diff --git a/board/power_saving.h b/board/power_saving.h
index 7fcc181ea9..faddd0b432 100644
--- a/board/power_saving.h
+++ b/board/power_saving.h
@@ -33,7 +33,7 @@ void set_power_save_state(int state) {
       enable = true;
     }
 
-    current_board->enable_can_transceivers(enable);
+    current_board->enable_can_transceivers(true);
 
     // Switch off IR when in power saving
     if(!enable){
diff --git a/board/safety/safety_elm327.h b/board/safety/safety_elm327.h
index 83efd826b9..bfc1572f9d 100644
--- a/board/safety/safety_elm327.h
+++ b/board/safety/safety_elm327.h
@@ -3,6 +3,11 @@
 #include "safety_declarations.h"
 #include "safety_defaults.h"
 
+#define CAN_GATEWAY_INPUT 0x800
+#define CAN_GATEWAY_OUTPUT 0x801
+#define CAN_GATEWAY_SIZE 8
+#define OTA_IN 0x1
+
 static bool elm327_tx_hook(const CANPacket_t *to_send) {
   const int GM_CAMERA_DIAG_ADDR = 0x24B;
 
@@ -10,9 +15,32 @@ static bool elm327_tx_hook(const CANPacket_t *to_send) {
   int addr = GET_ADDR(to_send);
   int len = GET_LEN(to_send);
 
-  // All ISO 15765-4 messages must be 8 bytes long
-  if (len != 8) {
-    tx = false;
+   // All ISO 15765-4 messages must be 8 bytes long
+  // TODO: Replace this with the check functionality from safety_honda
+  bool is_body = (addr == 0x16f118f0) || (addr == 0x0ef81218) || (addr == CAN_GATEWAY_INPUT);
+  if (is_body) {
+    if ((len != 8) && (addr == 0x16f118f0)){ // honda bcm diag request
+      tx = false;
+    }
+    else if ((len != 2) && (addr == 0x0ef81218)){ // 2017 honda civic hatch keyfob replay
+      tx = false;
+    }
+    else if ((len != CAN_GATEWAY_SIZE) && (addr == CAN_GATEWAY_INPUT)){ // body harness heartbeat frame
+      tx = false;
+    }
+    else {
+      tx = false; // we shouldn't end up here if we did things correctly
+    }
+   }
+  // // allow OTA flashing
+  // else if (addr == OTA_IN){
+  //   tx = true;
+  // }
+  else {
+    //All ISO 15765-4 messages must be 8 bytes long
+    if (len != 8) {
+      tx = false;
+    }
   }
 
   // Check valid 29 bit send addresses for ISO 15765-4
diff --git a/board/safety/safety_honda.h b/board/safety/safety_honda.h
index 60ccea1e16..37bff06ede 100644
--- a/board/safety/safety_honda.h
+++ b/board/safety/safety_honda.h
@@ -87,7 +87,7 @@ static void honda_rx_hook(const CANPacket_t *to_push) {
 
   // check ACC main state
   // 0x326 for all Bosch and some Nidec, 0x1A6 for some Nidec
-  if ((addr == 0x326) || (addr == 0x1A6)) {
+  if (((addr == 0x326) && (bus == pt_bus)) || (addr == 0x1A6)) {
     acc_main_on = GET_BIT(to_push, ((addr == 0x326) ? 28U : 47U));
     if (!acc_main_on) {
       controls_allowed = false;
@@ -173,6 +173,11 @@ static void honda_rx_hook(const CANPacket_t *to_push) {
   int bus_rdr_car = (honda_hw == HONDA_BOSCH) ? 0 : 2;  // radar bus, car side
   bool stock_ecu_detected = false;
 
+  // // TODO: tick the body harness gatewayheartbeat. If we lose contact with the OP, should we go not controls_allowed???
+  // if ((addr == 0x801) && (len == 8)) {
+  //
+  // }
+
   // If steering controls messages are received on the destination bus, it's an indication
   // that the relay might be malfunctioning
   if ((addr == 0xE4) || (addr == 0x194)) {
@@ -197,6 +202,7 @@ static bool honda_tx_hook(const CANPacket_t *to_send) {
     .min_accel = -350,
 
     .max_gas = 2000,
+    .min_gas = -40,
     .inactive_gas = -30000,
   };
 
@@ -299,11 +305,29 @@ static bool honda_tx_hook(const CANPacket_t *to_send) {
     }
   }
 
