Merge branch 'upstream/opendbc/master' into sync-20250823

# Conflicts: # .github/workflows/tests.yml # opendbc/safety/tests/safety_replay/replay_drive.py
2026-02-18 13:03:52 +08:00 · 2025-08-23 20:41:49 -04:00
parent dec0074043 43006b9a41
commit bedcb0cbc9
45 changed files with 831 additions and 211 deletions
--- a/.github/workflows/cache/action.yaml
+++ b/.github/workflows/cache/action.yaml
@@ -3,7 +3,11 @@ runs:
  using: "composite"
  steps:
    - name: Restore cached cppcheck
+      id: cppcache
      uses: actions/cache@v4
      with:
        path: opendbc/safety/tests/misra/cppcheck/
        key: cppcheck-cache-${{ runner.os }}-${{ hashFiles('opendbc/safety/tests/misra/install.sh') }}
+    - name: Set cache-hit output
+      run: echo "cache-hit=${{ steps.cppcache.outputs.cache-hit }}" >> $GITHUB_OUTPUT
+      shell: bash
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -17,11 +17,12 @@ jobs:
          - os: ${{ github.repository == 'commaai/opendbc' && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
          - os: ${{ github.repository == 'commaai/opendbc' && 'namespace-profile-macos-8x14' || 'macos-latest' }}
    steps:
-    - uses: commaai/timeout@v1
-      with:
-        timeout: ${{ github.repository == 'commaai/opendbc' && '60' || '999' }}
    - uses: actions/checkout@v4
    - uses: ./.github/workflows/cache
+      id: cache
+    - uses: commaai/timeout@v1
+      with:
+        timeout: ${{ github.repository == 'commaai/opendbc' && (steps.cache.outputs.cache-hit == 'true' && '60' || '90') || '999' }}
    - run: ./test.sh

  safety_tests:
@@ -43,7 +44,7 @@ jobs:
  mutation:
    name: Safety mutation tests
    runs-on: ${{ github.repository == 'commaai/opendbc' && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
-    timeout-minutes: ${{ github.repository == 'commaai/opendbc' && 20 || 999 }}
+    timeout-minutes: ${{ github.repository == 'commaai/opendbc' && 45 || 999 }}
    env:
      GIT_REF: ${{ github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch) && github.event.before || format('origin/{0}', github.event.repository.default_branch) }}
    steps:
@@ -52,7 +53,6 @@ jobs:
          fetch-depth: 0  # need master to get diff
      - uses: ./.github/workflows/cache
      - name: Run mutation tests
-        timeout-minutes: ${{ github.repository == 'commaai/opendbc' && 5 || 999 }}
        run: |
          source setup.sh
          scons -j8
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -9,7 +9,7 @@
 |Acura|Integra 2023-25|All|[Community](#community)|
 |Acura|MDX 2015-16|Advance Package|[Community](#community)|
 |Acura|MDX 2017-20|All|[Community](#community)|
-|Acura|MDX 2025|All|[Community](#community)|
+|Acura|MDX 2025|All except Type S|[Upstream](#upstream)|
 |Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|[Upstream](#upstream)|
 |Acura|RDX 2019-21|All|[Upstream](#upstream)|
 |Acura|RDX 2022-25|All|[Community](#community)|
@@ -82,9 +82,9 @@
 |GMC|Yukon 2019-20|Adaptive Cruise Control (ACC) & LKAS|[Dashcam mode](#dashcam)|
 |Honda|Accord 2016-17|Honda Sensing|[Community](#community)|
 |Honda|Accord 2018-22|All|[Upstream](#upstream)|
-|Honda|Accord 2023|All|[Upstream](#upstream)|
-|Honda|Accord 2024-25|All|[Community](#community)|
+|Honda|Accord 2023-25|All|[Upstream](#upstream)|
 |Honda|Accord Hybrid 2018-22|All|[Upstream](#upstream)|
+|Honda|Accord Hybrid 2023-25|All|[Upstream](#upstream)|
 |Honda|Civic 2016-18|Honda Sensing|[Upstream](#upstream)|
 |Honda|Civic 2019-21|All|[Upstream](#upstream)|
 |Honda|Civic 2022-24|All|[Upstream](#upstream)|
@@ -96,9 +96,9 @@
 |Honda|Clarity 2018-21|All|[Community](#community)|
 |Honda|CR-V 2015-16|Touring Trim|[Upstream](#upstream)|
 |Honda|CR-V 2017-22|Honda Sensing|[Upstream](#upstream)|
-|Honda|CR-V 2023-25|All|[Community](#community)|
+|Honda|CR-V 2023-25|All|[Upstream](#upstream)|
 |Honda|CR-V Hybrid 2017-22|Honda Sensing|[Upstream](#upstream)|
-|Honda|CR-V Hybrid 2023-25|All|[Community](#community)|
+|Honda|CR-V Hybrid 2023-25|All|[Upstream](#upstream)|
 |Honda|e 2020|All|[Upstream](#upstream)|
 |Honda|Fit 2018-20|Honda Sensing|[Upstream](#upstream)|
 |Honda|Freed 2020|Honda Sensing|[Upstream](#upstream)|
@@ -111,8 +111,7 @@
 |Honda|Passport 2019-25|All|[Upstream](#upstream)|
 |Honda|Passport 2026|All|[Community](#community)|
 |Honda|Pilot 2016-22|Honda Sensing|[Upstream](#upstream)|
-|Honda|Pilot 2023|All|[Dashcam mode](#dashcam)|
-|Honda|Pilot 2023-25|All|[Community](#community)|
+|Honda|Pilot 2023-25|All|[Upstream](#upstream)|
 |Honda|Prologue 2024-25|All|[Not compatible](#can-bus-security)|
 |Honda|Ridgeline 2017-25|Honda Sensing|[Upstream](#upstream)|
 |Hyundai|Azera 2022|All|[Upstream](#upstream)|
@@ -137,7 +136,7 @@
 |Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Hyundai|Ioniq Plug-in Hybrid 2020-22|All|[Upstream](#upstream)|
 |Hyundai|Kona 2020|Smart Cruise Control (SCC)|[Upstream](#upstream)|
-|Hyundai|Kona 2022|Smart Cruise Control (SCC)|[Dashcam mode](#dashcam)|
+|Hyundai|Kona 2022-23|Smart Cruise Control (SCC)|[Dashcam mode](#dashcam)|
 |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Hyundai|Kona Electric (with HDA II, Korea only) 2023|Smart Cruise Control (SCC)|[Upstream](#upstream)|
@@ -241,6 +240,7 @@
 |Nissan|Leaf 2018-23|ProPILOT Assist|[Upstream](#upstream)|
 |Nissan|Rogue 2018-20|ProPILOT Assist|[Upstream](#upstream)|
 |Nissan|X-Trail 2017|ProPILOT Assist|[Upstream](#upstream)|
+|Peugeot|208 2019-25|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
 |Ram|1500 2019-24|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
 |Ram|2500 2020-24|Adaptive Cruise Control (ACC)|[Dashcam mode](#dashcam)|
 |Ram|3500 2019-22|Adaptive Cruise Control (ACC)|[Dashcam mode](#dashcam)|
@@ -339,7 +339,7 @@
 |Toyota|Sienna 2024-25|Any|[Not compatible](#can-bus-security)|
 |Toyota|Tundra 2022-25|Any|[Not compatible](#can-bus-security)|
 |Toyota|Venza 2021-25|Any|[Not compatible](#can-bus-security)|
-|Toyota|Yaris (Non-US only) 2023|All|[Community](#community)|
+|Toyota|Yaris (Non-US only) 2020, 2023|All|[Community](#community)|
 |Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 |Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 |Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
--- a/opendbc/can/dbc.py
+++ b/opendbc/can/dbc.py
@@ -14,6 +14,7 @@ from opendbc.car.hyundai.hyundaicanfd import hkg_can_fd_checksum
 from opendbc.car.volkswagen.mqbcan import volkswagen_mqb_meb_checksum, xor_checksum
 from opendbc.car.tesla.teslacan import tesla_checksum
 from opendbc.car.body.bodycan import body_checksum
+from opendbc.car.psa.psacan import psa_checksum


 class SignalType:
@@ -29,6 +30,7 @@ class SignalType:
  HKG_CAN_FD_CHECKSUM = 9
  FCA_GIORGIO_CHECKSUM = 10
  TESLA_CHECKSUM = 11
+  PSA_CHECKSUM = 12


@dataclass
@@ -196,6 +198,8 @@ def get_checksum_state(dbc_name: str) -> ChecksumState | None:
    return ChecksumState(8, 4, 7, 3, False, SignalType.BODY_CHECKSUM, body_checksum)
  elif dbc_name.startswith("tesla_model3_party"):
    return ChecksumState(8, -1, 0, -1, True, SignalType.TESLA_CHECKSUM, tesla_checksum, tesla_setup_signal)
+  elif dbc_name.startswith("psa_"):
+    return ChecksumState(4, 4, 7, 3, False, SignalType.PSA_CHECKSUM, psa_checksum)
  return None


--- a/opendbc/can/parser.py
+++ b/opendbc/can/parser.py
@@ -142,10 +142,9 @@ class CANParser:

      self._add_message(name_or_addr, freq)

-    self.can_valid: bool = False
-    self.bus_timeout: bool = False
    self.can_invalid_cnt: int = CAN_INVALID_CNT
    self.last_nonempty_nanos: int = 0
+    self._last_update_nanos: int = 0

  def _add_message(self, name_or_addr: str | int, freq: int = None) -> None:
    if isinstance(name_or_addr, numbers.Number):
@@ -181,17 +180,29 @@ class CANParser:

    self.message_states[msg.address] = state

-  def update_valid(self, nanos: int) -> None:
+  @property
+  def bus_timeout(self) -> bool:
+    ignore_alive = all(s.ignore_alive for s in self.message_states.values())
+    bus_timeout_threshold = 500 * 1_000_000
+    for st in self.message_states.values():
+      if st.timeout_threshold > 0:
+        bus_timeout_threshold = min(bus_timeout_threshold, st.timeout_threshold)
+    return ((self._last_update_nanos - self.last_nonempty_nanos) > bus_timeout_threshold) and not ignore_alive
+
+  @property
+  def can_valid(self) -> bool:
    valid = True
    counters_valid = True
+    bus_timeout = self.bus_timeout
    for state in self.message_states.values():
      if state.counter_fail >= MAX_BAD_COUNTER:
        counters_valid = False
-      if not state.valid(nanos, self.bus_timeout):
+      if not state.valid(self._last_update_nanos, bus_timeout):
        valid = False

+    # TODO: probably only want to increment this once per update() call
    self.can_invalid_cnt = 0 if valid else min(self.can_invalid_cnt + 1, CAN_INVALID_CNT)
-    self.can_valid = self.can_invalid_cnt < CAN_INVALID_CNT and counters_valid
+    return self.can_invalid_cnt < CAN_INVALID_CNT and counters_valid

  def update(self, strings, sendcan: bool = False):
    if strings and not isinstance(strings[0], list | tuple):
@@ -228,13 +239,7 @@ class CANParser:
      if not bus_empty:
        self.last_nonempty_nanos = t

-      ignore_alive = all(s.ignore_alive for s in self.message_states.values())
-      bus_timeout_threshold = 500 * 1_000_000
-      for st in self.message_states.values():
-        if st.timeout_threshold > 0:
-          bus_timeout_threshold = min(bus_timeout_threshold, st.timeout_threshold)
-      self.bus_timeout = ((t - self.last_nonempty_nanos) > bus_timeout_threshold) and not ignore_alive
-      self.update_valid(t)
+      self._last_update_nanos = t

    return updated_addrs

--- a/opendbc/car/docs_definitions.py
+++ b/opendbc/car/docs_definitions.py
@@ -145,6 +145,7 @@ class CarHarness(EnumBase):
  rivian = BaseCarHarness("Rivian A connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable, Cable.usbc_coupler])
  tesla_a = BaseCarHarness("Tesla A connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable, Cable.usbc_coupler])
  tesla_b = BaseCarHarness("Tesla B connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable, Cable.usbc_coupler])
+  psa_a = BaseCarHarness("PSA A connector", parts=[Accessory.harness_box, Cable.long_obdc_cable, Cable.usbc_coupler])

