IQ.Pilot Release Commit @ 9fe0487

iqdbc_repo/iqdbc/lvbs/__init__.py

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+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""

iqdbc_repo/iqdbc/lvbs/aol_base.py

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+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+
+from abc import abstractmethod, ABC
+from enum import StrEnum
+
+from iqdbc.car import structs
+from iqdbc.can.parser import CANParser
+
+
+class AolCarStateBase(ABC):
+  def __init__(self, CP: structs.CarParams, CP_IQ: structs.IQCarParams):
+    self.CP = CP
+    self.CP_IQ = CP_IQ
+
+    self.lkas_button = 0
+    self.prev_lkas_button = 0
+
+  @abstractmethod
+  def update_aol(self, ret: structs.CarState, can_parsers: dict[StrEnum, CANParser]) -> None:
+    pass

iqdbc_repo/iqdbc/lvbs/car/__init__.py

@@ -0,0 +1,38 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+
+
+def crc8_pedal(data):
+  crc = 0xFF    # standard init value
+  poly = 0xD5   # standard crc8: x8+x7+x6+x4+x2+1
+  size = len(data)
+  for i in range(size - 1, -1, -1):
+    crc ^= data[i]
+    for _ in range(8):
+      if (crc & 0x80) != 0:
+        crc = ((crc << 1) ^ poly) & 0xFF
+      else:
+        crc <<= 1
+  return crc
+
+
+def create_gas_interceptor_command(packer, gas_amount, idx):
+  # Common gas pedal msg generator
+  enable = gas_amount > 0.001
+
+  values = {
+    "ENABLE": enable,
+    "PEDAL_COUNTER": idx & 0xF,
+  }
+
+  if enable:
+    values["GAS_COMMAND"] = gas_amount * 255.
+    values["GAS_COMMAND2"] = gas_amount * 255.
+
+  dat = packer.make_can_msg("GAS_COMMAND", 0, values)[1]
+
+  checksum = crc8_pedal(dat[:-1])
+  values["PEDAL_CHECKSUM"] = checksum
+
+  return packer.make_can_msg("GAS_COMMAND", 0, values)

iqdbc_repo/iqdbc/lvbs/car/chrysler/__init__.py

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+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""

iqdbc_repo/iqdbc/lvbs/car/chrysler/aol.py

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+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+
+from enum import StrEnum
+from collections import namedtuple
+
+from iqdbc.car import Bus, structs
+from iqdbc.car.chrysler.values import RAM_CARS
+
+from iqdbc.lvbs.aol_base import AolCarStateBase
+from iqdbc.can.parser import CANParser
+
+AolDataIQ = namedtuple("AolDataIQ",
+                        ["enable_aol", "paused", "lkas_disabled"])
+
+ButtonType = structs.CarState.ButtonEvent.Type
+
+
+class AolCarController:
+  def __init__(self):
+    self.aol = AolDataIQ(False, False, False)
+
+  @staticmethod
+  def create_lkas_heartbit(packer, lkas_heartbit, aol):
+    # LKAS_HEARTBIT (0x2D9) LKAS heartbeat
+    values = {s: lkas_heartbit[s] for s in [
+      "LKAS_DISABLED",
+      "AUTO_HIGH_BEAM",
+      "FORWARD_1",
+      "FORWARD_2",
+      "FORWARD_3",
+    ]}
+
+    if aol.enable_aol:
+      values["LKAS_DISABLED"] = 1 if aol.lkas_disabled else 0
+
+    return packer.make_can_msg("LKAS_HEARTBIT", 0, values)
+
+  @staticmethod
+  def aol_status_update(CC: structs.CarControl, CC_IQ: structs.IQCarControl, CS) -> AolDataIQ:
+    enable_aol = CC_IQ.aol.available
+    paused = CC_IQ.aol.enabled and not CC.latActive
+
+    if any(be.type == ButtonType.lkas and be.pressed for be in CS.out.buttonEvents):
+      CS.lkas_disabled = not CS.lkas_disabled
+
+    return AolDataIQ(enable_aol, paused, CS.lkas_disabled)
+
+  def update(self, CC: structs.CarControl, CC_IQ: structs.IQCarControl, CS) -> None:
+    self.aol = self.aol_status_update(CC, CC_IQ, CS)
+
+
+class AolCarState(AolCarStateBase):
+  def __init__(self, CP: structs.CarParams, CP_IQ: structs.IQCarParams):
+    super().__init__(CP, CP_IQ)
+    self.lkas_heartbit = 0
+
+    self.init_lkas_disabled = False
+    self.lkas_disabled = False
+
+  @staticmethod
+  def get_parser(CP, pt_messages, cam_messages) -> None:
+    if CP.carFingerprint in RAM_CARS:
+      pt_messages += [
+        ("Center_Stack_2", 1),
+      ]
+    else:
+      pt_messages.append(("TRACTION_BUTTON", 1))
+      cam_messages.append(("LKAS_HEARTBIT", 1))
+
+  def get_lkas_button(self, cp, cp_cam):
+    if self.CP.carFingerprint in RAM_CARS:
+      lkas_button = cp.vl["Center_Stack_2"]["LKAS_Button"]
+    else:
+      lkas_button = cp.vl["TRACTION_BUTTON"]["TOGGLE_LKAS"]
+      self.lkas_heartbit = cp_cam.vl["LKAS_HEARTBIT"]
+      if not self.init_lkas_disabled:
+        self.lkas_disabled = cp_cam.vl["LKAS_HEARTBIT"]["LKAS_DISABLED"]
+        self.init_lkas_disabled = True
+
+    return lkas_button
+
+  def update_aol(self, ret: structs.CarState, can_parsers: dict[StrEnum, CANParser]) -> None:
+    cp = can_parsers[Bus.pt]
+    cp_cam = can_parsers[Bus.cam]
+
+    self.prev_lkas_button = self.lkas_button
+    self.lkas_button = self.get_lkas_button(cp, cp_cam)

iqdbc_repo/iqdbc/lvbs/car/chrysler/carcontroller_ext.py

@@ -0,0 +1,26 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+from iqdbc.car import structs
+from iqdbc.car.interfaces import CarStateBase
+from iqdbc.car.chrysler.values import RAM_DT
+from iqdbc.lvbs.car.chrysler.values_ext import ChryslerFlagsIQ
+
+GearShifter = structs.CarState.GearShifter
+
+
+class CarControllerExt:
+  def __init__(self, CP: structs.CarParams, CP_IQ: structs.IQCarParams):
+    self.CP = CP
+    self.CP_IQ = CP_IQ
+
+  def get_lkas_control_bit(self, CS: CarStateBase, CC: structs.CarControl, lkas_control_bit: bool) -> bool:
+    if self.CP_IQ.flags & ChryslerFlagsIQ.NO_MIN_STEERING_SPEED:
+      lkas_control_bit = CC.latActive
+    elif self.CP.carFingerprint in RAM_DT:
+      if self.CP.minEnableSpeed <= CS.out.vEgo <= self.CP.minEnableSpeed + 0.5:
+        lkas_control_bit = True
+      if self.CP.minEnableSpeed >= 14.5 and CS.out.gearShifter != GearShifter.drive:
+        lkas_control_bit = False
+
+    return lkas_control_bit

iqdbc_repo/iqdbc/lvbs/car/chrysler/carstate_ext.py

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+
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+
+from enum import StrEnum
+
+from iqdbc.car import Bus, structs
+from iqdbc.can.parser import CANParser
+from iqdbc.car.chrysler.values import RAM_HD
+from iqdbc.lvbs.car.chrysler.values_ext import BUTTONS
+
+
+class CarStateExt:
+  def __init__(self, CP, CP_IQ):
+    self.CP = CP
+    self.CP_IQ = CP_IQ
+
+    self.button_events = []
+    self.button_states = {button.event_type: False for button in BUTTONS}
+
+  def update(self, ret: structs.CarState, ret_iq: structs.IQCarState, can_parsers: dict[StrEnum, CANParser]):
+    cp = can_parsers[Bus.pt]
+
+    button_events = []
+    for button in BUTTONS:
+      state = (cp.vl[button.can_addr][button.can_msg] in button.values)
+      if self.button_states[button.event_type] != state:
+        event = structs.CarState.ButtonEvent.new_message()
+        event.type = button.event_type
+        event.pressed = state
+        button_events.append(event)
+      self.button_states[button.event_type] = state
+    self.button_events = button_events
+
+    if self.CP.carFingerprint in RAM_HD:
+      ret.steeringAngleDeg = cp.vl["STEERING"]["STEERING_ANGLE"]

iqdbc_repo/iqdbc/lvbs/car/chrysler/fingerprints_ext.py

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+from iqdbc.car.structs import CarParams
+from iqdbc.car.chrysler.values import CAR
+
+Ecu = CarParams.Ecu
+
+
+FW_VERSIONS_EXT = {
+  CAR.RAM_1500_5TH_GEN: {
+    (Ecu.combinationMeter, 0x742, None): [
+      b'68453485AC',
+      b'68510283AH',
+    ],
+    (Ecu.eps, 0x75a, None): [
+      b'68552791AA',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'05149390AA ',
+      b'68378696AI ',
+      b'68500631AF',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'68360085AF',
+      b'68360086AL',
+      b'68502996AC',
+    ],
+  },
+}

iqdbc_repo/iqdbc/lvbs/car/chrysler/values_ext.py

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+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+
+from collections import namedtuple
+from enum import IntFlag
+
+from iqdbc.car import structs
+
+ButtonType = structs.CarState.ButtonEvent.Type
+Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
+
+BUTTONS = [
+  Button(ButtonType.accelCruise, "CRUISE_BUTTONS", "ACC_Accel", [1]),
+  Button(ButtonType.decelCruise, "CRUISE_BUTTONS", "ACC_Decel", [1]),
+  Button(ButtonType.cancel, "CRUISE_BUTTONS", "ACC_Cancel", [1]),
+  Button(ButtonType.resumeCruise, "CRUISE_BUTTONS", "ACC_Resume", [1]),
+]
+
+
+class ChryslerFlagsIQ(IntFlag):
+  NO_MIN_STEERING_SPEED = 1
+
+

iqdbc_repo/iqdbc/lvbs/car/fingerprints_ext.py

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+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+
+
+def extend_fw_versions(fw_versions, new_fw_versions):
+  """
+    Merge firmware versions by extending lists for matching ECUs,
+    adding all entries regardless of duplicates.
+  """
+  for c, f in new_fw_versions.items():
+    if c not in fw_versions:
+      fw_versions[c] = f
+      continue
+
+    for e, new_fw_list in f.items():
+      if e not in fw_versions[c]:
+        fw_versions[c][e] = new_fw_list
+      else:
+        fw_versions[c][e].extend(new_fw_list)
+
+  return fw_versions
+
+
+def extend_fingerprints(fingerprints, new_fingerprints):
+  """
+    Merge fingerprints by extending lists for matching keys,
+    adding all entries regardless of duplicates.
+  """
+  for car, fp_list in new_fingerprints.items():
+    if car not in fingerprints:
+      fingerprints[car] = fp_list
+    else:
+      fingerprints[car].extend(fp_list)
+
+  return fingerprints

iqdbc_repo/iqdbc/lvbs/car/ford/__init__.py

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+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""

iqdbc_repo/iqdbc/lvbs/car/ford/aol.py

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+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+
+from enum import StrEnum
+
+from iqdbc.car import Bus,structs
+
+from iqdbc.lvbs.aol_base import AolCarStateBase
+from iqdbc.can.parser import CANParser
+
+
+class AolCarState(AolCarStateBase):
+  def __init__(self, CP: structs.CarParams, CP_IQ: structs.IQCarParams):
+    super().__init__(CP, CP_IQ)
+
+  def update_aol(self, ret: structs.CarState, can_parsers: dict[StrEnum, CANParser]) -> None:
+    cp = can_parsers[Bus.pt]
+
+    self.prev_lkas_button = self.lkas_button
+    self.lkas_button = cp.vl["Steering_Data_FD1"]["TjaButtnOnOffPress"]

iqdbc_repo/iqdbc/lvbs/car/gm/__init__.py

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+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""

iqdbc_repo/iqdbc/lvbs/car/gm/carstate_ext.py

@@ -0,0 +1,23 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+from enum import StrEnum
+
+from iqdbc.car import Bus, structs
+from iqdbc.car.common.conversions import Conversions as CV
+from iqdbc.can.parser import CANParser
+from iqdbc.lvbs.car.gm.values_ext import GMFlagsIQ
+
+
+class CarStateExt:
+  def __init__(self, CP, CP_IQ):
+    self.CP = CP
+    self.CP_IQ = CP_IQ
+
+  def update(self, ret: structs.CarState, can_parsers: dict[StrEnum, CANParser]) -> None:
+    pt_cp = can_parsers[Bus.pt]
+
+    if self.CP_IQ.flags & GMFlagsIQ.NON_ACC:
+      ret.cruiseState.enabled = pt_cp.vl["ECMCruiseControl"]["CruiseActive"] != 0
+      ret.cruiseState.speed = pt_cp.vl["ECMCruiseControl"]["CruiseSetSpeed"] * CV.KPH_TO_MS
+      ret.accFaulted = False

