_capacitive_wheel_touch(self.packer_pt, self.CAN.cam, CC.latActive, CS.klr_stock_values))
+        can_sends.append(mebcan.create_capacitive_wheel_touch(self.packer_pt, self.CAN.pt, CC.latActive, CS.klr_stock_values))
+
    # **** Acceleration Controls ******************************************** #

    if self.CP.openpilotLongitudinalControl:
      if self.frame % self.CCP.ACC_CONTROL_STEP == 0:
-        acc_control = self.CCS.acc_control_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive)
-        accel = float(np.clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX) if CC.longActive else 0)
-        stopping = actuators.longControlState == LongCtrlState.stopping
-        starting = actuators.longControlState == LongCtrlState.pid and (CS.esp_hold_confirmation or CS.out.vEgo < starpilot_toggles.vEgoStopping)
-        can_sends.extend(self.CCS.create_acc_accel_control(self.packer_pt, self.CAN.pt, CS.acc_type, CC.longActive, accel,
-                                                           acc_control, stopping, starting, CS.esp_hold_confirmation))
+        if self.CP.flags & VolkswagenFlags.MEB:
+          accel = float(np.clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX))
+          accel, acc_status, acc_hold_type, braking_to_stop = self.meb_long_state.update(CS, CC, accel)
+          can_sends.extend(mebcan.create_acc_accel_control(self.packer_pt, self.CAN.pt, self.CCP, CS.acc_type, CC.enabled,
+                                                           accel, acc_status, acc_hold_type, braking_to_stop,
+                                                           CS.out.vEgoRaw * CV.MS_TO_KPH, CS.travel_assist_available))
+        else:
+          acc_control = self.CCS.acc_control_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive)
+          accel = float(np.clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX) if CC.longActive else 0)
+          stopping = actuators.longControlState == LongCtrlState.stopping
+          starting = actuators.longControlState == LongCtrlState.pid and (CS.esp_hold_confirmation or CS.out.vEgo < starpilot_toggles.vEgoStopping)
+          can_sends.extend(self.CCS.create_acc_accel_control(self.packer_pt, self.CAN.pt, CS.acc_type, CC.longActive, accel,
+                                                             acc_control, stopping, starting, CS.esp_hold_confirmation))
+        self.accel_last = accel

      #if self.aeb_available:
      #  if self.frame % self.CCP.AEB_CONTROL_STEP == 0:
@@ -107,16 +157,27 @@ class CarController(CarControllerBase):
      can_sends.append(self.CCS.create_lka_hud_control(self.packer_pt, self.CAN.pt, CS.ldw_stock_values, CC.latActive,
                                                       CS.out.steeringPressed, hud_alert, hud_control))

+    if hud_control.leadDistanceBars != self.lead_distance_bars_last:
+      self.distance_bar_frame = self.frame
+
    if self.frame % self.CCP.ACC_HUD_STEP == 0 and self.CP.openpilotLongitudinalControl:
-      lead_distance = 0
-      if hud_control.leadVisible and self.frame * DT_CTRL > 1.0:  # Don't display lead until we know the scaling factor
-        lead_distance = 512 if CS.upscale_lead_car_signal else 8
-      acc_hud_status = self.CCS.acc_hud_status_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive)
-      # FIXME: PQ may need to use the on-the-wire mph/kmh toggle to fix rounding errors
-      # FIXME: Detect clusters with vEgoCluster offsets and apply an identical vCruiseCluster offset
-      set_speed = hud_control.setSpeed * CV.MS_TO_KPH
-      can_sends.append(self.CCS.create_acc_hud_control(self.packer_pt, self.CAN.pt, acc_hud_status, set_speed,
-                                                       lead_distance, hud_control.leadDistanceBars))
+      if self.CP.flags & VolkswagenFlags.MEB:
+        fcw_alert = hud_control.visualAlert == VisualAlert.fcw
+        show_distance_bars = self.frame - self.distance_bar_frame < 400
+        lead_distance = 8 if hud_control.leadVisible and self.frame * DT_CTRL > 1.0 else 0
+        can_sends.append(mebcan.create_acc_hud_control(self.packer_pt, self.CAN.pt, self.meb_long_state.acc_status,
+                                                       hud_control.setSpeed * CV.MS_TO_KPH, hud_control.leadVisible,
+                                                       hud_control.leadDistanceBars, show_distance_bars, lead_distance, fcw_alert))
+      else:
+        lead_distance = 0
+        if hud_control.leadVisible and self.frame * DT_CTRL > 1.0:  # Don't display lead until we know the scaling factor
+          lead_distance = 512 if CS.upscale_lead_car_signal else 8
+        acc_hud_status = self.CCS.acc_hud_status_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive)
+        # FIXME: PQ may need to use the on-the-wire mph/kmh toggle to fix rounding errors
+        # FIXME: Detect clusters with vEgoCluster offsets and apply an identical vCruiseCluster offset
+        set_speed = hud_control.setSpeed * CV.MS_TO_KPH
+        can_sends.append(self.CCS.create_acc_hud_control(self.packer_pt, self.CAN.pt, acc_hud_status, set_speed,
+                                                         lead_distance, hud_control.leadDistanceBars))

    # **** Stock ACC Button Controls **************************************** #

@@ -128,7 +189,11 @@ class CarController(CarControllerBase):
    new_actuators = actuators.as_builder()
    new_actuators.torque = self.apply_torque_last / self.CCP.STEER_MAX
    new_actuators.torqueOutputCan = self.apply_torque_last
+    if self.CP.flags & VolkswagenFlags.MEB:
+      new_actuators.curvature = self.apply_curvature_last
+      new_actuators.accel = self.accel_last

+    self.lead_distance_bars_last = hud_control.leadDistanceBars
    self.gra_acc_counter_last = CS.gra_stock_values["COUNTER"]
    self.frame += 1
    return new_actuators, can_sends
@@ -14,12 +14,16 @@ class CarState(CarStateBase):
    super().__init__(CP, FPCP)
    self.frame = 0
    self.eps_init_complete = False
+    self.tsk_recovery_timer = 0
    self.CCP = CarControllerParams(CP)
    self.button_states = {button.event_type: False for button in self.CCP.BUTTONS}
    self.esp_hold_confirmation = False
    self.upscale_lead_car_signal = False
    self.eps_stock_values = False
    self.acc_type = 0
+    self.travel_assist_available = False
+    self.curvature_meas = 0.
+    self.klr_stock_values = {}

  def update_button_enable(self, buttonEvents: list[structs.CarState.ButtonEvent]):
    if not self.CP.pcmCruise:
@@ -52,6 +56,8 @@ class CarState(CarStateBase):
      return self.update_pq(pt_cp, cam_cp, ext_cp)
    elif self.CP.flags & VolkswagenFlags.MLB:
      return self.update_mlb(pt_cp, cam_cp, ext_cp)
+    elif self.CP.flags & VolkswagenFlags.MEB:
+      return self.update_meb(pt_cp, cam_cp, ext_cp)

    ret = structs.CarState()

@@ -143,6 +149,93 @@ class CarState(CarStateBase):

    return ret, fp_ret

+  def update_meb(self, pt_cp, cam_cp, ext_cp) -> structs.CarState:
+    ret = structs.CarState()
+
+    self.parse_wheel_speeds(ret,
+      pt_cp.vl["ESC_51"]["VL_Radgeschw"],
+      pt_cp.vl["ESC_51"]["VR_Radgeschw"],
+      pt_cp.vl["ESC_51"]["HL_Radgeschw"],
+      pt_cp.vl["ESC_51"]["HR_Radgeschw"],
+    )
+    ret.standstill = ret.vEgoRaw == 0
+
+    ret.steeringAngleDeg = pt_cp.vl["LWI_01"]["LWI_Lenkradwinkel"] * (1, -1)[int(pt_cp.vl["LWI_01"]["LWI_VZ_Lenkradwinkel"])]
+    ret.steeringRateDeg = pt_cp.vl["LWI_01"]["LWI_Lenkradw_Geschw"] * (1, -1)[int(pt_cp.vl["LWI_01"]["LWI_VZ_Lenkradw_Geschw"])]
+    ret.steeringTorque = pt_cp.vl["LH_EPS_03"]["EPS_Lenkmoment"] * (1, -1)[int(pt_cp.vl["LH_EPS_03"]["EPS_VZ_Lenkmoment"])]
+    ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > self.CCP.STEER_DRIVER_ALLOWANCE, 5)
+    self.curvature_meas = -pt_cp.vl["QFK_01"]["Curvature"] * (1, -1)[int(pt_cp.vl["QFK_01"]["Curvature_VZ"])]
+    ret.yawRate = -pt_cp.vl["ESC_50"]["Yaw_Rate"] * (1, -1)[int(pt_cp.vl["ESC_50"]["Yaw_Rate_Sign"])] * CV.DEG_TO_RAD
+
+    if self.CP.flags & VolkswagenFlags.ALT_GEAR:
+      ret.gearShifter = self.parse_gear_shifter(self.CCP.shifter_values.get(pt_cp.vl["Gateway_73"]["GE_Fahrstufe"], None))
+    else:
+      ret.gearShifter = self.parse_gear_shifter(self.CCP.shifter_values.get(pt_cp.vl["Getriebe_11"]["GE_Fahrstufe"], None))
+    in_drive = ret.gearShifter == GearShifter.drive
+
+    hca_status = self.CCP.hca_status_values.get(pt_cp.vl["QFK_01"]["LatCon_HCA_Status"])
+    ret.steerFaultTemporary, ret.steerFaultPermanent = self.update_hca_state(hca_status, in_drive)
+    ret.carFaultedNonCritical = cam_cp.vl["EA_01"]["EA_Funktionsstatus"] in (3, 4, 5, 6)
+
+    ret.gasPressed = pt_cp.vl["Motor_51"]["Accel_Pedal_Pressure"] > 0
+    ret.brakePressed = bool(pt_cp.vl["Motor_14"]["MO_Fahrer_bremst"])
+    ret.parkingBrake = pt_cp.vl["ESC_50"]["EPB_Status"] in (1, 4)
+    ret.seatbeltUnlatched = pt_cp.vl["Airbag_02"]["AB_Gurtschloss_FA"] != 3
+    doors = pt_cp.vl["ZV_02"] if bool(pt_cp.vl["Gateway_72"]["ZV_02_alt"]) else pt_cp.vl["Gateway_72"]
+    ret.doorOpen = any([doors["ZV_FT_offen"], doors["ZV_BT_offen"], doors["ZV_HFS_offen"],
+                        doors["ZV_HBFS_offen"], doors["ZV_HD_offen"]])
+    ret.espDisabled = bool(pt_cp.vl["ESP_21"]["ESP_Tastung_passiv"])
+    ret.espActive = bool(pt_cp.vl["ESP_21"]["ESP_Eingriff"])
+
+    self.acc_type = ext_cp.vl["ACC_18"]["ACC_Typ"]
+    self.esp_hold_confirmation = bool(pt_cp.vl["ESC_50"]["Standstill"])
+    self.travel_assist_available = bool(cam_cp.vl["TA_01"]["Travel_Assist_Available"])
+    ret.stockFcw = bool(ext_cp.vl["AWV_03"]["FCW_Active"])
+    ret.stockAeb = bool(ext_cp.vl["AWV_03"]["AEB_Active"])
+
+    ret.cruiseState.available = pt_cp.vl["Motor_51"]["TSK_Status"] in (2, 3, 4, 5)
+    ret.cruiseState.enabled = pt_cp.vl["Motor_51"]["TSK_Status"] in (3, 4, 5)
+    ret.cruiseState.standstill = self.CP.pcmCruise and self.esp_hold_confirmation
+    if self.CP.pcmCruise:
+      ret.cruiseState.nonAdaptive = bool(ext_cp.vl["ACC_19"]["ACC_Limiter_Mode"])
+      ret.cruiseState.speed = ext_cp.vl["ACC_19"]["ACC_Wunschgeschw_02"] * CV.KPH_TO_MS
+      if ret.cruiseState.speed > 90:
+        ret.cruiseState.speed = 0
+    else:
+      ret.cruiseState.nonAdaptive = bool(pt_cp.vl["Motor_51"]["TSK_Limiter_ausgewaehlt"])
+
+    tsk_faulted = pt_cp.vl["Motor_51"]["TSK_Status"] in (6, 7)
+    engine_off = pt_cp.vl["Motor_54"]["Engine_On"] == 0
+    long_control_inhibit = pt_cp.vl["VMM_02"]["Long_Control_Inhibit"] == 2
+    ret.accFaulted = (self.update_acc_fault(tsk_faulted, engine_off, long_control_inhibit) or
+                      ext_cp.vl["ACC_18"]["ACC_Status_ACC"] == 6)
+
+    ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_stalk(240, pt_cp.vl["SMLS_01"]["BH_Blinker_li"],
+                                                                            pt_cp.vl["SMLS_01"]["BH_Blinker_re"])
+
+    if self.CP.enableBsm:
+      if self.CP.flags & VolkswagenFlags.MEB_GEN2:
+        ret.leftBlindspot = (bool(pt_cp.vl["MEB_Side_Assist_01"]["Blind_Spot_Info_Driver"]) or
+                             bool(pt_cp.vl["MEB_Side_Assist_01"]["Blind_Spot_Warn_Driver"]))
+        ret.rightBlindspot = (bool(pt_cp.vl["MEB_Side_Assist_01"]["Blind_Spot_Info_Passenger"]) or
+                              bool(pt_cp.vl["MEB_Side_Assist_01"]["Blind_Spot_Warn_Passenger"]))
+      else:
+        ret.leftBlindspot = (bool(ext_cp.vl["MEB_Side_Assist_01"]["Blind_Spot_Info_Left"]) or
+                             bool(ext_cp.vl["MEB_Side_Assist_01"]["Blind_Spot_Warn_Left"]))
+        ret.rightBlindspot = (bool(ext_cp.vl["MEB_Side_Assist_01"]["Blind_Spot_Info_Right"]) or
+                              bool(ext_cp.vl["MEB_Side_Assist_01"]["Blind_Spot_Warn_Right"]))
+
+    self.eps_stock_values = pt_cp.vl["LH_EPS_03"]
+    self.ldw_stock_values = cam_cp.vl["LDW_02"] if self.CP.networkLocation == NetworkLocation.fwdCamera else {}
+    self.gra_stock_values = pt_cp.vl["GRA_ACC_01"]
+    self.klr_stock_values = pt_cp.vl["KLR_01"] if self.CP.flags & VolkswagenFlags.STOCK_KLR_PRESENT else {}
+
+    ret.buttonEvents = self.create_button_events(pt_cp, self.CCP.BUTTONS)
+    ret.lowSpeedAlert = self.update_low_speed_alert(ret.vEgo)
+
+    self.frame += 1
+    return ret, custom.StarPilotCarState.new_message()
+
  def update_pq(self, pt_cp, cam_cp, ext_cp) -> structs.CarState:
    ret = structs.CarState()

@@ -318,10 +411,19 @@ class CarState(CarStateBase):
    temp_fault = drive_mode and hca_status in ("REJECTED", "PREEMPTED") or not self.eps_init_complete
    return temp_fault, perm_fault

+  def update_acc_fault(self, acc_fault, engine_off, long_inhibit, recovery_frames=10):
+    # MEB briefly reports a drivetrain coordinator fault while the car powers down
+    # or after hard braking. Ignore only the short trailing state from those events.
+    if engine_off or long_inhibit:
+      self.tsk_recovery_timer = self.frame
+    return acc_fault and self.frame - self.tsk_recovery_timer >= recovery_frames
+
  @staticmethod
  def get_can_parsers(CP):
    if CP.flags & VolkswagenFlags.PQ:
      return CarState.get_can_parsers_pq(CP)
+    elif CP.flags & VolkswagenFlags.MEB:
+      return CarState.get_can_parsers_meb(CP)

    # manually configure some optional and variable-rate/edge-triggered messages
    pt_messages, cam_messages = [], []
@@ -346,3 +448,21 @@ class CarState(CarStateBase):
      Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CanBus(CP).pt),
      Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CanBus(CP).cam),
    }
+
+  @staticmethod
+  def get_can_parsers_meb(CP):
+    pt_messages = [
+      ("Blinkmodi_02", 1),
+      ("SMLS_01", 1),
+    ]
+    if CP.networkLocation == NetworkLocation.fwdCamera:
+      pt_messages.append(("AWV_03", 1))
+
+    cam_messages = []
+    if CP.networkLocation == NetworkLocation.gateway:
+      cam_messages.append(("AWV_03", 1))
+
+    return {
+      Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], pt_messages, CanBus(CP).pt),
+      Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], cam_messages, CanBus(CP).cam),
+    }
@@ -8,6 +8,71 @@ Ecu = CarParams.Ecu


 FW_VERSIONS = {
+  CAR.VOLKSWAGEN_ID3_MK1: {
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x871EA959655CD\xf1\x890366',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x871EA907572H \xf1\x890234',
+    ],
+  },
+  CAR.VOLKSWAGEN_ID3_MK2: {
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x871EA907567D \xf1\x890250',
+    ],
+  },
+  CAR.VOLKSWAGEN_ID4_MK1: {
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x871EA959655EA\xf1\x890376',
+      b'\xf1\x875WA959655R \xf1\x890717',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x871EA907144AQ\xf1\x895033\xf1\x82\x000_BH0A0_ON',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x871EA907572H \xf1\x890234',
+    ],
+  },
+  CAR.VOLKSWAGEN_ID4_MK2: {
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x871EA907567D \xf1\x890250',
+      b'\xf1\x871EA907567C \xf1\x890099',
+    ],
+  },
+  CAR.AUDI_Q4_MK1: {
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x871EA907572H \xf1\x890234',
+    ],
+  },
+  CAR.AUDI_Q4_MK2: {
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x871EA907567B \xf1\x890232',
+    ],
+  },
+  CAR.CUPRA_BORN_MK1: {
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x871EA959655EH\xf1\x890381',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x871EA907144AQ\xf1\x895033',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x871EA907572H \xf1\x890234',
+    ],
+  },
+  CAR.SKODA_ENYAQ_MK1: {
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x871EA959655EA\xf1\x890376',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x871EA907572H \xf1\x890234',
+    ],
+  },
+  CAR.SKODA_ENYAQ_MK2: {
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x871EA907567B \xf1\x890232',
+    ],
+  },
  CAR.VOLKSWAGEN_ARTEON_MK1: {
    (Ecu.engine, 0x7e0, None): [
      b'\xf1\x8704L906026TM\xf1\x896847',
@@ -1,13 +1,15 @@
-from opendbc.car import get_safety_config, structs
+from opendbc.car import Bus, get_safety_config, structs
 from opendbc.car.interfaces import CarInterfaceBase
 from opendbc.car.volkswagen.carcontroller import CarController
 from opendbc.car.volkswagen.carstate import CarState
-from opendbc.car.volkswagen.values import CanBus, CAR, NetworkLocation, TransmissionType, VolkswagenFlags, VolkswagenSafetyFlags
+from opendbc.car.volkswagen.radar_interface import RadarInterface
+from opendbc.car.volkswagen.values import CanBus, CAR, DBC, NetworkLocation, TransmissionType, VolkswagenFlags, VolkswagenSafetyFlags


 class CarInterface(CarInterfaceBase):
  CarState = CarState
  CarController = CarController
+  RadarInterface = RadarInterface

