diff --git a/panda/.circleci/config.yml b/panda/.circleci/config.yml
index 38042afd0a..2c7805a5bb 100644
--- a/panda/.circleci/config.yml
+++ b/panda/.circleci/config.yml
@@ -28,6 +28,10 @@ jobs:
           name: Build Panda STM image
           command: |
             docker run panda_build /bin/bash -c "cd /panda/board; make bin"
+      - run:
+          name: Build Pedal STM image
+          command: |
+            docker run panda_build /bin/bash -c "cd /panda/board/pedal; make obj/comma.bin"
       - run:
           name: Build NEO STM image
           command: |
diff --git a/panda/board/drivers/can.h b/panda/board/drivers/can.h
index 943f268a93..b837094c9a 100644
--- a/panda/board/drivers/can.h
+++ b/panda/board/drivers/can.h
@@ -158,7 +158,7 @@ void can_set_speed(uint8_t can_number) {
     // initialization mode
     CAN->MCR = CAN_MCR_TTCM | CAN_MCR_INRQ;
     while((CAN->MSR & CAN_MSR_INAK) != CAN_MSR_INAK);
-    
+
     // set time quanta from defines
     CAN->BTR = (CAN_BTR_TS1_0 * (CAN_SEQ1-1)) |
               (CAN_BTR_TS2_0 * (CAN_SEQ2-1)) |
@@ -468,8 +468,10 @@ void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number) {
       // bus number isn't passed through
       to_push->RDTR &= 0xF;
       if (bus_number == 3 && can_num_lookup[3] == 0xFF) {
+        #ifdef PANDA
         // TODO: why uint8 bro? only int8?
         bitbang_gmlan(to_push);
+        #endif
       } else {
         can_push(can_queues[bus_number], to_push);
         process_can(CAN_NUM_FROM_BUS_NUM(bus_number));
diff --git a/panda/board/pedal/obj/.gitkeep b/panda/board/pedal/obj/.gitkeep
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/panda/board/safety/safety_cadillac.h b/panda/board/safety/safety_cadillac.h
index 86549d96eb..2a2d8b9857 100644
--- a/panda/board/safety/safety_cadillac.h
+++ b/panda/board/safety/safety_cadillac.h
@@ -125,7 +125,7 @@ const safety_hooks cadillac_hooks = {
   .init = cadillac_init,
   .rx = cadillac_rx_hook,
   .tx = cadillac_tx_hook,
-  .tx_lin = alloutput_tx_lin_hook,
+  .tx_lin = nooutput_tx_lin_hook,
   .ignition = cadillac_ign_hook,
   .fwd = alloutput_fwd_hook,
 };
diff --git a/panda/board/safety/safety_defaults.h b/panda/board/safety/safety_defaults.h
index 8042cc3ce0..196df65d2f 100644
--- a/panda/board/safety/safety_defaults.h
+++ b/panda/board/safety/safety_defaults.h
@@ -57,4 +57,3 @@ const safety_hooks alloutput_hooks = {
   .ignition = default_ign_hook,
   .fwd = alloutput_fwd_hook,
 };
-
diff --git a/panda/board/safety/safety_ford.h b/panda/board/safety/safety_ford.h
index 804064842b..075029fb62 100644
--- a/panda/board/safety/safety_ford.h
+++ b/panda/board/safety/safety_ford.h
@@ -83,24 +83,11 @@ static int ford_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
   return true;
 }
 
-static int ford_tx_lin_hook(int lin_num, uint8_t *data, int len) {
-  // TODO: add safety if using LIN
-  return true;
-}
-
-static void ford_init(int16_t param) {
-  controls_allowed = 0;
-}
-
-static int ford_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
-  return -1;
-}
-
 const safety_hooks ford_hooks = {
-  .init = ford_init,
+  .init = nooutput_init,
   .rx = ford_rx_hook,
   .tx = ford_tx_hook,
-  .tx_lin = ford_tx_lin_hook,
+  .tx_lin = nooutput_tx_lin_hook,
   .ignition = default_ign_hook,
-  .fwd = ford_fwd_hook,
+  .fwd = nooutput_fwd_hook,
 };
diff --git a/panda/board/safety/safety_gm.h b/panda/board/safety/safety_gm.h
index 2a6e8af067..5e38e00572 100644
--- a/panda/board/safety/safety_gm.h
+++ b/panda/board/safety/safety_gm.h
@@ -222,11 +222,6 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
   return true;
 }
 
