diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py
index f6b55b9e19..614aca828f 100644
--- a/selfdrive/car/chrysler/carcontroller.py
+++ b/selfdrive/car/chrysler/carcontroller.py
@@ -1,27 +1,21 @@
 from selfdrive.car import apply_toyota_steer_torque_limits
 from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, \
                                                create_wheel_buttons
-from selfdrive.car.chrysler.values import Ecu, CAR, SteerLimitParams
+from selfdrive.car.chrysler.values import CAR, SteerLimitParams
 from opendbc.can.packer import CANPacker
 
 class CarController():
-  def __init__(self, dbc_name, car_fingerprint, enable_camera):
+  def __init__(self, dbc_name, CP, VM):
     self.braking = False
-    # redundant safety check with the board
-    self.controls_allowed = True
     self.apply_steer_last = 0
     self.ccframe = 0
     self.prev_frame = -1
     self.hud_count = 0
-    self.car_fingerprint = car_fingerprint
+    self.car_fingerprint = CP.carFingerprint
     self.alert_active = False
     self.gone_fast_yet = False
     self.steer_rate_limited = False
 
-    self.fake_ecus = set()
-    if enable_camera:
-      self.fake_ecus.add(Ecu.fwdCamera)
-
     self.packer = CANPacker(dbc_name)
 
 
diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py
index bab58b9637..6753cc2e1c 100644
--- a/selfdrive/car/chrysler/carstate.py
+++ b/selfdrive/car/chrysler/carstate.py
@@ -34,7 +34,6 @@ def get_can_parser(CP):
     ("COUNTER", "EPS_STATUS", -1),
     ("TRACTION_OFF", "TRACTION_BUTTON", 0),
     ("SEATBELT_DRIVER_UNLATCHED", "SEATBELT_STATUS", 0),
-    ("COUNTER", "WHEEL_BUTTONS", -1),  # incrementing counter for 23b
   ]
 
   # It's considered invalid if it is not received for 10x the expected period (1/f).
@@ -73,7 +72,6 @@ class CarState(CarStateBase):
 
     ret = car.CarState.new_message()
 
-    self.frame_23b = int(cp.vl["WHEEL_BUTTONS"]['COUNTER'])
     self.frame = int(cp.vl["EPS_STATUS"]['COUNTER'])
 
     ret.doorOpen = any([cp.vl["DOORS"]['DOOR_OPEN_FL'],
diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py
index b51cf28213..d4f29d608c 100755
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@@ -2,7 +2,6 @@
 from cereal import car
 from selfdrive.config import Conversions as CV
 from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
-from selfdrive.controls.lib.vehicle_model import VehicleModel
 from selfdrive.car.chrysler.carstate import CarState, get_can_parser, get_camera_parser
 from selfdrive.car.chrysler.values import Ecu, ECU_FINGERPRINT, CAR, FINGERPRINTS
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
@@ -13,23 +12,10 @@ ButtonType = car.CarState.ButtonEvent.Type
 
 class CarInterface(CarInterfaceBase):
   def __init__(self, CP, CarController):
-    self.CP = CP
-    self.VM = VehicleModel(CP)
+    super().__init__(CP, CarController, CarState, get_can_parser, get_cam_can_parser=get_camera_parser)
 
-    self.gas_pressed_prev = False
-    self.brake_pressed_prev = False
-    self.cruise_enabled_prev = False
     self.low_speed_alert = False
 
-    # *** init the major players ***
-    self.CS = CarState(CP)
-    self.cp = get_can_parser(CP)
-    self.cp_cam = get_camera_parser(CP)
-
-    self.CC = None
-    if CarController is not None:
-      self.CC = CarController(self.cp.dbc_name, CP.carFingerprint, CP.enableCamera)
-
   @staticmethod
   def compute_gb(accel, speed):
     return float(accel) / 3.0
diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py
index d708c13581..4c0a37ab02 100644
--- a/selfdrive/car/ford/carcontroller.py
+++ b/selfdrive/car/ford/carcontroller.py
@@ -8,12 +8,12 @@ MAX_STEER_DELTA = 1
 TOGGLE_DEBUG = False
 
 class CarController():
-  def __init__(self, dbc_name, enable_camera, vehicle_model):
+  def __init__(self, dbc_name, CP, VM):
     self.packer = CANPacker(dbc_name)
-    self.enable_camera = enable_camera
+    self.enable_camera = CP.enableCamera
     self.enabled_last = False
     self.main_on_last = False
-    self.vehicle_model = vehicle_model
+    self.vehicle_model = VM
     self.generic_toggle_last = 0
     self.steer_alert_last = False
     self.lkas_action = 0
diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
index 6b1f9340f4..549dbdcec1 100755
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -3,7 +3,6 @@ from cereal import car
 from selfdrive.swaglog import cloudlog
 from selfdrive.config import Conversions as CV
 from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
-from selfdrive.controls.lib.vehicle_model import VehicleModel
 from selfdrive.car.ford.carstate import CarState, get_can_parser
 from selfdrive.car.ford.values import MAX_ANGLE, Ecu, ECU_FINGERPRINT, FINGERPRINTS
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
@@ -12,22 +11,7 @@ from selfdrive.car.interfaces import CarInterfaceBase
 
 class CarInterface(CarInterfaceBase):
   def __init__(self, CP, CarController):
-    self.CP = CP
-    self.VM = VehicleModel(CP)
-
-    self.frame = 0
-    self.gas_pressed_prev = False
-    self.brake_pressed_prev = False
-    self.cruise_enabled_prev = False
-
-    # *** init the major players ***
-    self.CS = CarState(CP)
-
-    self.cp = get_can_parser(CP)
-
-    self.CC = None
-    if CarController is not None:
-      self.CC = CarController(self.cp.dbc_name, CP.enableCamera, self.VM)
+    super().__init__(CP, CarController, CarState, get_can_parser)
 