iqdbc_repo/iqdbc/lvbs/car/gm/fingerprints_ext.py

@@ -0,0 +1,119 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+# ruff: noqa: E501
+from iqdbc.car.gm.values import CAR
+
+FINGERPRINTS_EXT = {
+  # FIXME-IQ: Need user validation
+  # CAR.CHEVROLET_VOLT: [{
+  #   189: 7, 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 497: 8, 500: 6, 501: 8, 513: 6, 528: 4, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1922: 7
+  # }],
+  # FIXME-IQ: Need a message to distinguish flashed from non-flashed
+  # CAR.CHEVROLET_VOLT_CC: [
+  # Volt Premier w/o acc 2016
+  # {
+  #   170: 8, 171: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 199: 4, 201: 6, 209: 7, 211: 2, 241: 6, 288: 5, 289: 1, 290: 1, 298: 2, 304: 8, 308: 4, 309: 8, 311: 8, 313: 8, 320: 8, 328: 1, 352: 5, 368: 8, 381: 6, 384: 8, 386: 5, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 3, 508: 8, 512: 3, 528: 4, 530: 8, 532: 6, 537: 4, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 8, 563: 5, 564: 5, 565: 8, 566: 5, 567: 3, 568: 1, 577: 8, 578: 8, 594: 8, 647: 3, 707: 8, 711: 6, 717: 5, 761: 7, 800: 6, 810: 8, 821: 4, 823: 7, 832: 8, 840: 5, 842: 6, 844: 8, 866: 4, 869: 4, 961: 8, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1602: 8, 1618: 8, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1928: 7, 1930: 7, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2024: 8, 2025: 8, 2028: 8
+  # },
+  # {
+  #   201: 8, 493: 8, 495: 4, 193: 8, 197: 8, 209: 7, 171: 8, 456: 8, 199: 4, 489: 8, 211: 2, 499: 3, 390: 7, 532: 6, 568: 1, 761: 7, 381: 6, 485: 8, 189: 7, 479: 3, 711: 6, 501: 8, 241: 6, 717: 5, 869: 4, 389: 2, 454: 8, 170: 8, 190: 6, 497: 8, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 500: 6, 508: 8, 528: 4, 647: 3, 1105: 6, 1005: 6, 481: 7, 844: 8, 866: 4, 564: 5, 969: 8, 388: 8, 352: 5, 562: 8, 961: 8, 386: 8, 707: 8, 977: 8, 979: 7, 298: 8, 840: 5, 842: 5, 988: 6, 1001: 8, 560: 8, 546: 7, 558: 8, 309: 8, 995: 7, 311: 8, 566: 5, 567:3, 989: 8, 384: 4, 800: 6, 1033: 7, 1034: 7, 313: 8, 554: 3, 810: 8, 1017: 8, 1019: 2, 1020: 8, 1217: 8, 1223: 3, 1233: 8, 1227: 4, 1417: 8, 1009: 8, 1221: 5, 1275: 3, 1225: 7, 289: 8, 550: 8, 1273: 3, 1928: 7, 1187: 4, 1265: 8, 1927: 7, 1267: 1, 1906: 7, 288: 5, 304: 1, 328: 1, 1912: 7, 320: 3, 1910: 7, 563: 5, 1249: 8, 1930: 7, 1257: 6, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 565: 5, 1280: 4, 1907: 7
+  # },
+  # # Volt Premier w/o ACC 2018 + Pedal
+  # {
+  #   189: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 497: 8, 500: 6, 501: 8, 513: 6, 528: 4, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 717: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1922: 7, 1930: 7
+  # }
+  # ],
+  CAR.CHEVROLET_BOLT_NON_ACC: [
+  # Bolt Premier w/o ACC 2017
+  {
+    170: 8, 188: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 201: 6, 209: 7, 211: 2, 241: 6, 289: 1, 290: 1, 298: 8, 304: 8, 309: 8, 311: 8, 313: 8, 320: 8, 322: 7, 328: 1, 352: 5, 353: 3, 368: 8, 381: 6, 384: 8, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 512: 3, 513: 6, 514: 2, 516: 4, 519: 2, 521: 3, 528: 5, 530: 8, 532: 7, 537: 5, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 4, 563: 5, 564: 5, 565: 8, 566: 6, 567: 5, 568: 1, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 832: 8, 840: 6, 842: 6, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1601: 8, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1927: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8
+  },
+  # Bolt EV Premier 2017
+  {
+    170: 8, 188: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 201: 6, 209: 7, 211: 2, 241: 6, 289: 1, 290: 1, 298: 8, 304: 8, 309: 8, 311: 8, 313: 8, 320: 8, 322: 7, 328: 1, 352: 5, 353: 3, 368: 8, 381: 6, 384: 8, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 513: 6, 512: 3, 514: 2, 516: 4, 519: 2, 521: 3, 528: 5, 530: 8, 532: 7, 537: 5, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 4, 563: 5, 564: 5, 565: 8, 566: 6, 567: 5, 568: 1, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 832: 8, 840: 6, 842: 6, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1601: 8, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1927: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8
+  },
+  # Bolt EV Premier 2017 w Pedal
+  {
+    170: 8, 188: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 201: 6, 209: 7, 211: 2, 241: 6, 289: 1, 290: 1, 298: 8, 304: 8, 309: 8, 311: 8, 313: 8, 320: 8, 322: 7, 328: 1, 352: 5, 353: 3, 368: 8, 381: 6, 384: 8, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 512: 3, 512: 6, 513: 6, 514: 2, 516: 4, 519: 2, 521: 3, 528: 5, 530: 8, 532: 7, 537: 5, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 4, 563: 5, 564: 5, 565: 8, 566: 6, 567: 5, 568: 1, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 832: 8, 840: 6, 842: 6, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1601: 8, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1927: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8  # noqa: F601
+  },
+  # Bolt EV Premier 2017 2 w Pedal
+  {
+    170: 8, 188: 8, 189: 7, 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 384: 4, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 513: 6, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 6, 567: 5, 568: 1, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1922: 7, 1927: 7
+  },
+  {
+    170: 8, 188: 8, 189: 7, 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 384: 4, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 513: 6, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 6, 567: 5, 568: 1, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1922: 7, 1927: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8
+  }],
+  CAR.CHEVROLET_BOLT_NON_ACC_1ST_GEN: [
+  # Bolt Premier no ACC 2018 + Pedal
+  {
+    170: 8, 188: 8, 189: 7, 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 384: 4, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 513: 6, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 6, 567: 5, 568: 1, 573: 1, 577: 8, 592: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1601: 8, 1616: 8, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1922: 7, 1927: 7, 2020: 8, 2023: 8, 2028: 8, 2031: 8
+  },
+  # Bolt Premier no ACC 2019 + Pedal
+  {
+    170: 8, 188: 8, 189: 7, 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 8, 384: 4, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 512: 6, 513: 6, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 7, 567: 5, 568: 2, 569: 3, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 975: 2, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1037: 5, 1105: 5, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1236: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1268: 2, 1275: 3, 1279: 4, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1927: 7, 2016: 8, 2024: 8
+  },
+  # Bolt Premier no ACC 2020
+  {
+    170: 8, 188: 8, 189: 7, 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 8, 384: 4, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 513: 6, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 7, 567: 5, 568: 2, 569: 3, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 975: 2, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1037: 5, 1105: 5, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1236: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1268: 2, 1275: 3, 1279: 4, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1927: 7, 2016: 8, 2024: 8
+  }],
+  CAR.CHEVROLET_BOLT_NON_ACC_2ND_GEN: [
+  # Bolt EV Premier no ACC 2023 w Pedal
+  {
+    170: 8, 188: 8, 189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 308: 4, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 353: 3, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 390: 7, 398: 8, 407: 7, 417: 8, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 513: 6, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 8, 567: 5, 568: 2, 569: 3, 573: 1, 577: 8, 592: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 711: 6, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 866: 4, 869: 4, 872: 1, 880: 6, 961: 8, 967: 4, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1010: 8, 1013: 6, 1015: 1, 1017: 8, 1019: 2, 1020: 8, 1037: 5, 1105: 5, 1187: 5, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1601: 8, 1616: 8, 1618: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1913: 7, 1922: 7, 1927: 7, 1930: 7, 2016: 8, 2020: 8, 2023: 8, 2024: 8, 2028: 8, 2031: 8
+  },
+  # Bolt EV Premier no ACC 2021
+  {
+    170: 8, 188: 8, 189: 7, 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 257: 8, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 513: 6, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 7, 567: 5, 568: 1, 569: 3, 573: 1, 577: 8, 578: 8, 579: 8, 592: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 975: 2, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1037: 5, 1105: 5, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1236: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1279: 4, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1346: 8, 1347: 8, 1513: 8, 1516: 8, 1601: 8, 1616: 8, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1922: 7, 1927: 7, 2016: 8, 2017: 8, 2018: 8, 2020: 8, 2023: 8, 2024: 8, 2028: 8, 2031: 8
+  },
+  # shermy99's Bolt EV Premier no ACC 2023
+  {
+    170: 8, 188: 8, 189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 308: 4, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 353: 3, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 390: 7, 398: 8, 407: 7, 417: 8, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 513: 6, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 8, 567: 5, 568: 2, 569: 3, 573: 1, 577: 8, 579: 8, 592: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 711: 6, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 866: 4, 869: 4, 872: 1, 880: 6, 961: 8, 967: 4, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1010: 8, 1013: 6, 1015: 1, 1017: 8, 1019: 2, 1020: 8, 1037: 5, 1105: 5, 1187: 5, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1347: 8, 1513: 8, 1516: 8, 1601: 8, 1609: 8, 1613: 8, 1616: 8, 1618: 8, 1649: 8, 1792: 8, 1793: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1913: 7, 1920: 8, 1922: 7, 1924: 8, 1927: 7, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1984: 8, 1988: 8, 2000: 8, 2001: 8, 2002: 8, 2017: 8, 2018: 8, 2020: 8, 2023: 8, 2025: 8, 2028: 8, 2031: 8
+  },
+  {
+    170: 8, 188: 8, 189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 353: 3, 381: 8, 384: 4, 386: 8, 388: 8, 390: 7, 398: 8, 407: 7, 417: 8, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 513: 6, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 564: 5, 566: 8, 567: 5, 568: 2, 569: 3, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 711: 6, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 866: 4, 869: 4, 872: 1, 880: 6, 961: 8, 967: 4, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1009: 8, 1010: 8, 1013: 6, 1015: 1, 1017: 8, 1019: 2, 1020: 8, 1105: 5, 1187: 5, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1913: 7, 1927: 7, 1930: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8
+  }],
+  CAR.CHEVROLET_EQUINOX_NON_ACC_3RD_GEN: [{
+    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 393: 8, 398: 8, 401: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 444: 7, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 569: 3, 573: 1, 577: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1273: 3, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1601: 8, 1611: 8, 1618: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1920: 7, 1930: 7
+  },
+  {
+    190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 384: 4, 393: 8, 398: 8, 401: 8, 413: 8, 422: 4, 431: 8, 444: 7, 453: 6, 456: 8, 479: 3, 481: 7, 485: 8, 499: 3, 500: 6, 501: 8, 567: 5, 647: 6, 800: 6, 1033: 7, 1034: 7, 1296: 4
+  }],
+  # Trailblazer also matches as a Silverado, so comment out to avoid conflicts.
+  # TODO-IQ: split with FW versions
+  # CAR.TRAILBLAZER: [
+  # {
+  #   190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1609: 8, 1611: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8
+  # }],
+  CAR.CHEVROLET_SUBURBAN_NON_ACC_11TH_GEN: [
+  # Slav's 2018 Suburban, LKAS no ACC
+  {
+    170: 8, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 393: 8, 398: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 493: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 562: 8, 563: 5, 564: 5, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 717: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1920: 7
+  },
+  # Qube's 2017 Suburban, LKAS no ACC
+  {
+    190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 534: 2, 562: 8, 563: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 717: 5, 761: 7, 800: 6, 801: 8, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1609: 8, 1611: 8, 1613: 8, 1649: 8, 1792: 8, 1793: 8, 1798: 8, 1799: 8, 1810: 8, 1813: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1856: 8, 1858: 8, 1859: 8, 1860: 8, 1862: 8, 1863: 8, 1871: 8, 1872: 8, 1875: 8, 1879: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1920: 8, 1924: 8, 1927: 8, 1937: 8, 1953: 8, 1954: 8, 1955: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1984: 8, 1988: 8, 1990: 8, 2000: 8, 2001: 8, 2004: 8, 2017: 8, 2018: 8, 2020: 8
+  }],
+  CAR.CADILLAC_CT6_NON_ACC_1ST_GEN: [
+  # badgers4life's 2017 CT6
+  {
+    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 4, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 460: 5, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 3, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 717: 5, 723: 2, 753: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 961: 8, 969: 8, 977: 8, 979: 7, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 1, 1017: 8, 1019: 2, 1020: 8, 1105: 6, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 7, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1793: 8, 1798: 8, 1799: 8, 1810: 8, 1813: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1856: 8, 1858: 8, 1859: 8, 1860: 8, 1862: 8, 1863: 8, 1872: 8, 1875: 8, 1879: 8, 1882: 8, 1888: 4, 1889: 8, 1892: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1919: 7, 1920: 8, 1924: 8, 1927: 8, 1928: 7, 1937: 8, 1953: 8, 1954: 8, 1955: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1984: 8, 1988: 8, 2000: 8, 2001: 8, 2002: 8, 2004: 8, 2017: 8, 2018: 8, 2020: 8, 2026: 8
+  }],
+  CAR.CHEVROLET_TRAILBLAZER_NON_ACC_2ND_GEN: [
+  {
+    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 309: 8, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 717: 5, 723: 4, 730: 4, 761: 7, 800: 6, 840: 5, 842: 5, 844: 8, 869: 4, 961: 8, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 6, 1017: 8, 1020: 8, 1037: 5, 1105: 5, 1187: 5, 1195: 3, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1268: 2, 1271: 8, 1273: 3, 1276: 2, 1277: 7, 1278: 4, 1279: 4, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7
+  }],
+  CAR.CHEVROLET_MALIBU_NON_ACC_9TH_GEN: [
+  # Verylukyguy's Malibu
+  {
+    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 328: 1, 352: 5, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 8, 407: 7, 409: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 717: 5, 730: 4, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 961: 8, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 6, 1017: 8, 1020: 8, 1037: 5, 1105: 5, 1187: 6, 1189: 1, 1195: 3, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1268: 2, 1271: 8, 1273: 3, 1279: 4, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7
+  },
+  # Tesla's Malibu
+  {
+    189: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 6, 390: 8, 392: 4, 393: 4, 394: 8, 395: 3, 396: 4, 397: 4, 398: 4, 399: 4, 400: 4, 401: 4, 402: 4, 403: 4, 404: 4, 405: 4, 406: 4, 407: 4, 408: 4, 409: 4, 410: 4, 411: 4, 412: 4, 413: 4, 414: 4, 415: 4, 416: 4, 417: 4, 418: 4, 419: 4, 420: 4, 421: 4, 422: 4, 423: 4, 424: 4, 425: 4, 426: 4, 427: 4, 428: 4, 429: 4, 430: 4, 431: 4, 432: 4, 433: 4, 434: 4, 435: 4, 436: 4, 437: 4, 438: 4, 439: 4, 440: 4, 441: 4, 442: 4, 443: 4, 444: 4, 445: 4, 446: 4, 447: 4, 448: 4, 449: 4, 450: 4, 451: 8, 452: 8, 453: 6, 479: 4, 481: 7, 485: 8, 489: 8, 493: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 6, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 717: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1922: 7
+  }],
+  CAR.CADILLAC_XT5_NON_ACC_1ST_GEN: [
+  # TRain's 2017 XT5
+  {
+    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 510: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 647: 3, 707: 8, 717: 5, 723: 2, 753: 5, 761: 7, 800: 6, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1914: 7, 1919: 7, 1920: 7
+  }],
+}

iqdbc_repo/iqdbc/lvbs/car/gm/interface_ext.py

@@ -0,0 +1,58 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+import os
+from math import exp
+
+from iqdbc.car import structs
+from iqdbc.car.common.basedir import BASEDIR
+from iqdbc.car.gm.interface import CAR
+from iqdbc.lvbs.car.interfaces import LatControlInputs, NanoFFModel, TorqueFromLateralAccelCallbackTypeTorqueSpace
+
+NON_LINEAR_TORQUE_PARAMS = {
+  CAR.CHEVROLET_BOLT_EUV: [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178],
+  CAR.GMC_ACADIA: [4.78003305, 1.0, 0.3122, 0.05591772],
+  CAR.CHEVROLET_SILVERADO: [3.29974374, 1.0, 0.25571356, 0.0465122]
+}
+
+
+class CarInterfaceExt:
+  def __init__(self, CP: structs.CarParams, CI_Base):
+    self.CP = CP
+    self.CI_Base = CI_Base
+    self.neural_ff_model = None
+
+  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
+
+    # 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_neural(self, latcontrol_inputs: LatControlInputs, orque_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))
+
+  def torque_from_lateral_accel_in_torque_space(self) -> TorqueFromLateralAccelCallbackTypeTorqueSpace:
+    if self.CP.carFingerprint == CAR.CHEVROLET_BOLT_EUV:
+      return self.torque_from_lateral_accel_neural
+    elif self.CP.carFingerprint in NON_LINEAR_TORQUE_PARAMS:
+      return self.torque_from_lateral_accel_siglin
+    else:
+      return self.CI_Base.torque_from_lateral_accel_linear_in_torque_space

iqdbc_repo/iqdbc/lvbs/car/gm/values_ext.py

@@ -0,0 +1,15 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+
+from enum import IntFlag
+
+
+class GMFlagsIQ(IntFlag):
+  NON_ACC = 1
+
+
+class GMSafetyFlagsIQ:
+  NON_ACC = 1
+
+

iqdbc_repo/iqdbc/lvbs/car/honda/__init__.py

@@ -0,0 +1,3 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""

iqdbc_repo/iqdbc/lvbs/car/honda/aol.py

@@ -0,0 +1,19 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+
+from iqdbc.car import structs
+from iqdbc.car.honda.values import HONDA_BOSCH_RADARLESS
+
+
+class AolCarController:
+  def __init__(self):
+    self.dashed_lanes = False
+
+  def update(self, CP: structs.CarParams, CC: structs.CarControl, CC_IQ: structs.IQCarControl) -> None:
+    enable_aol = CC_IQ.aol.available
+
+    if enable_aol:
+      self.dashed_lanes = CC_IQ.aol.enabled and not CC.latActive
+    else:
+      self.dashed_lanes = CC.hudControl.lanesVisible if CP.carFingerprint in HONDA_BOSCH_RADARLESS else False

iqdbc_repo/iqdbc/lvbs/car/honda/carstate_ext.py

@@ -0,0 +1,30 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+from enum import StrEnum
+
+from iqdbc.car import Bus, structs
+from iqdbc.can.parser import CANParser
+from iqdbc.lvbs.car.honda.values_ext import HondaFlagsIQ
+
+
+class CarStateExt:
+  def __init__(self, CP, CP_IQ):
+    self.CP = CP
+    self.CP_IQ = CP_IQ
+
+  def update(self, ret: structs.CarState, can_parsers: dict[StrEnum, CANParser]) -> None:
+    cp = can_parsers[Bus.pt]
+    cp_cam = can_parsers[Bus.cam]
+
+    if self.CP_IQ.flags & HondaFlagsIQ.NIDEC_HYBRID:
+      ret.accFaulted = bool(cp.vl["HYBRID_BRAKE_ERROR"]["BRAKE_ERROR_1"] or cp.vl["HYBRID_BRAKE_ERROR"]["BRAKE_ERROR_2"])
+      ret.stockAeb = bool(cp_cam.vl["BRAKE_COMMAND"]["AEB_REQ_1"] and cp_cam.vl["BRAKE_COMMAND"]["COMPUTER_BRAKE_HYBRID"] > 1e-5)
+
+    if self.CP_IQ.flags & HondaFlagsIQ.HYBRID_ALT_BRAKEHOLD:
+      ret.brakeHoldActive = cp.vl["BRAKE_HOLD_HYBRID_ALT"]["BRAKE_HOLD_ACTIVE"] == 1
+
+    if self.CP_IQ.enableGasInterceptor and "GAS_SENSOR" in cp.vl:
+      # Same threshold as panda, equivalent to 1e-5 with previous DBC scaling
+      gas = (cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) // 2
+      ret.gasPressed = gas > 492

iqdbc_repo/iqdbc/lvbs/car/honda/fingerprints_ext.py

@@ -0,0 +1,56 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+
+from iqdbc.car.structs import CarParams
+from iqdbc.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',
+    ],
+    (Ecu.vsa, 0x18da28f1, None): [
+      b'57114-TRW-A010\x00\x00',
+      b'57114-TRW-A020\x00\x00',
+    ],
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-TRW-A020\x00\x00',
+      b'39990-TRW,A020\x00\x00',  # modified firmware
+      b'39990,TRW,A020\x00\x00',  # extra modified firmware
+    ],
+    (Ecu.srs, 0x18da53f1, None): [
+      b'77959-TRW-A210\x00\x00',
+      b'77959-TRW-A220\x00\x00',
+    ],
+    (Ecu.gateway, 0x18daeff1, None): [
+      b'38897-TRW-A010\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'36161-TRW-A110\x00\x00',
+    ],
+  },
+}

iqdbc_repo/iqdbc/lvbs/car/honda/gas_interceptor.py

@@ -0,0 +1,32 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+
+import numpy as np
+
+from iqdbc.car import structs
+from iqdbc.car.can_definitions import CanData
+from iqdbc.lvbs.car import create_gas_interceptor_command
+
+
+class GasInterceptorCarController:
+  def __init__(self, CP: structs.CarParams, CP_IQ: structs.IQCarParams):
+    self.CP = CP
+    self.CP_IQ = CP_IQ
+
+    self.gas = 0.
+    self.interceptor_gas_cmd = 0.
+
+  def update(self, CC: structs.CarControl, CS: structs.CarState, gas: float, brake: float, wind_brake: float,
+             packer, frame: int) -> list[CanData]:
+    can_sends = []
+
+    if self.CP_IQ.enableGasInterceptor:
+      gas_pedal = np.interp(CS.out.vEgo, [0., 10.], [0.4, 1.0])
+      if CC.longActive:
+        self.gas = float(np.clip(gas_pedal * (gas - brake + wind_brake * 3 / 4), 0., 1.))
+      else:
+        self.gas = 0.0
+      can_sends.append(create_gas_interceptor_command(packer, self.gas, frame // 2))
+
+    return can_sends

iqdbc_repo/iqdbc/lvbs/car/honda/test_honda.py

@@ -0,0 +1,26 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+from parameterized import parameterized
+
+from iqdbc.car import gen_empty_fingerprint
+from iqdbc.car.structs import CarParams
+from iqdbc.car.car_helpers import interfaces
+from iqdbc.car.honda.values import CAR
+
+CarFw = CarParams.CarFw
+
+
+class TestHondaEpsMod:
+
+  @parameterized.expand([(CAR.HONDA_CIVIC, b'39990-TBA,A030\x00\x00'), (CAR.HONDA_CIVIC, b'39990-TBA-A030\x00\x00'),
+                         (CAR.HONDA_CLARITY, b'39990-TRW-A020\x00\x00'), (CAR.HONDA_CLARITY, b'39990,TRW,A020\x00\x00')])
+  def test_eps_mod_fingerprint(self, car_name, fw):
+    fingerprint = gen_empty_fingerprint()
+    car_fw = [CarFw(ecu="eps", fwVersion=fw)]
+
+    CarInterface = interfaces[car_name]
+    CP = CarInterface.get_params(car_name, fingerprint, car_fw, False, False, False)
+    _ = CarInterface.get_params_iq(CP, car_name, fingerprint, car_fw, False, False, False)
+
+    assert not CP.dashcamOnly

iqdbc_repo/iqdbc/lvbs/car/honda/values_ext.py

@@ -0,0 +1,18 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+
+from enum import IntFlag
+
+
+class HondaFlagsIQ(IntFlag):
+  NIDEC_HYBRID = 1
+  EPS_MODIFIED = 2
+  HYBRID_ALT_BRAKEHOLD = 4
+
+
+class HondaSafetyFlagsIQ:
+  NIDEC_HYBRID = 1
+  GAS_INTERCEPTOR = 2
+
+

iqdbc_repo/iqdbc/lvbs/car/hyundai/__init__.py

@@ -0,0 +1,3 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""

iqdbc_repo/iqdbc/lvbs/car/hyundai/aol.py

@@ -0,0 +1,105 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+
+from enum import StrEnum
+from collections import namedtuple
+
+from iqdbc.car import Bus, DT_CTRL, structs
+from iqdbc.car.hyundai.values import CAR
+
+from iqdbc.car.hyundai.values import HyundaiFlags
+from iqdbc.lvbs.car.hyundai.values import HyundaiFlagsIQ
+from iqdbc.lvbs.aol_base import AolCarStateBase
+from iqdbc.can.parser import CANParser
+
+ButtonType = structs.CarState.ButtonEvent.Type
+
+AolDataIQ = namedtuple("AolDataIQ",
+                        ["enable_aol", "lat_active", "disengaging", "paused"])
+
+
+class AolCarController:
+  def __init__(self):
+    self.aol = AolDataIQ(False, False, False, False)
+
+    self.lat_disengage_blink = 0
+    self.lat_disengage_init = False
+    self.prev_lat_active = False
+
+    self.lkas_icon = 0
+    self.lfa_icon = 0
+
+  # display LFA "white_wheel" and LKAS "White car + lanes" when not CC.latActive
+  def aol_status_update(self, CC: structs.CarControl, CC_IQ: structs.IQCarControl, frame: int) -> AolDataIQ:
+    enable_aol = CC_IQ.aol.available
+
+    if CC.latActive:
+      self.lat_disengage_init = False
+    elif self.prev_lat_active:
+      self.lat_disengage_init = True
+
+    if not self.lat_disengage_init:
+      self.lat_disengage_blink = frame
+
+    paused = CC_IQ.aol.enabled and not CC.latActive
+    disengaging = (frame - self.lat_disengage_blink) * DT_CTRL < 1.0 if self.lat_disengage_init else False
+
+    self.prev_lat_active = CC.latActive
+
+    return AolDataIQ(enable_aol, CC.latActive, disengaging, paused)
+
+  def create_lkas_icon(self, CP: structs.CarParams, enabled: bool) -> int:
+    if self.aol.enable_aol:
+      lkas_icon = 2 if self.aol.lat_active else 3 if self.aol.disengaging else 1
+    else:
+      lkas_icon = 2 if enabled else 1
+
+    # Override common signals for KIA_OPTIMA_G4 and KIA_OPTIMA_G4_FL
+    if CP.carFingerprint in (CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.HYUNDAI_KONA_NON_SCC):
+      lkas_icon = 3 if (self.aol.lat_active if self.aol.enable_aol else enabled) else 1
+
+    return lkas_icon
+
+  def create_lfa_icon(self, enabled: bool) -> int:
+    if self.aol.enable_aol:
+      lfa_icon = 2 if self.aol.lat_active else 3 if self.aol.disengaging else 1 if self.aol.paused else 0
+    else:
+      lfa_icon = 2 if enabled else 0
+
+    return lfa_icon
+
+  def update(self, CP: structs.CarParams, CC: structs.CarControl, CC_IQ: structs.IQCarControl, frame: int) -> None:
+    self.aol = self.aol_status_update(CC, CC_IQ, frame)
+    self.lkas_icon = self.create_lkas_icon(CP, CC.enabled)
+    self.lfa_icon = self.create_lfa_icon(CC.enabled)
+
+
+class AolCarState(AolCarStateBase):
+  def __init__(self, CP: structs.CarParams, CP_IQ: structs.CarParams):
+    super().__init__(CP, CP_IQ)
+    self.main_cruise_enabled: bool = False
+
+  @staticmethod
+  def get_parser(CP, CP_IQ, pt_messages) -> None:
+    pass
+
+  def get_main_cruise(self, ret: structs.CarState) -> bool:
+    if self.CP_IQ.flags & HyundaiFlagsIQ.LONGITUDINAL_MAIN_CRUISE_TOGGLEABLE:
+      if any(be.type == ButtonType.mainCruise and be.pressed for be in ret.buttonEvents):
+        self.main_cruise_enabled = not self.main_cruise_enabled
+    else:
+      self.main_cruise_enabled = True
+
+    return self.main_cruise_enabled if ret.cruiseState.available else False
+
+  def update_aol(self, ret: structs.CarState, can_parsers: dict[StrEnum, CANParser]) -> None:
+    pass
+
+  def update_aol_canfd(self, ret: structs.CarState, can_parsers: dict[StrEnum, CANParser]) -> None:
+    cp = can_parsers[Bus.pt]
+    cp_cam = can_parsers[Bus.cam]
+
+    if not self.CP.openpilotLongitudinalControl:
+      cp_cruise_info = cp_cam if self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC else cp
+      ret.cruiseState.available = cp_cruise_info.vl["SCC_CONTROL"]["MainMode_ACC"] == 1

