Merge commit 'ea87b4fa3ba98a71c2c8e93c97788fb0fa960d55' into odyssey_…

…bosch

README.md

@@ -25,6 +25,9 @@ pytest .
 
 # Run the linter
 pre-commit run --all-files
+
+# ./test.sh is the all-in-one that will install deps, build, lint, and test
+./test.sh
 ```
 
 [`examples/`](examples/) contains small example programs that can read state from the car and control the steering, gas, and brakes.

opendbc/can/dbc.cc

@@ -57,7 +57,7 @@ ChecksumState* get_checksum(const std::string& dbc_name) {
     s = new ChecksumState({8, -1, 7, -1, false, TOYOTA_CHECKSUM, &toyota_checksum});
   } else if (startswith(dbc_name, "hyundai_canfd")) {
     s = new ChecksumState({16, -1, 0, -1, true, HKG_CAN_FD_CHECKSUM, &hkg_can_fd_checksum});
-  } else if (startswith(dbc_name, "vw_mqb_2010")) {
+  } else if (startswith(dbc_name, {"vw_mqb_2010", "vw_mqbevo"})) {
     s = new ChecksumState({8, 4, 0, 0, true, VOLKSWAGEN_MQB_CHECKSUM, &volkswagen_mqb_checksum});
   } else if (startswith(dbc_name, "vw_golf_mk4")) {
     s = new ChecksumState({8, 4, 0, -1, true, XOR_CHECKSUM, &xor_checksum});

opendbc/car/gm/carcontroller.py

@@ -100,7 +100,7 @@ def update(self, CC, CS, now_nanos):
         idx = (self.frame // 4) % 4
 
         at_full_stop = CC.longActive and CS.out.standstill
-        near_stop = CC.longActive and (CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE)
+        near_stop = CC.longActive and (abs(CS.out.vEgo) < self.params.NEAR_STOP_BRAKE_PHASE)
         friction_brake_bus = CanBus.CHASSIS
         # GM Camera exceptions
         # TODO: can we always check the longControlState?
@@ -132,7 +132,7 @@ def update(self, CC, CS, now_nanos):
         if self.frame % speed_and_accelerometer_step == 0:
           idx = (self.frame // speed_and_accelerometer_step) % 4
           can_sends.append(gmcan.create_adas_steering_status(CanBus.OBSTACLE, idx))
-          can_sends.append(gmcan.create_adas_accelerometer_speed_status(CanBus.OBSTACLE, CS.out.vEgo, idx))
+          can_sends.append(gmcan.create_adas_accelerometer_speed_status(CanBus.OBSTACLE, abs(CS.out.vEgo), idx))
 
       if self.CP.networkLocation == NetworkLocation.gateway and self.frame % self.params.ADAS_KEEPALIVE_STEP == 0:
         can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN)

opendbc/car/gm/carstate.py

@@ -42,9 +42,6 @@ def update(self, pt_cp, cam_cp, _, __, loopback_cp) -> structs.CarState:
     self.distance_button = pt_cp.vl["ASCMSteeringButton"]["DistanceButton"]
     self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"]
     self.pscm_status = copy.copy(pt_cp.vl["PSCMStatus"])
-    # This is to avoid a fault where you engage while still moving backwards after shifting to D.
-    # An Equinox has been seen with an unsupported status (3), so only check if either wheel is in reverse (2)
-    self.moving_backward = (pt_cp.vl["EBCMWheelSpdRear"]["RLWheelDir"] == 2) or (pt_cp.vl["EBCMWheelSpdRear"]["RRWheelDir"] == 2)
 
     # Variables used for avoiding LKAS faults
     self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]["RollingCounter"]) > 0
@@ -54,16 +51,20 @@ def update(self, pt_cp, cam_cp, _, __, loopback_cp) -> structs.CarState:
       self.pt_lka_steering_cmd_counter = pt_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
       self.cam_lka_steering_cmd_counter = cam_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
 
+    # This is to avoid a fault where you engage while still moving backwards after shifting to D.