-static int gm_tx_lin_hook(int lin_num, uint8_t *data, int len) {
-  // LIN is not used in Volt
-  return false;
-}
-
 static void gm_init(int16_t param) {
   controls_allowed = 0;
   gm_ignition_started = 0;
@@ -236,16 +231,12 @@ static int gm_ign_hook() {
   return gm_ignition_started;
 }
 
-static int gm_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
-  return -1;
-}
-
 const safety_hooks gm_hooks = {
   .init = gm_init,
   .rx = gm_rx_hook,
   .tx = gm_tx_hook,
-  .tx_lin = gm_tx_lin_hook,
+  .tx_lin = nooutput_tx_lin_hook,
   .ignition = gm_ign_hook,
-  .fwd = gm_fwd_hook,
+  .fwd = nooutput_fwd_hook,
 };
 
diff --git a/panda/board/safety/safety_honda.h b/panda/board/safety/safety_honda.h
index b64e45ce6d..82e6eadda2 100644
--- a/panda/board/safety/safety_honda.h
+++ b/panda/board/safety/safety_honda.h
@@ -119,7 +119,7 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
       if ((to_send->RDLR & 0xFFFF0000) != to_send->RDLR) return 0;
     }
   }
-  
+
   // FORCE CANCEL: safety check only relevant when spamming the cancel button in Bosch HW
   // ensuring that only the cancel button press is sent (VAL 2) when controls are off.
   // This avoids unintended engagements while still allowing resume spam
@@ -132,28 +132,19 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
   return true;
 }
 
-static int honda_tx_lin_hook(int lin_num, uint8_t *data, int len) {
-  // TODO: add safety if using LIN
-  return true;
-}
-
 static void honda_init(int16_t param) {
   controls_allowed = 0;
   bosch_hardware = false;
   honda_alt_brake_msg = false;
 }
 
-static int honda_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
-  return -1;
-}
-
 const safety_hooks honda_hooks = {
   .init = honda_init,
   .rx = honda_rx_hook,
   .tx = honda_tx_hook,
-  .tx_lin = honda_tx_lin_hook,
+  .tx_lin = nooutput_tx_lin_hook,
   .ignition = default_ign_hook,
-  .fwd = honda_fwd_hook,
+  .fwd = nooutput_fwd_hook,
 };
 
 static void honda_bosch_init(int16_t param) {
@@ -175,7 +166,7 @@ const safety_hooks honda_bosch_hooks = {
   .init = honda_bosch_init,
   .rx = honda_rx_hook,
   .tx = honda_tx_hook,
-  .tx_lin = honda_tx_lin_hook,
+  .tx_lin = nooutput_tx_lin_hook,
   .ignition = default_ign_hook,
   .fwd = honda_bosch_fwd_hook,
 };
diff --git a/panda/board/safety/safety_hyundai.h b/panda/board/safety/safety_hyundai.h
index e23dc7372a..d474eaeaf8 100644
--- a/panda/board/safety/safety_hyundai.h
+++ b/panda/board/safety/safety_hyundai.h
@@ -1,35 +1,156 @@
-int hyundai_giraffe_switch_1 = 0;          // is giraffe switch 1 high?
+const int HYUNDAI_MAX_STEER = 250;
+const int HYUNDAI_MAX_RT_DELTA = 112;          // max delta torque allowed for real time checks
+const int32_t HYUNDAI_RT_INTERVAL = 250000;    // 250ms between real time checks
+const int HYUNDAI_MAX_RATE_UP = 3;
+const int HYUNDAI_MAX_RATE_DOWN = 7;
+const int HYUNDAI_DRIVER_TORQUE_ALLOWANCE = 50;
+const int HYUNDAI_DRIVER_TORQUE_FACTOR = 2;
 
