ELMo & Friends

Original PRs: #115, #116, #117, and #118 by @1454

common/params_keys.h

@@ -259,6 +259,32 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"CustomAccelProfile45MPH", {PERSISTENT, FLOAT, "1.0", "1.0", 3}},
     {"CustomAccelProfile56MPH", {PERSISTENT, FLOAT, "0.8", "0.8", 3}},
     {"CustomAccelProfile89MPH", {PERSISTENT, FLOAT, "0.6", "0.6", 3}},
+    {"CustomAccelProfileBreakpointsInitialized", {PERSISTENT, BOOL, "0", "0", 3}},
+    {"CustomAccelProfilePointCount", {PERSISTENT, INT, "7", "7", 3}},
+    {"CustomAccelProfileBreakpoint1MPH", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
+    {"CustomAccelProfileBreakpoint2MPH", {PERSISTENT, FLOAT, "11.184681", "11.184681", 3}},
+    {"CustomAccelProfileBreakpoint3MPH", {PERSISTENT, FLOAT, "22.369363", "22.369363", 3}},
+    {"CustomAccelProfileBreakpoint4MPH", {PERSISTENT, FLOAT, "33.554044", "33.554044", 3}},
+    {"CustomAccelProfileBreakpoint5MPH", {PERSISTENT, FLOAT, "44.738726", "44.738726", 3}},
+    {"CustomAccelProfileBreakpoint6MPH", {PERSISTENT, FLOAT, "55.923407", "55.923407", 3}},
+    {"CustomAccelProfileBreakpoint7MPH", {PERSISTENT, FLOAT, "89.477452", "89.477452", 3}},
+    {"CustomAccelProfileBreakpoint8MPH", {PERSISTENT, FLOAT, "100.662133", "100.662133", 3}},
+    {"CustomAccelProfileBreakpoint9MPH", {PERSISTENT, FLOAT, "111.846815", "111.846815", 3}},
+    {"CustomAccelProfileBreakpoint10MPH", {PERSISTENT, FLOAT, "123.031496", "123.031496", 3}},
+    {"CustomAccelProfileBreakpoint11MPH", {PERSISTENT, FLOAT, "134.216178", "134.216178", 3}},
+    {"CustomAccelProfileBreakpoint12MPH", {PERSISTENT, FLOAT, "145.400859", "145.400859", 3}},
+    {"CustomAccelProfilePoint1Accel", {PERSISTENT, FLOAT, "3.0", "3.0", 3}},
+    {"CustomAccelProfilePoint2Accel", {PERSISTENT, FLOAT, "2.5", "2.5", 3}},
+    {"CustomAccelProfilePoint3Accel", {PERSISTENT, FLOAT, "2.0", "2.0", 3}},
+    {"CustomAccelProfilePoint4Accel", {PERSISTENT, FLOAT, "1.5", "1.5", 3}},
+    {"CustomAccelProfilePoint5Accel", {PERSISTENT, FLOAT, "1.0", "1.0", 3}},
+    {"CustomAccelProfilePoint6Accel", {PERSISTENT, FLOAT, "0.8", "0.8", 3}},
+    {"CustomAccelProfilePoint7Accel", {PERSISTENT, FLOAT, "0.6", "0.6", 3}},
+    {"CustomAccelProfilePoint8Accel", {PERSISTENT, FLOAT, "0.55", "0.55", 3}},
+    {"CustomAccelProfilePoint9Accel", {PERSISTENT, FLOAT, "0.5", "0.5", 3}},
+    {"CustomAccelProfilePoint10Accel", {PERSISTENT, FLOAT, "0.45", "0.45", 3}},
+    {"CustomAccelProfilePoint11Accel", {PERSISTENT, FLOAT, "0.4", "0.4", 3}},
+    {"CustomAccelProfilePoint12Accel", {PERSISTENT, FLOAT, "0.35", "0.35", 3}},
     {"CustomCruise", {PERSISTENT, FLOAT, "1.0", "1.0", 2, SETTINGS_SIMPLE}},
     {"CustomCruiseLong", {PERSISTENT, FLOAT, "5.0", "5.0", 2, SETTINGS_SIMPLE}},
     {"CustomPersonalities", {PERSISTENT, BOOL, "0", "0", 2}},

docs/MODEL_REBUILD.md

@@ -1,146 +1,128 @@
-# StarPilot Unified Model Rebuild
+# StarPilot Model Rebuild
 
-This workflow rebuilds StarPilot driving and driver-monitoring artifacts for the vendored tinygrad revision. Driving-model behavior versions remain manifest metadata; every runtime driving artifact uses the `tinygrad_single_v1` layout.
+This is the supported workflow for changing the vendored tinygrad revision and
+releasing a new model manifest generation. A manifest generation represents one
+tinygrad ABI. Model behavior versions (`v8` through `v16`) are independent and
+must remain unchanged when only tinygrad changes.
 
-## Safety
+The current generation is **v25**, pinned to tinygrad
+`e837e367aac9e1a66e689f4f32ce20ca9367df13`. The supported compiler is
+`comma@192.168.3.110`; never substitute another comma without explicit approval.
 
-- The supported build device is `comma@192.168.3.109`.
-- Never run these commands against `192.168.3.110`.
-- Normal artifacts target QCOM. External-GPU artifacts must be compiled explicitly and tagged in the manifest.
-- Keep source ONNX files and compiled PKLs on the T5 workspace, not the comma.
+## Release Contract
 
-## Workspace
+- Keep every existing StarPilot model ID stable across manifest generations.
+- Store HF artifacts under `models/v25/<model-id>/`.
+- Store GitHub fallback artifacts on the `Models` branch under `v25/<model-id>/`.
+- Name every logical artifact `<model-id>_driving_tinygrad.pkl`.
+- Publish native chunks as `.chunkNNofNN` plus `.chunkmanifest`.
+- Serialize every v25 driving artifact out-of-band; this applies to normal QCOM
+  models as well as external-GPU models.
+- Include `artifact_sha256` and `artifact_chunk_count` in the manifest.
+- Set `uses_external_gpu: true` only for models compiled for Chestnut.
+- Do not rename an artifact from another tinygrad revision. PKLs must either use
+  the exact v25 pin or be rebuilt with it.
+- Do not add models absent from the existing StarPilot catalog unless the
+  release explicitly requests them.
 
-The default workspace is:
+The downloader checks Hugging Face first and GitHub second. There is no GitLab
+fallback. The HF manifest lives only at `manifests/model_names_v25.json`, old
+artifacts live under `models/v24/`, and current artifacts live under
+`models/v25/`. The v25 downloader never probes unversioned or v24 artifact
+paths; missing v25 artifacts fail safely instead of loading an incompatible
+pickle.
+
+## Tinygrad Bump
+
+1. Record the exact tinygrad commit used by the compatible source catalog.
+2. Replace `tinygrad_repo/` from that commit, excluding nested Git metadata.
+3. Write the full SHA to `tinygrad_repo/TINYGRAD_COMMIT`.
+4. Review upstream `modeld`, compiler, parser, and camera-warp changes. Merge
+   required ABI changes into StarPilot's existing multi-model runtime; never
+   replace StarPilot `modeld.py` wholesale.
+5. Increment `MANIFEST_CANDIDATES` to a new single version. Do not fall back to
+   the prior manifest because its PKLs target a different tinygrad ABI.
+6. Sync the exact tree to the compiler before building anything:
+
+```bash
+./dev sync
+rsync -az --delete --exclude=.git --exclude=__pycache__ -e ssh \
+  tinygrad_repo/ comma@192.168.3.110:/data/openpilot/tinygrad_repo/
+rsync -az -e ssh selfdrive/modeld/ \
+  comma@192.168.3.110:/data/openpilot/selfdrive/modeld/
+rsync -az -e ssh scripts/model_compiler.py \
+  comma@192.168.3.110:/data/openpilot/scripts/model_compiler.py
+rsync -az -e ssh models comma@192.168.3.110:/data/openpilot/models
+```
+
+Confirm the device marker before compiling:
+
+```bash
+ssh comma@192.168.3.110 \
+  'cat /data/openpilot/tinygrad_repo/TINYGRAD_COMMIT'
+```
+
+## Reuse Compatible Artifacts
+
+Reusing an artifact is preferred when its catalog records the exact same
+tinygrad SHA and exact same source-model commit. Display names and release dates
+are not sufficient proof. Copy compatible chunks server-side so the Mac never
+stores a second multi-gigabyte artifact, but rename every destination chunk to
+the stable StarPilot model ID.
+
+Example:
+
+```bash
+hf buckets cp \
+  'hf://datasets/<source>/<path>/<source-file>.chunk01of02' \
+  'hf://buckets/StarPilot-Driving/StarPilot-Resources/models/v25/pop223/pop223_driving_tinygrad.pkl.chunk01of02'
+```
+
+Write `2` to `pop223_driving_tinygrad.pkl.chunkmanifest`, upload it last, and
+put the source artifact's full SHA-256 and chunk count into the v25 manifest.
+Upload the manifest only after every listed artifact directory is complete.
+
+## Compile Missing Models
+
+Archived sources live under:
 
 ```text
-/Volumes/T5/StarPilot-Model-Rebuild-2026-06-22/
+hf://buckets/StarPilot-Driving/StarPilot-Resources/onnx/<source-id>/
 ```
 