  # custom harness
  honda_clarity = BaseCarHarness("Honda Nidec connector + Honda Clarity Proxy Board")
--- a/opendbc/car/ecu_addrs.py
+++ b/opendbc/car/ecu_addrs.py
@@ -7,10 +7,11 @@ from opendbc.car.fw_query_definitions import EcuAddrBusType


 def _is_tester_present_response(msg: CanData, subaddr: int = None) -> bool:
-  # ISO-TP messages are always padded to 8 bytes
+  # ISO-TP messages may use CAN frame optimization (not always 8 bytes)
  # tester present response is always a single frame
  dat_offset = 1 if subaddr is not None else 0
-  if len(msg.dat) == 8 and 1 <= msg.dat[dat_offset] <= 7:
+  min_length = 4 if subaddr is not None else 3  # bytes: frame len, (pos/neg) sid, (optional negative sid)/0x00 sub-function
+  if min_length <= len(msg.dat) <= 8 and 1 <= msg.dat[dat_offset] <= 7:
    # success response
    if msg.dat[dat_offset + 1] == (uds.SERVICE_TYPE.TESTER_PRESENT + 0x40):
      return True
--- a/opendbc/car/extra_cars.py
+++ b/opendbc/car/extra_cars.py
@@ -40,20 +40,15 @@ class CAR(Platforms):
      CommunityCarDocs("Acura Integra 2023-25", "All"),
      CommunityCarDocs("Acura MDX 2015-16", "Advance Package"),
      CommunityCarDocs("Acura MDX 2017-20", "All"),
-      CommunityCarDocs("Acura MDX 2025", "All"),
      CommunityCarDocs("Acura RDX 2022-25", "All"),
      CommunityCarDocs("Acura RLX 2017", "Advance Package or Technology Package"),
      CommunityCarDocs("Acura TLX 2015-17", "Advance Package"),
      CommunityCarDocs("Acura TLX 2018-20", "All"),
      GMSecurityCarDocs("Acura ZDX 2024", "All"),
      CommunityCarDocs("Honda Accord 2016-17", "Honda Sensing"),
-      CommunityCarDocs("Honda Accord 2024-25", "All"),
      CommunityCarDocs("Honda Clarity 2018-21", "All"),
-      CommunityCarDocs("Honda CR-V 2023-25", "All"),
-      CommunityCarDocs("Honda CR-V Hybrid 2023-25", "All"),
      CommunityCarDocs("Honda Odyssey 2021-25", "All"),
      CommunityCarDocs("Honda Passport 2026", "All"),
-      CommunityCarDocs("Honda Pilot 2023-25", "All"),
      GMSecurityCarDocs("Honda Prologue 2024-25", "All"),
    ],
  )
--- a/opendbc/car/gm/interface.py
+++ b/opendbc/car/gm/interface.py
@@ -1,15 +1,14 @@
 #!/usr/bin/env python3
-import os
 from math import fabs, exp
+import numpy as np

 from opendbc.car import get_safety_config, structs
-from opendbc.car.common.basedir import BASEDIR
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.gm.carcontroller import CarController
 from opendbc.car.gm.carstate import CarState
 from opendbc.car.gm.radar_interface import RadarInterface, RADAR_HEADER_MSG, CAMERA_DATA_HEADER_MSG
 from opendbc.car.gm.values import CAR, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, SDGM_CAR, ALT_ACCS, CanBus, GMSafetyFlags
-from opendbc.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, LatControlInputs, NanoFFModel
+from opendbc.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, LateralAccelFromTorqueCallbackType

 TransmissionType = structs.CarParams.TransmissionType
 NetworkLocation = structs.CarParams.NetworkLocation
@@ -20,8 +19,6 @@ NON_LINEAR_TORQUE_PARAMS = {
  CAR.CHEVROLET_SILVERADO: [3.29974374, 1.0, 0.25571356, 0.0465122]
 }

-NEURAL_PARAMS_PATH = os.path.join(BASEDIR, 'torque_data/neural_ff_weights.json')
-

 class CarInterface(CarInterfaceBase):
  CarState = CarState
@@ -45,42 +42,45 @@ class CarInterface(CarInterfaceBase):
    else:
      return CarInterfaceBase.get_steer_feedforward_default

-  def torque_from_lateral_accel_siglin(self, latcontrol_inputs: LatControlInputs, torque_params: structs.CarParams.LateralTorqueTuning,
-                                       gravity_adjusted: bool) -> float:
-    def sig(val):
-      # https://timvieira.github.io/blog/post/2014/02/11/exp-normalize-trick
-      if val >= 0:
-        return 1 / (1 + exp(-val)) - 0.5
-      else:
-        z = exp(val)
-        return z / (1 + z) - 0.5
+  def get_lataccel_torque_siglin(self) -> float:

-    # The "lat_accel vs torque" relationship is assumed to be the sum of "sigmoid + linear" curves
-    # An important thing to consider is that the slope at 0 should be > 0 (ideally >1)
-    # This has big effect on the stability about 0 (noise when going straight)
-    # ToDo: To generalize to other GMs, explore tanh function as the nonlinear
-    non_linear_torque_params = NON_LINEAR_TORQUE_PARAMS.get(self.CP.carFingerprint)
-    assert non_linear_torque_params, "The params are not defined"
-    a, b, c, _ = non_linear_torque_params
-    steer_torque = (sig(latcontrol_inputs.lateral_acceleration * a) * b) + (latcontrol_inputs.lateral_acceleration * c)
-    return float(steer_torque)
+    def torque_from_lateral_accel_siglin_func(lateral_acceleration: float) -> float:
+      # The "lat_accel vs torque" relationship is assumed to be the sum of "sigmoid + linear" curves
+      # An important thing to consider is that the slope at 0 should be > 0 (ideally >1)
+      # This has big effect on the stability about 0 (noise when going straight)
+      non_linear_torque_params = NON_LINEAR_TORQUE_PARAMS.get(self.CP.carFingerprint)
+      assert non_linear_torque_params, "The params are not defined"
+      a, b, c, _ = non_linear_torque_params
+      sig_input = a * lateral_acceleration
+      sig = np.sign(sig_input) * (1 / (1 + exp(-fabs(sig_input))) - 0.5)
+      steer_torque = (sig * b) + (lateral_acceleration * c)
+      return float(steer_torque)

-  def torque_from_lateral_accel_neural(self, latcontrol_inputs: LatControlInputs, torque_params: structs.CarParams.LateralTorqueTuning,
-                                       gravity_adjusted: bool) -> float:
-    inputs = list(latcontrol_inputs)
-    if gravity_adjusted:
-      inputs[0] += inputs[1]
-    return float(self.neural_ff_model.predict(inputs))
+    lataccel_values = np.arange(-5.0, 5.0, 0.01)
+    torque_values = [torque_from_lateral_accel_siglin_func(x) for x in lataccel_values]
+    assert min(torque_values) < -1 and max(torque_values) > 1, "The torque values should cover the range [-1, 1]"
+    return torque_values, lataccel_values

  def torque_from_lateral_accel(self) -> TorqueFromLateralAccelCallbackType:
-    if self.CP.carFingerprint == CAR.CHEVROLET_BOLT_EUV:
-      self.neural_ff_model = NanoFFModel(NEURAL_PARAMS_PATH, self.CP.carFingerprint)
-      return self.torque_from_lateral_accel_neural
-    elif self.CP.carFingerprint in NON_LINEAR_TORQUE_PARAMS:
-      return self.torque_from_lateral_accel_siglin
+    if self.CP.carFingerprint in NON_LINEAR_TORQUE_PARAMS:
+      torque_values, lataccel_values = self.get_lataccel_torque_siglin()
+
+      def torque_from_lateral_accel_siglin(lateral_acceleration: float, torque_params: structs.CarParams.LateralTorqueTuning):
+        return np.interp(lateral_acceleration, lataccel_values, torque_values)
+      return torque_from_lateral_accel_siglin
    else:
      return self.torque_from_lateral_accel_linear

+  def lateral_accel_from_torque(self) -> LateralAccelFromTorqueCallbackType:
+    if self.CP.carFingerprint in NON_LINEAR_TORQUE_PARAMS:
+      torque_values, lataccel_values = self.get_lataccel_torque_siglin()
+
+      def lateral_accel_from_torque_siglin(torque: float, torque_params: structs.CarParams.LateralTorqueTuning):
+        return np.interp(torque, torque_values, lataccel_values)
+      return lateral_accel_from_torque_siglin
+    else:
+      return self.lateral_accel_from_torque_linear
+
  @staticmethod
  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
    ret.brand = "gm"
--- a/opendbc/car/honda/fingerprints.py
+++ b/opendbc/car/honda/fingerprints.py
@@ -70,7 +70,6 @@ FW_VERSIONS = {
    ],
    (Ecu.eps, 0x18da30f1, None): [
      b'39990-TBX-H120\x00\x00',
-      b'39990-TVA,A150\x00\x00',
      b'39990-TVA-A140\x00\x00',
      b'39990-TVA-A150\x00\x00',
      b'39990-TVA-A160\x00\x00',
@@ -150,7 +149,6 @@ FW_VERSIONS = {
      b'57114-TEA-Q220\x00\x00',
    ],
    (Ecu.eps, 0x18da30f1, None): [
-      b'39990-TBA,A030\x00\x00',
      b'39990-TBA-A030\x00\x00',
      b'39990-TBG-A030\x00\x00',
      b'39990-TEA-T020\x00\x00',
@@ -223,8 +221,6 @@ FW_VERSIONS = {
      b'39990-TEA-T330\x00\x00',
      b'39990-TEA-T820\x00\x00',
      b'39990-TEZ-T020\x00\x00',
-      b'39990-TGG,A020\x00\x00',
-      b'39990-TGG,A120\x00\x00',
      b'39990-TGG-A020\x00\x00',
      b'39990-TGG-A120\x00\x00',
      b'39990-TGG-J510\x00\x00',
@@ -357,7 +353,6 @@ FW_VERSIONS = {
      b'57114-TMC-Z050\x00\x00',
    ],
    (Ecu.eps, 0x18da30f1, None): [
-      b'39990-TLA,A040\x00\x00',
      b'39990-TLA-A040\x00\x00',
      b'39990-TLA-A110\x00\x00',
      b'39990-TLA-A220\x00\x00',
@@ -505,6 +500,14 @@ FW_VERSIONS = {
      b'36161-TDK-J530\x00\x00',
    ],
  },
+  CAR.ACURA_MDX_4G_MMR: {
+    (Ecu.fwdCamera, 0x18dab5f1, None): [
+      b'8S102-TYA-A020\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'8S302-TYA-A020\x00\x00',
+    ],
+  },
  CAR.HONDA_ODYSSEY: {
    (Ecu.gateway, 0x18daeff1, None): [
      b'38897-THR-A010\x00\x00',
@@ -807,6 +810,7 @@ FW_VERSIONS = {
    (Ecu.fwdRadar, 0x18dab0f1, None): [
      b'8S102-3M3-T050\x00\x00',
      b'8S102-3M6-P030\x00\x00',
+      b'8S102-3M6-PA20\x00\x00',
      b'8S102-3W0-A060\x00\x00',
      b'8S102-3W0-AB10\x00\x00',
      b'8S102-3W0-AB20\x00\x00',
@@ -941,21 +945,13 @@ FW_VERSIONS = {
    (Ecu.fwdCamera, 0x18dab5f1, None): [
      b'8S102-T90-A050\x00\x00',
      b'8S102-T90-A060\x00\x00',
+      b'8S102-T90-A070\x00\x00',
    ],
    (Ecu.fwdRadar, 0x18dab0f1, None): [
      b'8S302-T90-A040\x00\x00',
    ],
  },
  CAR.HONDA_ACCORD_11G: {
-    (Ecu.eps, 0x18da30f1, None): [
-      b'39991-30B-A060\x00\x00',
-    ],
-    (Ecu.gateway, 0x18daeff1, None): [
-      b'5J802-30B-AA10\x00\x00',
-    ],
-    (Ecu.srs, 0x18da53f1, None): [
-      b'77959-30B-A750\x00\x00',
-    ],
    (Ecu.fwdRadar, 0x18dab0f1, None): [
      b'8S302-30A-A040\x00\x00',
    ],
@@ -963,8 +959,38 @@ FW_VERSIONS = {
      b'8S102-30A-A050\x00\x00',
      b'8S102-30A-A060\x00\x00',
    ],
+  },
+  CAR.HONDA_CRV_6G: {
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'8S302-3C0-Q050\x00\x00',
+      b'8S302-3D4-A050\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x18dab5f1, None): [
+      b'8S102-3C0-Q060\x00\x00',
+      b'8S102-3D4-A060\x00\x00',
+      b'8S102-3D4-A070\x00\x00',
+      b'8S102-3D4-A080\x00\x00',
+      b'8S102-3D4-A090\x00\x00',
+    ],
+  },
+  CAR.HONDA_CITY_7G: {
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-T14-B030\x00\x00',
+    ],
+    (Ecu.gateway, 0x18daeff1, None): [
+      b'38897-T14-M110\x00\x00',
+    ],
+    (Ecu.srs, 0x18da53f1, None): [
+      b'77959-T00-B830\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'36161-T14-P050\x00\x00',
+    ],
    (Ecu.vsa, 0x18da28f1, None): [
-      b'57114-30B-A030\x00\x00',
+      b'57114-T14-B030\x00\x00',
+    ],
+    (Ecu.transmission, 0x18da1ef1, None): [
+      b'28101-63B-M420\x00\x00',
    ],
  },
 }
--- a/opendbc/car/honda/interface.py
+++ b/opendbc/car/honda/interface.py
@@ -38,9 +38,6 @@ class CarInterface(CarInterfaceBase):