+    # An Equinox has been seen with an unsupported status (3), so only check if either wheel is in reverse (2)
+    left_whl_sign = -1 if pt_cp.vl["EBCMWheelSpdRear"]["RLWheelDir"] == 2 else 1
+    right_whl_sign = -1 if pt_cp.vl["EBCMWheelSpdRear"]["RRWheelDir"] == 2 else 1
     ret.wheelSpeeds = self.get_wheel_speeds(
-      pt_cp.vl["EBCMWheelSpdFront"]["FLWheelSpd"],
-      pt_cp.vl["EBCMWheelSpdFront"]["FRWheelSpd"],
-      pt_cp.vl["EBCMWheelSpdRear"]["RLWheelSpd"],
-      pt_cp.vl["EBCMWheelSpdRear"]["RRWheelSpd"],
+      left_whl_sign * pt_cp.vl["EBCMWheelSpdFront"]["FLWheelSpd"],
+      right_whl_sign * pt_cp.vl["EBCMWheelSpdFront"]["FRWheelSpd"],
+      left_whl_sign * pt_cp.vl["EBCMWheelSpdRear"]["RLWheelSpd"],
+      right_whl_sign * pt_cp.vl["EBCMWheelSpdRear"]["RRWheelSpd"],
     )
     ret.vEgoRaw = mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr])
     ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
     # sample rear wheel speeds, standstill=True if ECM allows engagement with brake
-    ret.standstill = ret.wheelSpeeds.rl <= STANDSTILL_THRESHOLD and ret.wheelSpeeds.rr <= STANDSTILL_THRESHOLD
+    ret.standstill = abs(ret.wheelSpeeds.rl) <= STANDSTILL_THRESHOLD and abs(ret.wheelSpeeds.rr) <= STANDSTILL_THRESHOLD
 
     if pt_cp.vl["ECMPRDNL2"]["ManualMode"] == 1:
       ret.gearShifter = self.parse_gear_shifter("T")

opendbc/car/gm/fingerprints.py

@@ -57,14 +57,15 @@
   {
     190: 6, 201: 8, 211: 2, 717: 5, 241: 6, 451: 8, 298: 8, 452: 8, 453: 6, 479: 3, 485: 8, 249: 8, 500: 6, 587: 8, 1611: 8, 289: 8, 481: 7, 193: 8, 197: 8, 209: 7, 455: 7, 489: 8, 309: 8, 413: 8, 501: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 311: 8, 510: 8, 528: 5, 532: 6, 715: 8, 560: 8, 562: 8, 707: 8, 789: 5, 869: 4, 880: 6, 761: 7, 840: 5, 842: 5, 844: 8, 313: 8, 381: 8, 386: 8, 810: 8, 322: 7, 384: 4, 800: 6, 1033: 7, 1034: 7, 1296: 4, 753: 5, 388: 8, 288: 5, 497: 8, 463: 3, 304: 3, 977: 8, 1001: 8, 1280: 4, 320: 4, 352: 5, 563: 5, 565: 5, 1221: 5, 1011: 6, 1017: 8, 1020: 8, 1249: 8, 1300: 8, 328: 1, 1217: 8, 1233: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1930: 7, 1271: 8
   }],
-  CAR.CADILLAC_XT4: [
-  {
+  CAR.CADILLAC_XT4: [{
     190: 6, 193: 8, 197: 8, 199: 4, 201: 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, 353: 3, 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, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 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, 715: 8, 717: 5, 719: 5, 761: 7, 806: 1, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 872: 1, 880: 6, 961: 8, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 5, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 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, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1417: 8, 1512: 8, 1517: 8, 1601: 8, 1609: 8, 1613: 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, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1920: 8, 1924: 8, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1984: 8, 1988: 8, 2000: 8, 2001: 8, 2002: 8, 2016: 8, 2017: 8, 2018: 8, 2020: 8, 2021: 8, 2024: 8, 2026: 8
   }],
-  CAR.CHEVROLET_VOLT_2019: [
-  {
+  CAR.CHEVROLET_VOLT_2019: [{
