diff --git a/opendbc/car/psa/carcontroller.py b/opendbc/car/psa/carcontroller.py
index 792deccee9d..8719bb68fe4 100644
--- a/opendbc/car/psa/carcontroller.py
+++ b/opendbc/car/psa/carcontroller.py
@@ -1,9 +1,15 @@
 from opendbc.can.packer import CANPacker
-from opendbc.car import Bus
+from opendbc.car import Bus, structs, make_tester_present_msg
 from opendbc.car.lateral import apply_std_steer_angle_limits
 from opendbc.car.interfaces import CarControllerBase
-from opendbc.car.psa.psacan import create_lka_steering
+from opendbc.car.psa.psacan import create_lka_steering, create_resume_acc, create_disable_radar, create_HS2_DYN1_MDD_ETAT_2B6, create_HS2_DYN_MDD_ETAT_2F6
 from opendbc.car.psa.values import CarControllerParams
+from numpy import interp
+from cereal import messaging
+import math
+
+LongCtrlState = structs.CarControl.Actuators.LongControlState
+sm = messaging.SubMaster(['modelV2'], poll='modelV2')
 
 
 class CarController(CarControllerBase):
@@ -11,31 +17,94 @@ def __init__(self, dbc_names, CP):
     super().__init__(dbc_names, CP)
     self.packer = CANPacker(dbc_names[Bus.main])
     self.apply_angle_last = 0
+    self.radar_disabled = 0
     self.status = 2
+    self.bars = 4
 
   def update(self, CC, CS, now_nanos):
     can_sends = []
     actuators = CC.actuators
+    # longitudinal
+    # starting = actuators.longControlState == LongCtrlState.starting and CS.out.vEgo <= self.CP.vEgoStarting
+    # stopping = actuators.longControlState == LongCtrlState.stopping
 
     # lateral control
-    if self.frame % 5 == 0:
-      apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgoRaw,
+    apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgoRaw,
                                                  CS.out.steeringAngleDeg, CC.latActive, CarControllerParams.ANGLE_LIMITS)
 
-      # EPS disengages on steering override, activation sequence 2->3->4 to re-engage
-      # STATUS  -  0: UNAVAILABLE, 1: UNSELECTED, 2: READY, 3: AUTHORIZED, 4: ACTIVE
-      if not CC.latActive:
-        self.status = 2
-      elif not CS.eps_active and not CS.out.steeringPressed:
-        self.status = 2 if self.status == 4 else self.status + 1
+    # EPS disengages on steering override, activation sequence 2->3->4 to re-engage
+    # STATUS  -  0: UNAVAILABLE, 1: UNSELECTED, 2: READY, 3: AUTHORIZED, 4: ACTIVE
+    if not CC.latActive:
+      self.status = 2
+    elif not CS.eps_active and not CS.out.steeringPressed:
+      self.status = 2 if self.status == 4 else self.status + 1
+    else:
+      self.status = 4
+
+    # TUNING
+    # >=-0.5: Engine brakes only
+    # <-0.5: Add friction brakes
+    pitch = CC.orientationNED[1] if len(CC.orientationNED) == 3 else 0.0
+    accel_slope = math.sin(pitch) * 9.81
+    accel_cmd = actuators.accel + accel_slope
+
+    brake_accel = -0.5
+
+    # torque lookup
+    ACCEL_LOOKUP = [-1.0, -0.5, 0.0, 0.5, 1.0, 1.5, 2.0]
+    TORQUE_LOOKUP = [-400, -300, 120, 350, 550, 800, 1000]
+
+    # calculate Torque
+    torque_nm = interp(accel_cmd, ACCEL_LOOKUP, TORQUE_LOOKUP)
+    torque = max(-400, min(torque_nm, 1000))
+
+    braking = accel_cmd < brake_accel and not CS.out.gasPressed
+    if self.CP.openpilotLongitudinalControl:
+      if CC.hudControl.leadVisible:
+        sm.update(0)
+        leads_v3 = sm['modelV2'].leadsV3
+        if leads_v3 and leads_v3[0].x:
+          r = leads_v3[0].x[0] / (5 + CS.out.vEgo)
+          if self.bars > 3:  # initialize from "no lead"
+            self.bars = min(3, int(r))
+          elif r > self.bars + 1.2:
+            self.bars = min(3, self.bars + 1)
+          elif r < self.bars - 0.2:
+            self.bars = max(0, self.bars - 1)
       else:
-        self.status = 4
+        self.bars = 4
+
+      # disable radar ECU by setting to programming mode
+      if self.radar_disabled == 0:
+        can_sends.append(create_disable_radar())
+        self.radar_disabled = 1
+
+      # keep radar ECU disabled by sending tester present
+      if self.frame % 100 == 0 and self.frame>0: # TODO check if disable_radar is sent 100 frames before
+        can_sends.append(make_tester_present_msg(0x6b6, 1, suppress_response=False))
+
+      # Highest torque seen without gas input: ~1000
+      # Lowest torque seen without break mode: -560 (but only when transitioning from brake to accel mode, else -248)
+      # Lowest brake mode accel seen: -4.85m/s²
+
+      if self.frame % 2 == 0:
+        can_sends.append(create_HS2_DYN1_MDD_ETAT_2B6(self.packer, self.frame // 2, actuators.accel, CS.out.cruiseState.enabled, CS.out.gasPressed, braking, CS.out.brakePressed, CS.out.standstill, torque))
+        can_sends.append(create_HS2_DYN_MDD_ETAT_2F6(self.packer, braking, CC.hudControl.leadVisible, self.bars))
 
-      can_sends.append(create_lka_steering(self.packer, CC.latActive, apply_angle, self.status))
+    # stock long
+    # emulate resume button every 3 seconds to prevent autohold timeout
+    elif CC.latActive and CS.out.standstill and CC.hudControl.leadVisible:
+      # map: {frame:status} - 0, 1
+      status = {0: 0, 5: 1}.get(self.frame % 300)
+      if status is not None:
+        msg = CS.hs2_dat_mdd_cmd_452
+        counter = (msg['COUNTER'] + 1) % 16
+        can_sends.append(create_resume_acc(self.packer, counter, status, msg))
 
-      self.apply_angle_last = apply_angle
+    can_sends.append(create_lka_steering(self.packer, CC.latActive, apply_angle, self.status))
+    self.apply_angle_last = apply_angle
 
     new_actuators = actuators.as_builder()
-    new_actuators.steeringAngleDeg = self.apply_angle_last
+    new_actuators.steeringAngleDeg = apply_angle
     self.frame += 1
     return new_actuators, can_sends
diff --git a/opendbc/car/psa/carstate.py b/opendbc/car/psa/carstate.py
index 81335ef5985..80c91f88f3d 100644
--- a/opendbc/car/psa/carstate.py
+++ b/opendbc/car/psa/carstate.py
@@ -1,7 +1,9 @@
+import copy
 from opendbc.car import structs, Bus
 from opendbc.can.parser import CANParser
 from opendbc.car.common.conversions import Conversions as CV
-from opendbc.car.psa.values import DBC, CarControllerParams
+from opendbc.car.mazda.values import LKAS_LIMITS
+from opendbc.car.psa.values import CAR, DBC, CarControllerParams
 from opendbc.car.interfaces import CarStateBase
 