   @staticmethod
   def compute_gb(accel, speed):
diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index a502bc15a6..f09e58d68d 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -4,7 +4,7 @@ from common.numpy_fast import interp
 from selfdrive.config import Conversions as CV
 from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.gm import gmcan
-from selfdrive.car.gm.values import DBC, SUPERCRUISE_CARS
+from selfdrive.car.gm.values import DBC, SUPERCRUISE_CARS, CanBus
 from opendbc.can.packer import CANPacker
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
@@ -69,22 +69,18 @@ def process_hud_alert(hud_alert):
   return steer
 
 class CarController():
-  def __init__(self, canbus, car_fingerprint):
+  def __init__(self, dbc_name, CP, VM):
     self.pedal_steady = 0.
     self.start_time = 0.
-    self.steer_idx = 0
     self.apply_steer_last = 0
-    self.car_fingerprint = car_fingerprint
+    self.car_fingerprint = CP.carFingerprint
     self.lka_icon_status_last = (False, False)
     self.steer_rate_limited = False
 
-    # Setup detection helper. Routes commands to
-    # an appropriate CAN bus number.
-    self.canbus = canbus
-    self.params = CarControllerParams(car_fingerprint)
+    self.params = CarControllerParams(CP.carFingerprint)
 
-    self.packer_pt = CANPacker(DBC[car_fingerprint]['pt'])
-    self.packer_ch = CANPacker(DBC[car_fingerprint]['chassis'])
+    self.packer_pt = CANPacker(DBC[CP.carFingerprint]['pt'])
+    self.packer_ch = CANPacker(DBC[CP.carFingerprint]['chassis'])
 
   def update(self, enabled, CS, frame, actuators, \
              hud_v_cruise, hud_show_lanes, hud_show_car, hud_alert):
@@ -93,7 +89,6 @@ class CarController():
 
     # Send CAN commands.
     can_sends = []
-    canbus = self.canbus
 
     alert_out = process_hud_alert(hud_alert)
     steer = alert_out
@@ -114,10 +109,10 @@ class CarController():
 
       if self.car_fingerprint in SUPERCRUISE_CARS:
         can_sends += gmcan.create_steering_control_ct6(self.packer_pt,
-          canbus, apply_steer, CS.out.vEgo, idx, lkas_enabled)
+          CanBus, apply_steer, CS.out.vEgo, idx, lkas_enabled)
       else:
         can_sends.append(gmcan.create_steering_control(self.packer_pt,
-          canbus.powertrain, apply_steer, idx, lkas_enabled))
+          CanBus.POWERTRAIN, apply_steer, idx, lkas_enabled))
 
     ### GAS/BRAKE ###
 
@@ -144,14 +139,14 @@ class CarController():
 
         at_full_stop = enabled and CS.out.standstill
         near_stop = enabled and (CS.out.vEgo < P.NEAR_STOP_BRAKE_PHASE)
-        can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, canbus.chassis, apply_brake, idx, near_stop, at_full_stop))
+        can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, CanBus.CHASSIS, apply_brake, idx, near_stop, at_full_stop))
 
         at_full_stop = enabled and CS.out.standstill
-        can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, canbus.powertrain, apply_gas, idx, enabled, at_full_stop))
+        can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, apply_gas, idx, enabled, at_full_stop))
 
       # Send dashboard UI commands (ACC status), 25hz
       if (frame % 4) == 0:
-        can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, canbus.powertrain, enabled, hud_v_cruise * CV.MS_TO_KPH, hud_show_car))
+        can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, enabled, hud_v_cruise * CV.MS_TO_KPH, hud_show_car))
 
       # Radar needs to know current speed and yaw rate (50hz),
       # and that ADAS is alive (10hz)
@@ -160,17 +155,17 @@ class CarController():
 
       if frame % time_and_headlights_step == 0:
         idx = (frame // time_and_headlights_step) % 4
-        can_sends.append(gmcan.create_adas_time_status(canbus.obstacle, int((tt - self.start_time) * 60), idx))
-        can_sends.append(gmcan.create_adas_headlights_status(canbus.obstacle))
+        can_sends.append(gmcan.create_adas_time_status(CanBus.OBSTACLE, int((tt - self.start_time) * 60), idx))
+        can_sends.append(gmcan.create_adas_headlights_status(CanBus.OBSTACLE))
 
       speed_and_accelerometer_step = 2
       if frame % speed_and_accelerometer_step == 0:
         idx = (frame // speed_and_accelerometer_step) % 4
-        can_sends.append(gmcan.create_adas_steering_status(canbus.obstacle, idx))
-        can_sends.append(gmcan.create_adas_accelerometer_speed_status(canbus.obstacle, CS.out.vEgo, idx))
+        can_sends.append(gmcan.create_adas_steering_status(CanBus.OBSTACLE, idx))
+        can_sends.append(gmcan.create_adas_accelerometer_speed_status(CanBus.OBSTACLE, CS.out.vEgo, idx))
 
       if frame % P.ADAS_KEEPALIVE_STEP == 0:
-        can_sends += gmcan.create_adas_keepalive(canbus.powertrain)
+        can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN)
 
