diff --git a/selfdrive/camerad/cameras/camera_qcom2.cc b/selfdrive/camerad/cameras/camera_qcom2.cc
index a84d9fe14b..089d9e999b 100644
--- a/selfdrive/camerad/cameras/camera_qcom2.cc
+++ b/selfdrive/camerad/cameras/camera_qcom2.cc
@@ -689,8 +689,8 @@ static void camera_open(CameraState *s) {
     csiphy_info->settle_time = MIPI_SETTLE_CNT * 200000000ULL;
     csiphy_info->data_rate = 48000000;  // Calculated by camera_freqs.py
 
-    int ret = device_config(s->csiphy_fd, s->session_handle, s->csiphy_dev_handle, cam_packet_handle);
-    assert(ret == 0);
+    int ret_ = device_config(s->csiphy_fd, s->session_handle, s->csiphy_dev_handle, cam_packet_handle);
+    assert(ret_ == 0);
 
     munmap(csiphy_info, buf_desc[0].size);
     release_fd(s->multi_cam_state->video0_fd, buf_desc[0].mem_handle);
diff --git a/selfdrive/common/util.h b/selfdrive/common/util.h
index 80f8b0ae7e..aacb7af3b9 100644
--- a/selfdrive/common/util.h
+++ b/selfdrive/common/util.h
@@ -16,14 +16,14 @@
 #include <vector>
 
 // keep trying if x gets interrupted by a signal
-#define HANDLE_EINTR(x)                                       \
-  ({                                                          \
-    decltype(x) ret;                                          \
-    int try_cnt = 0;                                          \
-    do {                                                      \
-      ret = (x);                                              \
-    } while (ret == -1 && errno == EINTR && try_cnt++ < 100); \
-    ret;                                                      \
+#define HANDLE_EINTR(x)                                        \
+  ({                                                           \
+    decltype(x) ret_;                                          \
+    int try_cnt = 0;                                           \
+    do {                                                       \
+      ret_ = (x);                                              \
+    } while (ret_ == -1 && errno == EINTR && try_cnt++ < 100); \
+    ret_;                                                       \
   })
 
 #ifndef sighandler_t
diff --git a/selfdrive/loggerd/omx_encoder.cc b/selfdrive/loggerd/omx_encoder.cc
index 3205aac08a..672238eaeb 100644
--- a/selfdrive/loggerd/omx_encoder.cc
+++ b/selfdrive/loggerd/omx_encoder.cc
@@ -30,9 +30,9 @@ extern ExitHandler do_exit;
 
 // ***** OMX callback functions *****
 
-void OmxEncoder::wait_for_state(OMX_STATETYPE state) {
+void OmxEncoder::wait_for_state(OMX_STATETYPE state_) {
   std::unique_lock lk(this->state_lock);
-  while (this->state != state) {
+  while (this->state != state_) {
     this->state_cv.wait(lk);
   }
 }
diff --git a/selfdrive/modeld/thneed/serialize.cc b/selfdrive/modeld/thneed/serialize.cc
index a52aa0accf..46452480e8 100644
--- a/selfdrive/modeld/thneed/serialize.cc
+++ b/selfdrive/modeld/thneed/serialize.cc
@@ -69,16 +69,16 @@ void Thneed::load(const char *filename) {
     if (record & THNEED_DEBUG) printf("building %s with size %zu\n", obj.first.c_str(), length);
 
     cl_program program = clCreateProgramWithSource(context, 1, srcs, &length, NULL);
-    int err = clBuildProgram(program, 1, &device_id, "", NULL, NULL);
-    if (err != 0) {
-      printf("got err %d\n", err);
-      size_t length;
+    int err_ = clBuildProgram(program, 1, &device_id, "", NULL, NULL);
+    if (err_ != 0) {
+      printf("got err %d\n", err_);
+      size_t length_;
       char buffer[2048];
-      clGetProgramBuildInfo(program, device_id, CL_PROGRAM_BUILD_LOG, sizeof(buffer), buffer, &length);
-      buffer[length] = '\0';
+      clGetProgramBuildInfo(program, device_id, CL_PROGRAM_BUILD_LOG, sizeof(buffer), buffer, &length_);
+      buffer[length_] = '\0';
       printf("%s\n", buffer);
     }
-    assert(err == 0);
+    assert(err_ == 0);
 
     g_programs[obj.first] = program;
   }
@@ -92,11 +92,11 @@ void Thneed::load(const char *filename) {
 
     if (record & THNEED_DEBUG) printf("binary %s with size %zu\n", name.c_str(), length);
 
-    cl_int err;
-    cl_program program = clCreateProgramWithBinary(context, 1, &device_id, &length, srcs, NULL, &err);
-    assert(program != NULL && err == CL_SUCCESS);
-    err = clBuildProgram(program, 1, &device_id, "", NULL, NULL);
-    assert(err == CL_SUCCESS);
+    cl_int err_;
+    cl_program program = clCreateProgramWithBinary(context, 1, &device_id, &length, srcs, NULL, &err_);
+    assert(program != NULL && err_ == CL_SUCCESS);
+    err_ = clBuildProgram(program, 1, &device_id, "", NULL, NULL);
+    assert(err_ == CL_SUCCESS);
 
     g_programs[name] = program;
   }