  @staticmethod
  def _get_params(ret: structs.CarParams, candidate: CAR, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
@@ -44,6 +46,37 @@ class CarInterface(CarInterfaceBase):
      ret.networkLocation = NetworkLocation.gateway
      ret.dashcamOnly = True  # Pending HCA timeout fix, safety validation, harness termination, install procedure

+    elif ret.flags & VolkswagenFlags.MEB:
+      safety_configs = [get_safety_config(structs.CarParams.SafetyModel.volkswagenMeb)]
+      if ret.flags & VolkswagenFlags.MEB_GEN2:
+        safety_configs[0].safetyParam |= VolkswagenSafetyFlags.MEB_ALT_CRC.value
+
+      ret.transmissionType = TransmissionType.direct
+      ret.steerControlType = structs.CarParams.SteerControlType.curvatureDEPRECATED
+      ret.steerAtStandstill = True
+
+      ret.lateralTuning.init('pid')
+      ret.lateralTuning.pid.kpBP = [10., 40.]
+      ret.lateralTuning.pid.kpV = [0., 1.45]
+      ret.lateralTuning.pid.kiBP = [10., 40.]
+      ret.lateralTuning.pid.kiV = [0., 0.12]
+      ret.lateralTuning.pid.kf = 1.
+
+      if any(msg in fingerprint[1] for msg in (0x520, 0x86, 0xFD, 0x13D)):
+        ret.networkLocation = NetworkLocation.gateway
+        ret.radarUnavailable = Bus.radar not in DBC[candidate]
+      else:
+        ret.networkLocation = NetworkLocation.fwdCamera
+
+      ret.enableBsm = 0x24C in fingerprint[0]
+      if 0x25D in fingerprint[0]:
+        ret.flags |= VolkswagenFlags.STOCK_KLR_PRESENT.value
+      if 0x3DC in fingerprint[0]:
+        ret.flags |= VolkswagenFlags.ALT_GEAR.value
+
+      # MEB support requires the J533 gateway harness; camera installations remain passive.
+      ret.dashcamOnly = ret.networkLocation == NetworkLocation.fwdCamera
+
    else:
      # Set global MQB parameters
      safety_configs = [get_safety_config(structs.CarParams.SafetyModel.volkswagen)]
@@ -72,6 +105,8 @@ class CarInterface(CarInterfaceBase):
    if ret.flags & VolkswagenFlags.PQ or ret.flags & VolkswagenFlags.MLB:
      ret.steerActuatorDelay = 0.2
      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+    elif ret.flags & VolkswagenFlags.MEB:
+      ret.steerActuatorDelay = 0.3
    else:
      ret.steerActuatorDelay = 0.1
      ret.lateralTuning.pid.kpBP = [0.]
@@ -82,9 +117,14 @@ class CarInterface(CarInterfaceBase):

    # Global longitudinal tuning defaults, can be overridden per-vehicle

+    if ret.flags & VolkswagenFlags.MEB:
+      ret.longitudinalActuatorDelay = 0.5
+      ret.longitudinalTuning.kiBP = [0., 30.]
+      ret.longitudinalTuning.kiV = [0.4, 0.]
+
    ret.alphaLongitudinalAvailable = ret.networkLocation == NetworkLocation.gateway or docs
-    if alpha_long:
-      # Proof-of-concept, prep for E2E only. No radar points available. Panda ALLOW_DEBUG firmware required.
+    if alpha_long and (not ret.flags & VolkswagenFlags.MEB or ret.alphaLongitudinalAvailable):
+      # Panda ALLOW_DEBUG firmware is required for Volkswagen longitudinal control.
      ret.openpilotLongitudinalControl = True
      safety_configs[0].safetyParam |= VolkswagenSafetyFlags.LONG_CONTROL.value
      if ret.transmissionType == TransmissionType.manual:
@@ -0,0 +1,277 @@
+from opendbc.car import Bus, structs
+from opendbc.can import CANDefine
+from opendbc.car.common.conversions import Conversions as CV
+from opendbc.car.volkswagen.values import DBC
+
+LongCtrlState = structs.CarControl.Actuators.LongControlState
+
+
+def create_steering_control(packer, bus, apply_curvature, lkas_enabled, power=0):
+  values = {
+    "Curvature": abs(apply_curvature),  # in rad/m
+    "Curvature_VZ": 1 if apply_curvature > 0 and lkas_enabled else 0,
+    "Power": power if lkas_enabled else 0,
+    "RequestStatus": 4 if lkas_enabled else 2,
+    "HighSendRate": lkas_enabled,
+  }
+  return packer.make_can_msg("HCA_03", bus, values)
+
+
+def create_eps_update(packer, bus, eps_stock_values, ea_simulated_torque):
+  values = {s: eps_stock_values[s] for s in [
+    "COUNTER",                     # Sync counter value to EPS output
+    "EPS_Lenkungstyp",             # EPS rack type
+    "EPS_Berechneter_LW",          # Absolute raw steering angle
+    "EPS_VZ_BLW",                  # Raw steering angle sign
+    "EPS_HCA_Status",              # EPS HCA control status
+  ]}
+
+  values.update({
+    # Absolute driver torque input and sign, with EA inactivity mitigation
+    "EPS_Lenkmoment": abs(ea_simulated_torque),
+    "EPS_VZ_Lenkmoment": 1 if ea_simulated_torque < 0 else 0,
+  })
+
+  return packer.make_can_msg("LH_EPS_03", bus, values)
+
+
+def create_lka_hud_control(packer, bus, ldw_stock_values, lat_active, steering_pressed, hud_alert, hud_control, sound_alert=False):
+  display_mode = 1 if lat_active else 0  # travel assist style showing yellow lanes when op is active
+
+  values = {}
+  if len(ldw_stock_values):
+    values = {s: ldw_stock_values[s] for s in [
+      "LDW_SW_Warnung_links",   # Blind spot in warning mode on left side due to lane departure
+      "LDW_SW_Warnung_rechts",  # Blind spot in warning mode on right side due to lane departure
+      "LDW_Seite_DLCTLC",       # Direction of most likely lane departure (left or right)
+      "LDW_DLC",                # Lane departure, distance to line crossing
+      "LDW_TLC",                # Lane departure, time to line crossing
+    ]}
+
+  values.update({
+    "LDW_Gong": sound_alert,
+    "LDW_Status_LED_gelb": 1 if lat_active and steering_pressed else 0,
+    "LDW_Status_LED_gruen": 1 if lat_active and not steering_pressed else 0,
+    "LDW_Lernmodus_links": 3 + display_mode if hud_control.leftLaneDepart else 1 + hud_control.leftLaneVisible + display_mode,
+    "LDW_Lernmodus_rechts": 3 + display_mode if hud_control.rightLaneDepart else 1 + hud_control.rightLaneVisible + display_mode,
+    "LDW_Texte": hud_alert,
+  })
+  return packer.make_can_msg("LDW_02", bus, values)
+
+
+def create_acc_buttons_control(packer, bus, gra_stock_values, cancel=False, resume=False, up=False, down=False):
+  values = {s: gra_stock_values[s] for s in [
+    "GRA_Hauptschalter",           # ACC button, on/off
+    "GRA_Typ_Hauptschalter",       # ACC main button type
+    "GRA_Codierung",               # ACC button configuration/coding
+    "GRA_Tip_Stufe_2",             # unknown related to stalk type
+    "GRA_ButtonTypeInfo",          # unknown related to stalk type
+  ]}
+
+  values.update({
+    "COUNTER": (gra_stock_values["COUNTER"] + 1) % 16,
+    "GRA_Abbrechen": cancel,
+    "GRA_Tip_Wiederaufnahme": resume or up,
+    "GRA_Tip_Setzen": down,
+  })
+  return packer.make_can_msg("GRA_ACC_01", bus, values)
+
+
+ACC_HUD_ERROR    = 6
+ACC_HUD_OVERRIDE = 4
+ACC_HUD_ACTIVE   = 3
+ACC_HUD_ENABLED  = 2
+ACC_HUD_DISABLED = 0
+
+
+class MebLongStateMachine:
+  HOLD_RELEASE_SPEED = 5 * CV.KPH_TO_MS
+
+  def __init__(self, CP, CCP):
+    self.CCP = CCP
+    self.RAMP_FRAMES = 10 // CCP.ACC_CONTROL_STEP  # 100 ms
+
+    self.disengage_ramp_counter = 0  # always ramp when disengaging
+
+    can_define = CANDefine(DBC[CP.carFingerprint][Bus.pt])
+    self.acc_status_vals = {v: k for k, v in can_define.dv['ACC_18']['ACC_Status_ACC'].items()}
+    self.acc_hold_type_vals = {v: k for k, v in can_define.dv['ACC_18']['ACC_Anforderung_HMS'].items()}
+
+    self.prev_acc_hold_type = self.acc_hold_type_vals['KEINE_ANFORDERUNG']  # no request
+    self.acc_status = self.acc_status_vals['ACC_OFF_HAUPTSCHALTER_AUS']  # last acc status, read by HUD msg
+
+  def _get_acc_status(self, CS, CC) -> int:
+    # stateless
+    # NOTE: stock TSK and camera goes to 5 on disengage independently which we don't model, but hasn't been shown to fault without it
+    if CS.out.accFaulted:
+      return self.acc_status_vals['REVERSIBLER_FEHLER_IM_ACC_SYSTEM']
+    elif CC.enabled:
+      return self.acc_status_vals['ACC_OVERRIDE' if CC.cruiseControl.override else 'ACC_AKTIV_REGELT']
+    elif CS.out.cruiseState.available:
+      return self.acc_status_vals['ACC_STANDBY']
+    else:
+      return self.acc_status_vals['ACC_OFF_HAUPTSCHALTER_AUS']  # disabled
+
+  def _get_hold_type(self, CS, CC) -> int:
+    # warning: car is reacting to hold mechanic even with long control off
+    # HALTEN -> KEINE_ANFORDERUNG causes the car to fault into park, so both branches below put a ramp in
+    # between: disengaging always ramps, and while engaged a release ramps until 5 kph
+    # NOTE: this allows KEINE_ANFORDERUNG -> ANFAHREN, but we haven't observed a fault due to this yet
+    # TODO: camera can send 7 on disengage at a stop which we don't fully understand yet
+    stopping = CC.actuators.longControlState == LongCtrlState.stopping
+    starting = CC.actuators.longControlState == LongCtrlState.pid and CS.esp_hold_confirmation
+    long_active = CC.longActive and not CS.out.accFaulted  # catches it one frame earlier, not sure if needed
+
+    if not long_active:
+      # Stock goes to RAMP for as long as TSK_Status is 5 usually, 100ms seems fine to mimic that behavior.
+      # Stock stays active for gas press, but we go inactive
+      if self.disengage_ramp_counter > 0:
+        acc_hold_type = self.acc_hold_type_vals['LOESEN_UEBER_RAMPE']  # ramp
+        self.disengage_ramp_counter -= 1
+      else:
+        acc_hold_type = self.acc_hold_type_vals['KEINE_ANFORDERUNG']  # no request
+
+    else:
+      was_engaged = self.disengage_ramp_counter == self.RAMP_FRAMES
+      self.disengage_ramp_counter = self.RAMP_FRAMES  # prep ramp if we disengage
+
+      if stopping:
+        acc_hold_type = self.acc_hold_type_vals['HALTEN']  # stopping/stopped, allowed at any time
+      elif starting:
+        acc_hold_type = self.acc_hold_type_vals['ANFAHREN']  # resume after reaching full stop
+      else:
+        # After aborting a stop or finishing starting, we need to send RAMP until we hit 5 kph or go long inactive,
+        # only if we didn't just re-engage
+        releasing = was_engaged and self.prev_acc_hold_type in (self.acc_hold_type_vals['HALTEN'],
+                                                                self.acc_hold_type_vals['ANFAHREN'],
+                                                                self.acc_hold_type_vals['LOESEN_UEBER_RAMPE'])
+
+        if releasing and CS.out.vEgo < self.HOLD_RELEASE_SPEED:
+          acc_hold_type = self.acc_hold_type_vals['LOESEN_UEBER_RAMPE']  # ramp
+        else:
+          acc_hold_type = self.acc_hold_type_vals['KEINE_ANFORDERUNG']  # no request
+
+    return acc_hold_type
+
+  def update(self, CS, CC, accel) -> tuple[float, int, int, bool]:
+    acc_status = self._get_acc_status(CS, CC)
+    acc_hold_type = self._get_hold_type(CS, CC)
+
+    # transition to inactive accel and jerks as soon as we enter ESP standstill
+    requesting_hold = acc_hold_type == self.acc_hold_type_vals['HALTEN']
+    held = requesting_hold and CS.esp_hold_confirmation
+    if not CC.enabled or held:
+      accel = self.CCP.ACCEL_INACTIVE
+
+    # hold requested but the car hasn't reached standstill yet
+    braking_to_stop = requesting_hold and not CS.esp_hold_confirmation
+
+    self.prev_acc_hold_type = acc_hold_type
+    self.acc_status = acc_status
+    return accel, acc_status, acc_hold_type, braking_to_stop
+
+
+def create_acc_accel_control(packer, bus, CCP, acc_type, acc_enabled, accel, acc_status, acc_hold_type,
+                             braking_to_stop, speed, travel_assist_available):
+  # active longitudinal control disables one pedal driving (regen mode) while using overriding mechanism
+  # error mitigation when stopping or stopped: (newer gen cars can be very sensitive)
+  # - send 0 m stopping distance for cars in kind of parameterized stopping mode (stopping accel -0.2 seen for those cars)
+  # -> this mode is seen for different cars with same firmware radars so could be a coded operational mode
+  # - jerk and control limits values set inactive together when fully stopped
+  # - set accel to 0 / no stop accel for full stop (seems to be compatible with old (non 0 stop accel) and new gen, because HMS state holds the car anyways)
+  # - stopping command sent while requesting stop but ESP is not in standstill
+  commands = []
+
+  # ACC_Anhalteweg: when stopping: MEB: values <> 0 the car can execute a hard brake probably if target is too close, MQBEvo: value 0 results in hard brake
+  terminal_rollout = 0
+
+  values = {
+    "ACC_Typ":                    acc_type,
+    "ACC_Status_ACC":             acc_status,
+    "ACC_StartStopp_Info":        acc_enabled,
+    "ACC_Sollbeschleunigung_02":  accel,
+    "ACC_zul_Regelabw_unten":     0,
+    "ACC_zul_Regelabw_oben":      0,
+    "ACC_neg_Sollbeschl_Grad_02": CCP.JERK_LIMIT if accel != CCP.ACCEL_INACTIVE else 0,
+    "ACC_pos_Sollbeschl_Grad_02": CCP.JERK_LIMIT if accel != CCP.ACCEL_INACTIVE else 0,
+    "ACC_Anfahren":               0,  # always zero, stock uses ACC_Anforderung_HMS
+    "ACC_Anhalten":               1 if braking_to_stop else 0,
+    "ACC_Anhalteweg":             terminal_rollout if braking_to_stop else 20.46,
+    "ACC_Anforderung_HMS":        acc_hold_type,
+    "ACC_AKTIV_regelt":           0,  # always zero, stock uses ACC_Status_ACC
+    "Speed":                      speed,
+    "SET_ME_0XFE":                0xFE,
+    "SET_ME_0X1":                 0x1,
+    "SET_ME_0X9":                 0x9,
+  }
+
+  commands.append(packer.make_can_msg("ACC_18", bus, values))
+
+  if travel_assist_available:
+    # satisfy car to prevent errors when pressing Travel Assist Button
+    values_ta = {
+       "Travel_Assist_Status":    4 if acc_enabled else 2,
+       "Travel_Assist_Request":   0,
+       "Travel_Assist_Available": 1,
+    }
+
+    commands.append(packer.make_can_msg("TA_01", bus, values_ta))
+
+  return commands
+
+
+def create_acc_hud_control(packer, bus, acc_status, set_speed, lead_visible, distance_bars, show_distance_bars, distance, fcw_alert):
+  values = {
+    "ACC_Status_ACC":                acc_status,
+    "ACC_Tempolimit":                0,
+    "ACC_Wunschgeschw_02":           set_speed if set_speed < 250 else 327.36,
+    "ACC_Gesetzte_Zeitluecke":       distance_bars, # 5 distance bars available (3 are used by OP)
+    "ACC_Display_Prio":              0 if fcw_alert and acc_status in (ACC_HUD_ACTIVE, ACC_HUD_OVERRIDE) else 1, # probably keeping warning in front
+    "ACC_Optischer_Fahrerhinweis":   1 if fcw_alert and acc_status in (ACC_HUD_ACTIVE, ACC_HUD_OVERRIDE) else 0, # enables optical warning
+    "ACC_Akustischer_Fahrerhinweis": 3 if fcw_alert and acc_status in (ACC_HUD_ACTIVE, ACC_HUD_OVERRIDE) else 0, # enables sound warning
+    "ACC_Texte_Zusatzanz_02":        11 if fcw_alert and acc_status in (ACC_HUD_ACTIVE, ACC_HUD_OVERRIDE) else 0, # type of warning: Break!
+    "ACC_Abstandsindex_02":          569, # seems to be default for MEB but is not static in every case
+    "ACC_EGO_Fahrzeug":              2 if fcw_alert and acc_status in (ACC_HUD_ACTIVE, ACC_HUD_OVERRIDE) else
+                                     (1 if acc_status == ACC_HUD_ACTIVE else 0), # red car warn symbol for fcw
+    "Lead_Type_Detected":            1 if lead_visible else 0, # object should be displayed
+    "Lead_Type":                     3 if lead_visible else 0, # displaying a car
+    "Lead_Distance":                 distance if lead_visible else 0, # hud distance of object
+    "ACC_Enabled":                   1 if acc_status in (ACC_HUD_ACTIVE, ACC_HUD_OVERRIDE) else 0,
+    "ACC_Standby_Override":          1 if acc_status != ACC_HUD_ACTIVE else 0,
+    "Street_Color":                  1 if acc_status in (ACC_HUD_ACTIVE, ACC_HUD_OVERRIDE) else 0, # light grey (1) or dark (0) street
+    "Lead_Brightness":               3 if acc_status == ACC_HUD_ACTIVE else 0, # object shows in color
+    # TODO: a nice speed dependent bar distance
+    "Zeitluecke_1":                  0, # desired distance to lead object for distance bar 1
+    "Zeitluecke_2":                  0, # desired distance to lead object for distance bar 2
+    "Zeitluecke_3":                  0, # desired distance to lead object for distance bar 3
+    "Zeitluecke_4":                  0, # desired distance to lead object for distance bar 4
+    "Zeitluecke_5":                  0, # desired distance to lead object for distance bar 5
+    "Zeitluecke_Farbe":              1 if acc_status in (ACC_HUD_ENABLED, ACC_HUD_ACTIVE, ACC_HUD_OVERRIDE) else 0, # yellow (1) or white (0) time gap
+    "ACC_Anzeige_Zeitluecke":        show_distance_bars if acc_status != ACC_HUD_DISABLED else 0, # show distance bar selection
+    "SET_ME_0X1":                    0x1,    # unknown
+    "SET_ME_0X6A":                   0x6A,   # unknown
+    "SET_ME_0XFFFF":                 0xFFFF, # unknown
+    "SET_ME_0X7FFF":                 0x7FFF, # unknown
+  }
+
+  return packer.make_can_msg("ACC_19", bus, values)
+
+
+def create_capacitive_wheel_touch(packer, bus, lat_active, klr_stock_values):
+  values = {s: klr_stock_values[s] for s in [
+    "COUNTER",
+    "KLR_Touchintensitaet_1",
+    "KLR_Touchintensitaet_2",
+    "KLR_Touchintensitaet_3",
+    "KLR_Touchauswertung",
+  ]}
+
+  if lat_active:
+    values.update({
+      "COUNTER": (klr_stock_values["COUNTER"] + 1) % 16,
+      "KLR_Touchintensitaet_1": 80,
+      "KLR_Touchintensitaet_2": 200,
+      "KLR_Touchintensitaet_3": 10,
+      "KLR_Touchauswertung": 10,
+    })
+  return packer.make_can_msg("KLR_01", bus, values)
@@ -0,0 +1,85 @@
+from opendbc.can import CANParser
+from opendbc.car import Bus, structs
+from opendbc.car.interfaces import RadarInterfaceBase
+from opendbc.car.volkswagen.values import DBC, VolkswagenFlags, CanBus
+
+NO_OBJECT_ID = 0
+LANE_TYPES = ("Same_Lane", "Left_Lane", "Right_Lane")
+SIGNAL_SETS = tuple(
+  (
+    f"{prefix}_ObjectID",
+    f"{prefix}_Long_Distance",
+    f"{prefix}_Lat_Distance",
+    f"{prefix}_Rel_Velo",
+  )
+  for lane in LANE_TYPES
+  for idx in (1, 2)
+  for prefix in (f"{lane}_0{idx}",)
+)
+
+
+class RadarInterface(RadarInterfaceBase):
+  def __init__(self, CP):
+    super().__init__(CP)
+
+    # With the MEB gateway harness, we do not have access to the raw points from the radar.
+    # However, the camera publishes decent, albeit filtered, tracks. Two for each lane; left, center, and right.
+    self.rcp: CANParser | None = None
+    if CP.flags & VolkswagenFlags.MEB and not self.CP.radarUnavailable:
+      self.rcp = CANParser(DBC[CP.carFingerprint][Bus.radar], [("MEB_Distance_01", 25)], CanBus(CP).cam)
+
+  def update(self, can_strings):
+    if self.rcp is None:
+      return super().update(None)
+
+    self.rcp.update(can_strings)
+
+    if len(self.rcp.vl_all["MEB_Distance_01"]["Distance_Status"]) == 0:
+      return None
+
+    return self._update()
+
+  def _update(self):
+    ret = structs.RadarData()
+
+    if not self.rcp.can_valid:
+      ret.errors.canError = True
+      return ret
+
+    msg = self.rcp.vl["MEB_Distance_01"]
+
+    # Can be 3 when radar sensor is obstructed
+    if msg["Distance_Status"] != 0:
+      ret.errors.radarUnavailableTemporary = True
+
+    seen_ids = set()
+    for obj_id_sig, long_sig, lat_sig, vel_sig in SIGNAL_SETS:
+      obj_id = int(msg[obj_id_sig])
+      if obj_id == NO_OBJECT_ID:
+        continue
+
+      # We shouldn't see duplicate track ids
+      if obj_id in seen_ids:
+        ret.errors.radarFault = True
+        return ret
+
+      seen_ids.add(obj_id)
+
+      if obj_id not in self.pts:
+        pt = structs.RadarData.RadarPoint()
+        pt.trackId = self.track_id
+        self.track_id += 1
+        self.pts[obj_id] = pt
+      else:
+        pt = self.pts[obj_id]
+
+      pt.dRel = msg[long_sig]
+      pt.yRel = msg[lat_sig]
+      pt.vRel = msg[vel_sig]
+
+    inactive_ids = self.pts.keys() - seen_ids
+    for obj_id in inactive_ids:
+      self.pts.pop(obj_id, None)
+
+    ret.points = list(self.pts.values())
+    return ret
@@ -3,7 +3,7 @@ import re

