diff --git a/opendbc_repo/opendbc/car/hyundai/carcontroller.py b/opendbc_repo/opendbc/car/hyundai/carcontroller.py
index 6396aa4f2f..4b2a8a3289 100644
--- a/opendbc_repo/opendbc/car/hyundai/carcontroller.py
+++ b/opendbc_repo/opendbc/car/hyundai/carcontroller.py
@@ -163,7 +163,7 @@ def update(self, CC, CS, now_nanos):
         self.steerDeltaDownLC = steerDeltaDownLC
       else:
         self.steerDeltaDownLC = self.steerDeltaDown
-        
+
       self.soft_hold_mode = 1 if params.get_int("AutoCruiseControl") > 1 else 2
       self.hapticFeedbackWhenSpeedCamera = int(params.get_int("HapticFeedbackWhenSpeedCamera"))
 
@@ -184,7 +184,7 @@ def update(self, CC, CS, now_nanos):
     else:
       self.params.STEER_DELTA_UP = self.steerDeltaUp
       self.params.STEER_DELTA_DOWN = self.steerDeltaDown
-    
+
     angle_control = self.CP.flags & HyundaiFlags.ANGLE_CONTROL
 
     # steering torque
@@ -196,7 +196,7 @@ def update(self, CC, CS, now_nanos):
                                                                        self.angle_limit_counter, self.max_angle_frames,
                                                                        MAX_ANGLE_CONSECUTIVE_FRAMES)
 
-    #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, self.params.ANGLE_LIMITS)
 
     MAX_LAT_ACCEL = 8.0
@@ -211,7 +211,7 @@ def update(self, CC, CS, now_nanos):
     rate_deg_s = calc_rate_limit_by_lat_accel(self.apply_angle_last, CS.out.vEgoRaw, self.CP.wheelbase, MAX_LAT_ACCEL, MAX_RATE_LOW, MAX_RATE_HIGH)
     if not same_dir:
       rate_deg_s = min(rate_deg_s * UNWIND_SCALE, UNWIND_MAX)
-      
+
     rate_deg_per_tick = rate_deg_s * DT_CTRL
     apply_angle = np.clip(actuators.steeringAngleDeg,
                         self.apply_angle_last - rate_deg_per_tick,
@@ -274,7 +274,7 @@ def update(self, CC, CS, now_nanos):
 
     active_speed_decel = hud_control.activeCarrot == 3 and self.activeCarrot != 3 # 3: Speed Decel
     self.activeCarrot = hud_control.activeCarrot
-    if active_speed_decel and self.speedCameraHapticEndFrame < 0: # 과속카메라 감속시작      
+    if active_speed_decel and self.speedCameraHapticEndFrame < 0: # 과속카메라 감속시작
       self.speedCameraHapticEndFrame = self.frame + (8.0 / DT_CTRL)  #8초간 켜줌.
     elif not active_speed_decel:
       self.speedCameraHapticEndFrame = -1
@@ -331,7 +331,7 @@ def update(self, CC, CS, now_nanos):
 
       # LFA and HDA icons
       if self.frame % 5 == 0 and camera_scc:
-        can_sends.extend(hyundaicanfd.create_lfahda_cluster(self.packer, CS, self.CAN, CC.longActive, CC.latActive))
+        can_sends.extend(hyundaicanfd.create_lfahda_cluster(self.packer, CS, self.CAN, CC.longActive, CC.latActive, self.canfd_debug))
 
       # blinkers
       if hda2 and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
@@ -365,7 +365,7 @@ def update(self, CC, CS, now_nanos):
           can_sends.extend(hyundaicanfd.forward_button_message(self.packer, self.CAN, self.frame, CS, send_button, self.MainMode_ACC_trigger, self.LFA_trigger))
         else:
           can_sends.extend(self.create_button_messages(CC, CS, use_clu11=False))
-        
+
     else:
       can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.CP, apply_torque, apply_steer_req,
                                                 torque_fault, CS.lkas11, sys_warning, sys_state, CC.enabled,
@@ -384,7 +384,7 @@ def update(self, CC, CS, now_nanos):
         #jerk = 3.0 if actuators.longControlState == LongCtrlState.pid else 1.0
         use_fca = self.CP.flags & HyundaiFlags.USE_FCA.value
         if camera_scc:
-          
+
           can_sends.extend(hyundaican.create_acc_commands_scc(self.packer, CC.enabled, accel, self.hyundai_jerk, int(self.frame / 2),
                                                           hud_control, set_speed_in_units, stopping,
                                                           CC.cruiseControl.override, casper_opt, CS, self.soft_hold_mode))
@@ -609,7 +609,7 @@ def check_carrot_cruise(self, CC, CS, hud_control, stopping, accel, a_target):
             self.carrot_cruise_accel = max(carrot_cruise, self.carrot_cruise_accel - 1.0 * DT_CTRL) #  점진적으로 줄임.
     if self.carrot_cruise == 0:
       self.carrot_cruise_accel = CS.out.aEgo
-    
+
   def make_jerk(self, CP, CS, accel, actuators, hud_control):
     if actuators.longControlState == LongCtrlState.stopping:
       self.jerk = self.jerk_u_min / 2 - CS.out.aEgo
diff --git a/opendbc_repo/opendbc/car/hyundai/carstate.py b/opendbc_repo/opendbc/car/hyundai/carstate.py
index 527ba4fb8c..be15b0f2dc 100644
--- a/opendbc_repo/opendbc/car/hyundai/carstate.py
+++ b/opendbc_repo/opendbc/car/hyundai/carstate.py
@@ -86,7 +86,12 @@ def __init__(self, CP):
     self.adrv_info_160 = None
     self.adrv_info_162 = None
     self.hda_info_4a3 = None
+    self.cluster_speed_limit = None
     self.new_msg_4b4 = None
+
+    self.hda2_counter = 99
+    self.new_msg_4b9 = None
+
     self.tcs_info_373 = None
     self.mdps_info = {}
     self.steer_touch_info = {}
@@ -123,7 +128,7 @@ def __init__(self, CP):
 
     fingerprints_str = Params().get("FingerPrints", encoding='utf-8')
     fingerprints = ast.literal_eval(fingerprints_str)
-    #print("fingerprints =", fingerprints)
+    # print("fingerprints =", fingerprints)
     ecu_disabled = False
     if self.CP.openpilotLongitudinalControl and not (self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC):
       ecu_disabled = True
@@ -138,7 +143,7 @@ def __init__(self, CP):
       self.SCC14 = True if 905 in fingerprints[bus_cruise] else False
     self.FCA11 = False
     self.FCA11_bus = Bus.cam
-      
+
     self.HAS_LFA_BUTTON = True if 913 in fingerprints[0] else False
     self.CRUISE_BUTTON_ALT = True if 1007 in fingerprints[0] else False
 
