From f18e42f9a8947ecee10941cae3274f2be7e6a65d Mon Sep 17 00:00:00 2001
From: 1okko <15377594951@189.cn>
Date: Tue, 15 Apr 2025 22:05:32 +0800
Subject: [PATCH] MEB888

---
 opendbc_repo/opendbc/can/dbc.cc               |   4 +-
 opendbc_repo/opendbc/can/libdbc.so            | Bin 3562432 -> 3562416 bytes
 .../opendbc/can/tests/test_checksums.py       |   2 +-
 opendbc_repo/opendbc/car/__init__.py          |  13 +-
 opendbc_repo/opendbc/car/car.capnp            |   3 +-
 opendbc_repo/opendbc/car/docs_definitions.py  |  25 +--
 opendbc_repo/opendbc/car/ford/interface.py    |   1 +
 .../opendbc/car/fw_query_definitions.py       |   5 +
 opendbc_repo/opendbc/car/gm/carcontroller.py  |   2 +-
 opendbc_repo/opendbc/car/gm/gmcan.py          |   8 +-
 opendbc_repo/opendbc/car/gm/interface.py      |   5 +-
 .../opendbc/car/gm/radar_interface.py         |   3 +-
 opendbc_repo/opendbc/car/gm/values.py         |  17 +-
 opendbc_repo/opendbc/car/honda/values.py      |   2 +-
 .../opendbc/car/hyundai/fingerprints.py       |   5 +
 opendbc_repo/opendbc/car/hyundai/values.py    |   2 +-
 .../opendbc/car/rivian/carcontroller.py       |  14 +-
 opendbc_repo/opendbc/car/rivian/interface.py  |   5 +-
 opendbc_repo/opendbc/car/rivian/riviancan.py  |  54 ++---
 opendbc_repo/opendbc/car/rivian/values.py     |  38 +++-
 .../opendbc/car/subaru/fingerprints.py        |   5 +
 opendbc_repo/opendbc/car/tesla/carstate.py    |   8 +-
 .../opendbc/car/tesla/fingerprints.py         |   2 +
 opendbc_repo/opendbc/car/tesla/interface.py   |   2 +-
 opendbc_repo/opendbc/car/tests/routes.py      |   2 +
 .../opendbc/car/tests/test_fw_fingerprint.py  |   4 +-
 .../opendbc/car/torque_data/override.toml     |   2 +
 .../opendbc/car/torque_data/params.toml       |   1 +
 .../opendbc/car/torque_data/substitute.toml   |   1 +
 .../opendbc/car/toyota/fingerprints.py        |  17 ++
 opendbc_repo/opendbc/car/toyota/interface.py  |   1 -
 opendbc_repo/opendbc/car/toyota/values.py     |   7 +-
 .../opendbc/car/volkswagen/carcontroller.py   | 118 ++++++----
 .../opendbc/car/volkswagen/carstate.py        | 110 +++++++++-
 .../opendbc/car/volkswagen/fingerprints.py    |  13 ++
 .../opendbc/car/volkswagen/interface.py       |  16 +-
 opendbc_repo/opendbc/car/volkswagen/values.py |  77 ++++++-
 .../generator/gm/gm_global_a_powertrain.dbc   |   9 +-
 .../dbc/generator/nissan/_nissan_common.dbc   |   2 +-
 .../dbc/gm_global_a_powertrain_generated.dbc  |   9 +-
 .../dbc/nissan_leaf_2018_generated.dbc        |   2 +-
 .../dbc/nissan_x_trail_2017_generated.dbc     |   2 +-
 .../opendbc/dbc/rivian_primary_actuator.dbc   |  34 +--
 .../opendbc/dbc/tesla_model3_party.dbc        |  38 +++-
 opendbc_repo/opendbc/dbc/vw_meb.dbc           |  16 +-
 opendbc_repo/opendbc/safety/safety.h          |  18 +-
 .../opendbc/safety/safety/safety_chrysler.h   |   9 +-
 .../opendbc/safety/safety/safety_ford.h       |   2 +-
 .../opendbc/safety/safety/safety_gm.h         |  21 +-
 .../opendbc/safety/safety/safety_hyundai.h    |   3 +-
 .../safety/safety/safety_hyundai_canfd.h      |   3 +-
 .../opendbc/safety/safety/safety_mazda.h      |   3 +-
 .../opendbc/safety/safety/safety_rivian.h     | 109 +++++++++-
 .../opendbc/safety/safety/safety_subaru.h     |   3 +-
 .../safety/safety/safety_subaru_preglobal.h   |   3 +-
 .../opendbc/safety/safety/safety_toyota.h     |   5 +-
 .../safety/safety/safety_volkswagen_common.h  |  23 ++
 .../safety/safety/safety_volkswagen_mqb.h     |   3 +-
 .../safety/safety/safety_volkswagen_pq.h      |   3 +-
 .../opendbc/safety/safety_declarations.h      |  10 +-
 opendbc_repo/opendbc/safety/tests/common.py   | 203 +++++++++++-------
 .../safety/tests/safety_replay/helpers.py     |   4 +-
 .../opendbc/safety/tests/test_chrysler.py     |   7 +-
 opendbc_repo/opendbc/safety/tests/test_gm.py  |  18 +-
 .../opendbc/safety/tests/test_hyundai.py      |   8 +-
 .../safety/tests/test_hyundai_canfd.py        |   4 +-
 .../opendbc/safety/tests/test_mazda.py        |   3 +-
 .../opendbc/safety/tests/test_rivian.py       |  85 ++++++--
 .../opendbc/safety/tests/test_subaru.py       |   7 +-
 .../safety/tests/test_subaru_preglobal.py     |   3 +-
 .../opendbc/safety/tests/test_toyota.py       |   4 +-
 .../safety/tests/test_volkswagen_mqb.py       |   7 +-
 .../safety/tests/test_volkswagen_pq.py        |   7 +-
 73 files changed, 919 insertions(+), 365 deletions(-)

diff --git a/opendbc_repo/opendbc/can/dbc.cc b/opendbc_repo/opendbc/can/dbc.cc
index 09c93b89..9b81a6ca 100644
--- a/opendbc_repo/opendbc/can/dbc.cc
+++ b/opendbc_repo/opendbc/can/dbc.cc
@@ -57,9 +57,9 @@ ChecksumState* get_checksum(const std::string& dbc_name) {
     s = new ChecksumState({8, -1, 7, -1, false, TOYOTA_CHECKSUM, &toyota_checksum});
   } else if (startswith(dbc_name, "hyundai_canfd_generated")) {
     s = new ChecksumState({16, -1, 0, -1, true, HKG_CAN_FD_CHECKSUM, &hkg_can_fd_checksum});
-  } else if (startswith(dbc_name, {"vw_mqb_2010", "vw_mqbevo", "vw_meb"})) {
+  } else if (startswith(dbc_name, {"vw_mqb", "vw_mqbevo", "vw_meb"})) {
     s = new ChecksumState({8, 4, 0, 0, true, VOLKSWAGEN_MQB_MEB_CHECKSUM, &volkswagen_mqb_meb_checksum});
-  } else if (startswith(dbc_name, "vw_golf_mk4")) {
+  } else if (startswith(dbc_name, "vw_pq")) {
     s = new ChecksumState({8, 4, 0, -1, true, XOR_CHECKSUM, &xor_checksum});
   } else if (startswith(dbc_name, "subaru_global_")) {
     s = new ChecksumState({8, -1, 0, -1, true, SUBARU_CHECKSUM, &subaru_checksum});
diff --git a/opendbc_repo/opendbc/can/libdbc.so b/opendbc_repo/opendbc/can/libdbc.so
index 64c1be5c1219c23e56e7819b6aa0a273f711ea86..6bb7f2d7b063fbec388df72c3fcec4153585ca86 100755
GIT binary patch
delta 70199
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diff --git a/opendbc_repo/opendbc/can/tests/test_checksums.py b/opendbc_repo/opendbc/can/tests/test_checksums.py
index b9a0a9ad..006bd12e 100644
--- a/opendbc_repo/opendbc/can/tests/test_checksums.py
+++ b/opendbc_repo/opendbc/can/tests/test_checksums.py
@@ -93,7 +93,7 @@ class TestCanChecksums:
   def verify_volkswagen_mqb_crc(self, subtests, msg_name: str, msg_addr: int, test_messages: list[bytes], counter_field: str = 'COUNTER'):
     """Test AUTOSAR E2E Profile 2 CRCs"""
     assert len(test_messages) == 16  # All counter values must be tested
-    self.verify_checksum(subtests, "vw_mqb_2010", msg_name, msg_addr, test_messages, counter_field=counter_field)
+    self.verify_checksum(subtests, "vw_mqb", msg_name, msg_addr, test_messages, counter_field=counter_field)
 
   def test_volkswagen_mqb_crc_lwi_01(self, subtests):
     self.verify_volkswagen_mqb_crc(subtests, "LWI_01", 0x86, [
diff --git a/opendbc_repo/opendbc/car/__init__.py b/opendbc_repo/opendbc/car/__init__.py
index dde58dd8..b8308532 100644
--- a/opendbc_repo/opendbc/car/__init__.py
+++ b/opendbc_repo/opendbc/car/__init__.py
@@ -98,13 +98,16 @@ class Bus(StrEnum):
   ap_party = auto()
 
 
-def apply_driver_steer_torque_limits(apply_torque, apply_torque_last, driver_torque, LIMITS):
+def apply_driver_steer_torque_limits(apply_torque: int, apply_torque_last: int, driver_torque: float, LIMITS, steer_max: int = None):
+  # some safety modes utilize a dynamic max steer
+  if steer_max is None:
+    steer_max = LIMITS.STEER_MAX
 
   # limits due to driver torque
-  driver_max_torque = LIMITS.STEER_MAX + (LIMITS.STEER_DRIVER_ALLOWANCE + driver_torque * LIMITS.STEER_DRIVER_FACTOR) * LIMITS.STEER_DRIVER_MULTIPLIER
-  driver_min_torque = -LIMITS.STEER_MAX + (-LIMITS.STEER_DRIVER_ALLOWANCE + driver_torque * LIMITS.STEER_DRIVER_FACTOR) * LIMITS.STEER_DRIVER_MULTIPLIER
-  max_steer_allowed = max(min(LIMITS.STEER_MAX, driver_max_torque), 0)
-  min_steer_allowed = min(max(-LIMITS.STEER_MAX, driver_min_torque), 0)
+  driver_max_torque = steer_max + (LIMITS.STEER_DRIVER_ALLOWANCE + driver_torque * LIMITS.STEER_DRIVER_FACTOR) * LIMITS.STEER_DRIVER_MULTIPLIER
+  driver_min_torque = -steer_max + (-LIMITS.STEER_DRIVER_ALLOWANCE + driver_torque * LIMITS.STEER_DRIVER_FACTOR) * LIMITS.STEER_DRIVER_MULTIPLIER
+  max_steer_allowed = max(min(steer_max, driver_max_torque), 0)
+  min_steer_allowed = min(max(-steer_max, driver_min_torque), 0)
   apply_torque = np.clip(apply_torque, min_steer_allowed, max_steer_allowed)
 
   # slow rate if steer torque increases in magnitude
diff --git a/opendbc_repo/opendbc/car/car.capnp b/opendbc_repo/opendbc/car/car.capnp
index 28d1dcea..5c5a7d68 100644
--- a/opendbc_repo/opendbc/car/car.capnp
+++ b/opendbc_repo/opendbc/car/car.capnp
@@ -470,10 +470,11 @@ struct CarParams {
 
   minEnableSpeed @7 :Float32;
   minSteerSpeed @8 :Float32;
+  steerAtStandstill @77 :Bool;  # is steering available at standstill? just check if it faults
   safetyConfigs @62 :List(SafetyConfig);
   alternativeExperience @65 :Int16;      # panda flag for features like no disengage on gas
 
-  # Car docs fields
+  # Car docs fields, not used for control
   maxLateralAccel @68 :Float32;
   autoResumeSng @69 :Bool;               # describes whether car can resume from a stop automatically
 
diff --git a/opendbc_repo/opendbc/car/docs_definitions.py b/opendbc_repo/opendbc/car/docs_definitions.py
index bf44cd3d..846c2c3d 100644
--- a/opendbc_repo/opendbc/car/docs_definitions.py
+++ b/opendbc_repo/opendbc/car/docs_definitions.py
@@ -75,7 +75,7 @@ class Mount(EnumBase):
 
 
 class Cable(EnumBase):
-  long_obdc_cable = BasePart("long OBD-C cable")
+  long_obdc_cable = BasePart("long OBD-C cable (9.5 ft)")
   usb_a_2_a_cable = BasePart("USB A-A cable")
   usbc_otg_cable = BasePart("USB C OTG cable")
   usbc_coupler = BasePart("USB-C coupler")
@@ -85,12 +85,12 @@ class Cable(EnumBase):
 
 class Accessory(EnumBase):
   harness_box = BasePart("harness box")
-  comma_power_v2 = BasePart("comma power v2")
+  comma_power = BasePart("comma power v3")
 
 
 @dataclass
 class BaseCarHarness(BasePart):
-  parts: list[Enum] = field(default_factory=lambda: [Accessory.harness_box, Accessory.comma_power_v2])
+  parts: list[Enum] = field(default_factory=lambda: [Accessory.harness_box, Accessory.comma_power])
   has_connector: bool = True  # without are hidden on the harness connector page
 
 
@@ -108,7 +108,8 @@ class CarHarness(EnumBase):
   fca = BaseCarHarness("FCA connector")
   ram = BaseCarHarness("Ram connector")
   vw_a = BaseCarHarness("VW A connector")
-  vw_j533 = BaseCarHarness("VW J533 connector", parts=[Accessory.harness_box, Cable.long_obdc_cable, Cable.usbc_coupler, Accessory.comma_power_v2])
+  vw_c = BaseCarHarness("VW C connector")
+  vw_j533 = BaseCarHarness("VW J533 connector", parts=[Accessory.harness_box, Cable.long_obdc_cable, Cable.usbc_coupler])
   hyundai_a = BaseCarHarness("Hyundai A connector")
   hyundai_b = BaseCarHarness("Hyundai B connector")
   hyundai_c = BaseCarHarness("Hyundai C connector")
@@ -128,17 +129,17 @@ class CarHarness(EnumBase):
   hyundai_q = BaseCarHarness("Hyundai Q connector")
   hyundai_r = BaseCarHarness("Hyundai R connector")
   custom = BaseCarHarness("Developer connector")
-  obd_ii = BaseCarHarness("OBD-II connector", parts=[Cable.long_obdc_cable], has_connector=False)
+  obd_ii = BaseCarHarness("OBD-II connector", parts=[Cable.long_obdc_cable, Cable.usbc_coupler], has_connector=False)
   gm = BaseCarHarness("GM connector", parts=[Accessory.harness_box])
-  gmsdgm = BaseCarHarness("GM SDGM connector", parts=[Accessory.harness_box, Cable.long_obdc_cable, Cable.usbc_coupler, Accessory.comma_power_v2])
-  nissan_a = BaseCarHarness("Nissan A connector", parts=[Accessory.harness_box, Cable.long_obdc_cable, Cable.usbc_coupler])
-  nissan_b = BaseCarHarness("Nissan B connector", parts=[Accessory.harness_box, Cable.long_obdc_cable, Cable.usbc_coupler])
+  gmsdgm = BaseCarHarness("GM SDGM connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable, Cable.usbc_coupler])
+  nissan_a = BaseCarHarness("Nissan A connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable, Cable.usbc_coupler])
+  nissan_b = BaseCarHarness("Nissan B connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable, Cable.usbc_coupler])
   mazda = BaseCarHarness("Mazda connector")
   ford_q3 = BaseCarHarness("Ford Q3 connector")
-  ford_q4 = BaseCarHarness("Ford Q4 connector", parts=[Accessory.harness_box, Accessory.comma_power_v2, Cable.long_obdc_cable, Cable.usbc_coupler])
-  rivian = BaseCarHarness("Rivian A connector", parts=[Accessory.harness_box, Cable.long_obdc_cable, Cable.usbc_coupler])
-  tesla_a = BaseCarHarness("Tesla A connector", parts=[Accessory.harness_box, Cable.long_obdc_cable, Cable.usbc_coupler])
-  tesla_b = BaseCarHarness("Tesla B connector", parts=[Accessory.harness_box, Cable.long_obdc_cable, Cable.usbc_coupler])
+  ford_q4 = BaseCarHarness("Ford Q4 connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable, Cable.usbc_coupler])
+  rivian = BaseCarHarness("Rivian A connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable, Cable.usbc_coupler])
+  tesla_a = BaseCarHarness("Tesla A connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable, Cable.usbc_coupler])
+  tesla_b = BaseCarHarness("Tesla B connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable, Cable.usbc_coupler])
 
 
 class Device(EnumBase):
diff --git a/opendbc_repo/opendbc/car/ford/interface.py b/opendbc_repo/opendbc/car/ford/interface.py
index f1e1bfe2..6f08c10a 100644
--- a/opendbc_repo/opendbc/car/ford/interface.py
+++ b/opendbc_repo/opendbc/car/ford/interface.py
@@ -33,6 +33,7 @@ class CarInterface(CarInterfaceBase):
     ret.steerControlType = structs.CarParams.SteerControlType.angle
     ret.steerActuatorDelay = 0.2
     ret.steerLimitTimer = 1.0
+    ret.steerAtStandstill = True
 
     ret.longitudinalTuning.kiBP = [0.]
     ret.longitudinalTuning.kiV = [0.5]
diff --git a/opendbc_repo/opendbc/car/fw_query_definitions.py b/opendbc_repo/opendbc/car/fw_query_definitions.py
index 16e569b0..5c48fed6 100644
--- a/opendbc_repo/opendbc/car/fw_query_definitions.py
+++ b/opendbc_repo/opendbc/car/fw_query_definitions.py
@@ -56,6 +56,11 @@ class StdQueries:
   SUPPLIER_SOFTWARE_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
     p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_VERSION_NUMBER)
 
+  MANUFACTURER_ECU_HARDWARE_NUMBER_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
+    p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_HARDWARE_NUMBER)
+  MANUFACTURER_ECU_HARDWARE_NUMBER_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
+    p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_HARDWARE_NUMBER)
+
   UDS_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
     p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION)
   UDS_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
diff --git a/opendbc_repo/opendbc/car/gm/carcontroller.py b/opendbc_repo/opendbc/car/gm/carcontroller.py
index bbfd7056..ce5655c9 100644
--- a/opendbc_repo/opendbc/car/gm/carcontroller.py
+++ b/opendbc_repo/opendbc/car/gm/carcontroller.py
@@ -89,7 +89,7 @@ class CarController(CarControllerBase):
           self.apply_gas = self.params.INACTIVE_REGEN
           self.apply_brake = 0
         else:
-          self.apply_gas = int(round(np.interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
+          self.apply_gas = float(np.interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V))
           self.apply_brake = int(round(np.interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
           # Don't allow any gas above inactive regen while stopping
           # FIXME: brakes aren't applied immediately when enabling at a stop
diff --git a/opendbc_repo/opendbc/car/gm/gmcan.py b/opendbc_repo/opendbc/car/gm/gmcan.py
index c9d1effc..cb74b609 100644
--- a/opendbc_repo/opendbc/car/gm/gmcan.py
+++ b/opendbc_repo/opendbc/car/gm/gmcan.py
@@ -56,16 +56,14 @@ def create_gas_regen_command(packer, bus, throttle, idx, enabled, at_full_stop):
   values = {
     "GasRegenCmdActive": enabled,
     "RollingCounter": idx,
-    "GasRegenCmdActiveInv": 1 - enabled,
     "GasRegenCmd": throttle,
     "GasRegenFullStopActive": at_full_stop,
-    "GasRegenAlwaysOne": 1,
-    "GasRegenAlwaysOne2": 1,
-    "GasRegenAlwaysOne3": 1,
+    "GasRegenAccType": 1,
   }
 
   dat = packer.make_can_msg("ASCMGasRegenCmd", bus, values)[1]
-  values["GasRegenChecksum"] = (((0xff - dat[1]) & 0xff) << 16) | \
+  values["GasRegenChecksum"] = ((1 - enabled) << 24) | \
+                               (((0xff - dat[1]) & 0xff) << 16) | \
                                (((0xff - dat[2]) & 0xff) << 8) | \
                                ((0x100 - dat[3] - idx) & 0xff)
 
diff --git a/opendbc_repo/opendbc/car/gm/interface.py b/opendbc_repo/opendbc/car/gm/interface.py
index 8059ab12..2f8c0979 100755
--- a/opendbc_repo/opendbc/car/gm/interface.py
+++ b/opendbc_repo/opendbc/car/gm/interface.py
@@ -7,7 +7,7 @@ from opendbc.car.common.basedir import BASEDIR
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.gm.carcontroller import CarController
 from opendbc.car.gm.carstate import CarState
-from opendbc.car.gm.radar_interface import RadarInterface, RADAR_HEADER_MSG
+from opendbc.car.gm.radar_interface import RadarInterface, RADAR_HEADER_MSG, CAMERA_DATA_HEADER_MSG
 from opendbc.car.gm.values import CAR, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, SDGM_CAR, ALT_ACCS, CanBus, GMSafetyFlags
 from opendbc.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LatControlInputs, NanoFFModel
 
@@ -127,7 +127,8 @@ class CarInterface(CarInterfaceBase):
     else:  # ASCM, OBD-II harness
       ret.openpilotLongitudinalControl = True
       ret.networkLocation = NetworkLocation.gateway
-      ret.radarUnavailable = RADAR_HEADER_MSG not in fingerprint[CanBus.OBSTACLE] and not docs
+      # LRR messages can take up to a few seconds to start sending after ignition, check camera data as well which starts earlier
+      ret.radarUnavailable = RADAR_HEADER_MSG not in fingerprint[CanBus.OBSTACLE] and CAMERA_DATA_HEADER_MSG not in fingerprint[CanBus.OBSTACLE] and not docs
       ret.pcmCruise = False  # stock non-adaptive cruise control is kept off
       # supports stop and go, but initial engage must (conservatively) be above 18mph
       ret.minEnableSpeed = 18 * CV.MPH_TO_MS
diff --git a/opendbc_repo/opendbc/car/gm/radar_interface.py b/opendbc_repo/opendbc/car/gm/radar_interface.py
index 2daffb85..3bbfc9ca 100755
--- a/opendbc_repo/opendbc/car/gm/radar_interface.py
+++ b/opendbc_repo/opendbc/car/gm/radar_interface.py
@@ -6,7 +6,8 @@ from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.gm.values import DBC, CanBus
 from opendbc.car.interfaces import RadarInterfaceBase
 
-RADAR_HEADER_MSG = 1120
+RADAR_HEADER_MSG = 1120  # F_LRR_Obj_Header
+CAMERA_DATA_HEADER_MSG = 1056  # F_Vision_Obj_Header
 SLOT_1_MSG = RADAR_HEADER_MSG + 1
 NUM_SLOTS = 20
 
diff --git a/opendbc_repo/opendbc/car/gm/values.py b/opendbc_repo/opendbc/car/gm/values.py
index b2b4e538..a32c3aa4 100644
--- a/opendbc_repo/opendbc/car/gm/values.py
+++ b/opendbc_repo/opendbc/car/gm/values.py
@@ -34,27 +34,26 @@ class CarControllerParams:
 
   def __init__(self, CP):
     # Gas/brake lookups
-    self.ZERO_GAS = 2048  # Coasting
     self.MAX_BRAKE = 400  # ~ -4.0 m/s^2 with regen
 
     if CP.carFingerprint in (CAMERA_ACC_CAR | SDGM_CAR):
-      self.MAX_GAS = 3400
-      self.MAX_ACC_REGEN = 1514
-      self.INACTIVE_REGEN = 1554
+      self.MAX_GAS = 1346.0
+      self.MAX_ACC_REGEN = -540.0
+      self.INACTIVE_REGEN = -500.0
       # Camera ACC vehicles have no regen while enabled.
-      # Camera transitions to MAX_ACC_REGEN from ZERO_GAS and uses friction brakes instantly
+      # Camera transitions to MAX_ACC_REGEN from zero gas and uses friction brakes instantly
       max_regen_acceleration = 0.
 