 GearShifter = structs.CarState.GearShifter
@@ -26,27 +28,63 @@ def update(self, can_parsers) -> structs.CarState:
     ret.standstill = bool(cp_adas.vl['HS2_DYN_UCF_MDD_32D']['VEHICLE_STANDSTILL'])
 
     # gas
-    ret.gasPressed = cp.vl['Dyn_CMM']['P002_Com_rAPP'] > 0
+    # gas
+    if self.CP.carFingerprint == CAR.PSA_PEUGEOT_3008:
+      ret.gasPressed = cp.vl['Dyn5_CMM']['P334_ACCPed_Position'] > 0
+    else:
+      ret.gasPressed = cp_cam.vl['DRIVER']['GAS_PEDAL'] > 0
 
     # brake
     ret.brakePressed = bool(cp_cam.vl['Dat_BSI']['P013_MainBrake'])
     ret.parkingBrake = cp.vl['Dyn_EasyMove']['P337_Com_stPrkBrk'] == 1 # 0: disengaged, 1: engaged, 3: brake actuator moving
 
+    # brake pressure
+    if self.CP.carFingerprint == CAR.PSA_PEUGEOT_3008:
+      raw = cp.vl["Dyn2_FRE"]["BRAKE_PRESSURE"]
+      ret.brake = max(0.0, float(raw) - 550.0)  # clamp a 0
+
     # steering wheel
-    ret.steeringAngleDeg = cp.vl['STEERING_ALT']['ANGLE'] # EPS
-    ret.steeringRateDeg = cp.vl['STEERING_ALT']['RATE'] * (2 * cp.vl['STEERING_ALT']['RATE_SIGN'] - 1) # convert [0,1] to [-1,1] EPS: rot. speed * rot. sign
+    STEERING_ALT_BUS = {
+      CAR.PSA_PEUGEOT_208: cp.vl,
+      CAR.PSA_PEUGEOT_508: cp_cam.vl,
+      CAR.PSA_PEUGEOT_3008: cp.vl,
+
+    }
+    bus = STEERING_ALT_BUS[self.CP.carFingerprint]
+    ret.steeringAngleDeg = bus['STEERING_ALT']['ANGLE'] # EPS
+    if self.CP.carFingerprint == CAR.PSA_PEUGEOT_3008:
+      # PSA EPS encodes the steering rotation direction bit inverted from the driver's perspective:
+      #   RATE_SIGN = 0 → clockwise (right turn)
+      #   RATE_SIGN = 1 → anticlockwise (left turn)
+      # Invert the sign to match OpenPilot's convention: right = positive, left = negative.
+      ret.steeringRateDeg = bus['STEERING_ALT']['RATE'] * (1 - 2 * bus['STEERING_ALT']['RATE_SIGN'])
+    else:
+      # Convert EPS direction bit [0,1] to signed multiplier [-1,+1]
+      # Standard convention: 0 → left (negative), 1 → right (positive)
+     ret.steeringRateDeg  = bus['STEERING_ALT']['RATE'] * (1 - 2 * bus['STEERING_ALT']['RATE_SIGN']) # convert [0,1] to [1,-1] EPS: rot. speed * rot. sign
+
     ret.steeringTorque = cp.vl['STEERING']['DRIVER_TORQUE']
     ret.steeringTorqueEps = cp.vl['IS_DAT_DIRA']['EPS_TORQUE']
-    ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > CarControllerParams.STEER_DRIVER_ALLOWANCE, 5)
+
+    if self.CP.carFingerprint == CAR.PSA_PEUGEOT_3008:
+        # Peugeot 3008: EPS_TORQUE represents only driver-applied torque (no motor assist).
+        # The signal is already smoothed by the EPS ECU, so update_steering_pressed is unnecessary.
+        ret.steeringPressed = abs(ret.steeringTorque) > LKAS_LIMITS.STEER_THRESHOLD
+    else:
+        ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > CarControllerParams.STEER_DRIVER_ALLOWANCE, 5)
+
+    # ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > CarControllerParams.STEER_DRIVER_ALLOWANCE, 5)
     self.eps_active = cp.vl['IS_DAT_DIRA']['EPS_STATE_LKA'] == 3 # 0: Unauthorized, 1: Authorized, 2: Available, 3: Active, 4: Defect
 
     # cruise
     ret.cruiseState.speed = cp_adas.vl['HS2_DAT_MDD_CMD_452']['SPEED_SETPOINT'] * CV.KPH_TO_MS # set to 255 when ACC is off, -2 kph offset from dash speed
     ret.cruiseState.enabled = cp_adas.vl['HS2_DAT_MDD_CMD_452']['RVV_ACC_ACTIVATION_REQ'] == 1
-    ret.cruiseState.available = cp_adas.vl['HS2_DYN1_MDD_ETAT_2B6']['ACC_STATUS'] > 2
-    ret.cruiseState.nonAdaptive = cp_adas.vl['HS2_DAT_MDD_CMD_452']['LONGITUDINAL_REGULATION_TYPE'] != 3 # 0: None, 1: CC, 2: Limiter, 3: ACC
-    ret.cruiseState.standstill = bool(cp_adas.vl['HS2_DYN_UCF_MDD_32D']['VEHICLE_STANDSTILL'])
-    ret.accFaulted = cp_adas.vl['HS2_DYN_UCF_MDD_32D']['ACC_ETAT_DECEL_OR_ESP_STATUS'] == 3 # 0: Inhibited, 1: Waiting, 2: Active, 3: Fault
+    ret.cruiseState.available = True # not available for CC-only
+    ret.cruiseState.nonAdaptive = False # not available for CC-only
+    ret.cruiseState.standstill = False # not available for CC-only
+    ret.accFaulted = cp_adas.vl['HS2_DYN_UCF_MDD_32D']['ACC_ETAT_DECEL_OR_ESP_STATUS'] == 3
+    # resume request
+    self.hs2_dat_mdd_cmd_452 = copy.copy(cp_adas.vl['HS2_DAT_MDD_CMD_452'])
 
     # gear
     if bool(cp_cam.vl['Dat_BSI']['P103_Com_bRevGear']):
@@ -56,8 +94,22 @@ def update(self, can_parsers) -> structs.CarState:
 
     # blinkers
     blinker = cp_cam.vl['HS2_DAT7_BSI_612']['CDE_CLG_ET_HDC']
-    ret.leftBlinker = blinker == 1
-    ret.rightBlinker = blinker == 2
+    if self.CP.carFingerprint == CAR.PSA_PEUGEOT_3008:
+      ret.leftBlinker = blinker == 2
+      ret.rightBlinker = blinker == 1
+    else:
+      ret.leftBlinker = blinker == 1
+      ret.rightBlinker = blinker == 2
+
+    # Blind sensor ( there is not left and right )
+    if self.CP.carFingerprint == CAR.PSA_PEUGEOT_3008:
+      ret.leftBlindspot = cp_adas.vl["HS2_DYN_MDD_ETAT_2F6"]["BLIND_SENSOR"] != 0
+      ret.rightBlindspot = cp_adas.vl["HS2_DYN_MDD_ETAT_2F6"]["BLIND_SENSOR"] != 0
+
+    # Auto Braking in progress
+    if self.CP.carFingerprint == CAR.PSA_PEUGEOT_3008:
+      ret.stockAeb = cp_adas.vl["HS2_DYN1_MDD_ETAT_2B6"]["AUTO_BRAKING_STATUS"] == 1
+
 
