steer errors

PIKA
Enhance vehicle annotation tool with side labels and mirrored preview adjustments consistient with pip-cam
2026-08-29 20:23:43 +08:00 · 2026-08-28 23:12:10 -05:00 · 2026-08-28 22:19:02 -05:00 · 2026-08-28 23:03:02 -04:00 · 2026-08-28 21:52:37 -05:00 · 2026-08-28 21:50:54 -05:00
226 changed files with 8399 additions and 1754 deletions
@@ -221,6 +221,11 @@ struct StarPilotPlan @0xf98d843bfd7004a3 {
  trackingLead @36 :Bool;
  stopSignConfirmed @37 :Bool;
  pulseGlideCoasting @38 :Bool;  # developer-only P&G phase for on-road status UI
+  # Curve Speed Controller diagnostics, for tuning and rollout validation
+  cscOverridden @39 :Bool;          # driver cancelled this curve with RES+
+  cscLearnedLatAccel @40 :Float32;  # learned comfort at the current curvature, before margin
+  cscBindingDistance @41 :Float32;  # distance to the horizon point setting the target, m
+  approachStopLength @42 :Float32;  # pre-commit distance to a detected stop, m; 0 when off
 }

 struct StarPilotRadarState @0xb86e6369214c01c8 {
@@ -522,6 +522,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"PIPPreviewMask", {PERSISTENT, JSON, "{\"width\":1928,\"height\":1208,\"center_left\":[315,548],\"center_right\":[1571,539],\"crop_size\":580}", "{\"width\":1928,\"height\":1208,\"center_left\":[315,548],\"center_right\":[1571,539],\"crop_size\":580}", 2}},
    {"PIPPreviewShowOnBlinker", {PERSISTENT, BOOL, "0", "0", 1}},
    {"PIPPreviewShowOnBSM", {PERSISTENT, BOOL, "0", "0", 1}},
+    {"PIPPreviewInvert", {PERSISTENT, BOOL, "0", "0", 1}},
    {"GalaxyPaired", {PERSISTENT, BOOL, "0", "0", 0}},
    {"GalaxyUploadPending", {PERSISTENT, BOOL, "0", "0", 0}},
    {"PreferredSchedule", {PERSISTENT, INT, "2", "0", 0}},
@@ -664,6 +665,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"SwitchbackModeEnabled", {CLEAR_ON_OFFROAD_TRANSITION, BOOL, "0", "0"}},
    {"SubaruSNG", {PERSISTENT, BOOL, "1", "0", 2, SETTINGS_SIMPLE}},
    {"SubaruSNGManualParkingBrake", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
+    {"SubaruStopStartOff", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
    {"TacoTune", {PERSISTENT, BOOL, "0", "0", 2}},
    {"TeslaCoopSteering", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
    {"TestAlert", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
@@ -76,7 +76,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Chevrolet|Volt 2019|Adaptive Cruise Control (ACC) & LKAS|Stock|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM SDGM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Volt 2019">Buy Here</a></sub></details>|||
 |Chevrolet|Volt ASCM Harness 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Volt ASCM Harness 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/QeMCN_4TFfQ" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Chevrolet|Volt Camera Harness 2017-18|Flashed camera-forward integration with ACC|openpilot available[<sup>1</sup>](#footnotes)|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Volt Camera Harness 2017-18">Buy Here</a></sub></details>|||
-|Chevrolet|Volt No-ACC 2017-18|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Volt No-ACC 2017-18">Buy Here</a></sub></details>|||
+|Chevrolet|Volt No-ACC 2016-18 (OBD-C / L&P Harness)|Redneck ACC|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Volt No-ACC 2016-18 (OBD-C / L&P Harness)">Buy Here</a></sub></details>|||
 |Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica 2017-18">Buy Here</a></sub></details>|||
 |Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica 2019-20">Buy Here</a></sub></details>|||
 |Chrysler|Pacifica 2021-23|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica 2021-23">Buy Here</a></sub></details>|||
@@ -545,4 +545,4 @@ openpilot does not yet support these Toyota models due to a new message authenti
 * Toyota Camry 2025+
 * Lexus NX 2022+
 * Toyota bZ4x 2023+
-* Subaru Solterra 2023+
+* Subaru Solterra 2023+
@@ -21,7 +21,7 @@ fi
 export QCOM_PRIORITY=12

 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="19.6.10"
+  export AGNOS_VERSION="19.6.12"
 fi

 if [ -z "$AGNOS_ACCEPTED_VERSIONS" ]; then
@@ -85,7 +85,7 @@
 |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)|
+|Chevrolet|Volt No-ACC 2016-18 (OBD-C / L&P Harness)|Redneck ACC|[Upstream](#upstream)|
 |Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
 |Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
 |Chrysler|Pacifica 2021-23|All|[Upstream](#upstream)|
@@ -578,4 +578,4 @@ Toyota, and the GM Global B platform.
 All the cars that openpilot supports use a [CAN bus](https://en.wikipedia.org/wiki/CAN_bus) for communication between all the car's computers, however a
 CAN bus isn't the only way that the computers in your car can communicate. Most, if not all, vehicles from the following
 manufacturers use [FlexRay](https://en.wikipedia.org/wiki/FlexRay) instead of a CAN bus: **BMW, Mercedes, Audi, Land Rover, and some Volvo**. These cars
-may one day be supported, but we have no immediate plans to support FlexRay.
+may one day be supported, but we have no immediate plans to support FlexRay.
@@ -644,6 +644,8 @@ struct CarParams {
    fcaGiorgio @32;
    rivian @33;
    volkswagenMeb @34;
+    teslaPreAP @35;
+    volvo @36;
  }

  enum SteerControlType {
@@ -209,7 +209,79 @@ class CarState(CarStateBase):
  def get_can_parsers(CP):
    gps_config = get_car_gps_config(CP)
    gps_messages = [(name, 0) for name in gps_config.messages] if gps_config is not None else []
+
+    pt_messages = [
+      ("BrakeSysFeatures", 50),
+      ("Yaw_Data_FD1", 100),
+      ("DesiredTorqBrk", 50),
+      ("EngVehicleSpThrottle", 100),
+      ("EngVehicleSpThrottle2", 50),
+      ("BrakeSnData_4", 50),
+      ("EngBrakeData", 10),
+      ("EPAS_INFO", 50),
+      ("Cluster_Info1_FD1", 10),
+      ("Steering_Data_FD1", 10),
+      ("BodyInfo_3_FD1", 2),
+      ("RCMStatusMessage2_FD1", 10),
+      ("BCM_Lamp_Stat_FD1", 0),
+      *gps_messages,
+    ]
+
+    if CP.flags & FordFlags.ALT_STEER_ANGLE:
+      pt_messages += [
+        ("SteeringPinion_Data_Alt", 100),
+        ("ParkAid_Data", 50),
+      ]
+    else:
+      pt_messages += [("SteeringPinion_Data", 100)]
+
+    if CP.flags & FordFlags.CANFD:
+      pt_messages += [
+        ("Lane_Assist_Data3_FD1", 33),
+        ("Cluster_Info_3_FD1", 10),
+      ]
+    else:
+      pt_messages += [("INSTRUMENT_PANEL", 1)]
+
+    if CP.transmissionType == TransmissionType.automatic:
+      if CP.flags & FordFlags.CANFD:
+        pt_messages += [("Gear_Shift_by_Wire_FD1", 10)]
+      elif CP.flags & FordFlags.ALT_STEER_ANGLE:
+        pt_messages += [("TransGearData", 10)]
+      else:
+        pt_messages += [("PowertrainData_10", 10)]
+
+    if CP.enableBsm and not (CP.flags & FordFlags.CANFD):
+      pt_messages += [
+        ("Side_Detect_L_Stat", 5),
+        ("Side_Detect_R_Stat", 5),
+      ]
+
+    cam_messages = [
+      ("ACCDATA", 50),
+      ("ACCDATA_2", 50),
+      ("ACCDATA_3", 5),
+      ("IPMA_Data", 1),
+    ]
+
+    if CP.flags & FordFlags.CANFD:
+      cam_messages += [
+        ("Traffic_RecognitnData", 1),
+        ("IPMA_Data2", 1),
+      ]
+    else:
+      cam_messages += [("Traffic_RecognitnData", 0)]
+
+    if CP.enableBsm and CP.flags & FordFlags.CANFD:
+      cam_messages += [
+        ("Side_Detect_L_Stat", 5),
+        ("Side_Detect_R_Stat", 5),
+      ]
+
+    if CP.flags & FordFlags.LKA_STEERING:
+      cam_messages += [("LateralMotionControl", 20)]
+
    return {
-      Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], gps_messages, CanBus(CP).main),
-      Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CanBus(CP).camera),
+      Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], pt_messages, CanBus(CP).main),
+      Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], cam_messages, CanBus(CP).camera),
    }
@@ -4,6 +4,7 @@ from types import SimpleNamespace

 from hypothesis import settings, given, strategies as st
 from parameterized import parameterized
+import pytest

 from opendbc.car import Bus, gen_empty_fingerprint
 from opendbc.can import CANPacker
@@ -274,6 +275,23 @@ def test_mach_e_can_gps_messages_are_optional_main_bus_inputs():
  assert all(parser.message_states[address].ignore_alive for address in (0x462, 0x463, 0x464))


+def test_lightning_low_rate_camera_messages_use_declared_frequencies():
+  cp = CarInterface.get_params(CAR.FORD_F_150_LIGHTNING_MK1, gen_empty_fingerprint(), [], True, False, False, None)
+  cp.enableBsm = True
+  parser = CarInterface.CarState.get_can_parsers(cp)[Bus.cam]
+
+  expected_frequencies = {
+    "IPMA_Data": 1,
+    "Traffic_RecognitnData": 1,
+    "Side_Detect_L_Stat": 5,
+    "Side_Detect_R_Stat": 5,
+  }
+  for message, frequency in expected_frequencies.items():
+    state = parser.message_states[parser.dbc.name_to_msg[message].address]
+    assert state.frequency == frequency
+    assert state.timeout_threshold == pytest.approx(10e9 / frequency)
+
+
 def test_hands_free_cluster_status_is_opt_in():
  packer = CANPacker("ford_lincoln_base_pt")
  CAN = SimpleNamespace(main=0)
@@ -30,20 +30,20 @@ FINGERPRINTS = {
  CAR.BUICK_LACROSSE: [{
    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 510: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 5, 707: 8, 753: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 872: 1, 882: 8, 890: 1, 892: 2, 893: 1, 894: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1914: 7, 1916: 7, 1918: 7, 1919: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8, 2026: 8
  }],
-  # CAR.CHEVROLET_VOLT_CC: [
-  # FIXME: Need a message to distinguish flashed from non-flashed
-  # Volt Premier w/o acc 2016
-  # {
-  #   170: 8, 171: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 199: 4, 201: 6, 209: 7, 211: 2, 241: 6, 288: 5, 289: 1, 290: 1, 298: 2, 304: 8, 308: 4, 309: 8, 311: 8, 313: 8, 320: 8, 328: 1, 352: 5, 368: 8, 381: 6, 384: 8, 386: 5, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 3, 508: 8, 512: 3, 528: 4, 530: 8, 532: 6, 537: 4, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 8, 563: 5, 564: 5, 565: 8, 566: 5, 567: 3, 568: 1, 577: 8, 578: 8, 594: 8, 647: 3, 707: 8, 711: 6, 717: 5, 761: 7, 800: 6, 810: 8, 821: 4, 823: 7, 832: 8, 840: 5, 842: 6, 844: 8, 866: 4, 869: 4, 961: 8, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1602: 8, 1618: 8, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1928: 7, 1930: 7, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2024: 8, 2025: 8, 2028: 8
-  # },
-  # {
-  #   201: 8, 493: 8, 495: 4, 193: 8, 197: 8, 209: 7, 171: 8, 456: 8, 199: 4, 489: 8, 211: 2, 499: 3, 390: 7, 532: 6, 568: 1, 761: 7, 381: 6, 485: 8, 189: 7, 479: 3, 711: 6, 501: 8, 241: 6, 717: 5, 869: 4, 389: 2, 454: 8, 170: 8, 190: 6, 497: 8, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 500: 6, 508: 8, 528: 4, 647: 3, 1105: 6, 1005: 6, 481: 7, 844: 8, 866: 4, 564: 5, 969: 8, 388: 8, 352: 5, 562: 8, 961: 8, 386: 8, 707: 8, 977: 8, 979: 7, 298: 8, 840: 5, 842: 5, 988: 6, 1001: 8, 560: 8, 546: 7, 558: 8, 309: 8, 995: 7, 311: 8, 566: 5, 567:3, 989: 8, 384: 4, 800: 6, 1033: 7, 1034: 7, 313: 8, 554: 3, 810: 8, 1017: 8, 1019: 2, 1020: 8, 1217: 8, 1223: 3, 1233: 8, 1227: 4, 1417: 8, 1009: 8, 1221: 5, 1275: 3, 1225: 7, 289: 8, 550: 8, 1273: 3, 1928: 7, 1187: 4, 1265: 8, 1927: 7, 1267: 1, 1906: 7, 288: 5, 304: 1, 328: 1, 1912: 7, 320: 3, 1910: 7, 563: 5, 1249: 8, 1930: 7, 1257: 6, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 565: 5, 1280: 4, 1907: 7
-  # },
-  # # Volt Premier w/o ACC 2018 + Pedal
-  # {
-  #   189: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 497: 8, 500: 6, 501: 8, 513: 6, 528: 4, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 717: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1922: 7, 1930: 7
-  # }
-  # ],
+  CAR.CHEVROLET_VOLT_CC: [
+  # Captured no-ACC Volt fingerprints for OBD-C/L&P harness installations
+  # Volt Premier w/o ACC 2016
+  {
+    170: 8, 171: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 199: 4, 201: 6, 209: 7, 211: 2, 241: 6, 288: 5, 289: 1, 290: 1, 298: 2, 304: 8, 308: 4, 309: 8, 311: 8, 313: 8, 320: 8, 328: 1, 352: 5, 368: 8, 381: 6, 384: 8, 386: 5, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 3, 508: 8, 512: 3, 528: 4, 530: 8, 532: 6, 537: 4, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 8, 563: 5, 564: 5, 565: 8, 566: 5, 567: 3, 568: 1, 577: 8, 578: 8, 594: 8, 647: 3, 707: 8, 711: 6, 717: 5, 761: 7, 800: 6, 810: 8, 821: 4, 823: 7, 832: 8, 840: 5, 842: 6, 844: 8, 866: 4, 869: 4, 961: 8, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1602: 8, 1618: 8, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1928: 7, 1930: 7, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2024: 8, 2025: 8, 2028: 8
+  },
+  {
+    201: 8, 493: 8, 495: 4, 193: 8, 197: 8, 209: 7, 171: 8, 456: 8, 199: 4, 489: 8, 211: 2, 499: 3, 390: 7, 532: 6, 568: 1, 761: 7, 381: 6, 485: 8, 189: 7, 479: 3, 711: 6, 501: 8, 241: 6, 717: 5, 869: 4, 389: 2, 454: 8, 170: 8, 190: 6, 497: 8, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 500: 6, 508: 8, 528: 4, 647: 3, 1105: 6, 1005: 6, 481: 7, 844: 8, 866: 4, 564: 5, 969: 8, 388: 8, 352: 5, 562: 8, 961: 8, 386: 8, 707: 8, 977: 8, 979: 7, 298: 8, 840: 5, 842: 5, 988: 6, 1001: 8, 560: 8, 546: 7, 558: 8, 309: 8, 995: 7, 311: 8, 566: 5, 567:3, 989: 8, 384: 4, 800: 6, 1033: 7, 1034: 7, 313: 8, 554: 3, 810: 8, 1017: 8, 1019: 2, 1020: 8, 1217: 8, 1223: 3, 1233: 8, 1227: 4, 1417: 8, 1009: 8, 1221: 5, 1275: 3, 1225: 7, 289: 8, 550: 8, 1273: 3, 1928: 7, 1187: 4, 1265: 8, 1927: 7, 1267: 1, 1906: 7, 288: 5, 304: 1, 328: 1, 1912: 7, 320: 3, 1910: 7, 563: 5, 1249: 8, 1930: 7, 1257: 6, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 565: 5, 1280: 4, 1907: 7
+  },
+  # Volt Premier w/o ACC 2018 + Pedal
+  {
+    189: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 497: 8, 500: 6, 501: 8, 513: 6, 528: 4, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 717: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1922: 7, 1930: 7
+  }
+  ],
  CAR.BUICK_REGAL: [{
    190: 8, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 8, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 8, 419: 8, 422: 4, 426: 8, 431: 8, 442: 8, 451: 8, 452: 8, 453: 8, 455: 7, 456: 8, 463: 3, 479: 8, 481: 7, 485: 8, 487: 8, 489: 8, 495: 8, 497: 8, 499: 3, 500: 8, 501: 8, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 569: 3, 573: 1, 577: 8, 578: 8, 579: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 882: 8, 884: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 967: 8, 969: 8, 977: 8, 979: 8, 985: 8, 1001: 8, 1005: 6, 1009: 8, 1011: 8, 1013: 3, 1017: 8, 1020: 8, 1024: 8, 1025: 8, 1026: 8, 1027: 8, 1028: 8, 1029: 8, 1030: 8, 1031: 8, 1032: 2, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 8, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 8, 1263: 8, 1265: 8, 1267: 8, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1601: 8, 1602: 8, 1603: 7, 1611: 8, 1618: 8, 1906: 8, 1907: 7, 1912: 7, 1914: 7, 1916: 7, 1919: 7, 1930: 7, 2016: 8, 2018: 8, 2019: 8, 2024: 8, 2026: 8
  }],
@@ -207,7 +207,6 @@ FINGERPRINTS = {
 FINGERPRINTS.update({
  CAR.CHEVROLET_VOLT_ASCM: FINGERPRINTS[CAR.CHEVROLET_VOLT],
  CAR.CHEVROLET_VOLT_CAMERA: [{**fp, CAMERA_DIAGNOSTIC_ADDRESS: 8, CAMERA_DIAGNOSTIC_RX_ADDRESS: 8} for fp in FINGERPRINTS[CAR.CHEVROLET_VOLT]],
-  CAR.CHEVROLET_VOLT_CC: FINGERPRINTS[CAR.CHEVROLET_VOLT],
  CAR.GMC_ACADIA_ASCM: FINGERPRINTS[CAR.GMC_ACADIA],
  CAR.CHEVROLET_MALIBU_ASCM: FINGERPRINTS[CAR.CHEVROLET_MALIBU],
  CAR.CADILLAC_ESCALADE_ASCM: FINGERPRINTS[CAR.CADILLAC_ESCALADE],
@@ -1,4 +1,4 @@
-from opendbc.car import DT_CTRL
+from opendbc.car import DT_CTRL, structs
 from opendbc.car.can_definitions import CanData
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.gm.values import CAR, CanBus, CruiseButtons, GMFlags
@@ -420,9 +420,11 @@ def create_gm_cc_spam_command(packer, controller, CS, actuators, starpilot_toggl
    idx = (CS.buttons_counter + 1) % 4  # Need to predict the next idx for '22-23 EUV
    msgs = [create_buttons(packer, CanBus.POWERTRAIN, idx, cruise_btn)]

-    # Flashed camera-forward Volt CC installs also need the button spoof on the
-    # camera side. Removed-camera installs set NO_CAMERA and keep this PT-only.
-    if CS.CP.carFingerprint == CAR.CHEVROLET_VOLT_CC and not (CS.CP.flags & GMFlags.NO_CAMERA.value):
+    # A camera-forward Volt CC install needs the button spoof on both sides.
+    # The OBD-C/L&P gateway variant has no camera bus and remains PT-only.
+    if (CS.CP.carFingerprint == CAR.CHEVROLET_VOLT_CC and
+        getattr(CS.CP, "networkLocation", None) == structs.CarParams.NetworkLocation.fwdCamera and
+        not (CS.CP.flags & GMFlags.NO_CAMERA.value)):
      msgs.append(create_buttons(packer, CanBus.CAMERA, idx, cruise_btn))
    return msgs
  else:
@@ -273,7 +273,6 @@ class CarInterface(CarInterfaceBase):

    kaofui_camera_cars = {
      CAR.CHEVROLET_VOLT_CAMERA,
-      CAR.CHEVROLET_VOLT_CC,
      CAR.CHEVROLET_MALIBU_HYBRID_CC,
    }
    bolt_cc_camera_cars = {
@@ -685,6 +684,8 @@ class CarInterface(CarInterfaceBase):

    if candidate in CC_ONLY_CAR:
      ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.FLAG_GM_NO_ACC.value
+      if candidate == CAR.CHEVROLET_VOLT_CC and ret.networkLocation == NetworkLocation.gateway:
+        ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.FLAG_GM_VOLT_CC_GATEWAY.value

    if candidate in SDGM_CAR and ACCELERATOR_POS_MSG not in fingerprint[CanBus.POWERTRAIN]:
      ret.flags |= GMFlags.FORCE_BRAKE_C9.value
@@ -698,7 +699,7 @@ class CarInterface(CarInterfaceBase):

    if ACCELERATOR_POS_MSG not in fingerprint[CanBus.POWERTRAIN]:
      ret.flags |= GMFlags.NO_ACCELERATOR_POS_MSG.value
-      if candidate == CAR.CHEVROLET_VOLT and ret.networkLocation == NetworkLocation.gateway:
+      if candidate in (CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_CC) and ret.networkLocation == NetworkLocation.gateway:
        # Reuse the no-camera safety bit as an ASCM Volt selector for the alternate EBCM brake path.
        ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.FLAG_GM_NO_CAMERA.value

@@ -201,6 +201,45 @@ class TestGMInterface:
    assert car_params.flags & GMFlags.NO_CAMERA.value
    assert car_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_NO_CAMERA.value

+  def test_volt_cc_obd_gateway_uses_cc_long_no_camera_path(self):
+    CarInterface = interfaces[CAR.CHEVROLET_VOLT_CC]
+    car_params = CarInterface.get_params(
+      CAR.CHEVROLET_VOLT_CC,
+      _empty_fingerprint(),
+      [],
+      alpha_long=False,
+      is_release=False,
+      docs=False,
+      starpilot_toggles=_test_starpilot_toggles(),
+    )
+
+    assert car_params.networkLocation == structs.CarParams.NetworkLocation.gateway
+    assert car_params.flags & GMFlags.CC_LONG.value
+    assert car_params.flags & GMFlags.NO_CAMERA.value
+    assert not (car_params.safetyConfigs[0].safetyParam & GMSafetyFlags.HW_CAM.value)
+    assert car_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_CC_LONG.value
+    assert car_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_NO_ACC.value
+    assert car_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_NO_CAMERA.value
+
+    parsers = CarInterface.CarState.get_can_parsers(car_params)
+    assert "ECMCruiseControl" in parsers[Bus.pt].vl
+    assert not parsers[Bus.cam].vl
+
+  def test_other_cc_only_gateway_does_not_use_volt_cc_safety_path(self):
+    CarInterface = interfaces[CAR.CHEVROLET_SILVERADO_CC]
+    car_params = CarInterface.get_params(
+      CAR.CHEVROLET_SILVERADO_CC,
+      _empty_fingerprint(),
+      [],
+      alpha_long=False,
+      is_release=False,
+      docs=False,
+      starpilot_toggles=_test_starpilot_toggles(),
+    )
+
+    assert car_params.networkLocation == structs.CarParams.NetworkLocation.gateway
+    assert not (car_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_VOLT_CC_GATEWAY.value)
+
  def test_volt_ascm_sparse_fingerprint_without_camera_does_not_set_no_camera(self):
    CarInterface = interfaces[CAR.CHEVROLET_VOLT_ASCM]
    fingerprint = {
@@ -533,6 +572,7 @@ class TestGMCarController:
      CP=SimpleNamespace(
        carFingerprint=CAR.CHEVROLET_VOLT_CC,
        flags=0,
+        networkLocation=structs.CarParams.NetworkLocation.fwdCamera,
        minEnableSpeed=24 * CV.MPH_TO_MS,
      ),
      buttons_counter=2,
@@ -554,6 +594,7 @@ class TestGMCarController:
      CP=SimpleNamespace(
        carFingerprint=CAR.CHEVROLET_VOLT_CC,
        flags=GMFlags.NO_CAMERA.value,
+        networkLocation=structs.CarParams.NetworkLocation.gateway,
        minEnableSpeed=24 * CV.MPH_TO_MS,
      ),
      buttons_counter=2,
@@ -175,6 +175,7 @@ class GMSafetyFlags(IntFlag):
  FLAG_GM_REMOTE_START_BOOTS_COMMA = 8192
  FLAG_GM_PANDA_3D1_SCHED = 16384
  FLAG_GM_PANDA_PADDLE_SCHED = 32768
+  FLAG_GM_VOLT_CC_GATEWAY = 16384


 class Footnote(Enum):
@@ -247,7 +248,7 @@ class CAR(Platforms):
    dbc_dict=CHEVROLET_VOLT.dbc_dict,
  )
  CHEVROLET_VOLT_CC = GMPlatformConfig(
-    [GMCarDocs("Chevrolet Volt No-ACC 2017-18", min_enable_speed=0)],
+    [GMCarDocs("Chevrolet Volt No-ACC 2016-18 (OBD-C / L&P Harness)", "Redneck ACC", min_enable_speed=0)],
    CHEVROLET_VOLT.specs,
    dbc_dict=CHEVROLET_VOLT.dbc_dict,
  )
@@ -1107,6 +1107,14 @@ def test_crv_5g_bosch_a_radar_dbc_wired_for_parser_unit_tests():
  assert ri.rcp.bus == CanBus(cp).camera


+def test_accord_bosch_a_radar_stays_disabled_until_validated():
+  cp = CarInterface.get_non_essential_params(CAR.HONDA_ACCORD)
+  assert cp.radarUnavailable is True
+  ri = CarInterface.RadarInterface(cp)
+  assert ri.bosch_a_radar is False
+  assert ri.rcp is None
+
+
 def test_civic_bosch_object_feed_uses_camera_side_acc_can():
  ri = make_radar_interface()
  can = CanBus(CP)
@@ -1180,5 +1188,6 @@ def test_bosch_a_toggle_defaults_on_but_allowlist_still_gates_platforms():
    Params().remove("HondaBoschARadar")
    assert CarInterface.get_non_essential_params(CAR.HONDA_CIVIC_BOSCH).radarUnavailable is False
    assert CarInterface.get_non_essential_params(CAR.HONDA_ACCORD).radarUnavailable is True
+    assert CarInterface.get_non_essential_params(CAR.HONDA_ACCORD_11G).radarUnavailable is True
  finally:
    Params().put_bool("HondaBoschARadar", original)
@@ -533,9 +533,6 @@ HONDA_BOSCH_ALT_RADAR = CAR.with_flags(HondaFlags.BOSCH_ALT_RADAR)
 # HondaBoschARadar. This describes hardware compatibility only; it is deliberately separate from the
 # verified set below so a newly supported model cannot start using unvalidated radar data by accident.
 HONDA_BOSCH_A = HONDA_BOSCH - HONDA_BOSCH_RADARLESS - HONDA_BOSCH_CANFD - HONDA_BOSCH_ALT_RADAR
-# Add individual CAR entries only after the exact platform has a real capture and decoder replay
-# validation. The Civic and CR-V 5G captures both exercise the plain Bosch-A object bank; every
-# other Bosch-A variant remains disabled until it gets the same verification.
 HONDA_BOSCH_A_RADAR_VERIFIED = frozenset({CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G})
 HONDA_BOSCH_TJA_CONTROL = CAR.with_flags(HondaFlags.BOSCH_TJA_CONTROL)
 HONDA_CAMERA_MESSAGE_CARS = {
@@ -431,6 +431,12 @@ def suppress_redundant_gv70_brake_cancel(CP, brake_pressed: bool, lat_active: bo
  )


+def clear_ioniq_6_torque_when_request_inactive(CP, apply_torque: int, apply_steer_req: bool) -> int:
+  if CP.carFingerprint == CAR.HYUNDAI_IONIQ_6 and not apply_steer_req:
+    return 0
+  return apply_torque
+
+
 class CarController(CarControllerBase):
  def __init__(self, dbc_names, CP):
    super().__init__(dbc_names, CP)
@@ -613,6 +619,8 @@ class CarController(CarControllerBase):
      if not CC.latActive:
        apply_torque = 0

+      apply_torque = clear_ioniq_6_torque_when_request_inactive(self.CP, apply_torque, apply_steer_req)
+
      # Hold torque with induced temporary fault when cutting the actuation bit
      # FIXME: we don't use this with CAN FD?
      torque_fault = CC.latActive and not apply_steer_req
@@ -20,7 +20,8 @@ from opendbc.car.hyundai.carcontroller import CarController, Ioniq6LongitudinalT
                                             should_track_stop_accel_directly_for_car, \
                                             preserve_stock_canfd_lfa_status, \
                                             preserve_stock_canfd_lkas_status, \
-                                             suppress_redundant_gv70_brake_cancel
+                                             suppress_redundant_gv70_brake_cancel, \
+                                             clear_ioniq_6_torque_when_request_inactive
 from opendbc.car.hyundai.carstate import CarState, decode_canfd_camera_lead, decode_ioniq_6_blindspot_radar_state, \
                                             get_canfd_cruise_available
 from opendbc.car.hyundai.interface import CarInterface, KIA_EV9_ACCEL_MAX
@@ -554,6 +555,14 @@ class TestHyundaiFingerprint:
    assert not (CP.flags & HyundaiFlags.CANFD_LKA_STEERING)
    assert bool(CP.flags & HyundaiFlags.CANFD_CAMERA_SCC)

+  def test_ioniq_6_clears_torque_with_inactive_safety_request(self):
+    ioniq_6_cp = SimpleNamespace(carFingerprint=CAR.HYUNDAI_IONIQ_6)
+    other_cp = SimpleNamespace(carFingerprint=CAR.KIA_EV6)
+
+    assert clear_ioniq_6_torque_when_request_inactive(ioniq_6_cp, -409, False) == 0
+    assert clear_ioniq_6_torque_when_request_inactive(ioniq_6_cp, -409, True) == -409
+    assert clear_ioniq_6_torque_when_request_inactive(other_cp, -409, False) == -409
+
    palisade_2023 = CarInterface.get_params(CAR.HYUNDAI_PALISADE_2023, gen_empty_fingerprint(), [], True, False, False, None)
    assert palisade_2023.flags & HyundaiFlags.CAN_CANFD_BLENDED
    assert DBC[palisade_2023.carFingerprint][Bus.pt] == "hyundai_palisade_2023_generated"
@@ -111,6 +111,7 @@ class HyundaiSafetyFlags(IntFlag):


 class HyundaiStarPilotSafetyFlags(IntFlag):
+  AOL_MAIN_LKAS_ON_ENGAGE = 128
  AOL_MAIN_LKAS_SYNC = 32
  HAS_LDA_BUTTON = 1024
  AOL_LKAS_ON_ENGAGE = 2048
@@ -257,6 +257,11 @@ class CarInterfaceBase(ABC):
        if getattr(starpilot_toggles, "always_on_lateral_lkas", False):
          fp_ret.safetyConfigs[-1].safetyParam |= HyundaiStarPilotSafetyFlags.AOL_LKAS_ON_ENGAGE.value

