sunnypilot v2026.07.27-4598

version: sunnypilot v2026.003.000 (feature-branch) date: 2026-07-27T19:54:46 master commit: 3a05c03079
2026-08-04 01:59:26 +08:00 · 2026-07-27 19:54:46 +00:00
53 changed files with 645 additions and 469 deletions
@@ -130,6 +130,7 @@ class CarHarness(EnumBase):
  hyundai_p = BaseCarHarness("Hyundai P connector")
  hyundai_q = BaseCarHarness("Hyundai Q connector")
  hyundai_r = BaseCarHarness("Hyundai R connector")
+  hyundai_s = BaseCarHarness("Hyundai S connector")
  custom = BaseCarHarness("Developer connector")
  obd_ii = BaseCarHarness("OBD-II connector", parts=[Cable.long_obdc_cable], has_connector=False)
  gm = BaseCarHarness("GM connector", parts=[Accessory.harness_box])
@@ -200,6 +200,7 @@ class CarController(CarControllerBase, EsccCarController, LeadDataCarController,

    lka_steering = self.CP.flags & HyundaiFlags.CANFD_LKA_STEER_MSG
    lka_steering_long = lka_steering and self.CP.openpilotLongitudinalControl
+    ccnc_non_hda2 = self.CP.flags & HyundaiFlags.CCNC and not lka_steering

    # steering control
    can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled, apply_steer_req, apply_torque, self.lkas_icon))
@@ -211,7 +212,12 @@ class CarController(CarControllerBase, EsccCarController, LeadDataCarController,

    # LFA and HDA icons
    if self.frame % 5 == 0 and (not lka_steering or lka_steering_long):
-      can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled, self.lfa_icon))
+      if ccnc_non_hda2:
+        can_sends.extend(hyundaicanfd.create_ccnc(self.packer, self.CAN, self.CP.openpilotLongitudinalControl, CC.enabled, CC.hudControl, CC.leftBlinker,
+                                                  CC.rightBlinker, CS.msg_161, CS.msg_162, CS.msg_1b5, CS.is_metric, CS.out, CS.main_cruise_enabled,
+                                                  self.lfa_icon))
+      else:
+        can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled, self.lfa_icon))

    # blinkers
    if lka_steering and self.CP.flags & HyundaiFlags.CANFD_ENABLE_BLINKERS:
@@ -220,11 +226,12 @@ class CarController(CarControllerBase, EsccCarController, LeadDataCarController,
    if self.CP.openpilotLongitudinalControl:
      if lka_steering:
        can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame))
-      else:
+      elif not ccnc_non_hda2:
        can_sends.extend(hyundaicanfd.create_fca_warning_light(self.packer, self.CAN, self.frame))
      if self.frame % 2 == 0:
        can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
-                                                         set_speed_in_units, hud_control, self.lead_data, CS.main_cruise_enabled, self.tuning))
+                                                         set_speed_in_units, hud_control, self.lead_data, CS.main_cruise_enabled, self.tuning,
+                                                         CS.cruise_info if ccnc_non_hda2 else None))
        self.accel_last = accel
    else:
      # button presses
@@ -64,6 +64,7 @@ class CarState(CarStateBase, EsccCarStateBase, MadsCarState, CarStateExt):
    self.buttons_counter = 0

    self.cruise_info = {}
+    self.msg_161, self.msg_162, self.msg_1b5 = {}, {}, {}

    # On some cars, CLU15->CF_Clu_VehicleSpeed can oscillate faster than the dash updates. Sample at 5 Hz
    self.cluster_speed = 0
@@ -256,12 +257,14 @@ class CarState(CarStateBase, EsccCarStateBase, MadsCarState, CarStateExt):
    ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > self.params.STEER_THRESHOLD, 5)
    ret.steerFaultTemporary = cp.vl["MDPS"]["MDPS_LkaFailSta"] != 0

-    # TODO: alt signal usage may be described by cp.vl['BLINKERS']['USE_ALT_LAMP']
-    left_blinker_sig, right_blinker_sig = "LEFT_LAMP", "RIGHT_LAMP"
-    if self.CP.carFingerprint == CAR.HYUNDAI_KONA_EV_2ND_GEN:
-      left_blinker_sig, right_blinker_sig = "LEFT_LAMP_ALT", "RIGHT_LAMP_ALT"
-    ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"][left_blinker_sig],
-                                                                      cp.vl["BLINKERS"][right_blinker_sig])
+    alt = ""
+    if self.CP.flags & HyundaiFlags.CCNC:
+      alt = "_ALT"
+      if not self.CP.flags & HyundaiFlags.CANFD_LKA_STEER_MSG:
+        self.msg_161, self.msg_162, self.msg_1b5 = map(copy.copy, (cp_cam.vl["CCNC_0x161"], cp_cam.vl["CCNC_0x162"], cp_cam.vl["FR_CMR_03_50ms"]))
+        self.cruise_info = copy.copy((cp_cam if self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC else cp).vl["SCC_CONTROL"])
+    ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"][f"LEFT_LAMP{alt}"],
+                                                                      cp.vl["BLINKERS"][f"RIGHT_LAMP{alt}"])
    if self.CP.enableBsm:
      ret.leftBlindspot = bool(cp.vl["ADAS_CMD_50_50ms"]["BCW_LtIndSta"])
      ret.rightBlindspot = bool(cp.vl["ADAS_CMD_50_50ms"]["BCW_RtIndSta"])
@@ -220,6 +220,16 @@ FW_VERSIONS = {
      b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.07 99211-L1000 211223',
    ],
  },
+  CAR.HYUNDAI_SONATA_2024: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00DN8 MFC  AT KOR LHD 1.00 1.01 99211-L1800 230512',
+      b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.01 99211-L1800 230512',
+      b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.02 99211-L1800 250613',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00DN8_ RDR -----      1.00 1.00 99110-L1800         ',
+    ],
+  },
  CAR.HYUNDAI_SONATA_LF: {
    (Ecu.fwdRadar, 0x7d0, None): [
      b'\xf1\x00LF__ SCC F-CUP      1.00 1.00 96401-C2200         ',
@@ -570,6 +580,16 @@ FW_VERSIONS = {
      b'\xf1\x00OS9 LKAS AT USA LHD 1.00 1.00 95740-J9300 g21',
    ],
  },
+  CAR.HYUNDAI_KONA_2ND_GEN: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00SX2 MFC  AT USA LHD 1.00 1.03 99211-BE000 230517',
+      b'\xf1\x00SX2 MFC  AT USA LHD 1.00 1.07 99211-BE000 240611',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00SX2_ RDR -----      1.00 1.02 99110-BE000         ',
+      b'\xf1\x00SX2_ RDR -----      1.00 1.02 99110-BE500         ',
+    ],
+  },
  CAR.KIA_CEED: {
    (Ecu.fwdRadar, 0x7d0, None): [
      b'\xf1\x00CD__ SCC F-CUP      1.00 1.00 99110-J7500         ',
@@ -605,6 +625,17 @@ FW_VERSIONS = {
      b'\xf1\x00BD__ SCC H-CUP      1.00 1.02 99110-M6000         ',
    ],
  },
+  CAR.KIA_K4_2025: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00CL4 MFC  AT CAN LHD 1.00 1.02 99210-GG000 240708',
+      b'\xf1\x00CL4 MFC  AT USA LHD 1.00 1.02 99210-GG000 240708',
+      b'\xf1\x00CL4 MFC  AT USA LHD 1.00 1.04 99210-GG100 251205',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00CL4_ RDR -----      1.00 1.01 99110-GG000         ',
+      b'\xf1\x00CL4_ RDR -----      1.00 1.01 99110-GG100         ',
+    ],
+  },
  CAR.KIA_K5_2021: {
    (Ecu.fwdRadar, 0x7d0, None): [
      b'\xf1\x00DL3_ SCC F-CUP      1.00 1.03 99110-L2100         ',
@@ -637,6 +668,14 @@ FW_VERSIONS = {
      b'\xf1\x00DL ESC \t 102"\x08\x10 58910-L3800',
    ],
  },
+  CAR.KIA_K5_2025: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00DL3 MFC  AT USA LHD 1.00 1.04 99210-L2500 240117',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00DL3_ RDR -----      1.00 1.01 99110-L2500         ',
+    ],
+  },
  CAR.KIA_K5_HEV_2020: {
    (Ecu.fwdRadar, 0x7d0, None): [
      b'\xf1\x00DLhe SCC FHCUP      1.00 1.02 99110-L7000         ',
@@ -723,6 +762,7 @@ FW_VERSIONS = {
    ],
    (Ecu.fwdCamera, 0x7c4, None): [
      b'\xf1\x00SX2EMFC  AT KOR LHD 1.00 1.00 99211-BF000 230410',
+      b'\xf1\x00SX2EMFC  AT USA LHD 1.00 1.02 99211-BF000 230823',
    ],
  },
  CAR.KIA_NIRO_EV: {
@@ -981,6 +1021,17 @@ FW_VERSIONS = {
      b'\xf1\x00OSH LKAS AT KOR LHD 1.00 1.01 95740-CM000 l31',
    ],
  },
+  CAR.HYUNDAI_KONA_HEV_2ND_GEN: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00SX2HMFC  AT AUS RHD 1.00 1.00 99211-BE001 241015',
+      b'\xf1\x00SX2HMFC  AT EUR LHD 1.00 1.01 99211-BE001 250117',
+      b'\xf1\x00SX2HMFC  AT EUR RHD 1.00 1.04 99211-BE000 231010',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00SX2_ RDR -----      1.00 1.02 99110-BE000         ',
+      b'\xf1\x00SX2_ RDR -----      1.00 1.02 99110-BE500         ',
+    ],
+  },
  CAR.HYUNDAI_SONATA_HYBRID: {
    (Ecu.fwdRadar, 0x7d0, None): [
      b'\xf1\x00DNhe SCC F-CUP      1.00 1.02 99110-L5000         ',
@@ -1002,6 +1053,15 @@ FW_VERSIONS = {
      b'\xf1\x00DN8HMFC  AT USA LHD 1.00 1.07 99211-L1000 211223',
    ],
  },
+  CAR.HYUNDAI_SONATA_HEV_2024: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00DN8HMFC  AT KOR LHD 1.00 1.01 99211-L1800 230512',
+      b'\xf1\x00DN8HMFC  AT USA LHD 1.00 1.01 99211-L1800 230512',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00DN8_ RDR -----      1.00 1.00 99110-L1800         ',
+    ],
+  },
  CAR.KIA_SORENTO: {
    (Ecu.fwdCamera, 0x7c4, None): [
      b'\xf1\x00UMP LKAS AT AUS RHD 1.00 1.00 96400-C6550 S30',
@@ -1069,6 +1129,16 @@ FW_VERSIONS = {
      b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.06 99211-GI010 230110',
    ],
  },
+  CAR.HYUNDAI_IONIQ_5_N: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00NE1N RDR -----      1.00 1.00 99110-NI000         ',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00NE1NMFC  AT KOR LHD 1.00 1.04 99211-NI000 231219',
+      b'\xf1\x00NE1NMFC  AT KOR LHD 1.00 1.00 99211-NI010 240712',
+      b'\xf1\x00NE1NMFC  AT USA LHD 1.00 1.04 99211-NI000 231219',
+    ],
+  },
  CAR.HYUNDAI_IONIQ_6: {
    (Ecu.fwdRadar, 0x7d0, None): [
      b'\xf1\x00CE__ RDR -----      1.00 1.01 99110-KL000         ',
@@ -1107,6 +1177,37 @@ FW_VERSIONS = {
      b'\xf1\x00NX4__               1.01 1.02 99110-N9000         ',
    ],
  },
+  CAR.HYUNDAI_TUCSON_2025: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00NX4 FR_CMR AT GEN LHD 1.00 1.00 99211-N7030 C55',
+      b'\xf1\x00NX4 FR_CMR AT GEN LHD 1.00 1.00 99211-N7035 C5C',
+      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N7050 C5A',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00NX4__               1.00 1.02 99110N7000          ',
+      b'\xf1\x00NX4__               1.00 1.03 99110N7100          ',
+    ],
+  },
+  CAR.HYUNDAI_TUCSON_HEV_2025: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 1.00 99211-N7030 C55',
+      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N7030 C55',
+      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N7035 C5C',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00NX4__               1.00 1.02 99110N7000          ',
+      b'\xf1\x00NX4__               1.00 1.02 99110N7100          ',
+      b'\xf1\x00NX4__               1.00 1.03 99110N7100          ',
+    ],
+  },
+  CAR.HYUNDAI_TUCSON_PHEV_2025: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00NX4 FR_CMR AT CAN LHD 1.00 1.00 99211-N7030 C55',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00NX4__               1.00 1.02 99110N7100          ',
+    ],
+  },
  CAR.HYUNDAI_SANTA_CRUZ_1ST_GEN: {
    (Ecu.fwdCamera, 0x7c4, None): [
      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW000 14M',
@@ -1118,6 +1219,14 @@ FW_VERSIONS = {
      b'\xf1\x00NX4__               1.01 1.00 99110-K5000         ',
    ],
  },
+  CAR.HYUNDAI_SANTA_CRUZ_2025: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N7030 C55',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00NX4__               1.00 1.00 99110K5500          ',
+    ],
+  },
  CAR.KIA_SPORTAGE_5TH_GEN: {
    (Ecu.fwdCamera, 0x7c4, None): [
      b'\xf1\x00NQ5 FR_CMR AT AUS RHD 1.00 1.00 99211-P1040 663',
@@ -1190,6 +1299,16 @@ FW_VERSIONS = {
      b'\xf1\x00MQ4_ SCC FHCUP      1.00 1.08 99110-P2000         ',
    ],
  },
+  CAR.KIA_SORENTO_2024: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00MQ4 MFC  AT AUS RHD 1.01 1.04 99210-P2550 231127',
+      b'\xf1\x00MQ4 MFC  AT USA LHD 1.01 1.04 99210-R5500 231127',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00MQ4_ RDR -----      1.00 1.01 99110-P2500         ',
+      b'\xf1\x00MQ4_ RDR -----      1.00 1.01 99110-R5500         ',
+    ],
+  },
  CAR.KIA_SORENTO_HEV_4TH_GEN: {
    (Ecu.fwdCamera, 0x7c4, None): [
      b'\xf1\x00MQ4HMFC  AT KOR LHD 1.00 1.04 99210-P2000 200330',
@@ -1,5 +1,6 @@
 import numpy as np
 from opendbc.car import CanBusBase
+from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.crc import CRC16_XMODEM
 from opendbc.car.hyundai.values import HyundaiFlags
 from opendbc.sunnypilot.car.hyundai.lead_data_ext import CanFdLeadData
@@ -125,8 +126,106 @@ def create_lfahda_cluster(packer, CAN, enabled, lfa_icon):
  return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values)


