diff --git a/.circleci/config.yml b/.circleci/config.yml
index e36aaa142a..fdafd3da18 100644
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@@ -40,19 +40,6 @@ jobs:
           path: /tmp/misra/misra_safety_output.txt
 
 
-  strict-compiler:
-    machine:
-      docker_layer_caching: true
-    steps:
-      - checkout
-      - run:
-          name: Build image
-          command: "docker build -t panda_strict_compiler -f tests/build_strict/Dockerfile ."
-      - run:
-          name: Build Panda with strict compiler rules
-          command: |
-            docker run panda_strict_compiler /bin/bash -c "cd /panda/tests/build_strict; ./test_build_strict.sh"
-
   build:
     machine:
       docker_layer_caching: true
@@ -99,12 +86,25 @@ jobs:
           command: |
             docker run panda_safety_replay /bin/bash -c "cd /openpilot/panda/tests/safety_replay; PYTHONPATH=/openpilot ./test_safety_replay.py"
 
+  language_check:
+    machine:
+      docker_layer_caching: true
+    steps:
+      - checkout
+      - run:
+          name: Build image
+          command: "docker build -t language_check -f tests/language/Dockerfile ."
+      - run:
+          name: Check code for bad language
+          command: |
+            docker run language_check /bin/bash -c "cd /panda/tests/language; ./test_language.py"
+
 workflows:
   version: 2
   main:
     jobs:
       - safety
       - misra-c2012
-      - strict-compiler
       - build
       - safety_replay
+      - language_check
diff --git a/Jenkinsfile b/Jenkinsfile
index 0a861a5fa1..19dc3d4c80 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -20,34 +20,54 @@ pipeline {
         }
       }
     }
-    stage('Test Dev Build') {
+    stage('Test Dev Build (no WIFI)') {
       steps {
-        lock(resource: "Pandas", inversePrecedence: true, quantity:1){
+        lock(resource: "Pandas", inversePrecedence: true, quantity: 1){
           timeout(time: 60, unit: 'MINUTES') {
-            sh "docker run --name ${env.DOCKER_NAME} --privileged --volume /dev/bus/usb:/dev/bus/usb --volume /var/run/dbus:/var/run/dbus --net host ${env.DOCKER_IMAGE_TAG} bash -c 'cd /tmp/panda; ./run_automated_tests.sh '"
+            script {
+              sh "docker run --name ${env.DOCKER_NAME} --privileged --volume /dev/bus/usb:/dev/bus/usb --volume /var/run/dbus:/var/run/dbus --net host ${env.DOCKER_IMAGE_TAG} bash -c 'cd /tmp/panda; SKIPWIFI=1 ./run_automated_tests.sh'"
+              sh "docker cp ${env.DOCKER_NAME}:/tmp/panda/nosetests.xml test_results_dev_nowifi.xml"
+              sh "docker rm ${env.DOCKER_NAME}"
+            }
           }
         }
       }
     }
     stage('Test EON Build') {
       steps {
-        lock(resource: "Pandas", inversePrecedence: true, quantity:1){
+        lock(resource: "Pandas", inversePrecedence: true, quantity: 1){
           timeout(time: 60, unit: 'MINUTES') {
-            sh "docker cp ${env.DOCKER_NAME}:/tmp/panda/nosetests.xml test_results_dev.xml"
-            sh "touch EON && docker cp EON ${env.DOCKER_NAME}:/EON"
-            sh "docker start -a ${env.DOCKER_NAME}"
+            script {
+              sh "docker run --name ${env.DOCKER_NAME} --privileged --volume /dev/bus/usb:/dev/bus/usb --volume /var/run/dbus:/var/run/dbus --net host ${env.DOCKER_IMAGE_TAG} bash -c 'touch /EON; cd /tmp/panda; ./run_automated_tests.sh'"
+              sh "docker cp ${env.DOCKER_NAME}:/tmp/panda/nosetests.xml test_results_eon.xml"
+              sh "docker rm ${env.DOCKER_NAME}"
+            }
+          }
+        }
+      }
+    }
+    stage('Test Dev Build (WIFI)') {
+      steps {
+        lock(resource: "Pandas", inversePrecedence: true, quantity: 1){
+          timeout(time: 60, unit: 'MINUTES') {
+            script {
+              sh "docker run --name ${env.DOCKER_NAME} --privileged --volume /dev/bus/usb:/dev/bus/usb --volume /var/run/dbus:/var/run/dbus --net host ${env.DOCKER_IMAGE_TAG} bash -c 'cd /tmp/panda; ./run_automated_tests.sh'"
+              sh "docker cp ${env.DOCKER_NAME}:/tmp/panda/nosetests.xml test_results_dev.xml"
+              sh "docker rm ${env.DOCKER_NAME}"
+            }
           }
         }
       }
     }
   }
   post {
-    always {
+    failure {
       script {
-        sh "docker cp ${env.DOCKER_NAME}:/tmp/panda/nosetests.xml test_results_EON.xml"
-        sh "docker rm ${env.DOCKER_NAME}"
+        sh "docker rm ${env.DOCKER_NAME} || true"
       }
+    }
+    always {
       junit "test_results*.xml"
     }
   }
-}
\ No newline at end of file
+}
diff --git a/VERSION b/VERSION
index ec7b967829..9bdb566fc8 100644
--- a/VERSION
+++ b/VERSION
@@ -1 +1 @@
-v1.4.0
\ No newline at end of file
+v1.4.1
\ No newline at end of file
diff --git a/board/Makefile b/board/Makefile
index ed6dcaa030..adeba0479a 100644
--- a/board/Makefile
+++ b/board/Makefile
@@ -1,5 +1,5 @@
 PROJ_NAME = panda
-CFLAGS = -g -Wall
+CFLAGS = -g -Wall -Wextra -Wstrict-prototypes -Werror
 