iqdbc_repo/iqdbc/lvbs/car/hyundai/carstate_ext.py

@@ -0,0 +1,83 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+
+from enum import StrEnum
+
+from iqdbc.car import Bus, structs
+from iqdbc.can.parser import CANParser
+from iqdbc.car.hyundai.values import HyundaiFlags
+from iqdbc.lvbs.car.hyundai.values import HyundaiFlagsIQ
+
+
+class CarStateExt:
+  def __init__(self, CP, CP_IQ):
+    self.CP = CP
+    self.CP_IQ = CP_IQ
+
+    self.aBasis = 0.0
+
+  def update_speed_limit(self, cp, cp_cam) -> float:
+    speed_limit = 0
+
+    if self.CP.flags & HyundaiFlags.CANFD:
+      if self.CP_IQ.flags & HyundaiFlagsIQ.SPEED_LIMIT_AVAILABLE:
+        bus = cp if self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING else cp_cam
+        speed_limit = bus.vl["FR_CMR_02_100ms"]["ISLW_SpdCluMainDis"]
+    else:
+      nav, cam = 0, 0
+      if self.CP_IQ.flags & HyundaiFlagsIQ.SPEED_LIMIT_AVAILABLE:
+        nav = cp.vl["Navi_HU"]["SpeedLim_Nav_Clu"]
+      if self.CP_IQ.flags & HyundaiFlagsIQ.HAS_LKAS12:
+        cam = cp_cam.vl["LKAS12"]["CF_Lkas_TsrSpeed_Display_Clu"]
+
+      speed_limit = cam if cam not in (0, 255) else nav
+
+    if speed_limit in (0, 255):
+      speed_limit = 0
+
+    return speed_limit
+
+  def update(self, ret: structs.CarState, ret_iq: structs.IQCarState, can_parsers: dict[StrEnum, CANParser], speed_conv: float) -> None:
+    cp = can_parsers[Bus.pt]
+    cp_cam = can_parsers[Bus.cam]
+
+    self.aBasis = cp.vl["TCS13"]["aBasis"]
+
+    if self.CP_IQ.flags & HyundaiFlagsIQ.NON_SCC:
+      cruise_msg = "LABEL11" if self.CP.flags & HyundaiFlags.EV else \
+                   "E_CRUISE_CONTROL" if self.CP.flags & HyundaiFlags.HYBRID else \
+                   "EMS16"
+      cruise_available_sig = "CC_React" if self.CP.flags & HyundaiFlags.EV else "CRUISE_LAMP_M"
+      cruise_enabled_sig = "CC_ACT" if self.CP.flags & HyundaiFlags.EV else "CRUISE_LAMP_S"
+      cruise_speed_msg = "E_EMS11" if self.CP.flags & HyundaiFlags.EV else \
+                         "ELECT_GEAR" if self.CP.flags & HyundaiFlags.HYBRID else \
+                         "LVR12"
+      cruise_speed_sig = "Cruise_Limit_Target" if self.CP.flags & HyundaiFlags.EV else \
+                         "SLC_SET_SPEED" if self.CP.flags & HyundaiFlags.HYBRID else \
+                         "CF_Lvr_CruiseSet"
+      ret.cruiseState.available = cp.vl[cruise_msg][cruise_available_sig] != 0
+      ret.cruiseState.enabled = cp.vl[cruise_msg][cruise_enabled_sig] != 0
+      ret.cruiseState.speed = cp.vl[cruise_speed_msg][cruise_speed_sig] * speed_conv
+      ret.cruiseState.standstill = False
+      ret.cruiseState.nonAdaptive = False
+
+      if not self.CP_IQ.flags & HyundaiFlagsIQ.NON_SCC_NO_FCA:
+        cp_cruise = cp if self.CP_IQ.flags & HyundaiFlagsIQ.NON_SCC_RADAR_FCA else cp_cam
+
+        aeb_src = "FCA11"
+        aeb_warning = cp_cruise.vl[aeb_src]["CF_VSM_Warn"] != 0
+        aeb_braking = cp_cruise.vl[aeb_src]["CF_VSM_DecCmdAct"] != 0 or cp_cruise.vl[aeb_src]["FCA_CmdAct"] != 0
+        ret.stockFcw = aeb_warning and not aeb_braking
+        ret.stockAeb = aeb_warning and aeb_braking
+
+    ret_iq.speedLimit = self.update_speed_limit(cp, cp_cam) * speed_conv
+
+  def update_canfd_ext(self, ret: structs.CarState, ret_iq: structs.IQCarState, can_parsers: dict[StrEnum, CANParser],
+                       speed_factor: float) -> None:
+    cp = can_parsers[Bus.pt]
+    cp_cam = can_parsers[Bus.cam]
+
+    self.aBasis = cp.vl["TCS"]["aBasis"]
+
+    ret_iq.speedLimit = self.update_speed_limit(cp, cp_cam) * speed_factor

iqdbc_repo/iqdbc/lvbs/car/hyundai/enable_radar_tracks.py

@@ -0,0 +1,71 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+
+from iqdbc.car import uds
+from iqdbc.car.carlog import carlog
+from iqdbc.car.isotp_parallel_query import IsoTpParallelQuery
+
+DEVELOPER_DIAGNOSTIC = 0x07
+CUSTOM_DIAGNOSTIC_REQUEST = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, DEVELOPER_DIAGNOSTIC])
+CUSTOM_DIAGNOSTIC_RESPONSE = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40, DEVELOPER_DIAGNOSTIC])
+
+READ_DATA_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER])
+READ_DATA_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40])
+
+WRITE_DATA_REQUEST = bytes([uds.SERVICE_TYPE.WRITE_DATA_BY_IDENTIFIER])
+WRITE_DATA_RESPONSE = bytes([uds.SERVICE_TYPE.WRITE_DATA_BY_IDENTIFIER + 0x40])
+
+CONFIG_DATA_ID = bytes([0x01, 0x42])
+DEFAULT_CONFIG = bytes([0x00, 0x00, 0x00, 0x01, 0x00, 0x00])
+TRACKS_ENABLED_CONFIG = bytes([0x00, 0x00, 0x00, 0x01, 0x00, 0x01])
+TRACKS_ENABLED_CONFIG_BYTES = b"\x00\x00\x01\x00\x01"
+
+
+def enable_radar_tracks(logcan, sendcan, bus=0, addr=0x7d0, timeout=0.1, retry=2):
+  carlog.error("radar_tracks: enabling ...")
+
+  for i in range(retry):
+    try:
+      query = IsoTpParallelQuery(sendcan, logcan, bus, [addr], [CUSTOM_DIAGNOSTIC_REQUEST], [CUSTOM_DIAGNOSTIC_RESPONSE])
+
+      for _, _ in query.get_data(timeout).items():
+        carlog.error("radar_tracks: check current config ...")
+
+        request = READ_DATA_REQUEST + CONFIG_DATA_ID
+        query = IsoTpParallelQuery(sendcan, logcan, bus, [addr], [request], [READ_DATA_RESPONSE])
+
+        for _, data in query.get_data(timeout).items():
+          current_config = data[3:]
+
+          carlog.error(f"radar_tracks: current config: {current_config.hex()}")
+
+          if current_config == TRACKS_ENABLED_CONFIG_BYTES:
+            carlog.error("radar_tracks: already enabled, skipping ...")
+          else:
+            carlog.error("radar_tracks: reconfigure radar to output radar points ...")
+            request = WRITE_DATA_REQUEST + CONFIG_DATA_ID + TRACKS_ENABLED_CONFIG
+            query = IsoTpParallelQuery(sendcan, logcan, bus, [addr], [request], [WRITE_DATA_RESPONSE])
+            query.get_data(0)
+
+            carlog.error("radar_tracks: successfully enabled")
+
+          return True
+
+    except Exception as e:
+      carlog.exception(f"radar_tracks exception: {e}")
+
+    carlog.error(f"radar_tracks retry ({i + 1}) ...")
+  carlog.error("radar_tracks: failed")
+  return False
+
+
+if __name__ == "__main__":
+  import time
+  import cereal.messaging as messaging
+  sendcan = messaging.pub_sock('sendcan')
+  logcan = messaging.sub_sock('can')
+  time.sleep(1)
+
+  enabled = enable_radar_tracks(logcan, sendcan, bus=0, addr=0x7d0, timeout=0.1)
+  print(f"enabled: {enabled}")

iqdbc_repo/iqdbc/lvbs/car/hyundai/escc.py

@@ -0,0 +1,68 @@
+from iqdbc.car import structs
+
+from iqdbc.lvbs.car.hyundai.values import HyundaiFlagsIQ
+
+ESCC_MSG = 0x2AB
+
+
+class EnhancedSmartCruiseControl:
+  def __init__(self, CP: structs.CarParams, CP_IQ: structs.IQCarParams):
+    self.CP = CP
+    self.CP_IQ = CP_IQ
+
+  @property
+  def enabled(self):
+    return self.CP_IQ.flags & HyundaiFlagsIQ.ENHANCED_SCC
+
+  @property
+  def trigger_msg(self):
+    return ESCC_MSG
+
+  def update_car_state(self, car_state):
+    """
+      This method is invoked by the CarController to update the car state on the ESCC object.
+      The updated state is then used to update SCC12 with the current car state values received through ESCC.
+      :param car_state:
+      :return:
+    """
+    self.car_state = car_state
+
+  def update_scc12(self, values):
+    """
+      Update SCC12 with the current car state values received through ESCC.
+      These values are sourced directly from the car's SCC radar and provide a more reliable source for AEB and FCA alerts.
+      :param values: SCC12 to be sent in dictionary form before being packed
+      :return: Nothing. SCC12 is updated in place.
+    """
+    values["AEB_CmdAct"] = self.car_state.escc_cmd_act
+    values["CF_VSM_Warn"] = self.car_state.escc_aeb_warning
+    values["CF_VSM_DecCmdAct"] = self.car_state.escc_aeb_dec_cmd_act
+    values["CR_VSM_DecCmd"] = self.car_state.escc_aeb_dec_cmd
+    # TODO-IQ: we should read it from the car's settings and use that value.
+    #  It may not be ideal to set this here directly.
+    #  Observed flickering on the dashboard settings switching between "deactivated" and "active assistance" when sending AEB_Status = 1.
+    #  These values could differ from the user's configuration from the car's settings.
+    #  This indicates that SCC12 likely displays it on the dashboard, and another FCA message may also cause it to appear.
+    values["AEB_Status"] = 2  # AEB enabled
+
+
+class EsccCarStateBase:
+  def __init__(self):
+    self.escc_aeb_warning = 0
+    self.escc_aeb_dec_cmd_act = 0
+    self.escc_cmd_act = 0
+    self.escc_aeb_dec_cmd = 0
+
+
+class EsccCarController:
+  def __init__(self, CP: structs.CarParams, CP_IQ: structs.IQCarParams):
+    self.ESCC = EnhancedSmartCruiseControl(CP, CP_IQ)
+
+  def update(self, car_state):
+    self.ESCC.update_car_state(car_state)
+
+
+class EsccRadarInterfaceBase:
+  def __init__(self, CP: structs.CarParams, CP_IQ: structs.IQCarParams):
+    self.ESCC = EnhancedSmartCruiseControl(CP, CP_IQ)
+    self.use_escc = False

iqdbc_repo/iqdbc/lvbs/car/hyundai/fingerprints_ext.py

@@ -0,0 +1,126 @@
+from iqdbc.car.structs import CarParams
+from iqdbc.car.hyundai.values import CAR
+
+Ecu = CarParams.Ecu
+
+
+FW_VERSIONS_EXT = {
+  CAR.KIA_CEED_PHEV_2022_NON_SCC: {
+    (Ecu.eps, 0x7D4, None): [
+      b'\xf1\x00CD  MDPS C 1.00 1.01 56310-XX000 4CPHC101',
+    ],
+    (Ecu.fwdCamera, 0x7C4, None): [
+      b'\xf1\x00CDH LKAS AT EUR LHD 1.00 1.01 99211-CR700 931',
+    ],
+  },
+  # TODO-IQ: HYUNDAI_KONA_EV_NON_SCC has the same FW versions as HYUNDAI_KONA_EV, in the future we may
+  #          allow similar FW versions across different platforms
+  # CAR.HYUNDAI_KONA_EV_NON_SCC: {
+  #   (Ecu.abs, 0x7d1, None): [
+  #     b'\xf1\x00OS IEB \x02 212 \x11\x13 58520-K4000',
+  #   ],
+  #   (Ecu.eps, 0x7d4, None): [
+  #     b'\xf1\x00OS  MDPS C 1.00 1.04 56310K4000\x00 4OEDC104',
+  #   ],
+  #   (Ecu.fwdCamera, 0x7c4, None): [
+  #     b'\xf1\x00OSE LKAS AT USA LHD 1.00 1.00 95740-K4100 W40',
+  #   ],
+  # },
+  CAR.GENESIS_G70_2021_NON_SCC: {
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00IK  MDPS R 1.00 1.08 57700-G9200 4I2CL108',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00IK__ SCC --CUP      1.00 1.02 96400-G9100         ',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00IK  MFC  MT USA LHD 1.00 1.01 95740-G9000 170920',
+    ],
+  },
+  CAR.HYUNDAI_KONA_NON_SCC: {
+    # (Ecu.abs, 0x7d1, None): [
+    #   b'\xf1\x816V5RAJ00040.ELF\xf1\x00\x00\x00\x00\x00\x00\x00',
+    # ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00OS  MDPS C 1.00 1.05 56310J9030\x00 4OSDC105',
+      b'\xf1\x00OS  MDPS C 1.00 1.04 56310J9030\x00 4OSDC104',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00OS9 LKAS AT USA LHD 1.00 1.00 95740-J9200 g30',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x006T6J0_C2\x00\x006T6K1051\x00\x00TOS4N20NS2\x00\x00\x00\x00',
+    ],
+  },
+  CAR.KIA_FORTE_2019_NON_SCC: {
+    (Ecu.eps, 0x7D4, None): [
+      b'\xf1\x00BD  MDPS C 1.00 1.04 56310/M6000 4BDDC104',
+      b'\xf1\x00BD  MDPS C 1.00 1.05 56310/M6000 4BDDC105',
+    ],
+    (Ecu.fwdCamera, 0x7C4, None): [
+      b'\xf1\x00BD  LKAS AT USA LHD 1.00 1.02 95740-M6000 J31',
+    ],
+    # (Ecu.abs, 0x7d1, None): [
+    #   b'\xf1\x816VFRAF00018.ELF\xf1\x00\x00\x00\x00\x00\x00\x00',
+    # ],
+    # (Ecu.transmission, 0x7e1, None): [
+    #   b'\xf1\x87CXJQAM4966515JB0x\xa9\x98\x9b\x99fff\x98feg\x88\x88w\x88Ff\x8f\xff{\xff\xff\xff\xa8\xf6\xf1\x816V2C1051\x00\x00\xf1\x006V2B0_C2\x00\x006V2C1051\x00\x00CBD0N20NS8q\xc1&\xd2',  # noqa: E501
+    # ],
+  },
+  CAR.KIA_FORTE_2021_NON_SCC: {
+    (Ecu.eps, 0x7D4, None): [
+      b'\xf1\x00BD  MDPS C 1.00 1.08 56310M6000\x00 4BDDC108',
+    ],
+    (Ecu.fwdCamera, 0x7C4, None): [
+      b'\xf1\x00BD  LKAS AT USA LHD 1.00 1.04 95740-M6000 J33',
+    ],
+    # (Ecu.abs, 0x7d1, None): [
+    #   b'\xf1\x816VFRAL00010.ELF\xf1\x00\x00\x00\x00\x00\x00\x00',
+    # ],
+    # (Ecu.transmission, 0x7e1, None): [
+    #   b'\xf1\x87CXLQAM0906975JB0\x89\x88\xa6\x8aVfug\xba\x87\x94yffuxgfo\xff\x8b\xff\xff\xff\x91\x82\xf1\x816V2C1051\x00\x00\xf1\x006V2B0_C2\x00\x006V2C1051\x00\x00CBD0N20NS8q\xc1&\xd2',  # noqa: E501
+    # ],
+  },
+  CAR.KIA_SELTOS_2023_NON_SCC: {
+    (Ecu.abs, 0x7d1, None): [
+      b'\xf1\x00SP ESC \t 101"\t\x01 58910-Q5510',
+      b'\xf1\x00SP ESC \r 100"\x04\x01 58910-Q5510',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00SP2 MDPS C 1.00 1.04 56310Q5240  4SPSC104',
+      b'\xf1\x00SP2 MDPS C 1.00 1.01 56300Q5920          ',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00SP2 MFC  AT USA LHD 1.00 1.03 99210-Q5500 230208',
+      b'\xf1\x00SP2 MFC  AT AUS RHD 1.00 1.02 99210-Q5500 220624',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x006V2B0_C2\x00\x006V2D5051\x00\x00CSP2N20NL0\x00\x00\x00\x00',
+      b'\xf1\x006V2B0_C2\x00\x006V2D4051\x00\x00CSP2N20KL1\x00\x00\x00\x00',
+    ],
+  },
+  CAR.HYUNDAI_ELANTRA_2022_NON_SCC: {
+    (Ecu.eps, 0x7d4, None): [
+      # b'\xf1\x8756310AA030\x00\xf1\x00CN7 MDPS C 1.00 1.06 56310AA030\x00 4CNDC106',
+      b'\xf1\x00CN7 MDPS R 1.00 1.04 57700-IB000 4CNNP104',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.01 99210-AB000 210205',
+      b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.00 99210-IB000 210531',
+    ],
+    (Ecu.abs, 0x7d1, None): [
+      # b'\xf1\x8758910-AB500\xf1\x00CN ESC \t 100 \x06\x01 58910-AB500',
+      b'\xf1\x00CN ESC \t 100!\x05\x01 58910-IB000',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      # b'\xf1\x87CXNQEM4091445JB3g\x98\x98\x89\x99\x87gv\x89wuwgwv\x89hD_\xffx\xff\xff\xff\x86\xeb\xf1\x89HT6VA640A1\xf1\x82CCN0N20NS5\x00\x00\x00\x00\x00\x00',  # noqa: E501
+      b'\xf1\x00T02601BL  T02900A1  WCN7T20XXX900NS4\xf7\xccz\xf6',
+    ],
+  },
+  CAR.HYUNDAI_BAYON_1ST_GEN_NON_SCC: {
+    # TODO: Check working route for more FW
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00BC3 LKA  AT EUR LHD 1.00 1.01 99211-Q0100 261'
+    ],
+  },
+}