+def create_ccnc(packer, CAN, openpilotLongitudinalControl, enabled, hud, leftBlinker, rightBlinker, msg_161, msg_162, msg_1b5,
+                is_metric, out, main_cruise_enabled, lfa_icon):
+  for f in {"FAULT_LSS", "FAULT_HDA", "FAULT_DAS", "FAULT_LFA", "FAULT_DAW", "FAULT_ESS"}:
+    msg_162[f] = 0
+  if msg_161["ALERTS_2"] == 5:
+    msg_161.update({"ALERTS_2": 0, "SOUNDS_2": 0})
+  if msg_161["ALERTS_3"] == 17:
+    msg_161["ALERTS_3"] = 0
+  if msg_161["ALERTS_5"] in (2, 5):
+    msg_161["ALERTS_5"] = 0
+  if msg_161["SOUNDS_4"] == 2 and msg_161["LFA_ICON"] in (3, 0,):
+    msg_161["SOUNDS_4"] = 0
+
+  LANE_CHANGE_SPEED_MIN = 8.9408
+  anyBlinker = leftBlinker or rightBlinker
+  curvature = {i: (31 if i == -1 else 13 - abs(i + 15)) if i < 0 else 15 + i for i in range(-15, 16)}
+
+  msg_161.update({
+    "DAW_ICON": 0,
+    "LKA_ICON": 0,
+    "LFA_ICON": 2 if lfa_icon else 0,
+    "CENTERLINE": 1 if lfa_icon else 0,
+    "LANELINE_CURVATURE": curvature.get(max(-15, min(int(out.steeringAngleDeg / 4.5), 15)), 14) if lfa_icon and not anyBlinker else 15,
+    "LANELINE_LEFT": (0 if not lfa_icon else 1 if not hud.leftLaneVisible else 4 if hud.leftLaneDepart else 6 if anyBlinker else 2),
+    "LANELINE_RIGHT": (0 if not lfa_icon else 1 if not hud.rightLaneVisible else 4 if hud.rightLaneDepart else 6 if anyBlinker else 2),
+    "LCA_LEFT_ICON": (0 if not lfa_icon or out.vEgo < LANE_CHANGE_SPEED_MIN else 1 if out.leftBlindspot else 2 if anyBlinker else 4),
+    "LCA_RIGHT_ICON": (0 if not lfa_icon or out.vEgo < LANE_CHANGE_SPEED_MIN else 1 if out.rightBlindspot else 2 if anyBlinker else 4),
+    "LCA_LEFT_ARROW": 2 if leftBlinker else 0,
+    "LCA_RIGHT_ARROW": 2 if rightBlinker else 0,
+  })
+
+  if lfa_icon and (leftBlinker or rightBlinker):
+    leftlaneraw, rightlaneraw = msg_1b5["Info_LftLnPosVal"], msg_1b5["Info_RtLnPosVal"]
+
+    scale_per_m = 15 / 1.7
+    leftlane = abs(int(round(15 + (leftlaneraw - 1.7) * scale_per_m)))
+    rightlane = abs(int(round(15 + (rightlaneraw - 1.7) * scale_per_m)))
+
+    if msg_1b5["Info_LftLnQualSta"] not in (2, 3):
+      leftlane = 0
+    if msg_1b5["Info_RtLnQualSta"] not in (2, 3):
+      rightlane = 0
+
+    if leftlaneraw == -2.0248375:
+      leftlane = 30 - rightlane
+    if rightlaneraw == 2.0248375:
+      rightlane = 30 - leftlane
+
+    if leftlaneraw == rightlaneraw == 0:
+      leftlane = rightlane = 15
+    elif leftlaneraw == 0:
+      leftlane = 30 - rightlane
+    elif rightlaneraw == 0:
+      rightlane = 30 - leftlane
+
+    total = leftlane + rightlane
+    if total == 0:
+      leftlane = rightlane = 15
+    else:
+      leftlane = round((leftlane / total) * 30)
+      rightlane = 30 - leftlane
+
+    msg_161["LANELINE_LEFT_POSITION"] = leftlane
+    msg_161["LANELINE_RIGHT_POSITION"] = rightlane
+
+  if hud.leftLaneDepart or hud.rightLaneDepart:
+    msg_162["VIBRATE"] = 1
+
+  if openpilotLongitudinalControl:
+    if msg_161["ALERTS_3"] in (1, 2, 3, 4, 7, 8, 9, 10):
+      msg_161["ALERTS_3"] = 0
+    if msg_161["ALERTS_5"] == 4:
+      msg_161["ALERTS_5"] = 0
+    if msg_161["SOUNDS_3"] == 5:
+      msg_161["SOUNDS_3"] = 0
+
+    msg_161.update({
+      "SETSPEED": 3 if enabled else 1,
+      "SETSPEED_HUD": 0 if not main_cruise_enabled else 2 if enabled else 1,
+      "SETSPEED_SPEED": (
+        255 if not main_cruise_enabled else
+        (40 if is_metric else 25) if (s := round(out.vCruiseCluster * (1 if is_metric else CV.KPH_TO_MPH))) > (145 if is_metric else 90) else s
+      ),
+      "DISTANCE": hud.leadDistanceBars,
+      "DISTANCE_SPACING": 0 if not main_cruise_enabled else 1 if enabled else 3,
+      "DISTANCE_LEAD": 0 if not main_cruise_enabled else 2 if enabled and hud.leadVisible else 1 if hud.leadVisible else 0,
+      "DISTANCE_CAR": 0 if not main_cruise_enabled else 2 if enabled else 1,
+      "SLA_ICON": 0,
+      "NAV_ICON": 0,
+      "TARGET": 0,
+    })
+
+    msg_162["LEAD"] = 0 if not main_cruise_enabled else 2 if enabled else 1
+    msg_162["LEAD_DISTANCE"] = msg_1b5["Longitudinal_Distance"]
+
+  return [packer.make_can_msg(msg, CAN.ECAN, data) for msg, data in [("CCNC_0x161", msg_161), ("CCNC_0x162", msg_162)]]
+
+
 def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_override, set_speed, hud_control,
-                       lead_data: CanFdLeadData, main_cruise_enabled, tuning):
+                       lead_data: CanFdLeadData, main_cruise_enabled, tuning, cruise_info=None):
  jerk = 5
  jn = jerk / 50
  if not enabled or gas_override:
@@ -154,6 +253,8 @@ def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_ov
    "SET_ME_TMP_64": 0x64,
    "DISTANCE_SETTING": hud_control.leadDistanceBars,
  }
+  if cruise_info:
+    values.update({s: cruise_info[s] for s in ["ACC_ObjDist", "ACC_ObjRelSpd"]})

  return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)

@@ -85,6 +85,8 @@ class CarInterface(CarInterfaceBase):
        ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CANFD_ALT_BUTTONS.value
      if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC:
        ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CAMERA_SCC.value
+      if ret.flags & HyundaiFlags.CCNC and not ret.flags & HyundaiFlags.CANFD_LKA_STEER_MSG:
+        ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CCNC.value

    else:
      # Shared configuration for non CAN-FD cars
@@ -23,7 +23,11 @@ NO_DATES_PLATFORMS = {
  # CAN FD
  CAR.KIA_SPORTAGE_5TH_GEN,
  CAR.HYUNDAI_SANTA_CRUZ_1ST_GEN,
+  CAR.HYUNDAI_SANTA_CRUZ_2025,
  CAR.HYUNDAI_TUCSON_4TH_GEN,
+  CAR.HYUNDAI_TUCSON_2025,
+  CAR.HYUNDAI_TUCSON_HEV_2025,
+  CAR.HYUNDAI_TUCSON_PHEV_2025,
  # CAN
  CAR.HYUNDAI_ELANTRA,
  CAR.HYUNDAI_ELANTRA_GT_I30,
@@ -68,6 +68,7 @@ class HyundaiSafetyFlags(IntFlag):
  CANFD_LKA_STEER_MSG_ALT = 128
  FCEV_GAS = 256
  ALT_LIMITS_2 = 512
+  CCNC = 1024


 # Hyundai/Kia/Genesis SCC (Smart Cruise Control) and steering architecture:
@@ -149,6 +150,8 @@ class HyundaiFlags(IntFlag):