@@ -151,8 +156,10 @@ def __init__(self, CP):
     self.ADRV_0x1ea = True if 0x1ea in fingerprints[cam_bus] else False
     self.ADRV_0x160 = True if 0x160 in fingerprints[cam_bus] else False
     self.LFAHDA_CLUSTER = True if 480 in fingerprints[cam_bus] else False
+    self.CLUSTER_SPEED_LIMIT = True if 0x1fa in fingerprints[pt_bus] else False
     self.HDA_INFO_4A3 = True if 0x4a3 in fingerprints[pt_bus] else False
     self.NEW_MSG_4B4 = True if 0x4b4 in fingerprints[pt_bus] else False
+
     self.GEAR = True if 69 in fingerprints[pt_bus] else False
     self.GEAR_ALT = True if 64 in fingerprints[pt_bus] else False
     self.CAM_0x362 = True if 0x362 in fingerprints[alt_bus] else False
@@ -163,7 +170,7 @@ def __init__(self, CP):
 
     self.cp_bsm = None
     self.time_zone = "UTC"
-    
+
     self.controls_ready_count = 0
 
   def update(self, can_parsers) -> structs.CarState:
@@ -459,7 +466,7 @@ def update_canfd(self, can_parsers) -> structs.CarState:
       ret.steeringAngleDeg = cp.vl["MDPS"]["STEERING_ANGLE_2"] * -1
     else:
       ret.steeringAngleDeg = cp.vl["STEERING_SENSORS"]["STEERING_ANGLE"] * -1
-    
+
     ret.steeringTorque = cp.vl["MDPS"]["STEERING_COL_TORQUE"]
     ret.steeringTorqueEps = cp.vl["MDPS"]["STEERING_OUT_TORQUE"]
     ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > self.params.STEER_THRESHOLD, 5)
@@ -470,7 +477,7 @@ def update_canfd(self, can_parsers) -> structs.CarState:
     if self.STEER_TOUCH_2AF:
       self.steer_touch_info = cp.vl["STEER_TOUCH_2AF"]
 
-    blinkers_info = cp.vl["BLINKERS"]  
+    blinkers_info = cp.vl["BLINKERS"]
     left_blinker_lamp = blinkers_info["LEFT_LAMP"] or blinkers_info["LEFT_LAMP_ALT"]
     right_blinker_lamp = blinkers_info["RIGHT_LAMP"] or blinkers_info["RIGHT_LAMP_ALT"]
     ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, left_blinker_lamp, right_blinker_lamp)
@@ -497,7 +504,7 @@ def update_canfd(self, can_parsers) -> structs.CarState:
       self.MainMode_ACC = cp_cam.vl["SCC_CONTROL"]["MainMode_ACC"] == 1
       self.ACCMode = cp_cam.vl["SCC_CONTROL"]["ACCMode"]
       self.LFA_ICON = cp_cam.vl["LFAHDA_CLUSTER"]["HDA_LFA_SymSta"]
-      
+
     if self.CP.openpilotLongitudinalControl:
       # These are not used for engage/disengage since openpilot keeps track of state using the buttons
       ret.cruiseState.enabled = cp.vl["TCS"]["ACC_REQ"] == 1
@@ -524,7 +531,7 @@ def update_canfd(self, can_parsers) -> structs.CarState:
 
       if self.LFAHDA_CLUSTER:
         self.lfahda_cluster_info = cp_cam.vl["LFAHDA_CLUSTER"]
-        
+
       corner = False
       self.adrv_info_161 = cp_cam.vl["ADRV_0x161"] if self.CCNC_0x161 else None
       self.adrv_info_162 = cp_cam.vl["CCNC_0x162"] if self.CCNC_0x162 else None
@@ -545,8 +552,10 @@ def update_canfd(self, can_parsers) -> structs.CarState:
           ret.leftLatDist = self.adrv_info_1ea["LF_DETECT_LATERAL"]
           ret.rightLatDist = self.adrv_info_1ea["RF_DETECT_LATERAL"]
       self.adrv_info_160 = cp_cam.vl["ADRV_0x160"] if self.ADRV_0x160 else None
+      self.cluster_speed_limit = cp.vl["CLUSTER_SPEED_LIMIT"] if self.CLUSTER_SPEED_LIMIT else None
 
       self.hda_info_4a3 = cp.vl["HDA_INFO_4A3"] if self.HDA_INFO_4A3 else None
+
       if self.hda_info_4a3 is not None:
         speedLimit = self.hda_info_4a3["SPEED_LIMIT"]
         if not self.is_metric:
@@ -560,8 +569,17 @@ def update_canfd(self, can_parsers) -> structs.CarState:
           self.time_zone = ZoneInfo(NUMERIC_TO_TZ.get(country_code, "UTC"))
 
       self.new_msg_4b4 = cp.vl["NEW_MSG_4B4"] if self.NEW_MSG_4B4 else None
+
+      # self.new_msg_4b8 = cp.vl["NEW_MSG_4B8"] # if self.NEW_MSG_4B8 else None
+      # self.new_msg_4b9 = cp.vl["NEW_MSG_4B9"] # if self.NEW_MSG_4B9 else None
+      # self.new_msg_4ba = cp.vl["NEW_MSG_4BA"] # if self.NEW_MSG_4BA else None
+      # self.new_msg_4be = cp.vl["NEW_MSG_4BE"] # if self.NEW_MSG_4BE else None
+      # self.new_msg_4bf = cp.vl["NEW_MSG_4BF"] # if self.NEW_MSG_4BF else None
+      # self.new_msg_4c1 = cp.vl["NEW_MSG_4C1"] # if self.NEW_MSG_4C1 else None
+      # self.new_msg_4dc = cp.vl["NEW_MSG_4DC"] # if self.NEW_MSG_4DC else None
+
       self.tcs_info_373 = cp.vl["TCS"]
-    
+
     ret.gearStep = cp.vl["GEAR"]["GEAR_STEP"] if self.GEAR else 0
     if 1 <= ret.gearStep <= 8 and ret.gearShifter == GearShifter.unknown:
       ret.gearShifter = GearShifter.drive
diff --git a/opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py b/opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py
index bd28358b52..c97aa4d63b 100644
--- a/opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py
+++ b/opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py
@@ -149,7 +149,7 @@ def create_steering_messages_camera_scc(frame, packer, CP, CAN, CC, lat_active,
     values["HAS_LANE_SAFETY"] = 0
     values["LKA_ACTIVE"] = 0 # NEW_SIGNAL_1
 
-    values["DampingGain"] = 0 if lat_active else 100  
+    values["DampingGain"] = 0 if lat_active else 100
     #values["VALUE63"] = 0
 
     #values["VALUE82_SET256"] = 0
@@ -267,14 +267,12 @@ def create_acc_cancel(packer, CP, CAN, cruise_info_copy):
   })
   return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)
 
-def create_lfahda_cluster(packer, CS, CAN, long_active, lat_active):
+def create_lfahda_cluster(packer, CS, CAN, long_active, lat_active, canfd_debug):
 
   if CS.lfahda_cluster_info is not None:
-    values = {} #
+    values = {}
     values["HDA_CntrlModSta"] = 2 if long_active else 0
     values["HDA_LFA_SymSta"] = 2 if lat_active else 0
-
-    # 
   else:
     return []
   return [packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values)]
@@ -289,7 +287,7 @@ def create_acc_control_scc2(packer, CAN, enabled, accel_last, accel, stopping, g
     acc_mode = 4 if enabled else 0
     enabled = False
     accel = accel_last = 0.5
-   
+
   elif hyundai_jerk.carrot_cruise == 2:
     accel = accel_last = hyundai_jerk.carrot_cruise_accel
 
@@ -346,7 +344,7 @@ def create_acc_control_scc2(packer, CAN, enabled, accel_last, accel, stopping, g
   # AccelLimitBandUpper, Lower
   values["SysFailState"] = 0    # 1: Performance degredation, 2: system temporairy unavailble, 3: SCC Service required , 눈이 묻어 레이더오류시... 2가 됨. 이때 가속을 안함...
 
