sunnypilot v2026.08.07-4624

version: sunnypilot v2026.003.000 (feature-branch) date: 2026-08-07T19:37:28 master commit: 5655fb3a6c
2026-08-08 04:15:51 +08:00 · 2026-08-07 19:37:28 +00:00
443 changed files with 17079 additions and 22916 deletions
@@ -2,6 +2,5 @@ Wen
 REGIST
 PullRequest
 cancelled
-indeces
 FOF
 NoO
@@ -1,42 +0,0 @@
-{
-    "version": "0.2.0",
-    "configurations": [
-        {
-            "name": "Attach LLDB to Python",
-            "type": "lldb",
-            "request": "attach",
-            "pid": "${command:pickMyProcess}",
-            "initCommands": [
-                "script import time; time.sleep(5)"
-            ]
-        },
-        {
-            "name": "Python Launch",
-            "type": "python",
-            "request": "launch",
-            "program": "${workspaceFolder}/opendbc/safety/tests/safety_replay/replay_drive.py",
-            "args": [
-                "e1107f9d04dfb1e2/0000045c--da2e374469"
-            ],
-            "console": "integratedTerminal",
-            "justMyCode": false,
-            "debugOptions": [
-                "RedirectOutput"
-            ],
-            "env": {
-                "PYTHONPATH": "${workspaceFolder}"
-            },
-            "subProcess": true,
-            "stopOnEntry": false
-        }
-    ],
-    "compounds": [
-        {
-            "name": "Python + Native (LLDB)",
-            "configurations": [
-                "Python Launch",
-                "Attach LLDB to Python"
-            ]
-        }
-    ]
-}
@@ -18,7 +18,7 @@ test:
    ty:
      run: ty check
    codespell:
-      run: codespell {files} -L tge,stdio -S "*.dbc,*.ipynb" --ignore-words=.codespellignore
+      run: codespell {files} -L tge,stdio -S *.dbc --ignore-words=.codespellignore
      files: git ls-tree -r HEAD --name-only
    cpplint:
      run: cpplint --exclude=opendbc/can/*_pyx.cpp --recursive --quiet --counting=detailed --linelength=240 --filter=-build,-legal,-readability,-runtime,-whitespace,+build/include_subdir,+build/forward_decl,+build/include_what_you_use,+build/deprecated,+whitespace/comma,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+whitespace/forcolon,+whitespace/parens,+whitespace/semicolon,+whitespace/tab,+readability/braces opendbc/
@@ -307,14 +307,9 @@ opendbc/dbc/generator/honda/honda_e_advance_2020_can.dbc
 opendbc/dbc/generator/honda/honda_insight_ex_2019_can.dbc
 opendbc/dbc/generator/honda/honda_odyssey_exl_2018.dbc
 opendbc/dbc/generator/honda/honda_odyssey_twn_2018.dbc
-opendbc/dbc/generator/hyundai/_20240705_STD_DB_CAR_R2-0_2024_FD_C_v24-05-01_SFA_RWA.dbc
-opendbc/dbc/generator/hyundai/_hyundai_canfd_ccnc_og.dbc
 opendbc/dbc/generator/hyundai/_hyundai_canfd_common.dbc
-opendbc/dbc/generator/hyundai/_hyundai_canfd_hda2_cam_unknown.dbc
-opendbc/dbc/generator/hyundai/_hyundai_reversed_ccnc_canfd.dbc
 opendbc/dbc/generator/hyundai/hyundai_can.dbc
 opendbc/dbc/generator/hyundai/hyundai_canfd.dbc
-opendbc/dbc/generator/hyundai/hyundai_canfd_og.dbc
 opendbc/dbc/generator/hyundai/hyundai_kia_mando_corner_radar.py
 opendbc/dbc/generator/hyundai/hyundai_kia_mando_front_radar.py
 opendbc/dbc/generator/hyundai/hyundai_palisade_2023.dbc
@@ -130,7 +130,6 @@ 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])
@@ -209,7 +209,6 @@ MIGRATION = {
  "HYUNDAI SONATA HYBRID 2021": HYUNDAI.HYUNDAI_SONATA_HYBRID,
  "HYUNDAI IONIQ 5 2022": HYUNDAI.HYUNDAI_IONIQ_5,
  "HYUNDAI IONIQ 6 2023": HYUNDAI.HYUNDAI_IONIQ_6,
-  "HYUNDAI IONIQ 9 2025": HYUNDAI.HYUNDAI_IONIQ_9,
  "HYUNDAI TUCSON 4TH GEN": HYUNDAI.HYUNDAI_TUCSON_4TH_GEN,
  "HYUNDAI SANTA CRUZ 1ST GEN": HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN,
  "HYUNDAI CUSTIN 1ST GEN": HYUNDAI.HYUNDAI_CUSTIN_1ST_GEN,
@@ -1,50 +0,0 @@
-# About Angle Steering, Baseline Model, and ISO Safety Limits
-
-## Overview
-
-The baseline vehicle model serves as our safety reference point for establishing universal control parameters across our entire vehicle fleet. This approach ensures that all vehicles operate within ISO safety standards regardless of their individual physics characteristics.
-
-## How It Works
-
-For any given speed and driving conditions, we query each vehicle model with the question: "What's the maximum steering angle I can apply right now while staying below the ISO standard limits for lateral acceleration and jerk?"
-
-Each vehicle model responds differently based on its unique physics characteristics:
- **Baseline Vehicle Model**: Has the most restrictive limits - requires the smallest steering angles to stay within ISO safety thresholds
- **Current Vehicle Model**: May be able to handle larger steering angles while remaining within the same ISO safety standards, depending on its physical characteristics
-
-## Safety Logic
-
-Both the baseline and current vehicle models target the same ISO safety limits. The key difference is that the baseline vehicle's physics require more conservative steering inputs to stay within those standards.
-
-By applying the baseline vehicle's more restrictive steering limits to all vehicles in the fleet:
- Every model stays well within ISO safety thresholds
- No vehicle will breach safety standards regardless of its individual characteristics
- We maintain a consistent safety margin across the entire fleet
-
-If we instead used a less restrictive model as our baseline, any naturally more restrictive vehicles in the fleet would exceed ISO standards and create unsafe driving conditions.
-
-## Implementation Details
-
-### Two-Layer Validation Process
-
-We use a two-layer validation approach to balance vehicle-specific optimization with baseline safety:
-
-1. **Current Vehicle Model Calculation**: We first calculate the optimal steering limits from the current vehicle model, which determines the best steering angle based on that vehicle's physical characteristics and desired maneuver.
-
-2. **Baseline Model Validation**: We then pass the current vehicle's requested steering command through the baseline model as a final safety filter.
-
-This two-layer approach is essential because while the current vehicle model may generally be more capable, it might sometimes request smaller jerk or lateral acceleration values to achieve specific driving goals. The baseline validation ensures that regardless of what the current vehicle requests, we never exceed the safety limits of our most restrictive vehicle.
-
-### Special Case: Driving the Baseline Vehicle
-
-When actually driving the baseline vehicle itself (e.g., Santa Fe), we apply an additional 80% ISO cap since that vehicle would otherwise operate right at the ISO safety threshold. This extra margin ensures safe operation even for our most restrictive vehicle model.
-
-## Example Implementation
-
-### Baseline Vehicle: Hyundai Santa Fe
-Due to its physics characteristics, the Santa Fe requires smaller steering angles to remain within ISO safety limits.
-
-### Current Vehicle: Ioniq 5 PE
-Due to different physical characteristics, the Ioniq 5 PE can handle larger steering angles while still remaining within the same ISO safety standards.
-
-By using the Santa Fe's conservative limits across all vehicles, we ensure the Ioniq 5 PE operates well within its capabilities, while preventing the Santa Fe from exceeding its safety thresholds.
@@ -1,10 +1,7 @@
 import numpy as np
-from opendbc.car.vehicle_model import VehicleModel
-from opendbc.car.common.filter_simple import FirstOrderFilter
-
 from opendbc.can import CANPacker
-from opendbc.car import Bus, DT_CTRL, make_tester_present_msg, structs, rate_limit
-from opendbc.car.lateral import apply_driver_steer_torque_limits, common_fault_avoidance, apply_steer_angle_limits_vm
+from opendbc.car import Bus, DT_CTRL, make_tester_present_msg, structs
+from opendbc.car.lateral import apply_driver_steer_torque_limits, common_fault_avoidance
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.hyundai import hyundaicanfd, hyundaican
 from opendbc.car.hyundai.hyundaicanfd import CanBus
@@ -32,31 +29,6 @@ MAX_ANGLE_CONSECUTIVE_FRAMES = 2
 # naturally on brake press. We send ~100 ms later if it fails to do so, or if we want to cancel for another reason.
 CANCEL_BUTTON_DELAY_FRAMES = 10

-MAX_ANGLE_RATE = 5
-ANGLE_SAFETY_BASELINE_MODEL = "KIA_SPORTAGE_HEV_2026"
-
-
-def get_baseline_safety_cp():
-  from opendbc.car.hyundai.interface import CarInterface
-  return CarInterface.get_non_essential_params(ANGLE_SAFETY_BASELINE_MODEL)
-
-
-def compute_torque_reduction_gain(steering_torque, v_ego, lat_active, last_gain):
-  if lat_active:
-    ceiling = np.interp(v_ego, [0.5, 1.5], [1.0, 0.85])
-    shelf = np.interp(v_ego, [2, 11], [0.45, 0.6])
-    floor = np.interp(v_ego, [2, 22], [0.1, 0.3])
-    bp1 = np.interp(v_ego, [2, 11], [75, 125])
-    bp2 = np.interp(v_ego, [2, 11], [125, 150])
-    bp3 = np.interp(v_ego, [2, 11], [175, 275])
-    bp4 = np.interp(v_ego, [2, 22], [400, 700])
-    target = np.interp(abs(steering_torque), [bp1, bp2, bp3, bp4], [ceiling, shelf, shelf, floor])
-
-  else:
-    target = 0.0
-  gain = rate_limit(target, last_gain, -0.014, 0.004)
-  return round(gain / 0.004) * 0.004
-

 def process_hud_alert(enabled, fingerprint, hud_control):
  sys_warning = (hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw))
@@ -82,21 +54,6 @@ def process_hud_alert(enabled, fingerprint, hud_control):
  return sys_warning, sys_state, left_lane_warning, right_lane_warning


-def parse_tq_rdc_gain(val):
-  """
-  Returns the float value divided by 100 if val is not None, else returns None.
-  """
-  if val is not None:
-    return float(val) / 100
-  return None
-
-
-def parse_scaled_value(val, scale=10):
-  if val is not None:
-    return float(val) / scale
-  return None
-
-
 class CarController(CarControllerBase, EsccCarController, LeadDataCarController, LongitudinalController, MadsCarController,
                    IntelligentCruiseButtonManagementInterface):
  def __init__(self, dbc_names, CP, CP_SP):
@@ -110,12 +67,6 @@ class CarController(CarControllerBase, EsccCarController, LeadDataCarController,
    self.params = CarControllerParams(CP)
    self.packer = CANPacker(dbc_names[Bus.pt])
    self.angle_limit_counter = 0
-    self.angle_filter = FirstOrderFilter(0.0, 0.2, DT_CTRL)
-
-    # Vehicle model used for lateral limiting
-    self.VM = VehicleModel(CP)
-    self.BASELINE_VM = VehicleModel(get_baseline_safety_cp())
-    self.apply_angle_last = 0

    self.accel_last = 0
    self.apply_torque_last = 0
@@ -123,8 +74,6 @@ class CarController(CarControllerBase, EsccCarController, LeadDataCarController,
    self.last_button_frame = 0
    self.cancel_counter = 0

-    self.apply_angle_last = 0
-
  def update(self, CC, CC_SP, CS, now_nanos):
    EsccCarController.update(self, CS)
    LeadDataCarController.update(self, CC_SP)
@@ -136,43 +85,13 @@ class CarController(CarControllerBase, EsccCarController, LeadDataCarController,
    hud_control = CC.hudControl

    # steering torque
-    if not self.CP.flags & HyundaiFlags.CANFD_ANGLE_STEERING:
-      self.angle_limit_counter, apply_steer_req = common_fault_avoidance(abs(CS.out.steeringAngleDeg) >= MAX_ANGLE, CC.latActive,
-                                                                         self.angle_limit_counter, MAX_ANGLE_FRAMES,
-                                                                         MAX_ANGLE_CONSECUTIVE_FRAMES)
-      new_torque = int(round(actuators.torque * self.params.STEER_MAX))
-      apply_torque = apply_driver_steer_torque_limits(new_torque, self.apply_torque_last, CS.out.steeringTorque, self.params)
+    new_torque = int(round(actuators.torque * self.params.STEER_MAX))
+    apply_torque = apply_driver_steer_torque_limits(new_torque, self.apply_torque_last, CS.out.steeringTorque, self.params)

-    # angle control
-    else:
-      v_ego_raw = CS.out.vEgoRaw
-      desired_angle = float(np.clip(actuators.steeringAngleDeg, -self.params.ANGLE_LIMITS.STEER_ANGLE_MAX, self.params.ANGLE_LIMITS.STEER_ANGLE_MAX))
-
-      self.angle_filter.update_alpha(float(np.interp(CS.out.vEgo, [5, 10, 20], [0.2, 0.1, 0.0])))
-      desired_angle = self.angle_filter.update(desired_angle)
-
-      apply_angle = apply_steer_angle_limits_vm(desired_angle, self.apply_angle_last, v_ego_raw, CS.out.steeringAngleDeg, CC.latActive, self.params, self.VM)
-
-      # if we are not the baseline model, we use the baseline model for further limits to prevent a panda block since it is hardcoded for baseline model.
-      if self.CP.carFingerprint != ANGLE_SAFETY_BASELINE_MODEL:
-        apply_angle = apply_steer_angle_limits_vm(apply_angle or desired_angle, self.apply_angle_last, v_ego_raw, CS.out.steeringAngleDeg, CC.latActive,
-                                                  self.params, self.BASELINE_VM)
-
-      apply_torque = compute_torque_reduction_gain(CS.out.steeringTorque, v_ego_raw, CC.latActive, self.apply_torque_last)
-      apply_steer_req = CC.latActive and apply_torque != 0
-
-      # Failsafe if we detected we'd violate safety
-      if apply_angle is None:
-        apply_torque = 0
-        apply_angle = CS.out.steeringAngleDeg
-        apply_steer_req = False
-
-      # After we've used the last angle wherever we needed it, we now update it.
-      self.apply_angle_last = apply_angle
-
-      if not CC.latActive:
-        self.apply_angle_last = float(np.clip(CS.out.steeringAngleDeg, -self.params.ANGLE_LIMITS.STEER_ANGLE_MAX, self.params.ANGLE_LIMITS.STEER_ANGLE_MAX))
-        self.angle_filter.x = self.apply_angle_last
+    # >90 degree steering fault prevention
+    self.angle_limit_counter, apply_steer_req = common_fault_avoidance(abs(CS.out.steeringAngleDeg) >= MAX_ANGLE, CC.latActive,
+                                                                       self.angle_limit_counter, MAX_ANGLE_FRAMES,
+                                                                       MAX_ANGLE_CONSECUTIVE_FRAMES)

    if not CC.latActive:
      apply_torque = 0
@@ -223,7 +142,6 @@ class CarController(CarControllerBase, EsccCarController, LeadDataCarController,
    new_actuators = actuators.as_builder()
    new_actuators.torque = apply_torque / self.params.STEER_MAX
    new_actuators.torqueOutputCan = apply_torque
-    new_actuators.steeringAngleDeg = self.apply_angle_last
    new_actuators.accel = self.tuning.actual_accel

    self.frame += 1
@@ -284,8 +202,7 @@ class CarController(CarControllerBase, EsccCarController, LeadDataCarController,
    lka_steering_long = lka_steering and self.CP.openpilotLongitudinalControl

    # steering control
-    can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled, apply_steer_req, apply_torque, self.apply_angle_last
-                                                           , self.lkas_icon))
+    can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled, apply_steer_req, apply_torque, self.lkas_icon))

    # prevent LFA from activating on LKA steering cars by sending "no lane lines detected" to ADAS ECU
    if self.frame % 5 == 0 and lka_steering:
@@ -70,9 +70,6 @@ class CarState(CarStateBase, EsccCarStateBase, MadsCarState, CarStateExt):
    self.cluster_speed_counter = CLUSTER_SAMPLE_RATE

    self.params = CarControllerParams(CP)
-    self.is_canfd_angle_steering = CP.flags & HyundaiFlags.CANFD_ANGLE_STEERING
-    self.imu_lateral_acceleration = 0.0  # used for CAN FD cars with angle steering
-    self.hands_on_steering_grip = 0

  def recent_button_interaction(self) -> bool:
    # On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state
@@ -253,22 +250,15 @@ class CarState(CarStateBase, EsccCarStateBase, MadsCarState, CarStateExt):
                     cp.vl["WHEEL_SPEEDS"]["WHL_SpdRLVal"] <= STANDSTILL_THRESHOLD and cp.vl["WHEEL_SPEEDS"]["WHL_SpdRRVal"] <= STANDSTILL_THRESHOLD

    ret.steeringRateDeg = cp.vl["STEERING_SENSORS"]["STEERING_RATE"]
-    ret.steeringAngleDeg = cp.vl["MDPS"]["MDPS_EstStrAnglVal"]
+    ret.steeringAngleDeg = cp.vl["STEERING_SENSORS"]["STEERING_ANGLE"]
    ret.steeringTorque = cp.vl["MDPS"]["MDPS_StrTqSnsrVal"]
    ret.steeringTorqueEps = cp.vl["MDPS"]["MDPS_OutTqVal"]
+    ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > self.params.STEER_THRESHOLD, 5)
    ret.steerFaultTemporary = cp.vl["MDPS"]["MDPS_LkaFailSta"] != 0
-    if self.is_canfd_angle_steering:
-      ret.steerFaultTemporary = ret.steerFaultTemporary or cp.vl["MDPS"]["MDPS_ADAS_AciFltSig_Lv2"] != 0
-      self.hands_on_steering_grip = cp.vl["HOD_FD_01_100ms"]["HOD_Dir_Status"]
-      torque_overriding = abs(ret.steeringTorque) > self.params.STEER_THRESHOLD
-      ret.steeringPressed = self.update_steering_pressed(torque_overriding, 5)
-      self.imu_lateral_acceleration = cp.vl["IMU_01_10ms"]["IMU_LatAccelVal"] * 9.81  # m/s^2
-    else:
-      ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > self.params.STEER_THRESHOLD, 5)

    # 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 or self.is_canfd_angle_steering:
+    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])
@@ -41,14 +41,6 @@ FW_VERSIONS = {
      b'\xf1\x00IGhe SCC FHCUP      1.00 1.02 99110-M9000         ',
    ],
  },
-  CAR.HYUNDAI_AZERA_HEV_7TH_GEN: {
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00GN7HMFC  AT KOR LHD 1.00 1.01 99211-N1110 240423',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00GN7_ RDR -----      1.00 1.00 99110-N1100         ',
-    ],
-  },
  CAR.HYUNDAI_GENESIS: {
    (Ecu.fwdCamera, 0x7c4, None): [
      b'\xf1\x00DH LKAS 1.1 -150210',
@@ -362,16 +354,6 @@ FW_VERSIONS = {
      b'\xf1\x00TMP MFC  AT USA LHD 1.00 1.06 99211-S1500 220727',
    ],
  },
-  CAR.HYUNDAI_SANTA_FE_HEV_5TH_GEN: {
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00MX5HMFC  AT KOR LHD 1.00 1.07 99211-P6000 231218',
-      b'\xf1\x00MX5HMFC  AT USA LHD 1.00 1.06 99211-R6000 231218',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00MX5_ RDR -----      1.00 1.01 99110-P6000         ',
-      b'\xf1\x00MX5_ RDR -----      1.00 1.01 99110-R6000         ',
-    ],
-  },
  CAR.HYUNDAI_CUSTIN_1ST_GEN: {
    (Ecu.abs, 0x7d1, None): [
      b'\xf1\x00KU ESC \x01 101!\x02\x03 58910-O3200',
@@ -1056,34 +1038,6 @@ FW_VERSIONS = {
      b'\xf1\x00CV1 MFC  AT USA LHD 1.00 1.06 99210-CV000 220328',
    ],
  },
-  CAR.KIA_EV6_2025: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00CV__ RDR -----      1.00 1.00 99110-XG500         ',
-      b'\xf1\x00CV__ RDR -----      1.00 1.01 99110-CV500         ',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00CV  MFC  AT KOR LHD 1.00 1.01 99210-CV500 240405',
-      b'\xf1\x00CV  MFC  AT USA LHD 1.00 1.02 99210-XG500 241223',
-    ],
-  },
-  CAR.KIA_EV9: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00MV__ RDR -----      1.00 1.02 99110-DO000         ',
-      b'\xf1\x00MV__ RDR -----      1.00 1.03 99110-DO000         ',
-      b'\xf1\x00MV__ RDR -----      1.00 1.04 99110-DO000         ',
-      b'\xf1\x00MV__ RDR -----      1.00 1.02 99110-DO700         ',
-      b'\xf1\x00MV__ RDR -----      1.00 1.04 99110-DO700         ',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00MV  MFC  AT KOR LHD 1.00 1.01 99211-DO000 230419',
-      b'\xf1\x00MV  MFC  AT USA LHD 1.00 1.02 99211-DO000 230616',
-      b'\xf1\x00MV  MFC  AT EUR LHD 1.00 1.02 99211-DO000 230616',
-      b'\xf1\x00MV  MFC  AT CAN LHD 1.00 1.00 99211-DO100 240403',
-      b'\xf1\x00MV  MFC  AT USA LHD 1.00 1.01 99211-XA000 241023',
-      b'\xf1\x00MV  MFC  AT CAN LHD 1.00 1.01 99211-DO100 241023',
-      b'\xf1\x00MV  MFC  AT CAN LHD 1.00 1.02 99211-DO100 241223',
-    ],
-  },
  CAR.HYUNDAI_IONIQ_5: {
    (Ecu.fwdRadar, 0x7d0, None): [
      b'\xf1\x00NE1_ RDR -----      1.00 1.00 99110-GI000         ',
@@ -1115,18 +1069,6 @@ FW_VERSIONS = {
      b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.06 99211-GI010 230110',
    ],
  },
-  CAR.HYUNDAI_IONIQ_5_PE: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00NE__ RDR -----      1.00 1.00 99110-PI000         ',
-      b'\xf1\x00NE__ RDR -----      1.00 1.01 99110-GI500         '
-    ],
-    (Ecu.fwdCamera, 0x7C4, None): [
-      b'\xf1\x00NE  MFC  AT USA LHD 1.00 1.01 99211-PI000 240905',
-      b'\xf1\x00NE  MFC  AT EUR LHD 1.00 1.03 99211-GI500 240809',
-      b'\xf1\x00NE  MFC  AT USA LHD 1.00 1.00 99211-PI010 250407',
-      b'\xf1\x00NE  MFC  AT EUR LHD 1.00 1.00 99211-GI510 250513',
-    ],
-  },
  CAR.HYUNDAI_IONIQ_6: {
    (Ecu.fwdRadar, 0x7d0, None): [
      b'\xf1\x00CE__ RDR -----      1.00 1.01 99110-KL000         ',
@@ -1141,16 +1083,6 @@ FW_VERSIONS = {
      b'\xf1\x00CE  MFC  AT CAN LHD 1.00 1.06 99211-KL000 230915',
    ],
  },
-  CAR.HYUNDAI_IONIQ_9: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00MEev RDR -----      1.00 1.00 99110-GO000         ',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00ME  MFC  AT KOR LHD 1.00 1.00 99211-GO000 241007',
-      b'\xf1\x00ME  MFC  AT KOR LHD 1.00 1.01 99211-GO000 250103',
-      b'\xf1\x00ME  MFC  AT USA LHD 1.00 1.00 99211-TD000 241007',
-    ],
-  },
  CAR.HYUNDAI_TUCSON_4TH_GEN: {
    (Ecu.fwdCamera, 0x7c4, None): [
      b'\xf1\x00NX4 FR_CMR AT CAN LHD 1.00 1.00 99211-N9220 14K',
@@ -1206,14 +1138,6 @@ FW_VERSIONS = {
      b'\xf1\x00NQ5__               1.01 1.03 99110-P1000         ',
    ],
  },
-  CAR.KIA_SPORTAGE_HEV_2026: {
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00NQ51.011.021.012551000HKP_NQ524_50509099211P1110',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00NQ5__               1.00 1.04 99110CH100          ',
-    ],
-  },
  CAR.GENESIS_GV70_1ST_GEN: {
    (Ecu.fwdCamera, 0x7c4, None): [
      b'\xf1\x00JK1 MFC  AT CAN LHD 1.00 1.02 99211-IY000 230627',
@@ -1241,14 +1165,6 @@ FW_VERSIONS = {
      b'\xf1\x00JKev SCC -----      1.00 1.01 99110-DS000         ',
    ],
  },
-  CAR.GENESIS_GV70_ELECTRIFIED_2ND_GEN: {
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00JK  MFC  AT USA LHD 1.00 1.03 99211-DS600 241125',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00JK__ RDR -----      1.00 1.01 99110-DS500         ',
-    ],
-  },
  CAR.GENESIS_GV60_EV_1ST_GEN: {
    (Ecu.fwdCamera, 0x7c4, None): [
      b'\xf1\x00JW1 MFC  AT AUS RHD 1.00 1.03 99211-CU100 221118',
@@ -1288,14 +1204,6 @@ FW_VERSIONS = {
      b'\xf1\x00MQhe SCC FHCUP      1.00 1.07 99110-P4000         ',
    ],
  },
-  CAR.KIA_SORENTO_HEV_4TH_GEN_LFA2: {
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00MQ4HMFC  AT USA LHD 1.00 1.00 99210-P2600 250617',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00MQ4_ RDR -----      1.00 1.01 99110-P2500         ',
-    ],
-  },
  CAR.KIA_NIRO_HEV_2ND_GEN: {
    (Ecu.fwdCamera, 0x7c4, None): [
      b'\xf1\x00SG2HMFC  AT USA LHD 1.01 1.08 99211-AT000 220531',
@@ -1314,14 +1222,6 @@ FW_VERSIONS = {
      b'\xf1\x00JX1_ SCC FHCUP      1.00 1.01 99110-T6100         ',
    ],
  },
-  CAR.GENESIS_GV80_2025: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00JX__ RDR -----      1.00 1.03 99110-T6500         ',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00JX  MFC  AT USA LHD 1.00 1.03 99211-T6510 240124',
-    ],
-  },
  CAR.KIA_CARNIVAL_4TH_GEN: {
    (Ecu.fwdCamera, 0x7c4, None): [
      b'\xf1\x00KA4 MFC  AT EUR LHD 1.00 1.06 99210-R0000 220221',
@@ -36,31 +36,18 @@ class CanBus(CanBusBase):
    return self._cam


-def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_torque, apply_angle, lkas_icon):
+def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_torque, lkas_icon):
  values = {
    "LKA_OptUsmSta": 2,
-    "LKA_SysIndReq": 2 if enabled else 1,
+    "LKA_SysIndReq": lkas_icon,
    "StrTqReqVal": apply_torque,
    "LKA_SysWrn": 0,
    "ActToiSta": 1 if lat_active else 0,
    "LKA_UsmMod": 0,  # hide LKAS settings
-    "LKA_RcgSta": 0,  # lane recognition status (0 for "not recognized")
+    "LKA_RcgSta": 0,
    "Damping_Gain": 100,  # can potentially tuned for better perf [3, 200]
  }

-  # Angle control doesn't support using LFA yet
-  if CP.flags & HyundaiFlags.CANFD_ANGLE_STEERING:
-    # LKAS messages take priority over LFA messages on HDA2.
-    values |= {
-      "LKA_OptUsmSta": 0,  # TODO: not used by the stock system
-      "StrTqReqVal": 0,  # we don't use torque
-      "ActToiSta": 0,  # we don't use torque
-      "LKA_RcgSta": 3 if lat_active else 0,
-      "ADAS_StrAnglReqVal": apply_angle,
-      "LKAS_ANGLE_ACTIVE": 2 if lat_active else 1,
-      "ADAS_ACIAnglTqRedcGainVal": apply_torque if lat_active else 0,
-    }
-
  ret = []
  if CP.flags & HyundaiFlags.CANFD_LKA_STEER_MSG:
    lkas_msg = "LKAS_ALT" if CP.flags & HyundaiFlags.CANFD_LKA_STEER_MSG_ALT else "LKAS"
@@ -46,10 +46,6 @@ class CarInterface(CarInterfaceBase):
        # this needs to be figured out for cars without an ADAS ECU
        ret.alphaLongitudinalAvailable = False

-      # no longitudinal for all lka_steering angle steering
-      if lka_steering and ret.flags & HyundaiFlags.CANFD_ANGLE_STEERING:
-        ret.alphaLongitudinalAvailable = False
-
      ret.enableBsm = 0x1ba in fingerprint[CAN.ECAN]

      # Check if the car is hybrid. Only HEV/PHEV cars have 0xFA on E-CAN.
@@ -89,9 +85,6 @@ 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.CANFD_ANGLE_STEERING:
-        ret.steerControlType = structs.CarParams.SteerControlType.angle
-        ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CANFD_ANGLE_STEERING.value

    else:
      # Shared configuration for non CAN-FD cars
@@ -124,9 +117,7 @@ class CarInterface(CarInterfaceBase):
    ret.centerToFront = ret.wheelbase * 0.4
    ret.steerActuatorDelay = 0.1
    ret.steerLimitTimer = 0.4
-
-    if not (ret.flags & HyundaiFlags.CANFD_ANGLE_STEERING):
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+    CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)

    if ret.flags & HyundaiFlags.ALT_LIMITS:
      ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.ALT_LIMITS.value
@@ -1,74 +0,0 @@
-# CarController Debug Replay Guide
-
-This guide outlines the steps needed to replay a drive and debug `carcontroller.py` using breakpoints in the `card.py` process.
-
---
-
-## ✅ Step 1: Set Environment Variables
-
-`card.py` requires environment variables to simulate the target vehicle. Set them before launching the process.
-
-Example for KIA EV9:
-
-```sh
-export FINGERPRINT=KIA_EV9
-export SKIP_FW_QUERY=1
-```
-
-You can add these to your shell session or prefix the command launching `card.py`.
-
---
-
-## 🚀 Step 2: Launch `card.py` Manually
-
-Start `card.py` as a standalone process so you can attach a debugger or use breakpoints.
-
-```sh
-cd selfdrive/car
-python card.py
-```
-
-> 🔑 Make sure your breakpoints are set **in this process**, not in the replay one.
-
---
-
-## 🔁 Step 3: Run the Replay
-
-Use the `replay` tool to play back a segment, blocking certain publishers to avoid conflicts with the live `card.py`.
-
-### Example:
-
-```sh
-./tools/replay/replay "cb6aec3054a67f94/00000273--dae50621b9" \
-  --block "sendcan,carState,carParams,carOutput,liveTracks,carParamsSP,carStateSP"
-```
-
-This prevents `replay` from publishing messages that `card.py` is responsible for generating.
-
---
-
-
-## 🔧 Common Issues
-
-| Symptom                                  | Likely Cause                                                                        |
-| ---------------------------------------- | ----------------------------------------------------------------------------------- |
-| No breakpoints hit in `carcontroller.py` | Replay is blocking too much or not enough. Confirm `card.py` is running standalone. |
-| No CAN output                            | `sendcan` not blocked in replay; conflict with replay publisher.                    |
-| No data in replay                        | Incorrect segment path or segment not downloaded properly.                          |
-
---
-
-## 📝 Segment Path Format
-
-The path used in `replay` follows this format:
-
-```
-<route_prefix>/<segment_name>
-```
-
-Example:
-
-```sh
-cb6aec3054a67f94/00000273--dae50621b9
-```
-
@@ -22,7 +22,6 @@ Ecu = CarParams.Ecu
 NO_DATES_PLATFORMS = {
  # CAN FD
  CAR.KIA_SPORTAGE_5TH_GEN,
-  CAR.KIA_SPORTAGE_HEV_2026, # no date on camera
  CAR.HYUNDAI_SANTA_CRUZ_1ST_GEN,
  CAR.HYUNDAI_TUCSON_4TH_GEN,
  # CAN
@@ -190,7 +189,7 @@ class TestHyundaiFingerprint(unittest.TestCase):
          else:
            assert all(date is not None for _, date in codes)

-          if car_model in (CAR.HYUNDAI_GENESIS, CAR.KIA_SPORTAGE_HEV_2026):
+          if car_model == CAR.HYUNDAI_GENESIS:
            raise unittest.SkipTest("No part numbers for car model")

          # Hyundai places the ECU part number in their FW versions, assert all parsable
@@ -3,7 +3,6 @@ from dataclasses import dataclass, field
 from enum import IntFlag

 from opendbc.car import Bus, CarSpecs, DbcDict, PlatformConfig, Platforms, uds
-from opendbc.car.lateral import AngleSteeringLimitsVM
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.structs import CarParams
 from opendbc.car.docs_definitions import CarHarness, CarDocs, CarParts, SupportType
@@ -18,22 +17,6 @@ class CarControllerParams:
  ACCEL_MIN = -3.5 # m/s^2
  ACCEL_MAX = 2.0 # m/s^2

-  ANGLE_LIMITS: AngleSteeringLimitsVM = AngleSteeringLimitsVM(
-    # Steering angle limits based on observed stock ADAS behavior:
-    # - LKAS max requested angle is 176.7°, but no fault occurs if higher values are requested.
-    # - LFA max stock value is 119.9°.
-    # The ADAS ECU clamps LKAS commands above 176.7° down to 176.7°,
-    # and clamps LFA commands above 119.9° down to 119.9°.
-    360,  # degrees (safe upper bound for command, allowing some margin)
-    MAX_ANGLE_RATE=5  # comfort rate limit for angle commands, in degrees per frame.
-  )
-
-  # More torque optimization
-  # The torque is calculated based on the curvature of the road and the speed of the car and it's a percentage of the maximum torque.
-  SMOOTHING_ANGLE_VEGO_MATRIX = [0, 8.5, 11, 13.8, 18]
-  SMOOTHING_ANGLE_ALPHA_MATRIX = [0.05, 0.1, 0.3, 0.6, 1]
-  SMOOTHING_ANGLE_MAX_VEGO = SMOOTHING_ANGLE_VEGO_MATRIX[-1]
-
  def __init__(self, CP):
    self.STEER_DELTA_UP = 3
    self.STEER_DELTA_DOWN = 7
@@ -51,9 +34,6 @@ class CarControllerParams:
      self.STEER_DELTA_UP = 2
      self.STEER_DELTA_DOWN = 3

-    if CP.flags & HyundaiFlags.CANFD_ANGLE_STEERING:
-       self.STEER_THRESHOLD = 175
-
    # To determine the limit for your car, find the maximum value that the stock LKAS will request.
    # If the max stock LKAS request is <384, add your car to this list.
    elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.HYUNDAI_ELANTRA, CAR.HYUNDAI_ELANTRA_GT_I30, CAR.HYUNDAI_IONIQ,
@@ -88,7 +68,6 @@ class HyundaiSafetyFlags(IntFlag):
  CANFD_LKA_STEER_MSG_ALT = 128
  FCEV_GAS = 256
  ALT_LIMITS_2 = 512
-  CANFD_ANGLE_STEERING = 1024


 # Hyundai/Kia/Genesis SCC (Smart Cruise Control) and steering architecture:
@@ -170,8 +149,6 @@ class HyundaiFlags(IntFlag):

  ALT_LIMITS_2 = 2 ** 26

-  CANFD_ANGLE_STEERING = 2 ** 27
-

@dataclass
 class HyundaiCarDocs(CarDocs):
@@ -230,13 +207,6 @@ class CAR(Platforms):
    CarSpecs(mass=1675, wheelbase=2.885, steerRatio=14.5),
    flags=HyundaiFlags.HYBRID,
  )
-  HYUNDAI_AZERA_HEV_7TH_GEN = HyundaiCanFDPlatformConfig(
-    [
-      HyundaiCarDocs("Hyundai AZERA Hybrid (with HDA II & LFA2) 2025", "Highway Driving Assist II & Lane Follow Assist 2", car_parts=CarParts.common([CarHarness.hyundai_s])),
-    ],
-    CarSpecs(mass=1720, wheelbase=2.895, steerRatio=13.5),
-    flags=HyundaiFlags.CANFD_ANGLE_STEERING,
-  ) 
  HYUNDAI_ELANTRA = HyundaiPlatformConfig(
    [
      # TODO: 2017-18 could be Hyundai G
@@ -363,14 +333,6 @@ class CAR(Platforms):
    HYUNDAI_SANTA_FE.specs,
    flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
  )
-  HYUNDAI_SANTA_FE_HEV_5TH_GEN = HyundaiCanFDPlatformConfig(
-    [
-      HyundaiCarDocs("Hyundai Santa Fe Hybrid (with HDA II & LFA2) 2024-25", "Highway Driving Assist II & Lane Follow Assist 2",
-                     car_parts=CarParts.common([CarHarness.hyundai_p])),
-    ],
-    CarSpecs(mass=2035, wheelbase=2.81, steerRatio=13.72),
-    flags=HyundaiFlags.CANFD_ANGLE_STEERING,
-  )
  HYUNDAI_SONATA = HyundaiPlatformConfig(
    [HyundaiCarDocs("Hyundai Sonata 2020-23", "All", video="https://www.youtube.com/watch?v=ix63r9kE3Fw",
                   car_parts=CarParts.common([CarHarness.hyundai_a]))],
@@ -421,14 +383,6 @@ class CAR(Platforms):
    CarSpecs(mass=1948, wheelbase=2.97, steerRatio=14.26, tireStiffnessFactor=0.65),
    flags=HyundaiFlags.EV,
  )
-  HYUNDAI_IONIQ_5_PE = HyundaiCanFDPlatformConfig(
-    [
-      HyundaiCarDocs("Hyundai Ioniq 5 PE (with HDA II & LFA2) 2025-26", "Highway Driving Assist II & Lane Follow Assist 2",
-                     car_parts=CarParts.common([CarHarness.hyundai_q]))
-    ],
-    HYUNDAI_IONIQ_5.specs,
-    flags=HyundaiFlags.EV | HyundaiFlags.CANFD_ANGLE_STEERING,
-  )
  HYUNDAI_IONIQ_6 = HyundaiCanFDPlatformConfig(
    [
        HyundaiCarDocs("Hyundai Ioniq 6 (without HDA II) 2023-24", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_l])),
@@ -437,14 +391,6 @@ class CAR(Platforms):
    HYUNDAI_IONIQ_5.specs,
    flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE,
  )
-  HYUNDAI_IONIQ_9 = HyundaiCanFDPlatformConfig(
-    [
-      HyundaiCarDocs("Hyundai Ioniq 9 (with HDA II & LFA2) 2025-26", "Highway Driving Assist II & Lane Follow Assist 2",
-                     car_parts=CarParts.common([CarHarness.hyundai_m]))
-    ],
-    CarSpecs(mass=2700, wheelbase=3.13, steerRatio=16.02),
-    flags=HyundaiFlags.EV | HyundaiFlags.CANFD_ANGLE_STEERING,
-  )
  HYUNDAI_TUCSON_4TH_GEN = HyundaiCanFDPlatformConfig(
    [
      HyundaiCarDocs("Hyundai Tucson 2022", car_parts=CarParts.common([CarHarness.hyundai_n])),
@@ -574,13 +520,6 @@ class CAR(Platforms):
    # weight from SX and above trims, average of FWD and AWD version, steering ratio according to Kia News https://www.kiamedia.com/us/en/models/sportage/2023/specifications
    CarSpecs(mass=1725, wheelbase=2.756, steerRatio=13.6),
  )
-  KIA_SPORTAGE_HEV_2026 = HyundaiCanFDPlatformConfig(
-    [
-      HyundaiCarDocs("Kia Sportage Hybrid 2026", car_parts=CarParts.common([CarHarness.hyundai_n])),
-    ],
-    CarSpecs(mass=1812, wheelbase=2.756, steerRatio=13.7),
-    flags=HyundaiFlags.CANFD_ANGLE_STEERING,
-  )
  KIA_SORENTO = HyundaiPlatformConfig(
    [
      HyundaiCarDocs("Kia Sorento 2018", "Advanced Smart Cruise Control & LKAS", video="https://www.youtube.com/watch?v=Fkh3s6WHJz8",
@@ -603,13 +542,6 @@ class CAR(Platforms):
    CarSpecs(mass=4395 * CV.LB_TO_KG, wheelbase=2.81, steerRatio=13.5),  # average of the platforms
    flags=HyundaiFlags.CANFD_RADAR_SCC,
  )
-  KIA_SORENTO_HEV_4TH_GEN_LFA2 = HyundaiCanFDPlatformConfig(
-    [
-      HyundaiCarDocs("Kia Sorento Hybrid 2026", "All", car_parts=CarParts.common([CarHarness.hyundai_q])),
-    ],
-    CarSpecs(mass=1970, wheelbase=2.814, steerRatio=13.27, tireStiffnessFactor=0.65),
-    flags=HyundaiFlags.CANFD_ANGLE_STEERING,
-  )
  KIA_STINGER = HyundaiPlatformConfig(
    [HyundaiCarDocs("Kia Stinger 2018-20", video="https://www.youtube.com/watch?v=MJ94qoofYw0",
                    car_parts=CarParts.common([CarHarness.hyundai_c]))],
@@ -633,20 +565,6 @@ class CAR(Platforms):
    CarSpecs(mass=2055, wheelbase=2.9, steerRatio=16, tireStiffnessFactor=0.65),
    flags=HyundaiFlags.EV,
  )
-  KIA_EV6_2025 = HyundaiCanFDPlatformConfig(
-    [
-      HyundaiCarDocs("Kia EV6 (with HDA I) 2025", "Highway Driving Assist I", car_parts=CarParts.common([CarHarness.hyundai_p]))
-    ],
-    CarSpecs(mass=2055, wheelbase=2.9, steerRatio=16, tireStiffnessFactor=0.65),
-    flags=HyundaiFlags.EV | HyundaiFlags.CANFD_ANGLE_STEERING,
-  )
-  KIA_EV9 = HyundaiCanFDPlatformConfig(
-    [
-      HyundaiCarDocs("Kia EV9 2025-26", car_parts=CarParts.common([CarHarness.hyundai_r]))
-    ],
-    CarSpecs(mass=2664, wheelbase=3.1, steerRatio=16),
-    flags=HyundaiFlags.EV | HyundaiFlags.CANFD_ANGLE_STEERING,
-  )
  KIA_CARNIVAL_4TH_GEN = HyundaiCanFDPlatformConfig(
    [
      HyundaiCarDocs("Kia Carnival 2022-24", car_parts=CarParts.common([CarHarness.hyundai_a])),
@@ -697,13 +615,6 @@ class CAR(Platforms):
    CarSpecs(mass=2260, wheelbase=2.87, steerRatio=17.1),
    flags=HyundaiFlags.EV,
  )
-  GENESIS_GV70_ELECTRIFIED_2ND_GEN = HyundaiCanFDPlatformConfig(
-    [
-      HyundaiCarDocs("Genesis GV70 Electrified 2026", "All", car_parts=CarParts.common([CarHarness.hyundai_m])),
-    ],
-    GENESIS_GV70_ELECTRIFIED_1ST_GEN.specs,
-    flags=HyundaiFlags.EV | HyundaiFlags.CANFD_ANGLE_STEERING,
-  )
  GENESIS_G80 = HyundaiPlatformConfig(
    [HyundaiCarDocs("Genesis G80 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_h]))],
    CarSpecs(mass=2060, wheelbase=3.01, steerRatio=16.5),
@@ -722,16 +633,6 @@ class CAR(Platforms):
    CarSpecs(mass=2258, wheelbase=2.95, steerRatio=14.14),
    flags=HyundaiFlags.CANFD_RADAR_SCC,
  )
-  GENESIS_GV80_2025 = HyundaiCanFDPlatformConfig(
-    [
-      HyundaiCarDocs("Genesis GV80 (3.5T Prestige Trim, with HDA II & LFA2) 2025", "Highway Driving Assist II & Lane Follow Assist 2",
-                     car_parts=CarParts.common([CarHarness.hyundai_q])),
-      HyundaiCarDocs("Genesis GV80 Coupe (with HDA II & LFA2) 2025", "Highway Driving Assist II & Lane Follow Assist 2",
-                     car_parts=CarParts.common([CarHarness.hyundai_q])),
-    ],
-    GENESIS_GV80.specs,
-    flags=HyundaiFlags.CANFD_ANGLE_STEERING,
-  )

  # port extensions
  HYUNDAI_BAYON_1ST_GEN_NON_SCC = HyundaiNonSccPlatformConfig(
@@ -879,7 +780,7 @@ PART_NUMBER_FW_PATTERN = re.compile(b'(?<=[0-9][.,][0-9]{2} )([0-9]{5}[-/]?[A-Z]
 CANFD_FUZZY_WHITELIST = {CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_K8_HEV_1ST_GEN,
                         CAR.KIA_SPORTAGE_5TH_GEN,
                         # TODO: the hybrid variant is not out yet
-                         CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN_LFA2}
+                         CAR.KIA_CARNIVAL_4TH_GEN}

 # List of ECUs expected to have platform codes, camera and radar should exist on all cars
 # TODO: use abs, it has the platform code and part number on many platforms
@@ -148,7 +148,7 @@ def get_max_angle_vm(v_ego_raw: float, VM: VehicleModel, limits):


 def apply_steer_angle_limits_vm(apply_angle: float, apply_angle_last: float, v_ego_raw: float, steering_angle: float,
-                                lat_active: bool, limits, VM: VehicleModel) -> float | None:
+                                lat_active: bool, limits, VM: VehicleModel) -> float:
  """Apply jerk, accel, and safety limit constraints to steering angle."""
  v_ego_raw = max(v_ego_raw, 1)

@@ -163,13 +163,6 @@ def apply_steer_angle_limits_vm(apply_angle: float, apply_angle_last: float, v_e
  max_angle = get_max_angle_vm(v_ego_raw, VM, limits)
  new_apply_angle = np.clip(new_apply_angle, -max_angle, max_angle)

-  # Check if lateral acceleration limits comply with max delta limits
-  safety_violation = lat_active and new_apply_angle != rate_limit(new_apply_angle, apply_angle_last, -max_angle_delta, max_angle_delta)
-
-  # Shouldn't give any angle, since there's no good choice. We are vatiolating either way.
-  if safety_violation:
-    return None
-
  # angle is current angle when inactive
  if not lat_active:
    new_apply_angle = steering_angle
@@ -56,10 +56,10 @@ class CarController(CarControllerBase):
          CarControllerParams.LKAS_MAX_TORQUE - 0.6 * max(0, abs(CS.out.steeringTorque) - CarControllerParams.STEER_THRESHOLD),
        )

-    if self.CP.carFingerprint in (CAR.NISSAN_ROGUE, CAR.NISSAN_XTRAIL, CAR.NISSAN_ALTIMA) and pcm_cancel_cmd:
+    if self.CP.carFingerprint == CAR.NISSAN_ALTIMA and pcm_cancel_cmd:
      can_sends.append(nissancan.create_acc_cancel_cmd(self.packer, self.car_fingerprint, CS.cruise_throttle_msg))

-    if self.CP.carFingerprint in (CAR.NISSAN_LEAF, CAR.NISSAN_LEAF_IC) and self.frame % 2 == 0:
+    if self.CP.carFingerprint != CAR.NISSAN_ALTIMA and self.frame % 2 == 0:
      button = "CANCEL_BUTTON" if pcm_cancel_cmd else None
      can_sends.append(create_cruise_throttle_msg(self.packer, self.car_fingerprint, CS.cruise_throttle_msg, self.frame, button))

@@ -56,19 +56,6 @@ non_tested_cars = [
  GM.CADILLAC_XT5_NON_ACC_1ST_GEN,
 ]

-# HKG Angle Steering (LFA2) (Still WIP, hence why ignored)
-non_tested_cars += [
-  HYUNDAI.GENESIS_GV80_2025,
-  HYUNDAI.HYUNDAI_IONIQ_5_PE,
-  HYUNDAI.KIA_EV6_2025,
-  HYUNDAI.KIA_EV9,
-  HYUNDAI.GENESIS_GV70_ELECTRIFIED_2ND_GEN,
-  HYUNDAI.HYUNDAI_SANTA_FE_HEV_5TH_GEN,
-  HYUNDAI.KIA_SPORTAGE_HEV_2026,
-  HYUNDAI.KIA_SORENTO_HEV_4TH_GEN_LFA2,
-  HYUNDAI.HYUNDAI_AZERA_HEV_7TH_GEN,
-]
-

 class CarTestRoute(NamedTuple):
  route: str
@@ -175,7 +162,6 @@ routes = [
  CarTestRoute("ca4de5b12321bd98/2022-10-18--21-15-59", HYUNDAI.GENESIS_GV70_1ST_GEN),
  CarTestRoute("afe09b9f5d3f3548/00000011--15fefe1c50", HYUNDAI.GENESIS_GV70_ELECTRIFIED_1ST_GEN),
  CarTestRoute("afe09b9f5d3f3548/0000001b--a1129a4a15", HYUNDAI.GENESIS_GV70_ELECTRIFIED_1ST_GEN),  # openpilot longitudinal enabled
-  #CarTestRoute("afe09b9f5d3f3548/0000000b--0ac07f9835", HYUNDAI.GENESIS_GV70_ELECTRIFIED_2ND_GEN),  # openpilot longitudinal enabled
  CarTestRoute("6b301bf83f10aa90/2020-11-22--16-45-07", HYUNDAI.GENESIS_G80),
  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),
@@ -184,7 +170,6 @@ routes = [
  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),
  CarTestRoute("656ac0d830792fcc/2021-12-28--14-45-56", HYUNDAI.HYUNDAI_SANTA_FE_PHEV_2022, segment=1),
-  #CarTestRoute("51489459ad31cccc/00000001--642891d0af", HYUNDAI.HYUNDAI_SANTA_FE_HEV_5TH_GEN), # 2025 HDA2 Angle Control
  CarTestRoute("de59124955b921d8/2023-06-24--00-12-50", HYUNDAI.KIA_CARNIVAL_4TH_GEN),
  CarTestRoute("409c9409979a8abc/2023-07-11--09-06-44", HYUNDAI.KIA_CARNIVAL_4TH_GEN),  # Chinese model
  CarTestRoute("e0e98335f3ebc58f/2021-03-07--16-38-29", HYUNDAI.KIA_CEED),
@@ -205,9 +190,7 @@ routes = [
  CarTestRoute("628935d7d3e5f4f7/2022-11-30--01-12-46", HYUNDAI.KIA_SORENTO_HEV_4TH_GEN),  # plug-in hybrid
  CarTestRoute("9c917ba0d42ffe78/2020-04-17--12-43-19", HYUNDAI.HYUNDAI_PALISADE),
  CarTestRoute("05a8f0197fdac372/2022-10-19--14-14-09", HYUNDAI.HYUNDAI_IONIQ_5),  # LKA steering
-  #CarTestRoute("e1107f9d04dfb1e2/00000455--9b2328ec73", HYUNDAI.HYUNDAI_IONIQ_5_PE),  # LKA steering HDA2 LFA2
  CarTestRoute("eb4eae1476647463/2023-08-26--18-07-04", HYUNDAI.HYUNDAI_IONIQ_6, segment=6),  # LKA steering
-  CarTestRoute("71e4e67d29034771/0000001b--b7b4774ec4", HYUNDAI.HYUNDAI_IONIQ_9),  # LKA steering
  CarTestRoute("3f29334d6134fcd4/2022-03-30--22-00-50", HYUNDAI.HYUNDAI_IONIQ_PHEV_2019),
  CarTestRoute("fa8db5869167f821/2021-06-10--22-50-10", HYUNDAI.HYUNDAI_IONIQ_PHEV),
  CarTestRoute("e1107f9d04dfb1e2/2023-09-05--22-32-12", HYUNDAI.HYUNDAI_IONIQ_PHEV),  # openpilot longitudinal enabled
@@ -230,9 +213,6 @@ routes = [
  CarTestRoute("d624b3d19adce635/2020-08-01--14-59-12", HYUNDAI.HYUNDAI_VELOSTER),
  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("84711a8268bf3b9a|2024-11-27--00-04-53", HYUNDAI.KIA_EV6_2025),  # 2025 HDA1 Angle Control
-  #CarTestRoute("fab807792f63fea6/00000283--e3d8c65d78", HYUNDAI.KIA_EV6_2025),  # 2025 Angle Control
-  #CarTestRoute("XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX", HYUNDAI.KIA_EV9),  # 2025 HDA1 Angle Control
  CarTestRoute("9b25e8c1484a1b67/2023-04-13--10-41-45", HYUNDAI.KIA_EV6),
  CarTestRoute("007d5e4ad9f86d13/2021-09-30--15-09-23", HYUNDAI.KIA_K5_2021),
  CarTestRoute("c58dfc9fc16590e0/2023-01-14--13-51-48", HYUNDAI.KIA_K5_HEV_2020),
@@ -248,7 +228,6 @@ routes = [
  CarTestRoute("192283cdbb7a58c2/2022-10-15--01-43-18", HYUNDAI.KIA_SPORTAGE_5TH_GEN),
  CarTestRoute("09559f1fcaed4704/2023-11-16--02-24-57", HYUNDAI.KIA_SPORTAGE_5TH_GEN, segment=0),  # openpilot longitudinal
  CarTestRoute("b3537035ffe6a7d6/2022-10-17--15-23-49", HYUNDAI.KIA_SPORTAGE_5TH_GEN),  # hybrid
-  #CarTestRoute("1635e7fee82dec3b/00000000--aa7efe7199", HYUNDAI.KIA_SPORTAGE_HEV_2026),  # 2025 Angle Control
  CarTestRoute("c5ac319aa9583f83/2021-06-01--18-18-31", HYUNDAI.HYUNDAI_ELANTRA),
  CarTestRoute("734ef96182ddf940/2022-10-02--16-41-44", HYUNDAI.HYUNDAI_ELANTRA_GT_I30),
  CarTestRoute("82e9cdd3f43bf83e/2021-05-15--02-42-51", HYUNDAI.HYUNDAI_ELANTRA_2021),
@@ -256,7 +235,6 @@ routes = [
  CarTestRoute("7120aa90bbc3add7/2021-08-02--07-12-31", HYUNDAI.HYUNDAI_SONATA_HYBRID),
  CarTestRoute("715ac05b594e9c59/2021-10-27--23-24-56", HYUNDAI.GENESIS_G70_2020),
  CarTestRoute("6b0d44d22df18134/2023-05-06--10-36-55", HYUNDAI.GENESIS_GV80),
-  #CarTestRoute("bf5d5a62cc79a28e/00000002--4d370e2bc2", HYUNDAI.GENESIS_GV80_2025),