  ALT_LIMITS_2 = 2 ** 26

+  CCNC = 2 ** 27
+

@dataclass
 class HyundaiCarDocs(CarDocs):
@@ -285,6 +288,16 @@ class CAR(Platforms):
    CarSpecs(mass=1491, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
    flags=HyundaiFlags.CAMERA_SCC | HyundaiFlags.ALT_LIMITS_2,
  )
+  HYUNDAI_KONA_2ND_GEN = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Hyundai Kona (without HDA II) 2024-25", car_parts=CarParts.common([CarHarness.hyundai_l]))],
+    CarSpecs(mass=1590, wheelbase=2.66, steerRatio=13.6, tireStiffnessFactor=0.385),
+    flags=HyundaiFlags.CCNC,
+  )
+  HYUNDAI_KONA_HEV_2ND_GEN = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Hyundai Kona Hybrid (without HDA II) 2024", car_parts=CarParts.common([CarHarness.hyundai_l]))],
+    CarSpecs(mass=1590, wheelbase=2.66, steerRatio=13.6, tireStiffnessFactor=0.385),
+    flags=HyundaiFlags.CCNC,
+  )
  HYUNDAI_KONA_EV = HyundaiPlatformConfig(
    [HyundaiCarDocs("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g]))],
    CarSpecs(mass=1685, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
@@ -296,10 +309,13 @@ class CAR(Platforms):
    flags=HyundaiFlags.CAMERA_SCC | HyundaiFlags.EV | HyundaiFlags.ALT_LIMITS,
  )
  HYUNDAI_KONA_EV_2ND_GEN = HyundaiCanFDPlatformConfig(
-    [HyundaiCarDocs("Hyundai Kona Electric (with HDA II, Korea only) 2023", video="https://www.youtube.com/watch?v=U2fOCmcQ8hw",
-                    car_parts=CarParts.common([CarHarness.hyundai_r]))],
+    [
+      HyundaiCarDocs("Hyundai Kona Electric (with HDA II, Korea only) 2023", video="https://www.youtube.com/watch?v=U2fOCmcQ8hw",
+                    car_parts=CarParts.common([CarHarness.hyundai_r])),
+      HyundaiCarDocs("Hyundai Kona Electric (without HDA II) 2024", car_parts=CarParts.common([CarHarness.hyundai_a])),
+    ],
    CarSpecs(mass=1740, wheelbase=2.66, steerRatio=13.6, tireStiffnessFactor=0.385),
-    flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE,
+    flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE | HyundaiFlags.CCNC,
  )
  HYUNDAI_KONA_HEV = HyundaiPlatformConfig(
    [HyundaiCarDocs("Hyundai Kona Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_i]))],  # TODO: check packages,
@@ -339,6 +355,11 @@ class CAR(Platforms):
    CarSpecs(mass=1513, wheelbase=2.84, steerRatio=13.27 * 1.15, tireStiffnessFactor=0.65),  # 15% higher at the center seems reasonable
    flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8,
  )
+  HYUNDAI_SONATA_2024 = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Hyundai Sonata (without HDA II) 2024-25", car_parts=CarParts.common([CarHarness.hyundai_a]))],
+    CarSpecs(mass=1556, wheelbase=2.84, steerRatio=12.81),
+    flags=HyundaiFlags.CCNC,
+  )
  HYUNDAI_SONATA_LF = HyundaiPlatformConfig(
    [HyundaiCarDocs("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarHarness.hyundai_e]))],
    CarSpecs(mass=1536, wheelbase=2.804, steerRatio=13.27 * 1.15),  # 15% higher at the center seems reasonable
@@ -374,6 +395,11 @@ class CAR(Platforms):
    HYUNDAI_SONATA.specs,
    flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
  )
+  HYUNDAI_SONATA_HEV_2024 = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Hyundai Sonata Hybrid (without HDA II) 2024-25", car_parts=CarParts.common([CarHarness.hyundai_a]))],
+    CarSpecs(mass=1616, wheelbase=2.84, steerRatio=13.27),
+    flags=HyundaiFlags.CCNC,
+  )
  HYUNDAI_IONIQ_5 = HyundaiCanFDPlatformConfig(
    [
      HyundaiCarDocs("Hyundai Ioniq 5 (Southeast Asia and Europe only) 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_q])),
@@ -383,6 +409,11 @@ class CAR(Platforms):
    CarSpecs(mass=1948, wheelbase=2.97, steerRatio=14.26, tireStiffnessFactor=0.65),
    flags=HyundaiFlags.EV,
  )
+  HYUNDAI_IONIQ_5_N = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Hyundai Ioniq 5 N (with HDA II) 2024", car_parts=CarParts.common([CarHarness.hyundai_s]))],
+    CarSpecs(mass=2205, wheelbase=3.00, steerRatio=14.26, tireStiffnessFactor=1.3),
+    flags=HyundaiFlags.EV | HyundaiFlags.CCNC,
+  )
  HYUNDAI_IONIQ_6 = HyundaiCanFDPlatformConfig(
    [
        HyundaiCarDocs("Hyundai Ioniq 6 (without HDA II) 2023-24", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_l])),
@@ -400,11 +431,31 @@ class CAR(Platforms):
    ],
    CarSpecs(mass=1630, wheelbase=2.756, steerRatio=13.7, tireStiffnessFactor=0.385),
  )
+  HYUNDAI_TUCSON_2025 = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Hyundai Tucson (without HDA II) 2025-26", car_parts=CarParts.common([CarHarness.hyundai_n]))],
+    CarSpecs(mass=1630, wheelbase=2.756, steerRatio=13.7, tireStiffnessFactor=0.385),
+    flags=HyundaiFlags.CCNC,
+  )
+  HYUNDAI_TUCSON_HEV_2025 = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Hyundai Tucson Hybrid (without HDA II) 2025-26", car_parts=CarParts.common([CarHarness.hyundai_n]))],
+    CarSpecs(mass=1630, wheelbase=2.756, steerRatio=13.7, tireStiffnessFactor=0.385),
+    flags=HyundaiFlags.CCNC,
+  )
+  HYUNDAI_TUCSON_PHEV_2025 = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Hyundai Tucson Plug-in Hybrid (without HDA II) 2025", car_parts=CarParts.common([CarHarness.hyundai_n]))],
+    CarSpecs(mass=1630, wheelbase=2.756, steerRatio=13.7, tireStiffnessFactor=0.385),
+    flags=HyundaiFlags.CCNC,
+  )
  HYUNDAI_SANTA_CRUZ_1ST_GEN = HyundaiCanFDPlatformConfig(
    [HyundaiCarDocs("Hyundai Santa Cruz 2022-24", car_parts=CarParts.common([CarHarness.hyundai_n]))],
    # weight from Limited trim - the only supported trim, steering ratio according to Hyundai News https://www.hyundainews.com/assets/documents/original/48035-2022SantaCruzProductGuideSpecsv2081521.pdf
    CarSpecs(mass=1870, wheelbase=3, steerRatio=14.2),
  )
+  HYUNDAI_SANTA_CRUZ_2025 = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Hyundai Santa Cruz (without HDA II) 2025", car_parts=CarParts.common([CarHarness.hyundai_n]))],
+    CarSpecs(mass=1920, wheelbase=3, steerRatio=14.2),
+    flags=HyundaiFlags.CCNC,
+  )
  HYUNDAI_CUSTIN_1ST_GEN = HyundaiPlatformConfig(
    [HyundaiCarDocs("Hyundai Custin 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))],
    CarSpecs(mass=1690, wheelbase=3.055, steerRatio=17),  # mass: from https://www.hyundai-motor.com.tw/clicktobuy/custin#spec_0, steerRatio: from learner
@@ -419,11 +470,24 @@ class CAR(Platforms):
    ],
    CarSpecs(mass=2878 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5)
  )
+  KIA_K4_2025 = HyundaiCanFDPlatformConfig(
+    [
+      HyundaiCarDocs("Kia K4 (without HDA II) 2025-26", car_parts=CarParts.common([CarHarness.hyundai_a])),
+      HyundaiCarDocs("Kia K4 (with HDA II) 2025", car_parts=CarParts.common([CarHarness.hyundai_r])),
+    ],
+    CarSpecs(mass=2987 * CV.LB_TO_KG, wheelbase=2.72, steerRatio=13.4),
+    flags=HyundaiFlags.CCNC,
+  )
  KIA_K5_2021 = HyundaiPlatformConfig(
    [HyundaiCarDocs("Kia K5 2021-24", car_parts=CarParts.common([CarHarness.hyundai_a]))],
    CarSpecs(mass=3381 * CV.LB_TO_KG, wheelbase=2.85, steerRatio=13.27, tireStiffnessFactor=0.5),  # 2021 Kia K5 Steering Ratio (all trims)
    flags=HyundaiFlags.CHECKSUM_CRC8,
  )
+  KIA_K5_2025 = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Kia K5 (without HDA II) 2025", car_parts=CarParts.common([CarHarness.hyundai_m]))],
+    CarSpecs(mass=3230 * CV.LB_TO_KG, wheelbase=2.85, steerRatio=13.27),
+    flags=HyundaiFlags.CCNC,
+  )
  KIA_K5_HEV_2020 = HyundaiPlatformConfig(
    [HyundaiCarDocs("Kia K5 Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_a]))],
    KIA_K5_2021.specs,
@@ -534,6 +598,11 @@ class CAR(Platforms):
    CarSpecs(mass=3957 * CV.LB_TO_KG, wheelbase=2.81, steerRatio=13.5),  # average of the platforms
    flags=HyundaiFlags.CANFD_RADAR_SCC,
  )
+  KIA_SORENTO_2024 = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Kia Sorento (without HDA II) 2024-25", car_parts=CarParts.common([CarHarness.hyundai_a]))],
+    CarSpecs(mass=3957 * CV.LB_TO_KG, wheelbase=2.81, steerRatio=13.5),
+    flags=HyundaiFlags.CCNC,
+  )
  KIA_SORENTO_HEV_4TH_GEN = HyundaiCanFDPlatformConfig(
    [
      HyundaiCarDocs("Kia Sorento Hybrid 2021-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
@@ -28,6 +28,9 @@ non_tested_cars = [
  SUBARU.SUBARU_FORESTER_HYBRID,
  VOLKSWAGEN.PORSCHE_MACAN_MK1,
  HONDA.ACURA_TLX_2G,
+  HYUNDAI.KIA_SORENTO_2024,
+  HYUNDAI.HYUNDAI_IONIQ_5_N,
+  HYUNDAI.HYUNDAI_TUCSON_PHEV_2025,

  # These had their DSUs unplugged, need new routes
  # TOYOTA.LEXUS_ES  # hybrid
@@ -166,6 +169,7 @@ routes = [
  CarTestRoute("66eaa6c3b6b2afc6/00000009--3a5199aabe", HYUNDAI.GENESIS_G80_2ND_GEN_FL),  # LKA steering
  CarTestRoute("0bbe367c98fa1538/2023-09-16--00-16-49", HYUNDAI.HYUNDAI_CUSTIN_1ST_GEN),
  CarTestRoute("f0709d2bc6ca451f/2022-10-15--08-13-54", HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN),
+  CarTestRoute("6e7904b03a4aafc2/00000010--31034184b6", HYUNDAI.HYUNDAI_SANTA_CRUZ_2025),
  CarTestRoute("4dbd55df87507948/2022-03-01--09-45-38", HYUNDAI.HYUNDAI_SANTA_FE),
  CarTestRoute("bf43d9df2b660eb0/2021-09-23--14-16-37", HYUNDAI.HYUNDAI_SANTA_FE_2022),
  CarTestRoute("37398f32561a23ad/2021-11-18--00-11-35", HYUNDAI.HYUNDAI_SANTA_FE_HEV_2022),
@@ -179,11 +183,14 @@ routes = [
  CarTestRoute("6a42c1197b2a8179/2023-09-21--10-23-44", HYUNDAI.KIA_OPTIMA_H_G4_FL),
  CarTestRoute("c75a59efa0ecd502/2021-03-11--20-52-55", HYUNDAI.KIA_SELTOS),
  CarTestRoute("5b7c365c50084530/2020-04-15--16-13-24", HYUNDAI.HYUNDAI_SONATA),
+  CarTestRoute("4267ea8a353cdb36/00000262--8a427003c7", HYUNDAI.HYUNDAI_SONATA_2024, segment=34),
  CarTestRoute("b2a38c712dcf90bd/2020-05-18--18-12-48", HYUNDAI.HYUNDAI_SONATA_LF),
  CarTestRoute("c344fd2492c7a9d2/2023-12-11--09-03-23", HYUNDAI.HYUNDAI_STARIA_4TH_GEN),
  CarTestRoute("fb3fd42f0baaa2f8/2022-03-30--15-25-05", HYUNDAI.HYUNDAI_TUCSON),
  CarTestRoute("db68bbe12250812c/2022-12-05--00-54-12", HYUNDAI.HYUNDAI_TUCSON_4TH_GEN),  # 2023
  CarTestRoute("36e10531feea61a4/2022-07-25--13-37-42", HYUNDAI.HYUNDAI_TUCSON_4TH_GEN),  # hybrid
+  CarTestRoute("a01ca5d4f394c812/00000000--e98b7e4414", HYUNDAI.HYUNDAI_TUCSON_2025),
+  CarTestRoute("22f9090014364a87/00000002--4cc739c0b2", HYUNDAI.HYUNDAI_TUCSON_HEV_2025),
  CarTestRoute("5875672fc1d4bf57/2020-07-23--21-33-28", HYUNDAI.KIA_SORENTO),
  CarTestRoute("1d0d000db3370fd0/2023-01-04--22-28-42", HYUNDAI.KIA_SORENTO_4TH_GEN, segment=5),
  CarTestRoute("fc19648042eb6896/2023-08-16--11-43-27", HYUNDAI.KIA_SORENTO_HEV_4TH_GEN, segment=14),
@@ -201,6 +208,8 @@ routes = [
  CarTestRoute("ab59fe909f626921/2021-10-18--18-34-28", HYUNDAI.HYUNDAI_IONIQ_HEV_2022),
  CarTestRoute("22d955b2cd499c22/2020-08-10--19-58-21", HYUNDAI.HYUNDAI_KONA),
  CarTestRoute("0099bdb24d82951b/00000005--c38d940b04", HYUNDAI.HYUNDAI_KONA_2022),
+  CarTestRoute("32025f26789d8fab/00000022--a499e8ffa3", HYUNDAI.HYUNDAI_KONA_2ND_GEN),
+  CarTestRoute("97ca61196eb73e0d/00000052--4555329470", HYUNDAI.HYUNDAI_KONA_HEV_2ND_GEN),
  CarTestRoute("efc48acf44b1e64d/2021-05-28--21-05-04", HYUNDAI.HYUNDAI_KONA_EV),
  CarTestRoute("f90d3cd06caeb6fa/2023-09-06--17-15-47", HYUNDAI.HYUNDAI_KONA_EV),  # openpilot longitudinal enabled
  CarTestRoute("ff973b941a69366f/2022-07-28--22-01-19", HYUNDAI.HYUNDAI_KONA_EV_2022, segment=11),
@@ -214,7 +223,9 @@ routes = [
  CarTestRoute("d545129f3ca90f28/2022-10-19--09-22-54", HYUNDAI.KIA_EV6),  # LKA steering
  CarTestRoute("68d6a96e703c00c9/2022-09-10--16-09-39", HYUNDAI.KIA_EV6),  # LFA steering
  CarTestRoute("9b25e8c1484a1b67/2023-04-13--10-41-45", HYUNDAI.KIA_EV6),
+  CarTestRoute("baf39eeaba1217ca/00000002--b36e3fa031", HYUNDAI.KIA_K4_2025),
  CarTestRoute("007d5e4ad9f86d13/2021-09-30--15-09-23", HYUNDAI.KIA_K5_2021),
+  CarTestRoute("c4a804b067623789/0000007c--163f831540", HYUNDAI.KIA_K5_2025),
  CarTestRoute("c58dfc9fc16590e0/2023-01-14--13-51-48", HYUNDAI.KIA_K5_HEV_2020),
  CarTestRoute("74fbff45aa20fe9e/00000010--6f173d5799", HYUNDAI.KIA_K7_2017),
  CarTestRoute("78ad5150de133637/2023-09-13--16-15-57", HYUNDAI.KIA_K8_HEV_1ST_GEN),
@@ -233,6 +244,7 @@ routes = [
  CarTestRoute("82e9cdd3f43bf83e/2021-05-15--02-42-51", HYUNDAI.HYUNDAI_ELANTRA_2021),
  CarTestRoute("715ac05b594e9c59/2021-06-20--16-21-07", HYUNDAI.HYUNDAI_ELANTRA_HEV_2021),
  CarTestRoute("7120aa90bbc3add7/2021-08-02--07-12-31", HYUNDAI.HYUNDAI_SONATA_HYBRID),
+  CarTestRoute("bc40c72b728178f2/00000006--ee76ae8c42", HYUNDAI.HYUNDAI_SONATA_HEV_2024),
  CarTestRoute("715ac05b594e9c59/2021-10-27--23-24-56", HYUNDAI.GENESIS_G70_2020),
  CarTestRoute("6b0d44d22df18134/2023-05-06--10-36-55", HYUNDAI.GENESIS_GV80),