 from opendbc.car.structs import CarParams
 from opendbc.car.volkswagen.interface import CarInterface
-from opendbc.car.volkswagen.values import CAR, FW_QUERY_CONFIG, WMI
+from opendbc.car.volkswagen.values import CAR, FW_QUERY_CONFIG, WMI, VolkswagenFlags, VolkswagenSafetyFlags
 from opendbc.car.volkswagen.fingerprints import FW_VERSIONS

 Ecu = CarParams.Ecu
@@ -14,6 +14,44 @@ SPARE_PART_FW_PATTERN = re.compile(b'\xf1\x87(?P<gateway>[0-9][0-9A-Z]{2})(?P<un


 class TestVolkswagenPlatformConfigs:
+  MEB_CARS = {car for car in CAR if car.config.flags & VolkswagenFlags.MEB}
+
+  @staticmethod
+  def _get_meb_params(car, gateway=True, alpha_long=False):
+    fingerprint = {bus: {} for bus in range(8)}
+    if gateway:
+      fingerprint[1][0x13D] = 32
+    return CarInterface.get_params(car, fingerprint, [], alpha_long, False, False, None)
+
+  def test_meb_platform_params(self):
+    for car in self.MEB_CARS:
+      cp = self._get_meb_params(car)
+      assert cp.flags & VolkswagenFlags.MEB
+      assert cp.transmissionType == CarParams.TransmissionType.direct
+      assert cp.steerControlType == CarParams.SteerControlType.curvatureDEPRECATED
+      assert cp.steerAtStandstill
+      assert cp.safetyConfigs[-1].safetyModel == CarParams.SafetyModel.volkswagenMeb
+      assert not cp.dashcamOnly
+      assert not cp.radarUnavailable
+
+      has_gen2_crc = bool(cp.safetyConfigs[-1].safetyParam & VolkswagenSafetyFlags.MEB_ALT_CRC)
+      assert has_gen2_crc == bool(car.config.flags & VolkswagenFlags.MEB_GEN2)
+
+  def test_meb_camera_harness_is_passive(self):
+    cp = self._get_meb_params(CAR.VOLKSWAGEN_ID4_MK1, gateway=False, alpha_long=True)
+    assert cp.dashcamOnly
+    assert cp.radarUnavailable
+    assert not cp.alphaLongitudinalAvailable
+    assert not cp.openpilotLongitudinalControl
+    assert not (cp.safetyConfigs[-1].safetyParam & VolkswagenSafetyFlags.LONG_CONTROL)
+
+  def test_meb_gateway_longitudinal(self):
+    cp = self._get_meb_params(CAR.VOLKSWAGEN_ID4_MK1, gateway=True, alpha_long=True)
+    assert cp.alphaLongitudinalAvailable
+    assert cp.openpilotLongitudinalControl
+    assert not cp.pcmCruise
+    assert cp.safetyConfigs[-1].safetyParam & VolkswagenSafetyFlags.LONG_CONTROL
+
  def test_taos_longitudinal_actuator_delay(self):
    taos_cp = CarInterface.get_non_essential_params(CAR.VOLKSWAGEN_TAOS_MK1)
    golf_cp = CarInterface.get_non_essential_params(CAR.VOLKSWAGEN_GOLF_MK7)
@@ -37,32 +75,39 @@ class TestVolkswagenPlatformConfigs:
        assert all(CHASSIS_CODE_PATTERN.match(cc) for cc in
                   platform.config.chassis_codes), "Bad chassis codes"

-        # No two platforms should share chassis codes
+        # Shared MEB chassis codes are valid only when VIN model-year sets are disjoint.
        for comp in CAR:
          if platform == comp:
            continue
-          assert set() == platform.config.chassis_codes & comp.config.chassis_codes, \
-                           f"Shared chassis codes: {comp}"
+          shared_chassis = platform.config.chassis_codes & comp.config.chassis_codes
+          if shared_chassis:
+            both_meb = platform.config.flags & VolkswagenFlags.MEB and comp.config.flags & VolkswagenFlags.MEB
+            disjoint_years = (getattr(platform.config, "model_years", set()) and getattr(comp.config, "model_years", set()) and
+                              not platform.config.model_years & comp.config.model_years)
+            assert both_meb and disjoint_years, f"Shared chassis codes: {comp}"

  def test_custom_fuzzy_fingerprinting(self, subtests):
    all_radar_fw = list({fw for ecus in FW_VERSIONS.values() for fw in ecus[Ecu.fwdRadar, 0x757, None]})

    for platform in CAR:
      with subtests.test(platform=platform.name):
+        model_years = getattr(platform.config, "model_years", set()) or {"0"}
        for wmi in WMI:
          for chassis_code in platform.config.chassis_codes | {"00"}:
-            vin = ["0"] * 17
-            vin[0:3] = wmi
-            vin[6:8] = chassis_code
-            vin = "".join(vin)
+            for model_year in model_years:
+              vin = ["0"] * 17
+              vin[0:3] = wmi
+              vin[6:8] = chassis_code
+              vin[9] = model_year
+              vin = "".join(vin)

-            # Check a few FW cases - expected, unexpected
-            for radar_fw in random.sample(all_radar_fw, 5) + [b'\xf1\x875Q0907572G \xf1\x890571', b'\xf1\x877H9907572AA\xf1\x890396']:
-              should_match = ((wmi in platform.config.wmis and chassis_code in platform.config.chassis_codes) and
-                              radar_fw in all_radar_fw)
+              # Check a few FW cases - expected, unexpected
+              for radar_fw in random.sample(all_radar_fw, 5) + [b'\xf1\x875Q0907572G \xf1\x890571', b'\xf1\x877H9907572AA\xf1\x890396']:
+                should_match = ((wmi in platform.config.wmis and chassis_code in platform.config.chassis_codes) and
+                                radar_fw in all_radar_fw)

-              live_fws = {(0x757, None): [radar_fw]}
-              matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(live_fws, vin, FW_VERSIONS)
+                live_fws = {(0x757, None): [radar_fw]}
+                matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(live_fws, vin, FW_VERSIONS)

-              expected_matches = {platform} if should_match else set()
-              assert expected_matches == matches, "Bad match"
+                expected_matches = {platform} if should_match else set()
+                assert expected_matches == matches, "Bad match"
@@ -3,6 +3,7 @@ from dataclasses import dataclass, field
 from enum import Enum, IntFlag, StrEnum

 from opendbc.car import Bus, CanBusBase, CarSpecs, DbcDict, PlatformConfig, Platforms, structs, uds
+from opendbc.car.lateral import CurvatureSteeringLimits
 from opendbc.can import CANDefine
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column
@@ -101,6 +102,40 @@ class CarControllerParams:
        "laneAssistDeactivTrailer": 5,  # "Lane Assist: no function with trailer"
      }

+    elif CP.flags & VolkswagenFlags.MEB:
+      self.LDW_STEP = 10                  # LDW_02 message frequency 10Hz
+      self.ACC_HUD_STEP = 6
+      self.KLR_01_STEP = 6                # KLR_01 message frequency 17Hz
+      self.STEER_DRIVER_ALLOWANCE = 100   # Begin reducing steering power at 1.0 Nm driver torque
+      self.STEER_DRIVER_MAX = 300         # Reach minimum steering power at 3.0 Nm driver torque
+      self.STEERING_POWER_MAX = 50
+      self.STEERING_POWER_MIN = 4
+      self.STEERING_POWER_STEP = 2
+
+      self.CURVATURE_MAX = 0.195
+      self.CURVATURE_LIMITS = CurvatureSteeringLimits(self.CURVATURE_MAX)
+
+      self.ACCEL_INACTIVE = 3.01
+      self.JERK_LIMIT = 4.0
+
+      self.shifter_values = can_define.dv["Getriebe_11"]["GE_Fahrstufe"]
+      self.hca_status_values = can_define.dv["QFK_01"]["LatCon_HCA_Status"]
+
+      self.BUTTONS = [
+        Button(structs.CarState.ButtonEvent.Type.setCruise, "GRA_ACC_01", "GRA_Tip_Setzen", [1]),
+        Button(structs.CarState.ButtonEvent.Type.resumeCruise, "GRA_ACC_01", "GRA_Tip_Wiederaufnahme", [1]),
+        Button(structs.CarState.ButtonEvent.Type.accelCruise, "GRA_ACC_01", "GRA_Tip_Hoch", [1]),
+        Button(structs.CarState.ButtonEvent.Type.decelCruise, "GRA_ACC_01", "GRA_Tip_Runter", [1]),
+        Button(structs.CarState.ButtonEvent.Type.cancel, "GRA_ACC_01", "GRA_Abbrechen", [1]),
+        Button(structs.CarState.ButtonEvent.Type.gapAdjustCruise, "GRA_ACC_01", "GRA_Verstellung_Zeitluecke", [3]),
+      ]
+
+      self.LDW_MESSAGES = {
+        "none": 0,
+        "laneAssistTakeOverUrgent": 4,
+        "laneAssistTakeOver": 8,
+      }
+
    else:
      self.LDW_STEP = 10                  # LDW_02 message frequency 10Hz
      self.ACC_HUD_STEP = 6               # ACC_02 message frequency 16Hz
@@ -179,16 +214,21 @@ class WMI(StrEnum):

 class VolkswagenSafetyFlags(IntFlag):
  LONG_CONTROL = 1
+  MEB_ALT_CRC = 2


 class VolkswagenFlags(IntFlag):
  # Detected flags
  STOCK_HCA_PRESENT = 1
  KOMBI_PRESENT = 4
+  ALT_GEAR = 32
+  STOCK_KLR_PRESENT = 64

  # Static flags
  PQ = 2
  MLB = 8
+  MEB = 16
+  MEB_GEN2 = 128


@dataclass
@@ -210,6 +250,19 @@ class VolkswagenMQBPlatformConfig(PlatformConfig):
  wmis: set[WMI] = field(default_factory=set)


+@dataclass
+class VolkswagenMEBPlatformConfig(PlatformConfig):
+  dbc_dict: DbcDict = field(default_factory=lambda: {Bus.pt: 'vw_meb_generated', Bus.radar: 'vw_meb_generated'})
+  chassis_codes: set[str] = field(default_factory=set)
+  wmis: set[WMI] = field(default_factory=set)
+  model_years: set[str] = field(default_factory=set)
+
+  def init(self):
+    self.flags |= VolkswagenFlags.MEB
+    if self.flags & VolkswagenFlags.MEB_GEN2:
+      self.dbc_dict = {Bus.pt: 'vw_meb_2024_generated', Bus.radar: 'vw_meb_2024_generated'}
+
+
@dataclass
 class VolkswagenPQPlatformConfig(VolkswagenMQBPlatformConfig):
  dbc_dict: DbcDict = field(default_factory=lambda: {Bus.pt: 'vw_pq'})
@@ -265,7 +318,7 @@ class VWCarDocs(CarDocs):
 # FW_VERSIONS for that existing CAR.

 class CAR(Platforms):
-  config: VolkswagenMQBPlatformConfig | VolkswagenPQPlatformConfig
+  config: VolkswagenMLBPlatformConfig | VolkswagenMQBPlatformConfig | VolkswagenPQPlatformConfig | VolkswagenMEBPlatformConfig