-  values["AccelLimitBandUpper"] = 0.0   # 이값이 1.26일때 가속을 안하는 증상이 보임.. 
+  values["AccelLimitBandUpper"] = 0.0   # 이값이 1.26일때 가속을 안하는 증상이 보임..
   values["AccelLimitBandLower"] = 0.0
 
   return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)
@@ -455,7 +453,14 @@ def forward_button_message(packer, CAN, frame, CS, cruise_button, MainMode_ACC_t
 def create_ccnc_messages(CP, packer, CAN, frame, CC, CS, hud_control, disp_angle, left_lane_warning, right_lane_warning, canfd_debug, MainMode_ACC_trigger, LFA_trigger):
   ret = []
 
+  # if CS.new_msg_4b9 is not None:
+    # print(f"============new_msg_4b9==========\r\n")
+
+  # if CS.new_msg_4b4 is not None:
+    # print(f"============new_msg_4b4==========\r\n")
+
   if CP.flags & HyundaiFlags.CAMERA_SCC.value:
+
     if frame % 2 == 0:
       if CS.adrv_info_160 is not None:
         values = copy.copy(CS.adrv_info_160)
@@ -474,7 +479,7 @@ def create_ccnc_messages(CP, packer, CAN, frame, CC, CS, hud_control, disp_angle
         ret.append(packer.make_can_msg(CS.cruise_btns_msg_canfd, CAN.CAM, values))
 
 
-    if frame % 5 == 0:
+    if frame % 5 == 0: # 20hz
       if CS.adrv_info_161 is not None:
         main_enabled = CS.out.cruiseState.available
         cruise_enabled = CC.enabled
@@ -540,7 +545,7 @@ def create_ccnc_messages(CP, packer, CAN, frame, CC, CS, hud_control, disp_angle
         values["LANELINE_CURVATURE"] = (min(abs(curvature), 15) + (-1 if curvature < 0 else 0)) if lat_active else 0
         values["LANELINE_CURVATURE_DIRECTION"] = 1 if curvature < 0 and lat_active else 0
 
-        # lane_color = 6 if lat_active else 2 
+        # lane_color = 6 if lat_active else 2
         lane_color = 2 # 6: green, 2: white, 4: yellow
         if hud_control.leftLaneDepart:
           values["LANELINE_LEFT"] = 4 if (frame // 50) % 2 == 0 else 1
@@ -568,8 +573,11 @@ def create_ccnc_messages(CP, packer, CAN, frame, CC, CS, hud_control, disp_angle
 