+        if candidate in (HYUNDAI.HYUNDAI_ELANTRA_HEV_2024, HYUNDAI.HYUNDAI_SONATA_HYBRID) and \
+            getattr(starpilot_toggles, "always_on_lateral_main", False):
+          fp_ret.safetyConfigs[-1].safetyParam |= HyundaiStarPilotSafetyFlags.AOL_LKAS_ON_ENGAGE.value
+          fp_ret.safetyConfigs[-1].safetyParam |= HyundaiStarPilotSafetyFlags.AOL_MAIN_LKAS_ON_ENGAGE.value
+
        # LKASButtonControl == 9 means BUTTON_FUNCTIONS["AOL_TOGGLE"] in starpilot_variables.
        if params.get_bool("AlwaysOnLateral") and params.get_int("LKASButtonControl") == 9:
          fp_ret.safetyConfigs[-1].safetyParam |= HyundaiStarPilotSafetyFlags.AOL_LKAS_ON_ENGAGE.value
@@ -4,7 +4,7 @@ from opendbc.car import Bus, DT_CTRL, make_tester_present_msg, structs
 from opendbc.car.lateral import apply_driver_steer_torque_limits, apply_std_steer_angle_limits, apply_steer_angle_limits_vm, common_fault_avoidance
 from opendbc.car.interfaces import CarControllerBase
 from opendbc.car.subaru import subarucan
-from opendbc.car.subaru.values import CAR, DBC, GLOBAL_ES_ADDR, CanBus, CarControllerParams, SubaruFlags
+from opendbc.car.subaru.values import CAR, DBC, GLOBAL_ES_ADDR, SUBARU_STOP_START_CARS, CanBus, CarControllerParams, SubaruFlags
 from opendbc.car.vehicle_model import VehicleModel

 # FIXME: These limits aren't exact. The real limit is more than likely over a larger time period and
@@ -22,6 +22,7 @@ _LEGACY_2025_REENGAGE_MAX_STEER_RATE = 2.0
 _LEGACY_2025_REENGAGE_MAX_ANGLE_DELTA = 1.0
 _LEGACY_2025_RECLAIM_FRAMES = 36
 _LEGACY_2025_RECLAIM_EXPONENT = 2.5
+_ANGLE_OVERRIDE_CONFIRM_FRAMES = 2
 _ANGLE_OVERRIDE_HOLD_FRAMES = 10
 _ANGLE_REENGAGE_SETTLE_FRAMES = 8
 _ANGLE_REENGAGE_MAX_STEER_RATE = 2.0
@@ -30,6 +31,10 @@ _ANGLE_RECLAIM_FRAMES = 36
 _ANGLE_RECLAIM_EXPONENT = 2.5
 _ANGLE_MADS_MIN_SPEED = 0.44704
 _ANGLE_MADS_MAX_STEER_ANGLE = 120.0
+_STOP_START_STARTUP_DELAY_FRAMES = 100
+_STOP_START_STARTUP_DEADLINE_FRAMES = 300
+_STOP_START_PULSE_FRAMES = 30
+_STOP_START_PULSE_PERIOD_FRAMES = 5


 def get_safety_CP():
@@ -43,6 +48,7 @@ class CarController(CarControllerBase):
    self.apply_torque_last = 0
    self.apply_steer_last = 0
    self.driver_override = False
+    self.angle_override_confirm_frames = 0
    self.legacy_2025_lkas_active = False
    self.legacy_2025_handoff_active = False
    self.legacy_2025_override_hold_frames = 0
@@ -73,8 +79,70 @@ class CarController(CarControllerBase):
    self.prev_close_distance = 0
    self.epb_resume_frames_remaining = -1
    self.last_standstill_frame = 0
+    self.stop_start_attempted = False
+    self.stop_start_request_started = False
+    self.stop_start_request_frame = 0
+    self.stop_start_initial_state = None
+    self.stop_start_counter = 0
+    self.stop_start_acknowledged = False
+
+  def _stop_start_off_request(self, CC, CS, starpilot_toggles):
+    """Send one bounded Subaru Stop/Start OFF request after ignition.
+
+    This is intentionally opt-in and limited to a stationary vehicle in
+    Park/Neutral. A single ignition session gets at most one attempt.
+    """
+    if self.CP.carFingerprint not in SUBARU_STOP_START_CARS or \
+       not getattr(starpilot_toggles, "subaru_stop_start_off", False) or self.stop_start_attempted:
+      return None
+
+    if self.frame > _STOP_START_STARTUP_DEADLINE_FRAMES or getattr(CC, "enabled", False):
+      self.stop_start_attempted = True
+      return None
+
+    if self.frame < _STOP_START_STARTUP_DELAY_FRAMES or not getattr(getattr(CS, "out", None), "canValid", True):
+      return None
+
+    out = CS.out
+    if not getattr(out, "standstill", False) or out.gearShifter not in (
+      structs.CarState.GearShifter.park,
+      structs.CarState.GearShifter.neutral,
+    ):
+      return None
+
+    dashlights_msg = getattr(CS, "dashlights_msg", None)
+    if not dashlights_msg:
+      return None
+
+    if not self.stop_start_request_started:
+      self.stop_start_request_started = True
+      self.stop_start_request_frame = self.frame
+      self.stop_start_initial_state = getattr(CS, "stop_start_state", None)
+      self.stop_start_counter = (int(dashlights_msg.get("COUNTER", 0)) + 1) % 0x10
+
+    current_state = getattr(CS, "stop_start_state", None)
+    if self.stop_start_initial_state is not None and self.stop_start_initial_state != 3 and current_state == 3:
+      self.stop_start_attempted = True
+      self.stop_start_acknowledged = True
+      return None
+
+    elapsed = self.frame - self.stop_start_request_frame
+    if elapsed >= _STOP_START_PULSE_FRAMES:
+      self.stop_start_attempted = True
+      return None
+
+    if elapsed % _STOP_START_PULSE_PERIOD_FRAMES != 0:
+      return None
+
+    msg = subarucan.create_stop_start_control(
+      self.packer, dashlights_msg, counter=self.stop_start_counter, bus=self.main_bus,
+    )
+    self.stop_start_counter = (self.stop_start_counter + 1) % 0x10
+    return msg

  def _reset_legacy_2025_handoff(self):
+    self.driver_override = False
+    self.angle_override_confirm_frames = 0
    self.legacy_2025_handoff_active = False
    self.legacy_2025_override_hold_frames = 0
    self.legacy_2025_reengage_settle_frames = 0
@@ -87,7 +155,8 @@ class CarController(CarControllerBase):
      self._reset_legacy_2025_handoff()
      return False

-    if CS.out.steeringPressed:
+    driver_override = self._update_angle_driver_override(CS)
+    if driver_override:
      self.legacy_2025_handoff_active = True
      self.legacy_2025_override_hold_frames = _LEGACY_2025_OVERRIDE_HOLD_FRAMES
      self.legacy_2025_reengage_settle_frames = 0
@@ -96,7 +165,7 @@ class CarController(CarControllerBase):
      return True

    if not self.legacy_2025_handoff_active and not self.legacy_2025_lkas_active and \
-       abs(CS.out.steeringRateDeg) > _LEGACY_2025_REENGAGE_MAX_STEER_RATE:
+       abs(getattr(CS.out, "steeringRateDeg", 0.0)) > _LEGACY_2025_REENGAGE_MAX_STEER_RATE:
      self.legacy_2025_handoff_active = True
      self.legacy_2025_reengage_reference_angle = CS.out.steeringAngleDeg

@@ -109,7 +178,7 @@ class CarController(CarControllerBase):
        self.legacy_2025_reengage_reference_angle = CS.out.steeringAngleDeg
      return True

-    wheel_stable = abs(CS.out.steeringRateDeg) <= _LEGACY_2025_REENGAGE_MAX_STEER_RATE and \
+    wheel_stable = abs(getattr(CS.out, "steeringRateDeg", 0.0)) <= _LEGACY_2025_REENGAGE_MAX_STEER_RATE and \
      abs(CS.out.steeringAngleDeg - self.legacy_2025_reengage_reference_angle) <= _LEGACY_2025_REENGAGE_MAX_ANGLE_DELTA
    if wheel_stable:
      self.legacy_2025_reengage_settle_frames += 1
@@ -138,6 +207,8 @@ class CarController(CarControllerBase):
    return target_angle

  def _reset_angle_handoff(self):
+    self.driver_override = False
+    self.angle_override_confirm_frames = 0
    self.angle_handoff_active = False
    self.angle_override_hold_frames = 0
    self.angle_reengage_settle_frames = 0
@@ -150,7 +221,8 @@ class CarController(CarControllerBase):
      self._reset_angle_handoff()
      return False

-    if CS.out.steeringPressed:
+    driver_override = self._update_angle_driver_override(CS)
+    if driver_override:
      self.angle_handoff_active = True
      self.angle_override_hold_frames = _ANGLE_OVERRIDE_HOLD_FRAMES
      self.angle_reengage_settle_frames = 0
@@ -159,7 +231,7 @@ class CarController(CarControllerBase):
      return True

    if not self.angle_handoff_active and not self.angle_lkas_active and \
-       abs(CS.out.steeringRateDeg) > _ANGLE_REENGAGE_MAX_STEER_RATE:
+       abs(getattr(CS.out, "steeringRateDeg", 0.0)) > _ANGLE_REENGAGE_MAX_STEER_RATE:
      self.angle_handoff_active = True
      self.angle_reengage_reference_angle = CS.out.steeringAngleDeg

@@ -172,7 +244,7 @@ class CarController(CarControllerBase):
        self.angle_reengage_reference_angle = CS.out.steeringAngleDeg
      return True

-    wheel_stable = abs(CS.out.steeringRateDeg) <= _ANGLE_REENGAGE_MAX_STEER_RATE and \
+    wheel_stable = abs(getattr(CS.out, "steeringRateDeg", 0.0)) <= _ANGLE_REENGAGE_MAX_STEER_RATE and \
      abs(CS.out.steeringAngleDeg - self.angle_reengage_reference_angle) <= _ANGLE_REENGAGE_MAX_ANGLE_DELTA
    if wheel_stable:
      self.angle_reengage_settle_frames += 1
@@ -189,6 +261,22 @@ class CarController(CarControllerBase):
    self.angle_reclaim_start_angle = CS.out.steeringAngleDeg
    return True

+  def _update_angle_driver_override(self, CS):
+    """Debounce the higher-confidence raw torque override signal for angle cars."""
+    abs_torque = abs(getattr(CS.out, "steeringTorque", 0.0))
+    if self.driver_override:
+      if abs_torque < self.p.STEER_OVERRIDE_TORQUE_LOW:
+        self.driver_override = False
+    elif abs_torque > self.p.STEER_OVERRIDE_TORQUE_HIGH:
+      self.angle_override_confirm_frames += 1
+      if self.angle_override_confirm_frames >= _ANGLE_OVERRIDE_CONFIRM_FRAMES:
+        self.driver_override = True
+        self.angle_override_confirm_frames = 0
+    else:
+      self.angle_override_confirm_frames = 0
+
+    return self.driver_override
+
  def _angle_reclaim_target(self, target_angle):
    if self.angle_reclaim_frames <= 0:
      return target_angle
@@ -261,15 +349,19 @@ class CarController(CarControllerBase):
      self.angle_lkas_active = lkas_active
      return subarucan.create_steering_control_angle(self.packer, apply_steer, lkas_active, self.angle_bus)

-    abs_torque = abs(CS.out.steeringTorque)
-    if abs_torque > self.p.STEER_OVERRIDE_TORQUE_HIGH:
-      self.driver_override = True
-    elif abs_torque < self.p.STEER_OVERRIDE_TORQUE_LOW:
-      self.driver_override = False
-
-    lat_active = CC.latActive and not self.driver_override
+    mads_only = CC.latActive and not getattr(CC, "enabled", False)
+    mads_only_ok = CS.out.vEgoRaw > _ANGLE_MADS_MIN_SPEED and \
+      abs(CS.out.steeringAngleDeg) < _ANGLE_MADS_MAX_STEER_ANGLE
+    lkas_available = CC.latActive and (not mads_only or mads_only_ok) and \
+      getattr(CS.out, "gearShifter", structs.CarState.GearShifter.drive) == structs.CarState.GearShifter.drive and \
+      not getattr(CS.out, "standstill", False)
+    manual_handoff = self._angle_manual_handoff(CS, lkas_available)
+    lat_active = lkas_available and not self.driver_override and not manual_handoff
+    if lat_active and not self.angle_lkas_active:
+      self.apply_steer_last = CS.out.steeringAngleDeg
+    steer_target = self._angle_reclaim_target(CC.actuators.steeringAngleDeg) if lat_active else CC.actuators.steeringAngleDeg
    apply_steer = apply_steer_angle_limits_vm(
-      CC.actuators.steeringAngleDeg,
+      steer_target,
      self.apply_steer_last,
      CS.out.vEgoRaw,
      CS.out.steeringAngleDeg,
@@ -282,6 +374,7 @@ class CarController(CarControllerBase):
      apply_steer = CS.out.steeringAngleDeg

    self.apply_steer_last = apply_steer
+    self.angle_lkas_active = lat_active
    return subarucan.create_steering_control_angle(self.packer, apply_steer, lat_active, self.angle_bus)

  def lateral_torque(self, CC, CS):
@@ -316,6 +409,10 @@ class CarController(CarControllerBase):

    can_sends = []

+    stop_start_msg = self._stop_start_off_request(CC, CS, starpilot_toggles)
+    if stop_start_msg is not None:
+      can_sends.append(stop_start_msg)
+
    # *** steering ***
    if (self.frame % self.p.STEER_STEP) == 0:
      if self.CP.flags & SubaruFlags.LKAS_ANGLE:
@@ -4,7 +4,7 @@ from opendbc.can import CANDefine, CANParser
 from opendbc.car import Bus, structs
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.interfaces import CarStateBase
-from opendbc.car.subaru.values import DBC, CanBus, SubaruFlags
+from opendbc.car.subaru.values import CAR, DBC, CanBus, SubaruFlags
 from opendbc.car import CanSignalRateCalculator


@@ -15,6 +15,8 @@ class CarState(CarStateBase):
    self.shifter_values = can_define.dv["Transmission"]["Gear"]

    self.angle_rate_calulator = CanSignalRateCalculator(50)
+    self.dashlights_msg = {}
+    self.stop_start_state = 0

  def update(self, can_parsers, starpilot_toggles) -> structs.CarState:
    cp = can_parsers[Bus.pt]
@@ -24,6 +26,10 @@ class CarState(CarStateBase):
    cp_angle = cp_main if self.CP.flags & SubaruFlags.D_PLATFORM else cp
    ret = structs.CarState()

+    if self.CP.carFingerprint == CAR.SUBARU_OUTBACK_2023:
+      self.dashlights_msg = copy.copy(cp.vl["Dashlights"])
+      self.stop_start_state = cp.vl["Engine_Stop_Start"]["STOP_START_STATE"]
+
    throttle_msg = cp.vl["Throttle"] if not (self.CP.flags & SubaruFlags.HYBRID) else cp_alt.vl["Throttle_Hybrid"]
    ret.gasPressed = throttle_msg["Throttle_Pedal"] > 1e-5
    if self.CP.flags & SubaruFlags.PREGLOBAL:
@@ -3,7 +3,7 @@ from opendbc.car.disable_ecu import disable_ecu
 from opendbc.car.interfaces import CarInterfaceBase
 from opendbc.car.subaru.carcontroller import CarController
 from opendbc.car.subaru.carstate import CarState
-from opendbc.car.subaru.values import CAR, CanBus, GLOBAL_ES_ADDR, SubaruFlags, SubaruSafetyFlags
+from opendbc.car.subaru.values import CAR, CanBus, GLOBAL_ES_ADDR, SUBARU_STOP_START_CARS, SubaruFlags, SubaruSafetyFlags


 class CarInterface(CarInterfaceBase):
@@ -40,6 +40,8 @@ class CarInterface(CarInterfaceBase):
        ret.safetyConfigs[0].safetyParam |= SubaruSafetyFlags.D_PLATFORM.value
      if ret.flags & SubaruFlags.D_PLATFORM_CAMERA:
        ret.safetyConfigs[0].safetyParam |= SubaruSafetyFlags.D_PLATFORM_CAMERA.value
+      if candidate in SUBARU_STOP_START_CARS:
+        ret.safetyConfigs[0].safetyParam |= SubaruSafetyFlags.STOP_START_BUTTON.value
      if candidate in (CAR.SUBARU_LEGACY_2025, CAR.SUBARU_ASCENT_2023):
        ret.safetyConfigs[0].safetyParam |= SubaruSafetyFlags.FIXED_ANGLE_LIMITS.value

@@ -182,6 +182,20 @@ def create_es_dashstatus(packer, frame, dashstatus_msg, enabled, long_enabled, l
  return packer.make_can_msg("ES_DashStatus", bus, values)


+def create_stop_start_control(packer, dashlights_msg, counter=None, bus=CanBus.alt):
+  """Create the Outback 2023-24 momentary Stop/Start button request.
+
+  Dashlights is a stock periodic message, so preserve the live frame and only
+  change the event bit. CANPacker calculates the Subaru checksum for us.
+  """
+  values = dict(dashlights_msg)
+  if counter is None:
+    counter = (int(values.get("COUNTER", 0)) + 1) % 0x10
+  values["COUNTER"] = counter % 0x10
+  values["STOP_START"] = 1
+  return packer.make_can_msg("Dashlights", bus, values)
+
+
 def create_es_brake(packer, frame, es_brake_msg, long_enabled, long_active, brake_value, bus=CanBus.main):
  values = {s: es_brake_msg[s] for s in [
    "CHECKSUM",
@@ -193,6 +193,7 @@ def test_outback_2023_uses_d_platform_bus_layout():

  assert CP.flags & SubaruFlags.D_PLATFORM
  assert CP.safetyConfigs[0].safetyParam & SubaruSafetyFlags.D_PLATFORM
+  assert CP.safetyConfigs[0].safetyParam & SubaruSafetyFlags.STOP_START_BUTTON
  assert not (CP.safetyConfigs[0].safetyParam & SubaruSafetyFlags.LEGACY_2025_ANGLE_LIMITS)
  assert CanBus.main_for_cp(CP) == CanBus.alt
  assert CanBus.angle_for_cp(CP) == CanBus.main
@@ -205,6 +206,56 @@ def test_outback_2023_uses_d_platform_bus_layout():
  assert CP.lateralSmoothSeconds == pytest.approx(0.4)


+@pytest.mark.parametrize("platform, expected_bus", [
+  (CAR.SUBARU_OUTBACK_2023, CanBus.alt),
+  (CAR.SUBARU_LEGACY_2025, CanBus.main),
+])
+def test_stop_start_request_is_bounded_and_uses_live_dashlights(platform, expected_bus):
+  CP = CarInterface.get_non_essential_params(platform)
+  controller = CarController({}, CP)
+  controller.frame = 101
+
+  class TestActuators:
+    steeringAngleDeg = 0.0
+
+    def as_builder(self):
+      return SimpleNamespace(steeringAngleDeg=self.steeringAngleDeg)
+
+  CC = SimpleNamespace(
+    enabled=False,
+    latActive=False,
+    longActive=False,
+    actuators=TestActuators(),
+    hudControl=SimpleNamespace(leadVisible=False),
+    cruiseControl=SimpleNamespace(cancel=False),
+  )
+  CS = SimpleNamespace(
+    canValid=True,
+    dashlights_msg={"COUNTER": 6, "STOP_START": 0},
+    stop_start_state=0,
+    out=SimpleNamespace(
+      standstill=True,
+      gearShifter=structs.CarState.GearShifter.park,
+    ),
+  )
+  toggles = SimpleNamespace(subaru_stop_start_off=True, subaru_sng=False)
+
+  _, can_sends = controller.update(CC, CS, 0, toggles)
+  stop_start_msgs = [msg for msg in can_sends if msg[0] == 0x390]
+  assert len(stop_start_msgs) == 1
+  assert stop_start_msgs[0][2] == expected_bus
+  parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("Dashlights", 0)], expected_bus)
+  parser.update([(expected_bus, [stop_start_msgs[0]])])
+  assert parser.vl["Dashlights"]["STOP_START"] == 1
+  assert parser.vl["Dashlights"]["COUNTER"] == 7
+
+  controller.frame = 103
+  CS.stop_start_state = 3
+  _, can_sends = controller.update(CC, CS, 0, toggles)
+  assert not any(msg[0] == 0x390 for msg in can_sends)
+  assert controller.stop_start_acknowledged
+
+
 def test_legacy_2025_uses_gen2_angle_bus_layout():
  CP = CarInterface.get_non_essential_params(CAR.SUBARU_LEGACY_2025)
  parsers = CarState.get_can_parsers(CP)
@@ -215,6 +266,7 @@ def test_legacy_2025_uses_gen2_angle_bus_layout():
  assert not (CP.flags & SubaruFlags.D_PLATFORM_CAMERA)
  assert not (CP.safetyConfigs[0].safetyParam & SubaruSafetyFlags.D_PLATFORM_CAMERA)
  assert CP.safetyConfigs[0].safetyParam & SubaruSafetyFlags.FIXED_ANGLE_LIMITS
+  assert CP.safetyConfigs[0].safetyParam & SubaruSafetyFlags.STOP_START_BUTTON
  assert CanBus.main_for_cp(CP) == CanBus.main
  assert CanBus.angle_for_cp(CP) == CanBus.main
  assert parsers[Bus.pt].bus == CanBus.main
@@ -304,6 +356,7 @@ def test_legacy_2025_waits_for_manual_steering_to_settle_before_reengaging():
    vEgoRaw=6.2,
    steeringAngleDeg=-121.55,
    steeringRateDeg=350.0,
+    steeringTorque=250.0,
    steeringPressed=True,
    gearShifter=structs.CarState.GearShifter.drive,
    standstill=False,
@@ -312,10 +365,14 @@ def test_legacy_2025_waits_for_manual_steering_to_settle_before_reengaging():

  msg = controller.lateral_angle(CC, CS)
  parser.update([(1, [msg])])
+
+  msg = controller.lateral_angle(CC, CS)
+  parser.update([(2, [msg])])
  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] == pytest.approx(CS.out.steeringAngleDeg)

  CS.out.steeringPressed = False
+  CS.out.steeringTorque = 0.0
  CS.out.steeringAngleDeg = -113.78
  msg = controller.lateral_angle(CC, CS)
  parser.update([(2, [msg])])
@@ -364,6 +421,7 @@ def test_legacy_2025_manual_handoff_reclaim_is_gradual():
    vEgoRaw=3.7,
    steeringAngleDeg=2.5,
    steeringRateDeg=-45.0,
+    steeringTorque=250.0,
    steeringPressed=True,
    gearShifter=structs.CarState.GearShifter.drive,
    standstill=False,
@@ -372,9 +430,13 @@ def test_legacy_2025_manual_handoff_reclaim_is_gradual():

  msg = controller.lateral_angle(CC, CS)
  parser.update([(1, [msg])])
+
+  msg = controller.lateral_angle(CC, CS)
+  parser.update([(2, [msg])])
  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0

  CS.out.steeringPressed = False
+  CS.out.steeringTorque = 0.0
  CS.out.steeringRateDeg = 0.0
  for i in range(19):
    msg = controller.lateral_angle(CC, CS)
@@ -433,6 +495,10 @@ def test_angle_controller_tracks_driver_override():

  msg = controller.lateral_angle(CC, CS)

+  assert not controller.driver_override
+
+  msg = controller.lateral_angle(CC, CS)
+
  assert controller.driver_override
  assert controller.p.STEER_OVERRIDE_TORQUE_HIGH == 150
  assert controller.p.STEER_OVERRIDE_TORQUE_LOW == 100
@@ -448,6 +514,44 @@ def test_angle_controller_tracks_driver_override():
  assert not controller.driver_override


+def test_angle_controller_blocks_low_speed_mads_engagement():
+  CP = CarInterface.get_non_essential_params(CAR.SUBARU_CROSSTREK_2025)
+  controller = CarController({}, CP)
+  CC = SimpleNamespace(
+    enabled=False,
+    latActive=True,
+    actuators=SimpleNamespace(steeringAngleDeg=15.0),
+  )
+  CS = SimpleNamespace(out=SimpleNamespace(
+    vEgoRaw=0.3,
+    steeringAngleDeg=80.0,
+    steeringTorque=0.0,
+    gearShifter=structs.CarState.GearShifter.drive,
+    standstill=False,
+  ))
+  parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("ES_LKAS_ANGLE", 0)], CanBus.main)
+
+  msg = controller.lateral_angle(CC, CS)
+  parser.update([(1, [msg])])
+
+  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
+  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] == pytest.approx(CS.out.steeringAngleDeg)
+
+  CS.out.vEgoRaw = 1.0
+  CS.out.steeringAngleDeg = 130.0
+  msg = controller.lateral_angle(CC, CS)
+  parser.update([(2, [msg])])
+
+  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
+  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] == pytest.approx(CS.out.steeringAngleDeg)
+
+  CS.out.steeringAngleDeg = 0.0
+  msg = controller.lateral_angle(CC, CS)
+  parser.update([(3, [msg])])
+
+  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 1
+
+
 def test_ascent_angle_controller_uses_fixed_angle_rate_limits():
  CP = CarInterface.get_non_essential_params(CAR.SUBARU_ASCENT_2023)
  controller = CarController({}, CP)
@@ -456,7 +560,7 @@ def test_ascent_angle_controller_uses_fixed_angle_rate_limits():
    vEgoRaw=21.66,
    steeringAngleDeg=-25.77,
    steeringRateDeg=0.0,
-    steeringTorque=-149.0,
+    steeringTorque=-250.0,
    steeringPressed=False,
    gearShifter=structs.CarState.GearShifter.drive,
    standstill=False,
@@ -478,7 +582,7 @@ def test_angle_controller_yields_until_manual_steering_settles(platform):
    vEgoRaw=21.66,
    steeringAngleDeg=-25.06,
    steeringRateDeg=35.0,
-    steeringTorque=-149.0,
+    steeringTorque=-250.0,
    steeringPressed=True,
    gearShifter=structs.CarState.GearShifter.drive,
    standstill=False,
@@ -487,10 +591,14 @@ def test_angle_controller_yields_until_manual_steering_settles(platform):

  msg = controller.lateral_angle(CC, CS)
  parser.update([(1, [msg])])
+
+  msg = controller.lateral_angle(CC, CS)
+  parser.update([(2, [msg])])
  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] == pytest.approx(CS.out.steeringAngleDeg)

  CS.out.steeringPressed = False
+  CS.out.steeringTorque = 0.0
  CS.out.steeringAngleDeg = -17.91
  CS.out.steeringRateDeg = 0.0
  for i in range(18):
@@ -88,6 +88,7 @@ class SubaruSafetyFlags(IntFlag):
  D_PLATFORM = 32
  D_PLATFORM_CAMERA = 64
  FIXED_ANGLE_LIMITS = 128
+  STOP_START_BUTTON = 256
  LEGACY_2025_ANGLE_LIMITS = FIXED_ANGLE_LIMITS


@@ -269,6 +270,12 @@ class CAR(Platforms):
  )


+SUBARU_STOP_START_CARS = (
+  CAR.SUBARU_OUTBACK_2023,
+  CAR.SUBARU_LEGACY_2025,
+)
+
+
 SUBARU_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
  p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION)
 SUBARU_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
@@ -14,6 +14,7 @@ from opendbc.car.tesla.values import CAR as TESLA
 from opendbc.car.toyota.values import CAR as TOYOTA
 from opendbc.car.values import Platform
 from opendbc.car.volkswagen.values import CAR as VOLKSWAGEN
+from opendbc.car.volvo.values import CAR as VOLVO
 from opendbc.car.body.values import CAR as COMMA
 from opendbc.car.psa.values import CAR as PSA

@@ -105,6 +106,11 @@ non_tested_cars = [
  TOYOTA.TOYOTA_COROLLA,
  TOYOTA.TOYOTA_RAV4H,

+  # No recorded routes yet
+  VOLVO.VOLVO_XC40_RECHARGE,
+  VOLVO.VOLVO_S60_RECHARGE,
+  VOLVO.POLESTAR_2,
+
 ]

 non_tested_cars.extend(CC_ONLY_CAR)
@@ -300,6 +300,64 @@ class TestCarInterfaces:
    )
    assert fp_car_params.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.AOL_LKAS_ON_ENGAGE.value

+  def test_hyundai_elantra_hev_auto_aol_sets_lkas_on_engage_flag(self):
+    toggles = get_test_starpilot_toggles()
+    toggles.always_on_lateral_main = True
+    fingerprint = {bus: {} for bus in range(8)}
+
+    car_params = HyundaiCarInterface.get_params(
+      HYUNDAI_CAR.HYUNDAI_ELANTRA_HEV_2024,
+      fingerprint,
+      [],
+      alpha_long=True,
+      is_release=False,
+      docs=False,
+      starpilot_toggles=toggles,
+    )
+    fp_car_params = HyundaiCarInterface.get_starpilot_params(
+      HYUNDAI_CAR.HYUNDAI_ELANTRA_HEV_2024,
+      fingerprint,
+      [],
+      car_params,
+      toggles,
+    )
+
+    assert fp_car_params.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.AOL_LKAS_ON_ENGAGE.value
+    assert fp_car_params.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.AOL_MAIN_LKAS_ON_ENGAGE.value
+
+  @pytest.mark.parametrize(
+    ("candidate", "sets_main_aol_flag"),
+    (
+      (HYUNDAI_CAR.HYUNDAI_SONATA_HYBRID, True),
+      (HYUNDAI_CAR.HYUNDAI_SONATA, False),
+    ),
+  )
+  def test_hyundai_main_aol_engage_flag_is_scoped_to_hybrid(self, candidate, sets_main_aol_flag):
+    toggles = get_test_starpilot_toggles()
+    toggles.always_on_lateral_main = True
+    fingerprint = {bus: {} for bus in range(8)}
+
+    car_params = HyundaiCarInterface.get_params(
+      candidate,
+      fingerprint,
+      [],
+      alpha_long=True,
+      is_release=False,
+      docs=False,
+      starpilot_toggles=toggles,
+    )
+    fp_car_params = HyundaiCarInterface.get_starpilot_params(
+      candidate,
+      fingerprint,
+      [],
+      car_params,
+      toggles,
+    )
+
+    has_main_aol_flag = bool(fp_car_params.safetyConfigs[-1].safetyParam &
+                             HyundaiStarPilotSafetyFlags.AOL_MAIN_LKAS_ON_ENGAGE.value)
+    assert has_main_aol_flag is sets_main_aol_flag
+
  def test_toyota_disable_openpilot_long_sets_stock_long_safety_flag(self):
    CarInterface = interfaces[TOYOTA_CAR.TOYOTA_PRIUS_TSS2]
    fingerprint = {bus: {} for bus in range(8)}
@@ -283,6 +283,7 @@ class TestFwFingerprintTiming:
        'tesla': 0.1,
        'toyota': 0.7,
        'volkswagen': 0.65,
+        'volvo': 0.0,
        'rivian': 0.3,
        'psa': 0.1,
      },
@@ -142,6 +142,8 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "HONDA_NBOX_2G" = [1.2, 1.2, 0.2]
 "ACURA_TLX_2G" = [1.2, 1.2, 0.15]
 "PORSCHE_MACAN_MK1" = [2.0, 2.0, 0.2]
+"VOLVO_XC40_RECHARGE" = [1.5, 1.5, 0.1]
+"VOLVO_S60_RECHARGE" = [1.5, 1.5, 0.1]