  VOLKSWAGEN_ARTEON_MK1 = VolkswagenMQBPlatformConfig(
    [
@@ -327,6 +380,37 @@ class CAR(Platforms):
    chassis_codes={"5G", "AU", "BA", "BE"},
    wmis={WMI.VOLKSWAGEN_MEXICO_CAR, WMI.VOLKSWAGEN_EUROPE_CAR},
  )
+  VOLKSWAGEN_ID3_MK1 = VolkswagenMEBPlatformConfig(
+    [VWCarDocs("Volkswagen ID.3 2020-23")],
+    VolkswagenCarSpecs(mass=1935, wheelbase=2.77),
+    chassis_codes={"E1"},
+    wmis={WMI.VOLKSWAGEN_EUROPE_CAR},
+    model_years={"L", "M", "N", "P"},
+  )
+  VOLKSWAGEN_ID3_MK2 = VolkswagenMEBPlatformConfig(
+    [VWCarDocs("Volkswagen ID.3 2024-25")],
+    VolkswagenCarSpecs(mass=1935, wheelbase=2.77),
+    chassis_codes={"E1"},
+    wmis={WMI.VOLKSWAGEN_EUROPE_CAR},
+    model_years={"R", "S"},
+    flags=VolkswagenFlags.MEB_GEN2,
+  )
+  VOLKSWAGEN_ID4_MK1 = VolkswagenMEBPlatformConfig(
+    [
+      VWCarDocs("Volkswagen ID.4 2021-23"),
+      VWCarDocs("Volkswagen ID.5 2022-23"),
+    ],
+    VolkswagenCarSpecs(mass=2224, wheelbase=2.77),
+    chassis_codes={"E2"},
+    wmis={WMI.VOLKSWAGEN_USA_SUV, WMI.VOLKSWAGEN_EUROPE_CAR, WMI.VOLKSWAGEN_EUROPE_SUV},
+  )
+  VOLKSWAGEN_ID4_MK2 = VolkswagenMEBPlatformConfig(
+    [VWCarDocs("Volkswagen ID.4 2024-25")],
+    VolkswagenCarSpecs(mass=2224, wheelbase=2.77),
+    chassis_codes={"E8"},
+    wmis={WMI.VOLKSWAGEN_USA_SUV, WMI.VOLKSWAGEN_EUROPE_CAR, WMI.VOLKSWAGEN_EUROPE_SUV},
+    flags=VolkswagenFlags.MEB_GEN2,
+  )
  VOLKSWAGEN_JETTA_MK6 = VolkswagenPQPlatformConfig(
    [VWCarDocs("Volkswagen Jetta 2015-18")],
    VolkswagenCarSpecs(mass=1518, wheelbase=2.65, minSteerSpeed=50 * CV.KPH_TO_MS, minEnableSpeed=20 * CV.KPH_TO_MS),
@@ -441,6 +525,21 @@ class CAR(Platforms):
    chassis_codes={"8U", "F3", "FS"},
    wmis={WMI.AUDI_EUROPE_MPV, WMI.AUDI_GERMANY_CAR},
  )
+  AUDI_Q4_MK1 = VolkswagenMEBPlatformConfig(
+    [VWCarDocs("Audi Q4 e-tron 2021-23")],
+    VolkswagenCarSpecs(mass=1965, wheelbase=2.764),
+    chassis_codes={"FZ"},
+    wmis={WMI.AUDI_EUROPE_MPV},
+    model_years={"M", "N", "P"},
+  )
+  AUDI_Q4_MK2 = VolkswagenMEBPlatformConfig(
+    [VWCarDocs("Audi Q4 e-tron 2024-25")],
+    VolkswagenCarSpecs(mass=1965, wheelbase=2.764),
+    chassis_codes={"FZ"},
+    wmis={WMI.AUDI_EUROPE_MPV},
+    model_years={"R", "S"},
+    flags=VolkswagenFlags.MEB_GEN2,
+  )
  PORSCHE_MACAN_MK1 = VolkswagenMLBPlatformConfig(
    [VWCarDocs("Porsche Macan 2017-24")],
    VolkswagenCarSpecs(mass=1895, wheelbase=2.81, steerRatio=16.2),
@@ -457,6 +556,27 @@ class CAR(Platforms):
    chassis_codes={"5F"},
    wmis={WMI.SEAT},
  )
+  CUPRA_BORN_MK1 = VolkswagenMEBPlatformConfig(
+    [VWCarDocs("CUPRA Born 2021-23")],
+    VolkswagenCarSpecs(mass=1956, wheelbase=2.766, steerRatio=15.9),
+    chassis_codes={"K1"},
+    wmis={WMI.SEAT},
+  )
+  SKODA_ENYAQ_MK1 = VolkswagenMEBPlatformConfig(
+    [VWCarDocs("Škoda Enyaq 2021-23")],
+    VolkswagenCarSpecs(mass=1965, wheelbase=2.77),
+    chassis_codes={"NY"},
+    model_years={"M", "N", "P"},
+    wmis={WMI.SKODA},
+  )
+  SKODA_ENYAQ_MK2 = VolkswagenMEBPlatformConfig(
+    [VWCarDocs("Škoda Enyaq 2024-25")],
+    VolkswagenCarSpecs(mass=1965, wheelbase=2.77),
+    chassis_codes={"NY"},
+    model_years={"R", "S"},
+    wmis={WMI.SKODA},
+    flags=VolkswagenFlags.MEB_GEN2,
+  )
  SKODA_FABIA_MK4 = VolkswagenMQBPlatformConfig(
    [VWCarDocs("Škoda Fabia 2022-23", footnotes=[Footnote.VW_MQB_A0])],
    VolkswagenCarSpecs(mass=1266, wheelbase=2.56),
@@ -515,6 +635,7 @@ def match_fw_to_car_fuzzy(live_fw_versions, vin, offline_fw_versions) -> set[str
  # https://www.clubvw.org.au/vwreference/vwvin
  vin_obj = Vin(vin)
  chassis_code = vin_obj.vds[3:5]
+  model_year = vin_obj.vis[0] if vin_obj.vis else ""

  for platform in CAR:
    valid_ecus = set()
@@ -535,6 +656,8 @@ def match_fw_to_car_fuzzy(live_fw_versions, vin, offline_fw_versions) -> set[str
      continue

    if vin_obj.wmi in platform.config.wmis and chassis_code in platform.config.chassis_codes:
+      if platform.config.flags & VolkswagenFlags.MEB and platform.config.model_years and model_year not in platform.config.model_years:
+        continue
      candidates.add(platform)

  return {str(c) for c in candidates}
@@ -582,6 +705,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
  non_essential_ecus={Ecu.eps: list(CAR)},
  extra_ecus=[(Ecu.fwdCamera, 0x74f, None)],
  match_fw_to_car_fuzzy=match_fw_to_car_fuzzy,
+  fuzzy_only_platforms={car for car in CAR if car.config.flags & VolkswagenFlags.MEB},
 )

 DBC = CAR.create_dbc_map()
@@ -0,0 +1,132 @@
+CM_ "IMPORT _vw_meb_common.dbc";
+
+BO_ 190 MEB_HVEM_01: 48 XXX
+ SG_ CRC : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CNT : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Engine_RPM_Max : 12|14@1+ (2,-9658) [0|15] "RPM" XXX
+ SG_ Engine_RPM_Min : 26|14@1+ (2,-10300) [0|63] "RPM" XXX
+ SG_ In_Motion_04 : 48|3@1+ (1,0) [0|7] "" XXX
+ SG_ In_Motion_03 : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ In_Motion_02 : 54|1@0+ (1,0) [0|1] "" XXX
+ SG_ Engine_Power : 56|12@1+ (0.5,-1023) [0|255] "kW" XXX
+ SG_ In_Motion : 68|1@1+ (1,0) [0|3] "" XXX
+ SG_ Standstill : 71|1@0+ (1,0) [0|1] "" XXX
+ SG_ Unknown_04 : 72|10@1+ (1,0) [0|255] "" XXX
+ SG_ Battery_Voltage : 86|12@1+ (0.2,0) [0|3] "Volt" XXX
+ SG_ Unknown_01 : 100|9@1+ (1,0) [0|7] "" XXX
+ SG_ Battery_Voltage_02 : 113|11@1+ (0.24,0) [0|127] "Volt" XXX
+ SG_ Engine_Status : 296|2@1+ (1,0) [0|3] "" XXX
+ SG_ Inactive : 300|1@0+ (1,0) [0|1] "" XXX
+ SG_ Inactive_02 : 303|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 252 ESC_51: 48 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ AEB_Breaking_01 : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ AEB_Breaking_02 : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ Accelerator_Higher_Speed : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ Brake_Pressure : 42|9@1+ (0.195,0) [0|100] "Unit_Percent" XXX
+ SG_ HL_Radgeschw : 64|16@1+ (0.0075,0) [0|491.5125] "Unit_KilometerPerHour" XXX
+ SG_ HR_Radgeschw : 80|16@1+ (0.0075,0) [0|491.5125] "Unit_KilometerPerHour" XXX
+ SG_ VL_Radgeschw : 96|16@1+ (0.0075,0) [0|491.5125] "Unit_KilometerPerHour" XXX
+ SG_ VR_Radgeschw : 112|16@1+ (0.0075,0) [0|491.5125] "Unit_KilometerPerHour" XXX
+ SG_ HL_Brake_Pressure : 152|8@1+ (1,0) [0|100] "" XXX
+ SG_ HR_Brake_Pressure : 160|8@1+ (1,0) [0|100] "" XXX
+ SG_ VL_Brake_Pressure : 168|8@1+ (1,0) [0|100] "" XXX
+ SG_ VR_Brake_Pressure : 176|8@1+ (1,0) [0|100] "" XXX
+ SG_ Steering_Wheel_CW : 184|8@1+ (1.67,0) [0|255] "" XXX
+ SG_ Steering_Wheel_CCW : 192|8@1+ (1.67,0) [0|255] "" XXX
+
+BO_ 267 Motor_51: 32 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Accel_Pedal_Pressure : 12|9@1+ (0.4,0) [0|255] "" XXX
+ SG_ Accel_Low_Pressed_Support : 21|1@1+ (1,0) [0|7] "" XXX
+ SG_ TSK_Status : 88|3@1+ (1,0) [0|7] "" XXX
+ SG_ TSK_Limiter_ausgewaehlt : 95|1@1+ (1,0) [0|3] "" XXX
+
+BO_ 496 EA_02: 8 Gateway
+ SG_ EA_02_CRC : 0|8@1+ (1,0) [0|255] "" Vector__XXX
+ SG_ EA_02_BZ : 8|4@1+ (1,0) [0|15] "" Vector__XXX
+ SG_ EA_Texte : 12|4@1+ (1,0) [0|15] "" ZR_High
+ SG_ ACF_Lampe_Hands_Off : 16|2@1+ (1,0) [0|3] "" Vector__XXX
+ SG_ EA_Infotainment_Anf : 22|2@1+ (1,0) [0|3] "" ZR_High,ZR_LIMU,ZR_MIB_TOP_ab_Gen3,ZR_Standard
+ SG_ EA_Tueren_Anf : 24|1@1+ (1,0) [0|1] "" ZR_High
+ SG_ EA_Innenraumlicht_Anf : 25|1@1+ (1,0) [0|1] "" ZR_High
+ SG_ zFAS_Warnblinken : 26|2@1+ (1,0) [0|3] "" ZR_High
+ SG_ STP_Primaeranz : 28|3@1+ (1,0) [0|7] "" Vector__XXX
+ SG_ EA_Bremslichtblinken : 31|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ EA_Blinken : 32|3@1+ (1,0) [0|7] "" Vector__XXX
+ SG_ EA_Unknown : 60|3@0+ (1,0) [0|7] "" XXX
+
+BO_ 588 MEB_Side_Assist_01: 16 XXX
+ SG_ Blind_Spot_Right : 12|7@1+ (1,0) [0|15] "" XXX
+ SG_ Blind_Spot_Left : 19|7@1+ (1,0) [0|15] "" XXX
+ SG_ Blind_Spot_Info_Right : 26|1@0+ (1,0) [0|1] "" XXX
+ SG_ Blind_Spot_Warn_Right : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ Blind_Spot_Info_Left : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ Blind_Spot_Warn_Left : 30|1@0+ (1,0) [0|1] "" XXX
+ SG_ Lower_Speed_01 : 32|1@0+ (1,0) [0|1] "" XXX
+ SG_ Higher_Speed_01 : 33|1@0+ (1,0) [0|1] "" XXX
+ SG_ Higher_Speed_02 : 83|1@0+ (1,0) [0|1] "" XXX
+ SG_ Lower_Speed_02 : 84|1@0+ (1,0) [0|1] "" XXX
+ SG_ Standstill : 86|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 619 TA_01: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Travel_Assist_Status : 13|3@1+ (1,0) [0|3] "" XXX
+ SG_ Travel_Assist_Request : 19|3@1+ (1,0) [0|7] "" XXX
+ SG_ Travel_Assist_Available : 23|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 768 ACC_19: 48 XXX
+ SG_ ACC_Tempolimit : 64|5@1+ (1,0) [0|31] "" OTA_FC
+ SG_ ACC_Wunschgeschw_Farbe : 69|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ ACC_Warnung_Verkehrszeichen_1 : 70|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ ACA_Querfuehrung : 71|2@1+ (1,0) [0|3] "" Vector__XXX
+ SG_ Unknown_02 : 73|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_Regelung_AIO : 75|1@1+ (1,0) [0|1] "" ZR_High,ZR_LIMU,ZR_MIB_TOP_ab_Gen3
+ SG_ ACC_Wunschgeschw_02 : 76|10@1+ (0.32,0) [0|327.04] "Unit_KiloMeterPerHour" Vector__XXX
+ SG_ ACC_Abstandsindex_02 : 86|10@1+ (1,0) [1|1021] "" Vector__XXX
+ SG_ ACC_Display_Prio : 96|2@1+ (1,0) [0|3] "" Vector__XXX
+ SG_ ACC_rel_Objekt_Zusatzanz : 98|2@1+ (1,0) [0|3] "" Vector__XXX
+ SG_ ACC_Gesetzte_Zeitluecke : 101|3@1+ (1,0) [0|7] "" Vector__XXX
+ SG_ ACC_Optischer_Fahrerhinweis : 104|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ ACC_Warnhinweis : 105|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ ACC_EGO_Fahrzeug : 106|3@1+ (1,0) [0|7] "" Vector__XXX
+ SG_ ACC_Relevantes_Objekt_02 : 109|2@1+ (1,0) [0|3] "" OTA_FC,ZR_High,ZR_LIMU,ZR_MIB_TOP_ab_Gen3
+ SG_ ACC_Wunschgeschw_erreicht : 112|1@1+ (1,0) [0|1] "" OTA_FC
+ SG_ ACC_Anzeige_Zeitluecke : 113|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ ACC_Texte_Primaeranz_02 : 114|6@1+ (1,0) [0|63] "" Vector__XXX
+ SG_ ACC_Texte_Zusatzanz_02 : 120|6@1+ (1,0) [0|63] "" Vector__XXX
+ SG_ STA_Primaeranz : 126|2@1+ (1,0) [0|3] "" Vector__XXX
+ SG_ SET_ME_0X3FF : 140|10@1+ (1,0) [0|15] "" XXX
+ SG_ Heartbeat : 150|9@1+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_0XFFFF : 160|16@1+ (1,0) [0|65535] "" XXX
+ SG_ ACC_Enabled : 186|1@0+ (1,0) [0|1] "" XXX
+ SG_ Zeitluecke_Farbe : 189|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_0X1 : 199|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_Status_ACC : 208|3@1+ (1,0) [0|7] "" XXX
+ SG_ ACC_Akustischer_Fahrerhinweis : 211|2@1+ (1,0) [0|1] "" XXX
+ SG_ Unknown_08 : 224|1@0+ (1,0) [0|1] "" XXX
+ SG_ Unknown_01 : 225|1@0+ (1,0) [0|1] "" XXX
+ SG_ Unknown_06 : 226|1@0+ (1,0) [0|1] "" XXX
+ SG_ Unknown_07 : 228|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_0X7FFF : 240|16@1+ (1,0) [0|65535] "" XXX
+ SG_ Unknown_09 : 262|1@0+ (1,0) [0|3] "" XXX
+ SG_ Lead_Type_Detected : 265|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_Standby_Override : 266|1@0+ (1,0) [0|1] "" XXX
+ SG_ Street_Color : 267|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_Limiter_Mode : 268|1@0+ (1,0) [0|1] "" XXX
+ SG_ Lead_Brightness : 269|4@1+ (1,0) [0|7] "" XXX
+ SG_ SET_ME_0X6A : 273|8@1+ (1,0) [0|7] "" XXX
+ SG_ Lead_Type : 287|3@1+ (1,0) [0|3] "" XXX
+ SG_ Lead_Distance : 290|10@1+ (0.2,0) [0|7] "Unit_Meter" XXX
+ SG_ ACC_Events : 332|4@0+ (1,0) [0|3] "Unit_Meter" XXX
+ SG_ Zeitluecke_1 : 334|9@1+ (0.171,0) [0|100] "Unit_Meter" XXX
+ SG_ Zeitluecke_2 : 344|9@1+ (0.171,0) [0|100] "Unit_Meter" XXX
+ SG_ Zeitluecke_3 : 354|9@1+ (0.171,0) [0|100] "Unit_Meter" XXX
+ SG_ Zeitluecke_4 : 364|9@1+ (0.171,0) [0|100] "Unit_Meter" XXX
+ SG_ Zeitluecke_5 : 374|9@1+ (0.171,0) [0|100] "Unit_Meter" XXX
+
+VAL_ 768 ACC_Events 3 "Starting_Available" 0 "None" 5 "Speed_Limit_Camera" 9 "Street_Type" 4 "Speed_Limit_in_Nav";
@@ -0,0 +1,134 @@
+CM_ "IMPORT _vw_meb_common.dbc";
+
+BO_ 190 MEB_HVEM_01: 48 XXX
+ SG_ CRC : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CNT : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Engine_RPM_Max : 12|14@1+ (2,-9658) [0|15] "RPM" XXX
+ SG_ Engine_RPM_Min : 26|14@1+ (2,-10300) [0|63] "RPM" XXX
+ SG_ In_Motion_04 : 48|3@1+ (1,0) [0|7] "" XXX
+ SG_ In_Motion_03 : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ In_Motion_02 : 54|1@0+ (1,0) [0|1] "" XXX
+ SG_ Engine_Power : 56|12@1+ (0.5,-1023) [0|255] "kW" XXX
+ SG_ In_Motion : 68|1@1+ (1,0) [0|3] "" XXX
+ SG_ Standstill : 71|1@0+ (1,0) [0|1] "" XXX
+ SG_ Voltage : 86|12@1+ (0.24,0) [0|3] "V" XXX
+ SG_ Battery_Voltage : 113|13@1+ (0.065,0) [0|127] "V" XXX
+ SG_ Engine_Status : 296|2@1+ (1,0) [0|3] "" XXX
+ SG_ Inactive : 300|1@0+ (1,0) [0|1] "" XXX
+ SG_ Inactive_02 : 303|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 496 EA_02: 8 Gateway
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" Vector__XXX
+ SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" Vector__XXX
+ SG_ EA_Texte : 12|4@1+ (1,0) [0|15] "" ZR_High
+ SG_ ACF_Lampe_Hands_Off : 16|2@1+ (1,0) [0|3] "" Vector__XXX
+ SG_ EA_Infotainment_Anf : 22|2@1+ (1,0) [0|3] "" ZR_High,ZR_LIMU,ZR_MIB_TOP_ab_Gen3,ZR_Standard
+ SG_ EA_Tueren_Anf : 24|1@1+ (1,0) [0|1] "" ZR_High
+ SG_ EA_Innenraumlicht_Anf : 25|1@1+ (1,0) [0|1] "" ZR_High
+ SG_ zFAS_Warnblinken : 26|2@1+ (1,0) [0|3] "" ZR_High
+ SG_ STP_Primaeranz : 28|3@1+ (1,0) [0|7] "" Vector__XXX
+ SG_ EA_Bremslichtblinken : 31|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ EA_Blinken : 32|3@1+ (1,0) [0|7] "" Vector__XXX
+
+BO_ 588 MEB_Side_Assist_01: 16 XXX
+ SG_ Blind_Spot_Passenger : 12|7@1+ (1,0) [0|15] "" XXX
+ SG_ Blind_Spot_Driver : 19|7@1+ (1,0) [0|15] "" XXX
+ SG_ Blind_Spot_Info_Passenger : 26|1@0+ (1,0) [0|1] "" XXX
+ SG_ Blind_Spot_Warn_Passenger : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ Blind_Spot_Info_Driver : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ Blind_Spot_Warn_Driver : 30|1@0+ (1,0) [0|1] "" XXX
+ SG_ Lower_Speed_01 : 32|1@0+ (1,0) [0|1] "" XXX
+ SG_ Higher_Speed_01 : 33|1@0+ (1,0) [0|1] "" XXX
+ SG_ Higher_Speed_02 : 83|1@0+ (1,0) [0|1] "" XXX
+ SG_ Lower_Speed_02 : 84|1@0+ (1,0) [0|1] "" XXX
+ SG_ Standstill : 86|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 768 ACC_19: 48 XXX
+ SG_ ACC_Tempolimit : 64|5@1+ (1,0) [0|31] "" OTA_FC
+ SG_ ACC_Wunschgeschw_Farbe : 69|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ ACC_Warnung_Verkehrszeichen_1 : 70|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ ACA_Querfuehrung : 71|2@1+ (1,0) [0|3] "" Vector__XXX
+ SG_ ACC_Regelung_AIO : 75|1@1+ (1,0) [0|1] "" ZR_High,ZR_LIMU,ZR_MIB_TOP_ab_Gen3
+ SG_ ACC_Wunschgeschw_02 : 76|10@1+ (0.32,0) [0|327.04] "Unit_KiloMeterPerHour" Vector__XXX
+ SG_ ACC_Abstandsindex_02 : 86|10@1+ (1,0) [1|1021] "" Vector__XXX
+ SG_ ACC_Display_Prio : 96|2@1+ (1,0) [0|3] "" Vector__XXX
+ SG_ ACC_rel_Objekt_Zusatzanz : 98|2@1+ (1,0) [0|3] "" Vector__XXX
+ SG_ ACC_Gesetzte_Zeitluecke : 101|3@1+ (1,0) [0|7] "" Vector__XXX
+ SG_ ACC_Optischer_Fahrerhinweis : 104|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ ACC_Warnhinweis : 105|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ ACC_EGO_Fahrzeug : 106|3@1+ (1,0) [0|7] "" Vector__XXX
+ SG_ ACC_Relevantes_Objekt_02 : 109|2@1+ (1,0) [0|3] "" OTA_FC,ZR_High,ZR_LIMU,ZR_MIB_TOP_ab_Gen3
+ SG_ ACC_Wunschgeschw_erreicht : 112|1@1+ (1,0) [0|1] "" OTA_FC
+ SG_ ACC_Anzeige_Zeitluecke : 113|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ ACC_Texte_Primaeranz_02 : 114|6@1+ (1,0) [0|63] "" Vector__XXX
+ SG_ ACC_Texte_Zusatzanz_02 : 120|6@1+ (1,0) [0|63] "" Vector__XXX
+ SG_ STA_Primaeranz : 126|2@1+ (1,0) [0|3] "" Vector__XXX
+ SG_ ACC_Event_Wunschgeschw : 140|10@1+ (0.32,0) [0|15] "" XXX
+ SG_ Heartbeat : 150|9@1+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_0XFFFF : 160|16@1+ (1,0) [0|65535] "" XXX
+ SG_ ACC_Enabled : 186|1@0+ (1,0) [0|1] "" XXX
+ SG_ Zeitluecke_Farbe : 189|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_0X1 : 199|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_Status_ACC : 208|3@1+ (1,0) [0|7] "" XXX
+ SG_ ACC_Akustischer_Fahrerhinweis : 211|2@1+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_0X7FFF : 240|16@1+ (1,0) [0|65535] "" XXX
+ SG_ Lead_Type_Detected : 265|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_Standby_Override : 266|1@0+ (1,0) [0|1] "" XXX
+ SG_ Street_Color : 267|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_Limiter_Mode : 268|1@0+ (1,0) [0|1] "" XXX
+ SG_ Lead_Brightness : 269|4@1+ (1,0) [0|7] "" XXX
+ SG_ SET_ME_0X6A : 273|8@1+ (1,0) [0|7] "" XXX
+ SG_ Lead_Position : 281|2@1+ (1,0) [0|1] "" XXX
+ SG_ Lead_Type : 287|3@1+ (1,0) [0|3] "" XXX
+ SG_ Lead_Distance : 290|10@1+ (0.2,0) [0|7] "Unit_Meter" XXX
+ SG_ Lead_Distance_Right : 300|10@1+ (0.2,0) [0|15] "Unit_Meter" XXX
+ SG_ Lead_Distance_Left : 310|10@1+ (0.2,0) [0|3] "Unit_Meter" XXX
+ SG_ ACC_Events : 332|4@0+ (1,0) [0|3] "Unit_Meter" XXX
+ SG_ Zeitluecke_1 : 334|9@1+ (0.171,0) [0|100] "Unit_Meter" XXX
+ SG_ Zeitluecke_2 : 344|9@1+ (0.171,0) [0|100] "Unit_Meter" XXX
+ SG_ Zeitluecke_3 : 354|9@1+ (0.171,0) [0|100] "Unit_Meter" XXX
+ SG_ Zeitluecke_4 : 364|9@1+ (0.171,0) [0|100] "Unit_Meter" XXX
+ SG_ Zeitluecke_5 : 374|9@1+ (0.171,0) [0|100] "Unit_Meter" XXX
+
+VAL_ 768 ACC_Event_Wunschgeschw 1023 "None";
+VAL_ 768 ACC_Events 3 "Starting_Available" 0 "None" 5 "Speed_Limit_Detected" 9 "Crossing" 4 "Speed_Limit_Ahead" 10 "Roundabout" 6 "Curve";
+
+BO_ 252 ESC_51: 64 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ AEB_Breaking_01 : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ AEB_Breaking_02 : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ Accelerator_Higher_Speed : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ Brake_Pressure : 42|9@1+ (0.195,0) [0|100] "Unit_Percent" XXX
+ SG_ HL_Radgeschw : 64|16@1+ (0.0075,0) [0|491.5125] "Unit_KilometerPerHour" XXX
+ SG_ HR_Radgeschw : 80|16@1+ (0.0075,0) [0|491.5125] "Unit_KilometerPerHour" XXX
+ SG_ VL_Radgeschw : 96|16@1+ (0.0075,0) [0|491.5125] "Unit_KilometerPerHour" XXX
+ SG_ VR_Radgeschw : 112|16@1+ (0.0075,0) [0|491.5125] "Unit_KilometerPerHour" XXX
+ SG_ HL_Brake_Pressure : 152|8@1+ (1,0) [0|100] "" XXX
+ SG_ HR_Brake_Pressure : 160|8@1+ (1,0) [0|100] "" XXX
+ SG_ VL_Brake_Pressure : 168|8@1+ (1,0) [0|100] "" XXX
+ SG_ VR_Brake_Pressure : 176|8@1+ (1,0) [0|100] "" XXX
+ SG_ Steering_Wheel_CW : 184|8@1+ (1.67,0) [0|255] "" XXX
+ SG_ Steering_Wheel_CCW : 192|8@1+ (1.67,0) [0|255] "" XXX
+ SG_ ESC_v_Signal : 328|13@1+ (0.052,-107.016) [0|63] "" XXX
+
+BO_ 267 Motor_51: 48 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Accel_Pedal_Pressure : 12|9@1+ (0.4,0) [0|255] "" XXX
+ SG_ Accel_Low_Pressed_Support : 21|1@1+ (1,0) [0|7] "" XXX
+ SG_ TSK_Status : 88|3@1+ (1,0) [0|7] "" XXX
+ SG_ TSK_Limiter_ausgewaehlt : 95|1@1+ (1,0) [0|3] "" XXX
+
+BO_ 619 TA_01: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Travel_Assist_Status : 13|3@1+ (1,0) [0|3] "" XXX
+ SG_ Speed_Mode_01 : 16|1@0+ (1,0) [0|1] "" XXX
+ SG_ Speed_Mode_02 : 18|1@0+ (1,0) [0|1] "" XXX
+ SG_ Travel_Assist_Request : 19|3@1+ (1,0) [0|7] "" XXX
+ SG_ Init : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ Travel_Assist_Available : 23|1@1+ (1,0) [0|1] "" XXX
+ SG_ Speed_Mode_Status : 32|3@1+ (1,0) [0|7] "" XXX
+ SG_ Lane_Unsure : 37|2@1+ (1,0) [0|3] "" XXX
+
@@ -56,6 +56,7 @@
  } while (0);