     170: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 331: 3, 352: 5, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 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, 573: 1, 577: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 715: 8, 717: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 975: 2, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 5, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1268: 2, 1273: 3, 1275: 3, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1345: 8, 1417: 8, 1512: 8, 1513: 8, 1516: 8, 1517: 8, 1601: 8, 1609: 8, 1611: 8, 1618: 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, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1920: 8, 1922: 7, 1927: 7, 1930: 7, 1937: 8, 1953: 8, 1954: 8, 1955: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1988: 8, 1990: 8, 2000: 8, 2001: 8, 2004: 8, 2017: 8, 2018: 8, 2020: 8, 2021: 8, 2023: 8, 2025: 8, 2028: 8, 2031: 8
   }],
+  CAR.CHEVROLET_TRAVERSE: [{
+    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, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 573: 1, 577: 8, 578: 8, 579: 8, 587: 8, 603: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 723: 4, 730: 4, 753: 5, 761: 7, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 5, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 5, 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, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1346: 8, 1347: 8, 1355: 8, 1362: 8, 1417: 8, 1512: 8, 1514: 8, 1601: 8, 1602: 8, 1603: 7, 1609: 8, 1611: 8, 1613: 8, 1618: 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, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1920: 7, 1927: 8, 1930: 7, 1937: 8, 1953: 8, 1954: 8, 1955: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1988: 8, 1990: 8, 2000: 8, 2001: 8, 2004: 8, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2024: 8, 2026: 8
+  }],
 }
 
 FW_VERSIONS: dict[str, dict[tuple, list[bytes]]] = {

opendbc/car/gm/interface.py

@@ -200,4 +200,8 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
       ret.steerActuatorDelay = 0.2
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
+    elif candidate == CAR.CHEVROLET_TRAVERSE:
+      ret.steerActuatorDelay = 0.2
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+
     return ret

opendbc/car/gm/values.py

@@ -167,6 +167,10 @@ class CAR(Platforms):
     [GMCarDocs("Chevrolet Volt 2019", "Adaptive Cruise Control (ACC) & LKAS")],
     GMCarSpecs(mass=1607, wheelbase=2.69, steerRatio=15.7, centerToFrontRatio=0.45),
   )
+  CHEVROLET_TRAVERSE = GMSDGMPlatformConfig(
+    [GMCarDocs("Chevrolet Traverse 2022-23", "RS, Premier, or High Country Trim")],
+    CarSpecs(mass=1955, wheelbase=3.07, steerRatio=17.9, centerToFrontRatio=0.4),
+  )
 
 
 class CruiseButtons:
@@ -248,7 +252,7 @@ class CanBus:
 CAMERA_ACC_CAR = {CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_SILVERADO, CAR.CHEVROLET_EQUINOX, CAR.CHEVROLET_TRAILBLAZER}
 
 # We're integrated at the Safety Data Gateway Module on these cars
-SDGM_CAR = {CAR.CADILLAC_XT4, CAR.CHEVROLET_VOLT_2019}
+SDGM_CAR = {CAR.CADILLAC_XT4, CAR.CHEVROLET_VOLT_2019, CAR.CHEVROLET_TRAVERSE}
 
 STEER_THRESHOLD = 1.0
 