@@ -104,6 +104,13 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "JEEP_CHEROKEE_5TH_GEN" = [1.5, 1.5, 0.15]
 "ACURA_MDX_4G" = [1.4, 1.4, 0.17]
 "ACURA_RDX_3G_MMR" = [1.5, 1.5, 0.16]
+"HYUNDAI_KONA_2ND_GEN" = [2.5, 2.5, 0.1]
+"HYUNDAI_KONA_HEV_2ND_GEN" = [2.5, 2.5, 0.1]
+"KIA_SORENTO_2024" = [2.5, 2.5, 0.1]
+"KIA_K5_2025" = [2.5, 2.5, 0.1]
+"KIA_K4_2025" = [2.5, 2.5, 0.1]
+"HYUNDAI_SANTA_CRUZ_2025" = [2.5, 2.5, 0.1]
+"HYUNDAI_IONIQ_5_N" = [2.5, 2.5, 0.005]

 # Dashcam or fallback configured as ideal car
 "MOCK" = [10.0, 10, 0.0]
@@ -45,6 +45,11 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "GENESIS_G90" = "GENESIS_G70"
 "GENESIS_G80" = "GENESIS_G70"
 "GENESIS_G70_2020" = "HYUNDAI_SONATA"
+"HYUNDAI_SONATA_2024" = "HYUNDAI_SONATA"
+"HYUNDAI_SONATA_HEV_2024" = "HYUNDAI_SONATA_HYBRID"
+"HYUNDAI_TUCSON_2025" = "HYUNDAI_TUCSON_4TH_GEN"
+"HYUNDAI_TUCSON_HEV_2025" = "HYUNDAI_TUCSON_4TH_GEN"
+"HYUNDAI_TUCSON_PHEV_2025" = "HYUNDAI_TUCSON_4TH_GEN"

 "HONDA_FREED" = "HONDA_ODYSSEY"
 "HONDA_CRV_EU" = "HONDA_CRV"
@@ -951,7 +951,7 @@ CM_ SG_ 1041 COUNTER_ALT "only increments on change";
 CM_ BO_ 1043 "Lamp signals do not seem universal on cars that use LKAS_ALT, but stalk signals do.";
 CM_ SG_ 1043 COUNTER_ALT "only increments on change";
 CM_ SG_ 1043 USE_ALT_LAMP "likely 1 on cars that use alt lamp signals";
-VAL_ 53 GEAR 0 "P" 5 "D" 6 "N" 7 "R";
+VAL_ 53 GEAR 0 "P" 4 "S" 5 "D" 6 "N" 7 "R";
 VAL_ 64 GEAR 0 "P" 5 "D" 6 "N" 7 "R";
 VAL_ 69 GEAR 0 "P" 5 "D" 6 "N" 7 "R";
 VAL_ 96 TRACTION_AND_STABILITY_CONTROL 0 "On" 5 "Limited" 1 "Off";
@@ -47,6 +47,11 @@

 static bool hyundai_canfd_alt_buttons = false;
 static bool hyundai_canfd_lka_steer_msg_alt = false;
+static bool hyundai_ccnc = false;
+
+static bool get_hyundai_ccnc(void) {
+  return hyundai_ccnc;
+}

 static unsigned int hyundai_canfd_get_lka_addr(void) {
  return hyundai_canfd_lka_steer_msg_alt ? 0x110U : 0x50U;
@@ -227,6 +232,7 @@ static bool hyundai_canfd_tx_hook(const CANPacket_t *msg) {
 static safety_config hyundai_canfd_init(uint16_t param) {
  const uint16_t HYUNDAI_PARAM_CANFD_LKA_STEER_MSG_ALT = 128;
  const uint16_t HYUNDAI_PARAM_CANFD_ALT_BUTTONS = 32;
+  const uint16_t HYUNDAI_PARAM_CCNC = 1024;

  static const CanMsg HYUNDAI_CANFD_LKA_STEER_MSG_TX_MSGS[] = {
    HYUNDAI_CANFD_LKA_STEER_MSG_COMMON_TX_MSGS(0, 1)
@@ -271,11 +277,21 @@ static safety_config hyundai_canfd_init(uint16_t param) {
    HYUNDAI_CANFD_SCC_CONTROL_COMMON_TX_MSGS(0, (longitudinal)) \
    {0x160, 0, 16, .check_relay = (longitudinal)}, /* ADRV_0x160 */ \

+#define HYUNDAI_CANFD_LFA_STEERING_CAMERA_SCC_CCNC_TX_MSGS(longitudinal) \
+    HYUNDAI_CANFD_CRUISE_BUTTON_TX_MSGS(2) \
+    HYUNDAI_CANFD_LFA_STEERING_COMMON_TX_MSGS(0) \
+    HYUNDAI_CANFD_SCC_CONTROL_COMMON_TX_MSGS(0, (longitudinal)) \
+    {0x161, 0, 32, .check_relay = true}, /* CCNC_0x161 */ \
+    {0x162, 0, 32, .check_relay = true}, /* CCNC_0x162 */ \
+    {0x7C4, 2, 8, .check_relay = true}, /* 0x7C4 */ \
+    {0xEA, 2, 24, .check_relay = true}, /* MDPS */ \
+
  hyundai_common_init(param);

  gen_crc_lookup_table_16(0x1021, hyundai_canfd_crc_lut);
  hyundai_canfd_alt_buttons = GET_FLAG(param, HYUNDAI_PARAM_CANFD_ALT_BUTTONS);
  hyundai_canfd_lka_steer_msg_alt = GET_FLAG(param, HYUNDAI_PARAM_CANFD_LKA_STEER_MSG_ALT);
+  hyundai_ccnc = GET_FLAG(param, HYUNDAI_PARAM_CCNC);

  safety_config ret;
  if (hyundai_longitudinal) {
@@ -300,6 +316,10 @@ static safety_config hyundai_canfd_init(uint16_t param) {
        HYUNDAI_CANFD_LFA_STEERING_CAMERA_SCC_TX_MSGS(true)
      };

+      static CanMsg hyundai_canfd_lfa_steering_camera_scc_ccnc_tx_msgs[] = {
+        HYUNDAI_CANFD_LFA_STEERING_CAMERA_SCC_CCNC_TX_MSGS(true)
+      };
+
      if (hyundai_canfd_alt_buttons) {
        SET_RX_CHECKS(hyundai_canfd_alt_buttons_long_rx_checks, ret);
      } else {
@@ -307,7 +327,11 @@ static safety_config hyundai_canfd_init(uint16_t param) {
      }

      if (hyundai_camera_scc) {
-        SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_tx_msgs, ret);
+        if (get_hyundai_ccnc()) {
+          SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_ccnc_tx_msgs, ret);
+        } else {
+          SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_tx_msgs, ret);
+        }
      } else {
        SET_TX_MSGS(HYUNDAI_CANFD_LFA_STEERING_LONG_TX_MSGS, ret);
      }
@@ -368,7 +392,15 @@ static safety_config hyundai_canfd_init(uint16_t param) {
        HYUNDAI_CANFD_LFA_STEERING_CAMERA_SCC_TX_MSGS(false)
      };

-      SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_tx_msgs, ret);
+      static CanMsg hyundai_canfd_lfa_steering_camera_scc_ccnc_tx_msgs[] = {
+        HYUNDAI_CANFD_LFA_STEERING_CAMERA_SCC_CCNC_TX_MSGS(false)
+      };
+
+      if (get_hyundai_ccnc()) {
+        SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_ccnc_tx_msgs, ret);
+      } else {
+        SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_tx_msgs, ret);
+      }

      if (hyundai_canfd_alt_buttons) {
        SET_RX_CHECKS(hyundai_canfd_alt_buttons_rx_checks, ret);
@@ -21,6 +21,13 @@ ALL_GAS_EV_HYBRID_COMBOS = [
  {"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiSafetyFlags.HYBRID_GAS | HyundaiSafetyFlags.CAMERA_SCC},
 ]

+ALL_GAS_EV_HYBRID_COMBOS_CCNC = [
+  # Camera SCC
+  {"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiSafetyFlags.CAMERA_SCC},
+  {"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiSafetyFlags.EV_GAS | HyundaiSafetyFlags.CAMERA_SCC},
+  {"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiSafetyFlags.HYBRID_GAS | HyundaiSafetyFlags.CAMERA_SCC},
+]
+

 class TestHyundaiCanfdBase(HyundaiButtonBase, common.CarSafetyTest, common.DriverTorqueSteeringSafetyTest, common.SteerRequestCutSafetyTest):

@@ -308,5 +315,73 @@ class TestHyundaiCanfdLFASteeringLongAltButtons(TestHyundaiCanfdLFASteeringLongB
    pass