     else:
-      self.MAX_GAS = 3072  # Safety limit, not ACC max. Stock ACC >4096 from standstill.
-      self.MAX_ACC_REGEN = 1404  # Max ACC regen is slightly less than max paddle regen
-      self.INACTIVE_REGEN = 1404
+      self.MAX_GAS = 1018.0  # Safety limit, not ACC max. Stock ACC >2042 from standstill.
+      self.MAX_ACC_REGEN = -650.0  # Max ACC regen is slightly less than max paddle regen
+      self.INACTIVE_REGEN = -650.0
       # ICE has much less engine braking force compared to regen in EVs,
       # lower threshold removes some braking deadzone
       max_regen_acceleration = -1. if CP.carFingerprint in EV_CAR else -0.1
 
     self.GAS_LOOKUP_BP = [max_regen_acceleration, 0., self.ACCEL_MAX]
-    self.GAS_LOOKUP_V = [self.MAX_ACC_REGEN, self.ZERO_GAS, self.MAX_GAS]
+    self.GAS_LOOKUP_V = [self.MAX_ACC_REGEN, 0., self.MAX_GAS]
 
     self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, max_regen_acceleration]
     self.BRAKE_LOOKUP_V = [self.MAX_BRAKE, 0.]
diff --git a/opendbc_repo/opendbc/car/honda/values.py b/opendbc_repo/opendbc/car/honda/values.py
index 9233f750..04ffb3f8 100644
--- a/opendbc_repo/opendbc/car/honda/values.py
+++ b/opendbc_repo/opendbc/car/honda/values.py
@@ -255,7 +255,7 @@ class CAR(Platforms):
   HONDA_PILOT = HondaNidecPlatformConfig(
     [
       HondaCarDocs("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS),
-      HondaCarDocs("Honda Passport 2019-23", "All", min_steer_speed=12. * CV.MPH_TO_MS),
+      HondaCarDocs("Honda Passport 2019-25", "All", min_steer_speed=12. * CV.MPH_TO_MS),
     ],
     CarSpecs(mass=4278 * CV.LB_TO_KG, wheelbase=2.86, centerToFrontRatio=0.428, steerRatio=16.0, tireStiffnessFactor=0.444),  # as spec
     radar_dbc_dict('acura_ilx_2016_can_generated'),
diff --git a/opendbc_repo/opendbc/car/hyundai/fingerprints.py b/opendbc_repo/opendbc/car/hyundai/fingerprints.py
index 9d7c7831..9812bdde 100644
--- a/opendbc_repo/opendbc/car/hyundai/fingerprints.py
+++ b/opendbc_repo/opendbc/car/hyundai/fingerprints.py
@@ -53,11 +53,13 @@ FW_VERSIONS = {
       b'\xf1\x00AE  MDPS C 1.00 1.05 56310/G2501 4AEHC105',
       b'\xf1\x00AE  MDPS C 1.00 1.07 56310/G2301 4AEHC107',
       b'\xf1\x00AE  MDPS C 1.00 1.07 56310/G2501 4AEHC107',
+      b'\xf1\x00AE  MDPS C 1.00 1.07 56310/G2551 4AEHC107',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00AEH MFC  AT EUR LHD 1.00 1.00 95740-G2400 180222',
       b'\xf1\x00AEH MFC  AT EUR LHD 1.00 1.00 95740-G7200 160418',
       b'\xf1\x00AEH MFC  AT USA LHD 1.00 1.00 95740-G2400 180222',
+      b'\xf1\x00AEH MFC  AT EUR RHD 1.00 1.00 95740-G2400 180222',
     ],
   },
   CAR.HYUNDAI_IONIQ_PHEV_2019: {
@@ -728,9 +730,11 @@ FW_VERSIONS = {
   },
   CAR.KIA_NIRO_EV_2ND_GEN: {
     (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00SG__ RDR -----      1.00 1.00 99110-AT200         ',
       b'\xf1\x00SG2_ RDR -----      1.00 1.01 99110-AT000         ',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00SG2EMFC  AT EUR LHD 1.00 1.00 99211-AT200 240315',
       b'\xf1\x00SG2EMFC  AT EUR LHD 1.01 1.09 99211-AT000 220801',
       b'\xf1\x00SG2EMFC  AT USA LHD 1.01 1.09 99211-AT000 220801',
     ],
@@ -1043,6 +1047,7 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00NX4 FR_CMR AT CAN LHD 1.00 1.00 99211-N9260 14Y',
       b'\xf1\x00NX4 FR_CMR AT CAN LHD 1.00 1.01 99211-N9100 14A',
+      b'\xf1\x00NX4 FR_CMR AT CAN LHD 1.00 1.00 99211-N9220 14K',
       b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 1.00 99211-N9220 14K',
       b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 2.02 99211-N9000 14E',
       b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9210 14G',
diff --git a/opendbc_repo/opendbc/car/hyundai/values.py b/opendbc_repo/opendbc/car/hyundai/values.py
index 8772fb4a..f72abaf1 100644
--- a/opendbc_repo/opendbc/car/hyundai/values.py
+++ b/opendbc_repo/opendbc/car/hyundai/values.py
@@ -413,7 +413,7 @@ class CAR(Platforms):
     flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.EV,
   )
   KIA_NIRO_EV_2ND_GEN = HyundaiCanFDPlatformConfig(
-    [HyundaiCarDocs("Kia Niro EV 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a]))],
+    [HyundaiCarDocs("Kia Niro EV 2023-24", "All", car_parts=CarParts.common([CarHarness.hyundai_a]))],
     KIA_NIRO_EV.specs,
     flags=HyundaiFlags.EV,
   )
diff --git a/opendbc_repo/opendbc/car/rivian/carcontroller.py b/opendbc_repo/opendbc/car/rivian/carcontroller.py
index 88289582..c1d0d308 100644
--- a/opendbc_repo/opendbc/car/rivian/carcontroller.py
+++ b/opendbc_repo/opendbc/car/rivian/carcontroller.py
@@ -1,3 +1,4 @@
+import numpy as np
 from opendbc.can.packer import CANPacker
 from opendbc.car import Bus, apply_driver_steer_torque_limits
 from opendbc.car.interfaces import CarControllerBase
@@ -18,21 +19,24 @@ class CarController(CarControllerBase):
     can_sends = []
 
     apply_torque = 0
+    steer_max = round(float(np.interp(CS.out.vEgoRaw, CarControllerParams.STEER_MAX_LOOKUP[0],
+                                      CarControllerParams.STEER_MAX_LOOKUP[1])))
     if CC.latActive:
-      new_torque = int(round(CC.actuators.torque * CarControllerParams.STEER_MAX))
+      new_torque = int(round(CC.actuators.torque * steer_max))
       apply_torque = apply_driver_steer_torque_limits(new_torque, self.apply_torque_last,
-                                                      CS.out.steeringTorque, CarControllerParams)
+                                                      CS.out.steeringTorque, CarControllerParams, steer_max)
 
     # send steering command
     self.apply_torque_last = apply_torque
-    can_sends.append(create_lka_steering(self.packer, CS.acm_lka_hba_cmd, apply_torque, CC.latActive))
+    can_sends.append(create_lka_steering(self.packer, self.frame, CS.acm_lka_hba_cmd, apply_torque, CC.enabled, CC.latActive))
 
     if self.frame % 5 == 0:
       can_sends.append(create_wheel_touch(self.packer, CS.sccm_wheel_touch, CC.enabled))
 
     # Longitudinal control
     if self.CP.openpilotLongitudinalControl:
-      can_sends.append(create_longitudinal(self.packer, self.frame % 15, actuators.accel, CC.enabled))
+      accel = float(np.clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX))
+      can_sends.append(create_longitudinal(self.packer, self.frame, accel, CC.enabled))
     else:
       interface_status = None
       if CC.cruiseControl.cancel:
@@ -46,7 +50,7 @@ class CarController(CarControllerBase):
       can_sends.append(create_adas_status(self.packer, CS.vdm_adas_status, interface_status))
 
     new_actuators = actuators.as_builder()
-    new_actuators.torque = apply_torque / CarControllerParams.STEER_MAX
+    new_actuators.torque = apply_torque / steer_max
     new_actuators.torqueOutputCan = apply_torque
 
     self.frame += 1
diff --git a/opendbc_repo/opendbc/car/rivian/interface.py b/opendbc_repo/opendbc/car/rivian/interface.py
index bc6f66e5..509889b5 100644
--- a/opendbc_repo/opendbc/car/rivian/interface.py
+++ b/opendbc_repo/opendbc/car/rivian/interface.py
@@ -3,6 +3,7 @@ from opendbc.car.interfaces import CarInterfaceBase
 from opendbc.car.rivian.carcontroller import CarController
 from opendbc.car.rivian.carstate import CarState
 from opendbc.car.rivian.radar_interface import RadarInterface
+from opendbc.car.rivian.values import RivianSafetyFlags
 
 
 class CarInterface(CarInterfaceBase):
@@ -16,7 +17,7 @@ class CarInterface(CarInterfaceBase):
 
     ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.rivian)]
 
-    ret.steerActuatorDelay = 0.25
+    ret.steerActuatorDelay = 0.15
     ret.steerLimitTimer = 0.4
     CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
@@ -27,7 +28,7 @@ class CarInterface(CarInterfaceBase):
     ret.experimentalLongitudinalAvailable = False
     if experimental_long:
       ret.openpilotLongitudinalControl = True
-      #ret.safetyConfigs[0].safetyParam |= Panda.FLAG_RIVIAN_LONG_CONTROL
+      ret.safetyConfigs[0].safetyParam |= RivianSafetyFlags.LONG_CONTROL.value
 
     ret.longitudinalActuatorDelay = 0.35
     ret.vEgoStopping = 0.25
diff --git a/opendbc_repo/opendbc/car/rivian/riviancan.py b/opendbc_repo/opendbc/car/rivian/riviancan.py
index 9961306c..f22b5917 100644
--- a/opendbc_repo/opendbc/car/rivian/riviancan.py
+++ b/opendbc_repo/opendbc/car/rivian/riviancan.py
@@ -11,40 +11,32 @@ def checksum(data, poly, xor_output):
   return crc ^ xor_output
 
 
-def create_lka_steering(packer, acm_lka_hba_cmd, apply_torque, enabled):
-  values = {s: acm_lka_hba_cmd[s] for s in [
-    "ACM_lkaHbaCmd_Counter",
-    "ACM_lkaHbaCmd_Checksum",
-    "ACM_HapticRequest",
-    "ACM_lkaStrToqReq",
-    "ACM_lkaSymbolState",
-    "ACM_lkaToiFlt",
-    "ACM_lkaActToi",
+def create_lka_steering(packer, frame, acm_lka_hba_cmd, apply_torque, enabled, active):
+  # forward auto high beam and speed limit status and nothing else
+  values = {s: acm_lka_hba_cmd[s] for s in (
     "ACM_hbaSysState",
-    "ACM_FailinfoAeb",
-    "ACM_lkaRHWarning",
-    "ACM_lkaLHWarning",
-    "ACM_lkaLaneRecogState",
-    "ACM_hbaOpt",
     "ACM_hbaLamp",
-    "ACM_lkaHandsoffSoundWarning",
-    "ACM_lkaHandsoffDisplayWarning",
-    "ACM_unkown1",
-    "ACM_unkown2",
-    "ACM_unkown3",
-    "ACM_unkown4",
-    "ACM_unkown6",
-  ]}
+    "ACM_hbaOnOffState",
+    "ACM_slifOnOffState",
+  )}
 
-  if enabled:
-    values["ACM_lkaActToi"] = 1
-    values["ACM_lkaSymbolState"] = 3
-    values["ACM_lkaLaneRecogState"] = 3
-    values["ACM_lkaStrToqReq"] = apply_torque
-    values["ACM_unkown2"] = 1
-    values["ACM_unkown3"] = 4
-    values["ACM_unkown4"] = 160
-    values["ACM_unkown6"] = 1
+  values |= {
+    "ACM_lkaHbaCmd_Counter": frame % 15,
+    "ACM_lkaStrToqReq": apply_torque,
+    "ACM_lkaActToi": active,
+
+    "ACM_lkaLaneRecogState": 3 if enabled else 0,
+    "ACM_lkaSymbolState": 3 if enabled else 0,
+
+    # static values
+    "ACM_lkaElkRequest": 0,
+    "ACM_ldwlkaOnOffState": 2,  # 2=LKAS+LDW on
+    "ACM_elkOnOffState": 1,  # 1=LKAS on
+    # TODO: what are these used for?
+    "ACM_ldwWarnTypeState": 2,  # always 2
+    "ACM_ldwWarnTimingState": 1,  # always 1
+    #"ACM_lkaHandsoffDisplayWarning": 1,  # TODO: we can send this when openpilot wants you to pay attention
+  }
 
   data = packer.make_can_msg("ACM_lkaHbaCmd", 0, values)[1]
   values["ACM_lkaHbaCmd_Checksum"] = checksum(data[1:], 0x1D, 0x63)
diff --git a/opendbc_repo/opendbc/car/rivian/values.py b/opendbc_repo/opendbc/car/rivian/values.py
index c0fdb8bb..a488f324 100644
--- a/opendbc_repo/opendbc/car/rivian/values.py
+++ b/opendbc_repo/opendbc/car/rivian/values.py
@@ -1,9 +1,9 @@
 from dataclasses import dataclass, field
 from enum import StrEnum, IntFlag
 
-from opendbc.car import Bus, CarSpecs, DbcDict, PlatformConfig, Platforms, structs
+from opendbc.car import Bus, CarSpecs, DbcDict, PlatformConfig, Platforms, structs, uds
 from opendbc.car.docs_definitions import CarHarness, CarDocs, CarParts, Device
-from opendbc.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
+from opendbc.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
 from opendbc.car.vin import Vin
 
 
@@ -66,6 +66,10 @@ def match_fw_to_car_fuzzy(live_fw_versions, vin, offline_fw_versions) -> set[str
   return {str(c) for c in candidates}
 
 
+RIVIAN_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
+  p16(0xf1a0)
+RIVIAN_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40])
+
 FW_QUERY_CONFIG = FwQueryConfig(
   requests=[
     Request(
@@ -73,7 +77,21 @@ FW_QUERY_CONFIG = FwQueryConfig(
       [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.SUPPLIER_SOFTWARE_VERSION_RESPONSE],
       rx_offset=0x40,
       bus=0,
-    )
+    ),
+    Request(
+      [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_ECU_HARDWARE_NUMBER_REQUEST],
+      [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_ECU_HARDWARE_NUMBER_RESPONSE],
+      rx_offset=0x40,
+      bus=0,
+      logging=True,
+    ),
+    Request(
+      [StdQueries.TESTER_PRESENT_REQUEST, RIVIAN_VERSION_REQUEST],
+      [StdQueries.TESTER_PRESENT_RESPONSE, RIVIAN_VERSION_RESPONSE],
+      rx_offset=0x40,
+      bus=0,
+      logging=True,
+    ),
   ],
   match_fw_to_car_fuzzy=match_fw_to_car_fuzzy,
 )
@@ -88,10 +106,16 @@ GEAR_MAP = {
 
 
 class CarControllerParams:
-  # The Rivian R1T we tested on achieves slightly more lateral acceleration going left vs. right
-  # and lateral acceleration rises as speed increases. This value is set conservatively to
-  # reach a maximum of 2.5-3.0 m/s^2 turning left at 80 mph, but is less at lower speeds
-  STEER_MAX = 250  # ~2.5 m/s^2
+  # The R1T 2023 and R1S 2023 we tested on achieves slightly more lateral acceleration going left vs. right
+  # and lateral acceleration falls linearly as speed decreases from 38 mph to 20 mph. These values are set
+  # conservatively to reach a maximum of 3.0 m/s^2 turning left at 80 mph
+
+  # These refer to turning left:
+  # 250 is ~2.8 m/s^2 above 17 m/s, then linearly ramps to ~1.6 m/s^2 from 17 m/s to 9 m/s
+  # TODO: it is theorized older models have different steering racks and achieve down to half the
+  #  lateral acceleration referenced here at all speeds. detect this and ship a torque increase for those models
+  STEER_MAX = 250  # 350 is intended to maintain lateral accel, not increase it
+  STEER_MAX_LOOKUP = [9, 17], [350, 250]
   STEER_STEP = 1
   STEER_DELTA_UP = 3  # torque increase per refresh
   STEER_DELTA_DOWN = 5  # torque decrease per refresh
diff --git a/opendbc_repo/opendbc/car/subaru/fingerprints.py b/opendbc_repo/opendbc/car/subaru/fingerprints.py
index 53f1e6f0..51c01e10 100644
--- a/opendbc_repo/opendbc/car/subaru/fingerprints.py
+++ b/opendbc_repo/opendbc/car/subaru/fingerprints.py
@@ -54,6 +54,7 @@ FW_VERSIONS = {
     (Ecu.abs, 0x7b0, None): [
       b'\xa1  \x02\x01',
       b'\xa1  \x02\x02',
+      b'\xa1  \x03\x02',
       b'\xa1  \x03\x03',
       b'\xa1  \x04\x01',
     ],
@@ -67,6 +68,7 @@ FW_VERSIONS = {
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xde"a0\x07',
+      b'\xe2"a0\x07',
       b'\xde,\xa0@\x07',
       b'\xe2"aq\x07',
       b'\xe2,\xa0@\x07',
@@ -463,6 +465,7 @@ FW_VERSIONS = {
       b'\xa1  \x06\x00',
       b'\xa1  \x06\x01',
       b'\xa1  \x06\x02',
+      b'\xa1  \x06\x03',
       b'\xa1  \x07\x00',
       b'\xa1  \x07\x02',
       b'\xa1  \x07\x03',
@@ -496,6 +499,7 @@ FW_VERSIONS = {
       b'\xe2"`p\x07',
       b'\xe2"`q\x07',
       b'\xe3,\xa0@\x07',
+      b'\xe2,\xa0p\x07',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xa5\xf6D@\x00',
@@ -505,6 +509,7 @@ FW_VERSIONS = {
       b'\xa7\x8e\xf40\x00',
       b'\xa7\xf6D@\x00',
       b'\xa7\xfe\xf4@\x00',
+      b'\xa7\xfe\xf6@\x00',
     ],
   },
   CAR.SUBARU_FORESTER_2022: {
diff --git a/opendbc_repo/opendbc/car/tesla/carstate.py b/opendbc_repo/opendbc/car/tesla/carstate.py
index a374090d..d476484a 100644
--- a/opendbc_repo/opendbc/car/tesla/carstate.py
+++ b/opendbc_repo/opendbc/car/tesla/carstate.py
@@ -71,8 +71,8 @@ class CarState(CarStateBase):
     ret.doorOpen = cp_party.vl["UI_warning"]["anyDoorOpen"] == 1
 
     # Blinkers
-    ret.leftBlinker = cp_party.vl["UI_warning"]["leftBlinkerOn"] != 0
-    ret.rightBlinker = cp_party.vl["UI_warning"]["rightBlinkerOn"] != 0
+    ret.leftBlinker = cp_party.vl["UI_warning"]["leftBlinkerBlinking"] in (1, 2)
+    ret.rightBlinker = cp_party.vl["UI_warning"]["rightBlinkerBlinking"] in (1, 2)
 
     # Seatbelt
     ret.seatbeltUnlatched = cp_party.vl["UI_warning"]["buckleStatus"] != 1
@@ -84,6 +84,9 @@ class CarState(CarStateBase):
     # AEB
     ret.stockAeb = cp_ap_party.vl["DAS_control"]["DAS_aebEvent"] == 1
 
+    # Stock Autosteer should be off (includes FSD)
+    ret.invalidLkasSetting = cp_ap_party.vl["DAS_settings"]["DAS_autosteerEnabled"] != 0
+
     # Buttons # ToDo: add Gap adjust button
 
     # Messages needed by carcontroller
@@ -106,6 +109,7 @@ class CarState(CarStateBase):
     ap_party_messages = [
       ("DAS_control", 25),
       ("DAS_status", 2),
+      ("DAS_settings", 2),
       ("SCCM_steeringAngleSensor", 100),
     ]
 
diff --git a/opendbc_repo/opendbc/car/tesla/fingerprints.py b/opendbc_repo/opendbc/car/tesla/fingerprints.py
index b39c3f63..ea48be52 100644
--- a/opendbc_repo/opendbc/car/tesla/fingerprints.py
+++ b/opendbc_repo/opendbc/car/tesla/fingerprints.py
@@ -8,6 +8,7 @@ FW_VERSIONS = {
     (Ecu.eps, 0x730, None): [
       b'TeM3_E014p10_0.0.0 (16),E014.17.00',
       b'TeM3_E014p10_0.0.0 (16),EL014.17.00',
+      b'TeM3_ES014p11_0.0.0 (25),ES014.19.0',
       b'TeMYG4_DCS_Update_0.0.0 (13),E4014.28.1',
       b'TeMYG4_DCS_Update_0.0.0 (9),E4014.26.0',
       b'TeMYG4_Main_0.0.0 (59),E4H014.29.0',
@@ -25,6 +26,7 @@ FW_VERSIONS = {
       b'TeMYG4_DCS_Update_0.0.0 (13),Y4P002.27.1',
       b'TeMYG4_DCS_Update_0.0.0 (9),Y4P002.25.0',
       b'TeMYG4_Legacy3Y_0.0.0 (2),Y4003.02.0',
+      b'TeMYG4_Legacy3Y_0.0.0 (5),Y4003.03.2',
       b'TeMYG4_Legacy3Y_0.0.0 (2),Y4P003.02.0',
       b'TeMYG4_SingleECU_0.0.0 (33),Y4S002.26',
     ],
diff --git a/opendbc_repo/opendbc/car/tesla/interface.py b/opendbc_repo/opendbc/car/tesla/interface.py
index 6b882806..1796bdba 100644
--- a/opendbc_repo/opendbc/car/tesla/interface.py
+++ b/opendbc_repo/opendbc/car/tesla/interface.py
@@ -12,12 +12,12 @@ class CarInterface(CarInterfaceBase):
   @staticmethod
   def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs) -> structs.CarParams:
     ret.brand = "tesla"
-    ret.dashcamOnly = True
 
     ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.tesla)]
 
     ret.steerLimitTimer = 1.0
     ret.steerActuatorDelay = 0.1
+    ret.steerAtStandstill = True
 
     ret.steerControlType = structs.CarParams.SteerControlType.angle
     ret.radarUnavailable = True
diff --git a/opendbc_repo/opendbc/car/tests/routes.py b/opendbc_repo/opendbc/car/tests/routes.py
index d582ec6e..85cea325 100644
--- a/opendbc_repo/opendbc/car/tests/routes.py
+++ b/opendbc_repo/opendbc/car/tests/routes.py
@@ -214,6 +214,7 @@ routes = [
   CarTestRoute("2475fb3eb2ffcc2e|2022-04-29--12-46-23", TOYOTA.TOYOTA_RAV4_TSS2_2022),  # hybrid
   CarTestRoute("20ba9ade056a8c7b|2021-02-08--21-57-35", TOYOTA.TOYOTA_RAV4_PRIME),  # SecOC
   CarTestRoute("8bfb000e03b2a257/00000004--f9eee5f52e", TOYOTA.TOYOTA_SIENNA_4TH_GEN),  # SecOC
+  CarTestRoute("0b54d0594d924cd9/00000057--b6206a3205", TOYOTA.TOYOTA_YARIS),  # SecOC
   CarTestRoute("7a31f030957b9c85|2023-04-01--14-12-51", TOYOTA.LEXUS_ES),
   CarTestRoute("37041c500fd30100|2020-12-30--12-17-24", TOYOTA.LEXUS_ES),  # hybrid
   CarTestRoute("e6a24be49a6cd46e|2019-10-29--10-52-42", TOYOTA.LEXUS_ES_TSS2),
@@ -251,6 +252,7 @@ routes = [
   CarTestRoute("ffcd23abbbd02219|2024-02-28--14-59-38", VOLKSWAGEN.VOLKSWAGEN_CADDY_MK3),
   CarTestRoute("cae14e88932eb364|2021-03-26--14-43-28", VOLKSWAGEN.VOLKSWAGEN_GOLF_MK7),  # Stock ACC
   CarTestRoute("3cfdec54aa035f3f|2022-10-13--14-58-58", VOLKSWAGEN.VOLKSWAGEN_GOLF_MK7),  # openpilot longitudinal
+  CarTestRoute("17fbdc1cd49dc9af/00000027--ee57555e5b", VOLKSWAGEN.VOLKSWAGEN_ID4_MK1),  # FIXME: temporary, replace later
   CarTestRoute("578742b26807f756|00000010--41ee3e5bec", VOLKSWAGEN.VOLKSWAGEN_JETTA_MK6),
   CarTestRoute("58a7d3b707987d65|2021-03-25--17-26-37", VOLKSWAGEN.VOLKSWAGEN_JETTA_MK7),
   CarTestRoute("4d134e099430fba2|2021-03-26--00-26-06", VOLKSWAGEN.VOLKSWAGEN_PASSAT_MK8),
diff --git a/opendbc_repo/opendbc/car/tests/test_fw_fingerprint.py b/opendbc_repo/opendbc/car/tests/test_fw_fingerprint.py
index 417ce3d2..58d2ba65 100644
--- a/opendbc_repo/opendbc/car/tests/test_fw_fingerprint.py
+++ b/opendbc_repo/opendbc/car/tests/test_fw_fingerprint.py
@@ -260,7 +260,7 @@ class TestFwFingerprintTiming:
         print(f'get_vin {name} case, query time={self.total_time / self.N} seconds')
 
   def test_fw_query_timing(self, subtests, mocker):
-    total_ref_time = {1: 7.1, 2: 7.7}
+    total_ref_time = {1: 7.3, 2: 7.9}
     brand_ref_times = {
       1: {
         'gm': 1.0,
@@ -275,7 +275,7 @@ class TestFwFingerprintTiming:
         'tesla': 0.1,
         'toyota': 0.7,
         'volkswagen': 0.65,
-        'rivian': 0.1,
+        'rivian': 0.3,
       },
       2: {
         'ford': 1.6,
diff --git a/opendbc_repo/opendbc/car/torque_data/override.toml b/opendbc_repo/opendbc/car/torque_data/override.toml
index 16e07c2a..c04e6c0a 100644
--- a/opendbc_repo/opendbc/car/torque_data/override.toml
+++ b/opendbc_repo/opendbc/car/torque_data/override.toml
@@ -48,6 +48,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "CHEVROLET_EQUINOX" = [2.5, 2.5, 0.05]
 "CHEVROLET_VOLT_2019" = [1.4, 1.4, 0.16]
 "VOLKSWAGEN_CADDY_MK3" = [1.2, 1.2, 0.1]
+"VOLKSWAGEN_ID4_MK1" = [nan, 2.5, nan]
 "VOLKSWAGEN_PASSAT_NMS" = [2.5, 2.5, 0.1]
 "VOLKSWAGEN_SHARAN_MK2" = [2.5, 2.5, 0.1]
 "HYUNDAI_SANTA_CRUZ_1ST_GEN" = [2.7, 2.7, 0.1]
@@ -73,6 +74,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "HYUNDAI_STARIA_4TH_GEN" = [1.8, 2.0, 0.15]
 "GENESIS_GV70_ELECTRIFIED_1ST_GEN" = [1.9, 1.9, 0.09]
 "GENESIS_G80_2ND_GEN_FL" = [2.5819356441497803, 2.5, 0.11244568973779678]
+# Note that some Rivians achieve significantly less lateral acceleration than this
 "RIVIAN_R1_GEN1" = [2.8, 2.5, 0.07]
 "HYUNDAI_NEXO_1ST_GEN" = [2.5, 2.5, 0.1]
 
diff --git a/opendbc_repo/opendbc/car/torque_data/params.toml b/opendbc_repo/opendbc/car/torque_data/params.toml
index 4bb8d45c..fde2ca22 100644
--- a/opendbc_repo/opendbc/car/torque_data/params.toml
+++ b/opendbc_repo/opendbc/car/torque_data/params.toml
@@ -73,6 +73,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "TOYOTA_RAV4H" = [1.9796257271652042, 1.7503987331707576, 0.14628860048885406]
 "TOYOTA_RAV4_TSS2_2022" = [2.241883248393209, 1.9304407208090029, 0.112174]
 "TOYOTA_SIENNA" = [1.689726, 1.3208264576110418, 0.140456]
+"TOYOTA_YARIS" = [2.22984, 1.86145, 0.168189]
 "VOLKSWAGEN_ARTEON_MK1" = [1.45136518053819, 1.3639364049316804, 0.23806361745695032]
 "VOLKSWAGEN_ATLAS_MK1" = [1.4677006726964945, 1.6733266634075656, 0.12959584092073367]
 "VOLKSWAGEN_GOLF_MK7" = [1.3750394140491293, 1.5814743077200641, 0.2018321939386586]
diff --git a/opendbc_repo/opendbc/car/torque_data/substitute.toml b/opendbc_repo/opendbc/car/torque_data/substitute.toml
index a91ac358..911dd4bb 100644
--- a/opendbc_repo/opendbc/car/torque_data/substitute.toml
+++ b/opendbc_repo/opendbc/car/torque_data/substitute.toml
@@ -59,6 +59,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "CHEVROLET_MALIBU" = "CHEVROLET_VOLT"
 "HOLDEN_ASTRA" = "CHEVROLET_VOLT"
 