 #define UPDATE_VEHICLE_SPEED(val_ms) (update_sample(&vehicle_speed, ROUND((val_ms) * VEHICLE_SPEED_FACTOR)))
+#define UPDATE_VEHICLE_SPEED_2(val_ms) (update_sample(&vehicle_speed_2, ROUND((val_ms) * VEHICLE_SPEED_FACTOR)))

 uint32_t GET_BYTES(const CANPacket_t *msg, int start, int len);

@@ -137,6 +138,15 @@ typedef struct {
  const bool inactive_angle_is_zero;     // if false, enforces angle near meas when disabled (default)
 } AngleSteeringLimits;

+typedef struct {
+  const int max_curvature;               // rad/m * curvature_to_can
+  const float curvature_to_can;          // CAN units per rad/m
+  const uint32_t frequency;              // Hz
+  const int max_curvature_error;         // max deviation from measured curvature (0 disables)
+  const float curvature_error_min_speed; // minimum speed for curvature error checks [m/s]
+  const int max_steer_power;             // max steering authority value (0 disables)
+} CurvatureSteeringLimits;
+
 // parameters for lateral accel/jerk angle limiting using a simple vehicle model
 typedef struct {
  const float slip_factor;
@@ -237,6 +247,7 @@ bool steer_torque_cmd_checks(int desired_torque, int steer_req, const TorqueStee
 bool steer_angle_cmd_checks(int desired_angle, bool steer_control_enabled, const AngleSteeringLimits limits);
 bool steer_angle_cmd_checks_vm(int desired_angle, bool steer_control_enabled, const AngleSteeringLimits limits,
                               const AngleSteeringParams params);
+bool steer_curvature_cmd_checks(int desired_curvature, int steer_power, bool steer_control_enabled, const CurvatureSteeringLimits limits);
 bool longitudinal_accel_checks(int desired_accel, const LongitudinalLimits limits);
 bool longitudinal_speed_checks(int desired_speed, const LongitudinalLimits limits);
 bool longitudinal_gas_checks(int desired_gas, const LongitudinalLimits limits);
@@ -262,6 +273,7 @@ extern bool steering_disengage;
 extern bool steering_disengage_prev;
 extern bool cruise_engaged_prev;
 extern struct sample_t vehicle_speed;
+extern struct sample_t vehicle_speed_2;
 extern bool vehicle_moving;
 extern bool acc_main_on; // referred to as "ACC off" in ISO 15622:2018
 extern int cruise_button_prev;
@@ -292,6 +304,16 @@ extern uint32_t ts_angle_check_last;
 extern int desired_angle_last;
 extern struct sample_t angle_meas;         // last 6 steer angles/curvatures

+typedef struct {
+  int desired_last;
+  uint32_t rt_msgs;
+  uint32_t rt_msgs_prev;
+  uint32_t ts_check_last;
+  int steer_power_last;
+  struct sample_t meas;
+} CurvatureSteeringState;
+extern CurvatureSteeringState curvature_state;
+
 extern bool enable_gas_interceptor;
 extern int gas_interceptor_prev;
 extern bool gm_remote_start_boots_comma;
@@ -353,6 +375,7 @@ extern const safety_hooks subaru_preglobal_hooks;
 extern const safety_hooks tesla_hooks;
 extern const safety_hooks toyota_hooks;
 extern const safety_hooks volkswagen_mlb_hooks;
+extern const safety_hooks volkswagen_meb_hooks;
 extern const safety_hooks volkswagen_mqb_hooks;
 extern const safety_hooks volkswagen_pq_hooks;
 extern const safety_hooks rivian_hooks;
@@ -172,6 +172,26 @@ static bool rt_angle_rate_limit_check(AngleSteeringLimits limits) {
  return violation;
 }

+static bool rt_curvature_rate_limit_check(CurvatureSteeringLimits limits) {
+  bool violation = false;
+  uint32_t ts = microsecond_timer_get();
+
+  int max_rt_msgs = ((float)limits.frequency * MAX_RT_INTERVAL / 1e6 * 1.2) + 1;
+  uint32_t rt_msgs = curvature_state.rt_msgs + curvature_state.rt_msgs_prev;
+  if ((int)rt_msgs > max_rt_msgs) {
+    violation = true;
+  }
+  curvature_state.rt_msgs += 1U;
+
+  if (safety_get_ts_elapsed(ts, curvature_state.ts_check_last) >= (MAX_RT_INTERVAL / 2U)) {
+    curvature_state.rt_msgs_prev = curvature_state.rt_msgs;
+    curvature_state.rt_msgs = 0U;
+    curvature_state.ts_check_last = ts;
+  }
+
+  return violation;
+}
+
 // Safety checks for angle-based steering commands
 bool steer_angle_cmd_checks(int desired_angle, bool steer_control_enabled, const AngleSteeringLimits limits) {
  bool violation = false;
@@ -278,6 +298,65 @@ bool steer_angle_cmd_checks(int desired_angle, bool steer_control_enabled, const
  return violation;
 }

+// Safety checks for curvature-based steering commands.
+bool steer_curvature_cmd_checks(int desired_curvature, int steer_power, bool steer_control_enabled, const CurvatureSteeringLimits limits) {
+  static const float MAX_LATERAL_ACCEL = ISO_LATERAL_ACCEL + (EARTH_G * AVERAGE_ROAD_ROLL);
+  static const float MAX_LATERAL_JERK = 3.0 + (EARTH_G * AVERAGE_ROAD_ROLL);
+
+  const float speed_1 = (float)vehicle_speed.values[0] / VEHICLE_SPEED_FACTOR;
+  const float speed_2 = (float)vehicle_speed_2.values[0] / VEHICLE_SPEED_FACTOR;
+  const bool speed_sources_valid = SAFETY_ABS(speed_1 - speed_2) <= 2.0;
+  speed_mismatch_check(speed_2);
+
+  const bool lateral_allowed = (aol_allowed || controls_allowed) && speed_sources_valid;
+  const float fudged_speed = SAFETY_MAX((vehicle_speed.min / VEHICLE_SPEED_FACTOR) - 1.0, 1.0);
+  bool violation = false;
+
+  if (lateral_allowed && steer_control_enabled) {
+    violation |= safety_max_limit_check(desired_curvature, limits.max_curvature, -limits.max_curvature);
+
+    const float max_curvature_rate_sec = MAX_LATERAL_JERK / (fudged_speed * fudged_speed);
+    const float max_curvature_delta = max_curvature_rate_sec / (float)limits.frequency;
+    const int max_curvature_delta_can = (max_curvature_delta * limits.curvature_to_can) + 1.;
+    const int highest_desired_curvature = curvature_state.desired_last + max_curvature_delta_can;
+    const int lowest_desired_curvature = curvature_state.desired_last - max_curvature_delta_can;
+    violation |= safety_max_limit_check(desired_curvature, highest_desired_curvature, lowest_desired_curvature);
+
+    const float max_curvature = MAX_LATERAL_ACCEL / (fudged_speed * fudged_speed);
+    const int max_curvature_can = (max_curvature * limits.curvature_to_can) + 1.;
+    violation |= safety_max_limit_check(desired_curvature, max_curvature_can, -max_curvature_can);
+
+    if (limits.max_curvature_error && (speed_1 > limits.curvature_error_min_speed)) {
+      const int lowest_error = curvature_state.meas.min - limits.max_curvature_error - 1;
+      const int highest_error = curvature_state.meas.max + limits.max_curvature_error + 1;
+      violation |= safety_max_limit_check(desired_curvature, highest_error, lowest_error);
+    }
+
+    violation |= rt_curvature_rate_limit_check(limits);
+  }
+  curvature_state.desired_last = desired_curvature;
+
+  if (!steer_control_enabled) {
+    violation |= desired_curvature != 0;
+  }
+
+  if (limits.max_steer_power != 0) {
+    violation |= safety_max_limit_check(steer_power, limits.max_steer_power, 0);
+    violation |= (steer_power != 0) && !steer_control_enabled;
+    // Permit only a strict power wind-down after lateral control becomes inactive.
+    violation |= !lateral_allowed && (steer_power != 0) && (steer_power >= curvature_state.steer_power_last);
+    curvature_state.steer_power_last = steer_power;
+  } else {
+    violation |= !lateral_allowed && steer_control_enabled;
+  }
+
+  if (violation) {
+    curvature_state.desired_last = 0;
+  }
+
+  return violation;
+}
+
 static float get_curvature_factor(const float speed, const AngleSteeringParams params) {
  // Matches VehicleModel.curvature_factor()
  return 1. / (1. - (params.slip_factor * (speed * speed))) / params.wheelbase;
@@ -92,13 +92,16 @@ static bool hyundai_legacy = false;
 static bool hyundai_can_canfd_blended_hda2 = false;
 static bool hyundai_acc_main_on_rx_prev = false;

-#define HYUNDAI_CAN_CANFD_BLENDED_HDA2_RX_CHECKS()                                                                                                             \
+#define HYUNDAI_CAN_CANFD_BLENDED_HDA2_COMMON_RX_CHECKS()                                                                                                      \
  {.msg = {{0x260, 1, 8, 100U, .max_counter = 3U, .ignore_quality_flag = true},                                                                                \
           {0x371, 1, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }}},                                         \
  {.msg = {{0x386, 1, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},                                                                \
  {.msg = {{0x394, 1, 8, 50U, .max_counter = 7U, .ignore_quality_flag = true}, { 0 }, { 0 }}},                                                                 \
  {.msg = {{0x251, 1, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},                                   \
-  {.msg = {{0x4F1, 1, 4, 50U, .ignore_checksum = true, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},                                       \
+  {.msg = {{0x4F1, 1, 4, 50U, .ignore_checksum = true, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
+
+#define HYUNDAI_CAN_CANFD_BLENDED_HDA2_RX_CHECKS()                                                                                                             \
+  HYUNDAI_CAN_CANFD_BLENDED_HDA2_COMMON_RX_CHECKS()                                                                                                            \
  HYUNDAI_SCC11_ADDR_CHECK(1)                                                                                                                                \
  HYUNDAI_SCC12_ADDR_CHECK(1, true)

@@ -281,14 +284,21 @@ static bool hyundai_tx_hook(const CANPacket_t *msg) {

  bool tx = true;

-  // FCA11: Block any potential actuation
+  // FCA11: Block any potential actuation. The blended HDA II layout uses
+  // different static fields, but its explicit AEB/FCA request bits stay zero.
  if (msg->addr == 0x38DU) {
-    int CR_VSM_DecCmd = msg->data[1];
-    bool FCA_CmdAct = GET_BIT(msg, 20U);
-    bool CF_VSM_DecCmdAct = GET_BIT(msg, 31U);
+    if (hyundai_can_canfd_blended_hda2) {
+      if (GET_BIT(msg, 16U) || GET_BIT(msg, 19U)) {
+        tx = false;
+      }
+    } else {
+      int CR_VSM_DecCmd = msg->data[1];
+      bool FCA_CmdAct = GET_BIT(msg, 20U);
+      bool CF_VSM_DecCmdAct = GET_BIT(msg, 31U);

-    if ((CR_VSM_DecCmd != 0) || FCA_CmdAct || CF_VSM_DecCmdAct) {
-      tx = false;
+      if ((CR_VSM_DecCmd != 0) || FCA_CmdAct || CF_VSM_DecCmdAct) {
+        tx = false;
+      }
    }
  }