+@parameterized_class(ALL_GAS_EV_HYBRID_COMBOS_CCNC)
+class TestHyundaiCanfdLFASteeringCCNC(TestHyundaiCanfdLFASteeringBase):
+
+  TX_MSGS = [[0x12A, 0], [0x1E0, 0], [0x1CF, 2], [0x7C4, 2]]
+  RELAY_MALFUNCTION_ADDRS = {0: (0x12A, 0x1E0, 0x161, 0x162), 2: (0x7C4, 0xEA)}
+  FWD_BLACKLISTED_ADDRS = {2: [0x12A, 0x1E0, 0x161, 0x162], 0: [0x7C4, 0xEA]}
+
+  @classmethod
+  def setUpClass(cls):
+    if cls.__name__ == "TestHyundaiCanfdLFASteeringCCNC":
+      cls.safety = None
+      raise unittest.SkipTest
+
+  def setUp(self):
+    self.packer = CANPackerSafety("hyundai_canfd_generated")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, HyundaiSafetyFlags.CCNC | self.SAFETY_PARAM)
+    self.safety.init_tests()
+
+  def test_ccnc(self):
+    self.assertTrue(self._tx(self.packer.make_can_msg_safety("CCNC_0x161", self.STEER_BUS, {})))
+    self.assertTrue(self._tx(self.packer.make_can_msg_safety("CCNC_0x162", self.STEER_BUS, {})))
+
+  def test_tx_hook_on_wrong_safety_mode(self):
+    from opendbc.safety.tests.common import make_msg
+    import importlib
+    for test_name in ["TestElm327"]:
+      mod = importlib.import_module("opendbc.safety.tests.test_" + test_name.replace("Test", "").lower())
+      tx_list = [m for m in getattr(mod, test_name).TX_MSGS if m[0] != 0x7C4]  # skip overlapping 0x7C4 from Elm327
+      for addr, bus in tx_list:
+        if [addr, bus] not in self.TX_MSGS:
+          self.assertFalse(self._tx(make_msg(bus, addr)), f"allowed TX {addr=:#x} {bus=}")
+
+
+@parameterized_class(ALL_GAS_EV_HYBRID_COMBOS_CCNC)
+class TestHyundaiCanfdLFASteeringLongCCNC(TestHyundaiCanfdLFASteeringLongBase):
+
+  TX_MSGS = [[0x12A, 0], [0x1E0, 0], [0x1CF, 2], [0x7C4, 2], [0x1A0, 0]]
+  RELAY_MALFUNCTION_ADDRS = {0: (0x12A, 0x1E0, 0x161, 0x162, 0x1A0), 2: (0x7C4, 0xEA)}
+  FWD_BLACKLISTED_ADDRS = {2: [0x12A, 0x1E0, 0x161, 0x162, 0x1A0], 0: [0x7C4, 0xEA]}
+
+  @classmethod
+  def setUpClass(cls):
+    if cls.__name__ == "TestHyundaiCanfdLFASteeringLongCCNC":
+      cls.safety = None
+      raise unittest.SkipTest
+
+  def setUp(self):
+    self.packer = CANPackerSafety("hyundai_canfd_generated")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, HyundaiSafetyFlags.CCNC | HyundaiSafetyFlags.LONG | self.SAFETY_PARAM)
+    self.safety.init_tests()
+
+  def test_ccnc(self):
+    self.assertTrue(self._tx(self.packer.make_can_msg_safety("CCNC_0x161", self.STEER_BUS, {})))
+    self.assertTrue(self._tx(self.packer.make_can_msg_safety("CCNC_0x162", self.STEER_BUS, {})))
+
+  def test_tx_hook_on_wrong_safety_mode(self):
+    from opendbc.safety.tests.common import make_msg
+    import importlib
+    for test_name in ["TestElm327"]:
+      mod = importlib.import_module("opendbc.safety.tests.test_" + test_name.replace("Test", "").lower())
+      tx_list = [m for m in getattr(mod, test_name).TX_MSGS if m[0] != 0x7C4]  # skip overlapping 0x7C4 from Elm327
+      for addr, bus in tx_list:
+        if [addr, bus] not in self.TX_MSGS:
+          self.assertFalse(self._tx(make_msg(bus, addr)), f"allowed TX {addr=:#x} {bus=}")
+
+
 if __name__ == "__main__":
  unittest.main()
@@ -1604,6 +1604,16 @@
    ],
    "package": "Highway Driving Assist"
  },
+  "Hyundai Ioniq 5 N (with HDA II) 2024": {
+    "platform": "HYUNDAI_IONIQ_5_N",
+    "make": "Hyundai",
+    "brand": "hyundai",
+    "model": "Ioniq 5 N (with HDA II)",
+    "year": [
+      "2024"
+    ],
+    "package": "Smart Cruise Control (SCC)"
+  },
  "Hyundai Ioniq 6 (with HDA II) 2023-24": {
    "platform": "HYUNDAI_IONIQ_6",
    "make": "Hyundai",
@@ -1713,6 +1723,17 @@
    ],
    "package": "Smart Cruise Control (SCC)"
  },
+  "Hyundai Kona (without HDA II) 2024-25": {
+    "platform": "HYUNDAI_KONA_2ND_GEN",
+    "make": "Hyundai",
+    "brand": "hyundai",
+    "model": "Kona (without HDA II)",
+    "year": [
+      "2024",
+      "2025"
+    ],
+    "package": "Smart Cruise Control (SCC)"
+  },
  "Hyundai Kona Electric 2018-21": {
    "platform": "HYUNDAI_KONA_EV",
    "make": "Hyundai",
@@ -1747,6 +1768,16 @@
    ],
    "package": "Smart Cruise Control (SCC)"
  },
+  "Hyundai Kona Electric (without HDA II) 2024": {
+    "platform": "HYUNDAI_KONA_EV_2ND_GEN",
+    "make": "Hyundai",
+    "brand": "hyundai",
+    "model": "Kona Electric (without HDA II)",
+    "year": [
+      "2024"
+    ],
+    "package": "Smart Cruise Control (SCC)"
+  },
  "Hyundai Kona Electric Non-SCC 2019": {
    "platform": "HYUNDAI_KONA_EV_NON_SCC",
    "make": "Hyundai",
@@ -1767,6 +1798,16 @@
    ],
    "package": "Smart Cruise Control (SCC)"
  },
+  "Hyundai Kona Hybrid (without HDA II) 2024": {
+    "platform": "HYUNDAI_KONA_HEV_2ND_GEN",
+    "make": "Hyundai",
+    "brand": "hyundai",
+    "model": "Kona Hybrid (without HDA II)",
+    "year": [
+      "2024"
+    ],
+    "package": "Smart Cruise Control (SCC)"
+  },
  "Hyundai Kona Non-SCC 2019": {
    "platform": "HYUNDAI_KONA_NON_SCC",
    "make": "Hyundai",
@@ -1811,6 +1852,16 @@
    ],
    "package": "Smart Cruise Control (SCC)"
  },
+  "Hyundai Santa Cruz (without HDA II) 2025": {
+    "platform": "HYUNDAI_SANTA_CRUZ_2025",
+    "make": "Hyundai",
+    "brand": "hyundai",
+    "model": "Santa Cruz (without HDA II)",
+    "year": [
+      "2025"
+    ],
+    "package": "Smart Cruise Control (SCC)"
+  },
  "Hyundai Santa Fe 2019-20": {
    "platform": "HYUNDAI_SANTA_FE",
    "make": "Hyundai",
@@ -1880,6 +1931,17 @@
    ],
    "package": "All"
  },
+  "Hyundai Sonata (without HDA II) 2024-25": {
+    "platform": "HYUNDAI_SONATA_2024",
+    "make": "Hyundai",
+    "brand": "hyundai",
+    "model": "Sonata (without HDA II)",
+    "year": [
+      "2024",
+      "2025"
+    ],
+    "package": "Smart Cruise Control (SCC)"
+  },
  "Hyundai Sonata Hybrid 2020-23": {
    "platform": "HYUNDAI_SONATA_HYBRID",
    "make": "Hyundai",
@@ -1893,6 +1955,17 @@
    ],
    "package": "All"
  },
+  "Hyundai Sonata Hybrid (without HDA II) 2024-25": {
+    "platform": "HYUNDAI_SONATA_HEV_2024",
+    "make": "Hyundai",
+    "brand": "hyundai",
+    "model": "Sonata Hybrid (without HDA II)",
+    "year": [
+      "2024",
+      "2025"
+    ],
+    "package": "Smart Cruise Control (SCC)"
+  },
  "Hyundai Staria 2023": {
    "platform": "HYUNDAI_STARIA_4TH_GEN",
    "make": "Hyundai",
@@ -1934,6 +2007,17 @@
    ],
    "package": "All"
  },
+  "Hyundai Tucson (without HDA II) 2025-26": {
+    "platform": "HYUNDAI_TUCSON_2025",
+    "make": "Hyundai",
+    "brand": "hyundai",
+    "model": "Tucson (without HDA II)",
+    "year": [
+      "2025",
+      "2026"
+    ],
+    "package": "Smart Cruise Control (SCC)"
+  },
  "Hyundai Tucson Diesel 2019": {
    "platform": "HYUNDAI_TUCSON",
    "make": "Hyundai",
@@ -1956,6 +2040,17 @@
    ],
    "package": "All"
  },
+  "Hyundai Tucson Hybrid (without HDA II) 2025-26": {
+    "platform": "HYUNDAI_TUCSON_HEV_2025",
+    "make": "Hyundai",
+    "brand": "hyundai",
+    "model": "Tucson Hybrid (without HDA II)",
+    "year": [
+      "2025",
+      "2026"
+    ],
+    "package": "Smart Cruise Control (SCC)"
+  },
  "Hyundai Tucson Plug-in Hybrid 2024": {
    "platform": "HYUNDAI_TUCSON_4TH_GEN",
    "make": "Hyundai",
@@ -1966,6 +2061,16 @@
    ],
    "package": "All"
  },
+  "Hyundai Tucson Plug-in Hybrid (without HDA II) 2025": {
+    "platform": "HYUNDAI_TUCSON_PHEV_2025",
+    "make": "Hyundai",
+    "brand": "hyundai",
+    "model": "Tucson Plug-in Hybrid (without HDA II)",
+    "year": [
+      "2025"
+    ],
+    "package": "Smart Cruise Control (SCC)"
+  },
  "Hyundai Veloster 2019-20": {
    "platform": "HYUNDAI_VELOSTER",
    "make": "Hyundai",
@@ -2114,6 +2219,27 @@
    ],
    "package": "No Smart Cruise Control (Non-SCC)"
  },
+  "Kia K4 (with HDA II) 2025": {
+    "platform": "KIA_K4_2025",
+    "make": "Kia",
+    "brand": "hyundai",
+    "model": "K4 (with HDA II)",
+    "year": [
+      "2025"
+    ],
+    "package": "Smart Cruise Control (SCC)"
+  },
+  "Kia K4 (without HDA II) 2025-26": {
+    "platform": "KIA_K4_2025",
+    "make": "Kia",
+    "brand": "hyundai",
+    "model": "K4 (without HDA II)",
+    "year": [
+      "2025",
+      "2026"
+    ],
+    "package": "Smart Cruise Control (SCC)"
+  },
  "Kia K5 2021-24": {
    "platform": "KIA_K5_2021",
    "make": "Kia",
@@ -2127,6 +2253,16 @@
    ],
    "package": "Smart Cruise Control (SCC)"
  },
+  "Kia K5 (without HDA II) 2025": {
+    "platform": "KIA_K5_2025",
+    "make": "Kia",
+    "brand": "hyundai",
+    "model": "K5 (without HDA II)",
+    "year": [
+      "2025"
+    ],
+    "package": "Smart Cruise Control (SCC)"
+  },
  "Kia K5 Hybrid 2020-22": {
    "platform": "KIA_K5_HEV_2020",
    "make": "Kia",
@@ -2377,6 +2513,17 @@
    ],
    "package": "Smart Cruise Control (SCC)"
  },
+  "Kia Sorento (without HDA II) 2024-25": {
+    "platform": "KIA_SORENTO_2024",
+    "make": "Kia",
+    "brand": "hyundai",
+    "model": "Sorento (without HDA II)",
+    "year": [
+      "2024",
+      "2025"
+    ],
+    "package": "Smart Cruise Control (SCC)"
+  },
  "Kia Sorento Hybrid 2021-23": {
    "platform": "KIA_SORENTO_HEV_4TH_GEN",
    "make": "Kia",
@@ -69,8 +69,6 @@ struct LeadData {
 struct SelfdriveStateSP @0x81c2f05a394cf4af {
  mads @0 :ModularAssistiveDrivingSystem;
  intelligentCruiseButtonManagement @1 :IntelligentCruiseButtonManagement;
-  buttonsPressed @2 :UInt16;
-  buttonsReleaseToggle @3 :UInt16;