  CarTestRoute("00c829b1b7613dea/2021-06-24--09-10-10", TOYOTA.TOYOTA_ALPHARD_TSS2),
  CarTestRoute("912119ebd02c7a42/2022-03-19--07-24-50", TOYOTA.TOYOTA_ALPHARD_TSS2),  # hybrid
@@ -115,15 +115,3 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 # port extensions
 "HONDA_CLARITY" = [0.96, 0.4018518740819229, 0.19]
 "CHEVROLET_MALIBU_NON_ACC_9TH_GEN" = [1.85, 1.85, 0.075]
-
-# Hyundai/Kia/Genesis angle control
-"HYUNDAI_IONIQ_5_PE" = [3.172929, 3.5, 0.096019]
-"HYUNDAI_IONIQ_9" = [2.5, 2.0, 0.05]
-"GENESIS_GV80_2025" = [2.5, 2.5, 0.1]
-"HYUNDAI_SANTA_FE_HEV_5TH_GEN" = [2.5, 2.5, 0.1]
-"KIA_EV6_2025" = [3.2, 2.093457, 0.005]
-"KIA_EV9" = [3.2, 2.093457, 0.005]
-"GENESIS_GV70_ELECTRIFIED_2ND_GEN" = [1.9, 1.9, 0.09]
-"KIA_SPORTAGE_HEV_2026" = [nan, 2.5, nan]
-"KIA_SORENTO_HEV_4TH_GEN_LFA2" = [nan, 2.5, nan]
-"HYUNDAI_AZERA_HEV_7TH_GEN" = [nan, 2.5, nan]
@@ -1,5 +1,6 @@
 import math
 import numpy as np
+from openpilot.common.params import Params
 from opendbc.car import Bus, make_tester_present_msg, rate_limit, structs, ACCELERATION_DUE_TO_GRAVITY, DT_CTRL
 from opendbc.car.lateral import apply_meas_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance
 from opendbc.car.carlog import carlog
@@ -12,7 +13,8 @@ from opendbc.car.toyota.values import CAR, NO_STOP_TIMER_CAR, TSS2_CAR, \
                                        CarControllerParams, ToyotaFlags, \
                                        UNSUPPORTED_DSU_CAR
 from opendbc.can import CANPacker
-
+from opendbc.sunnypilot.car.toyota.auto_brake_hold import AutoBrakeHoldCarController
+from opendbc.sunnypilot.car.toyota.enhanced_bsm import EnhancedBsmCarController
 from opendbc.sunnypilot.car.toyota.gas_interceptor import GasInterceptorCarController
 from opendbc.sunnypilot.car.toyota.values import ToyotaFlagsSP

@@ -20,6 +22,7 @@ Ecu = structs.CarParams.Ecu
 LongCtrlState = structs.CarControl.Actuators.LongControlState
 SteerControlType = structs.CarParams.SteerControlType
 VisualAlert = structs.CarControl.HUDControl.VisualAlert
+GearShifter = structs.CarState.GearShifter

 # The up limit allows the brakes/gas to unwind quickly leaving a stop,
 # the down limit roughly matches the rate of ACCEL_NET, reducing PCM compensation windup
@@ -37,11 +40,18 @@ MAX_STEER_RATE_FRAMES = 17  # tx control frames needed before torque can be cut
 # EPS allows user torque above threshold for 50 frames before permanently faulting
 MAX_USER_TORQUE = 500

-
 def get_long_tune(CP, params):
  if CP.carFingerprint in TSS2_CAR:
-    kiBP = [2., 5.]
-    kiV = [0.5, 0.25]
+    if Params().get_bool("ToyotaTSS2Long"):
+      #kiBP = [0.,   2.0,  9.0,  14.,  20.,  27.]
+      #kiV =  [0.25, 0.25, 0.15, 0.12, 0.12, 0.12]
+      #kiBP= [0.,  1.0,  2.0,   3.0,   4.0,   5.0,   7.,  20.,  27.,  36.]
+      #kiV  = [0.31, 0.32, 0.301, 0.280,  0.259,  0.226, 0.15, 0.15, 0.101, 0.10]
+      kiBP= [0.3,   0.9,   1.0,  2.0,   5.0,   27.,  36.]
+      kiV  = [0.46, 0.46,  0.50, 0.50, 0.244, 0.10, 0.09]
+    else:
+      kiBP = [2., 5.]
+      kiV = [0.5, 0.25]
  else:
    kiBP = [0., 5., 35.]
    kiV = [3.6, 2.4, 1.5]
@@ -82,6 +92,14 @@ class CarController(CarControllerBase, GasInterceptorCarController):
    self.secoc_acc_message_counter = 0
    self.secoc_prev_reset_counter = 0

+    self.enhanced_bsm = EnhancedBsmCarController(CP, CP_SP)
+    self.auto_brake_hold = AutoBrakeHoldCarController(CP, CP_SP)
+
+    self._auto_lock_speed = 0.0
+
+    self._auto_lock_once = False
+    self._gear_prev = GearShifter.park
+
  def update(self, CC, CC_SP, CS, now_nanos):
    actuators = CC.actuators
    stopping = actuators.longControlState == LongCtrlState.stopping
@@ -197,6 +215,9 @@ class CarController(CarControllerBase, GasInterceptorCarController):

    self.last_standstill = CS.out.standstill

+    if self.auto_brake_hold.enabled:
+      can_sends.extend(self.auto_brake_hold.update(CS, self.frame, self.packer))
+
    # handle UI messages
    fcw_alert = hud_control.visualAlert == VisualAlert.fcw
    steer_alert = hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw)
@@ -320,6 +341,9 @@ class CarController(CarControllerBase, GasInterceptorCarController):
    if self.frame % 20 == 0 and self.CP.flags & ToyotaFlags.DISABLE_RADAR.value:
      can_sends.append(make_tester_present_msg(0x750, 0, 0xF))

+    if self.enhanced_bsm.enabled:
+      can_sends.extend(self.enhanced_bsm.update(CS, self.frame))
+
    new_actuators = actuators.as_builder()
    new_actuators.torque = apply_torque / self.params.STEER_MAX
    new_actuators.torqueOutputCan = apply_torque
@@ -1,5 +1,7 @@
 import copy

+from openpilot.cereal import custom
+from openpilot.common.params import Params
 from opendbc.can import CANDefine, CANParser
 from opendbc.car import Bus, DT_CTRL, create_button_events, structs
 from opendbc.car.common.conversions import Conversions as CV
@@ -9,10 +11,12 @@ from opendbc.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO
                                                  TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR, \
                                                  SECOC_CAR
 from opendbc.sunnypilot.car.toyota.carstate_ext import CarStateExt
+from opendbc.sunnypilot.car.toyota.enhanced_bsm import EnhancedBsmCarState
 from opendbc.sunnypilot.car.toyota.values import ToyotaFlagsSP

 ButtonType = structs.CarState.ButtonEvent.Type
 SteerControlType = structs.CarParams.SteerControlType
+AccelPersonality = custom.LongitudinalPlanSP.AccelerationPersonality

 # These steering fault definitions seem to be common across LKA (torque) and LTA (angle):
 # - high steer rate fault: goes to 21 or 25 for 1 frame, then 9 for 2 seconds
@@ -56,6 +60,20 @@ class CarState(CarStateBase, CarStateExt):
    self.gvc = 0.0
    self.secoc_synchronization = None

+    self.enhanced_bsm = EnhancedBsmCarState(CP, CP_SP)
+
+    if CP_SP.flags & ToyotaFlagsSP.SP_AUTO_BRAKE_HOLD:
+      self.pre_collision_2 = {}
+
+    self.toyota_drive_mode = Params().get_bool('ToyotaDriveMode')
+    self._drive_mode_signals_checked = False
+    self._sport_signal_available = False
+    self._eco_signal_available = False
+    self._prev_accel_profile = None
+    self._accel_profile_init = False
+
+    self.frame = 0
+
  def update(self, can_parsers) -> tuple[structs.CarState, structs.CarStateSP]:
    cp = can_parsers[Bus.pt]
    cp_cam = can_parsers[Bus.cam]
@@ -73,18 +91,52 @@ class CarState(CarStateBase, CarStateExt):
    ret.parkingBrake = cp.vl["BODY_CONTROL_STATE"]["PARKING_BRAKE"] == 1

    ret.brakePressed = cp.vl["BRAKE_MODULE"]["BRAKE_PRESSED"] != 0
-    ret.brakeHoldActive = cp.vl["ESP_CONTROL"]["BRAKE_HOLD_ACTIVE"] == 1
+    #ret.brakeHoldActive = cp.vl["ESP_CONTROL"]["BRAKE_HOLD_ACTIVE"] == 1

    if self.CP.flags & ToyotaFlags.SECOC.value:
      self.secoc_synchronization = copy.copy(cp.vl["SECOC_SYNCHRONIZATION"])
      ret.gasPressed = cp.vl["GAS_PEDAL"]["GAS_PEDAL_USER"] > 0
      can_gear = int(cp.vl["GEAR_PACKET_HYBRID"]["GEAR"])
    else:
-      ret.gasPressed = cp.vl["PCM_CRUISE"]["GAS_RELEASED"] == 0
+      ret.gasPressed = cp.vl["PCM_CRUISE"]["GAS_RELEASED"] == 0  # TODO: these also have GAS_PEDAL, come back and unify
      can_gear = int(cp.vl["GEAR_PACKET"]["GEAR"])
      if not self.CP.flags & ToyotaFlags.DISABLE_RADAR.value:
        ret.stockAeb = bool(cp_acc.vl["PRE_COLLISION"]["PRECOLLISION_ACTIVE"] and cp_acc.vl["PRE_COLLISION"]["FORCE"] < -1e-5)

+    if self.toyota_drive_mode: # and not self.CP.flags & ToyotaFlags.SECOC.value:
+      sport_signal = 'SPORT_ON_2' if self.CP.carFingerprint in (CAR.TOYOTA_RAV4_TSS2, CAR.LEXUS_ES_TSS2,
+                                                                CAR.TOYOTA_HIGHLANDER_TSS2) else 'SPORT_ON'
+
+      if not self._drive_mode_signals_checked:
+        self._drive_mode_signals_checked = True
+        try:
+          sport_mode = cp.vl["GEAR_PACKET"][sport_signal]
+          self._sport_signal_available = True
+        except KeyError:
+          sport_mode = 0
+          self._sport_signal_available = False
+        try:
+          eco_mode = cp.vl["GEAR_PACKET"]['ECON_ON']
+          self._eco_signal_available = True
+        except KeyError:
+          eco_mode = 0
+          self._eco_signal_available = False
+      else:
+        sport_mode = cp.vl["GEAR_PACKET"][sport_signal] if self._sport_signal_available else 0
+        eco_mode = cp.vl["GEAR_PACKET"]['ECON_ON'] if self._eco_signal_available else 0
+
+      if sport_mode == 1:
+        accel_profile = AccelPersonality.sport
+      elif eco_mode == 1:
+        accel_profile = AccelPersonality.eco
+      else:
+        accel_profile = AccelPersonality.normal
+
+      if not self._accel_profile_init or accel_profile != self._prev_accel_profile:
+        Params().put('AccelPersonality', int(accel_profile))
+        self._accel_profile_init = True
+        self._prev_accel_profile = accel_profile
+
    self.parse_wheel_speeds(ret,
      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FL"],
      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FR"],
@@ -213,6 +265,14 @@ class CarState(CarStateBase, CarStateExt):

    ret.buttonEvents = buttonEvents

+    if self.enhanced_bsm.enabled and self.frame > 199:
+      ret.leftBlindspot, ret.rightBlindspot = self.enhanced_bsm.update(cp, self.frame)
+
+    if self.CP_SP.flags & ToyotaFlagsSP.SP_AUTO_BRAKE_HOLD:
+      self.pre_collision_2 = copy.copy(cp_cam.vl["PRE_COLLISION_2"])
+
+    self.frame += 1
+
    CarStateExt.update(self, ret, ret_sp, can_parsers)

    return ret, ret_sp
@@ -231,4 +291,4 @@ class CarState(CarStateBase, CarStateExt):
    return {
      Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], pt_messages, 0),
      Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [] + cam_messages, 2),
-    }
+    }
@@ -4,7 +4,7 @@ from opendbc.car.toyota.carcontroller import CarController
 from opendbc.car.toyota.radar_interface import RadarInterface
 from opendbc.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, \
                                                  MIN_ACC_SPEED, EPS_SCALE, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR, \
-                                                  ToyotaSafetyFlags, UNSUPPORTED_DSU_CAR
+                                                  ToyotaSafetyFlags, UNSUPPORTED_DSU_CAR, SECOC_CAR
 from opendbc.car.disable_ecu import disable_ecu
 from opendbc.car.interfaces import CarInterfaceBase
 from opendbc.sunnypilot.car.toyota.values import ToyotaFlagsSP, ToyotaSafetyFlagsSP
@@ -115,6 +115,7 @@ class CarInterface(CarInterfaceBase):
    # min speed to enable ACC. if car can do stop and go, then set enabling speed
    # to a negative value, so it won't matter.
    ret.minEnableSpeed = -1. if stop_and_go else MIN_ACC_SPEED
+  

    if candidate in TSS2_CAR:
      ret.flags |= ToyotaFlags.RAISED_ACCEL_LIMIT.value
@@ -131,6 +132,9 @@ class CarInterface(CarInterfaceBase):
    if candidate in UNSUPPORTED_DSU_CAR:
      ret.safetyParam |= ToyotaSafetyFlagsSP.UNSUPPORTED_DSU

+    if candidate == CAR.TOYOTA_PRIUS_TSS2:
+      ret.flags |= ToyotaFlagsSP.SP_NEED_DEBUG_BSM.value
+
    # Detect smartDSU, which intercepts ACC_CMD from the DSU (or radar) allowing openpilot to send it
    # 0x2AA is sent by a similar device which intercepts the radar instead of DSU on NO_DSU_CARs
    if 0x2FF in fingerprint[0] or (0x2AA in fingerprint[0] and candidate in NO_DSU_CAR):
@@ -1,4 +1,5 @@
 from opendbc.car.structs import CarParams
+from opendbc.car.can_definitions import CanData

 SteerControlType = CarParams.SteerControlType

@@ -164,3 +165,47 @@ def toyota_checksum(address: int, sig, d: bytearray) -> int:
  for i in range(len(d) - 1):
    s += d[i]
  return s & 0xFF
+
+def create_set_bsm_debug_mode(lr_blindspot, enabled):
+  dat = b"\x02\x10\x60\x00\x00\x00\x00" if enabled else b"\x02\x10\x01\x00\x00\x00\x00"
+  dat = lr_blindspot + dat
+
+  return CanData(0x750, dat, 0)
+
+
+def create_bsm_polling_status(lr_blindspot):
+  return CanData(0x750, lr_blindspot + b"\x02\x21\x69\x00\x00\x00\x00", 0)
+
+
+# auto brake hold
+def create_brake_hold_command(packer, frame, pre_collision_2, brake_hold_active):
+  # forward PRE_COLLISION_2 when auto brake hold is not active
+  values = {s: pre_collision_2[s] for s in [
+    "DSS1GDRV",
+    "DS1STAT2",
+    "DS1STBK2",
+    "PCSWAR",
+    "PCSALM",
+    "PCSOPR",
+    "PCSABK",
+    "PBATRGR",
+    "PPTRGR",
+    "IBTRGR",
+    "CLEXTRGR",
+    "IRLT_REQ",
+    "BRKHLD",
+    "AVSTRGR",
+    "VGRSTRGR",
+    "PREFILL",
+    "PBRTRGR",
+    "PCSDIS",
+    "PBPREPMP",
+  ]}
+
+  if brake_hold_active:
+    values = {
+      "DSS1GDRV": 0x3FF,
+      "PBRTRGR": frame % 730 < 727,  # cut actuation for 3 frames
+    }
+
+  return packer.make_can_msg("PRE_COLLISION_2", 0, values)
@@ -1,125 +0,0 @@
-BO_ 203 ADAS_CMD_35_10ms: 24 CGW_CCU
- SG_ ADAS_CMD_Crc35Val : 0|16@1+ (1,0) [0|0] "0" FCU_C,GW_RGW,MDPS,SFA
- SG_ ADAS_CMD_AlvCnt35Val : 16|8@1+ (1,0) [0|0] "0" FCU_C,GW_RGW,MDPS,SFA
- SG_ ADAS_ActvACISta : 24|4@1+ (1,0) [0|0] "" GW_RGW,MDPS,SFA
- SG_ ADAS_ActvACILvl2Sta : 28|4@1+ (1,0) [0|0] "" ESC,FCU_C,GW_RGW,MDPS,SFA,VPC_C
- SG_ ADAS_StrAnglReqVal : 32|14@1- (0.1,0) [0|0] "Deg" GW_RGW,MDPS,SFA
- SG_ ADAS_ACIAnglTqRedcGainVal : 48|8@1+ (0.004,0) [0|0] "" GW_RGW,MDPS,SFA
- SG_ FCA_ESA_ActvSta : 56|2@1+ (1,0) [0|0] "" GW_RGW,MDPS,SFA
- SG_ FCA_ESA_TqBstGainVal : 64|8@1+ (0.004,0) [0|0] "" GW_RGW,MDPS,SFA
-
-BO_ 272 ESC_06_200ms: 32 XXX
- SG_ ESC_Crc6Val : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ ESC_AlvCnt6Val : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ IEB_BrkMod_Sta : 24|3@1+ (1,0) [0|7] "" XXX
- SG_ IEB_BrkMod_Type : 27|2@1+ (1,0) [0|255] "" XXX
- SG_ LFA2_USING_LEAD_MAYBE : 30|1@0+ (1,0) [0|1] "" XXX
- SG_ LKA_WARNING : 32|1@1+ (1,0) [0|1] "" XXX
- SG_ LKA_SysIndReq : 38|3@1+ (1,0) [0|7] "" CLU,RR_C_RDR,CGW
- SG_ ADAS_StrTqReqVal : 41|11@1+ (0.0078125,-8) [-8|7.9921875] "Nm" CGW
- SG_ ADAS_ActToiSta : 52|2@1+ (1,0) [0|3] "" CLU,CGW
- SG_ ADAS_ToiFltSta : 54|2@1+ (1,0) [0|3] "" CGW
- SG_ LFA_BUTTON : 56|1@1+ (1,0) [0|255] "" XXX
- SG_ LKA_ASSIST : 62|1@1+ (1,0) [0|1] "" XXX
- SG_ STEER_MODE : 65|3@1+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_2 : 70|2@0+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_3_LDW_UNK : 72|2@1+ (1,0) [0|3] "" XXX
- SG_ LKAS_ANGLE_ACTIVE : 77|2@0+ (1,0) [0|3] "" XXX
- SG_ HAS_LANE_SAFETY : 80|1@0+ (1,0) [0|1] "" XXX
- SG_ LKAS_ANGLE_CMD : 82|14@1- (0.1,0) [0|511] "" XXX
- SG_ LKAS_ANGLE_MAX_TORQUE : 96|8@1+ (1,0) [0|255] "" XXX
- SG_ LDW_SHAKE_STEERING : 105|2@0+ (1,0) [0|255] "" XXX
- SG_ FCA_ESA_CtrlSta : 107|1@0+ (1,0) [0|1] "" XXX
- SG_ CAR_IN_DRIVE_MAYBE : 232|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 298 ADAS_CMD_30_10ms: 16 FR_CMR
- SG_ ADAS_CMD_Crc30Val : 0|16@1+ (1,0) [0|65535] "" CLU,CGW
- SG_ ADAS_CMD_AlvCnt30Val : 16|8@1+ (1,0) [0|255] "" CLU,CGW
- SG_ LKA_OptUsmSta : 24|3@1+ (1,0) [0|7] "" CLU,CGW
- SG_ LKA_RcgSta : 27|3@1+ (1,0) [0|7] "" CLU,CGW
- SG_ LKA_LHLnWrnSta : 30|2@1+ (1,0) [0|3] "" CLU,CGW
- SG_ LKA_RHLnWrnSta : 32|2@1+ (1,0) [0|3] "" CLU,CGW
- SG_ LKA_HndsoffSnd : 34|2@1+ (1,0) [0|3] "" CLU,CGW
- SG_ LKA_StrSnd : 36|2@1+ (1,0) [0|3] "" CLU,CGW
- SG_ LKA_SysIndReq : 38|3@1+ (1,0) [0|7] "" CLU,RR_C_RDR,CGW
- SG_ ADAS_StrTqReqVal : 41|11@1+ (0.0078125,-8) [-8|7.9921875] "Nm" CGW
- SG_ ADAS_ActToiSta : 52|2@1+ (1,0) [0|3] "" CLU,CGW
- SG_ ADAS_ToiFltSta : 54|2@1+ (1,0) [0|3] "" CGW
- SG_ LFA_BUTTON : 56|1@0+ (1,0) [0|1] "" XXX
- SG_ BCA_Rear_WrnSta : 57|3@1+ (1,0) [0|255] "" ADRV
- SG_ LKA_SysWrn : 60|4@1+ (1,0) [0|15] "" CLU,CGW
- SG_ FCA_LO_WrnSta : 64|1@1+ (1,0) [0|1] "" ADRV
- SG_ STEER_MODE : 65|3@1+ (1,0) [0|1] "" ADRV
- SG_ FCA_LS_WrnSta : 68|2@1+ (1,0) [0|3] "" ADRV
- SG_ NEW_SIGNAL_2 : 70|1@0+ (1,0) [0|3] "" ADRV
- SG_ SCC_TakeoverReq_CLU_AMP_PE_02_Warn_Sound : 72|2@1+ (1,0) [0|255] "" ADRV
- SG_ NEW_SIGNAL_1 : 79|1@0+ (1,0) [0|1] "" XXX
- SG_ LKA_UsmMod : 80|2@1+ (1,0) [0|3] "" CLU,CGW
- SG_ LDW_SHAKE_STEERING : 82|2@1+ (1,0) [0|3] "" XXX
- SG_ ELK_SysFlrSta : 85|5@1+ (1,0) [0|31] "" ADRV
- SG_ ELK_SymbDisp : 90|3@1+ (1,0) [0|7] "" ADRV
- SG_ FCA_ESA_CtrlSta : 98|1@0+ (1,0) [0|1] "" XXX
- SG_ ADAS_Damping_Gain : 104|8@1+ (1,0) [0|255] "" CGW
-
-CM_ BO_ 203 "[P] Periodic";
-CM_ SG_ 203 ADAS_CMD_Crc35Val "ADAS_CMD_CyclicRedundancyCheck35Value";
-CM_ SG_ 203 ADAS_CMD_AlvCnt35Val "ADAS_CMD_AliveCounter35Value";
-CM_ SG_ 203 ADAS_ActvACISta "ADAS Active AngleControlInterface State";
-CM_ SG_ 203 ADAS_ActvACILvl2Sta "ADAS Active AngleControlInterface Level 2 State";
-CM_ SG_ 203 ADAS_StrAnglReqVal "ADAS Steering Angle Request Value";
-CM_ SG_ 203 ADAS_ACIAnglTqRedcGainVal "ADAS AngleControlInterface Angle Torque Reduction Gain Value";
-CM_ SG_ 203 FCA_ESA_ActvSta "State for FCA w/ESA";
-CM_ SG_ 203 FCA_ESA_TqBstGainVal "FCA w/ESA Torque boost Gain";
-CM_ SG_ 272 IEB_BrkMod_Sta "Brake Mode State";
-CM_ SG_ 272 IEB_BrkMod_Type "Brake Mode Type";
-CM_ SG_ 272 LFA2_USING_LEAD_MAYBE "I don't know about this signal much. But I noticed that it flipped to 1 when the lane was dubious but we had a lead in front";
-CM_ SG_ 272 LKA_SysIndReq "LKA_SystemIndicatorRequest ##2G##LDW_LKA - LKA11 - CF_LKA_SymbolState";
-CM_ SG_ 272 NEW_SIGNAL_3_LDW_UNK "I don't know what this signal is meant to do or convery. I just know it the 2 bits changed together when I manually disabled LKAS. ";
-CM_ SG_ 272 LDW_SHAKE_STEERING "I am not 100% sure on this signal. I believe that when this happens, the steering vibrates. Same as ADAS_CMD_30_10ms";
-CM_ SG_ 272 FCA_ESA_CtrlSta "Signal is a best guess. It went \"off\" when I disabled LKAS on a route. Same as ADAS_CMD_30_10ms";
-CM_ SG_ 272 CAR_IN_DRIVE_MAYBE "This seems to indicate when the car is on D maybe. I am not sure. I saw it twice on a route on hoth times I do remember stopping completely and in one instance I remember putting park. ";
-CM_ BO_ 298 "[P] Periodic";
-CM_ SG_ 298 ADAS_CMD_Crc30Val "ADAS_CMD_CyclicRedundancyCheck30Value";
-CM_ SG_ 298 ADAS_CMD_AlvCnt30Val "ADAS_CMD_AliveCounter30Value";
-CM_ SG_ 298 LKA_OptUsmSta "LKA_OptionUsmStatus ##2G##LDW_LKA - LKA11 - CF_LKA_Opt_USM";
-CM_ SG_ 298 LKA_RcgSta "LKA_RecognitionStatus ##2G##LDW_LKA - LKA11 - CF_LKA_LaneRecogState";
-CM_ SG_ 298 LKA_LHLnWrnSta "LKA_LHLaneWarningStatus ##2G##LDW_LKA - LKA11 - CF_LKA_LHWarning";
-CM_ SG_ 298 LKA_RHLnWrnSta "LKA_RHLaneWarningStatus ##2G##LDW_LKA - LKA11 - CF_LKA_RHWarning";
-CM_ SG_ 298 LKA_HndsoffSnd "LKA_HandsoffSound ##2G##LDW_LKA - LKA11 - CF_LKA_HandsOff_Snd";
-CM_ SG_ 298 LKA_StrSnd "LKA_SteeringSound ##2G##LDW_LKA - LKA11 - CF_LKA_Steer_Snd";
-CM_ SG_ 298 LKA_SysIndReq "LKA_SystemIndicatorRequest ##2G##LDW_LKA - LKA11 - CF_LKA_SymbolState";
-CM_ SG_ 298 ADAS_StrTqReqVal "LKA_SteeringTorqueRequestValue ##2G##LDW_LKA - LKA11 - CR_LKA_StrToqReq";
-CM_ SG_ 298 ADAS_ActToiSta "ADAS_ActiveTorqueOverlayInterfaceStatus ##2G##LDW_LKA - LKA11 - CF_LKA_ActToi";
-CM_ SG_ 298 ADAS_ToiFltSta "ADAS_TorqueOverlayInterfaceFaultStatus ##2G##LDW_LKA - LKA11 - CF_LKA_ToiFlt";
-CM_ SG_ 298 BCA_Rear_WrnSta "best-guess";
-CM_ SG_ 298 LKA_SysWrn "LKA_Additional_Info";
-CM_ SG_ 298 LKA_UsmMod "LKA_USM Mode ##2G##LDW_LKA-LKA11-CF_LKA_USM_Mode";
-CM_ SG_ 298 LDW_SHAKE_STEERING "I am not 100% sure on this signal. I believe that when this happens, the steering vibrates. Same as ESC_06_200ms";
-CM_ SG_ 298 FCA_ESA_CtrlSta "Signal is a best guess. It went \"off\" when I disabled LKAS on a route. Same as ESC_06_200ms";
-CM_ SG_ 298 ADAS_Damping_Gain "ADAS_Damping_Gain";
-VAL_ 203 ADAS_CMD_Crc35Val 0 "0x0x0~0xFFFF:CRCValue" 65535 "0x0x0~0xFFFF:CRCValue";
-VAL_ 203 ADAS_CMD_AlvCnt35Val 0 "0x0x0~0xFF:AlvCntValue" 255 "0x0x0~0xFF:AlvCntValue";
-VAL_ 203 ADAS_ActvACISta 0 "INIT" 1 "INACTIVE" 2 "ACTIVE35(ACTIVE)" 3 "ACTIVE33(Redundancy)" 4 "RESERVED" 5 "RESERVED" 6 "RESERVED" 7 "RESERVED" 8 "RESERVED" 9 "RESERVED" 10 "RESERVED" 11 "RESERVED" 12 "RESERVED" 13 "RESERVED" 14 "RESERVED" 15 "RESERVED";
-VAL_ 203 ADAS_ActvACILvl2Sta 0 "INIT" 1 "INACTIVE" 2 "ACTIVE35(ACTIVE)" 3 "RESERVED" 4 "RESERVED" 5 "RESERVED" 6 "RESERVED" 7 "RESERVED" 8 "RESERVED" 9 "RESERVED" 10 "RESERVED" 11 "RESERVED" 12 "RESERVED" 13 "RESERVED" 14 "RESERVED" 15 "RESERVED";
-VAL_ 203 ADAS_StrAnglReqVal 0 "0x0x000~0x3FFF:Real Values" 16383 "0x0x000~0x3FFF:Real Values";
-VAL_ 203 ADAS_ACIAnglTqRedcGainVal 0 "0x0x00~0xFA:Real Values" 250 "0x0x00~0xFA:Real Values" 251 "RESERVED" 252 "RESERVED" 253 "RESERVED" 254 "RESERVED" 255 "RESERVED";
-VAL_ 203 FCA_ESA_ActvSta 0 "Inactive" 1 "Active" 2 "RESERVED" 3 "RESERVED";
-VAL_ 203 FCA_ESA_TqBstGainVal 0 "0x0x00~0xFA:Real Values" 250 "0x0x00~0xFA:Real Values" 251 "RESERVED" 252 "RESERVED" 253 "RESERVED" 254 "RESERVED" 255 "RESERVED";
-VAL_ 272 IEB_BrkMod_Sta 0 "0x0: Not Applied" 1 "Normal" 2 "Sport" 3 "Chauffeur" 7 "Failure";
-VAL_ 272 IEB_BrkMod_Type 0 "type1 (Normal/Sport)" 1 "type2 (Normal/Sport/Chauffeur)";
-VAL_ 272 LKA_SysIndReq 0 "Off" 1 "Unavailable_(Grey On)" 2 "Lane Recognized_(Green On)" 3 "Lane Departure_(Green Blink)" 4 "System Fail_(Orange On)" 5 "Not Calibrated_(Orange Blink)" 6 "Regulation_(Orange On)" 7 "Reserved";
-VAL_ 272 FCA_ESA_CtrlSta 0 "Off" 1 "On";
-VAL_ 298 LKA_OptUsmSta 0 "None LKA/LDW Option (Default)" 1 "LDW" 2 "LKA" 3 "Reserved" 4 "LDW Only (None LKA)" 5 "LDW only OFF (None LKA)" 6 "LDW/LKA OFF" 7 "Invalid";
-VAL_ 298 LKA_RcgSta 0 "Not Recognized" 1 "Left Lane Recognition" 2 "Right Lane Recognition" 3 "Full Lane Recognition" 4 "Reserved" 5 "Reserved" 6 "Reserved" 7 "Reserved";
-VAL_ 298 LKA_LHLnWrnSta 0 "No Warning" 1 "Lane Departure Warning" 2 "Reserved" 3 "Reserved";
-VAL_ 298 LKA_RHLnWrnSta 0 "No Warning" 1 "Lane Departure Warning" 2 "Reserved" 3 "Reserved";
-VAL_ 298 LKA_HndsoffSnd 0 "Off" 1 "Hands-off Sound Warning" 2 "Reserved" 3 "Reserved";
-VAL_ 298 LKA_StrSnd 0 "Off" 1 "Warning" 2 "Reserved" 3 "Reserved";
-VAL_ 298 LKA_SysIndReq 0 "Off" 1 "Unavailable_(Grey On)" 2 "Lane Recognized_(Green On)" 3 "Lane Departure_(Green Blink)" 4 "System Fail_(Orange On)" 5 "Not Calibrated_(Orange Blink)" 6 "Regulation_(Orange On)" 7 "Reserved";
-VAL_ 298 ADAS_StrTqReqVal 2046 "Reserved" 2047 "Invalid";
-VAL_ 298 ADAS_ActToiSta 0 "De-activate TOI" 1 "Activate TOI" 2 "Reserved" 3 "Error indicator";
-VAL_ 298 ADAS_ToiFltSta 0 "No Fault" 1 "Fault" 2 "Reserved" 3 "Error indicatorr";
-VAL_ 298 LKA_SysWrn 0 "No Info" 1 "Reserved" 2 "Reserved" 3 "Reserved" 4 "Hands-Off Warning 1" 5 "Hands-Off Warning 2" 6 "Hands-Off Warning 3" 7 "Reserved" 8 "Reserved" 9 "System Automatic off" 10 "Reserved" 11 "Reserved" 12 "Reserved" 13 "Reserved" 14 "Reserved" 15 "System Fail";
-VAL_ 298 LKA_UsmMod 0 "NONE" 1 "LKA 1 mode" 2 "Reserved" 3 "LDW";
-VAL_ 298 FCA_ESA_CtrlSta 0 "Off";
-VAL_ 298 ADAS_Damping_Gain 0 "Reserved" 1 "Reserved" 2 "Reserved" 0 "Reserved" 202 "Reserved" 203 "Reserved" 204 "Reserved" 205 "Reserved" 206 "Reserved" 207 "Reserved" 208 "Reserved" 209 "Reserved" 210 "Reserved" 211 "Reserved" 212 "Reserved" 213 "Reserved" 214 "Reserved" 215 "Reserved" 216 "Reserved" 217 "Reserved" 218 "Reserved" 219 "Reserved" 220 "Reserved" 221 "Reserved" 222 "Reserved" 223 "Reserved" 224 "Reserved" 225 "Reserved" 226 "Reserved" 227 "Reserved" 228 "Reserved" 229 "Reserved" 230 "Reserved" 231 "Reserved" 232 "Reserved" 233 "Reserved" 234 "Reserved" 235 "Reserved" 236 "Reserved" 237 "Reserved" 238 "Reserved" 239 "Reserved" 240 "Reserved" 241 "Reserved" 242 "Reserved" 243 "Reserved" 244 "Reserved" 245 "Reserved" 246 "Reserved" 247 "Reserved" 248 "Reserved" 249 "Reserved" 250 "Reserved" 251 "Reserved" 252 "Reserved" 253 "Reserved" 254 "Reserved" 255 "Reserved";
@@ -1,271 +0,0 @@
-BO_ 560 NEW_MSG_230: 16 FR_CMR_OR_CAR
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 565 NEW_MSG_235: 32 FR_CMR_OR_CAR
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 566 NEW_MSG_236: 32 FR_CMR
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 567 NEW_MSG_237: 32 FR_CMR
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 568 NEW_MSG_238: 32 FR_CMR
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 569 NEW_MSG_239: 32 FR_CMR
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 570 NEW_MSG_23A: 32 FR_CMR
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 571 NEW_MSG_23B: 32 FR_CMR_OR_CAR
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 572 NEW_MSG_23C: 32 FR_CMR
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 573 NEW_MSG_23D: 32 FR_CMR
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 574 NEW_MSG_23E: 32 FR_CMR
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 575 NEW_MSG_23F: 32 FR_CMR
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 577 NEW_MSG_241: 32 FR_CMR
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 578 NEW_MSG_242: 32 FR_CMR
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 579 NEW_MSG_243: 32 FR_CMR
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 580 NEW_MSG_244: 32 FR_CMR
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 581 NEW_MSG_245: 32 FR_CMR
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 582 NEW_MSG_246: 32 FR_CMR
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 583 NEW_MSG_247: 32 FR_CMR
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 584 NEW_MSG_248: 32 FR_CMR
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 864 NEW_MSG_360: 32 FR_CMR
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 865 NEW_MSG_361: 32 FR_CMR
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 867 NEW_MSG_363: 32 FR_CMR
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 868 NEW_MSG_364: 32 FR_CMR
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 869 NEW_MSG_365: 32 FR_CMR
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 870 NEW_MSG_366: 32 FR_CMR
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 896 NEW_MSG_380: 24 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" FR_CMR
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" FR_CMR
-
-BO_ 917 NEW_MSG_395: 32 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|255] "" FR_CMR
- SG_ COUNTER : 16|8@1+ (1,0) [0|65535] "" FR_CMR
-
-BO_ 928 NEW_MSG_3A0: 32 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|255] "" FR_CMR
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" FR_CMR
-
-BO_ 933 NEW_MSG_3A5: 24 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" FR_CMR
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" FR_CMR
-
-BO_ 934 NEW_MSG_3A6: 24 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" FR_CMR
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" FR_CMR
-
-BO_ 935 NEW_MSG_3A7: 24 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" FR_CMR
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" FR_CMR
-
-BO_ 936 NEW_MSG_3A8: 24 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" FR_CMR
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" FR_CMR
-
-BO_ 937 NEW_MSG_3A9: 24 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" FR_CMR
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" FR_CMR
-
-BO_ 938 NEW_MSG_3AA: 24 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" FR_CMR
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" FR_CMR
-
-BO_ 939 NEW_MSG_3AB: 24 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" FR_CMR
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" FR_CMR
-
-BO_ 940 NEW_MSG_3AC: 24 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" FR_CMR
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" FR_CMR
-
-BO_ 941 NEW_MSG_3AD: 24 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" FR_CMR
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" FR_CMR
-
-BO_ 942 NEW_MSG_3AE: 24 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" FR_CMR
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" FR_CMR
-
-BO_ 943 NEW_MSG_3AF: 24 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" FR_CMR
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" FR_CMR
-
-BO_ 944 NEW_MSG_3B0: 24 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" FR_CMR
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" FR_CMR
-
-BO_ 945 NEW_MSG_3B1: 24 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" FR_CMR
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" FR_CMR
-
-BO_ 946 NEW_MSG_3B2: 24 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" FR_CMR
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" FR_CMR
-
-BO_ 947 NEW_MSG_3B3: 24 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" FR_CMR
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" FR_CMR
-
-BO_ 948 NEW_MSG_3B4: 24 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" FR_CMR
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" FR_CMR
-
-BO_ 949 NEW_MSG_3B5: 24 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" FR_CMR
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" FR_CMR
-
-BO_ 950 NEW_MSG_3B6: 24 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" FR_CMR
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" FR_CMR
-
-BO_ 951 NEW_MSG_3B7: 24 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" FR_CMR
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" FR_CMR
-
-BO_ 952 NEW_MSG_3B8: 24 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" FR_CMR
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" FR_CMR
-
-BO_ 953 NEW_MSG_3B9: 24 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" FR_CMR
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" FR_CMR
-
-BO_ 954 NEW_MSG_3BA: 24 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" FR_CMR
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" FR_CMR
-
-BO_ 955 NEW_MSG_3BB: 24 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" FR_CMR
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" FR_CMR
-
-BO_ 956 NEW_MSG_3BC: 24 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" FR_CMR
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" FR_CMR
-
-BO_ 957 NEW_MSG_3BD: 24 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" FR_CMR
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" FR_CMR
-
-BO_ 958 NEW_MSG_3BE: 24 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" FR_CMR
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" FR_CMR
-
-BO_ 959 NEW_MSG_3BF: 24 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" FR_CMR
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" FR_CMR
-
-BO_ 960 NEW_MSG_3C0: 24 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" FR_CMR
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" FR_CMR
-
-BO_ 962 NEW_MSG_3C2: 24 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" FR_CMR
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" FR_CMR
-
-BO_ 963 NEW_MSG_3C3: 24 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" FR_CMR
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" FR_CMR
-
-BO_ 964 NEW_MSG_3C4: 24 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" FR_CMR
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" FR_CMR
-
-BO_ 976 NEW_MSG_3D0: 32 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" FR_CMR
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" FR_CMR
-
-BO_ 977 NEW_MSG_3D1: 32 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" FR_CMR
- SG_ COUNTER : 16|8@1+ (1,0) [0|127] "" FR_CMR
-
-BO_ 978 NEW_MSG_3D2: 32 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" FR_CMR
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" FR_CMR
-
-BO_ 979 NEW_MSG_3D3: 32 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|32767] "" FR_CMR
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" FR_CMR
-
-BO_ 980 NEW_MSG_3D4: 32 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" FR_CMR
- SG_ NEW_SIGNAL_1 : 16|8@1+ (1,0) [0|255] "" FR_CMR
-
-BO_ 1280 NEW_MSG_500: 16 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" FR_CMR
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" FR_CMR
- SG_ NEW_SIGNAL_3_SPEED_DEPENDANT : 24|8@1+ (1,0) [0|255] "" FR_CMR
-
-CM_ BO_ 976 "(all 0)";
-CM_ BO_ 977 "(all 0)";
-CM_ BO_ 978 "(all 0)";
-CM_ BO_ 979 "(all 0)";
-CM_ BO_ 980 "(all 0)";
-CM_ SG_ 1280 NEW_SIGNAL_3_SPEED_DEPENDANT "I dont know what this is but it IS speed dependant";
@@ -1,5 +1,4 @@
 CM_ "IMPORT _hyundai_canfd_common.dbc";
-CM_ "IMPORT _hyundai_canfd_hda2_cam_unknown.dbc";

 BO_ 53 ACCELERATOR: 32 XXX
 SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
@@ -210,9 +209,6 @@ BO_ 298 LFA: 16 ADRV
 SG_ ELK_SymbDisp : 90|3@1+ (1,0) [0|7] "" ADRV
 SG_ FCA_ESA_WrnSta : 93|1@1+ (1,0) [0|7] "" ADRV
 SG_ FCA_ESA_CtrlSta : 101|1@1+ (1,0) [0|7] "" ADRV
- SG_ LKAS_ANGLE_ACTIVE : 77|2@0+ (1,0) [0|3] "" XXX
- SG_ ADAS_StrAnglReqVal : 82|14@1- (0.1,0) [0|176.7] "Deg" GW_RGW,MDPS,SFA
- SG_ ADAS_ACIAnglTqRedcGainVal : 96|8@1+ (0.004,0) [0|1] "" GW_RGW,MDPS,SFA
 SG_ Damping_Gain : 104|8@1+ (1,0) [0|255] "" CGW