       # Show green icon when LKA torque is applied, and
       # alarming orange icon when approaching torque limit.
@@ -181,7 +176,7 @@ class CarController():
       lka_icon_status = (lka_active, lka_critical)
       if frame % P.CAMERA_KEEPALIVE_STEP == 0 \
           or lka_icon_status != self.lka_icon_status_last:
-        can_sends.append(gmcan.create_lka_icon_command(canbus.sw_gmlan, lka_active, lka_critical, steer))
+        can_sends.append(gmcan.create_lka_icon_command(CanBus.SW_GMLAN, lka_active, lka_critical, steer))
         self.lka_icon_status_last = lka_icon_status
 
     return can_sends
diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py
index 358464efc2..b551e6fb3b 100644
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@@ -4,11 +4,11 @@ from selfdrive.config import Conversions as CV
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from selfdrive.car.interfaces import CarStateBase
-from selfdrive.car.gm.values import DBC, CAR, AccState, \
+from selfdrive.car.gm.values import DBC, CAR, AccState, CanBus, \
                                     CruiseButtons, is_eps_status_ok, \
                                     STEER_THRESHOLD, SUPERCRUISE_CARS
 
-def get_powertrain_can_parser(CP, canbus):
+def get_powertrain_can_parser(CP):
   # this function generates lists for signal, messages and initial values
   signals = [
     # sig_name, sig_address, default
@@ -48,7 +48,7 @@ def get_powertrain_can_parser(CP, canbus):
       ("CruiseState", "AcceleratorPedal2", 0),
     ]
 
-  return CANParser(DBC[CP.carFingerprint]['pt'], signals, [], canbus.powertrain)
+  return CANParser(DBC[CP.carFingerprint]['pt'], signals, [], CanBus.POWERTRAIN)
 
 
 class CarState(CarStateBase):
diff --git a/selfdrive/car/gm/gmcan.py b/selfdrive/car/gm/gmcan.py
index 3db0f5b02c..d1e4793527 100644
--- a/selfdrive/car/gm/gmcan.py
+++ b/selfdrive/car/gm/gmcan.py
@@ -11,7 +11,7 @@ def create_steering_control(packer, bus, apply_steer, idx, lkas_active):
 
   return packer.make_can_msg("ASCMLKASteeringCmd", bus, values)
 
-def create_steering_control_ct6(packer, canbus, apply_steer, v_ego, idx, enabled):
+def create_steering_control_ct6(packer, CanBus, apply_steer, v_ego, idx, enabled):
 
   values = {
     "LKASteeringCmdActive": 1 if enabled else 0,
@@ -31,10 +31,10 @@ def create_steering_control_ct6(packer, canbus, apply_steer, v_ego, idx, enabled
   # pack again with checksum
   dat = packer.make_can_msg("ASCMLKASteeringCmd", 0, values)[2]
 
-  return [0x152, 0, dat, canbus.powertrain], \
-         [0x154, 0, dat, canbus.powertrain], \
-         [0x151, 0, dat, canbus.chassis], \
-         [0x153, 0, dat, canbus.chassis]
+  return [0x152, 0, dat, CanBus.POWERTRAIN], \
+         [0x154, 0, dat, CanBus.POWERTRAIN], \
+         [0x151, 0, dat, CanBus.CHASSIS], \
+         [0x153, 0, dat, CanBus.CHASSIS]
 
 
 def create_adas_keepalive(bus):
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 42cb6f940f..1bc0b56971 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -2,8 +2,7 @@
 from cereal import car
 from selfdrive.config import Conversions as CV
 from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
-from selfdrive.controls.lib.vehicle_model import VehicleModel
-from selfdrive.car.gm.values import DBC, CAR, Ecu, ECU_FINGERPRINT, \
+from selfdrive.car.gm.values import CAR, Ecu, ECU_FINGERPRINT, \
                                     SUPERCRUISE_CARS, AccState, FINGERPRINTS
 from selfdrive.car.gm.carstate import CarState, CruiseButtons, get_powertrain_can_parser
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
@@ -11,33 +10,12 @@ from selfdrive.car.interfaces import CarInterfaceBase
 
 ButtonType = car.CarState.ButtonEvent.Type
 
-class CanBus(CarInterfaceBase):
-  def __init__(self):
-    self.powertrain = 0
-    self.obstacle = 1
-    self.chassis = 2
-    self.sw_gmlan = 3
-
 class CarInterface(CarInterfaceBase):
   def __init__(self, CP, CarController):
-    self.CP = CP
+    super().__init__(CP, CarController, CarState, get_powertrain_can_parser)
 
-    self.frame = 0
-    self.gas_pressed_prev = False
-    self.brake_pressed_prev = False
     self.acc_active_prev = 0
 
-    # *** init the major players ***
-    canbus = CanBus()
-    self.CS = CarState(CP)
-    self.VM = VehicleModel(CP)
-    self.pt_cp = get_powertrain_can_parser(CP, canbus)
-    self.ch_cp_dbc_name = DBC[CP.carFingerprint]['chassis']
-
-    self.CC = None
-    if CarController is not None:
-      self.CC = CarController(canbus, CP.carFingerprint)
-
   @staticmethod
   def compute_gb(accel, speed):
     return float(accel) / 4.0
@@ -71,11 +49,13 @@ class CarInterface(CarInterfaceBase):
     ret.steerRateCost = 1.0
     ret.steerActuatorDelay = 0.1  # Default delay, not measured yet
 