 # Dashcam or fallback configured as ideal car
 "MOCK" = [10.0, 10, 0.0]
@@ -136,3 +136,5 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "CHEVROLET_SILVERADO_CC" = "CHEVROLET_SILVERADO"
 "CADILLAC_XT4_CC" = "CADILLAC_XT4"
 "CADILLAC_XT6" = "GMC_ACADIA"
+
+"POLESTAR_2" = "VOLVO_XC40_RECHARGE"
@@ -345,8 +345,10 @@ class CarController(CarControllerBase):
    apply_torque = apply_meas_steer_torque_limits(new_torque, self.last_torque, CS.out.steeringTorqueEps, self.params)

    # >100 degree/sec steering fault prevention
-    self.steer_rate_counter, apply_steer_req = common_fault_avoidance(abs(CS.out.steeringRateDeg) >= MAX_STEER_RATE, lat_active,
-                                                                      self.steer_rate_counter, MAX_STEER_RATE_FRAMES)
+    self.steer_rate_counter, apply_steer_req = common_fault_avoidance(
+      abs(CS.out.steeringRateDeg) >= MAX_STEER_RATE, lat_active,
+      self.steer_rate_counter, MAX_STEER_RATE_FRAMES,
+    )

    if not lat_active:
      apply_torque = 0
@@ -245,6 +245,11 @@ class CarState(CarStateBase):

        buttonEvents += create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})

+    if self.CP.carFingerprint in LEGACY_PRIUS_CAR and not self.has_SDSU:
+      prev_distance_button = self.distance_button
+      self.distance_button = cp_acc.vl["ACC_CONTROL"]["DISTANCE"]
+      buttonEvents += create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
+
    if self.CP.carFingerprint in DISTANCE_BUTTON_CAR:
      prev_distance_button = self.distance_button
      self.distance_button = cp.vl["PCM_CRUISE_4"]["DISTANCE"]
@@ -294,14 +299,20 @@ class CarState(CarStateBase):
    pt_messages = [
      ("BLINKERS_STATE", float('nan')),
    ]
+    cam_messages = []

    if CP.enableGasInterceptorDEPRECATED:
      pt_messages.append(("GAS_SENSOR", 50))

+    if CP.carFingerprint in LEGACY_PRIUS_CAR:
+      pt_messages.append(("ACC_CONTROL", float('nan')))
+      if CP.flags & ToyotaFlags.DSU_BYPASS.value:
+        cam_messages.append(("ACC_CONTROL", float('nan')))
+
    if CP.carFingerprint in DISTANCE_BUTTON_CAR:
      pt_messages.append(("PCM_CRUISE_4", 1))

    return {
      Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], pt_messages, 0),
-      Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [], 2),
+      Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], cam_messages, 2),
    }
@@ -1038,6 +1038,36 @@ class TestToyotaCarController:


 class TestToyotaCarState:
+  @pytest.mark.parametrize("candidate", [CAR.TOYOTA_PRIUS, CAR.TOYOTA_PRIUS_RETROFIT])
+  def test_legacy_prius_distance_button_generates_events(self, candidate):
+    params = CarInterface.get_params(
+      candidate,
+      {bus: {} for bus in range(8)},
+      [],
+      alpha_long=False,
+      is_release=False,
+      docs=False,
+      starpilot_toggles=SimpleNamespace(force_torque_controller=False, nnff=False, nnff_lite=False),
+    )
+    starpilot_params = CarInterface.get_starpilot_params(candidate, {bus: {} for bus in range(8)}, [], params, SimpleNamespace())
+    car_state = CarState(params, starpilot_params)
+    can_parsers = car_state.get_can_parsers(params)
+
+    assert "ACC_CONTROL" in can_parsers[Bus.pt].vl
+    assert ("ACC_CONTROL" in can_parsers[Bus.cam].vl) == bool(params.flags & ToyotaFlags.DSU_BYPASS.value)
+
+    can_parsers[Bus.pt].vl["ACC_CONTROL"]["DISTANCE"] = 1
+    ret, _ = car_state.update(can_parsers, SimpleNamespace(cluster_offset=1.0))
+    assert [(event.type, event.pressed) for event in ret.buttonEvents] == [
+      (structs.CarState.ButtonEvent.Type.gapAdjustCruise, True),
+    ]
+
+    can_parsers[Bus.pt].vl["ACC_CONTROL"]["DISTANCE"] = 0
+    ret, _ = car_state.update(can_parsers, SimpleNamespace(cluster_offset=1.0))
+    assert [(event.type, event.pressed) for event in ret.buttonEvents] == [
+      (structs.CarState.ButtonEvent.Type.gapAdjustCruise, False),
+    ]
+
  def test_lkas_button_platforms(self):
    assert CAR.TOYOTA_PRIUS in LKAS_BUTTON_CAR
    assert TSS2_CAR <= LKAS_BUTTON_CAR
@@ -14,8 +14,9 @@ from opendbc.car.subaru.values import CAR as SUBARU
 from opendbc.car.tesla.values import CAR as TESLA
 from opendbc.car.toyota.values import CAR as TOYOTA
 from opendbc.car.volkswagen.values import CAR as VOLKSWAGEN
+from opendbc.car.volvo.values import CAR as VOLVO

-Platform = BODY | CHRYSLER | FORD | GM | HONDA | HYUNDAI | MAZDA | MOCK | NISSAN | PSA | RIVIAN | SUBARU | TESLA | TOYOTA | VOLKSWAGEN
+Platform = BODY | CHRYSLER | FORD | GM | HONDA | HYUNDAI | MAZDA | MOCK | NISSAN | PSA | RIVIAN | SUBARU | TESLA | TOYOTA | VOLKSWAGEN | VOLVO
 BRANDS = get_args(Platform)