+int hyundai_camera_detected = 0;
+int hyundai_giraffe_switch_2 = 0;          // is giraffe switch 2 high?
+int hyundai_rt_torque_last = 0;
+int hyundai_desired_torque_last = 0;
+int hyundai_cruise_engaged_last = 0;
+uint32_t hyundai_ts_last = 0;
+struct sample_t hyundai_torque_driver;         // last few driver torques measured
 
 static void hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
+  int bus = (to_push->RDTR >> 4) & 0xFF;
+  uint32_t addr;
+  if (to_push->RIR & 4) {
+    // Extended
+    // Not looked at, but have to be separated
+    // to avoid address collision
+    addr = to_push->RIR >> 3;
+  } else {
+    // Normal
+    addr = to_push->RIR >> 21;
+  }
+
+  if (addr == 897) {
+    int torque_driver_new = ((to_push->RDLR >> 11) & 0xfff) - 2048;
+    // update array of samples
+    update_sample(&hyundai_torque_driver, torque_driver_new);
+  }
+
+  // check if stock camera ECU is still online
+  if (bus == 0 && addr == 832) {
+    hyundai_camera_detected = 1;
+    controls_allowed = 0;
+  }
+
+  // enter controls on rising edge of ACC, exit controls on ACC off
+  if ((to_push->RIR>>21) == 1057) {
+    // 2 bits: 13-14
+    int cruise_engaged = (to_push->RDLR >> 13) & 0x3;
+    if (cruise_engaged && !hyundai_cruise_engaged_last) {
+      controls_allowed = 1;
+    } else if (!cruise_engaged) {
+      controls_allowed = 0;
+    }
+    hyundai_cruise_engaged_last = cruise_engaged;
+  }
 
-  int bus = (to_push->RDTR >> 4) & 0xF;
-  // 832 is lkas cmd. If it is on bus 0, then giraffe switch 1 is high and we want stock
-  if ((to_push->RIR>>21) == 832 && (bus == 0)) {
-    hyundai_giraffe_switch_1 = 1;
+  // 832 is lkas cmd. If it is on bus 2, then giraffe switch 2 is high
+  if ((to_push->RIR>>21) == 832 && (bus == 2)) {
+    hyundai_giraffe_switch_2 = 1;
   }
 }
 
-static void hyundai_init(int16_t param) {
-  controls_allowed = 0;
-  hyundai_giraffe_switch_1 = 0;
+static int hyundai_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
+
+  // There can be only one! (camera)
+  if (hyundai_camera_detected) {
+    return 0;
+  }
+
+  uint32_t addr;
+  if (to_send->RIR & 4) {
+    // Extended
+    addr = to_send->RIR >> 3;
+  } else {
+    // Normal
+    addr = to_send->RIR >> 21;
+  }
+
+  // LKA STEER: safety check
+  if (addr == 832) {
+    int desired_torque = ((to_send->RDLR >> 16) & 0x7ff) - 1024;
+    uint32_t ts = TIM2->CNT;
+    int violation = 0;
+
+    if (controls_allowed) {
+
+      // *** global torque limit check ***
+      violation |= max_limit_check(desired_torque, HYUNDAI_MAX_STEER, -HYUNDAI_MAX_STEER);
+
+      // *** torque rate limit check ***
+      violation |= driver_limit_check(desired_torque, hyundai_desired_torque_last, &hyundai_torque_driver,
+        HYUNDAI_MAX_STEER, HYUNDAI_MAX_RATE_UP, HYUNDAI_MAX_RATE_DOWN,
+        HYUNDAI_DRIVER_TORQUE_ALLOWANCE, HYUNDAI_DRIVER_TORQUE_FACTOR);
+
+      // used next time
+      hyundai_desired_torque_last = desired_torque;
+
+      // *** torque real time rate limit check ***
+      violation |= rt_rate_limit_check(desired_torque, hyundai_rt_torque_last, HYUNDAI_MAX_RT_DELTA);
+
+      // every RT_INTERVAL set the new limits
+      uint32_t ts_elapsed = get_ts_elapsed(ts, hyundai_ts_last);
+      if (ts_elapsed > HYUNDAI_RT_INTERVAL) {
+        hyundai_rt_torque_last = desired_torque;
+        hyundai_ts_last = ts;
+      }
+    }
+
+    // no torque if controls is not allowed
+    if (!controls_allowed && (desired_torque != 0)) {
+      violation = 1;
+    }
+
+    // reset to 0 if either controls is not allowed or there's a violation
+    if (violation || !controls_allowed) {
+      hyundai_desired_torque_last = 0;
+      hyundai_rt_torque_last = 0;
+      hyundai_ts_last = ts;
+    }
+
+    if (violation) {
+      return false;
+    }
+  }
+
+  // FORCE CANCEL: safety check only relevant when spamming the cancel button.
+  // ensuring that only the cancel button press is sent (VAL 4) when controls are off.
+  // This avoids unintended engagements while still allowing resume spam
+  if (((to_send->RIR>>21) == 1265) && !controls_allowed && ((to_send->RDTR >> 4) & 0xFF) == 0) {
+    if ((to_send->RDLR & 0x7) != 4) return 0;
+  }
+
+  // 1 allows the message through
+  return true;
 }
 