    CAN = CanBus(ret, fingerprint)

-    # Pilot 4G needs a rescaled lateral actuator, switch to lat accel torque control, and an updated test route
-    ret.dashcamOnly = candidate in [CAR.HONDA_PILOT_4G]
-
    if candidate in HONDA_BOSCH:
      cfgs = [get_safety_config(structs.CarParams.SafetyModel.hondaBosch)]
      if candidate in HONDA_BOSCH_CANFD and CAN.pt >= 4:
@@ -99,24 +96,14 @@ class CarInterface(CarInterfaceBase):
      ret.longitudinalTuning.kiBP = [0., 5., 35.]
      ret.longitudinalTuning.kiV = [1.2, 0.8, 0.5]

-    eps_modified = False
+    # Disable control if EPS mod detected
    for fw in car_fw:
      if fw.ecu == "eps" and b"," in fw.fwVersion:
-        eps_modified = True
+        ret.dashcamOnly = True

    if candidate == CAR.HONDA_CIVIC:
-      if eps_modified:
-        # stock request input values:     0x0000, 0x00DE, 0x014D, 0x01EF, 0x0290, 0x0377, 0x0454, 0x0610, 0x06EE
-        # stock request output values:    0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x1680, 0x1680
-        # modified request output values: 0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x2880, 0x3180
-        # stock filter output values:     0x009F, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108
-        # modified filter output values:  0x009F, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0400, 0x0480
-        # note: max request allowed is 4096, but request is capped at 3840 in firmware, so modifications result in 2x max
-        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 8000], [0, 2560, 3840]]
-        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.1]]
-      else:
-        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
-        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]]
+      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]]

    elif candidate in (CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL):
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
@@ -129,11 +116,7 @@ class CarInterface(CarInterfaceBase):

    elif candidate == CAR.HONDA_ACCORD:
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
-
-      if eps_modified:
-        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]]
-      else:
-        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]

    elif candidate == CAR.HONDA_ACCORD_11G:
      ret.steerActuatorDelay = 0.22
@@ -144,21 +127,19 @@ class CarInterface(CarInterfaceBase):
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]  # TODO: determine if there is a dead zone at the top end
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]

+    elif candidate == CAR.HONDA_CITY_7G:
+      ret.steerActuatorDelay = 0.15
+      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+
    elif candidate in (CAR.HONDA_CRV, CAR.HONDA_CRV_EU):
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]]  # TODO: determine if there is a dead zone at the top end
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
      ret.wheelSpeedFactor = 1.025

    elif candidate == CAR.HONDA_CRV_5G:
-      if eps_modified:
-        # stock request input values:     0x0000, 0x00DB, 0x01BB, 0x0296, 0x0377, 0x0454, 0x0532, 0x0610, 0x067F
-        # stock request output values:    0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x129A, 0x134D, 0x1400
-        # modified request output values: 0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x1ACD, 0x239A, 0x2800
-        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 10000], [0, 2560, 3840]]
-        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.21], [0.07]]
-      else:
-        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
-        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.64], [0.192]]
+      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.64], [0.192]]
      ret.wheelSpeedFactor = 1.025

    elif candidate == CAR.HONDA_CRV_HYBRID:
@@ -166,6 +147,11 @@ class CarInterface(CarInterfaceBase):
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
      ret.wheelSpeedFactor = 1.025

+    elif candidate in (CAR.HONDA_CRV_6G):
+      ret.steerActuatorDelay = 0.15
+      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+
    elif candidate == CAR.HONDA_FIT:
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
@@ -194,10 +180,20 @@ class CarInterface(CarInterfaceBase):
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end

-    elif candidate in (CAR.HONDA_PILOT, CAR.HONDA_PILOT_4G):
+    elif candidate == CAR.HONDA_PILOT:
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]

+    elif candidate == CAR.HONDA_PILOT_4G:
+      ret.steerActuatorDelay = 0.15
+      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+
+    elif candidate == CAR.ACURA_MDX_4G_MMR:
+      ret.steerActuatorDelay = 0.15
+      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+
    elif candidate == CAR.HONDA_RIDGELINE:
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
@@ -252,12 +248,11 @@ class CarInterface(CarInterfaceBase):
  def _get_params_sp(stock_cp: structs.CarParams, ret: structs.CarParamsSP, candidate, fingerprint: dict[int, dict[int, int]],
                     car_fw: list[structs.CarParams.CarFw], alpha_long: bool, docs: bool) -> structs.CarParamsSP:
    eps_modified = False
-    # FIXME-SP: uncomment when the sync brings in https://github.com/commaai/opendbc/pull/2672
-    # for fw in car_fw:
-    #   if fw.ecu == "eps" and b"," in fw.fwVersion:
-    #     ret.flags |= HondaFlagsSP.EPS_MOD.value
-    #     eps_modified = True
-    #     stock_cp.dashcamOnly = False
+    for fw in car_fw:
+      if fw.ecu == "eps" and b"," in fw.fwVersion:
+        ret.flags |= HondaFlagsSP.EPS_MOD.value
+        eps_modified = True
+        stock_cp.dashcamOnly = False

    if candidate == CAR.HONDA_CIVIC:
      if eps_modified:
@@ -283,12 +278,6 @@ class CarInterface(CarInterfaceBase):
        stock_cp.lateralTuning.pid.kpV, stock_cp.lateralTuning.pid.kiV = [[0.21], [0.07]]

    elif candidate == CAR.HONDA_CLARITY:
-      # FIXME-SP: remove when the sync brings in https://github.com/commaai/opendbc/pull/2672
-      for fw in car_fw:
-        if fw.ecu == "eps" and b"," in fw.fwVersion:
-          ret.flags |= HondaFlagsSP.EPS_MOD.value
-          eps_modified = True
-
      ret.safetyParam |= HondaSafetyFlagsSP.CLARITY
      stock_cp.autoResumeSng = True
      stock_cp.minEnableSpeed = -1
--- a/opendbc/car/honda/values.py
+++ b/opendbc/car/honda/values.py
@@ -175,14 +175,18 @@ class CAR(Platforms):
    {Bus.pt: 'honda_accord_2018_can_generated'},
  )
  HONDA_ACCORD_11G = HondaBoschCANFDPlatformConfig(
-    [HondaCarDocs("Honda Accord 2023", "All")],
+    [
+      HondaCarDocs("Honda Accord 2023-25", "All"),
+      HondaCarDocs("Honda Accord Hybrid 2023-25", "All"),
+  ],
    CarSpecs(mass=3477 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=16.0, centerToFrontRatio=0.39),
  )
  HONDA_CIVIC_BOSCH = HondaBoschPlatformConfig(
    [
      HondaCarDocs("Honda Civic 2019-21", "All", video="https://www.youtube.com/watch?v=4Iz1Mz5LGF8",
                   footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS),
-      HondaCarDocs("Honda Civic Hatchback 2017-21", min_steer_speed=12. * CV.MPH_TO_MS),
+      HondaCarDocs("Honda Civic Hatchback 2017-18", min_steer_speed=12. * CV.MPH_TO_MS),
+      HondaCarDocs("Honda Civic Hatchback 2019-21", "All", min_steer_speed=12. * CV.MPH_TO_MS),
    ],
    CarSpecs(mass=1326, wheelbase=2.7, steerRatio=15.38, centerToFrontRatio=0.4),  # steerRatio: 10.93 is end-to-end spec
    {Bus.pt: 'honda_civic_hatchback_ex_2017_can_generated'},
@@ -212,6 +216,13 @@ class CAR(Platforms):
    {Bus.pt: 'honda_crv_ex_2017_can_generated', Bus.body: 'honda_crv_ex_2017_body_generated'},
    flags=HondaFlags.BOSCH_ALT_BRAKE,
  )
+  HONDA_CRV_6G = HondaBoschCANFDPlatformConfig(
+    [
+      HondaCarDocs("Honda CR-V 2023-25", "All"),
+      HondaCarDocs("Honda CR-V Hybrid 2023-25", "All"),
+    ],
+    CarSpecs(mass=1703, wheelbase=2.7, steerRatio=16.2, centerToFrontRatio=0.42),
+  )
  HONDA_CRV_HYBRID = HondaBoschPlatformConfig(
    [HondaCarDocs("Honda CR-V Hybrid 2017-22", min_steer_speed=12. * CV.MPH_TO_MS)],
    # mass: mean of 4 models in kg, steerRatio: 12.3 is spec end-to-end
@@ -224,6 +235,12 @@ class CAR(Platforms):
    {Bus.pt: 'honda_civic_ex_2022_can_generated'},
    flags=HondaFlags.BOSCH_RADARLESS,
  )
+  HONDA_CITY_7G = HondaBoschPlatformConfig(
+    [HondaCarDocs("Honda City (Brazil only) 2023", "All")],
+    CarSpecs(mass=3125 * CV.LB_TO_KG, wheelbase=2.6, steerRatio=19.0, centerToFrontRatio=0.41, minSteerSpeed=23. * CV.KPH_TO_MS),
+    {Bus.pt: 'honda_civic_ex_2022_can_generated'},
+    flags=HondaFlags.BOSCH_RADARLESS,
+  )
  ACURA_RDX_3G = HondaBoschPlatformConfig(
    [HondaCarDocs("Acura RDX 2019-21", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
    CarSpecs(mass=4068 * CV.LB_TO_KG, wheelbase=2.75, steerRatio=11.95, centerToFrontRatio=0.41, tireStiffnessFactor=0.677),  # as spec
@@ -241,9 +258,13 @@ class CAR(Platforms):
    {Bus.pt: 'acura_rdx_2020_can_generated'},
  )
  HONDA_PILOT_4G = HondaBoschCANFDPlatformConfig(
-    [HondaCarDocs("Honda Pilot 2023", "All")],
-    CarSpecs(mass=4278 * CV.LB_TO_KG, wheelbase=2.86, centerToFrontRatio=0.428, steerRatio=16.0, tireStiffnessFactor=0.444),  # as spec
-    flags=HondaFlags.BOSCH_ALT_BRAKE,
+    [HondaCarDocs("Honda Pilot 2023-25", "All")],
+    CarSpecs(mass=4660 * CV.LB_TO_KG, wheelbase=2.89, centerToFrontRatio=0.442, steerRatio=17.5),
+  )
+  # mid-model refresh
+  ACURA_MDX_4G_MMR = HondaBoschCANFDPlatformConfig(
+    [HondaCarDocs("Acura MDX 2025", "All except Type S")],
+    CarSpecs(mass=4544 * CV.LB_TO_KG, wheelbase=2.89, centerToFrontRatio=0.428, steerRatio=16.2),
  )

