diff --git a/opendbc b/opendbc
index e2465cc701..4195e8f4c9 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit e2465cc701e878fdae5b4e363496c2fa5d2f7c08
+Subproject commit 4195e8f4c9998c0a1a6084c3cc71499307bbd81e
diff --git a/panda b/panda
index 1dfee5973b..a1686ca3ca 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 1dfee5973bc2884b61e55b7614f2fe90d0e2a1f3
+Subproject commit a1686ca3ca55b004179f10bfc45af5fbd701ca64
diff --git a/selfdrive/car/body/bodycan.py b/selfdrive/car/body/bodycan.py
index cc448d53d1..580e5025ad 100644
--- a/selfdrive/car/body/bodycan.py
+++ b/selfdrive/car/body/bodycan.py
@@ -1,9 +1,7 @@
-def create_control(packer, torque_l, torque_r, idx):
-  can_bus = 0
-
+def create_control(packer, torque_l, torque_r):
   values = {
     "TORQUE_L": torque_l,
     "TORQUE_R": torque_r,
   }
 
-  return packer.make_can_msg("TORQUE_CMD", can_bus, values, idx)
+  return packer.make_can_msg("TORQUE_CMD", 0, values)
diff --git a/selfdrive/car/body/carcontroller.py b/selfdrive/car/body/carcontroller.py
index c13acebacb..7705cd86cb 100644
--- a/selfdrive/car/body/carcontroller.py
+++ b/selfdrive/car/body/carcontroller.py
@@ -80,7 +80,7 @@ class CarController:
       torque_l = int(np.clip(self.torque_l_filtered, -MAX_TORQUE, MAX_TORQUE))
 
     can_sends = []
-    can_sends.append(bodycan.create_control(self.packer, torque_l, torque_r, self.frame // 2))
+    can_sends.append(bodycan.create_control(self.packer, torque_l, torque_r))
 
     new_actuators = CC.actuators.copy()
     new_actuators.accel = torque_l
diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py
index 6d158e7cd0..344a2f1623 100644
--- a/selfdrive/car/chrysler/carcontroller.py
+++ b/selfdrive/car/chrysler/carcontroller.py
@@ -70,8 +70,7 @@ class CarController:
       self.steer_rate_limited = new_steer != apply_steer
       self.apply_steer_last = apply_steer
 
-      idx = self.frame // 2
-      can_sends.append(create_lkas_command(self.packer, self.CP, int(apply_steer), lkas_control_bit, idx))
+      can_sends.append(create_lkas_command(self.packer, self.CP, int(apply_steer), lkas_control_bit))
 
     self.frame += 1
     if not lkas_control_bit and self.lkas_control_bit_prev:
diff --git a/selfdrive/car/chrysler/chryslercan.py b/selfdrive/car/chrysler/chryslercan.py
index 1e26a6d275..10ed73e9f2 100644
--- a/selfdrive/car/chrysler/chryslercan.py
+++ b/selfdrive/car/chrysler/chryslercan.py
@@ -52,19 +52,20 @@ def create_lkas_hud(packer, CP, lkas_active, hud_alert, hud_count, car_model, au
   return packer.make_can_msg("DAS_6", 0, values)
 
 
-def create_lkas_command(packer, CP, apply_steer, lkas_control_bit, frame):
+def create_lkas_command(packer, CP, apply_steer, lkas_control_bit):
   # LKAS_COMMAND Lane-keeping signal to turn the wheel
   enabled_val = 2 if CP.carFingerprint in RAM_CARS else 1
   values = {
     "STEERING_TORQUE": apply_steer,
     "LKAS_CONTROL_BIT": enabled_val if lkas_control_bit else 0,
   }
-  return packer.make_can_msg("LKAS_COMMAND", 0, values, frame % 0x10)
+  return packer.make_can_msg("LKAS_COMMAND", 0, values)
 
 
 def create_cruise_buttons(packer, frame, bus, cancel=False, resume=False):
   values = {
     "ACC_Cancel": cancel,
     "ACC_Resume": resume,
+    "COUNTER": frame % 0x10,
   }
-  return packer.make_can_msg("CRUISE_BUTTONS", bus, values, frame % 0x10)
+  return packer.make_can_msg("CRUISE_BUTTONS", bus, values)
diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
index d47caaa9ad..a5f25e3a2e 100644
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -155,9 +155,8 @@ class CarController:
         can_sends.append((0x18DAB0F1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 1))
 