 CFLAGS += -mlittle-endian -mthumb -mcpu=cortex-m4
 CFLAGS += -mhard-float -DSTM32F4 -DSTM32F413xx -mfpu=fpv4-sp-d16 -fsingle-precision-constant
diff --git a/board/Makefile.strict b/board/Makefile.strict
deleted file mode 100644
index b6c72b58b1..0000000000
--- a/board/Makefile.strict
+++ /dev/null
@@ -1,8 +0,0 @@
-PROJ_NAME = panda
-CFLAGS = -g -Wall -Wextra -Wstrict-prototypes
-
-CFLAGS += -mlittle-endian -mthumb -mcpu=cortex-m4
-CFLAGS += -mhard-float -DSTM32F4 -DSTM32F413xx -mfpu=fpv4-sp-d16 -fsingle-precision-constant
-STARTUP_FILE = startup_stm32f413xx
-
-include build.mk
diff --git a/board/bootstub.c b/board/bootstub.c
index 691d0d02e3..799c39d059 100644
--- a/board/bootstub.c
+++ b/board/bootstub.c
@@ -13,8 +13,13 @@
 #endif
 
 // default since there's no serial
-void puts(const char *a) {}
-void puth(unsigned int i) {}
+void puts(const char *a) {
+  UNUSED(a);
+}
+
+void puth(unsigned int i) {
+  UNUSED(i);
+}
 
 #include "libc.h"
 #include "provision.h"
@@ -34,11 +39,11 @@ void puth(unsigned int i) {}
 
 #include "spi_flasher.h"
 
-void __initialize_hardware_early() {
+void __initialize_hardware_early(void) {
   early();
 }
 
-void fail() {
+void fail(void) {
   soft_flasher_start();
 }
 
@@ -48,7 +53,7 @@ extern void *_app_start[];
 // FIXME: sometimes your panda will fail flashing and will quickly blink a single Green LED
 // BOUNTY: $200 coupon on shop.comma.ai or $100 check.
 