@@ -348,7 +358,7 @@ static bool hyundai_tx_hook(const CANPacket_t *msg) {
  }

  // UDS: Only tester present ("\x02\x3E\x80\x00\x00\x00\x00\x00") allowed on diagnostics address
-  if (msg->addr == 0x7D0U) {
+  if ((msg->addr == 0x7D0U) || (msg->addr == 0x730U)) {
    if ((GET_BYTES(msg, 0, 4) != 0x00803E02U) || (GET_BYTES(msg, 4, 4) != 0x0U)) {
      tx = false;
    }
@@ -399,6 +409,27 @@ static safety_config hyundai_init(uint16_t param) {
    {0x2A4, 0, 24, .check_relay = true},
  };

+  static const CanMsg HYUNDAI_CAN_CANFD_BLENDED_HDA2_LONG_TX_MSGS[] = {
+    {0x50, 0, 16, .check_relay = true},
+    {0x4F1, 1, 4, .check_relay = false},
+    {0x2A4, 0, 24, .check_relay = true},
+    {0x51, 0, 32, .check_relay = false},
+    {0x730, 1, 8, .check_relay = false},
+    {0x340, 1, 8, .check_relay = true},
+    {0x485, 1, 8, .check_relay = true},
+    {0x420, 1, 8, .check_relay = true},
+    {0x421, 1, 8, .check_relay = true},
+    {0x389, 1, 8, .check_relay = true},
+    {0x38D, 1, 8, .check_relay = false},
+    {0x363, 1, 8, .check_relay = false},
+    {0x398, 1, 8, .check_relay = false},
+    {0x399, 1, 8, .check_relay = false},
+    {0x39A, 1, 8, .check_relay = false},
+    {0x39B, 1, 8, .check_relay = false},
+    {0x39C, 1, 8, .check_relay = false},
+    {0x43A, 1, 8, .check_relay = false},
+  };
+
  static const CanMsg HYUNDAI_CAN_CANFD_BLENDED_LONG_TX_MSGS[] = {
    {0x340, 0, 8, .check_relay = true},
    {0x4F1, 0, 4, .check_relay = false},
@@ -462,10 +493,10 @@ static safety_config hyundai_init(uint16_t param) {
    }
    if (hyundai_can_canfd_blended_hda2) {
      static RxCheck hyundai_can_canfd_blended_hda2_long_rx_checks[] = {
-        HYUNDAI_CAN_CANFD_BLENDED_HDA2_RX_CHECKS()
+        HYUNDAI_CAN_CANFD_BLENDED_HDA2_COMMON_RX_CHECKS()
      };
      SET_RX_CHECKS(hyundai_can_canfd_blended_hda2_long_rx_checks, ret);
-      SET_TX_MSGS(HYUNDAI_CAN_CANFD_BLENDED_HDA2_TX_MSGS, ret);
+      SET_TX_MSGS(HYUNDAI_CAN_CANFD_BLENDED_HDA2_LONG_TX_MSGS, ret);
    } else if (hyundai_camera_scc) {
      if (hyundai_can_refresh_msgs) {
        SET_TX_MSGS(HYUNDAI_CAMERA_SCC_LONG_REFRESH_TX_MSGS, ret);
@@ -174,7 +174,8 @@ static bool nissan_tx_hook(const CANPacket_t *msg) {
  }

  if (nissan_longitudinal && (msg->addr == 0x707U) && (msg->bus == 0U)) {
-    violation |= (msg->data[0] != 0x02U) || (msg->data[1] != 0x3EU) || (msg->data[2] != 0x80U);
+    // KWP2000 TesterPresent, response required. The Leaf camera rejects UDS 0x3E80.
+    violation |= (msg->data[0] != 0x02U) || (msg->data[1] != 0x3EU) || (msg->data[2] != 0x01U);
    for (int i = 3; i < 8; i++) {
      violation |= msg->data[i] != 0U;
    }
@@ -0,0 +1,287 @@
+#pragma once
+
+#include "opendbc/safety/declarations.h"
+#include "opendbc/safety/modes/volkswagen_common.h"
+
+#define MSG_ESC_51           0xFCU    // RX, for wheel speeds
+#define MSG_ACC_18           0x14DU   // TX by OP, ACC control instructions to the drivetrain coordinator
+#define MSG_ESP_21           0xFDU    // RX, redundant vehicle speed source
+#define MSG_HCA_03           0x303U
+#define MSG_ACC_19           0x300U   // TX by OP, ACC HUD data to the instrument cluster
+#define MSG_QFK_01           0x13DU
+#define MSG_Motor_51         0x10BU   // RX for TSK state and accel pedal
+#define MSG_KLR_01           0x25DU   // TX, for capacitive steering wheel
+#define MSG_TA_01            0x26BU   // TX by OP, Travel Assist status
+
+static bool volkswagen_meb_alt_crc = false;
+
+#define VOLKSWAGEN_MEB_COMMON_RX_CHECKS \
+  {.msg = {{MSG_LH_EPS_03, 0, 8, 100U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
+  {.msg = {{MSG_MOTOR_14, 0, 8, 10U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
+  {.msg = {{MSG_GRA_ACC_01, 0, 8, 33U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
+  {.msg = {{MSG_QFK_01, 0, 32, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
+  {.msg = {{MSG_ESP_21, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
+
+static uint32_t volkswagen_meb_compute_crc(const CANPacket_t *msg) {
+  int len = GET_LEN(msg);
+
+  uint8_t crc = 0xFFU;
+  for (int i = 1; i < len; i++) {
+    crc ^= (uint8_t)msg->data[i];
+    crc = volkswagen_crc8_lut_8h2f[crc];
+  }
+
+  uint8_t counter = volkswagen_mqb_meb_get_counter(msg);
+  if (msg->addr == MSG_LH_EPS_03) {
+    crc ^= (uint8_t[]){0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5}[counter];
+  } else if (msg->addr == MSG_MOTOR_14) {
+    crc ^= (uint8_t[]){0x1F, 0x28, 0xC6, 0x85, 0xE6, 0xF8, 0xB0, 0x19, 0x5B, 0x64, 0x35, 0x21, 0xE4, 0xF7, 0x9C, 0x24}[counter];
+  } else if (msg->addr == MSG_GRA_ACC_01) {
+    crc ^= (uint8_t[]){0x6A, 0x38, 0xB4, 0x27, 0x22, 0xEF, 0xE1, 0xBB, 0xF8, 0x80, 0x84, 0x49, 0xC7, 0x9E, 0x1E, 0x2B}[counter];
+  } else if (msg->addr == MSG_QFK_01) {
+    crc ^= (uint8_t[]){0x20, 0xCA, 0x68, 0xD5, 0x1B, 0x31, 0xE2, 0xDA, 0x08, 0x0A, 0xD4, 0xDE, 0x9C, 0xE4, 0x35, 0x5B}[counter];
+  } else if (msg->addr == MSG_ESC_51) {
+    crc ^= (uint8_t[]){0x77, 0x5C, 0xA0, 0x89, 0x4B, 0x7C, 0xBB, 0xD6, 0x1F, 0x6C, 0x4F, 0xF6, 0x20, 0x2B, 0x43, 0xDD}[counter];
+  } else if (msg->addr == MSG_ESP_21) {
+    crc ^= (uint8_t[]){0xB4, 0xEF, 0xF8, 0x49, 0x1E, 0xE5, 0xC2, 0xC0, 0x97, 0x19, 0x3C, 0xC9, 0xF1, 0x98, 0xD6, 0x61}[counter];
+  } else if (msg->addr == MSG_Motor_51) {
+    crc ^= (uint8_t[]){0x77, 0x5C, 0xA0, 0x89, 0x4B, 0x7C, 0xBB, 0xD6, 0x1F, 0x6C, 0x4F, 0xF6, 0x20, 0x2B, 0x43, 0xDD}[counter];
+  } else {
+    // Undefined CAN message, CRC check expected to fail
+  }
+  crc = volkswagen_crc8_lut_8h2f[crc];
+
+  return (uint8_t)(crc ^ 0xFFU);
+}
+
+static uint32_t volkswagen_meb_alt_crc_compute(const CANPacket_t *msg) {
+  uint32_t ret = volkswagen_meb_compute_crc(msg);
+  int len = 0;
+  if (volkswagen_meb_alt_crc) {
+    if (msg->addr == MSG_QFK_01) {
+      len = 28;
+    } else if (msg->addr == MSG_ESC_51) {
+      len = 60;
+    } else if (msg->addr == MSG_Motor_51) {
+      len = 44;
+    } else {
+      len = 0;
+    }
+  }
+
+  if (len > 0) {
+    uint8_t crc = 0xFFU;
+    for (int i = 1; i < len; i++) {
+      crc ^= (uint8_t)msg->data[i];
+      crc = volkswagen_crc8_lut_8h2f[crc];
+    }
+
+    uint8_t counter = volkswagen_mqb_meb_get_counter(msg);
+    if (msg->addr == MSG_QFK_01) {
+      crc ^= (uint8_t[]){0x18, 0x71, 0x10, 0x8D, 0xD7, 0xAA, 0xB0, 0x78, 0xAC, 0x12, 0xAE, 0x0C, 0xDD, 0xF1, 0x85, 0x68}[counter];
+    } else if (msg->addr == MSG_ESC_51) {
+      crc ^= (uint8_t[]){0x69, 0xDC, 0xF9, 0x64, 0x6A, 0xCE, 0x55, 0x2C, 0xC4, 0x38, 0x8F, 0xD1, 0xC6, 0x43, 0xB4, 0xB1}[counter];
+    } else if (msg->addr == MSG_Motor_51) {
+      crc ^= (uint8_t[]){0x2C, 0xB1, 0x1A, 0x75, 0xBB, 0x65, 0x79, 0x47, 0x81, 0x2B, 0xCC, 0x96, 0x17, 0xDB, 0xC0, 0x94}[counter];
+    } else {
+      // Undefined CAN message, CRC check expected to fail
+    }
+
+    crc = (uint8_t)(volkswagen_crc8_lut_8h2f[crc] ^ 0xFFU);
+    if (crc == msg->data[0]) {
+      ret = crc;
+    }
+  }
+  return ret;
+}
+
+static safety_config volkswagen_meb_init(uint16_t param) {
+  // Transmit of GRA_ACC_01 is allowed on bus 0 and 2 to keep compatibility with gateway and camera integration
+  static const CanMsg VOLKSWAGEN_MEB_STOCK_TX_MSGS[] = {
+    {MSG_HCA_03, 0, 24, .check_relay = true},
+    {MSG_GRA_ACC_01, 0, 8, .check_relay = false},
+    {MSG_GRA_ACC_01, 2, 8, .check_relay = false},
+    {MSG_LDW_02, 0, 8, .check_relay = true},
+    {MSG_KLR_01, 0, 8, .check_relay = false},
+    {MSG_KLR_01, 2, 8, .check_relay = true},
+  };
+
+  static const CanMsg VOLKSWAGEN_MEB_LONG_TX_MSGS[] = {
+    {MSG_HCA_03, 0, 24, .check_relay = true},
+    {MSG_LDW_02, 0, 8, .check_relay = true},
+    {MSG_KLR_01, 0, 8, .check_relay = false},
+    {MSG_KLR_01, 2, 8, .check_relay = true},
+    {MSG_ACC_19, 0, 48, .check_relay = true},
+    {MSG_ACC_18, 0, 32, .check_relay = true},
+    {MSG_TA_01, 0, 8, .check_relay = true},
+  };
+
+  static RxCheck volkswagen_meb_rx_checks[] = {
+    VOLKSWAGEN_MEB_COMMON_RX_CHECKS
+    {.msg = {{MSG_Motor_51, 0, 32, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
+    {.msg = {{MSG_ESC_51, 0, 48, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
+  };
+
+  static RxCheck volkswagen_meb_gen2_rx_checks[] = {
+    VOLKSWAGEN_MEB_COMMON_RX_CHECKS
+    {.msg = {{MSG_Motor_51, 0, 48, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
+    {.msg = {{MSG_ESC_51, 0, 64, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
+  };
+
+  volkswagen_common_init();
+  const uint16_t FLAG_VOLKSWAGEN_MEB_ALT_CRC = 2;
+  volkswagen_meb_alt_crc = GET_FLAG(param, FLAG_VOLKSWAGEN_MEB_ALT_CRC);
+
+#ifdef ALLOW_DEBUG
+  volkswagen_longitudinal = GET_FLAG(param, FLAG_VOLKSWAGEN_LONG_CONTROL);
+#endif
+
+  safety_config ret;
+  if (volkswagen_longitudinal && volkswagen_meb_alt_crc) {
+    ret = BUILD_SAFETY_CFG(volkswagen_meb_gen2_rx_checks, VOLKSWAGEN_MEB_LONG_TX_MSGS);
+  } else if (volkswagen_longitudinal) {
+    ret = BUILD_SAFETY_CFG(volkswagen_meb_rx_checks, VOLKSWAGEN_MEB_LONG_TX_MSGS);
+  } else if (volkswagen_meb_alt_crc) {
+    ret = BUILD_SAFETY_CFG(volkswagen_meb_gen2_rx_checks, VOLKSWAGEN_MEB_STOCK_TX_MSGS);
+  } else {
+    ret = BUILD_SAFETY_CFG(volkswagen_meb_rx_checks, VOLKSWAGEN_MEB_STOCK_TX_MSGS);
+  }
+  return ret;
+}
+
+static void volkswagen_meb_rx_hook(const CANPacket_t *msg) {
+  if (msg->bus == 0U) {
+    // Update in-motion state by sampling wheel speeds
+    if (msg->addr == MSG_ESC_51) {
+      uint32_t fl = msg->data[8] | (msg->data[9] << 8);
+      uint32_t fr = msg->data[10] | (msg->data[11] << 8);
+      uint32_t rl = msg->data[12] | (msg->data[13] << 8);
+      uint32_t rr = msg->data[14] | (msg->data[15] << 8);
+      vehicle_moving = (fr > 0U) || (rr > 0U) || (rl > 0U) || (fl > 0U);
+      UPDATE_VEHICLE_SPEED((fr + rr + rl + fl) / 4.0 * 0.0075 * KPH_TO_MS);
+    }
+
+    // Check vehicle speed with redundant source
+    if (msg->addr == MSG_ESP_21) {
+      // Signal: ESP_v_Signal
+      float esp_speed = ((msg->data[5] << 8) | msg->data[4]) * 0.01 * KPH_TO_MS;
+      UPDATE_VEHICLE_SPEED_2(esp_speed);
+    }
+
+    if (msg->addr == MSG_QFK_01) {
+      int current_curvature = ((msg->data[6] & 0x7FU) << 8) | msg->data[5];
+      current_curvature *= GET_BIT(msg, 55U) ? 1 : -1;
+      update_sample(&curvature_state.meas, current_curvature);
+    }
+
+    if (msg->addr == MSG_LH_EPS_03) {
+      update_sample(&torque_driver, volkswagen_mlb_mqb_driver_input_torque(msg));
+    }
+
+    if (msg->addr == MSG_Motor_51) {
+      int acc_status = (msg->data[11] & 0x07U);
+      bool cruise_engaged = (acc_status == 3) || (acc_status == 4) || (acc_status == 5);
+      acc_main_on = cruise_engaged || (acc_status == 2);
+
+      if (!volkswagen_longitudinal) {
+        pcm_cruise_check(cruise_engaged);
+      }
+
+      if (!acc_main_on) {
+        controls_allowed = false;
+      }
+
+      int accel_pedal_value = ((msg->data[1] >> 4) & 0x0FU) | ((msg->data[2] & 0x1FU) << 4);
+      gas_pressed = accel_pedal_value > 0;
+    }
+
+    if (msg->addr == MSG_GRA_ACC_01) {
+      // If using openpilot longitudinal, enter controls on falling edge of Set or Resume with main switch on
+      // Signal: GRA_ACC_01.GRA_Tip_Setzen
+      // Signal: GRA_ACC_01.GRA_Tip_Wiederaufnahme
+      if (volkswagen_longitudinal) {
+        bool set_button = GET_BIT(msg, 16U);
+        bool resume_button = GET_BIT(msg, 19U);
+        if ((volkswagen_set_button_prev && !set_button) || (volkswagen_resume_button_prev && !resume_button)) {
+          controls_allowed = acc_main_on;
+        }
+        volkswagen_set_button_prev = set_button;
+        volkswagen_resume_button_prev = resume_button;
+      }
+
+      // Always exit controls on rising edge of Cancel
+      if (GET_BIT(msg, 13U)) {
+        controls_allowed = false;
+      }
+    }
+
+    if (msg->addr == MSG_MOTOR_14) {
+      brake_pressed = GET_BIT(msg, 28U);
+    }
+  }
+}
+
+static bool volkswagen_meb_tx_hook(const CANPacket_t *msg) {
+  // acceleration in m/s2 * 1000 to avoid floating point math
+  const LongitudinalLimits VOLKSWAGEN_MEB_LONG_LIMITS = {
+    .max_accel = 2000,
+    .min_accel = -3500,
+    .inactive_accel = 3010,  // VW sends one increment above the max range when inactive
+  };
+
+  bool tx = true;
+
+  // Safety check for MSG_ACC_18 acceleration requests
+  if (msg->addr == MSG_ACC_18) {
+    // Signal: ACC_18.ACC_Sollbeschleunigung_02 (acceleration in m/s2, scale 0.005, offset -7.22)
+    int desired_accel = ((((msg->data[4] & 0x7U) << 8) | msg->data[3]) * 5U) - 7220U;
+    // MEB inactive accel is 3.01, but we also need to send 0.0 for gas override
+    bool accel_override = controls_allowed && (desired_accel == 0);
+    if (!accel_override && longitudinal_accel_checks(desired_accel, VOLKSWAGEN_MEB_LONG_LIMITS)) {
+      tx = false;
+    }
+  }
+
+  if (msg->addr == MSG_HCA_03) {
+    const CurvatureSteeringLimits VOLKSWAGEN_MEB_STEERING_LIMITS = {
+      .max_curvature = 29105,
+      .curvature_to_can = 149253.7313f,
+      .frequency = 50,                   // Hz
+      .max_curvature_error = 0,          // disabled, MEB doesn't track rack
+      .curvature_error_min_speed = 0.0,  // disabled
+      .max_steer_power = 125,
+    };
+
+    int desired_curvature_raw = GET_BYTES(msg, 3, 2) & 0x7FFFU;
+
+    bool desired_curvature_sign = GET_BIT(msg, 39U);
+    if (!desired_curvature_sign) {
+      desired_curvature_raw *= -1;
+    }
+
+    bool steer_req = (((msg->data[1] >> 4) & 0x0FU) == 4U);
+    int steer_power = msg->data[2];
+
+    if (steer_curvature_cmd_checks(desired_curvature_raw, steer_power, steer_req, VOLKSWAGEN_MEB_STEERING_LIMITS)) {
+      tx = false;
+    }
+  }
+
+  if ((msg->addr == MSG_GRA_ACC_01) && !controls_allowed) {
+    // only allow cancel button: bit 13
+    if (!GET_BIT(msg, 13U)) {
+      tx = false;
+    }
+  }
+
+  return tx;
+}
+
+const safety_hooks volkswagen_meb_hooks = {
+  .init = volkswagen_meb_init,
+  .rx = volkswagen_meb_rx_hook,
+  .tx = volkswagen_meb_tx_hook,
+  .get_counter = volkswagen_mqb_meb_get_counter,
+  .get_checksum = volkswagen_mqb_meb_get_checksum,
+  .compute_checksum = volkswagen_meb_alt_crc_compute,
+};
@@ -30,6 +30,7 @@