     # Send steering command.
-    idx = self.frame % 4
     can_sends.append(hondacan.create_steering_control(self.packer, apply_steer, CC.latActive, self.CP.carFingerprint,
-                                                      idx, CS.CP.openpilotLongitudinalControl))
+                                                      CS.CP.openpilotLongitudinalControl))
 
     # wind brake from air resistance decel at high speed
     wind_brake = interp(CS.out.vEgo, [0.0, 2.3, 35.0], [0.001, 0.002, 0.15])
@@ -190,18 +189,16 @@ class CarController:
 
     if not self.CP.openpilotLongitudinalControl:
       if self.frame % 2 == 0 and self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS:  # radarless cars don't have supplemental message
-        idx = self.frame // 2
-        can_sends.append(hondacan.create_bosch_supplemental_1(self.packer, self.CP.carFingerprint, idx))
+        can_sends.append(hondacan.create_bosch_supplemental_1(self.packer, self.CP.carFingerprint))
       # If using stock ACC, spam cancel command to kill gas when OP disengages.
       if pcm_cancel_cmd:
-        can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.CANCEL, idx, self.CP.carFingerprint))
+        can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.CANCEL, self.CP.carFingerprint))
       elif CC.cruiseControl.resume:
-        can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, idx, self.CP.carFingerprint))
+        can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, self.CP.carFingerprint))
 
     else:
       # Send gas and brake commands.
       if self.frame % 2 == 0:
-        idx = self.frame // 2
         ts = self.frame * DT_CTRL
 
         if self.CP.carFingerprint in HONDA_BOSCH:
@@ -210,7 +207,7 @@ class CarController:
 
           stopping = actuators.longControlState == LongCtrlState.stopping
           can_sends.extend(hondacan.create_acc_commands(self.packer, CC.enabled, CC.longActive, self.accel, self.gas,
-                                                        idx, stopping, self.CP.carFingerprint))
+                                                        stopping, self.CP.carFingerprint))
         else:
           apply_brake = clip(self.brake_last - wind_brake, 0.0, 1.0)
           apply_brake = int(clip(apply_brake * self.params.NIDEC_BRAKE_MAX, 0, self.params.NIDEC_BRAKE_MAX - 1))
@@ -218,7 +215,7 @@ class CarController:
 
           pcm_override = True
           can_sends.append(hondacan.create_brake_command(self.packer, apply_brake, pump_on,
-                                                         pcm_override, pcm_cancel_cmd, fcw_display, idx,
+                                                         pcm_override, pcm_cancel_cmd, fcw_display,
                                                          self.CP.carFingerprint, CS.stock_brake))
           self.apply_brake_last = apply_brake
           self.brake = apply_brake / self.params.NIDEC_BRAKE_MAX
@@ -234,14 +231,13 @@ class CarController:
               self.gas = clip(gas_mult * (gas - brake + wind_brake * 3 / 4), 0., 1.)
             else:
               self.gas = 0.0
-            can_sends.append(create_gas_interceptor_command(self.packer, self.gas, idx))
+            can_sends.append(create_gas_interceptor_command(self.packer, self.gas, self.frame // 2))
 
     # Send dashboard UI commands.
     if self.frame % 10 == 0:
-      idx = (self.frame // 10) % 4
       hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_control.leadVisible,
                     hud_control.lanesVisible, fcw_display, acc_alert, steer_required)
-      can_sends.extend(hondacan.create_ui_commands(self.packer, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, idx, CS.stock_hud))
+      can_sends.extend(hondacan.create_ui_commands(self.packer, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, CS.stock_hud))
 
       if self.CP.openpilotLongitudinalControl and self.CP.carFingerprint not in HONDA_BOSCH:
         self.speed = pcm_speed
diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py
index 7246b98686..1f5f75426b 100644
--- a/selfdrive/car/honda/hondacan.py
+++ b/selfdrive/car/honda/hondacan.py
@@ -20,7 +20,7 @@ def get_lkas_cmd_bus(car_fingerprint, radar_disabled=False):
   return 0
 
 
-def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, idx, car_fingerprint, stock_brake):
+def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, car_fingerprint, stock_brake):
   # TODO: do we loose pressure if we keep pump off for long?
   brakelights = apply_brake > 0
   brake_rq = apply_brake > 0
@@ -42,10 +42,10 @@ def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_
     "AEB_STATUS": 0,
   }
   bus = get_pt_bus(car_fingerprint)
-  return packer.make_can_msg("BRAKE_COMMAND", bus, values, idx)
+  return packer.make_can_msg("BRAKE_COMMAND", bus, values)
 