 PLATFORMS: dict[str, Platform] = {str(platform): platform for brand in BRANDS for platform in brand}
@@ -0,0 +1 @@
+# Volvo CMA platform support for openpilot
@@ -0,0 +1,287 @@
+import numpy as np
+
+from opendbc.can.packer import CANPacker
+from opendbc.car import Bus
+from opendbc.car.interfaces import CarControllerBase
+from opendbc.car.lateral import apply_std_steer_angle_limits
+from opendbc.car.volvo.helpers import LCA3CounterSync
+from opendbc.car.volvo.volvocan import (create_lca_message, create_pscm_message, create_lca_3_message, create_lca_2_message, create_lca_4_message,
+                                        create_lca_5_message, create_lca_6_message, create_lca_7_message, create_pscm_related_message)
+from opendbc.car.volvo.values import CarControllerParams
+
+
+class CarController(CarControllerBase):
+  def __init__(self, dbc_names, CP):
+    super().__init__(dbc_names, CP)
+    self.packer = CANPacker(dbc_names[Bus.party])
+    self.apply_angle_last = 0.0  # Track last applied steering angle
+
+    self.gear_acc = 60
+    self.lca_4_acc = 0  # Bresenham accumulator for 29 Hz
+
+    # Counter management for LCA_2
+    self.lca_2_counter_1 = None  # Will grab initial value from CarState
+    self.lca_2_counter_2 = None
+
+    # Counter management for PSCM_RELATED
+    self.pscm_related_counter = None  # Will grab initial value from CarState
+
+    # Counter management for LCA_3 (pattern-based)
+    self.lca_3_counter_sync = LCA3CounterSync()
+
+    # Counter management for LCA_5 (formerly SPEED_1)
+    self.lca_5_counter = None  # Will grab initial value from CarState
+
+    self.last_lat_active = False  # Track state
+
+    self.lca_7_acc = 0  # Bresenham accumulator for 29 Hz
+    self.lca_7_last_steer = 0 # used to calculate change in steer from last update
+
+    # LCA torque-authority envelope state. Both arms are persistent across frames.
+    # See CarControllerParams.LCA_AUTH_* and route_analysis/lca_override_mechanism.md.
+    # When lat_active goes True they ramp up from 0 to ±MAX at REBUILD_RATE; on
+    # driver override they collapse at COLLAPSE_RATE (symmetric until SPLIT, then
+    # asymmetric: yielding arm → 0, counter arm holds at ±PLATEAU).
+    self.lca_auth_pos = 0.0
+    self.lca_auth_neg = 0.0
+    # "Light contact" rising-edge detector for haptic-ack on resting hands.
+    # Per-frame |drv| derivative; LIGHT_HOLD_FRAMES counter ticks down while
+    # the brief-yield window is active and does not re-arm during that window.
+    self.lca_auth_drv_prev = 0.0
+    self.lca_auth_light_frames = 0
+    # Frames since real_override was last active — used to gate light_collapse
+    # re-arming during active co-steering (must be > LIGHT_COOLDOWN_FRAMES).
+    self.lca_auth_real_off_frames = 1000  # large initial → light can fire immediately
+    # Override-mode latch with hysteresis (enter at ENTER, exit at EXIT).
+    # Prevents threshold flapping when driver torque hovers near the boundary,
+    # which caused ~10 Hz EPS-torque ripple felt during lane-change overrides.
+    self.lca_auth_override_active = False
+    # LP-filtered |drv| for yield-arm magnitude calculation. Suppresses 1-2
+    # unit driver-torque jitter that would otherwise propagate (~10x amplified
+    # via YIELD_SLOPE) into envelope ripple felt at the wheel.
+    self.lca_auth_drv_mag_filt = 0.0
+
+  def update(self, CC, CS, now_nanos, starpilot_toggles):
+    can_sends = []
+    actuators = CC.actuators
+
+    # Detect disengagement
+    if not CC.latActive and self.last_lat_active:
+      #self.lca_commands.reset()  # Clear state ← IMPORTANT!
+      pass
+
+    lat_active = CC.latActive
+
+    # lateral control - angle-based steering
+    # NOTE: LCA message is sent every frame (even when inactive) to replace stock LCA
+    # Stock LCA is permanently blocked by panda safety, so we must always send
+    if self.frame % CarControllerParams.STEER_STEP == 0:  # 100 Hz
+      # Get desired steering angle from controlsd (LatControlAngle)
+      apply_angle = actuators.steeringAngleDeg  # degrees
+
+      # Clamp commanded angle to actual ± ANGLE_ERROR. Without this, a driver override
+      # lets the model's plan drift far from the wheel's actual position; on release,
+      # the EPS slams back toward that stale command and overshoots. Stock Volvo Pilot
+      # Assist keeps this gap inside ~2° even under sustained override.
+      apply_angle = float(np.clip(
+        apply_angle,
+        CS.out.steeringAngleDeg - CarControllerParams.ANGLE_ERROR,
+        CS.out.steeringAngleDeg + CarControllerParams.ANGLE_ERROR,
+      ))
+
+      # Rate limit + inactive passthrough (apply_angle = steering angle when not lat_active)
+      apply_angle = apply_std_steer_angle_limits(apply_angle, self.apply_angle_last, CS.out.vEgoRaw,
+                                                 CS.out.steeringAngleDeg, lat_active, CarControllerParams.ANGLE_LIMITS)
+
+      # Update LCA torque-authority envelope (replicates stock Pilot Assist's
+      # easy-override and bounce-free release). Stock holds both arms at ±614
+      # in steady state; on override the arms collapse to a shifted plateau
+      # (counter arm deeper than yielding arm); rebuilds at +230 c/s.
+      P = CarControllerParams
+      DT = 0.01  # 100 Hz
+      # Override trigger uses an explicit |steeringTorque| threshold rather than
+      # CS.steeringPressed, which is a very-sensitive DM-fallback floor (raw>2)
+      # — fires from resting hands alone and is not an override-intent signal.
+      drv_mag = abs(CS.out.steeringTorque)
+      drv_rate = drv_mag - self.lca_auth_drv_prev
+      self.lca_auth_drv_prev = drv_mag
+      # LP filter on |drv| used for yield-arm magnitude — absorbs 1-2 unit
+      # driver-torque jitter that would otherwise propagate into ~10 unit
+      # envelope ripple via the YIELD_SLOPE multiplier.
+      self.lca_auth_drv_mag_filt = ((1.0 - P.LCA_AUTH_YIELD_LP_ALPHA) * self.lca_auth_drv_mag_filt
+                                    + P.LCA_AUTH_YIELD_LP_ALPHA * drv_mag)
+      # Hysteretic override latch — enter at ENTER, hold until drv drops below
+      # EXIT. Eliminates ~10 Hz envelope flapping when |drv| hovers near a
+      # single threshold during sustained co-steering.
+      if not self.lca_auth_override_active and drv_mag > P.LCA_AUTH_OVERRIDE_ENTER:
+        self.lca_auth_override_active = True
+      elif self.lca_auth_override_active and drv_mag < P.LCA_AUTH_OVERRIDE_EXIT:
+        self.lca_auth_override_active = False
+      real_override = self.lca_auth_override_active
+      # Track frames since real_override was last active. Used to gate light
+      # contact re-firing — light_collapse must NOT trigger while the driver
+      # is actively co-steering (real_override repeatedly entering/exiting).
+      if real_override:
+        self.lca_auth_real_off_frames = 0
+      else:
+        self.lca_auth_real_off_frames += 1
+      # Per-frame rising edge into the "light contact" zone arms a brief-yield
+      # window for haptic acknowledgment of hand-on-wheel. Suppressed while
+      # the window is already active OR real_override has been off less than
+      # LIGHT_COOLDOWN_FRAMES (i.e., user is actively co-steering).
+      if (drv_mag > P.LCA_AUTH_LIGHT_THRESH and
+          drv_rate > P.LCA_AUTH_LIGHT_RISE_DELTA and
+          self.lca_auth_light_frames == 0 and
+          self.lca_auth_real_off_frames > P.LCA_AUTH_LIGHT_COOLDOWN_FRAMES):
+        self.lca_auth_light_frames = P.LCA_AUTH_LIGHT_HOLD_FRAMES
+      else:
+        self.lca_auth_light_frames = max(0, self.lca_auth_light_frames - 1)
+      light_collapse = self.lca_auth_light_frames > 0
+      overriding = real_override or light_collapse
+      # Collapse rate scales with driver torque so a sharp pothole jolt drops the
+      # envelope faster than a soft sustained press. Floor at base rate so light
+      # contact still produces a perceptible (but small) dip.
+      collapse_rate = P.LCA_AUTH_COLLAPSE_RATE * max(1.0, drv_mag / float(P.LCA_AUTH_OVERRIDE_ENTER))
+      step = collapse_rate * DT
+      if not lat_active:
+        self.lca_auth_pos = 0.0
+        self.lca_auth_neg = 0.0
+        self.lca_auth_drv_prev = 0.0
+        self.lca_auth_light_frames = 0
+        self.lca_auth_override_active = False
+        self.lca_auth_drv_mag_filt = 0.0
+        self.lca_auth_real_off_frames = 1000
+      elif overriding:
+        if self.lca_auth_pos > P.LCA_AUTH_SPLIT or -self.lca_auth_neg > P.LCA_AUTH_SPLIT:
+          # Symmetric collapse phase: both arms shrink toward ±SPLIT
+          self.lca_auth_pos = max(float(P.LCA_AUTH_SPLIT), self.lca_auth_pos - step)
+          self.lca_auth_neg = min(-float(P.LCA_AUTH_SPLIT), self.lca_auth_neg + step)
+        else:
+          # Asymmetric plateau phase. CS.out.steeringTorque > 0 in openpilot
+          # convention = driver pushing right → yields right authority
+          # (LOOSELY/+ arm), retains left (INV/- arm).
+          # Yield arm scales with |drv| above OVERRIDE_THRESH — strong presses
+          # (potholes, hard corrections) cross past zero so EPS hands the wheel
+          # to the driver in their direction.
+          excess = max(0.0, self.lca_auth_drv_mag_filt - float(P.LCA_AUTH_OVERRIDE_ENTER))
+          yield_signed = float(P.LCA_AUTH_YIELD_BASE) - P.LCA_AUTH_YIELD_SLOPE * excess
+          yield_signed = max(float(P.LCA_AUTH_YIELD_MIN), min(yield_signed, float(P.LCA_AUTH_YIELD_BASE)))
+          if CS.out.steeringTorque > 0:  # driver pushing right
+            target_pos = yield_signed                              # yield arm (+ side)
+            target_neg = -float(P.LCA_AUTH_PLATEAU_COUNTER)        # counter arm
+          else:  # driver pushing left (or zero — default to symmetric collapse direction)
+            target_pos = float(P.LCA_AUTH_PLATEAU_COUNTER)         # counter arm
+            target_neg = -yield_signed                             # yield arm (− side)
+          # Drive each arm toward its plateau target at COLLAPSE_RATE
+          self.lca_auth_pos = max(target_pos, self.lca_auth_pos - step) \
+                              if self.lca_auth_pos > target_pos \
+                              else min(target_pos, self.lca_auth_pos + step)
+          self.lca_auth_neg = min(target_neg, self.lca_auth_neg + step) \
+                              if self.lca_auth_neg < target_neg \
+                              else max(target_neg, self.lca_auth_neg - step)
+      else:
+        # No override → rebuild both arms toward saturation
+        rebuild_step = P.LCA_AUTH_REBUILD_RATE * DT
+        self.lca_auth_pos = min(float(P.LCA_AUTH_MAX), self.lca_auth_pos + rebuild_step)
+        self.lca_auth_neg = max(-float(P.LCA_AUTH_MAX), self.lca_auth_neg - rebuild_step)
+
+      # LCA - 0x58 - 100 Hz (angle-based)
+      can_sends.append(create_lca_message(self.packer, lat_active, apply_angle, CS.msg_lca,
+                                          authority_pos=int(round(self.lca_auth_pos)),
+                                          authority_neg=int(round(self.lca_auth_neg))))
+      self.apply_angle_last = apply_angle
+
+      # PSCM (bus 2 -> 0) - 0x16 - 100 Hz
+      can_sends.append(create_pscm_message(self.packer, lat_active, CS.msg_pscm, self.frame))
+      # EGSM - 0x45 - 100 Hz
+      #can_sends.append(create_egsm_message(self.packer, CS.msg_egsm))
+
+      # PSCM_RELATED (bus 2 -> 0) - 0x17 - 100 Hz
+      # Initialize counter from CarState on first run
+      if self.pscm_related_counter is None:
+        self.pscm_related_counter = CS.msg_pscm_related['SIG1_BYTE_1_HI_NIBBLE']
+
+      # Increment counter by +1, wrap from 14 → 0 (modulo 15)
+      self.pscm_related_counter = (self.pscm_related_counter + 1) % 15
+
+      can_sends.append(create_pscm_related_message(self.packer, lat_active, CS.pilot_assist_engaged,
+                                                     CS.msg_pscm_related, self.pscm_related_counter))
+
+    # LCA_3 - 0x57 - avg 66.66 Hz
+    #if (self.frame * 67) % 100 < 67: # if (self.frame % 3) < 2:
+    # 0x57 at ~66.67 Hz: send on 2 out of every 3 frames
+    # Pattern: send on frame % 3 == 0 or 2, skip when frame % 3 == 1
+    if self.frame % 3 != 1:  # → 2/3 * 100 Hz = 66.67 Hz
+      # Update counter with observed value, get counter to send
+      counter, is_synced = self.lca_3_counter_sync.update(CS.msg_lca_3['COUNTER_1'])
+      can_sends.append(create_lca_3_message(self.packer, lat_active, apply_angle, CS.msg_lca_3, counter))
+      #can_sends.append(create_0x1a_message(self.packer, CS.msg_0x1a))
+
+    # SPEED messages - 0x60, 0x68 - 50 Hz
+    if self.frame % 2 == 0: # 50 Hz
+      #can_sends.append(create_speed_message(self.packer, CS.msg_speed))
+      #can_sends.append(create_speed_2_message(self.packer, CS.msg_speed_2))
+      pass
+
+    # LCA_2 - 0x69 - 50 Hz
+    # Spoof PILOT_ASSIST_ENGAGED to keep PSCM accepting LCA commands
+    if self.frame % 2 == 0: # 50 Hz
+      # Initialize counters from CarState on first run
+      if self.lca_2_counter_1 is None:
+        self.lca_2_counter_1 = CS.msg_lca_2['COUNTER_1']
+        self.lca_2_counter_2 = CS.msg_lca_2['COUNTER_2']
+
+      # Increment counters (COUNTER_1 by +2, COUNTER_2 by +4, both modulo 16)
+      self.lca_2_counter_1 = (self.lca_2_counter_1 + 2) % 16
+      self.lca_2_counter_2 = (self.lca_2_counter_2 + 4) % 16
+
+      can_sends.append(create_lca_2_message(self.packer, lat_active, CS.msg_lca_2,
+                                            self.lca_2_counter_1, self.lca_2_counter_2))
+
+    # LCA_5 (formerly SPEED_1) - 0x67 - 50 Hz
+    # Contains wheel speeds + LCA signals (LCA_TURN_BITS, LCA_5_STEER)
+    if self.frame % 2 == 0: # 50 Hz
+      # Initialize counter from CarState on first run
+      if self.lca_5_counter is None:
+        self.lca_5_counter = CS.msg_lca_5['COUNTER']
+
+      # Increment counter by +4, wrap at 15 (0xF never used)
+      self.lca_5_counter = (self.lca_5_counter + 4) % 15
+
+      can_sends.append(create_lca_5_message(self.packer, lat_active, apply_angle,
+                                            CS.msg_lca_5, self.lca_5_counter))
+
+    # LCA_4 - 0x90 - 29 Hz
+    # Spoof LCA_ENABLE bits to maintain PA ON state when openpilot is active
+    # Using Bresenham-style accumulator for precise 29 Hz
+    self.lca_4_acc += 29
+    if self.lca_4_acc >= 100:
+      self.lca_4_acc -= 100
+      can_sends.append(create_lca_4_message(self.packer, lat_active, CS.msg_lca_4, apply_angle))
+
+    # LCA_6 - 0X97 - 25 Hz
+    if self.frame % 4 == 0: # 25 Hz
+        can_sends.append(create_lca_6_message(self.packer, lat_active, CS.msg_lca_6, apply_angle))
+
+    # LCA_7 - 0x92 - 29 Hz
+    # Using Bresenham-style accumulator for precise 29 Hz
+    self.lca_7_acc += 29
+    if self.lca_7_acc >= 100:
+      self.lca_7_acc -= 100
+      delta_steer = apply_angle - self.lca_7_last_steer
+      can_sends.append(create_lca_7_message(self.packer, lat_active, CS.msg_lca_7, apply_angle, delta_steer))
+      self.lca_7_last_steer = apply_angle
+
+    # GEAR_POSITION - 0x80 - 40 Hz
+    #self.gear_acc += 40 # Bresenham-style approach
+    #if self.gear_acc >= 100:
+    #    self.gear_acc -= 100
+    if self.frame % 5 == 0 or self.frame % 5 == 2:  # 2/5 * 100 Hz = 40 Hz # openpilot forward delay causes DTC in EGSM, but fixes DTC in PSCM
+      #can_sends.append(create_gear_position_message(self.packer, CS.msg_gear_position))
+      pass
+
+    new_actuators = actuators.as_builder()
+    new_actuators.steeringAngleDeg = self.apply_angle_last
+    self.frame += 1
+    self.last_lat_active = CC.latActive
+    return new_actuators, can_sends
@@ -0,0 +1,145 @@
+from cereal import custom
+from opendbc.car import structs, Bus
+from opendbc.can.parser import CANParser
+from opendbc.car.volvo.values import DBC, VolvoSPAPlatformConfig, CAR
+from opendbc.car.interfaces import CarStateBase
+
+GearShifter = structs.CarState.GearShifter
+TransmissionType = structs.CarParams.TransmissionType
+
+# main-bus SPEED (0x60) is raw counts in the DBC; measured against GPS ground speed.
+# Must match VOLVO_SPEED_TO_MS in opendbc/safety/modes/volvo.h.
+SPEED_TO_MS = 0.003977
+
+
+class CarState(CarStateBase):
+  def __init__(self, CP, FPCP):
+    super().__init__(CP, FPCP)
+    self.is_spa = isinstance(CAR(CP.carFingerprint).config, VolvoSPAPlatformConfig)
+    self.gas_pressed_prev = False
+    self.dispatch_lca_2_msg = False
+    self.msg_pscm = {}
+    self.msg_lca = {}
+    self.msg_lca_2 = {}
+    self.msg_lca_3 = {}
+    self.msg_gear_position = {}
+    self.pilot_assist_engaged = False
+    self.msg_lca_5 = {}  # Formerly msg_speed_1
+    self.msg_speed = {}
+    self.msg_speed_2 = {}
+    self.msg_0x1a = {}
+    self.msg_egsm = {}
+    self.msg_pscm_related = {}
+    self.msg_lca_4 = {}
+    self.msg_lca_6 = {}
+    self.msg_lca_7 = {}
+
+  def update(self, can_parsers, starpilot_toggles) -> structs.CarState:
+    cp_main = can_parsers[Bus.main]
+    cp_pt = can_parsers[Bus.pt]
+    cp_party = can_parsers[Bus.party]
+    ret = structs.CarState()
+
+    # car speed
+    # SPEED on the main bus, not BUS1_SPEED on the PT bus: the main bus is identical
+    # across harnesses, while which car bus lands on PT (bus 1) is not, and the PT DBC
+    # in use depends on the fingerprint. Regressed against GPS ground speed over two
+    # routes on different harnesses: r=0.99989 both, residual sd 0.35-0.40 km/h.
+    ret.vEgoRaw = cp_main.vl["SPEED"]["SPEED"] * SPEED_TO_MS
+    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
+    ret.standstill = ret.vEgoRaw <= 0.1 # 0.1 m/s
+
+    # gas
+    # CMA ECM_1.ACCELERATOR_PEDAL_POS is raw 0-255 (DBC factor 1, idle ~20).
+    # SPA ECM_1.ACCELERATOR_PEDAL_POS is DBC-scaled to percent (factor 0.00390625, idle ~0).
+    # Thresholds must match volvo.h (see opendbc/safety/modes/volvo.h GAS_PRESSED_THRESHOLD_*)
+    # and opendbc/safety/tests/test_volvo.py::test_gas_threshold_self_consistent.
+    if self.is_spa:
+      ret.gasPressed = cp_pt.vl["ECM_1"]["ACCELERATOR_PEDAL_POS"] > 1.0  # percent
+    else:
+      ret.gasPressed = cp_pt.vl["ECM_1"]["ACCELERATOR_PEDAL_POS"] > 20+1  # raw counts, 20 baseline + 1 tolerance
+
+    # brake
+    #ret.brakePressed = bool(cp_main.vl["LCA_2"]["BRAKE_PEDAL_PRESSED_A"] or cp_main.vl["LCA_2"]["BRAKE_PEDAL_PRESSED_B"])
+    # BRAKE_PEDAL_PRESSED_A goes active when user starts pressing brake pedal, but no brake light is on yet due to tolerance
+    # BRAKE_PEDAL_PRESSED_B goes active when when the brake pedal is pressed above minimum threshold, brake light is on
+    ret.brakePressed = cp_main.vl["LCA_2"]["BRAKE_PEDAL_PRESSED_B"] == 1
+    ret.parkingBrake = False # TODO: add parking brake
+
+    # stability control - becomes true when ESC intervenes (e.g., aquaplaning)
+    ret.espActive = cp_main.vl["LCA_2"]["ESC_ACTUATING"] == 1 and cp_main.vl["LCA_2"]["ESC_ELIGIBLE"] == 1
+
+    # steering wheel
+    ret.steeringAngleDeg = cp_party.vl['PSCM']['PSCM_ANGLE_SENSOR'] # openpilot expects a negative value for a right turn
+    #ret.steeringAngleDeg = cp_party.vl['SAS']['SAS_ANGLE_SENSOR']
+
+    # Driver steering torque feedback (used for driver override detection)
+    ret.steeringTorque = -cp_party.vl['DRIVER_INPUT']['STEERING_DRIVER_INPUT']  # Car right turn is negative, openpilot right turn is positive
+    ret.steeringPressed = abs(cp_party.vl['DRIVER_INPUT']['STEERING_DRIVER_INPUT']) > 2
+
+    # EPS status - placeholder until actual signal is found
+    self.eps_active = True  # Assume EPS is active for now
+
+    if self.is_spa:
+      # SPA: byte 0 bit 1, inverted (0 = cruise on, 1 = cruise off)
+      cruise_raw = cp_pt.vl["BUS1_CRUISE_CONTROL"]["CRUISE_CONTROL_SPA_ENABLED"] == 1
+    else:
+      # CMA: two separate boolean signals
+      cruise_raw = cp_pt.vl["BUS1_CRUISE_CONTROL"]["CRUISE_CONTROL_ENABLED"] == 1 or cp_pt.vl["BUS1_CRUISE_CONTROL"]["CRUISE_CONTROL_ENABLED_IDLE_TRAFFIC"] == 1
+
+    ret.cruiseState.enabled = cruise_raw
+
+    self.gas_pressed_prev = ret.gasPressed
+    ret.cruiseState.available = True  # TODO: Determine actual availability
+    ret.cruiseState.speed = 0  # TODO: Find cruise set speed (not required for lateral control)
+    ret.cruiseState.nonAdaptive = False
+    ret.cruiseState.standstill = ret.standstill # False # Todo: Find cruise control standstill signal
+
+    # gear
+    gearPosition = cp_main.vl['GEAR_POSITION']['GEAR_POSITION'] # 0: P; 1: R; 2: N; 3: D; 4: B;
+    if gearPosition == 0:
+      ret.gearShifter = GearShifter.park
+    elif gearPosition == 1:
+      ret.gearShifter = GearShifter.reverse
+    elif gearPosition == 2:
+      ret.gearShifter = GearShifter.neutral
+    elif gearPosition == 3:
+      ret.gearShifter = GearShifter.drive
+    elif gearPosition == 4:
+      ret.gearShifter = GearShifter.drive
+
+    # blinkers TODO FlexRay
+    ret.leftBlinker = False
+    ret.rightBlinker = False
+
+    # lock info TODO FlexRay
+    ret.doorOpen = False # TODO: add door open
+    ret.seatbeltUnlatched = False # TODO: add seatbelt unlatched
+
+    # Store entire message dictionaries
+    self.msg_pscm = cp_party.vl['PSCM']
+    self.msg_lca = cp_main.vl['LCA']
+    self.msg_lca_2 = cp_main.vl['LCA_2']
+    self.msg_lca_3 = cp_main.vl['LCA_3']
+    self.msg_lca_4 = cp_main.vl['LCA_4']
+    self.msg_lca_5 = cp_main.vl['LCA_5']
+    self.msg_lca_6 = cp_main.vl['LCA_6']
+    self.msg_lca_7 = cp_main.vl['LCA_7']
+    self.msg_speed = cp_main.vl['SPEED']
+    self.msg_speed_2 = cp_main.vl['SPEED_2']
+    self.msg_gear_position = cp_main.vl['GEAR_POSITION']
+    self.msg_egsm = cp_party.vl['EGSM']
+    self.msg_pscm_related = cp_party.vl['PSCM_RELATED']
+
+    self.pilot_assist_engaged = cp_main.vl['LCA_2']['PILOT_ASSIST_ENGAGED'] == 1
+
+    fp_ret = custom.StarPilotCarState.new_message()
+    return ret, fp_ret
+
+  @staticmethod
+  def get_can_parsers(CP):
+    return {
+      Bus.main: CANParser(DBC[CP.carFingerprint][Bus.main], [], 0),
+      Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], [], 1),
+      Bus.party: CANParser(DBC[CP.carFingerprint][Bus.party], [], 2),
+    }
@@ -0,0 +1,18 @@
+# ruff: noqa: E501
+""" AUTO-FORMATTED USING opendbc/car/debug/format_fingerprints.py, EDIT STRUCTURE THERE."""
+from opendbc.car.volvo.values import CAR
+
+FINGERPRINTS = {
+  CAR.VOLVO_XC40_RECHARGE: [{
+    21: 8, 22: 8, 23: 8, 26: 8, 69: 8, 85: 8, 87: 8, 88: 8, 96: 8, 103: 8, 104: 8, 105: 8, 128: 8, 144: 8, 146: 8, 147: 8, 151: 8, 304: 8, 336: 8, 339: 8, 341: 8, 394: 8, 395: 8, 640: 8, 656: 8, 666: 8, 773: 8, 778: 8, 1072: 8, 1120: 8, 1302: 8, 1336: 8, 1407: 8, 1422: 8, 1423: 8, 1424: 8, 1425: 8, 1426: 8
+  }],
+  CAR.VOLVO_S60_RECHARGE: [{
+    21: 8, 22: 8, 23: 8, 26: 8, 69: 8, 85: 8, 87: 8, 88: 8, 96: 8, 103: 8, 104: 8, 105: 8, 128: 8, 144: 8, 146: 8, 147: 8, 151: 8, 336: 8, 339: 8, 341: 8, 395: 8, 587: 8, 640: 8, 656: 8, 666: 8, 773: 8, 778: 8, 1072: 8, 1120: 8, 1298: 8, 1302: 8, 1319: 8, 1336: 8, 1407: 8, 1422: 8, 1423: 8, 1424: 8, 1425: 8, 1426: 8, 1554: 8, 1587: 8, 1718: 8, 1792: 8, 1793: 8, 1798: 8, 1799: 8, 1810: 8, 1813: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1843: 8, 1856: 8, 1858: 8, 1859: 8, 1860: 8, 1862: 8, 1863: 8, 1871: 8, 1872: 8, 1875: 8, 1879: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1920: 8, 1927: 8, 1937: 8, 1943: 8, 1953: 8, 1954: 8, 1955: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1988: 8, 1990: 8, 2000: 8, 2001: 8, 2002: 8, 2004: 8, 2017: 8, 2018: 8, 2020: 8
+  }],
+  CAR.POLESTAR_2: [{
+    7: 4, 21: 8, 22: 8, 23: 8, 26: 8, 35: 8, 37: 8, 53: 8, 58: 8, 67: 8, 69: 8, 70: 8, 85: 8, 87: 8, 88: 8, 96: 8, 103: 8, 104: 8, 105: 8, 112: 8, 117: 8, 128: 8, 133: 8, 138: 8, 144: 8, 146: 8, 147: 8, 151: 8, 256: 8, 277: 8, 278: 8, 284: 8, 293: 8, 309: 8, 320: 8, 325: 8, 336: 8, 339: 8, 341: 8, 348: 8, 349: 8, 352: 8, 368: 8, 370: 8, 373: 8, 375: 8, 376: 8, 389: 8, 395: 8, 400: 8, 408: 8, 411: 8, 417: 8, 420: 8, 426: 8, 429: 8, 435: 8, 440: 8, 464: 8, 556: 8, 640: 8, 656: 8, 666: 8, 773: 8, 778: 8, 789: 8, 791: 8, 800: 8, 805: 8, 807: 8, 816: 8, 821: 8, 832: 8, 837: 8, 841: 8, 848: 8, 853: 8, 854: 8, 858: 8, 860: 8, 873: 8, 882: 8, 889: 8, 890: 8, 891: 8, 892: 8, 893: 8, 896: 8, 899: 8, 901: 8, 917: 8, 919: 8, 1043: 8, 1045: 8, 1061: 8, 1072: 8, 1077: 8, 1088: 8, 1093: 8, 1120: 8, 1127: 8, 1160: 8, 1168: 8, 1171: 8, 1174: 8, 1175: 8, 1177: 8, 1296: 8, 1302: 8, 1320: 8, 1334: 8, 1336: 8, 1407: 8, 1422: 8, 1423: 8, 1424: 8, 1425: 8, 1426: 8, 1428: 8, 1429: 8, 1430: 8, 1431: 8, 1432: 8, 1554: 8, 1584: 8, 1587: 8, 2022: 8
+  }],
+}
+
+FW_VERSIONS: dict[str, dict[tuple, list[bytes]]] = {
+}
@@ -0,0 +1,397 @@
+def checksum_lca_2_message(b0: int, b5: int) -> int:
+  """
+  Compute checksum for VCU1 CAN ID 0x69 from bytes b0 and b5.
+
+  b0: first data byte (MSB) of the frame (usually 0x18 in your logs)
+  b5: sixth data byte of the frame (what you called Byte5)
+
+  Returns: checksum byte (0..255) that goes into byte index 6.
+  """
+  if b0 == 0 and b5 == 128: # Hotfix openpilot test (don't know where this alleged test message comes from)
+    return 0
+
+  # Masks per checksum bit (bit 0..7) for b0 and b5
+  M0 = [0x08, 0x00, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00]
+  M5 = [0x83, 0x86, 0xCF, 0xCD, 0x09, 0x02, 0x44, 0x89]
+
+  def parity8(x: int) -> int:
+    # 1 if x has an odd number of bits set, else 0
+    x ^= x >> 4
+    x ^= x >> 2
+    x ^= x >> 1
+    return x & 1
+
+  b0 &= 0xFF
+  b5 &= 0xFF
+
+  c = 0
+  for bit in range(8):
+    p = 0
+    if M0[bit]:
+      p ^= parity8(b0 & M0[bit])
+    if M5[bit]:
+      p ^= parity8(b5 & M5[bit])
+    c |= (p << bit)
+
+  return c & 0xFF
+
+def checksum_2_0x69_message(b0: int, b1: int, b3: int = 0, b4: int = 0) -> int:
+  """
+  Compute checksum byte (b2) for CAN ID 0x69 (LCA_2 message).
+
+  The checksum depends on bytes 0, 1, 3, and 4. During normal driving (BYTE_1_MSBS_3=0),
+  bytes 3-4 (NEW_SIGNAL_2) are always 0, so only b0 and b1 matter. During stability
+  control events (aquaplaning, etc.), BYTE_1_MSBS_3 becomes non-zero and bytes 3-4
+  contain non-zero values that affect the checksum.
+
+  Args:
+      b0: Byte 0 (usually 0x18)
+      b1: Byte 1 ([7:5] BYTE_1_MSBS_3 | [4] PILOT_ASSIST_ENGAGED | [3:0] COUNTER_1)
+      b3: Byte 3 (NEW_SIGNAL_2 high byte, default 0)
+      b4: Byte 4 (NEW_SIGNAL_2 low byte, default 0)
+
+  Returns:
+      Checksum byte (0-255) for position 2
+  """
+  b0 &= 0xFF
+  b1 &= 0xFF
+  b3 &= 0xFF
+  b4 &= 0xFF
+
+  def bit(byte, pos):
+    return (byte >> pos) & 1
+
+  c = 0
+  # Bit 0
+  c |= (bit(b0, 0) ^ bit(b1, 2) ^ bit(b1, 3) ^ bit(b1, 4) ^ bit(b1, 5) ^ bit(b4, 0) ^ bit(b4, 1)) << 0
+  # Bit 1
+  c |= (bit(b0, 1) ^ bit(b0, 3) ^ bit(b1, 0) ^ bit(b1, 3) ^ bit(b1, 5) ^ bit(b1, 6) ^
+        bit(b3, 1) ^ bit(b4, 0) ^ bit(b4, 1) ^ bit(b4, 2)) << 1
+  # Bit 2
+  c |= (bit(b0, 0) ^ bit(b0, 3) ^ bit(b1, 1) ^ bit(b1, 2) ^ bit(b1, 3) ^ bit(b1, 4) ^ bit(b1, 5) ^ bit(b1, 6) ^
+        bit(b3, 0) ^ bit(b3, 1) ^ bit(b4, 0) ^ bit(b4, 2) ^ bit(b4, 3)) << 2
+  # Bit 3
+  c |= (bit(b0, 0) ^ bit(b0, 1) ^ bit(b1, 0) ^ bit(b1, 4) ^ bit(b1, 6) ^
+        bit(b3, 0) ^ bit(b3, 1) ^ bit(b4, 0) ^ bit(b4, 3) ^ bit(b4, 4)) << 3
+  # Bit 4
+  c |= (bit(b0, 0) ^ bit(b0, 1) ^ bit(b0, 3) ^ bit(b1, 1) ^ bit(b1, 2) ^ bit(b1, 3) ^ bit(b1, 4) ^
+        bit(b4, 4) ^ bit(b4, 5)) << 4
+  # Bit 5
+  c |= (bit(b0, 1) ^ bit(b1, 0) ^ bit(b1, 2) ^ bit(b1, 3) ^ bit(b1, 5) ^
+        bit(b3, 1) ^ bit(b4, 5) ^ bit(b4, 6)) << 5
+  # Bit 6
+  c |= (bit(b0, 3) ^ bit(b1, 0) ^ bit(b1, 1) ^ bit(b1, 3) ^ bit(b1, 6) ^
+        bit(b3, 0) ^ bit(b4, 6) ^ bit(b4, 7)) << 6
+  # Bit 7
+  c |= (bit(b0, 3) ^ bit(b1, 1) ^ bit(b1, 2) ^ bit(b1, 4) ^ bit(b4, 0) ^ bit(b4, 7)) << 7
+  return c & 0xFF
+
+def checksum_1_pscm_related_message(b1, b2):
+  """
+  Computes checksum #1 (goes in byte[0]) for PSCM-related 0x17 message.
+  Depends only on (byte[1], byte[2]).
+
+  b1 = SIG1 counter (high nibble) | LCA_ENABLED_ECHO (low nibble)
+  b2 = 0x80 | SIG1 counter replica (low nibble)
+
+  Linear over GF(2), same shape as checksum_lca_2_message: each output bit is
+  the parity of a fixed mask over b1 and b2. Solved from 137,965 logged PSCM
+  frames (60 distinct (b1,b2) keys, leave-one-out cross-validated 60/60).
+
+  This replaces a 45-entry lookup table that covered only LCA_ENABLED_ECHO in
+  {0, 1, 4} and returned 0 on a miss. During an ESC intervention the rack
+  reports ECHO=6, so openpilot transmitted 128 consecutive frames with an
+  invalid checksum (0x00) before this fix.
+
+  Note: bit 3 of b1 (LCA_ENABLED_ECHO >= 8) has never been observed on the bus,
+  so its contribution is unconstrained by the data and is taken to be zero.
+  """
+  # Masks per checksum bit (bit 0..7) for b1 and b2
+  M1 = [0x41, 0x82, 0x55, 0xF3, 0xA7, 0x46, 0x94, 0x20]
+  M2 = [0x00, 0x00, 0x80, 0x00, 0x80, 0x00, 0x80, 0x80]
+
+  def parity8(x: int) -> int:
+    # 1 if x has an odd number of bits set, else 0
+    x ^= x >> 4
+    x ^= x >> 2
+    x ^= x >> 1
+    return x & 1
+
+  b1 &= 0xFF
+  b2 &= 0xFF
+
+  c = 0
+  for bit in range(8):
+    p = 0
+    if M1[bit]:
+      p ^= parity8(b1 & M1[bit])
+    if M2[bit]:
+      p ^= parity8(b2 & M2[bit])
+    c |= (p << bit)
+
+  return c & 0xFF
+
+
+def checksum_2_pscm_related_message(b2):
+  """
+  Computes checksum #2 (goes in byte[3]) for PSCM-related 0x17 message.
+  Depends only on byte[2].
+  """
+
+  lut = {
+    0x80: 0xBF,
+    0x81: 0xF3,
+    0x82: 0x27,
+    0x83: 0x6B,
+    0x84: 0x92,
+    0x85: 0xDE,
+    0x86: 0x0A,
+    0x87: 0x46,
+    0x88: 0xE5,
+    0x89: 0xA9,
+    0x8A: 0x7D,
+    0x8B: 0x31,
+    0x8C: 0xC8,
+    0x8D: 0x84,
+    0x8E: 0x50,
+  }
+
+  return lut.get(b2, 0)
+
+
+def checksum_lca_4_message(*args) -> int:
+  """
+  Placeholder for LCA_4 (0x90) checksum calculation.
+
+  TODO: Implementation will be provided after checksum analysis is complete.
+  For now, returns 0 as a placeholder.
+
+  Args:
+      *args: Byte values needed for checksum calculation (TBD)
+
+  Returns:
+      Checksum byte (0-255)
+  """
+  # Placeholder - will be replaced with actual checksum algorithm
+  return 0
+
+
+class LCA3CounterSync:
+  """
+  Best-effort pattern synchronization for LCA_3 COUNTER_1.
+
+  The counter follows a 20-element pattern that cycles based on transmission count.
+  We track recent observed counter values and match them against the pattern to
+  determine the current index. While not synchronized, we pass through stock values.
+  Once synchronized, we permanently use the pattern.
+  """
+
+  PATTERN = [2, 2, 1, 2, 2, 2, 1, 2, 2, 3, 0, 2, 3, 2, 0, 2, 3, 2, 0, 3]
+  PATTERN_LEN = 20
+  WINDOW_SIZE = 5  # Track last 5 values for matching
+  MIN_CONFIDENCE = 4  # Need 4 consecutive matches to sync
+
+  def __init__(self):
+    self.pattern_index = None  # Current index in pattern (None = not synced)
+    self.observed_window = []  # Circular buffer of last N observed values
+    self.confidence = 0  # Number of consecutive successful matches
+
+  def update(self, observed_counter: int) -> tuple:
+    """
+    Update with newly observed counter value from stock message.
+
+    Args:
+        observed_counter: Counter value from CS.msg_lca_3['COUNTER_1']
+
+    Returns:
+        Tuple of (counter_to_send, is_synchronized)
+    """
+    # If already synchronized, ignore stock and use our pattern permanently
+    if self.pattern_index is not None:
+      counter_to_send = self.PATTERN[self.pattern_index]
+      self.pattern_index = (self.pattern_index + 1) % self.PATTERN_LEN
+      return counter_to_send, True
+
+    # Not synchronized yet - try to find pattern index
+    self.observed_window.append(observed_counter)
+    if len(self.observed_window) > self.WINDOW_SIZE:
+      self.observed_window.pop(0)
+
+    # Attempt to sync if we have enough samples
+    if len(self.observed_window) >= 3:
+      self._attempt_sync()
+
+    # While not synced, pass through stock counter
+    return observed_counter, False
+
+  def _attempt_sync(self):
+    """Try to find current pattern index based on observed window."""
+    # Try to match observation window against all positions in pattern
+    best_match_idx = None
+    best_match_len = 0
+
+    for start_idx in range(self.PATTERN_LEN):
+      match_len = self._count_match(start_idx)
+      if match_len > best_match_len:
+        best_match_len = match_len
+        best_match_idx = start_idx
+
+    # Require MIN_CONFIDENCE matching values to declare sync
+    if best_match_len >= self.MIN_CONFIDENCE:
+      # The match tells us where we WERE in the pattern
+      # We need to set index to NEXT position for next transmission
+      self.pattern_index = (best_match_idx + len(self.observed_window)) % self.PATTERN_LEN
+      self.confidence = best_match_len
+
+  def _count_match(self, pattern_start_idx: int) -> int:
+    """
+    Count how many values in observed_window match pattern starting at pattern_start_idx.
+
+    Returns:
+        Number of consecutive matching values from start
+    """
+    match_count = 0
+    for i, observed in enumerate(self.observed_window):
+      pattern_idx = (pattern_start_idx + i) % self.PATTERN_LEN
+      if observed == self.PATTERN[pattern_idx]:
+        match_count += 1
+      else:
+        break  # Stop at first mismatch
+    return match_count
+
+  def is_synchronized(self) -> bool:
+    """Returns True if we have synchronized to the pattern."""
+    return self.pattern_index is not None
+
+def checksum_lca_5_message(byte0: int, byte1: int, byte3: int, byte4: int, byte5: int) -> int:
+  """
+  Calculate checksum for LCA_5 message 0x67 (byte 2)
+
+  Args:
+    byte0: Byte 0 (0-255)
+    byte1: Byte 1 (0-255)
+    byte3: Byte 3 (0-255)
+    byte4: Byte 4 (0-255)
+    byte5: Byte 5 (0-255)
+
+  Returns:
+    int: Checksum value (0-255) for byte 2
+
+  Example:
+    >>> checksum = checksum_lca_5_message(0x80, 0x00, 0x4F, 0x00, 0x00)
+    >>> print(f"0x{checksum:02X}")
+    0x32
+  """
+
+  # Helper function to extract a bit (LSB = bit 0)
+  def bit(byte_val, pos):
+    return (byte_val >> pos) & 1
+
+  checksum = 0
+
+  # Bit 0: XOR of 13 bits
+  checksum |= (
+    bit(byte0, 2) ^ bit(byte0, 3) ^ bit(byte0, 5) ^ bit(byte0, 7) ^
+    bit(byte1, 2) ^
+    bit(byte3, 4) ^ bit(byte3, 6) ^
+    bit(byte4, 0) ^ bit(byte4, 1) ^ bit(byte4, 5) ^ bit(byte4, 6) ^
+    bit(byte5, 3) ^ bit(byte5, 6)
+  ) << 0
+
+  # Bit 1: XOR of 12 bits
+  checksum |= (
+    bit(byte0, 0) ^ bit(byte0, 3) ^ bit(byte0, 4) ^ bit(byte0, 7) ^
+    bit(byte1, 0) ^ bit(byte1, 3) ^
+    bit(byte3, 5) ^ bit(byte3, 7) ^
+    bit(byte4, 2) ^ bit(byte4, 6) ^
+    bit(byte5, 4) ^ bit(byte5, 7)
+  ) << 1
+
+  # Bit 2: XOR of 17 bits
+  checksum |= (
+    bit(byte0, 1) ^ bit(byte0, 2) ^ bit(byte0, 3) ^ bit(byte0, 4) ^
+    bit(byte1, 0) ^ bit(byte1, 1) ^ bit(byte1, 2) ^ bit(byte1, 4) ^
+    bit(byte3, 4) ^
+    bit(byte4, 1) ^ bit(byte4, 3) ^ bit(byte4, 5) ^ bit(byte4, 6) ^
+    bit(byte5, 1) ^ bit(byte5, 3) ^ bit(byte5, 5) ^ bit(byte5, 6)
+  ) << 2
+
+  # Bit 3: XOR of 19 bits
+  checksum |= (
+    bit(byte0, 0) ^ bit(byte0, 4) ^ bit(byte0, 7) ^
+    bit(byte1, 1) ^ bit(byte1, 3) ^ bit(byte1, 5) ^
+    bit(byte3, 4) ^ bit(byte3, 5) ^ bit(byte3, 6) ^
+    bit(byte4, 0) ^ bit(byte4, 1) ^ bit(byte4, 2) ^ bit(byte4, 4) ^ bit(byte4, 5) ^
+    bit(byte5, 1) ^ bit(byte5, 2) ^ bit(byte5, 3) ^ bit(byte5, 4) ^ bit(byte5, 7)
+  ) << 3
+
+  # Bit 4: XOR of 16 bits
+  checksum |= (
+    bit(byte0, 1) ^ bit(byte0, 2) ^ bit(byte0, 3) ^ bit(byte0, 7) ^
+    bit(byte1, 4) ^ bit(byte1, 6) ^
+    bit(byte3, 4) ^ bit(byte3, 5) ^ bit(byte3, 7) ^
+    bit(byte4, 1) ^ bit(byte4, 2) ^ bit(byte4, 3) ^
+    bit(byte5, 2) ^ bit(byte5, 4) ^ bit(byte5, 5) ^ bit(byte5, 6)
+  ) << 4
+
+  # Bit 5: XOR of 15 bits
+  checksum |= (
+    bit(byte0, 0) ^ bit(byte0, 2) ^ bit(byte0, 3) ^ bit(byte0, 4) ^
+    bit(byte1, 5) ^ bit(byte1, 7) ^
+    bit(byte3, 5) ^ bit(byte3, 6) ^
+    bit(byte4, 2) ^ bit(byte4, 3) ^ bit(byte4, 4) ^
+    bit(byte5, 3) ^ bit(byte5, 5) ^ bit(byte5, 6) ^ bit(byte5, 7)
+  ) << 5
+
+  # Bit 6: XOR of 19 bits
+  checksum |= (
+    bit(byte0, 0) ^ bit(byte0, 1) ^ bit(byte0, 3) ^ bit(byte0, 4) ^ bit(byte0, 5) ^ bit(byte0, 7) ^
+    bit(byte1, 0) ^ bit(byte1, 6) ^
+    bit(byte3, 4) ^ bit(byte3, 6) ^ bit(byte3, 7) ^
+    bit(byte4, 0) ^ bit(byte4, 3) ^ bit(byte4, 4) ^ bit(byte4, 5) ^
+    bit(byte5, 1) ^ bit(byte5, 4) ^ bit(byte5, 6) ^ bit(byte5, 7)
+  ) << 6
+
+  # Bit 7: XOR of 15 bits
+  checksum |= (
+    bit(byte0, 1) ^ bit(byte0, 2) ^ bit(byte0, 4) ^ bit(byte0, 5) ^
+    bit(byte1, 1) ^ bit(byte1, 7) ^
+    bit(byte3, 5) ^ bit(byte3, 7) ^
+    bit(byte4, 0) ^ bit(byte4, 4) ^ bit(byte4, 5) ^ bit(byte4, 6) ^
+    bit(byte5, 2) ^ bit(byte5, 5) ^ bit(byte5, 7)
+  ) << 7
+
+  return checksum
+
+
+# Test examples
+if __name__ == "__main__":
+  print("CAN 0x67 Checksum Calculator")
+  print("=" * 60)
+
+  # Test cases
+  tests = [
+    ([0x80, 0x00, 0x4F, 0x00, 0x00, 0xBA, 0x00], 0x32),
+    ([0x80, 0x00, 0x8F, 0x00, 0x00, 0xBA, 0x00], 0x89),
+    ([0x80, 0x00, 0xCF, 0x00, 0x00, 0xBA, 0x00], 0xE0),
+    ([0x80, 0x00, 0x1F, 0x00, 0x00, 0xBA, 0x00], 0x06),
+  ]
+
+  all_passed = True
+  for i, (bytes_list, expected) in enumerate(tests, 1):
+    calculated = checksum_lca_5_message(*bytes_list[:5])
+    status = "✓" if calculated == expected else "✗"
+
+    print(f"\nTest {i}: {status}")
+    print(f"  Bytes:      {' '.join(f'{b:02X}' for b in bytes_list)}")
+    print(f"  Expected:   0x{expected:02X}")
+    print(f"  Calculated: 0x{calculated:02X}")
+
+    if calculated != expected:
+      all_passed = False
+
+  print("\n" + "=" * 60)
+  if all_passed:
+    print("All tests passed! ✓")
+  else:
+    print("Some tests failed! ✗")
@@ -0,0 +1,42 @@
+from opendbc.car import structs, get_safety_config
+from opendbc.car.interfaces import CarInterfaceBase
+from opendbc.car.volvo.carcontroller import CarController
+from opendbc.car.volvo.carstate import CarState
+from opendbc.car.volvo.values import VolvoSPAPlatformConfig, CAR
+
+TransmissionType = structs.CarParams.TransmissionType
+
+VOLVO_FLAG_SPA = 1
+SAFETY_VOLVO = structs.CarParams.SafetyModel.volvo
+
+
+class CarInterface(CarInterfaceBase):
+  CarState = CarState
+  CarController = CarController
+
+  @staticmethod
+  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
+    ret.brand = 'volvo'
+
+    safety_param = 0
+    if isinstance(CAR(candidate).config, VolvoSPAPlatformConfig):
+      safety_param = VOLVO_FLAG_SPA
+    ret.safetyConfigs = [get_safety_config(SAFETY_VOLVO, safety_param)]
+    #ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.noOutput)]
+
+    ret.dashcamOnly = False
+
+    ret.steerActuatorDelay = 0.3
+    ret.steerLimitTimer = 0.1
+    ret.steerAtStandstill = True
+
+    # Use angle-based steering control for Volvo CMA platform
+    ret.steerControlType = structs.CarParams.SteerControlType.angle
+    # Note: No lateral tuning configuration needed for basic angle control
+    ret.radarUnavailable = True
+
+    ret.alphaLongitudinalAvailable = False
+
+    ret.pcmCruise = True
+
+    return ret
@@ -0,0 +1 @@
+
@@ -0,0 +1,59 @@
+import unittest
+
+from opendbc.car.volvo.helpers import (
+  checksum_1_pscm_related_message,
+  checksum_2_pscm_related_message,
+)
+
+# (b1, b2) -> byte[0], observed on the bus.
+# b1 = SIG1 counter (high nibble) | LCA_ENABLED_ECHO (low nibble), b2 = 0x80 | counter.
+# ECHO 0/1/4 are normal driving; ECHO 6 only appears while ESC is intervening and was
+# the case that used to fall through to a 0x00 checksum.
+PSCM_RELATED_CHECKSUM_1 = {
+  (0x00, 0x80): 0xD4, (0x01, 0x80): 0xC9, (0x04, 0x80): 0xA0, (0x06, 0x80): 0x9A,
+  (0x10, 0x81): 0x98, (0x11, 0x81): 0x85, (0x14, 0x81): 0xEC, (0x16, 0x81): 0xD6,
+  (0x20, 0x82): 0x4C, (0x21, 0x82): 0x51, (0x24, 0x82): 0x38, (0x26, 0x82): 0x02,
+  (0x30, 0x83): 0x00, (0x31, 0x83): 0x1D, (0x34, 0x83): 0x74, (0x36, 0x83): 0x4E,
+  (0x40, 0x84): 0xF9, (0x41, 0x84): 0xE4, (0x44, 0x84): 0x8D, (0x46, 0x84): 0xB7,
+  (0x50, 0x85): 0xB5, (0x51, 0x85): 0xA8, (0x54, 0x85): 0xC1, (0x56, 0x85): 0xFB,
+  (0x60, 0x86): 0x61, (0x61, 0x86): 0x7C, (0x64, 0x86): 0x15, (0x66, 0x86): 0x2F,
+  (0x70, 0x87): 0x2D, (0x71, 0x87): 0x30, (0x74, 0x87): 0x59, (0x76, 0x87): 0x63,
+  (0x80, 0x88): 0x8E, (0x81, 0x88): 0x93, (0x84, 0x88): 0xFA, (0x86, 0x88): 0xC0,
+  (0x90, 0x89): 0xC2, (0x91, 0x89): 0xDF, (0x94, 0x89): 0xB6, (0x96, 0x89): 0x8C,
+  (0xA0, 0x8A): 0x16, (0xA1, 0x8A): 0x0B, (0xA4, 0x8A): 0x62, (0xA6, 0x8A): 0x58,
+  (0xB0, 0x8B): 0x5A, (0xB1, 0x8B): 0x47, (0xB4, 0x8B): 0x2E, (0xB6, 0x8B): 0x14,
+  (0xC0, 0x8C): 0xA3, (0xC1, 0x8C): 0xBE, (0xC4, 0x8C): 0xD7, (0xC6, 0x8C): 0xED,
+  (0xD0, 0x8D): 0xEF, (0xD1, 0x8D): 0xF2, (0xD4, 0x8D): 0x9B, (0xD6, 0x8D): 0xA1,
+  (0xE0, 0x8E): 0x3B, (0xE1, 0x8E): 0x26, (0xE4, 0x8E): 0x4F, (0xE6, 0x8E): 0x75,
+}
+
+# b2 -> byte[3], same source
+PSCM_RELATED_CHECKSUM_2 = {
+  0x80: 0xBF, 0x81: 0xF3, 0x82: 0x27, 0x83: 0x6B, 0x84: 0x92,
+  0x85: 0xDE, 0x86: 0x0A, 0x87: 0x46, 0x88: 0xE5, 0x89: 0xA9,
+  0x8A: 0x7D, 0x8B: 0x31, 0x8C: 0xC8, 0x8D: 0x84, 0x8E: 0x50,
+}
+
+
+class TestPscmRelatedChecksums(unittest.TestCase):
+  def test_checksum_1_matches_the_car(self):
+    for (b1, b2), expected in PSCM_RELATED_CHECKSUM_1.items():
+      with self.subTest(b1=hex(b1), b2=hex(b2)):
+        assert checksum_1_pscm_related_message(b1, b2) == expected
+
+  def test_checksum_1_covers_esc_echo(self):
+    # regression: ECHO=6 used to miss the lookup table and return 0x00, which the
+    # receiving ECU logged as a checksum fault for as long as ESC was active
+    for counter in range(15):
+      b1, b2 = (counter << 4) | 6, 0x80 | counter
+      with self.subTest(counter=counter):
+        assert checksum_1_pscm_related_message(b1, b2) == PSCM_RELATED_CHECKSUM_1[(b1, b2)]
+
+  def test_checksum_2_matches_the_car(self):
+    for b2, expected in PSCM_RELATED_CHECKSUM_2.items():
+      with self.subTest(b2=hex(b2)):
+        assert checksum_2_pscm_related_message(b2) == expected
+
+
+if __name__ == "__main__":
+  unittest.main()
@@ -0,0 +1,69 @@
+from collections import defaultdict
+from types import SimpleNamespace
+
+from opendbc.car.volvo.carcontroller import CarController
+from opendbc.car.volvo.helpers import checksum_lca_5_message
+from opendbc.car.volvo.interface import CarInterface
+from opendbc.car.volvo.values import DBC
+
+
+def _zero_message():
+  return defaultdict(int)
+
+
+def _state():
+  return SimpleNamespace(
+    out=SimpleNamespace(steeringAngleDeg=0.0, vEgoRaw=12.0, steeringTorque=0.0),
+    msg_lca=_zero_message(),
+    msg_pscm=_zero_message(),
+    msg_pscm_related=_zero_message(),
+    msg_lca_3=_zero_message(),
+    msg_lca_2=_zero_message(),
+    msg_lca_5=_zero_message(),
+    msg_lca_4=_zero_message(),
+    msg_lca_6=_zero_message(),
+    msg_lca_7=_zero_message(),
+    pilot_assist_engaged=False,
+  )
+
+
+class _Actuators:
+  steeringAngleDeg = 30.0
+
+  def as_builder(self):
+    return SimpleNamespace(steeringAngleDeg=self.steeringAngleDeg)
+
+
+def test_controller_emits_valid_eight_byte_messages_and_lca5_checksum():
+  cp = CarInterface.get_non_essential_params("POLESTAR_2")
+  controller = CarController(DBC[cp.carFingerprint], cp)
+  cs = _state()
+  cc = SimpleNamespace(latActive=True, actuators=_Actuators())
+
+  actuators, can_sends = controller.update(cc, cs, 0, None)
+
+  assert can_sends
+  assert {msg[2] for msg in can_sends} == {0, 2}
+  assert all(len(msg[1]) == 8 for msg in can_sends)
+  assert 0.0 < actuators.steeringAngleDeg < 540.0
+
+  lca5 = next(msg for msg in can_sends if msg[0] == 0x67)
+  data = lca5[1]
+  assert data[2] == checksum_lca_5_message(data[0], data[1], data[3], data[4], data[5])
+
+
+def test_controller_relays_stock_lca5_angle_when_inactive():
+  cp = CarInterface.get_non_essential_params("VOLVO_XC40_RECHARGE")
+  controller = CarController(DBC[cp.carFingerprint], cp)
+  cs = _state()
+  cs.msg_lca_5["LCA_5_STEER"] = 12.0
+  cc = SimpleNamespace(latActive=False, actuators=_Actuators())
+
+  _, can_sends = controller.update(cc, cs, 0, None)
+  lca5 = next(msg for msg in can_sends if msg[0] == 0x67)
+
+  # The inactive path must not manufacture a new angle command.
+  raw = ((lca5[1][6] & 0x7F) << 8) | lca5[1][7]
+  if raw & (1 << 14):
+    raw -= 1 << 15
+  assert abs(raw * 0.05596 - 12.0) < 0.1
@@ -0,0 +1,154 @@
+from dataclasses import dataclass, field
+
+from opendbc.car.structs import CarParams
+from opendbc.car import Bus, CarSpecs, DbcDict, PlatformConfig, Platforms
+from opendbc.car.lateral import AngleSteeringLimits
+from opendbc.car.docs_definitions import CarDocs, CarHarness, CarParts
+from opendbc.car.fw_query_definitions import FwQueryConfig
+
+Ecu = CarParams.Ecu
+
+
+class CarControllerParams:
+  STEER_STEP = 1  # 100 Hz LCA command frequency (controlsd runs at 100 Hz)
+
+  # Max commanded-vs-actual steering angle error (deg). Stock Volvo Pilot Assist holds
+  # commanded within ~1.7° of actual even under sustained driver override; bounding the
+  # command to actual ± this error prevents the stale-command snap-back that causes
+  # aggressive post-release overcorrection.
+  ANGLE_ERROR = 3.0
+
+  # LCA torque-authority envelope, modeled after stock Pilot Assist behavior.
+  # LCA_STEER_LOOSELY (positive arm) and LCA_STEER_LOOSELY_INV (negative arm)
+  # form a directional envelope that PSCM applies to its EPS torque. Stock PA:
+  #  - holds both arms at saturation (±LCA_AUTH_MAX) when no driver torque
+  #  - on driver override, collapses both arms symmetrically at COLLAPSE_RATE
+  #    until envelope reaches ~±LCA_AUTH_SPLIT, then splits asymmetrically:
+  #    the arm matching driver direction (yielding) settles at ±PLATEAU_YIELD,
+  #    the counter arm holds at ±PLATEAU_COUNTER (yield is shallower than counter)
+  #  - rebuilds at REBUILD_RATE after release (~3 s back to saturation)
+  # See route_analysis/lca_override_mechanism.md for the data behind these.
+  LCA_AUTH_MAX = 614              # signal saturation
+  LCA_AUTH_PLATEAU_COUNTER = 130  # counter-arm magnitude during sustained override
+  # Override trigger thresholds on |CS.out.steeringTorque| (op-convention raw
+  # units, mirror of DRIVER_INPUT). Must be ABOVE the resting-hand noise floor
+  # (CS.steeringPressed uses |raw|>2 as a sensitive DM-fallback floor and does
+  # NOT indicate override intent — don't use it for envelope triggering).
+  # Hysteresis: enter override at ENTER, exit at EXIT (< ENTER) to prevent the
+  # envelope flapping between collapse and rebuild when driver torque hovers
+  # near a single threshold (was causing ~10 Hz EPS-torque ripple in lane
+  # changes when driver applied 6-8 raw to "ride along" with op).