     # lock info
     ret.doorOpen = any((cp_cam.vl['Dat_BSI']['DRIVER_DOOR'], cp_cam.vl['Dat_BSI']['PASSENGER_DOOR']))
diff --git a/opendbc/car/psa/fingerprints.py b/opendbc/car/psa/fingerprints.py
index 497f8bb134d..4cd2f6b4382 100644
--- a/opendbc/car/psa/fingerprints.py
+++ b/opendbc/car/psa/fingerprints.py
@@ -6,8 +6,64 @@
 
 FW_VERSIONS = {
   CAR.PSA_PEUGEOT_208: {
-    (Ecu.fwdRadar, 0x6b6, None): [
-      b'212053276',
+    (Ecu.abs, 0x6ad, None): [
+      b'085095700857210527',
+      b'085095706198220818',
+      b'085095700473220908',
+      b'085135705863191103',
+      b'285160381930060025B',
+      b'085095705963200902',
+      b'085095709268220917',
+      b'085135709971211107',
+      b'085135702270200218',
+    ],
+  },
+  CAR.PSA_PEUGEOT_508: {
+    (Ecu.abs, 0x6ad, None): [
+      b'085065315928191130',
+      b'085095308910190312',
+      b'085095701207240115',
+      b'085135702688200218',
+      b'085044414569231210',
+      b'369042321125160806',
+    ],
+  },
+
+  CAR.PSA_PEUGEOT_3008: {
+    # ARTIV - Front Radar ADAS
+    (Ecu.fwdRadar, 0x6B6, None): [ ],
+
+    # DIRECTN - Electronic power steering
+    (Ecu.eps, 0x6B5, None): [ ],
+
+    # HCU2 - Hybrid Control Unit
+    (Ecu.hybrid, 0x6A6, None): [  ],
+
+    # BOITEVIT - Automatic transmission  (EAT6/8)
+    (Ecu.transmission, 0x6A9, None): [
+        ## Peugeot 3008 II (Phase I, 2016) 1.6 PureTech (180 Hp) Automatic S&S /2018, 2019, 2020
+        b'1614191B101502000000',
+        b'\xff\xff\x00\x000`\x08\x01\x13\x01%\x06\x08\xff\xff\xff\x00\x02\x00\x00\x01\x934t',
+        #
+    ],
+
+    # FREINEBB - Electronic Brake Booster
+    (Ecu.electricBrakeBooster, 0x5D0, None): [],
+
+    # INJ - Engine (VCU)
+    (Ecu.engine, 0x6A8, None): [
+        ## Peugeot 3008 II (Phase I, 2016) 1.6 PureTech (180 Hp) Automatic S&S /2018, 2019, 2020
+        b'000D170047100',
+        b'\xff\xff\x00\x00\x03&\t\x02\x13\x01C1\x04\xff\xff\xff\x00\x02\x00\x00\x01\x93YW',
+        #
+    ],
+
+    # ABRASR - ABS/ESP
+    (Ecu.abs, 0x6AD, None): [
+        ## Peugeot 3008 II (Phase I, 2016) 1.6 PureTech (180 Hp) Automatic S&S /2018, 2019, 2020
+        b'085065201906190129',
+        b'\x00\x00\x00\x00\x03\x92\x01\x06\x11\x01\x06\x18\x02\xff\xff\xff\x00\x02\x00\x00\x01\x92\x83\x12',
+        #
     ],
   },
 }
diff --git a/opendbc/car/psa/interface.py b/opendbc/car/psa/interface.py
index f719a3d6aaa..69c58aedb20 100644
--- a/opendbc/car/psa/interface.py
+++ b/opendbc/car/psa/interface.py
@@ -16,7 +16,7 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_lo
 
     ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.psa)]
 
-    ret.dashcamOnly = True
+    ret.dashcamOnly = False
 
     ret.steerActuatorDelay = 0.3
     ret.steerLimitTimer = 0.1
@@ -25,6 +25,12 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_lo
     ret.steerControlType = structs.CarParams.SteerControlType.angle
     ret.radarUnavailable = True
 
-    ret.alphaLongitudinalAvailable = False
+    ret.alphaLongitudinalAvailable = True
+    ret.openpilotLongitudinalControl = alpha_long
+    ret.startingState = True
+    ret.startAccel = 1.0
+
+    # ret.longitudinalTuning.kiBP = [0., 35.]
+    # ret.longitudinalTuning.kiV = [0.5, 0.2]
 
     return ret
\ No newline at end of file
diff --git a/opendbc/car/psa/psacan.py b/opendbc/car/psa/psacan.py
index a039e752a0e..cef4d457edc 100644
--- a/opendbc/car/psa/psacan.py
+++ b/opendbc/car/psa/psacan.py
@@ -1,5 +1,8 @@
+from opendbc.car.can_definitions import CanData
+
+
 def psa_checksum(address: int, sig, d: bytearray) -> int:
-  chk_ini = {0x452: 0x4, 0x38D: 0x7, 0x42D: 0xC}.get(address, 0xB)
+  chk_ini = {0x452: 0x4, 0x38D: 0x7, 0x2f6: 0x8, 0x2b6: 0xC}.get(address, 0xB)
   byte = sig.start_bit // 8
   d[byte] &= 0x0F if sig.start_bit % 8 >= 4 else 0xF0
   checksum = sum((b >> 4) + (b & 0xF) for b in d)
@@ -16,3 +19,71 @@ def create_lka_steering(packer, lat_active: bool, apply_angle: float, status: in
   }
 