 
-def create_acc_commands(packer, enabled, active, accel, gas, idx, stopping, car_fingerprint):
+def create_acc_commands(packer, enabled, active, accel, gas, stopping, car_fingerprint):
   commands = []
   bus = get_pt_bus(car_fingerprint)
   min_gas_accel = CarControllerParams.BOSCH_GAS_LOOKUP_BP[0]
@@ -67,7 +67,7 @@ def create_acc_commands(packer, enabled, active, accel, gas, idx, stopping, car_
     "STANDSTILL": standstill,
     "STANDSTILL_RELEASE": standstill_release,
   }
-  commands.append(packer.make_can_msg("ACC_CONTROL", bus, acc_control_values, idx))
+  commands.append(packer.make_can_msg("ACC_CONTROL", bus, acc_control_values))
 
   acc_control_on_values = {
     "SET_TO_3": 0x03,
@@ -76,21 +76,21 @@ def create_acc_commands(packer, enabled, active, accel, gas, idx, stopping, car_
     "SET_TO_75": 0x75,
     "SET_TO_30": 0x30,
   }
-  commands.append(packer.make_can_msg("ACC_CONTROL_ON", bus, acc_control_on_values, idx))
+  commands.append(packer.make_can_msg("ACC_CONTROL_ON", bus, acc_control_on_values))
 
   return commands
 
 
-def create_steering_control(packer, apply_steer, lkas_active, car_fingerprint, idx, radar_disabled):
+def create_steering_control(packer, apply_steer, lkas_active, car_fingerprint, radar_disabled):
   values = {
     "STEER_TORQUE": apply_steer if lkas_active else 0,
     "STEER_TORQUE_REQUEST": lkas_active,
   }
   bus = get_lkas_cmd_bus(car_fingerprint, radar_disabled)
-  return packer.make_can_msg("STEERING_CONTROL", bus, values, idx)
+  return packer.make_can_msg("STEERING_CONTROL", bus, values)
 
 
-def create_bosch_supplemental_1(packer, car_fingerprint, idx):
+def create_bosch_supplemental_1(packer, car_fingerprint):
   # non-active params
   values = {
     "SET_ME_X04": 0x04,
@@ -98,10 +98,10 @@ def create_bosch_supplemental_1(packer, car_fingerprint, idx):
     "SET_ME_X10": 0x10,
   }
   bus = get_lkas_cmd_bus(car_fingerprint)
-  return packer.make_can_msg("BOSCH_SUPPLEMENTAL_1", bus, values, idx)
+  return packer.make_can_msg("BOSCH_SUPPLEMENTAL_1", bus, values)
 
 
-def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, idx, stock_hud):
+def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, stock_hud):
   commands = []
   bus_pt = get_pt_bus(CP.carFingerprint)
   radar_disabled = CP.carFingerprint in HONDA_BOSCH and CP.openpilotLongitudinalControl
@@ -129,7 +129,7 @@ def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, idx, stoc
       acc_hud_values['FCM_OFF_2'] = stock_hud['FCM_OFF_2']
       acc_hud_values['FCM_PROBLEM'] = stock_hud['FCM_PROBLEM']
       acc_hud_values['ICONS'] = stock_hud['ICONS']
-    commands.append(packer.make_can_msg("ACC_HUD", bus_pt, acc_hud_values, idx))
+    commands.append(packer.make_can_msg("ACC_HUD", bus_pt, acc_hud_values))
 
   lkas_hud_values = {
     'SET_ME_X41': 0x41,
@@ -146,29 +146,29 @@ def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, idx, stoc
     lkas_hud_values['SET_ME_X48'] = 0x48
 
   if CP.flags & HondaFlags.BOSCH_EXT_HUD and not CP.openpilotLongitudinalControl:
-    commands.append(packer.make_can_msg('LKAS_HUD_A', bus_lkas, lkas_hud_values, idx))
-    commands.append(packer.make_can_msg('LKAS_HUD_B', bus_lkas, lkas_hud_values, idx))
+    commands.append(packer.make_can_msg('LKAS_HUD_A', bus_lkas, lkas_hud_values))
+    commands.append(packer.make_can_msg('LKAS_HUD_B', bus_lkas, lkas_hud_values))
   else:
-    commands.append(packer.make_can_msg('LKAS_HUD', bus_lkas, lkas_hud_values, idx))
+    commands.append(packer.make_can_msg('LKAS_HUD', bus_lkas, lkas_hud_values))
 