-Important directories:
-
-- `onnx/<model-id>/`: ID-prefixed source ONNX files.
-- `compiled/`: completed unified driving PKLs.
-- `driver-monitoring/`: DM ONNX, model PKL, metadata, and camera warps.
-- `ready-for-resources/`: flat repository-upload handoff.
-- Oversized models are represented by repository-safe `.p00`, `.p01`, and `.sha256` files in `ready-for-resources/`.
-- `logs/`: one remote compilation log per model.
-- `results/`: source and artifact checksum records.
-- `manifests/`: source `model_names_v22.json` and namespaced release `model_names_v23.json`.
-- The v23 manifest and compiled artifacts are published together in the resource repository's `Models` branch.
-
-## Initialize And Extract
+Stage one model at a time in `/data/openpilot/uncompiledmodels`; this avoids
+filling the comma and prevents `./models` from selecting stale input files.
 
 ```bash
-python3 scripts/model_rebuild_pipeline.py init
-python3 scripts/model_rebuild_pipeline.py extract \
-  --base-manifest /path/to/model_names_v21.json
+./models --<model-id> --version <behavior-version>
+./models --<gpu-model-id> --version v16 --gpu
 ```
 
-Extraction streams Git blobs directly to disk. LFS pointers are resolved from the local object cache or fetched by object ID, then checked against the pointer SHA-256 and size. Binary ONNX data is never stored in a shell variable.
-
-To retry one source:
+The default input is a single supercombo ONNX. For legacy sources use:
 
 ```bash
-python3 scripts/model_rebuild_pipeline.py extract \
-  --model pop22 \
-  --base-manifest /path/to/model_names_v21.json
+./models --<model-id> --input-format split --version <behavior-version>
 ```
 
-The original catalog sources are defined in `scripts/model_source_map_v22.json`.
-Recovered late-model and supercombo sources, including RDF2, are defined in
-`scripts/model_source_map_v23.json`. The v23 map is intentionally separate so
-adding a recovered iteration cannot alter the older model source history.
+Every non-local release build emits an OOB artifact as native chunks and removes
+the temporary full PKL. `./models --local-<id>` intentionally keeps one OOB PKL
+for local use.
 
-## Compile
-
-Compile one model:
+The resumable bulk helper is:
 
 ```bash
+STAR_PILOT_MODEL_REMOTE=comma@192.168.3.110 \
 python3 scripts/model_rebuild_pipeline.py compile \
-  --model pop22 \
-  --base-manifest /path/to/model_names_v21.json
+  --workspace /Volumes/T5/StarPilot-Model-Rebuild \
+  --source-map scripts/model_source_map_v25.json \
+  --base-manifest ~/StarPilot-Resources/model_names_v25.json
 ```
 
-Compile or resume the full catalog:
+Failures are recorded under `results/`; rerun the same command to resume.
 
-```bash
-python3 scripts/model_rebuild_pipeline.py compile \
-  --base-manifest /path/to/model_names_v21.json
-```
+## Driver Monitoring And Default
 
-Existing artifacts are skipped unless `--force` is passed. Each model is staged in its own remote input directory, compiled on `.109`, copied back to the T5, hashed, and copied into `ready-for-resources/`. Failures are written to `results/<id>_failure.json`; rerunning the same command resumes incomplete models.
-
-Validate one or all completed artifacts with synthetic camera inputs on QCOM:
-
-```bash
-python3 scripts/model_rebuild_pipeline.py validate \
-  --model pop22 \
-  --base-manifest /path/to/model_names_v21.json
-```
-
-The lower-level device compiler also supports direct use:
-
-```bash
-./models --model pop22 --input-format split --version v11
-./models --model deeprl3v2 --input-format supercombo --version v15
-```
-
-For a model that cannot run on the device GPU, compile with the USB AMD GPU attached:
-
-```bash
-./models --lebowski --gpu
-```
-
-The ASM2464PD bridge must run the current tinygrad custom firmware from
-https://github.com/tinygrad/asm2464pd-firmware. Its USB product string starts
-with `custom`; the legacy `USB 3.2 PCIe TinyEnclosure` patch is not compatible
-with comma's current external-GPU runtime. Firmware flashing is a separate,
-explicit hardware setup step and StarPilot never performs it automatically.
-
-The dynamic flag (`--lebowski` above) sets the output and manifest model ID;
-when only one source model is staged, its ONNX filename does not need to match
-that ID. Input format and behavior version are inferred. `--external-gpu`
-remains available as a compatibility alias for `--gpu`.
-
-This emits a streaming out-of-band pickle and keeps QCOM available for camera warps. Its manifest entry must include:
-
-```json
-{
-  "id": "lebowski",
-  "uses_external_gpu": true
-}
-```
-
-Only tagged models activate the external GPU. If the GPU or artifact is unavailable, runtime falls back to the built-in model; all untagged models retain the existing QCOM path.
-
-`--version` records behavioral semantics only. It does not change artifact layout.
-
-If the compiled PKL exceeds 100 MiB, `./models` automatically keeps the full
-local PKL and creates 95 MiB upload parts beside it:
-
-```text
-deeprl3v2_driving_tinygrad.pkl
-deeprl3v2_driving_tinygrad.pkl.p00
-deeprl3v2_driving_tinygrad.pkl.p01
-deeprl3v2_driving_tinygrad.pkl.sha256
-```
-
-To split an already compiled artifact:
-
-```bash
-./models --split-artifact /path/to/deeprl3v2_driving_tinygrad.pkl \
-  --output-dir /path/to/upload-ready
-```
-
-Upload only the numbered parts and checksum when the full PKL exceeds the
-repository limit. The downloader reassembles into a temporary file, verifies
-the companion SHA-256, and atomically installs the final PKL. No manifest field
-is required for multipart artifacts.
-
-## Driver Monitoring
-
-Stage the current DM ONNX in `uncompiledmodels`, then run:
+Driver monitoring is built once per tinygrad generation:
 
 ```bash
 ./models --dm \
@@ -148,61 +130,43 @@ Stage the current DM ONNX in `uncompiledmodels`, then run:
   --output-dir /tmp/dm_artifacts
 ```
 
-This builds:
+Replace these four files together:
 
 - `dmonitoring_model_tinygrad.pkl`
 - `dmonitoring_model_metadata.pkl`
 - `dm_warp_1928x1208_tinygrad.pkl`
 - `dm_warp_1344x760_tinygrad.pkl`
 
-All four files must be updated together.
+Recompile RDF V4 with the same pin and replace the built-in
+`selfdrive/modeld/models/driving_tinygrad.pkl` native chunk set. Never commit a
+full built-in PKL over the repository limit.
 
-## Manifest
+## Validation
 
-Generate the base manifest after compilation, then namespace the release artifacts as v23:
+Run repository tests first:
 
 ```bash
-python3 scripts/model_rebuild_pipeline.py manifest \
-  --base-manifest /path/to/model_names_v21.json
+./dev sync
+./.venv/bin/pytest -q -n0 \
+  starpilot/assets/tests/test_model_pipeline.py \
+  common/tests/test_file_chunker.py \
+  scripts/tests/test_model_release.py
 ```
 
-```bash
-python3 scripts/namespace_model_artifacts.py \
-  --workspace /Volumes/T5/StarPilot-Model-Rebuild-2026-06-22 \
-  --base-manifest /Volumes/T5/StarPilot-Model-Rebuild-2026-06-22/manifests/model_names_v22.json \
-  --manifest-version v23 --suffix 3
-```
+For representative v8, v11, v12, v15, v16, and GPU artifacts, validate both
+camera resolutions on real QCOM and require finite plan, lane-line, road-edge,
+lead, pose, and action outputs. Then start `modeld` and confirm stable
+`modelV2` publication. Validate DM `driverStateV2` at both resolutions.
 
-The namespace command changes IDs such as `tr1422` to `tr14223`, renames the
-compiled and upload-ready files, and writes an ID map. It preserves display
-names and behavioral versions. The current model manager requests v23 only;
-the manifest is fetched from `Models/model_names_v23.json`, while v22 remains
-available for devices that have not updated yet.
+## Device Migration
 
-After importing newly compiled sources, normalize the release namespace before
-copying files into either resource repository:
+When `ModelManifestVersion` changes, the model manager retains the selected
+model ID but deletes every non-local downloaded driving artifact from the old
+generation, including full PKLs, `.pNN` parts, native chunks, and chunk
+manifests. It then downloads that ID's v25 chunks. Local models and DM files are
+not deleted. If the selected v25 artifact cannot be downloaded and verified,
+the manager selects the built-in RDF V4 model.
 