 BO_ 304 GEAR_SHIFTER: 16 XXX
@@ -838,9 +834,7 @@ CM_ SG_ 282 FR_CMR_SCCEquipSta "This signal indicates equipment for SCC";
 CM_ SG_ 282 FR_CMR_ReqADASMapMsgVal "This signal indicates an ADAS map message request from FR_CMR to H_U. Each bit indicates the request messages as follows. - Bit 0 : H_U_NAVI_V2_STUB_E - Bit 1 : HU_NAVI_V2_PROSHORT_E_00 (곡률) - Bit 2 : HU_NAVI_V2_PROSHORT_E_00 (곡률 외 정보)";
 CM_ SG_ 282 FR_CMR_SwVer1Val "This signal indicates a major version of FR_CMR software. If FR_CMR software version is A.00, 'A' and '00' mean major and minor version respectively.";
 CM_ SG_ 282 FR_CMR_SwVer2Val "This signal indicates a minor version of FR_CMR software. If FR_CMR software version is A.00, 'A' and '00' mean major and minor version respectively.";
-CM_ BO_ 298 "This message controls steering and alerts regarding lateral control. Formerly known as LFA.
-
-Node is flagged as ADRV, but in reality this signal can be seen from either the FR_CMR (front camera) or the ADRV (adas ecu) for some trims.";
+CM_ BO_ 298 "This message controls steering and alerts regarding lateral control. Formerly known as LFA. Node is flagged as ADRV, but in reality this signal can be seen from either the FR_CMR (front camera) or the ADRV (adas ecu) for some trims.";
 CM_ SG_ 298 LKA_OptUsmSta "LKA_OptionUsmStatus ##2G##LDW_LKA - LKA11 - CF_LKA_Opt_USM";
 CM_ SG_ 298 LKA_RcgSta "LKA_RecognitionStatus ##2G##LDW_LKA - LKA11 - CF_LKA_LaneRecogState";
 CM_ SG_ 298 LKA_LHLnWrnSta "LKA_LHLaneWarningStatus ##2G##LDW_LKA - LKA11 - CF_LKA_LHWarning";
@@ -1,855 +0,0 @@
-CM_ "IMPORT _hyundai_canfd_common.dbc";
-CM_ "IMPORT _hyundai_canfd_ccnc_og.dbc";
-
-BO_ 74 IMU_01_10ms: 32 CGW_CCU
- SG_ IMU_Crc1Val : 0|16@1+ (1,0) [0|0] ""  ECS,ESC,FCU_C,GW_RGW,ICSC,MDPS,RCU,RWS,SFA,VPC_C
- SG_ IMU_AlvCnt1Val : 16|8@1+ (1,0) [0|0] ""  ECS,ESC,FCU_C,GW_RGW,ICSC,MDPS,RCU,RWS,SFA,VPC_C
- SG_ IMU_YawSigSta : 24|4@1+ (1,0) [0|15] ""  CLU,ADAS_PRK,FR_CMR,RR_C_RDR
- SG_ IMU_LatAccelSigSta : 28|4@1+ (1,0) [0|15] ""  CLU,ADAS_PRK,FR_CMR,RR_C_RDR
- SG_ IMU_LongAccelSigSta : 32|4@1+ (1,0) [0|15] ""  CLU,ADAS_PRK,FR_CMR,RR_C_RDR
- SG_ IMU_VerAccelSigSta : 36|4@1+ (1,0) [0|15] "" XXX
- SG_ IMU_McuVoltSta : 40|4@1+ (1,0) [0|15] "" XXX
- SG_ IMU_AcuRstSta : 44|4@1+ (1,0) [0|15] "" XXX
- SG_ IMU_SnsrTyp : 48|8@1+ (1,0) [0|255] "" XXX
- SG_ IMU_RollSigSta : 56|8@1+ (1,0) [0|255] "" XXX
- SG_ IMU_YawRtVal : 64|16@1+ (0.005,-163.84) [-163.84|163.835] "Deg/s"  CLU,ADAS_PRK,FR_CMR,RR_C_RDR
- SG_ IMU_LatAccelVal : 80|16@1+ (0.000127465,-4.17677312) [-4.17677312|4.176645655] "g"  CLU,ADAS_PRK,FR_CMR,RR_C_RDR
- SG_ IMU_LongAccelVal : 96|16@1+ (0.000127465,-4.17677312) [-4.17677312|4.176645655] "g"  CLU,ADAS_PRK,FR_CMR,RR_C_RDR
- SG_ IMU_SnsrTempVal : 112|16@1+ (1,0) [0|65535] "" XXX
- SG_ IMU_SeralNumVal : 128|64@1+ (1,0) [0|1.84467440737096e+19] "" XXX
- SG_ IMU_RollRtVal : 192|16@1+ (0.005,-163.84) [0|0] "º/s" XXX
- SG_ IMU_VerAccelVal : 208|8@1+ (1,0) [0|255] "" XXX
- 
-BO_ 229 ESC_02_10ms: 32 CGW
- SG_ ESC_YawSigSta : 24|4@1+ (1,0) [0|15] ""  CLU,ADAS_PRK,FR_CMR,RR_C_RDR
- SG_ ESC_LatAccelSigSta : 28|4@1+ (1,0) [0|15] ""  CLU,ADAS_PRK,FR_CMR,RR_C_RDR
- SG_ ESC_LongAccelSigSta : 32|4@1+ (1,0) [0|15] ""  CLU,ADAS_PRK,FR_CMR,RR_C_RDR
- SG_ ESC_YawRtVal : 64|16@1+ (0.005,-163.84) [-163.84|163.835] "Deg/s"  CLU,ADAS_PRK,FR_CMR,RR_C_RDR
- SG_ ESC_LatAccelVal : 80|16@1+ (0.000127465,-4.17677312) [-4.17677312|4.176645655] "g"  CLU,ADAS_PRK,FR_CMR,RR_C_RDR
- SG_ ESC_LongAccelVal : 96|16@1+ (0.000127465,-4.17677312) [-4.17677312|4.176645655] "g"  CLU,ADAS_PRK,FR_CMR,RR_C_RDR
-
-
-BO_ 53 ACCELERATOR: 32 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ ACCELERATOR_PEDAL : 40|8@1+ (1,0) [0|255] "" XXX
- SG_ GEAR : 192|3@1+ (1,0) [0|7] "" XXX
-
-BO_ 64 GEAR_ALT: 32 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ GEAR : 32|3@1+ (1,0) [0|7] "" XXX
-
-BO_ 69 GEAR: 24 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ GEAR : 44|3@1+ (1,0) [0|7] "" XXX
-
-BO_ 96 ESP_STATUS: 32 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ TRACTION_AND_STABILITY_CONTROL : 42|3@1+ (1,0) [0|63] "" XXX
- SG_ BRAKE_PRESSURE : 128|10@1+ (1,0) [0|65535] "" XXX
- SG_ BRAKE_PRESSED : 148|1@1+ (1,0) [0|3] "" XXX
-
-BO_ 101 BRAKE: 32 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ BRAKE_POSITION : 40|16@1- (1,0) [0|65535] "" XXX
- SG_ BRAKE_PRESSED : 57|1@1+ (1,0) [0|3] "" XXX
-
-BO_ 112 GEAR_ALT_2: 32 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ GEAR : 60|3@1+ (1,0) [0|7] "" XXX
-
-BO_ 160 WHEEL_SPEEDS: 24 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ MOVING_FORWARD : 56|1@0+ (1,0) [0|1] "" XXX
- SG_ MOVING_BACKWARD : 57|1@0+ (1,0) [0|1] "" XXX
- SG_ MOVING_FORWARD2 : 58|1@0+ (1,0) [0|1] "" XXX
- SG_ MOVING_BACKWARD2 : 59|1@0+ (1,0) [0|1] "" XXX
- SG_ WHL_SpdFLVal : 64|14@1+ (0.03125,0) [0|0] "km^h" XXX
- SG_ WHL_SpdFRVal : 80|14@1+ (0.03125,0) [0|0] "km^h" XXX
- SG_ WHL_SpdRLVal : 96|14@1+ (0.03125,0) [0|0] "km^h" XXX
- SG_ WHL_SpdRRVal : 112|14@1+ (0.03125,0) [0|0] "km^h" XXX
-
-BO_ 234 MDPS: 24 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ LKA_ACTIVE : 48|1@0+ (1,0) [0|16777215] "" XXX
- SG_ LKA_FAULT : 54|1@0+ (1,0) [0|1] "" XXX
- SG_ STEERING_OUT_TORQUE : 64|12@1+ (0.1,-204.8) [0|65535] "" XXX
- SG_ STEERING_COL_TORQUE : 80|13@1+ (1,-4095) [0|4095] "" XXX
- SG_ STEERING_ANGLE : 96|16@1- (0.1,0) [0|255] "deg" XXX
- SG_ STEERING_ANGLE_2 : 128|16@1- (0.1,0) [0|65535] "deg" XXX
- SG_ LKA_ANGLE_ACTIVE : 145|2@0+ (1,0) [0|3] "" XXX
- SG_ LKA_ANGLE_FAULT : 149|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 256 ACCELERATOR_BRAKE_ALT: 32 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ BRAKE_PRESSED : 32|1@1+ (1,0) [0|1] "" XXX
- SG_ ACCELERATOR_PEDAL_PRESSED : 176|1@1+ (1,0) [0|1] "" XXX
-
-BO_ 261 ACCELERATOR_ALT: 32 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ ACCELERATOR_PEDAL : 103|10@1+ (0.25,0) [0|1022] "" XXX
-
-BO_ 282 FR_CMR_01_10ms: 16 FR_CMR
- SG_ FR_CMR_Crc1Val : 0|16@1+ (1,0) [0|0] "" Dummy,IBU_HS,vBDM
- SG_ FR_CMR_AlvCnt1Val : 16|8@1+ (1,0) [0|0] "" CLU,IBU_HS,vBDM
- SG_ HBA_SysOptSta : 24|2@1+ (1,0) [0|3] "" CLU,IBU_HS,vBDM
- SG_ HBA_SysSta : 26|3@1+ (1,0) [0|7] "" CLU,IBU_HS,vBDM
- SG_ HBA_IndLmpReq : 29|2@1+ (1,0) [0|3] "" CLU,vBDM
- SG_ iHBAref_VehLftSta : 31|2@1+ (1,0) [0|3] "" IBU_HS,ICU,vBDM
- SG_ iHBAref_VehCtrSta : 33|2@1+ (1,0) [0|3] "" IBU_HS,ICU,vBDM
- SG_ iHBAref_VehRtSta : 35|2@1+ (1,0) [0|3] "" IBU_HS,ICU,vBDM
- SG_ iHBAref_ILLAmbtSta : 37|2@1+ (1,0) [0|3] "" IBU_HS,ICU,vBDM
- SG_ FCA_Equip_MFC : 39|3@1+ (1,0) [0|0] "" ADAS_DRV,RR_C_RDR,vBDM
- SG_ HBA_OptUsmSta : 42|2@1+ (1,0) [0|3] "" CLU,H_U_MM
- SG_ FCAref_FusSta : 45|3@1+ (1,0) [0|0] "" vBDM
- SG_ DAW_LVDA_PUDis : 48|2@1+ (1,0) [0|0] "" CLU,vBDM
- SG_ DAW_LVDA_OptUsmSta : 50|2@1+ (1,0) [0|3] "" CLU,H_U_MM,vBDM
- SG_ DAW_OptUsmSta : 52|3@1+ (1,0) [0|0] "" CLU,H_U_MM
- SG_ DAW_SysSta : 55|4@1+ (1,0) [0|0] "" CLU
- SG_ DAW_WrnMsgSta : 59|3@1+ (1,0) [0|0] "" CLU
- SG_ DAW_TimeRstReq : 62|2@1+ (1,0) [0|0] "" CLU
- SG_ DAW_SnstvtyModRetVal : 64|3@1+ (1,0) [0|0] "" CLU,H_U_MMz
-
-BO_ 293 STEERING_SENSORS: 16 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ STEERING_ANGLE : 24|16@1- (0.1,0) [0|255] "deg" XXX
- SG_ STEERING_RATE : 40|8@1+ (4,0) [0|1016] "deg/s" XXX
-
-BO_ 304 GEAR_SHIFTER: 16 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ PARK_BUTTON : 32|2@1+ (1,0) [0|3] "" XXX
- SG_ KNOB_POSITION : 40|3@1+ (1,0) [0|3] "" XXX
- SG_ GEAR : 64|3@1+ (1,0) [0|7] "" XXX
-
-BO_ 352 ADRV_0x160: 16 ADRV
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ AEB_SETTING : 24|2@1+ (1,0) [0|255] "" XXX
- SG_ SET_ME_2 : 56|8@1+ (1,0) [0|1] "" XXX
- SG_ SET_ME_FF : 64|8@1+ (1,0) [0|255] "" XXX
- SG_ SET_ME_FC : 72|8@1+ (1,0) [0|255] "" XXX
- SG_ SET_ME_9 : 80|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 353 CCNC_0x161: 32 CCNC
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ FCA_ICON : 24|3@1+ (1,0) [0|7] "" XXX
- SG_ FCA_ALT_ICON : 27|3@1+ (1,0) [0|7] "" XXX
- SG_ LKA_ICON : 30|3@1+ (1,0) [0|3] "" XXX
- SG_ HBA_ICON : 33|3@1+ (1,0) [0|7] "" XXX
- SG_ ZEROS_1 : 36|4@1+ (1,0) [0|15] "" XXX
- SG_ ZEROS_2 : 40|2@1+ (1,0) [0|3] "" XXX
- SG_ FCA_IMAGE : 42|3@1+ (1,0) [0|7] "" XXX
- SG_ ZEROS_3 : 45|3@1+ (1,0) [0|7] "" XXX
- SG_ ZEROS_4 : 48|3@1+ (1,0) [0|7] "" XXX
- SG_ BCA_LEFT : 51|3@1+ (1,0) [0|7] "" XXX
- SG_ BCA_RIGHT : 54|3@1+ (1,0) [0|7] "" XXX
- SG_ LCA_LEFT_ARROW : 57|3@1+ (1,0) [0|7] "" XXX
- SG_ LCA_RIGHT_ARROW : 60|3@1+ (1,0) [0|7] "" XXX
- SG_ ZEROS_5 : 63|1@0+ (1,0) [0|1] "" XXX
- SG_ CENTERLINE : 64|2@1+ (1,0) [0|3] "" XXX
- SG_ TARGET : 66|3@1+ (1,0) [0|7] "" XXX
- SG_ TARGET_DISTANCE : 69|11@1+ (0.1,0) [0|204.7] "m" XXX
- SG_ LANELINE_LEFT : 80|4@1+ (1,0) [0|15] "" XXX
- SG_ LANELINE_LEFT_POSITION : 84|6@1+ (1,0) [0|15] "" XXX
- SG_ LANELINE_RIGHT : 90|4@1+ (1,0) [0|15] "" XXX
- SG_ LANELINE_RIGHT_POSITION : 94|6@1+ (1,0) [0|3] "" XXX
- SG_ LANELINE_CURVATURE : 100|5@1- (1,15) [0|31] "" XXX
- SG_ LANE_HIGHLIGHT : 105|4@1+ (1,0) [0|15] "" XXX
- SG_ LANE_HIGHLIGHT_DISTANCE : 109|11@1+ (0.1,0) [0|204.7] "m" XXX
- SG_ LANE_LEFT : 120|3@1+ (1,0) [0|7] "" XXX
- SG_ LANE_RIGHT : 123|3@1+ (1,0) [0|7] "" XXX
- SG_ LANE_ZOOM : 126|2@1+ (1,0) [0|3] "" XXX
- SG_ ALERTS_1 : 128|6@1+ (1,0) [0|63] "" XXX
- SG_ ALERTS_2 : 134|5@1+ (1,0) [0|3] "" XXX
- SG_ ALERTS_3 : 139|5@1+ (1,0) [0|15] "" XXX
- SG_ ALERTS_4 : 144|8@1+ (1,0) [0|511] "" XXX
- SG_ ALERTS_5 : 152|5@1+ (1,0) [0|7] "" XXX
- SG_ MUTE : 157|3@1+ (1,0) [0|7] "" XXX
- SG_ SOUNDS_1 : 160|4@1+ (1,0) [0|3] "" XXX
- SG_ SOUNDS_2 : 164|4@1+ (1,0) [0|3] "" XXX
- SG_ SOUNDS_3 : 168|4@1+ (1,0) [0|15] "" XXX
- SG_ SOUNDS_4 : 172|3@1+ (1,0) [0|7] "" XXX
- SG_ ZEROS_6 : 175|1@0+ (1,0) [0|1] "" XXX
- SG_ ZEROS_7 : 176|5@1+ (1,0) [0|31] "" XXX
- SG_ SETSPEED_HUD : 181|3@1+ (1,0) [0|3] "" XXX
- SG_ DISTANCE_LEAD : 184|5@1+ (1,0) [0|31] "" XXX
- SG_ DISTANCE_CAR : 189|3@1+ (1,0) [0|7] "" XXX
- SG_ DISTANCE_SPACING : 192|4@1+ (1,0) [0|15] "" XXX
- SG_ DISTANCE : 196|4@1+ (1,0) [0|7] "" XXX
- SG_ SETSPEED_SPEED : 200|8@1+ (1,0) [0|255] "" XXX
- SG_ SETSPEED : 208|4@1+ (1,0) [0|3] "" XXX
- SG_ HDA_ICON : 212|4@1+ (1,0) [0|3] "" XXX
- SG_ SLA_ICON : 216|4@1+ (1,0) [0|15] "" XXX
- SG_ NAV_ICON : 220|4@1+ (1,0) [0|3] "" XXX
- SG_ LFA_ICON : 224|4@1+ (1,0) [0|3] "" XXX
- SG_ LCA_LEFT_ICON : 228|4@1+ (1,0) [0|15] "" XXX
- SG_ LCA_RIGHT_ICON : 232|4@1+ (1,0) [0|15] "" XXX
- SG_ BACKGROUND : 236|4@1+ (1,0) [0|15] "" XXX
- SG_ DAW_ICON : 240|3@1+ (1,0) [0|7] "" XXX
- SG_ CAR_CIRCLE : 243|3@1+ (1,0) [0|7] "" XXX
- SG_ ZEROS_8 : 246|2@1+ (1,0) [0|3] "" XXX
- SG_ ZEROS_9 : 248|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 354 CCNC_0x162: 32 CCNC
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ COUNTRY : 24|4@1+ (1,0) [0|7] "" XXX
- SG_ SPEEDLIMIT_FLASH : 28|4@1+ (1,0) [0|15] "" XXX
- SG_ SPEEDLIMIT : 32|8@1+ (1,0) [0|255] "" XXX
- SG_ SIGNS : 40|8@1+ (1,0) [0|15] "" XXX
- SG_ SPEEDLIMIT_WEATHER : 48|4@1+ (1,0) [0|15] "" XXX
- SG_ VIBRATE : 52|3@1+ (1,0) [0|7] "" XXX
- SG_ ZEROS_1 : 55|1@0+ (1,0) [0|1] "" XXX
- SG_ ZEROS_2 : 56|8@1+ (1,0) [0|255] "" XXX
- SG_ LEAD : 64|5@1+ (1,0) [0|31] "" XXX
- SG_ LEAD_DISTANCE : 69|11@1+ (0.1,0) [0|204.7] "m" XXX
- SG_ LEAD_LATERAL : 80|7@1+ (0.1,0) [0|127] "m" XXX
- SG_ ZEROS_3 : 87|1@0+ (1,0) [0|1] "" XXX
- SG_ LEAD_ALT : 88|5@1+ (1,0) [0|31] "" XXX
- SG_ LEAD_ALT_DISTANCE : 93|11@1+ (0.1,0) [0|204.7] "m" XXX
- SG_ LEAD_ALT_LATERAL : 104|7@1+ (0.1,0) [0|127] "m" XXX
- SG_ ZEROS_4 : 111|1@0+ (1,0) [0|1] "" XXX
- SG_ LEAD_LEFT : 112|5@1+ (1,0) [0|31] "" XXX
- SG_ LEAD_LEFT_DISTANCE : 117|11@1+ (0.1,0) [0|204.7] "m" XXX
- SG_ LEAD_LEFT_LATERAL : 128|7@1+ (0.1,0) [0|127] "m" XXX
- SG_ ZEROS_5 : 135|1@0+ (1,0) [0|1] "" XXX
- SG_ LEAD_RIGHT : 136|5@1+ (1,0) [0|31] "" XXX
- SG_ LEAD_RIGHT_DISTANCE : 141|11@1+ (0.1,0) [0|204.7] "m" XXX
- SG_ LEAD_RIGHT_LATERAL : 152|7@1+ (0.1,0) [0|127] "m" XXX
- SG_ ZEROS_6 : 159|1@0+ (1,0) [0|1] "" XXX
- SG_ ZEROS_7 : 162|3@0+ (1,0) [0|7] "" XXX
- SG_ LEAD_LEFT_REAR_STATUS : 167|5@0+ (1,0) [0|31] "" XXX
- SG_ LEAD_LEFT_REAR_DISTANCE : 175|8@0+ (0.1,0) [0|255] "m" XXX
- SG_ LEAD_LEFT_REAR_LATERAL : 182|7@0+ (0.1,0) [0|127] "m" XXX
- SG_ ZEROS_8 : 183|1@0+ (1,0) [0|1] "" XXX
- SG_ ZEROS_9 : 191|8@0+ (1,0) [0|255] "" XXX
- SG_ LEAD_RIGHT_REAR_STATUS : 196|5@0+ (1,0) [0|31] "" XXX
- SG_ LEAD_RIGHT_REAR_DISTANCE : 197|8@1+ (0.1,0) [0|255] "m" XXX
- SG_ LEAD_RIGHT_REAR_LATERAL : 205|7@1+ (0.1,0) [0|127] "m" XXX
- SG_ ZEROS_10 : 212|1@0+ (1,0) [0|1] "" XXX
- SG_ FAULT_FSS : 213|3@1+ (1,0) [0|7] "" XXX
- SG_ FAULT_FCA : 216|3@1+ (1,0) [0|7] "" XXX
- SG_ FAULT_LSS : 219|3@1+ (1,0) [0|7] "" XXX
- SG_ FAULT_SLA : 222|3@1+ (1,0) [0|7] "" XXX
- SG_ FAULT_DAW : 225|3@1+ (1,0) [0|7] "" XXX
- SG_ FAULT_HBA : 228|3@1+ (1,0) [0|7] "" XXX
- SG_ FAULT_SCC : 231|3@1+ (1,0) [0|7] "" XXX
- SG_ FAULT_LFA : 234|3@1+ (1,0) [0|7] "" XXX
- SG_ FAULT_HDA : 237|3@1+ (1,0) [0|7] "" XXX
- SG_ FAULT_LCA : 240|3@1+ (1,0) [0|7] "" XXX
- SG_ FAULT_HDP : 243|3@1+ (1,0) [0|7] "" XXX
- SG_ FAULT_DAS : 246|3@1+ (1,0) [0|7] "" XXX
- SG_ FAULT_ESS : 249|3@1+ (1,0) [0|7] "" XXX
- SG_ ZEROS_11 : 252|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 357 SPAS1: 24 APRK
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|0] "" XXX
- SG_ NEW_SIGNAL_2 : 90|3@1+ (1,0) [0|0] "" XXX
- SG_ NEW_SIGNAL_1 : 96|16@1- (0.1,0) [0|0] "" XXX
-
-BO_ 362 SPAS2: 32 APRK
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|0] "" XXX
- SG_ BLINKER_CONTROL : 133|3@1+ (1,0) [0|0] "" XXX
-
-BO_ 373 TCS: 24 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 24|7@1+ (1,0) [0|127] "" XXX
- SG_ aBasis : 32|11@1+ (0.01,-10.23) [0|7] "m/s^2" XXX
- SG_ ACCEL_REF_ACC : 48|11@1- (1,0) [0|1023] "" XXX
- SG_ EQUIP_MAYBE : 64|1@0+ (1,0) [0|1] "" XXX
- SG_ ACCEnable : 67|2@0+ (1,0) [0|3] "" XXX
- SG_ ACC_REQ : 68|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_5 : 72|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_2 : 74|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_3 : 76|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_1 : 80|1@0+ (1,0) [0|1] "" XXX
- SG_ DriverBraking : 81|1@0+ (1,0) [0|1] "" XXX
- SG_ DriverBrakingLowSens : 84|1@1+ (1,0) [0|1] "" XXX
- SG_ AEB_EQUIP_MAYBE : 96|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_6 : 128|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_7 : 135|2@0+ (1,0) [0|3] "" XXX
- SG_ PROBABLY_EQUIP : 136|2@1+ (1,0) [0|3] "" XXX
-
-BO_ 416 SCC_CONTROL: 32 ADRV
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ ACC_ObjDist : 24|11@1+ (0.1,0) [0|204.7] "m" XXX
- SG_ ACC_ObjRelSpd : 35|9@1+ (0.1,-16.4) [-16.4|34.7] "m/s" XXX
- SG_ SET_ME_3 : 45|2@0+ (1,0) [0|3] "" XXX
- SG_ ObjValid : 46|1@0+ (1,0) [0|3] "" XXX
- SG_ SET_ME_TMP_64 : 55|8@0+ (1,0) [0|63] "" XXX
- SG_ ZEROS_7 : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_1 : 64|2@1+ (1,0) [0|3] "" XXX
- SG_ MainMode_ACC : 66|1@1+ (1,0) [0|1] "" XXX
- SG_ ACCMode : 68|3@1+ (1,0) [0|7] "" XXX
- SG_ ZEROS_9 : 71|5@1+ (1,0) [0|15] "" XXX
- SG_ CRUISE_STANDSTILL : 76|1@1+ (1,0) [0|1] "" XXX
- SG_ ZEROS_5 : 77|11@1+ (1,0) [0|2047] "" XXX
- SG_ DISTANCE_SETTING : 88|3@1+ (1,0) [0|3] "" XXX
- SG_ ZEROS_8 : 95|5@0+ (1,0) [0|31] "" XXX
- SG_ VSetDis : 103|8@0+ (1,0) [0|255] "km/h or mph" XXX
- SG_ NEW_SIGNAL_6 : 104|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_2 : 105|3@1+ (1,0) [0|7] "" XXX
- SG_ NEW_SIGNAL_3 : 109|2@0+ (1,0) [0|1] "" XXX
- SG_ ZEROS_10 : 111|2@0+ (1,0) [0|3] "" XXX
- SG_ ZEROS_6 : 119|16@0+ (1,0) [0|65535] "" XXX
- SG_ aReqValue : 128|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" XXX
- SG_ aReqRaw : 140|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" XXX
- SG_ JerkUpperLimit : 158|7@0+ (0.1,0) [0|0] "" XXX
- SG_ JerkLowerLimit : 166|7@0+ (0.1,0) [0|12.7] "m/s^3" XXX
- SG_ NEW_SIGNAL_2 : 168|2@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_8 : 170|4@1+ (1,0) [0|15] "" XXX
- SG_ OBJ_STATUS : 176|3@1+ (1,0) [0|7] "" XXX
- SG_ ZEROS_4 : 183|4@0+ (1,0) [0|63] "" XXX
- SG_ StopReq : 184|1@0+ (1,0) [0|1] "" XXX
- SG_ ZEROS_3 : 191|7@0+ (1,0) [0|127] "" XXX
- SG_ NEW_SIGNAL_15 : 192|11@1+ (0.1,0) [0|204.7] "m" XXX
- SG_ ZEROS_2 : 207|5@0+ (1,0) [0|63] "" XXX
- SG_ ZEROS : 215|48@0+ (1,0) [0|281474976710655] "" XXX
-
-BO_ 426 CRUISE_BUTTONS_ALT: 16 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_1 : 24|4@1+ (1,0) [0|15] "" XXX
- SG_ SET_ME_1 : 28|2@1+ (1,0) [0|3] "" XXX
- SG_ DISTANCE_UNIT : 30|1@1+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_2 : 31|3@1+ (1,0) [0|7] "" XXX
- SG_ ADAPTIVE_CRUISE_MAIN_BTN : 34|1@1+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_3 : 35|1@1+ (1,0) [0|1] "" XXX
- SG_ CRUISE_BUTTONS : 36|3@1+ (1,0) [0|4] "" XXX
- SG_ LDA_BTN : 39|1@1+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_4 : 40|1@1+ (1,0) [0|1] "" XXX
- SG_ NORMAL_CRUISE_MAIN_BTN : 41|1@1+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_5 : 42|2@1+ (1,0) [0|3] "" XXX
- SG_ SET_ME_2 : 44|3@1+ (1,0) [0|7] "" XXX
- SG_ NEW_SIGNAL_6 : 47|1@1+ (1,0) [0|1] "" XXX
- SG_ BYTE6 : 48|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE7 : 56|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE8 : 64|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE9 : 72|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE10 : 80|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE11 : 88|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE12 : 96|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE13 : 104|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE14 : 112|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE15 : 120|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 437 FR_CMR_03_50ms: 32 FR_CMR
- SG_ FR_CMR_Crc3Val : 0|16@1+ (1,0) [0|65535] "" RR_C_RDR,CGW
- SG_ FR_CMR_AlvCnt3Val : 16|8@1+ (1,0) [0|255] "" RR_C_RDR,CGW
- SG_ Info_LftLnQualSta : 24|3@1+ (1,0) [0|7] "" RR_C_RDR,CGW
- SG_ Info_LftLnDptSta : 27|2@1+ (1,0) [0|3] "" RR_C_RDR,CGW
- SG_ Info_LftLnPosVal : 29|14@1- (0.0039625,0) [-32.4608|32.4568375] "m" RR_C_RDR,CGW
- SG_ Info_LftLnHdingAnglVal : 43|10@1- (0.000976563,0) [-0.500000256|0.499023693] "rad" RR_C_RDR,CGW
- SG_ Info_LftLnCvtrVal : 64|16@1- (1e-06,0) [-0.032768|0.032767] "1/m" CGW
- SG_ Info_LftLnCrvtrDrvtvVal : 80|16@1- (4e-09,0) [-0.000131072|0.000131068] "1/m2" CGW
- SG_ Info_RtLnQualSta : 96|3@1+ (1,0) [0|7] "" RR_C_RDR,CGW
- SG_ Info_RtLnDptSta : 99|2@1+ (1,0) [0|3] "" RR_C_RDR,CGW
- SG_ Info_RtLnPosVal : 101|14@1- (0.0039625,0) [-32.4608|32.4568375] "m" RR_C_RDR,CGW
- SG_ Info_RtLnHdingAnglVal : 115|10@1- (0.000976563,0) [-0.500000256|0.499023693] "rad" RR_C_RDR,CGW
- SG_ Info_RtLnCvtrVal : 128|16@1- (1,0) [0|65535] "" CGW
- SG_ Info_RtLnCrvtrDrvtvVal : 144|16@1- (1,0) [0|65535] "" CGW
- SG_ ID_CIPV : 192|8@1+ (1,0) [0|255] "" XXX
- SG_ Relative_Velocity : 200|12@1+ (0.05,-100) [-100|104.75] "m/s" Dummy
- SG_ Longitudinal_Distance : 212|12@1+ (0.05,0) [0|204.75] "m" Dummy
-
-BO_ 442 BLINDSPOTS_REAR_CORNERS: 24 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ LEFT_BLOCKED : 24|1@0+ (1,0) [0|1] "" XXX
- SG_ LEFT_MB : 30|1@0+ (1,0) [0|3] "" XXX
- SG_ MORE_LEFT_PROB : 32|1@1+ (1,0) [0|3] "" XXX
- SG_ FL_INDICATOR : 46|6@0+ (1,0) [0|1] "" XXX
- SG_ FR_INDICATOR : 54|6@0+ (1,0) [0|63] "" XXX
- SG_ RIGHT_BLOCKED : 64|1@0+ (1,0) [0|1] "" XXX
- SG_ COLLISION_AVOIDANCE_ACTIVE : 68|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_2 : 96|1@0+ (1,0) [0|1] "" XXX
- SG_ FL_INDICATOR_ALT : 138|1@0+ (1,0) [0|1] "" XXX
- SG_ FR_INDICATOR_ALT : 141|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 463 CRUISE_BUTTONS: 8 XXX
- SG_ _CHECKSUM : 0|8@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 12|4@1+ (1,0) [0|255] "" XXX
- SG_ CRUISE_BUTTONS : 16|3@1+ (1,0) [0|3] "" XXX
- SG_ ADAPTIVE_CRUISE_MAIN_BTN : 19|1@1+ (1,0) [0|1] "" XXX
- SG_ NORMAL_CRUISE_MAIN_BTN : 21|1@1+ (1,0) [0|1] "" XXX
- SG_ LDA_BTN : 23|1@1+ (1,0) [0|1] "" XXX
- SG_ RIGHT_PADDLE : 25|1@1+ (1,0) [0|1] "" XXX
- SG_ LEFT_PADDLE : 27|1@1+ (1,0) [0|1] "" XXX
- SG_ SET_ME_1 : 29|1@1+ (1,0) [0|1] "" XXX
-
-BO_ 474 ADRV_0x1da: 32 ADRV
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ SET_ME_22 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_41 : 47|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 480 LFAHDA_CLUSTER: 16 ADRV
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 24|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_5 : 25|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_2 : 30|1@0+ (1,0) [0|1] "" XXX
- SG_ HDA_ICON : 31|1@1+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_1 : 32|3@1+ (1,0) [0|7] "" XXX
- SG_ LFA_ICON : 47|2@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_3 : 49|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 485 BLINDSPOTS_FRONT_CORNER_1: 16 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ REVERSING : 24|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_5 : 31|2@0+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_7 : 32|2@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_8 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_9 : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 80|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_3 : 88|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_2 : 96|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_1 : 108|2@0+ (1,0) [0|3] "" XXX
-
-BO_ 490 ADRV_0x1ea: 32 ADRV
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ SET_ME_1C : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_1 : 32|2@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_2 : 47|2@0+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_3 : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 64|6@1+ (1,0) [0|31] "" XXX
- SG_ NEW_SIGNAL_5 : 72|2@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_6 : 75|5@1+ (1,0) [0|31] "" XXX
- SG_ NEW_SIGNAL_7 : 80|5@1+ (1,0) [0|31] "" XXX
- SG_ NEW_SIGNAL_8 : 88|7@1+ (1,0) [0|127] "" XXX
- SG_ NEW_SIGNAL_9 : 96|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_FF : 120|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_10 : 143|5@0+ (1,0) [0|31] "" XXX
- SG_ NEW_SIGNAL_11 : 144|3@1+ (1,0) [0|7] "" XXX
- SG_ NEW_SIGNAL_12 : 152|6@1+ (1,0) [0|63] "" XXX
- SG_ NEW_SIGNAL_13 : 160|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_14 : 163|5@1+ (1,0) [0|31] "" XXX
- SG_ NEW_SIGNAL_16 : 168|3@1+ (1,0) [0|7] "" XXX
- SG_ NEW_SIGNAL_15 : 175|4@0+ (1,0) [0|63] "" XXX
- SG_ NEW_SIGNAL_17 : 176|2@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_18 : 184|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_19 : 208|3@1+ (1,0) [0|7] "" XXX
- SG_ NEW_SIGNAL_20 : 212|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_TMP_F : 232|5@1+ (1,0) [0|31] "" XXX
- SG_ SET_ME_TMP_F_2 : 240|5@1+ (1,0) [0|31] "" XXX
-
-BO_ 506 FR_CMR_02_100ms: 32 FR_CMR
- SG_ FR_CMR_Crc2Val : 0|16@1+ (1,0) [0|65535] "" CGW
- SG_ FR_CMR_AlvCnt2Val : 16|8@1+ (1,0) [0|255] "" CGW
- SG_ ISLW_OptUsmSta : 24|2@1+ (1,0) [0|3] "" CLU,CGW
- SG_ ISLW_SysSta : 26|2@1+ (1,0) [0|3] "" CLU,CGW
- SG_ ISLW_NoPassingInfoDis : 28|3@1+ (1,0) [0|7] "" CLU,CGW
- SG_ ISLW_OvrlpSignDis : 31|2@1+ (1,0) [0|3] "" CLU,CGW
- SG_ ISLW_SpdCluMainDis : 33|8@1+ (1,0) [0|255] "" CLU,CGW
- SG_ ISLW_SpdNaviMainDis : 41|8@1+ (1,0) [0|255] "" CGW
- SG_ ISLW_SubCondinfoSta1 : 49|4@1+ (1,0) [0|15] "" CLU,CGW
- SG_ ISLW_SubCondinfoSta2 : 53|4@1+ (1,0) [0|15] "" CLU,CGW
- SG_ ISLW_SpdCluSubMainDis : 64|8@1+ (1,0) [0|255] "" CLU
- SG_ ISLW_SpdCluDisSubCond1 : 72|8@1+ (1,0) [0|255] "" CLU,CGW
- SG_ ISLW_SpdCluDisSubCond2 : 80|8@1+ (1,0) [0|255] "" CLU,CGW
- SG_ ISLW_SpdNaviSubMainDis : 88|8@1+ (1,0) [0|255] "" CLU
- SG_ ISLW_SpdNaviDisSubCond1 : 96|8@1+ (1,0) [0|255] "" CLU,CGW
- SG_ ISLW_SpdNaviDisSubCond2 : 104|8@1+ (1,0) [0|255] "" CLU,CGW
- SG_ ISLA_SpdwOffst : 112|8@1+ (1,0) [0|255] "" CLU,CGW
- SG_ ISLA_SwIgnoreReq : 120|2@1+ (1,0) [0|3] "" CGW
- SG_ ISLA_SpdChgReq : 122|2@1+ (1,0) [0|3] "" CGW
- SG_ ISLA_SpdWrn : 124|2@1+ (1,0) [0|3] "" CLU,CGW
- SG_ ISLA_IcyWrn : 126|2@1+ (1,0) [0|3] "" CLU,CGW
- SG_ ISLA_SymFlashMod : 128|3@1+ (1,0) [0|7] "" CLU,CGW
- SG_ ISLA_Popup : 131|3@1+ (1,0) [0|7] "" CLU
- SG_ ISLA_OptUsmSta : 136|3@1+ (1,0) [0|7] "" CLU,CGW
- SG_ ISLA_OffstUsmSta : 139|3@1+ (1,0) [0|7] "" CLU,CGW
- SG_ ISLA_AutoUsmSta : 142|2@1+ (1,0) [0|3] "" CLU,CGW
- SG_ ISLA_Cntry : 144|4@1+ (1,0) [0|15] "" CLU,CGW
- SG_ ISLA_AddtnlSign : 149|5@1+ (1,0) [0|31] "" CLU,CGW
- SG_ ISLA_SchoolZone : 154|2@1+ (1,0) [0|3] "" CLU,CGW
-
-BO_ 507 CAM_0x1fb: 32 CAMERA
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 512 ADRV_0x200: 8 ADRV
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ SET_ME_E1 : 24|8@1+ (1,0) [0|255] "" XXX
- SG_ SET_ME_3A : 32|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 593 RADAR_0x251: 16 FRONT_RADAR
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 687 HOD_FD_01_100ms: 8 XXX
- SG_ HOD_Dir_Status : 18|3@0+ (1,0) [0|7] "" XXX
- SG_ NEW_SIGNAL_2 : 32|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 40|8@1+ (1,0) [0|255] "" XXX
- SG_ HOD_Option : 48|2@1+ (1,0) [0|255] "" XXX
-
-BO_ 698 FR_CMR_04_40ms: 32 FR_CMR
- SG_ FR_CMR_Crc4Val : 0|16@1+ (1,0) [0|65535] "" Dummy
- SG_ FR_CMR_AlvCnt4Val : 16|8@1+ (1,0) [0|255] "" Dummy
- SG_ IFSref_FR_CMR_Sta : 24|2@1+ (1,0) [0|3] "" CGW
- SG_ IFSref_VehNumVal : 26|4@1+ (1,0) [0|15] "" CGW
- SG_ IFSref_ILLAmbtSta : 30|2@1+ (0.1,0) [0|0.3] "" CGW
- SG_ IFSref_VehLftAngl1Val : 32|9@1+ (0.1,-25) [-25|26.1] "Deg" CGW
- SG_ IFSref_VehRtAngl1Val : 41|9@1+ (0.1,-25) [-25|26.1] "Deg" CGW
- SG_ IFSref_VehLftAngl2Val : 50|9@1+ (0.1,-25) [-25|26.1] "Deg" CGW
- SG_ IFSref_VehDst1Val : 59|4@1+ (1,0) [0|15] "" CGW
- SG_ IFSref_VehRtAngl2Val : 64|9@1+ (0.1,-25) [-25|26.1] "Deg" CGW
- SG_ IFSref_VehLftAngl3Val : 73|9@1+ (0.1,-25) [-25|26.1] "Deg" CGW
- SG_ IFSref_VehRtAngl3Val : 82|9@1+ (0.1,-25) [-25|26.1] "Deg" CGW
- SG_ IFSref_VehLftAngl4Val : 91|9@1+ (0.1,-25) [-25|26.1] "Deg" CGW
- SG_ IFSref_VehRtAngl4Val : 100|9@1+ (0.1,-25) [-25|26.1] "Deg" CGW
- SG_ IFSref_VehLftAngl5Val : 109|9@1+ (0.1,-25) [-25|26.1] "Deg" CGW
- SG_ IFSref_VehRtAngl5Val : 118|9@1+ (0.1,-25) [-25|26.1] "Deg" CGW
- SG_ IFSref_VehLftAngl6Val : 128|9@1+ (0.1,-25) [-25|26.1] "Deg" CGW
- SG_ IFSref_VehRtAngl6Val : 137|9@1+ (0.1,-25) [-25|26.1] "Deg" CGW
- SG_ IFSref_VehLftAngl7Val : 146|9@1+ (0.1,-25) [-25|26.1] "Deg" CGW
- SG_ IFSref_VehRtAngl7Val : 155|9@1+ (0.1,-25) [-25|26.1] "Deg" CGW
- SG_ IFSref_VehLftAngl8Val : 164|9@1+ (0.1,-25) [-25|26.1] "Deg" CGW
- SG_ IFSref_VehRtAngl8Val : 173|9@1+ (0.1,-25) [-25|26.1] "Deg" CGW
- SG_ IFSref_VehLftAngl9Val : 182|9@1+ (0.1,-25) [-25|26.1] "Deg" CGW
- SG_ IFSref_VehRtAngl9Val : 192|9@1+ (0.1,-25) [-25|26.1] "Deg" CGW
- SG_ IFSref_VehLftAngl10Val : 201|9@1+ (0.1,-25) [-25|26.1] "Deg" CGW
- SG_ IFSref_VehRtAngl10Val : 210|9@1+ (0.1,-25) [-25|26.1] "Deg" CGW
- SG_ IFSref_VehDst2Val : 219|4@1+ (1,0) [0|15] "" CGW
- SG_ IFSref_VehDst3Val : 223|4@1+ (1,0) [0|15] "" CGW
- SG_ IFSref_VehDst4Val : 227|4@1+ (1,0) [0|15] "" CGW
- SG_ IFSref_VehDst5Val : 231|4@1+ (1,0) [0|15] "" CGW
- SG_ IFSref_VehDst6Val : 235|4@1+ (1,0) [0|15] "" CGW
- SG_ IFSref_VehDst7Val : 239|4@1+ (1,0) [0|15] "" CGW
- SG_ IFSref_VehDst8Val : 243|4@1+ (1,0) [0|15] "" CGW
- SG_ IFSref_VehDst9Val : 247|4@1+ (1,0) [0|15] "" CGW
- SG_ IFSref_VehDst10Val : 251|4@1+ (1,0) [0|15] "" CGW
-
-BO_ 736 MANUAL_SPEED_LIMIT_ASSIST: 32 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ MSLA_STATUS : 26|2@1+ (1,0) [0|3] "" XXX
- SG_ MSLA_ENABLED : 38|1@1+ (1,0) [0|1] "" XXX
- SG_ MAX_SPEED : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ MAX_SPEED_COPY : 144|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 837 ADRV_0x345: 8 ADRV
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ SET_ME_15 : 24|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 866 CAM_0x362: 32 CAMERA
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE3 : 24|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE4 : 32|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE5 : 40|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE6 : 48|8@1+ (1,0) [0|255] "" XXX
- SG_ LEFT_LANE_LINE : 56|2@1+ (1,0) [0|3] "" XXX
- SG_ SET_ME_0 : 58|2@1+ (1,0) [0|3] "" XXX
- SG_ RIGHT_LANE_LINE : 60|2@1+ (1,0) [0|3] "" XXX
- SG_ SET_ME_0_2 : 62|2@1+ (1,0) [0|3] "" XXX
- SG_ BYTE8 : 64|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE9 : 72|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE10 : 80|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE11 : 88|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE12 : 96|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE13 : 104|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE14 : 112|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE15 : 120|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE16 : 128|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE17 : 136|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE18 : 144|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE19 : 152|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE20 : 160|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE21 : 168|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE22 : 176|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE23 : 184|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE24 : 192|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE25 : 200|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE26 : 208|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE27 : 216|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE28 : 224|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE29 : 232|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE30 : 240|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE31 : 248|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 874 BLINDSPOTS_FRONT_CORNER_2: 16 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 961 BLINKER_STALKS: 8 XXX
- SG_ CHECKSUM_MAYBE : 7|8@0+ (1,0) [0|255] "" XXX
- SG_ COUNTER_ALT : 15|4@0+ (1,0) [0|15] "" XXX
- SG_ HIGHBEAM_FORWARD : 18|1@0+ (1,0) [0|1] "" XXX
- SG_ LIGHT_KNOB_POSITION : 21|2@0+ (1,0) [0|3] "" XXX
- SG_ HIGHBEAM_BACKWARD : 26|1@0+ (1,0) [0|1] "" XXX
- SG_ LEFT_BLINKER : 30|1@0+ (1,0) [0|1] "" XXX
- SG_ RIGHT_BLINKER : 32|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 1041 DOORS_SEATBELTS: 8 XXX
- SG_ CHECKSUM_MAYBE : 7|8@0+ (1,0) [0|65535] "" XXX
- SG_ COUNTER_ALT : 15|4@0+ (1,0) [0|15] "" XXX
- SG_ DRIVER_DOOR : 24|1@1+ (1,0) [0|1] "" XXX
- SG_ PASSENGER_DOOR : 34|1@0+ (1,0) [0|1] "" XXX
- SG_ PASSENGER_SEATBELT : 36|1@0+ (1,0) [0|1] "" XXX
- SG_ DRIVER_SEATBELT : 42|1@0+ (1,0) [0|1] "" XXX
- SG_ DRIVER_REAR_DOOR : 52|1@0+ (1,0) [0|1] "" XXX
- SG_ PASSENGER_REAR_DOOR : 56|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 1043 BLINKERS: 8 XXX
- SG_ LEFT_STALK : 8|1@0+ (1,0) [0|1] "" XXX
- SG_ RIGHT_STALK : 10|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER_ALT : 15|4@0+ (1,0) [0|15] "" XXX
- SG_ LEFT_LAMP : 20|1@0+ (1,0) [0|1] "" XXX
- SG_ RIGHT_LAMP : 22|1@0+ (1,0) [0|1] "" XXX
- SG_ LEFT_LAMP_ALT : 59|1@0+ (1,0) [0|1] "" XXX
- SG_ RIGHT_LAMP_ALT : 61|1@0+ (1,0) [0|1] "" XXX
- SG_ USE_ALT_LAMP : 62|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 1144 DRIVE_MODE: 8 XXX
- SG_ DRIVE_MODE : 0|16@1+ (1,-61611) [0|61611] "" XXX
- SG_ DRIVE_MODE2 : 28|3@1+ (1,0) [1|3] "" XXX
-
-BO_ 1151 HVAC_TOUCH_BUTTONS: 8 XXX
- SG_ AUTO_BUTTON : 8|1@0+ (1,0) [0|1] "" XXX
- SG_ SYNC_BUTTON : 12|1@0+ (1,0) [0|1] "" XXX
- SG_ FR_DEFROST_BUTTON : 20|1@0+ (1,0) [0|1] "" XXX
- SG_ RR_DEFROST_BUTTON : 22|1@0+ (1,0) [0|1] "" XXX
- SG_ FAN_SPEED_UP_BUTTON : 24|1@0+ (1,0) [0|1] "" XXX
- SG_ FAN_SPEED_DOWN_BUTTON : 26|1@0+ (1,0) [0|1] "" XXX
- SG_ AIR_DIRECTION_BUTTON : 28|1@0+ (1,0) [0|1] "" XXX
- SG_ AC_BUTTON : 40|1@0+ (1,0) [0|1] "" XXX
- SG_ DRIVER_ONLY_BUTTON : 44|1@0+ (1,0) [0|1] "" XXX
- SG_ RECIRC_BUTTON : 48|1@0+ (1,0) [0|1] "" XXX
- SG_ HEAT_BUTTON : 52|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 1240 CLUSTER_INFO: 8 XXX
- SG_ DISTANCE_UNIT : 0|1@1+ (1,0) [0|1] "" XXX
-
-BO_ 1259 LOCAL_TIME2: 8 XXX
- SG_ HOURS : 15|5@0+ (1,0) [0|31] "" XXX
- SG_ MINUTES : 21|6@0+ (1,0) [0|63] "" XXX
- SG_ SECONDS : 24|6@1+ (1,0) [0|63] "" XXX
- SG_ NEW_SIGNAL_3 : 39|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 1264 LOCAL_TIME: 8 XXX
- SG_ HOURS : 12|5@0+ (1,0) [0|31] "" XXX
- SG_ MINUTES : 21|6@0+ (1,0) [0|63] "" XXX
- SG_ SECONDS : 31|8@0+ (1,0) [0|59] "" XXX
-
-CM_ SG_ 96 BRAKE_PRESSURE "User applied brake pedal pressure. Ramps from computer applied pressure on falling edge of cruise. Cruise cancels if !=0";
-CM_ SG_ 101 BRAKE_POSITION "User applied brake pedal position, max is ~700. Signed on some vehicles";
-CM_ SG_ 352 SET_ME_9 "has something to do with AEB settings";
-CM_ SG_ 373 ACCEnable "Likely a copy of CAN's TCS13->ACCEnable";
-CM_ SG_ 373 DriverBraking "Likely derived from BRAKE->BRAKE_POSITION";
-CM_ SG_ 373 DriverBrakingLowSens "Higher threshold version of DriverBraking";
-CM_ SG_ 373 PROBABLY_EQUIP "aeb equip?";
-CM_ SG_ 416 VSetDis "set speed in display units";
-CM_ SG_ 480 NEW_SIGNAL_5 "todo: figure out why always set to 1";
-CM_ SG_ 687 HOD_Dir_Status "This signal indicates the status of hands on/off";
-CM_ SG_ 736 MAX_SPEED "Display units. Restricts car from driving above this speed unless accelerator pedal is depressed beyond pressure point";
-CM_ BO_ 866 "Contains signals with detailed lane line information. Used by ADAS ECU on HDA 2 vehicles to operate LFA. Used on cars that use message 272.";
-CM_ SG_ 866 LEFT_LANE_LINE "Left lane line confidence";
-CM_ SG_ 866 RIGHT_LANE_LINE "Right lane line confidence";
-CM_ SG_ 961 COUNTER_ALT "only increments on change";
-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_ 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";
-VAL_ 112 GEAR 0 "P" 5 "D" 6 "N" 7 "R";
-VAL_ 234 LKA_FAULT 0 "ok" 1 "lka fault";
-VAL_ 282 HBA_SysOptSta 0 "None HBA Option (Default)" 1 "HBA Option" 2 "Reserved" 3 "Error indicator";
-VAL_ 282 HBA_SysSta 0 "HBA Disable" 1 "HBA Enable & High Beam Off" 2 "HBA Enable & High Beam On" 3 "Reserved" 4 "Reserved" 5 "Reserved" 6 "Reserved" 7 "System Fail";
-VAL_ 282 HBA_IndLmpReq 0 "HBA Indicator Lamp Off" 1 "HBA Indicator Lamp On" 2 "Reserved" 3 "Error indicator";
-VAL_ 282 FCA_Equip_MFC 0 "No Coding" 1 "Sensor Fusion FCA" 2 "Camera only FCA" 3 "No FCA Option" 4 "ADAS_DRV Option" 5 "Reserved" 6 "Not used" 7 "Error indicator";
-VAL_ 282 HBA_OptUsmSta 0 "None HBA Option (Default)" 1 "HBA Function Off" 2 "HBA Function On" 3 "Invalid (Fail)";
-VAL_ 282 DAW_LVDA_PUDis 0 "Default" 1 "Display “Leading vehicle departure alert”" 2 "Reserved" 3 "Error indicator";
-VAL_ 282 DAW_LVDA_OptUsmSta 0 "No Option (default)" 1 "Off" 2 "On" 3 "Error Indicator";
-VAL_ 282 DAW_OptUsmSta 0 "None DAW Option (Default)" 1 "System Off" 2 "System On" 3 "Reserved" 4 "Reserved" 5 "Reserved" 6 "Reserved" 7 "Invalid (Gray)";
-VAL_ 282 DAW_SysSta 0 "System Off" 1 "Attention Level  1" 2 "Attention Level  2" 3 "Attention Level  3" 4 "Attention Level  4" 5 "Attention Level  5" 6 "Reserved" 7 "Reserved" 8 "Reserved" 9 "Reserved" 10 "Reserved" 11 "Reserved" 12 "Reserved" 13 "Reserved" 14 "System Standby" 15 "System Fail";
-VAL_ 282 DAW_WrnMsgSta 0 "No Warning" 1 "Rest Recommend Warning" 2 "Hands-Off TMS call request" 3 "Reserved" 4 "Reserved" 5 "Reserved" 6 "Reserved" 7 "Error indicator";
-VAL_ 282 DAW_TimeRstReq 0 "No signal" 1 "Time reset" 2 "Reserved" 3 "Error indicator";
-VAL_ 282 DAW_SnstvtyModRetVal 0 "Default" 1 "Late" 2 "Normal" 3 "Reserved" 4 "Reserved" 5 "Reserved" 6 "Reserved" 7 "Invalid";
-VAL_ 304 PARK_BUTTON 1 "Pressed" 2 "Not Pressed";
-VAL_ 304 KNOB_POSITION 1 "R" 2 "N (on R side)" 3 "Centered" 4 "N (on D side)" 5 "D";
-VAL_ 304 GEAR 1 "P" 2 "R" 3 "N" 4 "D";
-VAL_ 352 AEB_SETTING 1 "off" 2 "warning only" 3 "active assist";
-VAL_ 353 FCA_ICON 0 "HIDDEN" 1 "ORANGE" 2 "RED";
-VAL_ 353 FCA_ALT_ICON 0 "HIDDEN" 1 "ORANGE" 3 "RED";
-VAL_ 353 LKA_ICON 0 "HIDDEN" 1 "ORANGE" 3 "GRAY" 4 "GREEN";
-VAL_ 353 HBA_ICON 0 "HIDDEN" 1 "GRAY" 2 "GREEN";
-VAL_ 353 FCA_IMAGE 0 "HIDDEN" 2 "VISIBLE";
-VAL_ 353 BCA_LEFT 0 "HIDDEN" 1 "VISIBLE" 2 "VISIBLE+ICON";
-VAL_ 353 BCA_RIGHT 0 "HIDDEN" 1 "VISIBLE" 2 "VISIBLE+ICON";
-VAL_ 353 LCA_LEFT_ARROW 0 "HIDDEN" 1 "VISIBLE";
-VAL_ 353 LCA_RIGHT_ARROW 0 "HIDDEN" 1 "VISIBLE";
-VAL_ 353 CENTERLINE 0 "HIDDEN" 1 "GREEN";
-VAL_ 353 TARGET 0 "HIDDEN" 1 "BLUE" 3 "WHITE";
-VAL_ 353 LANELINE_LEFT 0 "GRAY" 1 "HIDDEN" 2 "WHITE" 4 "ORANGE" 6 "GREEN";
-VAL_ 353 LANELINE_RIGHT 0 "GRAY" 1 "HIDDEN" 2 "WHITE" 4 "ORANGE" 6 "GREEN";
-VAL_ 353 LANE_HIGHLIGHT 0 "HIDDEN" 1 "GREEN" 2 "WHITE" 3 "BLUE" 4 "ORANGE" 5 "RED";
-VAL_ 353 LANE_LEFT 0 "HIDDEN" 1 "GREEN";
-VAL_ 353 LANE_RIGHT 0 "HIDDEN" 1 "GREEN";
-VAL_ 353 LANE_ZOOM 0 "ZOOM" 1 "HIDDEN";
-VAL_ 353 ALERTS_1 0 "HIDDEN" 1 "WARNING_ONLY_CAR_CENTER" 2 "WARNING_ONLY_CAR_LEFT" 3 "WARNING_ONLY_CAR_RIGHT" 4 "WARNING_ONLY_LEFT" 5 "WARNING_ONLY_RIGHT" 11 "EMERGENCY_BRAKING_CAR_CENTER" 12 "EMERGENCY_BRAKING_CAR_LEFT" 13 "EMERGENCY_BRAKING_CAR_RIGHT" 14 "EMERGENCY_BRAKING_LEFT" 15 "EMERGENCY_BRAKING_RIGHT" 21 "EMERGENCY_STEERING_CAR_LEFT" 22 "EMERGENCY_STEERING_CAR_RIGHT" 23 "EMERGENCY_STEERING_CAR_LEFT_AWAY" 24 "EMERGENCY_STEERING_CAR_RIGHT_AWAY" 25 "EMERGENCY_STEERING_REAR_LEFT" 26 "EMERGENCY_STEERING_REAR_RIGHT" 33 "DRIVE_CAREFULLY";
-VAL_ 353 ALERTS_2 0 "HIDDEN" 1 "KEEP_HANDS_ON_STEERING_WHEEL" 2 "KEEP_HANDS_ON_STEERING_WHEEL_RED" 3 "LANE_FOLLOWING_ASSIST_DEACTIVATED" 4 "HIGHWAY_DRIVING_ASSIST_DEACTIVATED" 5 "CONSIDER_TAKING_A_BREAK" 6 "PRESS_OK_BUTTON_TO_ENABLE_LANE_CHANGE_ASSIST" 7 "COLLISION_RISK_VEHICLE_TAKING_EMERGENCY_CONTROL" 8 "TAKE_CONTROL_OF_THE_VEHICLE_IMMEDIATELY_VEHICLE_IS_STOPPING" 9 "TAKE_CONTROL_OF_THE_VEHICLE_IMMEDIATELY" 11 "HIGHWAY_DRIVING_PILOT_SYSTEM_DEACTIVATED_AUDIBLE" 12 "KEEP_YOUR_EYES_ON_THE_ROAD" 13 "HIGHWAY_DRIVING_PILOT_CONDITIONS_NOT_MET_AUDIBLE" 14 "COLLISION_RISK_VEHICLE_TAKING_EMERGENCY_CONTROL" 15 "SET_THE_WIPER_AND_LIGHT_CONTROLS_TO_AUTO" 16 "BE_PREPARED_TO_TAKE_CONTROL_OF_THE_VEHICLE_AT_ANY_TIME" 21 "TAKE_CONTROL_OF_THE_VEHICLE_IMMEDIATELY_VEHICLE_IS_STOPPING" 10 "TAKE_CONTROL_OF_THE_VEHICLE_IMMEDIATELY";
-VAL_ 353 ALERTS_3 1 "AUTOMATICALLY_ADJUSTING_TO_THE_POSTED_SPEED_LIMIT" 2 "SET_SPEED_CHANGED" 3 "AUTOMATICALLY_ADJUSTING_TO_THE_POSTED_SPEED_LIMIT" 4 "SET_SPEED_CHANGED" 7 "DISTANCE_1" 8 "DISTANCE_2" 9 "DISTANCE_3" 10 "DISTANCE_4" 17 "DRIVE_CAREFULLY" 18 "CHECK_SURROUNDINGS" 19 "CONDITIONS_NOT_MET" 20 "LANES_NOT_DETECTED" 21 "CURVE_TOO_SHARP" 22 "LANE_TOO_NARROW" 23 "ROAD_TYPE_NOT_SUPPORTED" 24 "UNAVAILABLE_WITH_HAZARD_LIGHTS_ON" 25 "VEHICLE_SPEED_IS_TOO_LOW" 26 "KEEP_HANDS_ON_STEERING_WHEEL" 27 "LANE_TYPE_NOT_SUPPORTED" 28 "LANE_ASSIST_CANCELED_STEERING_INPUT_DETECTED" 0 "HIDDEN";
-VAL_ 353 ALERTS_4 0 "HIDDEN" 1 "TAKE_FOOT_OFF_THE_ACCELERATOR_PEDAL" 2 "TAKE_FOOT_OFF_THE_BRAKE_PEDAL" 3 "UNAVAILABLE_WHILE_HIGHWAY_DRIVING_PILOT_SYSTEM_IS_ACTIVE" 4 "TO_EXIT_HDP_GRASP_THE_STEERING_WHEEL_THEN_PRESS_AND_HOLD_THE_HDP_BUTTON" 5 "ACCELERATOR_PEDAL_OPERATION_LIMITED_FOR_SAFETY" 6 "TURN_OFF_HAZARD_WARNING_LIGHTS_AND_TURN_SIGNAL" 7 "KEEP_THE_DRIVERS_SEAT_IN_A_SAFE_DRIVING_POSITION" 16 "SET_SPEED_CHANGED" 17 "ACTIVATING_WINDSHIELD_DEFOG_TO_MAINTAIN_THE_DRIVERS_VIEW" 18 "SET_THE_WIPER_AND_LIGHT_CONTROLS_TO_AUTO" 19 "VEHICLE_SPEED_REDUCED_FOR_SAFETY_MERGING_LANES_AHEAD" 20 "SPEED_REDUCED_FOR_SAFETY_CONSTRUCTION_ZONE_DETECTED" 21 "VEHICLE_SPEED_LIMITED_SENSOR_DETECTION_RANGE_LIMITED" 22 "PREPARE_TO_TAKE_CONTROL_UNSUPPORTED_ROAD_TYPE_AHEAD" 23 "PREPARE_TO_TAKE_CONTROL_ENTRANCE_AND_EXIT_RAMPS_AHEAD" 24 "PREPARE_TO_TAKE_CONTROL_TOLLGATE_AHEAD" 25 "PREPARE_TO_TAKE_CONTROL_ROAD_EVENT_AHEAD" 26 "CLEARING_PATH_FOR_EMERGENCY_VEHICLE" 27 "VEHICLE_IS_TOO_SLOW_COMPARED_TO_TRAFFIC_FLOW" 28 "AFTER_SUNSET_HDP_IS_AVAILABLE_IN_AN_INSIDE_LANE_BEHIND_A_LEADING_VEHICLE" 29 "VEHICLE_SPEED_LIMITED_MERGING_LANES_AHEAD" 30 "VEHICLE_SPEED_LIMITED_CONSTRUCTION_ZONE_DETECTED" 31 "VEHICLE_SPEED_TEMPORARILY_LIMITED_FOR_SAFETY" 32 "PRESS_AND_HOLD_THE_BUTTON_TO_ACTIVATE_HIGHWAY_DRIVING_PILOT" 40 "HIGHWAY_DRIVING_PILOT_SYSTEM_IS_AVAILABLE" 64 "RESTART_VEHICLE_AFTER_EMERGENCY_STOP" 65 "CONNECTED_SERVICES_UNAVAILABLE" 66 "AVAILABLE_AFTER_VEHICLE_SOFTWARE_IS_UPDATED" 67 "ROAD_TYPE_NOT_SUPPORTED" 68 "ONLY_AVAILABLE_WHILE_DRIVING_ON_HIGHWAY_LANES" 69 "UNAVAILABLE_WHILE_OTHER_WARNINGS_ARE_ACTIVE" 70 "CANNOT_ACTIVATE_AT_ENTRANCE_EXIT_RAMPS" 71 "LANE_UNSUPPORTED" 72 "NOT_AVAILABLE_IN_THIS_COUNTRY" 79 "CHECKING_THE_DETECTION_RANGE_OF_THE_SENSOR" 80 "SHIFT_TO_D" 81 "ENGINE_STOPPED_BY_AUTO_STOP" 82 "INCREASE_DISTANCE_FROM_VEHICLE_AHEAD" 83 "VEHICLE_SPEED_IS_TOO_HIGH" 84 "CENTER_VEHICLE_IN_THE_LANE" 85 "PARKING_ASSIST_IS_ACTIVE" 86 "ESC_ACTIVIATION_REQUIRED" 87 "UNFOLD_SIDE_VIEW_MIRRORS" 88 "UNAVAILABLE_IN_THE_OUTER_LANE_AFTER_SUNSET" 89 "VEHICLE_SPEED_LIMITED_AFTER_SUNSET_FOR_SAFETY" 90 "LEADING_VEHICLE_NOT_DETECTED" 104 "AGGRESSIVE_BRAKING_OR_STEERING_DETECTED" 110 "SENSOR_AUTO_CALIBRATION_IN_PROGRESS_THIS_MAY_TAKE_SEVERAL_MINUTES" 111 "HIGHWAY_DRIVING_PILOT_WILL_BE_AVAILABLE_SHORTLY" 112 "IF_STEERING_WHEEL_IS_USED_HDP_WILL_BE_DEACTIVATED" 120 "IMPACT_DETECTED" 128 "UNSUITABLE_USE_OF_ACCELERATOR_PEDAL_DETECTED" 129 "GEAR_SHIFTER_USE_DETECTED" 130 "UNSUITABLE_BRAKE_PEDAL_USE_DETECTED" 131 "VEHICLE_START_BUTTON_PRESSED" 132 "VEHICLE_HAS_BEEN_STOPPED_FOR_TOO_LONG" 141 "TRAFFIC_CONGESTION_HAS_CLEARED" 142 "ENTRANCE_AND_EXIT_RAMPS_AHEAD" 143 "UNSUPPORTED_LANE_AHEAD" 144 "UNSUPPORTED_ROAD_TYPE_AHEAD" 145 "LANE_DEPARTURE_DETECTED" 146 "MAXIMUM_SPEED_EXCEEDED" 147 "HIGHWAY_DRIVING_PILOT_LIMITED_ABNORMAL_VEHICLE_CONTROLLER_STATUS" 148 "WIPER_LIGHT_CONTROL_SETTINGS_ARE_UNSUITABLE_FOR_USE_WITH_HDP" 149 "WINDSHIELD_DEFOG_SYSTEM_STATUS_IS_UNSUITABLE_FOR_USE_WITH_HDP" 150 "HAZARD_WARNING_LIGHTS_OR_TURN_SIGNAL_OPERATION_DETECTED" 151 "PERFORMING_EVASIVE_STEERING_OBSTACLES_DETECTED_AHEAD" 152 "HIGHWAY_DRIVING_PILOT_LIMITED_SENSOR_DETECTION_RANGE_LIMITED" 160 "CHECK_HIGHWAY_DRIVING_PILOT_SYSTEM" 161 "SAFETY_FUNCTION_ACTIVATED" 176 "CAMERA_OBSCURED" 177 "RADAR_BLOCKED" 178 "LIDAR_BLOCKED" 179 "AIRBAG_WARNING_LIGHT_IS_ON" 180 "ATTACHED_TRAILED_DETECTED" 181 "HIGH_OUTSIDE_TEMPERATURE" 182 "LOW_OUTSIDE_TEMPERATURE" 190 "UNAVAILABLE_DUE_TO_THE_ROAD_EVENT_INFORMATION_RECEIVED" 191 "UNAVAILABLE_NEAR_TOLLGATES" 192 "DRIVERS_SEAT_IS_NOT_IN_A_SAFE_DRIVING_POSITION" 193 "VEHICLE_DRIVING_THE_WRONG_WAY_DETECTED_AHEAD" 194 "EMERGENCY_VEHICLE_DETECTED" 195 "OBSTACLE_DETECTED_AHEAD" 196 "SENSOR_BLOCKED_DUE_TO_RAIN_SNOW_OR_ROAD_DEBRIS" 197 "SLIPPERY_ROAD_SURFACE_DETECTED" 198 "CONSTRUCTION_ZONE_DETECTED_AHEAD" 199 "PEDESTRIAN_DETECTED_AHEAD" 200 "UNSUITABLE_DRIVERS_SEAT_POSITION_DETECTED" 201 "FOLDED_SIDE_VIEW_MIRRORS_DETECTED" 208 "VEHICLE_POSITION_NOT_DETECTED" 209 "LANE_NOT_DETECTED" 210 "DRIVER_NOT_DETECTED" 211 "KEEP_YOUR_EYES_ON_THE_ROAD" 212 "LEADING_VEHICLE_REQUIRED_AFTER_SUNSET" 213 "TBD" 240 "LOW_FUEL" 241 "LOW_TIRE_PRESSURE" 242 "DOOR_OPEN" 243 "TRUNK_OPEN" 244 "HOOD_OPEN" 245 "SEAT_BELT_NOT_FASTENED" 246 "PARKING_BRAKE_ACTIVATED" 247 "LOW_EV_BATTERY" 248 "HDP_DEACTIVATION_DELAYED_RISK_OF_COLLISION_DETECTED" 249 "LIFTGATE_OPENED";
-VAL_ 353 ALERTS_5 0 "HIDDEN" 1 "DRIVERS_GRASP_NOT_DETECTED_DRIVING_SPEED_WILL_BE_LIMITED" 2 "WATCH_FOR_SURROUNDING_VEHICLES" 3 "SMART_CRUISE_CONTROL_DEACTIVATED" 4 "SMART_CRUISE_CONTROL_CONDITIONS_NOT_MET" 5 "USE_SWITCH_OR_PEDAL_TO_ACCELERATE" 6 "DRIVER_ASSISTNCE_SYSTEM_LIMITED_TRAILER_ATTACHED" 7 "DRIVER_ASSISTNCE_SYSTEM_LIMITED_DRIVER_FULL_FACE_NOT_VISIBLE" 11 "LEADING_VEHICLE_IS_DRIVING_AWAY" 12 "STOP_VEHICLE_THEN_TRY_AGAIN" 19 "ACTIVATING_HIGHWAY_DRIVING_PILOT_SYSTEM" 20 "CONTINUING_USE_OF_HIGHWAY_DRIVING_PILOT_WILL_RESULT_IN_DEVIATION_FROM_THE_NAVIGATION_ROUTE" 21 "HIGHWAY_DRIVING_PILOT_SYSTEM_DEACTIVATED_SILENT" 22 "HIGHWAY_DRIVING_PILOT_SYSTEM_NOT_APPLIED" 23 "HIGHWAY_DRIVING_PILOT_CONDITIONS_NOT_MET_SILENT";
-VAL_ 353 MUTE 0 "NONE" 1 "MUTED";
-VAL_ 353 SOUNDS_1 0 "NONE" 3 "FAST BEEP" 6 "CONSTANT BEEP";
-VAL_ 353 SOUNDS_2 0 "NONE" 2 "SINGLE CHIME" 3 "CONSTANT CHIME" 6 "FAST BEEP";
-VAL_ 353 SOUNDS_3 0 "NONE" 3 "SOFT CHIME" 5 "SINGLE CHIME";
-VAL_ 353 SOUNDS_4 0 "NONE" 2 "DOUBLE CHIME";
-VAL_ 353 SETSPEED_HUD 0 "HIDDEN" 1 "GRAY" 2 "GREEN" 3 "WHITE" 5 "CYAN";
-VAL_ 353 DISTANCE_LEAD 0 "HIDDEN" 1 "GRAY" 2 "WHITE";
-VAL_ 353 DISTANCE_CAR 0 "HIDDEN" 1 "GRAY" 2 "WHITE" 3 "CYAN A";
-VAL_ 353 DISTANCE_SPACING 0 "HIDDEN" 1 "BLUE" 3 "WHITE" 5 "CYAN";
-VAL_ 353 SETSPEED 0 "HIDDEN" 1 "GRAY" 2 "GREEN" 3 "WHITE" 6 "CYAN";
-VAL_ 353 HDA_ICON 0 "HIDDEN" 1 "GRAY" 2 "GREEN" 3 "WHITE" 5 "CYAN HDP";
-VAL_ 353 SLA_ICON 0 "HIDDEN" 1 "WHITE UP" 2 "WHITE DOWN" 3 "GREEN UP" 4 "GREEN DOWN";
-VAL_ 353 NAV_ICON 0 "HIDDEN" 1 "GRAY" 2 "GREEN" 4 "WHITE";
-VAL_ 353 LFA_ICON 0 "HIDDEN" 1 "GRAY" 2 "GREEN" 3 "WHITE" 5 "CYAN";
-VAL_ 353 LCA_LEFT_ICON 0 "HIDDEN" 1 "GRAY" 2 "GREEN" 4 "WHITE";
-VAL_ 353 LCA_RIGHT_ICON 0 "HIDDEN" 1 "GRAY" 2 "GREEN" 4 "WHITE";
-VAL_ 353 BACKGROUND 0 "HIDDEN" 1 "BLUE" 3 "ORANGE" 4 "FLASHING ORANGE" 6 "FLASHING RED" 7 "GRAY";
-VAL_ 353 DAW_ICON 0 "HIDDEN" 1 "ORANGE";
-VAL_ 353 CAR_CIRCLE 0 "HIDDEN" 1 "GRAY" 2 "CYAN";
-VAL_ 354 COUNTRY 0 "HIDDEN" 1 "SOUTH_KOREA" 4 "INTL" 5 "JAPAN" 6 "CANADA" 7 "USA" 8 "CHINA" 9 "INTL";
-VAL_ 354 SPEEDLIMIT_FLASH 0 "HIDDEN" 1 "ERROR" 2 "NORMAL" 4 "RED";
-VAL_ 354 SIGNS 0 "HIDDEN" 1 "PEDESTRIAN_CROSSING" 2 "SCHOOL_CROSSWALK" 8 "STOP" 9 "YIELD" 16 "DO_NOT_PASS" 19 "DO_NOT_ENTER" 24 "ROUNDABOUT" 26 "RIGHT_CURVE_AHEAD" 27 "LEFT_CURVE_AHEAD" 28 "SLIGHT_RIGHT_CURVE_AHEAD" 29 "SLIGHT_LEFT_CURVE_AHEAD";
-VAL_ 354 SPEEDLIMIT_WEATHER 0 "HIDDEN" 1 "RAIN" 2 "SNOW" 3 "RAIN+SNOW" 4 "TRAILER";
-VAL_ 354 VIBRATE 0 "NONE" 1 "VIBRATE";
-VAL_ 354 LEAD 0 "HIDDEN" 1 "GRAY BOX" 2 "WHITE BOX" 3 "GRAY CAR" 4 "WHITE CAR" 5 "GRAY TRUCK" 6 "WHITE TRUCK" 7 "GRAY PERSON" 8 "WHITE PERSON" 9 "GRAY BICYCLE" 10 "WHITE BICYCLE" 11 "GRAY MOTORCYCLE" 12 "WHITE MOTORCYCLE" 13 "DARK CONE" 14 "ORANGE CONE";
-VAL_ 354 LEAD_ALT 0 "HIDDEN" 1 "GRAY BOX" 2 "WHITE BOX" 3 "DIM CONE" 4 "ORANGE CONE";
-VAL_ 354 LEAD_LEFT 0 "HIDDEN" 1 "GRAY BOX" 2 "WHITE BOX" 3 "GRAY CAR" 4 "WHITE CAR" 5 "GRAY TRUCK" 6 "WHITE TRUCK" 7 "GRAY PERSON" 8 "WHITE PERSON" 9 "GRAY BICYCLE" 10 "WHITE BICYCLE" 11 "GRAY MOTORCYCLE" 12 "WHITE MOTORCYCLE" 13 "DARK CONE" 14 "ORANGE CONE";
-VAL_ 354 LEAD_RIGHT 0 "HIDDEN" 1 "GRAY BOX" 2 "WHITE BOX" 3 "GRAY CAR" 4 "WHITE CAR" 5 "GRAY TRUCK" 6 "WHITE TRUCK" 7 "GRAY PERSON" 8 "WHITE PERSON" 9 "GRAY BICYCLE" 10 "WHITE BICYCLE" 11 "GRAY MOTORCYCLE" 12 "WHITE MOTORCYCLE" 13 "DARK CONE" 14 "ORANGE CONE";
-VAL_ 354 FAULT_FSS 0 "HIDDEN" 1 "CHECK_FORWARD_SAFETY_SYSTEM" 2 "FORWARD_SAFETY_SYSTEM_LIMITED_CAMERA_OBSCURED" 3 "FORWARD_SAFETY_SYSTEM_LIMITED_RADAR_BLOCKED";
-VAL_ 354 FAULT_FCA 0 "HIDDEN" 1 "CHECK_FORWARD_SIDE_SAFETY_SYSTEM" 2 "FORWARD_SIDE_SAFETY_SYSTEM_LIMITED_CAMERA_OBSCURED" 3 "FORWARD_SIDE_SAFETY_SYSTEM_LIMITED_RADAR_BLOCKED";
-VAL_ 354 FAULT_LSS 0 "HIDDEN" 1 "CHECK_LANE_SAFETY_SYSTEM" 2 "LANE_SAFETY_SYSTEM_DISABLED_CAMERA_OBSCURED";
-VAL_ 354 FAULT_SLA 0 "HIDDEN" 1 "CHECK_SPEED_LIMIT_SYSTEM" 2 "SPEED_LIMIT_SYSTEM_DISABLED_CAMERA_OBSCURED";
-VAL_ 354 FAULT_DAW 0 "HIDDEN" 1 "CHECK_INATTENTIVE_DRIVING_WARNING_SYSTEM" 2 "INATTENTIVE_DRIVING_WARNING_SYSTEM_DISABLED_CAMERA_OBSCURED";
-VAL_ 354 FAULT_HBA 0 "HIDDEN" 1 "CHECK_HIGH_BEAM_ASSIST_SYSTEM";
-VAL_ 354 FAULT_SCC 0 "HIDDEN" 1 "CHECK_SMART_CRUISE_CONTROL_SYSTEM" 2 "SMART_CRUISE_CONTROL_DISABLED_RADAR_BLOCKED";
-VAL_ 354 FAULT_LFA 0 "HIDDEN" 1 "CHECK_LANE_FOLLOWING_SYSTEM_ASSIST_SYSTEM";
-VAL_ 354 FAULT_HDA 0 "HIDDEN" 1 "CHECK_HIGHWAY_DRIVING_ASSIST_SYSTEM";
-VAL_ 354 FAULT_LCA 0 "HIDDEN" 1 "CHECK_LANE_CHANGE_ASSIST_FUNCTION" 2 "LANE_CHANGE_ASSIST_FUNCTION_DISABLED_CAMERA_OBSCURED" 3 "LANE_CHANGE_ASSIST_FUNCTION_DISABLED_RADAR_BLOCKED";
-VAL_ 354 FAULT_HDP 0 "HIDDEN" 1 "CHECK_HIGHWAY_DRIVING_PILOT_SYSTEM" 2 "HIGHWAY_DRIVING_PILOT_DISABLED_CAMERA_OBSCURED" 3 "HIGHWAY_DRIVING_PILOT_DISABLED_RADAR_BLOCKED" 4 "HIGHWAY_DRIVING_PILOT_DISABLED_LIDAR_BLOCKED";
-VAL_ 354 FAULT_DAS 0 "HIDDEN" 1 "CHECK_DRIVER_ASSISTANCE_SYSTEM" 2 "DRIVER_ASSISTANCE_SYSTEM_LIMITED_CAMERA_OBSCURED" 3 "DRIVER_ASSISTANCE_SYSTEM_LIMITED_RADAR_BLOCKED" 4 "DRIVER_ASSISTANCE_SYSTEM_LIMITED_CAMERA_OBSCURED_AND_RADAR_BLOCKED";
-VAL_ 354 FAULT_ESS 0 "HIDDEN" 1 "CHECK_EMERGENCY_STOPPING_FUNCTION" 2 "EMERGENCY_STOPPING_FUNCTION_DISABLED_CAMERA_OBSCURED" 3 "EMERGENCY_STOPPING_FUNCTION_DISABLED_RADAR_BLOCKED";
-VAL_ 362 BLINKER_CONTROL 1 "hazards" 2 "hazards button backlight" 3 "left blinkers" 4 "right blinkers";
-VAL_ 373 ACCEnable 0 "SCC ready" 1 "SCC temp fault" 2 "SCC permanent fault" 3 "SCC permanent fault, communication issue";
-VAL_ 416 ACCMode 0 "off" 1 "enabled" 2 "driver_override" 3 "off_maybe_fault" 4 "cancelled";
-VAL_ 426 CRUISE_BUTTONS 0 "none" 1 "res_accel" 2 "set_decel" 3 "gap_distance" 4 "pause_resume";
-VAL_ 437 Info_RtLnCvtrVal 65534 "Reserved" 65535 "Error indicator";
-VAL_ 463 CRUISE_BUTTONS 0 "none" 1 "res_accel" 2 "set_decel" 3 "gap_distance" 4 "pause_resume";
-VAL_ 463 RIGHT_PADDLE 0 "Not Pulled" 1 "Pulled";
-VAL_ 463 LEFT_PADDLE 0 "Not Pulled" 1 "Pulled";
-VAL_ 506 ISLW_OptUsmSta 0 "None ISLW Option (Default)" 1 "System Disabled by USM" 2 "System Enable by USM" 3 "Invalid";
-VAL_ 506 ISLW_SysSta 0 "Normal (Default)" 1 "System Fail" 2 "ISLW Temporary Unavailable" 3 "Reserved";
-VAL_ 506 ISLW_NoPassingInfoDis 0 "None Display (Default)" 1 "LHD No Passing Zone Display" 2 "RHD No Passing Zone Display" 3 "Reserved" 4 "Reserved" 5 "Reserved" 6 "Reserved" 7 "Invalid";
-VAL_ 506 ISLW_OvrlpSignDis 0 "None (Default)" 1 "Overlap Sign" 2 "Reserved" 3 "Error indicator";
-VAL_ 506 ISLW_SpdCluMainDis 0 "No Recognition (Default)" 253 "Unlimited Speed" 254 "Reserved" 255 "Invalid";
-VAL_ 506 ISLW_SpdNaviMainDis 0 "No Recognition (Default)" 253 "Unlimited Speed" 254 "Reserved" 255 "Invalid";
-VAL_ 506 ISLW_SubCondinfoSta1 0 "None (Default)" 1 "Rain" 2 "Snow" 3 "Snow&Rain" 4 "Trailer" 5 "Reserved" 6 "Reserved" 7 "Reserved" 8 "Reserved" 9 "Reserved" 10 "Reserved" 11 "Reserved" 12 "Reserved" 13 "Reserved" 14 "Generic" 15 "Invalid";
-VAL_ 506 ISLW_SubCondinfoSta2 0 "None (Default)" 1 "Rain" 2 "Snow" 3 "Snow&Rain" 4 "Trailer" 5 "Reserved" 6 "Reserved" 7 "Reserved" 8 "Reserved" 9 "Reserved" 10 "Reserved" 11 "Reserved" 12 "Reserved" 13 "Reserved" 14 "Generic" 15 "Invalid";
-VAL_ 506 ISLW_SpdCluSubMainDis 0 "No Recognition (Default)" 253 "Unlimited Speed" 254 "Reserved" 255 "Invalid";
-VAL_ 506 ISLW_SpdCluDisSubCond1 0 "No Recognition (Default)" 253 "LHD Conditional No Passing ZONE" 254 "RHD Conditional No Passing ZONE" 255 "Invalid";
-VAL_ 506 ISLW_SpdCluDisSubCond2 0 "No Recognition (Default)" 253 "LHD Conditional No Passing ZONE" 254 "RHD Conditional No Passing ZONE" 255 "Invalid";
-VAL_ 506 ISLW_SpdNaviSubMainDis 0 "No Recognition (Default)" 253 "Unlimited Speed" 254 "Reserved" 255 "Invalid";
-VAL_ 506 ISLW_SpdNaviDisSubCond1 0 "No Recognition (Default)" 253 "LHD Conditional No Passing ZONE" 254 "RHD Conditional No Passing ZONE" 255 "Invalid";
-VAL_ 506 ISLW_SpdNaviDisSubCond2 0 "No Recognition (Default)" 253 "LHD Conditional No Passing ZONE" 254 "RHD Conditional No Passing ZONE" 255 "Invalid";
-VAL_ 506 ISLA_SpdwOffst 0 "No Recognition" 253 "Unlimited Speed" 254 "Reserved" 255 "Invalid";
-VAL_ 506 ISLA_SwIgnoreReq 0 "Allow All Switch Inputs (default)" 1 "-(SET) Switch Input Ignore" 2 "+(SET) Switch Input Ignore" 3 "-(SET) & +(SET) Switch Inputs Ignore";
-VAL_ 506 ISLA_SpdChgReq 0 "Default" 1 "Speed Change Request" 2 "Reserved" 3 "Reserved";
-VAL_ 506 ISLA_SpdWrn 0 "No Warning" 1 "Warning" 2 "Reserved" 3 "Reserved";
-VAL_ 506 ISLA_IcyWrn 0 "No Warning" 1 "Warning" 2 "Reserved" 3 "Reserved";
-VAL_ 506 ISLA_SymFlashMod 0 "No Flasing" 1 "Flashing Sign" 2 "Flashing - Arrow Symbol" 3 "Flashing + Arrow Symbol" 4 "Flashing Auto Symbol" 5 "Reserved" 6 "Reserved" 7 "Reserved";
-VAL_ 506 ISLA_Popup 0 "No Popup" 1 "MSLA Speed will Change" 2 "MSLA Speed has Changed" 3 "CC_SCC Speed will Change" 4 "CC_SCC Speed has Changed" 5 "Reserved" 6 "Reserved" 7 "Reserved";
-VAL_ 506 ISLA_OptUsmSta 0 "None ISLA Option (속도 제한 메뉴 삭제)" 1 "Off" 2 "Warning" 3 "Assist" 4 "Reserved" 5 "Reserved" 6 "Reserved" 7 "Invalid (GRAY)";
-VAL_ 506 ISLA_OffstUsmSta 0 "None Offset Function" 1 "-10kph or -5mph" 2 "-5kph or -3mph" 3 "0kph or 0mph" 4 "+5kph or +3mph" 5 "+10kph or +5mph" 6 "Reserved" 7 "Invalid (GRAY)";
-VAL_ 506 ISLA_AutoUsmSta 0 "None Auto Function (Delete Menu)" 1 "Auto Off" 2 "Auto On" 3 "Invalid (GRAY)";
-VAL_ 506 ISLA_Cntry 0 "Europe/Russia/Australia" 1 "Domestic" 2 "China" 3 "USA" 4 "Canada" 5 "Australia" 6 "Reserved" 7 "Reserved" 8 "Reserved" 9 "Reserved" 10 "Reserved" 11 "Reserved" 12 "Reserved" 13 "Reserved" 14 "Reserved" 15 "Initial Value (default)";
-VAL_ 506 ISLA_AddtnlSign 0 "No Recognition (default)" 1 "School Crossing" 16 "Do Not Pass" 17 "Reserved" 18 "Reserved" 19 "Reserved" 20 "Reserved" 21 "Reserved" 22 "Reserved" 23 "Reserved" 24 "Exit" 25 "Roundabout" 26 "Right Curve" 27 "Left Curve" 28 "Winding Road" 29 "Reserved" 30 "Reserved" 31 "Reserved" 2 "Pedestrian Crossing" 3 "Bicycle Crossing" 4 "Reserved" 5 "Reserved" 6 "Reserved" 7 "Reserved" 8 "Stop" 9 "Yield" 10 "Stop Ahead" 11 "Yield Ahead" 12 "Road Construction Ahead" 13 "Lane Reduction" 14 "Reserved" 15 "Reserved";
-VAL_ 506 ISLA_SchoolZone 0 "No School Zone" 1 "School Zone" 2 "Reserved" 3 "Reserved";
-VAL_ 687 HOD_Dir_Status 0 "HANDS OFF" 1 "HAND TOUCH (SOFT)" 2 "HAND TOUCH (STRONG)" 3 "HAND GRIP (SOFT)" 4 "HAND GRIP (STRONG)" 5 "RESERVED" 6 "RESERVED";
-VAL_ 698 IFSref_FR_CMR_Sta 0 "None Option (Default)" 1 "Normal" 2 "Blockage Status" 3 "Error Indicator";
-VAL_ 698 IFSref_VehNumVal 0 "No vehicle" 1 "Number of vehicles" 2 "Number of vehicles" 3 "Number of vehicles" 4 "Number of vehicles" 5 "Number of vehicles" 6 "Number of vehicles" 7 "Number of vehicles" 8 "Number of vehicles" 9 "Number of vehicles" 10 "Number of vehicles" 11 "Over than 10 vehicles" 12 "Reserved" 13 "Reserved" 14 "Default" 15 "Error indicator";
-VAL_ 698 IFSref_ILLAmbtSta 0 "Bright" 1 "Dark" 2 "Not used" 3 "Error indicator";
-VAL_ 698 IFSref_VehLftAngl1Val 501 "Not used" 502 "Not used" 503 "Not used" 504 "Not used" 505 "Not used" 506 "Not used" 507 "Not used" 508 "Not used" 509 "Not used" 510 "Default" 511 "Error indicator";
-VAL_ 698 IFSref_VehRtAngl1Val 501 "Not used" 502 "Not used" 503 "Not used" 504 "Not used" 505 "Not used" 506 "Not used" 507 "Not used" 508 "Not used" 509 "Not used" 510 "Default" 511 "Error indicator";
-VAL_ 698 IFSref_VehLftAngl2Val 501 "Not used" 502 "Not used" 503 "Not used" 504 "Not used" 505 "Not used" 506 "Not used" 507 "Not used" 508 "Not used" 509 "Not used" 510 "Default" 511 "Error indicator";
-VAL_ 698 IFSref_VehDst1Val 0 "No Value" 1 "1~10m" 2 "11~20m" 3 "21~30m" 4 "31~40m" 5 "41~50m" 6 "51~60m" 7 "61~70m" 8 "71~80m" 9 "81~90m" 10 "91~100m" 11 "101~200m" 12 "201~300m" 13 "301~400m" 14 "401m~" 15 "Error indicator";
-VAL_ 698 IFSref_VehRtAngl2Val 501 "Not used" 502 "Not used" 503 "Not used" 504 "Not used" 505 "Not used" 506 "Not used" 507 "Not used" 508 "Not used" 509 "Not used" 510 "Default" 511 "Error indicator";
-VAL_ 698 IFSref_VehLftAngl3Val 501 "Not used" 502 "Not used" 503 "Not used" 504 "Not used" 505 "Not used" 506 "Not used" 507 "Not used" 508 "Not used" 509 "Not used" 510 "Default" 511 "Error indicator";
-VAL_ 698 IFSref_VehRtAngl3Val 501 "Not used" 502 "Not used" 503 "Not used" 504 "Not used" 505 "Not used" 506 "Not used" 507 "Not used" 508 "Not used" 509 "Not used" 510 "Default" 511 "Error indicator";
-VAL_ 698 IFSref_VehLftAngl4Val 501 "Not used" 502 "Not used" 503 "Not used" 504 "Not used" 505 "Not used" 506 "Not used" 507 "Not used" 508 "Not used" 509 "Not used" 510 "Default" 511 "Error indicator";
-VAL_ 698 IFSref_VehRtAngl4Val 501 "Not used" 502 "Not used" 503 "Not used" 504 "Not used" 505 "Not used" 506 "Not used" 507 "Not used" 508 "Not used" 509 "Not used" 510 "Default" 511 "Error indicator";
-VAL_ 698 IFSref_VehLftAngl5Val 501 "Not used" 502 "Not used" 503 "Not used" 504 "Not used" 505 "Not used" 506 "Not used" 507 "Not used" 508 "Not used" 509 "Not used" 510 "Default" 511 "Error indicator";
-VAL_ 698 IFSref_VehRtAngl5Val 501 "Not used" 502 "Not used" 503 "Not used" 504 "Not used" 505 "Not used" 506 "Not used" 507 "Not used" 508 "Not used" 509 "Not used" 510 "Default" 511 "Error indicator";
-VAL_ 698 IFSref_VehLftAngl6Val 501 "Not used" 502 "Not used" 503 "Not used" 504 "Not used" 505 "Not used" 506 "Not used" 507 "Not used" 508 "Not used" 509 "Not used" 510 "Default" 511 "Error indicator";
-VAL_ 698 IFSref_VehRtAngl6Val 501 "Not used" 502 "Not used" 503 "Not used" 504 "Not used" 505 "Not used" 506 "Not used" 507 "Not used" 508 "Not used" 509 "Not used" 510 "Default" 511 "Error indicator";
-VAL_ 698 IFSref_VehLftAngl7Val 501 "Not used" 502 "Not used" 503 "Not used" 504 "Not used" 505 "Not used" 506 "Not used" 507 "Not used" 508 "Not used" 509 "Not used" 510 "Default" 511 "Error indicator";
-VAL_ 698 IFSref_VehRtAngl7Val 501 "Not used" 502 "Not used" 503 "Not used" 504 "Not used" 505 "Not used" 506 "Not used" 507 "Not used" 508 "Not used" 509 "Not used" 510 "Default" 511 "Error indicator";
-VAL_ 698 IFSref_VehLftAngl8Val 501 "Not used" 502 "Not used" 503 "Not used" 504 "Not used" 505 "Not used" 506 "Not used" 507 "Not used" 508 "Not used" 509 "Not used" 510 "Default" 511 "Error indicator";
-VAL_ 698 IFSref_VehRtAngl8Val 501 "Not used" 502 "Not used" 503 "Not used" 504 "Not used" 505 "Not used" 506 "Not used" 507 "Not used" 508 "Not used" 509 "Not used" 510 "Default" 511 "Error indicator";
-VAL_ 698 IFSref_VehLftAngl9Val 501 "Not used" 502 "Not used" 503 "Not used" 504 "Not used" 505 "Not used" 506 "Not used" 507 "Not used" 508 "Not used" 509 "Not used" 510 "Default" 511 "Error indicator";
-VAL_ 698 IFSref_VehRtAngl9Val 501 "Not used" 502 "Not used" 503 "Not used" 504 "Not used" 505 "Not used" 506 "Not used" 507 "Not used" 508 "Not used" 509 "Not used" 510 "Default" 511 "Error indicator";
-VAL_ 698 IFSref_VehLftAngl10Val 501 "Not used" 502 "Not used" 503 "Not used" 504 "Not used" 505 "Not used" 506 "Not used" 507 "Not used" 508 "Not used" 509 "Not used" 510 "Default" 511 "Error indicator";
-VAL_ 698 IFSref_VehRtAngl10Val 501 "Not used" 502 "Not used" 503 "Not used" 504 "Not used" 505 "Not used" 506 "Not used" 507 "Not used" 508 "Not used" 509 "Not used" 510 "Default" 511 "Error indicator";
-VAL_ 698 IFSref_VehDst2Val 0 "No Value" 1 "1~10m" 2 "11~20m" 3 "21~30m" 4 "31~40m" 5 "41~50m" 6 "51~60m" 7 "61~70m" 8 "71~80m" 9 "81~90m" 10 "91~100m" 11 "101~200m" 12 "201~300m" 13 "301~400m" 14 "401m~" 15 "Error indicator";
-VAL_ 698 IFSref_VehDst3Val 0 "No Value" 1 "1~10m" 2 "11~20m" 3 "21~30m" 4 "31~40m" 5 "41~50m" 6 "51~60m" 7 "61~70m" 8 "71~80m" 9 "81~90m" 10 "91~100m" 11 "101~200m" 12 "201~300m" 13 "301~400m" 14 "401m~" 15 "Error indicator";
-VAL_ 698 IFSref_VehDst4Val 0 "No Value" 1 "1~10m" 2 "11~20m" 3 "21~30m" 4 "31~40m" 5 "41~50m" 6 "51~60m" 7 "61~70m" 8 "71~80m" 9 "81~90m" 10 "91~100m" 11 "101~200m" 12 "201~300m" 13 "301~400m" 14 "401m~" 15 "Error indicator";
-VAL_ 698 IFSref_VehDst5Val 0 "No Value" 1 "1~10m" 2 "11~20m" 3 "21~30m" 4 "31~40m" 5 "41~50m" 6 "51~60m" 7 "61~70m" 8 "71~80m" 9 "81~90m" 10 "91~100m" 11 "101~200m" 12 "201~300m" 13 "301~400m" 14 "401m~" 15 "Error indicator";
-VAL_ 698 IFSref_VehDst6Val 0 "No Value" 1 "1~10m" 2 "11~20m" 3 "21~30m" 4 "31~40m" 5 "41~50m" 6 "51~60m" 7 "61~70m" 8 "71~80m" 9 "81~90m" 10 "91~100m" 11 "101~200m" 12 "201~300m" 13 "301~400m" 14 "401m~" 15 "Error indicator";
-VAL_ 698 IFSref_VehDst7Val 0 "No Value" 1 "1~10m" 2 "11~20m" 3 "21~30m" 4 "31~40m" 5 "41~50m" 6 "51~60m" 7 "61~70m" 8 "71~80m" 9 "81~90m" 10 "91~100m" 11 "101~200m" 12 "201~300m" 13 "301~400m" 14 "401m~" 15 "Error indicator";
-VAL_ 698 IFSref_VehDst8Val 0 "No Value" 1 "1~10m" 2 "11~20m" 3 "21~30m" 4 "31~40m" 5 "41~50m" 6 "51~60m" 7 "61~70m" 8 "71~80m" 9 "81~90m" 10 "91~100m" 11 "101~200m" 12 "201~300m" 13 "301~400m" 14 "401m~" 15 "Error indicator";
-VAL_ 698 IFSref_VehDst9Val 0 "No Value" 1 "1~10m" 2 "11~20m" 3 "21~30m" 4 "31~40m" 5 "41~50m" 6 "51~60m" 7 "61~70m" 8 "71~80m" 9 "81~90m" 10 "91~100m" 11 "101~200m" 12 "201~300m" 13 "301~400m" 14 "401m~" 15 "Error indicator";
-VAL_ 698 IFSref_VehDst10Val 0 "No Value" 1 "1~10m" 2 "11~20m" 3 "21~30m" 4 "31~40m" 5 "41~50m" 6 "51~60m" 7 "61~70m" 8 "71~80m" 9 "81~90m" 10 "91~100m" 11 "101~200m" 12 "201~300m" 13 "301~400m" 14 "401m~" 15 "Error indicator";
-VAL_ 736 MSLA_STATUS 0 "disabled" 1 "active" 2 "paused";
-VAL_ 866 LEFT_LANE_LINE 0 "Not Detected" 1 "Low Confidence" 2 "Medium Confidence" 3 "High Confidence";
-VAL_ 866 RIGHT_LANE_LINE 0 "Not Detected" 1 "Low Confidence" 2 "Medium Confidence" 3 "High Confidence";
-VAL_ 1041 DRIVER_DOOR 0 "Closed" 1 "Opened";
-VAL_ 1041 PASSENGER_DOOR 0 "Closed" 1 "Opened";
-VAL_ 1041 PASSENGER_SEATBELT 0 "Unlatched" 1 "Latched";
-VAL_ 1041 DRIVER_SEATBELT 0 "Unlatched" 1 "Latched";
-VAL_ 1041 DRIVER_REAR_DOOR 0 "Closed" 1 "Opened";
-VAL_ 1041 PASSENGER_REAR_DOOR 0 "Closed" 1 "Opened";
-VAL_ 1144 DRIVE_MODE2 3 "Set Sport" 1 "Set Normal" 2 "Set Eco";
-VAL_ 1240 DISTANCE_UNIT 1 "Miles" 0 "Kilometers";
-
-CM_ BO_ 74 "[P] Periodic";
-CM_ SG_ 74 IMU_Crc1Val "The data area for CRC calculation is based on the data length (DLC) of the message DB.The CRC shall be calculated over the entire data block (excluding the CRC bytes) including the user data, alive counter and Data ID- CRC Polynomial (0x1021) , Ini";
-CM_ SG_ 74 IMU_AlvCnt1Val "For the first transmission request for a data element the counter shall be initialized with 0 and shall be incremented by 1 for every subsequent send request. When the counter reaches the maximum value(0xFF), then it shall restart with 0 for the next s";
-CM_ SG_ 74 IMU_YawSigSta "This signal indicates failure status of yaw rate signal and yaw rate sensing element.0000B : No failure xxx1B : IMU_Yawrate_failurexx1xB : Initialization is runningx1xxB : Reserved1xxxB : ReservedThis signal represents the physica";
-CM_ SG_ 74 IMU_LatAccelSigSta "This signal indicates failure status of lateral acceleration signal and sensing element.0000B : No failurexxx1B : IMU_Lateral acceleration failurexx1xB : Initialization is runningx1xxB : Reserved1xxxB : ReservedThis signal represe";
-CM_ SG_ 74 IMU_AcuRstSta "This signal indicates the status of IMU.0000B : Normal mode xxx1B : IMU Reset modexx1xB : Reservedx1xxB : Reserved1xxxB : ReservedIf ACU reset is required, ACU will send IMU RESET bit(XXX1B) up to 30 times and perform a reset. If ";
-CM_ SG_ 74 IMU_YawRtVal "This signal indicates Information regarding yaw rate.physical range : -163.84..163.83 ˚/s = 0000H..FFFEhConversion : (PH) = ((HEX)-8000H)*0.005[˚/s/digit] = (HEX)*0.005[˚/s/digit] - 163.84[˚/s] ";
-CM_ SG_ 74 IMU_LatAccelVal "This signal indicates Information regarding lateral acceleration.physical range : -4.1768g..4.1765g = 0000H..FFFEhConversion : (PH) = ((HEX)-8000H)*0.000127465[g/digit] = (HEX)*0.000127465[g/digit] - 4.17677312[g]";
-
-CM_ BO_ 229 "[P] Periodic";
-CM_ SG_ 229 ESC_YawSigSta "ESC_YawSigSta";
-CM_ SG_ 229 ESC_LatAccelSigSta "ESC_LatAccelSigSta";
-CM_ SG_ 229 ESC_LongAccelSigSta "ESC_LongAccelSigSta";
-CM_ SG_ 229 ESC_YawRtVal "ESC_YawRtVal";
-CM_ SG_ 229 ESC_LatAccelVal "ESC_LatAccelVal";
-CM_ SG_ 229 ESC_LongAccelVal "ESC_LongAccelVal";
@@ -0,0 +1,79 @@
+BO_ 1880 DEBUG: 8 XXX
+ SG_ BLINDSPOTSIDE : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ BLINDSPOT : 38|1@0+ (1,0) [0|15] "" XXX
+ SG_ BLINDSPOTD1 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ BLINDSPOTD2 : 55|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ DSS1GDRV : 7|10@0- (0.1,0) [0|0] "m/s^2" Vector__XXX
+ SG_ DS1STAT2 : 13|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DS1STBK2 : 10|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PCSWAR : 18|1@0+ (1,0) [0|0] "" FCM
+ SG_ PCSALM : 17|1@0+ (1,0) [0|0] "" FCM
+ SG_ PCSOPR : 16|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PCSABK : 31|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PBATRGR : 30|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PPTRGR : 28|1@0+ (1,0) [0|0] "" FCM
+ SG_ IBTRGR : 27|1@0+ (1,0) [0|0] "" FCM
+ SG_ CLEXTRGR : 26|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ IRLT_REQ : 25|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ BRKHLD : 37|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ AVSTRGR : 36|1@0+ (1,0) [0|0] "" SCS
+ SG_ VGRSTRGR : 35|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PREFILL : 33|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PBRTRGR : 32|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PCSDIS : 43|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PBPREPMP : 40|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 713 HYBRID_POWERTRAIN: 8 XXX
+ SG_ COAST_FUEL_CUT : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ HYBRID_DRIVE_STATE : 11|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 814 BRAKE_HYDRAULIC: 8 XXX
+ SG_ BRAKE_PRESSURE : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_PRESSURE_COPY1 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_PRESSURE_COPY2 : 47|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 971 MOTOR_SPEED_CLUSTER: 7 XXX
+ SG_ CLUSTER_SPEED : 55|8@0+ (1,-21) [0|255] "km/h" XXX
+
+BO_ 896 HYBRID_BATTERY: 8 XXX
+ SG_ HV_SOC_PCT : 55|8@0+ (1,0) [0|100] "%" XXX
+
+BO_ 1654 HV_POWER_INTEGRATOR: 8 XXX
+ SG_ HV_POWER_ACCUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 975 HV_INVERTER: 5 XXX
+ SG_ HV_VOLTAGE_LO : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ HV_CURRENT_LO : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 955 BRAKE_REDUNDANT: 8 XXX
+ SG_ BRAKE_PRESSED_REDUNDANT : 0|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 918 VEHICLE_DRIVE_MODE: 8 XXX
+ SG_ DRIVE_MODE_STATE : 7|8@0+ (1,0) [0|255] "" XXX
+
+CM_ "Sunnypilot Prius TSS2 reverse-engineered signals — route 550a71ee4c7a7fbe/0000038f--6b48497966, 2026-05-19. Confidence: high unless noted.";
+CM_ BO_ 713 "Hybrid powertrain status. 100Hz on bus 0.";
+CM_ SG_ 713 COAST_FUEL_CUT "byte0 bit5. 1 when accelerator lifted at speed -> ICE fuel cut / decel-fuel-cut active. P(=1|coast)=0.95, P(=1|accel)=0.008, P(=1|brake)=0.0. Use: lift detection for accel feedforward, EV-only mode hint.";
+CM_ SG_ 713 HYBRID_DRIVE_STATE "byte1 lower-nibble (bits 8-11). Enum (validated): 4=brake/regen-active, 5-8=coast/cruise levels, 10/12=ICE running active, 11=idle-stop. Not a scalar magnitude. Use: distinguish ICE-on vs EV for accel command shaping.";
+CM_ BO_ 814 "Brake hydraulic. 5Hz on bus 0. Bytes 0,2,4,6 are status/flag bytes (not yet decoded). Saturates 255 under hard brake.";
+CM_ SG_ 814 BRAKE_PRESSURE "byte1. Master cylinder pressure proxy. 0 during coast, 33-45 mean during brake, 254-255 max. NOT same as BRAKE_MODULE.BRAKE_PRESSURE.";
+CM_ SG_ 814 BRAKE_PRESSURE_COPY1 "byte3. Identical to BRAKE_PRESSURE 90% of brake samples. Redundant copy (CRC/safety).";
+CM_ SG_ 814 BRAKE_PRESSURE_COPY2 "byte5. Identical to BRAKE_PRESSURE 90% of brake samples. Redundant copy.";
+CM_ BO_ 971 "Cluster speedometer feed. 10Hz on bus 0.";
+CM_ SG_ 971 CLUSTER_SPEED "byte6. Encoded as raw_byte = v_kph + 21. After (1,-21) factor/offset: km/h matching dashboard speedometer. Corr 0.998 w/ WHEEL_SPEEDS. ~5km/h higher than wheel mean = cluster display bias.";
+CM_ BO_ 896 "HV battery status. 5Hz on bus 0.";
+CM_ SG_ 896 HV_SOC_PCT "byte6. HV battery state-of-charge percent. Validated range 53-62% on route 0000038f (Prius hybrid SoC normal band 40-80%). Use: energy-aware planner — reduce regen demand at high SoC (>70%), lift accel demand at low SoC (<50%).";
+CM_ BO_ 1654 "HV power integrator. 1Hz on bus 0. Slow drift signal, semantic not fully confirmed.";
+CM_ SG_ 1654 HV_POWER_ACCUM "byte4. Slow-drifting integer 0-59, independent of HV_SOC_PCT. Hypothesis: HV power flow accumulator or charging-cycle counter. Needs more routes.";
+CM_ BO_ 975 "HV inverter telemetry. 10Hz on bus 0. 5-byte message.";
+CM_ SG_ 975 HV_VOLTAGE_LO "byte2. Sequential integer 40-53 range. Hypothesis: HV bus voltage low-byte scaled. Moderate corr w/ brake (regen-loaded voltage).";
+CM_ SG_ 975 HV_CURRENT_LO "byte4. Sequential integer 17-36 range. JUMPS -16 at brake-release (regen current cutoff signature). Use: real-time regen current readback for brake-blend tuning.";
+CM_ BO_ 955 "Brake redundant signal. 10Hz on bus 0.";
+CM_ SG_ 955 BRAKE_PRESSED_REDUNDANT "byte0 bit0. 99.9% agreement with BRAKE_MODULE.BRAKE_PRESSED. Safety-redundant copy. Use: cross-check brake state for fault detection.";
+CM_ BO_ 918 "Vehicle drive mode state. 5Hz on bus 0.";
+CM_ SG_ 918 DRIVE_MODE_STATE "byte0. 3 states observed: 185=parked-with-brake, 189=ready-to-drive, 191=ready-no-brake. Transitions on GEAR shifts + brake. Use: more reliable drive-state machine than gear+brake combo.";
+VAL_ 713 HYBRID_DRIVE_STATE 4 "brake_regen_active" 5 "coast_5" 6 "coast_6" 7 "coast_7" 8 "coast_cruise" 10 "ice_active_10" 11 "idle_stop" 12 "ice_active_12";
+VAL_ 918 DRIVE_MODE_STATE 185 "parked_brake" 189 "ready" 191 "ready_no_brake";
@@ -234,6 +234,7 @@ BO_ 956 GEAR_PACKET: 8 XXX
 SG_ SPORT_GEAR_ON : 33|1@0+ (1,0) [0|1] "" XXX
 SG_ SPORT_GEAR : 38|3@0+ (1,0) [0|7] "" XXX
 SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ SPORT_ON_2 : 55|1@0+ (1,0) [0|1] "" XXX
 SG_ B_GEAR_ENGAGED : 41|1@0+ (1,0) [0|1] "" XXX
 SG_ DRIVE_ENGAGED : 47|1@0+ (1,0) [0|1] "" XXX