 static int hyundai_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
 
-  // forward camera to car and viceversa, excpet for lkas11 and mdps12
-  if ((bus_num == 0 || bus_num == 2) && !hyundai_giraffe_switch_1) {
+  // forward cam to ccan and viceversa, except lkas cmd
+  if ((bus_num == 0 || bus_num == 2) && hyundai_giraffe_switch_2) {
     int addr = to_fwd->RIR>>21;
-    bool is_lkas_msg = (addr == 832 && bus_num == 2) || (addr == 593 && bus_num == 0);
+    bool is_lkas_msg = addr == 832 && bus_num == 2;
     return is_lkas_msg? -1 : (uint8_t)(~bus_num & 0x2);
   }
   return -1;
 }
 
+static void hyundai_init(int16_t param) {
+  controls_allowed = 0;
+  hyundai_giraffe_switch_2 = 0;
+}
+
 const safety_hooks hyundai_hooks = {
   .init = hyundai_init,
   .rx = hyundai_rx_hook,
-  .tx = nooutput_tx_hook,
+  .tx = hyundai_tx_hook,
   .tx_lin = nooutput_tx_lin_hook,
   .ignition = default_ign_hook,
   .fwd = hyundai_fwd_hook,
diff --git a/panda/board/safety/safety_toyota.h b/panda/board/safety/safety_toyota.h
index d51a12a441..6ddf2952d1 100644
--- a/panda/board/safety/safety_toyota.h
+++ b/panda/board/safety/safety_toyota.h
@@ -107,7 +107,7 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
         violation |= max_limit_check(desired_torque, TOYOTA_MAX_TORQUE, -TOYOTA_MAX_TORQUE);
 
         // *** torque rate limit check ***
-        violation |= dist_to_meas_check(desired_torque, toyota_desired_torque_last, 
+        violation |= dist_to_meas_check(desired_torque, toyota_desired_torque_last,
           &toyota_torque_meas, TOYOTA_MAX_RATE_UP, TOYOTA_MAX_RATE_DOWN, TOYOTA_MAX_TORQUE_ERROR);
 
         // used next time
@@ -123,7 +123,7 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
           toyota_ts_last = ts;
         }
       }
-      
+
       // no torque if controls is not allowed
       if (!controls_allowed && (desired_torque != 0)) {
         violation = 1;
@@ -146,11 +146,6 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
   return true;
 }
 
-static int toyota_tx_lin_hook(int lin_num, uint8_t *data, int len) {
-  // TODO: add safety if using LIN
-  return true;
-}
-
 static void toyota_init(int16_t param) {
   controls_allowed = 0;
   toyota_actuation_limits = 1;
@@ -173,7 +168,7 @@ const safety_hooks toyota_hooks = {
   .init = toyota_init,
   .rx = toyota_rx_hook,
   .tx = toyota_tx_hook,
-  .tx_lin = toyota_tx_lin_hook,
+  .tx_lin = nooutput_tx_lin_hook,
   .ignition = default_ign_hook,
   .fwd = toyota_fwd_hook,
 };
@@ -189,7 +184,7 @@ const safety_hooks toyota_nolimits_hooks = {
   .init = toyota_nolimits_init,
   .rx = toyota_rx_hook,
   .tx = toyota_tx_hook,
-  .tx_lin = toyota_tx_lin_hook,
+  .tx_lin = nooutput_tx_lin_hook,
   .ignition = default_ign_hook,
   .fwd = toyota_fwd_hook,
 };
diff --git a/panda/board/safety/safety_toyota_ipas.h b/panda/board/safety/safety_toyota_ipas.h
index 1627ece3a5..ff4158e3c7 100644
--- a/panda/board/safety/safety_toyota_ipas.h
+++ b/panda/board/safety/safety_toyota_ipas.h
@@ -149,7 +149,7 @@ const safety_hooks toyota_ipas_hooks = {
   .init = toyota_init,
   .rx = toyota_ipas_rx_hook,
   .tx = toyota_ipas_tx_hook,
-  .tx_lin = toyota_tx_lin_hook,
+  .tx_lin = nooutput_tx_lin_hook,
   .ignition = default_ign_hook,
   .fwd = toyota_fwd_hook,
 };
diff --git a/panda/tests/safety/libpandasafety_py.py b/panda/tests/safety/libpandasafety_py.py
index 0af95ae47a..dfd396045b 100644
--- a/panda/tests/safety/libpandasafety_py.py
+++ b/panda/tests/safety/libpandasafety_py.py
@@ -41,6 +41,7 @@ void set_timer(int t);
 void set_toyota_torque_meas(int min, int max);
 void set_cadillac_torque_driver(int min, int max);
 void set_gm_torque_driver(int min, int max);
+void set_hyundai_torque_driver(int min, int max);
 void set_toyota_rt_torque_last(int t);
 void set_toyota_desired_torque_last(int t);
 int get_toyota_torque_meas_min(void);
@@ -70,6 +71,13 @@ int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
 void set_gm_desired_torque_last(int t);
 void set_gm_rt_torque_last(int t);
 