-```bash
-python3 scripts/reconcile_v23_artifacts.py \
-  --workspace /Volumes/T5/StarPilot-Model-Rebuild-2026-06-22
-```
-
-This maps recovered source IDs to their v23 release IDs, removes duplicate
-macOS metadata files, and adds `rdf23` for Regret Driven Framework V2. It does
-not overwrite a conflicting artifact.
-Repository-hosted multipart files are discovered by naming convention, so no
-size, hash, format, or part-count metadata is required.
-
-`uses_external_gpu` is optional and defaults to `false`.
-
-## Runtime Verification
-
-Compilation validates JIT capture/replay, pickle round-trip, finite outputs, metadata slices, and both camera warps. Before release:
-
-1. Select representative v8, v11, v12, v15, and supercombo models.
-2. Confirm `modeld` stays running.
-3. Confirm finite `modelV2` path, lane-line, lead, pose, and action data.
-4. Confirm `driverStateV2` on both supported camera resolutions.
-5. Test download, selection, deletion, randomization, migration, and fallback in both device UIs and Galaxy.
-
-The built-in RDF artifact is `selfdrive/modeld/models/driving_tinygrad.pkl`. If migration cannot download the selected v23 artifact, StarPilot switches to that built-in model.
+Test this explicitly before release by starting with a v24 selected model and
+checking that no v24 driving artifact remains under `/data/models` after the
+v25 manifest is applied.

launch_env.sh

@@ -21,7 +21,7 @@ fi
 export QCOM_PRIORITY=12
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="19.6.16"
+  export AGNOS_VERSION="19.6.19"
 fi
 
 if [ -z "$AGNOS_ACCEPTED_VERSIONS" ]; then

opendbc_repo/opendbc/car/ford/carcontroller.py

@@ -18,6 +18,26 @@ AVERAGE_ROAD_ROLL = 0.06  # ~3.4 degrees, 6% superelevation. higher actual roll
 MAX_LATERAL_ACCEL = ISO_LATERAL_ACCEL - (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL)  # ~2.4 m/s^2
 
 
+class FordStockCruiseButton:
+  """Resolve Ford's context-sensitive cancel/resume switch for stock ACC."""
+
+  def __init__(self):
+    self.pressed = False
+    self.cancel = False
+    self.resume = False
+
+  def update(self, pressed: bool, cruise_available: bool, cruise_enabled: bool) -> tuple[bool, bool]:
+    if pressed and not self.pressed:
+      self.cancel = cruise_available and cruise_enabled
+      self.resume = cruise_available and not cruise_enabled
+    elif not pressed:
+      self.cancel = False
+      self.resume = False
+
+    self.pressed = pressed
+    return self.cancel, self.resume
+
+
 def apply_ford_angle(desired_angle_deg: float, current_angle_deg: float) -> float:
   relative_angle = desired_angle_deg - current_angle_deg
   return float(np.clip(relative_angle, -5.8, 5.8))
@@ -85,6 +105,7 @@ class CarController(CarControllerBase):
     self.ford_lateral = None if CP.flags & FordFlags.LKA_STEERING else FordLateralController(CP)
     self.ford_shadow_curvature = 0.0
     self.ford_lateral_announced_mode = FordLateralMode.native
+    self.stock_cruise_button = FordStockCruiseButton()
 
   def update(self, CC, CS, now_nanos, starpilot_toggles):
     can_sends = []
@@ -100,9 +121,23 @@ class CarController(CarControllerBase):
       self.ford_lateral.update_inputs()
 
     ### acc buttons ###
+    stock_cancel = False
+    stock_resume = False
+    if not self.CP.openpilotLongitudinalControl:
+      stock_cancel, stock_resume = self.stock_cruise_button.update(
+        bool(CS.buttons_stock_values["CcAslButtnCnclResPress"]),
+        CS.out.cruiseState.available,
+        CS.out.cruiseState.enabled,
+      )
+
     if CC.cruiseControl.cancel:
       can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, cancel=True))
       can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.main, CS.buttons_stock_values, cancel=True))
+    elif (stock_cancel or stock_resume) and (self.frame % CarControllerParams.BUTTONS_STEP) == 0:
+      can_sends.append(fordcan.create_button_msg(
+        self.packer, self.CAN.camera, CS.buttons_stock_values, cancel=stock_cancel, resume=stock_resume))
+      can_sends.append(fordcan.create_button_msg(
+        self.packer, self.CAN.main, CS.buttons_stock_values, cancel=stock_cancel, resume=stock_resume))
     elif CC.cruiseControl.resume and (self.frame % CarControllerParams.BUTTONS_STEP) == 0:
       can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, resume=True))
       can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.main, CS.buttons_stock_values, resume=True))

opendbc_repo/opendbc/car/ford/tests/test_ford.py

@@ -9,6 +9,7 @@ import pytest
 from opendbc.car import Bus, gen_empty_fingerprint
 from opendbc.can import CANPacker
 from opendbc.car.ford import fordcan
+from opendbc.car.ford.carcontroller import FordStockCruiseButton
 from opendbc.car.gps import FORD_MACH_E_GPS_MESSAGES, get_car_gps_config, parse_ford_can_gps
 from opendbc.car.structs import CarParams
 from opendbc.car.fw_versions import build_fw_dict
@@ -19,6 +20,24 @@ from opendbc.car.ford.fingerprints import FW_VERSIONS
 Ecu = CarParams.Ecu
 
 
+def test_stock_cruise_button_latches_context_until_release():
+  button = FordStockCruiseButton()
+
+  assert button.update(True, cruise_available=True, cruise_enabled=True) == (True, False)
+  assert button.update(True, cruise_available=True, cruise_enabled=False) == (True, False)
+  assert button.update(False, cruise_available=True, cruise_enabled=False) == (False, False)
+
+  assert button.update(True, cruise_available=True, cruise_enabled=False) == (False, True)
+  assert button.update(True, cruise_available=True, cruise_enabled=True) == (False, True)
+  assert button.update(False, cruise_available=True, cruise_enabled=True) == (False, False)
+
+
+def test_stock_cruise_button_ignores_press_with_cruise_master_off():
+  button = FordStockCruiseButton()
+
+  assert button.update(True, cruise_available=False, cruise_enabled=False) == (False, False)
+
+
 ECU_ADDRESSES = {
   Ecu.eps: 0x730,          # Power Steering Control Module (PSCM)
   Ecu.abs: 0x760,          # Anti-Lock Brake System (ABS)

opendbc_repo/opendbc/car/gm/carcontroller.py

@@ -172,7 +172,7 @@ def should_send_cc_button_spam(CP, CC, CS):
   return (
     bool(CP.flags & GMFlags.CC_LONG.value) and
     CC.longActive and
-    CS.out.vEgo > CP.minEnableSpeed
+    CS.out.vEgo >= CP.minEnableSpeed
   )
 
 
@@ -256,6 +256,17 @@ def shape_truck_pitch_accel(pitch_accel: float, v_ego: float, enabled: bool) ->
   return pitch_accel * scale
 
 
+MAX_UPHILL_GRADE_FF = 0.20
+
+
+def limit_grade_feedforward(planner_accel: float, pitch_accel: float) -> float:
+  if pitch_accel > 0.0 and planner_accel > 0.0:
+    return 0.0
+  if pitch_accel > MAX_UPHILL_GRADE_FF:
+    return MAX_UPHILL_GRADE_FF
+  return pitch_accel
+
+
 def shape_truck_friction_brake(apply_brake: int, accel_cmd: float, stopping: bool, active: bool) -> tuple[int, bool]:
   if apply_brake <= 0:
     return 0, False
@@ -1003,14 +1014,13 @@ class CarController(CarControllerBase):
           self.truck_follow_accel = 0.0
         else:
           long_pitch_enabled = bool(getattr(starpilot_toggles, "long_pitch", True))
-          pedal_long_path = bool(self.CP.enableGasInterceptorDEPRECATED and (self.CP.flags & GMFlags.PEDAL_LONG.value))
-          long_pitch_for_powertrain = long_pitch_enabled or pedal_long_path
 
           if self.is_volt:
-            if long_pitch_for_powertrain and len(CC.orientationNED) == 3 and CS.out.vEgo > self.CP.vEgoStopping:
+            if long_pitch_enabled and len(CC.orientationNED) == 3 and CS.out.vEgo > self.CP.vEgoStopping:
               volt_pitch_accel = math.sin(CC.orientationNED[1]) * ACCELERATION_DUE_TO_GRAVITY
             else:
               volt_pitch_accel = 0.0
+            volt_pitch_accel = limit_grade_feedforward(accel, volt_pitch_accel)
 
             aero_drag_accel = (0.5 * self.coeffDrag * self.frontalArea * self.airDensity * CS.out.vEgo ** 2) / self.mass
             accel_cmd = float(np.clip(accel + aero_drag_accel + volt_pitch_accel, self.params.ACCEL_MIN, self.params.ACCEL_MAX))
@@ -1031,7 +1041,7 @@ class CarController(CarControllerBase):
             if self.apply_brake > 0:
               self.apply_gas = self.params.INACTIVE_REGEN
           else:
-            if long_pitch_for_powertrain and len(CC.orientationNED) == 3 and CS.out.vEgo > self.CP.vEgoStopping:
+            if long_pitch_enabled and len(CC.orientationNED) == 3 and CS.out.vEgo > self.CP.vEgoStopping:
               accel_due_to_pitch = math.sin(CC.orientationNED[1]) * ACCELERATION_DUE_TO_GRAVITY
             else:
               accel_due_to_pitch = 0.0
@@ -1048,6 +1058,7 @@ class CarController(CarControllerBase):
               not self.CP.enableGasInterceptorDEPRECATED
             )
             accel_due_to_pitch = shape_truck_pitch_accel(accel_due_to_pitch, CS.out.vEgo, truck_long_smoothing)
+            accel_due_to_pitch = limit_grade_feedforward(actuators.accel, accel_due_to_pitch)
             accel_input = actuators.accel + accel_due_to_pitch
             if truck_long_smoothing:
               accel_input = shape_truck_positive_accel(

opendbc_repo/opendbc/car/gm/interface.py

@@ -500,9 +500,7 @@ class CarInterface(CarInterfaceBase):
         ret.flags |= GMFlags.PEDAL_LONG.value
 
     elif candidate in (CAR.CHEVROLET_SILVERADO, CAR.CHEVROLET_SILVERADO_CC):
-      # On the Bolt, the ECM and camera independently check that you are either above 5 kph or at a stop
-      # with foot on brake to allow engagement, but this platform only has that check in the camera.
-      # TODO: check if this is split by EV/ICE with more platforms in the future
+      ret.minEnableSpeed = 0.
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     elif candidate in (CAR.CHEVROLET_EQUINOX, CAR.CHEVROLET_EQUINOX_CC):
@@ -666,7 +664,8 @@ class CarInterface(CarInterfaceBase):
       ret.alphaLongitudinalAvailable = False
       ret.openpilotLongitudinalControl = not disable_openpilot_long
       ret.pcmCruise = False
-      ret.minEnableSpeed = 24 * CV.MPH_TO_MS
+      if candidate not in (CAR.CHEVROLET_SILVERADO, CAR.CHEVROLET_SILVERADO_CC):
+        ret.minEnableSpeed = 24 * CV.MPH_TO_MS
       ret.radarUnavailable = True
       ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.FLAG_GM_CC_LONG.value
 