-int main() {
+int main(void) {
   __disable_irq();
   clock_init();
   detect();
@@ -88,7 +93,7 @@ fail:
   return 0;
 good:
   // jump to flash
-  ((void(*)()) _app_start[1])();
+  ((void(*)(void)) _app_start[1])();
   return 0;
 }
 
diff --git a/board/config.h b/board/config.h
index 219ce64c24..7fd203fc30 100644
--- a/board/config.h
+++ b/board/config.h
@@ -12,12 +12,12 @@
   #include "stm32f2xx.h"
 #endif
 
-#define USB_VID 0xbbaa
+#define USB_VID 0xbbaaU
 
 #ifdef BOOTSTUB
-#define USB_PID 0xddee
+#define USB_PID 0xddeeU
 #else
-#define USB_PID 0xddcc
+#define USB_PID 0xddccU
 #endif
 
 #include <stdbool.h>
@@ -34,7 +34,7 @@
      __typeof__ (b) _b = (b); \
    (_a > _b) ? _a : _b; })
 
-#define MAX_RESP_LEN 0x40
+#define MAX_RESP_LEN 0x40U
 
 #endif
 
diff --git a/board/drivers/adc.h b/board/drivers/adc.h
index 3e5f1b32a0..efd0a16878 100644
--- a/board/drivers/adc.h
+++ b/board/drivers/adc.h
@@ -19,7 +19,7 @@ void adc_init(void) {
   ADC1->SMPR1 = ADC_SMPR1_SMP12 | ADC_SMPR1_SMP13;
 }
 
-uint32_t adc_get(int channel) {
+uint32_t adc_get(unsigned int channel) {
   // includes length
   //ADC1->SQR1 = 0;
 
diff --git a/board/drivers/can.h b/board/drivers/can.h
index 7d0e63058a..3db2110512 100644
--- a/board/drivers/can.h
+++ b/board/drivers/can.h
@@ -9,11 +9,14 @@ typedef struct {
   CAN_FIFOMailBox_TypeDef *elems;
 } can_ring;
 
-#define CAN_BUS_RET_FLAG 0x80
-#define CAN_BUS_NUM_MASK 0x7F
+#define CAN_BUS_RET_FLAG 0x80U
+#define CAN_BUS_NUM_MASK 0x7FU
 
-#define BUS_MAX 4
+#define BUS_MAX 4U
 
+uint32_t can_send_errs = 0;
+uint32_t can_fwd_errs = 0;
+uint32_t gmlan_send_errs = 0;
 extern int can_live, pending_can_live;
 
 // must reinit after changing these
@@ -63,8 +66,11 @@ bool can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
   enter_critical_section();
   if (q->w_ptr != q->r_ptr) {
     *elem = q->elems[q->r_ptr];
-    if ((q->r_ptr + 1) == q->fifo_size) q->r_ptr = 0;
-    else q->r_ptr += 1;
+    if ((q->r_ptr + 1U) == q->fifo_size) {
+      q->r_ptr = 0;
+    } else {
+      q->r_ptr += 1U;
+    }
     ret = 1;
   }
   exit_critical_section();
@@ -72,20 +78,23 @@ bool can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
   return ret;
 }
 
-int can_push(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
-  int ret = 0;
+bool can_push(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
+  bool ret = false;
   uint32_t next_w_ptr;
 
   enter_critical_section();
-  if ((q->w_ptr + 1) == q->fifo_size) next_w_ptr = 0;
-  else next_w_ptr = q->w_ptr + 1;
+  if ((q->w_ptr + 1U) == q->fifo_size) {
+    next_w_ptr = 0;
+  } else {
+    next_w_ptr = q->w_ptr + 1U;
+  }
   if (next_w_ptr != q->r_ptr) {
     q->elems[q->w_ptr] = *elem;
     q->w_ptr = next_w_ptr;
-    ret = 1;
+    ret = true;
   }
   exit_critical_section();
-  if (ret == 0) {
+  if (!ret) {
     can_overflow_cnt++;
     #ifdef DEBUG
       puts("can_push failed!\n");
@@ -130,7 +139,7 @@ void can_set_speed(uint8_t can_number) {
   CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
   uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
 