+"SKODA_ENYAQ_MK1" = "VOLKSWAGEN_ID4_MK1"
 "SKODA_FABIA_MK4" = "VOLKSWAGEN_GOLF_MK7"
 "SKODA_OCTAVIA_MK3" = "SKODA_SUPERB_MK3"
 "SKODA_KODIAQ_MK1" = "SKODA_SUPERB_MK3"
diff --git a/opendbc_repo/opendbc/car/toyota/fingerprints.py b/opendbc_repo/opendbc/car/toyota/fingerprints.py
index 3452c4cb..2b6e1b47 100644
--- a/opendbc_repo/opendbc/car/toyota/fingerprints.py
+++ b/opendbc_repo/opendbc/car/toyota/fingerprints.py
@@ -1783,4 +1783,21 @@ FW_VERSIONS = {
       b'\x028646FV201000\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
     ],
   },
+  CAR.TOYOTA_YARIS: {
+    (Ecu.engine, 0x700, None): [
+      b'\x0189663K015300\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'\x018965BK003200\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x7b0, None): [
+      b'\x01F1526K007500\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'\x018821F0D05300\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'\x028646F5205200\x00\x00\x00\x008646G5202200\x00\x00\x00\x00',
+    ],
+  },
 }
diff --git a/opendbc_repo/opendbc/car/toyota/interface.py b/opendbc_repo/opendbc/car/toyota/interface.py
index 4fa1eeea..1515ebd9 100644
--- a/opendbc_repo/opendbc/car/toyota/interface.py
+++ b/opendbc_repo/opendbc/car/toyota/interface.py
@@ -31,7 +31,6 @@ class CarInterface(CarInterfaceBase):
       ret.safetyConfigs[0].safetyParam |= ToyotaSafetyFlags.ALT_BRAKE.value
 
     if ret.flags & ToyotaFlags.SECOC.value:
-      ret.dashcamOnly = True
       ret.secOcRequired = True
       ret.safetyConfigs[0].safetyParam |= ToyotaSafetyFlags.SECOC.value
 
diff --git a/opendbc_repo/opendbc/car/toyota/values.py b/opendbc_repo/opendbc/car/toyota/values.py
index 889b9d0c..5d43cf4e 100644
--- a/opendbc_repo/opendbc/car/toyota/values.py
+++ b/opendbc_repo/opendbc/car/toyota/values.py
@@ -271,7 +271,7 @@ class CAR(Platforms):
   )
   TOYOTA_RAV4_TSS2_2023 = ToyotaTSS2PlatformConfig(
     [
-      ToyotaCarDocs("Toyota RAV4 2023-24"),
+      ToyotaCarDocs("Toyota RAV4 2023-25"),
       ToyotaCarDocs("Toyota RAV4 Hybrid 2023-25", video_link="https://youtu.be/4eIsEq4L4Ng"),
     ],
     TOYOTA_RAV4_TSS2.specs,
@@ -281,6 +281,11 @@ class CAR(Platforms):
     [ToyotaCarDocs("Toyota RAV4 Prime 2021-23", min_enable_speed=MIN_ACC_SPEED)],
     CarSpecs(mass=4372. * CV.LB_TO_KG, wheelbase=2.68, steerRatio=16.88, tireStiffnessFactor=0.5533),
   )
+  TOYOTA_YARIS = ToyotaSecOCPlatformConfig(
+    [ToyotaCarDocs("Toyota Yaris 2023 (Non-US only)", min_enable_speed=MIN_ACC_SPEED)],
+    CarSpecs(mass=1170, wheelbase=2.55, steerRatio=14.80, tireStiffnessFactor=0.5533),
+    flags=ToyotaFlags.RADAR_ACC,
+  )
   TOYOTA_MIRAI = ToyotaTSS2PlatformConfig( # TSS 2.5
     [ToyotaCarDocs("Toyota Mirai 2021")],
     CarSpecs(mass=4300. * CV.LB_TO_KG, wheelbase=2.91, steerRatio=14.8, tireStiffnessFactor=0.8),
diff --git a/opendbc_repo/opendbc/car/volkswagen/carcontroller.py b/opendbc_repo/opendbc/car/volkswagen/carcontroller.py
index e2a4fe86..048b283c 100644
--- a/opendbc_repo/opendbc/car/volkswagen/carcontroller.py
+++ b/opendbc_repo/opendbc/car/volkswagen/carcontroller.py
@@ -3,7 +3,7 @@ from opendbc.can.packer import CANPacker
 from opendbc.car import Bus, DT_CTRL, apply_driver_steer_torque_limits, structs
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.interfaces import CarControllerBase
-from opendbc.car.volkswagen import mqbcan, pqcan
+from opendbc.car.volkswagen import mqbcan, pqcan, mebcan
 from opendbc.car.volkswagen.values import CANBUS, CarControllerParams, VolkswagenFlags
 
 VisualAlert = structs.CarControl.HUDControl.VisualAlert
@@ -14,12 +14,20 @@ class CarController(CarControllerBase):
   def __init__(self, dbc_names, CP):
     super().__init__(dbc_names, CP)
     self.CCP = CarControllerParams(CP)
-    self.CCS = pqcan if CP.flags & VolkswagenFlags.PQ else mqbcan
+    if CP.flags & VolkswagenFlags.PQ:
+      self.CCS = pqcan
+    elif CP.flags & VolkswagenFlags.MEB:
+      self.CCS = mebcan
+    else:
+      self.CCS = mqbcan
     self.packer_pt = CANPacker(dbc_names[Bus.pt])
     self.ext_bus = CANBUS.pt if CP.networkLocation == structs.CarParams.NetworkLocation.fwdCamera else CANBUS.cam
     self.aeb_available = not CP.flags & VolkswagenFlags.PQ
+    self.openpilot_longitudinal = self.CP.openpilotLongitudinalControl and not self.CP.flags & VolkswagenFlags.MEB
 
     self.apply_torque_last = 0
+    self.apply_curvature_last = 0
+    self.apply_steer_power_last = 0
     self.gra_acc_counter_last = None
     self.eps_timer_soft_disable_alert = False
     self.hca_frame_timer_running = 0
@@ -33,50 +41,83 @@ class CarController(CarControllerBase):
     # **** Steering Controls ************************************************ #
 
     if self.frame % self.CCP.STEER_STEP == 0:
-      # Logic to avoid HCA state 4 "refused":
-      #   * Don't steer unless HCA is in state 3 "ready" or 5 "active"
-      #   * Don't steer at standstill
-      #   * Don't send > 3.00 Newton-meters torque
-      #   * Don't send the same torque for > 6 seconds
-      #   * Don't send uninterrupted steering for > 360 seconds
-      # MQB racks reset the uninterrupted steering timer after a single frame
-      # of HCA disabled; this is done whenever output happens to be zero.
+      if self.CP.flags & VolkswagenFlags.MEB:
+        # The QFK (lateral control coordinator) control loop compares actuation curvature to its own current curvature
+        # Calibrate our actuator command by the offset between openpilot's vehicle model and QFK perceived curvatures
+        apply_curvature = actuators.curvature + (CS.qfk_curvature - CC.currentCurvature)
 
-      if CC.latActive:
-        new_torque = int(round(actuators.torque * self.CCP.STEER_MAX))
-        apply_torque = apply_driver_steer_torque_limits(new_torque, self.apply_torque_last, CS.out.steeringTorque, self.CCP)
-        self.hca_frame_timer_running += self.CCP.STEER_STEP
-        if self.apply_torque_last == apply_torque:
-          self.hca_frame_same_torque += self.CCP.STEER_STEP
-          if self.hca_frame_same_torque > self.CCP.STEER_TIME_STUCK_TORQUE / DT_CTRL:
-            apply_torque -= (1, -1)[apply_torque < 0]
-            self.hca_frame_same_torque = 0
+        # Progressive QFK power control: smooth engage and disengage, reduce power when the driver is overriding
+        qfk_enable = True
+        if CC.latActive:
+          min_power = max(self.apply_steer_power_last - self.CCP.STEERING_POWER_STEP, self.CCP.STEERING_POWER_MIN)
+          max_power = max(self.apply_steer_power_last + self.CCP.STEERING_POWER_STEP, self.CCP.STEERING_POWER_MAX)
+          target_power = int(np.interp(CS.out.steeringTorque, [self.CCP.STEER_DRIVER_ALLOWANCE, self.CCP.STEER_DRIVER_MAX],
+                                                              [self.CCP.STEERING_POWER_MAX, self.CCP.STEERING_POWER_MIN]))
+          apply_steer_power = min(max(target_power, min_power), max_power)
+        elif self.apply_steer_power_last > 0:
+          apply_steer_power = max(self.apply_steer_power_last - self.CCP.STEERING_POWER_STEP, 0)
         else:
-          self.hca_frame_same_torque = 0
-        hca_enabled = abs(apply_torque) > 0
+          qfk_enable = False
+          apply_curvature = 0
+          apply_steer_power = 0
+
+        can_sends.append(mebcan.create_steering_control(self.packer_pt, CANBUS.pt, apply_curvature, qfk_enable, apply_steer_power))
+
+        self.apply_curvature_last = apply_curvature
+        self.apply_steer_power_last = apply_steer_power
+
       else:
-        hca_enabled = False
-        apply_torque = 0
+        # Logic to avoid HCA state 4 "refused":
+        #   * Don't steer unless HCA is in state 3 "ready" or 5 "active"
+        #   * Don't steer at standstill
+        #   * Don't send > 3.00 Newton-meters torque
+        #   * Don't send the same torque for > 6 seconds
+        #   * Don't send uninterrupted steering for > 360 seconds
+        # MQB racks reset the uninterrupted steering timer after a single frame
+        # of HCA disabled; this is done whenever output happens to be zero.
 
-      if not hca_enabled:
-        self.hca_frame_timer_running = 0
+        if CC.latActive:
+          new_torque = int(round(actuators.torque * self.CCP.STEER_MAX))
+          apply_torque = apply_driver_steer_torque_limits(new_torque, self.apply_torque_last, CS.out.steeringTorque, self.CCP)
+          self.hca_frame_timer_running += self.CCP.STEER_STEP
+          if self.apply_torque_last == apply_torque:
+            self.hca_frame_same_torque += self.CCP.STEER_STEP
+            if self.hca_frame_same_torque > self.CCP.STEER_TIME_STUCK_TORQUE / DT_CTRL:
+              apply_torque -= (1, -1)[apply_torque < 0]
+              self.hca_frame_same_torque = 0
+          else:
+            self.hca_frame_same_torque = 0
+          hca_enabled = abs(apply_torque) > 0
+        else:
+          hca_enabled = False
+          apply_torque = 0
 
-      self.eps_timer_soft_disable_alert = self.hca_frame_timer_running > self.CCP.STEER_TIME_ALERT / DT_CTRL
-      self.apply_torque_last = apply_torque
-      can_sends.append(self.CCS.create_steering_control(self.packer_pt, CANBUS.pt, apply_torque, hca_enabled))
+        if not hca_enabled:
+          self.hca_frame_timer_running = 0
 
-      if self.CP.flags & VolkswagenFlags.STOCK_HCA_PRESENT:
-        # Pacify VW Emergency Assist driver inactivity detection by changing its view of driver steering input torque
-        # to the greatest of actual driver input or 2x openpilot's output (1x openpilot output is not enough to
-        # consistently reset inactivity detection on straight level roads). See commaai/openpilot#23274 for background.
-        ea_simulated_torque = float(np.clip(apply_torque * 2, -self.CCP.STEER_MAX, self.CCP.STEER_MAX))
-        if abs(CS.out.steeringTorque) > abs(ea_simulated_torque):
-          ea_simulated_torque = CS.out.steeringTorque
-        can_sends.append(self.CCS.create_eps_update(self.packer_pt, CANBUS.cam, CS.eps_stock_values, ea_simulated_torque))
+        self.eps_timer_soft_disable_alert = self.hca_frame_timer_running > self.CCP.STEER_TIME_ALERT / DT_CTRL
+        self.apply_torque_last = apply_torque
+        can_sends.append(self.CCS.create_steering_control(self.packer_pt, CANBUS.pt, apply_torque, hca_enabled))
+
+        if self.CP.flags & VolkswagenFlags.STOCK_HCA_PRESENT:
+          # Pacify VW Emergency Assist driver inactivity detection by changing its view of driver steering input torque
+          # to the greatest of actual driver input or 2x openpilot's output (1x openpilot output is not enough to
+          # consistently reset inactivity detection on straight level roads). See commaai/openpilot#23274 for background.
+          ea_simulated_torque = float(np.clip(apply_torque * 2, -self.CCP.STEER_MAX, self.CCP.STEER_MAX))
+          if abs(CS.out.steeringTorque) > abs(ea_simulated_torque):
+            ea_simulated_torque = CS.out.steeringTorque
+          can_sends.append(self.CCS.create_eps_update(self.packer_pt, CANBUS.cam, CS.eps_stock_values, ea_simulated_torque))
+
+    # TODO: refactor a bit
+    if self.CP.flags & VolkswagenFlags.MEB:
+      if self.frame % 2 == 0:
+        can_sends.append(mebcan.create_ea_control(self.packer_pt, CANBUS.pt))
+      if self.frame % 50 == 0:
+        can_sends.append(mebcan.create_ea_hud(self.packer_pt, CANBUS.pt))
 
     # **** Acceleration Controls ******************************************** #
 
-    if self.CP.openpilotLongitudinalControl:
+    if self.openpilot_longitudinal:
       if self.frame % self.CCP.ACC_CONTROL_STEP == 0:
         acc_control = self.CCS.acc_control_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive)
         accel = float(np.clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX) if CC.longActive else 0)
@@ -100,7 +141,7 @@ class CarController(CarControllerBase):
       can_sends.append(self.CCS.create_lka_hud_control(self.packer_pt, CANBUS.pt, CS.ldw_stock_values, CC.latActive,
                                                        CS.out.steeringPressed, hud_alert, hud_control))
 
-    if self.frame % self.CCP.ACC_HUD_STEP == 0 and self.CP.openpilotLongitudinalControl:
+    if self.frame % self.CCP.ACC_HUD_STEP == 0 and self.openpilot_longitudinal:
       lead_distance = 0
       if hud_control.leadVisible and self.frame * DT_CTRL > 1.0:  # Don't display lead until we know the scaling factor
         lead_distance = 512 if CS.upscale_lead_car_signal else 8
@@ -120,6 +161,7 @@ class CarController(CarControllerBase):
     new_actuators = actuators.as_builder()
     new_actuators.torque = self.apply_torque_last / self.CCP.STEER_MAX
     new_actuators.torqueOutputCan = self.apply_torque_last
+    new_actuators.curvature = float(self.apply_curvature_last)
 
     self.gra_acc_counter_last = CS.gra_stock_values["COUNTER"]
     self.frame += 1
diff --git a/opendbc_repo/opendbc/car/volkswagen/carstate.py b/opendbc_repo/opendbc/car/volkswagen/carstate.py
index 2e346222..b51965b0 100644
--- a/opendbc_repo/opendbc/car/volkswagen/carstate.py
+++ b/opendbc_repo/opendbc/car/volkswagen/carstate.py
@@ -19,6 +19,7 @@ class CarState(CarStateBase):
     self.esp_hold_confirmation = False
     self.upscale_lead_car_signal = False
     self.eps_stock_values = False
+    self.qfk_curvature = 0.
 
   def update_button_enable(self, buttonEvents: list[structs.CarState.ButtonEvent]):
     if not self.CP.pcmCruise:
@@ -63,7 +64,55 @@ class CarState(CarStateBase):
     else:
       ret.gearShifter = self.parse_gear_shifter(self.CCP.shifter_values.get(pt_cp.vl["Gateway_73"]["GE_Fahrstufe"], None))
 
-    if True:
+    if self.CP.flags & VolkswagenFlags.MEB:
+      # MEB-specific
+      self.qfk_curvature = -pt_cp.vl["QFK_01"]["Curvature"] * (1, -1)[int(pt_cp.vl["QFK_01"]["Curvature_VZ"])]
+      ret.fuelGauge = pt_cp.vl["Motor_16"]["MO_Energieinhalt_BMS"]  # TODO: is this available on MQB as well?
+
+      ret.wheelSpeeds = self.get_wheel_speeds(
+        pt_cp.vl["ESC_51"]["VL_Radgeschw"],
+        pt_cp.vl["ESC_51"]["VR_Radgeschw"],
+        pt_cp.vl["ESC_51"]["HL_Radgeschw"],
+        pt_cp.vl["ESC_51"]["HR_Radgeschw"],
+      )
+
+      ret.yawRate = pt_cp.vl["ESC_50"]["Yaw_Rate"] * (1, -1)[int(pt_cp.vl["ESC_50"]["Yaw_Rate_Sign"])] * CV.DEG_TO_RAD
+      hca_status = self.CCP.hca_status_values.get(pt_cp.vl["QFK_01"]["LatCon_HCA_Status"])
+
+      drive_mode = ret.gearShifter == GearShifter.drive
+      ret.gas = pt_cp.vl["Motor_54"]["Accelerator_Pressure"]
+      ret.brake = pt_cp.vl["ESC_51"]["Brake_Pressure"]
+      ret.brakePressed = bool(pt_cp.vl["Motor_14"]["MO_Fahrer_bremst"]) # includes regen braking by user
+      ret.parkingBrake = pt_cp.vl["Gateway_73"]["EPB_Status"] in (1, 4) # EPB closing or closed
+
+      ret.doorOpen = any([pt_cp.vl["ZV_02"]["ZV_FT_offen"],
+                          pt_cp.vl["ZV_02"]["ZV_BT_offen"],
+                          pt_cp.vl["ZV_02"]["ZV_HFS_offen"],
+                          pt_cp.vl["ZV_02"]["ZV_HBFS_offen"],
+                          pt_cp.vl["ZV_02"]["ZV_HD_offen"]])
+
+      if self.CP.enableBsm:
+        ret.leftBlindspot = bool(ext_cp.vl["MEB_Side_Assist_01"]["Blind_Spot_Info_Left"]) or bool(ext_cp.vl["MEB_Side_Assist_01"]["Blind_Spot_Warn_Left"])
+        ret.rightBlindspot = bool(ext_cp.vl["MEB_Side_Assist_01"]["Blind_Spot_Info_Right"]) or bool(ext_cp.vl["MEB_Side_Assist_01"]["Blind_Spot_Warn_Right"])
+
+      ret.stockFcw = bool(pt_cp.vl["VMM_02"]["FCW_Active"]) or bool(ext_cp.vl["AWV_03"]["FCW_Active"])
+      ret.stockAeb = bool(pt_cp.vl["VMM_02"]["AEB_Active"])
+
+      self.travel_assist_available = bool(cam_cp.vl["TA_01"]["Travel_Assist_Available"])
+      self.acc_type = ext_cp.vl["ACC_18"]["ACC_Typ"]
+      self.esp_hold_confirmation = bool(pt_cp.vl["VMM_02"]["ESP_Hold"])
+      acc_limiter_mode = bool(ext_cp.vl["MEB_ACC_01"]["ACC_Limiter_Mode"])
+      speed_limiter_mode = bool(pt_cp.vl["Motor_51"]["TSK_Limiter_ausgewaehlt"])
+
+      ret.cruiseState.available = pt_cp.vl["Motor_51"]["TSK_Status"] in (2, 3, 4, 5)
+      ret.cruiseState.enabled = pt_cp.vl["Motor_51"]["TSK_Status"] in (3, 4, 5)
+      ret.cruiseState.speed = int(round(ext_cp.vl["MEB_ACC_01"]["ACC_Wunschgeschw_02"])) * CV.KPH_TO_MS if self.CP.pcmCruise else 0
+      ret.accFaulted = drive_mode and pt_cp.vl["Motor_51"]["TSK_Status"] in (6, 7)
+
+      ret.leftBlinker = bool(pt_cp.vl["Blinkmodi_02"]["BM_links"])
+      ret.rightBlinker = bool(pt_cp.vl["Blinkmodi_02"]["BM_rechts"])
+
+    else:
       # MQB-specific
       self.upscale_lead_car_signal = bool(pt_cp.vl["Kombi_03"]["KBI_Variante"])  # Analog vs digital instrument cluster
 
@@ -256,6 +305,8 @@ class CarState(CarStateBase):
   def get_can_parsers(CP):
     if CP.flags & VolkswagenFlags.PQ:
       return CarState.get_can_parsers_pq(CP)
+    elif CP.flags & VolkswagenFlags.MEB:
+      return CarState.get_can_parsers_meb(CP)
 
     pt_messages = [
       # sig_address, frequency
@@ -356,6 +407,51 @@ class CarState(CarStateBase):
       Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], cam_messages, CANBUS.cam),
     }
 