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

@@ -53,6 +53,7 @@ from opendbc.car.gm.carcontroller import (
   get_testing_ground_1_brake_switch_bias,
   get_acc_dashboard_status_active,
   get_stock_cc_active_for_cancel,
+  limit_grade_feedforward,
   shape_bolt_acc_pedal_low_speed_friction,
   shape_truck_friction_brake,
   shape_truck_pitch_accel,
@@ -895,6 +896,20 @@ def test_shape_truck_pitch_accel_is_inactive_without_truck_tuning():
   assert shape_truck_pitch_accel(-0.30, 30.0, False) == pytest.approx(-0.30)
 
 
+def test_limit_grade_feedforward_does_not_stack_on_positive_planner():
+  assert limit_grade_feedforward(0.40, 0.50) == 0.0
+
+
+def test_limit_grade_feedforward_caps_uphill_hold():
+  assert limit_grade_feedforward(0.0, 0.50) == pytest.approx(0.20)
+  assert limit_grade_feedforward(-0.10, 0.50) == pytest.approx(0.20)
+
+
+def test_limit_grade_feedforward_keeps_downhill_help():
+  assert limit_grade_feedforward(0.40, -0.30) == pytest.approx(-0.30)
+  assert limit_grade_feedforward(-0.20, -0.30) == pytest.approx(-0.30)
+
+
 def test_shape_truck_friction_brake_suppresses_boundary_chatter():
   assert shape_truck_friction_brake(14, -0.3, False, False) == (0, False)
 

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

@@ -303,11 +303,36 @@ class TestGMInterface:
 
     assert car_params.openpilotLongitudinalControl
     assert not car_params.enableGasInterceptorDEPRECATED
+    assert car_params.minEnableSpeed == pytest.approx(0.0)
     assert list(car_params.longitudinalTuning.kpBP) == pytest.approx([0.0, 5.0, 15.0, 35.0])
     assert list(car_params.longitudinalTuning.kpV) == pytest.approx([0.02, 0.03, 0.028, 0.022])
     assert list(car_params.longitudinalTuning.kiBP) == pytest.approx([0.0, 5.0, 15.0, 35.0])
     assert list(car_params.longitudinalTuning.kiV) == pytest.approx([0.20, 0.18, 0.13, 0.08])
 
+  def test_silverado_camera_acc_allows_engage_from_stop(self):
+    CarInterface = interfaces[CAR.CHEVROLET_SILVERADO]
+    fingerprint = _empty_fingerprint()
+    fingerprint[0] = FINGERPRINTS[CAR.CHEVROLET_SILVERADO][0].copy()
+
+    car_params = CarInterface.get_params(CAR.CHEVROLET_SILVERADO, fingerprint, [], alpha_long=False, is_release=False,
+                                         docs=False, starpilot_toggles=_test_starpilot_toggles())
+
+    assert car_params.minEnableSpeed == pytest.approx(0.0)
+
+  def test_silverado_cc_allows_engage_from_stop(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.minEnableSpeed == pytest.approx(0.0)
+
   def test_blazer_uses_softer_low_speed_stop_hold_tune(self):
     CarInterface = interfaces[CAR.CHEVROLET_BLAZER]
     fingerprint = _empty_fingerprint()
@@ -603,6 +628,13 @@ class TestGMCarController:
     assert not should_send_cc_button_spam(SimpleNamespace(flags=GMFlags.CC_LONG.value, minEnableSpeed=10.0), cc, cs)
     assert not should_send_cc_button_spam(SimpleNamespace(flags=0, minEnableSpeed=10.0), cc, cs)
 
+  def test_cc_button_spam_allows_standstill_when_min_enable_is_zero(self):
+    cp = SimpleNamespace(flags=GMFlags.CC_LONG.value, minEnableSpeed=0.0)
+    cc = SimpleNamespace(longActive=True)
+    cs = SimpleNamespace(out=SimpleNamespace(vEgo=0.0, cruiseState=SimpleNamespace(enabled=False)))
+
+    assert should_send_cc_button_spam(cp, cc, cs)
+
   def test_volt_cc_redneck_spam_is_mirrored_to_camera_bus(self):
     packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_CC][Bus.pt])
     controller = SimpleNamespace(frame=int(0.3 / DT_CTRL), last_button_frame=0, apply_speed=0, malibu_button_phase=0)

opendbc_repo/opendbc/car/hyundai/carcontroller.py

@@ -8,7 +8,7 @@ from opendbc.car.lateral import apply_driver_steer_torque_limits, apply_steer_an
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.hyundai import hyundaicanfd, hyundaican
 from opendbc.car.hyundai.hyundaicanfd import CanBus
-from opendbc.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CAR, CANFD_ANGLE_LONGITUDINAL_CAR, \
+from opendbc.car.hyundai.values import HyundaiFlags, HyundaiStarPilotFlags, Buttons, CarControllerParams, CAR, CANFD_ANGLE_LONGITUDINAL_CAR, \
                                         CANFD_RADAR_LIVE_LONGITUDINAL_CAR, CANFD_ALT_BUTTONS_RESUME_CAR, kia_ev6_gt_line_longitudinal_tuning, \
                                         KIA_EV6_GT_LINE_LONG_TUNING_TESTING_GROUND_ID
 from opendbc.car.interfaces import CarControllerBase
@@ -777,6 +777,8 @@ class CarController(CarControllerBase):
                                                   left_lane_warning, right_lane_warning, lka_icon))
       if self.CP.carFingerprint == CAR.KIA_RAY_EV:
         self._ray_lkas11_active = True
+      if getattr(self.FPCP, "flags", 0) & HyundaiStarPilotFlags.HAS_LKAS12:
+        can_sends.append(hyundaican.create_lkas12(self.packer, CS.lkas12))
 
     # Button messages
     if not self.long_active_ecu:
@@ -850,9 +852,6 @@ class CarController(CarControllerBase):
     )
 
     # steering control
-    # The first-generation Electrified GV70 expects the synthesized LKAS status
-    # payload. Forwarding its stock status bits leaves lane-safety state asserted
-    # while StarPilot is suppressing the stock LFA path.
     preserve_stock_lkas = bool(self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING) and \
       not self.long_active_ecu and self.CP.carFingerprint != CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN and \
       preserve_stock_canfd_lkas_status(self.CP.carFingerprint)

opendbc_repo/opendbc/car/hyundai/carstate.py

@@ -36,6 +36,8 @@ CLASSIC_MEDIA_BUTTON_CARS = frozenset({
 
 
 def get_non_scc_cruise_signals(CP) -> tuple[str, str, str, str, str, str]:
+  if CP.carFingerprint == CAR.KIA_RAY_EV:
+    return "LABEL11", "CC_React", "LABEL11", "CC_Engaged", "E_EMS11", "Cruise_Limit_Target"
   if CP.flags & HyundaiFlags.EV:
     return "LABEL11", "CC_React", "EMS12", "ACC_ACT", "E_EMS11", "Cruise_Limit_Target"
   if CP.flags & HyundaiFlags.HYBRID:
@@ -142,6 +144,7 @@ class CarState(CarStateBase):
     self.msg_364 = {}
     self.lfa_block_msg = {}
     self.stock_lkas_msg = {}
+    self.lkas12 = {}
     self.stock_lfa_msg = {}
     self.stock_lfahda_cluster_msg = {}
     self.stock_camera_lead_visible = False
@@ -347,9 +350,7 @@ class CarState(CarStateBase):
 