+    # default to gm
+    ret.safetyModel = car.CarParams.SafetyModel.gm
+
     if candidate == CAR.VOLT:
       # supports stop and go, but initial engage must be above 18mph (which include conservatism)
       ret.minEnableSpeed = 18 * CV.MPH_TO_MS
       ret.mass = 1607. + STD_CARGO_KG
-      ret.safetyModel = car.CarParams.SafetyModel.gm
       ret.wheelbase = 2.69
       ret.steerRatio = 15.7
       ret.steerRatioRear = 0.
@@ -85,7 +65,6 @@ class CarInterface(CarInterfaceBase):
       # supports stop and go, but initial engage must be above 18mph (which include conservatism)
       ret.minEnableSpeed = 18 * CV.MPH_TO_MS
       ret.mass = 1496. + STD_CARGO_KG
-      ret.safetyModel = car.CarParams.SafetyModel.gm
       ret.wheelbase = 2.83
       ret.steerRatio = 15.8
       ret.steerRatioRear = 0.
@@ -97,14 +76,12 @@ class CarInterface(CarInterfaceBase):
       # Remaining parameters copied from Volt for now
       ret.centerToFront = ret.wheelbase * 0.4
       ret.minEnableSpeed = 18 * CV.MPH_TO_MS
-      ret.safetyModel = car.CarParams.SafetyModel.gm
       ret.steerRatio = 15.7
       ret.steerRatioRear = 0.
 
     elif candidate == CAR.ACADIA:
       ret.minEnableSpeed = -1. # engage speed is decided by pcm
       ret.mass = 4353. * CV.LB_TO_KG + STD_CARGO_KG
-      ret.safetyModel = car.CarParams.SafetyModel.gm
       ret.wheelbase = 2.86
       ret.steerRatio = 14.4  #end to end is 13.46
       ret.steerRatioRear = 0.
@@ -113,7 +90,6 @@ class CarInterface(CarInterfaceBase):
     elif candidate == CAR.BUICK_REGAL:
       ret.minEnableSpeed = 18 * CV.MPH_TO_MS
       ret.mass = 3779. * CV.LB_TO_KG + STD_CARGO_KG # (3849+3708)/2
-      ret.safetyModel = car.CarParams.SafetyModel.gm
       ret.wheelbase = 2.83 #111.4 inches in meters
       ret.steerRatio = 14.4 # guess for tourx
       ret.steerRatioRear = 0.
@@ -122,7 +98,6 @@ class CarInterface(CarInterfaceBase):
     elif candidate == CAR.CADILLAC_ATS:
       ret.minEnableSpeed = 18 * CV.MPH_TO_MS
       ret.mass = 1601. + STD_CARGO_KG
-      ret.safetyModel = car.CarParams.SafetyModel.gm
       ret.wheelbase = 2.78
       ret.steerRatio = 15.3
       ret.steerRatioRear = 0.
@@ -173,11 +148,11 @@ class CarInterface(CarInterfaceBase):
 
   # returns a car.CarState
   def update(self, c, can_strings):
-    self.pt_cp.update_strings(can_strings)
+    self.cp.update_strings(can_strings)
 
-    ret = self.CS.update(self.pt_cp)
+    ret = self.CS.update(self.cp)
 
-    ret.canValid = self.pt_cp.can_valid
+    ret.canValid = self.cp.can_valid
     ret.yawRate = self.VM.yaw_rate(ret.steeringAngle * CV.DEG_TO_RAD, ret.vEgo)
     ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
 
diff --git a/selfdrive/car/gm/radar_interface.py b/selfdrive/car/gm/radar_interface.py
index d36db9422d..b20706a058 100755
--- a/selfdrive/car/gm/radar_interface.py
+++ b/selfdrive/car/gm/radar_interface.py
@@ -4,8 +4,7 @@ import math
 import time
 from cereal import car
 from opendbc.can.parser import CANParser
-from selfdrive.car.gm.interface import CanBus
-from selfdrive.car.gm.values import DBC, CAR
+from selfdrive.car.gm.values import DBC, CAR, CanBus
 from selfdrive.config import Conversions as CV
 from selfdrive.car.interfaces import RadarInterfaceBase
 
@@ -17,7 +16,7 @@ NUM_SLOTS = 20
 # messages that are present in DBC
 LAST_RADAR_MSG = RADAR_HEADER_MSG + NUM_SLOTS
 
-def create_radar_can_parser(canbus, car_fingerprint):
+def create_radar_can_parser(car_fingerprint):
 
   dbc_f = DBC[car_fingerprint]['radar']
   if car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS):
@@ -38,7 +37,7 @@ def create_radar_can_parser(canbus, car_fingerprint):
 
     checks = []
 
-    return CANParser(dbc_f, signals, checks, canbus.obstacle)
+    return CANParser(dbc_f, signals, checks, CanBus.OBSTACLE)
   else:
     return None
 
@@ -49,9 +48,7 @@ class RadarInterface(RadarInterfaceBase):
 
     self.delay = 0  # Delay of radar
 
-    canbus = CanBus()
-    print("Using %d as obstacle CAN bus ID" % canbus.obstacle)
-    self.rcp = create_radar_can_parser(canbus, CP.carFingerprint)
+    self.rcp = create_radar_can_parser(CP.carFingerprint)
 
     self.trigger_msg = LAST_RADAR_MSG
     self.updated_messages = set()
diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py
index ccde62ea38..c48ed4e1f7 100644
--- a/selfdrive/car/gm/values.py
+++ b/selfdrive/car/gm/values.py
@@ -27,6 +27,12 @@ class AccState:
   FAULTED    = 3
   STANDSTILL = 4
 