+  @staticmethod
+  def get_can_parsers_meb(CP):
+    pt_messages = [
+      # sig_address, frequency
+      ("LWI_01", 100),            # From J500 Steering Assist with integrated sensors
+      ("GRA_ACC_01", 33),         # From J533 CAN gateway (via LIN from steering wheel controls)
+      ("Airbag_02", 5),           # From J234 Airbag control module
+      ("Motor_14", 10),           # From J623 Engine control module
+      ("Motor_16", 2),            # From J623 Engine control module
+      ("Blinkmodi_02", 1),        # From J519 BCM (sent at 1Hz when no lights active, 50Hz when active)
+      ("LH_EPS_03", 100),         # From J500 Steering Assist with integrated sensors
+      ("ZV_02", 5),               # From ZV
+      ("QFK_01", 100),            # From Steering
+      ("ESP_21", 50),             #
+      ("ESC_51", 100),            #
+      ("Motor_54", 10),           #
+      ("ESC_50", 50),             #
+      ("VMM_02", 50),             #
+      ("Gateway_73", 20),         #
+      ("Motor_51", 50),           #
+    ]
+
+    if CP.networkLocation == NetworkLocation.fwdCamera:
+      # Radars are here on CANBUS.pt
+      pt_messages += MebExtraSignals.fwd_radar_messages
+      if CP.enableBsm:
+        pt_messages += MebExtraSignals.bsm_radar_messages
+
+    cam_messages = [
+      # sig_address, frequency
+      ("LDW_02", 10),     # From R242 Driver assistance camera
+      ("TA_01", 10),      # From R242 Driver assistance camera (Travel Assist)
+    ]
+
+    if CP.networkLocation == NetworkLocation.gateway:
+      # Radars are here on CANBUS.cam
+      cam_messages += MebExtraSignals.fwd_radar_messages
+      if CP.enableBsm:
+        cam_messages += MebExtraSignals.bsm_radar_messages
+
+    return {
+      Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], pt_messages, CANBUS.pt),
+      Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], cam_messages, CANBUS.cam),
+    }
+
 
 class MqbExtraSignals:
   # Additional signal and message lists for optional or bus-portable controllers
@@ -378,3 +474,15 @@ class PqExtraSignals:
   bsm_radar_messages = [
     ("SWA_1", 20),                               # From J1086 Lane Change Assist
   ]
+
+
+class MebExtraSignals:
+  # Additional signal and message lists for optional or bus-portable controllers
+  fwd_radar_messages = [
+    ("MEB_ACC_01", 17),        #
+    ("ACC_18", 50),            #
+    ("AWV_03", 1),             # Front Collision Detection (1 Hz when inactive, 50 Hz when active)
+  ]
+  bsm_radar_messages = [
+    ("MEB_Side_Assist_01", 20),
+  ]
diff --git a/opendbc_repo/opendbc/car/volkswagen/fingerprints.py b/opendbc_repo/opendbc/car/volkswagen/fingerprints.py
index 1162e3f9..f9ae9bba 100644
--- a/opendbc_repo/opendbc/car/volkswagen/fingerprints.py
+++ b/opendbc_repo/opendbc/car/volkswagen/fingerprints.py
@@ -977,6 +977,19 @@ FW_VERSIONS = {
       b'\xf1\x875Q0907572R \xf1\x890771',
     ],
   },
+  CAR.VOLKSWAGEN_ID4_MK1: {
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x875WA959655R \xf1\x890717',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x871EA907572H \xf1\x890234',
+    ],
+  },
+  CAR.SKODA_ENYAQ_MK1: {
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x871EA907567B \xf1\x890232',
+    ],
+  },
   CAR.SKODA_FABIA_MK4: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8705E906018CF\xf1\x891905',
diff --git a/opendbc_repo/opendbc/car/volkswagen/interface.py b/opendbc_repo/opendbc/car/volkswagen/interface.py
index 70a67857..780fa61f 100644
--- a/opendbc_repo/opendbc/car/volkswagen/interface.py
+++ b/opendbc_repo/opendbc/car/volkswagen/interface.py
@@ -37,6 +37,18 @@ class CarInterface(CarInterfaceBase):
       # Panda ALLOW_DEBUG firmware required.
       ret.dashcamOnly = True
 
+    elif ret.flags & VolkswagenFlags.MEB:
+      # Set global MEB parameters
+      ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.noOutput),get_safety_config(structs.CarParams.SafetyModel.volkswagenMeb)]
+      ret.enableBsm = 0x24C in fingerprint[0]  # MEB_Side_Assist_01
+      ret.steerControlType = structs.CarParams.SteerControlType.angle
+      ret.transmissionType = TransmissionType.automatic
+
+      if any(msg in fingerprint[1] for msg in (0x520, 0x86, 0xFD, 0x13D)):  # Airbag_02, LWI_01, ESP_21, QFK_01
+        ret.networkLocation = NetworkLocation.gateway
+      else:
+        ret.networkLocation = NetworkLocation.fwdCamera
+
     else:
       # Set global MQB parameters
       ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.volkswagen)]
@@ -63,6 +75,8 @@ class CarInterface(CarInterfaceBase):
     if ret.flags & VolkswagenFlags.PQ:
       ret.steerActuatorDelay = 0.2
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+    elif ret.flags & VolkswagenFlags.MEB:
+      ret.steerActuatorDelay = 0.2
     else:
       ret.steerActuatorDelay = 0.1
       ret.lateralTuning.pid.kpBP = [0.]
@@ -73,7 +87,7 @@ class CarInterface(CarInterfaceBase):
 
     # Global longitudinal tuning defaults, can be overridden per-vehicle
 
-    ret.experimentalLongitudinalAvailable = ret.networkLocation == NetworkLocation.gateway or docs
+    ret.experimentalLongitudinalAvailable = not ret.flags & VolkswagenFlags.MEB and (ret.networkLocation == NetworkLocation.gateway or docs)
     if experimental_long:
       # Proof-of-concept, prep for E2E only. No radar points available. Panda ALLOW_DEBUG firmware required.
       ret.openpilotLongitudinalControl = True
diff --git a/opendbc_repo/opendbc/car/volkswagen/values.py b/opendbc_repo/opendbc/car/volkswagen/values.py
index 750a99e1..f6e6b4f1 100644
--- a/opendbc_repo/opendbc/car/volkswagen/values.py
+++ b/opendbc_repo/opendbc/car/volkswagen/values.py
@@ -72,6 +72,38 @@ class CarControllerParams:
         "laneAssistDeactivTrailer": 5,  # "Lane Assist: no function with trailer"
       }
 
+    elif CP.flags & VolkswagenFlags.MEB:
+      self.LDW_STEP                        = 10    # LDW_02 message frequency 10Hz
+      self.ACC_HUD_STEP                    = 6     # MEB_ACC_01 message frequency 16Hz
+      self.STEER_DRIVER_ALLOWANCE          = 60    # Driver torque 0.6 Nm, begin steering reduction from MAX
+      self.STEER_DRIVER_MAX                = 300   # Driver torque 3.0 Nm, stop steering reduction at MIN
+      self.STEERING_POWER_MAX              = 50    # HCA_03 maximum steering power, percentage
+      self.STEERING_POWER_MIN              = 20    # HCA_03 minimum steering power, percentage
+      self.STEERING_POWER_STEP             = 2     # HCA_03 steering power step increments
+
+      self.shifter_values    = can_define.dv["Gateway_73"]["GE_Fahrstufe"]
+      self.hca_status_values = can_define.dv["QFK_01"]["LatCon_HCA_Status"]
+
+      self.BUTTONS = [
+        Button(structs.CarState.ButtonEvent.Type.setCruise, "GRA_ACC_01", "GRA_Tip_Setzen", [1]),
+        Button(structs.CarState.ButtonEvent.Type.resumeCruise, "GRA_ACC_01", "GRA_Tip_Wiederaufnahme", [1]),
+        Button(structs.CarState.ButtonEvent.Type.accelCruise, "GRA_ACC_01", "GRA_Tip_Hoch", [1]),
+        Button(structs.CarState.ButtonEvent.Type.decelCruise, "GRA_ACC_01", "GRA_Tip_Runter", [1]),
+        Button(structs.CarState.ButtonEvent.Type.cancel, "GRA_ACC_01", "GRA_Hauptschalter", [1]),
+        Button(structs.CarState.ButtonEvent.Type.gapAdjustCruise, "GRA_ACC_01", "GRA_Verstellung_Zeitluecke", [3]),
+      ]
+
+      self.LDW_MESSAGES = {
+        "none": 0,                        # Nothing to display
+        "laneAssistTakeOverUrgent": 4,    # "Lane Assist: Please Take Over Steering" (red)
+        "laneAssistTakeOver": 8,          # "Lane Assist: Please Take Over Steering" (white)
+      }
+      self.LDW_SOUNDS = {
+        "None": 0,                        # No sound
+        "Chime": 1,                       # Play a chime
+        "Beep": 2,                        # Play a loud beep
+      }
+
     else:
       self.LDW_STEP = 10                  # LDW_02 message frequency 10Hz
       self.ACC_HUD_STEP = 6               # ACC_02 message frequency 16Hz
@@ -108,8 +140,8 @@ class CarControllerParams:
 
 
 class CANBUS:
-  pt = 0
-  cam = 2
+  pt = 4
+  cam = 6
 
 
 class WMI(StrEnum):
@@ -143,20 +175,33 @@ class VolkswagenFlags(IntFlag):
 
   # Static flags
   PQ = 2
+  MEB = 4
 
 
 @dataclass
 class VolkswagenMQBPlatformConfig(PlatformConfig):
-  dbc_dict: DbcDict = field(default_factory=lambda: {Bus.pt: 'vw_mqb_2010'})
+  dbc_dict: DbcDict = field(default_factory=lambda: {Bus.pt: 'vw_mqb'})
   # Volkswagen uses the VIN WMI and chassis code to match in the absence of the comma power
   # on camera-integrated cars, as we lose too many ECUs to reliably identify the vehicle
   chassis_codes: set[str] = field(default_factory=set)
   wmis: set[WMI] = field(default_factory=set)
 
 
+@dataclass
+class VolkswagenMEBPlatformConfig(PlatformConfig):
+  dbc_dict: DbcDict = field(default_factory=lambda: {Bus.pt: 'vw_meb', Bus.radar: 'vw_meb'})
+  # Volkswagen uses the VIN WMI and chassis code to match in the absence of the comma power
+  # on camera-integrated cars, as we lose too many ECUs to reliably identify the vehicle
+  chassis_codes: set[str] = field(default_factory=set)
+  wmis: set[WMI] = field(default_factory=set)
+
+  def init(self):
+    self.flags |= VolkswagenFlags.MEB
+
+
 @dataclass
 class VolkswagenPQPlatformConfig(VolkswagenMQBPlatformConfig):
-  dbc_dict: DbcDict = field(default_factory=lambda: {Bus.pt: 'vw_golf_mk4'})
+  dbc_dict: DbcDict = field(default_factory=lambda: {Bus.pt: 'vw_pq'})
 
   def init(self):
     self.flags |= VolkswagenFlags.PQ
@@ -188,6 +233,9 @@ class Footnote(Enum):
     "Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot " +
     "in software, but doesn't yet have a harness available from the comma store.",
     Column.HARDWARE)
+  VW_MEB = CarFootnote(
+    "Volkswagen MEB plattform is using CAN-FD, which is supported by comma 3x or red panda.",
+    Column.HARDWARE)
 
 
 @dataclass
@@ -200,7 +248,9 @@ class VWCarDocs(CarDocs):
     if "SKODA" in CP.carFingerprint:
       self.footnotes.append(Footnote.SKODA_HEATED_WINDSHIELD)
 
-    if CP.carFingerprint in (CAR.VOLKSWAGEN_CRAFTER_MK2, CAR.VOLKSWAGEN_TRANSPORTER_T61):
+    if CP.flags & VolkswagenFlags.MEB:
+      self.car_parts = CarParts.common([CarHarness.vw_c])
+    elif CP.carFingerprint in (CAR.VOLKSWAGEN_CRAFTER_MK2, CAR.VOLKSWAGEN_TRANSPORTER_T61):
       self.car_parts = CarParts([Device.threex_angled_mount, CarHarness.vw_j533])
 
     if abs(CP.minSteerSpeed - CarControllerParams.DEFAULT_MIN_STEER_SPEED) < 1e-3:
@@ -212,7 +262,7 @@ class VWCarDocs(CarDocs):
 # FW_VERSIONS for that existing CAR.
 
 class CAR(Platforms):
-  config: VolkswagenMQBPlatformConfig | VolkswagenPQPlatformConfig
+  config: VolkswagenMQBPlatformConfig | VolkswagenPQPlatformConfig | VolkswagenMEBPlatformConfig
 
   VOLKSWAGEN_ARTEON_MK1 = VolkswagenMQBPlatformConfig(
     [
@@ -274,6 +324,12 @@ class CAR(Platforms):
     chassis_codes={"5G", "AU", "BA", "BE"},
     wmis={WMI.VOLKSWAGEN_MEXICO_CAR, WMI.VOLKSWAGEN_EUROPE_CAR},
   )
+  VOLKSWAGEN_ID4_MK1 = VolkswagenMEBPlatformConfig(
+    [VWCarDocs("Volkswagen ID.4 2021-25", footnotes=[Footnote.VW_MEB])],
+    VolkswagenCarSpecs(mass=2099, wheelbase=2.77),
+    chassis_codes={"E2", "E8"},
+    wmis={WMI.VOLKSWAGEN_EUROPE_SUV, WMI.VOLKSWAGEN_USA_SUV},
+  )
   VOLKSWAGEN_JETTA_MK6 = VolkswagenPQPlatformConfig(
     [VWCarDocs("Volkswagen Jetta 2015-18")],
     VolkswagenCarSpecs(mass=1518, wheelbase=2.65, minSteerSpeed=50 * CV.KPH_TO_MS, minEnableSpeed=20 * CV.KPH_TO_MS),
@@ -398,6 +454,15 @@ class CAR(Platforms):
     chassis_codes={"5F"},
     wmis={WMI.SEAT},
   )
+  SKODA_ENYAQ_MK1 = VolkswagenMEBPlatformConfig(
+    [
+      VWCarDocs("Škoda Enyaq 2021-25"),
+      VWCarDocs("Škoda Enyaq Coupe 2023-25"),
+    ],
+    VolkswagenCarSpecs(mass=2137, wheelbase=2.77),
+    chassis_codes={"NY"},
+    wmis={WMI.SKODA},
+  )
   SKODA_FABIA_MK4 = VolkswagenMQBPlatformConfig(
     [VWCarDocs("Škoda Fabia 2022-23", footnotes=[Footnote.VW_MQB_A0])],
     VolkswagenCarSpecs(mass=1266, wheelbase=2.56),
diff --git a/opendbc_repo/opendbc/dbc/generator/gm/gm_global_a_powertrain.dbc b/opendbc_repo/opendbc/dbc/generator/gm/gm_global_a_powertrain.dbc
index 2dd72d36..adfb96b7 100644
--- a/opendbc_repo/opendbc/dbc/generator/gm/gm_global_a_powertrain.dbc
+++ b/opendbc_repo/opendbc/dbc/generator/gm/gm_global_a_powertrain.dbc
@@ -194,15 +194,12 @@ BO_ 711 BECMBatteryVoltageCurrent: 6 K17_EBCM
  SG_ HVBatteryCurrent : 12|13@0- (0.15,0) [-614.4|614.25] "A"  NEO
 
 BO_ 715 ASCMGasRegenCmd: 8 K124_ASCM
- SG_ GasRegenAlwaysOne2 : 9|1@0+ (1,0) [0|1] ""  NEO
- SG_ GasRegenAlwaysOne : 14|1@0+ (1,0) [0|1] ""  NEO
- SG_ GasRegenChecksum : 47|24@0+ (1,0) [0|0] ""  NEO
- SG_ GasRegenCmdActiveInv : 32|1@0+ (1,0) [0|0] ""  NEO
+ SG_ GasRegenAccType : 15|2@0+ (1,0) [0|3] ""  NEO
+ SG_ GasRegenChecksum : 32|25@0+ (1,0) [0|0] ""  NEO
  SG_ GasRegenFullStopActive : 13|1@0+ (1,0) [0|0] ""  NEO
  SG_ GasRegenCmdActive : 0|1@0+ (1,0) [0|0] ""  NEO
  SG_ RollingCounter : 7|2@0+ (1,0) [0|0] ""  NEO
- SG_ GasRegenAlwaysOne3 : 23|1@0+ (1,0) [0|1] ""  NEO
- SG_ GasRegenCmd : 22|12@0+ (1,0) [0|0] ""  NEO
+ SG_ GasRegenCmd : 10|19@0+ (0.125,-22534) [-22534|43001.875] "Nm"  NEO
 
 BO_ 717 ASCM_2CD: 5 K124_ASCM
 
diff --git a/opendbc_repo/opendbc/dbc/generator/nissan/_nissan_common.dbc b/opendbc_repo/opendbc/dbc/generator/nissan/_nissan_common.dbc
index 6300ea94..13da6361 100644
--- a/opendbc_repo/opendbc/dbc/generator/nissan/_nissan_common.dbc
+++ b/opendbc_repo/opendbc/dbc/generator/nissan/_nissan_common.dbc
@@ -107,7 +107,7 @@ BO_ 1227 LKAS_SETTINGS: 8 XXX
 
 VAL_ 1228 PROPILOT_NA_MSGS 0 "NO_MSG" 1 "NA_FRONT_CAMERA_IMPARED" 2 "STEERING_ASSIST_ON_STANDBY" 3 "NA_PARKING_ASSIST_ENABLED" 4 "STEER_ASSIST_CURRENTLY_NA" 5 "NA_BAD_WEATHER" 6 "NA_PARK_BRAKE_ON" 7 "NA_SEATBELT_NOT_FASTENED" ;
 VAL_ 1228 BOTTOM_MSG 0 "OK_STEER_ASSIST_SETTINGS" 1 "NO_MSG" 2 "PRESS_SET_TO_SET_SPEED" 3 "PRESS_RES_SET_TO_CHANGE_SPEED" 4 "PRESS_RES_TO_RESTART" 5 "NO_MSG" 6 "CRUISE_NOT_AVAIL" 7 "NO_MSG" ;
-VAL_ 689 FOLLOW_DISTANCE 0 "NO_FOLLOW_DISTANCE" 1 "FOLLOW_DISTANCE_1" 2 "FOLLOW_DISTANCE_2" 3 "FOLLOW_DISANCE_3" ;
+VAL_ 689 FOLLOW_DISTANCE 0 "NO_FOLLOW_DISTANCE" 1 "FOLLOW_DISTANCE_1" 2 "FOLLOW_DISTANCE_2" 3 "FOLLOW_DISTANCE_3" ;
 VAL_ 689 AUDIBLE_TONE 0 "NO_TONE" 1 "CONT" 2 "FAST_BEEP_CONT" 3 "TRIPLE_FAST_BEEP_CONT" 4 "SLOW_BEEP_CONT" 5 "QUAD_SLOW_BEEP_CONT" 6 "SINGLE_BEEP_ONCE" 7 "DOUBLE_BEEP_ONCE" ;
 VAL_ 689 SMALL_STEERING_WHEEL_ICON 0 "NO_ICON" 1 "GRAY_ICON" 2 "GRAY_ICON_FLASHING" 3 "GREEN_ICON" 4 "GREEN_ICON_FLASHING" 5 "RED_ICON" 6 "RED_ICON_FLASHING" 7 "YELLOW_ICON" ;
 VAL_ 689 LARGE_STEERING_WHEEL_ICON 0 "NO_STEERINGWHEEL" 1 "GRAY_STEERINGWHEEL" 2 "GREEN_STEERINGWHEEL" 3 "GREEN_STEERINGWHEEL_FLASHING" ;
diff --git a/opendbc_repo/opendbc/dbc/gm_global_a_powertrain_generated.dbc b/opendbc_repo/opendbc/dbc/gm_global_a_powertrain_generated.dbc
index 429665cc..507de8c7 100644
--- a/opendbc_repo/opendbc/dbc/gm_global_a_powertrain_generated.dbc
+++ b/opendbc_repo/opendbc/dbc/gm_global_a_powertrain_generated.dbc
@@ -197,15 +197,12 @@ BO_ 711 BECMBatteryVoltageCurrent: 6 K17_EBCM
  SG_ HVBatteryCurrent : 12|13@0- (0.15,0) [-614.4|614.25] "A"  NEO
 
 BO_ 715 ASCMGasRegenCmd: 8 K124_ASCM
- SG_ GasRegenAlwaysOne2 : 9|1@0+ (1,0) [0|1] ""  NEO
- SG_ GasRegenAlwaysOne : 14|1@0+ (1,0) [0|1] ""  NEO
- SG_ GasRegenChecksum : 47|24@0+ (1,0) [0|0] ""  NEO
- SG_ GasRegenCmdActiveInv : 32|1@0+ (1,0) [0|0] ""  NEO
+ SG_ GasRegenAccType : 15|2@0+ (1,0) [0|3] ""  NEO
+ SG_ GasRegenChecksum : 32|25@0+ (1,0) [0|0] ""  NEO
  SG_ GasRegenFullStopActive : 13|1@0+ (1,0) [0|0] ""  NEO
  SG_ GasRegenCmdActive : 0|1@0+ (1,0) [0|0] ""  NEO
  SG_ RollingCounter : 7|2@0+ (1,0) [0|0] ""  NEO
- SG_ GasRegenAlwaysOne3 : 23|1@0+ (1,0) [0|1] ""  NEO
- SG_ GasRegenCmd : 22|12@0+ (1,0) [0|0] ""  NEO
+ SG_ GasRegenCmd : 10|19@0+ (0.125,-22534) [-22534|43001.875] "Nm"  NEO
 
 BO_ 717 ASCM_2CD: 5 K124_ASCM
 
diff --git a/opendbc_repo/opendbc/dbc/nissan_leaf_2018_generated.dbc b/opendbc_repo/opendbc/dbc/nissan_leaf_2018_generated.dbc
index bfd30e48..7c638d08 100644
--- a/opendbc_repo/opendbc/dbc/nissan_leaf_2018_generated.dbc
+++ b/opendbc_repo/opendbc/dbc/nissan_leaf_2018_generated.dbc
@@ -111,7 +111,7 @@ BO_ 1227 LKAS_SETTINGS: 8 XXX
 
 VAL_ 1228 PROPILOT_NA_MSGS 0 "NO_MSG" 1 "NA_FRONT_CAMERA_IMPARED" 2 "STEERING_ASSIST_ON_STANDBY" 3 "NA_PARKING_ASSIST_ENABLED" 4 "STEER_ASSIST_CURRENTLY_NA" 5 "NA_BAD_WEATHER" 6 "NA_PARK_BRAKE_ON" 7 "NA_SEATBELT_NOT_FASTENED" ;
 VAL_ 1228 BOTTOM_MSG 0 "OK_STEER_ASSIST_SETTINGS" 1 "NO_MSG" 2 "PRESS_SET_TO_SET_SPEED" 3 "PRESS_RES_SET_TO_CHANGE_SPEED" 4 "PRESS_RES_TO_RESTART" 5 "NO_MSG" 6 "CRUISE_NOT_AVAIL" 7 "NO_MSG" ;
-VAL_ 689 FOLLOW_DISTANCE 0 "NO_FOLLOW_DISTANCE" 1 "FOLLOW_DISTANCE_1" 2 "FOLLOW_DISTANCE_2" 3 "FOLLOW_DISANCE_3" ;
+VAL_ 689 FOLLOW_DISTANCE 0 "NO_FOLLOW_DISTANCE" 1 "FOLLOW_DISTANCE_1" 2 "FOLLOW_DISTANCE_2" 3 "FOLLOW_DISTANCE_3" ;
 VAL_ 689 AUDIBLE_TONE 0 "NO_TONE" 1 "CONT" 2 "FAST_BEEP_CONT" 3 "TRIPLE_FAST_BEEP_CONT" 4 "SLOW_BEEP_CONT" 5 "QUAD_SLOW_BEEP_CONT" 6 "SINGLE_BEEP_ONCE" 7 "DOUBLE_BEEP_ONCE" ;
 VAL_ 689 SMALL_STEERING_WHEEL_ICON 0 "NO_ICON" 1 "GRAY_ICON" 2 "GRAY_ICON_FLASHING" 3 "GREEN_ICON" 4 "GREEN_ICON_FLASHING" 5 "RED_ICON" 6 "RED_ICON_FLASHING" 7 "YELLOW_ICON" ;
 VAL_ 689 LARGE_STEERING_WHEEL_ICON 0 "NO_STEERINGWHEEL" 1 "GRAY_STEERINGWHEEL" 2 "GREEN_STEERINGWHEEL" 3 "GREEN_STEERINGWHEEL_FLASHING" ;
diff --git a/opendbc_repo/opendbc/dbc/nissan_x_trail_2017_generated.dbc b/opendbc_repo/opendbc/dbc/nissan_x_trail_2017_generated.dbc
index c6a3ef7a..66d6bf07 100644
--- a/opendbc_repo/opendbc/dbc/nissan_x_trail_2017_generated.dbc
+++ b/opendbc_repo/opendbc/dbc/nissan_x_trail_2017_generated.dbc
@@ -111,7 +111,7 @@ BO_ 1227 LKAS_SETTINGS: 8 XXX
 