+  LCA_AUTH_OVERRIDE_ENTER = 5
+  LCA_AUTH_OVERRIDE_EXIT = 3
+  # "Light contact" / haptic-acknowledgment region. When |drv| crosses into
+  # [LIGHT_THRESH, OVERRIDE_THRESH] from below, briefly collapse the envelope
+  # for LIGHT_HOLD_FRAMES (a haptic confirmation of hand-on-wheel detection),
+  # then rebuild even while the contact persists. Prevents the driver from
+  # needing to sustain force just to feel that the system noticed them — helps
+  # with hand-fatigue / RSI.
+  # Rising edge detected via per-frame derivative; the brief-yield window does
+  # NOT re-arm while still active, so a steady elevated torque only triggers
+  # one yield and then the envelope rebuilds.
+  # Cooldown: light_collapse only fires when real_override has been off for
+  # LIGHT_COOLDOWN_FRAMES — suppresses repeated firings during active
+  # co-steering (lane changes), where |drv| oscillates and would otherwise
+  # re-arm the haptic-ack window each time, causing felt ripple.
+  LCA_AUTH_LIGHT_THRESH = 3            # min |drv| to consider as contact
+  LCA_AUTH_LIGHT_RISE_DELTA = 1.0      # min per-frame increase in |drv| to count as rising contact
+  LCA_AUTH_LIGHT_HOLD_FRAMES = 15      # ~150 ms of yield on fresh light contact
+  LCA_AUTH_LIGHT_COOLDOWN_FRAMES = 30  # ~300 ms quiet-time on real_override before light contact re-arms
+  # Yield-arm plateau scales with driver-torque magnitude so brief strong presses
+  # (potholes, lane corrections) get full yield while light sustained pressure
+  # only gets a soft yield. yield_signed = YIELD_BASE − YIELD_SLOPE *
+  # max(0, drv_mag_filt − OVERRIDE_ENTER), clamped to [YIELD_MIN, YIELD_BASE].
+  # At |drv|=7 (just over threshold): yield = +60 (light resistance).
+  # At |drv|=14: yield ≈ -4 (crosses past zero — EPS hands wheel to driver).
+  # drv_mag_filt is a low-pass of |drv| (alpha=0.04, ~250 ms time constant) —
+  # without it, 1-2 unit driver-torque jitter became ~10 unit yield-arm jitter
+  # which PSCM converted to felt ripple at sustained co-steering pressure.
+  LCA_AUTH_YIELD_BASE = 60        # yield-arm magnitude at the override threshold
+  LCA_AUTH_YIELD_SLOPE = 8        # counts of yield reduction per unit |drv torque| above threshold
+  LCA_AUTH_YIELD_MIN = -30        # cap how far past zero the yield arm can go (full hand-over)
+  LCA_AUTH_YIELD_LP_ALPHA = 0.04  # LP-filter coefficient on |drv| for yield calc (~250 ms tau)
+  LCA_AUTH_SPLIT = 200            # symmetric → asymmetric handover
+  LCA_AUTH_REBUILD_RATE = 230     # counts/s (≈ 2.7 s rebuild from 0 to 614)
+  LCA_AUTH_COLLAPSE_RATE = 2500   # counts/s base (scales with |drv|/THRESH for sharper pothole jolts)
+
+  # Angle limits for rate limiting
+  ANGLE_LIMITS: AngleSteeringLimits = AngleSteeringLimits(
+    540, # deg - 1.5 turns to lock
+    ([0., 5., 25.], [2.5, 1.5, .2]),  # rate up limits at different speeds
+    ([0., 5., 25.], [5., 2., .3]),    # rate down limits at different speeds
+  )
+
+
+@dataclass
+class VolvoCarDocs(CarDocs):
+  package: str = "Pilot Assist & Adaptive Cruise Control"
+  car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.custom]))
+
+
+@dataclass
+class VolvoCMAPlatformConfig(PlatformConfig):
+  dbc_dict: DbcDict = field(default_factory=lambda: {
+    Bus.main: 'volvo_mid_1',
+    Bus.party: 'volvo_mid_1',
+    Bus.pt: 'volvo_front_1_cma',
+  })
+
+@dataclass
+class VolvoSPAPlatformConfig(PlatformConfig):
+  dbc_dict: DbcDict = field(default_factory=lambda: {
+    Bus.main: 'volvo_mid_1',
+    Bus.party: 'volvo_mid_1',
+    Bus.pt: 'volvo_front_1_spa',
+  })
+
+
+class CAR(Platforms):
+  VOLVO_XC40_RECHARGE = VolvoCMAPlatformConfig(
+    [VolvoCarDocs("Volvo XC40 Recharge 2021-23")],
+    CarSpecs(
+      mass=2170,
+      wheelbase=2.702,
+      steerRatio=15.8,
+      centerToFrontRatio=0.52,
+    ),
+  )
+
+  VOLVO_S60_RECHARGE = VolvoSPAPlatformConfig(
+    [VolvoCarDocs("Volvo S60 Recharge 2024")],
+    CarSpecs(
+      mass=2020,
+      wheelbase=2.872,
+      steerRatio=16.2,
+      centerToFrontRatio=0.516,
+    ),
+  )
+
+  # Polestar 2 is technically CMA, but appears to use SPA DBC for CAN 1 bus
+  POLESTAR_2 = VolvoSPAPlatformConfig(
+    [VolvoCarDocs("Polestar 2 2020-25")],
+    CarSpecs(
+      mass=2123,
+      wheelbase=2.735,
+      steerRatio=15.8,
+      centerToFrontRatio=0.52,
+    ),
+  )
+
+# FW Query configuration for Volvo CMA platform
+# FW_QUERY_CONFIG = FwQueryConfig(
+#   requests=[
+#     Request(
+#       [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.UDS_VERSION_REQUEST],
+#       [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.UDS_VERSION_RESPONSE],
+#       bus=0,
+#     ),
+#   ],
+# )
+FW_QUERY_CONFIG = FwQueryConfig(
+  requests=[]
+)
+
+DBC = CAR.create_dbc_map()
@@ -0,0 +1,464 @@
+from opendbc.car.volvo.helpers import (checksum_lca_2_message, checksum_2_0x69_message, checksum_1_pscm_related_message,
+                                       checksum_2_pscm_related_message, checksum_lca_5_message)
+from opendbc.car.carlog import carlog
+
+def create_lca_message(packer, lat_active: bool, apply_angle: float, msg_lca: dict,
+                       authority_pos: int = 614, authority_neg: int = -614,
+                       overrides: dict | None = None):
+  """
+  Create LCA (Lane Centering Assist) steering command for Volvo CMA platform.
+  Uses angle-based control via the LCA_STEER signal.
+
+  NOTE: This message must be sent continuously (even when inactive) because
+  stock LCA is permanently blocked by panda safety. When lat_active=False,
+  we send a safe/inactive LCA message to maintain PSCM communication.
+
+  Args:
+    packer: CAN packer instance
+    lat_active: Whether lateral control is active
+    apply_angle: Steering angle in degrees (positive = left, negative = right)
+    msg_lca: Dictionary containing LCA message values
+    authority_pos: LCA_STEER_LOOSELY value [0..614] — right-pull torque-authority
+                   envelope. Saturated (614) for stock-equivalent stiff feel; the
+                   carcontroller envelope tracker collapses this on driver override
+                   and rebuilds slowly to reproduce stock PA's easy-override feel.
+    authority_neg: LCA_STEER_LOOSELY_INV value [-614..0] — left-pull authority.
+    overrides: Optional dict of signal overrides (keys are UPPERCASE DBC signal names)
+  """
+  if not lat_active:
+    return packer.make_can_msg('LCA', 2, msg_lca)
+
+  # In openpilot, a positive angle corresponds to a LEFT turn.
+  # In Volvo, a positive LCA_STEER value corresponds to a LEFT turn.
+
+  values = {
+    'NEW_SIGNAL_1': 3,
+    'LCA_ENABLE_INV': 0 if lat_active else 1,
+    'LANE_KEEP_ACTIVE_INV': 3,
+    'LCA_STEER_LOOSELY': int(authority_pos) if lat_active else 0,
+    'NEW_SIGNAL_7': 7,
+    'LCA_STEER_LOOSELY_INV': int(authority_neg) if lat_active else 0,
+    # Steering rate - Stock LCA increased from 35 to 39 steppedly when steering request was overridden by openpilot that couldn't steer enough
+    'LCA_RATE_OF_CHANGE': 80 if lat_active else 251,
+    'LCA_STEER': msg_lca['LCA_STEER'],
+    'NEW_SIGNAL_6': 15,
+  }
+
+  # Apply any overrides from live testing config
+  if overrides:
+    for key, val in overrides.items():
+      values[key] = val
+
+  return packer.make_can_msg('LCA', 2, values)
+
+def create_pscm_message(packer, lat_active: bool, msg_pscm: dict, frame: int):
+  values = {
+    'PSCM_ANGLE_SENSOR': msg_pscm['PSCM_ANGLE_SENSOR'],
+    'BIT_0': msg_pscm['BIT_0'],
+    'HANDS_ON_STEERING_WHEEL_A': msg_pscm['HANDS_ON_STEERING_WHEEL_A'],
+    'HANDS_ON_STEERING_WHEEL_B': msg_pscm['HANDS_ON_STEERING_WHEEL_B'],
+    'BYTE_4': msg_pscm['BYTE_4'],
+    'DRIVER_INPUT_DEVIATION': msg_pscm['DRIVER_INPUT_DEVIATION'],
+    'BYTE_6': msg_pscm['BYTE_6'],
+    'BYTE_7': msg_pscm['BYTE_7'],
+  }
+
+  # Spoof hands on wheel while openpilot is actively steering, so the stock EPS
+  # doesn't fault/nag on torque that didn't come from a human.
+  if lat_active:
+    values['HANDS_ON_STEERING_WHEEL_B'] = 186 if frame % 2 == 0 else 154 # msg_pscm['HANDS_ON_STEERING_WHEEL_B']
+    values['HANDS_ON_STEERING_WHEEL_A'] = 195 if frame % 2 == 0 else 249 # msg_pscm['HANDS_ON_STEERING_WHEEL_A']
+
+  return packer.make_can_msg('PSCM', 0, values)
+
+def create_lca_3_message(packer, lat_active: bool, apply_angle: float, msg_lca_3: dict, counter_value: int):
+  """
+  Create LCA_3 message for Volvo CMA platform.
+  This message enables PSCM to accept LCA commands.
+
+  Args:
+    packer: CAN packer instance
+    lat_active: Whether lateral control is active
+    apply_angle: Steering angle in degrees (used for direction indicator)
+    msg_lca_3: Dictionary containing LCA_3 message values
+    counter_value: Counter value to use (from pattern or stock)
+  """
+  values = {
+    'NEW_SIGNAL_3': 0 if lat_active else msg_lca_3['NEW_SIGNAL_3'],
+    'LCA_ACCEPT_COMMANDS_RELATED': 15 if lat_active else msg_lca_3['LCA_ACCEPT_COMMANDS_RELATED'],
+    'NEW_SIGNAL_2': 0 if lat_active else msg_lca_3['NEW_SIGNAL_2'],
+    'NEW_SIGNAL_5': 30 if lat_active else msg_lca_3['NEW_SIGNAL_5'],
+    'LCA_ACCEPT_COMMANDS_INV': 0 if lat_active else msg_lca_3['LCA_ACCEPT_COMMANDS_INV'],
+    'NEW_SIGNAL_4': 3 if lat_active else msg_lca_3['NEW_SIGNAL_4'],
+    'SPEED_A': msg_lca_3['SPEED_A'],
+    'SPEED_B': msg_lca_3['SPEED_B'],
+    'NEW_SIGNAL_8': 1 if lat_active else msg_lca_3['NEW_SIGNAL_8'],
+    'NEW_SIGNAL_7': 3 if lat_active else msg_lca_3['NEW_SIGNAL_7'],
+    'NEW_SIGNAL_9': msg_lca_3['NEW_SIGNAL_9'],
+    'COUNTER_1': counter_value,
+  }
+
+  return packer.make_can_msg('LCA_3', 2, values)
+
+def diff_dicts(a, b):
+  only_in_a = a.keys() - b.keys()
+  only_in_b = b.keys() - a.keys()
+  in_both = a.keys() & b.keys()
+
+  changed = {k: (a[k], b[k]) for k in in_both if a[k] != b[k]}
+
+  return {
+    "only_in_a": {k: a[k] for k in only_in_a},
+    "only_in_b": {k: b[k] for k in only_in_b},
+    "changed": changed,
+  }
+
+def create_lca_2_message(packer, lat_active: bool, msg_lca_2: dict, counter_1: int, counter_2: int):
+  """
+  Create LCA_2 message to spoof PILOT_ASSIST_ENGAGED when openpilot is active.
+
+  When lat_active=True, we set PILOT_ASSIST_ENGAGED=1 to make PSCM accept LCA commands,
+  even if the driver has disabled stock Pilot Assist.
+
+  Args:
+    packer: CAN packer instance
+    lat_active: Whether lateral control is active
+    msg_lca_2: Dictionary containing LCA_2 message values from car
+    counter_1: Managed COUNTER_1 value (increments by +2 mod 16)
+    counter_2: Managed COUNTER_2 value (increments by +4 mod 16)
+  """
+  #return packer.make_can_msg('LCA_2', 2, msg_lca_2)
+  #if not lat_active:
+  #  return packer.make_can_msg('LCA_2', 2, msg_lca_2)
+
+  #values = dict(msg_lca_2)
+
+  values = {
+    'BYTE_0': 24 if lat_active else msg_lca_2['BYTE_0'], # 24 always
+    'COUNTER_1': msg_lca_2['COUNTER_1'], # Byte 1 Low Nibble [5:8] - 4-bit counter that increments by +2 (modulo 16)
+    'PILOT_ASSIST_ENGAGED': 1 if lat_active else msg_lca_2['PILOT_ASSIST_ENGAGED'], # Byte 1 [4]
+    'BYTE_1_BITFIELD_0': msg_lca_2['BYTE_1_BITFIELD_0'],
+    'ESC_ACTUATING': msg_lca_2['ESC_ACTUATING'],
+    'ESC_ELIGIBLE': msg_lca_2['ESC_ELIGIBLE'],
+    'CHECKSUM_2': msg_lca_2['CHECKSUM_2'], # Checksum on bytes 0 and 1
+    'NEW_SIGNAL_2': 0 if lat_active else msg_lca_2['NEW_SIGNAL_2'],
+    'COUNTER_2': msg_lca_2['COUNTER_2'], # Byte 5 Low Nibble - 4-bit counter that increments by +4 (modulo 16)
+    'NEW_SIGNAL_3': 3 if lat_active else msg_lca_2['NEW_SIGNAL_3'],
+    'BRAKE_PEDAL_PRESSED_B': msg_lca_2['BRAKE_PEDAL_PRESSED_B'],
+    'BRAKE_PEDAL_PRESSED_A': msg_lca_2['BRAKE_PEDAL_PRESSED_A'],
+    'CHECKSUM_1': msg_lca_2['CHECKSUM_1'], # Byte 6 is a checksum based on Bytes 1, 2, and 5 only
+    'BYTE_7': 0 if lat_active else msg_lca_2['BYTE_7'],
+  }
+
+  dat = packer.make_can_msg('LCA_2', 2, values)
+
+  built_bytes = dat[1]  # dat is (addr, bytes, bus) tuple - extract bytes
+  b0 = built_bytes[0]
+  b1 = built_bytes[1]
+  b2 = built_bytes[2]
+  b3 = built_bytes[3]
+  b4 = built_bytes[4]
+  b5 = built_bytes[5]
+
+  values['CHECKSUM_1'] = checksum_lca_2_message(b0, b5)
+
+  # Only validate when not active and message is valid (BYTE_0 should be 24, not 0)
+  if not lat_active:
+    #assert values['CHECKSUM_1'] == msg_lca_2['CHECKSUM_1']
+    if values['CHECKSUM_1'] != msg_lca_2['CHECKSUM_1']:
+      carlog.warning("[volvocan.py] LCA_2 CHECKSUM mismatch")
+      print(f"b0={b0}, b1={b1}, b2={b2}, b5={b5}, calculated={values['CHECKSUM_1']}, expected={msg_lca_2['CHECKSUM_1']}")
+      #assert False
+
+  # Checksum 2 - depends on bytes 0, 1, 3, and 4
+  checksum_2 = checksum_2_0x69_message(b0, b1, b3, b4)
+  values['CHECKSUM_2'] = checksum_2
+  if not lat_active:
+    if values['CHECKSUM_2'] != msg_lca_2['CHECKSUM_2']:
+      carlog.warning("[volvocan.py] LCA_2 CHECKSUM_2 mismatch")
+      print(f"b0={b0}, b1={b1}, b3={b3}, b4={b4}, calculated={values['CHECKSUM_2']}, expected={msg_lca_2['CHECKSUM_2']}")
+      #assert False
+  values['COUNTER_1'] = counter_1
+  values['COUNTER_2'] = counter_2
+  # Re-pack with updated counters to get correct bytes for checksum calculation
+  dat = packer.make_can_msg('LCA_2', 2, values)
+  built_bytes = dat[1]  # dat is (addr, bytes, bus) tuple - extract bytes
+  b0 = built_bytes[0]
+  b1 = built_bytes[1]
+  b3 = built_bytes[3]
+  b4 = built_bytes[4]
+  b5 = built_bytes[5]
+  values['CHECKSUM_1'] = checksum_lca_2_message(b0, b5)
+  values['CHECKSUM_2'] = checksum_2_0x69_message(b0, b1, b3, b4)
+  return packer.make_can_msg('LCA_2', 2, values)
+
+def create_lca_5_message(packer, lat_active: bool, target_angle_deg: float, msg_lca_5: dict, counter: int,
+                         overrides: dict | None = None):
+  """
+  Create LCA_5 message (0x67) with angle-based steering control.
+
+  Args:
+    packer: CAN packer instance
+    lat_active: Whether lateral control is active
+    target_angle_deg: Target steering angle in degrees (positive = left, negative = right)
+    msg_lca_5: Stock LCA_5 values from car
+    counter: Counter value (0-15, increments by 4)
+    overrides: Optional dict of signal overrides (keys are UPPERCASE DBC signal names)
+
+  Returns:
+    CAN message for LCA_5 on bus 2
+  """
+
+  # DBC defines LCA_5_STEER as 15-bit signed with scale 0.05596 deg/count
+  # Packer handles the encoding automatically - just pass the angle in degrees
+
+  # Build values dictionary (wheel speeds and counter unchanged)
+  values = {
+    'WHEEL_SPEED_1': msg_lca_5['WHEEL_SPEED_1'],
+    'NEW_SIGNAL_4': msg_lca_5['NEW_SIGNAL_4'],
+    'NEW_SIGNAL_1': msg_lca_5['NEW_SIGNAL_1'],
+    'WHEEL_SPEED_2': msg_lca_5['WHEEL_SPEED_2'],
+    'NEW_SIGNAL_5': msg_lca_5['NEW_SIGNAL_5'],
+    'NEW_SIGNAL_2': msg_lca_5['NEW_SIGNAL_2'],
+    'LCA_5_STEER': target_angle_deg if lat_active else msg_lca_5['LCA_5_STEER'],
+    'COUNTER': counter,
+  }
+
+  # Apply any overrides from live testing config
+  if overrides:
+    for key, val in overrides.items():
+      values[key] = val
+
+  dat = packer.make_can_msg('LCA_5', 2, values)
+  built_bytes = dat[1]  # dat is (addr, bytes, bus) tuple - extract bytes
+  values['CHECKSUM'] = checksum_lca_5_message(built_bytes[0], built_bytes[1], built_bytes[3], built_bytes[4], built_bytes[5])
+  return packer.make_can_msg('LCA_5', 2, values)
+
+def create_speed_message(packer, msg_speed: dict):
+  """
+  Forward SPEED message (0x60) by copying all bytes.
+
+  Args:
+    packer: CAN packer instance
+    msg_speed: Dictionary containing SPEED message values from car
+  """
+  values = {
+    'SPEED': msg_speed['SPEED'],
+    'NEW_SIGNAL_1': msg_speed['NEW_SIGNAL_1'],
+    'NEW_SIGNAL_2': msg_speed['NEW_SIGNAL_2'],
+    'NEW_SIGNAL_3': msg_speed['NEW_SIGNAL_3'],
+    'NEW_SIGNAL_4': msg_speed['NEW_SIGNAL_4'],
+    'NEW_SIGNAL_5': msg_speed['NEW_SIGNAL_5'],
+    'NEW_SIGNAL_6': msg_speed['NEW_SIGNAL_6'],
+  }
+
+  return packer.make_can_msg('SPEED', 2, values)
+
+def create_speed_2_message(packer, msg_speed_2: dict):
+  """
+  Forward SPEED_2 message (0x68) by copying all bytes.
+
+  Args:
+    packer: CAN packer instance
+    msg_speed_2: Dictionary containing SPEED_2 message values from car
+  """
+  values = {
+    'WHEEL_SPEED_LEFT': msg_speed_2['WHEEL_SPEED_LEFT'],
+    'WHEEL_SPEED_RIGHT': msg_speed_2['WHEEL_SPEED_RIGHT'],
+    'NEW_SIGNAL_1': msg_speed_2['NEW_SIGNAL_1'],
+    'NEW_SIGNAL_2': msg_speed_2['NEW_SIGNAL_2'],
+    'NEW_SIGNAL_3': msg_speed_2['NEW_SIGNAL_3'],
+    'NEW_SIGNAL_4': msg_speed_2['NEW_SIGNAL_4'],
+    'COUNTER_1': msg_speed_2['COUNTER_1'],
+    'COUNTER_2': msg_speed_2['COUNTER_2'],
+  }
+
+  return packer.make_can_msg('SPEED_2', 2, values)
+
+def create_speed_3_message(packer, msg_speed_3: dict):
+  """
+  Forward SPEED_3 message (0x60) by copying all bytes.
+
+  Args:
+    packer: CAN packer instance
+    msg_speed_3: Dictionary containing SPEED_3 message values from car
+  """
+  values = {
+    'ALL_BYTES': msg_speed_3['ALL_BYTES'],
+  }
+
+  return packer.make_can_msg('SPEED_3', 2, values)
+
+def create_0x1a_message(packer, msg_0x1a: dict):
+  """
+  Forward 0x1A message by copying all bytes.
+
+  Args:
+    packer: CAN packer instance
+    msg_0x1a: Dictionary containing 0x1A message values from car
+  """
+  values = {
+    'ALL_BYTES': msg_0x1a['ALL_BYTES'],
+  }
+  return packer.make_can_msg('NEW_MSG_1A', 2, values)
+
+def create_gear_position_message(packer, msg_gear_position: dict):
+  """
+  Forward GEAR_POSITION message by copying all bytes.
+
+  Args:
+    packer: CAN packer instance
+    msg_gear_position: Dictionary containing GEAR_POSITION message values from car
+  """
+  values = dict(msg_gear_position)
+  values['GEAR_POSITION'] = msg_gear_position['GEAR_POSITION'] # 3
+  return packer.make_can_msg('GEAR_POSITION', 2, values)
+
+def create_egsm_message(packer, msg_egsm: dict):
+  """
+  Forward EGSM message by copying all bytes.
+
+  Args:
+    packer: CAN packer instance
+    msg_egsm: Dictionary containing EGSM message values from car
+  """
+  values = {
+    'ALL_BYTES': msg_egsm['ALL_BYTES'],
+  }
+  return packer.make_can_msg('EGSM', 0, values)
+
+def create_pscm_related_message(packer, lat_active: bool, stock_lca_engaged: bool, msg_pscm_related: dict, sig1_counter: int):
+  # BO_ 23 PSCM_RELATED: 8 XXX
+  # SG_ CHECKSUM : 7|8@0+ (1,0) [0|255] "" XXX
+  # SG_ LCA_ENABLED_ECHO : 11|4@0+ (1,0) [0|15] "" XXX
+  # SG_ SIG1_BYTE_1_HI_NIBBLE : 15|4@0+ (1,0) [0|15] "" XXX
+  # SG_ SIG1_REPLICA_BYTE_2_LO_NIBLE : 19|4@0+ (1,0) [0|15] "" XXX
+  # SG_ NEW_SIGNAL_2 : 23|4@0+ (1,0) [0|15] "" XXX
+  # SG_ BYTE_3 : 31|8@0+ (1,0) [0|255] "" XXX
+  # SG_ BYTE_4_5 : 39|16@0+ (1,0) [0|65535] "" XXX
+  # SG_ BYTE_6 : 55|8@0+ (1,0) [0|255] "" XXX
+  # SG_ BYTE_7 : 63|8@0+ (1,0) [0|255] "" XXX
+  values = dict(msg_pscm_related)
+
+  # Update SIG1 counter (same value in both locations for redundancy)
+  values['SIG1_BYTE_1_HI_NIBBLE'] = sig1_counter
+  values['SIG1_REPLICA_BYTE_2_LO_NIBLE'] = sig1_counter
+
+  dat = packer.make_can_msg('PSCM_RELATED', 0, values)
+  built_bytes = dat[1]  # dat is (addr, bytes, bus) tuple - extract bytes
+  b1 = built_bytes[1]
+  b2 = built_bytes[2]
+  values['CHECKSUM_1'] = checksum_1_pscm_related_message(b1, b2)
+  values['CHECKSUM_2'] = checksum_2_pscm_related_message(b2)
+  #assert values['CHECKSUM_1'] == msg_pscm_related['CHECKSUM_1']
+  #assert values['CHECKSUM_2'] == msg_pscm_related['CHECKSUM_2']
+  if lat_active and not stock_lca_engaged:
+    values['LCA_ENABLED_ECHO'] = 0
+    b1 = packer.make_can_msg('PSCM_RELATED', 0, values)[1][1]
+    values['CHECKSUM_1'] = checksum_1_pscm_related_message(b1, b2)
+  return packer.make_can_msg('PSCM_RELATED', 0, values)
+
+def create_lca_4_message(packer, lat_active: bool, msg_lca_4: dict, lca_4_steer: int,
+                         overrides: dict | None = None):
+  """
+  Create LCA_4 (0x90) message to maintain Pilot Assist state when openpilot is active.
+
+  Critical: LCA_ENABLE (byte 1 bits 0-1) must be held at 3 (both bits=1) when lat_active.
+  When PA turns off, these bits start varying (become counters). We need to keep them
+  stable at 3 to fool PSCM into thinking PA is still on, allowing LCA commands to be accepted.
+
+  Based on analysis from route_analysis/pilot_assist_off/BASELINE_FILTERED_FINDINGS.md:
+  - Message 0x090 byte 1 bits 0-1 are PA state signals
+  - During PA ON: bits are stable at 3 (binary 11)
+  - During PA OFF: bits start varying (counters)
+  - PSCM uses this to determine whether to accept LCA steering commands
+
+  Args:
+    packer: CAN packer instance
+    lat_active: Whether lateral control is active
+    msg_lca_4: Dictionary containing LCA_4 message values from car
+    lca_4_steer: Pre-computed signed angle with hysteresis applied
+    overrides: Optional dict of signal overrides (keys are UPPERCASE DBC signal names)
+
+  Returns:
+    CAN message for LCA_4 on bus 2
+  """
+  if not lat_active:
+    # When not active, just relay stock message unchanged
+    return packer.make_can_msg('LCA_4', 2, msg_lca_4)
+
+  # When lat_active, force LCA_ENABLE to 3 (PA ON state)
+  values = {
+    'BYTE_0': msg_lca_4['BYTE_0'],
+    'LCA_ENABLE': 3,  # Force bits 0-1 to 1 (value=3 means both bits set)
+    'BYTE_1_FLAGS': msg_lca_4['BYTE_1_FLAGS'],
+    'BYTE_1_NIBBLE_HI': msg_lca_4['BYTE_1_NIBBLE_HI'],
+    'BYTE_2_3': msg_lca_4['BYTE_2_3'],
+    'YAW_RATE': msg_lca_4['YAW_RATE'],
+    'BYTE_6': msg_lca_4['BYTE_6'],
+    'BYTE_7_NIBBLE_LO': msg_lca_4['BYTE_7_NIBBLE_LO'],
+    'BYTE_7_NIBBLE_HI': msg_lca_4['BYTE_7_NIBBLE_HI'],
+  }
+
+  # Apply any overrides from live testing config
+  if overrides:
+    for key, val in overrides.items():
+      values[key] = val
+
+  # TODO: Add checksum calculation when checksum function is implemented
+  # If message has a checksum signal, it would be calculated here like:
+  # values['CHECKSUM'] = checksum_lca_4_message(...)
+
+  # TODO: Add checksum validation when not active (once checksum is known)
+  # if not lat_active and 'CHECKSUM' in msg_lca_4:
+  #   if values['CHECKSUM'] != msg_lca_4['CHECKSUM']:
+  #     carlog.warning("[volvocan.py] LCA_4 CHECKSUM mismatch")
+
+  return packer.make_can_msg('LCA_4', 2, values)
+
+def create_lca_6_message(packer, lat_active: bool, msg_lca_6: dict, lca_6_steer: int,
+                         overrides: dict | None = None):
+
+  if not lat_active:
+    # When not active, just relay stock message unchanged
+    return packer.make_can_msg('LCA_6', 2, msg_lca_6)
+
+  values = {
+    'LCA_6_STEER': msg_lca_6['LCA_6_STEER'],
+    'LCA_6_STEER_2': msg_lca_6['LCA_6_STEER_2'],
+    'NEW_SIGNAL_1': msg_lca_6['NEW_SIGNAL_1'],
+    'NEW_SIGNAL_2': msg_lca_6['NEW_SIGNAL_2'],
+    'NEW_SIGNAL_3': msg_lca_6['NEW_SIGNAL_3'],
+    'NEW_SIGNAL_4': msg_lca_6['NEW_SIGNAL_4'],
+    'NEW_SIGNAL_5': msg_lca_6['NEW_SIGNAL_5'],
+  }
+
+  # Apply any overrides from live testing config
+  if overrides:
+    for key, val in overrides.items():
+      values[key] = val
+
+  return packer.make_can_msg('LCA_6', 2, values)
+
+def create_lca_7_message(packer, lat_active: bool, msg_lca_7: dict, lca_7_steer: int, lca_7_delta_steer: int,
+                         overrides: dict | None = None, steer_active: bool = False):
+
+  if not lat_active:
+    # When not active, just relay stock message unchanged
+    return packer.make_can_msg('LCA_7', 2, msg_lca_7)
+
+  values = {
+    'LCA_7_STEER': msg_lca_7['LCA_7_STEER'],
+    'LCA_7_DELTA_STEER': msg_lca_7['LCA_7_DELTA_STEER'],
+    'NEW_SIGNAL_1': msg_lca_7['NEW_SIGNAL_1'],
+    'NEW_SIGNAL_2': msg_lca_7['NEW_SIGNAL_2'],
+    'NEW_SIGNAL_3': msg_lca_7['NEW_SIGNAL_3'],
+    'NEW_SIGNAL_4': msg_lca_7['NEW_SIGNAL_4'],
+  }
+
+  # Apply any overrides from live testing config
+  if overrides:
+    for key, val in overrides.items():
+      values[key] = val
+
+  return packer.make_can_msg('LCA_7', 2, values)
@@ -0,0 +1,245 @@
+BO_ 21 DRIVER_INPUT: 8 XXX
+ SG_ BYTE_0 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_1 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_2 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ STEERING_DRIVER_RATE_OF_CHANGE : 31|8@0- (1,0) [0|255] "" XXX
+ SG_ BYTE_4 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_5 : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ STEERING_DRIVER_INPUT : 55|8@0- (1,1) [0|255] "" XXX
+ SG_ BYTE_7 : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 22 PSCM: 8 XXX
+ SG_ PSCM_ANGLE_SENSOR : 6|15@0- (0.05596,0) [-916|916] "º" XXX
+ SG_ BIT_0 : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ HANDS_ON_STEERING_WHEEL_A : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ HANDS_ON_STEERING_WHEEL_B : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_4 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ DRIVER_INPUT_DEVIATION : 47|8@0- (1,0) [-128|127] "" XXX
+ SG_ BYTE_6 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_7 : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 23 PSCM_RELATED: 8 XXX
+ SG_ CHECKSUM_1 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ LCA_ENABLED_ECHO : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ SIG1_BYTE_1_HI_NIBBLE : 15|4@0+ (1,0) [0|15] "" XXX
+ SG_ SIG1_REPLICA_BYTE_2_LO_NIBLE : 19|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_2 : 23|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM_2 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_4 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_5 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_6 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_7 : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 26 NEW_MSG_1A: 8 XXX
+ SG_ NEW_SIGNAL_2 : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_1 : 7|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 38 NEW_MSG_26: 8 XXX
+ SG_ NEW_SIGNAL_1 : 5|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 35|12@0+ (1,0) [0|4095] "" XXX
+ SG_ NEW_SIGNAL_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|12@0+ (1,0) [0|4095] "" XXX
+ SG_ NEW_SIGNAL_5 : 55|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 55 NEW_MSG_37: 8 XXX
+ SG_ ACCELERATOR_PEDAL_RATE_OF_CHANGE : 6|15@0+ (1,0) [0|32767] "" XXX
+
+BO_ 69 EGSM: 8 XXX
+ SG_ COUNTER_1 : 3|12@0+ (1,0) [0|4095] "" XXX
+ SG_ GEAR_LEVER_DBC_INCOHERENT : 5|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_2 : 19|12@0+ (1,0) [0|4095] "" XXX
+ SG_ GEAR_1ST_RATCH : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ GEAR_RATCHED_UP : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ GEAR_RATCHED_DOWN : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ GEAR_PRESSED : 36|2@0+ (1,0) [0|3] "" XXX
+ SG_ PARKING_BRAKE_BUTTON : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER_3 : 51|12@0+ (1,0) [0|4095] "" XXX
+
+BO_ 85 SAS: 8 XXX
+ SG_ SAS_ANGLE_SENSOR : 6|15@0- (0.05596,0) [0|32767] "º" XXX
+ SG_ NEW_SIGNAL_1 : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ SAS_INPUT_ACTIVITY : 21|6@0+ (1,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_2 : 23|2@0+ (1,0) [0|3] "" XXX
+ SG_ SAS_RATE_OF_CHANGE : 31|8@0- (1,0) [0|255] "" XXX
+ SG_ SAS_CHECKSUM : 39|8@0+ (1,0) [0|4095] "" XXX
+ SG_ NEW_SIGNAL_4 : 43|20@0+ (1,0) [0|1048575] "" XXX
+ SG_ SAS_COUNTER : 44|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 87 LCA_3: 8 XXX
+ SG_ NEW_SIGNAL_3 : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ LCA_ACCEPT_COMMANDS_RELATED : 4|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_2 : 7|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_5 : 12|5@0+ (1,0) [0|31] "" XXX
+ SG_ LCA_ACCEPT_COMMANDS_INV : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_4 : 15|2@0+ (1,0) [0|3] "" XXX
+ SG_ SPEED_A : 23|16@0+ (1,0) [0|65535] "" XXX
+ SG_ SPEED_B : 39|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_8 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER_1 : 53|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_7 : 55|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_9 : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 88 LCA: 8 XXX
+ SG_ NEW_SIGNAL_3 : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_8 : 2|1@0+ (1,0) [0|1] "" XXX
+ SG_ LCA_ENABLE_INV : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_2 : 5|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_1 : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ LCA_STEER_LOOSELY_1 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ LCA_STEER_ACTIVE_INCOHERENT : 16|1@0+ (1,0) [0|1] "" XXX
+ SG_ LCA_STEER_ACTIVE : 18|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_7 : 21|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_9 : 23|2@0+ (1,0) [0|3] "" XXX
+ SG_ LCA_STEER_LOOSELY_2 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ CURVE_RIGHT : 45|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_5 : 46|2@1+ (1,0) [0|3] "" XXX
+ SG_ LCA_STEER : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_10 : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_6 : 60|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 96 SPEED_3: 8 XXX
+ SG_ NEW_SIGNAL_1 : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ SPEED_COUNTER : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_2 : 27|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_4 : 31|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_8 : 34|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_6 : 35|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_7 : 39|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_9 : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_10 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_11 : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 103 LCA_5: 8 XXX
+ SG_ WHEEL_SPEED_1 : 6|15@0+ (0.1,0) [0|255] "rpm" XXX
+ SG_ NEW_SIGNAL_4 : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 23|8@0+ (1,0) [0|4095] "" XXX
+ SG_ NEW_SIGNAL_1 : 24|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 28|4@1+ (1,0) [0|15] "" XXX
+ SG_ WHEEL_SPEED_2 : 39|15@0+ (0.1,0) [0|32767] "rpm" XXX
+ SG_ NEW_SIGNAL_5 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ LCA_TURN_BITS : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ LCA_5_STEER : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 104 SPEED_2: 8 XXX
+ SG_ WHEEL_SPEED_3 : 6|15@0+ (0.1,0) [0|32767] "rpm" XXX
+ SG_ WHEEL_SPEED_4 : 39|15@0+ (0.1,0) [0|32767] "rpm" XXX
+ SG_ NEW_SIGNAL_2 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 54|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_1 : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 105 LCA_2: 8 XXX
+ SG_ BYTE_0 : 7|8@0+ (1,0) [0|2047] "" XXX
+ SG_ COUNTER_1 : 11|4@0+ (1,0) [0|4095] "" XXX
+ SG_ PILOT_ASSIST_ENGAGED : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ BYTE_1_MSBS_3 : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ CHECKSUM_2 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 31|16@0+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER_2 : 43|4@0+ (1,0) [0|4095] "" XXX
+ SG_ NEW_SIGNAL_3 : 45|2@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_PEDAL_PRESSED_B : 46|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_PEDAL_PRESSED_A : 47|1@0+ (-1,1) [0|1] "" XXX
+ SG_ CHECKSUM_1 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_7 : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 112 BUS1_SPEED: 8 XXX
+ SG_ BUS1_SPEED : 23|16@0+ (0.01886,0) [0|65535] "m/s" XXX
+
+BO_ 128 GEAR_POSITION: 8 XXX
+ SG_ NEW_SIGNAL_7 : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_6 : 7|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 12|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_1 : 43|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 47|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_2 : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_4 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ GEAR_POSITION : 57|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 63|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 144 LCA_4: 8 XXX
+ SG_ BYTE_0 : 7|8@0+ (1,0) [0|16383] "" XXX
+ SG_ LCA_ENABLE : 9|2@0+ (1,0) [0|3] "" XXX
+ SG_ BYTE_1_FLAGS : 11|2@0+ (1,0) [0|3] "" XXX
+ SG_ BYTE_1_NIBBLE_HI : 15|4@0+ (1,0) [0|63] "" XXX
+ SG_ BYTE_2_3 : 23|16@0- (1,0) [0|65535] "" XXX
+ SG_ YAW_RATE : 39|16@0- (1,0) [0|65535] "" XXX
+ SG_ BYTE_6 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_7_NIBBLE_LO : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ BYTE_7_NIBBLE_HI : 60|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 146 NEW_MSG_92: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 12|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 25|7@1+ (1,0) [0|127] "" XXX
+ SG_ NEW_SIGNAL_5 : 38|7@0+ (1,0) [0|127] "" XXX
+ SG_ NEW_SIGNAL_6 : 40|7@1+ (1,0) [0|127] "" XXX
+ SG_ NEW_SIGNAL_7 : 48|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_8 : 49|3@1+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_9 : 57|7@1+ (1,0) [0|127] "" XXX
+
+BO_ 147 NEW_MSG_93: 8 XXX
+ SG_ NEW_SIGNAL_1 : 38|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_2 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_3 : 55|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 151 LCA_SUSPECT: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 8|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 26|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_4 : 27|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_7 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_9 : 43|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_8 : 44|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 48|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_12 : 56|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_11 : 63|7@0+ (1,0) [0|127] "" XXX
+
+BO_ 336 NEW_MSG_150: 8 XXX
+ SG_ IGN_DRAFT : 5|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 341 NEW_MSG_155: 8 XXX
+ SG_ NEW_SIGNAL_1 : 23|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 592 ECM_1: 8 XXX
+ SG_ ACCELERATOR_PEDAL_POS : 31|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 773 NEW_MSG_305: 8 XXX
+ SG_ NEW_SIGNAL_1 : 23|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 778 NEW_MSG_30A: 8 XXX
+ SG_ NEW_SIGNAL_1 : 15|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 832 BUS1_CRUISE_CONTROL: 8 XXX
+ SG_ CRUISE_CONTROL_ENABLED : 56|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_CONTROL_ENABLED_IDLE_TRAFFIC : 57|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 896 NEW_MSG_380: 8 XXX
+ SG_ NEW_SIGNAL_1 : 23|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 1336 NEW_MSG_538: 8 XXX
+ SG_ SWM_MULTIMEDIA_ACTIVITY : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_1 : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_3 : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_2 : 29|1@0+ (1,0) [0|1] "" XXX
+
+CM_ BO_ 23 "Might be related to PSCM 0x16";
+CM_ SG_ 87 LCA_ACCEPT_COMMANDS_RELATED "Goes to 15 when actively operating LCA";
+CM_ SG_ 87 LCA_ACCEPT_COMMANDS_INV "Goes to 0 when PSCM allowed to receive LCA commands";
+CM_ SG_ 87 NEW_SIGNAL_9 "NEW_SIGNAL_9 appears to be similar to LCA_5_STEER, but different scale, and zero-point is at 128. I haven't seen what happens once LCA_TURN_BITS wrap";
+CM_ SG_ 88 LCA_ENABLE_INV "Master enable, active-low";
+CM_ SG_ 88 CURVE_RIGHT "Only appears to be HIGH on curve right, LOW curve left";
+CM_ SG_ 88 LCA_STEER "Seems torque-based, signed, follows the road curvature";
+CM_ SG_ 103 WHEEL_SPEED_1 "Possible Front Left  (FL)";
+CM_ SG_ 103 WHEEL_SPEED_2 "Possible Front Right (FR)";
+CM_ SG_ 103 LCA_TURN_BITS "Two-byte torque encoding (high byte). Left: 128->134 (increments), Right: 255->249 (decrements), Neutral: 186";
+CM_ SG_ 103 LCA_5_STEER "Two-byte torque encoding (low byte). Left: 0->255 (wraps at boundary), Right: 255->0 (wraps at boundary)";
+CM_ SG_ 104 WHEEL_SPEED_3 "Possible Rear Left (RR)";
+CM_ SG_ 104 WHEEL_SPEED_4 "Possibe Rear Right (RR)";
+CM_ SG_ 592 ACCELERATOR_PEDAL_POS "Full gas ~200; Idle ~20";
@@ -0,0 +1,14 @@
+BO_ 55 NEW_MSG_37: 8 XXX
+ SG_ ACCELERATOR_PEDAL_RATE_OF_CHANGE : 6|15@0+ (1,0) [0|32767] "" XXX
+
+BO_ 112 BUS1_SPEED: 8 XXX
+ SG_ BUS1_SPEED : 23|16@0+ (0.01886,0) [0|65535] "m/s" XXX
+
+BO_ 592 ECM_1: 8 XXX
+ SG_ ACCELERATOR_PEDAL_POS : 31|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 832 BUS1_CRUISE_CONTROL: 8 XXX
+ SG_ CRUISE_CONTROL_ENABLED : 56|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_CONTROL_ENABLED_IDLE_TRAFFIC : 57|1@0+ (1,0) [0|1] "" XXX
+
+CM_ SG_ 592 ACCELERATOR_PEDAL_POS "Full gas ~200; Idle ~20";
@@ -0,0 +1,10 @@
+BO_ 37 ECM_1: 8 XXX
+ SG_ ACCELERATOR_PEDAL_POS : 6|15@0+ (0.00390625,0) [0|32767] "%" XXX
+
+BO_ 117 BUS1_SPEED: 8 XXX
+ SG_ BUS1_SPEED : 6|15@0+ (0.0044704,0) [0|32767] "" XXX
+
+BO_ 841 BUS1_CRUISE_CONTROL: 8 XXX
+ SG_ CRUISE_CONTROL_SPA_ENABLED : 1|1@0+ (-1,1) [0|1] "" XXX
+
+CM_ SG_ 117 BUS1_SPEED "m/s";
@@ -0,0 +1,188 @@
+BO_ 21 DRIVER_INPUT: 8 XXX
+ SG_ BYTE_0 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_1 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_2 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ STEERING_DRIVER_RATE_OF_CHANGE : 31|8@0- (1,0) [0|255] "" XXX
+ SG_ BYTE_4 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_5 : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ STEERING_DRIVER_INPUT : 55|8@0- (1,1) [0|255] "" XXX
+ SG_ BYTE_7 : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 22 PSCM: 8 XXX
+ SG_ PSCM_ANGLE_SENSOR : 6|15@0- (0.05596,0) [-916|916] "º" XXX
+ SG_ BIT_0 : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ HANDS_ON_STEERING_WHEEL_A : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ HANDS_ON_STEERING_WHEEL_B : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_4 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ DRIVER_INPUT_DEVIATION : 47|8@0- (1,0) [-128|127] "" XXX
+ SG_ BYTE_6 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_7 : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 23 PSCM_RELATED: 8 XXX
+ SG_ CHECKSUM_1 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ LCA_ENABLED_ECHO : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ SIG1_BYTE_1_HI_NIBBLE : 15|4@0+ (1,0) [0|15] "" XXX
+ SG_ SIG1_REPLICA_BYTE_2_LO_NIBLE : 19|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_2 : 23|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM_2 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_4_5 : 39|16@0+ (1,0) [0|65535] "" XXX
+ SG_ BYTE_6 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_7 : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 69 EGSM: 8 XXX
+ SG_ COUNTER_1 : 3|12@0+ (1,0) [0|4095] "" XXX
+ SG_ GEAR_LEVER_DBC_INCOHERENT : 5|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_2 : 19|12@0+ (1,0) [0|4095] "" XXX
+ SG_ GEAR_1ST_RATCH : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ GEAR_RATCHED_UP : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ GEAR_RATCHED_DOWN : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ GEAR_PRESSED : 36|2@0+ (1,0) [0|3] "" XXX
+ SG_ PARKING_BRAKE_BUTTON : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER_3 : 51|12@0+ (1,0) [0|4095] "" XXX
+
+BO_ 85 SAS: 8 XXX
+ SG_ SAS_ANGLE_SENSOR : 6|15@0- (0.05596,0) [0|32767] "º" XXX
+ SG_ SAS_RATE_OF_CHANGE : 21|14@0- (1,0) [0|16383] "" XXX
+ SG_ SAS_CHECKSUM : 39|8@0+ (1,0) [0|4095] "" XXX
+ SG_ SAS_COUNTER : 44|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 87 LCA_3: 8 XXX
+ SG_ NEW_SIGNAL_3 : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ LCA_ACCEPT_COMMANDS_RELATED : 4|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_2 : 7|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_5 : 12|5@0+ (1,0) [0|31] "" XXX
+ SG_ LCA_ACCEPT_COMMANDS_INV : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_4 : 15|2@0+ (1,0) [0|3] "" XXX
+ SG_ SPEED_A : 23|16@0+ (1,0) [0|65535] "" XXX
+ SG_ SPEED_B : 39|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_8 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER_1 : 53|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_7 : 55|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_9 : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 88 LCA: 8 XXX
+ SG_ LCA_STEER_LOOSELY : 2|11@0- (1,0) [0|2047] "" XXX
+ SG_ LCA_ENABLE_INV : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ LANE_KEEP_ACTIVE_INV : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ LCA_STEER_LOOSELY_INV : 18|11@0- (1,0) [0|2047] "" XXX
+ SG_ NEW_SIGNAL_7 : 21|3@0+ (1,0) [0|7] "" XXX
+ SG_ LCA_RATE_OF_CHANGE : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ LCA_STEER : 45|14@0- (1,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_1 : 47|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_6 : 60|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 96 SPEED: 8 XXX
+ SG_ SPEED : 6|15@0+ (1,0) [0|32767] "" XXX
+ SG_ NEW_SIGNAL_1 : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_2 : 23|12@0+ (1,0) [0|4095] "" XXX
+ SG_ NEW_SIGNAL_4 : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_3 : 27|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_6 : 35|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_5 : 36|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 103 LCA_5: 8 XXX
+ SG_ WHEEL_SPEED_1 : 6|15@0+ (0.1,0) [0|255] "rpm" XXX
+ SG_ NEW_SIGNAL_4 : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 23|8@0+ (1,0) [0|4095] "" XXX
+ SG_ NEW_SIGNAL_1 : 24|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 28|4@1+ (1,0) [0|15] "" XXX
+ SG_ WHEEL_SPEED_2 : 39|15@0+ (0.1,0) [0|32767] "rpm" XXX
+ SG_ NEW_SIGNAL_5 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ LCA_5_STEER : 54|15@0- (0.05596,0) [0|32767] "deg" XXX
+ SG_ NEW_SIGNAL_2 : 55|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 104 SPEED_2: 8 XXX
+ SG_ WHEEL_SPEED_LEFT : 6|15@0+ (1,0) [0|32767] "" XXX
+ SG_ NEW_SIGNAL_1 : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_2 : 23|12@0+ (1,0) [0|4095] "" XXX
+ SG_ NEW_SIGNAL_3 : 27|4@0+ (1,0) [0|15] "" XXX
+ SG_ WHEEL_SPEED_RIGHT : 39|15@0+ (1,0) [0|32767] "" XXX
+ SG_ COUNTER_1 : 51|12@0+ (1,0) [0|4095] "" XXX
+ SG_ NEW_SIGNAL_4 : 53|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER_2 : 54|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 105 LCA_2: 8 XXX
+ SG_ BYTE_0 : 7|8@0+ (1,0) [0|2047] "" XXX
+ SG_ COUNTER_1 : 11|4@0+ (1,0) [0|4095] "" XXX
+ SG_ PILOT_ASSIST_ENGAGED : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ESC_ACTUATING : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ ESC_ELIGIBLE : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ BYTE_1_BITFIELD_0 : 15|1@0+ (1,0) [0|7] "" XXX
+ SG_ CHECKSUM_2 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 31|16@0+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER_2 : 43|4@0+ (1,0) [0|4095] "" XXX
+ SG_ NEW_SIGNAL_3 : 45|2@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_PEDAL_PRESSED_B : 46|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_PEDAL_PRESSED_A : 47|1@0+ (-1,1) [0|1] "" XXX
+ SG_ CHECKSUM_1 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_7 : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 128 GEAR_POSITION: 8 XXX
+ SG_ NEW_SIGNAL_3 : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_2 : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_1 : 7|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_5 : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_4 : 15|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_17 : 17|2@0+ (1,0) [0|3] "" XXX
+ SG_ AEB_A : 18|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_18 : 19|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_B : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_6 : 23|3@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_7 : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_8 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_13 : 43|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 46|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_9 : 47|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_14 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_11 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ GEAR_POSITION : 58|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_16 : 62|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_15 : 63|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 144 LCA_4: 8 XXX
+ SG_ BYTE_0 : 7|8@0+ (1,0) [0|16383] "" XXX
+ SG_ LCA_ENABLE : 9|2@0+ (1,0) [0|3] "" XXX
+ SG_ BYTE_1_FLAGS : 11|2@0+ (1,0) [0|3] "" XXX
+ SG_ BYTE_1_NIBBLE_HI : 15|4@0+ (1,0) [0|63] "" XXX
+ SG_ BYTE_2_3 : 23|16@0- (1,0) [0|65535] "" XXX
+ SG_ YAW_RATE : 39|16@0- (1,0) [0|65535] "" XXX
+ SG_ BYTE_6 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_7_NIBBLE_LO : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ BYTE_7_NIBBLE_HI : 60|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 146 LCA_7: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|12@0+ (1,0) [0|4095] "" XXX
+ SG_ NEW_SIGNAL_2 : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ LCA_7_STEER : 23|15@0- (1,0) [0|32767] "" XXX
+ SG_ NEW_SIGNAL_3 : 24|2@0+ (1,0) [0|3] "" XXX
+ SG_ LCA_7_DELTA_STEER : 38|15@0- (1,0) [0|32767] "" XXX
+ SG_ NEW_SIGNAL_4 : 55|16@0+ (1,0) [0|65535] "" XXX
+
+BO_ 151 LCA_6: 8 XXX
+ SG_ LCA_6_STEER : 7|16@0- (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_1 : 23|14@0- (1,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_3 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 39|12@0+ (1,0) [0|4095] "" XXX
+ SG_ NEW_SIGNAL_4 : 43|4@0+ (1,0) [0|15] "" XXX
+ SG_ LCA_6_STEER_2 : 55|15@0- (1,0) [0|32767] "" XXX
+ SG_ NEW_SIGNAL_5 : 56|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 336 NEW_MSG_150: 8 XXX
+ SG_ IGN_DRAFT : 5|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 1336 NEW_MSG_538: 8 XXX
+ SG_ SWM_MULTIMEDIA_ACTIVITY : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_1 : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_3 : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_2 : 29|1@0+ (1,0) [0|1] "" XXX
+
+CM_ BO_ 23 "Might be related to PSCM 0x16";
+CM_ SG_ 87 LCA_ACCEPT_COMMANDS_RELATED "Goes to 15 when actively operating LCA";
+CM_ SG_ 87 LCA_ACCEPT_COMMANDS_INV "Goes to 0 when PSCM allowed to receive LCA commands";
+CM_ SG_ 88 LCA_ENABLE_INV "Master enable, active-low";
+CM_ SG_ 103 WHEEL_SPEED_1 "Possible Front Left  (FL)";
+CM_ SG_ 103 WHEEL_SPEED_2 "Possible Front Right (FR)";
+CM_ SG_ 105 ESC_ACTUATING "Goes to 1 in combination with ESC_ELIGIBLE when ESC is actively actuating";
+CM_ SG_ 105 ESC_ELIGIBLE "Goes to 1 on e.g. speed bump, but doesn't trigger any intervention";
+VAL_ 128 GEAR_POSITION 0 "Park" 1 "Reverse" 2 "Neutral" 3 "Drive" 4 "B-Mode";
@@ -34,6 +34,7 @@
 #define SAFETY_RIVIAN 33U
 #define SAFETY_VOLKSWAGEN_MEB 34U
 #define SAFETY_TESLA_PREAP 35U
+#define SAFETY_VOLVO 36U