 #ifdef CANFD
 #include "opendbc/safety/modes/hyundai_canfd.h"
+#include "opendbc/safety/modes/volkswagen_meb.h"
 #endif

 uint32_t GET_BYTES(const CANPacket_t *msg, int start, int len) {
@@ -56,6 +57,7 @@ bool steering_disengage;
 bool steering_disengage_prev;
 bool cruise_engaged_prev = false;
 struct sample_t vehicle_speed;
+struct sample_t vehicle_speed_2;
 bool vehicle_moving = false;
 bool acc_main_on = false;  // referred to as "ACC off" in ISO 15622:2018
 int cruise_button_prev = 0;
@@ -86,6 +88,8 @@ uint32_t ts_angle_check_last = 0;
 int desired_angle_last = 0;
 struct sample_t angle_meas;         // last 6 steer angles/curvatures

+CurvatureSteeringState curvature_state;
+

 int alternative_experience = 0;

@@ -425,6 +429,7 @@ int set_safety_hooks(uint16_t mode, uint16_t param) {
    {SAFETY_TESLA_PREAP, &tesla_preap_hooks},
 #ifdef CANFD
    {SAFETY_HYUNDAI_CANFD, &hyundai_canfd_hooks},
+    {SAFETY_VOLKSWAGEN_MEB, &volkswagen_meb_hooks},
 #endif
 #ifdef ALLOW_DEBUG
    {SAFETY_PSA, &psa_hooks},
@@ -455,6 +460,11 @@ int set_safety_hooks(uint16_t mode, uint16_t param) {
  rt_angle_msgs = 0;
  ts_angle_check_last = 0;
  desired_angle_last = 0;
+  curvature_state.desired_last = 0;
+  curvature_state.rt_msgs = 0;
+  curvature_state.rt_msgs_prev = 0;
+  curvature_state.ts_check_last = 0;
+  curvature_state.steer_power_last = 0;
  ts_torque_check_last = 0;
  ts_steer_req_mismatch_last = 0;
  valid_steer_req_count = 0;
@@ -462,9 +472,11 @@ int set_safety_hooks(uint16_t mode, uint16_t param) {

  // reset samples
  reset_sample(&vehicle_speed);
+  reset_sample(&vehicle_speed_2);
  reset_sample(&torque_meas);
  reset_sample(&torque_driver);
  reset_sample(&angle_meas);
+  reset_sample(&curvature_state.meas);

  controls_allowed = false;
  relay_malfunction_reset();
@@ -9,6 +9,7 @@ from collections.abc import Callable
 from opendbc.can import CANPacker
 from opendbc.safety import ALTERNATIVE_EXPERIENCE
 from opendbc.safety.tests.libsafety import libsafety_py
+from opendbc.car.lateral import MAX_LATERAL_ACCEL, MAX_LATERAL_JERK

 MAX_WRONG_COUNTERS = 5
 MAX_SAMPLE_VALS = 6
@@ -888,6 +889,113 @@ class AngleSteeringSafetyTest(VehicleSpeedSafetyTest):
    self.assertFalse(self._tx(self._angle_cmd_msg(angle=angle_cmd, enabled=True)))


+class CurvatureSteeringSafetyTest(VehicleSpeedSafetyTest):
+  MAX_CURVATURE: float
+  MAX_CURVATURE_TEST: float
+  CURVATURE_TO_CAN: float
+  SEND_RATE: float
+
+  @classmethod
+  def setUpClass(cls):
+    if cls.__name__ == "CurvatureSteeringSafetyTest":
+      cls.safety = None
+      raise unittest.SkipTest
+
+  @abc.abstractmethod
+  def _curvature_cmd_msg(self, curvature: float, steer_req: bool):
+    pass
+
+  @abc.abstractmethod
+  def _curvature_meas_msg(self, curvature: float):
+    pass
+
+  def _set_prev_desired_curvature(self, curvature: float):
+    curvature_can = int(round(curvature * self.CURVATURE_TO_CAN))
+    self.safety.set_desired_curvature_last(curvature_can)
+
+  def _reset_curvature_measurement(self, curvature: float):
+    for _ in range(MAX_SAMPLE_VALS):
+      self._rx(self._curvature_meas_msg(curvature))
+
+  def _reset_speed_measurement(self, speed: float):
+    for _ in range(MAX_SAMPLE_VALS):
+      self._rx(self._speed_msg(speed))
+      self._rx(self._speed_msg_2(speed))
+
+  def test_curvature_measurements(self):
+    self._common_measurement_test(self._curvature_meas_msg, -self.MAX_CURVATURE, self.MAX_CURVATURE, self.CURVATURE_TO_CAN,
+                                  self.safety.get_curvature_meas_min, self.safety.get_curvature_meas_max)
+
+  def test_curvature_limit(self):
+    v = 1
+    for sign in (1, -1):
+      max_curvature = self.MAX_CURVATURE_TEST * sign
+      max_curvature_rate = MAX_LATERAL_JERK / v**2
+      max_curvature_delta = max_curvature_rate * self.SEND_RATE * sign
+
+      self._reset_speed_measurement(v)
+      self.safety.set_controls_allowed(True)
+      self._set_prev_desired_curvature(max_curvature)
+
+      self.assertTrue(self._tx(self._curvature_cmd_msg(max_curvature, True)), f"{v} {max_curvature} {max_curvature_delta}")
+      self.assertTrue(self.safety.get_controls_allowed())
+
+      self.assertTrue(self._tx(self._curvature_cmd_msg(max_curvature - max_curvature_delta, True)), f"{v} {max_curvature} {max_curvature_delta}")
+      self.assertTrue(self.safety.get_controls_allowed())
+
+      self.assertTrue(self._tx(self._curvature_cmd_msg(max_curvature, True)), f"{v} {max_curvature} {max_curvature_delta}")
+      self.assertTrue(self.safety.get_controls_allowed())
+
+      self.assertFalse(self._tx(self._curvature_cmd_msg(max_curvature + max_curvature_delta, True)), f"{v} {max_curvature} {max_curvature_delta}")
+
+  def test_iso_accel_limit(self):
+    speeds = [2., 5., 10., 15., 50.]
+    for v in speeds:
+      for sign in (1, -1):
+        max_curvature = np.clip(((MAX_LATERAL_ACCEL / (v - 1)**2) * sign), -self.MAX_CURVATURE_TEST, self.MAX_CURVATURE_TEST)
+        max_curvature_rate = MAX_LATERAL_JERK / (v - 1)**2
+        max_curvature_delta = max_curvature_rate * self.SEND_RATE * sign
+
+        self._reset_speed_measurement(v)
+        self.safety.set_controls_allowed(True)
+        self._set_prev_desired_curvature(max_curvature)
+
+        self.assertTrue(self._tx(self._curvature_cmd_msg(max_curvature, True)), f"{v} {max_curvature} {max_curvature_delta}")
+        self.assertTrue(self.safety.get_controls_allowed())
+
+        self.assertTrue(self._tx(self._curvature_cmd_msg(max_curvature - max_curvature_delta, True)), f"{v} {max_curvature} {max_curvature_delta}")
+        self.assertTrue(self.safety.get_controls_allowed())
+
+        self.assertTrue(self._tx(self._curvature_cmd_msg(max_curvature, True)), f"{v} {max_curvature} {max_curvature_delta}")
+        self.assertTrue(self.safety.get_controls_allowed())
+
+        self.assertFalse(self._tx(self._curvature_cmd_msg(max_curvature + max_curvature_delta, True)), f"{v} {max_curvature} {max_curvature_delta}")
+
+  def test_iso_jerk_limit(self):
+    speeds = [2., 5., 10., 15., 50.]
+    for v in speeds:
+      max_curvature_rate = MAX_LATERAL_JERK / (v - 1)**2
+      max_curvature_delta = max_curvature_rate * self.SEND_RATE
+
+      self._reset_speed_measurement(v)
+      self.safety.set_controls_allowed(True)
+      self._set_prev_desired_curvature(max_curvature_delta)
+
+      self.assertTrue(self._tx(self._curvature_cmd_msg(max_curvature_delta, True)))
+      self.assertTrue(self.safety.get_controls_allowed())
+
+      self.assertTrue(self._tx(self._curvature_cmd_msg(0, True)))
+      self.assertTrue(self.safety.get_controls_allowed())
+
+      self.assertTrue(self._tx(self._curvature_cmd_msg(-max_curvature_delta, True)))
+      self.assertTrue(self.safety.get_controls_allowed())
+
+      self.assertFalse(self._tx(self._curvature_cmd_msg(max_curvature_delta, True)))
+
+      # after violation, prev is reset to 0, going past the jerk limit must fail
+      self.safety.set_controls_allowed(True)
+      self.assertFalse(self._tx(self._curvature_cmd_msg(2 * max_curvature_delta, True)))
+
 class SafetyTest(SafetyTestBase):
  TX_MSGS: list[list[int]] | None = None
  SCANNED_ADDRS = [*range(0x800),                      # Entire 11-bit CAN address space
@@ -997,7 +1105,7 @@ class SafetyTest(SafetyTestBase):
                                              'TestHyundaiCanCanfdBlendedLongitudinalSafety',
                                              'TestHyundaiLegacyLongitudinalSafetyHEV'}):
              continue
-            volkswagen_shared = ('TestVolkswagenMqb', 'TestVolkswagenMlb')
+            volkswagen_shared = ('TestVolkswagenMqb', 'TestVolkswagenMlb', 'TestVolkswagenMeb')
            if attr.startswith(volkswagen_shared) and current_test.startswith(volkswagen_shared):
              continue

@@ -64,6 +64,11 @@ int get_desired_angle_last();
 void set_angle_meas(int min, int max);
 int get_angle_meas_min(void);
 int get_angle_meas_max(void);
+void set_desired_curvature_last(int t);
+int get_desired_curvature_last(void);
+void set_curvature_meas(int min, int max);
+int get_curvature_meas_min(void);
+int get_curvature_meas_max(void);

 bool get_cruise_engaged_prev(void);
 void set_cruise_engaged_prev(bool engaged);
@@ -186,6 +186,27 @@ int get_angle_meas_max(void){
  return angle_meas.max;
 }

+void set_desired_curvature_last(int t){
+  curvature_state.desired_last = t;
+}
+
+int get_desired_curvature_last(void){
+  return curvature_state.desired_last;
+}
+
+void set_curvature_meas(int min, int max){
+  curvature_state.meas.min = min;
+  curvature_state.meas.max = max;
+}
+
+int get_curvature_meas_min(void){
+  return curvature_state.meas.min;
+}
+
+int get_curvature_meas_max(void){
+  return curvature_state.meas.max;
+}
+

 // ***** car specific helpers *****

@@ -254,6 +254,10 @@ class TestHyundaiCanCanfdBlendedSafety(TestHyundaiSafety):

 class TestHyundaiCanCanfdBlendedHda2Safety(unittest.TestCase):
  TX_MSGS = [[0x50, 0], [0x4F1, 1], [0x2A4, 0]]
+  LONG_TX_MSGS = TX_MSGS + [
+    [0x51, 0], [0x730, 1], [0x340, 1], [0x485, 1], [0x420, 1], [0x421, 1], [0x389, 1], [0x38D, 1],
+    [0x363, 1], [0x398, 1], [0x399, 1], [0x39A, 1], [0x39B, 1], [0x39C, 1], [0x43A, 1],
+  ]

  def setUp(self):
    self.packer = CANPackerSafety("hyundai_palisade_2023_generated")
@@ -291,6 +295,52 @@ class TestHyundaiCanCanfdBlendedHda2Safety(unittest.TestCase):
    self.assertEqual(-1, self.safety.safety_fwd_hook(2, 0x50))
    self.assertEqual(-1, self.safety.safety_fwd_hook(2, 0x2A4))

+  def test_hda2_longitudinal_support_messages_require_long_flag(self):
+    flags = HyundaiSafetyFlags.CAN_CANFD_BLENDED | HyundaiSafetyFlags.CANFD_LKA_STEERING | HyundaiSafetyFlags.LONG
+    self.safety.set_safety_hooks(CarParams.SafetyModel.hyundai, flags)
+    self.safety.init_tests()
+
+    for addr, bus in self.LONG_TX_MSGS:
+      if addr == 0x50:
+        msg = self._lkas_msg()
+      elif addr == 0x420:
+        msg = self.packer.make_can_msg_panda("SCC11", bus, {"aReqRaw": 0.0, "aReqValue": 0.0})
+      elif addr == 0x730:
+        msg = libsafety_py.make_CANPacket(addr, bus, b"\x02\x3E\x80\x00\x00\x00\x00\x00")
+      else:
+        length = 32 if addr == 0x51 else 24 if addr == 0x2A4 else 4 if addr == 0x4F1 else 8
+        msg = common.make_msg(bus, addr, length)
+      self.assertTrue(self.safety.safety_tx_hook(msg), hex(addr))
+
+    self.safety.set_safety_hooks(
+      CarParams.SafetyModel.hyundai,
+      HyundaiSafetyFlags.CAN_CANFD_BLENDED | HyundaiSafetyFlags.CANFD_LKA_STEERING,
+    )
+    self.safety.init_tests()
+    for addr, bus in self.LONG_TX_MSGS[len(self.TX_MSGS):]:
+      length = 32 if addr == 0x51 else 8
+      self.assertFalse(self.safety.safety_tx_hook(common.make_msg(bus, addr, length)), hex(addr))
+
+  def test_hda2_longitudinal_acceleration_and_diagnostics_are_checked(self):
+    flags = HyundaiSafetyFlags.CAN_CANFD_BLENDED | HyundaiSafetyFlags.CANFD_LKA_STEERING | HyundaiSafetyFlags.LONG
+    self.safety.set_safety_hooks(CarParams.SafetyModel.hyundai, flags)
+    self.safety.init_tests()
+    self.safety.set_controls_allowed(True)
+
+    for accel, allowed in ((-3.5, True), (3.5, True), (-3.51, False), (3.51, False)):
+      msg = self.packer.make_can_msg_panda("SCC11", 1, {"aReqRaw": accel, "aReqValue": accel})
+      self.assertEqual(allowed, self.safety.safety_tx_hook(msg))
+
+    valid_tester = libsafety_py.make_CANPacket(0x730, 1, b"\x02\x3E\x80\x00\x00\x00\x00\x00")
+    invalid_tester = libsafety_py.make_CANPacket(0x730, 1, b"\x03\x28\x83\x01\x00\x00\x00\x00")
+    self.assertTrue(self.safety.safety_tx_hook(valid_tester))
+    self.assertFalse(self.safety.safety_tx_hook(invalid_tester))
+
+    fca_status = self.packer.make_can_msg_panda("FCA11", 1, {"cr_vsm_deccmd": 255, "cf_vsm_deccmdact": 0})
+    fca_request = self.packer.make_can_msg_panda("FCA11", 1, {"aeb_cmd_act": 1})
+    self.assertTrue(self.safety.safety_tx_hook(fca_status))
+    self.assertFalse(self.safety.safety_tx_hook(fca_request))
+

 class TestHyundaiSafetyFCEV(TestHyundaiSafety):
  def setUp(self):
@@ -1,7 +1,6 @@
 #!/usr/bin/env python3
 import unittest

-from opendbc.car import make_tester_present_msg
 from opendbc.car.nissan import nissancan
 from opendbc.car.nissan.values import NissanSafetyFlags
 from opendbc.car.structs import CarParams
@@ -261,7 +260,7 @@ class TestNissanLeafLongSafety(TestNissanLeafSafety):
    self.assertTrue(self._tx(self._brake_msg(0, active=False, brake_mode=False)))

  def test_tester_present(self):
-    tester_present = make_tester_present_msg(0x707, 0, suppress_response=True)
+    tester_present = nissancan.create_leaf_adas_tester_present()
    self.assertTrue(self._tx(self._make_msg(tester_present)))