  # Nidec Cars
@@ -345,6 +366,10 @@ STEER_THRESHOLD = {
  CAR.ACURA_RDX: 400,
  CAR.HONDA_CRV_EU: 400,
  CAR.HONDA_ACCORD_11G: 600,
+  CAR.HONDA_PILOT_4G: 600,
+  CAR.ACURA_MDX_4G_MMR: 600,
+  CAR.HONDA_CRV_6G: 600,
+  CAR.HONDA_CITY_7G: 600,
 }


@@ -389,9 +414,9 @@ FW_QUERY_CONFIG = FwQueryConfig(
  # Note that we still attempt to match with them when they are present
  # This is or'd with (ALL_ECUS - ESSENTIAL_ECUS) from fw_versions.py
  non_essential_ecus={
-    Ecu.eps: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_2022, CAR.HONDA_E, CAR.HONDA_HRV_3G, *HONDA_BOSCH_CANFD],
+    Ecu.eps: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_2022, CAR.HONDA_E, CAR.HONDA_HRV_3G, CAR.HONDA_CITY_7G, *HONDA_BOSCH_CANFD],
    Ecu.vsa: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_2022, CAR.HONDA_CRV_5G, CAR.HONDA_CRV_HYBRID,
-              CAR.HONDA_E, CAR.HONDA_HRV_3G, CAR.HONDA_INSIGHT, *HONDA_BOSCH_CANFD],
+              CAR.HONDA_E, CAR.HONDA_HRV_3G, CAR.HONDA_INSIGHT, CAR.HONDA_CITY_7G, *HONDA_BOSCH_CANFD],
  },
  extra_ecus=[
    (Ecu.combinationMeter, 0x18da60f1, None),
--- a/opendbc/car/hyundai/carstate.py
+++ b/opendbc/car/hyundai/carstate.py
@@ -322,7 +322,8 @@ class CarState(CarStateBase, EsccCarStateBase, MadsCarState, CarStateExt):
    if not (CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS):
      # TODO: this can be removed once we add dynamic support to vl_all
      msgs += [
-        ("CRUISE_BUTTONS", 50)
+        # this message is 50Hz but the ECU frequently stops transmitting for ~0.5s
+        ("CRUISE_BUTTONS", 1)
      ]
    return {
      Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], msgs, CanBus(CP).ECAN),
--- a/opendbc/car/hyundai/fingerprints.py
+++ b/opendbc/car/hyundai/fingerprints.py
@@ -731,6 +731,7 @@ FW_VERSIONS = {
      b'\xf1\x00DE  MDPS C 1.00 1.04 56310Q4100\x00 4DEEC104',
      b'\xf1\x00DE  MDPS C 1.00 1.05 56310Q4000\x00 4DEEC105',
      b'\xf1\x00DE  MDPS C 1.00 1.05 56310Q4100\x00 4DEEC105',
+      b'\xf1\x00DE  MDPS C 1.00 1.05 56310Q4200\x00 4DEEC105',
    ],
    (Ecu.fwdCamera, 0x7c4, None): [
      b'\xf1\x00DEE MFC  AT EUR LHD 1.00 1.00 99211-Q4000 191211',
@@ -986,6 +987,7 @@ FW_VERSIONS = {
  },
  CAR.KIA_SORENTO: {
    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00UMP LKAS AT AUS RHD 1.00 1.00 96400-C6550 S30',
      b'\xf1\x00UMP LKAS AT KOR LHD 1.00 1.00 95740-C5550 S30',
      b'\xf1\x00UMP LKAS AT USA LHD 1.00 1.00 95740-C6550 d00',
      b'\xf1\x00UMP LKAS AT USA LHD 1.01 1.01 95740-C6550 d01',
@@ -1249,16 +1251,19 @@ FW_VERSIONS = {
  },
  CAR.HYUNDAI_KONA_2022: {
    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00OSP LKA  AT CND LHD 1.00 1.04 99211-J9200 904',
      b'\xf1\x00OSP LKA  AT USA LHD 1.00 1.04 99211-J9200 904',
    ],
    (Ecu.eps, 0x7d4, None): [
      b'\xf1\x00OSP MDPS C 1.00 1.04 56310/J9290 4OPCC104',
      b'\xf1\x00OSP MDPS C 1.00 1.04 56310/J9291 4OPCC104',
+      b'\xf1\x00OSP MDPS C 1.00 1.04 56310J9291\x00 4OPCC104',
    ],
    (Ecu.fwdRadar, 0x7d0, None): [
      b'\xf1\x00YB__ FCA -----      1.00 1.01 99110-J9000      \x00\x00\x00',
    ],
    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x00HT6WA280BLHT6VA650A1COS4N20NS1\x00\x00\x00\x00\x00\x00\x15\xf5\x87~',
      b'\xf1\x00T01960BL  T01E60A1  DOS2T16X4XE60NS4N\x90\xe6\xcb',
      b'\xf1\x00T01G00BL  T01I00A1  DOS2T16X2XI00NS0\x8c`\xff\xe7',
      b'\xf1\x00T01G00BL  T01I00A1  DOS2T16X4XI00NS0\x99L\xeeq',
--- a/opendbc/car/hyundai/values.py
+++ b/opendbc/car/hyundai/values.py
@@ -253,7 +253,7 @@ class CAR(Platforms):
    flags=HyundaiFlags.CLUSTER_GEARS | HyundaiFlags.ALT_LIMITS,
  )
  HYUNDAI_KONA_2022 = HyundaiPlatformConfig(
-    [HyundaiCarDocs("Hyundai Kona 2022", car_parts=CarParts.common([CarHarness.hyundai_o]))],
+    [HyundaiCarDocs("Hyundai Kona 2022-23", car_parts=CarParts.common([CarHarness.hyundai_o]))],
    CarSpecs(mass=1491, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
    flags=HyundaiFlags.CAMERA_SCC | HyundaiFlags.ALT_LIMITS_2,
  )
--- a/opendbc/car/interfaces.py
+++ b/opendbc/car/interfaces.py
@@ -1,11 +1,10 @@
-import json
 import os
 import numpy as np
 import time
 import tomllib
 from abc import abstractmethod, ABC
 from enum import StrEnum
-from typing import Any, NamedTuple
+from typing import Any
 from collections.abc import Callable
 from functools import cache

@@ -43,15 +42,8 @@ GEAR_SHIFTER_MAP: dict[str, structs.CarState.GearShifter] = {
  'B': GearShifter.brake, 'BRAKE': GearShifter.brake,
 }

-
-class LatControlInputs(NamedTuple):
-  lateral_acceleration: float
-  roll_compensation: float
-  vego: float
-  aego: float
-
-
-TorqueFromLateralAccelCallbackType = Callable[[LatControlInputs, structs.CarParams.LateralTorqueTuning, bool], float]
+TorqueFromLateralAccelCallbackType = Callable[[float, structs.CarParams.LateralTorqueTuning, bool], float]
+LateralAccelFromTorqueCallbackType = Callable[[float, structs.CarParams.LateralTorqueTuning, bool], float]


@cache
@@ -214,14 +206,19 @@ class CarInterfaceBase(ABC):
  def get_steer_feedforward_function(self):
    return self.get_steer_feedforward_default

-  def torque_from_lateral_accel_linear(self, latcontrol_inputs: LatControlInputs, torque_params: structs.CarParams.LateralTorqueTuning,
-                                       gravity_adjusted: bool) -> float:
+  def torque_from_lateral_accel_linear(self, lateral_acceleration: float, torque_params: structs.CarParams.LateralTorqueTuning) -> float:
    # The default is a linear relationship between torque and lateral acceleration (accounting for road roll and steering friction)
-    return latcontrol_inputs.lateral_acceleration / float(torque_params.latAccelFactor)
+    return lateral_acceleration / float(torque_params.latAccelFactor)

  def torque_from_lateral_accel(self) -> TorqueFromLateralAccelCallbackType:
    return self.torque_from_lateral_accel_linear

+  def lateral_accel_from_torque_linear(self, torque: float, torque_params: structs.CarParams.LateralTorqueTuning) -> float:
+    return torque * float(torque_params.latAccelFactor)
+
+  def lateral_accel_from_torque(self) -> LateralAccelFromTorqueCallbackType:
+    return self.lateral_accel_from_torque_linear
+
  # returns a set of default params to avoid repetition in car specific params
  @staticmethod
  def get_std_params(candidate: str) -> structs.CarParams:
@@ -261,8 +258,8 @@ class CarInterfaceBase(ABC):
    params = get_torque_params()[candidate]

    tune.init('torque')
-    tune.torque.kp = 1.0
    tune.torque.kf = 1.0
+    tune.torque.kp = 1.0
    tune.torque.ki = 0.3
    tune.torque.friction = params['FRICTION']
    tune.torque.latAccelFactor = params['LAT_ACCEL_FACTOR']
@@ -445,35 +442,3 @@ def get_interface_attr(attr: str, combine_brands: bool = False, ignore_none: boo
      pass

  return result
-
-
-class NanoFFModel:
-  def __init__(self, weights_loc: str, platform: str):
-    self.weights_loc = weights_loc
-    self.platform = platform
-    self.load_weights(platform)
-
-  def load_weights(self, platform: str):
-    with open(self.weights_loc) as fob:
-      self.weights = {k: np.array(v) for k, v in json.load(fob)[platform].items()}
-
-  def relu(self, x: np.ndarray):
-    return np.maximum(0.0, x)
-
-  def forward(self, x: np.ndarray):
-    assert x.ndim == 1
-    x = (x - self.weights['input_norm_mat'][:, 0]) / (self.weights['input_norm_mat'][:, 1] - self.weights['input_norm_mat'][:, 0])
-    x = self.relu(np.dot(x, self.weights['w_1']) + self.weights['b_1'])
-    x = self.relu(np.dot(x, self.weights['w_2']) + self.weights['b_2'])
-    x = self.relu(np.dot(x, self.weights['w_3']) + self.weights['b_3'])
-    x = np.dot(x, self.weights['w_4']) + self.weights['b_4']
-    return x
-
-  def predict(self, x: list[float], do_sample: bool = False):
-    x = self.forward(np.array(x))
-    if do_sample:
-      pred = np.random.laplace(x[0], np.exp(x[1]) / self.weights['temperature'])
-    else:
-      pred = x[0]
-    pred = pred * (self.weights['output_norm_mat'][1] - self.weights['output_norm_mat'][0]) + self.weights['output_norm_mat'][0]
-    return pred
--- a/opendbc/car/lateral.py
+++ b/opendbc/car/lateral.py
@@ -160,9 +160,10 @@ def apply_center_deadzone(error, deadzone):