  enum AudibleAlert {
    none @0;
@@ -636,17 +636,17 @@ const ::capnp::_::RawSchema s_f488e435979fe1ff = {
  0, 16, i_f488e435979fe1ff, nullptr, nullptr, { &s_f488e435979fe1ff, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
-static const ::capnp::_::AlignedData<89> b_81c2f05a394cf4af = {
+static const ::capnp::_::AlignedData<56> b_81c2f05a394cf4af = {
  {   0,   0,   0,   0,   5,   0,   6,   0,
    175, 244,  76,  57,  90, 240, 194, 129,
-     13,   0,   0,   0,   1,   0,   1,   0,
+     13,   0,   0,   0,   1,   0,   0,   0,
     89,  10,  85,  29, 102, 186,  38, 181,
      2,   0,   7,   0,   0,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
     21,   0,   0,   0, 242,   0,   0,   0,
     33,   0,   0,   0,  23,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-     45,   0,   0,   0, 231,   0,   0,   0,
+     45,   0,   0,   0, 119,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
     99, 117, 115, 116, 111, 109,  46,  99,
@@ -658,35 +658,21 @@ static const ::capnp::_::AlignedData<89> b_81c2f05a394cf4af = {
      1,   0,   0,   0, 106,   0,   0,   0,
     65, 117, 100, 105,  98, 108, 101,  65,
    108, 101, 114, 116,   0,   0,   0,   0,
-     16,   0,   0,   0,   3,   0,   4,   0,
+      8,   0,   0,   0,   3,   0,   4,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
      0,   0,   1,   0,   0,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-     97,   0,   0,   0,  42,   0,   0,   0,
+     41,   0,   0,   0,  42,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-     92,   0,   0,   0,   3,   0,   1,   0,
-    104,   0,   0,   0,   2,   0,   1,   0,
+     36,   0,   0,   0,   3,   0,   1,   0,
+     48,   0,   0,   0,   2,   0,   1,   0,
      1,   0,   0,   0,   1,   0,   0,   0,
      0,   0,   1,   0,   1,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-    101,   0,   0,   0,  18,   1,   0,   0,
+     45,   0,   0,   0,  18,   1,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-    112,   0,   0,   0,   3,   0,   1,   0,
-    124,   0,   0,   0,   2,   0,   1,   0,
-      2,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   1,   0,   2,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    121,   0,   0,   0, 122,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    120,   0,   0,   0,   3,   0,   1,   0,
-    132,   0,   0,   0,   2,   0,   1,   0,
-      3,   0,   0,   0,   1,   0,   0,   0,
-      0,   0,   1,   0,   3,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    129,   0,   0,   0, 170,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    132,   0,   0,   0,   3,   0,   1,   0,
-    144,   0,   0,   0,   2,   0,   1,   0,
+     56,   0,   0,   0,   3,   0,   1,   0,
+     68,   0,   0,   0,   2,   0,   1,   0,
    109,  97, 100, 115,   0,   0,   0,   0,
     16,   0,   0,   0,   0,   0,   0,   0,
    143, 147,  68, 238, 187, 112,  77, 205,
@@ -705,25 +691,6 @@ static const ::capnp::_::AlignedData<89> b_81c2f05a394cf4af = {
      0,   0,   0,   0,   0,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
     16,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     98, 117, 116, 116, 111, 110, 115,  80,
-    114, 101, 115, 115, 101, 100,   0,   0,
-      7,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      7,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     98, 117, 116, 116, 111, 110, 115,  82,
-    101, 108, 101,  97, 115, 101,  84, 111,
-    103, 103, 108, 101,   0,   0,   0,   0,
-      7,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      7,   0,   0,   0,   0,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0, }
 };
@@ -733,11 +700,11 @@ static const ::capnp::_::RawSchema* const d_81c2f05a394cf4af[] = {
  &s_90a324fe70479956,
  &s_cd4d70bbee44938f,
 };
-static const uint16_t m_81c2f05a394cf4af[] = {2, 3, 1, 0};
-static const uint16_t i_81c2f05a394cf4af[] = {0, 1, 2, 3};
+static const uint16_t m_81c2f05a394cf4af[] = {1, 0};
+static const uint16_t i_81c2f05a394cf4af[] = {0, 1};
 const ::capnp::_::RawSchema s_81c2f05a394cf4af = {
-  0x81c2f05a394cf4af, b_81c2f05a394cf4af.words, 89, d_81c2f05a394cf4af, m_81c2f05a394cf4af,
-  2, 4, i_81c2f05a394cf4af, nullptr, nullptr, { &s_81c2f05a394cf4af, nullptr, nullptr, 0, 0, nullptr }, false
+  0x81c2f05a394cf4af, b_81c2f05a394cf4af.words, 56, d_81c2f05a394cf4af, m_81c2f05a394cf4af,
+  2, 2, i_81c2f05a394cf4af, nullptr, nullptr, { &s_81c2f05a394cf4af, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<184> b_878e32a6bc486e3f = {
@@ -320,7 +320,7 @@ struct SelfdriveStateSP {


  struct _capnpPrivate {
-    CAPNP_DECLARE_STRUCT_HEADER(81c2f05a394cf4af, 1, 2)
+    CAPNP_DECLARE_STRUCT_HEADER(81c2f05a394cf4af, 0, 2)
    #if !CAPNP_LITE
    static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; }
    #endif  // !CAPNP_LITE
@@ -1327,10 +1327,6 @@ public:
  inline bool hasIntelligentCruiseButtonManagement() const;
  inline  ::cereal::IntelligentCruiseButtonManagement::Reader getIntelligentCruiseButtonManagement() const;

-  inline  ::uint16_t getButtonsPressed() const;
-
-  inline  ::uint16_t getButtonsReleaseToggle() const;
-
 private:
  ::capnp::_::StructReader _reader;
  template <typename, ::capnp::Kind>
@@ -1373,12 +1369,6 @@ public:
  inline void adoptIntelligentCruiseButtonManagement(::capnp::Orphan< ::cereal::IntelligentCruiseButtonManagement>&& value);
  inline ::capnp::Orphan< ::cereal::IntelligentCruiseButtonManagement> disownIntelligentCruiseButtonManagement();

-  inline  ::uint16_t getButtonsPressed();
-  inline void setButtonsPressed( ::uint16_t value);
-
-  inline  ::uint16_t getButtonsReleaseToggle();
-  inline void setButtonsReleaseToggle( ::uint16_t value);
-
 private:
  ::capnp::_::StructBuilder _builder;
  template <typename, ::capnp::Kind>
@@ -5607,34 +5597,6 @@ inline ::capnp::Orphan< ::cereal::IntelligentCruiseButtonManagement> SelfdriveSt
      ::capnp::bounded<1>() * ::capnp::POINTERS));
 }

-inline  ::uint16_t SelfdriveStateSP::Reader::getButtonsPressed() const {
-  return _reader.getDataField< ::uint16_t>(
-      ::capnp::bounded<0>() * ::capnp::ELEMENTS);
-}
-
-inline  ::uint16_t SelfdriveStateSP::Builder::getButtonsPressed() {
-  return _builder.getDataField< ::uint16_t>(
-      ::capnp::bounded<0>() * ::capnp::ELEMENTS);
-}
-inline void SelfdriveStateSP::Builder::setButtonsPressed( ::uint16_t value) {
-  _builder.setDataField< ::uint16_t>(
-      ::capnp::bounded<0>() * ::capnp::ELEMENTS, value);
-}
-
-inline  ::uint16_t SelfdriveStateSP::Reader::getButtonsReleaseToggle() const {
-  return _reader.getDataField< ::uint16_t>(
-      ::capnp::bounded<1>() * ::capnp::ELEMENTS);
-}
-
-inline  ::uint16_t SelfdriveStateSP::Builder::getButtonsReleaseToggle() {
-  return _builder.getDataField< ::uint16_t>(
-      ::capnp::bounded<1>() * ::capnp::ELEMENTS);
-}
-inline void SelfdriveStateSP::Builder::setButtonsReleaseToggle( ::uint16_t value) {
-  _builder.setDataField< ::uint16_t>(
-      ::capnp::bounded<1>() * ::capnp::ELEMENTS, value);
-}
-
 inline bool ModelManagerSP::Reader::hasActiveBundle() const {
  return !_reader.getPointerField(
      ::capnp::bounded<0>() * ::capnp::POINTERS).isNull();
@@ -222,7 +222,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"SubaruStopAndGo", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"SubaruStopAndGoManualParkingBrake", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"TeslaCoopSteering", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"TeslaMadsScreenButton", {PERSISTENT | BACKUP, INT, "0"}},
    {"ToyotaEnforceStockLongitudinal", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"ToyotaStopAndGoHack", {PERSISTENT | BACKUP, BOOL, "0"}},

@@ -158,7 +158,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
  def publish(self, sm, pm):
    plan_send = messaging.new_message('longitudinalPlan')

-    plan_send.valid = sm.all_checks()
+    plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'selfdriveState', 'radarState'])

    longitudinalPlan = plan_send.longitudinalPlan
    longitudinalPlan.modelMonoTime = sm.logMonoTime['modelV2']
@@ -29,19 +29,19 @@ def main():
  longitudinal_planner = LongitudinalPlanner(CP, CP_SP)
  pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'longitudinalPlanSP'])
  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState',
-                            'liveMapDataSP', 'carStateSP', 'selfdriveStateSP', gps_location_service],
-                           poll='modelV2', ignore_alive=ignore_services, ignore_avg_freq=ignore_services, ignore_valid=ignore_services)
+                            'liveMapDataSP', 'carStateSP', gps_location_service],
+                           poll='carState', ignore_alive=ignore_services, ignore_avg_freq=ignore_services, ignore_valid=ignore_services)

  while True:
    sm.update()
-    longitudinal_planner.sla.update_buttons(sm['selfdriveStateSP'].buttonsReleaseToggle)
+    longitudinal_planner.sla.update_car_state(sm['carState'])
    if sm.updated['modelV2']:
      longitudinal_planner.update(sm)
      longitudinal_planner.publish(sm, pm)

      ldw.update(sm.frame, sm['modelV2'], sm['carState'], sm['carControl'])
      msg = messaging.new_message('driverAssistance')
-      msg.valid = sm.all_checks()
+      msg.valid = sm.all_checks(['carState', 'carControl', 'modelV2', 'liveParameters'])
      msg.driverAssistance.leftLaneDeparture = ldw.left
      msg.driverAssistance.rightLaneDeparture = ldw.right
      pm.send('driverAssistance', msg)
@@ -30,7 +30,6 @@ from openpilot.sunnypilot import get_sanitize_int_param
 from openpilot.sunnypilot.selfdrive.car.car_specific import CarSpecificEventsSP
 from openpilot.sunnypilot.selfdrive.car.cruise_helpers import CruiseHelper
 from openpilot.sunnypilot.selfdrive.car.intelligent_cruise_button_management.controller import IntelligentCruiseButtonManagement
-from openpilot.sunnypilot.selfdrive.selfdrived.button_state_tracker import ButtonStateTracker
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP

 REPLAY = "REPLAY" in os.environ
@@ -178,7 +177,6 @@ class SelfdriveD(CruiseHelper):
    self.car_events_sp = CarSpecificEventsSP(self.CP, self.CP_SP)

    CruiseHelper.__init__(self, self.CP)
-    self.button_state_tracker = ButtonStateTracker()

  def update_events(self, CS):
    """Compute onroadEvents from carState"""
@@ -599,8 +597,6 @@ class SelfdriveD(CruiseHelper):
    icbm.sendButton = self.icbm.cruise_button
    icbm.vTarget = self.icbm.v_target

-    self.button_state_tracker.publish(ss_sp)
-
    self.pm.send('selfdriveStateSP', ss_sp_msg)

    # onroadEventsSP - logged every second or on change
@@ -620,7 +616,6 @@ class SelfdriveD(CruiseHelper):
      self.mads.update(CS)
    self.update_alerts(CS)

-    self.button_state_tracker.update(CS)
    self.publish_selfdriveState(CS)

    self.CS_prev = CS
@@ -7,7 +7,7 @@ See the LICENSE.md file in the root directory for more details.
 from collections.abc import Callable
 import pyray as rl