       if CS.adrv_info_1ea is not None:
         values = copy.copy(CS.adrv_info_1ea)
+        lat_active = CC.latActive
+
         #values["HDA_MODE1"] = 8
         #values["HDA_MODE2"] = 1
+        """
         if values['LF_DETECT'] == 0 and hud_control.leadLeftDist > 0:
           values['LF_DETECT'] = 3 if hud_control.leadLeftDist > 30 else 4
           values['LF_DETECT_DISTANCE'] = hud_control.leadLeftDist
@@ -578,7 +586,7 @@ def create_ccnc_messages(CP, packer, CAN, frame, CC, CS, hud_control, disp_angle
           values['RF_DETECT'] = 3 if hud_control.leadRightDist > 30 else 4
           values['RF_DETECT_DISTANCE'] = hud_control.leadRightDist
           values['RF_DETECT_LATERAL'] = hud_control.leadRightLat
-        """
+
         if values['LR_DETECT'] == 0 and hud_control.leadLeftDist2 > 0:
           values['LR_DETECT'] = 4
           values['LR_DETECT_DISTANCE'] = 2
@@ -588,6 +596,151 @@ def create_ccnc_messages(CP, packer, CAN, frame, CC, CS, hud_control, disp_angle
           values['RR_DETECT_DISTANCE'] = 2
           values['RR_DETECT_LATERAL'] = hud_control.leadRightLat2
         """
+        # 차선 커브 HUD 랑 클러스터 둘다 휘어짐
+        if lat_active or canfd_debug > 0:
+          curvature = round(CS.out.steeringAngleDeg / 3)
+          values["LANELINE_CURVATURE"] = max(0,min(abs(curvature), 15) + (-1 if curvature < 0 else 0))
+          values["LANELINE_CURVATURE_DIRECTION"] = 1 if curvature < 0 else 0
+        else:
+          # 설정 안하면 0 이니까 굳이 할필요 있나?
+          values["LANELINE_CURVATURE"] = 0
+          values["LANELINE_CURVATURE_DIRECTION"] = 0
+
+        # if canfd_debug > 0:
+          # values['LF_DETECT'] = 0 안나옴
+          # values['LF_DETECT'] = 1 회색
+          # values['LF_DETECT'] = 2 흰색
+          # values['LF_DETECT'] = 3 흰색
+          # values['LF_DETECT'] = 4 안나옴
+
+          # 3.6 ~ 4.5 까지 서서히 어두워지다 사라짐
+          # values['LF_DETECT_LATERAL'] = 0 ~ 4.5
+          # values['LF_DETECT'] = 2 # 2 랑 3 둘다 동일한듯
+
+          # 0 ~ 150. 근데 100 부터는 동일함
+          # values['LF_DETECT_DISTANCE'] = 50
+
+          # values['LF_DETECT'] = 3
+          # values['LF_DETECT_LATERAL'] = 3.0
+          # values['LF_DETECT_DISTANCE'] = 0
+
+          # values['RF_DETECT'] = 3
+          # values['RF_DETECT_LATERAL'] = 3.0
+          # values['RF_DETECT_DISTANCE'] = 0
+
+
+          # values['CORNER_LR_SIG'] = 1
+          # values['CORNER_LR_DETECT'] = 3.0
+          # values['CORNER_LR_DIST'] = 10 # 0 ~ 14 15부터 안보임
+
+          # values['CORNER_RR_SIG'] = 1
+          # values['CORNER_RR_DETECT'] = 3.0
+          # values['CORNER_RR_DIST'] = 10 # 0 ~ 14 15부터 안보임
+
+
+          # if canfd_debug == 1:
+          #   values['LF_DETECT'] = 0
+          #   values['LF_DETECT_LATERAL'] = 2.9
+          #   values['LF_DETECT_DISTANCE'] = 12.0
+          # elif canfd_debug == 2:
+          #   values['LF_DETECT'] = 2
+          #   values['LF_DETECT_LATERAL'] = 3.1
+          #   values['LF_DETECT_DISTANCE'] = 12.0
+          # elif canfd_debug == 3:
+          #   values['LF_DETECT'] = 3
+          #   values['LF_DETECT_LATERAL'] = 3.2
+          #   values['LF_DETECT_DISTANCE'] = 12.0
+          # elif canfd_debug == 4:
+          #   values['LF_DETECT'] = 4
+          #   values['LF_DETECT_LATERAL'] = 3.3
+          #   values['LF_DETECT_DISTANCE'] = 12.0
+
+          # values['LEFTBLINK1'] = 1 # 좌깜빡이 켜진상태 유지
+          # values['RIGHTBLINK1'] = 1 # 우깜빡이 켜진상태 유지
+
+          # 이것들은 hud랑 연비막대 자리에 텍스트로 나옴
+          # values['AUTOLANECHANGE_MSG'] =  1 # 주변 상황을 확인하세요
+          # values['AUTOLANECHANGE_MSG'] =  2 # 작동 조건이 아닙니다
+          # values['AUTOLANECHANGE_MSG'] =  3 # 주행 차로를 분석중입니다
+          # values['AUTOLANECHANGE_MSG'] =  4 # 급커브 구간입니다
+          # values['AUTOLANECHANGE_MSG'] =  5 # 주행 중인 차로의 폭이 좁습니다
+          # values['AUTOLANECHANGE_MSG'] =  6 # 작동 구간이 아닙니다.
+          # values['AUTOLANECHANGE_MSG'] =  7 # 비상등이 켜져있습니다
+          # values['AUTOLANECHANGE_MSG'] =  8 # 주행속도가 낮습니다
+          # values['AUTOLANECHANGE_MSG'] =  9 # 핸들을 잡으십시오
+          # values['AUTOLANECHANGE_MSG'] = 10 # 작동 가능한 차로가 아닙니다
+          # values['AUTOLANECHANGE_MSG'] = 11 # 핸들 조작이 감지되었습니다.
+          # 얘는 우측 RPM 게이지에 크게 나옴
+          # values['AUTOLANECHANGE_MSG'] = 12 # ok 버튼을 누르면 차로변경 보조기능이 켜집니다
+          # values['AUTOLANECHANGE_MSG'] = 13 # 없음.
+          # values['AUTOLANECHANGE_MSG'] = 14 # 없음.
+          # values['AUTOLANECHANGE_MSG'] = 15 # 없음.
+
+        if canfd_debug > 0 :
+          # print(f"CS.lfahda_cluster_info {CS.lfahda_cluster_info is not None}\r\n")
+          if CS.lfahda_cluster_info is not None:
+            if CS.lfahda_cluster_info["HDA_CntrlModSta"] == 0:
+              values['HDA_MODE2'] = 1 # 차선변경 아이콘 회색
+            elif CS.lfahda_cluster_info["HDA_CntrlModSta"] == 1:
+              values['HDA_MODE2'] = 3 # 옆차선 녹색 + 차선변경 아이콘 녹색 둘이 같이 점멸
+            elif CS.lfahda_cluster_info["HDA_CntrlModSta"] == 2:
+              values['HDA_MODE2'] = 2 # 옆차선 녹색 + 차선변경 아이콘 녹색
+
+          # values['HDA_MODE2'] = 1 # 차선변경 아이콘 회색
+          # values['HDA_MODE2'] = 2 # 옆차선 녹색 + 차선변경 아이콘 녹색
+          # values['HDA_MODE2'] = 3 # 옆차선 녹색 + 차선변경 아이콘 녹색 둘이 같이 점멸
+          # values['HDA_MODE2'] = 4 # 옆차선 흰색 + 차선변경 아이콘 흰색 둘이 같이 삐르게 점멸
+          # values['HDA_MODE2'] = 5 # 차로변경보조 기능 점검 경고
+          # values['HDA_MODE2'] = 6 # 딱히 뭐 없음
+          # values['HDA_MODE2'] = 7 # 딱히 뭐 없음
+
+          # LANELINE_X_POSITION 값을 줘서 차선을 하나 넘어가면 화살표가 사라지는데 0 한번 넣어주면 다시 나옴.
+          # values['LANE_CHANGING_1'] = 1 # 왼쪽 화살표
+          # values['LANE_CHANGING_1'] = 2 # 오른쪽 화살표
+          # values['LANE_CHANGING_1'] = 3 # 왼쪽 화살표 + 바닥
+          # values['LANE_CHANGING_1'] = 4 # 오른쪽 화살표 + 바닥
+          # values['LANE_CHANGING_1'] = 5 # 딱히 뭐 없음
+          # values['LANE_CHANGING_1'] = 6 # 딱히 뭐 없음
+          # values['LANE_CHANGING_1'] = 7 # 딱히 뭐 없음
+
+          # 자동차선변경할때 차선 포지션 15 중앙 0~30
+          # 좌, 우 둘다 중앙 기준에서 각 방향으로 멀어짐
+          # L30 R30 이면 아주 넓은 차선을 가짐.
+          # 어쩌면 콤마가 인식하는 차선폭 보고 조정 가능할듯..
+          # 새로운 차선이 생기는게 아니라 그냥 반대방향으로 텔레포트 시킴.. ㅋㅋ
+          # LANE_CHANGING_1 이거 안켜주면 hud 에서만 움직임..
+          # if canfd_debug > 0:
+            # 중앙
+            # values['HDA_MODE2'] = 2
+            # values['LANE_CHANGING_1'] = 0
+            # values['LANELINE_LEFT_POSITION'] = 15
+            # values['LANELINE_RIGHT_POSITION'] = 15
+          # elif canfd_debug == 2:
+          #   # 왼쪽
+          #   values['HDA_MODE2'] = 3
+          #   lp_counter = (frame / 5) % 31
+          #   if lp_counter == 0 :
+          #     values['LANE_CHANGING_1'] = 0
+          #   else:
+          #     # values['LANE_CHANGING_1'] = 1 # 왼쪽 화살표
+          #     values['LANE_CHANGING_1'] = 3 # 왼쪽 화살표 + 바닥
+
+          #   values['LANELINE_LEFT_POSITION'] = (15 - lp_counter + 31) % 31
+          #   values['LANELINE_RIGHT_POSITION'] = (lp_counter + 15) % 31
+
+          # elif canfd_debug == 3:
+          #   # 오른쪽
+          #   values['HDA_MODE2'] = 3
+          #   lp_counter = (frame / 5) % 31
+          #   if lp_counter == 0 :
+          #     values['LANE_CHANGING_1'] = 0
+          #   else:
+          #     # values['LANE_CHANGING_1'] = 2 # 오른쪽 화살표
+          #     values['LANE_CHANGING_1'] = 4 # 오른쪽 화살표 + 바닥
+
+          #   values['LANELINE_LEFT_POSITION'] = (lp_counter + 15) % 31
+          #   values['LANELINE_RIGHT_POSITION'] = (15 - lp_counter + 31) % 31
+
         ret.append(packer.make_can_msg("ADRV_0x1ea", CAN.ECAN, values))
 
       if CS.adrv_info_162 is not None:
@@ -643,19 +796,116 @@ def create_ccnc_messages(CP, packer, CAN, frame, CC, CS, hud_control, disp_angle
           values["VIBRATE"] = 1
         ret.append(packer.make_can_msg("CCNC_0x162", CAN.ECAN, values))
 