    for index in range(8):
@@ -0,0 +1,342 @@
+#!/usr/bin/env python3
+import numpy as np
+
+from opendbc.car.structs import CarParams
+from opendbc.car.volkswagen.values import VolkswagenSafetyFlags
+from opendbc.safety.tests.libsafety import libsafety_py
+import opendbc.safety.tests.common as common
+from opendbc.safety.tests.common import CANPackerSafety
+
+MAX_ACCEL = 2.0
+MIN_ACCEL = -3.5
+
+# MEB message IDs
+MSG_LH_EPS_03  = 0x9F
+MSG_ESC_51     = 0xFC
+MSG_Motor_51   = 0x10B
+MSG_GRA_ACC_01 = 0x12B
+MSG_QFK_01     = 0x13D
+MSG_ACC_18     = 0x14D
+MSG_KLR_01     = 0x25D
+MSG_TA_01      = 0x26B
+MSG_ACC_19     = 0x300
+MSG_HCA_03     = 0x303
+MSG_LDW_02     = 0x397
+MSG_MOTOR_14   = 0x3BE
+
+
+class TestVolkswagenMebSafetyBase(common.CarSafetyTest, common.CurvatureSteeringSafetyTest):
+  STANDSTILL_THRESHOLD = 0
+  RELAY_MALFUNCTION_ADDRS = {0: (MSG_HCA_03, MSG_LDW_02), 2: (MSG_KLR_01,)}
+
+  MAX_CURVATURE = 29105
+  MAX_CURVATURE_TEST = 0.195
+  CURVATURE_TO_CAN = 149253.7313
+  MAX_POWER = 125
+  MAX_POWER_TEST = 50
+  SEND_RATE = 0.02
+  LATERAL_FREQUENCY = 50  # Hz
+
+  cnt_curvature_cmd = 0
+
+  def _set_prev_desired_power(self, power: int):
+    # init with local tx sequence
+    prev_allowed = self.safety.get_controls_allowed()
+    self.safety.set_controls_allowed(True)
+    self._tx(self._curvature_cmd_msg(0, steer_req=True, power=power))
+    self.safety.set_controls_allowed(prev_allowed)
+
+  def test_power_limit(self):
+    max_power_can = self.MAX_POWER
+    max_power = self.MAX_POWER_TEST
+    self._set_prev_desired_power(max_power_can)
+    self.safety.set_controls_allowed(True)
+
+    self.assertTrue(self._tx(self._curvature_cmd_msg(0, steer_req=True, power=max_power)))
+    self.assertTrue(self.safety.get_controls_allowed())
+
+    self.assertFalse(self._tx(self._curvature_cmd_msg(0, steer_req=True, power=max_power + 1)))
+
+    self.safety.set_controls_allowed(True)
+
+    self.assertTrue(self._tx(self._curvature_cmd_msg(0, steer_req=True, power=max_power - 1)))
+    self.assertTrue(self.safety.get_controls_allowed())
+
+    self.assertFalse(self._tx(self._curvature_cmd_msg(0, steer_req=False, power=max_power)))
+
+    self.safety.set_controls_allowed(True)
+
+    self.assertTrue(self._tx(self._curvature_cmd_msg(0, steer_req=True, power=max_power)))
+    self.assertTrue(self.safety.get_controls_allowed())
+
+    self.assertFalse(self._tx(self._curvature_cmd_msg(0, steer_req=False, power=-max_power)))
+
+  def test_power_without_control(self):
+    max_power_can = self.MAX_POWER
+    max_power = self.MAX_POWER_TEST
+    self._set_prev_desired_power(max_power_can)
+    self.safety.set_controls_allowed(False)
+
+    self.assertFalse(self._tx(self._curvature_cmd_msg(0, steer_req=False, power=max_power)))
+    self.assertTrue(self._tx(self._curvature_cmd_msg(0, steer_req=False, power=0)))
+
+    self._set_prev_desired_power(max_power - 1)
+    self.assertFalse(self._tx(self._curvature_cmd_msg(0, steer_req=False, power=max_power)))
+
+    # When controls are not allowed, steer_req=True is gated only by the power check:
+    # steady or rising power is disallowed, but a strictly decreasing power (steering
+    # wind-down at disengagement) is permitted so the EPS torque authority ramps to zero
+    self._set_prev_desired_power(max_power - 1)
+    self.assertFalse(self._tx(self._curvature_cmd_msg(0, steer_req=True, power=max_power)))      # rising power
+    self.assertFalse(self._tx(self._curvature_cmd_msg(0, steer_req=True, power=max_power)))      # steady power
+    self.assertTrue(self._tx(self._curvature_cmd_msg(0, steer_req=True, power=max_power - 1)))   # decreasing power
+
+  def _speed_msg(self, speed_mps: float):
+    spd_kph = speed_mps * 3.6
+    values = {f"{s}_Radgeschw": spd_kph for s in ("VL", "VR", "HL", "HR")}
+    return self.packer.make_can_msg_safety("ESC_51", 0, values)
+
+  def _speed_msg_2(self, speed_mps: float):
+    values = {"ESP_v_Signal": speed_mps * 3.6}
+    return self.packer.make_can_msg_safety("ESP_21", 0, values)
+
+  def _motor_14_msg(self, brake):
+    values = {"MO_Fahrer_bremst": brake}
+    return self.packer.make_can_msg_safety("Motor_14", 0, values)
+
+  def _user_brake_msg(self, brake):
+    return self._motor_14_msg(brake)
+
+  def _user_gas_msg(self, gas):
+    values = {"Accel_Pedal_Pressure": 1 if gas else 0, "TSK_Status": 3}
+    return self.packer.make_can_msg_safety("Motor_51", 0, values)
+
+  def _vehicle_moving_msg(self, speed_mps: float):
+    return self._speed_msg(speed_mps)
+
+  def _curvature_meas_msg(self, curvature):
+    values = {"Curvature": abs(curvature), "Curvature_VZ": curvature > 0}
+    return self.packer.make_can_msg_safety("QFK_01", 0, values)
+
+  def _curvature_cmd_msg(self, curvature, steer_req=1, power=50, increment_timer=True):
+    if increment_timer:
+      self.safety.set_timer(self.cnt_curvature_cmd * int(1e6 / self.LATERAL_FREQUENCY))
+      self.__class__.cnt_curvature_cmd += 1
+    values = {
+      "Curvature": abs(curvature),
+      "Curvature_VZ": curvature > 0,
+      "RequestStatus": 4 if steer_req else 0,
+      "Power": power,
+    }
+    return self.packer.make_can_msg_safety("HCA_03", 0, values)
+
+  def _accel_msg(self, accel):
+    values = {"ACC_Sollbeschleunigung_02": accel}
+    return self.packer.make_can_msg_safety("ACC_18", 0, values)
+
+  def _tsk_status_msg(self, enable, main_switch=True):
+    if main_switch:
+      tsk_status = 3 if enable else 2
+    else:
+      tsk_status = 0
+    values = {"TSK_Status": tsk_status}
+    return self.packer.make_can_msg_safety("Motor_51", 0, values)
+
+  def _pcm_status_msg(self, enable):
+    return self._tsk_status_msg(enable)
+
+  def _torque_driver_msg(self, torque):
+    values = {"EPS_Lenkmoment": abs(torque), "EPS_VZ_Lenkmoment": torque < 0}
+    return self.packer.make_can_msg_safety("LH_EPS_03", 0, values)
+
+  def _button_msg(self, cancel=0, resume=0, _set=0, bus=2):
+    values = {"GRA_Abbrechen": cancel, "GRA_Tip_Setzen": _set, "GRA_Tip_Wiederaufnahme": resume}
+    return self.packer.make_can_msg_safety("GRA_ACC_01", bus, values)
+
+  def test_curvature_measurements(self):
+    self._rx(self._curvature_meas_msg(0.15))
+    self._rx(self._curvature_meas_msg(-0.1))
+    self._rx(self._curvature_meas_msg(0))
+    self._rx(self._curvature_meas_msg(0))
+    self._rx(self._curvature_meas_msg(0))
+    self._rx(self._curvature_meas_msg(0))
+
+    self.assertEqual(int(-0.1 * self.CURVATURE_TO_CAN), self.safety.get_curvature_meas_min())
+    self.assertEqual(int(0.15 * self.CURVATURE_TO_CAN), self.safety.get_curvature_meas_max())
+
+    self._rx(self._curvature_meas_msg(0))
+    self.assertEqual(0, self.safety.get_curvature_meas_max())
+    self.assertEqual(int(-0.1 * self.CURVATURE_TO_CAN), self.safety.get_curvature_meas_min())
+
+    self._rx(self._curvature_meas_msg(0))
+    self.assertEqual(0, self.safety.get_curvature_meas_max())
+    self.assertEqual(0, self.safety.get_curvature_meas_min())
+
+  def test_brake_signal(self):
+    self._rx(self._user_brake_msg(False))
+    self.assertFalse(self.safety.get_brake_pressed_prev())
+    self._rx(self._user_brake_msg(True))
+    self.assertTrue(self.safety.get_brake_pressed_prev())
+
+  def test_torque_driver_measurements(self):
+    for t in (0, 100, -100, 250, -250):
+      self._rx(self._torque_driver_msg(t))
+
+  def test_main_switch_off_disables_controls(self):
+    self.safety.set_controls_allowed(True)
+    self._rx(self._tsk_status_msg(False, main_switch=False))
+    self.assertFalse(self.safety.get_controls_allowed())
+
+  def test_cancel_button_rising_edge(self):
+    self.safety.set_controls_allowed(True)
+    self._rx(self._button_msg(cancel=1, bus=0))
+    self.assertFalse(self.safety.get_controls_allowed())
+
+  def test_rx_hook_speed_mismatch(self):
+    for speed in np.arange(0, 40, 0.5):
+      for speed_delta in np.arange(-5, 5, 0.1):
+        speed_2 = round(max(speed + speed_delta, 0), 1)
+        self._rx(self._speed_msg(speed))
+        self._rx(self._speed_msg_2(speed_2))
+        self.safety.set_controls_allowed(True)
+        self._tx(self._curvature_cmd_msg(0, steer_req=True))
+
+        within_delta = abs(speed - speed_2) <= common.MAX_SPEED_DELTA
+        self.assertEqual(self.safety.get_controls_allowed(), within_delta)
+
+  def test_curvature_violation(self):
+    # if violation occurs, desired_curvature_last is reset to 0
+    meas = self.MAX_CURVATURE_TEST / 4
+    self.safety.set_controls_allowed(True)
+    self._reset_curvature_measurement(meas)
+    self._set_prev_desired_curvature(0)
+
+    # cause a violation by sending a command far from prev=0
+    self.assertFalse(self._tx(self._curvature_cmd_msg(self.MAX_CURVATURE_TEST, steer_req=True, power=50)))
+
+    # prev should be reset to 0
+    self.assertEqual(0, self.safety.get_desired_curvature_last())
+
+  def test_curvature_cmd_when_not_steering(self):
+    # Tests that only a zero curvature is allowed while the steer
+    # actuation bit is 0, regardless of controls allowed or meas
+    for controls_allowed in (True, False):
+      self.safety.set_controls_allowed(controls_allowed)
+
+      for steer_req in (True, False):
+        for curvature_meas in np.arange(-self.MAX_CURVATURE_TEST, self.MAX_CURVATURE_TEST, self.MAX_CURVATURE_TEST / 5):
+          self._reset_curvature_measurement(curvature_meas)
+
+          for curvature_cmd in np.arange(-self.MAX_CURVATURE_TEST, self.MAX_CURVATURE_TEST, self.MAX_CURVATURE_TEST / 5):
+            self._set_prev_desired_curvature(curvature_cmd)
+
+            # controls_allowed is checked if actuation bit is 1, else the curvature must be zero (inactive)
+            should_tx = controls_allowed if steer_req else round(curvature_cmd * self.CURVATURE_TO_CAN) == 0
+            self.assertEqual(should_tx, self._tx(self._curvature_cmd_msg(curvature_cmd, steer_req=steer_req, power=50 if steer_req else 0)))
+
+
+class TestVolkswagenMebStockSafety(TestVolkswagenMebSafetyBase):
+  TX_MSGS = [[MSG_HCA_03, 0], [MSG_LDW_02, 0], [MSG_GRA_ACC_01, 0], [MSG_GRA_ACC_01, 2],
+             [MSG_KLR_01, 0], [MSG_KLR_01, 2]]
+  FWD_BLACKLISTED_ADDRS = {0: [MSG_KLR_01], 2: [MSG_HCA_03, MSG_LDW_02]}
+
+  def setUp(self):
+    self.packer = CANPackerSafety("vw_meb_generated")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.volkswagenMeb, 0)
+    self.safety.init_tests()
+
+  def test_spam_cancel_safety_check(self):
+    self.safety.set_controls_allowed(0)
+    self.assertTrue(self._tx(self._button_msg(cancel=1)))
+    self.assertFalse(self._tx(self._button_msg(resume=1)))
+    self.assertFalse(self._tx(self._button_msg(_set=1)))
+    self.safety.set_controls_allowed(1)
+    self.assertTrue(self._tx(self._button_msg(resume=1)))
+
+
+class TestVolkswagenMebGen2StockSafety(TestVolkswagenMebStockSafety):
+  def setUp(self):
+    self.packer = CANPackerSafety("vw_meb_2024_generated")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.volkswagenMeb, VolkswagenSafetyFlags.MEB_ALT_CRC)
+    self.safety.init_tests()
+
+
+class TestVolkswagenMebLongSafety(TestVolkswagenMebSafetyBase):
+  TX_MSGS = [[MSG_HCA_03, 0], [MSG_LDW_02, 0], [MSG_ACC_19, 0], [MSG_ACC_18, 0],
+             [MSG_TA_01, 0], [MSG_KLR_01, 0], [MSG_KLR_01, 2]]
+  FWD_BLACKLISTED_ADDRS = {0: [MSG_KLR_01],
+                           2: [MSG_HCA_03, MSG_LDW_02, MSG_ACC_19, MSG_ACC_18, MSG_TA_01]}
+  RELAY_MALFUNCTION_ADDRS = {0: (MSG_HCA_03, MSG_LDW_02, MSG_ACC_19, MSG_ACC_18, MSG_TA_01),
+                             2: (MSG_KLR_01,)}
+
+  ACCEL_OVERRIDE = 0
+  INACTIVE_ACCEL = 3.01
+
+  def setUp(self):
+    self.packer = CANPackerSafety("vw_meb_generated")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.volkswagenMeb, VolkswagenSafetyFlags.LONG_CONTROL)
+    self.safety.init_tests()
+
+  # stock cruise controls are entirely bypassed under openpilot longitudinal control
+  def test_disable_control_allowed_from_cruise(self):
+    pass
+
+  def test_enable_control_allowed_from_cruise(self):
+    pass
+
+  def test_cruise_engaged_prev(self):
+    pass
+
+  def test_set_and_resume_buttons(self):
+    for button in ["set", "resume"]:
+      # ACC main switch must be on, engage on falling edge
+      self.safety.set_controls_allowed(0)
+      self._rx(self._tsk_status_msg(False, main_switch=False))
+      self._rx(self._button_msg(_set=(button == "set"), resume=(button == "resume"), bus=0))
+      self.assertFalse(self.safety.get_controls_allowed(), f"controls allowed on {button} with main switch off")
+      self._rx(self._tsk_status_msg(False, main_switch=True))
+      self._rx(self._button_msg(_set=(button == "set"), resume=(button == "resume"), bus=0))
+      self.assertFalse(self.safety.get_controls_allowed(), f"controls allowed on {button} rising edge")
+      self._rx(self._button_msg(bus=0))
+      self.assertTrue(self.safety.get_controls_allowed(), f"controls not allowed on {button} falling edge")
+
+  def test_cancel_button(self):
+    # Disable on rising edge of cancel button
+    self._rx(self._tsk_status_msg(False, main_switch=True))
+    self.safety.set_controls_allowed(1)
+    self._rx(self._button_msg(cancel=True, bus=0))
+    self.assertFalse(self.safety.get_controls_allowed(), "controls allowed after cancel")
+
+  def test_main_switch(self):
+    # Disable as soon as main switch turns off
+    self._rx(self._tsk_status_msg(False, main_switch=True))
+    self.safety.set_controls_allowed(1)
+    self._rx(self._tsk_status_msg(False, main_switch=False))
+    self.assertFalse(self.safety.get_controls_allowed(), "controls allowed after ACC main switch off")
+
+  def test_accel_safety_check(self):
+    for controls_allowed in [True, False]:
+      for accel in np.concatenate((np.arange(MIN_ACCEL - 2, MAX_ACCEL + 2, 0.03), [0, self.INACTIVE_ACCEL])):
+        accel = round(accel, 2)
+        is_inactive_accel = accel == self.INACTIVE_ACCEL
+        send = (controls_allowed and MIN_ACCEL <= accel <= MAX_ACCEL) or is_inactive_accel
+        self.safety.set_controls_allowed(controls_allowed)
+        self.assertEqual(send, self._tx(self._accel_msg(accel)), (controls_allowed, accel))
+
+  def test_accel_override_with_gas(self):
+    self.safety.set_controls_allowed(True)
+    self.safety.set_gas_pressed_prev(True)
+    self.assertTrue(self._tx(self._accel_msg(self.ACCEL_OVERRIDE)))
+    self.assertFalse(self._tx(self._accel_msg(MAX_ACCEL)))
+
+
+class TestVolkswagenMebGen2LongSafety(TestVolkswagenMebLongSafety):
+  def setUp(self):
+    self.packer = CANPackerSafety("vw_meb_2024_generated")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.volkswagenMeb,
+                                 VolkswagenSafetyFlags.LONG_CONTROL | VolkswagenSafetyFlags.MEB_ALT_CRC)
+    self.safety.init_tests()
@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-9b9878ed-DEBUG";
+const uint8_t gitversion[19] = "DEV-f22bcfee-DEBUG";
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
whoisdomi	af08cca37b	test10	2026-08-24 20:59:30 -05:00
whoisdomi	73c0af39e8	force stop: fast approach 2	2026-08-24 20:13:13 -05:00
whoisdomi	52eb586c65	Revert "Stops on curves false positives" This reverts commit `f22bcfee36`.	2026-08-24 20:03:54 -05:00
StarPilot Build Bot	f13350b7ec	build	2026-08-24 23:53:55 +00:00
whoisdomi	f22bcfee36	Stops on curves false positives	2026-08-24 18:38:25 -05:00
whoisdomi	b7686d025d	Force Stop: fast approach	2026-08-24 18:10:09 -05:00
whoisdomi	acda0d2ae7	test9 -the cure is worse than the disease	2026-08-24 09:12:29 -05:00
whoisdomi	f211be9357	Force Stop Tweak Ratched only down below 40m to prevent model jitter from overshooting	2026-08-24 09:06:05 -05:00
whoisdomi	f006b47db3	Joystick Mode Refresh OP Long: Left stick horizontal steer Right stick vertical gas/brake AOL: Left stick horizontal steer Controller profiles added: Google Stadia Controller added Xbox Controller has its own profile Dual Sense has its own profile joystick_probe.py tool allows people to discover their own controllers.	2026-08-21 13:38:28 -05:00
whoisdomi	67f5ede3ad	Force Stop hold 2 sec	2026-08-21 13:28:18 -05:00
whoisdomi	afe777fd03	test8	2026-08-21 13:28:17 -05:00
whoisdomi	95382eaa0a	test7 -the quiche is almost ready	2026-08-20 07:41:45 -05:00
firestar5683	7a57b0d7f3	Lite Brite	2026-08-19 15:38:37 -05:00
whoisdomi	6fd564789d	test6	2026-08-19 08:26:56 -05:00
firestarsdog	1114fead6c	Offroad Start Navigation Guards	2026-08-18 18:06:15 -05:00
StarPilot Build Bot	3511854603	build	2026-08-18 23:00:36 +00:00
firestar5683	05331a78c9	Zone 5	2026-08-18 17:46:21 -05:00
firestarsdog	b9cd54f407	Mari Gangbanger Biscuit isn't "OK"	2026-08-18 17:46:13 -05:00
whoisdomi	70639a33b4	test5	2026-08-18 17:40:31 -05:00
StarPilot Build Bot	9a74319be7	build	2026-08-18 20:27:46 +00:00
whoisdomi	87b9fd5b57	test4	2026-08-18 15:13:31 -05:00
whoisdomi	7140e96d98	test3	2026-08-18 15:13:31 -05:00
whoisdomi	0c4a1cde5e	test2	2026-08-18 15:13:30 -05:00
whoisdomi	6fc7b9ceb8	Test1	2026-08-18 15:13:29 -05:00
firestarsdog	525e57a26e	override speed fix	2026-08-18 15:44:11 -04:00
firestar5683	def1979aca	build	2026-08-18 14:15:24 -05:00
firestar5683	5d9b55adcb	greased lightning	2026-08-18 14:15:11 -05:00
firestar5683	21805a5454	build	2026-08-18 12:11:44 -05:00
firestar5683	50e1c1d376	what a mornin	2026-08-18 12:10:14 -05:00