 VAL_ 1228 PROPILOT_NA_MSGS 0 "NO_MSG" 1 "NA_FRONT_CAMERA_IMPARED" 2 "STEERING_ASSIST_ON_STANDBY" 3 "NA_PARKING_ASSIST_ENABLED" 4 "STEER_ASSIST_CURRENTLY_NA" 5 "NA_BAD_WEATHER" 6 "NA_PARK_BRAKE_ON" 7 "NA_SEATBELT_NOT_FASTENED" ;
 VAL_ 1228 BOTTOM_MSG 0 "OK_STEER_ASSIST_SETTINGS" 1 "NO_MSG" 2 "PRESS_SET_TO_SET_SPEED" 3 "PRESS_RES_SET_TO_CHANGE_SPEED" 4 "PRESS_RES_TO_RESTART" 5 "NO_MSG" 6 "CRUISE_NOT_AVAIL" 7 "NO_MSG" ;
-VAL_ 689 FOLLOW_DISTANCE 0 "NO_FOLLOW_DISTANCE" 1 "FOLLOW_DISTANCE_1" 2 "FOLLOW_DISTANCE_2" 3 "FOLLOW_DISANCE_3" ;
+VAL_ 689 FOLLOW_DISTANCE 0 "NO_FOLLOW_DISTANCE" 1 "FOLLOW_DISTANCE_1" 2 "FOLLOW_DISTANCE_2" 3 "FOLLOW_DISTANCE_3" ;
 VAL_ 689 AUDIBLE_TONE 0 "NO_TONE" 1 "CONT" 2 "FAST_BEEP_CONT" 3 "TRIPLE_FAST_BEEP_CONT" 4 "SLOW_BEEP_CONT" 5 "QUAD_SLOW_BEEP_CONT" 6 "SINGLE_BEEP_ONCE" 7 "DOUBLE_BEEP_ONCE" ;
 VAL_ 689 SMALL_STEERING_WHEEL_ICON 0 "NO_ICON" 1 "GRAY_ICON" 2 "GRAY_ICON_FLASHING" 3 "GREEN_ICON" 4 "GREEN_ICON_FLASHING" 5 "RED_ICON" 6 "RED_ICON_FLASHING" 7 "YELLOW_ICON" ;
 VAL_ 689 LARGE_STEERING_WHEEL_ICON 0 "NO_STEERINGWHEEL" 1 "GRAY_STEERINGWHEEL" 2 "GREEN_STEERINGWHEEL" 3 "GREEN_STEERINGWHEEL_FLASHING" ;
diff --git a/opendbc_repo/opendbc/dbc/rivian_primary_actuator.dbc b/opendbc_repo/opendbc/dbc/rivian_primary_actuator.dbc
index 686ec6fe..6422562d 100644
--- a/opendbc_repo/opendbc/dbc/rivian_primary_actuator.dbc
+++ b/opendbc_repo/opendbc/dbc/rivian_primary_actuator.dbc
@@ -85,28 +85,27 @@ BO_ 272 ACM_SteeringControl: 8 ACM
  SG_ ACM_SteeringAngleRequest : 23|15@0+ (0.1,-1638.4) [-1638.4|1638.3] "deg" EPAS_P
 
 BO_ 288 ACM_lkaHbaCmd: 8 ACM
- SG_ ACM_lkaHbaCmd_Checksum : 7|8@0+ (1,0) [0|0] "" EPAS_P
- SG_ ACM_lkaHbaCmd_Counter : 11|4@0+ (1,0) [0|0] "" EPAS_P
- SG_ ACM_unkown1 : 12|1@0+ (1,0) [0|1] "" XXX
- SG_ ACM_unkown6 : 13|1@0+ (1,0) [0|1] "" XXX
- SG_ ACM_unkown5 : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACM_lkaHbaCmd_Checksum : 7|8@0+ (1,0) [0|255] "" EPAS_P
+ SG_ ACM_lkaHbaCmd_Counter : 11|4@0+ (1,0) [0|15] "" EPAS_P
+ SG_ ACM_lkaElkRequest : 14|3@0+ (1,0) [0|7] "" EPAS_P
  SG_ ACM_HapticRequest : 15|1@0+ (1,0) [0|1] "" EPAS_P
  SG_ ACM_lkaStrToqReq : 23|11@0+ (1,-1024) [-1024|1024] "" EPAS_P
  SG_ ACM_lkaSymbolState : 26|3@0+ (1,0) [0|7] "" EPAS_P
  SG_ ACM_lkaToiFlt : 27|1@0+ (1,0) [0|1] "" EPAS_P
  SG_ ACM_lkaActToi : 28|1@0+ (1,0) [0|1] "" EPAS_P
  SG_ ACM_hbaSysState : 34|3@0+ (1,0) [0|7] "" EPAS_P
- SG_ ACM_FailinfoAeb : 37|3@0+ (1,0) [0|7] "" EPAS_P
- SG_ ACM_unkown2 : 38|2@1+ (1,0) [0|3] "" XXX
- SG_ ACM_lkaRHWarning : 41|2@0+ (1,0) [0|3] "" EPAS_P
- SG_ ACM_lkaLHWarning : 43|2@0+ (1,0) [0|3] "" EPAS_P
+ SG_ ACM_hbaLamp : 35|1@0+ (1,0) [0|1] "" EPAS_P
+ SG_ ACM_slifOnOffState : 37|2@0+ (1,0) [0|3] "" EPAS_P
+ SG_ ACM_elkOnOffState : 39|2@0+ (1,0) [0|3] "" EPAS_P
+ SG_ ACM_ldwLHWarning : 43|3@0+ (1,0) [0|7] "" EPAS_P
  SG_ ACM_lkaLaneRecogState : 45|2@0+ (1,0) [0|3] "" EPAS_P
- SG_ ACM_hbaOpt : 46|1@0+ (1,0) [0|1] "" EPAS_P
- SG_ ACM_hbaLamp : 47|1@0+ (1,0) [0|1] "" EPAS_P
- SG_ ACM_unkown3 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ ACM_hbaOnOffState : 47|2@0+ (1,0) [0|3] "" EPAS_P
+ SG_ ACM_ldwlkaOnOffState : 48|3@0+ (1,0) [0|7] "" EPAS_P
+ SG_ ACM_ldwWarnTimingState : 51|3@0+ (1,0) [0|7] "" EPAS_P
  SG_ ACM_lkaHandsoffSoundWarning : 53|2@0+ (1,0) [0|3] "" EPAS_P
  SG_ ACM_lkaHandsoffDisplayWarning : 55|2@0+ (1,0) [0|3] "" EPAS_P
- SG_ ACM_unkown4 : 56|8@1+ (1,0) [0|255] "" XXX
+ SG_ ACM_ldwRHWarning : 58|3@0+ (1,0) [0|7] "" EPAS_P
+ SG_ ACM_ldwWarnTypeState : 61|3@0+ (1,0) [0|7] "" EPAS_P
 
 BO_ 304 RCM_IMU_LatAccYaw: 8 RCM
  SG_ RCM_LateralAccelYaw_Checksum : 7|8@0+ (1,0) [0|25] "" ACM,ESP,VDM
@@ -828,14 +827,15 @@ VAL_ 288 ACM_lkaSymbolState 0 "ACM_LKASYMBOLSTATE_OFF" 1 "ACM_LKASYMBOLSTATE_WHI
 VAL_ 288 ACM_lkaToiFlt 0 "ACM_LKATOIFLT_NO_FAULT" 1 "ACM_LKATOIFLT_FAULT_PRESENT";
 VAL_ 288 ACM_lkaActToi 0 "ACM_LKAACTTOI_DE_ACTIVATE_TOI" 1 "ACM_LKAACTTOI_ACTIVATE_TOI";
 VAL_ 288 ACM_hbaSysState 0 "ACM_HBASYSSTATE_DEFAULT_DISABLE" 1 "ACM_HBASYSSTATE_HBA_ENABLE_HIGH_BEAM_OFF" 2 "ACM_HBASYSSTATE_HBA_ENABLE_HIGH_BEAM_ON" 7 "ACM_HBASYSSTATE_SYSTEM_FAIL";
-VAL_ 288 ACM_FailinfoAeb 0 "ACM_FAILINFOAEB_NORMAL" 1 "ACM_FAILINFOAEB_CAMERA_FAILURE" 2 "ACM_FAILINFOAEB_FRONT_RADAR_COM_ERR" 3 "ACM_FAILINFOAEB_CAMERA_BLOCKAGE" 4 "ACM_FAILINFOAEB_RESERVED_4" 5 "ACM_FAILINFOAEB_RESERVED_5" 6 "ACM_FAILINFOAEB_RESERVED_6";
-VAL_ 288 ACM_lkaRHWarning 0 "ACM_LKARHWARNING_NO_WARNING" 1 "ACM_LKARHWARNING_HAPTIC_WARNING_AND_DISPLAY" 2 "ACM_LKARHWARNING_ACOUSTIC_WARNING_AND_DISPLAY" 3 "ACM_LKARHWARNING_HAPTIC_ACOUSTIC_AND_DISPLAY";
-VAL_ 288 ACM_lkaLHWarning 0 "ACM_LKALHWARNING_NO_WARNING" 1 "ACM_LKALHWARNING_HAPTIC_WARNING_AND_DISPLAY" 2 "ACM_LKALHWARNING_ACOUSTIC_WARNING_AND_DISPLAY" 3 "ACM_LKALHWARNING_HAPTIC_ACOUSTIC_AND_DISPLAY";
+VAL_ 288 ACM_ldwRHWarning 0 "ACM_LKARHWARNING_NO_WARNING" 1 "ACM_LKARHWARNING_HAPTIC_WARNING_AND_DISPLAY" 2 "ACM_LKARHWARNING_ACOUSTIC_WARNING_AND_DISPLAY" 3 "ACM_LKARHWARNING_HAPTIC_ACOUSTIC_AND_DISPLAY";
+VAL_ 288 ACM_ldwLHWarning 0 "ACM_LKALHWARNING_NO_WARNING" 1 "ACM_LKALHWARNING_HAPTIC_WARNING_AND_DISPLAY" 2 "ACM_LKALHWARNING_ACOUSTIC_WARNING_AND_DISPLAY" 3 "ACM_LKALHWARNING_HAPTIC_ACOUSTIC_AND_DISPLAY";
 VAL_ 288 ACM_lkaLaneRecogState 0 "ACM_LKALANERECOGSTATE_NOT_RECOGNITION" 1 "ACM_LKALANERECOGSTATE_LEFT_LANE_RECOGNITION" 2 "ACM_LKALANERECOGSTATE_RIGHT_LANE_RECOGNITION" 3 "ACM_LKALANERECOGSTATE_FULL_LANE_RECOGNITION";
-VAL_ 288 ACM_hbaOpt 0 "ACM_HBAOPT_NONE_HBA_OPTION_DEFAULT" 1 "ACM_HBAOPT_HBA_SYSTEM_ENABLE";
 VAL_ 288 ACM_hbaLamp 0 "ACM_HBALAMP_HBA_INDICATOR_LAMP_OFF" 1 "ACM_HBALAMP_HBA_INDICATOR_LAMP_ON";
 VAL_ 288 ACM_lkaHandsoffSoundWarning 0 "ACM_LKAHANDSOFFSOUNDWARNING_NO_INFO" 1 "ACM_LKAHANDSOFFSOUNDWARNING_WARNING" 2 "ACM_LKAHANDSOFFSOUNDWARNING_RESERVED_2" 3 "ACM_LKAHANDSOFFSOUNDWARNING_RESERVED_3";
 VAL_ 288 ACM_lkaHandsoffDisplayWarning 0 "ACM_LKAHANDSOFFDISPLAYWARNING_NO_INFO" 1 "ACM_LKAHANDSOFFDISPLAYWARNING_WARNING" 2 "ACM_LKAHANDSOFFDISPLAYWARNING_RESERVED_2" 3 "ACM_LKAHANDSOFFDISPLAYWARNING_RESERVED_3";
+VAL_ 288 ACM_lkaElkRequest 0 "off" 1 "applying torque right for left departure" 2 "applying torque left for right departure";
+VAL_ 288 ACM_ldwlkaOnOffState 1 "LDW on" 2 "LKAS+LDW on" 3 "all off";
+VAL_ 288 ACM_elkOnOffState 1 "LKAS toggled on" 2 "LKAS toggled off";
 VAL_ 304 RCM_IMU_LatAcc_Stat_SensAvail 0 "RCM_IMU_LatAcc_Stat_SensAvail_InSpec" 1 "RCM_IMU_LatAcc_Stat_SensAvail_NotInSpec";
 VAL_ 304 RCM_IMU_LatAcc_Stat_Fail 0 "RCM_IMU_LatAcc_Stat_Fail_NotFailed" 1 "RCM_IMU_LatAcc_Stat_Fail_Failed";
 VAL_ 304 RCM_IMU_LatAcc_Stat_Init 0 "RCM_IMU_LatAcc_Stat_Init_Finished" 1 "RCM_IMU_LatAcc_Stat_Init_Running";
diff --git a/opendbc_repo/opendbc/dbc/tesla_model3_party.dbc b/opendbc_repo/opendbc/dbc/tesla_model3_party.dbc
index b8dcf0ff..2f7b67a0 100644
--- a/opendbc_repo/opendbc/dbc/tesla_model3_party.dbc
+++ b/opendbc_repo/opendbc/dbc/tesla_model3_party.dbc
@@ -189,6 +189,8 @@ BO_ 599 DI_speed: 8 PARTY
  SG_ DI_speedCounter : 8|4@1+ (1,0) [0|15] ""  park
  SG_ DI_speedChecksum : 0|8@1+ (1,0) [0|255] ""  park
 
+BO_ 605 XXX_longitudinalRelated: 6 XXX
+
 BO_ 1160 DAS_steeringControl: 4 PARTY
  SG_ DAS_steeringControlChecksum : 31|8@0+ (1,0) [0|255] ""  aps
  SG_ DAS_steeringControlCounter : 19|4@0+ (1,0) [0|15] ""  aps
@@ -224,15 +226,28 @@ BO_ 646 DI_state: 8 ETH
  SG_ DI_locStatusChecksum : 0|8@1+ (1,0) [0|0] ""  X
 
 BO_ 659 DAS_settings: 8 XXX
- SG_ DAS_autopilotEnabled : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ DAS_driverSteeringWeight : 1|2@0+ (1,0) [0|255] "" XXX
+ SG_ DAS_slipStart : 2|1@0+ (1,0) [0|1] "" XXX
+ SG_ DAS_offRoadAssist : 3|2@1+ (1,0) [0|63] "" XXX
+ SG_ DAS_distanceUnits : 13|1@1+ (1,0) [0|255] "" XXX
+ SG_ DAS_aebEnabled : 18|1@0+ (1,0) [0|255] "" XXX
+ SG_ DAS_adaptiveHeadlights : 22|1@1+ (1,0) [0|31] "" XXX
+ SG_ DAS_autosteerEnabled2 : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ DAS_fcwEnabled : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ DAS_fcwSensitivity : 37|2@0+ (1,0) [0|63] "" XXX
+ SG_ DAS_autosteerEnabled : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ DAS_obstacleAwareAcceleration : 42|1@0+ (1,0) [0|1] "" XXX
+ SG_ DAS_driverAccelerationMode : 44|1@1+ (1,0) [0|127] "" XXX
  SG_ DAS_settingCounter : 52|4@1+ (1,0) [0|15] "" XXX
  SG_ DAS_settingChecksum : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 785 UI_warning: 7 XXX
  SG_ buckleStatus : 13|1@0+ (1,0) [0|1] "" XXX
- SG_ scrollWheelRightTilt : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ scrollWheelPressed : 21|1@0+ (1,0) [0|1] "" XXX
  SG_ leftBlinkerOn : 22|1@0+ (1,0) [0|1] "" XXX
  SG_ rightBlinkerOn : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ leftBlinkerBlinking : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ rightBlinkerBlinking : 26|2@1+ (1,0) [0|15] "" XXX
  SG_ anyDoorOpen : 28|1@0+ (1,0) [0|1] "" XXX
  SG_ wiperSettings : 39|8@0+ (1,0) [0|255] "" XXX
  SG_ highBeam : 50|1@0+ (1,0) [0|1] "" XXX
@@ -266,11 +281,12 @@ BO_ 923 DAS_status: 8 PARTY
  SG_ DAS_autopilotState : 0|4@1+ (1,0) [0|15] ""  aps
 
 
+CM_ BO_ 605 "Bytes change when toggling between FSD and AP, as well as Traffic Light and Stop Sign Control in TACC";
 
-
-
-
-
+CM_ SG_ 659 DAS_autosteerEnabled "1 if Autosteer or FSD is enabled, 0 otherwise";
+CM_ SG_ 785 leftBlinkerOn "only describes stalk position if half pressed without auto-cancel blinkers. otherwise acts as expected";
+CM_ SG_ 785 rightBlinkerOn "only describes stalk position if half pressed without auto-cancel blinkers. otherwise acts as expected";
+CM_ SG_ 785 scrollWheelPressed "captures either scroll wheel left, right or down press";
 
 VAL_ 545 VCFRONT_uiAudioLVState 1 "LV_ON" 2 "LV_GOING_DOWN" 3 "LV_FAULT" 0 "LV_OFF" ;
 VAL_ 545 VCFRONT_uiHiCurrentLVState 1 "LV_ON" 2 "LV_GOING_DOWN" 3 "LV_FAULT" 0 "LV_OFF" ;
@@ -385,8 +401,15 @@ VAL_ 646 DI_parkBrakeState 0 "UNAVAILABLE" 1 "RELEASED" 2 "REQUESTED" 3 "APPLIED
 VAL_ 646 DI_autoparkState 0 "UNAVAILABLE" 1 "STANDBY" 2 "STARTED" 3 "ACTIVE" 4 "COMPLETE" 5 "PAUSED" 6 "ABORTED" 7 "RESUMED" 8 "UNPARK_COMPLETE" 9 "SELFPARK_STARTED" 15 "SNA" ;
 VAL_ 646 DI_speedUnits 0 "MPH" 1 "KPH" ;
 VAL_ 646 DI_cruiseState 0 "UNAVAILABLE" 1 "STANDBY" 2 "ENABLED" 3 "STANDSTILL" 4 "OVERRIDE" 5 "FAULT" 6 "PRE_FAULT" 7 "PRE_CANCEL" ;
+VAL_ 659 DAS_driverSteeringWeight 0 "light" 1 "standard" 2 "heavy";
+VAL_ 659 DAS_offRoadAssist 0 "disabled" 3 "enabled";
+VAL_ 659 DAS_distanceUnits 1 "miles" 0 "kilometers";
+VAL_ 659 DAS_fcwSensitivity 0 "early" 1 "medium" 2 "late" 3 "off";
+VAL_ 659 DAS_driverAccelerationMode 0 "chill" 1 "standard";
 VAL_ 785 buckleStatus 1 "LATCHED" 0 "UNLATCHED" ;
 VAL_ 785 anyDoorOpen 1 "OPEN" 0 "CLOSED" ;
+VAL_ 785 leftBlinkerBlinking 0 "off" 1 "blinking, off" 2 "blinking, on";
+VAL_ 785 rightBlinkerBlinking 0 "off" 1 "blinking, off" 2 "blinking, on";
 VAL_ 923 DAS_autoLaneChangeState 5 "ALC_UNAVAILABLE_VEHICLE_SPEED" 17 "ALC_ABORT_POOR_VIEW_RANGE" 23 "ALC_BLOCKED_VEH_TTC_AND_USS_L" 0 "ALC_UNAVAILABLE_DISABLED" 26 "ALC_BLOCKED_LANE_TYPE_L" 29 "ALC_ABORT_TIMEOUT" 9 "ALC_IN_PROGRESS_L" 4 "ALC_UNAVAILABLE_EXITING_HIGHWAY" 22 "ALC_BLOCKED_VEH_TTC_L" 12 "ALC_WAITING_FOR_SIDE_OBST_TO_PASS_R" 18 "ALC_ABORT_LC_HEALTH_BAD" 28 "ALC_WAITING_HANDS_ON" 8 "ALC_AVAILABLE_BOTH" 11 "ALC_WAITING_FOR_SIDE_OBST_TO_PASS_L" 3 "ALC_UNAVAILABLE_TP_FOLLOW" 2 "ALC_UNAVAILABLE_SONICS_INVALID" 21 "ALC_UNAVAILABLE_SOLID_LANE_LINE" 24 "ALC_BLOCKED_VEH_TTC_R" 1 "ALC_UNAVAILABLE_NO_LANES" 25 "ALC_BLOCKED_VEH_TTC_AND_USS_R" 30 "ALC_ABORT_MISSION_PLAN_INVALID" 27 "ALC_BLOCKED_LANE_TYPE_R" 19 "ALC_ABORT_BLINKER_TURNED_OFF" 31 "ALC_SNA" 13 "ALC_WAITING_FOR_FWD_OBST_TO_PASS_L" 16 "ALC_ABORT_SIDE_OBSTACLE_PRESENT_R" 6 "ALC_AVAILABLE_ONLY_L" 20 "ALC_ABORT_OTHER_REASON" 15 "ALC_ABORT_SIDE_OBSTACLE_PRESENT_L" 7 "ALC_AVAILABLE_ONLY_R" 14 "ALC_WAITING_FOR_FWD_OBST_TO_PASS_R" 10 "ALC_IN_PROGRESS_R" ;
 VAL_ 923 DAS_autopilotHandsOnState 8 "LC_HANDS_ON_SUSPENDED" 15 "LC_HANDS_ON_SNA" 7 "LC_HANDS_ON_REQD_STRUCK_OUT" 3 "LC_HANDS_ON_REQD_VISUAL" 4 "LC_HANDS_ON_REQD_CHIME_1" 6 "LC_HANDS_ON_REQD_SLOWING" 1 "LC_HANDS_ON_REQD_DETECTED" 2 "LC_HANDS_ON_REQD_NOT_DETECTED" 5 "LC_HANDS_ON_REQD_CHIME_2" 0 "LC_HANDS_ON_NOT_REQD" ;
 VAL_ 923 DAS_fleetSpeedState 0 "FLEETSPEED_UNAVAILABLE" 1 "FLEETSPEED_AVAILABLE" 2 "FLEETSPEED_ACTIVE" 3 "FLEETSPEED_HOLD" ;
@@ -404,6 +427,3 @@ VAL_ 923 DAS_fusedSpeedLimit 31 "NONE" 0 "UNKNOWN_SNA" ;
 VAL_ 923 DAS_blindSpotRearRight 3 "SNA" 0 "NO_WARNING" 1 "WARNING_LEVEL_1" 2 "WARNING_LEVEL_2" ;
 VAL_ 923 DAS_blindSpotRearLeft 3 "SNA" 0 "NO_WARNING" 1 "WARNING_LEVEL_1" 2 "WARNING_LEVEL_2" ;
 VAL_ 923 DAS_autopilotState 15 "SNA" 8 "ABORTING" 3 "ACTIVE_NOMINAL" 0 "DISABLED" 4 "ACTIVE_RESTRICTED" 5 "ACTIVE_NAV" 14 "FAULT" 1 "UNAVAILABLE" 9 "ABORTED" 2 "AVAILABLE" ;
-
-
-
diff --git a/opendbc_repo/opendbc/dbc/vw_meb.dbc b/opendbc_repo/opendbc/dbc/vw_meb.dbc
index 98125aaa..1833d7c5 100644
--- a/opendbc_repo/opendbc/dbc/vw_meb.dbc
+++ b/opendbc_repo/opendbc/dbc/vw_meb.dbc
@@ -169,7 +169,7 @@ BO_ 192 EM1_01: 32 XXX
  SG_ Schubbetrieb : 79|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 219 AWV_03: 48 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ XCHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
  SG_ FCW_Active : 64|1@0+ (1,0) [0|1] "" XXX
  SG_ Pre_Brake_Fill : 76|1@0+ (1,0) [0|1] "" XXX
@@ -180,8 +180,8 @@ BO_ 247 MEB_HVEM_02: 8 XXX
  SG_ NEW_SIGNAL_3 : 44|10@1+ (1,0) [0|7] "" XXX
  SG_ NEW_SIGNAL_2 : 54|7@1+ (1,0) [0|3] "" XXX
 
-BO_ 252 ESC_51: 48 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+BO_ 252 ESC_51: 64 XXX
+ SG_ XCHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
  SG_ AEB_Breaking_01 : 24|8@1+ (1,0) [0|255] "" XXX
  SG_ AEB_Breaking_02 : 32|8@1+ (1,0) [0|255] "" XXX
@@ -223,7 +223,7 @@ BO_ 253 ESP_21: 8 Gateway
  SG_ ESC_Neutralschaltung : 63|1@1+ (1,0) [0|1] "" Vector__XXX
 
 BO_ 258 ESC_50: 48 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ XCHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
  SG_ Lateral_Accel : 16|8@1+ (0.15,-18.9) [0|255] "Unit_MeterPerSquareSecond" XXX
  SG_ Longitudinal_Accel : 24|10@1+ (0.03125,-16) [0|255] "Unit_MeterPerSquareSecond" XXX
@@ -242,8 +242,8 @@ BO_ 261 VMM_01: 8 XXX
  SG_ NEW_SIGNAL_1 : 40|2@1+ (1,0) [0|3] "" XXX
  SG_ Brake : 53|7@1+ (1,0) [0|3] "" XXX
 
-BO_ 267 Motor_51: 32 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+BO_ 267 Motor_51: 48 XXX
+ SG_ XCHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
  SG_ Accel_Pedal_Pressure : 12|9@1+ (0.4,0) [0|255] "" XXX
  SG_ Accel_Low_Pressed_Support : 21|1@1+ (1,0) [0|7] "" XXX
@@ -319,7 +319,7 @@ BO_ 299 GRA_ACC_01: 8 Gateway
 BO_ 312 IPA_01: 32 XXX
 
 BO_ 313 VMM_02: 32 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ XCHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
  SG_ Brake_Pressed_1 : 16|1@0+ (1,0) [0|1] "" XXX
  SG_ Brake_Pressed_2 : 27|1@0+ (1,0) [0|1] "" XXX
@@ -330,7 +330,7 @@ BO_ 313 VMM_02: 32 XXX
  SG_ Brake_Pressure : 76|11@1+ (1,0) [0|100] "" XXX
 
 BO_ 317 QFK_01: 32 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ XCHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
  SG_ NEW_SIGNAL_5 : 12|1@0+ (1,0) [0|1] "" XXX
  SG_ NEW_SIGNAL_9 : 14|1@0+ (1,0) [0|1] "" XXX
diff --git a/opendbc_repo/opendbc/safety/safety.h b/opendbc_repo/opendbc/safety/safety.h
index ced9f3b8..99859796 100644
--- a/opendbc_repo/opendbc/safety/safety.h
+++ b/opendbc_repo/opendbc/safety/safety.h
@@ -25,6 +25,7 @@
 // CAN-FD only safety modes
 #ifdef CANFD
 #include "safety/safety_hyundai_canfd.h"
+#include "safety/safety_volkswagen_meb.h"
 #endif
 