   return packer.make_can_msg('LANE_KEEP_ASSIST', 0, values)
+
+
+def create_resume_acc(packer, counter, status, hs2_dat_mdd_cmd_452):
+  hs2_dat_mdd_cmd_452['COUNTER'] = counter
+  hs2_dat_mdd_cmd_452['COCKPIT_GO_ACC_REQUEST'] = status
+  return packer.make_can_msg('HS2_DAT_MDD_CMD_452', 1, hs2_dat_mdd_cmd_452)
+
+
+def create_drive_away_request(packer, hs2_dyn_mdd_etat_2f6):
+  hs2_dyn_mdd_etat_2f6['DRIVE_AWAY_REQUEST'] = 0
+  return packer.make_can_msg('HS2_DYN_MDD_ETAT_2F6', 1, hs2_dyn_mdd_etat_2f6)
+
+
+# Radar, 50 Hz
+def create_HS2_DYN1_MDD_ETAT_2B6(packer, frame: int, accel: float, enabled: bool, gasPressed: bool, braking: bool, brakePressed: bool, standstill: bool, torque: int):
+  # TODO: if gas pressed, ACC_STATUS is set to suspended and decel can be set negative (about -300 Nm / -0.6m/s²) with brake mode inactive
+  # TODO: tune torque multiplier
+  # TODO: check difference between GMP_POTENTIAL_WHEEL_TORQUE and GMP_WHEEL_TORQUE
+  # TODO: transition from waiting to active enables torque control. For now, deactivate autohold or enable on brake pressed
+
+  values = {
+    'MDD_DESIRED_DECELERATION': accel if braking and enabled else 2.05, # m/s²
+    'POTENTIAL_WHEEL_TORQUE_REQUEST': (2 if braking else 1) if enabled else 0,
+    'MIN_TIME_FOR_DESIRED_GEAR': 0.0 if braking or not enabled else 6.2,
+    'GMP_POTENTIAL_WHEEL_TORQUE': torque if not braking and enabled else -4000,
+    'ACC_STATUS': (5 if gasPressed else 2 if brakePressed and not standstill else 4) if enabled else (2 if brakePressed else 3),
+    'GMP_WHEEL_TORQUE': torque if not braking and enabled else -4000,
+    'WHEEL_TORQUE_REQUEST': 1 if enabled and not braking else 0, # TODO: test 1: high torque range 2: low torque range
+    'AUTO_BRAKING_STATUS': 3, # AEB # TODO: testing ALWAYS ENABLED to resolve DTC errors if enabled else 3, # maybe disabled on too high steering angle
+    'MDD_DECEL_TYPE': braking if enabled else 0,
+    'MDD_DECEL_CONTROL_REQ': braking if enabled else 0,
+  }
+
+  return packer.make_can_msg('HS2_DYN1_MDD_ETAT_2B6', 1, values)
+
+
+# Radar, 50 Hz
+def create_HS2_DYN_MDD_ETAT_2F6(packer, braking: bool, lead_visible: bool, lead_distance_bars: int):
+  values = {
+    'TARGET_DETECTED': lead_visible,
+    # 'REQUEST_TAKEOVER': 0, # TODO potential signal for HUD message from OP
+    # 'BLIND_SENSOR': 0,
+    # 'REQ_VISUAL_COLL_ALERT_ARC': 0,
+    # 'REQ_AUDIO_COLL_ALERT_ARC': 0,
+    # 'REQ_HAPTIC_COLL_ALERT_ARC': 0,
+    # 'INTER_VEHICLE_DISTANCE': 255.5,#255.5, # TODO: <distance> if enabled else 255.5,
+    # 'ARC_STATUS': 6,  # 12 after 50 frames (1 sec) after AUTO_BRAKING_STATUS else 6
+    # 'AUTO_BRAKING_IN_PROGRESS': 0,
+    # 'AEB_ENABLED': 0,
+    # 'DRIVE_AWAY_REQUEST': 0, # TODO: potential RESUME request?
+    'DISPLAY_INTERVEHICLE_TIME': 5.0, # TODO: <time to vehicle> if enabled else 6.2,
+    'MDD_DECEL_CONTROL_REQ': braking,
+    # 'AUTO_BRAKING_STATUS': 3, # AEB # TODO: testing ALWAYS ENABLED to resolve DTC errors if enabled else 3, # maybe disabled on too high steering angle
+    'TARGET_POSITION': lead_distance_bars, # distance to lead car, far - 4, 3, 2, 1 - near
+  }
+
+  return packer.make_can_msg('HS2_DYN_MDD_ETAT_2F6', 1, values)
+
+
+# TODO: do this in interface.py init()
+# Disable radar ECU by setting it to programming mode
+def create_disable_radar():
+  addr = 0x6B6
+  bus = 1
+  dat = [0x02, 0x10, 0x02, 0x80]
+  dat.extend([0x0] * (8 - len(dat)))
+
+  return CanData(addr, bytes(dat), bus)
\ No newline at end of file
diff --git a/opendbc/car/psa/values.py b/opendbc/car/psa/values.py
index 5bd2a589c2b..7bee5dbe468 100644
--- a/opendbc/car/psa/values.py
+++ b/opendbc/car/psa/values.py
@@ -4,7 +4,7 @@
 from opendbc.car import Bus, CarSpecs, DbcDict, PlatformConfig, Platforms
 from opendbc.car.lateral import AngleSteeringLimits
 from opendbc.car.docs_definitions import CarDocs, CarHarness, CarParts
-from opendbc.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
+from opendbc.car.fw_query_definitions import FwQueryConfig, Request, uds
 
 Ecu = CarParams.Ecu
 
@@ -14,8 +14,8 @@ class CarControllerParams:
 
   ANGLE_LIMITS: AngleSteeringLimits = AngleSteeringLimits(
     390, # deg
-    ([0., 5., 25.], [2.5, 1.5, .2]),
-    ([0., 5., 25.], [5., 2., .3]),
+    ([0., 5., 25.], [0.5, 0.3, .04]),
+    ([0., 5., 25.], [1., .4, .06]),
   )
   STEER_DRIVER_ALLOWANCE = 5  # Driver intervention threshold, 0.5 Nm
 
@@ -38,17 +38,44 @@ class CAR(Platforms):
     [PSACarDocs("Peugeot 208 2019-25")],
     CarSpecs(mass=1530, wheelbase=2.54, steerRatio=17.6),
   )
+  PSA_PEUGEOT_508 = PSAPlatformConfig(
+    [PSACarDocs("Peugeot 508 2019-23")],
+    CarSpecs(mass=1720, wheelbase=2.79, steerRatio=17.6),
+  )
+  PSA_PEUGEOT_3008 = PSAPlatformConfig(
+    [PSACarDocs("PEUGEOT 3008 2016-29")],
+    # https://www.auto-data.net/en/peugeot-3008-ii-phase-i-2016-1.6-puretech-180hp-automatic-s-s-34446#google_vignette
+    CarSpecs(mass=1577, wheelbase=2.675, steerRatio=17.69, tireStiffnessFactor=0.996044 ),
+  )
+
+
+PSA_DIAG_REQ  = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, 0x01])
+PSA_DIAG_RESP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40, 0x01])
+
+PSA_SERIAL_REQ = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER,  0xF1, 0x8C])
+PSA_SERIAL_RESP = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40, 0xF1, 0x8C])
+
+PSA_RX_OFFSET = -0x20
+
+class LKAS_LIMITS:
+  # Peugeot 3008
+  # STEER_THRESHOLD: torque (deci-Nm) to detect driver input (steeringPressed)
+  # DISABLE/ENABLE_SPEED: LKA hysteresis in km/h
+  STEER_THRESHOLD = 5
+  DISABLE_SPEED = 50    # kph
+  ENABLE_SPEED = 50     # kph
 
 
-# Placeholder, FW Query will be added in separate PR
 FW_QUERY_CONFIG = FwQueryConfig(
   requests=[
     Request(
-      [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.UDS_VERSION_REQUEST],
-      [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.UDS_VERSION_RESPONSE],
+      [PSA_DIAG_REQ, PSA_SERIAL_REQ],
+      [PSA_DIAG_RESP, PSA_SERIAL_RESP],
+      rx_offset=PSA_RX_OFFSET,
       bus=0,
-    ),
-  ],
+      obd_multiplexing=False,
+    )
+  ]
 )
 
 DBC = CAR.create_dbc_map()
diff --git a/opendbc/car/tests/routes.py b/opendbc/car/tests/routes.py
index 01bcd5b3051..d6c87668b0d 100644
--- a/opendbc/car/tests/routes.py
+++ b/opendbc/car/tests/routes.py
@@ -331,6 +331,7 @@ class CarTestRoute(NamedTuple):
   CarTestRoute("a4af1602d8e668ac/2022-02-03--12-17-07", MAZDA.MAZDA_CX5_2022),
 