@@ -545,6 +546,7 @@ VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
 VAL_ 956 SPORT_GEAR_ON 0 "off" 1 "on";
 VAL_ 956 SPORT_GEAR 1 "S1" 2 "S2" 3 "S3" 4 "S4" 5 "S5" 6 "S6";
 VAL_ 956 ECON_ON 0 "off" 1 "on";
+VAL_ 956 SPORT_ON_2 0 "off" 1 "on";
 VAL_ 956 B_GEAR_ENGAGED 0 "off" 1 "on";
 VAL_ 956 DRIVE_ENGAGED 0 "off" 1 "on";
 VAL_ 1005 REVERSE_CAMERA_GUIDELINES 3 "No guidelines" 2 "Static guidelines" 1 "Active guidelines";
@@ -35,14 +35,6 @@ BO_ 740 STEERING_LKA: 5 XXX
 SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX
 SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX

-BO_ 836 PRE_COLLISION_2: 8 DSU
- SG_ DSS1GDRV : 7|10@0- (0.1,0) [0|0] "m/s^2" Vector__XXX
- SG_ PCSALM : 17|1@0+ (1,0) [0|0] "" FCM
- SG_ IBTRGR : 27|1@0+ (1,0) [0|0] "" FCM
- SG_ PBATRGR : 30|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PREFILL : 33|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ AVSTRGR : 36|1@0+ (1,0) [0|0] "" SCS
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX

 CM_ SG_ 466 NEUTRAL_FORCE "force in newtons the engine/electric motors are applying without any acceleration commands or user input";
 CM_ SG_ 466 ACC_BRAKING "whether brakes are being actuated from ACC command";
@@ -1,6 +1,7 @@
 CM_ "IMPORT _community.dbc";
 CM_ "IMPORT _toyota_2017.dbc";
 CM_ "IMPORT _toyota_adas_standard.dbc";
+CM_ "IMPORT _sp_debug_toyota.dbc";

 BO_ 548 BRAKE_MODULE: 8 XXX
 SG_ BRAKE_PRESSURE : 43|12@0+ (1,0) [0|4047] "" XXX
@@ -1,6 +1,7 @@
 CM_ "IMPORT _community.dbc";
 CM_ "IMPORT _toyota_2017.dbc";
 CM_ "IMPORT _toyota_adas_standard.dbc";
+CM_ "IMPORT _sp_debug_toyota.dbc";

 BO_ 401 STEERING_LTA: 8 XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
@@ -1,6 +1,7 @@
 CM_ "IMPORT _community.dbc";
 CM_ "IMPORT _toyota_2017.dbc";
 CM_ "IMPORT _toyota_adas_standard.dbc";
+CM_ "IMPORT _sp_debug_toyota.dbc";

 BO_ 550 BRAKE_MODULE: 8 XXX
 SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
@@ -46,7 +46,6 @@
  {.msg = {{0x1a0, (scc_bus), 32, 50U, .max_counter = 0xffU, .ignore_quality_flag = true}, { 0 }, { 0 }}},  \

 static bool hyundai_canfd_alt_buttons = false;
-static bool hyundai_canfd_angle_steering = false;
 static bool hyundai_canfd_lka_steer_msg_alt = false;

 static unsigned int hyundai_canfd_get_lka_addr(void) {
@@ -79,10 +78,6 @@ static void hyundai_canfd_rx_hook(const CANPacket_t *msg) {
      int torque_driver_new = ((msg->data[11] & 0x1fU) << 8U) | msg->data[10];
      torque_driver_new -= 4095;
      update_sample(&torque_driver, torque_driver_new);
-
-      int angle_meas_new = (msg->data[17] << 8) | msg->data[16];
-      angle_meas_new = to_signed(angle_meas_new, 16);
-      update_sample(&angle_meas, angle_meas_new);
    }

    // cruise buttons
@@ -146,7 +141,7 @@ static void hyundai_canfd_rx_hook(const CANPacket_t *msg) {
 }

 static bool hyundai_canfd_tx_hook(const CANPacket_t *msg) {
-  const TorqueSteeringLimits HYUNDAI_CANFD_TORQUE_STEERING_LIMITS = {
+  const TorqueSteeringLimits HYUNDAI_CANFD_STEERING_LIMITS = {
    .max_torque = 270,
    .max_rt_delta = 112,
    .max_rate_up = 2,
@@ -163,77 +158,16 @@ static bool hyundai_canfd_tx_hook(const CANPacket_t *msg) {
    .has_steer_req_tolerance = true,
  };

-  const AngleSteeringLimits HYUNDAI_CANFD_ANGLE_STEERING_LIMITS = {
-    .max_angle = 3600,
-    .angle_deg_to_can = 10,
-    .frequency = 100U,
-  };
-
-  // We need to find a middle ground between all the possible params or find a way to properly fingerprint.
-  // HYUNDAI_IONIQ_5_PE: -0.0008688329819908074
-  // KIA_EV6_2025: -0.000889804937754786
-  // KIA_EV9: -0.0005410588125765342
-  // GENESIS_GV80_2025: -0.0005685702046115589
-  // HYUNDAI_SANTA_FE_HEV_5TH_GEN: -0.00059689759884299
-
-  // IONIQ 5 PE values.
-  // const AngleSteeringParams HYUNDAI_STEERING_PARAMS = {
-  //   .slip_factor = -0.0008688329819908074,  // calc_slip_factor(VM)
-  //   .steer_ratio = 14.26,
-  //   .wheelbase = 2.97,
-  // };
-
-  // // GENESIS_GV80_2025 values. (values can be found on values.py)
-  // const AngleSteeringParams HYUNDAI_STEERING_PARAMS = {
-  //   .slip_factor = -0.0005685702046115589,  // calc_slip_factor(VM)
-  //   .steer_ratio = 14.14,
-  //   .wheelbase = 2.95,
-  // };
-
-  // HYUNDAI_SANTA_FE_HEV_5TH_GEN values. (values can be found on values.py)
-  // const AngleSteeringParams HYUNDAI_STEERING_PARAMS = {
-  //   .slip_factor = -0.00059689759884299,  // calc_slip_factor(VM)
-  //   .steer_ratio = 13.72,
-  //   .wheelbase = 2.81,
-  // };
-
-  // KIA_SPORTAGE_HEV_2026 values. (most conservative for now) (values can be found on values.py)
-  const AngleSteeringParams HYUNDAI_STEERING_PARAMS = {
-      .slip_factor = -0.0006085930193026732,  // calc_slip_factor(VM)
-      .steer_ratio = 13.7,
-      .wheelbase = 2.756,
-    };
-
-
  bool tx = true;

  // steering
  const unsigned int steer_addr = (hyundai_canfd_lka_steer_msg && !hyundai_longitudinal) ? hyundai_canfd_get_lka_addr() : 0x12aU;
  if (msg->addr == steer_addr) {
-    if (hyundai_canfd_angle_steering) {
-      const int lkas_angle_active = (msg->data[9] >> 4U) & 0x3U;
-      const bool steer_angle_req = lkas_angle_active != 1;
+    int desired_torque = (((msg->data[6] & 0xFU) << 7U) | (msg->data[5] >> 1U)) - 1024U;
+    bool steer_req = GET_BIT(msg, 52U);

-      int desired_angle = (msg->data[11] << 6U) | (msg->data[10] >> 2U);
-      desired_angle = to_signed(desired_angle, 14);
-
-      // ADAS_ACIAnglTqRedcGainVal: bit 96, 8 bits, unsigned. Raw 0-250 valid, 251-255 reserved.
-      const uint8_t gain_raw = msg->data[12];
-      bool gain_violation = gain_raw > 250U;
-      if (!steer_angle_req && (gain_raw != 0U)) {
-        gain_violation = true;
-      }
-
-      if (steer_angle_cmd_checks_vm(desired_angle, steer_angle_req, HYUNDAI_CANFD_ANGLE_STEERING_LIMITS, HYUNDAI_STEERING_PARAMS) || gain_violation) {
-        tx = false;
-      }
-    } else {
-      int desired_torque = (((msg->data[6] & 0xFU) << 7U) | (msg->data[5] >> 1U)) - 1024U;
-      bool steer_req = GET_BIT(msg, 52U);
-
-      if (steer_torque_cmd_checks(desired_torque, steer_req, HYUNDAI_CANFD_TORQUE_STEERING_LIMITS)) {
-        tx = false;
-      }
+    if (steer_torque_cmd_checks(desired_torque, steer_req, HYUNDAI_CANFD_STEERING_LIMITS)) {
+      tx = false;
    }
  }

@@ -293,7 +227,6 @@ 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_CANFD_ANGLE_STEERING = 1024;

  static const CanMsg HYUNDAI_CANFD_LKA_STEER_MSG_TX_MSGS[] = {
    HYUNDAI_CANFD_LKA_STEER_MSG_COMMON_TX_MSGS(0, 1)
@@ -342,8 +275,6 @@ static safety_config hyundai_canfd_init(uint16_t 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_angle_steering = GET_FLAG(param, HYUNDAI_PARAM_CANFD_ANGLE_STEERING);
-  // TODO: test this restriction
  hyundai_canfd_lka_steer_msg_alt = GET_FLAG(param, HYUNDAI_PARAM_CANFD_LKA_STEER_MSG_ALT);

  safety_config ret;
@@ -109,12 +109,6 @@ static bool nissan_tx_hook(const CANPacket_t *msg) {
    }
  }

-  // acc button check, only allow cancel button to be sent
-  if (msg->addr == 0x20bU) {
-    // Violation of any button other than cancel is pressed
-    violation |= ((msg->data[1] & 0x3dU) > 0U);
-  }
-
  if (violation) {
    tx = false;
  }
@@ -135,7 +129,7 @@ static safety_config nissan_init(uint16_t param) {
    {0x169, 0, 8, .check_relay = true},   // LKAS
    {0x2b1, 0, 8, .check_relay = true},   // PROPILOT_HUD
    {0x4cc, 0, 8, .check_relay = true},   // PROPILOT_HUD_INFO_MSG
-    {0x20b, 2, 6, .check_relay = false}   // CRUISE_THROTTLE (X-Trail)
+    {0x20b, 2, 6, .check_relay = true}    // CRUISE_THROTTLE (X-Trail)
  };

  static const CanMsg NISSAN_TX_MSGS_ALTIMA[] = {
@@ -33,6 +33,10 @@ static bool tesla_autopark_prev = false;
 extern bool tesla_has_vehicle_bus;
 bool tesla_has_vehicle_bus = false;

+// Configured MADS screen button finger count (0 = disabled, 3-5 = expected touch-point count)
+extern uint8_t tesla_mads_screen_button_fingers;
+uint8_t tesla_mads_screen_button_fingers = 0U;
+
 static uint8_t tesla_get_counter(const CANPacket_t *msg) {

  uint8_t cnt = 0;
@@ -201,7 +205,9 @@ static void tesla_rx_hook(const CANPacket_t *msg) {

  if (msg->bus == 1U) {
    if (msg->addr == 0x3DFU) {
-      mads_button_press = (msg->data[3] == 3U) ? MADS_BUTTON_PRESSED : MADS_BUTTON_NOT_PRESSED;
+      if (tesla_mads_screen_button_fingers != 0U) {
+        mads_button_press = (msg->data[3] == tesla_mads_screen_button_fingers) ? MADS_BUTTON_PRESSED : MADS_BUTTON_NOT_PRESSED;
+      }
    }
  }

@@ -380,9 +386,22 @@ static safety_config tesla_init(uint16_t param) {
 #endif

  const uint16_t TESLA_PARAM_SP_VEHICLE_BUS = 1;
+  const uint16_t TESLA_PARAM_SP_MADS_SCREEN_BUTTON_3_FINGER = 2;
+  const uint16_t TESLA_PARAM_SP_MADS_SCREEN_BUTTON_4_FINGER = 4;
+  const uint16_t TESLA_PARAM_SP_MADS_SCREEN_BUTTON_5_FINGER = 8;

  tesla_has_vehicle_bus = GET_FLAG(current_safety_param_sp, TESLA_PARAM_SP_VEHICLE_BUS);