+class CanBus:
+  POWERTRAIN = 0
+  OBSTACLE   = 1
+  CHASSIS    = 2
+  SW_GMLAN   = 3
+
 def is_eps_status_ok(eps_status, car_fingerprint):
   valid_eps_status = []
   if car_fingerprint in SUPERCRUISE_CARS:
diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
index 26ad2e655e..78eb5c735e 100644
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -85,7 +85,7 @@ class CarControllerParams():
       self.STEER_LOOKUP_V = [v * -1 for v in CP.lateralParams.torqueV][1:][::-1] + list(CP.lateralParams.torqueV)
 
 class CarController():
-  def __init__(self, dbc_name, CP):
+  def __init__(self, dbc_name, CP, VM):
     self.braking = False
     self.brake_steady = 0.
     self.brake_last = 0.
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index 9665b6c702..5904efe037 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -6,7 +6,6 @@ from common.realtime import DT_CTRL
 from selfdrive.swaglog import cloudlog
 from selfdrive.config import Conversions as CV
 from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET, get_events
-from selfdrive.controls.lib.vehicle_model import VehicleModel
 from selfdrive.car.honda.carstate import CarState, get_can_parser, get_cam_can_parser
 from selfdrive.car.honda.values import CruiseButtons, CAR, HONDA_BOSCH, Ecu, ECU_FINGERPRINT, FINGERPRINTS
 from selfdrive.car import STD_CARGO_KG, CivicParams, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
@@ -74,24 +73,10 @@ def get_compute_gb_acura():
 
 class CarInterface(CarInterfaceBase):
   def __init__(self, CP, CarController):
-    self.CP = CP
+    super().__init__(CP, CarController, CarState, get_can_parser, get_cam_can_parser=get_cam_can_parser)
 
-    self.frame = 0
     self.last_enable_pressed = 0
     self.last_enable_sent = 0
-    self.gas_pressed_prev = False
-    self.brake_pressed_prev = False
-
-    self.cp = get_can_parser(CP)
-    self.cp_cam = get_cam_can_parser(CP)
-
-    # *** init the major players ***
-    self.CS = CarState(CP)
-    self.VM = VehicleModel(CP)
-
-    self.CC = None
-    if CarController is not None:
-      self.CC = CarController(self.cp.dbc_name, CP)
 
     if self.CS.CP.carFingerprint == CAR.ACURA_ILX:
       self.compute_gb = get_compute_gb_acura()
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index 9f368d329f..efd8796e08 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -5,9 +5,9 @@ from opendbc.can.packer import CANPacker
 
 
 class CarController():
-  def __init__(self, dbc_name, car_fingerprint):
+  def __init__(self, dbc_name, CP, VM):
     self.apply_steer_last = 0
-    self.car_fingerprint = car_fingerprint
+    self.car_fingerprint = CP.carFingerprint
     self.lkas11_cnt = 0
     self.cnt = 0
     self.last_resume_cnt = 0
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 695a0d0686..95283b17b8 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -2,7 +2,6 @@
 from cereal import car
 from selfdrive.config import Conversions as CV
 from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
-from selfdrive.controls.lib.vehicle_model import VehicleModel
 from selfdrive.car.hyundai.carstate import CarState, get_can_parser, get_camera_parser
 from selfdrive.car.hyundai.values import Ecu, ECU_FINGERPRINT, CAR, get_hud_alerts, FINGERPRINTS
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
@@ -13,26 +12,13 @@ ButtonType = car.CarState.ButtonEvent.Type
 
 class CarInterface(CarInterfaceBase):
   def __init__(self, CP, CarController):
-    self.CP = CP
-    self.VM = VehicleModel(CP)
+    super().__init__(CP, CarController, CarState, get_can_parser, get_cam_can_parser=get_camera_parser)
+
     self.idx = 0
     self.lanes = 0
     self.lkas_request = 0
-
-    self.gas_pressed_prev = False
-    self.brake_pressed_prev = False
-    self.cruise_enabled_prev = False
     self.low_speed_alert = False
 
-    # *** init the major players ***
-    self.CS = CarState(CP)
-    self.cp = get_can_parser(CP)
-    self.cp_cam = get_camera_parser(CP)
-
-    self.CC = None
-    if CarController is not None:
-      self.CC = CarController(self.cp.dbc_name, CP.carFingerprint)
-
   @staticmethod
   def compute_gb(accel, speed):
     return float(accel) / 3.0
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index bd6625ca89..7f5bdb99c0 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -4,14 +4,30 @@ from cereal import car
 from common.kalman.simple_kalman import KF1D
 from common.realtime import DT_CTRL
 from selfdrive.car import gen_empty_fingerprint
+from selfdrive.controls.lib.vehicle_model import VehicleModel
 