 #define GET_BIT(msg, b) ((bool)!!(((msg)->data[((b) / 8U)] >> ((b) % 8U)) & 0x1U))
 #define GET_FLAG(value, mask) (((value) & (mask)) == (mask))
@@ -380,4 +381,5 @@ extern const safety_hooks volkswagen_mqb_hooks;
 extern const safety_hooks volkswagen_pq_hooks;
 extern const safety_hooks rivian_hooks;
 extern const safety_hooks psa_hooks;
+extern const safety_hooks volvo_hooks;
 extern const safety_hooks tesla_preap_hooks;
@@ -559,6 +559,7 @@ static safety_config gm_init(uint16_t param) {
  const uint16_t GM_PARAM_REMOTE_START_BOOTS_COMMA = 8192;
  const uint16_t GM_PARAM_PANDA_3D1_SCHED = 16384;
  const uint16_t GM_PARAM_PANDA_PADDLE_SCHED = 32768U;
+  const uint16_t GM_PARAM_VOLT_CC_GATEWAY = 16384U;

  static const LongitudinalLimits GM_ASCM_LONG_LIMITS = {
    .max_gas = 8191,
@@ -706,6 +707,11 @@ static safety_config gm_init(uint16_t param) {
                                                        {0xBD, 0, 7, .check_relay = false}, {0x1F5, 0, 8, .check_relay = false},
                                                        {0x184, 2, 8, .check_relay = false}, {0x1E1, 2, 7, .check_relay = false}};  // camera bus