     # cruise state
     no_scc = bool(self.CP.flags & HyundaiFlags.NON_SCC)
-    if self.CP.carFingerprint == CAR.KIA_RAY_EV:
-      pass
-    elif no_scc:
+    if no_scc:
       cruise_available_msg, cruise_available_sig, cruise_enabled_msg, cruise_enabled_sig, cruise_speed_msg, cruise_speed_sig = get_non_scc_cruise_signals(self.CP)
       ret.cruiseState.available = cp.vl[cruise_available_msg][cruise_available_sig] != 0
       ret.cruiseState.enabled = cp.vl[cruise_enabled_msg][cruise_enabled_sig] != 0
@@ -440,6 +441,8 @@ class CarState(CarStateBase):
       self.lkas11 = {}
     else:
       self.lkas11 = copy.copy(cp_cam.vl["LKAS11"])
+    if getattr(self.FPCP, "flags", 0) & HyundaiStarPilotFlags.HAS_LKAS12:
+      self.lkas12 = copy.copy(cp_cam.vl["LKAS12"])
     self.clu11 = copy.copy(cp.vl["CLU11"])
     self.steer_state = cp.vl["MDPS12"]["CF_Mdps_ToiActive"]  # 0 NOT ACTIVE, 1 ACTIVE
     if not self.main_cruise_tracking:
@@ -722,6 +725,12 @@ class CarState(CarStateBase):
       ("BCM_PO_11", 0),
       ("CLU13", 0),
     ]
+    if CP.carFingerprint == CAR.KIA_RAY_EV:
+      msgs += [
+        ("LABEL11", 10),
+        ("E_EMS11", 100),
+        ("ELECT_GEAR", 100),
+      ]
     if CP.carFingerprint in CLASSIC_MEDIA_BUTTON_CARS:
       # Steering-wheel media switches are event-driven on the refresh Elantra.
       msgs.append(("GW_SWRC_PE", 0))
@@ -730,7 +739,7 @@ class CarState(CarStateBase):
 
     parsers = {
       Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], msgs, 0),
-      Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [], 2),
+      Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [("LKAS12", 0)], 2),
     }
     if CP.carFingerprint in ALT_BUS_LDA_BUTTON_CARS:
       parsers[Bus.alt] = CANParser(DBC[CP.carFingerprint][Bus.pt], [("CLU13", 0)], 1)

opendbc_repo/opendbc/car/hyundai/hyundaican.py

@@ -81,6 +81,10 @@ def create_lkas11(packer, frame, CP, apply_torque, steer_req,
     values["CF_Lkas_LdwsActivemode"] = 2
 
   if CP.carFingerprint == CAR.KIA_RAY_EV:
+    if not enabled:
+      values["CF_Lkas_LdwsActivemode"] = lkas11["CF_Lkas_LdwsActivemode"]
+      values["CF_Lkas_LdwsSysState"] = lkas11["CF_Lkas_LdwsSysState"]
+      values["CF_Lkas_FcwOpt_USM"] = lkas11["CF_Lkas_FcwOpt_USM"]
     values["CF_Lkas_LdwsOpt_USM"] = 0
     values["CF_Lkas_Chksum"] = 0
 
@@ -102,6 +106,19 @@ def create_lkas11(packer, frame, CP, apply_torque, steer_req,
   return packer.make_can_msg("LKAS11", 0, values)
 
 
+def create_lkas12(packer, lkas12):
+  values = {s: lkas12[s] for s in (
+    "CF_Lkas_TsrSlifOpt",
+    "CF_LkasTsrStatus",
+    "CF_Lkas_TsrSpeed_Display_Clu",
+    "CF_LkasTsrSpeed_Display_Navi",
+    "CF_Lkas_TsrAddinfo_Display",
+    "CF_Lkas_Daw_USM",
+  ) if s in lkas12}
+  values["CF_LkasDawStatus"] = 0
+  return packer.make_can_msg("LKAS12", 0, values)
+
+
 def create_checksum_can_canfd_blended(packer, bus, addr, values):
   dat = packer.make_can_msg(addr, bus, values)[1]
   return hyundai_checksum(dat[1:8])

opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py

@@ -63,61 +63,6 @@ def _update_checksum(packer, address: int, dat: bytearray) -> None:
   _set_value(dat, sig_checksum, checksum)
 
 
-def _set_little_endian_bits(dat: bytearray, lsb: int, size: int, value: int) -> None:
-  """Write the legacy HDA-II field layout without changing the generated DBC aliases."""
-  value &= (1 << size) - 1
-  bit = lsb
-  remaining = size
-  while remaining:
-    byte = bit // 8
-    shift = bit % 8
-    chunk_size = min(remaining, 8 - shift)
-    mask = ((1 << chunk_size) - 1) << shift
-    dat[byte] = (dat[byte] & ~mask) | ((value & ((1 << chunk_size) - 1)) << shift)
-    value >>= chunk_size
-    bit += chunk_size
-    remaining -= chunk_size
-
-
-def _create_gv70_lka_status_msg(packer, CAN, message_name: str, bus: int, enabled: bool,
-                                lat_active: bool, apply_torque: int):
-  values = {
-    "LKA_MODE": 2,
-    "LKA_ICON": 2 if enabled else 1,
-    "TORQUE_REQUEST": apply_torque,
-    "STEER_REQ": 1 if lat_active else 0,
-    "LKA_ASSIST": 0,
-    "STEER_MODE": 0,
-    "DAMP_FACTOR": 100,
-  }
-  address, raw, _ = packer.make_can_msg(message_name, bus, values)
-  dat = bytearray(raw)
-
-  legacy_fields = (
-    (24, 3, 2),
-    (27, 3, 0),
-    (30, 2, 0),
-    (32, 2, 0),
-    (34, 2, 0),
-    (36, 2, 0),
-    (38, 3, 2 if enabled else 1),
-    (52, 2, 1 if lat_active else 0),
-    (54, 2, 0),
-    (56, 1, 0),
-    (60, 4, 0),
-    (80, 2, 0),
-  )
-  for lsb, size, value in legacy_fields:
-    _set_little_endian_bits(dat, lsb, size, value)
-
-  _set_little_endian_bits(dat, 64 if message_name == "LKAS" else 104, 8, 100)
-  if message_name == "LKAS":
-    _set_little_endian_bits(dat, 84, 3, 0)
-
-  _update_checksum(packer, address, dat)
-  return address, bytes(dat), bus
-
-
 def _create_angle_lfa_msg(packer, CAN, values, apply_angle: float, lat_active: bool, torque_reduction_gain: float):
   address = packer.dbc.name_to_msg["LFA"].address
   dat = packer.pack(address, values)
@@ -156,13 +101,6 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_torque,
   if lka_icon is None:
     lka_icon = 2 if enabled else 1
 
-  if CP.carFingerprint == CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN and CP.flags & HyundaiFlags.CANFD_LKA_STEERING:
-    ret = []
-    if CP.openpilotLongitudinalControl:
-      ret.append(_create_gv70_lka_status_msg(packer, CAN, "LFA", CAN.ECAN, enabled, lat_active, apply_torque))
-    ret.append(_create_gv70_lka_status_msg(packer, CAN, "LKAS", CAN.ACAN, enabled, lat_active, apply_torque))
-    return ret
-
   angle_lkas_alt = CP.flags & HyundaiFlags.CANFD_ANGLE_STEERING and CP.flags & HyundaiFlags.CANFD_LKA_STEERING_ALT
 
   control_values = {

opendbc_repo/opendbc/car/hyundai/interface.py

@@ -209,7 +209,9 @@ class CarInterface(CarInterfaceBase):
       ret.enableBsm = 0x58b in fingerprint[CAN.ECAN]
 
       # Send LFA message on cars with HDA
-      if 0x485 in fingerprint[CAN.CAM]:
+      if 0x485 in fingerprint[CAN.CAM] and (
+          candidate != CAR.KIA_RAY_EV or fingerprint[CAN.CAM][0x485] == 4
+      ):
         ret.flags |= HyundaiFlags.SEND_LFA.value
 
       # These cars use the FCA11 message for the AEB and FCW signals, all others use SCC12

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

@@ -710,7 +710,7 @@ class TestHyundaiFingerprint:
     assert parser.vl["LKAS11"]["CF_Lkas_LdwsActivemode"] == 0
     assert parser.vl["LKAS11"]["CF_Lkas_FcwOpt_USM"] == 0
 
-  def test_kia_ray_ev_preserves_stock_lkas_option(self):
+  def test_kia_ray_ev_preserves_stock_inactive_lkas_status(self):
     fingerprint = gen_empty_fingerprint()
     fingerprint[2][0x485] = 4
     CP = CarInterface.get_params(CAR.KIA_RAY_EV, fingerprint, [], False, False, False, None)
@@ -718,15 +718,46 @@ class TestHyundaiFingerprint:
     packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
     parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LKAS11", 0)], 0)
 
+    lkas11 = parser.vl["LKAS11"]
+    lkas11.update({
+      "CF_Lkas_LdwsActivemode": 0,
+      "CF_Lkas_LdwsSysState": 1,
+      "CF_Lkas_FcwOpt_USM": 1,
+    })
     msg = hyundaican.create_lkas11(
-      packer, 0, CP, 0, True, False, parser.vl["LKAS11"], False, 4, False,
+      packer, 0, CP, 0, True, False, lkas11, False, 4, False,
+      True, True, 0, 0, 2,
+    )
+    parser.update([(1, [msg])])
+
+    assert parser.vl["LKAS11"]["CF_Lkas_LdwsActivemode"] == 0
+    assert parser.vl["LKAS11"]["CF_Lkas_LdwsSysState"] == 1
+    assert parser.vl["LKAS11"]["CF_Lkas_LdwsOpt_USM"] == 0
+    assert parser.vl["LKAS11"]["CF_Lkas_FcwOpt_USM"] == 1
+
+  def test_kia_ray_ev_uses_active_lkas_status_when_enabled(self):
+    fingerprint = gen_empty_fingerprint()
+    fingerprint[2][0x485] = 4
+    CP = CarInterface.get_params(CAR.KIA_RAY_EV, fingerprint, [], False, False, False, None)
+    packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
+    parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LKAS11", 0)], 0)
+
+    lkas11 = parser.vl["LKAS11"]
+    lkas11.update({
+      "CF_Lkas_LdwsActivemode": 0,
+      "CF_Lkas_LdwsSysState": 1,
+      "CF_Lkas_FcwOpt_USM": 1,
+    })
+    msg = hyundaican.create_lkas11(
+      packer, 0, CP, 0, True, False, lkas11, False, 4, True,
       True, True, 0, 0, 2,
     )
     parser.update([(1, [msg])])
 
     assert parser.vl["LKAS11"]["CF_Lkas_LdwsActivemode"] == 3
+    assert parser.vl["LKAS11"]["CF_Lkas_LdwsSysState"] == 4
     assert parser.vl["LKAS11"]["CF_Lkas_LdwsOpt_USM"] == 0
-    assert parser.vl["LKAS11"]["CF_Lkas_FcwOpt_USM"] == 1
+    assert parser.vl["LKAS11"]["CF_Lkas_FcwOpt_USM"] == 2
 
   def test_kia_ray_ev_delays_first_lkas11(self):
     fingerprint = gen_empty_fingerprint()
@@ -796,6 +827,60 @@ class TestHyundaiFingerprint:
     palisade_2023 = CarInterface.get_params(CAR.HYUNDAI_PALISADE_2023, gen_empty_fingerprint(), [], True, False, False, None)
     assert palisade_2023.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.HAS_LDA_BUTTON
 