   if radar_disabled and CP.carFingerprint in HONDA_BOSCH:
     radar_hud_values = {
       'CMBS_OFF': 0x01,
       'SET_TO_1': 0x01,
     }
-    commands.append(packer.make_can_msg('RADAR_HUD', bus_pt, radar_hud_values, idx))
+    commands.append(packer.make_can_msg('RADAR_HUD', bus_pt, radar_hud_values))
 
     if CP.carFingerprint == CAR.CIVIC_BOSCH:
-      commands.append(packer.make_can_msg("LEGACY_BRAKE_COMMAND", bus_pt, {}, idx))
+      commands.append(packer.make_can_msg("LEGACY_BRAKE_COMMAND", bus_pt, {}))
 
   return commands
 
 
-def spam_buttons_command(packer, button_val, idx, car_fingerprint):
+def spam_buttons_command(packer, button_val, car_fingerprint):
   values = {
     'CRUISE_BUTTONS': button_val,
     'CRUISE_SETTING': 0,
   }
   # send buttons to camera on radarless cars
   bus = 2 if car_fingerprint in HONDA_BOSCH_RADARLESS else get_pt_bus(car_fingerprint)
-  return packer.make_can_msg("SCM_BUTTONS", bus, values, idx)
+  return packer.make_can_msg("SCM_BUTTONS", bus, values)
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index d0d9c40839..981a3309d2 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -73,10 +73,10 @@ class CarController:
 
     if self.CP.carFingerprint in HDA2_CAR:
       # steering control
-      can_sends.append(hda2can.create_lkas(self.packer, CC.enabled, self.frame, CC.latActive, apply_steer))
+      can_sends.append(hda2can.create_lkas(self.packer, CC.enabled, CC.latActive, apply_steer))
 
       if self.frame % 5 == 0:
-        can_sends.append(hda2can.create_cam_0x2a4(self.packer, self.frame, CS.cam_0x2a4))
+        can_sends.append(hda2can.create_cam_0x2a4(self.packer, CS.cam_0x2a4))
 
       # cruise cancel
       if (self.frame - self.last_button_frame) * DT_CTRL > 0.25:
diff --git a/selfdrive/car/hyundai/hda2can.py b/selfdrive/car/hyundai/hda2can.py
index 9a9e477cf5..36207aa113 100644
--- a/selfdrive/car/hyundai/hda2can.py
+++ b/selfdrive/car/hyundai/hda2can.py
@@ -1,4 +1,4 @@
-def create_lkas(packer, enabled, frame, lat_active, apply_steer):
+def create_lkas(packer, enabled, lat_active, apply_steer):
   values = {
     "LKA_MODE": 2,
     "LKA_ICON": 2 if enabled else 1,
@@ -10,17 +10,18 @@ def create_lkas(packer, enabled, frame, lat_active, apply_steer):
     "NEW_SIGNAL_1": 0,
     "NEW_SIGNAL_2": 0,
   }
-  return packer.make_can_msg("LKAS", 4, values, frame % 255)
+  return packer.make_can_msg("LKAS", 4, values)
 
-def create_cam_0x2a4(packer, frame, camera_values):
+def create_cam_0x2a4(packer, camera_values):
   camera_values.update({
     "BYTE7": 0,
   })
-  return packer.make_can_msg("CAM_0x2a4", 4, camera_values, frame % 255)
+  return packer.make_can_msg("CAM_0x2a4", 4, camera_values)
 
 def create_buttons(packer, cnt, btn):
   values = {
+    "COUNTER": cnt,
     "SET_ME_1": 1,
     "CRUISE_BUTTONS": btn,
   }
-  return packer.make_can_msg("CRUISE_BUTTONS", 5, values, cnt % 0xf)
+  return packer.make_can_msg("CRUISE_BUTTONS", 5, values)
diff --git a/selfdrive/car/nissan/carcontroller.py b/selfdrive/car/nissan/carcontroller.py
index 7d9dad6693..dbc2b33c6b 100644
--- a/selfdrive/car/nissan/carcontroller.py
+++ b/selfdrive/car/nissan/carcontroller.py
@@ -33,7 +33,7 @@ class CarController:
     steer_hud_alert = 1 if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw) else 0
 
     if CC.latActive:
-      # # windup slower
+      # windup slower
       if self.last_angle * apply_angle > 0. and abs(apply_angle) > abs(self.last_angle):
         angle_rate_lim = interp(CS.out.vEgo, CarControllerParams.ANGLE_DELTA_BP, CarControllerParams.ANGLE_DELTA_V)
       else:
@@ -60,7 +60,7 @@ class CarController:
     self.last_angle = apply_angle
 
     if self.CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA) and pcm_cancel_cmd:
-      can_sends.append(nissancan.create_acc_cancel_cmd(self.packer, self.car_fingerprint, CS.cruise_throttle_msg, self.frame))
+      can_sends.append(nissancan.create_acc_cancel_cmd(self.packer, self.car_fingerprint, CS.cruise_throttle_msg))
 