 GearShifter = car.CarState.GearShifter
 
 # generic car and radar interfaces
 
 class CarInterfaceBase():
-  def __init__(self, CP, CarController):
-    pass
+  def __init__(self, CP, CarController, CarState, get_can_parser, get_cam_can_parser=None):
+    self.CP = CP
+    self.VM = VehicleModel(CP)
+
+    self.frame = 0
+    self.gas_pressed_prev = False
+    self.brake_pressed_prev = False
+    self.cruise_enabled_prev = False
+
+    self.CS = CarState(CP)
+    self.cp = get_can_parser(CP)
+    if get_cam_can_parser is not None:
+      self.cp_cam = get_cam_can_parser(CP)
+
+    self.CC = None
+    if CarController is not None:
+      self.CC = CarController(self.cp.dbc_name, CP, self.VM)
 
   @staticmethod
   def calc_accel_override(a_ego, a_target, v_ego, v_target):
diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py
index bddef6468e..335e189366 100644
--- a/selfdrive/car/subaru/carcontroller.py
+++ b/selfdrive/car/subaru/carcontroller.py
@@ -18,19 +18,17 @@ class CarControllerParams():
 
 
 class CarController():
-  def __init__(self, car_fingerprint):
+  def __init__(self, dbc_name, CP, VM):
     self.lkas_active = False
-    self.steer_idx = 0
     self.apply_steer_last = 0
-    self.car_fingerprint = car_fingerprint
     self.es_distance_cnt = -1
     self.es_lkas_cnt = -1
     self.steer_rate_limited = False
 
     # Setup detection helper. Routes commands to
     # an appropriate CAN bus number.
-    self.params = CarControllerParams(car_fingerprint)
-    self.packer = CANPacker(DBC[car_fingerprint]['pt'])
+    self.params = CarControllerParams(CP.carFingerprint)
+    self.packer = CANPacker(DBC[CP.carFingerprint]['pt'])
 
   def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert, left_line, right_line):
     """ Controls thread """
diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py
index dc692ee9f2..43ea8ac499 100644
--- a/selfdrive/car/subaru/interface.py
+++ b/selfdrive/car/subaru/interface.py
@@ -2,7 +2,6 @@
 from cereal import car
 from selfdrive.config import Conversions as CV
 from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
-from selfdrive.controls.lib.vehicle_model import VehicleModel
 from selfdrive.car.subaru.values import CAR
 from selfdrive.car.subaru.carstate import CarState, get_powertrain_can_parser, get_camera_can_parser
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
@@ -12,23 +11,10 @@ ButtonType = car.CarState.ButtonEvent.Type
 
 class CarInterface(CarInterfaceBase):
   def __init__(self, CP, CarController):
+    super().__init__(CP, CarController, CarState, get_powertrain_can_parser, get_cam_can_parser=get_camera_can_parser)
     self.CP = CP
 
-    self.frame = 0
     self.enabled_prev = 0
-    self.gas_pressed_prev = False
-
-    # *** init the major players ***
-    self.CS = CarState(CP)
-    self.VM = VehicleModel(CP)
-    self.pt_cp = get_powertrain_can_parser(CP)
-    self.cam_cp = get_camera_can_parser(CP)
-
-    self.gas_pressed_prev = False
-
-    self.CC = None
-    if CarController is not None:
-      self.CC = CarController(CP.carFingerprint)
 
   @staticmethod
   def compute_gb(accel, speed):
@@ -95,12 +81,12 @@ class CarInterface(CarInterfaceBase):
 
   # returns a car.CarState
   def update(self, c, can_strings):
-    self.pt_cp.update_strings(can_strings)
-    self.cam_cp.update_strings(can_strings)
+    self.cp.update_strings(can_strings)
+    self.cp_cam.update_strings(can_strings)
 
-    ret = self.CS.update(self.pt_cp, self.cam_cp)
+    ret = self.CS.update(self.cp, self.cp_cam)
 
-    ret.canValid = self.pt_cp.can_valid and self.cam_cp.can_valid
+    ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
     ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
     ret.yawRate = self.VM.yaw_rate(ret.steeringAngle * CV.DEG_TO_RAD, ret.vEgo)
 
diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index a5f86cf0ea..d9019771d5 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -76,14 +76,12 @@ def ipas_state_transition(steer_angle_enabled, enabled, ipas_active, ipas_reset_
 
 
 class CarController():
-  def __init__(self, dbc_name, car_fingerprint, enable_camera, enable_dsu, enable_apg):
+  def __init__(self, dbc_name, CP, VM):
     self.braking = False
-    # redundant safety check with the board
-    self.controls_allowed = True
     self.last_steer = 0
     self.last_angle = 0
     self.accel_steady = 0.
-    self.car_fingerprint = car_fingerprint
+    self.car_fingerprint = CP.carFingerprint
     self.alert_active = False
     self.last_standstill = False
     self.standstill_req = False
@@ -95,9 +93,9 @@ class CarController():
     self.steer_rate_limited = False
 
     self.fake_ecus = set()
-    if enable_camera: self.fake_ecus.add(Ecu.fwdCamera)
-    if enable_dsu: self.fake_ecus.add(Ecu.dsu)
-    if enable_apg: self.fake_ecus.add(Ecu.apgs)
+    if CP.enableCamera: self.fake_ecus.add(Ecu.fwdCamera)
+    if CP.enableDsu: self.fake_ecus.add(Ecu.dsu)
+    if CP.enableApgs: self.fake_ecus.add(Ecu.apgs)
 
     self.packer = CANPacker(dbc_name)
 