-    if canfd_debug > 0:
-      if frame % 20 == 0: # 아직 시험중..
-        if CS.hda_info_4a3 is not None:
-          values = copy.copy(CS.hda_info_4a3)
-          #if canfd_debug == 1:
-          values["SIGNAL_0"] = 5
-          values["NEW_SIGNAL_1"] = 4
-          values["SPEED_LIMIT"] = 80
-          values["NEW_SIGNAL_3"] = 154
-          values["NEW_SIGNAL_4"] = 9
-          values["NEW_SIGNAL_5"] = 0
-          values["NEW_SIGNAL_6"] = 256
-          ret.append(packer.make_can_msg("HDA_INFO_4A3", CAN.CAM, values))
+    if frame % 20 == 0: # 5HZ
+      if CS.hda_info_4a3 is not None:
+        values = copy.copy(CS.hda_info_4a3)
+        if canfd_debug > 0:
+          if canfd_debug == 1:
+            values["LinkClass"] = 2
+            values["SpeedUnit"] = 1
+            values["Frwinfo"] = 0
+            values["SPEED_LIMIT"] = 40
+          elif canfd_debug == 2:
+            values["LinkClass"] = 1
+            values["SpeedUnit"] = 1
+            values["Frwinfo"] = 0
+            values["SPEED_LIMIT"] = 100
+        ret.append(packer.make_can_msg("HDA_INFO_4A3", CAN.CAM, values))
+
+    if not CC.enabled : # 크루즈가 꺼지면
+       CS.hda2_counter = 99 # 옆두부 메세지 카운터 리셋
+    elif CC.enabled and CS.hda2_counter == 99: # 크루즈가 켜지면
+       CS.hda2_counter = 0 # 옆두부 메세지 카운터 리셋
+
+    if frame % 5 == 0 and CS.hda2_counter < 6: # 20 Hz tick
+      CS.hda2_counter += 1
+      values = {}
+      if CS.hda2_counter in [1,2,3]:
+        # 00 00 80 8A 32 30 01 00
+        values["BYTE_1"] = 0x00
+        values["BYTE_2"] = 0x00
+        values["BYTE_3"] = 0x80
+        values["BYTE_4"] = 0x8A
+        values["BYTE_5"] = 0x32
+        values["BYTE_6"] = 0x30
+        values["BYTE_7"] = 0x01
+        values["BYTE_8"] = 0x00
+      elif CS.hda2_counter in [4,5,6]:
+        values["BYTE_1"] = 0xFF
+        values["BYTE_2"] = 0xFF
+        values["BYTE_3"] = 0xFF
+        values["BYTE_4"] = 0xFF
+        values["BYTE_5"] = 0xFF
+        values["BYTE_6"] = 0xFF
+        values["BYTE_7"] = 0xFF
+        values["BYTE_8"] = 0xFF
+      print(f"NEW_MSG_4B9: {values}\r\n")
+      ret.append(packer.make_can_msg("NEW_MSG_4B9", CAN.CAM, values))
+
+
+
+    # if frame % 10 == 0: # 10 Hz tick
+    #   ctu = ((frame // 10) % 10) + 1 # 1 ~ 10
+    #   print(f"=== ctu === {ctu}")
+    #   values = {}
+    #   values["BYTE_1"] = ctu
+    #   ret.append(packer.make_can_msg("NEW_MSG_4B9", CAN.CAM, values))
+
+    # if frame % 10 == 0: # 1hz
+      # if canfd_debug > 0:
+      #   if CS.new_msg_4b8 is not None:
+      #     values = copy.copy(CS.new_msg_4b8)
+      #     ret.append(packer.make_can_msg("NEW_MSG_4B8", CAN.CAM, values))
+      #   if CS.new_msg_4b9 is not None:
+      #     values = copy.copy(CS.new_msg_4b9)
+      #     ret.append(packer.make_can_msg("NEW_MSG_4B9", CAN.CAM, values))
+      #   if CS.new_msg_4ba is not None:
+      #     values = copy.copy(CS.new_msg_4ba)
+      #     ret.append(packer.make_can_msg("NEW_MSG_4BA", CAN.CAM, values))
+      #   if CS.new_msg_4be is not None:
+      #     values = copy.copy(CS.new_msg_4be)
+      #     ret.append(packer.make_can_msg("NEW_MSG_4BE", CAN.CAM, values))
+      #   if CS.new_msg_4bf is not None:
+      #     values = copy.copy(CS.new_msg_4bf)
+      #     ret.append(packer.make_can_msg("NEW_MSG_4BF", CAN.CAM, values))
+      #   if CS.new_msg_4c1 is not None:
+      #     values = copy.copy(CS.new_msg_4c1)
+      #     ret.append(packer.make_can_msg("NEW_MSG_4C1", CAN.CAM, values))
+      #   if CS.new_msg_4dc is not None:
+      #     values = copy.copy(CS.new_msg_4dc)
+      #     ret.append(packer.make_can_msg("NEW_MSG_4DC", CAN.CAM, values))
+
+    if frame % 10 == 0: # 10hz
+      if CS.cluster_speed_limit is not None:
+        if canfd_debug > 0:
+          values = copy.copy(CS.cluster_speed_limit)
+          if canfd_debug == 1:
+            values["SPEED_LIMIT_1"] = 0
+            values["SPEED_LIMIT_2"] = 0
+            values["SPEED_LIMIT_3"] = 0
+          elif canfd_debug >= 2:
+            values["SPEED_LIMIT_1"] = 100
+            values["SPEED_LIMIT_2"] = 100
+            values["SPEED_LIMIT_3"] = 105
+          ret.append(packer.make_can_msg("CLUSTER_SPEED_LIMIT",CAN.CAM,values))
+
+      if CS.new_msg_4b4 is not None:
+        values = copy.copy(CS.new_msg_4b4)
+        if canfd_debug > 0:
+          if canfd_debug == 1:
+            values["NEW_SIGNAL_2"] = 54
+            values["NEW_SIGNAL_7"] = 1
+            values["NEW_SIGNAL_5"] = 1
+            values["NEW_SIGNAL_4"] = 73
+            values["NEW_SIGNAL_6"] = 2
+          elif canfd_debug >= 2:
+            values["NEW_SIGNAL_2"] = 54
+            values["NEW_SIGNAL_7"] = 1
+            values["NEW_SIGNAL_5"] = 2
+            values["NEW_SIGNAL_4"] = 80
+            values["NEW_SIGNAL_6"] = 5
+        ret.append(packer.make_can_msg("NEW_MSG_4B4", CAN.CAM, values))
+
 