     # TODO: Find better way to cancel!
     # For some reason spamming the cancel button is unreliable on the Leaf
diff --git a/selfdrive/car/nissan/nissancan.py b/selfdrive/car/nissan/nissancan.py
index ceace5088a..f59714b8d4 100644
--- a/selfdrive/car/nissan/nissancan.py
+++ b/selfdrive/car/nissan/nissancan.py
@@ -2,17 +2,17 @@ import copy
 import crcmod
 from selfdrive.car.nissan.values import CAR
 
+# TODO: add this checksum to the CANPacker
 nissan_checksum = crcmod.mkCrcFun(0x11d, initCrc=0x00, rev=False, xorOut=0xff)
 
 
 def create_steering_control(packer, apply_steer, frame, steer_on, lkas_max_torque):
-  idx = (frame % 16)
   values = {
+    "COUNTER": frame % 0x10,
     "DESIRED_ANGLE": apply_steer,
     "SET_0x80_2": 0x80,
     "SET_0x80": 0x80,
     "MAX_TORQUE": lkas_max_torque if steer_on else 0,
-    "COUNTER": idx,
     "LKA_ACTIVE": steer_on,
   }
 
@@ -22,7 +22,7 @@ def create_steering_control(packer, apply_steer, frame, steer_on, lkas_max_torqu
   return packer.make_can_msg("LKAS", 0, values)
 
 
-def create_acc_cancel_cmd(packer, car_fingerprint, cruise_throttle_msg, frame):
+def create_acc_cancel_cmd(packer, car_fingerprint, cruise_throttle_msg):
   values = copy.copy(cruise_throttle_msg)
   can_bus = 2
 
@@ -35,7 +35,6 @@ def create_acc_cancel_cmd(packer, car_fingerprint, cruise_throttle_msg, frame):
   values["SET_BUTTON"] = 0
   values["RES_BUTTON"] = 0
   values["FOLLOW_DISTANCE_BUTTON"] = 0
-  values["COUNTER"] = (frame % 4)
 
   return packer.make_can_msg("CRUISE_THROTTLE", can_bus, values)
 
diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py
index 3fb4bc8553..6cb754ac6f 100644
--- a/selfdrive/car/subaru/carcontroller.py
+++ b/selfdrive/car/subaru/carcontroller.py
@@ -39,9 +39,9 @@ class CarController:
         apply_steer = 0
 
       if self.CP.carFingerprint in PREGLOBAL_CARS:
-        can_sends.append(subarucan.create_preglobal_steering_control(self.packer, apply_steer, self.frame, self.p.STEER_STEP))
+        can_sends.append(subarucan.create_preglobal_steering_control(self.packer, apply_steer))
       else:
-        can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, self.frame, self.p.STEER_STEP))
+        can_sends.append(subarucan.create_steering_control(self.packer, apply_steer))
 
       self.apply_steer_last = apply_steer
 
@@ -74,7 +74,9 @@ class CarController:
         self.es_distance_cnt = CS.es_distance_msg["COUNTER"]
 
       if self.es_lkas_cnt != CS.es_lkas_msg["COUNTER"]:
-        can_sends.append(subarucan.create_es_lkas(self.packer, CS.es_lkas_msg, CC.enabled, hud_control.visualAlert, hud_control.leftLaneVisible, hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart))
+        can_sends.append(subarucan.create_es_lkas(self.packer, CS.es_lkas_msg, CC.enabled, hud_control.visualAlert,
+                                                  hud_control.leftLaneVisible, hud_control.rightLaneVisible,
+                                                  hud_control.leftLaneDepart, hud_control.rightLaneDepart))
         self.es_lkas_cnt = CS.es_lkas_msg["COUNTER"]
 