+void init_tests_hyundai(void);
+void nooutput_init(int16_t param);
+void hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
+int hyundai_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
+void set_hyundai_desired_torque_last(int t);
+void set_hyundai_rt_torque_last(int t);
+
 void toyota_ipas_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
 int toyota_ipas_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
 
diff --git a/panda/tests/safety/test.c b/panda/tests/safety/test.c
index 3d4288116e..c3f280644b 100644
--- a/panda/tests/safety/test.c
+++ b/panda/tests/safety/test.c
@@ -25,6 +25,7 @@ typedef struct
 struct sample_t toyota_torque_meas;
 struct sample_t cadillac_torque_driver;
 struct sample_t gm_torque_driver;
+struct sample_t hyundai_torque_driver;
 
 TIM_TypeDef timer;
 TIM_TypeDef *TIM2 = &timer;
@@ -75,6 +76,11 @@ void set_gm_torque_driver(int min, int max){
   gm_torque_driver.max = max;
 }
 
+void set_hyundai_torque_driver(int min, int max){
+  hyundai_torque_driver.min = min;
+  hyundai_torque_driver.max = max;
+}
+
 int get_toyota_torque_meas_min(void){
   return toyota_torque_meas.min;
 }
@@ -95,6 +101,10 @@ void set_gm_rt_torque_last(int t){
   gm_rt_torque_last = t;
 }
 
+void set_hyundai_rt_torque_last(int t){
+  hyundai_rt_torque_last = t;
+}
+
 void set_toyota_desired_torque_last(int t){
   toyota_desired_torque_last = t;
 }
@@ -107,6 +117,9 @@ void set_gm_desired_torque_last(int t){
   gm_desired_torque_last = t;
 }
 
+void set_hyundai_desired_torque_last(int t){
+  hyundai_desired_torque_last = t;
+}
 
 int get_ego_speed(void){
   return ego_speed;
@@ -155,6 +168,15 @@ void init_tests_gm(void){
   set_timer(0);
 }
 
+void init_tests_hyundai(void){
+  hyundai_torque_driver.min = 0;
+  hyundai_torque_driver.max = 0;
+  hyundai_desired_torque_last = 0;
+  hyundai_rt_torque_last = 0;
+  hyundai_ts_last = 0;
+  set_timer(0);
+}
+
 void init_tests_honda(void){
   ego_speed = 0;
   gas_interceptor_detected = 0;
diff --git a/panda/tests/safety/test_gm.py b/panda/tests/safety/test_gm.py
index f11360dbe2..346fc07381 100644
--- a/panda/tests/safety/test_gm.py
+++ b/panda/tests/safety/test_gm.py
@@ -84,10 +84,6 @@ class TestGmSafety(unittest.TestCase):
     to_send[0].RDHR = (((t >> 8) & 0x7) << 16) | ((t & 0xFF) << 24)
     return to_send
 
-  def _torque_driver_msg_array(self, torque):
-    for i in range(3):
-      self.safety.gm_ipas_rx_hook(self._torque_driver_msg(torque))
-
   def _torque_msg(self, torque):
     to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
     to_send[0].RIR = 384 << 21
@@ -117,7 +113,7 @@ class TestGmSafety(unittest.TestCase):
     self.safety.gm_rx_hook(self._button_msg(CANCEL_BTN))
     self.assertFalse(self.safety.get_controls_allowed())
 