iqdbc_repo/iqdbc/lvbs/car/hyundai/lead_data_ext.py

@@ -0,0 +1,114 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+from abc import ABC, abstractmethod
+from iqdbc.car import structs
+from iqdbc.car.hyundai.values import HyundaiFlags
+
+
+class LeadData(ABC):
+  def __init__(self, object_gap: int, lead_distance: float, lead_rel_speed: float, lead_visible: bool):
+    self.object_gap = object_gap
+    self.lead_distance = lead_distance
+    self.lead_rel_speed = lead_rel_speed
+    self.lead_visible = lead_visible
+
+  @property
+  @abstractmethod
+  def object_rel_gap(self) -> int:
+    raise NotImplementedError("Subclasses must implement this method")
+
+
+class CanLeadData(LeadData):
+  @property
+  def object_rel_gap(self) -> int:
+    return 0 if self.lead_distance == 0 else 2 if self.lead_rel_speed < -0.2 else 1
+
+
+class CanFdLeadData(LeadData):
+  @property
+  def object_rel_gap(self) -> int:
+    return 0 if not self.lead_visible else 2 if self.lead_rel_speed < 0 else 1
+
+
+def _hysteresis_update(current, new_value, counter, threshold):
+  """
+  Updates a value based on a hysteresis threshold mechanism. This function
+  compares a new value against the current value and uses a counter to detect
+  when a transition should occur, avoiding rapid oscillations between states.
+  A new value will only be adopted if it differs from the current value and
+  the counter reaches the specified threshold.
+
+  :param current: The current value being tracked.
+  :param new_value: The potential new value to compare against the current.
+  :param counter: The count of consecutive different values encountered.
+  :param threshold: The minimum count required before switching to the new value.
+  :return: A tuple containing:
+           - The updated current value, which is either the original current
+             value or the new value if the hysteresis condition was met.
+           - The updated counter, reset to 0 if the new value was adopted,
+             or incremented by 1 otherwise.
+  """
+  if new_value == current:
+    return current, 0
+  counter += 1
+  return (new_value, 0) if counter >= threshold else (current, counter)
+
+
+class LeadDataCarController:
+  # Hysteresis parameters
+  LEAD_HYSTERESIS_FRAMES: int = 50
+
+  def __init__(self, CP: structs.CarParams):
+    self.CP = CP
+
+    self.lead_one = {}
+    self.lead_two = {}
+
+    self._lead_on_counter = 0
+    self._lead_off_counter = 0
+    self.lead_visible = False
+    self.gap_counter = 0
+    self.object_gap = 0
+    self.lead_distance = 0
+    self.lead_rel_speed = 0
+
+  def _update_object_gap(self, lead_distance: float | None):
+    new_gap = 5  # Default gap value if no lead distance is provided
+    if lead_distance is None or lead_distance == 0:
+      new_gap = 0
+    elif lead_distance < 20:
+      new_gap = 2
+    elif lead_distance < 25:
+      new_gap = 3
+    elif lead_distance < 30:
+      new_gap = 4
+
+    self.object_gap, self.gap_counter = _hysteresis_update(self.object_gap, new_gap, self.gap_counter, self.LEAD_HYSTERESIS_FRAMES)
+
+  def _update_lead_visible_hysteresis(self, raw_lead_visible: bool):
+    counter = self._lead_on_counter if raw_lead_visible else self._lead_off_counter
+    self.lead_visible, counter = _hysteresis_update(self.lead_visible, raw_lead_visible, counter, self.LEAD_HYSTERESIS_FRAMES)
+
+    if raw_lead_visible:
+      self._lead_on_counter = counter
+      self._lead_off_counter = 0  # reset opposite counter
+    else:
+      self._lead_off_counter = counter
+      self._lead_on_counter = 0  # reset opposite counter
+
+  def update(self, CC_IQ: structs.IQCarControl) -> None:
+    self.lead_one = CC_IQ.leadOne
+    self.lead_two = CC_IQ.leadTwo
+
+    self.lead_distance = self.lead_one.dRel
+    self.lead_rel_speed = self.lead_one.vRel
+    self._update_lead_visible_hysteresis(self.lead_one.status)
+    self._update_object_gap(self.lead_distance)
+
+  @property
+  def lead_data(self) -> CanLeadData | CanFdLeadData:
+    if self.CP.flags & HyundaiFlags.CANFD:
+      return CanFdLeadData(self.object_gap, self.lead_distance, self.lead_rel_speed, self.lead_visible)
+
+    return CanLeadData(self.object_gap, self.lead_distance, self.lead_rel_speed, self.lead_visible)

iqdbc_repo/iqdbc/lvbs/car/hyundai/longitudinal/__init__.py

@@ -0,0 +1,3 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""

iqdbc_repo/iqdbc/lvbs/car/hyundai/longitudinal/config.py

@@ -0,0 +1,65 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+
+from dataclasses import dataclass, field
+
+from iqdbc.car.hyundai.values import CAR
+
+
+@dataclass
+class CarTuningConfig:
+  v_ego_stopping: float = 0.25
+  v_ego_starting: float = 0.10
+  stopping_decel_rate: float = 0.40
+  lookahead_jerk_bp: list[float] = field(default_factory=lambda: [5., 20.])
+  lookahead_jerk_upper_v: list[float] = field(default_factory=lambda: [0.25, 0.5])
+  lookahead_jerk_lower_v: list[float] = field(default_factory=lambda: [0.15, 0.3])
+  longitudinal_actuator_delay: float = 0.45
+  jerk_limits: float = 4.0
+
+
+# Default configurations for different car types
+TUNING_CONFIGS = {
+  "CANFD": CarTuningConfig(
+    v_ego_stopping=0.365,
+    lookahead_jerk_bp=[2., 5., 20.],
+    lookahead_jerk_upper_v=[0.25, 0.5, 1.0],
+    lookahead_jerk_lower_v=[0.05, 0.10, 0.325],
+  ),
+  "EV": CarTuningConfig(
+    stopping_decel_rate=0.45,
+    v_ego_stopping=0.35,
+    lookahead_jerk_upper_v=[0.3, 0.7],
+    lookahead_jerk_lower_v=[0.2, 0.4],
+  ),
+  "HYBRID": CarTuningConfig(
+    v_ego_starting=0.15,
+    stopping_decel_rate=0.45,
+    v_ego_stopping=0.4,
+  ),
+  "DEFAULT": CarTuningConfig(
+    lookahead_jerk_bp=[2., 5., 20.],
+    lookahead_jerk_upper_v=[0.25, 0.5, 1.0],
+    lookahead_jerk_lower_v=[0.05, 0.10, 0.3],
+  )
+}
+
+# Car-specific configs
+CAR_SPECIFIC_CONFIGS = {
+  CAR.KIA_NIRO_EV: CarTuningConfig(
+    stopping_decel_rate=0.3,
+    lookahead_jerk_upper_v=[0.3, 1.0],
+    lookahead_jerk_lower_v=[0.2, 0.4],
+    jerk_limits=2.5,
+  ),
+  CAR.KIA_NIRO_PHEV_2022: CarTuningConfig(
+    stopping_decel_rate=0.3,
+    lookahead_jerk_upper_v=[0.3, 1.0],
+    lookahead_jerk_lower_v=[0.15, 0.3],
+    jerk_limits=4.0,
+  ),
+  CAR.HYUNDAI_IONIQ: CarTuningConfig(
+    jerk_limits=4.5,
+  )
+}

iqdbc_repo/iqdbc/lvbs/car/hyundai/longitudinal/controller.py

@@ -0,0 +1,292 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+
+import numpy as np
+from dataclasses import dataclass
+
+from iqdbc.car import structs, DT_CTRL
+from iqdbc.car.interfaces import CarStateBase
+from iqdbc.car.hyundai.values import CarControllerParams
+from iqdbc.lvbs.car.hyundai.longitudinal.helpers import get_car_config, jerk_limited_integrator, ramp_update
+from iqdbc.lvbs.car.hyundai.values import HyundaiFlagsIQ
+
+LongCtrlState = structs.CarControl.Actuators.LongControlState
+
+MIN_JERK = 0.5
+COMFORT_BAND_VAL = 0.01
+
+DYNAMIC_LOWER_JERK_BP = [-2.0, -1.5, -1.0, -0.25, -0.1, -0.025, -0.01, -0.005]
+DYNAMIC_LOWER_JERK_V  = [3.3,  2.5,  2.0,   1.9,  1.8,   1.65,  1.15,    0.5]
+
+
+@dataclass
+class LongitudinalState:
+  desired_accel: float = 0.0
+  actual_accel: float = 0.0
+  accel_last: float = 0.0
+  jerk_upper: float = 0.0
+  jerk_lower: float = 0.0
+  comfort_band_upper: float = 0.0
+  comfort_band_lower: float = 0.0
+  stopping: bool = False
+
+
+class LongitudinalController:
+  """Longitudinal controller which gets injected into CarControllerParams."""
+
+  def __init__(self, CP: structs.CarParams, CP_IQ: structs.IQCarParams) -> None:
+    self.CP = CP
+    self.CP_IQ = CP_IQ
+
+    self.tuning = LongitudinalState()
+    self.car_config = get_car_config(CP)
+    self.long_control_state_last = LongCtrlState.off
+    self.stopping_count = 0
+
+    self.accel_cmd = 0.0
+    self.desired_accel = 0.0
+    self.actual_accel = 0.0
+    self.accel_last = 0.0
+    self.jerk_upper = 0.0
+    self.jerk_lower = 0.0
+    self.comfort_band_upper = 0.0
+    self.comfort_band_lower = 0.0
+    self.stopping = False
+
+  @property
+  def enabled(self) -> bool:
+    return bool(self.CP_IQ.flags & (HyundaiFlagsIQ.LONG_TUNING_DYNAMIC | HyundaiFlagsIQ.LONG_TUNING_PREDICTIVE))
+
+  def get_stopping_state(self, actuators: structs.CarControl.Actuators) -> None:
+    stopping = actuators.longControlState == LongCtrlState.stopping
+
+    # If custom tuning is not enabled, use upstream stopping logic
+    if not self.enabled:
+      self.stopping = stopping
+      self.stopping_count = 0
+      return
+
+    # Reset stopping state when not in stopping mode
+    if not stopping:
+      self.stopping = False
+      self.stopping_count = 0
+      return
+
+    # When transitioning from off state to stopping
+    if self.long_control_state_last == LongCtrlState.off:
+      self.stopping = True
+      return
+
+    # Keep track of time in stopping state (in control cycles)
+    if self.stopping_count > 1 / (DT_CTRL * 2):
+      self.stopping = True
+
+    self.stopping_count += 1
+
+  @staticmethod
+  def _calculate_speed_based_jerk_limits(velocity: float, long_control_state: LongCtrlState) -> tuple[float, float]:
+    """Calculate jerk limits based on vehicle speed according to ISO 15622:2018.
+
+    Args:
+        velocity: Current vehicle speed (m/s)
+        long_control_state: Current longitudinal control state
+
+    Returns:
+        Tuple of (upper_limit, lower_limit) in m/s³
+    """
+
+    # Upper jerk limit varies based on speed and control state
+    if long_control_state == LongCtrlState.pid:
+      upper_limit = float(np.interp(velocity, [0.0, 5.0, 20.0], [2.0, 3.0, 1.6]))
+    else:
+      upper_limit = 0.5  # Default for non-PID states
+
+    # Lower jerk limit varies based on speed
+    lower_limit = float(np.interp(velocity, [0.0, 5.0, 20.0], [5.0, 4.0, 2.5]))
+
+    return upper_limit, lower_limit
+
+  def _calculate_lookahead_jerk(self, accel_error: float, velocity: float) -> tuple[float, float]:
+    """Calculate lookahead jerk needed to reach target acceleration.
+
+    Args:
+        accel_error: Difference between target and current acceleration (m/s²)
+        velocity: Current vehicle speed (m/s)
+
+    Returns:
+        Tuple of (upper_jerk, lower_jerk) in m/s³
+    """
+
+    # Time window to reach target acceleration, varies with speed
+    future_t_upper = float(np.interp(velocity, self.car_config.lookahead_jerk_bp, self.car_config.lookahead_jerk_upper_v))
+    future_t_lower = float(np.interp(velocity, self.car_config.lookahead_jerk_bp, self.car_config.lookahead_jerk_lower_v))
+
+    # Required jerk to reach target acceleration in lookahead window
+    j_ego_upper = accel_error / future_t_upper
+    j_ego_lower = accel_error / future_t_lower
+
+    return j_ego_upper, j_ego_lower
+
+  def _calculate_dynamic_lower_jerk(self, accel_error: float, velocity: float) -> float:
+    """Calculate dynamic jerk for braking based on acceleration error.
+
+    Used for the dynamic tuning approach (non-predictive).
+
+    Args:
+        accel_error: Difference between actual and previous acceleration (m/s²)
+        velocity: Current vehicle speed (m/s)
+
+    Returns:
+        Dynamic lower jerk limit (m/s³)
+    """
+
+    if self.CP.radarUnavailable:
+      return 5.0
+
+    if accel_error < 0:
+      # Scale the brake jerk values based on car config
+      lower_max = self.car_config.jerk_limits
+      original_values = np.array(DYNAMIC_LOWER_JERK_V)
+      scaled_values = original_values * (lower_max / original_values[0])
+
+      # Interpolate based on acceleration error
+      dynamic_lower_jerk = float(np.interp(accel_error, DYNAMIC_LOWER_JERK_BP, scaled_values))
+    else:
+      dynamic_lower_jerk = 0.5
+
+    return dynamic_lower_jerk
+
+  def calculate_jerk(self, CC: structs.CarControl, CS: CarStateBase, long_control_state: LongCtrlState) -> None:
+    """Calculate appropriate jerk limits for smooth acceleration/deceleration.
+
+    Args:
+        CC: Car control signals
+        CS: Car state
+        long_control_state: Current longitudinal control state
+    """
+
+    # If custom tuning is disabled, use upstream fixed values
+    if not self.enabled:
+      jerk_limit = 3.0 if long_control_state == LongCtrlState.pid else 1.0
+      self.jerk_upper = jerk_limit
+      self.jerk_lower = 5.0
+      return
+
+    velocity = CS.out.vEgo
+    accel_error = self.accel_cmd - self.accel_last
+
+    # Calculate jerk limits based on speed
+    upper_speed_factor, lower_speed_factor = self._calculate_speed_based_jerk_limits(velocity, long_control_state)
+
+    # Calculate lookahead jerk
+    j_ego_upper, j_ego_lower = self._calculate_lookahead_jerk(accel_error, velocity)
+
+    # Calculate lower jerk limit
+    lower_jerk = max(-j_ego_lower, MIN_JERK)
+    if self.CP.radarUnavailable:
+      lower_jerk = 5.0
+
+    # Final jerk limits with thresholds
+    desired_jerk_upper = min(max(j_ego_upper, MIN_JERK), upper_speed_factor)
+    desired_jerk_lower = min(lower_jerk, lower_speed_factor)
+
+    # Calculate dynamic lower jerk for non-predictive tuning
+    a_ego_blended = float(np.interp(velocity, [1.0, 2.0], [CS.aBasis, CS.out.aEgo]))
+    dynamic_accel_error = a_ego_blended - self.accel_last
+    dynamic_lower_jerk = self._calculate_dynamic_lower_jerk(dynamic_accel_error, velocity)
+    dynamic_desired_lower_jerk = min(dynamic_lower_jerk, lower_speed_factor)
+
+    # Apply jerk limits based on tuning approach
+    self.jerk_upper = ramp_update(self.jerk_upper, desired_jerk_upper)
+
+    # Predictive tuning uses calculated desired jerk directly
+    # Dynamic tuning applies a ramped approach for smoother transitions
+    if self.CP_IQ.flags & HyundaiFlagsIQ.LONG_TUNING_PREDICTIVE:
+      self.jerk_lower = desired_jerk_lower
+    else:
+      self.jerk_lower = ramp_update(self.jerk_lower, dynamic_desired_lower_jerk)
+
+    # Disable jerk when longitudinal control is inactive
+    if not CC.longActive:
+      self.jerk_upper = 0.0
+      self.jerk_lower = 0.0
+
+  def calculate_accel(self, CC: structs.CarControl) -> None:
+    """Calculate commanded acceleration using jerk-limited approach.
+
+    Args:
+        CC: Car control signals
+    """
+
+    # Skip custom processing if tuning is disabled or radar unavailable
+    if not self.enabled or self.CP.radarUnavailable:
+      self.desired_accel = self.accel_cmd
+      self.actual_accel = self.accel_cmd
+      return
+
+    # Reset acceleration when control is inactive
+    if not CC.longActive:
+      self.desired_accel = 0.0
+      self.actual_accel = 0.0
+      self.accel_last = 0.0
+      return
+
+    # Force zero acceleration during stopping
+    if self.stopping:
+      self.desired_accel = 0.0
+    else:
+      self.desired_accel = float(np.clip(self.accel_cmd, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX))
+
+    # Apply jerk-limited integration to get smooth acceleration
+    self.actual_accel = jerk_limited_integrator(self.desired_accel, self.accel_last, self.jerk_upper, self.jerk_lower)
+
+    self.accel_last = self.actual_accel
+
+  def calculate_comfort_band(self, CC: structs.CarControl) -> None:
+    if not self.enabled or self.CP.radarUnavailable or not CC.longActive:
+      self.comfort_band_upper = 0.0
+      self.comfort_band_lower = 0.0
+      return
+
+    self.comfort_band_upper = COMFORT_BAND_VAL
+    self.comfort_band_lower = COMFORT_BAND_VAL
+
+  def get_tuning_state(self) -> None:
+    """Update the tuning state object with current control values.
+
+    External components depend on this state for longitudinal control.
+    """
+
+    self.tuning = LongitudinalState(
+      desired_accel=self.desired_accel,
+      actual_accel=self.actual_accel,
+      accel_last=self.accel_last,
+      jerk_upper=self.jerk_upper,
+      jerk_lower=self.jerk_lower,
+      comfort_band_upper=self.comfort_band_upper,
+      comfort_band_lower=self.comfort_band_lower,
+      stopping=self.stopping,
+    )
+
+  def update(self, CC: structs.CarControl, CS: CarStateBase) -> None:
+    """Update longitudinal control calculations.
+
+    This is the main entry point called externally.
+
+    Args:
+        CC: Car control signals including actuators
+        CS: Car state information
+    """
+
+    actuators = CC.actuators
+    long_control_state = actuators.longControlState
+    self.accel_cmd = CC.actuators.accel
+
+    self.get_stopping_state(actuators)
+    self.calculate_jerk(CC, CS, long_control_state)
+    self.calculate_accel(CC)
+    self.calculate_comfort_band(CC)
+    self.get_tuning_state()
+
+    self.long_control_state_last = long_control_state

iqdbc_repo/iqdbc/lvbs/car/hyundai/longitudinal/helpers.py

@@ -0,0 +1,60 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+
+import numpy as np
+
+from iqdbc.car import structs, DT_CTRL, rate_limit
+from iqdbc.car.hyundai.values import HyundaiFlags
+from iqdbc.lvbs.car.hyundai.longitudinal.config import CarTuningConfig, TUNING_CONFIGS, CAR_SPECIFIC_CONFIGS
+
+JERK_THRESHOLD = 0.1
+JERK_STEP = 0.1
+
+
+class LongitudinalTuningType:
+  OFF = 0
+  DYNAMIC = 1
+  PREDICTIVE = 2
+
+
+def get_car_config(CP: structs.CarParams) -> CarTuningConfig:
+  # Get car type flags from specific configs or determine from car flags
+  car_config = CAR_SPECIFIC_CONFIGS.get(CP.carFingerprint)
+  # If car is not in specific configs, determine from flags
+  if car_config is None:
+    if CP.flags & HyundaiFlags.CANFD:
+      car_config = TUNING_CONFIGS["CANFD"]
+    elif CP.flags & HyundaiFlags.EV:
+      car_config = TUNING_CONFIGS["EV"]
+    elif CP.flags & HyundaiFlags.HYBRID:
+      car_config = TUNING_CONFIGS["HYBRID"]
+    else:
+      car_config = TUNING_CONFIGS["DEFAULT"]
+
+  return car_config
+
+
+def get_longitudinal_tune(CP: structs.CarParams) -> None:
+  config = get_car_config(CP)
+  CP.vEgoStopping = config.v_ego_stopping
+  CP.vEgoStarting = config.v_ego_starting
+  CP.stoppingDecelRate = config.stopping_decel_rate
+  CP.startingState = False
+  CP.longitudinalActuatorDelay = config.longitudinal_actuator_delay
+
+
+def jerk_limited_integrator(desired_accel, last_accel, jerk_upper, jerk_lower) -> float:
+  if desired_accel >= last_accel:
+    val = jerk_upper * DT_CTRL * 2
+  else:
+    val = jerk_lower * DT_CTRL * 2
+
+  return rate_limit(desired_accel, last_accel, -val, val)
+
+
+def ramp_update(current, target):
+  error = target - current
+  if abs(error) > JERK_THRESHOLD:
+    return current + float(np.clip(error, -JERK_STEP, JERK_STEP))
+  return target

iqdbc_repo/iqdbc/lvbs/car/hyundai/radar_interface_ext.py

@@ -0,0 +1,85 @@
+from iqdbc.can.parser import CANParser
+from iqdbc.car import structs, Bus
+from iqdbc.car.hyundai.hyundaicanfd import CanBus
+from iqdbc.car.hyundai.values import DBC, HyundaiFlags
+
+from iqdbc.lvbs.car.hyundai.escc import EsccRadarInterfaceBase
+
+
+class RadarInterfaceExt(EsccRadarInterfaceBase):
+  msg_src: str
+  trigger_msg: int
+  rcp: CANParser
+  pts: dict[int, structs.RadarData.RadarPoint]
+
+  def __init__(self, CP: structs.CarParams, CP_IQ: structs.IQCarParams):
+    EsccRadarInterfaceBase.__init__(self, CP, CP_IQ)
+    self.CP = CP
+    self.CP_IQ = CP_IQ
+
+    self.track_id = 0
+
+  @property
+  def use_radar_interface_ext(self) -> bool:
+    return self.use_escc or self.CP.flags & (HyundaiFlags.CAMERA_SCC | HyundaiFlags.CANFD_CAMERA_SCC)
+
+  def get_msg_src(self) -> str | None:
+    if self.use_escc:
+      return "ESCC"
+    if self.CP.flags & (HyundaiFlags.CAMERA_SCC | HyundaiFlags.CANFD_CAMERA_SCC):
+      return "SCC_CONTROL" if self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC else "SCC11"
+
+  def get_radar_ext_can_parser(self) -> CANParser:
+    if self.ESCC.enabled:
+      lead_src, bus = "ESCC", 0
+    elif self.CP.flags & (HyundaiFlags.CAMERA_SCC | HyundaiFlags.CANFD_CAMERA_SCC):
+      lead_src = "SCC_CONTROL" if self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC else "SCC11"
+      bus = CanBus(self.CP).CAM if self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC else 2
+    else:
+      return None
+
+    messages = [(lead_src, 50)]
+    return CANParser(DBC[self.CP.carFingerprint][Bus.pt], messages, bus)
+
+  def get_trigger_msg(self, default_trigger_msg) -> int:
+    if self.ESCC.enabled:
+      return self.ESCC.trigger_msg
+    if self.CP.flags & (HyundaiFlags.CAMERA_SCC | HyundaiFlags.CANFD_CAMERA_SCC):
+      return 0x1A0 if self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC else 0x420
+    return default_trigger_msg
+
+  def initialize_radar_ext(self, default_trigger_msg) -> None:
+    if self.ESCC.enabled:
+      self.use_escc = True
+
+    self.rcp = self.get_radar_ext_can_parser()
+    self.trigger_msg = self.get_trigger_msg(default_trigger_msg)
+
+  def update_ext(self, ret: structs.RadarData) -> structs.RadarData:
+    if not self.rcp.can_valid:
+      ret.errors.canError = True
+      return ret
+
+    for ii in range(1):
+      msg_src = self.get_msg_src()
+      msg = self.rcp.vl[msg_src]
+
+      if ii not in self.pts:
+        self.pts[ii] = structs.RadarData.RadarPoint()
+        self.pts[ii].trackId = self.track_id
+        self.track_id += 1
+
+      valid = msg['ACC_ObjDist'] < 204.6 if self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC else msg['ACC_ObjStatus']
+      if valid:
+        self.pts[ii].measured = True
+        self.pts[ii].dRel = msg['ACC_ObjDist']
+        self.pts[ii].yRel = float('nan')  # FIXME-IQ: Only some cars have lateral position from SCC
+        self.pts[ii].vRel = msg['ACC_ObjRelSpd']
+        self.pts[ii].aRel = float('nan')  # TODO-IQ: calculate from ACC_ObjRelSpd and with timestep 50Hz (needs to modify in interfaces.py)
+        self.pts[ii].yvRel = float('nan')
+
+      else:
+        del self.pts[ii]
+
+    ret.points = list(self.pts.values())
+    return ret