+  if (GET_FLAG(current_safety_param_sp, TESLA_PARAM_SP_MADS_SCREEN_BUTTON_3_FINGER)) {
+    tesla_mads_screen_button_fingers = 3U;
+  } else if (GET_FLAG(current_safety_param_sp, TESLA_PARAM_SP_MADS_SCREEN_BUTTON_4_FINGER)) {
+    tesla_mads_screen_button_fingers = 4U;
+  } else if (GET_FLAG(current_safety_param_sp, TESLA_PARAM_SP_MADS_SCREEN_BUTTON_5_FINGER)) {
+    tesla_mads_screen_button_fingers = 5U;
+  } else {
+    tesla_mads_screen_button_fingers = 0U;
+  }
+
  tesla_stock_aeb = false;
  tesla_stock_lkas = false;
  tesla_stock_lkas_prev = false;
@@ -4,7 +4,7 @@

 // Stock longitudinal
 #define TOYOTA_BASE_TX_MSGS \
-  {0x191, 0, 8, .check_relay = true}, {0x412, 0, 8, .check_relay = true}, {0x1D2, 0, 8, .check_relay = false},  /* LKAS + LTA + PCM cancel cmd */  \
+  {0x191, 0, 8, .check_relay = true}, {0x412, 0, 8, .check_relay = true}, {0x1D2, 0, 8, .check_relay = false}, {0x750, 0, 8, .check_relay = false}, /* LKAS + LTA + PCM cancel cmd */  \

 #define TOYOTA_COMMON_TX_MSGS \
  TOYOTA_BASE_TX_MSGS \
@@ -69,6 +69,7 @@ static bool toyota_secoc = false;
 static bool toyota_alt_brake = false;
 static bool toyota_stock_longitudinal = false;
 static bool toyota_lta = false;
+static bool toyota_cruise_engaged = false;  // SP: PCM_CRUISE.CRUISE_ACTIVE, narrows the auto brake hold AEB window below
 static int toyota_dbc_eps_torque_factor = 100;   // conversion factor for STEER_TORQUE_EPS in %: see dbc file

 static uint32_t toyota_compute_checksum(const CANPacket_t *msg) {
@@ -151,6 +152,7 @@ static void toyota_rx_hook(const CANPacket_t *msg) {
      if (msg->addr == 0x176U) {
        bool cruise_engaged = GET_BIT(msg, 5U);  // PCM_CRUISE.CRUISE_ACTIVE
        pcm_cruise_check(cruise_engaged);
+        toyota_cruise_engaged = cruise_engaged;
      }
      if (msg->addr == 0x116U) {
        gas_pressed = msg->data[1] != 0U;  // GAS_PEDAL.GAS_PEDAL_USER
@@ -162,6 +164,7 @@ static void toyota_rx_hook(const CANPacket_t *msg) {
      if (msg->addr == 0x1D2U) {
        bool cruise_engaged = GET_BIT(msg, 5U);  // PCM_CRUISE.CRUISE_ACTIVE
        pcm_cruise_check(cruise_engaged);
+        toyota_cruise_engaged = cruise_engaged;

        if (!enable_gas_interceptor) {
          gas_pressed = !GET_BIT(msg, 4U);  // PCM_CRUISE.GAS_RELEASED
@@ -386,13 +389,35 @@ static bool toyota_tx_hook(const CANPacket_t *msg) {
        tx = false;
      }
    }
+
+    // SP: auto brake hold https://github.com/AlexandreSato
+    if ((msg->addr == 0x344U) && (alternative_experience & ALT_EXP_ALLOW_AEB)) {
+      if (vehicle_moving || gas_pressed || !acc_main_on || toyota_cruise_engaged) {
+        tx = false;
+      }
+    }
  }

  // UDS: Only tester present ("\x0F\x02\x3E\x00\x00\x00\x00\x00") allowed on diagnostics address
  if (msg->addr == 0x750U) {
    // this address is sub-addressed. only allow tester present to radar (0xF)
    bool invalid_uds_msg = (GET_BYTES(msg, 0, 4) != 0x003E020FU) || (GET_BYTES(msg, 4, 4) != 0x0U);
-    if (invalid_uds_msg) {
+    // SP: Secret sauce from dp. (ask @rav4kumar prior to modifing)
+    // Enhanced BSM
+    bool sp_valid_uds_msgs = ((GET_BYTES(msg, 0, 4) == 0x01100241U) ||  // disable left BSM debug
+                              (GET_BYTES(msg, 0, 4) == 0x60100241U) ||  // enable left BSM debug
+                              (GET_BYTES(msg, 0, 4) == 0x69210241U) ||  // poll left BSM status
+                              (GET_BYTES(msg, 0, 4) == 0x01100242U) ||  // disable right BSM debug
+                              (GET_BYTES(msg, 0, 4) == 0x60100242U) ||  // enable right BSM debug
+                              (GET_BYTES(msg, 0, 4) == 0x69210242U))    // poll right BSM status
+                              && (GET_BYTES(msg, 4, 4) == 0x0U);
+
+    sp_valid_uds_msgs |= (GET_BYTES(msg, 0, 4) == 0x11300540U) &&       // automatic door locking and unlocking
+                         ((GET_BYTES(msg, 4, 4) == 0x00004000U) ||      // unlock
+                          (GET_BYTES(msg, 4, 4) == 0x00008000U));       // lock
+
+    bool valid_tester_present = !invalid_uds_msg && !toyota_stock_longitudinal && !toyota_secoc;
+    if (!valid_tester_present && !sp_valid_uds_msgs) {
      tx = false;
    }
  }
@@ -566,10 +591,27 @@ static safety_config toyota_init(uint16_t param) {
  return ret;
 }

+static bool toyota_fwd_hook(int bus_num, int addr) {
+  bool block_msg = false;
+  if (bus_num == 2) {
+    // SP: block AEB when auto brake hold is active, unblock AEB when auto brake hold is not active.
+    // Narrowed to match auto brake hold's own precondition (cruise must be off) - previously this
+    // blocked native AEB forwarding, forcing a slower software relay, any time the car was simply
+    // stopped with the gas released and ACC main on, even while cruise was actively engaged and
+    // auto brake hold couldn't be active at all.
+    bool is_aeb_msg = (addr == 0x344);
+    block_msg = (is_aeb_msg && (alternative_experience & ALT_EXP_ALLOW_AEB) && !vehicle_moving && !gas_pressed && acc_main_on &&
+                 !toyota_cruise_engaged);
+  }
+
+  return block_msg;
+}
+
 const safety_hooks toyota_hooks = {
  .init = toyota_init,
  .rx = toyota_rx_hook,
  .tx = toyota_tx_hook,
+  .fwd = toyota_fwd_hook,
  .get_checksum = toyota_get_checksum,
  .compute_checksum = toyota_compute_checksum,
  .get_quality_flag_valid = toyota_get_quality_flag_valid,
@@ -60,11 +60,7 @@ def get_steer_value(mode, param, msg):
  elif mode in (CarParams.SafetyModel.hyundai, CarParams.SafetyModel.hyundaiLegacy):
    torque = (((msg.data[3] & 0x7) << 8) | msg.data[2]) - 1024
  elif mode == CarParams.SafetyModel.hyundaiCanfd:
-    if param & HyundaiSafetyFlags.CANFD_ANGLE_STEERING:
-      angle = (msg.data[11] << 6) | (msg.data[10] >> 2)
-      angle = to_signed(angle, 14)
-    else:
-      torque = ((msg.data[5] >> 1) | (msg.data[6] & 0xF) << 7) - 1024
+    torque = ((msg.data[5] >> 1) | (msg.data[6] & 0xF) << 7) - 1024
  elif mode == CarParams.SafetyModel.chrysler:
    torque = (((msg.data[0] & 0x7) << 8) | msg.data[1]) - 1024
  elif mode == CarParams.SafetyModel.subaru:
@@ -18,9 +18,6 @@ DEBUG_VARS = {
  'current_disengage_reason': lambda safety: safety.mads_get_current_disengage_reason(),
  'stock_acc_main': lambda safety: safety.get_acc_main_on(),
  'mads_acc_main': lambda safety: safety.get_mads_acc_main(),
-  'desired_angle_last': lambda safety: safety.get_desired_angle_last(),
-  'angle_meas_min': lambda safety: safety.get_angle_meas_min(),
-  'angle_meas_max': lambda safety: safety.get_angle_meas_max(),
 }


@@ -92,27 +89,17 @@ def replay_drive(msgs, safety_mode, param, alternative_experience, param_sp):
            last_good = last_good_states[canmsg.address]
            print(f"\nBlocked message at {(msg.logMonoTime - start_t) / 1e9:.3f}s:")
            print(f"Address: {hex(canmsg.address)} (bus {canmsg.src})")
-
-            # Header with tab-separated columns
-            print("\nVariable\t\tLast Good State\t\tCurrent State")
-            print("-" * 80)
-
+            print("Current state:")
            for var, getter in DEBUG_VARS.items():
-              current_val = getter(safety)
-              last_val = last_good[var] if last_good['timestamp'] is not None else "N/A"
-
-              # Align columns based on variable name length
-              tab_count = 1 if len(var) >= 16 else 2  # crude spacing control
-              tabs = '\t' * tab_count
-              print(f"{var}{tabs}\t{last_val}\t\t{current_val}")
+              print(f"  {var}: {getter(safety)}")

            if last_good['timestamp'] is not None:
-              print(f"\nLast good timestamp: {last_good['timestamp']:.3f}s")
+              print(f"\nLast good state ({last_good['timestamp']:.3f}s):")
+              for var in DEBUG_VARS:
+                print(f"  {var}: {last_good[var]}")
            else:
              print("\nNo previous good state found for this address")
-
            print("-" * 80)
-
        else:  # Update last good state if message is allowed
          last_good_states[canmsg.address].update({
            'timestamp': (msg.logMonoTime - start_t) / 1e9,
@@ -1,18 +1,13 @@
 #!/usr/bin/env python3
-from opendbc.testing import parameterized_class, parameterized
+from opendbc.testing import parameterized_class
 import unittest
-import numpy as np

-from opendbc.car.hyundai.carcontroller import ANGLE_SAFETY_BASELINE_MODEL
-from opendbc.car.hyundai.values import HyundaiSafetyFlags, CAR, HyundaiFlags, CarControllerParams
+from opendbc.car.hyundai.values import HyundaiSafetyFlags
 from opendbc.car.structs import CarParams
-from opendbc.car.vehicle_model import VehicleModel, calc_slip_factor
 from opendbc.safety.tests.libsafety import libsafety_py
 import opendbc.safety.tests.common as common
-from opendbc.safety.tests.common import CANPackerSafety, away_round, round_speed
+from opendbc.safety.tests.common import CANPackerSafety
 from opendbc.safety.tests.hyundai_common import HyundaiButtonBase, HyundaiLongitudinalBase
-from opendbc.car.lateral import get_max_angle_delta_vm, get_max_angle_vm, AngleSteeringLimitsVM
-from opendbc.car.hyundai.interface import CarInterface

 # All combinations of radar/camera-SCC and gas/hybrid/EV cars
 ALL_GAS_EV_HYBRID_COMBOS = [
@@ -27,16 +22,10 @@ ALL_GAS_EV_HYBRID_COMBOS = [
 ]


-def round_angle(angle_deg: float, can_offset=0):
-  scaled = angle_deg / 0.1
-  scaled += can_offset
-  return int(scaled) * 0.1
-
-
 class TestHyundaiCanfdBase(HyundaiButtonBase, common.CarSafetyTest, common.DriverTorqueSteeringSafetyTest, common.SteerRequestCutSafetyTest):

  TX_MSGS = [[0x50, 0], [0x1CF, 1], [0x2A4, 0]]
-  STANDSTILL_THRESHOLD = 0.375 * 0.03125  # 0.375 kph
+  STANDSTILL_THRESHOLD = 12  # 0.375 kph
  FWD_BLACKLISTED_ADDRS = {2: [0x50, 0x2a4]}

  MAX_RATE_UP = 2
@@ -68,7 +57,7 @@ class TestHyundaiCanfdBase(HyundaiButtonBase, common.CarSafetyTest, common.Drive
    return self.packer.make_can_msg_safety(self.STEER_MSG, self.STEER_BUS, values)

  def _speed_msg(self, speed):
-    values = {f"WHL_Spd{pos}Val": speed * 3.6 for pos in ["FL", "FR", "RL", "RR"]}
+    values = {f"WHL_Spd{pos}Val": speed * 0.03125 for pos in ["FL", "FR", "RL", "RR"]}
    return self.packer.make_can_msg_safety("WHEEL_SPEEDS", self.PT_BUS, values)

  def _user_brake_msg(self, brake):
@@ -104,285 +93,7 @@ class TestHyundaiCanfdBase(HyundaiButtonBase, common.CarSafetyTest, common.Drive
    return self._button_msg(0, enabled)


-class TestHyundaiCanfdTorqueSteering(TestHyundaiCanfdBase, common.DriverTorqueSteeringSafetyTest, common.SteerRequestCutSafetyTest):
-
-  MAX_RATE_UP = 2
-  MAX_RATE_DOWN = 3
-  MAX_TORQUE = 270
-
-  MAX_RT_DELTA = 112
-  RT_INTERVAL = 250000
-
-  DRIVER_TORQUE_ALLOWANCE = 250
-  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
-
-  @classmethod
-  def setUpClass(cls):
-    super().setUpClass()
-    if cls.__name__ == "TestHyundaiCanfdTorqueSteering":
-      cls.packer = None
-      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, 0)
-    self.safety.init_tests()
-
-
-class TestHyundaiCanfdAngleSteering(TestHyundaiCanfdBase, common.AngleSteeringSafetyTest):
-  PLATFORMS = {str(platform): platform for platform in CAR if
-               platform.config.flags & HyundaiFlags.CANFD_ANGLE_STEERING and not CarInterface.get_non_essential_params(str(platform)).dashcamOnly}
-
-  # Angle control limits
-  BASELINE_PANDA_ANGLE_LIMITS: AngleSteeringLimitsVM = AngleSteeringLimitsVM(
-    360,  # degrees (safe upper bound for command, allowing some margin)
-    MAX_ANGLE_RATE=5  # comfort rate limit for angle commands, in degrees per frame.
-  )
-
-  STEER_ANGLE_MAX = 360  # deg
-  DEG_TO_CAN = 10
-  ANGLE_SAFETY_THRESHOLD_PCT = -2.0  # Fail if difference is less than -2%
-
-  # Hyundai uses get_max_angle_delta and get_max_angle for real lateral accel and jerk limits
-  # TODO: integrate this into AngleSteeringSafetyTest
-  ANGLE_RATE_BP = None
-  ANGLE_RATE_UP = None
-  ANGLE_RATE_DOWN = None
-
-  # Real time limits
-  LATERAL_FREQUENCY = 100  # Hz
-
-  cnt_angle_cmd = 0
-
-  def get_baseline_limits(self):
-    limits = CarControllerParams(CarInterface.get_non_essential_params(ANGLE_SAFETY_BASELINE_MODEL))
-    limits.ANGLE_LIMITS = self.BASELINE_PANDA_ANGLE_LIMITS
-    return limits
-
-  def _angle_cmd_msg(self, angle: float, enabled: bool, increment_timer: bool = True, gain: float = 0.0):
-    if increment_timer:
-      self.safety.set_timer(self.cnt_angle_cmd * int(1e6 / self.LATERAL_FREQUENCY))
-      self.__class__.cnt_angle_cmd += 1
-    values = {"ADAS_StrAnglReqVal": angle, "LKAS_ANGLE_ACTIVE": 2 if enabled else 1,
-              "ADAS_ACIAnglTqRedcGainVal": gain}
-    return self.packer.make_can_msg_safety(self.STEER_MSG, self.STEER_BUS, values)
-
-  def _angle_meas_msg(self, angle: float):
-    values = {"MDPS_EstStrAnglVal": angle}
-    return self.packer.make_can_msg_safety("MDPS", self.PT_BUS, values)
-
-  def _get_steer_cmd_angle_max(self, speed):
-    baseline_vm = self.get_vm(ANGLE_SAFETY_BASELINE_MODEL)
-    return get_max_angle_vm(max(speed, 1), baseline_vm, self.get_baseline_limits())
-
-  @classmethod
-  def setUpClass(cls):
-    super().setUpClass()
-    if cls.__name__ == "TestHyundaiCanfdAngleSteering":
-      cls.packer = None
-      cls.safety = None
-      raise unittest.SkipTest
-
-  def get_vm(self, car_name):
-    return VehicleModel(CarInterface.get_non_essential_params(car_name))
-
-  def setUp(self):
-    self.packer = CANPackerSafety("hyundai_canfd_generated")
-    self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, HyundaiSafetyFlags.CANFD_ANGLE_STEERING)
-    self.safety.init_tests()
-
-  def test_angle_cmd_when_enabled(self):
-    # We properly test lateral acceleration and jerk below
-    pass
-
-  def test_lateral_accel_limit(self):
-    car_name = ANGLE_SAFETY_BASELINE_MODEL
-    for speed in np.linspace(0, 40, 100):
-      speed = round_speed(away_round(speed / 0.03125 * 3.6) * 0.03125 / 3.6)
-      speed = max(speed, 1)
-      for sign in (-1, 1):
-        self.safety.set_controls_allowed(True)
-        self._reset_speed_measurement(speed + 1)  # safety fudges the speed
-
-        # at limit (safety tolerance adds 1)
-        angl = get_max_angle_vm(speed, self.get_vm(car_name), self.get_baseline_limits())
-        max_angle = round_angle(get_max_angle_vm(speed, self.get_vm(car_name), self.get_baseline_limits()), 1) * sign
-        max_angle = np.clip(max_angle, -self.STEER_ANGLE_MAX, self.STEER_ANGLE_MAX)
-        self.safety.set_desired_angle_last(round(max_angle * self.DEG_TO_CAN))
-
-        self.assertTrue(self._tx(self._angle_cmd_msg(max_angle, True)), f"{angl} -- {max_angle}")
-
-        # above limit (offset 6 to reliably exceed C float tolerance)
-        max_angle_raw = round_angle(get_max_angle_vm(speed, self.get_vm(car_name), self.get_baseline_limits()), 6) * sign
-        max_angle = np.clip(max_angle_raw, -self.STEER_ANGLE_MAX, self.STEER_ANGLE_MAX)
-        self._tx(self._angle_cmd_msg(max_angle, True))
-
-        # at low speeds max angle is above 360, so adding 1 has no effect
-        should_tx = abs(max_angle_raw) >= self.STEER_ANGLE_MAX
-        self.assertEqual(should_tx, self._tx(self._angle_cmd_msg(max_angle, True)), f"should_tx: {should_tx}, max_angle: {max_angle}, speed: {speed}")
-
-  def test_lateral_jerk_limit(self):
-    car_name = ANGLE_SAFETY_BASELINE_MODEL
-    for speed in np.linspace(0, 40, 100):
-      speed = round_speed(away_round(speed / 0.03125 * 3.6) * 0.03125 / 3.6)
-      speed = max(speed, 1)
-      for sign in (-1, 1):  # (-1, 1):
-        self.safety.set_controls_allowed(True)
-        self._reset_speed_measurement(speed + 1)  # safety fudges the speed
-        self._tx(self._angle_cmd_msg(0, True))
-
-        # Stay within limits
-        # Up
-        max_angle_delta = round_angle(get_max_angle_delta_vm(speed, self.get_vm(car_name), self.get_baseline_limits())) * sign
-        self.assertTrue(self._tx(self._angle_cmd_msg(max_angle_delta, True)))
-
-        # Don't change
-        self.safety.set_desired_angle_last(round(max_angle_delta * self.DEG_TO_CAN))
-        self.assertTrue(self._tx(self._angle_cmd_msg(max_angle_delta, True)))
-
-        # Down
-        self.assertTrue(self._tx(self._angle_cmd_msg(0, True)))
-
-        # Inject too high rates
-        # Up
-        # TODO-SP: Why do I need to set a can_offset so high to pass the tests and why tesla only does +1? and why does it seem to differ based on the baseline?
-        max_angle_delta = round_angle(get_max_angle_delta_vm(speed, self.get_vm(car_name), self.get_baseline_limits()), 6) * sign
-        self.assertFalse(self._tx(self._angle_cmd_msg(max_angle_delta, True)), vars(self.get_baseline_limits()))
-
-        # Don't change
-        self.safety.set_desired_angle_last(round(max_angle_delta * self.DEG_TO_CAN))
-        self.assertTrue(self._tx(self._angle_cmd_msg(max_angle_delta, True)))
-
-        # Down
-        self.assertFalse(self._tx(self._angle_cmd_msg(0, True)))
-
-        # Recover
-        self.assertTrue(self._tx(self._angle_cmd_msg(0, True)))
-
-  def test_rt_limits(self):
-    # TODO: remove and check all safety modes
-    if self.LATERAL_FREQUENCY == -1:
-      raise unittest.SkipTest("No real time limits")
-
-    # Angle safety enforces real time limits by checking the message send frequency in a 250ms time window
-    self.safety.set_timer(0)
-    self.safety.set_controls_allowed(True)
-    max_rt_msgs = int(self.LATERAL_FREQUENCY * common.RT_INTERVAL / 1e6 * 1.2 + 1)  # 1.2x buffer
-
-    for i in range(max_rt_msgs * 2):
-      should_tx = i <= max_rt_msgs
-      self.assertEqual(should_tx, self._tx(self._angle_cmd_msg(0, True, increment_timer=False)))
-
-    # One under RT interval should do nothing
-    self.safety.set_timer(common.RT_INTERVAL - 1)
-    for _ in range(5):
-      self.assertFalse(self._tx(self._angle_cmd_msg(0, True, increment_timer=False)))
-
-    # Increment timer and send 1 message to reset RT window
-    self.safety.set_timer(common.RT_INTERVAL)
-    self.assertFalse(self._tx(self._angle_cmd_msg(0, True, increment_timer=False)))
-    for _ in range(5):
-      self.assertTrue(self._tx(self._angle_cmd_msg(0, True, increment_timer=False)))
-
-  def test_torque_reduction_gain(self):
-    # Valid gains when enabled
-    for gain in [0.0, 0.5, 1.0]:
-      self.safety.set_controls_allowed(True)
-      self.assertTrue(self._tx(self._angle_cmd_msg(0, True, gain=gain)),
-                      f"gain={gain} should be allowed when enabled")
-
-    # Reserved values (raw 251+) must fail even when enabled
-    for gain in [1.004, 1.008, 1.02]:
-      self.safety.set_controls_allowed(True)
-      self.assertFalse(self._tx(self._angle_cmd_msg(0, True, gain=gain)),
-                       f"gain={gain} (reserved) should be blocked")
-
-    # Non-zero gain when disabled must fail
-    for gain in [0.004, 0.5, 1.0]:
-      self.safety.set_controls_allowed(True)
-      self.assertFalse(self._tx(self._angle_cmd_msg(0, False, gain=gain)),
-                       f"gain={gain} should be blocked when disabled")
-
-    # Zero gain when disabled must pass
-    self.safety.set_controls_allowed(True)
-    self.assertTrue(self._tx(self._angle_cmd_msg(0, False, gain=0.0)))
-
-  @parameterized("car_name", sorted(PLATFORMS))
-  def test_max_steering_angle_safety(self, car_name):
-    """
-    Test that ensures the current car's max steering angles are never more than 2%
-    lower than the baseline car across all test speeds.
-    """
-    baseline_car = ANGLE_SAFETY_BASELINE_MODEL
-    baseline_vm = self.get_vm(baseline_car)
-    current_vm = self.get_vm(car_name)
-
-    for speed in np.linspace(1, 40, 10):
-      baseline_max_angle = get_max_angle_vm(speed, baseline_vm, self.get_baseline_limits())
-      current_max_angle = get_max_angle_vm(speed, current_vm, self.get_baseline_limits())
-
-      # Skip if both exceed STEER_ANGLE_MAX (only_relevant_angles logic)
-      if current_max_angle > self.STEER_ANGLE_MAX and baseline_max_angle > self.STEER_ANGLE_MAX:
-        continue
-
-      # Calculate percentage difference
-      if baseline_max_angle != 0:
-        angle_diff_pct = ((current_max_angle - baseline_max_angle) / baseline_max_angle) * 100
-      else:
-        angle_diff_pct = 0
-
-      # Assert that difference is not dangerously low
-      self.assertTrue(
-        angle_diff_pct >= self.ANGLE_SAFETY_THRESHOLD_PCT,
-        f"{car_name} max steering angle at {speed:.1f} m/s [{current_max_angle:.2f}°] is {angle_diff_pct:.2f}% " +
-        f"lower than baseline {baseline_car} ({current_max_angle:.2f}° vs {baseline_max_angle:.2f}°). " +
-        f"Must be >= {self.ANGLE_SAFETY_THRESHOLD_PCT}% to ensure safety." +
-        f"Consider updating the baseline model to be {car_name} (which will lower the threshold for ALL models). " +
-        f"Slip Factor: {repr(calc_slip_factor(current_vm))}"
-      )
-
-  @parameterized("car_name", sorted(PLATFORMS))
-  def test_max_steering_angle_delta_safety(self, car_name):
-    """
-    Test that ensures the current car's max steering angle deltas are never more than 2%
-    lower than the baseline car across all test speeds.
-    """
-    baseline_car = ANGLE_SAFETY_BASELINE_MODEL
-    baseline_vm = self.get_vm(baseline_car)
-    baseline_limits = CarControllerParams(CarInterface.get_non_essential_params(baseline_car))
-    current_vm = self.get_vm(car_name)
-    current_limits = CarControllerParams(CarInterface.get_non_essential_params(car_name))
-
-    for speed in np.linspace(1, 40, 10):
-      baseline_max_delta = get_max_angle_delta_vm(speed, baseline_vm, baseline_limits)
-      current_max_delta = get_max_angle_delta_vm(speed, current_vm, current_limits)
-
-      # Calculate percentage difference
-      if baseline_max_delta != 0:
-        delta_diff_pct = ((current_max_delta - baseline_max_delta) / baseline_max_delta) * 100
-      else:
-        delta_diff_pct = 0
-
-      # Assert that difference is not dangerously low
-      self.assertTrue(
-        delta_diff_pct >= self.ANGLE_SAFETY_THRESHOLD_PCT,
-        f"{car_name} max steering angle delta at {speed:.1f} m/s is {delta_diff_pct:.2f}% " +
-        f"lower than {baseline_car} ({current_max_delta:.4f} vs {baseline_max_delta:.4f} deg/frame). " +
-        f"Must be >= {self.ANGLE_SAFETY_THRESHOLD_PCT}% to ensure safety." +
-        f"Consider updating the baseline model to be {car_name} (which will lower the threshold for ALL models)." +
-        f"Slip Factor: {repr(calc_slip_factor(current_vm))}"
-      )
-
-
-class TestHyundaiCanfdLFASteeringBase(TestHyundaiCanfdTorqueSteering):
+class TestHyundaiCanfdLFASteeringBase(TestHyundaiCanfdBase):

  TX_MSGS = [[0x12A, 0], [0x1A0, 1], [0x1CF, 0], [0x1E0, 0]]
  RELAY_MALFUNCTION_ADDRS = {0: (0x12A, 0x1E0)}  # LFA, LFAHDA_CLUSTER
@@ -460,7 +171,7 @@ class TestHyundaiCanfdLFASteeringAltButtons(TestHyundaiCanfdLFASteeringAltButton
  pass


-class TestHyundaiCanfdLKASteeringEV(TestHyundaiCanfdTorqueSteering):
+class TestHyundaiCanfdLKASteeringEV(TestHyundaiCanfdBase):

  TX_MSGS = [[0x50, 0], [0x1CF, 1], [0x2A4, 0]]
  RELAY_MALFUNCTION_ADDRS = {0: (0x50, 0x2a4)}  # LKAS, CAM_0x2A4
@@ -479,7 +190,7 @@ class TestHyundaiCanfdLKASteeringEV(TestHyundaiCanfdTorqueSteering):


 # TODO: Handle ICE and HEV configurations once we see cars that use the new messages
-class TestHyundaiCanfdLKASteeringAltEVBase(TestHyundaiCanfdBase):
+class TestHyundaiCanfdLKASteeringAltEV(TestHyundaiCanfdBase):

  TX_MSGS = [[0x110, 0], [0x1CF, 1], [0x362, 0]]
  RELAY_MALFUNCTION_ADDRS = {0: (0x110, 0x362)}  # LKAS_ALT, CAM_0x362
@@ -498,60 +209,6 @@ class TestHyundaiCanfdLKASteeringAltEVBase(TestHyundaiCanfdBase):
    self.safety.init_tests()


-class TestHyundaiCanfdLKASteeringAltEVTorque(TestHyundaiCanfdLKASteeringAltEVBase, TestHyundaiCanfdTorqueSteering):
-
-  def setUp(self):
-    self.packer = CANPackerSafety("hyundai_canfd_generated")
-    self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, HyundaiSafetyFlags.CANFD_LKA_STEER_MSG | HyundaiSafetyFlags.EV_GAS |
-                                 HyundaiSafetyFlags.CANFD_LKA_STEER_MSG_ALT)
-    self.safety.init_tests()
-
-
-class TestHyundaiCanfdLKASteeringAltAngle(TestHyundaiCanfdAngleSteering):
-
-  TX_MSGS = [[0x110, 0], [0x1CF, 1], [0x362, 0]]
-  RELAY_MALFUNCTION_ADDRS = {0: (0x110, 0x362)}
-  FWD_BLACKLISTED_ADDRS = {2: [0x110, 0x362]}
-
-  PT_BUS = 1
-  SCC_BUS = 1
-  STEER_MSG = "LKAS_ALT"
-  GAS_MSG = ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED")
-
-  def setUp(self):
-    self.packer = CANPackerSafety("hyundai_canfd_generated")
-    self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, HyundaiSafetyFlags.CANFD_LKA_STEER_MSG |
-                                 HyundaiSafetyFlags.CANFD_LKA_STEER_MSG_ALT | HyundaiSafetyFlags.CANFD_ANGLE_STEERING)
-    self.safety.init_tests()
-
-  # Angle steering does not use torque — override inherited torque tests
-  def test_steer_safety_check(self):
-    pass
-
-  def test_non_realtime_limit_up(self):
-    pass
-
-  def test_steer_req_bit(self):
-    pass
-
-  def test_steer_req_bit_frames(self):
-    pass
-
-  def test_steer_req_bit_multi_invalid(self):
-    pass
-
-  def test_steer_req_bit_realtime(self):
-    pass
-
-  def test_against_torque_driver(self):
-    pass
-
-  def test_realtime_limits(self):
-    pass
-
-
 class TestHyundaiCanfdLKASteeringLongEV(HyundaiLongitudinalBase, TestHyundaiCanfdLKASteeringEV):

  TX_MSGS = [[0x50, 0], [0x1CF, 1], [0x2A4, 0], [0x51, 0], [0x730, 1], [0x12a, 1], [0x160, 1],
@@ -13,8 +13,8 @@ class TestNissanSafety(common.CarSafetyTest, common.AngleSteeringSafetyTest):

  TX_MSGS = [[0x169, 0], [0x2b1, 0], [0x4cc, 0], [0x20b, 2]]
  GAS_PRESSED_THRESHOLD = 3
-  RELAY_MALFUNCTION_ADDRS = {0: (0x169, 0x2b1, 0x4cc)}
-  FWD_BLACKLISTED_ADDRS = {2: [0x169, 0x2b1, 0x4cc]}
+  RELAY_MALFUNCTION_ADDRS = {0: (0x169, 0x2b1, 0x4cc), 2: (0x20b,)}
+  FWD_BLACKLISTED_ADDRS = {0: [0x20b], 2: [0x169, 0x2b1, 0x4cc]}

  EPS_BUS = 0
  CRUISE_BUS = 2
@@ -72,11 +72,11 @@ class TestNissanSafety(common.CarSafetyTest, common.AngleSteeringSafetyTest):
  def test_acc_buttons(self):
    btns = [
      ("cancel", True),
-      ("propilot", False),
-      ("flw_dist", False),
-      ("_set", False),
-      ("res", False),
-      (None, False),
+      ("propilot", True),
+      ("flw_dist", True),
+      ("_set", True),
+      ("res", True),
+      (None, True),
    ]
    for controls_allowed in (True, False):
      for btn, should_tx in btns:
@@ -498,7 +498,7 @@ class TestTeslaVehicleBusSafety(TestTeslaSafetyBase):
    super().setUp()
    self.safety = libsafety_py.libsafety
    self.packer_adas = CANPackerSafety("tesla_model3_vehicle")
-    self.safety.set_current_safety_param_sp(TeslaSafetyFlagsSP.HAS_VEHICLE_BUS)
+    self.safety.set_current_safety_param_sp(TeslaSafetyFlagsSP.HAS_VEHICLE_BUS | TeslaSafetyFlagsSP.MADS_SCREEN_BUTTON_3_FINGER)
    self.safety.set_safety_hooks(CarParams.SafetyModel.tesla, 0)
    self.safety.init_tests()

@@ -506,6 +506,40 @@ class TestTeslaVehicleBusSafety(TestTeslaSafetyBase):
    values = {"UI_activeTouchPoints": 3 if enabled else 0}
    return self.packer_adas.make_can_msg_safety("UI_status2", CANBUS.vehicle, values)

+  def _set_mads_screen_button_config(self, finger_flag):
+    param_sp = TeslaSafetyFlagsSP.HAS_VEHICLE_BUS
+    if finger_flag is not None:
+      param_sp |= finger_flag
+    self.safety.set_current_safety_param_sp(param_sp)
+    self.safety.set_safety_hooks(CarParams.SafetyModel.tesla, 0)
+    self.safety.init_tests()
+
+  def _touch_points_msg(self, touch_points):
+    return self.packer_adas.make_can_msg_safety("UI_status2", CANBUS.vehicle, {"UI_activeTouchPoints": touch_points})
+
+  def test_mads_screen_button_finger_count_match(self):
+    """Configured finger count must match received touch-point count to register a MADS button press."""
+    configs = [
+      (TeslaSafetyFlagsSP.MADS_SCREEN_BUTTON_3_FINGER, 3),
+      (TeslaSafetyFlagsSP.MADS_SCREEN_BUTTON_4_FINGER, 4),
+      (TeslaSafetyFlagsSP.MADS_SCREEN_BUTTON_5_FINGER, 5),
+    ]
+    for config_flag, config_count in configs:
+      for actual in (0, 3, 4, 5):
+        with self.subTest(configured=config_count, actual=actual):
+          self._set_mads_screen_button_config(config_flag)
+          self._rx(self._touch_points_msg(actual))
+          expected = 1 if actual == config_count else 0  # PRESSED vs NOT_PRESSED
+          self.assertEqual(expected, self.safety.get_mads_button_press())
+
+  def test_mads_screen_button_disabled(self):
+    """With no finger-count flag set, touch messages must not change the MADS button state from UNAVAILABLE."""
+    self._set_mads_screen_button_config(None)
+    for actual in (0, 3, 4, 5):
+      with self.subTest(actual=actual):
+        self._rx(self._touch_points_msg(actual))
+        self.assertEqual(-1, self.safety.get_mads_button_press())  # UNAVAILABLE
+

 if __name__ == "__main__":
  unittest.main()
@@ -101,6 +101,29 @@ class TestToyotaSafetyBase(common.CarSafetyTest, common.LongitudinalAccelSafetyT
      tester_present = libsafety_py.make_CANPacket(0x750, 0, msg)
      self.assertEqual(should_tx and ecu_disabled and not stock_longitudinal, self._tx(tester_present))

+  def test_enhanced_bsm(self):
+    # SP: enable/disable/poll left+right blind spot debug mode, sent to the radar diagnostic address
+    valid_msgs = [
+      b"\x41\x02\x10\x60\x00\x00\x00\x00",  # enable left
+      b"\x41\x02\x10\x01\x00\x00\x00\x00",  # disable left
+      b"\x41\x02\x21\x69\x00\x00\x00\x00",  # poll left
+      b"\x42\x02\x10\x60\x00\x00\x00\x00",  # enable right
+      b"\x42\x02\x10\x01\x00\x00\x00\x00",  # disable right
+      b"\x42\x02\x21\x69\x00\x00\x00\x00",  # poll right
+    ]
+    for msg in valid_msgs:
+      pkt = libsafety_py.make_CANPacket(0x750, 0, msg)
+      self.assertTrue(self._tx(pkt), msg.hex())
+
+    invalid_msgs = [
+      b"\x41\x02\x10\x61\x00\x00\x00\x00",  # wrong subfunction
+      b"\x43\x02\x10\x60\x00\x00\x00\x00",  # wrong sub-address (not left/right)
+      b"\x41\x02\x10\x60\x01\x00\x00\x00",  # non-zero trailing bytes
+    ]
+    for msg in invalid_msgs:
+      pkt = libsafety_py.make_CANPacket(0x750, 0, msg)
+      self.assertFalse(self._tx(pkt), msg.hex())
+
  def test_block_aeb(self, stock_longitudinal: bool = False):
    for controls_allowed in (True, False):
      for bad in (True, False):
@@ -929,16 +929,6 @@
    ],
    "package": "All"
  },
-  "Genesis GV70 Electrified 2026": {
-    "platform": "GENESIS_GV70_ELECTRIFIED_2ND_GEN",
-    "make": "Genesis",
-    "brand": "hyundai",
-    "model": "GV70 Electrified",
-    "year": [
-      "2026"
-    ],
-    "package": "All"
-  },
  "Genesis GV70 Electrified (Australia Only) 2022": {
    "platform": "GENESIS_GV70_ELECTRIFIED_1ST_GEN",
    "make": "Genesis",
@@ -970,26 +960,6 @@
    ],
    "package": "All"
  },
-  "Genesis GV80 (3.5T Prestige Trim, with HDA II & LFA2) 2025": {
-    "platform": "GENESIS_GV80_2025",
-    "make": "Genesis",
-    "brand": "hyundai",
-    "model": "GV80 (3.5T Prestige Trim, with HDA II & LFA2)",
-    "year": [
-      "2025"
-    ],
-    "package": "Highway Driving Assist II & Lane Follow Assist 2"
-  },
-  "Genesis GV80 Coupe (with HDA II & LFA2) 2025": {
-    "platform": "GENESIS_GV80_2025",
-    "make": "Genesis",
-    "brand": "hyundai",
-    "model": "GV80 Coupe (with HDA II & LFA2)",
-    "year": [
-      "2025"
-    ],
-    "package": "Highway Driving Assist II & Lane Follow Assist 2"
-  },
  "GMC Acadia 2018": {
    "platform": "GMC_ACADIA",
    "make": "GMC",
@@ -1497,16 +1467,6 @@
    ],
    "package": "All"
  },
-  "Hyundai AZERA Hybrid (with HDA II & LFA2) 2025": {
-    "platform": "HYUNDAI_AZERA_HEV_7TH_GEN",
-    "make": "Hyundai",
-    "brand": "hyundai",
-    "model": "AZERA Hybrid (with HDA II & LFA2)",
-    "year": [
-      "2025"
-    ],
-    "package": "Highway Driving Assist II & Lane Follow Assist 2"
-  },
  "Hyundai Custin 2023": {
    "platform": "HYUNDAI_CUSTIN_1ST_GEN",
    "make": "Hyundai",
@@ -1644,17 +1604,6 @@
    ],
    "package": "Highway Driving Assist"
  },
-  "Hyundai Ioniq 5 PE (with HDA II & LFA2) 2025-26": {
-    "platform": "HYUNDAI_IONIQ_5_PE",
-    "make": "Hyundai",
-    "brand": "hyundai",
-    "model": "Ioniq 5 PE (with HDA II & LFA2)",
-    "year": [
-      "2025",
-      "2026"
-    ],
-    "package": "Highway Driving Assist II & Lane Follow Assist 2"
-  },
  "Hyundai Ioniq 6 (with HDA II) 2023-24": {
    "platform": "HYUNDAI_IONIQ_6",
    "make": "Hyundai",
@@ -1677,17 +1626,6 @@
    ],
    "package": "Highway Driving Assist"
  },
-  "Hyundai Ioniq 9 (with HDA II & LFA2) 2025-26": {
-    "platform": "HYUNDAI_IONIQ_9",
-    "make": "Hyundai",
-    "brand": "hyundai",
-    "model": "Ioniq 9 (with HDA II & LFA2)",
-    "year": [
-      "2025",
-      "2026"
-    ],
-    "package": "Highway Driving Assist II & Lane Follow Assist 2"
-  },
  "Hyundai Ioniq Electric 2019": {
    "platform": "HYUNDAI_IONIQ_EV_LTD",
    "make": "Hyundai",
@@ -1907,17 +1845,6 @@
    ],
    "package": "All"
  },
-  "Hyundai Santa Fe Hybrid (with HDA II & LFA2) 2024-25": {
-    "platform": "HYUNDAI_SANTA_FE_HEV_5TH_GEN",
-    "make": "Hyundai",
-    "brand": "hyundai",
-    "model": "Santa Fe Hybrid (with HDA II & LFA2)",
-    "year": [
-      "2024",
-      "2025"
-    ],
-    "package": "Highway Driving Assist II & Lane Follow Assist 2"
-  },
  "Hyundai Santa Fe Plug-in Hybrid 2022-23": {
    "platform": "HYUNDAI_SANTA_FE_PHEV_2022",
    "make": "Hyundai",
@@ -2130,16 +2057,6 @@
    ],
    "package": "All"
  },
-  "Kia EV6 (with HDA I) 2025": {
-    "platform": "KIA_EV6_2025",
-    "make": "Kia",
-    "brand": "hyundai",
-    "model": "EV6 (with HDA I)",
-    "year": [
-      "2025"
-    ],
-    "package": "Highway Driving Assist I"
-  },
  "Kia EV6 (with HDA II) 2022-24": {
    "platform": "KIA_EV6",
    "make": "Kia",
@@ -2164,17 +2081,6 @@
    ],
    "package": "Highway Driving Assist"
  },
-  "Kia EV9 2025-26": {
-    "platform": "KIA_EV9",
-    "make": "Kia",
-    "brand": "hyundai",
-    "model": "EV9",
-    "year": [
-      "2025",
-      "2026"
-    ],
-    "package": "Smart Cruise Control (SCC)"
-  },
  "Kia Forte 2019-21": {
    "platform": "KIA_FORTE",
    "make": "Kia",
@@ -2483,16 +2389,6 @@
    ],
    "package": "All"
  },
-  "Kia Sorento Hybrid 2026": {
-    "platform": "KIA_SORENTO_HEV_4TH_GEN_LFA2",
-    "make": "Kia",
-    "brand": "hyundai",
-    "model": "Sorento Hybrid",
-    "year": [
-      "2026"
-    ],
-    "package": "All"
-  },
  "Kia Sorento Plug-in Hybrid 2022-23": {
    "platform": "KIA_SORENTO_HEV_4TH_GEN",
    "make": "Kia",
@@ -2525,16 +2421,6 @@
    ],
    "package": "Smart Cruise Control (SCC)"
  },
-  "Kia Sportage Hybrid 2026": {
-    "platform": "KIA_SPORTAGE_HEV_2026",
-    "make": "Kia",
-    "brand": "hyundai",
-    "model": "Sportage Hybrid",
-    "year": [
-      "2026"
-    ],
-    "package": "Smart Cruise Control (SCC)"
-  },
  "Kia Stinger 2018-20": {
    "platform": "KIA_STINGER",
    "make": "Kia",
@@ -13,12 +13,12 @@ from opendbc.car import structs
 from opendbc.car.can_definitions import CanRecvCallable, CanSendCallable
 from opendbc.car.hyundai.values import HyundaiFlags
 from opendbc.car.subaru.values import SubaruFlags
-from opendbc.car.toyota.values import ToyotaSafetyFlags
+from opendbc.car.toyota.values import RADAR_ACC_CAR, SECOC_CAR, TSS2_CAR, ToyotaSafetyFlags
 from opendbc.sunnypilot.car.hyundai.enable_radar_tracks import enable_radar_tracks as hyundai_enable_radar_tracks
 from opendbc.sunnypilot.car.hyundai.longitudinal.helpers import LongitudinalTuningType
 from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP
 from opendbc.sunnypilot.car.subaru.values_ext import SubaruFlagsSP, SubaruSafetyFlagsSP
-from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
+from opendbc.sunnypilot.car.tesla.values import MadsScreenButtonType, TeslaFlagsSP, TeslaSafetyFlagsSP
 from opendbc.sunnypilot.car.toyota.values import ToyotaFlagsSP


@@ -85,6 +85,7 @@ def setup_interfaces(CI, CP: structs.CarParams, CP_SP: structs.CarParamsSP,

  _initialize_custom_longitudinal_tuning(CI, CP, CP_SP, params_dict)
  _initialize_coop_steering(CP, CP_SP, params_dict)
+  _initialize_tesla_mads_screen_button(CP, CP_SP, params_dict)
  _initialize_radar_tracks(CP, CP_SP, can_recv, can_send)
  _initialize_stop_and_go(CP, CP_SP, params_dict)
  _initialize_toyota(CP, CP_SP, params_dict)
@@ -112,6 +113,21 @@ def _initialize_coop_steering(CP: structs.CarParams, CP_SP: structs.CarParamsSP,
      CP_SP.flags |= TeslaFlagsSP.COOP_STEERING.value


+def _initialize_tesla_mads_screen_button(CP: structs.CarParams, CP_SP: structs.CarParamsSP,
+                                         params_dict: dict[str, str]) -> None:
+  if CP.brand == 'tesla' and CP_SP.flags & TeslaFlagsSP.HAS_VEHICLE_BUS:
+    selection = int(params_dict.get("TeslaMadsScreenButton", MadsScreenButtonType.OFF))
+    if selection == MadsScreenButtonType.THREE_FINGER:
+      CP_SP.flags |= TeslaFlagsSP.MADS_SCREEN_BUTTON_3_FINGER.value
+      CP_SP.safetyParam |= TeslaSafetyFlagsSP.MADS_SCREEN_BUTTON_3_FINGER
+    elif selection == MadsScreenButtonType.FOUR_FINGER:
+      CP_SP.flags |= TeslaFlagsSP.MADS_SCREEN_BUTTON_4_FINGER.value
+      CP_SP.safetyParam |= TeslaSafetyFlagsSP.MADS_SCREEN_BUTTON_4_FINGER
+    elif selection == MadsScreenButtonType.FIVE_FINGER:
+      CP_SP.flags |= TeslaFlagsSP.MADS_SCREEN_BUTTON_5_FINGER.value
+      CP_SP.safetyParam |= TeslaSafetyFlagsSP.MADS_SCREEN_BUTTON_5_FINGER
+
+
 def _initialize_radar_tracks(CP: structs.CarParams, CP_SP: structs.CarParamsSP,
                             can_recv: CanRecvCallable | None = None, can_send: CanSendCallable | None = None) -> None:
  if CP.brand == 'hyundai':
@@ -137,6 +153,8 @@ def _initialize_toyota(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params
  if CP.brand == 'toyota':
    toyota_stock_long = int(params_dict.get("ToyotaEnforceStockLongitudinal", 0)) == 1
    toyota_stop_and_go_hack = int(params_dict.get("ToyotaStopAndGoHack", 0)) == 1
+    toyota_enhanced_bsm = int(params_dict.get("ToyotaEnhancedBsm", 0)) == 1
+    toyota_auto_brake_hold = int(params_dict.get("ToyotaAutoHold", 0)) == 1

    if toyota_stock_long:
      CP_SP.flags |= ToyotaFlagsSP.STOCK_LONGITUDINAL.value
@@ -146,3 +164,9 @@ def _initialize_toyota(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params

    if toyota_stop_and_go_hack and CP.openpilotLongitudinalControl:
      CP_SP.flags |= ToyotaFlagsSP.STOP_AND_GO_HACK.value
+
+    if toyota_enhanced_bsm and CP.carFingerprint in (TSS2_CAR - SECOC_CAR):
+      CP_SP.flags |= ToyotaFlagsSP.SP_ENHANCED_BSM.value
+
+    if toyota_auto_brake_hold and CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR - SECOC_CAR):
+      CP_SP.flags |= ToyotaFlagsSP.SP_AUTO_BRAKE_HOLD.value
@@ -20,19 +20,28 @@ class CarStateExt:
    self.CP = CP
    self.CP_SP = CP_SP

-    self.infotainment_3_finger_press = 0
+    self.active_touch_points = 0

  def update(self, ret: structs.CarState, ret_sp: structs.CarStateSP, can_parsers: dict[StrEnum, CANParser]) -> None:
    if self.CP_SP.flags & TeslaFlagsSP.HAS_VEHICLE_BUS:
      cp_adas = can_parsers[Bus.adas]

-      prev_infotainment_3_finger_press = self.infotainment_3_finger_press
-      self.infotainment_3_finger_press = int(cp_adas.vl["UI_status2"]["UI_activeTouchPoints"])
+      prev_active_touch_points = self.active_touch_points
+      self.active_touch_points = int(cp_adas.vl["UI_status2"]["UI_activeTouchPoints"])

-      ret.buttonEvents = [*create_button_events(self.infotainment_3_finger_press, prev_infotainment_3_finger_press,
-                                                {3: ButtonType.lkas})]
+      finger_count = None
+      if self.CP_SP.flags & TeslaFlagsSP.MADS_SCREEN_BUTTON_3_FINGER:
+        finger_count = 3
+      elif self.CP_SP.flags & TeslaFlagsSP.MADS_SCREEN_BUTTON_4_FINGER:
+        finger_count = 4
+      elif self.CP_SP.flags & TeslaFlagsSP.MADS_SCREEN_BUTTON_5_FINGER:
+        finger_count = 5