   CarTestRoute("6a7075a4fdd765ee/0000004e--1f612006dd", PSA.PSA_PEUGEOT_208),
+  CarTestRoute("4cef1f7eba322b25/00000000--dee7de3f20", PSA.PSA_PEUGEOT_508),
 
   CarTestRoute("bc095dc92e101734/000000db--ee9fe46e57", RIVIAN.RIVIAN_R1_GEN1),
 
diff --git a/opendbc/car/tests/test_fw_fingerprint.py b/opendbc/car/tests/test_fw_fingerprint.py
index 08e8cf85440..b78097195fb 100644
--- a/opendbc/car/tests/test_fw_fingerprint.py
+++ b/opendbc/car/tests/test_fw_fingerprint.py
@@ -260,7 +260,7 @@ def fake_get_ecu_addrs(*_, timeout):
         print(f'get_vin {name} case, query time={self.total_time / self.N} seconds')
 
   def test_fw_query_timing(self, subtests, mocker):
-    total_ref_time = {1: 7.4, 2: 8.0}
+    total_ref_time = {1: 7.45, 2: 8.05}
     brand_ref_times = {
       1: {
         'gm': 1.0,
@@ -276,7 +276,7 @@ def test_fw_query_timing(self, subtests, mocker):
         'toyota': 0.7,
         'volkswagen': 0.65,
         'rivian': 0.3,
-        'psa': 0.1,
+        'psa': 0.15,
       },
       2: {
         'ford': 1.6,
diff --git a/opendbc/car/torque_data/override.toml b/opendbc/car/torque_data/override.toml
index 69cc6048d66..bd3c3087be0 100644
--- a/opendbc/car/torque_data/override.toml
+++ b/opendbc/car/torque_data/override.toml
@@ -9,6 +9,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 
 # PSA angle based controllers
 "PSA_PEUGEOT_208" = [nan, 2.0, nan]
+"PSA_PEUGEOT_508" = [nan, 2.0, nan]
 
 # New subarus angle based controllers
 "SUBARU_FORESTER_2022" = [nan, 3.0, nan]
diff --git a/opendbc/dbc/psa_aee2010_r3.dbc b/opendbc/dbc/psa_aee2010_r3.dbc
index 8f76dede82f..fd80160ef79 100644
--- a/opendbc/dbc/psa_aee2010_r3.dbc
+++ b/opendbc/dbc/psa_aee2010_r3.dbc
@@ -77,7 +77,8 @@ BO_ 488 DAT3_CMM: 3 Vector__XXX
 
 BO_ 520 Dyn_CMM: 8 CMM___Motor_SG
  SG_ P000_Com_nEng : 7|16@0+ (0.125,0) [0|8191.75] "1/min" Vector__XXX
- SG_ P003_Com_trqActOut : 16|8@1+ (3,-150) [-150|615] "Nm" Vector__XXX
+ SG_ COUNTER : 19|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 23|4@0+ (1,0) [0|15] "" XXX
  SG_ P002_Com_rAPP : 24|8@1+ (0.5,0) [0|100] "%" Vector__XXX
  SG_ P027_ACCtl_stLogicOut : 32|1@1+ (1,0) [0|1] "-" Vector__XXX
  SG_ P014_Brk_stRed : 33|1@1+ (1,0) [0|1] "-" Vector__XXX
@@ -110,8 +111,8 @@ BO_ 694 HS2_DYN1_MDD_ETAT_2B6: 8 ARTIV
  SG_ MDD_DECEL_CONTROL_REQ : 53|1@0+ (1,0) [0|0] "" CMM,UC_FREIN,BSI,PASS_HCU2,CMF
  SG_ GEAR_TYPE : 54|1@0+ (1,0) [0|0] "" CMM,UC_FREIN,BSI,PASS_HCU2,CMF
  SG_ PREFILL_REQUEST : 55|1@0+ (1,0) [0|0] "" CMM,UC_FREIN,BSI,PASS_HCU2,CMF
- SG_ DYN_ACC_CHECKSUM : 59|4@0+ (1,0) [0|0] "" CMM,UC_FREIN,BSI,PASS_HCU2,CMF
- SG_ DYN_ACC_PROCESS_COUNTER : 63|4@0+ (1,0) [0|15] "" CMM,UC_FREIN,BSI,PASS_HCU2,CMF
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|0] "" CMM,UC_FREIN,BSI,PASS_HCU2,CMF
+ SG_ COUNTER : 63|4@0+ (1,0) [0|15] "" CMM,UC_FREIN,BSI,PASS_HCU2,CMF
 
 BO_ 717 HS2_DYN_UCF_2CD: 3 UC_FREIN
  SG_ AUTO_BRAKING_PRESSURE : 7|8@0+ (0.2,0) [0|50.6] "bar" BV,BVN
@@ -123,9 +124,17 @@ BO_ 728 NEW_MSG_2D8: 7 XXX
  SG_ ESP_STATUS_RELATED_INV : 29|1@0+ (1,0) [0|1] "" XXX
  SG_ ACC_ACTIVATION_RELATED : 43|1@0+ (1,0) [0|1] "" XXX
 
-BO_ 757 STEERING: 7 XXX
- SG_ COUNTER : 3|4@0+ (1,0) [0|255] "" XXX
+BO_ 747 NEW_MSG_2EB: 5 XXX
+ SG_ COUNTER : 27|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 31|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 749 NEW_MSG_2ED: 7 XXX
+ SG_ COUNTER : 3|4@0+ (1,0) [0|15] "" XXX
  SG_ CHECKSUM : 7|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 757 STEERING: 7 XXX
+ SG_ 0_COUNTER : 3|4@0+ (1,0) [0|255] "" XXX
+ SG_ 0_CHECKSUM : 7|4@0+ (1,0) [0|15] "" XXX
  SG_ DRIVER_TORQUE : 15|8@0- (1,0) [0|255] "" XXX
  SG_ ANGLE : 31|16@0- (0.1,0) [-3276.8|3276.7] "degrees" XXX
  SG_ RATE : 47|12@0- (1,0) [0|4095] "" XXX
@@ -146,8 +155,8 @@ BO_ 758 HS2_DYN_MDD_ETAT_2F6: 8 ARTIV
  SG_ DISPLAY_INTERVEHICLE_TIME : 39|6@0+ (0.1,0) [0|6.1] "s" BSI,CMM,UC_FREIN,CMF
  SG_ MDD_DECEL_CONTROL_REQ : 42|1@0+ (1,0) [0|0] "" BSI,CMM,UC_FREIN,CMF
  SG_ AUTO_BRAKING_STATUS : 47|3@0+ (1,0) [0|0] "" BSI,CMM,UC_FREIN,CMF
- SG_ CHECKSUM_TRANSM_DYN_ACC2 : 51|4@0+ (1,0) [0|0] "" BSI,CMM,UC_FREIN,CMF
- SG_ PROCESS_COUNTER_4B_ACC2 : 55|4@0+ (1,0) [0|15] "" BSI,CMM,UC_FREIN,CMF
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|0] "" BSI,CMM,UC_FREIN,CMF
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" BSI,CMM,UC_FREIN,CMF
  SG_ TARGET_POSITION : 63|3@0+ (1,0) [0|0] "" BSI,CMM,UC_FREIN,CMF
 