 // from cereal.car.CarParams.SafetyModel
@@ -417,6 +418,9 @@ int set_safety_hooks(uint16_t mode, uint16_t param) {
     {SAFETY_RIVIAN, &rivian_hooks},
 #ifdef CANFD
     {SAFETY_HYUNDAI_CANFD, &hyundai_canfd_hooks},
+#ifdef ALLOW_DEBUG
+    {SAFETY_VOLKSWAGEN_MEB, &volkswagen_meb_hooks},
+#endif
 #endif
 #ifdef ALLOW_DEBUG
     {SAFETY_TESLA, &tesla_hooks},
@@ -643,13 +647,21 @@ bool steer_torque_cmd_checks(int desired_torque, int steer_req, const TorqueStee
   uint32_t ts = microsecond_timer_get();
 
   if (controls_allowed) {
+    // Some safety models support variable torque limit based on vehicle speed
+    int max_torque = limits.max_torque;
+    if (limits.dynamic_max_torque) {
+      const float fudged_speed = (vehicle_speed.min / VEHICLE_SPEED_FACTOR) - 1.;
+      max_torque = interpolate(limits.max_torque_lookup, fudged_speed) + 1;
+      max_torque = CLAMP(max_torque, -limits.max_torque, limits.max_torque);
+    }
+
     // *** global torque limit check ***
-    violation |= max_limit_check(desired_torque, limits.max_steer, -limits.max_steer);
+    violation |= max_limit_check(desired_torque, max_torque, -max_torque);
 
     // *** torque rate limit check ***
     if (limits.type == TorqueDriverLimited) {
       violation |= driver_limit_check(desired_torque, desired_torque_last, &torque_driver,
-                                      limits.max_steer, limits.max_rate_up, limits.max_rate_down,
+                                      max_torque, limits.max_rate_up, limits.max_rate_down,
                                       limits.driver_torque_allowance, limits.driver_torque_multiplier);
     } else {
       violation |= dist_to_meas_check(desired_torque, desired_torque_last, &torque_meas,
@@ -662,7 +674,7 @@ bool steer_torque_cmd_checks(int desired_torque, int steer_req, const TorqueStee
 
     // every RT_INTERVAL set the new limits
     uint32_t ts_elapsed = get_ts_elapsed(ts, ts_torque_check_last);
-    if (ts_elapsed > limits.max_rt_interval) {
+    if (ts_elapsed > MAX_TORQUE_RT_INTERVAL) {
       rt_torque_last = desired_torque;
       ts_torque_check_last = ts;
     }
diff --git a/opendbc_repo/opendbc/safety/safety/safety_chrysler.h b/opendbc_repo/opendbc/safety/safety/safety_chrysler.h
index c581fce8..67bda562 100644
--- a/opendbc_repo/opendbc/safety/safety/safety_chrysler.h
+++ b/opendbc_repo/opendbc/safety/safety/safety_chrysler.h
@@ -104,9 +104,8 @@ static void chrysler_rx_hook(const CANPacket_t *to_push) {
 
 static bool chrysler_tx_hook(const CANPacket_t *to_send) {
   const TorqueSteeringLimits CHRYSLER_STEERING_LIMITS = {
-    .max_steer = 261,
+    .max_torque = 261,
     .max_rt_delta = 112,
-    .max_rt_interval = 250000,
     .max_rate_up = 3,
     .max_rate_down = 3,
     .max_torque_error = 80,
@@ -114,9 +113,8 @@ static bool chrysler_tx_hook(const CANPacket_t *to_send) {
   };
 
   const TorqueSteeringLimits CHRYSLER_RAM_DT_STEERING_LIMITS = {
-    .max_steer = 350,
+    .max_torque = 350,
     .max_rt_delta = 112,
-    .max_rt_interval = 250000,
     .max_rate_up = 6,
     .max_rate_down = 6,
     .max_torque_error = 80,
@@ -124,9 +122,8 @@ static bool chrysler_tx_hook(const CANPacket_t *to_send) {
   };
 
   const TorqueSteeringLimits CHRYSLER_RAM_HD_STEERING_LIMITS = {
-    .max_steer = 361,
+    .max_torque = 361,
     .max_rt_delta = 182,
-    .max_rt_interval = 250000,
     .max_rate_up = 14,
     .max_rate_down = 14,
     .max_torque_error = 80,
diff --git a/opendbc_repo/opendbc/safety/safety/safety_ford.h b/opendbc_repo/opendbc/safety/safety/safety_ford.h
index b4a4808d..f7943562 100644
--- a/opendbc_repo/opendbc/safety/safety/safety_ford.h
+++ b/opendbc_repo/opendbc/safety/safety/safety_ford.h
@@ -69,7 +69,6 @@ static uint32_t ford_compute_checksum(const CANPacket_t *to_push) {
     chksum = 0xFFU - chksum;
   } else {
   }
-
   return chksum;
 }
 
@@ -154,6 +153,7 @@ static void ford_rx_hook(const CANPacket_t *to_push) {
       // Signal: Veh_V_ActlEng
       float filtered_pcm_speed = ((GET_BYTE(to_push, 6) << 8) | GET_BYTE(to_push, 7)) * 0.01 / 3.6;
       bool is_invalid_speed = ABS(filtered_pcm_speed - ((float)vehicle_speed.values[0] / VEHICLE_SPEED_FACTOR)) > FORD_MAX_SPEED_DELTA;
+      // TODO: this should generically cause rx valid to fall until re-enable
       if (is_invalid_speed) {
         controls_allowed = false;
       }
diff --git a/opendbc_repo/opendbc/safety/safety/safety_gm.h b/opendbc_repo/opendbc/safety/safety/safety_gm.h
index fb12c49b..17e08995 100644
--- a/opendbc_repo/opendbc/safety/safety/safety_gm.h
+++ b/opendbc_repo/opendbc/safety/safety/safety_gm.h
@@ -98,13 +98,12 @@ static void gm_rx_hook(const CANPacket_t *to_push) {
 
 static bool gm_tx_hook(const CANPacket_t *to_send) {
   const TorqueSteeringLimits GM_STEERING_LIMITS = {
-    .max_steer = 300,
+    .max_torque = 300,
     .max_rate_up = 10,
     .max_rate_down = 15,
     .driver_torque_allowance = 65,
     .driver_torque_multiplier = 4,
     .max_rt_delta = 128,
-    .max_rt_interval = 250000,
     .type = TorqueDriverLimited,
   };
 
@@ -135,7 +134,8 @@ static bool gm_tx_hook(const CANPacket_t *to_send) {
   // GAS/REGEN: safety check
   if (addr == 0x2CB) {
     bool apply = GET_BIT(to_send, 0U);
-    int gas_regen = ((GET_BYTE(to_send, 2) & 0x7FU) << 5) + ((GET_BYTE(to_send, 3) & 0xF8U) >> 3);
+    // convert float CAN signal to an int for gas checks: 22534 / 0.125 = 180272
+    int gas_regen = (((GET_BYTE(to_send, 1) & 0x7U) << 16) | (GET_BYTE(to_send, 2) << 8) | GET_BYTE(to_send, 3)) - 180272U;
 
     bool violation = false;
     // Allow apply bit in pre-enabled and overriding states
@@ -189,10 +189,13 @@ static safety_config gm_init(uint16_t param) {
   const uint16_t GM_PARAM_HW_CAM = 1;
   const uint16_t GM_PARAM_EV = 4;
 
+  // common safety checks assume unscaled integer values
+  static const int GM_GAS_TO_CAN = 8;  // 1 / 0.125
+
   static const LongitudinalLimits GM_ASCM_LONG_LIMITS = {
-    .max_gas = 3072,
-    .min_gas = 1404,
-    .inactive_gas = 1404,
+    .max_gas = 1018 * GM_GAS_TO_CAN,
+    .min_gas = -650 * GM_GAS_TO_CAN,
+    .inactive_gas = -650 * GM_GAS_TO_CAN,
     .max_brake = 400,
   };
 
@@ -202,9 +205,9 @@ static safety_config gm_init(uint16_t param) {
 
 
   static const LongitudinalLimits GM_CAM_LONG_LIMITS = {
-    .max_gas = 3400,
-    .min_gas = 1514,
-    .inactive_gas = 1554,
+    .max_gas = 1346 * GM_GAS_TO_CAN,
+    .min_gas = -540 * GM_GAS_TO_CAN,
+    .inactive_gas = -500 * GM_GAS_TO_CAN,
     .max_brake = 400,
   };
 
diff --git a/opendbc_repo/opendbc/safety/safety/safety_hyundai.h b/opendbc_repo/opendbc/safety/safety/safety_hyundai.h
index e56c123f..3b656488 100644
--- a/opendbc_repo/opendbc/safety/safety/safety_hyundai.h
+++ b/opendbc_repo/opendbc/safety/safety/safety_hyundai.h
@@ -4,11 +4,10 @@
 #include "safety_hyundai_common.h"
 
 #define HYUNDAI_LIMITS(steer, rate_up, rate_down) { \
-  .max_steer = (steer), \
+  .max_torque = (steer), \
   .max_rate_up = (rate_up), \
   .max_rate_down = (rate_down), \
   .max_rt_delta = 112, \
-  .max_rt_interval = 250000, \
   .driver_torque_allowance = 50, \
   .driver_torque_multiplier = 2, \
   .type = TorqueDriverLimited, \
diff --git a/opendbc_repo/opendbc/safety/safety/safety_hyundai_canfd.h b/opendbc_repo/opendbc/safety/safety/safety_hyundai_canfd.h
index 7e0cdead..73192bd6 100644
--- a/opendbc_repo/opendbc/safety/safety/safety_hyundai_canfd.h
+++ b/opendbc_repo/opendbc/safety/safety/safety_hyundai_canfd.h
@@ -139,9 +139,8 @@ static void hyundai_canfd_rx_hook(const CANPacket_t *to_push) {
 
 static bool hyundai_canfd_tx_hook(const CANPacket_t *to_send) {
   const TorqueSteeringLimits HYUNDAI_CANFD_STEERING_LIMITS = {
-    .max_steer = 270,
+    .max_torque = 270,
     .max_rt_delta = 112,
-    .max_rt_interval = 250000,
     .max_rate_up = 2,
     .max_rate_down = 3,
     .driver_torque_allowance = 250,
diff --git a/opendbc_repo/opendbc/safety/safety/safety_mazda.h b/opendbc_repo/opendbc/safety/safety/safety_mazda.h
index 7159729a..440b3948 100644
--- a/opendbc_repo/opendbc/safety/safety/safety_mazda.h
+++ b/opendbc_repo/opendbc/safety/safety/safety_mazda.h
@@ -50,11 +50,10 @@ static void mazda_rx_hook(const CANPacket_t *to_push) {
 
 static bool mazda_tx_hook(const CANPacket_t *to_send) {
   const TorqueSteeringLimits MAZDA_STEERING_LIMITS = {
-    .max_steer = 800,
+    .max_torque = 800,
     .max_rate_up = 10,
     .max_rate_down = 25,
     .max_rt_delta = 300,
-    .max_rt_interval = 250000,
     .driver_torque_multiplier = 1,
     .driver_torque_allowance = 15,
     .type = TorqueDriverLimited,
diff --git a/opendbc_repo/opendbc/safety/safety/safety_rivian.h b/opendbc_repo/opendbc/safety/safety/safety_rivian.h
index 0afb3090..3a125904 100644
--- a/opendbc_repo/opendbc/safety/safety/safety_rivian.h
+++ b/opendbc_repo/opendbc/safety/safety/safety_rivian.h
@@ -2,8 +2,78 @@
 
 #include "safety_declarations.h"
 
+#define RIVIAN_MAX_SPEED_DELTA 2.0  // m/s
+
 static bool rivian_longitudinal = false;
 
+static uint8_t rivian_get_counter(const CANPacket_t *to_push) {
+  int addr = GET_ADDR(to_push);
+
+  uint8_t cnt = 0;
+  if ((addr == 0x208) || (addr == 0x150)) {
+    // Signal: ESP_Status_Counter, VDM_PropStatus_Counter
+    cnt = GET_BYTE(to_push, 1) & 0xFU;
+  } else {
+  }
+  return cnt;
+}
+
+static uint32_t rivian_get_checksum(const CANPacket_t *to_push) {
+  int addr = GET_ADDR(to_push);
+
+  uint8_t chksum = 0;
+  if ((addr == 0x208) || (addr == 0x150)) {
+    // Signal: ESP_Status_Checksum, VDM_PropStatus_Checksum
+    chksum = GET_BYTE(to_push, 0);
+  } else {
+  }
+  return chksum;
+}
+
+static uint8_t _rivian_compute_checksum(const CANPacket_t *to_push, uint8_t poly, uint8_t xor_output) {
+  int len = GET_LEN(to_push);
+
+  uint8_t crc = 0;
+  // Skip the checksum byte
+  for (int i = 1; i < len; i++) {
+    crc ^= GET_BYTE(to_push, i);
+    for (int j = 0; j < 8; j++) {
+      if ((crc & 0x80U) != 0U) {
+        crc = (crc << 1) ^ poly;
+      } else {
+        crc <<= 1;
+      }
+    }
+  }
+  return crc ^ xor_output;
+}
+
+static uint32_t rivian_compute_checksum(const CANPacket_t *to_push) {
+  int addr = GET_ADDR(to_push);
+
+  uint8_t chksum = 0;
+  if (addr == 0x208) {
+    chksum = _rivian_compute_checksum(to_push, 0x1D, 0xB1);
+  } else if (addr == 0x150) {
+    chksum = _rivian_compute_checksum(to_push, 0x1D, 0x9A);
+  } else {
+  }
+  return chksum;
+}
+
+static bool rivian_get_quality_flag_valid(const CANPacket_t *to_push) {
+  int addr = GET_ADDR(to_push);
+
+  bool valid = false;
+  if (addr == 0x208) {
+    valid = ((GET_BYTE(to_push, 3) >> 3) & 0x3U) == 0x1U;  // ESP_Vehicle_Speed_Q
+  } else if (addr == 0x150) {
+    valid = (GET_BYTE(to_push, 1) >> 6) == 0x1U;  // VDM_VehicleSpeedQ
+  } else {
+  }
+  return valid;
+}
+
 static void rivian_rx_hook(const CANPacket_t *to_push) {
   int bus = GET_BUS(to_push);
   int addr = GET_ADDR(to_push);
@@ -11,7 +81,22 @@ static void rivian_rx_hook(const CANPacket_t *to_push) {
   if (bus == 0)  {
     // Vehicle speed
     if (addr == 0x208) {
-      vehicle_moving = GET_BYTE(to_push, 6) | GET_BYTE(to_push, 7);
+      float speed = ((GET_BYTE(to_push, 6) << 8) | GET_BYTE(to_push, 7)) * 0.01;
+      vehicle_moving = speed > 0.0;
+      UPDATE_VEHICLE_SPEED(speed / 3.6);
+    }
+
+    // Gas pressed and second speed source for variable torque limit
+    if (addr == 0x150) {
+      gas_pressed = GET_BYTE(to_push, 3) | (GET_BYTE(to_push, 4) & 0xC0U);
+
+      // Disable controls if speeds from VDM and ESP ECUs are too far apart.
+      float vdm_speed = ((GET_BYTE(to_push, 5) << 8) | GET_BYTE(to_push, 6)) * 0.01 / 3.6;
+      bool is_invalid_speed = ABS(vdm_speed - ((float)vehicle_speed.values[0] / VEHICLE_SPEED_FACTOR)) > RIVIAN_MAX_SPEED_DELTA;
+      // TODO: this should generically cause rx valid to fall until re-enable
+      if (is_invalid_speed) {
+        controls_allowed = false;
+      }
     }
 
     // Driver torque
@@ -20,11 +105,6 @@ static void rivian_rx_hook(const CANPacket_t *to_push) {
       update_sample(&torque_driver, torque_driver_new);
     }
 
-    // Gas pressed
-    if (addr == 0x150) {
-      gas_pressed = GET_BYTE(to_push, 3) | (GET_BYTE(to_push, 4) & 0xC0U);
-    }
-
     // Brake pressed
     if (addr == 0x38f) {
       brake_pressed = GET_BIT(to_push, 23U);
@@ -41,12 +121,17 @@ static void rivian_rx_hook(const CANPacket_t *to_push) {
 }
 
 static bool rivian_tx_hook(const CANPacket_t *to_send) {
+  // Rivian utilizes more torque at low speed to maintain the same lateral accel
   const TorqueSteeringLimits RIVIAN_STEERING_LIMITS = {
-    .max_steer = 250,
+    .max_torque = 350,
+    .dynamic_max_torque = true,
+    .max_torque_lookup = {
+      {9., 17., 17.},
+      {350, 250, 250},
+    },
     .max_rate_up = 3,
     .max_rate_down = 5,
     .max_rt_delta = 125,
-    .max_rt_interval = 250000,
     .driver_torque_multiplier = 2,
     .driver_torque_allowance = 100,
     .type = TorqueDriverLimited,
@@ -125,9 +210,9 @@ static safety_config rivian_init(uint16_t param) {
   static const CanMsg RIVIAN_LONG_TX_MSGS[] = {{0x120, 0, 8, true}, {0x321, 2, 7, false}, {0x160, 0, 5, true}};
 
   static RxCheck rivian_rx_checks[] = {
-    {.msg = {{0x208, 0, 8, .frequency = 50U, .ignore_checksum = true, .ignore_counter = true}, { 0 }, { 0 }}},   // ESP_Status (speed)
+    {.msg = {{0x208, 0, 8, .frequency = 50U, .max_counter = 14U, .quality_flag = true}, { 0 }, { 0 }}},          // ESP_Status (speed)
+    {.msg = {{0x150, 0, 7, .frequency = 50U, .max_counter = 14U, .quality_flag = true}, { 0 }, { 0 }}},          // VDM_PropStatus (gas pedal & 2nd speed)
     {.msg = {{0x380, 0, 5, .frequency = 100U, .ignore_checksum = true, .ignore_counter = true}, { 0 }, { 0 }}},  // EPAS_SystemStatus (driver torque)
-    {.msg = {{0x150, 0, 7, .frequency = 50U, .ignore_checksum = true, .ignore_counter = true}, { 0 }, { 0 }}},   // VDM_PropStatus (gas pedal)
     {.msg = {{0x38f, 0, 6, .frequency = 50U, .ignore_checksum = true, .ignore_counter = true}, { 0 }, { 0 }}},   // iBESP2 (brakes)
     {.msg = {{0x100, 2, 8, .frequency = 100U, .ignore_checksum = true, .ignore_counter = true}, { 0 }, { 0 }}},  // ACM_Status (cruise state)
   };
@@ -150,4 +235,8 @@ const safety_hooks rivian_hooks = {
   .rx = rivian_rx_hook,
   .tx = rivian_tx_hook,
   .fwd = rivian_fwd_hook,
+  .get_counter = rivian_get_counter,
+  .get_checksum = rivian_get_checksum,
+  .compute_checksum = rivian_compute_checksum,
+  .get_quality_flag_valid = rivian_get_quality_flag_valid,
 };
diff --git a/opendbc_repo/opendbc/safety/safety/safety_subaru.h b/opendbc_repo/opendbc/safety/safety/safety_subaru.h
index 8c597760..3b43d392 100644
--- a/opendbc_repo/opendbc/safety/safety/safety_subaru.h
+++ b/opendbc_repo/opendbc/safety/safety/safety_subaru.h
@@ -4,9 +4,8 @@
 
 #define SUBARU_STEERING_LIMITS_GENERATOR(steer_max, rate_up, rate_down)               \
   {                                                                                   \
-    .max_steer = (steer_max),                                                         \
+    .max_torque = (steer_max),                                                        \
     .max_rt_delta = 940,                                                              \
-    .max_rt_interval = 250000,                                                        \
     .max_rate_up = (rate_up),                                                         \
     .max_rate_down = (rate_down),                                                     \
     .driver_torque_multiplier = 50,                                                   \
diff --git a/opendbc_repo/opendbc/safety/safety/safety_subaru_preglobal.h b/opendbc_repo/opendbc/safety/safety/safety_subaru_preglobal.h
index 8c229a04..b985c7b7 100644
--- a/opendbc_repo/opendbc/safety/safety/safety_subaru_preglobal.h
+++ b/opendbc_repo/opendbc/safety/safety/safety_subaru_preglobal.h
@@ -55,9 +55,8 @@ static void subaru_preglobal_rx_hook(const CANPacket_t *to_push) {
 
 static bool subaru_preglobal_tx_hook(const CANPacket_t *to_send) {
   const TorqueSteeringLimits SUBARU_PG_STEERING_LIMITS = {
-    .max_steer = 2047,
+    .max_torque = 2047,
     .max_rt_delta = 940,
-    .max_rt_interval = 250000,
     .max_rate_up = 50,
     .max_rate_down = 70,
     .driver_torque_multiplier = 10,
diff --git a/opendbc_repo/opendbc/safety/safety/safety_toyota.h b/opendbc_repo/opendbc/safety/safety/safety_toyota.h
index 7185001d..d9210ec8 100644
--- a/opendbc_repo/opendbc/safety/safety/safety_toyota.h
+++ b/opendbc_repo/opendbc/safety/safety/safety_toyota.h
@@ -155,19 +155,18 @@ static void toyota_rx_hook(const CANPacket_t *to_push) {
 
 static bool toyota_tx_hook(const CANPacket_t *to_send) {
   const TorqueSteeringLimits TOYOTA_TORQUE_STEERING_LIMITS = {
-    .max_steer = 1500,
+    .max_torque = 1500,
     .max_rate_up = 15,          // ramp up slow
     .max_rate_down = 25,        // ramp down fast
     .max_torque_error = 350,    // max torque cmd in excess of motor torque
     .max_rt_delta = 450,        // the real time limit is 1800/sec, a 20% buffer
-    .max_rt_interval = 250000,
     .type = TorqueMotorLimited,
 
     // the EPS faults when the steering angle rate is above a certain threshold for too long. to prevent this,
     // we allow setting STEER_REQUEST bit to 0 while maintaining the requested torque value for a single frame
     .min_valid_request_frames = 18,
     .max_invalid_request_frames = 1,
-    .min_valid_request_rt_interval = 170000,  // 170ms; a ~10% buffer on cutting every 19 frames
+    .min_valid_request_rt_interval = 171000,  // 171ms; a ~10% buffer on cutting every 19 frames
     .has_steer_req_tolerance = true,
   };
 
diff --git a/opendbc_repo/opendbc/safety/safety/safety_volkswagen_common.h b/opendbc_repo/opendbc/safety/safety/safety_volkswagen_common.h
index 1285bb88..d75a5861 100644
--- a/opendbc_repo/opendbc/safety/safety/safety_volkswagen_common.h
+++ b/opendbc_repo/opendbc/safety/safety/safety_volkswagen_common.h
@@ -17,13 +17,26 @@ bool volkswagen_resume_button_prev = false;
 