opendbc/car/interfaces.py

@@ -284,6 +284,7 @@ def __init__(self, CP: structs.CarParams):
     self.right_blinker_prev = False
     self.cluster_speed_hyst_gap = 0.0
     self.cluster_min_speed = 0.0  # min speed before dropping to 0
+    self.secoc_key: bytes = b"00" * 16
 
     Q = [[0.0, 0.0], [0.0, 100.0]]
     R = 0.3
@@ -382,6 +383,7 @@ class CarControllerBase(ABC):
   def __init__(self, dbc_name: str, CP: structs.CarParams):
     self.CP = CP
     self.frame = 0
+    self.secoc_key: bytes = b"00" * 16
 
   @abstractmethod
   def update(self, CC: structs.CarControl, CS: CarStateBase, now_nanos: int) -> tuple[structs.CarControl.Actuators, list[CanData]]:

opendbc/car/nissan/carcontroller.py

@@ -1,5 +1,6 @@
 import copy
 from opendbc.can.packer import CANPacker
+from opendbc.car.common.numpy_fast import clip
 from opendbc.car import apply_std_steer_angle_limits, structs
 from opendbc.car.interfaces import CarControllerBase
 from opendbc.car.nissan import nissancan
@@ -48,6 +49,7 @@ def update(self, CC, CS, now_nanos):
       apply_angle = CS.out.steeringAngleDeg
       self.lkas_max_torque = 0
 
+    apply_angle = clip(apply_angle, -CarControllerParams.MAX_STEER_ANGLE, CarControllerParams.MAX_STEER_ANGLE)
     self.apply_angle_last = apply_angle
 
     if self.CP.carFingerprint in (CAR.NISSAN_ROGUE, CAR.NISSAN_XTRAIL, CAR.NISSAN_ALTIMA) and pcm_cancel_cmd:

opendbc/car/nissan/values.py

@@ -15,6 +15,10 @@ class CarControllerParams:
   LKAS_MAX_TORQUE = 1               # A value of 1 is easy to overpower
   STEER_THRESHOLD = 1.0
 
+  # When output steering Angle not within range -1311 and 1310,
+  #   CANPacker packs wrong angle output to be decoded by panda
+  MAX_STEER_ANGLE = 1310
+
   def __init__(self, CP):
     pass
 

opendbc/car/secoc.py

@@ -0,0 +1,47 @@
+import struct
+
+from Crypto.Hash import CMAC
+from Crypto.Cipher import AES
+
+def add_mac(key, trip_cnt, reset_cnt, msg_cnt, msg):
+  # TODO: clean up conversion to and from hex
+
+  addr, payload, bus = msg
+  reset_flag = reset_cnt & 0b11
+  msg_cnt_flag = msg_cnt & 0b11
+  payload = payload[:4]
+
+  # Step 1: Build Freshness Value (48 bits)
+  # [Trip Counter (16 bit)][[Reset Counter (20 bit)][Message Counter (8 bit)][Reset Flag (2 bit)][Padding (2 bit)]
+  freshness_value = struct.pack('>HI', trip_cnt, (reset_cnt << 12) | ((msg_cnt & 0xff) << 4) | (reset_flag << 2))
+
+  # Step 2: Build data to authenticate (96 bits)
+  # [Message ID (16 bits)][Payload (32 bits)][Freshness Value (48 bits)]
+  to_auth = struct.pack('>H', addr) + payload + freshness_value
+
+  # Step 3: Calculate CMAC (28 bit)
+  cmac = CMAC.new(key, ciphermod=AES)
+  cmac.update(to_auth)
+  mac = cmac.digest().hex()[:7] # truncated MAC
+
+  # Step 4: Build message
+  # [Payload (32 bit)][Message Counter Flag (2 bit)][Reset Flag (2 bit)][Authenticator (28 bit)]
+  msg_cnt_rst_flag = struct.pack('>B', (msg_cnt_flag << 2) | reset_flag).hex()[1]
+  msg = payload.hex() + msg_cnt_rst_flag + mac
+  payload = bytes.fromhex(msg)
+
+  return (addr, payload, bus)
+
+def build_sync_mac(key, trip_cnt, reset_cnt, id_=0xf):
+  id_ = struct.pack('>H', id_) # 16
+  trip_cnt = struct.pack('>H', trip_cnt) # 16