 def get_friction(lateral_accel_error: float, lateral_accel_deadzone: float, friction_threshold: float,
                 torque_params: structs.CarParams.LateralTorqueTuning) -> float:
+  # TODO torque params' friction should be in lataxel space, not torque space
  friction_interp = np.interp(
    apply_center_deadzone(lateral_accel_error, lateral_accel_deadzone),
    [-friction_threshold, friction_threshold],
-    [-torque_params.friction, torque_params.friction]
+    [-torque_params.friction * torque_params.latAccelFactor, torque_params.friction * torque_params.latAccelFactor]
  )
  return float(friction_interp)
--- a/opendbc/car/nissan/fingerprints.py
+++ b/opendbc/car/nissan/fingerprints.py
@@ -59,6 +59,7 @@ FW_VERSIONS = {
      b'476605SD2E',
      b'476605SH1D',
      b'476605SH7D',
+      b'476605SH7E',
      b'476605SK2A',
    ],
    (Ecu.eps, 0x742, None): [
--- a/opendbc/car/psa/init.py
+++ b/opendbc/car/psa/init.py
--- a/opendbc/car/psa/carcontroller.py
+++ b/opendbc/car/psa/carcontroller.py
@@ -0,0 +1,41 @@
+from opendbc.can.packer import CANPacker
+from opendbc.car import Bus
+from opendbc.car.lateral import apply_std_steer_angle_limits
+from opendbc.car.interfaces import CarControllerBase
+from opendbc.car.psa.psacan import create_lka_steering
+from opendbc.car.psa.values import CarControllerParams
+
+
+class CarController(CarControllerBase):
+  def __init__(self, dbc_names, CP, CP_SP):
+    super().__init__(dbc_names, CP, CP_SP)
+    self.packer = CANPacker(dbc_names[Bus.main])
+    self.apply_angle_last = 0
+    self.status = 2
+
+  def update(self, CC, CC_SP, CS, now_nanos):
+    can_sends = []
+    actuators = CC.actuators
+
+    # lateral control
+    if self.frame % 5 == 0:
+      apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgoRaw,
+                                                 CS.out.steeringAngleDeg, CC.latActive, CarControllerParams.ANGLE_LIMITS)
+
+      # EPS disengages on steering override, activation sequence 2->3->4 to re-engage
+      # STATUS  -  0: UNAVAILABLE, 1: UNSELECTED, 2: READY, 3: AUTHORIZED, 4: ACTIVE
+      if not CC.latActive:
+        self.status = 2
+      elif not CS.eps_active and not CS.out.steeringPressed:
+        self.status = 2 if self.status == 4 else self.status + 1
+      else:
+        self.status = 4
+
+      can_sends.append(create_lka_steering(self.packer, CC.latActive, apply_angle, self.status))
+
+      self.apply_angle_last = apply_angle
+
+    new_actuators = actuators.as_builder()
+    new_actuators.steeringAngleDeg = self.apply_angle_last
+    self.frame += 1
+    return new_actuators, can_sends
--- a/opendbc/car/psa/carstate.py
+++ b/opendbc/car/psa/carstate.py
@@ -0,0 +1,74 @@
+from opendbc.car import structs, Bus
+from opendbc.can.parser import CANParser
+from opendbc.car.common.conversions import Conversions as CV
+from opendbc.car.psa.values import DBC, CarControllerParams
+from opendbc.car.interfaces import CarStateBase
+
+GearShifter = structs.CarState.GearShifter
+TransmissionType = structs.CarParams.TransmissionType
+
+
+class CarState(CarStateBase):
+  def update(self, can_parsers) -> structs.CarState:
+    cp = can_parsers[Bus.main]
+    cp_adas = can_parsers[Bus.adas]
+    cp_cam = can_parsers[Bus.cam]
+    ret = structs.CarState()
+    ret_sp = structs.CarStateSP()
+
+    # car speed
+    self.parse_wheel_speeds(ret,
+      cp.vl['Dyn4_FRE']['P263_VehV_VPsvValWhlFrtL'],
+      cp.vl['Dyn4_FRE']['P264_VehV_VPsvValWhlFrtR'],
+      cp.vl['Dyn4_FRE']['P265_VehV_VPsvValWhlBckL'],
+      cp.vl['Dyn4_FRE']['P266_VehV_VPsvValWhlBckR'],
+    )
+    ret.yawRate = cp_adas.vl['HS2_DYN_UCF_MDD_32D']['VITESSE_LACET_BRUTE'] * CV.DEG_TO_RAD
+    ret.standstill = bool(cp_adas.vl['HS2_DYN_UCF_MDD_32D']['VEHICLE_STANDSTILL'])
+
+    # gas
+    ret.gasPressed = cp.vl['Dyn_CMM']['P002_Com_rAPP'] > 0
+
+    # brake
+    ret.brakePressed = bool(cp_cam.vl['Dat_BSI']['P013_MainBrake'])
+    ret.parkingBrake = cp.vl['Dyn_EasyMove']['P337_Com_stPrkBrk'] == 1 # 0: disengaged, 1: engaged, 3: brake actuator moving
+
+    # steering wheel
+    ret.steeringAngleDeg = cp.vl['STEERING_ALT']['ANGLE'] # EPS
+    ret.steeringRateDeg = cp.vl['STEERING_ALT']['RATE'] * (2 * cp.vl['STEERING_ALT']['RATE_SIGN'] - 1) # convert [0,1] to [-1,1] EPS: rot. speed * rot. sign
+    ret.steeringTorque = cp.vl['STEERING']['DRIVER_TORQUE']
+    ret.steeringTorqueEps = cp.vl['IS_DAT_DIRA']['EPS_TORQUE']
+    ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > CarControllerParams.STEER_DRIVER_ALLOWANCE, 5)
+    self.eps_active = cp.vl['IS_DAT_DIRA']['EPS_STATE_LKA'] == 3 # 0: Unauthorized, 1: Authorized, 2: Available, 3: Active, 4: Defect
+
+    # cruise
+    ret.cruiseState.speed = cp_adas.vl['HS2_DAT_MDD_CMD_452']['SPEED_SETPOINT'] * CV.KPH_TO_MS # set to 255 when ACC is off, -2 kph offset from dash speed
+    ret.cruiseState.enabled = cp_adas.vl['HS2_DAT_MDD_CMD_452']['RVV_ACC_ACTIVATION_REQ'] == 1
+    ret.cruiseState.available = cp_adas.vl['HS2_DYN1_MDD_ETAT_2B6']['ACC_STATUS'] > 2
+    ret.cruiseState.nonAdaptive = cp_adas.vl['HS2_DAT_MDD_CMD_452']['LONGITUDINAL_REGULATION_TYPE'] != 3 # 0: None, 1: CC, 2: Limiter, 3: ACC
+    ret.cruiseState.standstill = bool(cp_adas.vl['HS2_DYN_UCF_MDD_32D']['VEHICLE_STANDSTILL'])
+    ret.accFaulted = cp_adas.vl['HS2_DYN_UCF_MDD_32D']['ACC_ETAT_DECEL_OR_ESP_STATUS'] == 3 # 0: Inhibited, 1: Waiting, 2: Active, 3: Fault
+
+    # gear
+    if bool(cp_cam.vl['Dat_BSI']['P103_Com_bRevGear']):
+      ret.gearShifter = GearShifter.reverse
+    else:
+      ret.gearShifter = GearShifter.drive
+
+    # blinkers
+    blinker = cp_cam.vl['HS2_DAT7_BSI_612']['CDE_CLG_ET_HDC']
+    ret.leftBlinker = blinker == 1
+    ret.rightBlinker = blinker == 2
+
+    # lock info
+    ret.doorOpen = any((cp_cam.vl['Dat_BSI']['DRIVER_DOOR'], cp_cam.vl['Dat_BSI']['PASSENGER_DOOR']))
+    ret.seatbeltUnlatched = cp_cam.vl['RESTRAINTS']['DRIVER_SEATBELT'] != 2
+    return ret, ret_sp
+
+  @staticmethod
+  def get_can_parsers(CP, CP_SP):
+    return {
+      Bus.main: CANParser(DBC[CP.carFingerprint][Bus.pt], [], 0),
+      Bus.adas: CANParser(DBC[CP.carFingerprint][Bus.pt], [], 1),
+      Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [], 2),
+    }
--- a/opendbc/car/psa/fingerprints.py
+++ b/opendbc/car/psa/fingerprints.py
@@ -0,0 +1,13 @@
+""" AUTO-FORMATTED USING opendbc/car/debug/format_fingerprints.py, EDIT STRUCTURE THERE."""
+from opendbc.car.structs import CarParams
+from opendbc.car.psa.values import CAR
+
+Ecu = CarParams.Ecu
+
+FW_VERSIONS = {
+  CAR.PSA_PEUGEOT_208: {
+    (Ecu.fwdRadar, 0x6b6, None): [
+      b'212053276',
+    ],
+  },
+}
--- a/opendbc/car/psa/interface.py
+++ b/opendbc/car/psa/interface.py
@@ -0,0 +1,30 @@
+from opendbc.car import structs, get_safety_config
+from opendbc.car.interfaces import CarInterfaceBase
+from opendbc.car.psa.carcontroller import CarController
+from opendbc.car.psa.carstate import CarState
+
+TransmissionType = structs.CarParams.TransmissionType
+
+
+class CarInterface(CarInterfaceBase):
+  CarState = CarState
+  CarController = CarController
+
+  @staticmethod
+  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
+    ret.brand = 'psa'
+
+    ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.psa)]
+
+    ret.dashcamOnly = True
+
+    ret.steerActuatorDelay = 0.3
+    ret.steerLimitTimer = 0.1
+    ret.steerAtStandstill = True
+
+    ret.steerControlType = structs.CarParams.SteerControlType.angle
+    ret.radarUnavailable = True
+
+    ret.alphaLongitudinalAvailable = False
+
+    return ret
--- a/opendbc/car/psa/psacan.py
+++ b/opendbc/car/psa/psacan.py
@@ -0,0 +1,18 @@
+def psa_checksum(address: int, sig, d: bytearray) -> int:
+  chk_ini = {0x452: 0x4, 0x38D: 0x7, 0x42D: 0xC}.get(address, 0xB)
+  byte = sig.start_bit // 8
+  d[byte] &= 0x0F if sig.start_bit % 8 >= 4 else 0xF0
+  checksum = sum((b >> 4) + (b & 0xF) for b in d)
+  return (chk_ini - checksum) & 0xF
+
+
+def create_lka_steering(packer, lat_active: bool, apply_angle: float, status: int):
+  values = {
+    'DRIVE': 1,
+    'STATUS': status,
+    'LXA_ACTIVATION': 1,
+    'TORQUE_FACTOR': lat_active * 100,
+    'SET_ANGLE': apply_angle,
+  }
+
+  return packer.make_can_msg('LANE_KEEP_ASSIST', 0, values)
--- a/opendbc/car/psa/values.py
+++ b/opendbc/car/psa/values.py
@@ -0,0 +1,54 @@
+from dataclasses import dataclass, field
+
+from opendbc.car.structs import CarParams
+from opendbc.car import Bus, CarSpecs, DbcDict, PlatformConfig, Platforms
+from opendbc.car.lateral import AngleSteeringLimits
+from opendbc.car.docs_definitions import CarDocs, CarHarness, CarParts
+from opendbc.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
+
+Ecu = CarParams.Ecu
+
+
+class CarControllerParams:
+  STEER_STEP = 1
+
+  ANGLE_LIMITS: AngleSteeringLimits = AngleSteeringLimits(
+    390, # deg
+    ([0., 5., 25.], [2.5, 1.5, .2]),
+    ([0., 5., 25.], [5., 2., .3]),
+  )
+  STEER_DRIVER_ALLOWANCE = 5  # Driver intervention threshold, 0.5 Nm
+
+
+@dataclass
+class PSACarDocs(CarDocs):
+  package: str = "Adaptive Cruise Control (ACC) & Lane Assist"
+  car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.psa_a]))
+
+
+@dataclass
+class PSAPlatformConfig(PlatformConfig):
+  dbc_dict: DbcDict = field(default_factory=lambda: {
+    Bus.pt: 'psa_aee2010_r3',
+  })
+
+
+class CAR(Platforms):
+  PSA_PEUGEOT_208 = PSAPlatformConfig(
+    [PSACarDocs("Peugeot 208 2019-25")],
+    CarSpecs(mass=1530, wheelbase=2.54, steerRatio=17.6),
+  )
+
+
+# Placeholder, FW Query will be added in separate PR
+FW_QUERY_CONFIG = FwQueryConfig(
+  requests=[
+    Request(
+      [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.UDS_VERSION_REQUEST],
+      [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.UDS_VERSION_RESPONSE],
+      bus=0,
+    ),
+  ],
+)
+
+DBC = CAR.create_dbc_map()
--- a/opendbc/car/tesla/fingerprints.py
+++ b/opendbc/car/tesla/fingerprints.py
@@ -14,6 +14,7 @@ FW_VERSIONS = {
      b'TeMYG4_DCS_Update_0.0.0 (9),E4014.26.0',
      b'TeMYG4_Legacy3Y_0.0.0 (2),E4015.02.0',
      b'TeMYG4_Legacy3Y_0.0.0 (5),E4015.03.2',
+      b'TeMYG4_Legacy3Y_0.0.0 (5),E4L015.03.2',
      b'TeMYG4_Main_0.0.0 (59),E4H014.29.0',
      b'TeMYG4_Main_0.0.0 (65),E4H015.01.0',
      b'TeMYG4_Main_0.0.0 (67),E4H015.02.1',
--- a/opendbc/car/tests/routes.py
+++ b/opendbc/car/tests/routes.py
@@ -15,6 +15,7 @@ from opendbc.car.toyota.values import CAR as TOYOTA
 from opendbc.car.values import Platform
 from opendbc.car.volkswagen.values import CAR as VOLKSWAGEN
 from opendbc.car.body.values import CAR as COMMA
+from opendbc.car.psa.values import CAR as PSA