iqdbc_repo/iqdbc/lvbs/car/hyundai/tests/__init__.py

@@ -0,0 +1,3 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""

iqdbc_repo/iqdbc/lvbs/car/hyundai/tests/test_escc_base.py

@@ -0,0 +1,61 @@
+import pytest
+from hypothesis import given, strategies as st, settings, HealthCheck
+from iqdbc.lvbs.car.hyundai.escc import EnhancedSmartCruiseControl, ESCC_MSG
+from iqdbc.car.hyundai.carstate import CarState
+from iqdbc.car import structs
+from iqdbc.lvbs.car.hyundai.values import HyundaiFlagsIQ
+
+
+@pytest.fixture
+def car_params():
+  params = structs.CarParams()
+  params.carFingerprint = "HYUNDAI_SONATA"
+  return params
+
+
+@pytest.fixture
+def car_params_iq():
+  params = structs.IQCarParams()
+  params.flags = HyundaiFlagsIQ.ENHANCED_SCC
+  return params
+
+
+@pytest.fixture
+def escc(car_params, car_params_iq):
+  return EnhancedSmartCruiseControl(car_params, car_params_iq)
+
+
+class TestEscc:
+  def test_escc_msg_id(self, escc):
+    assert escc.trigger_msg == ESCC_MSG
+
+  @settings(suppress_health_check=[HealthCheck.function_scoped_fixture])
+  @given(st.integers(min_value=0, max_value=255))
+  def test_enabled_flag(self, car_params, car_params_iq, value):
+    car_params_iq.flags = value
+    escc = EnhancedSmartCruiseControl(car_params, car_params_iq)
+    assert escc.enabled == (value & HyundaiFlagsIQ.ENHANCED_SCC)
+
+  def test_update_car_state(self, escc, car_params, car_params_iq):
+    car_state = CarState(car_params, car_params_iq)
+    car_state.escc_cmd_act = 1
+    car_state.escc_aeb_warning = 1
+    car_state.escc_aeb_dec_cmd_act = 1
+    car_state.escc_aeb_dec_cmd = 1
+    escc.update_car_state(car_state)
+    assert escc.car_state == car_state
+
+  def test_update_scc12(self, escc, car_params, car_params_iq):
+    car_state = CarState(car_params, car_params_iq)
+    car_state.escc_cmd_act = 1
+    car_state.escc_aeb_warning = 1
+    car_state.escc_aeb_dec_cmd_act = 1
+    car_state.escc_aeb_dec_cmd = 1
+    escc.update_car_state(car_state)
+    scc12_message = {}
+    escc.update_scc12(scc12_message)
+    assert scc12_message["AEB_CmdAct"] == 1
+    assert scc12_message["CF_VSM_Warn"] == 1
+    assert scc12_message["CF_VSM_DecCmdAct"] == 1
+    assert scc12_message["CR_VSM_DecCmd"] == 1
+    assert scc12_message["AEB_Status"] == 2

iqdbc_repo/iqdbc/lvbs/car/hyundai/tests/test_lead_data_car_controller.py

@@ -0,0 +1,77 @@
+from enum import IntFlag
+
+from iqdbc.lvbs.car.hyundai.lead_data_ext import LeadDataCarController, CanLeadData, CanFdLeadData
+from iqdbc.car import structs
+from iqdbc.car.hyundai.values import HyundaiFlags
+
+
+def make_carparams(flags: IntFlag = HyundaiFlags.LEGACY):
+  cp = structs.CarParams()
+  cp.carFingerprint = "HYUNDAI_SONATA"
+  cp.flags = flags.value
+  return cp
+
+
+def make_iq_carcontrol(leadDistance=10.0, leadRelSpeed=0.0, leadVisible=True):
+  c = structs.IQCarControl()
+  c.leadOne.dRel = leadDistance
+  c.leadOne.vRel = leadRelSpeed
+  c.leadOne.status = leadVisible
+  return c
+
+
+class TestLeadDataCarController:
+  def test_update_object_gap(self):
+    ctrl = LeadDataCarController(make_carparams())
+    # Initial value should be 0
+    assert ctrl.object_gap == 0
+
+    # Set to 15 (should become 2 after hysteresis)
+    for _ in range(ctrl.LEAD_HYSTERESIS_FRAMES):
+      ctrl._update_object_gap(15)
+    assert ctrl.object_gap == 2
+
+    # Set to 22 (should become 3 after hysteresis)
+    for _ in range(ctrl.LEAD_HYSTERESIS_FRAMES):
+      ctrl._update_object_gap(22)
+    assert ctrl.object_gap == 3
+
+    # Set to 0 (should become 0 after hysteresis)
+    for _ in range(ctrl.LEAD_HYSTERESIS_FRAMES):
+      ctrl._update_object_gap(0)
+    assert ctrl.object_gap == 0
+
+  def test_update_lead_visible_hysteresis(self):
+    ctrl = LeadDataCarController(make_carparams())
+    ctrl._update_lead_visible_hysteresis(True)
+    assert isinstance(ctrl.lead_visible, bool)
+    ctrl._update_lead_visible_hysteresis(False)
+    assert isinstance(ctrl.lead_visible, bool)
+
+  def test_update(self):
+    ctrl = LeadDataCarController(make_carparams())
+    iq_control = make_iq_carcontrol(leadDistance=25, leadRelSpeed=-0.5, leadVisible=True)
+    ctrl.update(iq_control)
+    assert ctrl.lead_distance == 25
+    assert ctrl.lead_rel_speed == -0.5
+    assert isinstance(ctrl.lead_visible, bool)
+
+  def test_lead_data_can(self):
+    ctrl = LeadDataCarController(make_carparams())
+    ctrl.object_gap = 1
+    ctrl.lead_distance = 10
+    ctrl.lead_rel_speed = -0.3
+    ctrl.lead_visible = True
+    ld = ctrl.lead_data
+    assert isinstance(ld, CanLeadData)
+    assert ld.object_rel_gap == 2
+
+  def test_lead_data_canfd(self):
+    ctrl = LeadDataCarController(make_carparams(HyundaiFlags.CANFD))
+    ctrl.object_gap = 1
+    ctrl.lead_distance = 10
+    ctrl.lead_rel_speed = 1.0
+    ctrl.lead_visible = True
+    ld = ctrl.lead_data
+    assert isinstance(ld, CanFdLeadData)
+    assert ld.object_rel_gap == 1

iqdbc_repo/iqdbc/lvbs/car/hyundai/tests/test_radar_interface_ext.py

@@ -0,0 +1,119 @@
+from parameterized import parameterized
+
+from iqdbc.car import CanData
+from iqdbc.car.car_helpers import interfaces
+from iqdbc.car.hyundai.values import CAR, HyundaiFlags
+from iqdbc.lvbs.car.hyundai.escc import ESCC_MSG
+
+ESCC_CARS = [
+  (CAR.HYUNDAI_ELANTRA_2021, ESCC_MSG),
+]
+
+CAMERA_SCC_CARS = [
+  (CAR.HYUNDAI_KONA_EV_2022, 0, 0x420, "SCC11"),
+  (CAR.HYUNDAI_IONIQ_5, HyundaiFlags.CANFD_CAMERA_SCC.value, 0x1A0, "SCC_CONTROL"),
+]
+
+STANDARD_RADAR_CARS = [
+  (CAR.HYUNDAI_ELANTRA_2021, 0),
+  (CAR.HYUNDAI_SANTA_FE, 0),
+]
+
+
+class TestRadarInterfaceExt:
+
+  @staticmethod
+  def _setup_platform(car_name, additional_flags=0, escc_msg=None):
+    """Set up the platform with specific parameters"""
+    CarInterface = interfaces[car_name]
+
+    CP = CarInterface.get_non_essential_params(car_name)
+    CP.flags |= additional_flags
+
+    CP_IQ = CarInterface.get_non_essential_params_iq(CP, car_name)
+
+    CI = CarInterface(CP, CP_IQ)
+
+    RD = CI.RadarInterface(CP, CP_IQ)
+
+    if escc_msg is not None and hasattr(RD, 'use_escc'):
+      try:
+        RD.use_escc = True
+      except AttributeError:
+        object.__setattr__(RD, 'use_escc', True)
+
+    return RD, CP, CP_IQ
+
+  @parameterized.expand(ESCC_CARS)
+  def test_escc_radar_interface(self, car_name, escc_msg):
+    """Test radar interface for ESCC-enabled cars"""
+    RD, CP, CP_IQ = self._setup_platform(car_name, escc_msg=escc_msg)
+
+    # Assert that ESCC features are present
+    if hasattr(RD, 'use_escc'):
+      assert RD.use_escc, "ESCC car should have use_escc=True"
+    if hasattr(RD, 'use_radar_interface_ext'):
+      assert RD.use_radar_interface_ext, "ESCC car should use radar interface ext"
+
+    # Run radar interface once
+    RD.update([])
+
+    # Test radar fault
+    if not CP.radarUnavailable and RD.rcp is not None:
+      cans = [(0, [CanData(0, b'', 0) for _ in range(5)])]
+      rr = RD.update(cans)
+      assert rr is None or len(rr.errors) > 0
+
+  @parameterized.expand(CAMERA_SCC_CARS)
+  def test_camera_scc_radar_interface(self, car_name, flags, expected_trigger, msg_src):
+    """Test radar interface for Camera SCC cars"""
+    RD, CP, CP_IQ = self._setup_platform(car_name, additional_flags=flags)
+
+    # Assert Camera SCC flag is set appropriately
+    if flags & HyundaiFlags.CAMERA_SCC:
+      assert CP.flags & HyundaiFlags.CAMERA_SCC, "Car should have CAMERA_SCC flag"
+    if flags & HyundaiFlags.CANFD_CAMERA_SCC:
+      assert CP.flags & HyundaiFlags.CANFD_CAMERA_SCC, "Car should have CANFD_CAMERA_SCC flag"
+
+    # Check if using radar interface ext
+    if hasattr(RD, 'use_radar_interface_ext'):
+      assert RD.use_radar_interface_ext, "Camera SCC car should use radar interface ext"
+
+    # Verify trigger message
+    if hasattr(RD, 'trigger_msg'):
+      assert RD.trigger_msg == expected_trigger, f"Expected trigger_msg {expected_trigger}, got {RD.trigger_msg}"
+
+    # Run radar interface once
+    RD.update([])
+
+    # Test radar fault
+    if not CP.radarUnavailable and RD.rcp is not None:
+      cans = [(0, [CanData(0, b'', 0) for _ in range(5)])]
+      rr = RD.update(cans)
+      assert rr is None or len(rr.errors) > 0
+
+  @parameterized.expand(STANDARD_RADAR_CARS)
+  def test_standard_radar_interface(self, car_name, flags):
+    """Test radar interface for standard radar cars"""
+    RD, CP, CP_IQ = self._setup_platform(car_name, additional_flags=flags)
+
+    # Standard cars should not use radar interface ext
+    if hasattr(RD, 'use_radar_interface_ext'):
+      assert not RD.use_radar_interface_ext, "Standard car should not use radar interface ext"
+
+    # Run radar interface once
+    RD.update([])
+
+    # For standard radar, test the _update method directly if available
+    if not CP.radarUnavailable and RD.rcp is not None and \
+          hasattr(RD, '_update') and hasattr(RD, 'trigger_msg'):
+      # Setup for _update test if needed
+      if hasattr(RD, 'updated_messages'):
+        RD.updated_messages = {RD.trigger_msg}
+      RD._update(RD.updated_messages)
+
+    # Test radar fault
+    if not CP.radarUnavailable and RD.rcp is not None:
+      cans = [(0, [CanData(0, b'', 0) for _ in range(5)])]
+      rr = RD.update(cans)
+      assert rr is None or len(rr.errors) > 0

iqdbc_repo/iqdbc/lvbs/car/hyundai/tests/test_tuning_controller.py

@@ -0,0 +1,146 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+
+import unittest
+import numpy as np
+from unittest.mock import Mock
+
+from iqdbc.lvbs.car.hyundai.longitudinal.controller import LongitudinalController, LongitudinalState
+from iqdbc.lvbs.car.hyundai.values import HyundaiFlagsIQ
+from iqdbc.car import DT_CTRL, structs
+from iqdbc.car.interfaces import CarStateBase
+from iqdbc.car.hyundai.values import HyundaiFlags
+
+LongCtrlState = structs.CarControl.Actuators.LongControlState
+
+
+class TestLongitudinalTuningController(unittest.TestCase):
+  def setUp(self):
+    self.mock_CP = Mock(carFingerprint="KIA_NIRO_EV", flags=0)
+    self.mock_CP.radarUnavailable = False            # ensure tuning branch
+    self.mock_CP_IQ = Mock(flags=0)
+    self.controller = LongitudinalController(self.mock_CP, self.mock_CP_IQ)
+
+  def test_init(self):
+    """Test controller initialization"""
+    self.assertIsInstance(self.controller.tuning, LongitudinalState)
+    self.assertEqual(self.controller.desired_accel, 0.0)
+    self.assertEqual(self.controller.actual_accel, 0.0)
+    self.assertEqual(self.controller.jerk_upper, 0.0)
+    self.assertEqual(self.controller.jerk_lower, 0.0)
+    self.assertEqual(self.controller.comfort_band_upper, 0.0)
+    self.assertEqual(self.controller.comfort_band_lower, 0.0)
+
+  def test_make_jerk_flag_off(self):
+    """Test when LONG_TUNING_DYNAMIC flag is off"""
+    mock_CC, mock_CS = Mock(spec=structs.CarControl), Mock(spec=CarStateBase)
+    mock_CS.out = Mock()
+    mock_CS.out.vEgo = 0.0
+    mock_CS.out.aEgo = 0.0
+    mock_CS.aBasis = 0.0
+
+    # Test with PID state
+    self.controller.calculate_jerk(mock_CC, mock_CS, LongCtrlState.pid)
+    print(f"[PID state] jerk_upper={self.controller.jerk_upper:.2f}, jerk_lower={self.controller.jerk_lower:.2f}")
+    self.assertEqual(self.controller.jerk_upper, 3.0)
+    self.assertEqual(self.controller.jerk_lower, 5.0)
+
+    # Test with non-PID state
+    self.controller.calculate_jerk(mock_CC, mock_CS, LongCtrlState.stopping)
+    print(f"[Non-PID state] jerk_upper={self.controller.jerk_upper:.2f}, jerk_lower={self.controller.jerk_lower:.2f}")
+    self.assertEqual(self.controller.jerk_upper, 1.0)
+    self.assertEqual(self.controller.jerk_lower, 5.0)
+
+  def test_make_jerk_flag_on(self):
+    """Only verify that limits update when flags are on."""
+    self.controller.CP_IQ.flags = HyundaiFlagsIQ.LONG_TUNING_DYNAMIC
+    self.controller.CP.flags = HyundaiFlags.CANFD
+    mock_CC = Mock()
+    mock_CC.actuators = Mock(accel=1.0)
+    mock_CC.longActive = True
+    self.controller.stopping = False
+    mock_CS = Mock()
+    mock_CS.out = Mock(aEgo=0.8, vEgo=3.0)
+    mock_CS.aBasis = 0.8
+
+    self.controller.calculate_jerk(mock_CC, mock_CS, LongCtrlState.pid)
+    print(f"[FlagOn] jerk_upper={self.controller.jerk_upper:.3f}, jerk_lower={self.controller.jerk_lower:.3f}")
+    self.assertGreater(self.controller.jerk_upper, 0.0)
+    self.assertGreater(self.controller.jerk_lower, 0.0)
+
+  def test_a_value_jerk_scaling(self):
+    """Test a_value jerk scaling under tuning branch."""
+    self.controller.CP_IQ.flags = HyundaiFlagsIQ.LONG_TUNING_DYNAMIC
+    self.controller.CP.radarUnavailable = False
+    mock_CC = Mock()
+    mock_CC.actuators = Mock(accel=1.0)
+    mock_CC.longActive = True
+    print("[a_value] starting accel_last:", self.controller.tuning.accel_last)
+    # first pass: limit to jerk_upper * DT_CTRL * 2 = 0.1
+    self.controller.jerk_upper = 0.1 / (DT_CTRL * 2)
+    self.controller.accel_cmd = 1.0  # ensure accel_cmd is set
+    self.controller.calculate_accel(mock_CC)
+    print(f"[a_value] pass1 actual_accel={self.controller.actual_accel:.5f}")
+    self.assertAlmostEqual(self.controller.actual_accel, 0.1, places=5)
+
+    # second pass: limit increment by new jerk_upper
+    mock_CC.actuators.accel = 0.7
+    self.controller.jerk_upper = 0.2 / (DT_CTRL * 2)
+    self.controller.accel_cmd = 0.7  # update accel_cmd
+    self.controller.calculate_accel(mock_CC)
+    print(f"[a_value] pass2 actual_accel={self.controller.actual_accel:.5f}")
+    self.assertAlmostEqual(self.controller.actual_accel, 0.3, places=5)
+
+  def test_make_jerk_realistic_profile(self):
+    """Test make_jerk with realistic velocity and acceleration profile"""
+    np.random.seed(42)
+    num_points = 30
+    segments = [
+      np.random.uniform(0.3, 0.8, num_points//4),
+      np.random.uniform(0.8, 1.6, num_points//4),
+      np.random.uniform(-0.2, 0.2, num_points//4),
+      np.random.uniform(-1.2, -0.5, num_points//8),
+      np.random.uniform(-2.2, -1.2, num_points//8)
+    ]
+    accels = np.concatenate(segments)[:num_points]
+    vels = np.zeros_like(accels)
+    vels[0] = 5.0
+    for i in range(1, len(accels)):
+      vels[i] = max(0.0, min(30.0, vels[i-1] + accels[i-1] * (DT_CTRL*2)))
+    mock_CC, mock_CS = Mock(), Mock()
+    mock_CC.actuators, mock_CS.out = Mock(), Mock()
+    mock_CC.longActive = True
+    self.controller.stopping = False
+
+    # Test with LONG_TUNING_DYNAMIC only
+    self.controller.CP_IQ.flags = HyundaiFlagsIQ.LONG_TUNING_DYNAMIC
+    for v, a in zip(vels, accels, strict=True):
+      mock_CS.out.vEgo = float(v)
+      mock_CS.out.aEgo = float(a)
+      mock_CS.aBasis = float(a)
+      mock_CC.actuators.accel = float(a)
+      self.controller.calculate_jerk(mock_CC, mock_CS, LongCtrlState.pid)
+      print(f"[realistic][LONG_TUNING_DYNAMIC] v={v:.2f}, a={a:.2f}, jerk_upper={self.controller.jerk_upper:.2f}, jerk_lower={self.controller.jerk_lower:.2f}")
+      self.assertGreater(self.controller.jerk_upper, 0.0)
+
+    # Reset controller before next test
+    self.controller.tuning = LongitudinalState()
+    self.controller.jerk_upper = 0.5
+    self.controller.jerk_lower = 0.5
+
+    # Test with LONG_TUNING_DYNAMIC and LONG_TUNING_PREDICTIVE
+    self.controller.CP_IQ.flags = HyundaiFlagsIQ.LONG_TUNING_DYNAMIC | HyundaiFlagsIQ.LONG_TUNING_PREDICTIVE
+    for v, a in zip(vels, accels, strict=True):
+      mock_CS.out.vEgo = float(v)
+      mock_CS.out.aEgo = float(a)
+      mock_CS.aBasis = float(a)
+      mock_CC.actuators.accel = float(a)
+      self.controller.calculate_jerk(mock_CC, mock_CS, LongCtrlState.pid)
+      print(f"[realistic][LONG_TUNING_PREDICTIVE] v={v:.2f}, a={a:.2f}, " +
+            f"jerk_upper={self.controller.jerk_upper:.2f}, jerk_lower={self.controller.jerk_lower:.2f}")
+      self.assertGreater(self.controller.jerk_upper, 0.0)
+
+
+if __name__ == "__main__":
+  unittest.main()