+  static const CanMsg GM_CC_LONG_ASCM_TX_MSGS[] = {{0x180, 0, 4, .check_relay = true}, {0x409, 0, 7, .check_relay = false},
+                                                   {0x40A, 0, 7, .check_relay = false}, {0x370, 0, 6, .check_relay = false},
+                                                   {0x1E1, 0, 7, .check_relay = false}, {0x3D1, 0, 8, .check_relay = false},
+                                                   {0xBD, 0, 7, .check_relay = false}, {0x1F5, 0, 8, .check_relay = false}};
+
  gm_hw = GET_FLAG(param, GM_PARAM_HW_CAM) ? GM_CAM : GM_ASCM;
  gm_sdgm = GET_FLAG(param, GM_PARAM_HW_SDGM);
  gm_ascm_int = GET_FLAG(param, GM_PARAM_HW_ASCM_INT);
@@ -714,6 +720,7 @@ static safety_config gm_init(uint16_t param) {
  gm_cc_long = GET_FLAG(param, GM_PARAM_CC_LONG);
  gm_has_acc = !GET_FLAG(param, GM_PARAM_NO_ACC);
  gm_pedal_long = GET_FLAG(param, GM_PARAM_PEDAL_LONG);
+  const bool gm_volt_cc_gateway = GET_FLAG(param, GM_PARAM_VOLT_CC_GATEWAY) && gm_no_camera && !gm_pedal_long && !gm_has_acc;
  enable_gas_interceptor = GET_FLAG(param, GM_PARAM_PEDAL_INTERCEPTOR);
  gm_force_ascm = GET_FLAG(param, GM_PARAM_HW_ASCM_LONG);
  gm_force_brake_c9 = GET_FLAG(param, GM_PARAM_FORCE_BRAKE_C9);
@@ -781,6 +788,8 @@ static safety_config gm_init(uint16_t param) {
    } else {
      ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_SDGM_TX_MSGS);
    }
+  } else if (gm_cc_long && gm_volt_cc_gateway && (gm_hw == GM_ASCM) && !gm_sdgm) {
+    ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CC_LONG_ASCM_TX_MSGS);
  } else if ((gm_hw == GM_CAM) || gm_sdgm) {
    // FIXME: cppcheck thinks that gm_cam_long is always false. This is not true
    // if ALLOW_DEBUG is defined but cppcheck is run without ALLOW_DEBUG
@@ -51,6 +51,9 @@ bool hyundai_has_lda_button = false;
 extern bool hyundai_aol_lkas_on_engage;
 bool hyundai_aol_lkas_on_engage = false;

+extern bool hyundai_aol_main_lkas_on_engage;
+bool hyundai_aol_main_lkas_on_engage = false;
+
 extern bool hyundai_non_scc;
 bool hyundai_non_scc = false;

@@ -78,6 +81,7 @@ void hyundai_common_init(uint16_t param) {
  const uint16_t HYUNDAI_PARAM_ALT_LIMITS_2 = 512;

  const int HYUNDAI_PARAM_HAS_LDA_BUTTON = 1024;
+  const uint16_t HYUNDAI_PARAM_AOL_MAIN_LKAS_ON_ENGAGE = 128;
  const uint16_t HYUNDAI_PARAM_AOL_LKAS_ON_ENGAGE = 2048;
  const uint16_t HYUNDAI_PARAM_NON_SCC = 4096;
  const uint16_t HYUNDAI_PARAM_CAN_CANFD_BLENDED = 8192;
@@ -94,6 +98,7 @@ void hyundai_common_init(uint16_t param) {
  hyundai_can_canfd_blended = GET_FLAG(param, HYUNDAI_PARAM_CAN_CANFD_BLENDED);

  hyundai_has_lda_button = GET_FLAG(param, HYUNDAI_PARAM_HAS_LDA_BUTTON);
+  hyundai_aol_main_lkas_on_engage = GET_FLAG(param, HYUNDAI_PARAM_AOL_MAIN_LKAS_ON_ENGAGE);
  hyundai_aol_lkas_on_engage = GET_FLAG(param, HYUNDAI_PARAM_AOL_LKAS_ON_ENGAGE);
  hyundai_non_scc = GET_FLAG(param, HYUNDAI_PARAM_NON_SCC);
  hyundai_cancel_button_enable = GET_FLAG(param, HYUNDAI_PARAM_CANCEL_BTN_ENABLE);
@@ -165,7 +170,12 @@ void hyundai_common_cruise_buttons_check(const int cruise_button, const bool mai

  if (main_button && !main_button_prev) {
    if (!hyundai_aol_main_lkas_sync) {
-      acc_main_on = !acc_main_on;
+      const bool main_turning_on = !acc_main_on;
+      acc_main_on = main_turning_on;
+      if (main_turning_on && hyundai_aol_main_lkas_on_engage &&
+          ((alternative_experience & ALT_EXP_ALWAYS_ON_LATERAL) != 0)) {
+        lkas_on = true;
+      }
    }
  }
  main_button_prev = main_button;
@@ -41,6 +41,7 @@
 #define MSG_SUBARU_ES_HighBeamAssist     0x121U
 #define MSG_SUBARU_ES_STATIC_1           0x22aU
 #define MSG_SUBARU_ES_STATIC_2           0x325U
+#define MSG_SUBARU_Dashlights            0x390U

 #define SUBARU_MAIN_BUS 0U
 #define SUBARU_ALT_BUS  1U
@@ -61,6 +62,9 @@
  {MSG_SUBARU_ES_LKAS_State,   bus, 8, .check_relay = true}, \
  {MSG_SUBARU_ES_Infotainment, bus, 8, .check_relay = true}, \

+#define SUBARU_STOP_START_TX_MSGS(bus) \
+  {MSG_SUBARU_Dashlights, bus, 8, .check_relay = false}, \
+
 #define SUBARU_COMMON_LONG_TX_MSGS(alt_bus) \
  {MSG_SUBARU_ES_Distance,       alt_bus,         8, .check_relay = true}, \
  {MSG_SUBARU_ES_Brake,          alt_bus,         8, .check_relay = true}, \
@@ -108,6 +112,7 @@ static bool subaru_stop_and_go = false;
 static bool subaru_lkas_angle = false;
 static bool subaru_d_platform = false;
 static bool subaru_fixed_angle_limits = false;
+static bool subaru_stop_start_button = false;

 static uint32_t subaru_get_checksum(const CANPacket_t *msg) {
  return (uint8_t)msg->data[0];
@@ -285,6 +290,13 @@ static bool subaru_tx_hook(const CANPacket_t *msg) {
    violation |= !(is_tester_present || is_button_rdbi);
  }

+  if (msg->addr == MSG_SUBARU_Dashlights) {
+    violation |= !subaru_stop_start_button;
+    violation |= msg->bus != (subaru_d_platform ? SUBARU_ALT_BUS : SUBARU_MAIN_BUS);
+    violation |= !GET_BIT(msg, 54U);
+    violation |= subaru_get_checksum(msg) != subaru_compute_checksum(msg);
+  }
+
  if (violation){
    tx = false;
  }
@@ -329,11 +341,23 @@ static safety_config subaru_init(uint16_t param) {
    SUBARU_COMMON_TX_MSGS(SUBARU_ALT_BUS)
  };

+  static const CanMsg SUBARU_GEN2_LKAS_ANGLE_STOP_START_TX_MSGS[] = {
+    SUBARU_BASE_TX_MSGS(SUBARU_ALT_BUS, MSG_SUBARU_ES_LKAS_ANGLE)
+    SUBARU_COMMON_TX_MSGS(SUBARU_ALT_BUS)
+    SUBARU_STOP_START_TX_MSGS(SUBARU_MAIN_BUS)
+  };
+
  static const CanMsg SUBARU_D_PLATFORM_ANGLE_MAIN_TX_MSGS[] = {
    SUBARU_D_PLATFORM_ANGLE_TX_MSGS(SUBARU_MAIN_BUS)
    SUBARU_COMMON_TX_MSGS(SUBARU_ALT_BUS)
  };

+  static const CanMsg SUBARU_D_PLATFORM_ANGLE_STOP_START_MAIN_TX_MSGS[] = {
+    SUBARU_D_PLATFORM_ANGLE_TX_MSGS(SUBARU_MAIN_BUS)
+    SUBARU_COMMON_TX_MSGS(SUBARU_ALT_BUS)
+    SUBARU_STOP_START_TX_MSGS(SUBARU_ALT_BUS)
+  };
+
  static const CanMsg SUBARU_D_PLATFORM_ANGLE_CAMERA_TX_MSGS[] = {
    SUBARU_D_PLATFORM_ANGLE_TX_MSGS(SUBARU_CAM_BUS)
    SUBARU_COMMON_TX_MSGS(SUBARU_ALT_BUS)
@@ -378,6 +402,9 @@ static safety_config subaru_init(uint16_t param) {
  const uint16_t SUBARU_PARAM_FIXED_ANGLE_LIMITS = 128;
  subaru_fixed_angle_limits = GET_FLAG(param, SUBARU_PARAM_FIXED_ANGLE_LIMITS);

+  const uint16_t SUBARU_PARAM_STOP_START_BUTTON = 256;
+  subaru_stop_start_button = GET_FLAG(param, SUBARU_PARAM_STOP_START_BUTTON);
+
 #ifdef ALLOW_DEBUG
  const uint16_t SUBARU_PARAM_LONGITUDINAL = 2;
  subaru_longitudinal = GET_FLAG(param, SUBARU_PARAM_LONGITUDINAL);
@@ -385,9 +412,11 @@ static safety_config subaru_init(uint16_t param) {

  safety_config ret;
  if (subaru_lkas_angle) {
-    ret = subaru_d_platform ? (subaru_d_platform_camera ? BUILD_SAFETY_CFG(subaru_d_platform_angle_rx_checks, SUBARU_D_PLATFORM_ANGLE_CAMERA_TX_MSGS) : \
-                              BUILD_SAFETY_CFG(subaru_d_platform_angle_rx_checks, SUBARU_D_PLATFORM_ANGLE_MAIN_TX_MSGS)) : \
-          subaru_gen2 ? BUILD_SAFETY_CFG(subaru_gen2_lkas_angle_rx_checks, SUBARU_GEN2_LKAS_ANGLE_TX_MSGS) : \
+    ret = subaru_d_platform ? (subaru_stop_start_button ? BUILD_SAFETY_CFG(subaru_d_platform_angle_rx_checks, SUBARU_D_PLATFORM_ANGLE_STOP_START_MAIN_TX_MSGS) : \
+                              (subaru_d_platform_camera ? BUILD_SAFETY_CFG(subaru_d_platform_angle_rx_checks, SUBARU_D_PLATFORM_ANGLE_CAMERA_TX_MSGS) : \
+                              BUILD_SAFETY_CFG(subaru_d_platform_angle_rx_checks, SUBARU_D_PLATFORM_ANGLE_MAIN_TX_MSGS))) : \
+          subaru_gen2 ? (subaru_stop_start_button ? BUILD_SAFETY_CFG(subaru_gen2_lkas_angle_rx_checks, SUBARU_GEN2_LKAS_ANGLE_STOP_START_TX_MSGS) : \
+                         BUILD_SAFETY_CFG(subaru_gen2_lkas_angle_rx_checks, SUBARU_GEN2_LKAS_ANGLE_TX_MSGS)) : \
                        BUILD_SAFETY_CFG(subaru_lkas_angle_rx_checks, SUBARU_LKAS_ANGLE_TX_MSGS);
  } else if (subaru_gen2) {
    ret = subaru_longitudinal ? BUILD_SAFETY_CFG(subaru_gen2_rx_checks, SUBARU_GEN2_LONG_TX_MSGS) : \
@@ -0,0 +1,341 @@
+#pragma once
+
+#include "opendbc/safety/declarations.h"
+
+// safetyParam: 0 = CMA (XC40 Recharge), 1 = SPA (S60 Recharge, Polestar 2)
+// Polestar 2 is technically CMA, but appears to use SPA DBC for CAN 1 bus
+#define VOLVO_FLAG_SPA 1U
+
+// Volvo CAN message addresses shared between CMA and SPA
+#define VOLVO_LCA_STEER           0x58U    // TX from VCU1 to PSCM, LCA steering command (0x58)
+#define VOLVO_LCA_2               0x69U   // RX from BCM, brake pedal, cruise state
+#define VOLVO_SAS                 0x55U    // RX from SAS, steering angle sensor
+#define VOLVO_PSCM                0x16U    // RX from PSCM, driver steering input
+#define VOLVO_GEAR_POSITION       0x80U   // RX from transmission, gear position
+#define VOLVO_DRIVER_INPUT        0x15U
+#define VOLVO_LCA_3               0x57U   // TX from VCU1 to PSCM
+#define VOLVO_LCA_5               0x67U   // TX LCA_5 message (formerly SPEED_1, contains wheel speeds and LCA signals)
+#define VOLVO_SPEED               0x60U   // RX/TX SPEED message
+#define VOLVO_SPEED_2             0x68U   // RX
+#define VOLVO_0x1a                0x1aU   // RX
+#define VOLVO_EGSM                0x45U   // RX from EGSM
+#define VOLVO_PSCM_RELATED        0x17U   // RX from PSCM, related messages
+#define VOLVO_LCA_4               0x90U   // TX LCA_4 message (PA status spoofing)
+#define VOLVO_LCA_6               0x97U   // TX LCA_6 message
+#define VOLVO_LCA_7               0x92U   // TX LCA_7 message
+
+// CMA-specific PT bus addresses
+#define VOLVO_CMA_BUS1_SPEED          0x70U   // RX vehicle speed
+#define VOLVO_CMA_ECM_1               0x250U  // RX accelerator pedal position
+#define VOLVO_CMA_BUS1_CRUISE_CONTROL 0x340U  // RX cruise control state
+
+// SPA-specific PT bus addresses
+#define VOLVO_SPA_BUS1_SPEED          0x75U   // RX vehicle speed
+#define VOLVO_SPA_ECM_1               0x25U   // RX accelerator pedal position
+#define VOLVO_SPA_BUS1_CRUISE_CONTROL 0x349U  // RX cruise control state
+
+// SPEED (0x60) is raw counts in the DBC. Measured against GPS ground speed on two
+// harnesses: implied LSB 0.0039736 and 0.0039792 m/s.
+#define VOLVO_SPEED_TO_MS 0.003977f
+
+// LCA_5_STEER is a signed 15-bit steering-wheel-angle command in 0.05596 deg/count.
+// Keep the absolute envelope aligned with the software controller's 540 deg limit.
+#define VOLVO_ANGLE_DEG_TO_CAN 17.869907f
+#define VOLVO_MAX_ANGLE_CAN 9650
+#define VOLVO_RELAY_ANGLE_TOLERANCE 54  // approximately 3 degrees
+#define VOLVO_DRIVER_OVERRIDE 2
+
+
+// CAN bus definitions for Volvo
+// Using same naming as carstate.py for consistency: main, pt, party
+#define VOLVO_MAIN_BUS    0U  // Bus.main - VCU1 car side
+#define VOLVO_PT_BUS      1U  // Bus.pt - VCU1 ECM side (where ECM is)
+#define VOLVO_PARTY_BUS   2U  // Bus.party - VCU PSCM/BCM2 side (BCM2, SAS, EGSM, PSCM, where LCA is sent to)
+
+// Runtime addresses set by volvo_init based on safetyParam
+static uint16_t volvo_ecm_1_addr;
+static uint16_t volvo_bus1_cruise_control_addr;
+
+static int volvo_be_15(const CANPacket_t *msg, uint8_t byte) {
+  return (int)(((uint16_t)(msg->data[byte] & 0x7FU) << 8U) | msg->data[byte + 1U]);
+}
+
+static int volvo_pscm_angle(const CANPacket_t *msg) {
+  return to_signed(volvo_be_15(msg, 0U), 15);
+}
+
+static int volvo_lca_5_angle(const CANPacket_t *msg) {
+  return to_signed(volvo_be_15(msg, 6U), 15);
+}
+
+static const AngleSteeringLimits VOLVO_ANGLE_STEERING_LIMITS = {
+  .max_angle = VOLVO_MAX_ANGLE_CAN,
+  .angle_deg_to_can = VOLVO_ANGLE_DEG_TO_CAN,
+  .angle_rate_up_lookup = {
+    {0.0f, 5.0f, 25.0f},
+    {2.5f, 1.5f, 0.2f},
+  },
+  .angle_rate_down_lookup = {
+    {0.0f, 5.0f, 25.0f},
+    {5.0f, 2.0f, 0.3f},
+  },
+  .frequency = 50U,
+};
+
+static void volvo_rx_hook(const CANPacket_t *msg) {
+  // Monitor the vehicle state required for cruise, disengagement, and angle
+  // safety. All steering TX frames are separately constrained in volvo_tx_hook.
+
+  // Main bus (bus 0) messages
+  if (msg->bus == VOLVO_MAIN_BUS) {
+    // Update brake pedal and cruise state from BCM2
+    if (msg->addr == VOLVO_LCA_2) {
+      // DBC: SG_ BRAKE_PEDAL_PRESSED_A : 47|1@0+ (-1,1) - inverted in DBC, so we invert raw bit
+      // DBC: SG_ BRAKE_PEDAL_PRESSED_B : 46|1@0+ (1,0) - not inverted
+      //bool brake_a = !((msg->data[5] >> 7) & 1U); // Raw bit, active low (DBC inverts it)
+      bool brake_b = (msg->data[5] >> 6) & 1U; // Raw bit, active high
+      //brake_pressed = brake_a || brake_b;
+      brake_pressed = brake_b;
+    }
+
+    // Vehicle speed from the main bus, matching carstate.py. The PT bus carries a
+    // speed message too, but which car bus lands on PT is harness-dependent and its
+    // scaling differs per PT DBC, so both sides read the main bus instead.
+    // DBC: SG_ SPEED : 6|15@0+ (1,0) - raw counts, scaled here
+    if (msg->addr == VOLVO_SPEED) {
+      uint16_t speed_raw = ((msg->data[0] & 0x7FU) << 8) | msg->data[1];
+      float speed = (float)speed_raw * VOLVO_SPEED_TO_MS;
+      vehicle_moving = speed > 0.1;
+      UPDATE_VEHICLE_SPEED(speed);
+    }
+  }
+
+  // PT bus (bus 1) messages
+  if (msg->bus == VOLVO_PT_BUS) {
+    if (msg->addr == volvo_ecm_1_addr) {
+      if (volvo_ecm_1_addr == VOLVO_CMA_ECM_1) {
+        // CMA: SG_ ACCELERATOR_PEDAL_POS : 31|8@0+ (1,0) [0|255]
+        uint8_t gas_pedal_position = msg->data[3];
+        gas_pressed = gas_pedal_position > 21U; // 20 baseline + 1 tolerance
+      } else {
+        // SPA: SG_ ACCELERATOR_PEDAL_POS : 6|15@0+ (0.00390625,0) [0|32767] "%"
+        uint16_t gas_raw = ((msg->data[0] & 0x7FU) << 8) | msg->data[1];
+        gas_pressed = (gas_raw * 0.00390625) > 1.0; // > 1%
+      }
+    }
+
+    if (msg->addr == volvo_bus1_cruise_control_addr) {
+      bool cruise_enabled;
+      if (volvo_bus1_cruise_control_addr == VOLVO_CMA_BUS1_CRUISE_CONTROL) {
+        // CMA: SG_ CRUISE_CONTROL_ENABLED : 56|1@0+ and CRUISE_CONTROL_ENABLED_IDLE_TRAFFIC : 57|1@0+
+        cruise_enabled = ((msg->data[7] & 1U) || (msg->data[7] & 2U));
+      } else {
+        // SPA: SG_ CRUISE_CONTROL_SPA_ENABLED : 1|1@0+ (-1,1) — byte 0 bit 1, active low
+        cruise_enabled = !((msg->data[0] >> 1) & 1U);
+      }
+      pcm_cruise_check(cruise_enabled);
+    }
+  }
+
+  // Party bus (bus 2) messages - BCM2, SAS, PSCM, EGSM
+  if (msg->bus == VOLVO_PARTY_BUS) {
+
+    if (msg->addr == VOLVO_PSCM) {
+      // PSCM_ANGLE_SENSOR is the measurement consumed by carstate.py. It uses
+      // the same signed 0.05596 deg/count representation as LCA_5_STEER.
+      update_sample(&angle_meas, volvo_pscm_angle(msg));
+    }
+
+    // DRIVER_INPUT is the signal consumed by carstate.py for driver torque.
+    // The PSCM frame's DRIVER_INPUT_DEVIATION is a different signal and must
+    // not be substituted here: doing so leaves the hardware disengage path blind.
+    if (msg->addr == VOLVO_DRIVER_INPUT) {
+      // STEERING_DRIVER_INPUT is a Motorola signal starting at bit 55. The
+      // DBC also carries a +1 offset, so its raw byte is data[6].
+      const int driver_input = to_signed(msg->data[6], 8) + 1;
+      update_sample(&torque_driver, driver_input);
+      steering_disengage = SAFETY_ABS(driver_input) > VOLVO_DRIVER_OVERRIDE;
+    }
+
+  }
+}
+
+static bool volvo_tx_hook(const CANPacket_t *msg) {
+  bool tx = true;
+
+  // LCA_5 carries the actual angle command used by the controller. The stock
+  // LCA frame also contains an angle-shaped field, but the imported controller
+  // deliberately leaves that field at the observed vehicle value.
+  if (msg->addr == VOLVO_LCA_5) {
+    const int desired_angle = volvo_lca_5_angle(msg);
+    tx &= SAFETY_ABS(desired_angle) <= VOLVO_MAX_ANGLE_CAN;
+    tx &= !steer_angle_cmd_checks(desired_angle, controls_allowed, VOLVO_ANGLE_STEERING_LIMITS);
+  }
+
+  // Keep the two torque-authority arms and the companion LCA angle bounded even
+  // though these fields are not the primary steering command.
+  if (msg->addr == VOLVO_LCA_STEER) {
+    const int authority_pos = to_signed((int)(((uint16_t)(msg->data[0] & 0x07U) << 8U) | msg->data[1]), 11);
+    const int authority_neg = to_signed((int)(((uint16_t)(msg->data[2] & 0x07U) << 8U) | msg->data[3]), 11);
+    const int lca_angle = to_signed((int)(((uint16_t)(msg->data[5] & 0x3FU) << 8U) | msg->data[6]), 14);
+    tx &= authority_pos >= 0 && authority_pos <= 614;
+    tx &= authority_neg >= -614 && authority_neg <= 0;
+    tx &= SAFETY_ABS(lca_angle) <= VOLVO_MAX_ANGLE_CAN;
+  }
+
+  // PSCM is relayed back onto the main bus to preserve the stock hands-on-wheel
+  // path. Do not allow that relay to invent a steering-angle measurement.
+  if (msg->addr == VOLVO_PSCM) {
+    const int relayed_angle = volvo_pscm_angle(msg);
+    const int measured_max = SAFETY_CLAMP(angle_meas.max + VOLVO_RELAY_ANGLE_TOLERANCE,
+                                          -VOLVO_MAX_ANGLE_CAN, VOLVO_MAX_ANGLE_CAN);
+    const int measured_min = SAFETY_CLAMP(angle_meas.min - VOLVO_RELAY_ANGLE_TOLERANCE,
+                                          -VOLVO_MAX_ANGLE_CAN, VOLVO_MAX_ANGLE_CAN);
+    tx &= !safety_max_limit_check(relayed_angle, measured_max, measured_min);
+  }
+
+  // NOTE: the wrong-bus rejections below are unreachable defense-in-depth:
+  // safety_tx_hook() only calls this hook after the message passes the
+  // VOLVO_TX_MSGS allowlist, which already pins each TX address to a single
+  // bus (and VOLVO_DRIVER_INPUT/VOLVO_SAS are not TX'able on any bus).
+  // Hence the GCOV_EXCL markers, following the defaults.h convention.
+  // test_volvo.py's test_tx_hook_wrong_bus_blocked pins down the blocked
+  // wrong-bus TX behavior at the safety_tx_hook() level.
+  if (msg->addr == VOLVO_LCA_STEER) {
+    // LCA message flows: VCU1 (main bus) -> PSCM (party bus)
+    // We're acting as VCU1, so we send LCA message to party bus (bus 2)
+    // GCOV_EXCL_START
+    // Unreachable by design (allowlist pins VOLVO_LCA_STEER to the party bus)
+    if (msg->bus != VOLVO_PARTY_BUS) {
+      tx = false;  // Wrong bus
+    }
+    // GCOV_EXCL_STOP
+  }
+
+  if (msg->addr == VOLVO_PSCM) {
+    // PSCM message: we relay from party bus (bus 2) to main bus (bus 0)
+    // So we TX on main bus (bus 0)
+    // GCOV_EXCL_START
+    // Unreachable by design (allowlist pins VOLVO_PSCM to the main bus)
+    if (msg->bus != VOLVO_MAIN_BUS) {
+      tx = false;  // Wrong bus
+    }
+    // GCOV_EXCL_STOP
+  }
+
+  if (msg->addr == VOLVO_DRIVER_INPUT) {
+    // Driver input message: we relay from party bus (bus 2) to main bus (bus 0)
+    // So we TX on main bus (bus 0)
+    // GCOV_EXCL_START
+    // Unreachable by design (VOLVO_DRIVER_INPUT is not in VOLVO_TX_MSGS)
+    if (msg->bus != VOLVO_MAIN_BUS) {
+      tx = false;  // Wrong bus
+    }
+  }
+  // GCOV_EXCL_STOP
+
+  if (msg->addr == VOLVO_SAS) {
+    // SAS message: we relay from party bus (bus 2) to main bus (bus 0)
+    // So we TX on main bus (bus 0)
+    // GCOV_EXCL_START
+    // Unreachable by design (VOLVO_SAS is not in VOLVO_TX_MSGS)
+    if (msg->bus != VOLVO_MAIN_BUS) {
+      tx = false;  // Wrong bus
+    }
+  }
+  // GCOV_EXCL_STOP
+
+  if (msg->addr == VOLVO_LCA_2) {
+    // LCA_2 -> PSCM
+    // GCOV_EXCL_START
+    // Unreachable by design (allowlist pins VOLVO_LCA_2 to the party bus)
+    if (msg->bus != VOLVO_PARTY_BUS) {
+      tx = false;  // Wrong bus
+    }
+    // GCOV_EXCL_STOP
+  }
+
+  return tx;
+}
+
+static safety_config volvo_init(uint16_t param) {
+  bool spa = GET_FLAG(param, VOLVO_FLAG_SPA);
+
+  // Set PT bus addresses based on platform
+  volvo_ecm_1_addr = spa ? VOLVO_SPA_ECM_1 : VOLVO_CMA_ECM_1;
+  volvo_bus1_cruise_control_addr = spa ? VOLVO_SPA_BUS1_CRUISE_CONTROL : VOLVO_CMA_BUS1_CRUISE_CONTROL;
+
+  // Define the TX messages needed to replace the stock LCA path. Payload
+  // limits for steering and the PSCM relay are enforced in volvo_tx_hook.
+  static const CanMsg VOLVO_TX_MSGS[] = {
+    {VOLVO_LCA_STEER, VOLVO_PARTY_BUS, 8, .check_relay = true},  // LCA steering command to party bus
+    {VOLVO_PSCM, VOLVO_MAIN_BUS, 8, .check_relay = true},  // PSCM message sent to main bus (relay from party bus)
+    {VOLVO_LCA_3, VOLVO_PARTY_BUS, 8, .check_relay = true},  // LCA_3 message sent to party bus
+    {VOLVO_LCA_2, VOLVO_PARTY_BUS, 8, .check_relay = true},  // LCA_2 message sent to party bus (spoof PILOT_ASSIST_ENGAGED for PSCM)
+    {VOLVO_LCA_4, VOLVO_PARTY_BUS, 8, .check_relay = true},  // LCA_4 message sent to party bus (spoof LCA_ENABLE for PA state)
+    {VOLVO_LCA_5, VOLVO_PARTY_BUS, 8, .check_relay = true},  // LCA_5 message sent to party bus (wheel speeds + LCA signals)
+    {VOLVO_LCA_6, VOLVO_PARTY_BUS, 8, .check_relay = true},  // LCA_6 message sent to party bus
+    {VOLVO_LCA_7, VOLVO_PARTY_BUS, 8, .check_relay = true},  // LCA_7 message sent to party bus
+    //{VOLVO_SPEED, VOLVO_PARTY_BUS, 8, .check_relay = true},  // SPEED message sent to main bus
+    //{VOLVO_SPEED_2, VOLVO_PARTY_BUS, 8, .check_relay = true},  // SPEED_2 message sent to main bus
+    //{VOLVO_0x1a, VOLVO_PARTY_BUS, 8, .check_relay = true},  // 0x1a message sent to main bus
+    //{VOLVO_GEAR_POSITION, VOLVO_PARTY_BUS, 8, .check_relay = true},  // GEAR_POSITION message sent from main to party bus
+    //{VOLVO_EGSM, VOLVO_MAIN_BUS, 8, .check_relay = true},  // EGSM message sent from party to main bus
+    {VOLVO_PSCM_RELATED, VOLVO_MAIN_BUS, 8, .check_relay = true},  // PSCM_RELATED message sent to party bus
+  };
+
+  // Define RX checks - PT bus addresses depend on CMA vs SPA
+  safety_config ret;
+  if (!spa) {
+    static RxCheck volvo_rx_checks_cma[] = {
+      {.msg = {{VOLVO_GEAR_POSITION, VOLVO_MAIN_BUS, 8, 40U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
+      {.msg = {{VOLVO_LCA_2, VOLVO_MAIN_BUS, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
+      {.msg = {{VOLVO_LCA_4, VOLVO_MAIN_BUS, 8, 29U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
+      {.msg = {{VOLVO_LCA_6, VOLVO_MAIN_BUS, 8, 25U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
+      {.msg = {{VOLVO_LCA_7, VOLVO_MAIN_BUS, 8, 29U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
+      {.msg = {{VOLVO_SAS, VOLVO_PARTY_BUS, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
+      {.msg = {{VOLVO_PSCM, VOLVO_PARTY_BUS, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
+      {.msg = {{VOLVO_DRIVER_INPUT, VOLVO_PARTY_BUS, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
+      {.msg = {{VOLVO_CMA_ECM_1, VOLVO_PT_BUS, 8, 17U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
+      {.msg = {{VOLVO_LCA_STEER, VOLVO_MAIN_BUS, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
+      {.msg = {{VOLVO_CMA_BUS1_CRUISE_CONTROL, VOLVO_PT_BUS, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
+      {.msg = {{VOLVO_LCA_3, VOLVO_MAIN_BUS, 8, 67U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
+      {.msg = {{VOLVO_LCA_5, VOLVO_MAIN_BUS, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
+      {.msg = {{VOLVO_SPEED, VOLVO_MAIN_BUS, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
+      {.msg = {{VOLVO_SPEED_2, VOLVO_MAIN_BUS, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
+      {.msg = {{VOLVO_EGSM, VOLVO_PARTY_BUS, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
+      {.msg = {{VOLVO_PSCM_RELATED, VOLVO_PARTY_BUS, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
+    };
+    ret = BUILD_SAFETY_CFG(volvo_rx_checks_cma, VOLVO_TX_MSGS);
+  } else {
+    static RxCheck volvo_rx_checks_spa[] = {
+      {.msg = {{VOLVO_GEAR_POSITION, VOLVO_MAIN_BUS, 8, 40U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
+      {.msg = {{VOLVO_LCA_2, VOLVO_MAIN_BUS, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
+      {.msg = {{VOLVO_LCA_4, VOLVO_MAIN_BUS, 8, 29U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
+      {.msg = {{VOLVO_LCA_6, VOLVO_MAIN_BUS, 8, 25U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
+      {.msg = {{VOLVO_LCA_7, VOLVO_MAIN_BUS, 8, 29U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
+      {.msg = {{VOLVO_SAS, VOLVO_PARTY_BUS, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
+      {.msg = {{VOLVO_PSCM, VOLVO_PARTY_BUS, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
+      {.msg = {{VOLVO_DRIVER_INPUT, VOLVO_PARTY_BUS, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
+      {.msg = {{VOLVO_SPA_ECM_1, VOLVO_PT_BUS, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
+      {.msg = {{VOLVO_LCA_STEER, VOLVO_MAIN_BUS, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
+      // true rate is 5Hz, but safety_tick invalidates checks declared <10Hz; lagging floor is 1s either way
+      {.msg = {{VOLVO_SPA_BUS1_CRUISE_CONTROL, VOLVO_PT_BUS, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
+      {.msg = {{VOLVO_LCA_3, VOLVO_MAIN_BUS, 8, 67U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
+      {.msg = {{VOLVO_LCA_5, VOLVO_MAIN_BUS, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
+      {.msg = {{VOLVO_SPEED, VOLVO_MAIN_BUS, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
+      {.msg = {{VOLVO_SPEED_2, VOLVO_MAIN_BUS, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
+      {.msg = {{VOLVO_EGSM, VOLVO_PARTY_BUS, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
+      {.msg = {{VOLVO_PSCM_RELATED, VOLVO_PARTY_BUS, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
+    };
+    ret = BUILD_SAFETY_CFG(volvo_rx_checks_spa, VOLVO_TX_MSGS);
+  }
+  return ret;
+}
+
+const safety_hooks volvo_hooks = {
+  .init = volvo_init,
+  .rx = volvo_rx_hook,
+  .tx = volvo_tx_hook,
+  // No custom fwd hook - stock LCA always blocked by .check_relay = true
+};
@@ -27,6 +27,7 @@
 #include "opendbc/safety/modes/elm327.h"
 #include "opendbc/safety/modes/body.h"
 #include "opendbc/safety/modes/psa.h"
+#include "opendbc/safety/modes/volvo.h"