-  def test_disengage_on_brake(self): 
+  def test_disengage_on_brake(self):
     self.safety.set_controls_allowed(1)
     self.safety.gm_rx_hook(self._brake_msg(True))
     self.assertFalse(self.safety.get_controls_allowed())
diff --git a/panda/tests/safety/test_honda.py b/panda/tests/safety/test_honda.py
index 143916d609..48b678eaae 100755
--- a/panda/tests/safety/test_honda.py
+++ b/panda/tests/safety/test_honda.py
@@ -108,7 +108,7 @@ class TestHondaSafety(unittest.TestCase):
     self.safety.set_controls_allowed(1)
     self.safety.honda_rx_hook(self._alt_brake_msg(1))
     self.assertFalse(self.safety.get_controls_allowed())
-    
+
     self.safety.set_honda_alt_brake_msg(0)
     self.safety.set_controls_allowed(1)
     self.safety.honda_rx_hook(self._alt_brake_msg(1))
diff --git a/panda/tests/safety/test_hyundai.py b/panda/tests/safety/test_hyundai.py
new file mode 100644
index 0000000000..c53a85c053
--- /dev/null
+++ b/panda/tests/safety/test_hyundai.py
@@ -0,0 +1,186 @@
+#!/usr/bin/env python2
+import unittest
+import numpy as np
+import libpandasafety_py
+
+MAX_RATE_UP = 3
+MAX_RATE_DOWN = 7
+MAX_STEER = 250
+
+MAX_RT_DELTA = 112
+RT_INTERVAL = 250000
+
+DRIVER_TORQUE_ALLOWANCE = 50;
+DRIVER_TORQUE_FACTOR = 2;
+
+def twos_comp(val, bits):
+  if val >= 0:
+    return val
+  else:
+    return (2**bits) + val
+
+def sign(a):
+  if a > 0:
+    return 1
+  else:
+    return -1
+
+class TestHyundaiSafety(unittest.TestCase):
+  @classmethod
+  def setUp(cls):
+    cls.safety = libpandasafety_py.libpandasafety
+    cls.safety.nooutput_init(0)
+    cls.safety.init_tests_hyundai()
+
+  def _button_msg(self, buttons):
+    to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
+    to_send[0].RIR = 1265 << 21
+    to_send[0].RDLR = buttons
+    return to_send
+
+  def _set_prev_torque(self, t):
+    self.safety.set_hyundai_desired_torque_last(t)
+    self.safety.set_hyundai_rt_torque_last(t)
+
+  def _torque_driver_msg(self, torque):
+    to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
+    to_send[0].RIR = 897 << 21
+    to_send[0].RDLR = (torque + 2048) << 11
+    return to_send
+
+  def _torque_msg(self, torque):
+    to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
+    to_send[0].RIR = 832 << 21
+    to_send[0].RDLR = (torque + 1024) << 16
+    return to_send
+
+  def test_default_controls_not_allowed(self):
+    self.assertFalse(self.safety.get_controls_allowed())
+
+  def test_steer_safety_check(self):
+    for enabled in [0, 1]:
+      for t in range(-0x200, 0x200):
+        self.safety.set_controls_allowed(enabled)
+        self._set_prev_torque(t)
+        if abs(t) > MAX_STEER or (not enabled and abs(t) > 0):
+          self.assertFalse(self.safety.hyundai_tx_hook(self._torque_msg(t)))
+        else:
+          self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(t)))
+
+  def test_manually_enable_controls_allowed(self):
+    self.safety.set_controls_allowed(1)
+    self.assertTrue(self.safety.get_controls_allowed())
+    self.safety.set_controls_allowed(0)
+    self.assertFalse(self.safety.get_controls_allowed())
+
+  def test_enable_control_allowed_from_cruise(self):
+    to_push = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
+    to_push[0].RIR = 1057 << 21
+    to_push[0].RDLR = 1 << 13
+
+    self.safety.hyundai_rx_hook(to_push)
+    self.assertTrue(self.safety.get_controls_allowed())
+
+  def test_disable_control_allowed_from_cruise(self):
+    to_push = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
+    to_push[0].RIR = 1057 << 21
+    to_push[0].RDLR = 0
+
+    self.safety.set_controls_allowed(1)
+    self.safety.hyundai_rx_hook(to_push)
+    self.assertFalse(self.safety.get_controls_allowed())
+
+  def test_non_realtime_limit_up(self):
+    self.safety.set_hyundai_torque_driver(0, 0)
+    self.safety.set_controls_allowed(True)
+
+    self._set_prev_torque(0)
+    self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(MAX_RATE_UP)))