   return ret
 
@@ -711,7 +961,7 @@ def alt_cruise_buttons(packer, CP, CAN, buttons, cruise_btns_msg, cnt):
   cruise_btns_msg["COUNTER"] = (cruise_btns_msg["COUNTER"] + 1 + cnt) % 256
   bus = CAN.ECAN if CP.flags & HyundaiFlags.CANFD_HDA2 else CAN.CAM
   return packer.make_can_msg("CRUISE_BUTTONS_ALT", bus, cruise_btns_msg)
-  
+
 def hkg_can_fd_checksum(address: int, sig, d: bytearray) -> int:
   crc = 0
   for i in range(2, len(d)):
diff --git a/opendbc_repo/opendbc/dbc/generator/hyundai/hyundai_canfd.dbc b/opendbc_repo/opendbc/dbc/generator/hyundai/hyundai_canfd.dbc
index 2436f92f2b..9c5e359ff2 100644
--- a/opendbc_repo/opendbc/dbc/generator/hyundai/hyundai_canfd.dbc
+++ b/opendbc_repo/opendbc/dbc/generator/hyundai/hyundai_canfd.dbc
@@ -506,12 +506,16 @@ BO_ 480 LFAHDA_CLUSTER: 16 FR_CMR
  SG_ HDA_LFA_WrnSnd : 49|2@1+ (1,0) [0|0] ""  Dummy
  SG_ HDA_InfoPUDis1 : 51|3@1+ (1,0) [0|7] ""  CLU,CGW
  SG_ HDA_TDMRMDclReq : 54|2@1+ (1,0) [0|3] ""  Dummy
- 
+
 BO_ 490 ADRV_0x1ea: 32 ADRV
  SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
  SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ HDA_MODE1 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ LEFT_BLINK_HOLD : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ RIGHT_BLINK_HOLD : 30|1@0+ (1,0) [0|1] "" XXX
  SG_ HDA_MODE2 : 32|3@1+ (1,0) [0|3] "" XXX
+ SG_ LANE_LEFT : 36|2@0+ (1,0) [0|3] "" XXX
+ SG_ LANE_RIGHT : 41|2@0+ (1,0) [0|3] "" XXX
+ SG_ LANE_CHANGING : 45|3@0+ (1,0) [0|1] "" XXX
  SG_ LF_DETECT_DISTANCE : 46|11@1+ (0.1,0) [0|2047] "" XXX
  SG_ LF_DETECT_LATERAL : 70|7@0+ (0.1,0) [0|127] "" XXX
  SG_ LF_DETECT : 74|3@0+ (1,0) [0|7] "" XXX
@@ -519,17 +523,18 @@ BO_ 490 ADRV_0x1ea: 32 ADRV
  SG_ RF_DETECT_LATERAL : 94|7@0+ (0.1,0) [0|127] "" XXX
  SG_ RF_DETECT : 98|3@0+ (1,0) [0|7] "" XXX
  SG_ SET_ME_FF : 120|8@1+ (1,0) [0|255] "" XXX
- SG_ CORNER_LR_DIST : 138|9@1+ (0.1,0) [0|511] "m" XXX
- SG_ CORNER_LR_DETECT : 152|6@1+ (1,0) [0|63] "" XXX
- SG_ CORNER_LR_SIG : 160|1@0+ (1,0) [0|1] "" XXX
- SG_ CORNER_RR_DIST : 162|9@1+ (0.1,0) [0|511] "m" XXX
- SG_ CORNER_RR_DETECT : 172|6@1+ (1,0) [0|63] "" XXX
- SG_ CORNER_RR_SIG : 184|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_5 : 205|1@0+ (1,0) [0|1] "" XXX
- SG_ AUTOLANECHANGE_CONFIRM_MSG_MAYBE : 207|2@0+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_2 : 208|5@1+ (1,0) [0|31] "" XXX
- SG_ NEW_SIGNAL_3 : 239|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_1 : 247|8@0+ (1,0) [0|255] "" XXX
+ SG_ LR_DETECT_DISTANCE : 139|8@1+ (0.1,0) [0|511] "m" XXX
+ SG_ LR_DETECT_LATERAL : 152|6@1+ (0.1,0) [0|63] "" XXX
+ SG_ LR_DETECT : 162|3@0+ (1,0) [0|1] "" XXX
+ SG_ RR_DETECT_DISTANCE : 163|8@1+ (0.1,0) [0|511] "m" XXX
+ SG_ RR_DETECT_LATERAL : 172|6@1+ (0.1,0) [0|63] "" XXX
+ SG_ RR_DETECT : 186|3@0+ (1,0) [0|1] "" XXX
+ SG_ AUTOLANECHANGE_MSG : 207|4@0+ (1,0) [0|3] "" XXX
+ SG_ LANELINE_CURVATURE : 208|4@1+ (1,0) [0|31] "" XXX
+ SG_ LANELINE_CURVATURE_DIRECTION : 212|1@0+ (1,0) [0|1] "" XXX
+ SG_ LANELINE_LEFT_POSITION : 239|8@0+ (1,0) [0|255] "" XXX
+ SG_ LANELINE_RIGHT_POSITION : 247|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_7 : 248|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 507 CAM_0x1fb: 32 CAMERA
  SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
@@ -754,6 +759,86 @@ BO_ 1043 BLINKERS: 8 XXX
 BO_ 1240 CLUSTER_INFO: 8 XXX
  SG_ DISTANCE_UNIT : 0|1@1+ (1,0) [0|1] "" XXX
 