 BO_ 760 NEW_MSG_2F8: 7 XXX
@@ -272,9 +281,15 @@ BO_ 909 HS2_DYN_ABR_38D: 8 UC_FREIN
  SG_ HADC_SPEED_CONDITION : 61|1@0+ (1,0) [0|1] "" CMF,CMM,BV,BSI,HCU1,ARTIV,BVN,AVAS
  SG_ HADC_CLUTCH_CONDITION : 63|2@0+ (1,0) [0|3] "" CMF,CMM,BV,BSI,HCU1,ARTIV,BVN,AVAS
 
+BO_ 939 NEW_MSG_3AB: 4 XXX
+ SG_ COUNTER : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 7|4@0+ (1,0) [0|15] "" XXX
+
 BO_ 941 Dyn_EasyMove: 8 CDS___Fahrdynamikregelung
  SG_ P299_Com_bCrCtlInhib : 17|1@1+ (1,0) [0|1] "" Vector__XXX
  SG_ P337_Com_stPrkBrk : 24|3@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ 0_CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ 0_COUNTER : 63|4@0+ (1,0) [0|15] "" XXX
 
 BO_ 968 Dyn_STT_CMM: 2 Vector__XXX
  SG_ P412_Com_stDeadPnt : 2|2@1+ (1,0) [0|3] "" Vector__XXX
@@ -307,6 +322,9 @@ BO_ 1010 LANE_KEEP_ASSIST: 8 XXX
  SG_ SET_ANGLE : 55|14@0- (0.1,0) [-90|90] "" XXX
  SG_ unknown4 : 57|1@0+ (1,0) [0|1] "" XXX
 
+BO_ 1037 NEW_MSG_40D: 8 XXX
+ SG_ COUNTER : 59|4@0+ (1,0) [0|15] "" XXX
+
 BO_ 1042 Dat_BSI: 8 BSI___Kombiinstrument
  SG_ P040_MainBrakeFault : 0|1@1+ (1,0) [0|1] "-" Vector__XXX
  SG_ P103_Com_bRevGear : 2|1@1+ (1,0) [0|1] "" Vector__XXX
@@ -322,14 +340,15 @@ BO_ 1042 Dat_BSI: 8 BSI___Kombiinstrument
  SG_ PASSENGER_DOOR : 52|1@0+ (1,0) [0|1] "" Vector__XXX
 
 BO_ 1069 NEW_MSG_42D: 4 XXX
- SG_ COUNTER : 16|4@1+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM : 20|4@1+ (1,0) [0|15] "" XXX
+ SG_ 0_COUNTER : 16|4@1+ (1,0) [0|15] "" XXX
+ SG_ 0_CHECKSUM : 20|4@1+ (1,0) [0|15] "" XXX
  SG_ ACC_RELATED : 31|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 1074 Dat_BSI1: 8 BSI___Kombiinstrument
  SG_ P249_Com_stEngStopReq : 0|2@1+ (1,0) [0|3] "" Vector__XXX
  SG_ P216_Com_bSiaWkUp : 4|1@1+ (1,0) [0|1] "" Vector__XXX
  SG_ P214_Com_stMnWkUp : 6|2@1+ (1,0) [0|3] "" Vector__XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
  SG_ P402_Com_stStaDemActv : 12|2@1+ (1,0) [0|3] "" Vector__XXX
  SG_ P253_Com_bEngPrepReq : 21|1@1+ (1,0) [0|1] "" Vector__XXX
  SG_ P267_Exh_volRefl : 24|8@1+ (0.5,0) [0|255] "l" Vector__XXX
@@ -403,6 +422,7 @@ BO_ 1161 Dat_V2_BV: 8 BVA___Automatikgetriebe
  SG_ P375_Com_bMILDem : 16|1@0+ (1,0) [0|1] "" Vector__XXX
  SG_ P376_Com_bMILcntResDemRaw : 18|1@0+ (1,0) [0|1] "" Vector__XXX
  SG_ P285_Com_bPNDia : 20|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ IGNITION : 40|1@0+ (1,0) [0|1] "" XXX
  SG_ P218_Com_stDrvIdx : 48|8@1+ (1,0) [0|255] "" Vector__XXX
 
 BO_ 1173 IS_DAT_DIRA: 4 PSCM
@@ -422,6 +442,10 @@ BO_ 1224 Etat_Crash: 3 BSI___Kombiinstrument
  SG_ P223_CrashInfo : 8|1@0+ (1,0) [0|0] "-" Vector__XXX
  SG_ Reserved_2 : 23|8@0+ (1,0) [0|0] "-" Vector__XXX
 
+BO_ 1257 NEW_MSG_4E9: 3 XXX
+ SG_ CHECKSUM : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX
+
 BO_ 1266 Dat3_BSI: 8 Vector__XXX
  SG_ P434_Com_rBattChHiRes : 7|10@0+ (0.1,0) [0|100] "" Vector__XXX
  SG_ P429_Com_stSOCInfoInvldRaw : 8|2@1+ (1,0) [0|3] "" Vector__XXX
@@ -443,6 +467,15 @@ BO_ 1270 HS2_DAT_ARTIV_V2_4F6: 5 ARTIV
  SG_ ARTIV_TARGET_CHANGE_INFO : 37|1@0+ (1,0) [0|0] "" RITCS,BSI,CMF
  SG_ TRAFFIC_DIRECTION : 39|2@0+ (1,0) [0|0] "" RITCS,BSI,CMF
 