+      if finger_count is not None:
+        ret.buttonEvents = [*create_button_events(self.active_touch_points, prev_active_touch_points,
+                                                  {finger_count: ButtonType.lkas})]
    cp_party = can_parsers[Bus.party]
+
    cp_ap_party = can_parsers[Bus.ap_party]

    speed_units = self.can_define.dv["DI_state"]["DI_speedUnits"].get(int(cp_party.vl["DI_state"]["DI_speedUnits"]), None)
@@ -8,9 +8,22 @@ from enum import IntFlag


 class TeslaFlagsSP(IntFlag):
-  HAS_VEHICLE_BUS = 1  # 3-finger infotainment press signal is present on the VEHICLE bus with the deprecated Tesla harness installed
+  HAS_VEHICLE_BUS = 1  # Multi-finger infotainment press signal is present on the VEHICLE bus with the deprecated Tesla harness installed
  COOP_STEERING = 2  # Coop steering
+  MADS_SCREEN_BUTTON_3_FINGER = 4
+  MADS_SCREEN_BUTTON_4_FINGER = 8
+  MADS_SCREEN_BUTTON_5_FINGER = 16
+
+
+class MadsScreenButtonType:
+  OFF = 0
+  THREE_FINGER = 1
+  FOUR_FINGER = 2
+  FIVE_FINGER = 3


 class TeslaSafetyFlagsSP:
  HAS_VEHICLE_BUS = 1
+  MADS_SCREEN_BUTTON_3_FINGER = 2
+  MADS_SCREEN_BUTTON_4_FINGER = 4
+  MADS_SCREEN_BUTTON_5_FINGER = 8
@@ -0,0 +1,79 @@
+"""
+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
+from opendbc.car.toyota import toyotacan
+from opendbc.sunnypilot.car.toyota.values import ToyotaFlagsSP
+
+GearShifter = structs.CarState.GearShifter
+
+# frames of confirmed hold-eligible standstill required before engaging
+BRAKE_HOLD_ALLOWED_TIMER = 100
+
+DISALLOWED_GEARS = (GearShifter.park, GearShifter.reverse)
+
+# PRE_COLLISION_2 fields that go high when the camera's own PCS/AEB is genuinely intervening this
+# frame (PCSALM mirrors PRECOLLISION_ACTIVE; IBTRGR/PBATRGR/PREFILL/AVSTRGR/PBRTRGR/PPTRGR are its
+# actuation triggers - see create_pcs_commands for the same field set on the stock-DSU PCS path).
+# Deliberately over-inclusive: a false positive here just means we pass a quiescent frame through
+# instead of holding it, never the other way around, so err toward checking more fields, not fewer.
+PCS_TRIGGER_FIELDS = ("PCSALM", "IBTRGR", "PBATRGR", "PREFILL", "AVSTRGR", "PBRTRGR", "PPTRGR")
+
+
+def pcs_is_active(pre_collision_2: dict) -> bool:
+  return any(pre_collision_2.get(field, 0) for field in PCS_TRIGGER_FIELDS) or pre_collision_2.get("DSS1GDRV", 0) != 0
+
+
+class AutoBrakeHold:
+  def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP):
+    self.CP = CP
+    self.CP_SP = CP_SP
+
+  @property
+  def enabled(self):
+    return bool(self.CP_SP.flags & ToyotaFlagsSP.SP_AUTO_BRAKE_HOLD)
+
+
+# Auto Brake Hold (@AlexandreSato, @rav4kumar): holds the car at a stop with cruise off by
+# overriding PRE_COLLISION_2 - the only channel on this platform that can command the brake
+# independent of ACC engagement, since PCS/AEB is an always-on active safety system by design.
+# Yields to any genuine PCS activation this frame - the real message is only ever overridden while
+# it's quiescent - and releases for the rest of the current standstill episode on a brake press,
+# rather than for a single frame.
+class AutoBrakeHoldCarController(AutoBrakeHold):
+  def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP):
+    super().__init__(CP, CP_SP)
+
+    self.active = False
+    self._counter = 0
+    self._released = False
+    self._prev_brake_pressed = False
+
+  def update(self, CS: structs.CarState, frame: int, packer) -> list:
+    hold_allowed = (CS.out.standstill and CS.out.cruiseState.available and not CS.out.cruiseState.enabled and
+                     not CS.out.gasPressed and CS.out.gearShifter not in DISALLOWED_GEARS)
+
+    if hold_allowed:
+      # only a fresh press releases hold - the press that caused the stop is already reflected in
+      # _prev_brake_pressed by the time standstill is reached, so it doesn't count as a release
+      if CS.out.brakePressed and not self._prev_brake_pressed:
+        self._released = True
+      self._counter += 1
+      self.active = self._counter > BRAKE_HOLD_ALLOWED_TIMER and not self._released
+    else:
+      self._counter = 0
+      self.active = False
+      self._released = False
+
+    self._prev_brake_pressed = CS.out.brakePressed
+
+    can_sends = []
+    if frame % 2 == 0:
+      override = self.active and not pcs_is_active(CS.pre_collision_2)
+      can_sends.append(toyotacan.create_brake_hold_command(packer, frame, CS.pre_collision_2, override))
+
+    return can_sends
@@ -0,0 +1,126 @@
+"""
+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
+from opendbc.car.can_definitions import CanData
+from opendbc.car.toyota import toyotacan
+from opendbc.sunnypilot.car.toyota.values import ToyotaFlagsSP
+
+LEFT_BLINDSPOT = b"\x41"
+RIGHT_BLINDSPOT = b"\x42"
+LEFT_SIDE = LEFT_BLINDSPOT[0]
+RIGHT_SIDE = RIGHT_BLINDSPOT[0]
+
+# BLINDSPOTD1/D2 aren't real distances despite the DBC name: verified against 3 real routes, values
+# fall into 3 clean bands - idle (0), a small transitional-noise band (seen 1-31, rare: single-digit
+# occurrence counts, present during side/state transitions), and two real zone codes (~46-47 and
+# ~50-53, consistent across routes and cars - likely mirroring stock BSM's own ADJACENT/APPROACHING
+# split). A plain nonzero check lets the noise band through as false "occupied" hits; gate on the
+# real-zone floor instead - comfortably above every noise value seen, comfortably below neither zone code.
+BLINDSPOT_NOISE_FLOOR = 35
+
+# DEBUG also carries a 1-bit BLINDSPOT flag (byte 4) that isn't read here. Checked against the same
+# route: stayed 0 across all frames, including every confirmed real detection - not a usable signal.
+
+
+class EnhancedBsm:
+  def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP):
+    self.CP = CP
+    self.CP_SP = CP_SP
+
+  @property
+  def enabled(self):
+    return bool(self.CP_SP.flags & ToyotaFlagsSP.SP_ENHANCED_BSM)
+
+
+class _BsmSideState:
+  def __init__(self):
+    self.blindspot = False
+    self.counter = 0
+
+  def update(self, distance_1, distance_2):
+    # every fresh matching-side reading directly reflects the current occupancy check - this is not
+    # a latch. A drop to an idle/noise reading on this exact side clears it immediately, same as the
+    # original. The counter is purely a silence timeout for when this side stops responding entirely,
+    # not a "hold the last detection for a while" mechanism.
+    self.blindspot = distance_1 > BLINDSPOT_NOISE_FLOOR or distance_2 > BLINDSPOT_NOISE_FLOOR
+    self.counter = 100
+
+  def decay(self):
+    self.counter = max(0, self.counter - 1)
+    if self.counter == 0:
+      self.blindspot = False
+
+
+# Enhanced BSM (@arne182, @rav4kumar)
+class EnhancedBsmCarState(EnhancedBsm):
+  def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP):
+    super().__init__(CP, CP_SP)
+
+    self._sides = {LEFT_SIDE: _BsmSideState(), RIGHT_SIDE: _BsmSideState()}
+
+  def update(self, cp, frame: int) -> tuple[bool, bool]:
+    # Let's keep all the commented out code for easy debug purposes in the future.
+    distance_1 = cp.vl["DEBUG"].get('BLINDSPOTD1')
+    distance_2 = cp.vl["DEBUG"].get('BLINDSPOTD2')
+    side = cp.vl["DEBUG"].get('BLINDSPOTSIDE')
+
+    if all(val is not None for val in [distance_1, distance_2, side]) and side in self._sides:
+      self._sides[side].update(distance_1, distance_2)
+
+    for side_state in self._sides.values():
+      side_state.decay()
+
+    return self._sides[LEFT_SIDE].blindspot, self._sides[RIGHT_SIDE].blindspot
+
+
+class _BsmSideController:
+  def __init__(self, addr_byte: bytes):
+    self.addr_byte = addr_byte
+    self.debug_enabled = False
+    self.last_poll_frame = 0
+
+  def update(self, frame: int, poll_phase: int, e_bsm_rate: int, always_on: bool, vego_ok: bool) -> list[CanData]:
+    can_sends = []
+
+    if not self.debug_enabled:
+      if always_on or vego_ok:  # eagle eye camera will stop working if bsm is switched on under 6m/s
+        can_sends.append(toyotacan.create_set_bsm_debug_mode(self.addr_byte, True))
+        self.debug_enabled = True
+        self.last_poll_frame = frame  # give the poll loop a fresh baseline so the stale-poll disable check below can't fire before the first real poll
+    else:
+      # no periodic re-assert: re-sending DiagnosticSessionControl(extendedSession) while already in that
+      # session appears to make the ECU intermittently drop its own detection state (confirmed against a
+      # real route - two reasserts landed inside an 8s window where the ECU went silent on that side).
+      # send it once and leave it alone, matching the original, proven-stable behavior.
+      if not always_on and frame - self.last_poll_frame > 50:
+        can_sends.append(toyotacan.create_set_bsm_debug_mode(self.addr_byte, False))
+        self.debug_enabled = False
+
+      if frame % e_bsm_rate == poll_phase:
+        can_sends.append(toyotacan.create_bsm_polling_status(self.addr_byte))
+        self.last_poll_frame = frame
+
+    return can_sends
+
+
+# Enhanced BSM (@arne182, @rav4kumar)
+class EnhancedBsmCarController(EnhancedBsm):
+  def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP):
+    super().__init__(CP, CP_SP)
+
+    self._left = _BsmSideController(LEFT_BLINDSPOT)
+    self._right = _BsmSideController(RIGHT_BLINDSPOT)
+
+  def update(self, CS: structs.CarState, frame: int, e_bsm_rate: int = 20, always_on: bool = True) -> list[CanData]:
+    if frame <= 200:
+      return []
+
+    vego_ok = CS.out.vEgo > 6
+    can_sends = self._left.update(frame, 0, e_bsm_rate, always_on, vego_ok)
+    can_sends += self._right.update(frame, e_bsm_rate // 2, e_bsm_rate, always_on, vego_ok)
+    return can_sends
@@ -0,0 +1,199 @@
+import unittest
+from unittest.mock import patch
+
+from opendbc.car import structs
+from opendbc.sunnypilot.car.toyota.auto_brake_hold import AutoBrakeHoldCarController, BRAKE_HOLD_ALLOWED_TIMER, pcs_is_active
+from opendbc.sunnypilot.car.toyota.values import ToyotaFlagsSP
+
+GearShifter = structs.CarState.GearShifter
+
+
+def make_car_params_sp(enabled: bool = True) -> structs.CarParamsSP:
+  cp_sp = structs.CarParamsSP()
+  cp_sp.flags = ToyotaFlagsSP.SP_AUTO_BRAKE_HOLD if enabled else 0
+  return cp_sp
+
+
+class FakeCarState:
+  def __init__(self, standstill=True, cruise_enabled=False, cruise_available=True, gas_pressed=False,
+               gear=GearShifter.drive, brake_pressed=False, pre_collision_2=None):
+    self.out = structs.CarState()
+    self.out.standstill = standstill
+    self.out.cruiseState.enabled = cruise_enabled
+    self.out.cruiseState.available = cruise_available
+    self.out.gasPressed = gas_pressed
+    self.out.gearShifter = gear
+    self.out.brakePressed = brake_pressed
+    self.pre_collision_2 = pre_collision_2 if pre_collision_2 is not None else {}
+
+
+@patch("opendbc.sunnypilot.car.toyota.auto_brake_hold.toyotacan.create_brake_hold_command")
+class TestAutoBrakeHoldCarController(unittest.TestCase):
+  def _make(self):
+    return AutoBrakeHoldCarController(structs.CarParams(), make_car_params_sp())
+
+  def test_enabled_reflects_flag(self, mock_create):
+    for value in range(256):
+      with self.subTest(flags=value):
+        cp_sp = structs.CarParamsSP()
+        cp_sp.flags = value
+        ctrl = AutoBrakeHoldCarController(structs.CarParams(), cp_sp)
+        self.assertEqual(ctrl.enabled, bool(value & ToyotaFlagsSP.SP_AUTO_BRAKE_HOLD))
+
+  def test_does_not_engage_before_timer(self, mock_create):
+    ctrl = self._make()
+    cs = FakeCarState(brake_pressed=False)
+    for i in range(BRAKE_HOLD_ALLOWED_TIMER):
+      ctrl.update(cs, i, None)
+      self.assertFalse(ctrl.active)
+
+  def test_engages_after_timer_once_brake_released(self, mock_create):
+    ctrl = self._make()
+    cs = FakeCarState(brake_pressed=False)
+    for i in range(BRAKE_HOLD_ALLOWED_TIMER + 1):
+      ctrl.update(cs, i, None)
+    self.assertTrue(ctrl.active)
+
+  def test_brake_still_down_from_the_stop_does_not_block_engagement(self, mock_create):
+    # the driver's foot is normally still on the brake on the very frame standstill is reached -
+    # that must not count as a "fresh press" release, or the feature could never engage
+    ctrl = self._make()
+    # decelerating into the stop with the brake held continuously
+    cs = FakeCarState(standstill=False, brake_pressed=True)
+    for i in range(30):
+      ctrl.update(cs, i, None)
+    # reaches standstill, foot stays down for a while, then lifts
+    cs.out.standstill = True
+    for i in range(30, 50):
+      ctrl.update(cs, i, None)
+      self.assertFalse(ctrl.active, "must not engage while the original stopping press is still held")
+    cs.out.brakePressed = False
+    for i in range(50, 50 + BRAKE_HOLD_ALLOWED_TIMER + 1):
+      ctrl.update(cs, i, None)
+    self.assertTrue(ctrl.active, "should engage once the stopping press is released and the timer elapses")
+
+  def test_fresh_brake_press_mid_hold_releases_and_stays_released(self, mock_create):
+    ctrl = self._make()
+    cs = FakeCarState(brake_pressed=False)
+    frame = 0
+    for _ in range(BRAKE_HOLD_ALLOWED_TIMER + 1):
+      ctrl.update(cs, frame, None)
+      frame += 1
+    self.assertTrue(ctrl.active)
+
+    cs.out.brakePressed = True
+    ctrl.update(cs, frame, None)
+    frame += 1
+    self.assertFalse(ctrl.active, "a fresh press should release immediately")
+
+    for _ in range(20):
+      ctrl.update(cs, frame, None)
+      frame += 1
+      self.assertFalse(ctrl.active, "must stay released for the rest of the episode while continuously held")
+
+    cs.out.brakePressed = False
+    for _ in range(20):
+      ctrl.update(cs, frame, None)
+      frame += 1
+      self.assertFalse(ctrl.active, "must stay released for the rest of the episode even after lifting off again")
+
+  def test_drive_off_and_restop_rearms(self, mock_create):
+    ctrl = self._make()
+    cs = FakeCarState(brake_pressed=False)
+    frame = 0
+    for _ in range(BRAKE_HOLD_ALLOWED_TIMER + 1):
+      ctrl.update(cs, frame, None)
+      frame += 1
+    cs.out.brakePressed = True
+    ctrl.update(cs, frame, None)
+    frame += 1
+    self.assertFalse(ctrl.active)
+
+    # drives off - leaves the standstill episode entirely
+    cs.out.standstill = False
+    ctrl.update(cs, frame, None)
+    frame += 1
+
+    # stops again
+    cs.out.standstill = True
+    cs.out.brakePressed = False
+    for _ in range(BRAKE_HOLD_ALLOWED_TIMER + 1):
+      ctrl.update(cs, frame, None)
+      frame += 1
+    self.assertTrue(ctrl.active, "should re-arm and engage again at the next stop")
+
+  def test_cruise_engaged_blocks_hold(self, mock_create):
+    ctrl = self._make()
+    cs = FakeCarState(cruise_enabled=True, brake_pressed=False)
+    for i in range(BRAKE_HOLD_ALLOWED_TIMER + 1):
+      ctrl.update(cs, i, None)
+    self.assertFalse(ctrl.active, "must not hold while ACC is engaged - that's the point of the constraint")
+
+  def test_gas_pressed_blocks_hold(self, mock_create):
+    ctrl = self._make()
+    cs = FakeCarState(gas_pressed=True, brake_pressed=False)
+    for i in range(BRAKE_HOLD_ALLOWED_TIMER + 1):
+      ctrl.update(cs, i, None)
+    self.assertFalse(ctrl.active)
+
+  def test_park_and_reverse_block_hold(self, mock_create):
+    for gear in (GearShifter.park, GearShifter.reverse):
+      with self.subTest(gear=gear):
+        ctrl = self._make()
+        cs = FakeCarState(gear=gear, brake_pressed=False)
+        for i in range(BRAKE_HOLD_ALLOWED_TIMER + 1):
+          ctrl.update(cs, i, None)
+        self.assertFalse(ctrl.active)
+
+  def test_yields_to_live_pcs_without_dropping_active_state(self, mock_create):
+    ctrl = self._make()
+    cs = FakeCarState(brake_pressed=False)
+    frame = 0
+    for _ in range(BRAKE_HOLD_ALLOWED_TIMER + 1):
+      ctrl.update(cs, frame, None)
+      frame += 1
+    self.assertTrue(ctrl.active)
+    mock_create.reset_mock()
+
+    # a real PCS event shows up on the live signal
+    cs.pre_collision_2 = {"PCSALM": 1}
+    # advance to the next even frame the message is actually built on
+    while frame % 2 != 0:
+      frame += 1
+    ctrl.update(cs, frame, None)
+    override_arg = mock_create.call_args.args[-1]
+    self.assertTrue(ctrl.active, "internal hold state should not be cleared by a live PCS event")
+    self.assertFalse(override_arg, "must not override PRE_COLLISION_2 while PCS is genuinely active")
+
+    # once PCS goes quiet again, override resumes on our own signal, not stale PCS state
+    frame += 2
+    cs.pre_collision_2 = {}
+    ctrl.update(cs, frame, None)
+    override_arg = mock_create.call_args.args[-1]
+    self.assertTrue(override_arg)
+
+  def test_message_only_built_every_other_frame(self, mock_create):
+    ctrl = self._make()
+    cs = FakeCarState(brake_pressed=False)
+    for i in range(10):
+      ctrl.update(cs, i, None)
+    self.assertEqual(mock_create.call_count, 5)
+
+
+class TestPcsIsActive(unittest.TestCase):
+  def test_all_zero_is_not_active(self):
+    self.assertFalse(pcs_is_active({}))
+    self.assertFalse(pcs_is_active({"PCSALM": 0, "DSS1GDRV": 0}))
+
+  def test_any_trigger_field_is_active(self):
+    for field in ("PCSALM", "IBTRGR", "PBATRGR", "PREFILL", "AVSTRGR", "PBRTRGR", "PPTRGR"):
+      with self.subTest(field=field):
+        self.assertTrue(pcs_is_active({field: 1}))
+
+  def test_nonzero_force_signal_is_active(self):
+    self.assertTrue(pcs_is_active({"DSS1GDRV": -5}))
+    self.assertFalse(pcs_is_active({"DSS1GDRV": 0}))
+
+
+if __name__ == "__main__":
+  unittest.main()
@@ -14,6 +14,9 @@ class ToyotaFlagsSP(IntFlag):
  ZSS = 4
  STOCK_LONGITUDINAL = 8
  STOP_AND_GO_HACK = 16
+  SP_ENHANCED_BSM = 32
+  SP_NEED_DEBUG_BSM = 64
+  SP_AUTO_BRAKE_HOLD = 128


 class ToyotaSafetyFlagsSP:
@@ -64,7 +64,6 @@ check-hidden = true
 line-length = 160
 indent-width = 2
 target-version="py311"
-exclude = ["**/*.ipynb"]

 [tool.ruff.lint]
 preview = true
@@ -69,6 +69,8 @@ struct LeadData {
 struct SelfdriveStateSP @0x81c2f05a394cf4af {
  mads @0 :ModularAssistiveDrivingSystem;
  intelligentCruiseButtonManagement @1 :IntelligentCruiseButtonManagement;
+  buttonsPressed @2 :UInt16;
+  buttonsReleaseToggle @3 :UInt16;

  enum AudibleAlert {
    none @0;
@@ -137,10 +139,16 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
    eta @2 :UInt32;
  }

+  struct Chunk {
+    fileName @0 :Text;
+    sha256 @1 :Text;
+  }
+
  struct Artifact {
    fileName @0 :Text;
    downloadUri @1 :DownloadUri;
    downloadProgress @2 :DownloadProgress;
+    chunks @3 :List(Chunk);
  }

  struct Model {
@@ -155,6 +163,7 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
      policy @3;
      offPolicy @4;
      onPolicy @5;
+      chunked @6;
    }
  }

@@ -194,6 +203,7 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
  aTarget @5 :Float32;
  events @6 :List(OnroadEventSP.Event);
  e2eAlerts @7 :E2eAlerts;
+  accelController @8 :AccelController;

  struct DynamicExperimentalControl {
    state @0 :DynamicExperimentalControlState;
@@ -296,6 +306,35 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
    greenLightAlert @0 :Bool;
    leadDepartAlert @1 :Bool;
  }
+
+  struct AccelController {
+    enabled @0 :Bool;
+    active @1 :Bool;
+    shadowOnlyDEPRECATED @2 :Bool;
+    profile @3 :Profile;
+    state @4 :State;
+
+    enum Profile {
+      eco @0;
+      normal @1;
+      sport @2;
+    }
+
+    enum State {
+      inactive @0;
+      free @1;
+      restrict @2;
+      hold @3;
+      release @4;
+      stopHold @5;
+    }
+  }
+
+  enum AccelerationPersonality {
+    eco @0;
+    normal @1;
+    sport @2;
+  }
 }

 struct OnroadEventSP @0xda96579883444c35 {
@@ -342,6 +381,7 @@ struct OnroadEventSP @0xda96579883444c35 {
    speedLimitChanged @21;
    speedLimitPending @22;
    e2eChime @23;
+    laneChangeRoadEdge @24;
  }
 }

@@ -448,6 +488,8 @@ struct LiveMapDataSP @0xf416ec09499d9d19 {

 struct ModelDataV2SP @0xa1680744031fdb2d {
  laneTurnDirection @0 :TurnDirection;
+  leftLaneChangeEdgeBlock @1 :Bool;
+  rightLaneChangeEdgeBlock @2 :Bool;

  enum TurnDirection {
    none @0;
@@ -96,6 +96,7 @@ enum class DownloadStatus_da834d53e62048b9: uint16_t {
 };
 CAPNP_DECLARE_ENUM(DownloadStatus, da834d53e62048b9);
 CAPNP_DECLARE_SCHEMA(a677b25114d64c73);
+CAPNP_DECLARE_SCHEMA(8d6e2aaaa9978a41);
 CAPNP_DECLARE_SCHEMA(e441ce74a64693d1);
 CAPNP_DECLARE_SCHEMA(e7c36e65fea112b1);
 CAPNP_DECLARE_SCHEMA(af23faeb2c26a5b2);
@@ -106,6 +107,7 @@ enum class Type_af23faeb2c26a5b2: uint16_t {
  POLICY,
  OFF_POLICY,
  ON_POLICY,
+  CHUNKED,
 };
 CAPNP_DECLARE_ENUM(Type, af23faeb2c26a5b2);
 CAPNP_DECLARE_SCHEMA(c99c128a7e247b05);
@@ -175,6 +177,31 @@ enum class LongitudinalPlanSource_ad47440556d96ec4: uint16_t {
 };
 CAPNP_DECLARE_ENUM(LongitudinalPlanSource, ad47440556d96ec4);
 CAPNP_DECLARE_SCHEMA(a567bce822ae28fe);
+CAPNP_DECLARE_SCHEMA(88dcd6d006f3c4a1);
+CAPNP_DECLARE_SCHEMA(8c9f9544b04650a6);
+enum class Profile_8c9f9544b04650a6: uint16_t {
+  ECO,
+  NORMAL,
+  SPORT,
+};
+CAPNP_DECLARE_ENUM(Profile, 8c9f9544b04650a6);
+CAPNP_DECLARE_SCHEMA(f3ef31c99115f2a3);
+enum class State_f3ef31c99115f2a3: uint16_t {
+  INACTIVE,
+  FREE,
+  RESTRICT,
+  HOLD,
+  RELEASE,
+  STOP_HOLD,
+};
+CAPNP_DECLARE_ENUM(State, f3ef31c99115f2a3);
+CAPNP_DECLARE_SCHEMA(d02d61eb7efff99e);
+enum class AccelerationPersonality_d02d61eb7efff99e: uint16_t {
+  ECO,
+  NORMAL,
+  SPORT,
+};
+CAPNP_DECLARE_ENUM(AccelerationPersonality, d02d61eb7efff99e);
 CAPNP_DECLARE_SCHEMA(da96579883444c35);
 CAPNP_DECLARE_SCHEMA(f6e831752fcdf793);
 CAPNP_DECLARE_SCHEMA(b8007ed8a646b5e6);
@@ -203,6 +230,7 @@ enum class EventName_b8007ed8a646b5e6: uint16_t {
  SPEED_LIMIT_CHANGED,
  SPEED_LIMIT_PENDING,
  E2E_CHIME,
+  LANE_CHANGE_ROAD_EDGE,
 };
 CAPNP_DECLARE_ENUM(EventName, b8007ed8a646b5e6);
 CAPNP_DECLARE_SCHEMA(80ae746ee2596b11);
@@ -320,7 +348,7 @@ struct SelfdriveStateSP {


  struct _capnpPrivate {
-    CAPNP_DECLARE_STRUCT_HEADER(81c2f05a394cf4af, 0, 2)
+    CAPNP_DECLARE_STRUCT_HEADER(81c2f05a394cf4af, 1, 2)
    #if !CAPNP_LITE
    static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; }
    #endif  // !CAPNP_LITE
@@ -337,6 +365,7 @@ struct ModelManagerSP {
  typedef ::capnp::schemas::DownloadStatus_da834d53e62048b9 DownloadStatus;

  struct DownloadProgress;
+  struct Chunk;
  struct Artifact;
  struct Model;
  typedef ::capnp::schemas::Runner_c99c128a7e247b05 Runner;
@@ -382,6 +411,21 @@ struct ModelManagerSP::DownloadProgress {
  };
 };

+struct ModelManagerSP::Chunk {
+  Chunk() = delete;
+
+  class Reader;
+  class Builder;
+  class Pipeline;
+
+  struct _capnpPrivate {
+    CAPNP_DECLARE_STRUCT_HEADER(8d6e2aaaa9978a41, 0, 2)
+    #if !CAPNP_LITE
+    static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; }
+    #endif  // !CAPNP_LITE
+  };
+};
+
 struct ModelManagerSP::Artifact {
  Artifact() = delete;

@@ -390,7 +434,7 @@ struct ModelManagerSP::Artifact {
  class Pipeline;

  struct _capnpPrivate {
-    CAPNP_DECLARE_STRUCT_HEADER(e441ce74a64693d1, 0, 3)
+    CAPNP_DECLARE_STRUCT_HEADER(e441ce74a64693d1, 0, 4)
    #if !CAPNP_LITE
    static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; }
    #endif  // !CAPNP_LITE
@@ -456,9 +500,12 @@ struct LongitudinalPlanSP {
  typedef ::capnp::schemas::LongitudinalPlanSource_ad47440556d96ec4 LongitudinalPlanSource;

  struct E2eAlerts;
+  struct AccelController;
+  typedef ::capnp::schemas::AccelerationPersonality_d02d61eb7efff99e AccelerationPersonality;
+

  struct _capnpPrivate {
-    CAPNP_DECLARE_STRUCT_HEADER(f35cc4560bbf6ec2, 2, 5)
+    CAPNP_DECLARE_STRUCT_HEADER(f35cc4560bbf6ec2, 2, 6)
    #if !CAPNP_LITE
    static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; }
    #endif  // !CAPNP_LITE
@@ -599,6 +646,25 @@ struct LongitudinalPlanSP::E2eAlerts {
  };
 };

+struct LongitudinalPlanSP::AccelController {
+  AccelController() = delete;
+
+  class Reader;
+  class Builder;
+  class Pipeline;
+  typedef ::capnp::schemas::Profile_8c9f9544b04650a6 Profile;
+
+  typedef ::capnp::schemas::State_f3ef31c99115f2a3 State;
+
+
+  struct _capnpPrivate {
+    CAPNP_DECLARE_STRUCT_HEADER(88dcd6d006f3c4a1, 1, 0)
+    #if !CAPNP_LITE
+    static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; }
+    #endif  // !CAPNP_LITE
+  };
+};
+
 struct OnroadEventSP {
  OnroadEventSP() = delete;

@@ -1327,6 +1393,10 @@ 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>
@@ -1369,6 +1439,12 @@ 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>
@@ -1677,6 +1753,97 @@ private:
 };
 #endif  // !CAPNP_LITE

+class ModelManagerSP::Chunk::Reader {
+public:
+  typedef Chunk Reads;
+
+  Reader() = default;
+  inline explicit Reader(::capnp::_::StructReader base): _reader(base) {}
+
+  inline ::capnp::MessageSize totalSize() const {
+    return _reader.totalSize().asPublic();
+  }
+
+#if !CAPNP_LITE
+  inline ::kj::StringTree toString() const {
+    return ::capnp::_::structString(_reader, *_capnpPrivate::brand());
+  }
+#endif  // !CAPNP_LITE
+
+  inline bool hasFileName() const;
+  inline  ::capnp::Text::Reader getFileName() const;
+
+  inline bool hasSha256() const;
+  inline  ::capnp::Text::Reader getSha256() const;
+
+private:
+  ::capnp::_::StructReader _reader;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::ToDynamic_;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::_::PointerHelpers;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::List;
+  friend class ::capnp::MessageBuilder;
+  friend class ::capnp::Orphanage;
+};
+
+class ModelManagerSP::Chunk::Builder {
+public:
+  typedef Chunk Builds;
+
+  Builder() = delete;  // Deleted to discourage incorrect usage.
+                       // You can explicitly initialize to nullptr instead.
+  inline Builder(decltype(nullptr)) {}
+  inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {}
+  inline operator Reader() const { return Reader(_builder.asReader()); }
+  inline Reader asReader() const { return *this; }
+
+  inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); }
+#if !CAPNP_LITE
+  inline ::kj::StringTree toString() const { return asReader().toString(); }
+#endif  // !CAPNP_LITE
+
+  inline bool hasFileName();
+  inline  ::capnp::Text::Builder getFileName();
+  inline void setFileName( ::capnp::Text::Reader value);
+  inline  ::capnp::Text::Builder initFileName(unsigned int size);
+  inline void adoptFileName(::capnp::Orphan< ::capnp::Text>&& value);
+  inline ::capnp::Orphan< ::capnp::Text> disownFileName();
+
+  inline bool hasSha256();
+  inline  ::capnp::Text::Builder getSha256();
+  inline void setSha256( ::capnp::Text::Reader value);
+  inline  ::capnp::Text::Builder initSha256(unsigned int size);
+  inline void adoptSha256(::capnp::Orphan< ::capnp::Text>&& value);
+  inline ::capnp::Orphan< ::capnp::Text> disownSha256();
+
+private:
+  ::capnp::_::StructBuilder _builder;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::ToDynamic_;
+  friend class ::capnp::Orphanage;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::_::PointerHelpers;
+};
+
+#if !CAPNP_LITE
+class ModelManagerSP::Chunk::Pipeline {
+public:
+  typedef Chunk Pipelines;
+
+  inline Pipeline(decltype(nullptr)): _typeless(nullptr) {}
+  inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless)
+      : _typeless(kj::mv(typeless)) {}
+
+private:
+  ::capnp::AnyPointer::Pipeline _typeless;
+  friend class ::capnp::PipelineHook;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::ToDynamic_;
+};
+#endif  // !CAPNP_LITE
+
 class ModelManagerSP::Artifact::Reader {
 public:
  typedef Artifact Reads;
@@ -1703,6 +1870,9 @@ public:
  inline bool hasDownloadProgress() const;
  inline  ::cereal::ModelManagerSP::DownloadProgress::Reader getDownloadProgress() const;

+  inline bool hasChunks() const;
+  inline  ::capnp::List< ::cereal::ModelManagerSP::Chunk,  ::capnp::Kind::STRUCT>::Reader getChunks() const;
+
 private:
  ::capnp::_::StructReader _reader;
  template <typename, ::capnp::Kind>
@@ -1752,6 +1922,13 @@ public:
  inline void adoptDownloadProgress(::capnp::Orphan< ::cereal::ModelManagerSP::DownloadProgress>&& value);
  inline ::capnp::Orphan< ::cereal::ModelManagerSP::DownloadProgress> disownDownloadProgress();

+  inline bool hasChunks();
+  inline  ::capnp::List< ::cereal::ModelManagerSP::Chunk,  ::capnp::Kind::STRUCT>::Builder getChunks();
+  inline void setChunks( ::capnp::List< ::cereal::ModelManagerSP::Chunk,  ::capnp::Kind::STRUCT>::Reader value);
+  inline  ::capnp::List< ::cereal::ModelManagerSP::Chunk,  ::capnp::Kind::STRUCT>::Builder initChunks(unsigned int size);
+  inline void adoptChunks(::capnp::Orphan< ::capnp::List< ::cereal::ModelManagerSP::Chunk,  ::capnp::Kind::STRUCT>>&& value);
+  inline ::capnp::Orphan< ::capnp::List< ::cereal::ModelManagerSP::Chunk,  ::capnp::Kind::STRUCT>> disownChunks();
+
 private:
  ::capnp::_::StructBuilder _builder;
  template <typename, ::capnp::Kind>
@@ -2168,6 +2345,9 @@ public:
  inline bool hasE2eAlerts() const;
  inline  ::cereal::LongitudinalPlanSP::E2eAlerts::Reader getE2eAlerts() const;

+  inline bool hasAccelController() const;
+  inline  ::cereal::LongitudinalPlanSP::AccelController::Reader getAccelController() const;
+
 private:
  ::capnp::_::StructReader _reader;
  template <typename, ::capnp::Kind>
@@ -2240,6 +2420,13 @@ public:
  inline void adoptE2eAlerts(::capnp::Orphan< ::cereal::LongitudinalPlanSP::E2eAlerts>&& value);
  inline ::capnp::Orphan< ::cereal::LongitudinalPlanSP::E2eAlerts> disownE2eAlerts();

+  inline bool hasAccelController();
+  inline  ::cereal::LongitudinalPlanSP::AccelController::Builder getAccelController();
+  inline void setAccelController( ::cereal::LongitudinalPlanSP::AccelController::Reader value);
+  inline  ::cereal::LongitudinalPlanSP::AccelController::Builder initAccelController();
+  inline void adoptAccelController(::capnp::Orphan< ::cereal::LongitudinalPlanSP::AccelController>&& value);
+  inline ::capnp::Orphan< ::cereal::LongitudinalPlanSP::AccelController> disownAccelController();
+
 private:
  ::capnp::_::StructBuilder _builder;
  template <typename, ::capnp::Kind>
@@ -2262,6 +2449,7 @@ public:
  inline  ::cereal::LongitudinalPlanSP::SmartCruiseControl::Pipeline getSmartCruiseControl();
  inline  ::cereal::LongitudinalPlanSP::SpeedLimit::Pipeline getSpeedLimit();
  inline  ::cereal::LongitudinalPlanSP::E2eAlerts::Pipeline getE2eAlerts();
+  inline  ::cereal::LongitudinalPlanSP::AccelController::Pipeline getAccelController();
 private:
  ::capnp::AnyPointer::Pipeline _typeless;
  friend class ::capnp::PipelineHook;
@@ -3037,6 +3225,102 @@ private:
 };
 #endif  // !CAPNP_LITE

+class LongitudinalPlanSP::AccelController::Reader {
+public:
+  typedef AccelController Reads;
+
+  Reader() = default;
+  inline explicit Reader(::capnp::_::StructReader base): _reader(base) {}
+
+  inline ::capnp::MessageSize totalSize() const {
+    return _reader.totalSize().asPublic();
+  }
+
+#if !CAPNP_LITE
+  inline ::kj::StringTree toString() const {
+    return ::capnp::_::structString(_reader, *_capnpPrivate::brand());
+  }
+#endif  // !CAPNP_LITE
+
+  inline bool getEnabled() const;
+
+  inline bool getActive() const;
+
+  inline bool getShadowOnlyDEPRECATED() const;
+
+  inline  ::cereal::LongitudinalPlanSP::AccelController::Profile getProfile() const;
+
+  inline  ::cereal::LongitudinalPlanSP::AccelController::State getState() const;
+
+private:
+  ::capnp::_::StructReader _reader;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::ToDynamic_;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::_::PointerHelpers;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::List;
+  friend class ::capnp::MessageBuilder;
+  friend class ::capnp::Orphanage;
+};
+
+class LongitudinalPlanSP::AccelController::Builder {
+public:
+  typedef AccelController Builds;
+
+  Builder() = delete;  // Deleted to discourage incorrect usage.
+                       // You can explicitly initialize to nullptr instead.
+  inline Builder(decltype(nullptr)) {}
+  inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {}
+  inline operator Reader() const { return Reader(_builder.asReader()); }
+  inline Reader asReader() const { return *this; }
+
+  inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); }
+#if !CAPNP_LITE
+  inline ::kj::StringTree toString() const { return asReader().toString(); }
+#endif  // !CAPNP_LITE
+
+  inline bool getEnabled();
+  inline void setEnabled(bool value);
+
+  inline bool getActive();
+  inline void setActive(bool value);
+
+  inline bool getShadowOnlyDEPRECATED();
+  inline void setShadowOnlyDEPRECATED(bool value);
+
+  inline  ::cereal::LongitudinalPlanSP::AccelController::Profile getProfile();
+  inline void setProfile( ::cereal::LongitudinalPlanSP::AccelController::Profile value);
+
+  inline  ::cereal::LongitudinalPlanSP::AccelController::State getState();
+  inline void setState( ::cereal::LongitudinalPlanSP::AccelController::State value);
+
+private:
+  ::capnp::_::StructBuilder _builder;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::ToDynamic_;
+  friend class ::capnp::Orphanage;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::_::PointerHelpers;
+};
+
+#if !CAPNP_LITE
+class LongitudinalPlanSP::AccelController::Pipeline {
+public:
+  typedef AccelController Pipelines;
+
+  inline Pipeline(decltype(nullptr)): _typeless(nullptr) {}
+  inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless)
+      : _typeless(kj::mv(typeless)) {}
+
+private:
+  ::capnp::AnyPointer::Pipeline _typeless;
+  friend class ::capnp::PipelineHook;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::ToDynamic_;
+};
+#endif  // !CAPNP_LITE
+
 class OnroadEventSP::Reader {
 public:
  typedef OnroadEventSP Reads;
@@ -4428,6 +4712,10 @@ public:

  inline  ::cereal::ModelDataV2SP::TurnDirection getLaneTurnDirection() const;

+  inline bool getLeftLaneChangeEdgeBlock() const;
+
+  inline bool getRightLaneChangeEdgeBlock() const;
+
 private:
  ::capnp::_::StructReader _reader;
  template <typename, ::capnp::Kind>
@@ -4459,6 +4747,12 @@ public:
  inline  ::cereal::ModelDataV2SP::TurnDirection getLaneTurnDirection();
  inline void setLaneTurnDirection( ::cereal::ModelDataV2SP::TurnDirection value);

+  inline bool getLeftLaneChangeEdgeBlock();
+  inline void setLeftLaneChangeEdgeBlock(bool value);
+
+  inline bool getRightLaneChangeEdgeBlock();
+  inline void setRightLaneChangeEdgeBlock(bool value);
+
 private:
  ::capnp::_::StructBuilder _builder;
  template <typename, ::capnp::Kind>
@@ -5597,6 +5891,34 @@ 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();
@@ -5819,6 +6141,74 @@ inline void ModelManagerSP::DownloadProgress::Builder::setEta( ::uint32_t value)
      ::capnp::bounded<2>() * ::capnp::ELEMENTS, value);
 }

+inline bool ModelManagerSP::Chunk::Reader::hasFileName() const {
+  return !_reader.getPointerField(
+      ::capnp::bounded<0>() * ::capnp::POINTERS).isNull();
+}
+inline bool ModelManagerSP::Chunk::Builder::hasFileName() {
+  return !_builder.getPointerField(
+      ::capnp::bounded<0>() * ::capnp::POINTERS).isNull();
+}
+inline  ::capnp::Text::Reader ModelManagerSP::Chunk::Reader::getFileName() const {
+  return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField(
+      ::capnp::bounded<0>() * ::capnp::POINTERS));
+}
+inline  ::capnp::Text::Builder ModelManagerSP::Chunk::Builder::getFileName() {
+  return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField(
+      ::capnp::bounded<0>() * ::capnp::POINTERS));
+}
+inline void ModelManagerSP::Chunk::Builder::setFileName( ::capnp::Text::Reader value) {
+  ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField(
+      ::capnp::bounded<0>() * ::capnp::POINTERS), value);
+}
+inline  ::capnp::Text::Builder ModelManagerSP::Chunk::Builder::initFileName(unsigned int size) {
+  return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField(
+      ::capnp::bounded<0>() * ::capnp::POINTERS), size);
+}
+inline void ModelManagerSP::Chunk::Builder::adoptFileName(
+    ::capnp::Orphan< ::capnp::Text>&& value) {
+  ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField(
+      ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value));
+}
+inline ::capnp::Orphan< ::capnp::Text> ModelManagerSP::Chunk::Builder::disownFileName() {
+  return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField(
+      ::capnp::bounded<0>() * ::capnp::POINTERS));
+}
+
+inline bool ModelManagerSP::Chunk::Reader::hasSha256() const {
+  return !_reader.getPointerField(
+      ::capnp::bounded<1>() * ::capnp::POINTERS).isNull();
+}
+inline bool ModelManagerSP::Chunk::Builder::hasSha256() {
+  return !_builder.getPointerField(
+      ::capnp::bounded<1>() * ::capnp::POINTERS).isNull();
+}
+inline  ::capnp::Text::Reader ModelManagerSP::Chunk::Reader::getSha256() const {
+  return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField(
+      ::capnp::bounded<1>() * ::capnp::POINTERS));
+}
+inline  ::capnp::Text::Builder ModelManagerSP::Chunk::Builder::getSha256() {
+  return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField(
+      ::capnp::bounded<1>() * ::capnp::POINTERS));
+}
+inline void ModelManagerSP::Chunk::Builder::setSha256( ::capnp::Text::Reader value) {
+  ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField(
+      ::capnp::bounded<1>() * ::capnp::POINTERS), value);
+}
+inline  ::capnp::Text::Builder ModelManagerSP::Chunk::Builder::initSha256(unsigned int size) {
+  return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField(
+      ::capnp::bounded<1>() * ::capnp::POINTERS), size);
+}
+inline void ModelManagerSP::Chunk::Builder::adoptSha256(
+    ::capnp::Orphan< ::capnp::Text>&& value) {
+  ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField(
+      ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value));
+}
+inline ::capnp::Orphan< ::capnp::Text> ModelManagerSP::Chunk::Builder::disownSha256() {
+  return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField(
+      ::capnp::bounded<1>() * ::capnp::POINTERS));
+}
+
 inline bool ModelManagerSP::Artifact::Reader::hasFileName() const {
  return !_reader.getPointerField(
      ::capnp::bounded<0>() * ::capnp::POINTERS).isNull();
@@ -5931,6 +6321,40 @@ inline ::capnp::Orphan< ::cereal::ModelManagerSP::DownloadProgress> ModelManager
      ::capnp::bounded<2>() * ::capnp::POINTERS));
 }

+inline bool ModelManagerSP::Artifact::Reader::hasChunks() const {
+  return !_reader.getPointerField(
+      ::capnp::bounded<3>() * ::capnp::POINTERS).isNull();
+}
+inline bool ModelManagerSP::Artifact::Builder::hasChunks() {
+  return !_builder.getPointerField(
+      ::capnp::bounded<3>() * ::capnp::POINTERS).isNull();
+}
+inline  ::capnp::List< ::cereal::ModelManagerSP::Chunk,  ::capnp::Kind::STRUCT>::Reader ModelManagerSP::Artifact::Reader::getChunks() const {
+  return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ModelManagerSP::Chunk,  ::capnp::Kind::STRUCT>>::get(_reader.getPointerField(
+      ::capnp::bounded<3>() * ::capnp::POINTERS));
+}
+inline  ::capnp::List< ::cereal::ModelManagerSP::Chunk,  ::capnp::Kind::STRUCT>::Builder ModelManagerSP::Artifact::Builder::getChunks() {
+  return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ModelManagerSP::Chunk,  ::capnp::Kind::STRUCT>>::get(_builder.getPointerField(
+      ::capnp::bounded<3>() * ::capnp::POINTERS));
+}
+inline void ModelManagerSP::Artifact::Builder::setChunks( ::capnp::List< ::cereal::ModelManagerSP::Chunk,  ::capnp::Kind::STRUCT>::Reader value) {
+  ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ModelManagerSP::Chunk,  ::capnp::Kind::STRUCT>>::set(_builder.getPointerField(
+      ::capnp::bounded<3>() * ::capnp::POINTERS), value);
+}
+inline  ::capnp::List< ::cereal::ModelManagerSP::Chunk,  ::capnp::Kind::STRUCT>::Builder ModelManagerSP::Artifact::Builder::initChunks(unsigned int size) {
+  return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ModelManagerSP::Chunk,  ::capnp::Kind::STRUCT>>::init(_builder.getPointerField(
+      ::capnp::bounded<3>() * ::capnp::POINTERS), size);
+}
+inline void ModelManagerSP::Artifact::Builder::adoptChunks(
+    ::capnp::Orphan< ::capnp::List< ::cereal::ModelManagerSP::Chunk,  ::capnp::Kind::STRUCT>>&& value) {
+  ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ModelManagerSP::Chunk,  ::capnp::Kind::STRUCT>>::adopt(_builder.getPointerField(
+      ::capnp::bounded<3>() * ::capnp::POINTERS), kj::mv(value));
+}
+inline ::capnp::Orphan< ::capnp::List< ::cereal::ModelManagerSP::Chunk,  ::capnp::Kind::STRUCT>> ModelManagerSP::Artifact::Builder::disownChunks() {
+  return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::ModelManagerSP::Chunk,  ::capnp::Kind::STRUCT>>::disown(_builder.getPointerField(
+      ::capnp::bounded<3>() * ::capnp::POINTERS));
+}
+
 inline  ::cereal::ModelManagerSP::Model::Type ModelManagerSP::Model::Reader::getType() const {
  return _reader.getDataField< ::cereal::ModelManagerSP::Model::Type>(
      ::capnp::bounded<0>() * ::capnp::ELEMENTS);
@@ -6611,6 +7035,45 @@ inline ::capnp::Orphan< ::cereal::LongitudinalPlanSP::E2eAlerts> LongitudinalPla
      ::capnp::bounded<4>() * ::capnp::POINTERS));
 }

+inline bool LongitudinalPlanSP::Reader::hasAccelController() const {
+  return !_reader.getPointerField(
+      ::capnp::bounded<5>() * ::capnp::POINTERS).isNull();
+}
+inline bool LongitudinalPlanSP::Builder::hasAccelController() {
+  return !_builder.getPointerField(
+      ::capnp::bounded<5>() * ::capnp::POINTERS).isNull();
+}
+inline  ::cereal::LongitudinalPlanSP::AccelController::Reader LongitudinalPlanSP::Reader::getAccelController() const {
+  return ::capnp::_::PointerHelpers< ::cereal::LongitudinalPlanSP::AccelController>::get(_reader.getPointerField(
+      ::capnp::bounded<5>() * ::capnp::POINTERS));
+}
+inline  ::cereal::LongitudinalPlanSP::AccelController::Builder LongitudinalPlanSP::Builder::getAccelController() {
+  return ::capnp::_::PointerHelpers< ::cereal::LongitudinalPlanSP::AccelController>::get(_builder.getPointerField(
+      ::capnp::bounded<5>() * ::capnp::POINTERS));
+}
+#if !CAPNP_LITE
+inline  ::cereal::LongitudinalPlanSP::AccelController::Pipeline LongitudinalPlanSP::Pipeline::getAccelController() {
+  return  ::cereal::LongitudinalPlanSP::AccelController::Pipeline(_typeless.getPointerField(5));
+}
+#endif  // !CAPNP_LITE
+inline void LongitudinalPlanSP::Builder::setAccelController( ::cereal::LongitudinalPlanSP::AccelController::Reader value) {
+  ::capnp::_::PointerHelpers< ::cereal::LongitudinalPlanSP::AccelController>::set(_builder.getPointerField(
+      ::capnp::bounded<5>() * ::capnp::POINTERS), value);
+}
+inline  ::cereal::LongitudinalPlanSP::AccelController::Builder LongitudinalPlanSP::Builder::initAccelController() {
+  return ::capnp::_::PointerHelpers< ::cereal::LongitudinalPlanSP::AccelController>::init(_builder.getPointerField(
+      ::capnp::bounded<5>() * ::capnp::POINTERS));
+}
+inline void LongitudinalPlanSP::Builder::adoptAccelController(
+    ::capnp::Orphan< ::cereal::LongitudinalPlanSP::AccelController>&& value) {
+  ::capnp::_::PointerHelpers< ::cereal::LongitudinalPlanSP::AccelController>::adopt(_builder.getPointerField(
+      ::capnp::bounded<5>() * ::capnp::POINTERS), kj::mv(value));
+}
+inline ::capnp::Orphan< ::cereal::LongitudinalPlanSP::AccelController> LongitudinalPlanSP::Builder::disownAccelController() {
+  return ::capnp::_::PointerHelpers< ::cereal::LongitudinalPlanSP::AccelController>::disown(_builder.getPointerField(
+      ::capnp::bounded<5>() * ::capnp::POINTERS));
+}
+
 inline  ::cereal::LongitudinalPlanSP::DynamicExperimentalControl::DynamicExperimentalControlState LongitudinalPlanSP::DynamicExperimentalControl::Reader::getState() const {
  return _reader.getDataField< ::cereal::LongitudinalPlanSP::DynamicExperimentalControl::DynamicExperimentalControlState>(
      ::capnp::bounded<0>() * ::capnp::ELEMENTS);
@@ -7201,6 +7664,76 @@ inline void LongitudinalPlanSP::E2eAlerts::Builder::setLeadDepartAlert(bool valu
      ::capnp::bounded<1>() * ::capnp::ELEMENTS, value);
 }

+inline bool LongitudinalPlanSP::AccelController::Reader::getEnabled() const {
+  return _reader.getDataField<bool>(
+      ::capnp::bounded<0>() * ::capnp::ELEMENTS);
+}
+
+inline bool LongitudinalPlanSP::AccelController::Builder::getEnabled() {
+  return _builder.getDataField<bool>(
+      ::capnp::bounded<0>() * ::capnp::ELEMENTS);
+}
+inline void LongitudinalPlanSP::AccelController::Builder::setEnabled(bool value) {
+  _builder.setDataField<bool>(
+      ::capnp::bounded<0>() * ::capnp::ELEMENTS, value);
+}
+
+inline bool LongitudinalPlanSP::AccelController::Reader::getActive() const {
+  return _reader.getDataField<bool>(
+      ::capnp::bounded<1>() * ::capnp::ELEMENTS);
+}
+
+inline bool LongitudinalPlanSP::AccelController::Builder::getActive() {
+  return _builder.getDataField<bool>(
+      ::capnp::bounded<1>() * ::capnp::ELEMENTS);
+}
+inline void LongitudinalPlanSP::AccelController::Builder::setActive(bool value) {
+  _builder.setDataField<bool>(
+      ::capnp::bounded<1>() * ::capnp::ELEMENTS, value);
+}
+
+inline bool LongitudinalPlanSP::AccelController::Reader::getShadowOnlyDEPRECATED() const {
+  return _reader.getDataField<bool>(
+      ::capnp::bounded<2>() * ::capnp::ELEMENTS);
+}
+
+inline bool LongitudinalPlanSP::AccelController::Builder::getShadowOnlyDEPRECATED() {
+  return _builder.getDataField<bool>(
+      ::capnp::bounded<2>() * ::capnp::ELEMENTS);
+}
+inline void LongitudinalPlanSP::AccelController::Builder::setShadowOnlyDEPRECATED(bool value) {
+  _builder.setDataField<bool>(
+      ::capnp::bounded<2>() * ::capnp::ELEMENTS, value);
+}
+
+inline  ::cereal::LongitudinalPlanSP::AccelController::Profile LongitudinalPlanSP::AccelController::Reader::getProfile() const {
+  return _reader.getDataField< ::cereal::LongitudinalPlanSP::AccelController::Profile>(
+      ::capnp::bounded<1>() * ::capnp::ELEMENTS);
+}
+
+inline  ::cereal::LongitudinalPlanSP::AccelController::Profile LongitudinalPlanSP::AccelController::Builder::getProfile() {
+  return _builder.getDataField< ::cereal::LongitudinalPlanSP::AccelController::Profile>(
+      ::capnp::bounded<1>() * ::capnp::ELEMENTS);
+}
+inline void LongitudinalPlanSP::AccelController::Builder::setProfile( ::cereal::LongitudinalPlanSP::AccelController::Profile value) {
+  _builder.setDataField< ::cereal::LongitudinalPlanSP::AccelController::Profile>(
+      ::capnp::bounded<1>() * ::capnp::ELEMENTS, value);
+}
+
+inline  ::cereal::LongitudinalPlanSP::AccelController::State LongitudinalPlanSP::AccelController::Reader::getState() const {
+  return _reader.getDataField< ::cereal::LongitudinalPlanSP::AccelController::State>(
+      ::capnp::bounded<2>() * ::capnp::ELEMENTS);
+}
+
+inline  ::cereal::LongitudinalPlanSP::AccelController::State LongitudinalPlanSP::AccelController::Builder::getState() {
+  return _builder.getDataField< ::cereal::LongitudinalPlanSP::AccelController::State>(
+      ::capnp::bounded<2>() * ::capnp::ELEMENTS);
+}
+inline void LongitudinalPlanSP::AccelController::Builder::setState( ::cereal::LongitudinalPlanSP::AccelController::State value) {
+  _builder.setDataField< ::cereal::LongitudinalPlanSP::AccelController::State>(
+      ::capnp::bounded<2>() * ::capnp::ELEMENTS, value);
+}
+
 inline bool OnroadEventSP::Reader::hasEvents() const {
  return !_reader.getPointerField(
      ::capnp::bounded<0>() * ::capnp::POINTERS).isNull();
@@ -8653,6 +9186,34 @@ inline void ModelDataV2SP::Builder::setLaneTurnDirection( ::cereal::ModelDataV2S
      ::capnp::bounded<0>() * ::capnp::ELEMENTS, value);
 }

+inline bool ModelDataV2SP::Reader::getLeftLaneChangeEdgeBlock() const {
+  return _reader.getDataField<bool>(
+      ::capnp::bounded<16>() * ::capnp::ELEMENTS);
+}
+
+inline bool ModelDataV2SP::Builder::getLeftLaneChangeEdgeBlock() {
+  return _builder.getDataField<bool>(
+      ::capnp::bounded<16>() * ::capnp::ELEMENTS);
+}
+inline void ModelDataV2SP::Builder::setLeftLaneChangeEdgeBlock(bool value) {
+  _builder.setDataField<bool>(
+      ::capnp::bounded<16>() * ::capnp::ELEMENTS, value);
+}
+
+inline bool ModelDataV2SP::Reader::getRightLaneChangeEdgeBlock() const {
+  return _reader.getDataField<bool>(
+      ::capnp::bounded<17>() * ::capnp::ELEMENTS);
+}
+
+inline bool ModelDataV2SP::Builder::getRightLaneChangeEdgeBlock() {
+  return _builder.getDataField<bool>(
+      ::capnp::bounded<17>() * ::capnp::ELEMENTS);
+}
+inline void ModelDataV2SP::Builder::setRightLaneChangeEdgeBlock(bool value) {
+  _builder.setDataField<bool>(
+      ::capnp::bounded<17>() * ::capnp::ELEMENTS, value);
+}
+
 }  // namespace

 CAPNP_END_HEADER
@@ -179,12 +179,20 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"RoadEdgeLaneChangeEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"RocketFuel", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"ShowAdvancedControls", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"ShowTurnSignals", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"TrueVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}},

+    // toyota specific params
+    {"ToyotaAutoHold", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"ToyotaEnhancedBsm", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"ToyotaTSS2Long", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"ToyotaDriveMode", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"ToyotaPriusTss2Pid", {PERSISTENT | BACKUP, BOOL, "0"}},
+
    // MADS params
    {"Mads", {PERSISTENT | BACKUP, BOOL, "1"}},
    {"MadsMainCruiseAllowed", {PERSISTENT | BACKUP, BOOL, "1"}},
@@ -222,12 +230,17 @@ 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"}},

    {"DynamicExperimentalControl", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}},

+    // Accel Controller profiles (Eco / Normal / Sport)
+    {"AccelPersonalityEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"AccelPersonality", {PERSISTENT | BACKUP, INT, "1"}},
+
    // sunnypilot model params
    {"CameraOffset", {PERSISTENT | BACKUP, FLOAT, "0.0"}},
    {"LagdToggle", {PERSISTENT | BACKUP, BOOL, "1"}},
@@ -112,12 +112,16 @@ class TestParams:
  def test_params_default_value(self):
    self.params.remove("LanguageSetting")
    self.params.remove("LongitudinalPersonality")
+    self.params.remove("AccelPersonalityEnabled")
+    self.params.remove("AccelPersonality")
    self.params.remove("LiveParametersV2")

    assert self.params.get("LanguageSetting") is None
    assert self.params.get("LanguageSetting", return_default=False) is None
    assert isinstance(self.params.get("LanguageSetting", return_default=True), str)
    assert isinstance(self.params.get("LongitudinalPersonality", return_default=True), int)
+    assert self.params.get("AccelPersonalityEnabled", return_default=True) is False
+    assert self.params.get("AccelPersonality", return_default=True) == 1
    assert self.params.get("LiveParametersV2") is None
    assert self.params.get("LiveParametersV2", return_default=True) is None

@@ -28,8 +28,6 @@ SP_BRANCH_MIGRATIONS = {
  ("tizi", "release3-staging"): "release-tizi-staging",
  ("mici", "release3"): "release-mici",
  ("mici", "release3-staging"): "release-mici-staging",
-  ("tici", "hkg-angle-steering-2025"): "hkg-angle-steering-2025-tici",
-  ("tici", "hkg-angle-steering-2025-prebuilt"): "hkg-angle-steering-2025-tici-prebuilt"
 }

 BUILD_METADATA_FILENAME = "build.json"
@@ -11,7 +11,7 @@ from opendbc.car.structs import car
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
 from openpilot.common.swaglog import cloudlog, ForwardingHandler
-
+from opendbc.safety import ALTERNATIVE_EXPERIENCE
 from opendbc.car import DT_CTRL, structs
 from opendbc.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
 from opendbc.car.carlog import carlog
@@ -122,7 +122,13 @@ class Car:
      self.CI, self.CP, self.CP_SP = CI, CI.CP, CI.CP_SP
      self.RI = RI