 #ifdef CANFD
 #include "opendbc/safety/modes/hyundai_canfd.h"
@@ -427,6 +428,7 @@ int set_safety_hooks(uint16_t mode, uint16_t param) {
    {SAFETY_RIVIAN, &rivian_hooks},
    {SAFETY_TESLA, &tesla_hooks},
    {SAFETY_TESLA_PREAP, &tesla_preap_hooks},
+    {SAFETY_VOLVO, &volvo_hooks},
 #ifdef CANFD
    {SAFETY_HYUNDAI_CANFD, &hyundai_canfd_hooks},
    {SAFETY_VOLKSWAGEN_MEB, &volkswagen_meb_hooks},
@@ -1075,13 +1075,14 @@ class SafetyTest(SafetyTestBase):
              continue
            if attr.startswith('TestSubaruGen') and current_test.startswith('TestSubaruGen'):
              continue
-            if 'TestSubaruDPlatformAngleSafety' in {attr, current_test} and \
-                'Angle' in attr and 'Angle' in current_test:
+            if attr.startswith('TestSubaruDPlatform') and current_test.startswith('TestSubaruDPlatform'):
              continue
-            if 'TestSubaruDPlatformAngleSafety' in {attr, current_test}:
+            if attr.startswith('TestSubaruDPlatform'):
              # D-platform uses the same main-bus HUD messages as the other
              # Subaru modes, so those modes cannot be distinguished by ID.
-              tx = list(filter(lambda m: not (m[1] == 0 and m[0] in [0x321, 0x322, 0x323]), tx))
+              tx = list(filter(lambda m: not (m[1] == 0 and m[0] in [0x124, 0x321, 0x322, 0x323]), tx))
+            if current_test.startswith('TestSubaruDPlatform') and attr.startswith('TestSubaruGen'):
+              tx = list(filter(lambda m: not (m[1] == 0 and m[0] in [0x124, 0x321, 0x322, 0x323]), tx))
            if attr.startswith('TestSubaruPreglobal') and current_test.startswith('TestSubaruPreglobal'):
              continue
            if {attr, current_test}.issubset({'TestVolkswagenPqSafety', 'TestVolkswagenPqStockSafety', 'TestVolkswagenPqLongSafety'}):
@@ -1101,6 +1102,7 @@ class SafetyTest(SafetyTestBase):
              continue
            if {attr, current_test}.issubset({'TestHyundaiLongitudinalSafety', 'TestHyundaiLongitudinalSafetyCameraSCC',
                                              'TestHyundaiSafetyFCEVLong', 'TestHyundaiLongitudinalAolLkasOnEngageSafety',
+                                              'TestHyundaiLongitudinalAolMainLkasOnEngageSafety',
                                              'TestHyundaiSafetyCanRefreshLong', 'TestHyundaiSafetyCanRefreshLongCameraSCC',
                                              'TestHyundaiCanCanfdBlendedLongitudinalSafety',
                                              'TestHyundaiLegacyLongitudinalSafety',
@@ -1156,6 +1158,7 @@ class SafetyTest(SafetyTestBase):

            if attr.startswith('TestHyundaiLongitudinal') or attr in ('TestHyundaiSafetyFCEVLong',
                                                                      'TestHyundaiLongitudinalAolLkasOnEngageSafety',
+                                                                      'TestHyundaiLongitudinalAolMainLkasOnEngageSafety',
                                                                      'TestHyundaiCanCanfdBlendedLongitudinalSafety',
                                                                      'TestHyundaiLegacyLongitudinalSafety',
                                                                      'TestHyundaiLegacyLongitudinalSafetyHEV'):
@@ -59,6 +59,28 @@ def test_gm_panda_scheduler_paths():
  safety.safety_rx_hook(prndl)


+def test_gm_cc_longitudinal_ascm_safety_whitelist():
+  safety = libsafety_py.libsafety
+  flags = (GMSafetyFlags.FLAG_GM_NO_CAMERA | GMSafetyFlags.FLAG_GM_NO_ACC |
+           GMSafetyFlags.FLAG_GM_CC_LONG | GMSafetyFlags.FLAG_GM_VOLT_CC_GATEWAY)
+  assert safety.set_safety_hooks(CarParams.SafetyModel.gm, flags) == 0
+  safety.init_tests()
+  safety.set_controls_allowed(True)
+  safety.set_cruise_engaged_prev(True)
+
+  allowed = ((0x180, 0, 4), (0x409, 0, 7), (0x40A, 0, 7), (0x370, 0, 6),
+             (0x1E1, 0, 7), (0x3D1, 0, 8), (0xBD, 0, 7), (0x1F5, 0, 8))
+  for addr, bus, length in allowed:
+    data = b'\x00' * length
+    if addr == 0x1E1:
+      data = data[:5] + b'\x10' + data[6:]
+    assert safety.safety_tx_hook(common.make_msg(bus, addr, length, data))
+
+  blocked = ((0x184, 2, 8), (0x200, 0, 6), (0x2CB, 0, 8), (0x306, 1, 8))
+  for addr, bus, length in blocked:
+    assert not safety.safety_tx_hook(common.make_msg(bus, addr, length))
+
+
 def test_gm_bolt_acc_pedal_clears_stock_cruise():
  safety = libsafety_py.libsafety
  flags = GMSafetyFlags.HW_CAM | GMSafetyFlags.FLAG_GM_GAS_INTERCEPTOR | GMSafetyFlags.FLAG_GM_BOLT_2022_PEDAL
@@ -622,6 +622,32 @@ class TestHyundaiLongitudinalAolLkasOnEngageSafety(HyundaiAolLkasOnEngageBase, T
    self.safety.init_tests()


+class TestHyundaiLongitudinalAolMainLkasOnEngageSafety(TestHyundaiLongitudinalSafety):
+  def setUp(self):
+    self.packer = CANPackerSafety("hyundai_kia_generic")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(
+      CarParams.SafetyModel.hyundai,
+      HyundaiSafetyFlags.LONG | HyundaiStarPilotSafetyFlags.AOL_MAIN_LKAS_ON_ENGAGE,
+    )
+    self.safety.init_tests()
+
+  def test_aol_lkas_auto_enables_on_main_engagement(self):
+    self.safety.set_alternative_experience(ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL)
+    self.safety.set_controls_allowed(False)
+
+    self._rx(self._button_msg(Buttons.NONE, main_button=1))
+    self._rx(self._button_msg(Buttons.NONE, main_button=0))
+    self.assertTrue(self.safety.get_acc_main_on())
+    self.assertTrue(self.safety.get_lkas_on())
+    self.assertTrue(self.safety.get_aol_allowed())
+
+    self._rx(self._user_brake_msg(True))
+    self.assertFalse(self.safety.get_controls_allowed())
+    self._set_prev_torque(0)
+    self.assertTrue(self._tx(self._torque_cmd_msg(self.MAX_RATE_UP)))
+
+
 class TestHyundaiAolLkasOnEngageStockSafety(HyundaiAolLkasOnEngageStockBase, TestHyundaiSafety):
  def setUp(self):
    self.packer = CANPackerSafety("hyundai_kia_generic")
@@ -36,6 +36,7 @@ class SubaruMsg(enum.IntEnum):
  ES_HighBeamAssist = 0x121
  ES_STATIC_1       = 0x22a
  ES_STATIC_2       = 0x325
+  Dashlights        = 0x390


 SUBARU_MAIN_BUS = 0
@@ -369,6 +370,21 @@ class TestSubaruGen2FixedAngleSafety(TestSubaruGen2AngleStockLongitudinalSafety)
    raise unittest.SkipTest("Breakpoint angle limits do not enforce a real-time message frequency")


+class TestSubaruGen2FixedAngleStopStartSafety(TestSubaruGen2FixedAngleSafety):
+  FLAGS = SubaruSafetyFlags.GEN2 | SubaruSafetyFlags.LKAS_ANGLE | SubaruSafetyFlags.FIXED_ANGLE_LIMITS | \
+    SubaruSafetyFlags.STOP_START_BUTTON
+  TX_MSGS = TestSubaruGen2FixedAngleSafety.TX_MSGS + [[SubaruMsg.Dashlights, SUBARU_MAIN_BUS]]
+
+  def _stop_start_msg(self, pressed):
+    return self.packer.make_can_msg_safety(
+      "Dashlights", SUBARU_MAIN_BUS, {"COUNTER": 0, "STOP_START": pressed},
+    )
+
+  def test_stop_start_tx_requires_pressed_bit(self):
+    self.assertTrue(self._tx(self._stop_start_msg(True)))
+    self.assertFalse(self._tx(self._stop_start_msg(False)))
+
+
 class TestSubaruDPlatformAngleSafety(TestSubaruStockLongitudinalSafetyBase, TestSubaruAngleSafetyBase):
  FLAGS = SubaruSafetyFlags.GEN2 | SubaruSafetyFlags.LKAS_ANGLE | SubaruSafetyFlags.D_PLATFORM
  ALT_MAIN_BUS = SUBARU_ALT_BUS
@@ -401,6 +417,21 @@ class TestSubaruDPlatformAngleSafety(TestSubaruStockLongitudinalSafetyBase, Test
    return self.packer.make_can_msg_safety("Steering_2", SUBARU_MAIN_BUS, {"Steering_Angle": angle})


+class TestSubaruDPlatformStopStartSafety(TestSubaruDPlatformAngleSafety):
+  FLAGS = SubaruSafetyFlags.GEN2 | SubaruSafetyFlags.LKAS_ANGLE | SubaruSafetyFlags.D_PLATFORM | \
+    SubaruSafetyFlags.STOP_START_BUTTON
+  TX_MSGS = TestSubaruDPlatformAngleSafety.TX_MSGS + [[SubaruMsg.Dashlights, SUBARU_ALT_BUS]]
+
+  def _stop_start_msg(self, pressed):
+    return self.packer.make_can_msg_safety(
+      "Dashlights", SUBARU_ALT_BUS, {"COUNTER": 0, "STOP_START": pressed},
+    )
+
+  def test_stop_start_tx_requires_pressed_bit(self):
+    self.assertTrue(self._tx(self._stop_start_msg(True)))
+    self.assertFalse(self._tx(self._stop_start_msg(False)))
+
+
 class TestSubaruDPlatformCameraAngleSafety(TestSubaruDPlatformAngleSafety):
  FLAGS = SubaruSafetyFlags.GEN2 | SubaruSafetyFlags.LKAS_ANGLE | SubaruSafetyFlags.D_PLATFORM | SubaruSafetyFlags.D_PLATFORM_CAMERA
  TX_MSGS = [[SubaruMsg.ES_LKAS_ANGLE, SUBARU_CAM_BUS],
@@ -0,0 +1,320 @@
+#!/usr/bin/env python3
+"""
+Safety tests for Volvo CMA/SPA.
+
+The safety mode lives at ``opendbc/safety/modes/volvo.h`` and is parameterized
+by ``safetyParam``:
+
+  - ``safetyParam == 0``       → CMA platform (Volvo XC40 Recharge)
+  - ``safetyParam == VOLVO_FLAG_SPA`` → SPA platform (Volvo S60 Recharge,
+    Polestar 2)
+
+The two platforms share LCA/PSCM/etc. addresses on the main and party buses
+but use *different* PT-bus addresses and signal scales for ECM_1 and
+BUS1_CRUISE_CONTROL. Vehicle speed is read from main-bus SPEED on both, so it
+is not platform-dependent. This test file exercises both platforms through the
+same generic ``CarSafetyTest`` harness so that any future divergence between
+``carstate.py`` and ``volvo.h`` — e.g. a threshold drifting out of sync — is
+caught on a laptop instead of in the car.
+
+Companion to: ``opendbc/car/volvo/carstate.py`` (must agree on thresholds).
+"""
+
+import pathlib
+import re
+import unittest
+
+from opendbc.car.volvo.interface import SAFETY_VOLVO
+from opendbc.safety.tests.libsafety import libsafety_py
+import opendbc.safety.tests.common as common
+from opendbc.safety.tests.common import CANPackerSafety
+
+
+# Must match VOLVO_FLAG_SPA in opendbc/safety/modes/volvo.h
+VOLVO_FLAG_SPA = 1
+
+# Must match VOLVO_SPEED_TO_MS in volvo.h and SPEED_TO_MS in carstate.py
+VOLVO_SPEED_TO_MS = 0.003977
+
+# Bus layout (must match volvo.h)
+VOLVO_MAIN_BUS = 0
+VOLVO_PT_BUS = 1
+VOLVO_PARTY_BUS = 2
+
+# Shared platform-independent addresses
+VOLVO_SPEED         = 0x60
+VOLVO_LCA_STEER     = 0x58
+VOLVO_LCA_2         = 0x69
+VOLVO_LCA_3         = 0x57
+VOLVO_LCA_4         = 0x90
+VOLVO_LCA_5         = 0x67
+VOLVO_LCA_6         = 0x97
+VOLVO_LCA_7         = 0x92
+VOLVO_PSCM          = 0x16
+VOLVO_PSCM_RELATED  = 0x17
+VOLVO_SAS           = 0x55
+VOLVO_DRIVER_INPUT  = 0x15
+
+# Addresses panda TX'd with .check_relay = true, grouped by bus
+_TX_PARTY_BUS_ADDRS = (
+  VOLVO_LCA_STEER, VOLVO_LCA_2, VOLVO_LCA_3, VOLVO_LCA_4,
+  VOLVO_LCA_5, VOLVO_LCA_6, VOLVO_LCA_7,
+)
+_TX_MAIN_BUS_ADDRS = (VOLVO_PSCM, VOLVO_PSCM_RELATED)
+
+
+class TestVolvoSafetyBase(common.CarSafetyTest):
+  """Shared RX/TX/relay tests for both CMA and SPA.
+
+  Subclasses pin down the PT-bus DBC and per-platform gas/cruise encoding.
+  """
+
+  TX_MSGS = (
+    [[a, VOLVO_PARTY_BUS] for a in _TX_PARTY_BUS_ADDRS]
+    + [[a, VOLVO_MAIN_BUS] for a in _TX_MAIN_BUS_ADDRS]
+  )
+  RELAY_MALFUNCTION_ADDRS = {
+    VOLVO_PARTY_BUS: _TX_PARTY_BUS_ADDRS,
+    VOLVO_MAIN_BUS: _TX_MAIN_BUS_ADDRS,
+  }
+  # volvo.h installs no custom fwd hook, so the panda uses the default main<->party
+  # forwarding (bus 0 <-> bus 2). For each TX addr with .check_relay=true, the panda
+  # automatically refuses to forward from the bus where stock traffic lives TO the
+  # bus where openpilot is TX'ing — that's what keeps the stock ECU from fighting us.
+  FWD_BLACKLISTED_ADDRS = {
+    VOLVO_MAIN_BUS: list(_TX_PARTY_BUS_ADDRS),   # stock on 0 must not forward to 2
+    VOLVO_PARTY_BUS: list(_TX_MAIN_BUS_ADDRS),   # stock on 2 must not forward to 0
+  }
+  STANDSTILL_THRESHOLD = 0.1  # m/s, matches volvo.h
+
+  # Subclasses set these
+  SAFETY_PARAM: int = 0
+  PT_DBC: str = ""
+
+  MID_DBC = "volvo_mid_1"
+
+  @classmethod
+  def setUpClass(cls):
+    if cls.__name__ == "TestVolvoSafetyBase":
+      cls.safety = None
+      raise unittest.SkipTest
+    super().setUpClass()
+
+  def setUp(self):
+    self.pt_packer = CANPackerSafety(self.PT_DBC)
+    self.mid_packer = CANPackerSafety(self.MID_DBC)
+    # CarSafetyTest.packer is referenced by a few generic tests; point it at
+    # the mid-bus DBC since most shared messages live there.
+    self.packer = self.mid_packer
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(SAFETY_VOLVO, self.SAFETY_PARAM)
+    self.safety.init_tests()
+
+  def test_tx_hook_on_wrong_safety_mode(self):
+    # CMA and SPA intentionally share the party-bus TX allowlist. safetyParam
+    # selects the PT-bus RX encodings, not a different set of steering frames.
+    self.skipTest("CMA and SPA intentionally share Volvo TX IDs")
+
+  # ---- Abstract methods from CarSafetyTest ----
+
+  def _user_brake_msg(self, brake):
+    # volvo.h reads BRAKE_PEDAL_PRESSED_B (bit 46, factor 1, active high)
+    values = {"BRAKE_PEDAL_PRESSED_B": 1 if brake else 0}
+    return self.mid_packer.make_can_msg_safety("LCA_2", VOLVO_MAIN_BUS, values)
+
+  def _speed_msg(self, speed):
+    # Main-bus SPEED, the same message on both platforms. The DBC carries it as
+    # raw counts (factor 1) and volvo.h applies VOLVO_SPEED_TO_MS, so convert here.
+    values = {"SPEED": round(speed / VOLVO_SPEED_TO_MS)}
+    return self.mid_packer.make_can_msg_safety("SPEED", VOLVO_MAIN_BUS, values)
+
+  def _speed_msg_2(self, speed):
+    # Volvo's safety mode only consumes a single vehicle-speed source, so the
+    # generic rx_hook_speed_mismatch test doesn't apply. Returning None asks
+    # the harness to skip it (see common.CarSafetyTest.test_rx_hook_speed_mismatch).
+    return None
+
+  def _angle_meas_msg(self, angle):
+    return self.mid_packer.make_can_msg_safety(
+      "PSCM", VOLVO_PARTY_BUS, {"PSCM_ANGLE_SENSOR": angle})
+
+  def _angle_cmd_msg(self, angle):
+    return self.mid_packer.make_can_msg_safety(
+      "LCA_5", VOLVO_PARTY_BUS, {"LCA_5_STEER": angle})
+
+  def _reset_angle_measurement(self, angle):
+    for _ in range(common.MAX_SAMPLE_VALS):
+      self._rx(self._angle_meas_msg(angle))
+
+  def _reset_speed_measurement(self, speed):
+    for _ in range(common.MAX_SAMPLE_VALS):
+      self._rx(self._speed_msg(speed))
+
+  def test_angle_tx_is_bounded(self):
+    """The LCA_5 angle command must obey the measured-angle safety envelope."""
+    self._reset_angle_measurement(0)
+    self._reset_speed_measurement(10)
+
+    self.safety.set_controls_allowed(True)
+    self.safety.set_desired_angle_last(0)
+    self.assertTrue(self._tx(self._angle_cmd_msg(0)))
+
+    # The software controller's ±540 degree envelope is also enforced by the
+    # panda. Set the previous command explicitly so this test isolates the
+    # absolute bound from the rate limiter.
+    angle_can = round(540 / 0.05596)
+    self.safety.set_desired_angle_last(angle_can)
+    self.assertTrue(self._tx(self._angle_cmd_msg(540)))
+    self.safety.set_desired_angle_last(0)
+    self.assertFalse(self._tx(self._angle_cmd_msg(541)))
+
+  def test_angle_tx_follows_measurement_when_controls_disabled(self):
+    self._reset_angle_measurement(10)
+    self.safety.set_controls_allowed(False)
+
+    self.assertTrue(self._tx(self._angle_cmd_msg(10)))
+    self.assertFalse(self._tx(self._angle_cmd_msg(20)))
+
+  def test_lca_authority_is_bounded(self):
+    self.safety.set_controls_allowed(True)
+    valid = {
+      "LCA_STEER_LOOSELY": 614,
+      "LCA_STEER_LOOSELY_INV": -614,
+      "LCA_STEER": 0,
+    }
+    self.assertTrue(self._tx(self.mid_packer.make_can_msg_safety(
+      "LCA", VOLVO_PARTY_BUS, valid)))
+
+    for key, value in (("LCA_STEER_LOOSELY", 615),
+                       ("LCA_STEER_LOOSELY_INV", -615)):
+      invalid = valid | {key: value}
+      self.assertFalse(self._tx(self.mid_packer.make_can_msg_safety(
+        "LCA", VOLVO_PARTY_BUS, invalid)))
+
+  def test_pscm_relay_cannot_invent_angle(self):
+    self._reset_angle_measurement(10)
+    valid = self.mid_packer.make_can_msg_safety(
+      "PSCM", VOLVO_MAIN_BUS, {"PSCM_ANGLE_SENSOR": 10})
+    invalid = self.mid_packer.make_can_msg_safety(
+      "PSCM", VOLVO_MAIN_BUS, {"PSCM_ANGLE_SENSOR": 20})
+    self.assertTrue(self._tx(valid))
+    self.assertFalse(self._tx(invalid))
+
+  def test_driver_override_disengages_controls(self):
+    self.safety.set_controls_allowed(True)
+    msg = self.mid_packer.make_can_msg_safety(
+      "DRIVER_INPUT", VOLVO_PARTY_BUS, {"STEERING_DRIVER_INPUT": 6})
+    self._rx(msg)
+    self.assertFalse(self.safety.get_controls_allowed())
+
+  # ---- Volvo-specific consistency tests ----
+
+  def test_tx_hook_wrong_bus_blocked(self):
+    """
+    Every TX address is pinned to exactly one bus by the VOLVO_TX_MSGS
+    allowlist, which safety_tx_hook() enforces before volvo_tx_hook() runs.
+    TX attempts anywhere off the allowlisted bus must be rejected, even with
+    controls allowed. Also covers the relayed-RX addresses (SAS, DRIVER_INPUT)
+    that volvo_tx_hook() used to re-check: they are not TX'able on any bus.
+    """
+    tx_msgs = {tuple(m) for m in self.TX_MSGS}
+    addrs = {addr for addr, _ in tx_msgs} | {VOLVO_SAS, VOLVO_DRIVER_INPUT}
+    self.safety.set_controls_allowed(True)
+    for addr in sorted(addrs):
+      for bus in range(4):
+        if (addr, bus) in tx_msgs:
+          self.assertTrue(self._tx(common.make_msg(bus, addr)),
+                          f"blocked TX addr={hex(addr)} on allowlisted bus={bus}")
+        else:
+          self.assertFalse(self._tx(common.make_msg(bus, addr)),
+                           f"allowed TX addr={hex(addr)} on wrong bus={bus}")
+
+  def test_gas_threshold_self_consistent(self):
+    """
+    Sanity: the panda's gas_pressed edge is exactly where GAS_PRESSED_THRESHOLD
+    is defined. Regression guard for the CMA-vs-SPA scale mismatch bug where
+    carstate.py applied CMA thresholds (raw 0-255) to SPA's DBC-scaled percent.
+    If you change the threshold in volvo.h, update carstate.py AND this test.
+    """
+    # Just below threshold → not pressed. Use a value strictly less than threshold.
+    just_below = max(self.GAS_PRESSED_THRESHOLD - 1, 0)
+    self._rx(self._user_gas_msg(just_below))
+    self.assertFalse(self.safety.get_gas_pressed_prev(),
+                     f"gas flagged at {just_below} (threshold={self.GAS_PRESSED_THRESHOLD})")
+
+    # Just above threshold → pressed.
+    self._rx(self._user_gas_msg(self.GAS_PRESSED_THRESHOLD + 1))
+    self.assertTrue(self.safety.get_gas_pressed_prev(),
+                    f"gas not flagged above {self.GAS_PRESSED_THRESHOLD}")
+
+  def test_speed_scale_self_consistent(self):
+    """
+    The main-bus SPEED LSB is written out in three places: volvo.h, carstate.py
+    and this file. They must agree, or the panda and openpilot disagree about
+    vehicle speed. Parsed as text so this holds without importing either.
+    """
+    root = pathlib.Path(__file__).parents[3]
+    sources = {
+      "volvo.h": (root / "opendbc/safety/modes/volvo.h",
+                  r"#define\s+VOLVO_SPEED_TO_MS\s+([0-9.]+)f?"),
+      "carstate.py": (root / "opendbc/car/volvo/carstate.py",
+                      r"^SPEED_TO_MS\s*=\s*([0-9.]+)"),
+    }
+    for name, (path, pattern) in sources.items():
+      m = re.search(pattern, path.read_text(), re.MULTILINE)
+      self.assertIsNotNone(m, f"could not find the speed LSB in {name}")
+      self.assertEqual(float(m.group(1)), VOLVO_SPEED_TO_MS,
+                       f"{name} speed LSB disagrees with test_volvo.py")
+
+
+class TestVolvoCMA(TestVolvoSafetyBase):
+  """
+  Volvo CMA: XC40 Recharge.
+
+  ECM_1.ACCELERATOR_PEDAL_POS is raw 0-255 (DBC factor 1). Idle is ~20; panda
+  fires gas_pressed above 21. carstate.py uses the same raw threshold.
+  """
+  SAFETY_PARAM = 0
+  PT_DBC = "volvo_front_1_cma"
+  GAS_PRESSED_THRESHOLD = 21  # raw counts
+
+  def _user_gas_msg(self, gas):
+    values = {"ACCELERATOR_PEDAL_POS": gas}
+    return self.pt_packer.make_can_msg_safety("ECM_1", VOLVO_PT_BUS, values)
+
+  def _pcm_status_msg(self, enable):
+    # CMA cruise is a pair of bools; either one being high enables cruise.
+    values = {"CRUISE_CONTROL_ENABLED": 1 if enable else 0,
+              "CRUISE_CONTROL_ENABLED_IDLE_TRAFFIC": 0}
+    return self.pt_packer.make_can_msg_safety(
+      "BUS1_CRUISE_CONTROL", VOLVO_PT_BUS, values)
+
+
+class TestVolvoSPA(TestVolvoSafetyBase):
+  """
+  Volvo SPA: S60 Recharge, Polestar 2.
+
+  ECM_1.ACCELERATOR_PEDAL_POS is DBC-scaled to percent (factor 0.00390625,
+  range 0-100%). Idle is ~0; panda fires gas_pressed above 1.0%.
+  carstate.py MUST use the same percent-based threshold — see
+  opendbc/car/volvo/carstate.py. A mismatch here manifests in test_models.py
+  as persistent ``panda safety doesn't agree with openpilot: {'gasPressed': N}``.
+  """
+  SAFETY_PARAM = VOLVO_FLAG_SPA
+  PT_DBC = "volvo_front_1_spa"
+  GAS_PRESSED_THRESHOLD = 1.0  # percent
+
+  def _user_gas_msg(self, gas):
+    values = {"ACCELERATOR_PEDAL_POS": gas}
+    return self.pt_packer.make_can_msg_safety("ECM_1", VOLVO_PT_BUS, values)
+
+  def _pcm_status_msg(self, enable):
+    # SPA cruise signal has DBC factor -1 offset 1, so the "enabled" DBC value
+    # is 1 (which encodes as raw bit 0 — panda inverts it).
+    values = {"CRUISE_CONTROL_SPA_ENABLED": 1 if enable else 0}
+    return self.pt_packer.make_can_msg_safety(
+      "BUS1_CRUISE_CONTROL", VOLVO_PT_BUS, values)
+
+
+if __name__ == "__main__":
+  unittest.main()
@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-f8d47139-DEBUG";
+const uint8_t gitversion[19] = "DEV-289f5e9d-DEBUG";
--- a/Show More
+++ b/Show More
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