+BO_ 1272 NEW_MSG_4F8: 5 XXX
+ SG_ 0_COUNTER : 19|4@0+ (1,0) [0|15] "" XXX
+ SG_ 0_CHECKSUM : 23|4@0+ (1,0) [0|15] "" XXX
+ SG_ ACC_GO_RELATED : 26|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1278 NEW_MSG_4FE: 3 XXX
+ SG_ COUNTER : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 7|4@0+ (1,0) [0|15] "" XXX
+
 BO_ 1293 Dat_ABR: 7 ABS___Antiblockiersystem
  SG_ P351_Com_bABSIntvActv : 5|1@1+ (1,0) [0|1] "" Vector__XXX
  SG_ P415_Com_stABSSTTReqRaw : 52|2@1+ (1,0) [0|3] "" Vector__XXX
@@ -814,7 +847,6 @@ CM_ SG_ 264 P082_Edition "P082  Software issue";
 CM_ SG_ 264 P083_Calibration "P083  Calibration issue";
 CM_ BO_ 520 "ID 208:  Engine Dynamic Frame (Period time 10 ms)";
 CM_ SG_ 520 P000_Com_nEng "P000  Motordrehzahl";
-CM_ SG_ 520 P003_Com_trqActOut "P003  Actual torque";
 CM_ SG_ 520 P002_Com_rAPP "P002  rueckgerechnete PWG-Stellung";
 CM_ SG_ 520 P027_ACCtl_stLogicOut "P027  Klimakompressor Status ein/aus";
 CM_ SG_ 520 P014_Brk_stRed "P014  Redundanter Bremskontakt";
@@ -826,11 +858,11 @@ CM_ SG_ 520 P042_Inm_bCanMon "P042  CAN-Fehlerbehandlung im Startfall mit Hilfe
 CM_ SG_ 520 P127_EGT_st_Bit30 "P127: Regeneration aid by electric consumers (engine load increase).";
 CM_ SG_ 520 P198_ActMod_trqClthTraIntv "P084  Vorweggenommenes Drehmoment";
 CM_ SG_ 694 ACC_STATUS "Indicates the operational state of the ACC system.";
-CM_ SG_ 694 DYN_ACC_CHECKSUM "CHK_INI = 0x3";
-CM_ SG_ 694 DYN_ACC_PROCESS_COUNTER "This counter increments from 0 to 15 at each activation of the calculation process.";
+CM_ SG_ 694 CHECKSUM "CHK_INI = 0x3";
+CM_ SG_ 694 COUNTER "This counter increments from 0 to 15 at each activation of the calculation process.";
 CM_ SG_ 757 ANGLE "asymmetric, could be init";
-CM_ SG_ 758 CHECKSUM_TRANSM_DYN_ACC2 "CHK_INI = 0x7";
-CM_ SG_ 758 PROCESS_COUNTER_4B_ACC2 "This counter increments from 0 to 15 at each activation of the calculation process.";
+CM_ SG_ 758 CHECKSUM "CHK_INI = 0x7";
+CM_ SG_ 758 COUNTER "This counter increments from 0 to 15 at each activation of the calculation process.";
 CM_ SG_ 773 ANGLE "-565 to 560, seems like estimate and not init";
 CM_ SG_ 773 RATE_SIGN "1=moving clockwise, 0=moving anticlockwise";
 CM_ SG_ 773 0_CHECKSUM "TODO: find checksum";
diff --git a/opendbc/safety/modes/psa.h b/opendbc/safety/modes/psa.h
index 6bbd7b9c962..24412ed10b3 100644
--- a/opendbc/safety/modes/psa.h
+++ b/opendbc/safety/modes/psa.h
@@ -1,15 +1,24 @@
 #pragma once
 
-#include "opendbc/safety/declarations.h"
+// #include "opendbc/safety/safety_declarations.h"
 
 #define PSA_STEERING              757U  // RX from XXX, driver torque
 #define PSA_STEERING_ALT          773U  // RX from EPS, steering angle
-#define PSA_DYN_CMM               520U  // RX from CMM, gas pedal
+#define PSA_DRIVER                1390U // RX from XXX, gas pedal
+#define PSA_DYN4_FRE              781U  // RX from CDS, wheel speeds
+#define PSA_HS2_DYN_UCF_MDD_32D   813U  // RX from UC_FREIN, standstill
 #define PSA_HS2_DYN_ABR_38D       909U  // RX from UC_FREIN, speed
 #define PSA_HS2_DAT_MDD_CMD_452   1106U // RX from BSI, cruise state
 #define PSA_DAT_BSI               1042U // RX from BSI, brake
 #define PSA_LANE_KEEP_ASSIST      1010U // TX from OP,  EPS
 
+// RADAR
+#define PSA_REQ_DIAG_ARTIV        1718U // TX from OP, radar diagnostics
+#define PSA_HS2_SUPV_ARTIV_796    1942U // TX from OP, radar emulation
+#define PSA_HS2_DAT_ARTIV_V2_4F6  1270U // TX from OP, radar emulation
+#define PSA_HS2_DYN1_MDD_ETAT_2B6 694U  // TX from OP, radar emulation
+#define PSA_HS2_DYN_MDD_ETAT_2F6  758U  // TX from OP, radar emulation
+
 // CAN bus
 #define PSA_MAIN_BUS 0U
 #define PSA_ADAS_BUS 1U
@@ -66,17 +75,14 @@ static uint32_t psa_compute_checksum(const CANPacket_t *msg) {
 
 static void psa_rx_hook(const CANPacket_t *msg) {
   if (msg->bus == PSA_MAIN_BUS) {
-    if (msg->addr == PSA_DYN_CMM) {
-      gas_pressed = msg->data[3] > 0U; // P002_Com_rAPP
-    }
-    if (msg->addr == PSA_STEERING_ALT) {
-      int angle_meas_new = to_signed((msg->data[0] << 8) | msg->data[1], 16); // ANGLE
-      update_sample(&angle_meas, angle_meas_new);
-    }
-    if (msg->addr == PSA_HS2_DYN_ABR_38D) {
-      int speed = (msg->data[0] << 8) | msg->data[1];
-      vehicle_moving = speed > 0;
-      UPDATE_VEHICLE_SPEED(speed * 0.01 * KPH_TO_MS); // VITESSE_VEHICULE_ROUES
+    // Wheel speeds from Dyn4_FRE - calculate average like carstate.py parse_wheel_speeds
+    if (msg->addr == PSA_DYN4_FRE) {
+      int fl = (msg->data[0] << 8) | msg->data[1];  // P263_VehV_VPsvValWhlFrtL
+      int fr = (msg->data[2] << 8) | msg->data[3];  // P264_VehV_VPsvValWhlFrtR
+      int rl = (msg->data[4] << 8) | msg->data[5];  // P265_VehV_VPsvValWhlBckL
+      int rr = (msg->data[6] << 8) | msg->data[7];  // P266_VehV_VPsvValWhlBckR
+      // Average of 4 wheel speeds, scale 0.01 km/h, convert to m/s (use float division)
+      UPDATE_VEHICLE_SPEED((fl + fr + rl + rr) * 0.0025 * KPH_TO_MS);
     }
   }
 
@@ -84,14 +90,26 @@ static void psa_rx_hook(const CANPacket_t *msg) {
     if (msg->addr == PSA_HS2_DAT_MDD_CMD_452) {
       pcm_cruise_check((msg->data[2U] >> 7U) & 1U); // RVV_ACC_ACTIVATION_REQ
     }
+    // Standstill from HS2_DYN_UCF_MDD_32D - same as carstate.py
+    if (msg->addr == PSA_HS2_DYN_UCF_MDD_32D) {
+      vehicle_moving = !((msg->data[2] >> 5) & 1U); // VEHICLE_STANDSTILL at bit 21
+    }
   }
 