+    self._set_prev_torque(0)
+    self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(-MAX_RATE_UP)))
+
+    self._set_prev_torque(0)
+    self.assertFalse(self.safety.hyundai_tx_hook(self._torque_msg(MAX_RATE_UP + 1)))
+    self.safety.set_controls_allowed(True)
+    self._set_prev_torque(0)
+    self.assertFalse(self.safety.hyundai_tx_hook(self._torque_msg(-MAX_RATE_UP - 1)))
+
+  def test_non_realtime_limit_down(self):
+    self.safety.set_hyundai_torque_driver(0, 0)
+    self.safety.set_controls_allowed(True)
+
+  def test_against_torque_driver(self):
+    self.safety.set_controls_allowed(True)
+
+    for sign in [-1, 1]:
+      for t in np.arange(0, DRIVER_TORQUE_ALLOWANCE + 1, 1):
+        t *= -sign
+        self.safety.set_hyundai_torque_driver(t, t)
+        self._set_prev_torque(MAX_STEER * sign)
+        self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(MAX_STEER * sign)))
+
+      self.safety.set_hyundai_torque_driver(DRIVER_TORQUE_ALLOWANCE + 1, DRIVER_TORQUE_ALLOWANCE + 1)
+      self.assertFalse(self.safety.hyundai_tx_hook(self._torque_msg(-MAX_STEER)))
+
+    # spot check some individual cases
+    for sign in [-1, 1]:
+      driver_torque = (DRIVER_TORQUE_ALLOWANCE + 10) * sign
+      torque_desired = (MAX_STEER - 10 * DRIVER_TORQUE_FACTOR) * sign
+      delta = 1 * sign
+      self._set_prev_torque(torque_desired)
+      self.safety.set_hyundai_torque_driver(-driver_torque, -driver_torque)
+      self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(torque_desired)))
+      self._set_prev_torque(torque_desired + delta)
+      self.safety.set_hyundai_torque_driver(-driver_torque, -driver_torque)
+      self.assertFalse(self.safety.hyundai_tx_hook(self._torque_msg(torque_desired + delta)))
+
+      self._set_prev_torque(MAX_STEER * sign)
+      self.safety.set_hyundai_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
+      self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg((MAX_STEER - MAX_RATE_DOWN) * sign)))
+      self._set_prev_torque(MAX_STEER * sign)
+      self.safety.set_hyundai_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
+      self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(0)))
+      self._set_prev_torque(MAX_STEER * sign)
+      self.safety.set_hyundai_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
+      self.assertFalse(self.safety.hyundai_tx_hook(self._torque_msg((MAX_STEER - MAX_RATE_DOWN + 1) * sign)))
+
+
+  def test_realtime_limits(self):
+    self.safety.set_controls_allowed(True)
+
+    for sign in [-1, 1]:
+      self.safety.init_tests_hyundai()
+      self._set_prev_torque(0)
+      self.safety.set_hyundai_torque_driver(0, 0)
+      for t in np.arange(0, MAX_RT_DELTA, 1):
+        t *= sign
+        self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(t)))
+      self.assertFalse(self.safety.hyundai_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA + 1))))
+
+      self._set_prev_torque(0)
+      for t in np.arange(0, MAX_RT_DELTA, 1):
+        t *= sign
+        self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(t)))
+
+      # Increase timer to update rt_torque_last
+      self.safety.set_timer(RT_INTERVAL + 1)
+      self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA - 1))))
+      self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA + 1))))
+
+
+  def test_spam_cancel_safety_check(self):
+    RESUME_BTN = 1
+    SET_BTN = 2
+    CANCEL_BTN = 4
+    BUTTON_MSG = 1265
+    self.safety.set_controls_allowed(0)
+    self.assertTrue(self.safety.hyundai_tx_hook(self._button_msg(CANCEL_BTN)))
+    self.assertFalse(self.safety.hyundai_tx_hook(self._button_msg(RESUME_BTN)))
+    self.assertFalse(self.safety.hyundai_tx_hook(self._button_msg(SET_BTN)))
+    # do not block resume if we are engaged already
+    self.safety.set_controls_allowed(1)
+    self.assertTrue(self.safety.hyundai_tx_hook(self._button_msg(RESUME_BTN)))
+
+
+if __name__ == "__main__":
+  unittest.main()