+BO_ 1208 NEW_MSG_4B8: 8 XXX
+ SG_ BYTE_1 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_2 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_3 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_4 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_5 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_6 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_7 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_8 : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 1209 NEW_MSG_4B9: 8 XXX
+ SG_ BYTE_1 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_2 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_3 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_4 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_5 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_6 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_7 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_8 : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 1210 NEW_MSG_4BA: 8 XXX
+ SG_ BYTE_1 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_2 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_3 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_4 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_5 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_6 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_7 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_8 : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 1214 NEW_MSG_4BE: 8 XXX
+ SG_ BYTE_1 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_2 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_3 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_4 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_5 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_6 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_7 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_8 : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 1215 NEW_MSG_4BF: 8 XXX
+ SG_ BYTE_1 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_2 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_3 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_4 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_5 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_6 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_7 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_8 : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 1217 NEW_MSG_4C1: 8 XXX
+ SG_ BYTE_1: 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_2: 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_3: 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_4: 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_5: 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_6: 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_7: 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_8: 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 1227 NEW_MSG_4CB: 8 XXX
+ SG_ BYTE_1 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_2 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_3 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_4 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_5 : 39|8@0+ (1,0) [0|63] "" XXX
+ SG_ BYTE_6 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_7 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_8 : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 1244 NEW_MSG_4DC: 8 XXX
+ SG_ BYTE_1 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_2 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_3 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_4 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_5 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_6 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_7 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ BYTE_8 : 63|8@0+ (1,0) [0|255] "" XXX
+
 BO_ 442 BLINDSPOTS_REAR_CORNERS: 24 XXX
  SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
  SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
@@ -789,6 +874,8 @@ BO_ 485 BLINDSPOTS_FRONT_CORNER_1: 16 XXX
  SG_ NEW_SIGNAL_9 : 55|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 506 CLUSTER_SPEED_LIMIT: 32 CAM
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 23|8@0+ (1,0) [0|255] "" XXX
  SG_ SPEED_LIMIT_1 : 39|7@0+ (1,0) [0|255] "" XXX
  SG_ SPEED_LIMIT_2 : 47|7@0+ (1,0) [0|255] "" XXX
  SG_ SECONDARY_LIMIT_1 : 79|8@0+ (1,0) [0|127] "" XXX
@@ -841,17 +928,21 @@ BO_ 1187 HDA_INFO_4A3: 8 XXX
  SG_ CountryCode : 16|10@1+ (1,0) [0|1023] "" XXX
  SG_ MapSource : 27|3@1+ (1,0) [0|7] "" XXX
  SG_ TollExist : 30|2@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_1 : 37|6@0+ (1,0) [0|63] "" XXX
  SG_ TunnelExist : 38|2@1+ (1,0) [0|3] "" XXX
  SG_ NEW_SIGNAL_6 : 47|24@0+ (1,0) [0|16777215] "" XXX
 
 BO_ 1204 NEW_MSG_4B4: 8 XXX
  SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ NEW_SIGNAL_8 : 15|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 23|16@0+ (1,0) [0|65535] "" XXX
- SG_ NEW_SIGNAL_7 : 35|4@0+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 39|4@0+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_4 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_5 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_13 : 17|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_12 : 18|2@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 21|7@1+ (1,0) [0|127] "" XXX
+ SG_ NEW_SIGNAL_14 : 30|2@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 36|7@1+ (1,0) [0|127] "" XXX
+ SG_ NEW_SIGNAL_7 : 45|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_5 : 46|2@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_4 : 48|8@1+ (1,0) [0|255] "" XXX
  SG_ NEW_SIGNAL_6 : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 1259 LOCAL_TIME2: 8 XXX
@@ -994,6 +1085,10 @@ VAL_ 480 HDA_LFA_SymSta 0 "Off" 1 "Gray" 2 "Green" 3 "Green blink" ;
 VAL_ 480 HDA_LFA_WrnSnd 0 "Off " 1 "Additional Warning Sound" 2 "Reserved" 3 "Error indicator" ;
 VAL_ 480 HDA_InfoPUDis1 0 "No Pop-up" 1 "System Automatic off (LFA)" 2 "System Automatic off (HDA)" 3 "Reserved" 4 "Reserved" 5 "Reserved" 6 "Not Used" 7 "Error Indicator" ;
 VAL_ 480 HDA_TDMRMDclReq 0 "Not automatically deactivated state of LFA (default)" 1 "Automatically deactivated state of LFA" 2 "Reserved" 3 "Reserved" ;
+VAL_ 490 LANE_LEFT 0 "IDLE" 1 "ON_SOURCE" 2 "ON_TARGET";
+VAL_ 490 LANE_RIGHT 0 "IDLE" 1 "ON_SOURCE" 2 "ON_TARGET";
+VAL_ 490 LANE_CHANGING_1 0 "IDLE" 1 "LEFT_CHECK" 3 "LEFT_CHANGING" 2 "RIGHT_CHECK" 4 "RIGHT_CHANGING";
+VAL_ 490 LANELINE_CURVATURE_DIRECTION 0 "LEFT" 1 "RIGHT";
 VAL_ 676 LEFT_LANE_LINE 0 "Not Detected" 1 "Low Confidence" 2 "Medium Confidence" 3 "High Confidence";
 VAL_ 676 RIGHT_LANE_LINE 0 "Not Detected" 1 "Low Confidence" 2 "Medium Confidence" 3 "High Confidence";
 VAL_ 736 MSLA_STATUS 0 "disabled" 1 "active" 2 "paused";
diff --git a/opendbc_repo/opendbc/safety/safety/safety_hyundai_canfd.h b/opendbc_repo/opendbc/safety/safety/safety_hyundai_canfd.h
index 9229eb710a..b890472565 100644
--- a/opendbc_repo/opendbc/safety/safety/safety_hyundai_canfd.h
+++ b/opendbc_repo/opendbc/safety/safety/safety_hyundai_canfd.h
@@ -70,14 +70,22 @@ const CanMsg HYUNDAI_CANFD_HDA2_LONG_TX_MSGS[] = {
   {0x110, 0, 32}, // LKAS_ALT (272)
   {0x110, 1, 32}, // LKAS_ALT (272)
 
-  {0x50, 1, 16}, // 
-  {0x51, 1, 32}, // 
+  {0x50, 1, 16}, //
+  {0x51, 1, 32}, //
 
   {353, 0, 32}, // ADRV_353
   {354, 0, 32}, // CORNER_RADAR_HIGHWAY
   {512, 0, 8}, // ADRV_0x200
-  {1187, 2, 8}, // 4A3
-  {1204, 2, 8}, // 4B4
+  {0x4a3, 2, 8}, // 4A3 1187
+  {0x4b4, 2, 8}, // 4B4 1204
+
+  // {0x4b8, 2, 8}, // test
+  {0x4b9, 2, 8}, // test
+  // {0x4ba, 2, 8}, // test
+  // {0x4be, 2, 8}, // test
+  // {0x4bf, 2, 8}, // test
+  // {0x4c1, 2, 8}, // test
+  // {0x4dc, 2, 8}, // test
 
   {203, 0, 24}, // CB
   {373, 2, 24}, // TCS(0x175)
@@ -100,8 +108,8 @@ const CanMsg HYUNDAI_CANFD_HDA1_TX_MSGS[] = {
   {353, 0, 32}, // ADRV_353
   {354, 0, 32}, // CORNER_RADAR_HIGHWAY
   {512, 0, 8}, // ADRV_0x200
-  {1187, 2, 8}, // 4A3
-  {1204, 2, 8}, // 4B4
+  // {1187, 2, 8}, // 4A3
+  // {1204, 2, 8}, // 4B4
   {373, 2, 24}, // TCS(0x175)
   {234, 2, 24}, // MDPS
   {687, 2, 8}, // STEER_TOUCH_2AF
@@ -198,7 +206,7 @@ RxCheck hyundai_canfd_hda2_long_rx_checks[] = {
 };
 RxCheck hyundai_canfd_hda2_long_rx_checks_scc2[] = {
   HYUNDAI_CANFD_COMMON_RX_CHECKS(0)
-  HYUNDAI_CANFD_BUTTONS_ADDR_CHECK(0)  
+  HYUNDAI_CANFD_BUTTONS_ADDR_CHECK(0)
 };
 RxCheck hyundai_canfd_hda2_long_alt_buttons_rx_checks[] = {
   HYUNDAI_CANFD_COMMON_RX_CHECKS(1)
@@ -215,14 +223,14 @@ const int HYUNDAI_PARAM_CANFD_HDA2_ALT_STEERING = 128;
 bool hyundai_canfd_alt_buttons = false;
 bool hyundai_canfd_hda2_alt_steering = false;
 