 #define MSG_LH_EPS_03        0x09F   // RX from EPS, for driver steering torque
 #define MSG_ESP_19           0x0B2   // RX from ABS, for wheel speeds
+#define MSG_ESC_51           0x0FC   // RX, for wheel speeds
+#define MSG_ESC_50           0x102   // RX, for yaw rate
 #define MSG_ESP_05           0x106   // RX from ABS, for brake switch state
+#define MSG_Motor_51         0x10B   // RX for TSK state
 #define MSG_TSK_06           0x120   // RX from ECU, for ACC status from drivetrain coordinator
 #define MSG_MOTOR_20         0x121   // RX from ECU, for driver throttle input
 #define MSG_ACC_06           0x122   // TX by OP, ACC control instructions to the drivetrain coordinator
 #define MSG_HCA_01           0x126   // TX by OP, Heading Control Assist steering torque
 #define MSG_GRA_ACC_01       0x12B   // TX by OP, ACC control buttons for cancel/resume
 #define MSG_ACC_07           0x12E   // TX by OP, ACC control instructions to the drivetrain coordinator
+#define MSG_VMM_02           0x139   // RX, for ESP hold management
+#define MSG_QFK_01           0x13D   // RX, for steering angle
+#define MSG_Motor_54         0x14C   // RX, for accel pedal
+#define MSG_ACC_18           0x14D   // RX from ECU, for ACC status
+#define MSG_EA_01            0x1A4   // TX, for EA mitigation
+#define MSG_EA_02            0x1F0   // TX, for EA mitigation
+#define MSG_EML_06           0x20A   // RX, for yaw rate
+#define MSG_TA_01            0x26B   // TX for Travel Assist status
+#define MSG_MEB_ACC_01       0x300   // RX from ECU, for ACC status
+#define MSG_HCA_03           0x303   // TX by OP, Heading Control Assist steering torque
 #define MSG_ACC_02           0x30C   // TX by OP, ACC HUD data to the instrument cluster
 #define MSG_LDW_02           0x397   // TX by OP, Lane line recognition and text alerts
 #define MSG_MOTOR_14         0x3BE   // RX from ECU, for brake switch status
@@ -56,12 +69,22 @@ static uint32_t volkswagen_mqb_meb_compute_crc(const CANPacket_t *to_push) {
     crc ^= (uint8_t[]){0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5}[counter];
   } else if (addr == MSG_ESP_05) {
     crc ^= (uint8_t[]){0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07}[counter];
+  } else if (addr == MSG_QFK_01) {
+    crc ^= (uint8_t[]){0x20,0xCA,0x68,0xD5,0x1B,0x31,0xE2,0xDA,0x08,0x0A,0xD4,0xDE,0x9C,0xE4,0x35,0x5B}[counter];
   } else if (addr == MSG_TSK_06) {
     crc ^= (uint8_t[]){0xC4,0xE2,0x4F,0xE4,0xF8,0x2F,0x56,0x81,0x9F,0xE5,0x83,0x44,0x05,0x3F,0x97,0xDF}[counter];
   } else if (addr == MSG_MOTOR_20) {
     crc ^= (uint8_t[]){0xE9,0x65,0xAE,0x6B,0x7B,0x35,0xE5,0x5F,0x4E,0xC7,0x86,0xA2,0xBB,0xDD,0xEB,0xB4}[counter];
   } else if (addr == MSG_GRA_ACC_01) {
     crc ^= (uint8_t[]){0x6A,0x38,0xB4,0x27,0x22,0xEF,0xE1,0xBB,0xF8,0x80,0x84,0x49,0xC7,0x9E,0x1E,0x2B}[counter];
+  } else if (addr == MSG_ESC_51) {
+    crc ^= (uint8_t[]){0x77,0x5C,0xA0,0x89,0x4B,0x7C,0xBB,0xD6,0x1F,0x6C,0x4F,0xF6,0x20,0x2B,0x43,0xDD}[counter];
+  } else if (addr == MSG_Motor_54) {
+    crc ^= (uint8_t[]){0x16,0x35,0x59,0x15,0x9A,0x2A,0x97,0xB8,0x0E,0x4E,0x30,0xCC,0xB3,0x07,0x01,0xAD}[counter];
+  } else if (addr == MSG_Motor_51) {
+    crc ^= (uint8_t[]){0x77,0x5C,0xA0,0x89,0x4B,0x7C,0xBB,0xD6,0x1F,0x6C,0x4F,0xF6,0x20,0x2B,0x43,0xDD}[counter];
+  } else if (addr == MSG_MOTOR_14) {
+    crc ^= (uint8_t[]){0x1F,0x28,0xC6,0x85,0xE6,0xF8,0xB0,0x19,0x5B,0x64,0x35,0x21,0xE4,0xF7,0x9C,0x24}[counter];
   } else {
     // Undefined CAN message, CRC check expected to fail
   }
diff --git a/opendbc_repo/opendbc/safety/safety/safety_volkswagen_mqb.h b/opendbc_repo/opendbc/safety/safety/safety_volkswagen_mqb.h
index f3a18516..ebbff496 100644
--- a/opendbc_repo/opendbc/safety/safety/safety_volkswagen_mqb.h
+++ b/opendbc_repo/opendbc/safety/safety/safety_volkswagen_mqb.h
@@ -127,9 +127,8 @@ static void volkswagen_mqb_rx_hook(const CANPacket_t *to_push) {
 static bool volkswagen_mqb_tx_hook(const CANPacket_t *to_send) {
   // lateral limits
   const TorqueSteeringLimits VOLKSWAGEN_MQB_STEERING_LIMITS = {
-    .max_steer = 300,              // 3.0 Nm (EPS side max of 3.0Nm with fault if violated)
+    .max_torque = 300,             // 3.0 Nm (EPS side max of 3.0Nm with fault if violated)
     .max_rt_delta = 75,            // 4 max rate up * 50Hz send rate * 250000 RT interval / 1000000 = 50 ; 50 * 1.5 for safety pad = 75
-    .max_rt_interval = 250000,     // 250ms between real time checks
     .max_rate_up = 4,              // 2.0 Nm/s RoC limit (EPS rack has own soft-limit of 5.0 Nm/s)
     .max_rate_down = 10,           // 5.0 Nm/s RoC limit (EPS rack has own soft-limit of 5.0 Nm/s)
     .driver_torque_allowance = 80,
diff --git a/opendbc_repo/opendbc/safety/safety/safety_volkswagen_pq.h b/opendbc_repo/opendbc/safety/safety/safety_volkswagen_pq.h
index 3f0d8269..c4cf014f 100644
--- a/opendbc_repo/opendbc/safety/safety/safety_volkswagen_pq.h
+++ b/opendbc_repo/opendbc/safety/safety/safety_volkswagen_pq.h
@@ -154,9 +154,8 @@ static void volkswagen_pq_rx_hook(const CANPacket_t *to_push) {
 static bool volkswagen_pq_tx_hook(const CANPacket_t *to_send) {
   // lateral limits
   const TorqueSteeringLimits VOLKSWAGEN_PQ_STEERING_LIMITS = {
-    .max_steer = 300,                // 3.0 Nm (EPS side max of 3.0Nm with fault if violated)
+    .max_torque = 300,               // 3.0 Nm (EPS side max of 3.0Nm with fault if violated)
     .max_rt_delta = 113,             // 6 max rate up * 50Hz send rate * 250000 RT interval / 1000000 = 75 ; 125 * 1.5 for safety pad = 113
-    .max_rt_interval = 250000,       // 250ms between real time checks
     .max_rate_up = 6,                // 3.0 Nm/s RoC limit (EPS rack has own soft-limit of 5.0 Nm/s)
     .max_rate_down = 10,             // 5.0 Nm/s RoC limit (EPS rack has own soft-limit of 5.0 Nm/s)
     .driver_torque_multiplier = 3,
diff --git a/opendbc_repo/opendbc/safety/safety_declarations.h b/opendbc_repo/opendbc/safety/safety_declarations.h
index c9fe9131..85002f3f 100644
--- a/opendbc_repo/opendbc/safety/safety_declarations.h
+++ b/opendbc_repo/opendbc/safety/safety_declarations.h
@@ -33,6 +33,7 @@ extern const int MAX_WRONG_COUNTERS;
 #define MAX_SAMPLE_VALS 6
 // used to represent floating point vehicle speed in a sample_t
 #define VEHICLE_SPEED_FACTOR 1000.0
+#define MAX_TORQUE_RT_INTERVAL 250000U
 
 
 // sample struct that keeps 6 samples in memory
@@ -62,11 +63,13 @@ typedef enum {
 
 typedef struct {
   // torque cmd limits
-  const int max_steer;
+  const int max_torque;  // this upper limit is always enforced
+  const bool dynamic_max_torque;  // use max_torque_lookup to apply torque limit based on speed
+  const struct lookup_t max_torque_lookup;
+
   const int max_rate_up;
   const int max_rate_down;
-  const int max_rt_delta;
-  const uint32_t max_rt_interval;
+  const int max_rt_delta;  // max change in torque per 250ms interval (MAX_TORQUE_RT_INTERVAL)
 
   const SteeringControlType type;
 
@@ -293,3 +296,4 @@ extern const safety_hooks toyota_hooks;
 extern const safety_hooks volkswagen_mqb_hooks;
 extern const safety_hooks volkswagen_pq_hooks;
 extern const safety_hooks rivian_hooks;
+extern const safety_hooks volkswagen_meb_hooks;
diff --git a/opendbc_repo/opendbc/safety/tests/common.py b/opendbc_repo/opendbc/safety/tests/common.py
index f087fd52..6ca8d585 100644
--- a/opendbc_repo/opendbc/safety/tests/common.py
+++ b/opendbc_repo/opendbc/safety/tests/common.py
@@ -166,6 +166,7 @@ class LongitudinalGasBrakeSafetyTest(PandaSafetyTestBase, abc.ABC):
   MIN_GAS: int = 0
   MAX_GAS: int | None = None
   INACTIVE_GAS = 0
+  MIN_POSSIBLE_GAS: int = 0.
   MAX_POSSIBLE_GAS: int | None = None
 
   def test_gas_brake_limits_correct(self):
@@ -187,16 +188,17 @@ class LongitudinalGasBrakeSafetyTest(PandaSafetyTestBase, abc.ABC):
     self._generic_limit_safety_check(self._send_brake_msg, self.MIN_BRAKE, self.MAX_BRAKE, 0, self.MAX_POSSIBLE_BRAKE, 1)
 
   def test_gas_safety_check(self):
-    self._generic_limit_safety_check(self._send_gas_msg, self.MIN_GAS, self.MAX_GAS, 0, self.MAX_POSSIBLE_GAS, 1, self.INACTIVE_GAS)
+    self._generic_limit_safety_check(self._send_gas_msg, self.MIN_GAS, self.MAX_GAS, self.MIN_POSSIBLE_GAS, self.MAX_POSSIBLE_GAS, 1, self.INACTIVE_GAS)
 
 
 class TorqueSteeringSafetyTestBase(PandaSafetyTestBase, abc.ABC):
 
   MAX_RATE_UP = 0
   MAX_RATE_DOWN = 0
-  MAX_TORQUE = 0
+  MAX_TORQUE_LOOKUP: tuple[list[float], list[int]] = ([0], [0])
+  DYNAMIC_MAX_TORQUE = False
   MAX_RT_DELTA = 0
-  RT_INTERVAL = 0
+  RT_INTERVAL = 250000
 
   NO_STEER_REQ_BIT = False
 
@@ -206,23 +208,53 @@ class TorqueSteeringSafetyTestBase(PandaSafetyTestBase, abc.ABC):
       cls.safety = None
       raise unittest.SkipTest
 
+  @property
+  def MAX_TORQUE(self):
+    return max(self.MAX_TORQUE_LOOKUP[1])
+
+  @property
+  def _torque_speed_range(self):
+    if not self.DYNAMIC_MAX_TORQUE:
+      return [0]
+    else:
+      # test with more precision inside breakpoint range
+      min_speed = min(self.MAX_TORQUE_LOOKUP[0])
+      max_speed = max(self.MAX_TORQUE_LOOKUP[0])
+      return np.concatenate([np.arange(0, min_speed, 5), np.arange(min_speed, max_speed, 0.5), np.arange(max_speed, 40, 5)])
+
+  def _get_max_torque(self, speed):
+    # matches safety fudge
+    torque = int(np.interp(speed - 1, self.MAX_TORQUE_LOOKUP[0], self.MAX_TORQUE_LOOKUP[1]) + 1)
+    return min(torque, self.MAX_TORQUE)
+
   @abc.abstractmethod
   def _torque_cmd_msg(self, torque, steer_req=1):
     pass
 
+  @abc.abstractmethod
+  def _speed_msg(self, speed):
+    pass
+
+  def _reset_speed_measurement(self, speed):
+    for _ in range(MAX_SAMPLE_VALS):
+      self._rx(self._speed_msg(speed))
+
   def _set_prev_torque(self, t):
     self.safety.set_desired_torque_last(t)
     self.safety.set_rt_torque_last(t)
 
   def test_steer_safety_check(self):
-    for enabled in [0, 1]:
-      for t in range(int(-self.MAX_TORQUE * 1.5), int(self.MAX_TORQUE * 1.5)):
-        self.safety.set_controls_allowed(enabled)
-        self._set_prev_torque(t)
-        if abs(t) > self.MAX_TORQUE or (not enabled and abs(t) > 0):
-          self.assertFalse(self._tx(self._torque_cmd_msg(t)))
-        else:
-          self.assertTrue(self._tx(self._torque_cmd_msg(t)))
+    for speed in self._torque_speed_range:
+      self._reset_speed_measurement(speed)
+      max_torque = self._get_max_torque(speed)
+      for enabled in [0, 1]:
+        for t in range(int(-max_torque * 1.5), int(max_torque * 1.5)):
+          self.safety.set_controls_allowed(enabled)
+          self._set_prev_torque(t)
+          if abs(t) > max_torque or (not enabled and abs(t) > 0):
+            self.assertFalse(self._tx(self._torque_cmd_msg(t)))
+          else:
+            self.assertTrue(self._tx(self._torque_cmd_msg(t)))
 
   def test_non_realtime_limit_up(self):
     self.safety.set_controls_allowed(True)
@@ -266,7 +298,12 @@ class SteerRequestCutSafetyTest(TorqueSteeringSafetyTestBase, abc.ABC):
   # Safety around steering request bit mismatch tolerance
   MIN_VALID_STEERING_FRAMES: int
   MAX_INVALID_STEERING_FRAMES: int
-  MIN_VALID_STEERING_RT_INTERVAL: int
+  STEER_STEP: int = 1
+
+  @property
+  def MIN_VALID_STEERING_RT_INTERVAL(self):
+    # a ~10% buffer
+    return int((self.MIN_VALID_STEERING_FRAMES + 1) * self.STEER_STEP * 10000 * 0.9)
 
   def test_steer_req_bit_frames(self):
     """
@@ -389,40 +426,44 @@ class DriverTorqueSteeringSafetyTest(TorqueSteeringSafetyTestBase, abc.ABC):
     # Tests down limits and driver torque blending
     self.safety.set_controls_allowed(True)
 
-    # Cannot stay at MAX_TORQUE if above DRIVER_TORQUE_ALLOWANCE
-    for sign in [-1, 1]:
-      for driver_torque in np.arange(0, self.DRIVER_TORQUE_ALLOWANCE * 2, 1):
-        self._reset_torque_driver_measurement(-driver_torque * sign)
-        self._set_prev_torque(self.MAX_TORQUE * sign)
-        should_tx = abs(driver_torque) <= self.DRIVER_TORQUE_ALLOWANCE
-        self.assertEqual(should_tx, self._tx(self._torque_cmd_msg(self.MAX_TORQUE * sign)))
+    for speed in self._torque_speed_range:
+      self._reset_speed_measurement(speed)
+      max_torque = self._get_max_torque(speed)
 
-    # arbitrary high driver torque to ensure max steer torque is allowed
-    max_driver_torque = int(self.MAX_TORQUE / self.DRIVER_TORQUE_FACTOR + self.DRIVER_TORQUE_ALLOWANCE + 1)
+      # Cannot stay at MAX_TORQUE if above DRIVER_TORQUE_ALLOWANCE
+      for sign in [-1, 1]:
+        for driver_torque in np.arange(0, self.DRIVER_TORQUE_ALLOWANCE * 2, 1):
+          self._reset_torque_driver_measurement(-driver_torque * sign)
+          self._set_prev_torque(max_torque * sign)
+          should_tx = abs(driver_torque) <= self.DRIVER_TORQUE_ALLOWANCE
+          self.assertEqual(should_tx, self._tx(self._torque_cmd_msg(max_torque * sign)))
 
-    # spot check some individual cases
-    for sign in [-1, 1]:
-      # Ensure we wind down factor units for every unit above allowance
-      driver_torque = (self.DRIVER_TORQUE_ALLOWANCE + 10) * sign
-      torque_desired = (self.MAX_TORQUE - 10 * self.DRIVER_TORQUE_FACTOR) * sign
-      delta = 1 * sign
-      self._set_prev_torque(torque_desired)
-      self._reset_torque_driver_measurement(-driver_torque)
-      self.assertTrue(self._tx(self._torque_cmd_msg(torque_desired)))
-      self._set_prev_torque(torque_desired + delta)
-      self._reset_torque_driver_measurement(-driver_torque)
-      self.assertFalse(self._tx(self._torque_cmd_msg(torque_desired + delta)))
+      # arbitrary high driver torque to ensure max steer torque is allowed
+      max_driver_torque = int(max_torque / self.DRIVER_TORQUE_FACTOR + self.DRIVER_TORQUE_ALLOWANCE + 1)
 
-      # If we're well past the allowance, minimum wind down is MAX_RATE_DOWN
-      self._set_prev_torque(self.MAX_TORQUE * sign)
-      self._reset_torque_driver_measurement(-max_driver_torque * sign)
-      self.assertTrue(self._tx(self._torque_cmd_msg((self.MAX_TORQUE - self.MAX_RATE_DOWN) * sign)))
-      self._set_prev_torque(self.MAX_TORQUE * sign)
-      self._reset_torque_driver_measurement(-max_driver_torque * sign)
-      self.assertTrue(self._tx(self._torque_cmd_msg(0)))
-      self._set_prev_torque(self.MAX_TORQUE * sign)
-      self._reset_torque_driver_measurement(-max_driver_torque * sign)
-      self.assertFalse(self._tx(self._torque_cmd_msg((self.MAX_TORQUE - self.MAX_RATE_DOWN + 1) * sign)))
+      # spot check some individual cases
+      for sign in [-1, 1]:
+        # Ensure we wind down factor units for every unit above allowance
+        driver_torque = (self.DRIVER_TORQUE_ALLOWANCE + 10) * sign
+        torque_desired = (max_torque - 10 * self.DRIVER_TORQUE_FACTOR) * sign
+        delta = 1 * sign
+        self._set_prev_torque(torque_desired)
+        self._reset_torque_driver_measurement(-driver_torque)
+        self.assertTrue(self._tx(self._torque_cmd_msg(torque_desired)))
+        self._set_prev_torque(torque_desired + delta)
+        self._reset_torque_driver_measurement(-driver_torque)
+        self.assertFalse(self._tx(self._torque_cmd_msg(torque_desired + delta)))
+
+        # If we're well past the allowance, minimum wind down is MAX_RATE_DOWN
+        self._set_prev_torque(max_torque * sign)
+        self._reset_torque_driver_measurement(-max_driver_torque * sign)
+        self.assertTrue(self._tx(self._torque_cmd_msg((max_torque - self.MAX_RATE_DOWN) * sign)))
+        self._set_prev_torque(max_torque * sign)
+        self._reset_torque_driver_measurement(-max_driver_torque * sign)
+        self.assertTrue(self._tx(self._torque_cmd_msg(0)))
+        self._set_prev_torque(max_torque * sign)
+        self._reset_torque_driver_measurement(-max_driver_torque * sign)
+        self.assertFalse(self._tx(self._torque_cmd_msg((max_torque - self.MAX_RATE_DOWN + 1) * sign)))
 
   def test_realtime_limits(self):
     self.safety.set_controls_allowed(True)
@@ -479,34 +520,41 @@ class MotorTorqueSteeringSafetyTest(TorqueSteeringSafetyTestBase, abc.ABC):
     self.safety.set_torque_meas(t, t)
 
   def test_torque_absolute_limits(self):
-    for controls_allowed in [True, False]:
-      for torque in np.arange(-self.MAX_TORQUE - 1000, self.MAX_TORQUE + 1000, self.MAX_RATE_UP):
-        self.safety.set_controls_allowed(controls_allowed)
-        self.safety.set_rt_torque_last(torque)
-        self.safety.set_torque_meas(torque, torque)
-        self.safety.set_desired_torque_last(torque - self.MAX_RATE_UP)
+    for speed in self._torque_speed_range:
+      self._reset_speed_measurement(speed)
+      max_torque = self._get_max_torque(speed)
+      for controls_allowed in [True, False]:
+        for torque in np.arange(-max_torque - 1000, max_torque + 1000, self.MAX_RATE_UP):
+          self.safety.set_controls_allowed(controls_allowed)
+          self.safety.set_rt_torque_last(torque)
+          self.safety.set_torque_meas(torque, torque)
+          self.safety.set_desired_torque_last(torque - self.MAX_RATE_UP)
 
-        if controls_allowed:
-          send = (-self.MAX_TORQUE <= torque <= self.MAX_TORQUE)
-        else:
-          send = torque == 0
+          if controls_allowed:
+            send = (-max_torque <= torque <= max_torque)
+          else:
+            send = torque == 0
 
-        self.assertEqual(send, self._tx(self._torque_cmd_msg(torque)))
+          self.assertEqual(send, self._tx(self._torque_cmd_msg(torque)))
 
   def test_non_realtime_limit_down(self):
     self.safety.set_controls_allowed(True)
 
-    torque_meas = self.MAX_TORQUE - self.MAX_TORQUE_ERROR - 50
+    for speed in self._torque_speed_range:
+      self._reset_speed_measurement(speed)
+      max_torque = self._get_max_torque(speed)
 
-    self.safety.set_rt_torque_last(self.MAX_TORQUE)
-    self.safety.set_torque_meas(torque_meas, torque_meas)
-    self.safety.set_desired_torque_last(self.MAX_TORQUE)
-    self.assertTrue(self._tx(self._torque_cmd_msg(self.MAX_TORQUE - self.MAX_RATE_DOWN)))
+      torque_meas = max_torque - self.MAX_TORQUE_ERROR - 50
 
-    self.safety.set_rt_torque_last(self.MAX_TORQUE)
-    self.safety.set_torque_meas(torque_meas, torque_meas)
-    self.safety.set_desired_torque_last(self.MAX_TORQUE)
-    self.assertFalse(self._tx(self._torque_cmd_msg(self.MAX_TORQUE - self.MAX_RATE_DOWN + 1)))
+      self.safety.set_rt_torque_last(max_torque)
+      self.safety.set_torque_meas(torque_meas, torque_meas)
+      self.safety.set_desired_torque_last(max_torque)
+      self.assertTrue(self._tx(self._torque_cmd_msg(max_torque - self.MAX_RATE_DOWN)))
+
+      self.safety.set_rt_torque_last(max_torque)
+      self.safety.set_torque_meas(torque_meas, torque_meas)
+      self.safety.set_desired_torque_last(max_torque)
+      self.assertFalse(self._tx(self._torque_cmd_msg(max_torque - self.MAX_RATE_DOWN + 1)))
 
   def test_exceed_torque_sensor(self):
     self.safety.set_controls_allowed(True)
@@ -577,7 +625,23 @@ class MotorTorqueSteeringSafetyTest(TorqueSteeringSafetyTestBase, abc.ABC):
     self.assertEqual(self.safety.get_torque_meas_max(), 0)
 
 
-class AngleSteeringSafetyTest(PandaSafetyTestBase):
+class VehicleSpeedSafetyTest(PandaSafetyTestBase):
+  @classmethod
+  def setUpClass(cls):
+    if cls.__name__ == "VehicleSpeedSafetyTest":
+      cls.safety = None
+      raise unittest.SkipTest
+
+  @abc.abstractmethod
+  def _speed_msg(self, speed):
+    pass
+
+  def test_vehicle_speed_measurements(self):
+    # TODO: lower tolerance on these tests
+    self._common_measurement_test(self._speed_msg, 0, 80, 1, self.safety.get_vehicle_speed_min, self.safety.get_vehicle_speed_max)
+
+
+class AngleSteeringSafetyTest(VehicleSpeedSafetyTest):
 
   STEER_ANGLE_MAX: float = 300
   DEG_TO_CAN: float
@@ -591,10 +655,6 @@ class AngleSteeringSafetyTest(PandaSafetyTestBase):
       cls.safety = None
       raise unittest.SkipTest
 
-  @abc.abstractmethod
-  def _speed_msg(self, speed):
-    pass
-
   @abc.abstractmethod
   def _angle_cmd_msg(self, angle: float, enabled: bool):
     pass
@@ -615,10 +675,6 @@ class AngleSteeringSafetyTest(PandaSafetyTestBase):
     for _ in range(MAX_SAMPLE_VALS):
       self._rx(self._speed_msg(speed))
 
-  def test_vehicle_speed_measurements(self):
-    # TODO: lower tolerance on these tests
-    self._common_measurement_test(self._speed_msg, 0, 80, 1, self.safety.get_vehicle_speed_min, self.safety.get_vehicle_speed_max)
-
   def test_steering_angle_measurements(self):
     self._common_measurement_test(self._angle_meas_msg, -self.STEER_ANGLE_MAX, self.STEER_ANGLE_MAX, self.DEG_TO_CAN,
                                   self.safety.get_angle_meas_min, self.safety.get_angle_meas_max)
@@ -776,7 +832,8 @@ class PandaSafetyTest(PandaSafetyTestBase):
               continue
             if {attr, current_test}.issubset({'TestHyundaiLongitudinalSafety', 'TestHyundaiLongitudinalSafetyCameraSCC', 'TestHyundaiSafetyFCEVLong'}):
               continue
-            if {attr, current_test}.issubset({'TestVolkswagenMqbSafety', 'TestVolkswagenMqbStockSafety', 'TestVolkswagenMqbLongSafety'}):
+            if {attr, current_test}.issubset({'TestVolkswagenMqbSafety', 'TestVolkswagenMqbStockSafety', 'TestVolkswagenMqbLongSafety',
+                                              'TestVolkswagenMebSafety', 'TestVolkswagenMebStockSafety',}):
               continue
 