     new_actuators = actuators.copy()
diff --git a/selfdrive/car/subaru/subarucan.py b/selfdrive/car/subaru/subarucan.py
index e6efe7aa7b..5f2233be9d 100644
--- a/selfdrive/car/subaru/subarucan.py
+++ b/selfdrive/car/subaru/subarucan.py
@@ -3,19 +3,15 @@ from cereal import car
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
-def create_steering_control(packer, apply_steer, frame, steer_step):
-
-  idx = (frame / steer_step) % 16
-
+def create_steering_control(packer, apply_steer):
   values = {
     "LKAS_Output": apply_steer,
     "LKAS_Request": 1 if apply_steer != 0 else 0,
     "SET_1": 1
   }
+  return packer.make_can_msg("ES_LKAS", 0, values)
 
-  return packer.make_can_msg("ES_LKAS", 0, values, idx)
-
-def create_steering_status(packer, apply_steer, frame, steer_step):
+def create_steering_status(packer):
   return packer.make_can_msg("ES_LKAS_State", 0, {})
 
 def create_es_distance(packer, es_distance_msg, pcm_cancel_cmd):
@@ -66,17 +62,14 @@ def subaru_preglobal_checksum(packer, values, addr):
   dat = packer.make_can_msg(addr, 0, values)[2]
   return (sum(dat[:7])) % 256
 
-def create_preglobal_steering_control(packer, apply_steer, frame, steer_step):
-
-  idx = (frame / steer_step) % 8
-
+def create_preglobal_steering_control(packer, apply_steer):
   values = {
     "LKAS_Command": apply_steer,
     "LKAS_Active": 1 if apply_steer != 0 else 0
   }
   values["Checksum"] = subaru_preglobal_checksum(packer, values, "ES_LKAS")
 
-  return packer.make_can_msg("ES_LKAS", 0, values, idx)
+  return packer.make_can_msg("ES_LKAS", 0, values)
 
 def create_preglobal_es_distance(packer, cruise_button, es_distance_msg):
 
diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index 61a41b9c51..390e5f8170 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -83,7 +83,7 @@ class CarController:
     # toyota can trace shows this message at 42Hz, with counter adding alternatively 1 and 2;
     # sending it at 100Hz seem to allow a higher rate limit, as the rate limit seems imposed
     # on consecutive messages
-    can_sends.append(create_steer_command(self.packer, apply_steer, apply_steer_req, self.frame))
+    can_sends.append(create_steer_command(self.packer, apply_steer, apply_steer_req))
     if self.frame % 2 == 0 and self.CP.carFingerprint in TSS2_CAR:
       can_sends.append(create_lta_steer_command(self.packer, 0, 0, self.frame // 2))
 
diff --git a/selfdrive/car/toyota/toyotacan.py b/selfdrive/car/toyota/toyotacan.py
index d57131dcb9..7ab3ab3e78 100644
--- a/selfdrive/car/toyota/toyotacan.py
+++ b/selfdrive/car/toyota/toyotacan.py
@@ -1,10 +1,9 @@
-def create_steer_command(packer, steer, steer_req, raw_cnt):
+def create_steer_command(packer, steer, steer_req):
   """Creates a CAN message for the Toyota Steer Command."""
 
   values = {
     "STEER_REQUEST": steer_req,
     "STEER_TORQUE_CMD": steer,
-    "COUNTER": raw_cnt,
     "SET_ME_1": 1,
   }
   return packer.make_can_msg("STEERING_LKA", 0, values)
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
index 1643fbe9b6..e38cd9705f 100644
--- a/selfdrive/car/volkswagen/carcontroller.py
+++ b/selfdrive/car/volkswagen/carcontroller.py
@@ -69,9 +69,7 @@ class CarController:
         apply_steer = 0
 
       self.apply_steer_last = apply_steer
-      idx = (self.frame / P.HCA_STEP) % 16
-      can_sends.append(volkswagencan.create_mqb_steering_control(self.packer_pt, CANBUS.pt, apply_steer,
-                                                                 idx, hcaEnabled))
+      can_sends.append(volkswagencan.create_mqb_steering_control(self.packer_pt, CANBUS.pt, apply_steer, hcaEnabled))
 
     # **** HUD Controls ***************************************************** #
 
diff --git a/selfdrive/car/volkswagen/volkswagencan.py b/selfdrive/car/volkswagen/volkswagencan.py
index 10e0054c79..1b42d1a405 100644
--- a/selfdrive/car/volkswagen/volkswagencan.py
+++ b/selfdrive/car/volkswagen/volkswagencan.py
@@ -1,7 +1,7 @@
-# CAN controls for MQB platform Volkswagen, Audi, Skoda and SEAT.
+# CAN controls for MQB platform Volkswagen, Audi, Skoda, and SEAT.
 # PQ35/PQ46/NMS, and any future MLB, to come later.
 