-  if (!llcan_set_speed(CAN, can_speed[bus_number], can_loopback, can_silent & (1 << can_number))) {
+  if (!llcan_set_speed(CAN, can_speed[bus_number], can_loopback, (unsigned int)(can_silent) & (1U << can_number))) {
     puts("CAN init FAILED!!!!!\n");
     puth(can_number); puts(" ");
     puth(BUS_NUM_FROM_CAN_NUM(can_number)); puts("\n");
@@ -138,7 +147,7 @@ void can_set_speed(uint8_t can_number) {
 }
 
 void can_init(uint8_t can_number) {
-  if (can_number != 0xff) {
+  if (can_number != 0xffU) {
     CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
     set_can_enable(CAN, 1);
     can_set_speed(can_number);
@@ -156,48 +165,45 @@ void can_init_all(void) {
   }
 }
 
-void can_set_gmlan(int bus) {
-  if ((bus == -1) || (bus != can_num_lookup[3])) {
-    // GMLAN OFF
-    switch (can_num_lookup[3]) {
+void can_set_gmlan(uint8_t bus) {
+
+  // first, disable GMLAN on prev bus
+  uint8_t prev_bus = can_num_lookup[3];
+  if (bus != prev_bus) {
+    switch (prev_bus) {
       case 1:
-        puts("disable GMLAN on CAN2\n");
-        set_can_mode(1, 0);
-        bus_lookup[1] = 1;
-        can_num_lookup[1] = 1;
-        can_num_lookup[3] = -1;
-        can_init(1);
-        break;
       case 2:
-        puts("disable GMLAN on CAN3\n");
-        set_can_mode(2, 0);
-        bus_lookup[2] = 2;
-        can_num_lookup[2] = 2;
+        puts("Disable GMLAN on CAN");
+        puth(prev_bus + 1U);
+        puts("\n");
+        set_can_mode(prev_bus, 0);
+        bus_lookup[prev_bus] = prev_bus;
+        can_num_lookup[prev_bus] = prev_bus;
         can_num_lookup[3] = -1;
-        can_init(2);
+        can_init(prev_bus);
         break;
       default:
-        puts("GMLAN bus value invalid\n");
+        // GMLAN was not set on either BUS 1 or 2
         break;
     }
   }
 
-  if (bus == 1) {
-    puts("GMLAN on CAN2\n");
-    // GMLAN on CAN2
-    set_can_mode(1, 1);
-    bus_lookup[1] = 3;
-    can_num_lookup[1] = -1;
-    can_num_lookup[3] = 1;
-    can_init(1);
-  } else if (bus == 2) {
-    puts("GMLAN on CAN3\n");
-    // GMLAN on CAN3
-    set_can_mode(2, 1);
-    bus_lookup[2] = 3;
-    can_num_lookup[2] = -1;
-    can_num_lookup[3] = 2;
-    can_init(2);
+  // now enable GMLAN on the new bus
+  switch (bus) {
+    case 1:
+    case 2:
+      puts("Enable GMLAN on CAN");
+      puth(bus + 1U);
+      puts("\n");
+      set_can_mode(bus, 1);
+      bus_lookup[bus] = 3;
+      can_num_lookup[bus] = -1;
+      can_num_lookup[3] = bus;
+      can_init(bus);
+      break;
+    default:
+      puts("GMLAN can only be set on CAN2 or CAN3");
+      break;
   }
 }
 
@@ -232,7 +238,7 @@ void can_sce(CAN_TypeDef *CAN) {
 // ***************************** CAN *****************************
 
 void process_can(uint8_t can_number) {
-  if (can_number != 0xff) {
+  if (can_number != 0xffU) {
 
     enter_critical_section();
 