-from opendbc.sunnypilot.car.tesla.values import MadsScreenButtonType, TeslaFlagsSP
+from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.sunnypilot.mads.helpers import MadsSteeringModeOnBrake
 from openpilot.system.ui.lib.multilang import tr, tr_noop
@@ -96,10 +96,7 @@ class MadsSettingsLayout(Widget):
    if brand == "rivian":
      return True
    elif brand == "tesla":
-      if ui_state.CP_SP is None or not ui_state.CP_SP.flags & TeslaFlagsSP.HAS_VEHICLE_BUS:
-        return True
-      screen_button = int(ui_state.params.get("TeslaMadsScreenButton", return_default=True))
-      return screen_button == MadsScreenButtonType.OFF
+      return not (ui_state.CP_SP is not None and ui_state.CP_SP.flags & TeslaFlagsSP.HAS_VEHICLE_BUS)
    return False

  def _update_steering_mode_description(self, button_index: int):
@@ -4,11 +4,10 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.system.ui.lib.multilang import tr
-from openpilot.system.ui.sunnypilot.widgets.list_view import multiple_button_item_sp, toggle_item_sp
+from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp

 COOP_STEERING_MIN_KMH = 23
 OEM_STEERING_MIN_KMH = 48
@@ -19,14 +18,7 @@ class TeslaSettings(BrandSettings):
  def __init__(self):
    super().__init__()
    self.coop_steering_toggle = toggle_item_sp(tr("Cooperative Steering (Beta)"), "", param="TeslaCoopSteering")
-    self.mads_screen_button = multiple_button_item_sp(
-      title=lambda: tr("MADS Screen Activation"),
-      description="",
-      buttons=[lambda: tr("Off"), lambda: tr("3-Finger"), lambda: tr("4-Finger"), lambda: tr("5-Finger")],
-      param="TeslaMadsScreenButton",
-      inline=False,
-    )
-    self.items = [self.coop_steering_toggle, self.mads_screen_button]
+    self.items = [self.coop_steering_toggle]

  def update_settings(self):
    is_metric = ui_state.is_metric
@@ -49,18 +41,3 @@ class TeslaSettings(BrandSettings):

    self.coop_steering_toggle.set_description(coop_steering_desc)
    self.coop_steering_toggle.action_item.set_enabled(ui_state.is_offroad())
-
-    has_vehicle_bus = ui_state.CP_SP is not None and bool(ui_state.CP_SP.flags & TeslaFlagsSP.HAS_VEHICLE_BUS)
-    self.mads_screen_button.set_visible(has_vehicle_bus)
-
-    mads_screen_button_desc = (
-      f"{tr('Use a multi-finger press on the infotainment screen to toggle MADS.')} " +
-      f"{tr('This allows the use of full MADS functionality when enabled.')}<br><br>" +
-      f"{tr('Selecting a higher finger count may reduce accidental activations.')}<br><br>" +
-      f"<b>{tr('Note: Setting this to Off will reset your MADS settings to default.')}</b>"
-    )
-    if not ui_state.is_offroad():
-      mads_screen_button_disabled_msg = tr("Enable \"Always Offroad\" in Device panel, or turn vehicle off to change.")
-      mads_screen_button_desc = f"<b>{mads_screen_button_disabled_msg}</b><br><br>{mads_screen_button_desc}"
-    self.mads_screen_button.set_description(mads_screen_button_desc)
-    self.mads_screen_button.action_item.set_enabled(ui_state.is_offroad())
@@ -1 +1 @@
-#define SUNNYPILOT_VERSION "2026.08.02-4605"
+#define SUNNYPILOT_VERSION "2026.07.27-4598"
@@ -9,7 +9,7 @@ from openpilot.common.params import Params
 from opendbc.car import structs
 from opendbc.safety import ALTERNATIVE_EXPERIENCE
 from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP, HyundaiSafetyFlagsSP
-from opendbc.sunnypilot.car.tesla.values import MadsScreenButtonType, TeslaFlagsSP
+from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP


 MADS_NO_ACC_MAIN_BUTTON = ("rivian", "tesla")
@@ -21,20 +21,17 @@ class MadsSteeringModeOnBrake:
  DISENGAGE = 2


-def get_mads_limited_brands(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params) -> bool:
+def get_mads_limited_brands(CP: structs.CarParams, CP_SP: structs.CarParamsSP) -> bool:
  if CP.brand == 'rivian':
    return True
  if CP.brand == 'tesla':
-    if not CP_SP.flags & TeslaFlagsSP.HAS_VEHICLE_BUS:
-      return True
-    screen_button = int(params.get("TeslaMadsScreenButton", return_default=True))
-    return screen_button == MadsScreenButtonType.OFF
+    return not CP_SP.flags & TeslaFlagsSP.HAS_VEHICLE_BUS

  return False


 def read_steering_mode_param(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params):
-  if get_mads_limited_brands(CP, CP_SP, params):
+  if get_mads_limited_brands(CP, CP_SP):
    return MadsSteeringModeOnBrake.DISENGAGE

  return params.get("MadsSteeringMode", return_default=True)
@@ -66,7 +63,7 @@ def set_car_specific_params(CP: structs.CarParams, CP_SP: structs.CarParamsSP, p
  # MADS is currently partially supported for these platforms due to lack of consistent states to engage controls
  # Only MadsSteeringModeOnBrake.DISENGAGE is supported for these platforms
  # TODO-SP: To enable MADS full support for Rivian and most Tesla, identify consistent signals for MADS toggling
-  mads_partial_support = get_mads_limited_brands(CP, CP_SP, params)
+  mads_partial_support = get_mads_limited_brands(CP, CP_SP)
  if mads_partial_support:
    params.put("MadsSteeringMode", 2, block=True)
    params.put_bool("MadsUnifiedEngagementMode", True, block=True)
@@ -13,7 +13,7 @@ from openpilot.selfdrive.selfdrived.events import Events
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
 from openpilot.sunnypilot.mads.helpers import MadsSteeringModeOnBrake, read_steering_mode_param
 from openpilot.sunnypilot.mads.mads import ModularAssistiveDrivingSystem
-from opendbc.sunnypilot.car.tesla.values import MadsScreenButtonType, TeslaFlagsSP
+from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP

 State = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
 EventName = log.OnroadEvent.EventName
@@ -38,12 +38,6 @@ def make_panda_state(mocker, controls_allowed_lateral=True):
  return ps


-def make_params_mock(mocker, values):
-  params = mocker.MagicMock()
-  params.get = mocker.MagicMock(side_effect=lambda k, **kwargs: values[k])
-  return params
-
-
 def make_mads(mocker, steering_mode):
  sd = mocker.MagicMock()
  sd.CP = structs.CarParams()
@@ -229,27 +223,15 @@ class TestBrandSteeringModeRestrictions:
    params = mocker.MagicMock()
    assert read_steering_mode_param(CP, CP_SP, params) == MadsSteeringModeOnBrake.DISENGAGE

-  @pytest.mark.parametrize("screen_button", [MadsScreenButtonType.THREE_FINGER,
-                                             MadsScreenButtonType.FOUR_FINGER,
-                                             MadsScreenButtonType.FIVE_FINGER])
-  def test_tesla_with_vehicle_bus_uses_param(self, mocker, screen_button):
+  def test_tesla_with_vehicle_bus_uses_param(self, mocker):
    CP = structs.CarParams()
    CP.brand = "tesla"
    CP_SP = structs.CarParamsSP()
    CP_SP.flags = TeslaFlagsSP.HAS_VEHICLE_BUS
-    params = make_params_mock(mocker, {"TeslaMadsScreenButton": screen_button,
-                                       "MadsSteeringMode": MadsSteeringModeOnBrake.REMAIN_ACTIVE})
+    params = mocker.MagicMock()
+    params.get = mocker.MagicMock(return_value=MadsSteeringModeOnBrake.REMAIN_ACTIVE)
    assert read_steering_mode_param(CP, CP_SP, params) == MadsSteeringModeOnBrake.REMAIN_ACTIVE

-  def test_tesla_with_vehicle_bus_screen_button_off_forced_to_disengage(self, mocker):
-    CP = structs.CarParams()
-    CP.brand = "tesla"
-    CP_SP = structs.CarParamsSP()
-    CP_SP.flags = TeslaFlagsSP.HAS_VEHICLE_BUS
-    params = make_params_mock(mocker, {"TeslaMadsScreenButton": MadsScreenButtonType.OFF,
-                                       "MadsSteeringMode": MadsSteeringModeOnBrake.REMAIN_ACTIVE})
-    assert read_steering_mode_param(CP, CP_SP, params) == MadsSteeringModeOnBrake.DISENGAGE
-
  @pytest.mark.parametrize("brand", ["hyundai", "toyota", "honda", "gm"])
  def test_other_brands_use_param(self, mocker, brand):
    CP = structs.CarParams()
@@ -123,7 +123,6 @@ def initialize_params(params) -> list[dict[str, Any]]:
  # tesla
  keys.extend([
    "TeslaCoopSteering",
-    "TeslaMadsScreenButton",
  ])

  # toyota
@@ -91,7 +91,7 @@ class SpeedLimitAssist:

    self._plus_hold = 0.
    self._minus_hold = 0.
-    self._release_toggle_prev = 0
+    self._last_carstate_ts = 0.

    # TODO-SP: SLA's own output_a_target for planner
    # Solution functions mapped to respective states
@@ -146,16 +146,16 @@ class SpeedLimitAssist:
      set_speed_limit_assist_availability(self.CP, self.CP_SP, self.params)
      self.enabled = self.params.get("SpeedLimitMode", return_default=True) == Mode.assist

-  def update_buttons(self, release_toggle: int) -> None:
-    released = self._release_toggle_prev ^ release_toggle
-    self._release_toggle_prev = release_toggle
-    if not released:
-      return
+  def update_car_state(self, CS: car.CarState) -> None:
    now = time.monotonic()
-    if any((released >> b) & 1 for b in CRUISE_BUTTONS_PLUS):
-      self._plus_hold = max(self._plus_hold, now + CRUISE_BUTTON_CONFIRM_HOLD)
-    if any((released >> b) & 1 for b in CRUISE_BUTTONS_MINUS):
-      self._minus_hold = max(self._minus_hold, now + CRUISE_BUTTON_CONFIRM_HOLD)
+    self._last_carstate_ts = now
+
+    for b in CS.buttonEvents:
+      if not b.pressed:
+        if b.type in CRUISE_BUTTONS_PLUS:
+          self._plus_hold = max(self._plus_hold, now + CRUISE_BUTTON_CONFIRM_HOLD)
+        elif b.type in CRUISE_BUTTONS_MINUS:
+          self._minus_hold = max(self._minus_hold, now + CRUISE_BUTTON_CONFIRM_HOLD)

  def _get_button_release(self, req_plus: bool, req_minus: bool) -> bool:
    now = time.monotonic()
@@ -5,14 +5,11 @@ This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """

-import time
-
 import pytest

 from openpilot.cereal import custom
 from opendbc.car.car_helpers import interfaces
 from opendbc.car.rivian.values import CAR as RIVIAN
-from opendbc.car.structs import car
 from opendbc.car.tesla.values import CAR as TESLA
 from opendbc.car.toyota.values import CAR as TOYOTA
 from openpilot.common.constants import CV
@@ -24,13 +21,9 @@ from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfac
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import PCM_LONG_REQUIRED_MAX_SET_SPEED
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.speed_limit_assist import SpeedLimitAssist, \
-  PRE_ACTIVE_GUARD_PERIOD, ACTIVE_STATES, CRUISE_BUTTON_CONFIRM_HOLD
-from openpilot.sunnypilot.selfdrive.selfdrived.button_state_tracker import ButtonStateTracker
+  PRE_ACTIVE_GUARD_PERIOD, ACTIVE_STATES
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP

-ButtonEvent = car.CarState.ButtonEvent
-ButtonType = car.CarState.ButtonEvent.Type
-
 SpeedLimitAssistState = custom.LongitudinalPlanSP.SpeedLimit.AssistState