-
   if (msg->bus == PSA_CAM_BUS) {
+    if (msg->addr == PSA_DRIVER) {
+      gas_pressed = msg->data[3] > 0U; // GAS_PEDAL
+    }
     if (msg->addr == PSA_DAT_BSI) {
       brake_pressed = (msg->data[0U] >> 5U) & 1U; // P013_MainBrake
     }
   }
+
+  // CAN0 or CAN2
+  if (msg->addr == PSA_STEERING_ALT) {
+    int angle_meas_new = to_signed((msg->data[0] << 8) | msg->data[1], 16); // ANGLE
+    update_sample(&angle_meas, angle_meas_new);
+  }
 }
 
 static bool psa_tx_hook(const CANPacket_t *msg) {
@@ -124,18 +142,34 @@ static bool psa_tx_hook(const CANPacket_t *msg) {
 }
 
 static safety_config psa_init(uint16_t param) {
-  SAFETY_UNUSED(param);
+  (void)param;
   static const CanMsg PSA_TX_MSGS[] = {
     {PSA_LANE_KEEP_ASSIST, PSA_MAIN_BUS, 8, .check_relay = true}, // EPS steering
+    {PSA_HS2_DAT_MDD_CMD_452, PSA_ADAS_BUS, 6, .check_relay = false}, // resume acc
+    {PSA_REQ_DIAG_ARTIV, PSA_ADAS_BUS, 8, .check_relay = false},        // radar diagnostics TODO: check if reduce to 3 is ok
+    {PSA_HS2_SUPV_ARTIV_796, PSA_ADAS_BUS, 8, .check_relay = false},    // radar emulation
+    {PSA_HS2_DAT_ARTIV_V2_4F6, PSA_ADAS_BUS, 5, .check_relay = false},  // radar emulation
+    {PSA_HS2_DYN1_MDD_ETAT_2B6, PSA_ADAS_BUS, 8, .check_relay = false}, // radar emulation
+    {PSA_HS2_DYN_MDD_ETAT_2F6, PSA_ADAS_BUS, 8, .check_relay = false},  // radar emulation
   };
 
   static RxCheck psa_rx_checks[] = {
     {.msg = {{PSA_HS2_DAT_MDD_CMD_452, PSA_ADAS_BUS, 6, 20U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},                        // cruise state
-    {.msg = {{PSA_HS2_DYN_ABR_38D, PSA_MAIN_BUS, 8, 25U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},                            // speed
-    {.msg = {{PSA_STEERING_ALT, PSA_MAIN_BUS, 7, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, // steering angle
+    {.msg = {{PSA_DYN4_FRE, PSA_MAIN_BUS, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},      // wheel speeds (100Hz)
+    {.msg = {{PSA_HS2_DYN_UCF_MDD_32D, PSA_ADAS_BUS, 8, 25U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, // standstill
     {.msg = {{PSA_STEERING, PSA_MAIN_BUS, 7, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},     // driver torque
-    {.msg = {{PSA_DYN_CMM, PSA_MAIN_BUS, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},      // gas pedal
     {.msg = {{PSA_DAT_BSI, PSA_CAM_BUS, 8, 20U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},        // brake
+    // GAS_PEDAL - DRIVER -> 208: 6 Bytes, 508: 7 Bytes
+    {.msg = {                                                                                                                                         // gas_pedal
+      {PSA_DRIVER, PSA_CAM_BUS, 6, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true},
+      {PSA_DRIVER, PSA_CAM_BUS, 7, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true},
+      { 0 },
+    }},
+    {.msg = {                                                                                                                                         // steering angle
+      {PSA_STEERING_ALT, PSA_MAIN_BUS, 7, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true},
+      {PSA_STEERING_ALT, PSA_CAM_BUS, 7, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true},
+      { 0 },
+    }},
   };
 
   return BUILD_SAFETY_CFG(psa_rx_checks, PSA_TX_MSGS);
diff --git a/opendbc/safety/tests/test_psa.py b/opendbc/safety/tests/test_psa.py
index ac456663046..32c2f9cf161 100644
--- a/opendbc/safety/tests/test_psa.py
+++ b/opendbc/safety/tests/test_psa.py
@@ -4,12 +4,12 @@
 from opendbc.car.structs import CarParams
 from opendbc.safety.tests.libsafety import libsafety_py
 import opendbc.safety.tests.common as common
-from opendbc.safety.tests.common import CANPackerSafety
+from opendbc.safety.tests.common import CANPackerPanda
 
 LANE_KEEP_ASSIST = 0x3F2
 
 
-class TestPsaSafetyBase(common.CarSafetyTest, common.AngleSteeringSafetyTest):
+class TestPsaSafetyBase(common.PandaCarSafetyTest, common.AngleSteeringSafetyTest):
   RELAY_MALFUNCTION_ADDRS = {0: (LANE_KEEP_ASSIST,)}
   FWD_BLACKLISTED_ADDRS = {2: [LANE_KEEP_ASSIST]}
   TX_MSGS = [[1010, 0]]
@@ -26,34 +26,34 @@ class TestPsaSafetyBase(common.CarSafetyTest, common.AngleSteeringSafetyTest):
   ANGLE_RATE_DOWN = [5., 2., .3]
 
   def setUp(self):
-    self.packer = CANPackerSafety("psa_aee2010_r3")
+    self.packer = CANPackerPanda("psa_aee2010_r3")
     self.safety = libsafety_py.libsafety
     self.safety.set_safety_hooks(CarParams.SafetyModel.psa, 0)
     self.safety.init_tests()
 
   def _angle_cmd_msg(self, angle: float, enabled: bool):
     values = {"SET_ANGLE": angle, "TORQUE_FACTOR": 100 if enabled else 0}
-    return self.packer.make_can_msg_safety("LANE_KEEP_ASSIST", self.MAIN_BUS, values)
+    return self.packer.make_can_msg_panda("LANE_KEEP_ASSIST", self.MAIN_BUS, values)
 
   def _angle_meas_msg(self, angle: float):
     values = {"ANGLE": angle}
-    return self.packer.make_can_msg_safety("STEERING_ALT", self.MAIN_BUS, values)
+    return self.packer.make_can_msg_panda("STEERING_ALT", self.MAIN_BUS, values)
 
   def _pcm_status_msg(self, enable):
     values = {"RVV_ACC_ACTIVATION_REQ": enable}
-    return self.packer.make_can_msg_safety("HS2_DAT_MDD_CMD_452", self.ADAS_BUS, values)
+    return self.packer.make_can_msg_panda("HS2_DAT_MDD_CMD_452", self.ADAS_BUS, values)
 
   def _speed_msg(self, speed):
     values = {"VITESSE_VEHICULE_ROUES": speed * 3.6}
-    return self.packer.make_can_msg_safety("HS2_DYN_ABR_38D", self.MAIN_BUS, values)
+    return self.packer.make_can_msg_panda("HS2_DYN_ABR_38D", self.MAIN_BUS, values)
 
   def _user_brake_msg(self, brake):
     values = {"P013_MainBrake": brake}
-    return self.packer.make_can_msg_safety("Dat_BSI", self.CAM_BUS, values)
+    return self.packer.make_can_msg_panda("Dat_BSI", self.CAM_BUS, values)
 
   def _user_gas_msg(self, gas):
-    values = {"P002_Com_rAPP": int(gas * 100)}
-    return self.packer.make_can_msg_safety("Dyn_CMM", self.MAIN_BUS, values)
+    values = {"GAS_PEDAL": int(gas * 100)}
+    return self.packer.make_can_msg_panda("DRIVER", self.CAM_BUS, values)
 
   def test_rx_hook(self):
     # speed
@@ -80,7 +80,7 @@ def test_rx_hook(self):
 class TestPsaStockSafety(TestPsaSafetyBase):
 
   def setUp(self):
-    self.packer = CANPackerSafety("psa_aee2010_r3")
+    self.packer = CANPackerPanda("psa_aee2010_r3")
     self.safety = libsafety_py.libsafety
     self.safety.set_safety_hooks(CarParams.SafetyModel.psa, 0)
     self.safety.init_tests()