It may be a popped clock spring. My 93 civic did this when I had someone change the rack and pinion. If the steering wheel is adjusted straight and then you turn it, it goes past what the clock spring can take and it breaks. Easy fix just a pain in the ass. Dunno if this is your problem, just a suggestion.

BTW SRS just means airbag like anthony said, and he's right when he tells you it has nothing to do with emissions, but it does have something to do with passing the rebuilt title inspection.