+  reset_cnt = struct.pack('>I', reset_cnt << 12)[:-1] # 20 + 4 padding
+
+  to_auth = id_ + trip_cnt + reset_cnt # SecOC 11.4.1.1 page 138
+
+  cmac = CMAC.new(key, ciphermod=AES)
+  cmac.update(to_auth)
+
+  msg = "0" + cmac.digest().hex()[:7]
+  msg = bytes.fromhex(msg)
+  return struct.unpack('>I', msg)[0]

opendbc/car/structs.py

@@ -392,6 +392,9 @@ class LateralTorqueTuning:
 
   wheelSpeedFactor: float = auto_field()  # Multiplier on wheels speeds to computer actual speeds
 
+  secOcRequired: bool = auto_field()
+  secOcKeyAvailable: bool = auto_field()
+
   @auto_dataclass
   class LongitudinalPIDTuning:
     kpBP: list[float] = auto_field()

opendbc/car/subaru/fingerprints.py

@@ -188,6 +188,7 @@
     (Ecu.engine, 0x7e0, None): [
       b'\xca!`0\x07',
       b'\xca!`p\x07',
+      b'\xca!`t\x07',
       b'\xca!ap\x07',
       b'\xca!f@\x07',
       b'\xca!fp\x07',

opendbc/car/tesla/carcontroller.py

@@ -0,0 +1,59 @@
+import copy
+from opendbc.car.common.numpy_fast import clip
+from opendbc.can.packer import CANPacker
+from opendbc.car import apply_std_steer_angle_limits
+from opendbc.car.interfaces import CarControllerBase
+from opendbc.car.tesla.teslacan import TeslaCAN
+from opendbc.car.tesla.values import CarControllerParams
+
+
+class CarController(CarControllerBase):
+  def __init__(self, dbc_name, CP):
+    self.CP = CP
+    self.frame = 0
+    self.apply_angle_last = 0
+    self.packer = CANPacker(dbc_name)
+    self.tesla_can = TeslaCAN(self.packer)
+
+  def update(self, CC, CS, now_nanos):
+
+    actuators = CC.actuators
+    can_sends = []
+
+    # Disengage and allow for user override
+    hands_on_fault = CS.steer_warning == "EAC_ERROR_HANDS_ON" and CS.hands_on_level >= 3
+    lkas_enabled = CC.latActive and not hands_on_fault
+
+    if self.frame % 2 == 0:
+      if lkas_enabled:
+        # Angular rate limit based on speed
+        apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgo, CarControllerParams)
+
+        # To not fault the EPS
+        apply_angle = clip(apply_angle, CS.out.steeringAngleDeg - 20, CS.out.steeringAngleDeg + 20)
+      else:
+        apply_angle = CS.out.steeringAngleDeg
+
+      self.apply_angle_last = apply_angle
+      can_sends.append(self.tesla_can.create_steering_control(apply_angle, lkas_enabled, (self.frame // 2) % 16))
+
+    # Longitudinal control
+    if self.CP.openpilotLongitudinalControl and self.frame % 4 == 0:
+      state = CS.das_control["DAS_accState"]
+      if hands_on_fault:
+        state = 13  # "ACC_CANCEL_GENERIC_SILENT"
+      accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
+      cntr =  (self.frame // 4) % 8
+      can_sends.append(self.tesla_can.create_longitudinal_command(state, accel, cntr))
+
+    # Increment counter so cancel is prioritized even without openpilot longitudinal
+    if hands_on_fault and not self.CP.openpilotLongitudinalControl:
+      cntr = (CS.das_control["DAS_controlCounter"] + 1) % 8
+      can_sends.append(self.tesla_can.create_longitudinal_command(13, 0,  cntr))
+
+    # TODO: HUD control
+    new_actuators = copy.copy(actuators)
+    new_actuators.steeringAngleDeg = self.apply_angle_last
+
+    self.frame += 1
+    return new_actuators, can_sends