             # overlapping TX addrs, but they're not actuating messages for either car
diff --git a/opendbc_repo/opendbc/safety/tests/safety_replay/helpers.py b/opendbc_repo/opendbc/safety/tests/safety_replay/helpers.py
index d4d31de9..f0e09fcf 100644
--- a/opendbc_repo/opendbc/safety/tests/safety_replay/helpers.py
+++ b/opendbc_repo/opendbc/safety/tests/safety_replay/helpers.py
@@ -18,7 +18,7 @@ def is_steering_msg(mode, param, addr):
     ret = addr == (0x191 if param & ToyotaSafetyFlags.LTA else 0x2E4)
   elif mode == CarParams.SafetyModel.gm:
     ret = addr == 384
-  elif mode == CarParams.SafetyModel.hyundai:
+  elif mode in (CarParams.SafetyModel.hyundai, CarParams.SafetyModel.hyundaiLegacy):
     ret = addr == 832
   elif mode == CarParams.SafetyModel.hyundaiCanfd:
     ret = addr == (0x110 if param & HyundaiSafetyFlags.CANFD_LKA_STEERING_ALT else
@@ -52,7 +52,7 @@ def get_steer_value(mode, param, to_send):
   elif mode == CarParams.SafetyModel.gm:
     torque = ((to_send.data[0] & 0x7) << 8) | to_send.data[1]
     torque = to_signed(torque, 11)
-  elif mode == CarParams.SafetyModel.hyundai:
+  elif mode in (CarParams.SafetyModel.hyundai, CarParams.SafetyModel.hyundaiLegacy):
     torque = (((to_send.data[3] & 0x7) << 8) | to_send.data[2]) - 1024
   elif mode == CarParams.SafetyModel.hyundaiCanfd:
     torque = ((to_send.data[5] >> 1) | (to_send.data[6] & 0xF) << 7) - 1024
diff --git a/opendbc_repo/opendbc/safety/tests/test_chrysler.py b/opendbc_repo/opendbc/safety/tests/test_chrysler.py
index 854c2f5f..5510e137 100755
--- a/opendbc_repo/opendbc/safety/tests/test_chrysler.py
+++ b/opendbc_repo/opendbc/safety/tests/test_chrysler.py
@@ -15,9 +15,8 @@ class TestChryslerSafety(common.PandaCarSafetyTest, common.MotorTorqueSteeringSa
 
   MAX_RATE_UP = 3
   MAX_RATE_DOWN = 3
-  MAX_TORQUE = 261
+  MAX_TORQUE_LOOKUP = [0], [261]
   MAX_RT_DELTA = 112
-  RT_INTERVAL = 250000
   MAX_TORQUE_ERROR = 80
 
   LKAS_ACTIVE_VALUE = 1
@@ -80,7 +79,7 @@ class TestChryslerRamDTSafety(TestChryslerSafety):
 
   MAX_RATE_UP = 6
   MAX_RATE_DOWN = 6
-  MAX_TORQUE = 350
+  MAX_TORQUE_LOOKUP = [0], [350]
 
   DAS_BUS = 2
 
@@ -101,7 +100,7 @@ class TestChryslerRamHDSafety(TestChryslerSafety):
   RELAY_MALFUNCTION_ADDRS = {0: (0x276,)}
   FWD_BLACKLISTED_ADDRS = {2: [0x275, 0x276]}
 
-  MAX_TORQUE = 361
+  MAX_TORQUE_LOOKUP = [0], [361]
   MAX_RATE_UP = 14
   MAX_RATE_DOWN = 14
   MAX_RT_DELTA = 182
diff --git a/opendbc_repo/opendbc/safety/tests/test_gm.py b/opendbc_repo/opendbc/safety/tests/test_gm.py
index ab652472..a92e1173 100755
--- a/opendbc_repo/opendbc/safety/tests/test_gm.py
+++ b/opendbc_repo/opendbc/safety/tests/test_gm.py
@@ -23,7 +23,8 @@ class GmLongitudinalBase(common.PandaCarSafetyTest, common.LongitudinalGasBrakeS
   MAX_POSSIBLE_BRAKE = 2 ** 12
   MAX_BRAKE = 400
 
-  MAX_POSSIBLE_GAS = 2 ** 12
+  MAX_POSSIBLE_GAS = 4000  # reasonably excessive limits, not signal max
+  MIN_POSSIBLE_GAS = -4000
 
   PCM_CRUISE = False  # openpilot can control the PCM state if longitudinal
 
@@ -80,9 +81,8 @@ class TestGmSafetyBase(common.PandaCarSafetyTest, common.DriverTorqueSteeringSaf
 
   MAX_RATE_UP = 10
   MAX_RATE_DOWN = 15
-  MAX_TORQUE = 300
+  MAX_TORQUE_LOOKUP = [0], [300]
   MAX_RT_DELTA = 128
-  RT_INTERVAL = 250000
   DRIVER_TORQUE_ALLOWANCE = 65
   DRIVER_TORQUE_FACTOR = 4
 
@@ -151,9 +151,9 @@ class TestGmAscmSafety(GmLongitudinalBase, TestGmSafetyBase):
   FWD_BUS_LOOKUP: dict[int, int] = {}
   BRAKE_BUS = 2
 
-  MAX_GAS = 3072
-  MIN_GAS = 1404 # maximum regen
-  INACTIVE_GAS = 1404
+  MAX_GAS = 1018
+  MIN_GAS = -650  # maximum regen
+  INACTIVE_GAS = -650
 
   def setUp(self):
     self.packer = CANPackerPanda("gm_global_a_powertrain_generated")
@@ -211,9 +211,9 @@ class TestGmCameraLongitudinalSafety(GmLongitudinalBase, TestGmCameraSafetyBase)
   FWD_BLACKLISTED_ADDRS = {2: [0x180, 0x2CB, 0x370, 0x315], 0: [0x184]}  # block LKAS, ACC messages and PSCMStatus
   BUTTONS_BUS = 0  # rx only
 
-  MAX_GAS = 3400
-  MIN_GAS = 1514 # maximum regen
-  INACTIVE_GAS = 1554
+  MAX_GAS = 1346
+  MIN_GAS = -540  # maximum regen
+  INACTIVE_GAS = -500
 
   def setUp(self):
     self.packer = CANPackerPanda("gm_global_a_powertrain_generated")
diff --git a/opendbc_repo/opendbc/safety/tests/test_hyundai.py b/opendbc_repo/opendbc/safety/tests/test_hyundai.py
index fa95fdca..80ec273a 100755
--- a/opendbc_repo/opendbc/safety/tests/test_hyundai.py
+++ b/opendbc_repo/opendbc/safety/tests/test_hyundai.py
@@ -53,16 +53,14 @@ class TestHyundaiSafety(HyundaiButtonBase, common.PandaCarSafetyTest, common.Dri
 
   MAX_RATE_UP = 3
   MAX_RATE_DOWN = 7
-  MAX_TORQUE = 384
+  MAX_TORQUE_LOOKUP = [0], [384]
   MAX_RT_DELTA = 112
-  RT_INTERVAL = 250000
   DRIVER_TORQUE_ALLOWANCE = 50
   DRIVER_TORQUE_FACTOR = 2
 
   # Safety around steering req bit
   MIN_VALID_STEERING_FRAMES = 89
   MAX_INVALID_STEERING_FRAMES = 2
-  MIN_VALID_STEERING_RT_INTERVAL = 810000  # a ~10% buffer, can send steer up to 110Hz
 
   cnt_gas = 0
   cnt_speed = 0
@@ -117,7 +115,7 @@ class TestHyundaiSafety(HyundaiButtonBase, common.PandaCarSafetyTest, common.Dri
 class TestHyundaiSafetyAltLimits(TestHyundaiSafety):
   MAX_RATE_UP = 2
   MAX_RATE_DOWN = 3
-  MAX_TORQUE = 270
+  MAX_TORQUE_LOOKUP = [0], [270]
 
   def setUp(self):
     self.packer = CANPackerPanda("hyundai_kia_generic")
@@ -129,7 +127,7 @@ class TestHyundaiSafetyAltLimits(TestHyundaiSafety):
 class TestHyundaiSafetyAltLimits2(TestHyundaiSafety):
   MAX_RATE_UP = 2
   MAX_RATE_DOWN = 3
-  MAX_TORQUE = 170
+  MAX_TORQUE_LOOKUP = [0], [170]
 
   def setUp(self):
     self.packer = CANPackerPanda("hyundai_kia_generic")
diff --git a/opendbc_repo/opendbc/safety/tests/test_hyundai_canfd.py b/opendbc_repo/opendbc/safety/tests/test_hyundai_canfd.py
index b31c8c3e..2fdea0d6 100755
--- a/opendbc_repo/opendbc/safety/tests/test_hyundai_canfd.py
+++ b/opendbc_repo/opendbc/safety/tests/test_hyundai_canfd.py
@@ -30,10 +30,9 @@ class TestHyundaiCanfdBase(HyundaiButtonBase, common.PandaCarSafetyTest, common.
 
   MAX_RATE_UP = 2
   MAX_RATE_DOWN = 3
-  MAX_TORQUE = 270
+  MAX_TORQUE_LOOKUP = [0], [270]
 
   MAX_RT_DELTA = 112
-  RT_INTERVAL = 250000
 
   DRIVER_TORQUE_ALLOWANCE = 250
   DRIVER_TORQUE_FACTOR = 2
@@ -41,7 +40,6 @@ class TestHyundaiCanfdBase(HyundaiButtonBase, common.PandaCarSafetyTest, common.
   # Safety around steering req bit
   MIN_VALID_STEERING_FRAMES = 89
   MAX_INVALID_STEERING_FRAMES = 2
-  MIN_VALID_STEERING_RT_INTERVAL = 810000  # a ~10% buffer, can send steer up to 110Hz
 
   PT_BUS = 0
   SCC_BUS = 2
diff --git a/opendbc_repo/opendbc/safety/tests/test_mazda.py b/opendbc_repo/opendbc/safety/tests/test_mazda.py
index e60248d2..67a22d49 100755
--- a/opendbc_repo/opendbc/safety/tests/test_mazda.py
+++ b/opendbc_repo/opendbc/safety/tests/test_mazda.py
@@ -16,10 +16,9 @@ class TestMazdaSafety(common.PandaCarSafetyTest, common.DriverTorqueSteeringSafe
 
   MAX_RATE_UP = 10
   MAX_RATE_DOWN = 25
-  MAX_TORQUE = 800
+  MAX_TORQUE_LOOKUP = [0], [800]
 
   MAX_RT_DELTA = 300
-  RT_INTERVAL = 250000
 
   DRIVER_TORQUE_ALLOWANCE = 15
   DRIVER_TORQUE_FACTOR = 1
diff --git a/opendbc_repo/opendbc/safety/tests/test_rivian.py b/opendbc_repo/opendbc/safety/tests/test_rivian.py
index a1b6b3e8..e3f88856 100755
--- a/opendbc_repo/opendbc/safety/tests/test_rivian.py
+++ b/opendbc_repo/opendbc/safety/tests/test_rivian.py
@@ -1,29 +1,51 @@
 #!/usr/bin/env python3
 import unittest
+import numpy as np
 
 from opendbc.car.structs import CarParams
 from opendbc.safety.tests.libsafety import libsafety_py
 import opendbc.safety.tests.common as common
 from opendbc.safety.tests.common import CANPackerPanda
 from opendbc.car.rivian.values import RivianSafetyFlags
+from opendbc.car.rivian.riviancan import checksum as _checksum
 
 
-class TestRivianSafetyBase(common.PandaCarSafetyTest, common.DriverTorqueSteeringSafetyTest, common.LongitudinalAccelSafetyTest):
+def checksum(msg):
+  addr, dat, bus = msg
+  ret = bytearray(dat)
+
+  # ESP_Status
+  if addr == 0x208:
+    ret[0] = _checksum(ret[1:], 0x1D, 0xB1)
+  elif addr == 0x150:
+    ret[0] = _checksum(ret[1:], 0x1D, 0x9A)
+
+  return addr, ret, bus
+
+
+class TestRivianSafetyBase(common.PandaCarSafetyTest, common.DriverTorqueSteeringSafetyTest, common.LongitudinalAccelSafetyTest,
+                           common.VehicleSpeedSafetyTest):
 
   TX_MSGS = [[0x120, 0], [0x321, 2], [0x162, 2]]
   RELAY_MALFUNCTION_ADDRS = {0: (0x120,)}
   FWD_BLACKLISTED_ADDRS = {0: [0x321, 0x162], 2: [0x120]}
 
-  MAX_TORQUE = 250
+  MAX_TORQUE_LOOKUP = [9, 17], [350, 250]
+  DYNAMIC_MAX_TORQUE = True
   MAX_RATE_UP = 3
   MAX_RATE_DOWN = 5
 
   MAX_RT_DELTA = 125
-  RT_INTERVAL = 250000
 
   DRIVER_TORQUE_ALLOWANCE = 100
   DRIVER_TORQUE_FACTOR = 2
 
+  # Max allowed delta between car speeds
+  MAX_SPEED_DELTA = 2.0  # m/s
+
+  cnt_speed = 0
+  cnt_speed_2 = 0
+
   def _torque_driver_msg(self, torque):
     values = {"EPAS_TorsionBarTorque": torque / 100.0}
     return self.packer.make_can_msg_panda("EPAS_SystemStatus", 0, values)
@@ -32,26 +54,29 @@ class TestRivianSafetyBase(common.PandaCarSafetyTest, common.DriverTorqueSteerin
     values = {"ACM_lkaStrToqReq": torque, "ACM_lkaActToi": steer_req}
     return self.packer.make_can_msg_panda("ACM_lkaHbaCmd", 0, values)
 
-  def _speed_msg(self, speed):
-    values = {"ESP_Status": speed * 3.6}
-    return self.packer.make_can_msg_panda("ESP_Vehicle_Speed", 0, values)
+  def _speed_msg(self, speed, quality_flag=True):
+    values = {"ESP_Vehicle_Speed": speed * 3.6, "ESP_Status_Counter": self.cnt_speed % 15,
+              "ESP_Vehicle_Speed_Q": 1 if quality_flag else 0}
+    self.__class__.cnt_speed += 1
+    return self.packer.make_can_msg_panda("ESP_Status", 0, values, fix_checksum=checksum)
+
+  def _speed_msg_2(self, speed, quality_flag=True):
+    return self._user_gas_msg(0, speed, quality_flag)
 
   def _user_brake_msg(self, brake):
     values = {"iBESP2_BrakePedalApplied": brake}
     return self.packer.make_can_msg_panda("iBESP2", 0, values)
 
-  def _user_gas_msg(self, gas):
-    values = {"VDM_AcceleratorPedalPosition": gas}
-    return self.packer.make_can_msg_panda("VDM_PropStatus", 0, values)
+  def _user_gas_msg(self, gas, speed=0, quality_flag=True):
+    values = {"VDM_AcceleratorPedalPosition": gas, "VDM_VehicleSpeed": speed * 3.6,
+              "VDM_PropStatus_Counter": self.cnt_speed_2 % 15, "VDM_VehicleSpeedQ": 1 if quality_flag else 0}
+    self.__class__.cnt_speed_2 += 1
+    return self.packer.make_can_msg_panda("VDM_PropStatus", 0, values, fix_checksum=checksum)
 
   def _pcm_status_msg(self, enable):
     values = {"ACM_FeatureStatus": enable, "ACM_Unkown1": 1}
     return self.packer.make_can_msg_panda("ACM_Status", 2, values)
 
-  def _vehicle_moving_msg(self, speed: float):
-    values = {"ESP_Vehicle_Speed": speed}
-    return self.packer.make_can_msg_panda("ESP_Status", 0, values)
-
   def _accel_msg(self, accel: float):
     values = {"ACM_AccelerationRequest": accel}
     return self.packer.make_can_msg_panda("ACM_longitudinalRequest", 0, values)
@@ -67,6 +92,40 @@ class TestRivianSafetyBase(common.PandaCarSafetyTest, common.DriverTorqueSteerin
       }
       self.assertTrue(self._tx(self.packer.make_can_msg_panda("SCCM_WheelTouch", 2, values)))
 
+  def test_rx_hook(self):
+    # checksum, counter, and quality flag checks
+    for quality_flag in (True, False):
+      for msg in ("speed", "speed_2"):
+        self.safety.set_controls_allowed(True)
+        # send multiple times to verify counter checks
+        for _ in range(10):
+          if msg == "speed":
+            to_push = self._speed_msg(0, quality_flag=quality_flag)
+          elif msg == "speed_2":
+            to_push = self._speed_msg_2(0, quality_flag=quality_flag)
+
+          self.assertEqual(quality_flag, self._rx(to_push))
+          self.assertEqual(quality_flag, self.safety.get_controls_allowed())
+
+        # Mess with checksum to make it fail
+        to_push[0].data[0] = 0xff
+        self.assertFalse(self._rx(to_push))
+        self.assertFalse(self.safety.get_controls_allowed())
+
+  def test_rx_hook_speed_mismatch(self):
+    # TODO: this can be a common test w/ Ford
+    # Rivian has a dynamic max torque limit based on speed, so it checks two sources
+    for speed in np.arange(0, 40, 0.5):
+      for speed_delta in np.arange(-5, 5, 0.1):
+        speed_2 = round(max(speed + speed_delta, 0), 1)
+        # Set controls allowed in between rx since first message can reset it
+        self._rx(self._speed_msg(speed))
+        self.safety.set_controls_allowed(True)
+        self._rx(self._speed_msg_2(speed_2))
+
+        within_delta = abs(speed - speed_2) <= self.MAX_SPEED_DELTA
+        self.assertEqual(self.safety.get_controls_allowed(), within_delta)
+
 
 class TestRivianStockSafety(TestRivianSafetyBase):
 
diff --git a/opendbc_repo/opendbc/safety/tests/test_subaru.py b/opendbc_repo/opendbc/safety/tests/test_subaru.py
index 87277324..4936eae1 100755
--- a/opendbc_repo/opendbc/safety/tests/test_subaru.py
+++ b/opendbc_repo/opendbc/safety/tests/test_subaru.py
@@ -60,7 +60,6 @@ class TestSubaruSafetyBase(common.PandaCarSafetyTest):
   FWD_BLACKLISTED_ADDRS = fwd_blacklisted_addr()
 
   MAX_RT_DELTA = 940
-  RT_INTERVAL = 250000
 
   DRIVER_TORQUE_ALLOWANCE = 60
   DRIVER_TORQUE_FACTOR = 50
@@ -155,12 +154,12 @@ class TestSubaruLongitudinalSafetyBase(TestSubaruSafetyBase, common.Longitudinal
 class TestSubaruTorqueSafetyBase(TestSubaruSafetyBase, common.DriverTorqueSteeringSafetyTest, common.SteerRequestCutSafetyTest):
   MAX_RATE_UP = 50
   MAX_RATE_DOWN = 70
-  MAX_TORQUE = 2047
+  MAX_TORQUE_LOOKUP = [0], [2047]
 
   # Safety around steering req bit
   MIN_VALID_STEERING_FRAMES = 7
   MAX_INVALID_STEERING_FRAMES = 1
-  MIN_VALID_STEERING_RT_INTERVAL = 144000
+  STEER_STEP = 2
 
   def _torque_cmd_msg(self, torque, steer_req=1):
     values = {"LKAS_Output": torque, "LKAS_Request": steer_req}
@@ -178,7 +177,7 @@ class TestSubaruGen2TorqueSafetyBase(TestSubaruTorqueSafetyBase):
 
   MAX_RATE_UP = 40
   MAX_RATE_DOWN = 40
-  MAX_TORQUE = 1000
+  MAX_TORQUE_LOOKUP = [0], [1000]
 
 
 class TestSubaruGen2TorqueStockLongitudinalSafety(TestSubaruStockLongitudinalSafetyBase, TestSubaruGen2TorqueSafetyBase):
diff --git a/opendbc_repo/opendbc/safety/tests/test_subaru_preglobal.py b/opendbc_repo/opendbc/safety/tests/test_subaru_preglobal.py
index b2f482bf..af2c6cec 100755
--- a/opendbc_repo/opendbc/safety/tests/test_subaru_preglobal.py
+++ b/opendbc_repo/opendbc/safety/tests/test_subaru_preglobal.py
@@ -17,10 +17,9 @@ class TestSubaruPreglobalSafety(common.PandaCarSafetyTest, common.DriverTorqueSt
 
   MAX_RATE_UP = 50
   MAX_RATE_DOWN = 70
-  MAX_TORQUE = 2047
+  MAX_TORQUE_LOOKUP = [0], [2047]
 
   MAX_RT_DELTA = 940
-  RT_INTERVAL = 250000
 
   DRIVER_TORQUE_ALLOWANCE = 75
   DRIVER_TORQUE_FACTOR = 10
diff --git a/opendbc_repo/opendbc/safety/tests/test_toyota.py b/opendbc_repo/opendbc/safety/tests/test_toyota.py
index dcca1eb8..a119615c 100755
--- a/opendbc_repo/opendbc/safety/tests/test_toyota.py
+++ b/opendbc_repo/opendbc/safety/tests/test_toyota.py
@@ -124,16 +124,14 @@ class TestToyotaSafetyTorque(TestToyotaSafetyBase, common.MotorTorqueSteeringSaf
 
   MAX_RATE_UP = 15
   MAX_RATE_DOWN = 25
-  MAX_TORQUE = 1500
+  MAX_TORQUE_LOOKUP = [0], [1500]
   MAX_RT_DELTA = 450
-  RT_INTERVAL = 250000
   MAX_TORQUE_ERROR = 350
   TORQUE_MEAS_TOLERANCE = 1  # toyota safety adds one to be conservative for rounding
 
   # Safety around steering req bit
   MIN_VALID_STEERING_FRAMES = 18
   MAX_INVALID_STEERING_FRAMES = 1
-  MIN_VALID_STEERING_RT_INTERVAL = 170000  # a ~10% buffer, can send steer up to 110Hz
 
   def setUp(self):
     self.packer = CANPackerPanda("toyota_nodsu_pt_generated")
diff --git a/opendbc_repo/opendbc/safety/tests/test_volkswagen_mqb.py b/opendbc_repo/opendbc/safety/tests/test_volkswagen_mqb.py
index de47b5ea..83e45f1f 100755
--- a/opendbc_repo/opendbc/safety/tests/test_volkswagen_mqb.py
+++ b/opendbc_repo/opendbc/safety/tests/test_volkswagen_mqb.py
@@ -28,9 +28,8 @@ class TestVolkswagenMqbSafetyBase(common.PandaCarSafetyTest, common.DriverTorque
 
   MAX_RATE_UP = 4
   MAX_RATE_DOWN = 10
-  MAX_TORQUE = 300
+  MAX_TORQUE_LOOKUP = [0], [300]
   MAX_RT_DELTA = 75
-  RT_INTERVAL = 250000
 
   DRIVER_TORQUE_ALLOWANCE = 80
   DRIVER_TORQUE_FACTOR = 3
@@ -133,7 +132,7 @@ class TestVolkswagenMqbStockSafety(TestVolkswagenMqbSafetyBase):
   FWD_BLACKLISTED_ADDRS = {0: [MSG_LH_EPS_03], 2: [MSG_HCA_01, MSG_LDW_02]}
 
   def setUp(self):
-    self.packer = CANPackerPanda("vw_mqb_2010")
+    self.packer = CANPackerPanda("vw_mqb")
     self.safety = libsafety_py.libsafety
     self.safety.set_safety_hooks(CarParams.SafetyModel.volkswagen, 0)
     self.safety.init_tests()
@@ -154,7 +153,7 @@ class TestVolkswagenMqbLongSafety(TestVolkswagenMqbSafetyBase):
   INACTIVE_ACCEL = 3.01
 
   def setUp(self):
-    self.packer = CANPackerPanda("vw_mqb_2010")
+    self.packer = CANPackerPanda("vw_mqb")
     self.safety = libsafety_py.libsafety
     self.safety.set_safety_hooks(CarParams.SafetyModel.volkswagen, VolkswagenSafetyFlags.LONG_CONTROL)
     self.safety.init_tests()
diff --git a/opendbc_repo/opendbc/safety/tests/test_volkswagen_pq.py b/opendbc_repo/opendbc/safety/tests/test_volkswagen_pq.py
index cc9e87df..8f6de057 100755
--- a/opendbc_repo/opendbc/safety/tests/test_volkswagen_pq.py
+++ b/opendbc_repo/opendbc/safety/tests/test_volkswagen_pq.py
@@ -26,9 +26,8 @@ class TestVolkswagenPqSafetyBase(common.PandaCarSafetyTest, common.DriverTorqueS
 
   MAX_RATE_UP = 6
   MAX_RATE_DOWN = 10
-  MAX_TORQUE = 300
+  MAX_TORQUE_LOOKUP = [0], [300]
   MAX_RT_DELTA = 113
-  RT_INTERVAL = 250000
 
   DRIVER_TORQUE_ALLOWANCE = 80
   DRIVER_TORQUE_FACTOR = 3
@@ -116,7 +115,7 @@ class TestVolkswagenPqStockSafety(TestVolkswagenPqSafetyBase):
   FWD_BLACKLISTED_ADDRS = {2: [MSG_HCA_1, MSG_LDW_1]}
 
   def setUp(self):
-    self.packer = CANPackerPanda("vw_golf_mk4")
+    self.packer = CANPackerPanda("vw_pq")
     self.safety = libsafety_py.libsafety
     self.safety.set_safety_hooks(CarParams.SafetyModel.volkswagenPq, 0)
     self.safety.init_tests()
@@ -137,7 +136,7 @@ class TestVolkswagenPqLongSafety(TestVolkswagenPqSafetyBase, common.Longitudinal
   INACTIVE_ACCEL = 3.01
 
   def setUp(self):
-    self.packer = CANPackerPanda("vw_golf_mk4")
+    self.packer = CANPackerPanda("vw_pq")
     self.safety = libsafety_py.libsafety
     self.safety.set_safety_hooks(CarParams.SafetyModel.volkswagenPq, VolkswagenSafetyFlags.LONG_CONTROL)
     self.safety.init_tests()