diff --git a/board/safety/safety_tesla.h b/board/safety/safety_tesla.h
index e21cd4f736..5c96710c75 100644
--- a/board/safety/safety_tesla.h
+++ b/board/safety/safety_tesla.h
@@ -174,6 +174,8 @@ static safety_config tesla_init(uint16_t param) {
     {0x488, 0, 4},  // DAS_steeringControl
     {0x2b9, 0, 8},  // DAS_control
     {0x27D, 0, 3},  // APS_eacMonitor
+    {0x300, 1, 8},  // VEHICLE_STATE
+    {0x301, 1, 8},  // VEHICLE_STATE2
   };
 
   tesla_longitudinal = GET_FLAG(param, TESLA_FLAG_LONGITUDINAL_CONTROL);
diff --git a/tests/can_printer_radar.py b/tests/can_printer_radar.py
new file mode 100755
index 0000000000..1db2bb9f86
--- /dev/null
+++ b/tests/can_printer_radar.py
@@ -0,0 +1,50 @@
+#!/usr/bin/env python3
+import os
+import time
+from collections import defaultdict
+import binascii
+
+from panda import Panda
+
+from opendbc.car.tesla.teslacan import TeslaCAN
+tc = TeslaCAN(None)
+
+# fake
+def sec_since_boot():
+  return time.time()
+
+def can_printer():
+  p = Panda()
+  print(f"Connected to id: {p.get_serial()[0]}: {p.get_version()}")
+  time.sleep(1)
+
+  p.can_clear(0xFFFF)
+  p.set_power_save(0)
+  p.set_safety_mode(Panda.SAFETY_TESLA)
+
+  start = sec_since_boot()
+  lp = sec_since_boot()
+  msgs = defaultdict(list)
+  canbus = os.getenv("CAN")
+  while True:
+    can_recv = p.can_recv()
+    for address, dat, src in can_recv:
+      if canbus is None or str(src) == canbus:
+        msgs[address].append((dat, src))
+
+    if sec_since_boot() - lp > 0.1:
+      p.send_heartbeat()
+      dd = chr(27) + "[2J"
+      dd += "%5.2f\n" % (sec_since_boot() - start)
+      for k, v in sorted(msgs.items()):
+        last_msg, last_src = v[-1]
+        dd += "%d: %s(%6d): %s\n" % (last_src, "%04X(%4d)" % (k, k), len(v), binascii.hexlify(last_msg).decode())
+      print(dd)
+      lp = sec_since_boot()
+
+    i = int(sec_since_boot() * 100) % 100
+    if i % 5 == 0:
+      p.can_send_many(tc.create_radar_commands(0, i // 5 % 4))
+
+if __name__ == "__main__":
+  can_printer()