+  def test_lkas12_da_warning_is_filtered_for_camera_fingerprint(self):
+    fingerprint = gen_empty_fingerprint()
+    fingerprint[2][0x53E] = 6
+    CP = CarInterface.get_params(CAR.HYUNDAI_SONATA_HYBRID, fingerprint, [], False, False, False, None)
+    FPCP = CarInterface.get_starpilot_params(CAR.HYUNDAI_SONATA_HYBRID, fingerprint, [], CP, get_test_toggles())
+    assert FPCP.flags & HyundaiStarPilotFlags.HAS_LKAS12
+
+    packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
+    stock = {
+      "CF_Lkas_TsrSlifOpt": 3,
+      "CF_LkasTsrStatus": 2,
+      "CF_Lkas_TsrSpeed_Display_Clu": 80,
+      "CF_LkasTsrSpeed_Display_Navi": 70,
+      "CF_Lkas_TsrAddinfo_Display": 1,
+      "CF_Lkas_Daw_USM": 0,
+      "CF_LkasDawStatus": 1,
+    }
+    msg = hyundaican.create_lkas12(packer, stock)
+    parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LKAS12", 0)], 0)
+    parser.update([(1, [msg])])
+
+    assert parser.can_valid
+    assert parser.vl["LKAS12"]["CF_LkasDawStatus"] == 0
+    assert parser.vl["LKAS12"]["CF_Lkas_TsrSpeed_Display_Clu"] == 80
+
+    no_lkas12 = CarInterface.get_params(CAR.HYUNDAI_SONATA_HYBRID, gen_empty_fingerprint(), [], False, False, False, None)
+    no_lkas12_fpcp = CarInterface.get_starpilot_params(
+      CAR.HYUNDAI_SONATA_HYBRID, gen_empty_fingerprint(), [], no_lkas12, get_test_toggles(),
+    )
+    assert not (no_lkas12_fpcp.flags & HyundaiStarPilotFlags.HAS_LKAS12)
+
+  def test_ray_ev_does_not_treat_eight_byte_53e_as_lkas12(self):
+    fingerprint = gen_empty_fingerprint()
+    fingerprint[2][0x53E] = 8
+    CP = CarInterface.get_params(CAR.KIA_RAY_EV, fingerprint, [], False, False, False, None)
+    FPCP = CarInterface.get_starpilot_params(CAR.KIA_RAY_EV, fingerprint, [], CP, get_test_toggles())
+
+    assert not (FPCP.flags & HyundaiStarPilotFlags.HAS_LKAS12)
+
+  def test_ray_ev_does_not_treat_eight_byte_485_as_lfa(self):
+    fingerprint = gen_empty_fingerprint()
+    fingerprint[2][0x485] = 8
+    CP = CarInterface.get_params(CAR.KIA_RAY_EV, fingerprint, [], False, False, False, None)
+
+    assert not (CP.flags & HyundaiFlags.SEND_LFA)
+
+  def test_non_ray_legacy_platform_keeps_53e_lkas12_detection(self):
+    fingerprint = gen_empty_fingerprint()
+    fingerprint[2][0x53E] = 8
+    CP = CarInterface.get_params(CAR.HYUNDAI_SONATA_HYBRID, fingerprint, [], False, False, False, None)
+    FPCP = CarInterface.get_starpilot_params(CAR.HYUNDAI_SONATA_HYBRID, fingerprint, [], CP, get_test_toggles())
+
+    assert FPCP.flags & HyundaiStarPilotFlags.HAS_LKAS12
+
   def test_carnival_lka_button_does_not_enable_angle_steering_safety(self):
     fingerprint = gen_empty_fingerprint()
     fingerprint[0][0x391] = 8
@@ -864,7 +949,7 @@ class TestHyundaiFingerprint:
     (CAR.HYUNDAI_ELANTRA_2022_NON_SCC, ("EMS16", "LVR12"), ()),
     (CAR.HYUNDAI_ELANTRA_HEV_2022_NON_SCC, ("E_CRUISE_CONTROL", "ELECT_GEAR"), ("EMS16",)),
     (CAR.HYUNDAI_KONA_EV_NON_SCC, ("LABEL11", "EMS12", "E_EMS11"), ()),
-    (CAR.KIA_RAY_EV, ("E_EMS11",), ("LABEL11", "EMS12", "SCC11", "SCC12")),
+    (CAR.KIA_RAY_EV, ("LABEL11", "E_EMS11", "ELECT_GEAR"), ("EMS12", "SCC11", "SCC12")),
   ])
   def test_non_scc_cruise_message_selection(self, candidate, expected_msgs, unexpected_msgs):
     toggles = get_test_toggles()
@@ -883,6 +968,26 @@ class TestHyundaiFingerprint:
     assert not ret.cruiseState.enabled
     assert ret.cruiseState.speed == 0
 
+  def test_kia_ray_ev_decodes_cruise_state(self):
+    toggles = get_test_toggles()
+    CP = CarInterface.get_params(CAR.KIA_RAY_EV, gen_empty_fingerprint(), [], True, False, False, toggles)
+    FPCP = CarInterface.get_starpilot_params(CAR.KIA_RAY_EV, gen_empty_fingerprint(), [], CP, toggles)
+    car_state = CarState(CP, FPCP)
+    can_parsers = car_state.get_can_parsers(CP)
+    packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
+
+    can_parsers[Bus.pt].update([(1_000_000_000, [
+      packer.make_can_msg("LABEL11", 0, {"CC_React": 1, "CC_Engaged": 1}),
+      packer.make_can_msg("E_EMS11", 0, {"Cruise_Limit_Target": 10, "Accel_Pedal_Pos": 0}),
+      packer.make_can_msg("ELECT_GEAR", 0, {"Elect_Gear_Shifter": 5}),
+    ])])
+
+    ret, _ = car_state.update(can_parsers, toggles)
+
+    assert ret.cruiseState.available
+    assert ret.cruiseState.enabled
+    assert ret.cruiseState.speed == pytest.approx(10 * 0.2777778)
+
   def test_hyundai_redneck_cruise_availability(self, monkeypatch):
     class FakeParams:
       def __init__(self, *args, **kwargs):
@@ -2288,7 +2393,7 @@ class TestHyundaiFingerprint:
     assert parser.vl["LKAS_ALT"]["ADAS_ACIAnglTqRedcGainVal"] == pytest.approx(0.0)
     assert parser.vl["LKAS_ALT"]["ADAS_StrAnglReqVal"] == pytest.approx(8.5)
 
-  def test_gv70_electrified_synthesizes_lkas_status_payload(self):
+  def test_gv70_electrified_uses_generic_lkas_status_payload(self):
     CP = CarParams.new_message()
     CP.carFingerprint = CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN
     CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.EV | HyundaiFlags.CANFD_LKA_STEERING)
@@ -2331,9 +2436,11 @@ class TestHyundaiFingerprint:
     parser.update([(1, lkas_msgs)])
     assert parser.can_valid
     assert parser.vl["LKAS"]["HAS_LANE_SAFETY"] == 0
-    assert parser.vl["LKAS"]["DAMP_FACTOR"] == 100
+    assert parser.vl["LKAS"]["DAMP_FACTOR"] == 0
     assert parser.vl["LKAS"]["TORQUE_REQUEST"] == 0
     assert parser.vl["LKAS"]["STEER_REQ"] == 1
+    assert parser.vl["LKAS"]["STEER_MODE"] == 0
+    assert parser.vl["LKAS"]["NEW_SIGNAL_2"] == 0
 
     CP.openpilotLongitudinalControl = True
     lfa_parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LFA", 0)], can_bus.ECAN)

opendbc_repo/opendbc/car/hyundai/values.py

@@ -124,6 +124,7 @@ class HyundaiStarPilotSafetyFlags(IntFlag):
 class HyundaiStarPilotFlags(IntFlag):
   SPEED_LIMIT_AVAILABLE = 1
   MAIN_CRUISE_STATE_TRACKING = 2 ** 2
+  HAS_LKAS12 = 2 ** 9
 
 
 class HyundaiFlags(IntFlag):

opendbc_repo/opendbc/car/interfaces.py

@@ -240,6 +240,9 @@ class CarInterfaceBase(ABC):
           if 0x1FA in fingerprint[CAN.ECAN]:
             fp_ret.flags |= HyundaiStarPilotFlags.SPEED_LIMIT_AVAILABLE.value
 