 # FIXME: add routes for these cars
 non_tested_cars = [
@@ -122,6 +123,9 @@ routes = [
  CarTestRoute("b1c832ad56b6bc9d/00000010--debfcf5867", HONDA.HONDA_CIVIC_2022),  # 2025 Civic Hatch Hybrid with new eCVT transmission
  CarTestRoute("f9c43864cf057d05/2024-01-15--23-01-20", HONDA.HONDA_PILOT_4G),  # TODO: Replace with a newer route
  CarTestRoute("f39cf149898833ff/0000002b--54f3fae045", HONDA.HONDA_ACCORD_11G),
+  CarTestRoute("ad9840558640c31d/0000001a--d6cd4871c2", HONDA.ACURA_MDX_4G_MMR),  # 2025 MDX
+  CarTestRoute("63568e3e2f56c8ad/0000000a--a254e90429", HONDA.HONDA_CRV_6G),
+  CarTestRoute("56b2cf1dacdcd033/00000048--3267801001", HONDA.HONDA_CITY_7G),  # Brazilian model

  CarTestRoute("87d7f06ade479c2e/2023-09-11--23-30-11", HYUNDAI.HYUNDAI_AZERA_6TH_GEN),
  CarTestRoute("66189dd8ec7b50e6/2023-09-20--07-02-12", HYUNDAI.HYUNDAI_AZERA_HEV_6TH_GEN),
@@ -194,7 +198,7 @@ routes = [
  CarTestRoute("db04d2c63990e3ba/2023-02-08--16-52-39", HYUNDAI.KIA_NIRO_HEV_2ND_GEN),
  CarTestRoute("50a2212c41f65c7b/2021-05-24--16-22-06", HYUNDAI.KIA_FORTE),
  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),  # openpilot longitudinal
+  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("c5ac319aa9583f83/2021-06-01--18-18-31", HYUNDAI.HYUNDAI_ELANTRA),
  CarTestRoute("734ef96182ddf940/2022-10-02--16-41-44", HYUNDAI.HYUNDAI_ELANTRA_GT_I30),
@@ -324,6 +328,8 @@ routes = [
  CarTestRoute("f6d5b1a9d7a1c92e/2021-07-08--06-56-59", MAZDA.MAZDA_CX9_2021),
  CarTestRoute("a4af1602d8e668ac/2022-02-03--12-17-07", MAZDA.MAZDA_CX5_2022),

+  CarTestRoute("6a7075a4fdd765ee/0000004e--1f612006dd", PSA.PSA_PEUGEOT_208),
+
  CarTestRoute("bc095dc92e101734/000000db--ee9fe46e57", RIVIAN.RIVIAN_R1_GEN1),

  CarTestRoute("7dc058789994da80/00000112--adb970f6a8", TESLA.TESLA_MODEL_3),
--- a/opendbc/car/tests/test_fw_fingerprint.py
+++ b/opendbc/car/tests/test_fw_fingerprint.py
@@ -260,7 +260,7 @@ class TestFwFingerprintTiming:
        print(f'get_vin {name} case, query time={self.total_time / self.N} seconds')

  def test_fw_query_timing(self, subtests, mocker):
-    total_ref_time = {1: 7.3, 2: 7.9}
+    total_ref_time = {1: 7.4, 2: 8.0}
    brand_ref_times = {
      1: {
        'gm': 1.0,
@@ -276,6 +276,7 @@ class TestFwFingerprintTiming:
        'toyota': 0.7,
        'volkswagen': 0.65,
        'rivian': 0.3,
+        'psa': 0.1,
      },
      2: {
        'ford': 1.6,
--- a/opendbc/car/torque_data/neural_ff_weights.json
+++ b/opendbc/car/torque_data/neural_ff_weights.json
--- a/opendbc/car/torque_data/override.toml
+++ b/opendbc/car/torque_data/override.toml
@@ -7,6 +7,9 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "NISSAN_LEAF" = [nan, 1.5, nan]
 "NISSAN_ROGUE" = [nan, 1.5, nan]

+# PSA angle based controllers
+"PSA_PEUGEOT_208" = [nan, 2.0, nan]
+
 # New subarus angle based controllers
 "SUBARU_FORESTER_2022" = [nan, 3.0, nan]
 "SUBARU_OUTBACK_2023" = [nan, 3.0, nan]
@@ -80,6 +83,10 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "RIVIAN_R1_GEN1" = [2.8, 2.5, 0.07]
 "HYUNDAI_NEXO_1ST_GEN" = [2.5, 2.5, 0.1]
 "HONDA_ACCORD_11G" = [1.35, 1.35, 0.17]
+"HONDA_PILOT_4G" = [1.25, 1.25, 0.21]
+"ACURA_MDX_4G_MMR" = [1.25, 1.25, 0.15]
+"HONDA_CRV_6G" = [1.3, 1.3, 0.2]
+"HONDA_CITY_7G" = [1.2, 1.2, 0.23]

 # Dashcam or fallback configured as ideal car
 "MOCK" = [10.0, 10, 0.0]
@@ -87,4 +94,3 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 # Manually checked
 "HONDA_CIVIC_2022" = [2.5, 1.2, 0.15]
 "HONDA_HRV_3G" = [2.5, 1.2, 0.2]
-"HONDA_PILOT_4G" = [1.0, 1.0, 0.2]
--- a/opendbc/car/toyota/fingerprints.py
+++ b/opendbc/car/toyota/fingerprints.py
@@ -500,6 +500,7 @@ FW_VERSIONS = {
      b'\x02896630ZZ0000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
      b'\x028966312K6000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
      b'\x028966312L0000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x028966312L0100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
      b'\x028966312Q3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
      b'\x028966312Q3100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
      b'\x028966312Q4000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
@@ -1187,6 +1188,7 @@ FW_VERSIONS = {
      b'\x01F15264283200\x00\x00\x00\x00',
      b'\x01F15264286100\x00\x00\x00\x00',
      b'\x01F15264286200\x00\x00\x00\x00',
+      b'\x01F152642870\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.eps, 0x7a1, None): [
      b'\x028965B0R01500\x00\x00\x00\x008965B0R02500\x00\x00\x00\x00',
@@ -1837,17 +1839,22 @@ FW_VERSIONS = {
  CAR.TOYOTA_YARIS: {
    (Ecu.engine, 0x700, None): [
      b'\x0189663K015300\x00\x00\x00\x00',
+      b'\x0189663K023000\x00\x00\x00\x00',
    ],
    (Ecu.eps, 0x7a1, None): [
+      b'\x018965BK002100\x00\x00\x00\x00',
      b'\x018965BK003200\x00\x00\x00\x00',
    ],
    (Ecu.abs, 0x7b0, None): [
+      b'\x01F1526K005600\x00\x00\x00\x00',
      b'\x01F1526K007500\x00\x00\x00\x00',
    ],
    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'\x018821F0D04100\x00\x00\x00\x00',
      b'\x018821F0D05300\x00\x00\x00\x00',
    ],
    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'\x028646F0W04100\x00\x00\x00\x008646G0W04100\x00\x00\x00\x00',
      b'\x028646F5205200\x00\x00\x00\x008646G5202200\x00\x00\x00\x00',
    ],
  },
--- a/opendbc/car/toyota/values.py
+++ b/opendbc/car/toyota/values.py
@@ -290,7 +290,7 @@ class CAR(Platforms):
    CarSpecs(mass=4372. * CV.LB_TO_KG, wheelbase=2.68, steerRatio=16.88, tireStiffnessFactor=0.5533),
  )
  TOYOTA_YARIS = ToyotaSecOCPlatformConfig(
-    [ToyotaCommunityCarDocs("Toyota Yaris (Non-US only) 2023", min_enable_speed=MIN_ACC_SPEED)],
+    [ToyotaCommunityCarDocs("Toyota Yaris (Non-US only) 2020, 2023", min_enable_speed=MIN_ACC_SPEED)],
    CarSpecs(mass=1170, wheelbase=2.55, steerRatio=14.80, tireStiffnessFactor=0.5533),
    flags=ToyotaFlags.RADAR_ACC,
  )
--- a/opendbc/car/values.py
+++ b/opendbc/car/values.py
@@ -8,13 +8,14 @@ from opendbc.car.hyundai.values import CAR as HYUNDAI
 from opendbc.car.mazda.values import CAR as MAZDA
 from opendbc.car.mock.values import CAR as MOCK
 from opendbc.car.nissan.values import CAR as NISSAN
+from opendbc.car.psa.values import CAR as PSA
 from opendbc.car.rivian.values import CAR as RIVIAN
 from opendbc.car.subaru.values import CAR as SUBARU
 from opendbc.car.tesla.values import CAR as TESLA
 from opendbc.car.toyota.values import CAR as TOYOTA
 from opendbc.car.volkswagen.values import CAR as VOLKSWAGEN

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

 PLATFORMS: dict[str, Platform] = {str(platform): platform for brand in BRANDS for platform in brand}
--- a/opendbc/car/volkswagen/fingerprints.py
+++ b/opendbc/car/volkswagen/fingerprints.py
@@ -441,6 +441,7 @@ FW_VERSIONS = {
    (Ecu.engine, 0x7e0, None): [
      b'\xf1\x8703N906026E \xf1\x892114',
      b'\xf1\x8704E906023AH\xf1\x893379',
+      b'\xf1\x8704E906023BF\xf1\x893842',
      b'\xf1\x8704E906023BM\xf1\x894522',
      b'\xf1\x8704L906026DP\xf1\x891538',
      b'\xf1\x8704L906026ET\xf1\x891990',
@@ -465,6 +466,7 @@ FW_VERSIONS = {
      b'\xf1\x870D9300041A \xf1\x894801',
      b'\xf1\x870D9300042H \xf1\x894901',
      b'\xf1\x870DD300045T \xf1\x891601',
+      b'\xf1\x870DD300046B \xf1\x891601',
      b'\xf1\x870DD300046H \xf1\x891601',
      b'\xf1\x870DL300011H \xf1\x895201',
      b'\xf1\x870GC300042H \xf1\x891404',
--- a/opendbc/dbc/generator/hyundai/hyundai_canfd.dbc
+++ b/opendbc/dbc/generator/hyundai/hyundai_canfd.dbc
@@ -384,8 +384,8 @@ BO_ 437 FR_CMR_03_50ms: 32 FR_CMR
 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_ Info_RtLnCvtrVal : 128|16@1- (1e-06,0) [-0.032768|0.032767] "1/m" CGW
+ SG_ Info_RtLnCrvtrDrvtvVal : 144|16@1- (4e-09,0) [-0.000131072|0.000131068] "1/m2" 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" XXX
 SG_ Longitudinal_Distance : 212|12@1+ (0.05,0) [0|204.75] "m" XXX
--- a/opendbc/dbc/psa_aee2010_r3.dbc
+++ b/opendbc/dbc/psa_aee2010_r3.dbc
@@ -162,8 +162,8 @@ BO_ 773 STEERING_ALT: 7 XXX
 SG_ ANGLE : 7|16@0- (0.1,0) [-3276.8|3276.7] "degrees" XXX
 SG_ RATE : 23|8@0+ (1,0) [0|255] "" XXX
 SG_ RATE_SIGN : 31|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 35|4@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 39|4@0+ (1,0) [0|15] "" XXX
+ SG_ 0_COUNTER : 35|4@0+ (1,0) [0|255] "" XXX
+ SG_ 0_CHECKSUM : 39|4@0+ (1,0) [0|15] "" XXX
 SG_ RATE_ALT : 47|8@0+ (1,0) [0|255] "" XXX