-int canfd_tx_addr[32] = { 80, 81, 272, 282, 298, 352, 353, 354, 442, 485, 416, 437, 506, 474, 480, 490, 512, 676, 866, 837, 1402, 908, 1848, 1187, 1204, 203, 0, };
-int canfd_tx_hz[32] = {  100,100, 100, 100, 100,  50,  20,  20,  20,  20,  50,  20,  10,   1,  20,  20,  20,  20,  10,   5,   10,   5,   10,    5,   10, 100, 0, };
-uint32_t canfd_tx_timeout[32] = { 0, };
-int canfd_tx_addr2[32] = { 0x4a3, 373, 506, 463, 426, 234, 687, 0 };
-int canfd_tx_hz2[32] = {       5,  50,  10,  50,  50, 100, 10, 0 };
-uint32_t canfd_tx_timeout2[32] = { 0, };
-uint32_t canfd_tx_time[32] = { 0, };
-uint32_t canfd_tx_time2[32] = { 0, };
+int canfd_tx_addr[64] = { 80,  81, 272, 282, 298, 352, 353, 354, 442, 485, 416, 437, 506, 474, 480, 490, 512, 676, 866, 837, 1402, 908, 1848, 203, 0x4a3, 0x4b4, 0x4b8, 0x4b9, 0x4ba, 0x4be, 0x4bf, 0x4c1, 0x4dc,  0,};
+int canfd_tx_hz[64] = {  100, 100, 100, 100, 100,  50,  20,  20,  20,  20,  50,  20,  10,   1,  20,  20,  20,  20,  10,   5,   10,   5,   10, 100,     5,    10,     1,    20,    10,     1,     1,     1,     1,  0,};
+uint32_t canfd_tx_timeout[64] = { 0, };
+int canfd_tx_addr2[64] = { 0x4a3, 0x4b4, /*0x4b8, 0x4b9, 0x4ba, 0x4be, 0x4bf, 0x4c1, 0x4dc,*/ 373, 506, 463, 426, 234, 687, 0, };
+int canfd_tx_hz2[64] = {       5,    10, /*    1,     1,    10,     1,     1,     1,     1,*/  50,  10,  50,  50, 100,  10, 0, };
+uint32_t canfd_tx_timeout2[64] = { 0, };
+uint32_t canfd_tx_time[64] = { 0, };
+uint32_t canfd_tx_time2[64] = { 0, };
 
 int hyundai_canfd_hda2_get_lkas_addr(void) {
   return hyundai_canfd_hda2_alt_steering ? 0x110 : 0x50;
@@ -433,9 +441,19 @@ int addr_list_count2 = 0;
 static int hyundai_canfd_fwd_hook(int bus_num, int addr) {
   int bus_fwd = -1;
   uint32_t now = microsecond_timer_get();
+  if (bus_num == 0 && addr == 0x4a3) { return -1; }
+  if (bus_num == 0 && addr == 0x4b4) { return -1; }
+  if (bus_num == 0 && addr == 0x4b8) { return -1; }
+  // if (bus_num == 0 && addr == 0x4b9) { return -1; }
+  if (bus_num == 0 && addr == 0x4ba) { return -1; }
+  if (bus_num == 0 && addr == 0x4be) { return -1; }
+  if (bus_num == 0 && addr == 0x4bf) { return -1; }
+  if (bus_num == 0 && addr == 0x4c1) { return -1; }
+  if (bus_num == 0 && addr == 0x4dc) { return -1; }
 
   if (bus_num == 0) {
     bus_fwd = 2;
+
     for (int i = 0; canfd_tx_addr2[i] > 0; i++) {
         if (addr == canfd_tx_addr2[i] && (now - canfd_tx_time2[i]) < canfd_tx_timeout2[i]) {
             bus_fwd = -1;
@@ -485,7 +503,7 @@ static int hyundai_canfd_fwd_hook(int bus_num, int addr) {
       //if (addr == 908) bus_fwd = -1;
       //else if (addr == 1402) bus_fwd = -1;
       //
-      // �Ʒ��ڵ��� ���������ڵ� ����.. ��
+      // �Ʒ��ڵ��� ���������ڵ� ����.. ��
       //if (addr == 698) bus_fwd = -1;
       //if (addr == 1848) bus_fwd = -1;
       //if (addr == 1996) bus_fwd = -1;
@@ -513,9 +531,10 @@ static int hyundai_canfd_fwd_hook(int bus_num, int addr) {
 
 static safety_config hyundai_canfd_init(uint16_t param) {
 
-  for (int i = 0; i < 32; i++) {
+  for (int i = 0; i < 64; i++) {
     if (canfd_tx_addr[i] > 0) canfd_tx_timeout[i] = 1. / canfd_tx_hz[i] * 1000000 + 20000;  // add 20ms for safety
     if (canfd_tx_addr2[i] > 0) canfd_tx_timeout2[i] = 1. / canfd_tx_hz2[i] * 1000000 + 20000;  // add 20ms for safety
+    // if (canfd_tx_addr[i] == 0 && canfd_tx_addr2[i] == 0) break;
   }
 
   hyundai_common_init(param);
@@ -536,7 +555,7 @@ static safety_config hyundai_canfd_init(uint16_t param) {
         else print("no camera_scc \n");
         if (hyundai_canfd_alt_buttons) {          // carrot : for CANIVAL 4TH HDA2
             print("hyundai safety canfd_hda2 long_alt_buttons\n");
-            if (hyundai_camera_scc) ret = BUILD_SAFETY_CFG(hyundai_canfd_hda2_long_alt_buttons_rx_checks_scc2, HYUNDAI_CANFD_HDA2_LONG_TX_MSGS);                
+            if (hyundai_camera_scc) ret = BUILD_SAFETY_CFG(hyundai_canfd_hda2_long_alt_buttons_rx_checks_scc2, HYUNDAI_CANFD_HDA2_LONG_TX_MSGS);
             else ret = BUILD_SAFETY_CFG(hyundai_canfd_hda2_long_alt_buttons_rx_checks, HYUNDAI_CANFD_HDA2_LONG_TX_MSGS);
         }
         else {
diff --git a/selfdrive/carrot/carrot_man.py b/selfdrive/carrot/carrot_man.py
index 24f4d4f1f8..50525c1e52 100644
--- a/selfdrive/carrot/carrot_man.py
+++ b/selfdrive/carrot/carrot_man.py
@@ -379,6 +379,7 @@ def carrot_speed_serv(self, carrot_speed, frame):
       self.v_cruise_last = CS.vCruise
     else:
       self.v_cruise_change = 0
+      return
     v_cruise_apply = max(min(CS.vCruise, v_ego_kph), 20)
 
     now = time.monotonic()