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index df7eb2c52f..5183695bcf 100755
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -2,7 +2,6 @@
 from cereal import car
 from selfdrive.config import Conversions as CV
 from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
-from selfdrive.controls.lib.vehicle_model import VehicleModel
 from selfdrive.car.toyota.carstate import CarState, get_can_parser, get_cam_can_parser
 from selfdrive.car.toyota.values import Ecu, ECU_FINGERPRINT, CAR, TSS2_CAR, FINGERPRINTS
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
@@ -14,23 +13,7 @@ GearShifter = car.CarState.GearShifter
 
 class CarInterface(CarInterfaceBase):
   def __init__(self, CP, CarController):
-    self.CP = CP
-    self.VM = VehicleModel(CP)
-
-    self.frame = 0
-    self.gas_pressed_prev = False
-    self.brake_pressed_prev = False
-    self.cruise_enabled_prev = False
-
-    # *** init the major players ***
-    self.CS = CarState(CP)
-
-    self.cp = get_can_parser(CP)
-    self.cp_cam = get_cam_can_parser(CP)
-
-    self.CC = None
-    if CarController is not None:
-      self.CC = CarController(self.cp.dbc_name, CP.carFingerprint, CP.enableCamera, CP.enableDsu, CP.enableApgs)
+    super().__init__(CP, CarController, CarState, get_can_parser, get_cam_can_parser=get_cam_can_parser)
 
   @staticmethod
   def compute_gb(accel, speed):
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
index 1691d2f697..6c90d69e78 100644
--- a/selfdrive/car/volkswagen/carcontroller.py
+++ b/selfdrive/car/volkswagen/carcontroller.py
@@ -1,20 +1,17 @@
 from cereal import car
 from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.volkswagen import volkswagencan
-from selfdrive.car.volkswagen.values import DBC, MQB_LDW_MESSAGES, BUTTON_STATES, CarControllerParams
+from selfdrive.car.volkswagen.values import DBC, CANBUS, MQB_LDW_MESSAGES, BUTTON_STATES, CarControllerParams
 from opendbc.can.packer import CANPacker
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
 
 class CarController():
-  def __init__(self, canbus, car_fingerprint):
+  def __init__(self, dbc_name, CP, VM):
     self.apply_steer_last = 0
-    self.car_fingerprint = car_fingerprint
 
-    # Setup detection helper. Routes commands to an appropriate CAN bus number.
-    self.canbus = canbus
-    self.packer_pt = CANPacker(DBC[car_fingerprint]['pt'])
+    self.packer_pt = CANPacker(DBC[CP.carFingerprint]['pt'])
 
     self.hcaSameTorqueCount = 0
     self.hcaEnabledFrameCount = 0
@@ -32,7 +29,6 @@ class CarController():
 
     # Send CAN commands.
     can_sends = []
-    canbus = self.canbus
 
     #--------------------------------------------------------------------------
     #                                                                         #
@@ -102,7 +98,7 @@ class CarController():
 
       self.apply_steer_last = apply_steer
       idx = (frame / P.HCA_STEP) % 16
-      can_sends.append(volkswagencan.create_mqb_steering_control(self.packer_pt, canbus.pt, apply_steer,
+      can_sends.append(volkswagencan.create_mqb_steering_control(self.packer_pt, CANBUS.pt, apply_steer,
                                                                  idx, hcaEnabled))
 
     #--------------------------------------------------------------------------
@@ -123,7 +119,7 @@ class CarController():
       else:
         hud_alert = MQB_LDW_MESSAGES["none"]
 
-      can_sends.append(volkswagencan.create_mqb_hud_control(self.packer_pt, canbus.pt, hcaEnabled,
+      can_sends.append(volkswagencan.create_mqb_hud_control(self.packer_pt, CANBUS.pt, hcaEnabled,
                                                             CS.out.steeringPressed, hud_alert, leftLaneVisible,
                                                             rightLaneVisible))
 
@@ -182,7 +178,7 @@ class CarController():
         if self.graMsgSentCount == 0:
           self.graMsgStartFramePrev = frame
         idx = (CS.graMsgBusCounter + 1) % 16
-        can_sends.append(volkswagencan.create_mqb_acc_buttons_control(self.packer_pt, canbus.pt, self.graButtonStatesToSend, CS, idx))
+        can_sends.append(volkswagencan.create_mqb_acc_buttons_control(self.packer_pt, CANBUS.pt, self.graButtonStatesToSend, CS, idx))
         self.graMsgSentCount += 1
         if self.graMsgSentCount >= P.GRA_VBP_COUNT:
           self.graButtonStatesToSend = None
diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py
index 0b9065b989..68318f3ede 100644
--- a/selfdrive/car/volkswagen/carstate.py
+++ b/selfdrive/car/volkswagen/carstate.py
@@ -4,9 +4,9 @@ from selfdrive.config import Conversions as CV
 from selfdrive.car.interfaces import CarStateBase
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
-from selfdrive.car.volkswagen.values import DBC, BUTTON_STATES, CarControllerParams
+from selfdrive.car.volkswagen.values import DBC, CANBUS, BUTTON_STATES, CarControllerParams
 
-def get_mqb_pt_can_parser(CP, canbus):
+def get_mqb_pt_can_parser(CP):
   # this function generates lists for signal, messages and initial values
   signals = [
     # sig_name, sig_address, default
@@ -78,12 +78,12 @@ def get_mqb_pt_can_parser(CP, canbus):
     ("Einheiten_01", 1),  # From J??? not known if gateway, cluster, or BCM
   ]
 
-  return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, canbus.pt)
+  return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, CANBUS.pt)
 
 # A single signal is monitored from the camera CAN bus, and then ignored,
 # so the presence of CAN traffic can be verified with cam_cp.valid.
 