 BO_ 781 Dyn4_FRE: 8 CDS___Fahrdynamikregelung
@@ -833,6 +833,7 @@ CM_ SG_ 758 CHECKSUM_TRANSM_DYN_ACC2 "CHK_INI = 0x7";
 CM_ SG_ 758 PROCESS_COUNTER_4B_ACC2 "This counter increments from 0 to 15 at each activation of the calculation process.";
 CM_ SG_ 773 ANGLE "-565 to 560, seems like estimate and not init";
 CM_ SG_ 773 RATE_SIGN "1=moving clockwise, 0=moving anticlockwise";
+CM_ SG_ 773 0_CHECKSUM "TODO: find checksum";
 CM_ BO_ 840 "ID 348:  Engine Dynamic Frame 2 (Period time 20 ms)";
 CM_ SG_ 840 P165_FlFCD_stWtLvlSensDebVal "P165: Water in fuel indication (1 = water in fuel detected / 0 = no water in fuel)";
 CM_ SG_ 840 P152_Gearbx_stGear "P152: Gear detected by ratio vehicule speed to engine speed";
--- a/opendbc/safety/modes/psa.h
+++ b/opendbc/safety/modes/psa.h
@@ -0,0 +1,151 @@
+#pragma once
+
+#include "opendbc/safety/safety_declarations.h"
+
+#define PSA_STEERING              757U  // RX from XXX, driver torque
+#define PSA_STEERING_ALT          773U  // RX from EPS, steering angle
+#define PSA_DYN_CMM               520U  // RX from CMM, gas pedal
+#define PSA_HS2_DYN_ABR_38D       909U  // RX from UC_FREIN, speed
+#define PSA_HS2_DAT_MDD_CMD_452   1106U // RX from BSI, cruise state
+#define PSA_DAT_BSI               1042U // RX from BSI, brake
+#define PSA_LANE_KEEP_ASSIST      1010U // TX from OP,  EPS
+
+// CAN bus
+#define PSA_MAIN_BUS 0U
+#define PSA_ADAS_BUS 1U
+#define PSA_CAM_BUS  2U
+
+static uint8_t psa_get_counter(const CANPacket_t *msg) {
+  uint8_t cnt = 0;
+  if (msg->addr == PSA_HS2_DAT_MDD_CMD_452) {
+    cnt = (msg->data[3] >> 4) & 0xFU;
+  } else if (msg->addr == PSA_HS2_DYN_ABR_38D) {
+    cnt = (msg->data[5] >> 4) & 0xFU;
+  } else {
+  }
+  return cnt;
+}
+
+static uint32_t psa_get_checksum(const CANPacket_t *msg) {
+  uint8_t chksum = 0;
+  if (msg->addr == PSA_HS2_DAT_MDD_CMD_452) {
+    chksum = msg->data[5] & 0xFU;
+  } else if (msg->addr == PSA_HS2_DYN_ABR_38D) {
+    chksum = msg->data[5] & 0xFU;
+  } else {
+  }
+  return chksum;
+}
+
+static uint8_t _psa_compute_checksum(const CANPacket_t *msg, uint8_t chk_ini, int chk_pos) {
+  int len = GET_LEN(msg);
+
+  uint8_t sum = 0;
+  for (int i = 0; i < len; i++) {
+    uint8_t b = msg->data[i];
+
+    if (i == chk_pos) {
+      // set checksum in low nibble to 0
+      b &= 0xF0U;
+    }
+    sum += (b >> 4) + (b & 0xFU);
+  }
+  return (chk_ini - sum) & 0xFU;
+}
+
+static uint32_t psa_compute_checksum(const CANPacket_t *msg) {
+  uint8_t chk = 0;
+  if (msg->addr == PSA_HS2_DAT_MDD_CMD_452) {
+    chk = _psa_compute_checksum(msg, 0x4, 5);
+  } else if (msg->addr == PSA_HS2_DYN_ABR_38D) {
+    chk = _psa_compute_checksum(msg, 0x7, 5);
+  } else {
+  }
+  return chk;
+}
+
+static void psa_rx_hook(const CANPacket_t *msg) {
+  if (msg->bus == PSA_MAIN_BUS) {
+    if (msg->addr == PSA_DYN_CMM) {
+      gas_pressed = msg->data[3] > 0U; // P002_Com_rAPP
+    }
+    if (msg->addr == PSA_STEERING_ALT) {
+      int angle_meas_new = to_signed((msg->data[0] << 8) | msg->data[1], 16); // ANGLE
+      update_sample(&angle_meas, angle_meas_new);
+    }
+    if (msg->addr == PSA_HS2_DYN_ABR_38D) {
+      int speed = (msg->data[0] << 8) | msg->data[1];
+      vehicle_moving = speed > 0;
+      UPDATE_VEHICLE_SPEED(speed * 0.01 * KPH_TO_MS); // VITESSE_VEHICULE_ROUES
+    }
+  }
+
+  if (msg->bus == PSA_ADAS_BUS) {
+    if (msg->addr == PSA_HS2_DAT_MDD_CMD_452) {
+      pcm_cruise_check((msg->data[2U] >> 7U) & 1U); // RVV_ACC_ACTIVATION_REQ
+    }
+  }
+
+
+  if (msg->bus == PSA_CAM_BUS) {
+    if (msg->addr == PSA_DAT_BSI) {
+      brake_pressed = (msg->data[0U] >> 5U) & 1U; // P013_MainBrake
+    }
+  }
+}
+
+static bool psa_tx_hook(const CANPacket_t *msg) {
+  bool tx = true;
+  static const AngleSteeringLimits PSA_STEERING_LIMITS = {
+    .max_angle = 3900,
+    .angle_deg_to_can = 10,
+    .angle_rate_up_lookup = {
+      {0., 5., 25.},
+      {2.5, 1.5, .2},
+    },
+    .angle_rate_down_lookup = {
+      {0., 5., 25.},
+      {5., 2., .3},
+    },
+  };
+
+  // Safety check for LKA
+  if (msg->addr == PSA_LANE_KEEP_ASSIST) {
+    // SET_ANGLE
+    int desired_angle = to_signed((msg->data[6] << 6) | ((msg->data[7] & 0xFCU) >> 2), 14);
+    // TORQUE_FACTOR
+    bool lka_active = ((msg->data[5] & 0xFEU) >> 1) == 100U;
+
+    if (steer_angle_cmd_checks(desired_angle, lka_active, PSA_STEERING_LIMITS)) {
+      tx = false;
+    }
+  }
+  return tx;
+}
+
+static safety_config psa_init(uint16_t param) {
+  UNUSED(param);
+  static const CanMsg PSA_TX_MSGS[] = {
+    {PSA_LANE_KEEP_ASSIST, PSA_MAIN_BUS, 8, .check_relay = true}, // EPS steering
+  };
+
+  static RxCheck psa_rx_checks[] = {
+    {.msg = {{PSA_HS2_DAT_MDD_CMD_452, PSA_ADAS_BUS, 6, 20U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},                        // cruise state
+    {.msg = {{PSA_HS2_DYN_ABR_38D, PSA_MAIN_BUS, 8, 25U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},                            // speed
+    {.msg = {{PSA_STEERING_ALT, PSA_MAIN_BUS, 7, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, // steering angle
+    {.msg = {{PSA_STEERING, PSA_MAIN_BUS, 7, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},     // driver torque
+    {.msg = {{PSA_DYN_CMM, PSA_MAIN_BUS, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},      // gas pedal
+    {.msg = {{PSA_DAT_BSI, PSA_CAM_BUS, 8, 20U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},        // brake
+  };
+
+  return BUILD_SAFETY_CFG(psa_rx_checks, PSA_TX_MSGS);
+}
+
+const safety_hooks psa_hooks = {
+  .init = psa_init,
+  .rx = psa_rx_hook,
+  .tx = psa_tx_hook,
+  .get_counter = psa_get_counter,
+  .get_checksum = psa_get_checksum,
+  .compute_checksum = psa_compute_checksum,
+};
--- a/opendbc/safety/safety.h
+++ b/opendbc/safety/safety.h
@@ -24,6 +24,7 @@
 #include "opendbc/safety/modes/volkswagen_pq.h"
 #include "opendbc/safety/modes/elm327.h"
 #include "opendbc/safety/modes/body.h"
+#include "opendbc/safety/modes/psa.h"

 // CAN-FD only safety modes
 #ifdef CANFD
@@ -415,6 +416,7 @@ int set_safety_hooks(uint16_t mode, uint16_t param) {
    {SAFETY_HYUNDAI_CANFD, &hyundai_canfd_hooks},
 #endif
 #ifdef ALLOW_DEBUG
+    {SAFETY_PSA, &psa_hooks},
    {SAFETY_SUBARU_PREGLOBAL, &subaru_preglobal_hooks},
    {SAFETY_VOLKSWAGEN_PQ, &volkswagen_pq_hooks},
    {SAFETY_ALLOUTPUT, &alloutput_hooks},
--- a/opendbc/safety/safety_declarations.h
+++ b/opendbc/safety/safety_declarations.h
@@ -30,6 +30,7 @@
 #define SAFETY_FAW 26U
 #define SAFETY_BODY 27U
 #define SAFETY_HYUNDAI_CANFD 28U
+#define SAFETY_PSA 31U
 #define SAFETY_RIVIAN 33U
 #define SAFETY_VOLKSWAGEN_MEB 34U

@@ -341,3 +342,4 @@ extern const safety_hooks toyota_hooks;
 extern const safety_hooks volkswagen_mqb_hooks;
 extern const safety_hooks volkswagen_pq_hooks;
 extern const safety_hooks rivian_hooks;
+extern const safety_hooks psa_hooks;
--- a/opendbc/safety/tests/mutation.sh
+++ b/opendbc/safety/tests/mutation.sh
@@ -4,6 +4,7 @@ set -e
 DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
 cd $DIR

+source $DIR/../../../setup.sh
 $DIR/install_mull.sh

 GIT_REF="${GIT_REF:-origin/master}"
@@ -11,6 +12,6 @@ GIT_ROOT=$(git rev-parse --show-toplevel)
 MULL_OPS="mutators: [cxx_increment, cxx_decrement, cxx_comparison, cxx_boundary, cxx_bitwise_assignment, cxx_bitwise, cxx_arithmetic_assignment, cxx_arithmetic, cxx_remove_negation]"
 echo -e "$MULL_OPS" > $GIT_ROOT/mull.yml
 scons --mutation -j$(nproc) -D
-echo -e "timeout: 100000\ngitDiffRef: $GIT_REF\ngitProjectRoot: $GIT_ROOT" >> $GIT_ROOT/mull.yml
+echo -e "timeout: 1000000\ngitDiffRef: $GIT_REF\ngitProjectRoot: $GIT_ROOT" >> $GIT_ROOT/mull.yml

 mull-runner-17 --ld-search-path /lib/x86_64-linux-gnu/ ./libsafety/libsafety.so -test-program=pytest -- -n8 --ignore-glob=misra/*
--- a/opendbc/safety/tests/safety_replay/replay_drive.py
+++ b/opendbc/safety/tests/safety_replay/replay_drive.py
@@ -66,8 +66,8 @@ def replay_drive(msgs, safety_mode, param, alternative_experience, param_sp):

    if msg.which() == 'sendcan':
      for canmsg in msg.sendcan:
-        msg = package_can_msg(canmsg)
-        sent = safety.safety_tx_hook(msg)
+        _msg = package_can_msg(canmsg)
+        sent = safety.safety_tx_hook(_msg)