 ALL_STATES = tuple(SpeedLimitAssistState.schema.enumerants.values())
@@ -283,86 +276,3 @@ class TestSpeedLimitAssist:
        assert self.sla.state in [SpeedLimitAssistState.preActive, SpeedLimitAssistState.active]
      elif initial_state in ACTIVE_STATES:
        assert self.sla.state in ACTIVE_STATES
-
-
-class TestButtonStateTrackerSLAIntegration:
-
-  def setup_method(self, method):
-    self.tracker = ButtonStateTracker()
-    self.params = Params()
-    self.params.put("IsReleaseSpBranch", True, block=True)
-    self.params.put("SpeedLimitMode", int(Mode.assist), block=True)
-    self.params.put_bool("IsMetric", False, block=True)
-    self.params.put("SpeedLimitOffsetType", 0, block=True)
-    self.params.put("SpeedLimitValueOffset", 0, block=True)
-
-    CarInterface = interfaces[DEFAULT_CAR]
-    CP = CarInterface.get_non_essential_params(DEFAULT_CAR)
-    CP.openpilotLongitudinalControl = True
-    CP_SP = CarInterface.get_non_essential_params_sp(CP, DEFAULT_CAR)
-    self.sla = SpeedLimitAssist(CP, CP_SP)
-
-  def _make_cs(self, events=None) -> car.CarState:
-    CS = car.CarState()
-    CS.buttonEvents = events or []
-    return CS
-
-  def _run_ctrl_frames(self, frames: list[car.CarState]) -> None:
-    for cs in frames:
-      self.tracker.update(cs)
-
-  def test_button_confirm_via_tracker(self) -> None:
-    self._run_ctrl_frames([
-      self._make_cs([ButtonEvent(type=ButtonType.accelCruise, pressed=True)]),
-      self._make_cs(),
-      self._make_cs([ButtonEvent(type=ButtonType.accelCruise, pressed=False)]),
-      self._make_cs(),
-      self._make_cs(),
-    ])
-    self.sla.update_buttons(self.tracker.release_toggle)
-    assert self.sla._get_button_release(req_plus=True, req_minus=False)
-
-  def test_rapid_press_release_between_polls(self) -> None:
-    self.sla.update_buttons(self.tracker.release_toggle)
-
-    self._run_ctrl_frames([
-      self._make_cs([ButtonEvent(type=ButtonType.decelCruise, pressed=True)]),
-      self._make_cs([ButtonEvent(type=ButtonType.decelCruise, pressed=False)]),
-      self._make_cs(),
-      self._make_cs(),
-      self._make_cs(),
-    ])
-    self.sla.update_buttons(self.tracker.release_toggle)
-    assert self.sla._get_button_release(req_plus=False, req_minus=True)
-
-  def test_multiple_releases_between_polls(self) -> None:
-    self.sla.update_buttons(self.tracker.release_toggle)
-
-    self._run_ctrl_frames([
-      self._make_cs([
-        ButtonEvent(type=ButtonType.accelCruise, pressed=True),
-        ButtonEvent(type=ButtonType.decelCruise, pressed=True),
-      ]),
-      self._make_cs([
-        ButtonEvent(type=ButtonType.accelCruise, pressed=False),
-        ButtonEvent(type=ButtonType.decelCruise, pressed=False),
-      ]),
-    ])
-    self.sla.update_buttons(self.tracker.release_toggle)
-    assert self.sla._get_button_release(req_plus=True, req_minus=False)
-    assert self.sla._get_button_release(req_plus=False, req_minus=True)
-
-  def test_no_false_positive_same_toggle(self) -> None:
-    self.sla.update_buttons(self.tracker.release_toggle)
-    self.sla.update_buttons(self.tracker.release_toggle)
-    assert not self.sla._get_button_release(req_plus=True, req_minus=False)
-    assert not self.sla._get_button_release(req_plus=False, req_minus=True)
-
-  def test_button_confirm_expires(self) -> None:
-    self._run_ctrl_frames([
-      self._make_cs([ButtonEvent(type=ButtonType.accelCruise, pressed=True)]),
-      self._make_cs([ButtonEvent(type=ButtonType.accelCruise, pressed=False)]),
-    ])
-    self.sla.update_buttons(self.tracker.release_toggle)
-    time.sleep(CRUISE_BUTTON_CONFIRM_HOLD + 0.1)
-    assert not self.sla._get_button_release(req_plus=True, req_minus=False)
@@ -1,26 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-from opendbc.car import structs
-
-
-class ButtonStateTracker:
-  def __init__(self) -> None:
-    self.pressed: int = 0
-    self.release_toggle: int = 0
-
-  def update(self, CS: structs.CarState) -> None:
-    for b in CS.buttonEvents:
-      bit = 1 << b.type.raw
-      if b.pressed:
-        self.pressed |= bit
-      else:
-        self.pressed &= ~bit
-        self.release_toggle ^= bit
-
-  def publish(self, ss_sp) -> None:
-    ss_sp.buttonsPressed = self.pressed
-    ss_sp.buttonsReleaseToggle = self.release_toggle
@@ -1,67 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-from opendbc.car.structs import car
-from openpilot.sunnypilot.selfdrive.selfdrived.button_state_tracker import ButtonStateTracker
-
-ButtonEvent = car.CarState.ButtonEvent
-ButtonType = car.CarState.ButtonEvent.Type
-
-
-class TestButtonStateTracker:
-  def setup_method(self) -> None:
-    self.tracker = ButtonStateTracker()
-
-  def make_cs(self, events: list) -> car.CarState:
-    CS = car.CarState()
-    CS.buttonEvents = events
-    return CS
-
-  def test_initial_state(self) -> None:
-    assert self.tracker.pressed == 0
-    assert self.tracker.release_toggle == 0
-
-  def test_press_sets_bit(self) -> None:
-    self.tracker.update(self.make_cs([ButtonEvent(type=ButtonType.accelCruise, pressed=True)]))
-    assert self.tracker.pressed == (1 << ButtonType.accelCruise)
-    assert self.tracker.release_toggle == 0
-
-  def test_release_clears_and_toggles(self) -> None:
-    self.tracker.update(self.make_cs([ButtonEvent(type=ButtonType.accelCruise, pressed=True)]))
-    self.tracker.update(self.make_cs([ButtonEvent(type=ButtonType.accelCruise, pressed=False)]))
-    assert self.tracker.pressed == 0
-    assert self.tracker.release_toggle == (1 << ButtonType.accelCruise)
-
-  def test_multiple_buttons(self) -> None:
-    self.tracker.update(self.make_cs([
-      ButtonEvent(type=ButtonType.accelCruise, pressed=True),
-      ButtonEvent(type=ButtonType.decelCruise, pressed=True),
-    ]))
-    assert self.tracker.pressed == (1 << ButtonType.accelCruise) | (1 << ButtonType.decelCruise)
-
-    self.tracker.update(self.make_cs([ButtonEvent(type=ButtonType.accelCruise, pressed=False)]))
-    assert self.tracker.pressed == (1 << ButtonType.decelCruise)
-    assert self.tracker.release_toggle == (1 << ButtonType.accelCruise)
-
-  def test_release_toggle_flips(self) -> None:
-    for _ in range(2):
-      self.tracker.update(self.make_cs([ButtonEvent(type=ButtonType.gapAdjustCruise, pressed=True)]))
-      self.tracker.update(self.make_cs([ButtonEvent(type=ButtonType.gapAdjustCruise, pressed=False)]))
-    assert self.tracker.release_toggle == 0
-
-  def test_publish(self) -> None:
-    self.tracker.update(self.make_cs([ButtonEvent(type=ButtonType.accelCruise, pressed=True)]))
-    self.tracker.update(self.make_cs([ButtonEvent(type=ButtonType.decelCruise, pressed=True)]))
-    self.tracker.update(self.make_cs([ButtonEvent(type=ButtonType.accelCruise, pressed=False)]))
-
-    class MockSP:
-      buttonsPressed = 0
-      buttonsReleaseToggle = 0
-
-    sp = MockSP()
-    self.tracker.publish(sp)
-    assert sp.buttonsPressed == self.tracker.pressed
-    assert sp.buttonsReleaseToggle == self.tracker.release_toggle
@@ -2161,42 +2161,6 @@
              "type": "offroad_only"
            }
          ]
-        },
-        {
-          "key": "TeslaMadsScreenButton",
-          "widget": "multiple_button",
-          "title": "MADS Screen Activation",
-          "description": "Use a multi-finger press on the infotainment screen to toggle MADS. This allows the use of full MADS functionality when enabled. Selecting a higher finger count may reduce accidental activations. Note: Setting this to Off will reset your MADS settings to default.",
-          "options": [
-            {
-              "value": 0,
-              "label": "Off"
-            },
-            {
-              "value": 1,
-              "label": "3-Finger"
-            },
-            {
-              "value": 2,
-              "label": "4-Finger"
-            },
-            {
-              "value": 3,
-              "label": "5-Finger"
-            }
-          ],
-          "visibility": [
-            {
-              "type": "capability",
-              "field": "tesla_has_vehicle_bus",
-              "equals": true
-            }
-          ],
-          "enablement": [
-            {
-              "type": "offroad_only"
-            }
-          ]
        }
      ]
    },
@@ -56,28 +56,6 @@ sections:
    title: Cooperative Steering (Beta)
    enablement:
    - $ref: '#/macros/offroad'
-  - key: TeslaMadsScreenButton
-    widget: multiple_button
-    title: MADS Screen Activation
-    description: 'Use a multi-finger press on the infotainment screen to toggle MADS.
-      This allows the use of full MADS functionality when enabled. Selecting a higher
-      finger count may reduce accidental activations. Note: Setting this to Off will
-      reset your MADS settings to default.'
-    options:
-    - value: 0
-      label: 'Off'
-    - value: 1
-      label: 3-Finger
-    - value: 2
-      label: 4-Finger
-    - value: 3
-      label: 5-Finger
-    visibility:
-    - type: capability
-      field: tesla_has_vehicle_bus
-      equals: true
-    enablement:
-    - $ref: '#/macros/offroad'
 - id: toyota
  title: Toyota / Lexus Settings
  description: ''
@@ -17,26 +17,6 @@ ONROAD_BRIGHTNESS_TIMER_VALUES = {0: 3, 1: 5, 2: 7, 3: 10, 4: 15, 5: 30, **{i: (
 VALID_TIMER_VALUES = set(ONROAD_BRIGHTNESS_TIMER_VALUES.values())


-def _resolve_brand(_params) -> str:
-  bundle = _params.get("CarPlatformBundle")
-  if isinstance(bundle, dict) and bundle.get("brand"):
-    return str(bundle["brand"])
-
-  # Auto-fingerprinted cars have no bundle, fall back to the last known CarParams.
-  CP_bytes = _params.get("CarParamsPersistent")
-  if CP_bytes is None:
-    return ""
-
-  # Never raises: callers rely on "" to mean "brand unknown, skip the migration".
-  try:
-    from openpilot.cereal import messaging  # lazy: avoids heavy import at module level
-    from opendbc.car.structs import car
-    return str(messaging.log_from_bytes(CP_bytes, car.CarParams).brand)
-  except Exception as e:
-    cloudlog.exception(f"params_migration: failed to resolve brand from CarParamsPersistent: {e}")
-    return ""
-
-
 def _migrate_car_platform_bundle(_params):
  bundle = _params.get("CarPlatformBundle")
  if bundle is None:
@@ -67,23 +47,6 @@ def _migrate_car_platform_bundle(_params):
  cloudlog.info(f"params_migration: CarPlatformBundle migrated {old_platform!r} -> {new_platform!r}")


-def _migrate_tesla_mads_screen_button(_params):
-  # TeslaMadsScreenButton defaults to Off for fresh installs, but the screen button was previously always
-  # active on Teslas with a vehicle bus. Seed existing Tesla installs with 3-finger to preserve that.
-  try:
-    if _params.get("TeslaMadsScreenButton") is not None:
-      return
-
-    if _resolve_brand(_params) != "tesla":
-      return
-
-    from opendbc.sunnypilot.car.tesla.values import MadsScreenButtonType  # lazy: avoids heavy import at module level
-    _params.put("TeslaMadsScreenButton", MadsScreenButtonType.THREE_FINGER, block=True)
-    cloudlog.info("params_migration: seeded TeslaMadsScreenButton with 3-finger to preserve existing behavior")
-  except Exception as e:
-    cloudlog.exception(f"Error migrating TeslaMadsScreenButton: {e}")
-
-
 def run_migration(_params):
  # migrate OnroadScreenOffBrightness
  if _params.get("OnroadScreenOffBrightnessMigrated") != ONROAD_BRIGHTNESS_MIGRATION_VERSION:
@@ -117,6 +80,3 @@ def run_migration(_params):
      cloudlog.exception(f"Error migrating OnroadScreenOffTimer: {e}")

  _migrate_car_platform_bundle(_params)
-
-  # seed TeslaMadsScreenButton for existing Tesla installs
-  _migrate_tesla_mads_screen_button(_params)