-def create_mqb_steering_control(packer, bus, apply_steer, idx, lkas_enabled):
+def create_mqb_steering_control(packer, bus, apply_steer, lkas_enabled):
   values = {
     "SET_ME_0X3": 0x3,
     "Assist_Torque": abs(apply_steer),
@@ -13,7 +13,7 @@ def create_mqb_steering_control(packer, bus, apply_steer, idx, lkas_enabled):
     "SET_ME_0XFE": 0xFE,
     "SET_ME_0X07": 0x07,
   }
-  return packer.make_can_msg("HCA_01", bus, values, idx)
+  return packer.make_can_msg("HCA_01", bus, values)
 
 def create_mqb_hud_control(packer, bus, enabled, steering_pressed, hud_alert, left_lane_visible, right_lane_visible,
                            ldw_stock_values, left_lane_depart, right_lane_depart):
@@ -34,6 +34,7 @@ def create_mqb_hud_control(packer, bus, enabled, steering_pressed, hud_alert, le
 
 def create_mqb_acc_buttons_control(packer, bus, buttonStatesToSend, CS, idx):
   values = {
+    "COUNTER": idx,
     "GRA_Hauptschalter": CS.graHauptschalter,
     "GRA_Abbrechen": buttonStatesToSend["cancel"],
     "GRA_Tip_Setzen": buttonStatesToSend["setCruise"],
@@ -46,4 +47,4 @@ def create_mqb_acc_buttons_control(packer, bus, buttonStatesToSend, CS, idx):
     "GRA_Tip_Stufe_2": CS.graTipStufe2,
     "GRA_ButtonTypeInfo": CS.graButtonTypeInfo
   }
-  return packer.make_can_msg("GRA_ACC_01", bus, values, idx)
+  return packer.make_can_msg("GRA_ACC_01", bus, values)
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index a9339bc4ff..41d683602a 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-c428493b2a46cb996a7565ea4395d7ad6cd79786
+658b1097663a8deea2c4d77c4c00a514739980bb
\ No newline at end of file
diff --git a/tools/sim/lib/can.py b/tools/sim/lib/can.py
index 939d081a80..af4339b2e4 100755
--- a/tools/sim/lib/can.py
+++ b/tools/sim/lib/can.py
@@ -33,48 +33,48 @@ def can_function(pm, speed, angle, idx, cruise_button, is_engaged):
   # *** powertrain bus ***
 
   speed = speed * 3.6 # convert m/s to kph
-  msg.append(packer.make_can_msg("ENGINE_DATA", 0, {"XMISSION_SPEED": speed}, idx))
+  msg.append(packer.make_can_msg("ENGINE_DATA", 0, {"XMISSION_SPEED": speed}))
   msg.append(packer.make_can_msg("WHEEL_SPEEDS", 0, {
     "WHEEL_SPEED_FL": speed,
     "WHEEL_SPEED_FR": speed,
     "WHEEL_SPEED_RL": speed,
     "WHEEL_SPEED_RR": speed
-  }, -1))
+  }))
 
-  msg.append(packer.make_can_msg("SCM_BUTTONS", 0, {"CRUISE_BUTTONS": cruise_button}, idx))
+  msg.append(packer.make_can_msg("SCM_BUTTONS", 0, {"CRUISE_BUTTONS": cruise_button}))
 