+    # set alternative experiences from parameters
+    sp_toyota_auto_brake_hold = self.params.get_bool("ToyotaAutoHold")
    self.CP.alternativeExperience = 0
+    if sp_toyota_auto_brake_hold:
+      self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ALLOW_AEB
+
+
    # mads
    set_alternative_experience(self.CP, self.CP_SP, self.params)
    set_car_specific_params(self.CP, self.CP_SP, self.params)
@@ -33,7 +33,7 @@ class DesireHelper:
  def get_lane_change_direction(CS):
    return LaneChangeDirection.left if CS.leftBlinker else LaneChangeDirection.right

-  def update(self, carstate, lateral_active, lane_change_prob):
+  def update(self, carstate, lateral_active, lane_change_prob, left_edge_detected=False, right_edge_detected=False):
    self.alc.update_params()
    self.lane_turn_controller.update_params()
    v_ego = carstate.vEgo
@@ -64,8 +64,8 @@ class DesireHelper:
                         ((carstate.steeringTorque > 0 and self.lane_change_direction == LaneChangeDirection.left) or
                          (carstate.steeringTorque < 0 and self.lane_change_direction == LaneChangeDirection.right))

-        blindspot_detected = ((carstate.leftBlindspot and self.lane_change_direction == LaneChangeDirection.left) or
-                              (carstate.rightBlindspot and self.lane_change_direction == LaneChangeDirection.right))
+        blindspot_detected = (((carstate.leftBlindspot or left_edge_detected) and self.lane_change_direction == LaneChangeDirection.left) or
+                              ((carstate.rightBlindspot or right_edge_detected) and self.lane_change_direction == LaneChangeDirection.right))

        self.alc.update_lane_change(blindspot_detected, carstate.brakePressed)

@@ -4,6 +4,7 @@ from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
 from openpilot.common.pid import PIDController
 from openpilot.selfdrive.modeld.constants import ModelConstants
+from openpilot.sunnypilot.selfdrive.controls.lib.longcontrol import LongControlSP

 CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]

@@ -39,7 +40,7 @@ def long_control_state_trans(CP_SP, active, long_control_state,

  return long_control_state

-class LongControl:
+class LongControl(LongControlSP):
  def __init__(self, CP, CP_SP):
    self.CP = CP
    self.CP_SP = CP_SP
@@ -66,7 +67,7 @@ class LongControl:

    elif self.long_control_state == LongCtrlState.stopping:
      output_accel = self.last_output_accel
-      if output_accel > self.CP.stopAccel:
+      if output_accel > self.CP.stopAccel and not LongControlSP.should_hold_stopping(self, CS, a_target):
        output_accel = min(output_accel, 0.0)
        # TODO: can we just go straight to stopAccel?
        output_accel -= 1.0 * DT_CTRL  # m/s^2/s while trying to stop
@@ -0,0 +1,524 @@
+{
+    "acados_include_path": "/usr/local/venv/lib/python3.12/site-packages/acados/install/include",
+    "acados_lib_path": "/usr/local/venv/lib/python3.12/site-packages/acados/install/lib",
+    "code_export_directory": "/data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code",
+    "constraints": {
+        "C": [],
+        "C_e": [],
+        "D": [],
+        "constr_type": "BGH",
+        "constr_type_e": "BGH",
+        "idxbu": [],
+        "idxbx": [],
+        "idxbx_0": [
+            0,
+            1,
+            2
+        ],
+        "idxbx_e": [],
+        "idxbxe_0": [
+            0,
+            1,
+            2
+        ],
+        "idxsbu": [],
+        "idxsbx": [],
+        "idxsbx_e": [],
+        "idxsg": [],
+        "idxsg_e": [],
+        "idxsh": [
+            0,
+            1,
+            2,
+            3
+        ],
+        "idxsh_e": [],
+        "idxsphi": [],
+        "idxsphi_e": [],
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+            10000.0,
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+        "cost_ext_fun_type_e": "casadi",
+        "cost_type": "NONLINEAR_LS",
+        "cost_type_0": "NONLINEAR_LS",
+        "cost_type_e": "NONLINEAR_LS",
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+        "ny_0": 6,
+        "ny_e": 5,
+        "nz": 0
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+    "json_file": "/data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/acados_ocp_long.json",
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+        "sim_method_newton_iter": 3,
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+        "tf": 10.0,
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+}
@@ -9,6 +9,7 @@ from openpilot.common.swaglog import cloudlog
 # WARNING: imports outside of constants will not trigger a rebuild
 from openpilot.selfdrive.modeld.constants import index_function
 from openpilot.selfdrive.controls.radard import _LEAD_ACCEL_TAU
+from openpilot.sunnypilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpcSP

 if __name__ == '__main__':  # generating code
  from acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
@@ -213,8 +214,9 @@ def gen_long_ocp():
  return ocp


-class LongitudinalMpc:
+class LongitudinalMpc(LongitudinalMpcSP):
  def __init__(self, dt=DT_MDL):
+    LongitudinalMpcSP.__init__(self)
    self.dt = dt
    self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N)
    self.reset()
@@ -266,7 +268,8 @@ class LongitudinalMpc:
  def set_weights(self, prev_accel_constraint=True, personality=log.LongitudinalPersonality.standard):
    jerk_factor = get_jerk_factor(personality)
    a_change_cost = A_CHANGE_COST if prev_accel_constraint else 0
-    cost_weights = [X_EGO_OBSTACLE_COST, X_EGO_COST, V_EGO_COST, A_EGO_COST, jerk_factor * a_change_cost, jerk_factor * J_EGO_COST]
+    cost_weights = [X_EGO_OBSTACLE_COST, X_EGO_COST, V_EGO_COST, A_EGO_COST, jerk_factor * a_change_cost,
+                    LongitudinalMpcSP.scale_jerk_cost(self, jerk_factor * J_EGO_COST)]
    constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, DANGER_ZONE_COST]
    self.set_cost_weights(cost_weights, constraint_cost_weights)

@@ -326,7 +329,7 @@ class LongitudinalMpc:
    # when the leads are no factor.
    v_lower = v_ego + (T_IDXS * CRUISE_MIN_ACCEL * 1.05)
    # TODO does this make sense when max_a is negative?
-    v_upper = v_ego + (T_IDXS * CRUISE_MAX_ACCEL * 1.05)
+    v_upper = v_ego + (T_IDXS * self.cruise_accel_max(CRUISE_MAX_ACCEL) * 1.05)
    v_cruise_clipped = np.clip(v_cruise * np.ones(N+1), v_lower, v_upper)
    cruise_obstacle = np.cumsum(T_DIFFS * v_cruise_clipped) + get_safe_obstacle_distance(v_cruise_clipped, t_follow)

@@ -340,6 +343,7 @@ class LongitudinalMpc:

    self.params[:,0] = ACCEL_MIN
    self.params[:,1] = ACCEL_MAX
+    LongitudinalMpcSP.apply_accel_limits(self)
    self.params[:,2] = np.min(x_obstacles, axis=1)
    self.params[:,3] = np.copy(self.a_prev)
    self.params[:,4] = t_follow
@@ -359,6 +363,7 @@ class LongitudinalMpc:
    self.solver.constraints_set(0, "ubx", self.x0)

    self.solution_status = self.solver.solve()
+    LongitudinalMpcSP.save_solution_status(self)
    self.solve_time = float(self.solver.get_stats('time_tot')[0])

    for i in range(N+1):
@@ -51,7 +51,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
  def __init__(self, CP, CP_SP, init_v=0.0, init_a=0.0, dt=DT_MDL):
    self.CP = CP
    self.mpc = LongitudinalMpc(dt=dt)
-    LongitudinalPlannerSP.__init__(self, self.CP, CP_SP, self.mpc)
+    LongitudinalPlannerSP.__init__(self, self.CP, CP_SP, self.mpc, dt=dt)
    self.fcw = False
    self.dt = dt
    self.allow_throttle = True
@@ -110,13 +110,13 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
      clipped_accel_coast = max(accel_coast, accel_clip[0])
      clipped_accel_coast_interp = np.interp(v_ego, [MIN_ALLOW_THROTTLE_SPEED, MIN_ALLOW_THROTTLE_SPEED*2], [accel_clip[1], clipped_accel_coast])
      accel_clip[1] = min(accel_clip[1], clipped_accel_coast_interp)
-
    # Get new v_cruise and a_desired from Smart Cruise Control and Speed Limit Assist
    v_cruise, self.a_desired = LongitudinalPlannerSP.update_targets(self, sm, self.v_desired_filter.x, self.a_desired, v_cruise)
-
    if force_slow_decel:
      v_cruise = 0.0

+    is_e2e, v_cruise = LongitudinalPlannerSP.update_accel_controller(self, sm, v_cruise, prev_accel_constraint, accel_clip[1], reset_state)
+
    self.mpc.set_weights(prev_accel_constraint, personality=sm['selfdriveState'].personality)
    self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
    self.mpc.update(sm['radarState'], v_cruise, personality=sm['selfdriveState'].personality)
@@ -135,13 +135,13 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
    self.a_desired = float(np.interp(self.dt, CONTROL_N_T_IDX, self.a_desired_trajectory))
    self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.a_desired + a_prev) / 2.0

-    action_t =  self.CP.longitudinalActuatorDelay + DT_MDL
+    action_t = self.CP.longitudinalActuatorDelay + DT_MDL
    output_a_target_mpc, output_should_stop_mpc = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory, CONTROL_N_T_IDX,
                                                                        action_t=action_t)
    output_a_target_e2e = sm['modelV2'].action.desiredAcceleration
    output_should_stop_e2e = sm['modelV2'].action.shouldStop

-    if self.is_e2e(sm):
+    if is_e2e:
      output_a_target = min(output_a_target_e2e, output_a_target_mpc)
      self.output_should_stop = output_should_stop_e2e or output_should_stop_mpc
      if output_a_target < output_a_target_mpc:
@@ -149,6 +149,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
    else:
      output_a_target = output_a_target_mpc
      self.output_should_stop = output_should_stop_mpc
+    self.output_should_stop = LongitudinalPlannerSP.update_should_stop(self, self.output_should_stop)

    for idx in range(2):
      accel_clip[idx] = np.clip(accel_clip[idx], self.prev_accel_clip[idx] - 0.05, self.prev_accel_clip[idx] + 0.05)
@@ -158,7 +159,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
  def publish(self, sm, pm):
    plan_send = messaging.new_message('longitudinalPlan')

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

    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', gps_location_service],
-                           poll='carState', ignore_alive=ignore_services, ignore_avg_freq=ignore_services, ignore_valid=ignore_services)
+                            'liveMapDataSP', 'carStateSP', 'selfdriveStateSP', gps_location_service],
+                           poll='modelV2', ignore_alive=ignore_services, ignore_avg_freq=ignore_services, ignore_valid=ignore_services)

  while True:
    sm.update()
-    longitudinal_planner.sla.update_car_state(sm['carState'])
+    longitudinal_planner.sla.update_buttons(sm['selfdriveStateSP'].buttonsReleaseToggle)
    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(['carState', 'carControl', 'modelV2', 'liveParameters'])
+      msg.valid = sm.all_checks()
      msg.driverAssistance.leftLaneDeparture = ldw.left
      msg.driverAssistance.rightLaneDeparture = ldw.right
      pm.send('driverAssistance', msg)
@@ -30,6 +30,7 @@ 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
@@ -177,6 +178,7 @@ 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"""
@@ -325,9 +327,16 @@ class SelfdriveD(CruiseHelper):
    # Handle lane change
    if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange:
      direction = self.sm['modelV2'].meta.laneChangeDirection
+      mdv2sp = self.sm['modelDataV2SP']
+
      if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \
-         (CS.rightBlindspot and direction == LaneChangeDirection.right):
+            (CS.rightBlindspot and direction == LaneChangeDirection.right):
        self.events.add(EventName.laneChangeBlocked)
+
+      elif (mdv2sp.leftLaneChangeEdgeBlock and direction == LaneChangeDirection.left) or \
+           (mdv2sp.rightLaneChangeEdgeBlock and direction == LaneChangeDirection.right):
+        self.events_sp.add(custom.OnroadEventSP.EventName.laneChangeRoadEdge)
+
      else:
        if direction == LaneChangeDirection.left:
          self.events.add(EventName.preLaneChangeLeft)
@@ -597,6 +606,8 @@ 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
@@ -616,6 +627,7 @@ 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
@@ -11,6 +11,14 @@ from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPl
 from openpilot.selfdrive.controls.radard import _LEAD_ACCEL_TAU


+class PlannerSM(dict):
+  def __init__(self, radar_frame: int, services: dict):
+    super().__init__(services)
+    self.logMonoTime = {"radarState": radar_frame}
+    self.valid = {"radarState": True}
+    self.alive = {"radarState": True}
+
+
 class Plant:
  messaging_initialized = False

@@ -132,7 +140,7 @@ class Plant:
    car_control.carControl.orientationNED = [0., float(pitch), 0.]

    # ******** get controlsState messages for plotting ***
-    sm = {'radarState': radar.radarState,
+    sm = PlannerSM(self.rk.frame, {'radarState': radar.radarState,
          'carState': car_state.carState,
          'carControl': car_control.carControl,
          'controlsState': control.controlsState,
@@ -141,7 +149,7 @@ class Plant:
          'modelV2': model.modelV2,
          'carStateSP': car_state_sp.carStateSP,
          'liveMapDataSP': live_map_data_sp.liveMapDataSP,
-          'gpsLocation': gps_data.gpsLocation}
+          'gpsLocation': gps_data.gpsLocation})
    self.planner.update(sm)
    self.acceleration = self.planner.output_a_target
    if self.planner.output_should_stop:
@@ -27,6 +27,12 @@ DESCRIPTIONS = {
    "In relaxed mode sunnypilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with " +
    "your steering wheel distance button."
  ),
+  "AccelPersonalityEnabled": tr_noop(
+    "Begin slowing early and smoothly behind lead vehicles. Stock longitudinal control retains braking and stopping authority."
+  ),
+  "AccelPersonality": tr_noop(
+    "Eco slows earliest and recovers gently, Normal balances comfort and response, and Sport reacts and recovers more quickly."
+  ),
  "IsLdwEnabled": tr_noop(
    "Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line " +
    "without a turn signal activated while driving over 31 mph (50 km/h)."
@@ -106,6 +112,24 @@ class TogglesLayout(Widget):
      icon="speed_limit.png"
    )

+    self._accel_personality_enabled = toggle_item(
+      lambda: tr("Enable Accel Controller"),
+      lambda: tr(DESCRIPTIONS["AccelPersonalityEnabled"]),
+      self._params.get_bool("AccelPersonalityEnabled"),
+      callback=self._set_accel_personality_enabled,
+      icon="speed_limit.png",
+    )
+
+    self._accel_personality_setting = multiple_button_item(
+      lambda: tr("Acceleration Profile"),
+      lambda: tr(DESCRIPTIONS["AccelPersonality"]),
+      buttons=[lambda: tr("Eco"), lambda: tr("Normal"), lambda: tr("Sport")],
+      button_width=300,
+      callback=self._set_accel_personality,
+      selected_index=self._params.get("AccelPersonality", return_default=True),
+      icon="speed_limit.png"
+    )
+
    self._toggles = {}
    self._locked_toggles = set()
    for param, (title, desc, icon, needs_restart) in self._toggle_defs.items():
@@ -135,9 +159,11 @@ class TogglesLayout(Widget):

      self._toggles[param] = toggle

-      # insert longitudinal personality after NDOG toggle
+      # insert longitudinal personality and Accel Controller settings after NDOG toggle
      if param == "DisengageOnAccelerator":
        self._toggles["LongitudinalPersonality"] = self._long_personality_setting
+        self._toggles["AccelPersonalityEnabled"] = self._accel_personality_enabled
+        self._toggles["AccelPersonality"] = self._accel_personality_setting

    self._update_experimental_mode_icon()
    self._scroller = Scroller(list(self._toggles.values()), line_separator=True, spacing=0)
@@ -158,6 +184,7 @@ class TogglesLayout(Widget):

  def _update_toggles(self):
    ui_state.update_params()
+    accel_personality_enabled = self._params.get_bool("AccelPersonalityEnabled")

    e2e_description = tr(
      "sunnypilot defaults to driving in chill mode. Experimental mode enables alpha-level features that aren't ready for chill mode. " +
@@ -176,11 +203,15 @@ class TogglesLayout(Widget):
        self._toggles["ExperimentalMode"].action_item.set_enabled(True)
        self._toggles["ExperimentalMode"].set_description(e2e_description)
        self._long_personality_setting.action_item.set_enabled(True)
+        self._accel_personality_enabled.action_item.set_enabled(True)
+        self._accel_personality_setting.action_item.set_enabled(accel_personality_enabled)
      else:
        # no long for now
        self._toggles["ExperimentalMode"].action_item.set_enabled(False)
        self._toggles["ExperimentalMode"].action_item.set_state(False)
        self._long_personality_setting.action_item.set_enabled(False)
+        self._accel_personality_enabled.action_item.set_enabled(False)
+        self._accel_personality_setting.action_item.set_enabled(False)
        self._params.remove("ExperimentalMode")

        unavailable = tr("Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control.")
@@ -203,6 +234,10 @@ class TogglesLayout(Widget):
    # refresh toggles from params to mirror external changes
    for param in self._toggle_defs:
      self._toggles[param].action_item.set_state(self._params.get_bool(param))
+    self._accel_personality_enabled.action_item.set_state(accel_personality_enabled)
+    self._accel_personality_setting.action_item.set_selected_button(
+      self._params.get("AccelPersonality", return_default=True)
+    )

    # these toggles need restart, block while engaged
    for toggle_def in self._toggle_defs:
@@ -247,3 +282,10 @@ class TogglesLayout(Widget):

  def _set_longitudinal_personality(self, button_index: int):
    self._params.put("LongitudinalPersonality", button_index, block=True)
+
+  def _set_accel_personality(self, button_index: int):
+    self._params.put("AccelPersonality", button_index, block=True)
+
+  def _set_accel_personality_enabled(self, state: bool):
+    self._params.put_bool("AccelPersonalityEnabled", state, block=True)
+    self._accel_personality_setting.action_item.set_enabled(state and ui_state.has_longitudinal_control)
@@ -13,6 +13,7 @@ from openpilot.system.ui.lib.application import gui_app

 if gui_app.sunnypilot_ui():
  from openpilot.selfdrive.ui.sunnypilot.mici.layouts.settings import SettingsLayoutSP as SettingsLayout
+  from openpilot.selfdrive.ui.sunnypilot.mici.layouts.onroad import OnroadViewContainerSP as AugmentedRoadView

 ONROAD_DELAY = 2.5  # seconds

@@ -118,13 +119,15 @@ class MiciMainLayout(Scroller):

    # FIXME: these two pops can interrupt user interacting in the settings
    if self._onroad_time_delay is not None and rl.get_time() - self._onroad_time_delay >= ONROAD_DELAY:
-      gui_app.pop_widgets_to(self, lambda: self._scroll_to(self._onroad_layout))
+      if not gui_app.sunnypilot_ui() or self._should_auto_scroll_to_onroad():
+        gui_app.pop_widgets_to(self, lambda: self._scroll_to(self._onroad_layout))
      self._onroad_time_delay = None

    # When car leaves standstill, pop nav stack and scroll to onroad
    CS = ui_state.sm["carState"]
    if not CS.standstill and self._prev_standstill:
-      gui_app.pop_widgets_to(self, lambda: self._scroll_to(self._onroad_layout))
+      if not gui_app.sunnypilot_ui() or self._should_auto_scroll_to_onroad():
+        gui_app.pop_widgets_to(self, lambda: self._scroll_to(self._onroad_layout))
    self._prev_standstill = CS.standstill

  def _on_interactive_timeout(self):
@@ -14,6 +14,8 @@ class TogglesLayoutMici(NavScroller):
    super().__init__()

    self._personality_toggle = BigMultiParamToggle("driving personality", "LongitudinalPersonality", ["aggressive", "standard", "relaxed"])
+    self._accel_personality_enabled = BigParamControl("enable accel controller", "AccelPersonalityEnabled")
+    self._accel_personality_toggle = BigMultiParamToggle("acceleration profile", "AccelPersonality", ["eco", "normal", "sport"])
    self._experimental_btn = BigParamControl("experimental mode", "ExperimentalMode")
    is_metric_toggle = BigParamControl("use metric units", "IsMetric")
    ldw_toggle = BigParamControl("lane departure warnings", "IsLdwEnabled")
@@ -24,6 +26,8 @@ class TogglesLayoutMici(NavScroller):

    self._scroller.add_widgets([
      self._personality_toggle,
+      self._accel_personality_enabled,
+      self._accel_personality_toggle,
      self._experimental_btn,
      is_metric_toggle,
      ldw_toggle,
@@ -36,6 +40,7 @@ class TogglesLayoutMici(NavScroller):
    # Toggle lists
    self._refresh_toggles = (
      ("ExperimentalMode", self._experimental_btn),
+      ("AccelPersonalityEnabled", self._accel_personality_enabled),
      ("IsMetric", is_metric_toggle),
      ("IsLdwEnabled", ldw_toggle),
      ("AlwaysOnDM", always_on_dm_toggle),
@@ -45,6 +50,9 @@ class TogglesLayoutMici(NavScroller):
    )

    enable_openpilot.set_enabled(lambda: not ui_state.engaged)
+    self._accel_personality_toggle.set_enabled(
+      lambda: ui_state.has_longitudinal_control and ui_state.params.get_bool("AccelPersonalityEnabled")
+    )
    record_front.set_enabled(False if ui_state.params.get_bool("RecordFrontLock") else (lambda: not ui_state.engaged))
    record_mic.set_enabled(lambda: not ui_state.engaged)

@@ -75,13 +83,18 @@ class TogglesLayoutMici(NavScroller):
      if ui_state.has_longitudinal_control:
        self._experimental_btn.set_visible(True)
        self._personality_toggle.set_visible(True)
+        self._accel_personality_enabled.set_visible(True)
+        self._accel_personality_toggle.set_visible(True)
      else:
        # no long for now
        self._experimental_btn.set_visible(False)
        self._experimental_btn.set_checked(False)
        self._personality_toggle.set_visible(False)
+        self._accel_personality_enabled.set_visible(False)
+        self._accel_personality_toggle.set_visible(False)
        ui_state.params.remove("ExperimentalMode")

    # Refresh toggles from params to mirror external changes
    for key, item in self._refresh_toggles:
      item.set_checked(ui_state.params.get_bool(key))
+    self._accel_personality_toggle.refresh()
@@ -383,13 +383,18 @@ class BigMultiParamToggle(BigMultiToggle):
    self._load_value()

  def _load_value(self):
-    self.set_value(self._options[self._params.get(self._param) or 0])
+    value = self._params.get(self._param, return_default=True)
+    index = value if isinstance(value, int) else 0
+    self.set_value(self._options[max(0, min(index, len(self._options) - 1))])

  def _handle_mouse_release(self, mouse_pos: MousePos):
    super()._handle_mouse_release(mouse_pos)
    new_idx = self._options.index(self.value)
    self._params.put(self._param, new_idx)

+  def refresh(self):
+    self._load_value()
+

 class BigParamControl(BigToggle):
  def __init__(self, text: str, param: str, toggle_callback: Callable | None = None):
@@ -43,7 +43,7 @@ class ModelsLayout(Widget):
    self._initialize_items()

    self.clear_cache_item.action_item.set_value(f"{self.calculate_cache_size():.2f} MB")
-    for ctrl, key in [(self.lane_turn_value_control, "LaneTurnValue"), (self.delay_control, "LagdToggleDelay")]:
+    for ctrl, key in [(self.lane_turn_value_control, "LaneTurnValue"), (self.delay_control, "LagdToggleDelay"), (self.camera_offset, "CameraOffset")]:
      ctrl.action_item.set_value(int(float(ui_state.params.get(key, return_default=True)) * 100))

    self._scroller = Scroller(self.items, line_separator=True, spacing=0)
@@ -93,9 +93,14 @@ class ModelsLayout(Widget):

    self.lagd_toggle = toggle_item_sp(tr("Live Learning Steer Delay"), "", param="LagdToggle")

+    self.camera_offset = option_item_sp(tr("Adjust Camera Offset"), "CameraOffset", -35, 35,
+                                        tr("Virtually shift camera's perspective to move model's center to Left(+ values) or Right (- values)"),
+                                        1, None, True, "", style.BUTTON_ACTION_WIDTH, None, True,
+                                        lambda v: f"{v / 100:.2f} m")
+
    self.items = [self.current_model_item, self.cancel_download_item, self.supercombo_label, self.vision_label,
-                  self.policy_label, self.off_policy_label, self.on_policy_label, self.refresh_item, self.clear_cache_item, self.lane_turn_desire_toggle,
-                  self.lane_turn_value_control, self.lagd_toggle, self.delay_control]
+                  self.policy_label, self.off_policy_label, self.on_policy_label, self.refresh_item, self.clear_cache_item,
+                  self.lane_turn_desire_toggle, self.lane_turn_value_control, self.lagd_toggle, self.delay_control, self.camera_offset]

  def _update_lagd_description(self, lagd_toggle: bool):
    desc = tr("Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. " +
@@ -232,6 +237,7 @@ class ModelsLayout(Widget):
    advanced_controls: bool = ui_state.params.get_bool("ShowAdvancedControls")
    turn_desire: bool = ui_state.params.get_bool("LaneTurnDesire")
    live_delay: bool = ui_state.params.get_bool("LagdToggle")
+    camera_offset: bool = ui_state.params.get("ModelManager_ActiveBundle") is not None

    self.lane_turn_desire_toggle.action_item.set_state(turn_desire)
    self.lane_turn_value_control.set_visible(turn_desire and advanced_controls)
@@ -240,6 +246,7 @@ class ModelsLayout(Widget):
    new_step = int(round(100 / CV.MPH_TO_KPH)) if ui_state.is_metric else 100
    if self.lane_turn_value_control.action_item is not None and self.lane_turn_value_control.action_item.value_change_step != new_step:
      self.lane_turn_value_control.action_item.value_change_step = new_step
+    self.camera_offset.set_visible(camera_offset)

    self._update_lagd_description(live_delay)
    self.model_manager = ui_state.sm["modelManagerSP"]
@@ -51,11 +51,17 @@ class LaneChangeSettingsLayout(Widget):
      description=lambda: tr("Toggle to enable a delay timer for seamless lane changes when blind spot monitoring " +
                             "(BSM) detects a obstructing vehicle, ensuring safe maneuvering."),
    )
+    self._road_edge_block = toggle_item_sp(
+      param="RoadEdgeLaneChangeEnabled",
+      title=lambda: tr("Block Lane Change: Road Edge Detection"),
+      description=lambda: tr("Blocks the lane change if the model sees a road edge on your signaled side."),
+    )

    items = [
      self._lane_change_timer,
      LineSeparatorSP(40),
      self._bsm_delay,
+      self._road_edge_block,
    ]

    return items
@@ -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 TeslaFlagsSP
+from opendbc.sunnypilot.car.tesla.values import MadsScreenButtonType, 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
@@ -96,7 +96,10 @@ class MadsSettingsLayout(Widget):
    if brand == "rivian":
      return True
    elif brand == "tesla":
-      return not (ui_state.CP_SP is not None and ui_state.CP_SP.flags & TeslaFlagsSP.HAS_VEHICLE_BUS)
+      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 False

  def _update_steering_mode_description(self, button_index: int):
@@ -4,10 +4,11 @@ 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 toggle_item_sp
+from openpilot.system.ui.sunnypilot.widgets.list_view import multiple_button_item_sp, toggle_item_sp

 COOP_STEERING_MIN_KMH = 23
 OEM_STEERING_MIN_KMH = 48
@@ -18,7 +19,14 @@ class TeslaSettings(BrandSettings):
  def __init__(self):
    super().__init__()
    self.coop_steering_toggle = toggle_item_sp(tr("Cooperative Steering (Beta)"), "", param="TeslaCoopSteering")
-    self.items = [self.coop_steering_toggle]
+    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]

  def update_settings(self):
    is_metric = ui_state.is_metric
@@ -41,3 +49,18 @@ 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())
@@ -0,0 +1,13 @@
+"""
+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 openpilot.selfdrive.ui.mici.layouts.main import MiciMainLayout
+
+
+class MiciMainLayoutSP(MiciMainLayout):
+  def _should_auto_scroll_to_onroad(self) -> bool:
+    return not self._onroad_layout.is_on_info_panel()
@@ -0,0 +1,63 @@
+"""
+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.
+"""
+import pyray as rl
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.selfdrive.ui.sunnypilot.mici.widgets.scroller_sp import ScrollerSP
+from openpilot.selfdrive.ui.sunnypilot.mici.onroad.augmented_road_view import AugmentedRoadViewSP
+from openpilot.selfdrive.ui.sunnypilot.mici.layouts.onroad_info_panel import OnroadInfoPanel
+
+CONFIDENCE_BALL_VISIBLE_RATIO = 0.4
+HORIZONTAL_SETTLE_PX = 5
+HORIZONTAL_RESET_RATIO = 0.5
+
+
+class OnroadViewContainerSP(ScrollerSP):
+  def __init__(self, bookmark_callback=None):
+    super().__init__(horizontal=False, snap_items=True, spacing=0, pad=0, scroll_indicator=False, edge_shadows=False)
+    self.road_view = AugmentedRoadViewSP(bookmark_callback=bookmark_callback)
+    self.onroad_info_panel = OnroadInfoPanel(bookmark_callback=bookmark_callback)
+
+    self._scroller.add_widgets([
+      self.road_view,
+      self.onroad_info_panel,
+    ])
+    self._scroller.set_reset_scroll_at_show(False)
+    self._scroller.set_scrolling_enabled(lambda: abs(self.rect.x) < HORIZONTAL_SETTLE_PX)
+
+    for child in (self.road_view, self.onroad_info_panel):
+      inner_touch_valid = child._touch_valid_callback
+      child.set_touch_valid_callback(
+        lambda inner=inner_touch_valid: self._touch_valid() and (inner() if inner else True)
+      )
+
+  def set_rect(self, rect: rl.Rectangle):
+    super().set_rect(rect)
+    self.road_view.set_rect(rect)
+    self.onroad_info_panel.set_rect(rect)
+    return self
+
+  def is_swiping_left(self) -> bool:
+    return self.road_view.is_swiping_left() or self.onroad_info_panel.is_swiping_left()
+
+  def set_click_callback(self, callback) -> None:
+    self.road_view.set_click_callback(callback)
+    self.onroad_info_panel.set_click_callback(callback)
+
+  def is_on_info_panel(self) -> bool:
+    """True when scrolled past halfway toward onroad_info_panel (used by main layout
+    to skip auto-pop-back-to-camera while user is reading the info panel)."""
+    return abs(self._scroller.scroll_panel.get_offset()) > self._rect.height / 2
+
+  def _render(self, rect: rl.Rectangle):
+    if abs(self.rect.x) > gui_app.width * HORIZONTAL_RESET_RATIO:
+      self._scroller.scroll_panel.set_offset(0)
+
+    vertical_offset = self._scroller.scroll_panel.get_offset()
+    show_ball = abs(vertical_offset) < rect.height * CONFIDENCE_BALL_VISIBLE_RATIO
+    self.road_view.set_show_confidence_ball(show_ball)
+
+    super()._render(rect)
@@ -0,0 +1,324 @@
+"""
+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.
+"""
+
+import pyray as rl
+from dataclasses import dataclass
+from openpilot.common.constants import CV
+from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.lib.application import MousePos
+from openpilot.system.ui.widgets import Widget
+from openpilot.selfdrive.ui.mici.onroad.alert_renderer import AlertRenderer
+from openpilot.selfdrive.ui.mici.onroad.augmented_road_view import BookmarkIcon
+
+METER_TO_KM = 0.001
+METER_TO_MILE = 0.000621371
+
+
+@dataclass(frozen=True)
+class OnroadInfoPanelColors:
+  white: rl.Color = rl.WHITE
+  black: rl.Color = rl.BLACK
+  red: rl.Color = rl.Color(255, 0, 0, 255)
+  green: rl.Color = rl.Color(0, 255, 0, 255)
+  grey: rl.Color = rl.Color(190, 195, 190, 255)
+  light_grey: rl.Color = rl.Color(200, 200, 200, 255)
+  dark_grey: rl.Color = rl.Color(100, 100, 100, 255)
+  bg_dark: rl.Color = rl.Color(0, 0, 0, 255)
+  card_bg: rl.Color = rl.Color(50, 50, 50, 200)
+  badge_bg: rl.Color = rl.Color(60, 60, 60, 255)
+
+
+COLORS = OnroadInfoPanelColors()
+
+
+class OnroadInfoPanel(Widget):
+  def __init__(self, bookmark_callback=None):
+    super().__init__()
+    self.speed_limit: float = 0.0
+    self.speed_limit_valid: bool = False
+    self.speed_limit_offset: float = 0.0
+    self.next_speed_limit: float = 0.0
+    self.next_speed_limit_distance: float = 0.0
+    self.road_name: str = ""
+    self.current_speed: float = 0.0
+    self.set_speed: float = 0.0
+    self.cruise_enabled: bool = False
+
+    self._sign_slide: float = 0.0
+
+    self._font_bold: rl.Font = gui_app.font(FontWeight.BOLD)
+    self._font_semi_bold: rl.Font = gui_app.font(FontWeight.SEMI_BOLD)
+    self._font_medium: rl.Font = gui_app.font(FontWeight.MEDIUM)
+
+    self._marquee_offset: float = 0.0
+    self._marquee_direction: int = 1
+    self._marquee_pause_timer: float = 0.0
+    self._marquee_speed: float = 40.0
+    self._marquee_pause_duration: float = 1.5
+
+    self._alert_renderer = AlertRenderer()
+    self._alert_alpha_filter = FirstOrderFilter(0, 0.05, 1 / gui_app.target_fps)
+
+    self._bookmark_icon = BookmarkIcon(bookmark_callback)
+
+  def is_swiping_left(self) -> bool:
+    return self._bookmark_icon.is_swiping_left()
+
+  def _handle_mouse_release(self, mouse_pos: MousePos) -> None:
+    # Mirror stock AugmentedRoadView: suppress click while bookmark gesture active
+    if not self._bookmark_icon.interacting():
+      super()._handle_mouse_release(mouse_pos)
+
+  def _update_state(self) -> None:
+    sm = ui_state.sm
+    speed_conv = CV.MS_TO_KPH if ui_state.is_metric else CV.MS_TO_MPH
+
+    if sm.valid["longitudinalPlanSP"]:
+      lp_sp = sm["longitudinalPlanSP"]
+      resolver = lp_sp.speedLimit.resolver
+      self.speed_limit = resolver.speedLimit * speed_conv
+      self.speed_limit_valid = resolver.speedLimitValid
+      self.speed_limit_offset = resolver.speedLimitOffset * speed_conv
+
+    if sm.valid["liveMapDataSP"]:
+      lmd = sm["liveMapDataSP"]
+      self.next_speed_limit = lmd.speedLimitAhead * speed_conv
+      self.next_speed_limit_distance = lmd.speedLimitAheadDistance
+      self.road_name = lmd.roadName
+
+    if sm.updated["carState"]:
+      self.current_speed = sm["carState"].vEgo * speed_conv
+
+    if sm.valid["carState"] and sm.valid["controlsState"]:
+      self.cruise_enabled = sm["carState"].cruiseState.enabled
+      v_cruise_cluster = sm["carState"].vCruiseCluster
+      set_speed_kph = sm["controlsState"].vCruiseDEPRECATED if v_cruise_cluster == 0.0 else v_cruise_cluster
+      self.set_speed = set_speed_kph * (METER_TO_MILE / METER_TO_KM) if not ui_state.is_metric else set_speed_kph
+
+  def _render(self, rect: rl.Rectangle) -> None:
+    self._update_state()
+
+    rl.draw_rectangle(int(rect.x), int(rect.y), int(rect.width), int(rect.height), COLORS.bg_dark)
+    margin = 20
+    mid_y = rect.y + rect.height / 2
+
+    left_x = rect.x + margin
+
+    if self.cruise_enabled:
+      unit = tr("MAX")
+      display_speed = self.set_speed
+    else:
+      unit = tr("km/h") if ui_state.is_metric else tr("MPH")
+      display_speed = self.current_speed
+
+    speed_val = str(round(display_speed))
+    if self.speed_limit_valid and display_speed > self.speed_limit:
+      speed_color = COLORS.red
+    else:
+      speed_color = COLORS.white
+
+    rl.draw_text_ex(self._font_semi_bold, unit, rl.Vector2(left_x, mid_y - 95), 38, 0, COLORS.grey)
+    rl.draw_text_ex(self._font_bold, speed_val, rl.Vector2(left_x, mid_y - 60), 110, 0, speed_color)
+
+    sign_width = 135
+    sign_height = 135 if ui_state.is_metric else 175
+
+    has_next = self.next_speed_limit > 0 and self.next_speed_limit != self.speed_limit
+    target_slide = 1.0 if has_next else 0.0
+    slide_speed = 3.0 * rl.get_frame_time()
+    if self._sign_slide < target_slide:
+      self._sign_slide = min(self._sign_slide + slide_speed, target_slide)
+    elif self._sign_slide > target_slide:
+      self._sign_slide = max(self._sign_slide - slide_speed, target_slide)
+
+    next_w = int(sign_width * 0.7)
+    next_h = int(sign_height * 0.7)
+    next_peek = int(next_w * 0.85) + 5
+    centered_x = rect.x + rect.width - sign_width - margin
+    shifted_x = rect.x + rect.width - sign_width - margin - next_peek
+    sign_x = centered_x + (shifted_x - centered_x) * self._sign_slide
+    sign_y = rect.y + (rect.height - sign_height) / 2
+
+    road_y = mid_y + 55
+    road_width = sign_x - left_x - margin
+    self._draw_road_name(left_x, road_y, road_width)
+
+    if has_next and self._sign_slide > 0.01:
+      next_val = str(round(self.next_speed_limit))
+      dist_str = self._format_distance(self.next_speed_limit_distance)
+      next_x = sign_x + sign_width - int(next_w * 0.15)
+      next_y = sign_y + (sign_height - next_h) / 2
+
+      next_speed_color = COLORS.black
+      if ui_state.is_metric:
+        self._draw_vienna_sign(next_x, next_y, next_w, next_h, next_val, next_speed_color, is_upcoming=True)
+      else:
+        self._draw_mutcd_sign(next_x, next_y, next_w, next_h, next_val, next_speed_color, is_upcoming=True)
+
+      dist_size = measure_text_cached(self._font_medium, dist_str, 24)
+      rl.draw_text_ex(self._font_medium, dist_str, rl.Vector2(next_x + next_w / 2 - dist_size.x / 2, next_y + next_h + 4), 24, 0, COLORS.grey)
+
+    self._draw_speed_limit_sign(sign_x, sign_y, sign_width, sign_height)
+
+    if self.speed_limit_offset != 0 and self.speed_limit_valid:
+      offset_val = str(abs(round(self.speed_limit_offset)))
+      badge_sz = 42
+      badge_x = sign_x + sign_width - badge_sz * 0.85
+      badge_y = sign_y - badge_sz * 0.25
+
+      if ui_state.is_metric:
+        badge_r = badge_sz / 2
+        badge_cx = badge_x + badge_r
+        badge_cy = badge_y + badge_r
+        rl.draw_circle(int(badge_cx), int(badge_cy), badge_r + 2, COLORS.dark_grey)
+        rl.draw_circle(int(badge_cx), int(badge_cy), badge_r, COLORS.badge_bg)
+        self._draw_text_centered(self._font_bold, offset_val, 24, rl.Vector2(badge_cx, badge_cy), COLORS.white)
+      else:
+        mutcd_badge_x = sign_x + sign_width - badge_sz * 0.65
+        mutcd_badge_y = sign_y - badge_sz * 0.50
+        badge_rect = rl.Rectangle(mutcd_badge_x, mutcd_badge_y, badge_sz, badge_sz)
+        rl.draw_rectangle_rounded(badge_rect, 0.25, 10, COLORS.badge_bg)
+        rl.draw_rectangle_rounded_lines_ex(badge_rect, 0.25, 10, 2, COLORS.dark_grey)
+        self._draw_text_centered(self._font_bold, offset_val, 24, rl.Vector2(mutcd_badge_x + badge_sz / 2, mutcd_badge_y + badge_sz / 2), COLORS.white)
+
+    # SCC
+    speed_size = measure_text_cached(self._font_bold, speed_val, 110)
+    scc_x = left_x + speed_size.x + 30
+    scc_y = mid_y - 50
+    self._draw_scc_icons(scc_x, scc_y)
+
+    self._bookmark_icon.render(rect)
+
+    if ui_state.started:
+      alert_obj, no_alert = self._alert_renderer.will_render()
+      self._alert_alpha_filter.update(0 if no_alert else 1)
+      alpha = self._alert_alpha_filter.x
+      if alpha > 0.01:
+        rl.draw_rectangle(int(rect.x), int(rect.y), int(rect.width), int(rect.height), rl.Color(0, 0, 0, int(150 * alpha)))
+      self._alert_renderer.render(rect)
+
+  def _draw_scc_icons(self, x: float, y: float) -> None:
+    sm = ui_state.sm
+    if not sm.valid["longitudinalPlanSP"]:
+      return
+    scc = sm["longitudinalPlanSP"].smartCruiseControl
+
+    box_w, box_h = 100, 36
+    gap = 6
+    drawn = 0
+
+    for label, active in [("SCC-V", scc.vision.active), ("SCC-M", scc.map.active)]:
+      if not active:
+        continue
+      bx = x
+      by = y + drawn * (box_h + gap)
+      rl.draw_rectangle_rounded(rl.Rectangle(bx, by, box_w, box_h), 0.3, 10, COLORS.green)
+      self._draw_text_centered(self._font_bold, label, 20, rl.Vector2(bx + box_w / 2, by + box_h / 2), COLORS.black)
+      drawn += 1
+
+  def _draw_speed_limit_sign(self, x: float, y: float, sign_width: float, sign_height: float) -> None:
+    speed_str = str(round(self.speed_limit)) if self.speed_limit_valid and self.speed_limit > 0 else "--"
+    speed_color = COLORS.black if not self.speed_limit_valid or self.current_speed <= self.speed_limit else COLORS.red
+
+    if ui_state.is_metric:
+      self._draw_vienna_sign(x, y, sign_width, sign_height, speed_str, speed_color, is_upcoming=False)
+    else:
+      self._draw_mutcd_sign(x, y, sign_width, sign_height, speed_str, speed_color, is_upcoming=False)
+
+  def _draw_road_name(self, x: float, y: float, width: float) -> None:
+    road_display = self.road_name if self.road_name else "--"
+    font_size = 30
+    road_size = measure_text_cached(self._font_semi_bold, road_display, font_size)
+    text_width = road_size.x
+
+    if text_width <= width:
+      self._marquee_offset = 0.0
+      self._marquee_direction = 1
+      self._marquee_pause_timer = 0.0
+      rl.draw_text_ex(self._font_semi_bold, road_display, rl.Vector2(x, y), font_size, 0, COLORS.white)
+    else:
+      overflow = text_width - width
+      dt = rl.get_frame_time()
+
+      if self._marquee_pause_timer > 0:
+        self._marquee_pause_timer -= dt
+      else:
+        self._marquee_offset += self._marquee_direction * self._marquee_speed * dt
+
+        if self._marquee_offset >= overflow:
+          self._marquee_offset = overflow
+          self._marquee_direction = -1
+          self._marquee_pause_timer = self._marquee_pause_duration
+        elif self._marquee_offset <= 0:
+          self._marquee_offset = 0
+          self._marquee_direction = 1
+          self._marquee_pause_timer = self._marquee_pause_duration
+
+      rl.begin_scissor_mode(int(x), int(y), int(width), int(road_size.y + 4))
+      text_pos = rl.Vector2(x - self._marquee_offset, y)
+      rl.draw_text_ex(self._font_semi_bold, road_display, text_pos, font_size, 0, COLORS.white)
+      rl.end_scissor_mode()
+
+  def _draw_vienna_sign(self, x: float, y: float, width: float, height: float, speed_str: str, speed_color: rl.Color, is_upcoming: bool = False) -> None:
+    center = rl.Vector2(x + width / 2, y + height / 2)
+    outer_radius = min(width, height) / 2
+
+    rl.draw_circle_v(center, outer_radius, COLORS.white)
+    ring_width = outer_radius * 0.18
+    rl.draw_ring(center, outer_radius - ring_width, outer_radius, 0, 360, 36, COLORS.red)
+
+    font_size = outer_radius * (0.7 if len(speed_str) >= 3 else 0.9)
+    text_size = measure_text_cached(self._font_bold, speed_str, int(font_size))
+    text_pos = rl.Vector2(center.x - text_size.x / 2, center.y - text_size.y / 2)
+    rl.draw_text_ex(self._font_bold, speed_str, text_pos, font_size, 0, speed_color)
+
+  def _draw_mutcd_sign(self, x: float, y: float, width: float, height: float, speed_str: str, speed_color: rl.Color, is_upcoming: bool = False) -> None:
+    sign_rect = rl.Rectangle(x, y, width, height)
+    rl.draw_rectangle_rounded(sign_rect, 0.35, 10, COLORS.white)
+
+    inset = max(4, width * 0.05)
+    inner_rect = rl.Rectangle(x + inset, y + inset, width - inset * 2, height - inset * 2)
+    outer_radius = 0.35 * width / 2.0
+    inner_radius = outer_radius - inset
+    inner_roundness = inner_radius / (inner_rect.width / 2.0)
+    rl.draw_rectangle_rounded_lines_ex(inner_rect, inner_roundness, 10, 3, COLORS.black)
+
+    mid_x = x + width / 2
+    label_size = max(18, int(width * 0.26))
+    if is_upcoming:
+      self._draw_text_centered(self._font_bold, tr("AHEAD"), label_size, rl.Vector2(mid_x, y + height * 0.27), COLORS.black)
+    else:
+      self._draw_text_centered(self._font_bold, tr("SPEED"), label_size, rl.Vector2(mid_x, y + height * 0.20), COLORS.black)
+      self._draw_text_centered(self._font_bold, tr("LIMIT"), label_size, rl.Vector2(mid_x, y + height * 0.40), COLORS.black)
+
+    speed_font_size = int(width * 0.52) if len(speed_str) >= 3 else int(width * 0.62)
+    self._draw_text_centered(self._font_bold, speed_str, speed_font_size, rl.Vector2(mid_x, y + height * 0.72), speed_color)
+
+  def _draw_text_centered(self, font, text, size, pos_center, color):
+    sz = measure_text_cached(font, text, size)
+    rl.draw_text_ex(font, text, rl.Vector2(pos_center.x - sz.x / 2, pos_center.y - sz.y / 2), size, 0, color)
+
+  def _format_distance(self, distance: float) -> str:
+    if ui_state.is_metric:
+      if distance < 50:
+        return tr("Near")
+      if distance >= 1000:
+        return f"{distance * METER_TO_KM:.1f}" + tr("km")
+      if distance < 200:
+        rounded = max(10, int(distance / 10) * 10)
+      else:
+        rounded = int(distance / 100) * 100
+      return str(rounded) + tr("m")
+    else:
+      distance_mi = distance * METER_TO_MILE
+      if distance_mi < 0.1:
+        return tr("Near")
+      return f"{distance_mi:.1f}" + tr("mi")
@@ -0,0 +1,30 @@
+"""
+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.
+"""
+
+import pyray as rl
+from openpilot.selfdrive.ui.mici.onroad.augmented_road_view import AugmentedRoadView
+
+
+class _SuppressedConfidenceBall:
+  def render(self, *_):
+    pass
+
+
+class AugmentedRoadViewSP(AugmentedRoadView):
+  def __init__(self, **kwargs):
+    super().__init__(**kwargs)
+    self._show_confidence_ball: bool = True
+    self._real_confidence_ball = self._confidence_ball
+    self._confidence_ball = _SuppressedConfidenceBall()
+
+  def set_show_confidence_ball(self, show: bool) -> None:
+    self._show_confidence_ball = show
+
+  def _render(self, rect: rl.Rectangle) -> None:
+    super()._render(rect)
+    if self._show_confidence_ball:
+      self._real_confidence_ball.render(self.rect)
@@ -0,0 +1,34 @@
+"""
+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.
+"""
+
+import pyray as rl
+from openpilot.system.ui.lib.application import MouseEvent
+from openpilot.system.ui.lib.scroll_panel2 import GuiScrollPanel2, ScrollState
+
+
+class GuiScrollPanel2SP(GuiScrollPanel2):
+  """Reject orthogonal-dominant drags so nested scrollers (outer horizontal +
+  inner vertical) don't both engage on a slightly diagonal swipe.
+
+  Implemented as a post-super state rollback rather than reimplementing the
+  PRESSED state machine — keeps stock behaviour authoritative."""
+
+  def _handle_mouse_event(self, mouse_event: MouseEvent, bounds: rl.Rectangle, bounds_size: float,
+                          content_size: float) -> None:
+    pre_state = self._state
+    super()._handle_mouse_event(mouse_event, bounds, bounds_size, content_size)
+
+    if self._state == ScrollState.MANUAL_SCROLL and pre_state == ScrollState.PRESSED and \
+       self._initial_click_event is not None:
+      diff_x = abs(mouse_event.pos.x - self._initial_click_event.pos.x)
+      diff_y = abs(mouse_event.pos.y - self._initial_click_event.pos.y)
+      along = diff_x if self._horizontal else diff_y
+      anti = diff_y if self._horizontal else diff_x
+      if anti > along:
+        self._state = ScrollState.STEADY
+        self._velocity = 0.0
+        self._velocity_buffer.clear()
@@ -0,0 +1,16 @@
+"""
+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 openpilot.system.ui.widgets.scroller import Scroller
+from openpilot.selfdrive.ui.sunnypilot.mici.widgets.scroll_panel_sp import GuiScrollPanel2SP
+
+
+class ScrollerSP(Scroller):
+  def __init__(self, **kwargs):
+    super().__init__(**kwargs)
+    inner = self._scroller
+    inner.scroll_panel = GuiScrollPanel2SP(inner._horizontal, handle_out_of_bounds=not inner._snap_items)
@@ -10,6 +10,9 @@ from openpilot.selfdrive.ui.layouts.main import MainLayout
 from openpilot.selfdrive.ui.mici.layouts.main import MiciMainLayout
 from openpilot.selfdrive.ui.ui_state import ui_state

+if gui_app.sunnypilot_ui():
+  from openpilot.selfdrive.ui.sunnypilot.mici.layouts.main import MiciMainLayoutSP as MiciMainLayout
+
 BIG_UI = gui_app.big_ui()


@@ -1 +1 @@
-#define SUNNYPILOT_VERSION "2026.07.25-4591"
+#define SUNNYPILOT_VERSION "2026.08.07-4624"
@@ -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 TeslaFlagsSP
+from opendbc.sunnypilot.car.tesla.values import MadsScreenButtonType, TeslaFlagsSP


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


-def get_mads_limited_brands(CP: structs.CarParams, CP_SP: structs.CarParamsSP) -> bool:
+def get_mads_limited_brands(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params) -> bool:
  if CP.brand == 'rivian':
    return True
  if CP.brand == 'tesla':
-    return not CP_SP.flags & TeslaFlagsSP.HAS_VEHICLE_BUS
+    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 False


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

  return params.get("MadsSteeringMode", return_default=True)
@@ -63,7 +66,7 @@ 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)
+  mads_partial_support = get_mads_limited_brands(CP, CP_SP, params)
  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 TeslaFlagsSP
+from opendbc.sunnypilot.car.tesla.values import MadsScreenButtonType, TeslaFlagsSP

 State = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
 EventName = log.OnroadEvent.EventName
@@ -38,6 +38,12 @@ 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()
@@ -223,15 +229,27 @@ class TestBrandSteeringModeRestrictions:
    params = mocker.MagicMock()
    assert read_steering_mode_param(CP, CP_SP, params) == MadsSteeringModeOnBrake.DISENGAGE

-  def test_tesla_with_vehicle_bus_uses_param(self, mocker):
+  @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):
    CP = structs.CarParams()
    CP.brand = "tesla"
    CP_SP = structs.CarParamsSP()
    CP_SP.flags = TeslaFlagsSP.HAS_VEHICLE_BUS
-    params = mocker.MagicMock()
-    params.get = mocker.MagicMock(return_value=MadsSteeringModeOnBrake.REMAIN_ACTIVE)
+    params = make_params_mock(mocker, {"TeslaMadsScreenButton": screen_button,
+                                       "MadsSteeringMode": 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()
@@ -10,471 +10,355 @@ import argparse
 import os
 import pickle
 import time
-from functools import partial
 from collections import defaultdict
-
+from functools import partial
 import numpy as np
-from tinygrad.tensor import Tensor
+os.environ['GMMU'] = '0'
+
+def _patch_tinygrad_fetch_fw():
+  import hashlib
+  import pathlib
+  import zstandard
+  from tinygrad import helpers
+  _orig_fetch_fw = helpers.fetch_fw
+  def fetch_fw(path, name, sha256):
+    p = pathlib.Path(f"/lib/firmware/{path}/{name}.zst")
+    if p.is_file():
+      blob = zstandard.ZstdDecompressor().stream_reader(p.read_bytes()).read()
+      if hashlib.sha256(blob).hexdigest() == sha256:
+        return blob
+    return _orig_fetch_fw(path, name, sha256)
+  helpers.fetch_fw = fetch_fw
+_patch_tinygrad_fetch_fw()
+
+from openpilot.selfdrive.modeld.compile_modeld import NV12Frame, make_frame_prepare, sample_desire, sample_skip, shift_and_sample
+from tinygrad import dtypes
 from tinygrad.device import Device
 from tinygrad.engine.jit import TinyJit
-
-from openpilot.selfdrive.modeld.compile_modeld import (
-  NV12Frame, make_frame_prepare,
-  shift_and_sample, sample_skip, sample_desire,
-)
+from tinygrad.tensor import Tensor

 MODEL_TYPES = ('vision_policy', 'supercombo', 'vision_multi_policy')


-def _detect_desire_key(policy_input_shapes):
-  for k in policy_input_shapes:
-    if k.startswith('desire'):
-      return k
-  return None
+def _detect_desire_key(shapes: dict) -> str | None:
+  return next((key for key in shapes if key.startswith('desire')), None)


-def _detect_vision_keys(vision_input_shapes):
-  img_keys = sorted([k for k in vision_input_shapes if 'img' in k])
-  road_key = next((k for k in img_keys if 'big' not in k), None)
-  wide_key = next((k for k in img_keys if 'big' in k), None)
-  if road_key is None or wide_key is None:
-    raise ValueError(f"Cannot determine road/wide image keys from {list(vision_input_shapes.keys())}")
-  return road_key, wide_key
+def _detect_vision_keys(shapes: dict) -> tuple[str | None, str | None]:
+  img_keys = sorted(key for key in shapes if 'img' in key)
+  return (
+    next((key for key in img_keys if 'big' not in key), None),
+    next((key for key in img_keys if 'big' in key), None)
+  )