        # mismatched
        if safety.get_controls_allowed() and not safety.get_controls_allowed_lat():
@@ -112,8 +112,8 @@ def replay_drive(msgs, safety_mode, param, alternative_experience, param_sp):
      # ignore msgs we sent
      for canmsg in filter(lambda m: m.src < 128, msg.can):
        safety.safety_fwd_hook(canmsg.src, canmsg.address)
-        msg = package_can_msg(canmsg)
-        recv = safety.safety_rx_hook(msg)
+        _msg = package_can_msg(canmsg)
+        recv = safety.safety_rx_hook(_msg)
        if not recv:
          rx_invalid += 1
          invalid_addrs.add(canmsg.address)
--- a/opendbc/safety/tests/test_psa.py
+++ b/opendbc/safety/tests/test_psa.py
@@ -0,0 +1,90 @@
+#!/usr/bin/env python3
+import unittest
+
+from opendbc.car.structs import CarParams
+from opendbc.safety.tests.libsafety import libsafety_py
+import opendbc.safety.tests.common as common
+from opendbc.safety.tests.common import CANPackerPanda
+
+LANE_KEEP_ASSIST = 0x3F2
+
+
+class TestPsaSafetyBase(common.PandaCarSafetyTest, common.AngleSteeringSafetyTest):
+  RELAY_MALFUNCTION_ADDRS = {0: (LANE_KEEP_ASSIST,)}
+  FWD_BLACKLISTED_ADDRS = {2: [LANE_KEEP_ASSIST]}
+  TX_MSGS = [[1010, 0]]
+
+  MAIN_BUS = 0
+  ADAS_BUS = 1
+  CAM_BUS = 2
+
+  STEER_ANGLE_MAX = 390
+  DEG_TO_CAN = 10
+
+  ANGLE_RATE_BP = [0., 5., 25.]
+  ANGLE_RATE_UP = [2.5, 1.5, .2]
+  ANGLE_RATE_DOWN = [5., 2., .3]
+
+  def setUp(self):
+    self.packer = CANPackerPanda("psa_aee2010_r3")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.psa, 0)
+    self.safety.init_tests()
+
+  def _angle_cmd_msg(self, angle: float, enabled: bool):
+    values = {"SET_ANGLE": angle, "TORQUE_FACTOR": 100 if enabled else 0}
+    return self.packer.make_can_msg_panda("LANE_KEEP_ASSIST", self.MAIN_BUS, values)
+
+  def _angle_meas_msg(self, angle: float):
+    values = {"ANGLE": angle}
+    return self.packer.make_can_msg_panda("STEERING_ALT", self.MAIN_BUS, values)
+
+  def _pcm_status_msg(self, enable):
+    values = {"RVV_ACC_ACTIVATION_REQ": enable}
+    return self.packer.make_can_msg_panda("HS2_DAT_MDD_CMD_452", self.ADAS_BUS, values)
+
+  def _speed_msg(self, speed):
+    values = {"VITESSE_VEHICULE_ROUES": speed * 3.6}
+    return self.packer.make_can_msg_panda("HS2_DYN_ABR_38D", self.MAIN_BUS, values)
+
+  def _user_brake_msg(self, brake):
+    values = {"P013_MainBrake": brake}
+    return self.packer.make_can_msg_panda("Dat_BSI", self.CAM_BUS, values)
+
+  def _user_gas_msg(self, gas):
+    values = {"P002_Com_rAPP": int(gas * 100)}
+    return self.packer.make_can_msg_panda("Dyn_CMM", self.MAIN_BUS, values)
+
+  def test_rx_hook(self):
+    # speed
+    for _ in range(10):
+      self.assertTrue(self._rx(self._speed_msg(0)))
+    msg = self._speed_msg(0)
+    # invalidate checksum
+    msg[0].data[5] = 0x00
+    self.assertFalse(self._rx(msg))
+
+    # cruise
+    for _ in range(10):
+      self.assertTrue(self._rx(self._pcm_status_msg(0)))
+    msg = self._pcm_status_msg(0)
+    # invalidate checksum
+    msg[0].data[5] = 0x00
+    self.assertFalse(self._rx(msg))
+    msg = self._pcm_status_msg(0)
+    # write to unused payload byte
+    msg[0].data[6] = 0xAB
+    self.assertTrue(self._rx(msg))
+
+
+class TestPsaStockSafety(TestPsaSafetyBase):
+
+  def setUp(self):
+    self.packer = CANPackerPanda("psa_aee2010_r3")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.psa, 0)
+    self.safety.init_tests()
+
+
+if __name__ == "__main__":
+    unittest.main()
--- a/opendbc/sunnypilot/car/car_list.json
+++ b/opendbc/sunnypilot/car/car_list.json
@@ -21,6 +21,16 @@
    ],
    "package": "All"
  },
+  "Acura MDX 2025": {
+    "platform": "ACURA_MDX_4G_MMR",
+    "make": "Acura",
+    "brand": "honda",
+    "model": "MDX",
+    "year": [
+      "2025"
+    ],
+    "package": "All except Type S"
+  },
  "Acura RDX 2016-18": {
    "platform": "ACURA_RDX",
    "make": "Acura",
@@ -842,13 +852,15 @@
    ],
    "package": "All"
  },
-  "Honda Accord 2023": {
+  "Honda Accord 2023-25": {
    "platform": "HONDA_ACCORD_11G",
    "make": "Honda",
    "brand": "honda",
    "model": "Accord",
    "year": [
-      "2023"
+      "2023",
+      "2024",
+      "2025"
    ],
    "package": "All"
  },
@@ -866,6 +878,28 @@
    ],
    "package": "All"
  },
+  "Honda Accord Hybrid 2023-25": {
+    "platform": "HONDA_ACCORD_11G",
+    "make": "Honda",
+    "brand": "honda",
+    "model": "Accord Hybrid",
+    "year": [
+      "2023",
+      "2024",
+      "2025"
+    ],
+    "package": "All"
+  },
+  "Honda City (Brazil only) 2023": {
+    "platform": "HONDA_CITY_7G",
+    "make": "Honda",
+    "brand": "honda",
+    "model": "City (Brazil only)",
+    "year": [
+      "2023"
+    ],
+    "package": "All"
+  },
  "Honda Civic 2016-18": {
    "platform": "HONDA_CIVIC",
    "make": "Honda",
@@ -902,19 +936,28 @@
    ],
    "package": "All"
  },
-  "Honda Civic Hatchback 2017-21": {
+  "Honda Civic Hatchback 2017-18": {
    "platform": "HONDA_CIVIC_BOSCH",
    "make": "Honda",
    "brand": "honda",
    "model": "Civic Hatchback",
    "year": [
      "2017",
-      "2018",
+      "2018"
+    ],
+    "package": "Honda Sensing"
+  },
+  "Honda Civic Hatchback 2019-21": {
+    "platform": "HONDA_CIVIC_BOSCH",
+    "make": "Honda",
+    "brand": "honda",
+    "model": "Civic Hatchback",
+    "year": [
      "2019",
      "2020",
      "2021"
    ],
-    "package": "Honda Sensing"
+    "package": "All"
  },
  "Honda Civic Hatchback 2022-24": {
    "platform": "HONDA_CIVIC_2022",
@@ -997,6 +1040,18 @@
    ],
    "package": "Honda Sensing"
  },
+  "Honda CR-V 2023-25": {
+    "platform": "HONDA_CRV_6G",
+    "make": "Honda",
+    "brand": "honda",
+    "model": "CR-V",
+    "year": [
+      "2023",
+      "2024",
+      "2025"
+    ],
+    "package": "All"
+  },
  "Honda CR-V Hybrid 2017-22": {
    "platform": "HONDA_CRV_HYBRID",
    "make": "Honda",
@@ -1012,6 +1067,18 @@
    ],
    "package": "Honda Sensing"
  },
+  "Honda CR-V Hybrid 2023-25": {
+    "platform": "HONDA_CRV_6G",
+    "make": "Honda",
+    "brand": "honda",
+    "model": "CR-V Hybrid",
+    "year": [
+      "2023",
+      "2024",
+      "2025"
+    ],
+    "package": "All"
+  },
  "Honda e 2020": {
    "platform": "HONDA_E",
    "make": "Honda",
@@ -1136,6 +1203,18 @@
    ],
    "package": "Honda Sensing"
  },
+  "Honda Pilot 2023-25": {
+    "platform": "HONDA_PILOT_4G",
+    "make": "Honda",
+    "brand": "honda",
+    "model": "Pilot",
+    "year": [
+      "2023",
+      "2024",
+      "2025"
+    ],
+    "package": "All"
+  },
  "Honda Ridgeline 2017-25": {
    "platform": "HONDA_RIDGELINE",
    "make": "Honda",
@@ -1408,13 +1487,14 @@
    ],
    "package": "Smart Cruise Control (SCC)"
  },
-  "Hyundai Kona 2022": {
+  "Hyundai Kona 2022-23": {
    "platform": "HYUNDAI_KONA_2022",
    "make": "Hyundai",
    "brand": "hyundai",
    "model": "Kona",
    "year": [
-      "2022"
+      "2022",
+      "2023"
    ],
    "package": "Smart Cruise Control (SCC)"
  },
@@ -3505,12 +3585,13 @@
    ],
    "package": "All"
  },
-  "Toyota Yaris (Non-US only) 2023": {
+  "Toyota Yaris (Non-US only) 2020, 2023": {
    "platform": "TOYOTA_YARIS",
    "make": "Toyota",
    "brand": "toyota",
    "model": "Yaris (Non-US only)",
    "year": [
+      "2020",
      "2023"
    ],
    "package": "All"
--- a/opendbc/sunnypilot/car/honda/fingerprints_ext.py
+++ b/opendbc/sunnypilot/car/honda/fingerprints_ext.py
@@ -11,6 +11,27 @@ from opendbc.car.honda.values import CAR
 Ecu = CarParams.Ecu

 FW_VERSIONS_EXT = {
+  CAR.HONDA_ACCORD: {
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-TVA,A150\x00\x00',
+    ],
+  },
+  CAR.HONDA_CIVIC: {
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-TBA,A030\x00\x00',
+    ],
+  },
+  CAR.HONDA_CIVIC_BOSCH: {
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-TGG,A020\x00\x00',
+      b'39990-TGG,A120\x00\x00',
+    ],
+  },
+  CAR.HONDA_CRV_5G: {
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-TLA,A040\x00\x00',
+    ],
+  },
  CAR.HONDA_CLARITY: {
    (Ecu.shiftByWire, 0x18da0bf1, None): [
      b'54008-TRW-A910\x00\x00',
--- a/opendbc/sunnypilot/car/hyundai/fingerprints_ext.py
+++ b/opendbc/sunnypilot/car/hyundai/fingerprints_ext.py
@@ -5,11 +5,6 @@ Ecu = CarParams.Ecu


 FW_VERSIONS_EXT = {
-  CAR.KIA_NIRO_EV: {
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00DE  MDPS C 1.00 1.05 56310Q4200\x00 4DEEC105',
-    ],
-  },
  CAR.KIA_CEED_PHEV_2022_NON_SCC: {
    (Ecu.eps, 0x7D4, None): [
      b'\xf1\x00CD  MDPS C 1.00 1.01 56310-XX000 4CPHC101',