-def get_mqb_cam_can_parser(CP, canbus):
+def get_mqb_cam_can_parser(CP):
 
   signals = [
     # sig_name, sig_address, default
@@ -95,11 +95,11 @@ def get_mqb_cam_can_parser(CP, canbus):
     ("LDW_02", 10)        # From R242 Driver assistance camera
   ]
 
-  return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, canbus.cam)
+  return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, CANBUS.cam)
 
 
 class CarState(CarStateBase):
-  def __init__(self, CP, canbus):
+  def __init__(self, CP):
     super().__init__(CP)
     can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
     self.shifter_values = can_define.dv["Getriebe_11"]['GE_Fahrstufe']
diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py
index 5b40730e11..5ef6d66bbe 100644
--- a/selfdrive/car/volkswagen/interface.py
+++ b/selfdrive/car/volkswagen/interface.py
@@ -1,7 +1,6 @@
 from cereal import car
 from selfdrive.config import Conversions as CV
 from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
-from selfdrive.controls.lib.vehicle_model import VehicleModel
 from selfdrive.car.volkswagen.values import CAR, BUTTON_STATES
 from selfdrive.car.volkswagen.carstate import CarState, get_mqb_pt_can_parser, get_mqb_cam_can_parser
 from common.params import Params
@@ -10,33 +9,13 @@ from selfdrive.car.interfaces import CarInterfaceBase
 
 GEAR = car.CarState.GearShifter
 
-class CANBUS:
-  pt = 0
-  cam = 2
-
 class CarInterface(CarInterfaceBase):
   def __init__(self, CP, CarController):
-    self.CP = CP
-    self.CC = None
-
-    self.frame = 0
+    super().__init__(CP, CarController, CarState, get_mqb_pt_can_parser, get_mqb_cam_can_parser)
 
-    self.gasPressedPrev = False
-    self.brakePressedPrev = False
-    self.cruiseStateEnabledPrev = False
     self.displayMetricUnitsPrev = None
     self.buttonStatesPrev = BUTTON_STATES.copy()
 
-    # *** init the major players ***
-    self.CS = CarState(CP, CANBUS)
-    self.VM = VehicleModel(CP)
-    self.pt_cp = get_mqb_pt_can_parser(CP, CANBUS)
-    self.cam_cp = get_mqb_cam_can_parser(CP, CANBUS)
-
-    # sending if read only is False
-    if CarController is not None:
-      self.CC = CarController(CANBUS, CP.carFingerprint)
-
   @staticmethod
   def compute_gb(accel, speed):
     return float(accel) / 4.0
@@ -124,11 +103,11 @@ class CarInterface(CarInterfaceBase):
     # Process the most recent CAN message traffic, and check for validity
     # The camera CAN has no signals we use at this time, but we process it
     # anyway so we can test connectivity with can_valid
-    self.pt_cp.update_strings(can_strings)
-    self.cam_cp.update_strings(can_strings)
+    self.cp.update_strings(can_strings)
+    self.cp_cam.update_strings(can_strings)
 
-    ret = self.CS.update(self.pt_cp)
-    ret.canValid = self.pt_cp.can_valid and self.cam_cp.can_valid
+    ret = self.CS.update(self.cp)
+    ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
     ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
 
     # Update the EON metric configuration to match the car at first startup,
@@ -167,8 +146,8 @@ class CarInterface(CarInterfaceBase):
 
     # Per the Comma safety model, disable on pedals rising edge or when brake
     # is pressed and speed isn't zero.
-    if (ret.gasPressed and not self.gasPressedPrev) or \
-            (ret.brakePressed and (not self.brakePressedPrev or not ret.standstill)):
+    if (ret.gasPressed and not self.gas_pressed_prev) or \
+            (ret.brakePressed and (not self.brake_pressed_prev or not ret.standstill)):
       events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
     if ret.gasPressed:
       events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
@@ -178,7 +157,7 @@ class CarInterface(CarInterfaceBase):
     if not ret.cruiseState.enabled:
       events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
     # Attempt OP engagement only on rising edge of stock ACC engagement.
-    elif not self.cruiseStateEnabledPrev:
+    elif not self.cruise_enabled_prev:
       events.append(create_event('pcmEnable', [ET.ENABLE]))
 
     ret.events = events
@@ -186,9 +165,9 @@ class CarInterface(CarInterfaceBase):
     ret.canMonoTimes = canMonoTimes
 
     # update previous car states
-    self.gasPressedPrev = ret.gasPressed
-    self.brakePressedPrev = ret.brakePressed
-    self.cruiseStateEnabledPrev = ret.cruiseState.enabled
+    self.gas_pressed_prev = ret.gasPressed
+    self.brake_pressed_prev = ret.brakePressed
+    self.cruise_enabled_prev = ret.cruiseState.enabled
     self.displayMetricUnitsPrev = self.CS.displayMetricUnits
     self.buttonStatesPrev = self.CS.buttonStates.copy()
 
diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index 970e33fed5..cba1f2c0ae 100644
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -18,6 +18,10 @@ class CarControllerParams:
   STEER_DRIVER_MULTIPLIER = 3    # weight driver torque heavily
   STEER_DRIVER_FACTOR = 1        # from dbc
 
+class CANBUS:
+  pt = 0
+  cam = 2
+
 BUTTON_STATES = {
   "accelCruise": False,
   "decelCruise": False,