iqdbc_repo/iqdbc/lvbs/car/hyundai/values.py

@@ -0,0 +1,32 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+
+from enum import IntFlag
+
+
+class HyundaiSafetyFlagsIQ:
+  DEFAULT = 0
+  ESCC = 1
+  LONG_MAIN_CRUISE_TOGGLEABLE = 2
+  HAS_LDA_BUTTON = 4
+  NON_SCC = 8
+
+
+class HyundaiFlagsIQ(IntFlag):
+  """
+    Flags for Hyundai specific quirks within iqpilot.
+  """
+  ENHANCED_SCC = 1
+  HAS_LFA_BUTTON = 2  # Deprecated in favor of HyundaiFlags.HAS_LDA_BUTTON
+  LONGITUDINAL_MAIN_CRUISE_TOGGLEABLE = 2 ** 2
+  ENABLE_RADAR_TRACKS_DEPRECATED = 2 ** 3
+  LONG_TUNING_DYNAMIC = 2 ** 4
+  LONG_TUNING_PREDICTIVE = 2 ** 5
+  NON_SCC = 2 ** 6
+  NON_SCC_RADAR_FCA = 2 ** 7  # most with FCA come from the camera
+  NON_SCC_NO_FCA = 2 ** 8  # not all have FCA
+  SPEED_LIMIT_AVAILABLE = 2 ** 9  # platforms with speed limit data available
+  HAS_LKAS12 = 2 ** 10
+
+

iqdbc_repo/iqdbc/lvbs/car/interfaces.py

@@ -0,0 +1,143 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+import json
+import numpy as np
+from typing import NamedTuple
+from collections.abc import Callable
+
+from iqdbc.car import structs
+from iqdbc.car.can_definitions import CanRecvCallable, CanSendCallable
+from iqdbc.car.hyundai.values import HyundaiFlags
+from iqdbc.car.subaru.values import SubaruFlags
+from iqdbc.lvbs.car.hyundai.enable_radar_tracks import enable_radar_tracks as hyundai_enable_radar_tracks
+from iqdbc.lvbs.car.hyundai.longitudinal.helpers import LongitudinalTuningType
+from iqdbc.lvbs.car.hyundai.values import HyundaiFlagsIQ
+from iqdbc.lvbs.car.subaru.values_ext import SubaruFlagsIQ, SubaruSafetyFlagsIQ
+from iqdbc.lvbs.car.tesla.values import TeslaFlagsIQ
+from iqdbc.lvbs.car.toyota.values import ToyotaFlagsIQ
+
+
+class LatControlInputs(NamedTuple):
+  lateral_acceleration: float
+  roll_compensation: float
+  vego: float
+  aego: float
+
+
+TorqueFromLateralAccelCallbackTypeTorqueSpace = Callable[[LatControlInputs, structs.CarParams.LateralTorqueTuning, bool], float]
+
+
+class CarInterfaceBaseIQ:
+  @staticmethod
+  def torque_from_lateral_accel_linear_in_torque_space(latcontrol_inputs: LatControlInputs, torque_params: structs.CarParams.LateralTorqueTuning,
+                                                        gravity_adjusted: bool) -> 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)
+
+  def torque_from_lateral_accel_in_torque_space(self) -> TorqueFromLateralAccelCallbackTypeTorqueSpace:
+    return self.torque_from_lateral_accel_linear_in_torque_space
+
+
+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
+
+
+def apply_iq_car_config(CI, CP: structs.CarParams, CP_IQ: structs.IQCarParams,
+                     params_list: list[dict[str, str]] | None = None,
+                     can_recv: CanRecvCallable | None = None, can_send: CanSendCallable | None = None) -> None:
+  if params_list is None:
+    params_list = []
+
+  params_dict = {k: v for param in params_list for k, v in param.items()}
+
+  _initialize_custom_longitudinal_tuning(CI, CP, CP_IQ, params_dict)
+  _initialize_coop_steering(CP, CP_IQ, params_dict)
+  _initialize_radar_tracks(CP, CP_IQ, can_recv, can_send)
+  _initialize_stop_and_go(CP, CP_IQ, params_dict)
+  _initialize_toyota(CP, CP_IQ, params_dict)
+
+
+def _initialize_custom_longitudinal_tuning(CI, CP: structs.CarParams, CP_IQ: structs.IQCarParams,
+                                           params_dict: dict[str, str]) -> None:
+
+  # Hyundai Custom Longitudinal Tuning
+  if CP.brand == 'hyundai':
+    hyundai_longitudinal_tuning = int(params_dict.get("HyundaiLongitudinalTuning", 0))
+    if hyundai_longitudinal_tuning == LongitudinalTuningType.DYNAMIC:
+      CP_IQ.flags |= HyundaiFlagsIQ.LONG_TUNING_DYNAMIC.value
+    if hyundai_longitudinal_tuning == LongitudinalTuningType.PREDICTIVE:
+      CP_IQ.flags |= HyundaiFlagsIQ.LONG_TUNING_PREDICTIVE.value
+
+  _ = CI.get_longitudinal_tuning_iq(CP, CP_IQ)
+
+
+def _initialize_coop_steering(CP: structs.CarParams, CP_IQ: structs.IQCarParams,
+                              params_dict: dict[str, str]) -> None:
+  if CP.brand == 'tesla':
+    coop_steering = int(params_dict.get("TeslaCoopSteering", 0)) == 1
+    if coop_steering:
+      CP_IQ.flags |= TeslaFlagsIQ.COOP_STEERING.value
+
+
+def _initialize_radar_tracks(CP: structs.CarParams, CP_IQ: structs.IQCarParams,
+                             can_recv: CanRecvCallable | None = None, can_send: CanSendCallable | None = None) -> None:
+  if CP.brand == 'hyundai':
+    if CP.flags & HyundaiFlags.MANDO_RADAR and (CP.radarUnavailable or CP_IQ.flags & HyundaiFlagsIQ.ENHANCED_SCC):
+      tracks_enabled = hyundai_enable_radar_tracks(can_recv, can_send, bus=0, addr=0x7d0)
+      CP.radarUnavailable = not tracks_enabled
+
+
+def _initialize_stop_and_go(CP: structs.CarParams, CP_IQ: structs.IQCarParams, params_dict: dict[str, str]) -> None:
+  if CP.brand == 'subaru' and not CP.flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.HYBRID):
+    stop_and_go = int(params_dict.get("SubaruStopAndGo", 0)) == 1
+    stop_and_go_manual_parking_brake = int(params_dict.get("SubaruStopAndGoManualParkingBrake", 0)) == 1
+
+    if stop_and_go:
+      CP_IQ.flags |= SubaruFlagsIQ.STOP_AND_GO.value
+    if stop_and_go_manual_parking_brake:
+      CP_IQ.flags |= SubaruFlagsIQ.STOP_AND_GO_MANUAL_PARKING_BRAKE.value
+    if stop_and_go or stop_and_go_manual_parking_brake:
+      CP_IQ.safetyParam |= SubaruSafetyFlagsIQ.STOP_AND_GO
+
+
+def _initialize_toyota(CP: structs.CarParams, CP_IQ: structs.IQCarParams, params_dict: dict[str, str]) -> None:
+  if CP.brand == 'toyota':
+    toyota_stock_long = int(params_dict.get("ToyotaEnforceStockLongitudinal", 0)) == 1
+    toyota_sng_hack = int(params_dict.get("ToyotaSnGHack", 0)) == 1
+
+    if toyota_stock_long:
+      CP_IQ.flags |= ToyotaFlagsIQ.STOCK_LONGITUDINAL.value
+
+    if toyota_sng_hack:
+      CP_IQ.flags |= ToyotaFlagsIQ.STOP_AND_GO_HACK.value
+      CP.minEnableSpeed = -1.
+      CP.autoResumeSng = CP.openpilotLongitudinalControl

iqdbc_repo/iqdbc/lvbs/car/iq_lateral.py

@@ -0,0 +1,18 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+import numpy as np
+
+from iqdbc.car import structs
+from iqdbc.car.lateral import apply_center_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]
+  )
+  return float(friction_interp)

iqdbc_repo/iqdbc/lvbs/car/mazda/__init__.py

@@ -0,0 +1,3 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""

iqdbc_repo/iqdbc/lvbs/car/nissan/__init__.py

@@ -0,0 +1,3 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""

iqdbc_repo/iqdbc/lvbs/car/nissan/carstate_ext.py

@@ -0,0 +1,32 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+
+from enum import StrEnum
+
+from iqdbc.car import Bus, structs
+from iqdbc.can.parser import CANParser
+from iqdbc.lvbs.car.nissan.values import BUTTONS
+
+
+class CarStateExt:
+  def __init__(self, CP, CP_IQ):
+    self.CP = CP
+    self.CP_IQ = CP_IQ
+
+    self.button_events = []
+    self.button_states = {button.event_type: False for button in BUTTONS}
+
+  def update(self, ret: structs.CarState, ret_iq: structs.IQCarState, can_parsers: dict[StrEnum, CANParser]):
+    cp = can_parsers[Bus.pt]
+
+    button_events = []
+    for button in BUTTONS:
+      state = (cp.vl[button.can_addr][button.can_msg] in button.values)
+      if self.button_states[button.event_type] != state:
+        event = structs.CarState.ButtonEvent.new_message()
+        event.type = button.event_type
+        event.pressed = state
+        button_events.append(event)
+      self.button_states[button.event_type] = state
+    self.button_events = button_events

iqdbc_repo/iqdbc/lvbs/car/nissan/values.py

@@ -0,0 +1,23 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+
+from collections import namedtuple
+from iqdbc.car import structs
+
+
+class NissanSafetyFlagsIQ:
+  DEFAULT = 0
+  LEAF = 1
+
+
+
+
+ButtonType = structs.CarState.ButtonEvent.Type
+Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
+
+
+BUTTONS = [
+  Button(ButtonType.accelCruise, "CRUISE_THROTTLE", "RES_BUTTON", [1]),
+  Button(ButtonType.decelCruise, "CRUISE_THROTTLE", "SET_BUTTON", [1]),
+]

iqdbc_repo/iqdbc/lvbs/car/platform_list.py

@@ -0,0 +1,69 @@
+import re
+import json
+import os
+import unicodedata
+
+from iqdbc.car.common.basedir import BASEDIR
+from iqdbc.car.docs import get_all_footnotes, get_params_for_docs
+from iqdbc.car.values import PLATFORMS
+
+CAR_LIST_JSON_OUT = os.path.join(BASEDIR, "../", "iqpilot", "car", "car_list.json")
+
+
+def get_car_list() -> dict[str, dict[str, list[str] | str]]:
+  collected_footnote = get_all_footnotes()
+  sorted_list: dict[str, dict[str, list[str] | str]] = collect_car_docs(PLATFORMS, collected_footnote)
+  return sorted_list
+
+
+def _natural_sort_key(s):
+  # NFKD normalization ensures accented characters sort with their base letter (e.g., Š sorts with S)
+  normalized = unicodedata.normalize('NFKD', s)
+  return [int(t) if t.isdigit() else t.lower() for t in re.split(r'(\d+)', normalized) if t]
+
+
+def collect_car_docs(platforms, footnotes) -> dict[str, dict[str, list[str] | str]]:
+  cars: dict[str, dict[str, list[str] | str]] = {}
+  for model, platform in platforms.items():
+    car_docs = platform.config.get_all_docs()
+    CP, CP_IQ = get_params_for_docs(platform)
+
+    if CP.dashcamOnly or not len(car_docs):
+      continue
+
+    # A platform can include multiple car models
+    for _car_docs in car_docs:
+      if not hasattr(_car_docs, "row"):
+        _car_docs.init_make(CP)
+        _car_docs.init(CP, footnotes)
+      cars[_car_docs.name] = model
+
+      _platform = model
+      _name = _car_docs.name
+      _make = _car_docs.make
+      _brand = _car_docs.brand
+      _model = _car_docs.model
+      _years = _car_docs.year_list
+      _package = _car_docs.package if _car_docs.package else []
+
+      cars[_name] = {
+        "platform": _platform,
+        "make": _make,
+        "brand": _brand,
+        "model": _model,
+        "year": _years if _years else [],
+        "package": _package,
+      }
+
+  # Sort cars by make and model + year
+  sorted_cars = sorted(cars.keys(), key=lambda car: _natural_sort_key(car))
+  sorted_car_list = {car: cars[car] for car in sorted_cars}
+  return sorted_car_list
+
+
+if __name__ == "__main__":
+  platform_list = get_car_list()
+
+  with open(CAR_LIST_JSON_OUT, "w") as json_file:
+    json.dump(platform_list, json_file, indent=2, ensure_ascii=False)
+  print(f"Generated and written to {CAR_LIST_JSON_OUT}")

iqdbc_repo/iqdbc/lvbs/car/rivian/__init__.py

@@ -0,0 +1,3 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""

iqdbc_repo/iqdbc/lvbs/car/rivian/aol.py

@@ -0,0 +1,33 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+from collections import namedtuple
+
+from iqdbc.car import structs
+from iqdbc.car.interfaces import CarStateBase
+
+MAX_STEERING_ANGLE = 90.0
+
+AolDataIQ = namedtuple("AolDataIQ",
+                        ["lka_icon_states", "lat_active"])
+
+
+class AolCarController:
+  def __init__(self):
+    self.aol = AolDataIQ(False, False)
+
+    self.lka_icon_states = False
+    self.lat_active = False
+
+  def aol_status_update(self, CC: structs.CarControl, CC_IQ: structs.IQCarControl, CS: CarStateBase) -> AolDataIQ:
+    if CC_IQ.aol.available:
+      self.lka_icon_states = self.lat_active
+      self.lat_active = CC.latActive and abs(CS.out.steeringAngleDeg) < MAX_STEERING_ANGLE
+    else:
+      self.lka_icon_states = CC.enabled
+      self.lat_active = CC.latActive
+
+    return AolDataIQ(self.lka_icon_states, self.lat_active)
+
+  def update(self, CC: structs.CarControl, CC_IQ: structs.IQCarControl, CS: CarStateBase) -> None:
+    self.aol = self.aol_status_update(CC, CC_IQ, CS)

iqdbc_repo/iqdbc/lvbs/car/rivian/carstate_ext.py

@@ -0,0 +1,100 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+import math
+from enum import StrEnum
+
+from iqdbc.car import Bus, structs
+from iqdbc.can.parser import CANParser
+from iqdbc.car.common.conversions import Conversions as CV
+from iqdbc.car.rivian.values import DBC
+from iqdbc.lvbs.car.rivian.values import RivianFlagsIQ
+
+ButtonType = structs.CarState.ButtonEvent.Type
+
+MAX_SET_SPEED = 85 * CV.MPH_TO_MS
+MIN_SET_SPEED = 20 * CV.MPH_TO_MS
+
+
+class CarStateExt:
+  def __init__(self, CP: structs.CarParams, CP_IQ: structs.IQCarParams):
+    self.CP = CP
+    self.CP_IQ = CP_IQ
+
+    self.set_speed = 10
+    self.increase_button = False
+    self.decrease_button = False
+    self.distance_button = 0
+    self.increase_counter = 0
+    self.decrease_counter = 0
+    self.stalk_down_counter = 0
+
+  def update_longitudinal_upgrade(self, ret: structs.CarState, can_parsers: dict[StrEnum, CANParser]) -> None:
+    cp_park = can_parsers[Bus.alt]
+    cp_adas = can_parsers[Bus.adas]
+    cp = can_parsers[Bus.pt]
+
+    prev_increase_button = self.increase_button
+    prev_decrease_button = self.decrease_button
+
+    if self.CP.openpilotLongitudinalControl:
+      # distance scroll wheel
+      right_scroll = cp_park.vl["WheelButtons"]["RightButton_Scroll"]
+      if right_scroll != 255:
+        if self.distance_button != right_scroll:
+          ret.buttonEvents = [structs.CarState.ButtonEvent(pressed=False, type=ButtonType.gapAdjustCruise)]
+        self.distance_button = right_scroll
+
+      # button logic for set-speed
+      self.increase_button = cp_park.vl["WheelButtons"]["RightButton_RightClick"] == 2
+      self.decrease_button = cp_park.vl["WheelButtons"]["RightButton_LeftClick"] == 2
+
+      self.increase_counter = self.increase_counter + 1 if self.increase_button else 0
+      self.decrease_counter = self.decrease_counter + 1 if self.decrease_button else 0
+
+      metric = cp_adas.vl["Cluster"]["Cluster_Unit"] == 0
+      conversion = CV.KPH_TO_MS if metric else CV.MPH_TO_MS
+      long_press_step = 10.0 if metric else 5.0
+      set_speed_converted = self.set_speed * (CV.MS_TO_KPH if metric else CV.MS_TO_MPH)
+
+      if self.increase_button:
+        if self.increase_counter % 66 == 0:
+          self.set_speed = (int(math.ceil((set_speed_converted + 1) / long_press_step)) * long_press_step) * conversion
+        elif not prev_increase_button:
+          self.set_speed += conversion
+
+      if self.decrease_button:
+        if self.decrease_counter % 66 == 0:
+          self.set_speed = (int(math.floor((set_speed_converted - 1) / long_press_step)) * long_press_step) * conversion
+        elif not prev_decrease_button:
+          self.set_speed -= conversion
+
+      if not ret.cruiseState.enabled:
+        self.set_speed = ret.vEgoCluster
+
+      # VDM_UserAdasRequest: 0=IDLE, 1=UP_1, 2=UP_2, 3=DOWN_1, 4=DOWN_2
+      stalk_down = int(cp.vl["VDM_AdasSts"]["VDM_UserAdasRequest"]) in (3, 4)
+      self.stalk_down_counter = self.stalk_down_counter + 1 if stalk_down else 0
+      if self.stalk_down_counter == 50:
+        # Mimic Rivian ACC: holding stalk 0.5s sets speed to current speed (never decreases)
+        self.set_speed = max(self.set_speed, ret.vEgoCluster)
+
+      self.set_speed = max(MIN_SET_SPEED, min(self.set_speed, MAX_SET_SPEED))
+      ret.cruiseState.speed = self.set_speed
+
+    if self.CP.enableBsm:
+      ret.leftBlindspot = cp_park.vl["BSM_BlindSpotIndicator"]["BSM_BlindSpotIndicator_Left"] != 0
+      ret.rightBlindspot = cp_park.vl["BSM_BlindSpotIndicator"]["BSM_BlindSpotIndicator_Right"] != 0
+
+  def update(self, ret: structs.CarState, can_parsers: dict[StrEnum, CANParser]) -> None:
+    if self.CP_IQ.flags & RivianFlagsIQ.LONGITUDINAL_HARNESS_UPGRADE:
+      self.update_longitudinal_upgrade(ret, can_parsers)
+
+  @staticmethod
+  def get_parser(CP, CP_IQ) -> dict[StrEnum, CANParser]:
+    messages = {}
+
+    if CP_IQ.flags & RivianFlagsIQ.LONGITUDINAL_HARNESS_UPGRADE:
+      messages[Bus.alt] = CANParser(DBC[CP.carFingerprint][Bus.alt], [], 5)
+
+    return messages

iqdbc_repo/iqdbc/lvbs/car/rivian/values.py

@@ -0,0 +1,10 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+from enum import IntFlag
+
+
+class RivianFlagsIQ(IntFlag):
+  LONGITUDINAL_HARNESS_UPGRADE = 1
+
+

iqdbc_repo/iqdbc/lvbs/car/subaru/__init__.py

@@ -0,0 +1,3 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""