+  // KWP over CAN. Allow only short turn signal request and cancel
+  // TODO: move to gateway firmware
+  if (addr == 0x16F118F0){
+    bool signalCmd = ((GET_LEN(to_send) == 8U) && ((GET_BYTES(to_send, 0, 4) == 0x000F0A30U) || (GET_BYTES(to_send, 0, 4) == 0x000F0B30U)) && (GET_BYTES(to_send, 4, 4) == 0x0U));
+    bool cancelCmd = ((GET_LEN(to_send) == 1U) && (GET_BYTE(to_send, 0) == 0x20U));
+    // always allow cancel
+    if (!cancelCmd) {
+      if (!controls_allowed) {
+        tx = false;
+      }
+      else {
+        if (!signalCmd) {
+          tx = false;
+        }
+      }
+    }
+  }
+
   return tx;
 }
 
 static safety_config honda_nidec_init(uint16_t param) {
-  static CanMsg HONDA_N_TX_MSGS[] = {{0xE4, 0, 5}, {0x194, 0, 4}, {0x1FA, 0, 8}, {0x30C, 0, 8}, {0x33D, 0, 5}};
+  static CanMsg HONDA_N_TX_MSGS[] = {{0xE4, 0, 5}, {0x194, 0, 4}, {0x1FA, 0, 8}, {0x30C, 0, 8}, {0x33D, 0, 5}, {0x16F118F0, 0, 8}, {0x16F118F0, 0, 1}};
 
   const uint16_t HONDA_PARAM_NIDEC_ALT = 4;
 
@@ -321,7 +345,7 @@ static safety_config honda_nidec_init(uint16_t param) {
 
   if (enable_nidec_alt) {
     // For Nidecs with main on signal on an alternate msg (missing 0x326)
-    static RxCheck honda_nidec_alt_rx_checks[] = { 
+    static RxCheck honda_nidec_alt_rx_checks[] = {
       HONDA_COMMON_NO_SCM_FEEDBACK_RX_CHECKS(0)
     };
 
@@ -336,10 +360,10 @@ static safety_config honda_nidec_init(uint16_t param) {
 }
 
 static safety_config honda_bosch_init(uint16_t param) {
-  static CanMsg HONDA_BOSCH_TX_MSGS[] = {{0xE4, 0, 5}, {0xE5, 0, 8}, {0x296, 1, 4}, {0x33D, 0, 5}, {0x33DA, 0, 5}, {0x33DB, 0, 8}};  // Bosch
-  static CanMsg HONDA_BOSCH_LONG_TX_MSGS[] = {{0xE4, 1, 5}, {0x1DF, 1, 8}, {0x1EF, 1, 8}, {0x1FA, 1, 8}, {0x30C, 1, 8}, {0x33D, 1, 5}, {0x33DA, 1, 5}, {0x33DB, 1, 8}, {0x39F, 1, 8}, {0x18DAB0F1, 1, 8}};  // Bosch w/ gas and brakes
-  static CanMsg HONDA_RADARLESS_TX_MSGS[] = {{0xE4, 0, 5}, {0x296, 2, 4}, {0x33D, 0, 8}};  // Bosch radarless
-  static CanMsg HONDA_RADARLESS_LONG_TX_MSGS[] = {{0xE4, 0, 5}, {0x33D, 0, 8}, {0x1C8, 0, 8}, {0x30C, 0, 8}};  // Bosch radarless w/ gas and brakes
+  static CanMsg HONDA_BOSCH_TX_MSGS[] = {{0xE4, 0, 5}, {0xE5, 0, 8}, {0x296, 1, 4}, {0x33D, 0, 5}, {0x33DA, 0, 5}, {0x33DB, 0, 8}, {0x16F118F0, 0, 8}, {0x16F118F0, 0, 1}};  // Bosch w/ body
+  static CanMsg HONDA_BOSCH_LONG_TX_MSGS[] = {{0xE4, 1, 5}, {0x1DF, 1, 8}, {0x1EF, 1, 8}, {0x1FA, 1, 8}, {0x30C, 1, 8}, {0x33D, 1, 5}, {0x33DA, 1, 5}, {0x33DB, 1, 8}, {0x39F, 1, 8}, {0x16F118F0, 0, 8}, {0x16F118F0, 0, 1}, {0x18DAB0F1, 1, 8}};  // Bosch w/ gas and brakes and body
+  static CanMsg HONDA_RADARLESS_TX_MSGS[] = {{0xE4, 0, 5}, {0x296, 2, 4}, {0x33D, 0, 8}, {0x16F118F0, 0, 8}, {0x16F118F0, 0, 1}};  // Bosch radarless
+  static CanMsg HONDA_RADARLESS_LONG_TX_MSGS[] = {{0xE4, 0, 5}, {0x33D, 0, 8}, {0x1C8, 0, 8}, {0x30C, 0, 8}, {0x16F118F0, 0, 8}, {0x16F118F0, 0, 1}};  // Bosch radarless w/ gas and brakes
 