-def make_split_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, device):
-  road_key, _ = _detect_vision_keys(vision_input_shapes)
-  img = vision_input_shapes[road_key]
-  n_frames = img[1] // 6
-  img_buf_shape = (frame_skip * (n_frames - 1) + 1, 6, img[2], img[3])
-
-  fb = policy_input_shapes['features_buffer']
-  desire_key = _detect_desire_key(policy_input_shapes)
-  dp = policy_input_shapes[desire_key]
-  tc = policy_input_shapes.get('traffic_convention', (1, 2))
-
-  npy = {
-    'desire': np.zeros(dp[2], dtype=np.float32),
-    'traffic_convention': np.zeros(tc, dtype=np.float32),
-    'tfm': np.zeros((3, 3), dtype=np.float32),
-    'big_tfm': np.zeros((3, 3), dtype=np.float32),
-  }
-
-  handled = {'features_buffer', desire_key, 'traffic_convention'}
-  for key, shape in policy_input_shapes.items():
-    if key in handled:
-      continue
-    npy[key] = np.zeros(shape, dtype=np.float32)
-
-  input_queues = {
-    'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
-    'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
-    'feat_q': Tensor(np.zeros((frame_skip * (fb[1] - 1) + 1, fb[0], fb[2]), dtype=np.float32), device=device).contiguous().realize(),
-    'desire_q': Tensor(np.zeros((frame_skip * dp[1], dp[0], dp[2]), dtype=np.float32), device=device).contiguous().realize(),
-    **{k: Tensor(v, device='NPY').realize() for k, v in npy.items()},
-  }
-  return input_queues, npy
+def derive_frame_skip(vision_input_shapes: dict, policy_input_shapes: dict) -> int:
+  features_buffer = policy_input_shapes.get('features_buffer')
+  return 1 if not features_buffer or features_buffer[1] >= 99 else 4


-def make_run_split_policy(vision_runner, policy_runner, nv12: NV12Frame, model_w, model_h,
-                          vision_features_slice, frame_skip, desire_key, extra_policy_keys,
-                          vision_road_key, vision_wide_key, prepare_only=False):
-  frame_prepare = make_frame_prepare(nv12, model_w, model_h)
-  sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
-  sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
+def get_policy_npy_shapes(input_shapes: dict, is_supercombo: bool = False) -> tuple[dict, list[int]]:
+  desire_key = _detect_desire_key(input_shapes)
+  shapes = {}
+  if desire_key:
+    shapes['desire'] = (input_shapes[desire_key][2],)

-  def run_policy(img_q, big_img_q, feat_q, desire_q, desire, traffic_convention, tfm, big_tfm, frame, big_frame, **extra):
-    npy_tensors = [tfm.to(Device.DEFAULT), big_tfm.to(Device.DEFAULT),
-                   desire.to(Device.DEFAULT), traffic_convention.to(Device.DEFAULT)]
-    extra_device = {k: extra[k].to(Device.DEFAULT) for k in extra_policy_keys}
-    Tensor.realize(*npy_tensors, *extra_device.values())
-    tfm, big_tfm, desire, traffic_convention = npy_tensors
+  if is_supercombo and 'features_buffer' in input_shapes:
+    fb = input_shapes['features_buffer']
+    shapes['prev_feat'] = (fb[0], fb[2])

-    img = shift_and_sample(img_q, frame_prepare(frame, tfm).unsqueeze(0), sample_skip_fn)
-    big_img = shift_and_sample(big_img_q, frame_prepare(big_frame, big_tfm).unsqueeze(0), sample_skip_fn)
+  for key, shape in input_shapes.items():
+    if key not in (desire_key, 'features_buffer') and 'img' not in key:
+      shapes[key] = tuple(shape)

-    if prepare_only:
-      return img, big_img
-
-    vision_out = next(iter(vision_runner({vision_road_key: img, vision_wide_key: big_img}).values())).cast('float32')
-
-    new_feat = vision_out[:, vision_features_slice].reshape(1, -1).unsqueeze(0)
-    feat_buf = shift_and_sample(feat_q, new_feat, sample_skip_fn)
-    desire_buf = shift_and_sample(desire_q, desire.reshape(1, 1, -1), sample_desire_fn)
-
-    inputs = {'features_buffer': feat_buf, desire_key: desire_buf, 'traffic_convention': traffic_convention, **extra_device}
-    policy_out = next(iter(policy_runner(inputs).values())).cast('float32')
-
-    return vision_out, policy_out
-  return run_policy
+  sizes = [int(np.prod(size)) for size in shapes.values()]
+  return shapes, sizes


-def compile_split_policy(nv12: NV12Frame, model_w, model_h, prepare_only, frame_skip,
-                         vision_runner, policy_runner, vision_metadata, policy_metadata):
-  print(f"Compiling combined policy JIT for {nv12.width}x{nv12.height} (prepare_only={prepare_only})...")
-
-  vision_features_slice = vision_metadata['output_slices']['hidden_state']
-  vision_input_shapes = vision_metadata['input_shapes']
-  policy_input_shapes = policy_metadata['input_shapes']
-  desire_key = _detect_desire_key(policy_input_shapes)
-  extra_policy_keys = [k for k in policy_input_shapes if k not in ('features_buffer', desire_key, 'traffic_convention')]
-  vision_road_key, vision_wide_key = _detect_vision_keys(vision_input_shapes)
-
-  _run = make_run_split_policy(vision_runner, policy_runner, nv12, model_w, model_h,
-                               vision_features_slice, frame_skip, desire_key, extra_policy_keys,
-                               vision_road_key, vision_wide_key, prepare_only)
-  run_policy_jit = TinyJit(_run, prune=True)
-
-  SEED = 42
-
-  def random_inputs_run_fn(fn, seed, test_val=None, test_buffers=None, expect_match=True):
-    input_queues, npy = make_split_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, Device.DEFAULT)
-    rng = np.random.default_rng(seed)
-    Tensor.manual_seed(seed)
-
-    testing = test_val is not None or test_buffers is not None
-    n_runs = 1 if testing else 3
-
-    for i in range(n_runs):
-      frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8').realize()
-      big_frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8').realize()
-      for v in npy.values():
-        v[:] = rng.standard_normal(v.shape).astype(v.dtype)
-      Device.default.synchronize()
-      st = time.perf_counter()
-      outs = fn(**input_queues, frame=frame, big_frame=big_frame)
-      mt = time.perf_counter()
-      Device.default.synchronize()
-      et = time.perf_counter()
-      print(f"  [{i+1}/{n_runs}] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
-
-      if i == 0:
-        val = [np.copy(v.numpy()) for v in outs]
-        buffers = [np.copy(v.numpy().copy()) for v in input_queues.values()]
-
-    if test_val is not None:
-      match = all(np.array_equal(a, b) for a, b in zip(val, test_val, strict=True))
-      assert match == expect_match, f"outputs {'differ from' if expect_match else 'match'} baseline (seed={seed})"
-    if test_buffers is not None:
-      match = all(np.array_equal(a, b) for a, b in zip(buffers, test_buffers, strict=True))
-      assert match == expect_match, f"buffers {'differ from' if expect_match else 'match'} baseline (seed={seed})"
-    return fn, val, buffers
-
-  print('capture + replay')
-  run_policy_jit, test_val, test_buffers = random_inputs_run_fn(run_policy_jit, SEED)
-
-  print('pickle round trip')
-  run_policy_jit = pickle.loads(pickle.dumps(run_policy_jit))
-  random_inputs_run_fn(run_policy_jit, SEED, test_val, test_buffers, expect_match=True)
-  random_inputs_run_fn(run_policy_jit, SEED+1, test_val, test_buffers, expect_match=False)
-  return run_policy_jit
-
-
-def derive_frame_skip(vision_input_shapes, policy_input_shapes):
-  fb = policy_input_shapes.get('features_buffer')
-  if fb is None:
-    return 1
-  fb_history = fb[1]
-  if fb_history >= 99:
-    return 1
-  return 4
-
-
-def make_supercombo_input_queues(input_shapes, frame_skip, device):
-  img_shape = input_shapes.get('img', input_shapes.get('input_imgs'))
-  if img_shape is None:
-    raise ValueError("No img input found in model shapes")
+def generate_queues_and_npy(input_shapes: dict, frame_skip: int, device: str = Device.DEFAULT,
+                            is_supercombo: bool = False, use_packed: bool = True) -> tuple[dict, dict]:
+  road_key, _ = _detect_vision_keys(input_shapes)
+  if not road_key:
+    raise ValueError("Vision road key missing from input shapes.")

+  img_shape = input_shapes[road_key]
  n_frames = img_shape[1] // 6
  img_buf_shape = (frame_skip * (n_frames - 1) + 1, 6, img_shape[2], img_shape[3])

-  numpy_keys = {}
-  queue_keys = {}
+  desire_key = _detect_desire_key(input_shapes)
+  if not desire_key:
+    raise ValueError("Desire key missing from input shapes.")

-  for key, shape in input_shapes.items():
-    if 'img' in key:
-      continue
-    if len(shape) == 3 and shape[1] > 1:
-      if key.startswith('desire'):
-        numpy_keys[key] = np.zeros(shape[2], dtype=np.float32)
-        queue_keys[f'{key}_q'] = Tensor(
-          np.zeros((frame_skip * shape[1], shape[0], shape[2]), dtype=np.float32),
-          device=device).contiguous().realize()
-      elif key == 'features_buffer':
-        queue_keys['feat_q'] = Tensor(
-          np.zeros((frame_skip * (shape[1] - 1) + 1, shape[0], shape[2]), dtype=np.float32),
-          device=device).contiguous().realize()
-      else:
-        numpy_keys[key] = np.zeros(shape, dtype=np.float32)
-    elif len(shape) == 2:
-      numpy_keys[key] = np.zeros(shape, dtype=np.float32)
+  desire_shape = input_shapes[desire_key]
+  features_buffer = input_shapes.get('features_buffer')

-  if 'traffic_convention' not in numpy_keys:
-    tc_shape = input_shapes.get('traffic_convention', (1, 2))
-    numpy_keys['traffic_convention'] = np.zeros(tc_shape, dtype=np.float32)
+  if use_packed:  # remove packed detection block after all models are recompiled
+    npy_arrays = {
+      'tfm': np.zeros((3, 3), dtype=np.float32),
+      'big_tfm': np.zeros((3, 3), dtype=np.float32)
+    }

-  numpy_keys['tfm'] = np.zeros((3, 3), dtype=np.float32)
-  numpy_keys['big_tfm'] = np.zeros((3, 3), dtype=np.float32)
+    shapes, sizes = get_policy_npy_shapes(input_shapes, is_supercombo=is_supercombo)
+    packed_npy_inputs = np.zeros(sum(sizes), dtype=np.float32)

-  input_queues = {
-    'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
-    'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
-    **queue_keys,
-    **{k: Tensor(v, device='NPY').realize() for k, v in numpy_keys.items()},
-  }
-  return input_queues, numpy_keys
+    split_indices = np.cumsum(sizes[:-1]) if len(sizes) > 1 else []
+    split_views = np.split(packed_npy_inputs, split_indices) if len(sizes) > 0 else []
+    for (k, s), v in zip(shapes.items(), split_views, strict=True):
+      npy_arrays[k] = v.reshape(s)
+
+    queues = {
+      'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
+      'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
+      'desire_q': Tensor(np.zeros((frame_skip * desire_shape[1], desire_shape[0], desire_shape[2]),
+                    dtype=np.float32), device=device).contiguous().realize(),
+      'packed_npy_inputs': Tensor(packed_npy_inputs, device='NPY').realize(),
+    }
+
+    if features_buffer:
+      queues['feat_q'] = Tensor(np.zeros((frame_skip * (features_buffer[1] - 1) + 1, features_buffer[0], features_buffer[2]),
+                         dtype=np.float32), device=device).contiguous().realize()
+
+    queues.update({key: Tensor(value, device='NPY').realize() for key, value in npy_arrays.items() if key in ('tfm', 'big_tfm')})
+  else:
+    # TODO-SP: Remove legacy queuing fallback else block after all models are recompiled
+    npy_arrays = {
+      'desire': np.zeros(desire_shape[2], dtype=np.float32),
+      'tfm': np.zeros((3, 3), dtype=np.float32),
+      'big_tfm': np.zeros((3, 3), dtype=np.float32)
+    }
+
+    for key, shape in input_shapes.items():
+      if key not in npy_arrays and 'img' not in key and key not in ('features_buffer', desire_key):
+        npy_arrays[key] = np.zeros(shape, dtype=np.float32)
+
+    queues = {
+      'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
+      'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
+      'desire_q': Tensor(np.zeros((frame_skip * desire_shape[1], desire_shape[0], desire_shape[2]),
+                    dtype=np.float32), device=device).contiguous().realize()
+    }
+
+    if features_buffer:
+      queues['feat_q'] = Tensor(np.zeros((frame_skip * (features_buffer[1] - 1) + 1, features_buffer[0], features_buffer[2]),
+                         dtype=np.float32), device=device).contiguous().realize()
+
+    queues.update({key: Tensor(value, device='NPY').realize() for key, value in npy_arrays.items()})
+
+  return queues, npy_arrays


-def make_run_supercombo(model_runner, nv12: NV12Frame, model_w, model_h,
-                        features_slice, frame_skip, input_shapes, prepare_only=False):
-  frame_prepare = make_frame_prepare(nv12, model_w, model_h)
+def make_split_input_queues(vision_input_shapes: dict, policy_input_shapes: dict,
+                            frame_skip: int, device: str = Device.DEFAULT, use_packed: bool = True) -> tuple[dict, dict]:
+  return generate_queues_and_npy({**vision_input_shapes, **policy_input_shapes}, frame_skip, device, is_supercombo=False, use_packed=use_packed)
+
+
+def make_supercombo_input_queues(input_shapes: dict, frame_skip: int,
+                                 device: str = Device.DEFAULT, use_packed: bool = True) -> tuple[dict, dict]:
+  return generate_queues_and_npy(input_shapes, frame_skip, device, is_supercombo=True, use_packed=use_packed)
+
+
+def create_jit_runner(vision_runner, policy_runners: list, nv12: NV12Frame, model_size: tuple[int, int],
+            features_slice: slice, frame_skip: int, input_shapes: dict, prepare_only: bool):
+  frame_prepare = make_frame_prepare(nv12, *model_size)
  sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
  sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)

  desire_key = _detect_desire_key(input_shapes)
-  if desire_key is None:
-    raise ValueError(f"No desire* key found in input_shapes: {list(input_shapes.keys())}")
-  road_img_key, wide_img_key = _detect_vision_keys(input_shapes)
-  extra_policy_keys = [k for k in input_shapes
-                       if k not in (desire_key, 'features_buffer', 'traffic_convention')
-                       and 'img' not in k]
+  road_key, wide_key = _detect_vision_keys(input_shapes)

-  def run_supercombo(img_q, big_img_q, feat_q, desire_q,
-                     frame, big_frame, **kwargs):
-    desire = kwargs.get(desire_key)
-    traffic_convention = kwargs.get('traffic_convention')
-    tfm = kwargs['tfm']
-    big_tfm = kwargs['big_tfm']
+  if not desire_key or not road_key or not wide_key:
+    raise ValueError("Missing required vision or desire keys in input shapes.")

-    tfm = tfm.to(Device.DEFAULT)
-    big_tfm = big_tfm.to(Device.DEFAULT)
-    desire = desire.to(Device.DEFAULT)
-    traffic_convention = traffic_convention.to(Device.DEFAULT)
-    Tensor.realize(tfm, big_tfm, desire, traffic_convention)
+  is_supercombo = vision_runner is None
+  npy_shapes, npy_sizes = get_policy_npy_shapes(input_shapes, is_supercombo=is_supercombo)

-    img = shift_and_sample(img_q, frame_prepare(frame, tfm).unsqueeze(0), sample_skip_fn)
-    big_img = shift_and_sample(big_img_q, frame_prepare(big_frame, big_tfm).unsqueeze(0), sample_skip_fn)
+  def runner(img_q, big_img_q, feat_q, packed_npy_inputs, frame, big_frame, tfm, big_tfm, **kwargs):
+    desire_q = kwargs['desire_q']
+
+    packed_npy_inputs_dev = packed_npy_inputs.to(Device.DEFAULT)
+    tfm_dev = tfm.to(Device.DEFAULT)
+    big_tfm_dev = big_tfm.to(Device.DEFAULT)
+
+    Tensor.realize(packed_npy_inputs_dev, tfm_dev, big_tfm_dev)
+
+    img = shift_and_sample(img_q, frame_prepare(frame, tfm_dev).unsqueeze(0), sample_skip_fn).realize()
+    big_img = shift_and_sample(big_img_q, frame_prepare(big_frame, big_tfm_dev).unsqueeze(0), sample_skip_fn).realize()

    if prepare_only:
      return img, big_img

-    desire_buf = shift_and_sample(desire_q, desire.reshape(1, 1, -1), sample_desire_fn)
-    feat_buf = sample_skip_fn(feat_q)
+    unpacked_tensors = [tensor.reshape(shape) for tensor, shape in zip(packed_npy_inputs_dev.split(npy_sizes), npy_shapes.values(), strict=True)]
+    unpacked_dict = dict(zip(npy_shapes.keys(), unpacked_tensors, strict=True))

-    inputs = {road_img_key: img, wide_img_key: big_img,
-              desire_key: desire_buf, 'features_buffer': feat_buf,
-              'traffic_convention': traffic_convention}
-    for k in extra_policy_keys:
-      if k in kwargs:
-        inputs[k] = kwargs[k].to(Device.DEFAULT)
+    desire_dev = unpacked_dict['desire']
+    desire_buf = shift_and_sample(desire_q, desire_dev.reshape(1, 1, -1), sample_desire_fn).realize()

-    model_out = next(iter(model_runner(inputs).values())).cast('float32')
+    inputs = {desire_key: desire_buf}
+    for key, tensor_val in unpacked_dict.items():
+      if key not in ('desire', 'prev_feat'):
+        inputs[key] = tensor_val

-    new_feat = model_out[:, features_slice].reshape(1, -1).unsqueeze(0)
-    shift_and_sample(feat_q, new_feat, sample_skip_fn)
+    if 'prev_feat' in unpacked_dict:
+      prev_feat_dev = unpacked_dict['prev_feat']
+      inputs['features_buffer'] = shift_and_sample(feat_q, prev_feat_dev.reshape(1, 1, -1), sample_skip_fn).realize()

-    return model_out
+    if vision_runner:
+      vision_out_cast = next(iter(vision_runner({road_key: img, wide_key: big_img}).values())).cast('float32').realize()
+      if 'features_buffer' not in inputs:
+        new_feat = vision_out_cast[:, features_slice].reshape(1, -1).unsqueeze(0)
+        inputs['features_buffer'] = shift_and_sample(feat_q, new_feat, sample_skip_fn).realize()
+      policy_outs = [next(iter(pol_runner(inputs).values())).cast('float32').realize() for pol_runner in policy_runners]
+      return (vision_out_cast, *policy_outs) if len(policy_outs) > 1 else (vision_out_cast, policy_outs[0])

-  return run_supercombo
+    inputs.update({road_key: img, wide_key: big_img})
+    if 'features_buffer' not in inputs:
+      inputs['features_buffer'] = sample_skip_fn(feat_q)
+
+    policy_out = next(iter(policy_runners[0](inputs).values())).cast('float32').realize()
+    if 'features_buffer' not in inputs and features_slice is not None:
+      new_feat = policy_out[:, features_slice].reshape(1, -1).unsqueeze(0)
+      shift_and_sample(feat_q, new_feat, sample_skip_fn).realize()
+    return policy_out
+
+  return runner


-def make_run_vision_multi_policy(vision_runner, policy_runners, nv12: NV12Frame, model_w, model_h,
-                                 vision_features_slice, frame_skip, desire_key, extra_policy_keys,
-                                 vision_road_key, vision_wide_key, prepare_only=False):
-  frame_prepare = make_frame_prepare(nv12, model_w, model_h)
-  sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
-  sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
+def compile_and_warmup(nv12: NV12Frame, model_size: tuple[int, int], prepare_only: bool, frame_skip: int, vision_runner, policy_runners: list, metadata: dict):
+  print(f"Compiling combined JIT for {nv12.width}x{nv12.height} (prepare_only={prepare_only})...")

-  def run_multi_policy(img_q, big_img_q, feat_q, desire_q, desire,
-                       traffic_convention, tfm, big_tfm, frame, big_frame, **extra):
-    npy_tensors = [tfm.to(Device.DEFAULT), big_tfm.to(Device.DEFAULT),
-                   desire.to(Device.DEFAULT), traffic_convention.to(Device.DEFAULT)]
-    extra_device = {k: extra[k].to(Device.DEFAULT) for k in extra_policy_keys}
-    Tensor.realize(*npy_tensors, *extra_device.values())
-    tfm, big_tfm, desire, traffic_convention = npy_tensors
+  all_shapes = {key: value for meta in metadata.values() for key, value in meta['input_shapes'].items()}

-    img = shift_and_sample(img_q, frame_prepare(frame, tfm).unsqueeze(0), sample_skip_fn)
-    big_img = shift_and_sample(big_img_q, frame_prepare(big_frame, big_tfm).unsqueeze(0), sample_skip_fn)
+  feat_meta = metadata.get('vision') or metadata.get('model') or metadata.get('policy')
+  if not feat_meta:
+    raise ValueError("Could not find vision, model, or policy metadata.")

-    if prepare_only:
-      return img, big_img
+  features_slice = feat_meta['output_slices']['hidden_state']
+  WARP_DEV = 'CPU' if "USBGPU" in os.environ else Device.DEFAULT

-    vision_out = next(iter(vision_runner({vision_road_key: img, vision_wide_key: big_img}).values())).cast('float32')
+  is_supercombo = vision_runner is None
+  run_func = create_jit_runner(vision_runner, policy_runners, nv12, model_size, features_slice, frame_skip, all_shapes, prepare_only)
+  run_jit = TinyJit(run_func, prune=True)
+  queues, npy_arrays = generate_queues_and_npy(all_shapes, frame_skip, Device.DEFAULT, is_supercombo=is_supercombo)

-    new_feat = vision_out[:, vision_features_slice].reshape(1, -1).unsqueeze(0)
-    feat_buf = shift_and_sample(feat_q, new_feat, sample_skip_fn)
-    desire_buf = shift_and_sample(desire_q, desire.reshape(1, 1, -1), sample_desire_fn)
-
-    inputs = {'features_buffer': feat_buf, desire_key: desire_buf, 'traffic_convention': traffic_convention, **extra_device}
-
-    policy_outputs = []
-    for runner in policy_runners:
-      policy_out = next(iter(runner(inputs).values())).cast('float32')
-      policy_outputs.append(policy_out)
-
-    return (vision_out, *policy_outputs)
-
-  return run_multi_policy
-
-
-def _warmup_and_serialize(run_jit, input_queues, npy, nv12):
  for i in range(3):
    rng = np.random.default_rng(42 + i)
-    frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8').realize()
-    big_frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8').realize()
-    for v in npy.values():
-      v[:] = rng.standard_normal(v.shape).astype(v.dtype)
+    frame = Tensor.randint(nv12.size, low=0, high=256, dtype=dtypes.uint8, device=WARP_DEV).realize()
+    big_frame = Tensor.randint(nv12.size, low=0, high=256, dtype=dtypes.uint8, device=WARP_DEV).realize()
+    for arr in npy_arrays.values():
+      arr[:] = rng.standard_normal(arr.shape).astype(arr.dtype)
+
    Device.default.synchronize()
-    st = time.perf_counter()
-    run_jit(**input_queues, frame=frame, big_frame=big_frame)
-    mt = time.perf_counter()
+    start_time = time.perf_counter()
+    run_jit(**queues, frame=frame, big_frame=big_frame)
+    mid_time = time.perf_counter()
    Device.default.synchronize()
-    et = time.perf_counter()
-    print(f"  [{i + 1}/3] enqueue {(mt - st) * 1e3:6.2f} ms -- total {(et - st) * 1e3:6.2f} ms")
-  return pickle.loads(pickle.dumps(run_jit))
+    print(f"  [{i + 1}/3] enqueue {(mid_time - start_time) * 1e3:6.2f} ms -- total {(time.perf_counter() - start_time) * 1e3:6.2f} ms")
+
+  # TODO-SP: switch to dump_oob/load_oob on next full recompile of all models
+  return pickle.loads(pickle.dumps(run_jit)) if not prepare_only else run_jit


-def compile_supercombo(nv12: NV12Frame, model_w, model_h, prepare_only, frame_skip,
-                       model_runner, metadata):
-  print(f"Compiling combined supercombo JIT for {nv12.width}x{nv12.height} (prepare_only={prepare_only})...")
-
-  features_slice = metadata['output_slices']['hidden_state']
-  input_shapes = metadata['input_shapes']
-
-  _run = make_run_supercombo(model_runner, nv12, model_w, model_h,
-                             features_slice, frame_skip, input_shapes, prepare_only)
-  run_jit = TinyJit(_run, prune=True)
-
-  input_queues, npy = make_supercombo_input_queues(input_shapes, frame_skip, Device.DEFAULT)
-
-  run_jit = _warmup_and_serialize(run_jit, input_queues, npy, nv12)
-  return run_jit
+def _parse_size(size_str: str) -> tuple[int, int]:
+  width, height = size_str.lower().split('x')
+  return int(width), int(height)


-def compile_multi_policy(nv12: NV12Frame, model_w, model_h, prepare_only, frame_skip,
-                         vision_runner, policy_runners, vision_metadata, policy_metadata):
-  print(f"Compiling combined multi-policy JIT for {nv12.width}x{nv12.height} (prepare_only={prepare_only})...")
-
-  vision_features_slice = vision_metadata['output_slices']['hidden_state']
-  vision_input_shapes = vision_metadata['input_shapes']
-  policy_input_shapes = policy_metadata['input_shapes']
-  desire_key = _detect_desire_key(policy_input_shapes)
-  extra_policy_keys = [k for k in policy_input_shapes if k not in ('features_buffer', desire_key, 'traffic_convention')]
-  vision_road_key, vision_wide_key = _detect_vision_keys(vision_input_shapes)
-
-  _run = make_run_vision_multi_policy(vision_runner, policy_runners, nv12, model_w, model_h,
-                                      vision_features_slice, frame_skip, desire_key, extra_policy_keys,
-                                      vision_road_key, vision_wide_key, prepare_only)
-  run_jit = TinyJit(_run, prune=True)
-
-  input_queues, npy = make_split_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, Device.DEFAULT)
-
-  run_jit = _warmup_and_serialize(run_jit, input_queues, npy, nv12)
-  return run_jit
+def read_file_chunked_to_shm(path):
+  if not path:
+    return None
+  import atexit
+  import shutil
+  from openpilot.common.file_chunker import open_file_chunked
+  from openpilot.common.hardware.hw import Paths
+  shm_path = os.path.join(Paths.shm_path(), os.path.basename(path))
+  atexit.register(lambda: os.path.exists(shm_path) and os.remove(shm_path))
+  with open(shm_path, 'wb') as dst, open_file_chunked(path) as src:
+    shutil.copyfileobj(src, dst)
+  return shm_path


-def _parse_size(s):
-  w, h = s.lower().split('x')
-  return int(w), int(h)
+def _compile_for_resolutions(camera_resolutions: list, model_size: tuple[int, int], frame_skip: int,
+               vision_runner, policy_runners: list, metadata: dict) -> dict:
+  from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
+  return {
+    (cam_w, cam_h): {
+      name: compile_and_warmup(NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h)), model_size, prepare_only,
+                   frame_skip, vision_runner, policy_runners, metadata)
+      for name, prepare_only in [('warp_enqueue', True), ('run_policy', False)]
+    }
+    for cam_w, cam_h in camera_resolutions
+  }
+
+
+def _load_policy_runners(args: argparse.Namespace) -> tuple[list, list]:
+  runners, keys = [], []
+  for name, onnx_arg in [('policy', args.policy_onnx), ('off_policy', args.off_policy_onnx), ('on_policy', args.on_policy_onnx)]:
+    if onnx_arg:
+      runners.append(OnnxRunner(onnx_arg))
+      keys.append(name)
+  return runners, keys


 if __name__ == "__main__":
-  from tinygrad.nn.onnx import OnnxRunner
-  from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
  from openpilot.selfdrive.modeld.get_model_metadata import make_metadata_dict
+  from tinygrad.nn.onnx import OnnxRunner

-  p = argparse.ArgumentParser(description="Compile combined JIT pkl for sunnypilot modeld_v2")
-  p.add_argument('--model-type', choices=MODEL_TYPES, required=True)
-  p.add_argument('--model-size', type=_parse_size, required=True, help='model input WxH')
-  p.add_argument('--camera-resolutions', type=_parse_size, nargs='+', required=True)
-  p.add_argument('--frame-skip', type=int, default=None, help='frame skip value (auto-derived if not provided)')
-  p.add_argument('--output', required=True)
+  parser = argparse.ArgumentParser(description="Compile combined JIT pkl for sunnypilot modeld_v2")
+  parser.add_argument('--model-type', choices=MODEL_TYPES, required=True)
+  parser.add_argument('--model-size', type=_parse_size, required=True, help='model input WxH')
+  parser.add_argument('--camera-resolutions', type=_parse_size, nargs='+', required=True)
+  parser.add_argument('--frame-skip', type=int, default=None, help='frame skip value (auto-derived if not provided)')
+  parser.add_argument('--output', required=True)

-  p.add_argument('--vision-onnx', help='vision ONNX (for split models)')
-  p.add_argument('--policy-onnx', help='policy ONNX (for vision_policy)')
-  p.add_argument('--off-policy-onnx', help='off-policy ONNX (for vision_multi_policy)')
-  p.add_argument('--on-policy-onnx', help='on-policy ONNX (for vision_multi_policy)')
-  p.add_argument('--supercombo-onnx', help='supercombo ONNX (for supercombo)')
+  parser.add_argument('--vision-onnx', help='vision ONNX (for split models)')
+  parser.add_argument('--policy-onnx', help='policy ONNX (for vision_policy)')
+  parser.add_argument('--off-policy-onnx', help='off-policy ONNX (for vision_multi_policy)')
+  parser.add_argument('--on-policy-onnx', help='on-policy ONNX (for vision_multi_policy)')
+  parser.add_argument('--supercombo-onnx', help='supercombo ONNX (for supercombo)')

-  args = p.parse_args()
-  out = defaultdict(dict)
+  args = parser.parse_args()
+  output_data = defaultdict(dict)
+
+  args.vision_onnx = read_file_chunked_to_shm(args.vision_onnx)
+  args.policy_onnx = read_file_chunked_to_shm(args.policy_onnx)
+  args.off_policy_onnx = read_file_chunked_to_shm(args.off_policy_onnx)
+  args.on_policy_onnx = read_file_chunked_to_shm(args.on_policy_onnx)
+  args.supercombo_onnx = read_file_chunked_to_shm(args.supercombo_onnx)
+
+  vision_runner = OnnxRunner(args.vision_onnx) if args.vision_onnx else None

  if args.model_type == 'vision_policy':
-    assert args.vision_onnx and args.policy_onnx
-    vision_runner = OnnxRunner(args.vision_onnx)
-    policy_runner = OnnxRunner(args.policy_onnx)
-    out['metadata']['vision'] = make_metadata_dict(args.vision_onnx)
-    out['metadata']['policy'] = make_metadata_dict(args.policy_onnx)
-
-    frame_skip = args.frame_skip if args.frame_skip is not None else derive_frame_skip(out['metadata']['vision']['input_shapes'],
-                                                                                       out['metadata']['policy']['input_shapes'])
-
-    for cam_w, cam_h in args.camera_resolutions:
-      nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
-      model_w, model_h = args.model_size
-      out[(cam_w, cam_h)] = {
-        name: compile_split_policy(nv12, model_w, model_h, prepare_only, frame_skip,
-                                   vision_runner, policy_runner,
-                                   out['metadata']['vision'], out['metadata']['policy'])
-        for name, prepare_only in [('warp_enqueue', True), ('run_policy', False)]
-      }
-
+    assert vision_runner and args.policy_onnx
+    policy_runners = [OnnxRunner(args.policy_onnx)]
+    output_data['metadata'] = {'vision': make_metadata_dict(args.vision_onnx), 'policy': make_metadata_dict(args.policy_onnx)}
  elif args.model_type == 'supercombo':
    assert args.supercombo_onnx
-    model_runner = OnnxRunner(args.supercombo_onnx)
-    out['metadata']['model'] = make_metadata_dict(args.supercombo_onnx)
-
-    frame_skip = args.frame_skip if args.frame_skip is not None else derive_frame_skip({}, out['metadata']['model']['input_shapes'])
-
-    for cam_w, cam_h in args.camera_resolutions:
-      nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
-      model_w, model_h = args.model_size
-      out[(cam_w, cam_h)] = {
-        name: compile_supercombo(nv12, model_w, model_h, prepare_only, frame_skip,
-                                 model_runner, out['metadata']['model'])
-        for name, prepare_only in [('warp_enqueue', True), ('run_policy', False)]
-      }
-
+    policy_runners = [OnnxRunner(args.supercombo_onnx)]
+    output_data['metadata'] = {'model': make_metadata_dict(args.supercombo_onnx)}
  elif args.model_type == 'vision_multi_policy':
-    assert args.vision_onnx
-    vision_runner = OnnxRunner(args.vision_onnx)
-    out['metadata']['vision'] = make_metadata_dict(args.vision_onnx)
+    assert vision_runner
+    policy_runners, policy_names = _load_policy_runners(args)
+    output_data['metadata'] = {'vision': make_metadata_dict(args.vision_onnx)}
+    for name in policy_names:
+      runner_arg = getattr(args, f"{name}_onnx")
+      output_data['metadata'][name] = make_metadata_dict(runner_arg)

-    policy_runners = []
-    policy_onnxes = []
-    if args.policy_onnx:
-      policy_onnxes.append(('policy', args.policy_onnx))
-    if args.off_policy_onnx:
-      policy_onnxes.append(('off_policy', args.off_policy_onnx))
-    if args.on_policy_onnx:
-      policy_onnxes.append(('on_policy', args.on_policy_onnx))
+  policy_keys = [key for key in output_data['metadata'].keys() if key != 'vision']
+  first_policy_meta = output_data['metadata'][policy_keys[0]] if policy_keys else {}
+  vision_meta = output_data['metadata'].get('vision', {})

-    for name, onnx_path in policy_onnxes:
-      runner = OnnxRunner(onnx_path)
-      policy_runners.append(runner)
-      out['metadata'][name] = make_metadata_dict(onnx_path)
+  derived_frame_skip = args.frame_skip or derive_frame_skip(vision_meta.get('input_shapes', {}), first_policy_meta.get('input_shapes', {}))
+  output_data.update(_compile_for_resolutions(args.camera_resolutions, args.model_size, derived_frame_skip,
+                        vision_runner, policy_runners, output_data['metadata']))

-    first_policy_key = policy_onnxes[0][0]
-    frame_skip = args.frame_skip if args.frame_skip is not None else derive_frame_skip(out['metadata']['vision']['input_shapes'],
-                                                                                       out['metadata'][first_policy_key]['input_shapes'])
+  with open(args.output, "wb") as file:
+    # TODO-SP: switch to dump_oob from openpilot/selfdrive/helpers on next full recompile of all models
+    pickle.dump(output_data, file)

-    for cam_w, cam_h in args.camera_resolutions:
-      nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
-      model_w, model_h = args.model_size
-      out[(cam_w, cam_h)] = {
-        name: compile_multi_policy(nv12, model_w, model_h, prepare_only, frame_skip,
-                                   vision_runner, policy_runners,
-                                   out['metadata']['vision'], out['metadata'][first_policy_key])
-        for name, prepare_only in [('warp_enqueue', True), ('run_policy', False)]
-      }
-
-  with open(args.output, "wb") as f:
-    pickle.dump(out, f)
  pkl_size = os.path.getsize(args.output)
  print(f"Saved combined JIT to {args.output} ({pkl_size / 1e6:.2f} MB)")

  from openpilot.common.file_chunker import chunk_file, get_chunk_targets
  chunk_targets = get_chunk_targets(args.output, pkl_size)
  chunk_file(args.output, chunk_targets)
-  num_chunks = len(chunk_targets) - 1
-  print(f"Chunked into {num_chunks} file(s)")
+  print(f"Chunked into {len(chunk_targets) - 1} file(s)")
@@ -1,75 +0,0 @@
-#!/usr/bin/env python3
-import sys
-import shutil
-import pickle
-import codecs
-from pathlib import Path
-
-from openpilot.common.hardware.hw import Paths
-from openpilot.sunnypilot.modeld_v2.get_model_metadata import MetadataOnnxPBParser, get_name_and_shape, get_metadata_value_by_name
-
-
-def generate_metadata_pkl(model_path, output_path):
-  try:
-    model = MetadataOnnxPBParser(model_path).parse()
-    output_slices = get_metadata_value_by_name(model, 'output_slices')
-    if not output_slices:
-      return False
-    metadata = {
-      'model_checkpoint': get_metadata_value_by_name(model, 'model_checkpoint'),
-      'output_slices': pickle.loads(codecs.decode(output_slices.encode(), "base64")),
-      'input_shapes': dict(get_name_and_shape(x) for x in model["graph"]["input"]),
-      'output_shapes': dict(get_name_and_shape(x) for x in model["graph"]["output"]),
-    }
-    with open(output_path, 'wb') as f:
-      pickle.dump(metadata, f)
-    return True
-  except Exception:
-    return False
-
-
-def install_models(model_dir):
-  model_dir = Path(model_dir)
-  models = ["driving_off_policy", "driving_on_policy", "driving_vision"]
-  found_models = []
-
-  for model in models:
-    if (model_dir / f"{model}.onnx").exists():
-      found_models.append(model)
-
-  if not found_models:
-    return
-
-  try:
-    custom_name = input(f"Found models ({', '.join(found_models)}). Enter model short name (e.g. wmiv4): ").strip()
-  except EOFError:
-    return
-
-  if not custom_name:
-    print("No name provided, skipping installation.")
-    return
-
-  dest_dir = Path(Paths.model_root())
-  dest_dir.mkdir(parents=True, exist_ok=True)
-
-  for model in found_models:
-    onnx_path = model_dir / f"{model}.onnx"
-    tinygrad_pkl = model_dir / f"{model}_tinygrad.pkl"
-    metadata_pkl = model_dir / f"{model}_metadata.pkl"
-
-    if not metadata_pkl.exists():
-      generate_metadata_pkl(onnx_path, metadata_pkl)
-
-    dest_tinygrad = dest_dir / f"{model}_{custom_name}_tinygrad.pkl"
-    dest_metadata = dest_dir / f"{model}_{custom_name}_metadata.pkl"
-
-    if tinygrad_pkl.exists():
-      shutil.move(str(tinygrad_pkl), str(dest_tinygrad))
-    if metadata_pkl.exists():
-      shutil.move(str(metadata_pkl), str(dest_metadata))
-
-if __name__ == "__main__":
-  if len(sys.argv) < 2:
-    print("Usage: install_models_pc.py <model_dir>")
-    sys.exit(1)
-  install_models(sys.argv[1])
@@ -7,6 +7,7 @@ See the LICENSE.md file in the root directory for more details.
 """

 import os
+os.environ['GMMU'] = '0'
 from openpilot.common.hardware import TICI
 os.environ['DEV'] = 'QCOM' if TICI else 'CPU'
 USBGPU = "USBGPU" in os.environ
@@ -23,6 +24,11 @@ from setproctitle import setproctitle
 from openpilot.cereal.messaging import PubMaster, SubMaster
 from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from opendbc.car.car_helpers import get_demo_car_params
+
+from tinygrad.tensor import Tensor
+from tinygrad.device import Device
+
+from openpilot.common.file_chunker import open_file_chunked
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.params import Params
 from openpilot.common.filter_simple import FirstOrderFilter
@@ -30,6 +36,7 @@ from openpilot.common.realtime import config_realtime_process, DT_MDL
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.common.transformations.model import get_warp_matrix
 from openpilot.system import sentry
+from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
 from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value

@@ -37,10 +44,12 @@ from openpilot.sunnypilot.modeld_v2.fill_model_msg import fill_model_msg, fill_p
 from openpilot.sunnypilot.modeld_v2.constants import Plan
 from openpilot.sunnypilot.modeld_v2.meta_helper import load_meta_constants
 from openpilot.sunnypilot.modeld_v2.camera_offset_helper import CameraOffsetHelper
+from openpilot.sunnypilot.modeld_v2.compile_modeld import derive_frame_skip, make_split_input_queues

 from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
 from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
 from openpilot.sunnypilot.models.helpers import get_active_bundle
+from openpilot.sunnypilot.selfdrive.controls.lib.relc import RoadEdgeLaneChangeController

 PROCESS_NAME = "openpilot.selfdrive.modeld.modeld_tinygrad"

@@ -99,29 +108,37 @@ class ModelState(ModelStateBase):
    self._init_combined(pkl_path, cam_w, cam_h, model_bundle)

  def _init_combined(self, pkl_path, cam_w, cam_h, bundle):
-    from tinygrad.tensor import Tensor
-    from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
-    from openpilot.sunnypilot.modeld_v2.compile_modeld import derive_frame_skip, make_split_input_queues
-    from tinygrad.device import Device
-
-    from openpilot.common.file_chunker import open_file_chunked
-
    cloudlog.warning(f"loading combined pkl: {pkl_path}")
+    # TODO-SP: switch to load_oob from openpilot/selfdrive/helpers on next full recompile of all models
    jits = pickle.load(open_file_chunked(pkl_path))

    self.DEV = Device.DEFAULT
+    self.WARP_DEV = 'CPU' if USBGPU else self.DEV
+    self.QUEUE_DEV = self.DEV

    metadata = jits['metadata']
+
+    self._run_policy = jits[(cam_w, cam_h)]['run_policy']
+    self._warp_enqueue = jits[(cam_w, cam_h)]['warp_enqueue']
+
+    # TODO-SP: Remove legacy use_packed detection block after all models are recompiled
+    captured = getattr(self._run_policy, 'captured', None)
+    if captured is not None:
+      use_packed = 'packed_npy_inputs' in getattr(captured, 'expected_names', [])
+    else:
+      use_packed = True
+
    if 'model' in metadata:
      model_metadata = metadata['model']
      self.vision_output_slices = model_metadata['output_slices']
      self.policy_output_slices = {}
      self._policy_slices_list = []
      self._combined_model_type = 'supercombo'
-      self._vision_input_names = [k for k in model_metadata['input_shapes'] if 'img' in k]
+      self._vision_input_names = [key for key in model_metadata['input_shapes'] if 'img' in key]
      from openpilot.sunnypilot.modeld_v2.compile_modeld import make_supercombo_input_queues
      frame_skip = derive_frame_skip({}, model_metadata['input_shapes'])
-      self.input_queues, self.numpy_inputs = make_supercombo_input_queues(model_metadata['input_shapes'], frame_skip, device=self.DEV)
+      self.input_queues, self.numpy_inputs = make_supercombo_input_queues(model_metadata['input_shapes'],
+                                                                          frame_skip, device=self.QUEUE_DEV, use_packed=use_packed)
    else:
      vision_metadata = metadata['vision']
      policy_keys = [k for k in metadata if k != 'vision']
@@ -139,11 +156,12 @@ class ModelState(ModelStateBase):
      policy_input_shapes = first_policy_metadata['input_shapes']
      self._vision_input_names = [k for k in vision_input_shapes if 'img' in k]
      frame_skip = derive_frame_skip(vision_input_shapes, policy_input_shapes)
-      self.input_queues, self.numpy_inputs = make_split_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, device=self.DEV)
+      self.input_queues, self.numpy_inputs = make_split_input_queues(vision_input_shapes, policy_input_shapes,
+                                                                     frame_skip, device=self.QUEUE_DEV, use_packed=use_packed)

-    from openpilot.sunnypilot.modeld_v2.parse_model_outputs_split import Parser as SplitParser
-    from openpilot.sunnypilot.modeld_v2.parse_model_outputs import Parser as CombinedParser
-    self.parser = SplitParser() if self._combined_model_type != 'supercombo' else CombinedParser()
+    self._desire_key = next(key for key in self.numpy_inputs if key.startswith('desire'))
+    self._road_key = next(key for key in self._vision_input_names if 'big' not in key)
+    self._wide_key = next(key for key in self._vision_input_names if 'big' in key)

    is_20hz = bundle.is20hz if bundle else self._combined_model_type in ('split', 'multi_policy')
    if is_20hz:
@@ -153,20 +171,24 @@ class ModelState(ModelStateBase):
      from openpilot.sunnypilot.modeld_v2.constants import ModelConstants
      self.constants = ModelConstants()

+    if self._combined_model_type != 'supercombo':
+      from openpilot.sunnypilot.modeld_v2.parse_model_outputs_split import Parser as SplitParser
+      self.parser = SplitParser()
+    else:
+      from openpilot.sunnypilot.modeld_v2.parse_model_outputs import Parser as CombinedParser
+      self.parser = CombinedParser()
+
    self.prev_desire = np.zeros(self.constants.DESIRE_LEN, dtype=np.float32)
    self.full_frames: dict = {}
    self._blob_cache: dict = {}
    nv12_info = get_nv12_info(cam_w, cam_h)
    self.frame_buf_params = dict.fromkeys(self._vision_input_names, nv12_info)

-    self._run_policy = jits[(cam_w, cam_h)]['run_policy']
-    self._warp_enqueue = jits[(cam_w, cam_h)]['warp_enqueue']
-    road_name = next(k for k in self._vision_input_names if 'big' not in k)
-    yuv_size = self.frame_buf_params[road_name][3]
+    yuv_size = self.frame_buf_params[self._road_key][3]
    self._warp_enqueue(
      **self.input_queues,
-      frame=Tensor(np.zeros(yuv_size, dtype=np.uint8), device=self.DEV).contiguous().realize(),
-      big_frame=Tensor(np.zeros(yuv_size, dtype=np.uint8), device=self.DEV).contiguous().realize())
+      frame=Tensor(np.zeros(yuv_size, dtype=np.uint8), device=self.WARP_DEV).contiguous().realize(),
+      big_frame=Tensor(np.zeros(yuv_size, dtype=np.uint8), device=self.WARP_DEV).contiguous().realize())


  @property
@@ -179,30 +201,28 @@ class ModelState(ModelStateBase):

  @property
  def desire_key(self) -> str:
-    return next(k for k in self.numpy_inputs if k.startswith('desire'))
+    return self._desire_key

  def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
                inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
-    from tinygrad.tensor import Tensor
-
    for key in bufs.keys():
      ptr = np.frombuffer(bufs[key].data, dtype=np.uint8).ctypes.data
      yuv_size = self.frame_buf_params[key][3]
      cache_key = (key, ptr)
      if cache_key not in self._blob_cache:
-        self._blob_cache[cache_key] = Tensor.from_blob(ptr, (yuv_size,), dtype='uint8', device=self.DEV)
+        self._blob_cache[cache_key] = Tensor.from_blob(ptr, (yuv_size,), dtype='uint8', device=self.WARP_DEV)
      self.full_frames[key] = self._blob_cache[cache_key]

    desire_key = self.desire_key
    inputs[desire_key][0] = 0
    self.numpy_inputs[desire_key][:] = np.where(inputs[desire_key] - self.prev_desire > .99, inputs[desire_key], 0)
    self.prev_desire[:] = inputs[desire_key]
-    for key in ('traffic_convention', 'lateral_control_params'):
+    for key in ('traffic_convention', 'lateral_control_params', 'action_t'):
      if key in self.numpy_inputs and key in inputs:
        self.numpy_inputs[key][:] = inputs[key]

-    road_key = next(n for n in bufs if 'big' not in n)
-    wide_key = next(n for n in bufs if 'big' in n)
+    road_key = self._road_key
+    wide_key = self._wide_key
    self.numpy_inputs['tfm'][:, :] = transforms[road_key].reshape(3, 3)
    self.numpy_inputs['big_tfm'][:, :] = transforms[wide_key].reshape(3, 3)

@@ -216,17 +236,26 @@ class ModelState(ModelStateBase):
      model_output = raw_outputs.numpy().flatten()
      sliced = {k: model_output[np.newaxis, v] for k, v in self.vision_output_slices.items()}
      outputs = self.parser.parse_outputs(sliced)
+      if 'prev_feat' in self.numpy_inputs:
+        self.numpy_inputs['prev_feat'][:] = model_output[self.vision_output_slices['hidden_state']]
    else:
      vision_output = raw_outputs[0].numpy().flatten()
      vision_sliced = {k: vision_output[np.newaxis, v] for k, v in self.vision_output_slices.items()}
      outputs = self.parser.parse_vision_outputs(vision_sliced)

+      if 'prev_feat' in self.numpy_inputs and 'hidden_state' in self.vision_output_slices:
+        self.numpy_inputs['prev_feat'][:] = vision_output[self.vision_output_slices['hidden_state']]
+
      for i, policy_slices in enumerate(self._policy_slices_list):
        policy_output = raw_outputs[i + 1].numpy().flatten()
        policy_sliced = {k: policy_output[np.newaxis, v] for k, v in policy_slices.items()}
        parsed = self.parser.parse_policy_outputs(policy_sliced)
-        if 'off' in self._policy_keys[i] and self._has_on_policy:
+        if ('off' in self._policy_keys[i]
+          and self._has_on_policy
+          and any('plan' in self._policy_slices_list[j] for j, k in enumerate(self._policy_keys) if 'on' in k.lower())):
+
          parsed.pop('plan', None)
+
        outputs.update(parsed)

      if 'planplus' in outputs and 'plan' in outputs:
@@ -237,17 +266,30 @@ class ModelState(ModelStateBase):
      buf[0, :-1] = buf[0, 1:]
      buf[0, -1, :] = outputs['desired_curvature'][0, :] if not self.mlsim else 0

+    # TODO-SP: This is a hack to prevent GPU corruption by calculating in CPU space, it can be removed on next recompile
+    if 'prev_feat' not in self.numpy_inputs and 'feat_q' in self.input_queues:
+      feat_val = self.input_queues['feat_q'].numpy()
+      self.input_queues['feat_q'].assign(feat_val).realize()
+
    return outputs

  def get_action_from_model(self, model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
                            lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action:
-    plan = model_output['plan'][0]
-    desired_accel, should_stop = get_accel_from_plan(plan[:, Plan.VELOCITY][:, 0], plan[:, Plan.ACCELERATION][:, 0], self.constants.T_IDXS,
-                                                     action_t=long_action_t)
+    if 'action' not in model_output:
+      plan = model_output['plan'][0]
+      desired_accel, should_stop = get_accel_from_plan(plan[:, Plan.VELOCITY][:, 0], plan[:, Plan.ACCELERATION][:, 0], self.constants.T_IDXS,
+                                                       action_t=long_action_t)
+
+      curvature_plan = (plan + (self.PLANPLUS_CONTROL - 1.0) * model_output['planplus'][0]
+                        if 'planplus' in model_output and self.PLANPLUS_CONTROL != 1.0 else plan)
+      desired_curvature = get_curvature_from_output(model_output, curvature_plan, v_ego, lat_action_t, self.mlsim)
+    else:
+      desired_accel = model_output['action'][0, 1]
+      desired_curvature = model_output['action'][0, 0] / (max(1.0, v_ego))**2
+      should_stop = (v_ego < 0.3 and desired_accel < 0.1)
+
    desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, self.LONG_SMOOTH_SECONDS)

-    curvature_plan = plan + (self.PLANPLUS_CONTROL - 1.0) * model_output['planplus'][0] if 'planplus' in model_output and self.PLANPLUS_CONTROL != 1.0 else plan
-    desired_curvature = get_curvature_from_output(model_output, curvature_plan, v_ego, lat_action_t, self.mlsim)
    if self.generation is not None and self.generation >= 10: # smooth curvature for post FOF models
      if v_ego > self.MIN_LAT_CONTROL_SPEED:
        desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, self.LAT_SMOOTH_SECONDS)
@@ -325,6 +367,7 @@ def main(demo=False):
  prev_action = log.ModelDataV2.Action()

  DH = DesireHelper()
+  RELC = RoadEdgeLaneChangeController(DH)
  meta_constants = load_meta_constants()

  while True:
@@ -400,6 +443,12 @@ def main(demo=False):

    bufs = {name: buf_extra if 'big' in name else buf_main for name in model.vision_input_names}
    transforms = {name: model_transform_extra if 'big' in name else model_transform_main for name in model.vision_input_names}
+
+    frame_delay = DT_MDL # compensate for time passed since the frame was captured: current_time - timestamp_eof is 50ms on average
+    action_delay = DT_MDL / 2 # middle of the interval between model output (current state) and next frame (expected state)
+    lat_action_t = lat_delay + frame_delay + action_delay
+    long_action_t = long_delay + frame_delay + action_delay
+
    inputs:dict[str, np.ndarray] = {
      model.desire_key: vec_desire,
      'traffic_convention': traffic_convention,
@@ -408,6 +457,9 @@ def main(demo=False):
    if 'lateral_control_params' in model.numpy_inputs:
      inputs['lateral_control_params'] = np.array([v_ego, lat_delay], dtype=np.float32)

+    if 'action_t' in model.numpy_inputs:
+      inputs['action_t'] = np.array([lat_action_t, long_action_t], dtype=np.float32)
+
    mt1 = time.perf_counter()
    model_output = model.run(bufs, transforms, inputs, prepare_only)
    mt2 = time.perf_counter()
@@ -419,7 +471,7 @@ def main(demo=False):
      posenet_send = messaging.new_message('cameraOdometry')
      mdv2sp_send = messaging.new_message('modelDataV2SP')

-      action = model.get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL, v_ego)
+      action = model.get_action_from_model(model_output, prev_action, lat_action_t, long_action_t, v_ego)
      prev_action = action
      fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
                     publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
@@ -429,7 +481,10 @@ def main(demo=False):
      l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
      r_lane_change_prob = desire_state[log.Desire.laneChangeRight]
      lane_change_prob = l_lane_change_prob + r_lane_change_prob
-      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
+      RELC.update(modelv2_send.modelV2.roadEdgeStds, modelv2_send.modelV2.laneLineProbs, v_ego)
+      mdv2sp_send.modelDataV2SP.leftLaneChangeEdgeBlock = RELC.left_edge_detected
+      mdv2sp_send.modelDataV2SP.rightLaneChangeEdgeBlock = RELC.right_edge_detected
+      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, RELC.left_edge_detected, RELC.right_edge_detected)
      modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
      modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
      mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction
--- a/Show More
+++ b/Show More