iqdbc_repo/iqdbc/lvbs/car/subaru/aol.py

@@ -0,0 +1,45 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+
+from enum import StrEnum
+from iqdbc.car import Bus, structs
+
+from iqdbc.car.subaru.values import SubaruFlags
+from iqdbc.lvbs.aol_base import AolCarStateBase
+from iqdbc.can.parser import CANParser
+
+ButtonType = structs.CarState.ButtonEvent.Type
+
+
+class AolCarState(AolCarStateBase):
+  def __init__(self, CP: structs.CarParams, CP_IQ: structs.IQCarParams):
+    super().__init__(CP, CP_IQ)
+
+  @staticmethod
+  def create_lkas_button_events(cur_btn: int, prev_btn: int,
+                                buttons_dict: dict[int, structs.CarState.ButtonEvent.Type]) -> list[structs.CarState.ButtonEvent]:
+    events: list[structs.CarState.ButtonEvent] = []
+
+    if cur_btn == prev_btn:
+      return events
+
+    state_changes = [
+      {"pressed": prev_btn != cur_btn and cur_btn != 2 and not (prev_btn == 2 and cur_btn == 1)},
+      {"pressed": prev_btn != cur_btn and cur_btn == 2 and cur_btn != 1},
+    ]
+
+    for change in state_changes:
+      if change["pressed"]:
+        events.append(structs.CarState.ButtonEvent(pressed=change["pressed"],
+                                                   type=buttons_dict.get(cur_btn, ButtonType.unknown)))
+    return events
+
+  def update_aol(self, ret: structs.CarState, can_parsers: dict[StrEnum, CANParser]) -> None:
+    cp_cam = can_parsers[Bus.cam]
+
+    self.prev_lkas_button = self.lkas_button
+    if not self.CP.flags & SubaruFlags.PREGLOBAL:
+      self.lkas_button = cp_cam.vl["ES_LKAS_State"]["LKAS_Dash_State"]
+
+    ret.buttonEvents = self.create_lkas_button_events(self.lkas_button, self.prev_lkas_button, {1: ButtonType.lkas})

iqdbc_repo/iqdbc/lvbs/car/subaru/stop_and_go.py

@@ -0,0 +1,121 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+
+import copy
+from enum import StrEnum
+
+from iqdbc.car import Bus, structs, DT_CTRL
+from iqdbc.car.can_definitions import CanData
+from iqdbc.car.interfaces import CarStateBase
+from iqdbc.car.subaru.values import SubaruFlags
+
+from iqdbc.lvbs.car.subaru import subarucan_ext
+from iqdbc.lvbs.car.subaru.values_ext import SubaruFlagsIQ
+from iqdbc.can.parser import CANParser
+
+_SNG_ACC_MIN_DIST = 3
+_SNG_ACC_MAX_DIST = 4.5
+
+
+class IQStopAndGoController:
+  def __init__(self, CP: structs.CarParams, CP_IQ: structs.IQCarParams):
+    self.CP = CP
+    self.CP_IQ = CP_IQ
+    self.enabled = CP_IQ.flags & (SubaruFlagsIQ.STOP_AND_GO | SubaruFlagsIQ.STOP_AND_GO_MANUAL_PARKING_BRAKE)
+    self.manual_parking_brake = CP_IQ.flags & SubaruFlagsIQ.STOP_AND_GO_MANUAL_PARKING_BRAKE
+
+    self.last_standstill_frame = 0
+    self.epb_resume_frames_remaining = -1
+    self.prev_close_distance = 0.0
+
+  def update_epb_resume_sequence(self, should_resume: bool) -> bool:
+    if self.manual_parking_brake:
+      return False
+
+    if should_resume:
+      self.epb_resume_frames_remaining = 15
+
+    send_resume = self.epb_resume_frames_remaining > 0
+    if self.epb_resume_frames_remaining > 0:
+      self.epb_resume_frames_remaining -= 1
+
+    return send_resume
+
+  def update_stop_and_go(self, CC: structs.CarControl, CS: CarStateBase, frame: int) -> bool:
+    """
+    Manages stop-and-go functionality for adaptive cruise control (ACC).
+
+    Args:
+        CC: Car control data
+        CS: Car state data
+        frame: Current frame number
+
+    Returns:
+        bool: True if resume command should be sent, False otherwise
+    """
+
+    if not CC.enabled or not CC.hudControl.leadVisible:
+      return False
+
+    close_distance = CS.es_distance_msg["Close_Distance"]
+    in_standstill = CS.out.standstill
+
+    if not in_standstill:
+      self.last_standstill_frame = frame
+
+    # Check if we've been in standstill long enough
+    mpb_standstill_timers = (0.75, 0.8) if self.CP.flags & SubaruFlags.PREGLOBAL else (0.5, 0.55)
+    standstill_duration = (frame - self.last_standstill_frame) * DT_CTRL
+    in_standstill_hold = standstill_duration > mpb_standstill_timers[0]
+    if (frame - self.last_standstill_frame) * DT_CTRL >= mpb_standstill_timers[1]:
+      self.last_standstill_frame = frame
+
+    # Car state distance-based conditions (EPB only)
+    in_resume_distance = _SNG_ACC_MIN_DIST < close_distance < _SNG_ACC_MAX_DIST
+    distance_increasing = close_distance > self.prev_close_distance
+    distance_resume_allowed = in_resume_distance and distance_increasing
+
+    if self.manual_parking_brake:
+      # Manual parking brake: Direct resume when the standstill hold threshold is reached to prevent ACC fault
+      send_resume = in_standstill_hold
+    else:
+      # EPB: Resume sequence with trigger on distance with lead car increasing
+      should_resume = CS.out.standstill and distance_resume_allowed
+      send_resume = self.update_epb_resume_sequence(should_resume)
+
+    self.prev_close_distance = close_distance
+
+    return send_resume
+
+  def create_stop_and_go(self, packer, CC: structs.CarControl, CS: CarStateBase, frame: int) -> list[CanData]:
+    can_sends = []
+
+    if not self.enabled:
+      return can_sends
+
+    send_resume = self.update_stop_and_go(CC, CS, frame)
+
+    can_sends.append(subarucan_ext.create_throttle(packer, self.CP, CS.throttle_msg, send_resume and not self.manual_parking_brake))
+
+    if frame % 2 == 0:
+      can_sends.append(subarucan_ext.create_brake_pedal(packer, self.CP, CS.brake_pedal_msg, send_resume and self.manual_parking_brake))
+
+    return can_sends
+
+
+class IQStopAndGoState:
+  def __init__(self, CP: structs.CarParams, CP_IQ: structs.IQCarParams):
+    self.CP = CP
+    self.CP_IQ = CP_IQ
+
+    self.brake_pedal_msg: dict[str, float] = {}
+    self.throttle_msg: dict[str, float] = {}
+
+  def update(self, ret: structs.CarState, can_parsers: dict[StrEnum, CANParser]) -> None:
+    cp = can_parsers[Bus.pt]
+
+    self.brake_pedal_msg = copy.copy(cp.vl["Brake_Pedal"])
+
+    if not self.CP.flags & SubaruFlags.HYBRID:
+      self.throttle_msg = copy.copy(cp.vl["Throttle"])

iqdbc_repo/iqdbc/lvbs/car/subaru/subarucan_ext.py

@@ -0,0 +1,68 @@
+from iqdbc.car.subaru.values import CanBus, SubaruFlags
+
+
+def create_counter(msg):
+  return (msg["COUNTER"] + 1) % 0x10
+
+
+def create_throttle(packer, CP, throttle_msg, send_resume):
+  if CP.flags & SubaruFlags.PREGLOBAL:
+    values = {s: throttle_msg[s] for s in [
+      "Throttle_Pedal",
+      "Signal1",
+      "Not_Full_Throttle",
+      "Signal2",
+      "Engine_RPM",
+      "Off_Throttle",
+      "Signal3",
+      "Throttle_Cruise",
+      "Throttle_Combo",
+      "Throttle_Body",
+      "Off_Throttle_2",
+      "Signal4",
+    ]}
+  else:
+    values = {s: throttle_msg[s] for s in [
+      "CHECKSUM",
+      "Signal1",
+      "Engine_RPM",
+      "Neutral",
+      "Throttle_Pedal",
+      "Throttle_Cruise",
+      "Throttle_Combo",
+      "Signal3",
+      "Off_Accel",
+    ]}
+
+  values["COUNTER"] = create_counter(throttle_msg)
+
+  if send_resume:
+    values["Throttle_Pedal"] = 5
+
+  return packer.make_can_msg("Throttle", CanBus.camera, values)
+
+
+def create_brake_pedal(packer, CP, brake_pedal_msg, send_resume):
+  if CP.flags & SubaruFlags.PREGLOBAL:
+    values = {s: brake_pedal_msg[s] for s in [
+      "Speed",
+      "Brake_Pedal",
+      "Signal1",
+    ]}
+  else:
+    values = {s: brake_pedal_msg[s] for s in [
+      "CHECKSUM",
+      "Signal1",
+      "Speed",
+      "Signal2",
+      "Brake_Lights",
+      "Signal3",
+      "Brake_Pedal",
+      "Signal4",
+    ]}
+    values["COUNTER"] = create_counter(brake_pedal_msg)
+
+  if send_resume:
+    values["Speed"] = 1 if CP.flags & SubaruFlags.PREGLOBAL else 3
+
+  return packer.make_can_msg("Brake_Pedal", CanBus.camera, values)

iqdbc_repo/iqdbc/lvbs/car/subaru/values_ext.py

@@ -0,0 +1,14 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+
+from enum import IntFlag
+
+
+class SubaruSafetyFlagsIQ:
+  STOP_AND_GO = 1
+
+
+class SubaruFlagsIQ(IntFlag):
+  STOP_AND_GO = 1
+  STOP_AND_GO_MANUAL_PARKING_BRAKE = 2

iqdbc_repo/iqdbc/lvbs/car/tesla/__init__.py

@@ -0,0 +1,3 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""

iqdbc_repo/iqdbc/lvbs/car/tesla/carstate_ext.py

@@ -0,0 +1,72 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+from enum import StrEnum
+
+from iqdbc.car import Bus, create_button_events, structs
+from iqdbc.can.parser import CANParser
+from iqdbc.car.common.conversions import Conversions as CV
+from iqdbc.car.tesla.values import DBC, CANBUS
+from iqdbc.lvbs.car.tesla.values import TeslaFlagsIQ
+
+ButtonType = structs.CarState.ButtonEvent.Type
+
+
+class CarStateExt:
+  def __init__(self, CP: structs.CarParams, CP_IQ: structs.IQCarParams):
+    self.CP = CP
+    self.CP_IQ = CP_IQ
+
+    self.infotainment_3_finger_press = 0
+
+  def update(self, ret: structs.CarState, ret_iq: structs.IQCarState, can_parsers: dict[StrEnum, CANParser]) -> None:
+    if self.CP_IQ.flags & TeslaFlagsIQ.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"])
+
+      ret.buttonEvents = [*create_button_events(self.infotainment_3_finger_press, prev_infotainment_3_finger_press,
+                                                {3: ButtonType.lkas})]
+
+      bms_soc_ui = float(cp_adas.vl["ID292BMS_SOC"].get("SOCUI292", 0.0))
+      ui_range_mi = float(cp_adas.vl["ID33AUI_rangeSOC"].get("UI_Range", 0.0))
+      hv_batt_voltage_v = float(cp_adas.vl["ID132HVBattAmpVolt"].get("BattVoltage132", 0.0))
+      battery_details = None
+      try:
+        battery_details = ret.batteryDetails
+      except Exception:
+        battery_details = None
+
+      soc_ui = bms_soc_ui if 0.0 <= bms_soc_ui <= 102.3 else None
+      if soc_ui is not None:
+        ret.fuelGauge = min(100.0, soc_ui) / 100.0
+        if battery_details is not None:
+          battery_details.soc = soc_ui
+          battery_details.charge = soc_ui
+      if 0.0 <= ui_range_mi <= 1023.0 and battery_details is not None:
+        battery_details.capacity = ui_range_mi
+      if 0.0 < hv_batt_voltage_v <= 800.0 and battery_details is not None:
+        battery_details.voltage = hv_batt_voltage_v
+
+    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)
+    speed_limit = cp_ap_party.vl["DAS_status"]["DAS_fusedSpeedLimit"]
+    if self.can_define.dv["DAS_status"]["DAS_fusedSpeedLimit"].get(int(speed_limit), None) in ["NONE", "UNKNOWN_SNA"]:
+      ret_iq.speedLimit = 0
+    else:
+      if speed_units == "KPH":
+        ret_iq.speedLimit = speed_limit * CV.KPH_TO_MS
+      elif speed_units == "MPH":
+        ret_iq.speedLimit = speed_limit * CV.MPH_TO_MS
+
+  @staticmethod
+  def get_parser(CP: structs.CarParams, CP_IQ: structs.IQCarParams) -> dict[StrEnum, CANParser]:
+    messages = {}
+
+    if CP_IQ.flags & TeslaFlagsIQ.HAS_VEHICLE_BUS:
+      messages[Bus.adas] = CANParser(DBC[CP.carFingerprint][Bus.adas], [], CANBUS.vehicle)
+
+    return messages

iqdbc_repo/iqdbc/lvbs/car/tesla/coop_steering.py

@@ -0,0 +1,312 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+import math
+import numpy as np
+from collections import namedtuple
+from dataclasses import replace
+
+from iqdbc.car import structs, rate_limit, DT_CTRL
+from iqdbc.car.vehicle_model import VehicleModel
+from iqdbc.car.lateral import apply_steer_angle_limits_vm
+from iqdbc.car.tesla.values import CarControllerParams
+from iqdbc.lvbs.car.tesla.values import TeslaFlagsIQ
+
+
+DT_LAT_CTRL = DT_CTRL * CarControllerParams.STEER_STEP
+
+class CoopSteeringCarControllerParams(CarControllerParams):
+  ANGLE_LIMITS = replace(CarControllerParams.ANGLE_LIMITS, MAX_ANGLE_RATE=5)
+
+STEERING_DEG_PHASE_LEAD_COEFF = 8.0
+
+# angle override # todo implement steering torque inertia compensation to increase gains
+STEER_OVERRIDE_MIN_TORQUE = 0.5 # Nm - based on typical steering bias + noise
+STEER_OVERRIDE_MAX_TORQUE = 2.5 # Nm max torque before EPS disengages, LKAS takes over at 1.8Nm
+STEER_OVERRIDE_MAX_LAT_ACCEL = 1.5 # m/s^2 - determines angle rate - speed dependent - similar to Tesla comfort steering mode
+STEER_OVERRIDE_LAT_ACCEL_GAIN_LIMIT = 10 # deg/Nm stability and smoothness for angle control  # todo this could be increased after solving feedback stability
+
+# angle ramping
+STEER_OVERRIDE_MAX_LAT_JERK = 2.0 # m/s^3 - determines angle ramping rate - speed dependent
+STEER_OVERRIDE_MAX_LAT_JERK_CENTERING = CoopSteeringCarControllerParams.ANGLE_LIMITS.MAX_LATERAL_JERK # m/s^3 -  for low speed angle ramp down
+# stability and smoothness for angle ramp control - at very low speeds this takes precedence over jerk settings
+STEER_OVERRIDE_LAT_JERK_GAIN_LIMIT = 100 # deg/s/Nm - should be less than CarControllerParams.ANGLE_LIMITS.MAX_ANGLE_RATE / DT_CTRL / STEER_OVERRIDE_TORQUE_RANGE
+STEER_OVERRIDE_TORQUE_RANGE = STEER_OVERRIDE_MAX_TORQUE - STEER_OVERRIDE_MIN_TORQUE
+
+# model fighting mitigation
+STEER_DESIRED_LIMITER_ALLOW_SPEED = 6.0 # m/s - below this speed the desired angle limiter is active
+STEER_DESIRED_LIMITER_ACCEL = 100 # deg/s^2 when override angle ramp is active
+STEER_DESIRED_LIMITER_OVERRIDE_ACTIVE_COUNTER = 0.7 # second
+
+# limit model acceleration when engaging
+STEER_RESUME_RATE_LIMIT_RAMP_RATE = 500 # deg/s^2 - controls rate of rise of angle rate limit, not angle directly
+
+
+CoopSteeringDataIQ = namedtuple("CoopSteeringDataIQ",
+                                ["steeringAngleDeg", "lat_active", "control_type"])
+
+def get_steer_from_lat_accel(lat_accel, v_ego: float, VM: VehicleModel):
+  """Calculate the maximum steering angle based on lateral acceleration."""
+  curvature = lat_accel / (max(1, v_ego) ** 2)  # 1/m
+  return math.degrees(VM.get_steer_from_curvature(curvature, v_ego, 0))  # deg
+
+
+def apply_bounds(signal: float, limit: float) -> float:
+  """Limit input to a range."""
+  return float(np.clip(signal, -limit, limit))
+
+
+def apply_deadzone(signal: float, deadzone: float) -> float:
+  """Apply deadzone to input."""
+  return signal - apply_bounds(signal, deadzone)
+
+
+def calc_override_angle_limited(torque: float, vEgo: float, VM: VehicleModel, lat_accel) -> float:
+  """
+  Map driver torque to lateral acceleration and convert to steering angle.
+  Limit gain for stability with EPS and torque sensor interaction.
+  """
+
+  # lateral accel is linear in respect to angle so it's fine to interpolate it with torque
+  torque_to_angle = get_steer_from_lat_accel(lat_accel, vEgo, VM) / STEER_OVERRIDE_TORQUE_RANGE
+
+  # limit the gain to prevent jerkiness and instability
+  gain_limit = STEER_OVERRIDE_LAT_ACCEL_GAIN_LIMIT
+  override_angle_target = torque * min(torque_to_angle, gain_limit)
+
+  return override_angle_target
+
+
+def calc_override_angle_delta_limited(torque: float, vEgo: float, VM: VehicleModel, lat_jerk) -> float:
+  """
+  Map driver torque to lateral jerk and convert to steering speed.
+  Limit gain for stability with EPS and torque sensor interaction.
+  """
+
+  # prevents windup in carcontroller rate limiter
+  lat_jerk = min(lat_jerk, CoopSteeringCarControllerParams.ANGLE_LIMITS.MAX_LATERAL_JERK)
+
+  # lateral accel is linear in respect to angle so it's fine to interpolate it with torque
+  torque_to_angle = get_steer_from_lat_accel(lat_jerk, vEgo, VM) / STEER_OVERRIDE_TORQUE_RANGE
+  # limit the gain to prevent jerkiness and instability
+  gain_limit = min(STEER_OVERRIDE_LAT_JERK_GAIN_LIMIT, CarControllerParams.ANGLE_LIMITS.MAX_ANGLE_RATE / DT_CTRL / STEER_OVERRIDE_TORQUE_RANGE)
+  override_angle_rate = torque * min(torque_to_angle, gain_limit)
+
+  # prevent windup in angle rate limiter
+  return apply_bounds(override_angle_rate * DT_LAT_CTRL, CoopSteeringCarControllerParams.ANGLE_LIMITS.MAX_ANGLE_RATE)
+
+
+class SteerRateLimiter:
+  """Handles rate limiting of steering angle changes with a configurable rate."""
+  def __init__(self):
+    self._last = 0.0
+
+  def reset(self, angle: float) -> None:
+    """Reset the rate limiter state with the given angle."""
+    self._last = angle
+
+  def update(self, angle: float, angle_delta_lim: float) -> float:
+    angle_lim = rate_limit(angle, self._last, -angle_delta_lim, angle_delta_lim)
+    self._last = angle_lim
+    return angle_lim
+
+
+class SteerAccelLimiter:
+  """
+  Second-order limiter for steering angle:
+  - Limits angular acceleration (change in allowed angular rate).
+  - Enforces a hard max angular rate.
+  """
+  def __init__(self):
+    self.delta_rl = SteerRateLimiter()
+    self.angle_cmd = 0.0
+
+  def reset(self, angle: float) -> None:
+    self.delta_rl.reset(0)
+    self.angle_cmd = angle
+
+  def update(self, angle_target: float, max_rate: float, accel: float, decel: float, dt: float) -> float:
+    if dt <= 0.0:
+      return self.angle_cmd
+
+    # acceleration limits per update step
+    accel_delta = max(0.0, accel) * (dt * dt)
+    decel_delta = max(0.0, decel) * (dt * dt)
+
+    err = angle_target - self.angle_cmd
+    err = apply_bounds(err, max(0.0, max_rate) * dt)
+
+    # acceleration (towards target) or deceleration (away from target)
+    if err * self.delta_rl._last < 0:
+      delta = decel_delta
+    else:
+      delta = accel_delta
+
+    # Handle large decel (enabled with inf value)
+    if decel == np.inf and err * self.delta_rl._last < 0:
+      # if output crosses the target or target crosses the output
+      self.delta_rl._last = 0
+      angle_out = self.angle_cmd
+    else:
+      self.delta_rl._last = self.delta_rl.update(err, delta)
+      if decel == np.inf:
+        # if we are close to target, snap to it before we cross it
+        self.delta_rl._last = apply_bounds(self.delta_rl._last, abs(err))
+      angle_out = self.angle_cmd + self.delta_rl._last
+
+    # Integrate
+    self.angle_cmd = angle_out
+
+    return angle_out
+
+
+class CoopSteeringCarController:
+  def __init__(self):
+    self.coop_apply_angle_last = 0
+    self.coop_apply_angle_last_sat = 0
+    self.override_angle_accu = 0
+    self.override_active_counter = 0  # Counter for how many cycles torque is below threshold
+    self.resume_rate_limiter_delta = SteerRateLimiter()
+    self.resume_rate_limiter = SteerRateLimiter()
+    self.override_accel_rate_limiter = SteerAccelLimiter()
+    self.debug_angle_desired_limited = 0
+
+  def apply_override_angle_direct(self, lat_active: bool, driverTorque: float, vEgo: float, VM: VehicleModel) -> float:
+    """
+    Emulates steering springiness based on lateral acceleration exerted on the steering rack.
+    We rely on apply_override_angle_ramp to reach the max angle at low speeds.
+    At low speed lateral acceleration approaches infinity and it is not good proxy
+    for the torque to target angle conversion and needs to be limited
+
+    """
+    if not lat_active:
+      return 0.0
+
+    ## torque to position
+    # ignore torque sensor offset and disturbances
+    steering_torque_with_deadzone = apply_deadzone(driverTorque, STEER_OVERRIDE_MIN_TORQUE)
+    angle_override = calc_override_angle_limited(steering_torque_with_deadzone, vEgo, VM, STEER_OVERRIDE_MAX_LAT_ACCEL)
+    return angle_override
+
+  def apply_override_angle_relative(self, lat_active: bool, driverTorque: float, vEgo: float,
+                                    VM: VehicleModel, unwind_weight: float = 1.0) -> float:
+    """
+    Converts steering torque to steering rotation rate.
+    Physically angle rate is related to viscous damping of tires rotating on the ground.
+    Here, however, the angle rate target is obtained from lateral jerk limit
+    as a reasonable safe rate which decays quadratically with vehicle speed.
+    """
+    if not lat_active:
+      self.override_angle_accu = 0
+      return 0
+
+    # unwind accumulator toward zero if the previous loop saturated (apply_steer_angle_limits_vm)
+    unwind = (self.coop_apply_angle_last - self.coop_apply_angle_last_sat) * unwind_weight
+    if self.override_angle_accu * unwind > 0:
+      unwind = apply_bounds(unwind, abs(self.override_angle_accu))
+      self.override_angle_accu -= unwind
+
+    # torque biasing emulates the steering centering when released:
+    if self.override_angle_accu > 0 and abs(vEgo) > 0.1:
+      torque_biased = driverTorque - STEER_OVERRIDE_MIN_TORQUE
+    elif self.override_angle_accu < 0 and abs(vEgo) > 0.1:
+      torque_biased = driverTorque + STEER_OVERRIDE_MIN_TORQUE
+    else:
+      # when override_angle_accu is reset this turns off  everything
+      torque_biased = apply_deadzone(driverTorque, STEER_OVERRIDE_MIN_TORQUE)
+
+    # higher rate when centering
+    angle_override_delta = calc_override_angle_delta_limited(torque_biased, vEgo, VM,
+                          STEER_OVERRIDE_MAX_LAT_JERK if (torque_biased * self.override_angle_accu) > 0
+                          else STEER_OVERRIDE_MAX_LAT_JERK_CENTERING)
+
+    # ramp the angle
+    new_override_angle_accu = self.override_angle_accu + angle_override_delta
+    # snap to 0 if sign changes and driver torque is steering centering zone
+    if (new_override_angle_accu * self.override_angle_accu) < 0 and abs(driverTorque) < STEER_OVERRIDE_MIN_TORQUE:
+      new_override_angle_accu = 0
+
+    self.override_angle_accu = new_override_angle_accu
+
+    return self.override_angle_accu
+
+  def apply_override_angle_combined(self, lat_active: bool, driverTorque: float, vEgo: float, VM: VehicleModel) -> float:
+    """
+    Combines direct and relative override angles based on direct angle override limitations (stability and practical range depending on vehicle speed).
+    Effectively vehicle-speed based transition.
+    """
+    if not lat_active:
+      return 0
+
+    # calculate capability of direct angle override (fully active above ~36kph)
+    direct_override_capability = (calc_override_angle_limited(STEER_OVERRIDE_TORQUE_RANGE, vEgo, VM, STEER_OVERRIDE_MAX_LAT_ACCEL) /
+                   get_steer_from_lat_accel(STEER_OVERRIDE_MAX_LAT_ACCEL, vEgo, VM))
+
+    angle_override_direct = self.apply_override_angle_direct(lat_active, driverTorque, vEgo, VM)
+    relative_weight = 1.0 - direct_override_capability
+    angle_override_relative = self.apply_override_angle_relative(lat_active, driverTorque, vEgo, VM,
+                                                                 unwind_weight=relative_weight)
+
+    return angle_override_direct * direct_override_capability + angle_override_relative * relative_weight
+
+  def overriding_steer_desired_accel_limit(self, lat_active: bool, apply_angle: float, vEgo: float, steeringTorque: float) -> float:
+    """
+    Acceleration rate limiter - limits acceleration but allows for quick deceleration (no overshoot)
+    """
+    if not lat_active:
+      self.override_accel_rate_limiter.reset(apply_angle)
+      return apply_angle
+
+    if abs(steeringTorque) >= STEER_OVERRIDE_MIN_TORQUE:
+      self.override_active_counter = 0
+    else:
+      self.override_active_counter += DT_LAT_CTRL
+      self.override_active_counter = min(self.override_active_counter, STEER_DESIRED_LIMITER_OVERRIDE_ACTIVE_COUNTER)
+
+    max_angle_rate = CarControllerParams.ANGLE_LIMITS.MAX_ANGLE_RATE / DT_LAT_CTRL # MAX_ANGLE_RATE is per frame units so convert to real rate
+    # this ensures no acceleration limit when override is disabled:
+    max_angle_accel = max_angle_rate / DT_LAT_CTRL # ensures max deceleration
+    if vEgo < STEER_DESIRED_LIMITER_ALLOW_SPEED:
+      # Interpolate between STEER_DESIRED_LIMITER_ACCEL and max_angle_accel based on counter progress
+      max_angle_accel = np.interp(
+        self.override_active_counter,
+        [0, STEER_DESIRED_LIMITER_OVERRIDE_ACTIVE_COUNTER],
+        [STEER_DESIRED_LIMITER_ACCEL, max_angle_accel]
+      )
+    # max_angle_rate / DT_LAT_CTRL ensures max deceleration
+    return self.override_accel_rate_limiter.update(apply_angle, max_angle_rate, max_angle_accel, np.inf, DT_LAT_CTRL)
+
+  def resume_steer_desired_rate_limit(self, lat_active: bool, apply_angle: float, steering_angle: float) -> float:
+    """Limits steering wheel acceleration when resuming steering"""
+    if not lat_active:
+      # reset and bypass
+      self.resume_rate_limiter_delta.reset(0)
+      self.resume_rate_limiter.reset(steering_angle)
+      return steering_angle
+
+    angle_rate_delta_lim = self.resume_rate_limiter_delta.update(CarControllerParams.ANGLE_LIMITS.MAX_ANGLE_RATE,
+                                                         STEER_RESUME_RATE_LIMIT_RAMP_RATE * DT_LAT_CTRL**2)
+    apply_angle_lim = self.resume_rate_limiter.update(apply_angle, angle_rate_delta_lim)
+    return apply_angle_lim
+
+  def update(self, apply_angle, lat_active, CP_IQ: structs.IQCarParams, CS: structs.CarState, VM: VehicleModel) -> CoopSteeringDataIQ:
+    # estimate real steering angle by adding rate to the tesla filtered angle
+    steeringAngleDegPhaseLead = CS.out.steeringAngleDeg + CS.out.steeringRateDeg / STEERING_DEG_PHASE_LEAD_COEFF
+
+    angle_coop_enabled = CP_IQ.flags & TeslaFlagsIQ.COOP_STEERING.value
+
+    # avoid sudden rotation on engagement
+    apply_angle = self.resume_steer_desired_rate_limit(lat_active, apply_angle, steeringAngleDegPhaseLead)
+
+    if angle_coop_enabled:
+      # apply_angle = self.overriding_steer_desired_accel_limit(lat_active, apply_angle, CS.out.vEgo, CS.out.steeringTorque)
+      self.debug_angle_desired_limited = apply_angle #! debug
+
+      apply_angle += self.apply_override_angle_combined(lat_active, CS.out.steeringTorque, CS.out.vEgo, VM)
+
+    # final rate limit - matching panda safety
+    self.coop_apply_angle_last = apply_angle
+    self.coop_apply_angle_last_sat = apply_steer_angle_limits_vm(apply_angle, self.coop_apply_angle_last_sat, CS.out.vEgoRaw,
+                                                    CS.out.steeringAngleDeg, lat_active, CoopSteeringCarControllerParams, VM)
+
+    return CoopSteeringDataIQ(self.coop_apply_angle_last_sat, lat_active, 1)  # 1 = angle control