+        if candidate != HYUNDAI.KIA_RAY_EV and not (CP.flags & HyundaiFlags.CANFD) and 0x53E in fingerprint[2]:
+          fp_ret.flags |= HyundaiStarPilotFlags.HAS_LKAS12.value
+
         fp_ret.redneckCruiseAvailable = bool(CP.flags & HyundaiFlags.NON_SCC) and not bool(CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS)
         if fp_ret.redneckCruiseAvailable and params.get_bool("RedneckCruise"):
           fp_ret.pcmCruiseSpeed = False

opendbc_repo/opendbc/car/subaru/carcontroller.py

@@ -39,6 +39,7 @@ _STOP_START_PULSE_FRAMES = 30
 _STOP_START_PULSE_PERIOD_FRAMES = 5
 _AVH_STARTUP_DELAY_FRAMES = _STOP_START_STARTUP_DELAY_FRAMES
 _AVH_STARTUP_DEADLINE_FRAMES = _STOP_START_STARTUP_DEADLINE_FRAMES
+_AVH_PULSE_MESSAGES = 15  # Match the native 10 Hz AVH frame for roughly 1.5 seconds
 
 
 def get_safety_CP():
@@ -92,6 +93,7 @@ class CarController(CarControllerBase):
     self.avh_attempted = False
     self.avh_request_started = False
     self.avh_last_counter = None
+    self.avh_messages_sent = 0
 
   def _stop_start_off_request(self, CC, CS, starpilot_toggles):
     """Send one bounded Subaru Stop/Start OFF request after ignition.
@@ -149,7 +151,7 @@ class CarController(CarControllerBase):
     return msg
 
   def _avh_on_request(self, CC, CS, starpilot_toggles):
-    """Send one bounded Subaru AVH ON request after ignition.
+    """Send a bounded Subaru AVH ON pulse after ignition.
 
     The AVH button frame was identified on the 2025 Legacy only. Keep this
     independent from Stop/Start so the existing Outback request is unchanged.
@@ -181,15 +183,20 @@ class CarController(CarControllerBase):
       self.avh_request_started = True
       self.avh_last_counter = int(avh_msg.get("COUNTER", 0)) % 0x10
 
+    if self.avh_messages_sent >= _AVH_PULSE_MESSAGES:
+      self.avh_attempted = True
+      return None
+
     counter = int(avh_msg.get("COUNTER", 0)) % 0x10
     if counter == self.avh_last_counter:
       return None
 
-    self.avh_attempted = True
     msg = subarucan.create_avh_control(
       self.packer, avh_msg, raw_dat=avh_dat,
       counter=counter, bus=CanBus.alt_for_cp(self.CP),
     )
+    self.avh_last_counter = counter
+    self.avh_messages_sent += 1
     return msg
 
   def _reset_legacy_2025_handoff(self):

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

@@ -292,7 +292,7 @@ def test_stop_start_request_is_bounded_and_uses_live_dashlights(platform, expect
   assert controller.stop_start_acknowledged
 
 
-def test_avh_request_sets_observed_bit_and_is_bounded():
+def test_avh_request_sets_observed_bit_and_pulses_at_native_rate():
   CP = CarInterface.get_non_essential_params(CAR.SUBARU_LEGACY_2025)
   controller = CarController({}, CP)
   controller.frame = 101
@@ -318,6 +318,8 @@ def test_avh_request_sets_observed_bit_and_is_bounded():
     out=SimpleNamespace(
       standstill=True,
       gearShifter=structs.CarState.GearShifter.park,
+      vEgoRaw=0.0,
+      steeringAngleDeg=0.0,
     ),
   )
   toggles = SimpleNamespace(subaru_stop_start_off=False, subaru_avh_on=True, subaru_sng=False)
@@ -341,6 +343,37 @@ def test_avh_request_sets_observed_bit_and_is_bounded():
   assert parser.vl["AVH"]["AVH"] == 1
   assert parser.vl["AVH"]["COUNTER"] == 0
 
+  controller.frame = 104
+  _, can_sends = controller.update(CC, CS, 0, toggles)
+  assert not any(msg[0] == 0x32b for msg in can_sends)
+
+  avh_msgs = []
+  for counter in range(1, 15):
+    CS.avh_msg["COUNTER"] = counter
+    raw_dat = bytearray.fromhex("14001c4208800000")
+    raw_dat[1] = counter
+    raw_dat[0] = ((0x32B & 0xFF) + ((0x32B >> 8) & 0xFF) + sum(raw_dat[1:])) & 0xFF
+    CS.avh_dat = bytes(raw_dat)
+    controller.frame = 103 + (counter * 10)
+    _, can_sends = controller.update(CC, CS, 0, toggles)
+    sent = [msg for msg in can_sends if msg[0] == 0x32b]
+    assert len(sent) == 1
+    avh_msgs.extend(sent)
+
+  assert len(avh_msgs) == 14
+  assert [msg[1][1] & 0x0F for msg in avh_msgs] == list(range(1, 15))
+  assert all(msg[1][5] & 0x20 for msg in avh_msgs)
+  assert not controller.avh_attempted
+
+  CS.avh_msg["COUNTER"] = 15
+  CS.avh_dat = bytes.fromhex("230f1c4208800000")
+  controller.frame = 253
+  _, can_sends = controller.update(CC, CS, 0, toggles)
+  assert not any(msg[0] == 0x32b for msg in can_sends)
+  assert controller.avh_attempted
+
+  CS.avh_msg["COUNTER"] = 0
+  CS.avh_dat = bytes.fromhex("14001c4208800000")
   controller.frame = 131
   _, can_sends = controller.update(CC, CS, 0, toggles)
   assert not any(msg[0] == 0x32b for msg in can_sends)

opendbc_repo/opendbc/dbc/hyundai_can_refresh_generated.dbc

@@ -1500,6 +1500,7 @@ BO_ 913 BCM_PO_11: 8 Vector__XXX
 
 BO_ 1426 LABEL11: 8 XXX
  SG_ CC_React : 34|1@1+ (1,0) [0|1] "" XXX
+ SG_ CC_Engaged : 35|1@1+ (1,0) [0|1] "" XXX
 
 BO_ 910 WHL_SPD12_FS: 5 iBAU
  SG_ CRC : 0|8@1+ (1,0) [0|0] "" Vector__XXX

opendbc_repo/opendbc/dbc/hyundai_kia_generic.dbc

@@ -1500,6 +1500,7 @@ BO_ 913 BCM_PO_11: 8 Vector__XXX
 
 BO_ 1426 LABEL11: 8 XXX
  SG_ CC_React : 34|1@1+ (1,0) [0|1] "" XXX
+ SG_ CC_Engaged : 35|1@1+ (1,0) [0|1] "" XXX
 
 BO_ 910 WHL_SPD12_FS: 5 iBAU
  SG_ CRC : 0|8@1+ (1,0) [0|0] "" Vector__XXX

opendbc_repo/opendbc/safety/modes/ford.h

@@ -89,6 +89,8 @@ static bool ford_get_quality_flag_valid(const CANPacket_t *msg) {
 static bool ford_lka_steering = false;
 static bool ford_extended_lateral = false;
 static bool ford_angle_mode = false;
+static bool ford_longitudinal = false;
+static bool ford_cancel_resume_button = false;
 static int16_t ford_shadow_curvature = 0;
 
 // Curvature rate limits
@@ -219,6 +221,10 @@ static void ford_rx_hook(const CANPacket_t *msg) {
 
       acc_main_on = (cruise_state == 3U) || cruise_engaged;
     }
+
+    if (msg->addr == FORD_Steering_Data_FD1) {
+      ford_cancel_resume_button = ((msg->data[2] >> 5) & 1U) != 0U;
+    }
   }
 }
 
@@ -276,7 +282,8 @@ static bool ford_tx_hook(const CANPacket_t *msg) {
     // if cancel button is pressed when cruise isn't engaged.
     bool violation = false;
     violation |= ((msg->data[1] >> 0) & 1U) && !cruise_engaged_prev;   // Signal: CcAslButtnCnclPress (cancel)
-    violation |= ((msg->data[3] >> 1) & 1U) && !controls_allowed;     // Signal: CcAsllButtnResPress (resume)
+    bool stock_resume_from_driver = !ford_longitudinal && acc_main_on && ford_cancel_resume_button;
+    violation |= ((msg->data[3] >> 1) & 1U) && !(controls_allowed || stock_resume_from_driver);  // Signal: CcAsllButtnResPress (resume)
 
     if (violation) {
       tx = false;
@@ -415,6 +422,7 @@ static safety_config ford_init(uint16_t param) {
     {.msg = {{FORD_Yaw_Data_FD1, 0, 8, 100U, .max_counter = 255U}, { 0 }, { 0 }}},
     // These messages have no counter or checksum
     {.msg = {{FORD_EngBrakeData, 0, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
+    {.msg = {{FORD_Steering_Data_FD1, 0, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
     {.msg = {{FORD_EngVehicleSpThrottle, 0, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
     {.msg = {{FORD_DesiredTorqBrk, 0, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
   };
@@ -454,10 +462,11 @@ static safety_config ford_init(uint16_t param) {
   ford_lka_steering = GET_FLAG(param, FORD_PARAM_LKA_STEERING);
   ford_extended_lateral = false;
   ford_angle_mode = false;
+  ford_cancel_resume_button = false;
   ford_shadow_curvature = 0;
   ford_desired_path_angle_last = 0;
 