   values = {"COUNTER_PEDAL": idx & 0xF}
-  checksum = crc8_pedal(packer.make_can_msg("GAS_SENSOR", 0, {"COUNTER_PEDAL": idx & 0xF}, -1)[2][:-1])
+  checksum = crc8_pedal(packer.make_can_msg("GAS_SENSOR", 0, {"COUNTER_PEDAL": idx & 0xF})[2][:-1])
   values["CHECKSUM_PEDAL"] = checksum
-  msg.append(packer.make_can_msg("GAS_SENSOR", 0, values, -1))
-
-  msg.append(packer.make_can_msg("GEARBOX", 0, {"GEAR": 4, "GEAR_SHIFTER": 8}, idx))
-  msg.append(packer.make_can_msg("GAS_PEDAL_2", 0, {}, idx))
-  msg.append(packer.make_can_msg("SEATBELT_STATUS", 0, {"SEATBELT_DRIVER_LATCHED": 1}, idx))
-  msg.append(packer.make_can_msg("STEER_STATUS", 0, {}, idx))
-  msg.append(packer.make_can_msg("STEERING_SENSORS", 0, {"STEER_ANGLE": angle}, idx))
-  msg.append(packer.make_can_msg("VSA_STATUS", 0, {}, idx))
-  msg.append(packer.make_can_msg("STANDSTILL", 0, {"WHEELS_MOVING": 1 if speed >= 1.0 else 0}, idx))
-  msg.append(packer.make_can_msg("STEER_MOTOR_TORQUE", 0, {}, idx))
-  msg.append(packer.make_can_msg("EPB_STATUS", 0, {}, idx))
-  msg.append(packer.make_can_msg("DOORS_STATUS", 0, {}, idx))
-  msg.append(packer.make_can_msg("CRUISE_PARAMS", 0, {}, idx))
-  msg.append(packer.make_can_msg("CRUISE", 0, {}, idx))
-  msg.append(packer.make_can_msg("SCM_FEEDBACK", 0, {"MAIN_ON": 1}, idx))
-  msg.append(packer.make_can_msg("POWERTRAIN_DATA", 0, {"ACC_STATUS": int(is_engaged)}, idx))
+  msg.append(packer.make_can_msg("GAS_SENSOR", 0, values))
+
+  msg.append(packer.make_can_msg("GEARBOX", 0, {"GEAR": 4, "GEAR_SHIFTER": 8}))
+  msg.append(packer.make_can_msg("GAS_PEDAL_2", 0, {}))
+  msg.append(packer.make_can_msg("SEATBELT_STATUS", 0, {"SEATBELT_DRIVER_LATCHED": 1}))
+  msg.append(packer.make_can_msg("STEER_STATUS", 0, {}))
+  msg.append(packer.make_can_msg("STEERING_SENSORS", 0, {"STEER_ANGLE": angle}))
+  msg.append(packer.make_can_msg("VSA_STATUS", 0, {}))
+  msg.append(packer.make_can_msg("STANDSTILL", 0, {"WHEELS_MOVING": 1 if speed >= 1.0 else 0}))
+  msg.append(packer.make_can_msg("STEER_MOTOR_TORQUE", 0, {}))
+  msg.append(packer.make_can_msg("EPB_STATUS", 0, {}))
+  msg.append(packer.make_can_msg("DOORS_STATUS", 0, {}))
+  msg.append(packer.make_can_msg("CRUISE_PARAMS", 0, {}))
+  msg.append(packer.make_can_msg("CRUISE", 0, {}))
+  msg.append(packer.make_can_msg("SCM_FEEDBACK", 0, {"MAIN_ON": 1}))
+  msg.append(packer.make_can_msg("POWERTRAIN_DATA", 0, {"ACC_STATUS": int(is_engaged)}))
   msg.append(packer.make_can_msg("HUD_SETTING", 0, {}))
-  msg.append(packer.make_can_msg("CAR_SPEED", 0, {}, idx))
+  msg.append(packer.make_can_msg("CAR_SPEED", 0, {}))
 
   # *** cam bus ***
-  msg.append(packer.make_can_msg("STEERING_CONTROL", 2, {}, idx))
-  msg.append(packer.make_can_msg("ACC_HUD", 2, {}, idx))
-  msg.append(packer.make_can_msg("BRAKE_COMMAND", 2, {}, idx))
+  msg.append(packer.make_can_msg("STEERING_CONTROL", 2, {}))
+  msg.append(packer.make_can_msg("ACC_HUD", 2, {}))
+  msg.append(packer.make_can_msg("BRAKE_COMMAND", 2, {}))
 
   # *** radar bus ***
   if idx % 5 == 0:
-    msg.append(rpacker.make_can_msg("RADAR_DIAGNOSTIC", 1, {"RADAR_STATE": 0x79}, -1))
+    msg.append(rpacker.make_can_msg("RADAR_DIAGNOSTIC", 1, {"RADAR_STATE": 0x79}))
     for i in range(16):
-      msg.append(rpacker.make_can_msg("TRACK_%d" % i, 1, {"LONG_DIST": 255.5}, -1))
+      msg.append(rpacker.make_can_msg("TRACK_%d" % i, 1, {"LONG_DIST": 255.5}))
 
   pm.send('can', can_list_to_can_capnp(msg))