iqdbc_repo/iqdbc/lvbs/car/tesla/values.py

@@ -0,0 +1,15 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+from enum import IntFlag
+
+
+class TeslaFlagsIQ(IntFlag):
+  HAS_VEHICLE_BUS = 1  # 3-finger infotainment press signal is present on the VEHICLE bus with the deprecated Tesla harness installed
+  COOP_STEERING = 2  # virtual torque blending
+
+
+class TeslaSafetyFlagsIQ:
+  HAS_VEHICLE_BUS = 1
+
+

iqdbc_repo/iqdbc/lvbs/car/tests/__init__.py

@@ -0,0 +1,3 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""

iqdbc_repo/iqdbc/lvbs/car/tests/test_car_list.py

@@ -0,0 +1,12 @@
+import json
+
+from iqdbc.lvbs.car.platform_list import get_car_list, CAR_LIST_JSON_OUT
+
+
+class TestCarList:
+  def test_generator(self):
+    generated_car_list = json.dumps(get_car_list(), indent=2, ensure_ascii=False)
+    with open(CAR_LIST_JSON_OUT) as f:
+      current_car_list = f.read()
+
+    assert generated_car_list == current_car_list, "Run iqdbc/iqpilot/car/platform_list.py to update the car list"

iqdbc_repo/iqdbc/lvbs/car/toyota/__init__.py

@@ -0,0 +1,3 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""

iqdbc_repo/iqdbc/lvbs/car/toyota/carstate_ext.py

@@ -0,0 +1,167 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+
+from enum import StrEnum
+
+from iqdbc.car import Bus, structs
+from iqdbc.car.carlog import carlog
+from iqdbc.can.parser import CANParser
+from iqdbc.car.common.conversions import Conversions as CV
+from iqdbc.lvbs.car.toyota.values import ToyotaFlagsIQ
+
+TRAFFIC_SIGNAL_MAP = {
+  1: "kph",
+  36: "mph",
+  65: "No overtake",
+  66: "No overtake"
+}
+
+ZSS_DIFF_THRESHOLD = 4
+ZSS_MAX_THRESHOLD = 10
+
+
+class CarStateExt:
+  def __init__(self, CP, CP_IQ):
+    self.CP = CP
+    self.CP_IQ = CP_IQ
+
+    self.acc_type = 1
+    self.zss_compute = False
+    self.zss_cruise_active_last = False
+    self.zss_angle_offset = 0.
+    self.zss_threshold_count = 0
+
+    """Initialize traffic signal variables"""
+    self._tsgn1 = None
+    self._spdval1 = None
+    self._splsgn1 = None
+    self._tsgn2 = None
+    self._splsgn2 = None
+    self._tsgn3 = None
+    self._splsgn3 = None
+    self._tsgn4 = None
+    self._splsgn4 = None
+
+  @staticmethod
+  def traffic_signal_description(tsgn):
+    """Get description for traffic signal code"""
+    desc = TRAFFIC_SIGNAL_MAP.get(int(tsgn))
+    return f'{tsgn}: {desc}' if desc is not None else f'{tsgn}'
+
+  def update_traffic_signals(self, cp_cam):
+    """Update traffic signals with error handling"""
+    try:
+      # Add error handling for missing RSA messages
+      tsgn1 = cp_cam.vl.get("RSA1", {}).get('TSGN1', 0)
+      spdval1 = cp_cam.vl.get("RSA1", {}).get('SPDVAL1', 0)
+      splsgn1 = cp_cam.vl.get("RSA1", {}).get('SPLSGN1', 0)
+      tsgn2 = cp_cam.vl.get("RSA1", {}).get('TSGN2', 0)
+      splsgn2 = cp_cam.vl.get("RSA1", {}).get('SPLSGN2', 0)
+      tsgn3 = cp_cam.vl.get("RSA2", {}).get('TSGN3', 0)
+      splsgn3 = cp_cam.vl.get("RSA2", {}).get('SPLSGN3', 0)
+      tsgn4 = cp_cam.vl.get("RSA2", {}).get('TSGN4', 0)
+      splsgn4 = cp_cam.vl.get("RSA2", {}).get('SPLSGN4', 0)
+    except (KeyError, AttributeError) as e:
+      # Handle case where RSA messages are not available
+      carlog.debug(f"RSA messages not available: {e}")
+      return
+
+    has_changed = tsgn1 != self._tsgn1 \
+                  or spdval1 != self._spdval1 \
+                  or splsgn1 != self._splsgn1 \
+                  or tsgn2 != self._tsgn2 \
+                  or splsgn2 != self._splsgn2 \
+                  or tsgn3 != self._tsgn3 \
+                  or splsgn3 != self._splsgn3 \
+                  or tsgn4 != self._tsgn4 \
+                  or splsgn4 != self._splsgn4
+
+    self._tsgn1 = tsgn1
+    self._spdval1 = spdval1
+    self._splsgn1 = splsgn1
+    self._tsgn2 = tsgn2
+    self._splsgn2 = splsgn2
+    self._tsgn3 = tsgn3
+    self._splsgn3 = splsgn3
+    self._tsgn4 = tsgn4
+    self._splsgn4 = splsgn4
+
+    if not has_changed:
+      return
+
+    carlog.debug('---- TRAFFIC SIGNAL UPDATE -----')
+    if tsgn1 is not None and tsgn1 != 0:
+      carlog.debug(f'TSGN1: {self.traffic_signal_description(tsgn1)}')
+    if spdval1 is not None and spdval1 != 0:
+      carlog.debug(f'SPDVAL1: {spdval1}')
+    if splsgn1 is not None and splsgn1 != 0:
+      carlog.debug(f'SPLSGN1: {splsgn1}')
+    if tsgn2 is not None and tsgn2 != 0:
+      carlog.debug(f'TSGN2: {self.traffic_signal_description(tsgn2)}')
+    if splsgn2 is not None and splsgn2 != 0:
+      carlog.debug(f'SPLSGN2: {splsgn2}')
+    if tsgn3 is not None and tsgn3 != 0:
+      carlog.debug(f'TSGN3: {self.traffic_signal_description(tsgn3)}')
+    if splsgn3 is not None and splsgn3 != 0:
+      carlog.debug(f'SPLSGN3: {splsgn3}')
+    if tsgn4 is not None and tsgn4 != 0:
+      carlog.debug(f'TSGN4: {self.traffic_signal_description(tsgn4)}')
+    if splsgn4 is not None and splsgn4 != 0:
+      carlog.debug(f'SPLSGN4: {splsgn4}')
+    carlog.debug('------------------------')
+
+  def calculate_speed_limit(self):
+    """Calculate speed limit from traffic signals with validation"""
+    # Check all traffic sign slots for speed limits, not just tsgn1
+    for tsgn, spdval in [(self._tsgn1, self._spdval1),
+                         (self._tsgn2, None),
+                         (self._tsgn3, None),
+                         (self._tsgn4, None)]:
+
+      if tsgn == 1 and spdval is not None and 0 < spdval <= 200:  # Reasonable speed range
+        return spdval * CV.KPH_TO_MS
+
+      if tsgn == 36 and spdval is not None and 0 < spdval <= 120:  # Reasonable MPH range
+        return spdval * CV.MPH_TO_MS
+
+    return 0
+
+  def update(self, ret: structs.CarState, ret_iq: structs.IQCarState, can_parsers: dict[StrEnum, CANParser]) -> None:
+    cp = can_parsers[Bus.pt]
+    cp_cam = can_parsers[Bus.cam]
+
+    if self.CP_IQ.flags & ToyotaFlagsIQ.SMART_DSU or self.CP_IQ.flags & ToyotaFlagsIQ.STOP_AND_GO_HACK:
+      self.acc_type = 1
+
+    if self.CP_IQ.enableGasInterceptor:
+      gas = (cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) // 2
+      ret.gasPressed = gas > 805
+
+    # ZSS support thanks to zorrobyte, ErichMoraga, and dragonpilot
+    if self.CP_IQ.flags & ToyotaFlagsIQ.ZSS:
+      zorro_steer = cp.vl["SECONDARY_STEER_ANGLE"]["ZORRO_STEER"]
+      control_available = ret.cruiseState.available
+
+      # Only compute ZSS offset when control is available
+      if control_available and not self.zss_cruise_active_last:
+        self.zss_threshold_count = 0
+        self.zss_compute = True  # Control was just activated, so allow offset to be recomputed
+      self.zss_cruise_active_last = control_available
+
+      # Compute ZSS offset once we have meaningful angles
+      if self.zss_compute and abs(ret.steeringAngleDeg) > 1e-3 and abs(zorro_steer) > 1e-3:
+        self.zss_compute = False
+        self.zss_angle_offset = zorro_steer - ret.steeringAngleDeg
+
+      # Sanity checks
+      steering_angle_deg = zorro_steer - self.zss_angle_offset
+      if self.zss_threshold_count <= ZSS_MAX_THRESHOLD:
+        if abs(ret.steeringAngleDeg - steering_angle_deg) > ZSS_DIFF_THRESHOLD:
+          self.zss_threshold_count += 1
+        else:
+          ret.steeringAngleDeg = steering_angle_deg
+
+    # Update traffic signals and speed limit
+    self.update_traffic_signals(cp_cam)
+    ret_iq.speedLimit = self.calculate_speed_limit()

iqdbc_repo/iqdbc/lvbs/car/toyota/fingerprints_ext.py

@@ -0,0 +1,6 @@
+from iqdbc.car.structs import CarParams
+
+Ecu = CarParams.Ecu
+
+FW_VERSIONS_EXT = {
+}

iqdbc_repo/iqdbc/lvbs/car/toyota/gas_interceptor.py

@@ -0,0 +1,47 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+
+import numpy as np
+
+from iqdbc.car import structs
+from iqdbc.car.can_definitions import CanData
+from iqdbc.car.toyota.values import CAR, MIN_ACC_SPEED, PEDAL_TRANSITION
+from iqdbc.lvbs.car import create_gas_interceptor_command
+
+
+class GasInterceptorCarController:
+  def __init__(self, CP, CP_IQ):
+    self.CP = CP
+    self.CP_IQ = CP_IQ
+
+    self.gas = 0.
+    self.interceptor_gas_cmd = 0.
+
+  def create_gas_command(self, CC: structs.CarControl, CS: structs.CarState, actuators: structs.CarControl.Actuators,
+                         packer, frame: int) -> list[CanData]:
+    can_sends = []
+
+    if self.CP_IQ.enableGasInterceptor and CC.longActive:
+      MAX_INTERCEPTOR_GAS = 0.3
+      # RAV4 has very sensitive gas pedal
+      if self.CP.carFingerprint in (CAR.TOYOTA_RAV4, CAR.TOYOTA_RAV4H, CAR.TOYOTA_HIGHLANDER):
+        PEDAL_SCALE = np.interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.15, 0.3, 0.0])
+      elif self.CP.carFingerprint in (CAR.TOYOTA_COROLLA,):
+        PEDAL_SCALE = np.interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.3, 0.4, 0.0])
+      else:
+        PEDAL_SCALE = np.interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.4, 0.5, 0.0])
+      # offset for creep and windbrake
+      pedal_offset = np.interp(CS.out.vEgo, [0.0, 2.3, MIN_ACC_SPEED + PEDAL_TRANSITION], [-.4, 0.0, 0.2])
+      pedal_command = PEDAL_SCALE * (actuators.accel + pedal_offset)
+      self.interceptor_gas_cmd = float(np.clip(pedal_command, 0., MAX_INTERCEPTOR_GAS))
+    else:
+      self.interceptor_gas_cmd = 0.
+
+    if frame % 2 == 0 and self.CP_IQ.enableGasInterceptor and self.CP.openpilotLongitudinalControl:
+      # send exactly zero if gas cmd is zero. Interceptor will send the max between read value and gas cmd.
+      # This prevents unexpected pedal range rescaling
+      can_sends.append(create_gas_interceptor_command(packer, self.interceptor_gas_cmd, frame // 2))
+      self.gas = self.interceptor_gas_cmd
+
+    return can_sends

iqdbc_repo/iqdbc/lvbs/car/toyota/values.py

@@ -0,0 +1,21 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+
+from enum import IntFlag
+
+
+class ToyotaFlagsIQ(IntFlag):
+  SMART_DSU = 1
+  RADAR_CAN_FILTER = 2
+  ZSS = 4
+  STOCK_LONGITUDINAL = 8
+  STOP_AND_GO_HACK = 16
+
+
+class ToyotaSafetyFlagsIQ:
+  DEFAULT = 0
+  UNSUPPORTED_DSU = 1
+  GAS_INTERCEPTOR = 2
+
+