-  bool ford_longitudinal = false;
+  ford_longitudinal = false;
 
 #ifdef ALLOW_DEBUG
   const uint16_t FORD_PARAM_LONGITUDINAL = 1;

opendbc_repo/opendbc/safety/modes/hyundai.h

@@ -29,6 +29,7 @@ const LongitudinalLimits HYUNDAI_LONG_LIMITS = {
   {0x340, 0,                           8, .check_relay = true},   /* LKAS11 Bus 0                              */ \
   {0x4F1, scc_bus,                     4, .check_relay = false},  /* CLU11 Bus 0 (radar-SCC) or 2 (camera-SCC) */ \
   {0x485, 0,       (can_refresh) ? 8 : 4, .check_relay = true},   /* LFAHDA_MFC Bus 0                          */ \
+  {0x53E, 0,                           6, .check_relay = false},  /* LKAS12 replacement after camera advertises it */ \
 
 #define HYUNDAI_LONG_COMMON_TX_MSGS(scc_bus, can_refresh) \
   HYUNDAI_COMMON_TX_MSGS(scc_bus, can_refresh) \
@@ -140,6 +141,12 @@ static uint32_t hyundai_get_checksum(const CANPacket_t *msg) {
   return chksum;
 }
 
+static void hyundai_rx_all_hook(const CANPacket_t *msg) {
+  if ((msg->addr == 0x53EU) && (msg->bus == 2U) && (GET_LEN(msg) == 6U)) {
+    hyundai_has_lkas12 = true;
+  }
+}
+
 static uint32_t hyundai_compute_checksum(const CANPacket_t *msg) {
   uint8_t chksum = 0;
   if (msg->addr == 0x386U) {
@@ -284,6 +291,10 @@ static bool hyundai_tx_hook(const CANPacket_t *msg) {
 
   bool tx = true;
 
+  if ((msg->addr == 0x53EU) && !hyundai_has_lkas12) {
+    tx = false;
+  }
+
   // FCA11: Block any potential actuation. The blended HDA II layout uses
   // different static fields, but its explicit AEB/FCA request bits stay zero.
   if (msg->addr == 0x38DU) {
@@ -695,6 +706,7 @@ static safety_config hyundai_legacy_init(uint16_t param) {
 const safety_hooks hyundai_hooks = {
   .init = hyundai_init,
   .rx = hyundai_rx_hook,
+  .rx_all = hyundai_rx_all_hook,
   .tx = hyundai_tx_hook,
   .get_counter = hyundai_get_counter,
   .get_checksum = hyundai_get_checksum,
@@ -704,6 +716,7 @@ const safety_hooks hyundai_hooks = {
 const safety_hooks hyundai_legacy_hooks = {
   .init = hyundai_legacy_init,
   .rx = hyundai_rx_hook,
+  .rx_all = hyundai_rx_all_hook,
   .tx = hyundai_tx_hook,
   .get_counter = hyundai_get_counter,
   .get_checksum = hyundai_get_checksum,

opendbc_repo/opendbc/safety/modes/hyundai_common.h

@@ -63,6 +63,9 @@ bool hyundai_cancel_button_enable = false;
 extern bool hyundai_can_refresh_msgs;
 bool hyundai_can_refresh_msgs = false;
 
+extern bool hyundai_has_lkas12;
+bool hyundai_has_lkas12 = false;
+
 extern bool hyundai_elantra_hev_2024;
 bool hyundai_elantra_hev_2024 = false;
 
@@ -106,6 +109,7 @@ void hyundai_common_init(uint16_t param) {
   hyundai_non_scc = GET_FLAG(param, HYUNDAI_PARAM_NON_SCC);
   hyundai_cancel_button_enable = GET_FLAG(param, HYUNDAI_PARAM_CANCEL_BTN_ENABLE);
   hyundai_can_refresh_msgs = GET_FLAG(param, HYUNDAI_PARAM_CAN_REFRESH_MSGS);
+  hyundai_has_lkas12 = false;
   hyundai_elantra_hev_2024 = hyundai_can_refresh_msgs && hyundai_hybrid_gas_signal && hyundai_camera_scc;
   hyundai_aol_main_lkas_sync = false;
 

opendbc_repo/opendbc/safety/tests/test_ford.py

@@ -75,6 +75,7 @@ class TestFordSafetyBase(common.CarSafetyTest):
                                MSG_LateralMotionControl2, MSG_IPMA_Data]}
 
   STEER_MESSAGE = 0
+  STOCK_LONGITUDINAL = False
 
   # Curvature control limits
   LKA_STEERING = False
@@ -199,6 +200,17 @@ class TestFordSafetyBase(common.CarSafetyTest):
     }
     return self.packer.make_can_msg_safety("Steering_Data_FD1", bus, values)
 
+  def _combined_cancel_resume_msg(self, pressed: bool):
+    values = {"CcAslButtnCnclResPress": int(pressed)}
+    return self.packer.make_can_msg_safety("Steering_Data_FD1", 0, values)
+
+  def _pcm_main_on_msg(self, main_on: bool):
+    values = {
+      "BpedDrvAppl_D_Actl": 1,
+      "CcStat_D_Actl": 3 if main_on else 0,
+    }
+    return self.packer.make_can_msg_safety("EngBrakeData", 0, values)
+
   def test_rx_hook(self):
     # checksum, counter, and quality flag checks
     for quality_flag in [True, False]:
@@ -381,6 +393,25 @@ class TestFordSafetyBase(common.CarSafetyTest):
       for bus in (0, 2):
         self.assertEqual(enabled, self._tx(self._acc_button_msg(Buttons.CANCEL, bus)))
 
+  def test_stock_resume_relay_requires_physical_button_and_cruise_main(self):
+    self.safety.set_controls_allowed(False)
+    self._rx(self._pcm_main_on_msg(True))
+    for bus in (0, 2):
+      self.assertFalse(self._tx(self._acc_button_msg(Buttons.RESUME, bus)))
+
+    self._rx(self._combined_cancel_resume_msg(True))
+    for bus in (0, 2):
+      self.assertEqual(self.STOCK_LONGITUDINAL, self._tx(self._acc_button_msg(Buttons.RESUME, bus)))
+
+    self._rx(self._combined_cancel_resume_msg(False))
+    for bus in (0, 2):
+      self.assertFalse(self._tx(self._acc_button_msg(Buttons.RESUME, bus)))
+
+    self._rx(self._pcm_main_on_msg(False))
+    self._rx(self._combined_cancel_resume_msg(True))
+    for bus in (0, 2):
+      self.assertFalse(self._tx(self._acc_button_msg(Buttons.RESUME, bus)))
+
   def _toggle_aol(self, toggle_on):
     # EngBrakeData, CcStat_D_Actl is the cruise state
     # 3 is standby (main on), 5 is active (engaged)
@@ -394,6 +425,7 @@ class TestFordSafetyBase(common.CarSafetyTest):
 
 class TestFordCANFDStockSafety(TestFordSafetyBase):
   STEER_MESSAGE = MSG_LateralMotionControl2
+  STOCK_LONGITUDINAL = True
 
   TX_MSGS = [
     [MSG_Steering_Data_FD1, 0], [MSG_Steering_Data_FD1, 2], [MSG_ACCDATA_3, 0], [MSG_Lane_Assist_Data1, 0],
@@ -446,6 +478,7 @@ class TestFordCANFDStockSafety(TestFordSafetyBase):
 
 class TestFordStockSafety(TestFordSafetyBase):
   STEER_MESSAGE = MSG_LateralMotionControl
+  STOCK_LONGITUDINAL = True
 
   TX_MSGS = [
     [MSG_Steering_Data_FD1, 0], [MSG_Steering_Data_FD1, 2], [MSG_ACCDATA_3, 0], [MSG_Lane_Assist_Data1, 0],

opendbc_repo/opendbc/safety/tests/test_hyundai.py

@@ -427,6 +427,18 @@ def test_hyundai_starpilot_rx_sources():
   safety.safety_rx_hook(libsafety_py.make_CANPacket(0x421, 0, bytes(8)))
 
 
+def test_hyundai_lkas12_tx_requires_stock_camera_message():
+  safety = libsafety_py.libsafety
+  assert safety.set_safety_hooks(CarParams.SafetyModel.hyundai, 0) == 0
+  safety.init_tests()
+
+  lkas12 = libsafety_py.make_CANPacket(0x53E, 0, bytes(6))
+  assert not safety.safety_tx_hook(lkas12)
+
+  safety.safety_rx_hook(libsafety_py.make_CANPacket(0x53E, 2, bytes(6)))
+  assert safety.safety_tx_hook(lkas12)
+
+
 class TestHyundaiLongitudinalSafety(HyundaiLongitudinalBase, TestHyundaiSafety):
   TX_MSGS = [[0x340, 0], [0x4F1, 0], [0x485, 0], [0x420, 0], [0x421, 0], [0x50A, 0], [0x389, 0], [0x4A2, 0], [0x38D, 0], [0x483, 0], [0x7D0, 0]]
 

panda/board/obj/gitversion.h

@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-3ebc6b99-DEBUG";
+const uint8_t gitversion[19] = "DEV-26ce46ba-DEBUG";

panda/board/obj/version

@@ -1 +1 @@
-DEV-3ebc6b99-DEBUG
+DEV-26ce46ba-DEBUG