diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py
index 276fcc7620..dfc1c12bfc 100755
--- a/selfdrive/car/mazda/interface.py
+++ b/selfdrive/car/mazda/interface.py
@@ -20,11 +20,11 @@ class CarInterface(CarInterfaceBase):
 
     ret.carName = "mazda"
     ret.safetyModel = car.CarParams.SafetyModel.mazda
+    ret.radarOffCan = True
 
+    ret.communityFeature = True
     ret.dashcamOnly = True
 
-    ret.radarOffCan = True
-
     ret.steerActuatorDelay = 0.1
     ret.steerRateCost = 1.0
     ret.steerLimitTimer = 0.8
@@ -37,7 +37,7 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.019]]
       ret.lateralTuning.pid.kf = 0.00006
-    elif candidate == CAR.CX9:
+    elif candidate in [CAR.CX9, CAR.CX9_2021]:
       ret.mass = 4217 * CV.LB_TO_KG + STD_CARGO_KG
       ret.wheelbase = 3.1
       ret.steerRatio = 17.6
diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py
index c983026d21..c49b8c86ed 100644
--- a/selfdrive/car/mazda/values.py
+++ b/selfdrive/car/mazda/values.py
@@ -8,19 +8,20 @@ Ecu = car.CarParams.Ecu
 # Steer torque limits
 
 class CarControllerParams:
-  STEER_MAX = 600                 # max_steer 2048
-  STEER_STEP = 1                  # how often we update the steer cmd
+  STEER_MAX = 800                # theoretical max_steer 2047
   STEER_DELTA_UP = 10             # torque increase per refresh
-  STEER_DELTA_DOWN = 20           # torque decrease per refresh
+  STEER_DELTA_DOWN = 25           # torque decrease per refresh
   STEER_DRIVER_ALLOWANCE = 15     # allowed driver torque before start limiting
   STEER_DRIVER_MULTIPLIER = 1     # weight driver torque
   STEER_DRIVER_FACTOR = 1         # from dbc
+  STEER_ERROR_MAX = 350           # max delta between torque cmd and torque motor
 
 class CAR:
   CX5 = "MAZDA CX-5"
   CX9 = "MAZDA CX-9"
   MAZDA3 = "MAZDA 3"
   MAZDA6 = "MAZDA 6"
+  CX9_2021 = "Mazda CX-9 2021"   # No Steer Lockout
 
 class LKAS_LIMITS:
   STEER_THRESHOLD = 15
@@ -176,6 +177,27 @@ FW_VERSIONS = {
     (Ecu.transmission, 0x7e1, None): [
       b'PYH7-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
+  },
+
+  CAR.CX9_2021 : {
+    (Ecu.eps, 0x730, None): [
+      b'TC3M-3210X-A-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'PXM4-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x764, None): [
+      b'K131-67XK2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.esp, 0x760, None): [
+      b'TA0B-437K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x706, None): [
+      b'GSH7-67XK2-M\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'PXM4-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
   }
 }
 
@@ -185,6 +207,11 @@ DBC = {
   CAR.CX9: dbc_dict('mazda_2017', None),
   CAR.MAZDA3: dbc_dict('mazda_2017', None),
   CAR.MAZDA6: dbc_dict('mazda_2017', None),
+  CAR.CX9_2021: dbc_dict('mazda_2017', None),
 }
 
-GEN1 = [ CAR.CX5, CAR.CX9, CAR.MAZDA3, CAR.MAZDA6 ]
+# Gen 1 hardware: same CAN messages and same camera
+GEN1 = set([CAR.CX5, CAR.CX9, CAR.CX9_2021, CAR.MAZDA3, CAR.MAZDA6])
+
+# Cars with a steering lockout
+STEER_LOCKOUT_CAR = set([CAR.CX5, CAR.CX9, CAR.MAZDA3, CAR.MAZDA6])
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 5f9921ac47..344d1b15a0 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -153,7 +153,7 @@ class Controls:
 
     if not sounds_available:
       self.events.add(EventName.soundsUnavailable, static=True)
-    if community_feature_disallowed and car_recognized:
+    if community_feature_disallowed and car_recognized and not self.CP.dashcamOnly:
       self.events.add(EventName.communityFeatureDisallowed, static=True)
     if not car_recognized:
       self.events.add(EventName.carUnrecognized, static=True)
diff --git a/selfdrive/test/test_routes.py b/selfdrive/test/test_routes.py
index a16f79b55c..7b42ed2081 100755
--- a/selfdrive/test/test_routes.py
+++ b/selfdrive/test/test_routes.py
@@ -167,6 +167,7 @@ routes = [
   TestRoute("10b5a4b380434151|2020-08-26--17-11-45", MAZDA.CX9),
   TestRoute("74f1038827005090|2020-08-26--20-05-50", MAZDA.MAZDA3),
   TestRoute("fb53c640f499b73d|2021-06-01--04-17-56", MAZDA.MAZDA6),
+  TestRoute("f6d5b1a9d7a1c92e|2021-07-08--06-56-59", MAZDA.CX9_2021),
 
   TestRoute("6c14ee12b74823ce|2021-06-30--11-49-02", TESLA.AP1_MODELS),
   TestRoute("bb50caf5f0945ab1|2021-06-19--17-20-18", TESLA.AP2_MODELS),
@@ -184,4 +185,6 @@ forced_dashcam_routes = [
   "74f1038827005090|2020-08-26--20-05-50",
   # Mazda6
   "fb53c640f499b73d|2021-06-01--04-17-56",
+  # CX-9 2021
+  "f6d5b1a9d7a1c92e|2021-07-08--06-56-59",
 ]