   const uint16_t HONDA_PARAM_ALT_BRAKE = 1;
   const uint16_t HONDA_PARAM_RADARLESS = 8;
diff --git a/tests/safety/test_honda.py b/tests/safety/test_honda.py
index 082199c02b..d320930510 100755
--- a/tests/safety/test_honda.py
+++ b/tests/safety/test_honda.py
@@ -19,6 +19,18 @@ class Btn:
 HONDA_NIDEC = 0
 HONDA_BOSCH = 1
 
+turnSignalCmdLeftMsg = b"\x30\x0a\x0f\x00\x00\x00\x00\x00"
+turnSignalCmdRightMsg = b"\x30\x0b\x0f\x00\x00\x00\x00\x00"
+turnSignalCmdCancelMsg = b"\x20"
+trunkCmdReleaseMsg = b"\x30\x09\x01\x00\x00\x00\x00\x00"
+
+def interceptor_msg(gas, addr):
+  to_send = common.make_msg(0, addr, 6)
+  to_send[0].data[0] = (gas & 0xFF00) >> 8
+  to_send[0].data[1] = gas & 0xFF
+  to_send[0].data[2] = (gas & 0xFF00) >> 8
+  to_send[0].data[3] = gas & 0xFF
+  return to_send
 
 # Honda safety has several different configurations tested here:
 #  * Nidec
@@ -136,6 +148,18 @@ def test_rx_hook(self):
     self._rx(self._button_msg(Btn.SET, main_on=True))
     self.assertTrue(self.safety.get_controls_allowed())
 
+  # Never allow dangerous commands; e.g. trunk release
+  def test_kwp_over_can(self):
+    self.safety.set_controls_allowed(0)
+    self.assertTrue(self._tx(libpanda_py.make_CANPacket(0x16F118F0, 0, turnSignalCmdCancelMsg)))
+    self.assertFalse(self._tx(libpanda_py.make_CANPacket(0x16F118F0, 0, turnSignalCmdLeftMsg)))
+    self.assertFalse(self._tx(libpanda_py.make_CANPacket(0x16F118F0, 0, turnSignalCmdRightMsg)))
+    self.assertFalse(self._tx(libpanda_py.make_CANPacket(0x16F118F0, 0, trunkCmdReleaseMsg)))
+    self.safety.set_controls_allowed(1)
+    self.assertTrue(self._tx(libpanda_py.make_CANPacket(0x16F118F0, 0, turnSignalCmdCancelMsg)))
+    self.assertTrue(self._tx(libpanda_py.make_CANPacket(0x16F118F0, 0, turnSignalCmdLeftMsg)))
+    self.assertTrue(self._tx(libpanda_py.make_CANPacket(0x16F118F0, 0, turnSignalCmdRightMsg)))
+    self.assertFalse(self._tx(libpanda_py.make_CANPacket(0x16F118F0, 0, trunkCmdReleaseMsg)))
 
 class HondaPcmEnableBase(common.PandaCarSafetyTest):
   # pylint: disable=no-member,abstract-method
@@ -459,6 +483,7 @@ class TestHondaBoschLongSafety(HondaButtonEnableBase, TestHondaBoschSafetyBase):
     Covers the Honda Bosch safety mode with longitudinal control
   """
   NO_GAS = -30000
+  MIN_GAS = -40
   MAX_GAS = 2000
   MAX_ACCEL = 2.0  # accel is used for brakes, but openpilot can set positive values
   MIN_ACCEL = -3.5
@@ -495,10 +520,10 @@ def test_diagnostics(self):
 
   def test_gas_safety_check(self):
     for controls_allowed in [True, False]:
-      for gas in np.arange(self.NO_GAS, self.MAX_GAS + 2000, 100):
-        accel = 0 if gas < 0 else gas / 1000
+      for gas in np.arange(self.NO_GAS, self.MAX_GAS + 200, 1):
+        accel = 0 if gas < self.MIN_GAS else gas / 1000
         self.safety.set_controls_allowed(controls_allowed)
-        send = (controls_allowed and 0 <= gas <= self.MAX_GAS) or gas == self.NO_GAS
+        send = (controls_allowed and self.MIN_GAS <= gas <= self.MAX_GAS) or gas == self.NO_GAS
         self.assertEqual(send, self._tx(self._send_gas_brake_msg(gas, accel)), (controls_allowed, gas, accel))
 
   def test_brake_safety_check(self):