@@ -249,10 +255,10 @@ void process_can(uint8_t can_number) {
         if ((CAN->TSR & CAN_TSR_TXOK0) == CAN_TSR_TXOK0) {
           CAN_FIFOMailBox_TypeDef to_push;
           to_push.RIR = CAN->sTxMailBox[0].TIR;
-          to_push.RDTR = (CAN->sTxMailBox[0].TDTR & 0xFFFF000F) | ((CAN_BUS_RET_FLAG | bus_number) << 4);
+          to_push.RDTR = (CAN->sTxMailBox[0].TDTR & 0xFFFF000FU) | ((CAN_BUS_RET_FLAG | bus_number) << 4);
           to_push.RDLR = CAN->sTxMailBox[0].TDLR;
           to_push.RDHR = CAN->sTxMailBox[0].TDHR;
-          can_push(&can_rx_q, &to_push);
+          can_send_errs += !can_push(&can_rx_q, &to_push);
         }
 
         if ((CAN->TSR & CAN_TSR_TERR0) == CAN_TSR_TERR0) {
@@ -321,7 +327,7 @@ void can_rx(uint8_t can_number) {
     safety_rx_hook(&to_push);
 
     set_led(LED_BLUE, 1);
-    can_push(&can_rx_q, &to_push);
+    can_send_errs += !can_push(&can_rx_q, &to_push);
 
     // next
     CAN->RF0R |= CAN_RF0R_RFOM0;
@@ -346,11 +352,11 @@ void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number) {
       // add CAN packet to send queue
       // bus number isn't passed through
       to_push->RDTR &= 0xF;
-      if ((bus_number == 3) && (can_num_lookup[3] == 0xFF)) {
+      if ((bus_number == 3U) && (can_num_lookup[3] == 0xFFU)) {
         // TODO: why uint8 bro? only int8?
-        bitbang_gmlan(to_push);
+        gmlan_send_errs += !bitbang_gmlan(to_push);
       } else {
-        can_push(can_queues[bus_number], to_push);
+        can_fwd_errs += !can_push(can_queues[bus_number], to_push);
         process_can(CAN_NUM_FROM_BUS_NUM(bus_number));
       }
     }
diff --git a/board/drivers/clock.h b/board/drivers/clock.h
index a9f2dea730..d564c7f01d 100644
--- a/board/drivers/clock.h
+++ b/board/drivers/clock.h
@@ -3,7 +3,7 @@ void clock_init(void) {
   RCC->CR |= RCC_CR_HSEON;
   while ((RCC->CR & RCC_CR_HSERDY) == 0);
 
-  // divide shit
+  // divide things
   RCC->CFGR = RCC_CFGR_HPRE_DIV1 | RCC_CFGR_PPRE2_DIV2 | RCC_CFGR_PPRE1_DIV4;
 
   // 16mhz crystal
diff --git a/board/drivers/dac.h b/board/drivers/dac.h
index b8833dc4a6..ac565eb221 100644
--- a/board/drivers/dac.h
+++ b/board/drivers/dac.h
@@ -1,4 +1,7 @@
-void dac_init() {
+void puth(unsigned int i);
+void puts(const char *a);
+
+void dac_init(void) {
   // no buffers required since we have an opamp
   //DAC->CR = DAC_CR_EN1 | DAC_CR_BOFF1 | DAC_CR_EN2 | DAC_CR_BOFF2;
   DAC->DHR12R1 = 0;
@@ -11,6 +14,10 @@ void dac_set(int channel, uint32_t value) {
     DAC->DHR12R1 = value;
   } else if (channel == 1) {
     DAC->DHR12R2 = value;
+  } else {
+    puts("Failed to set DAC: invalid channel value: ");
+    puth(value);
+    puts("\n");
   }
 }
 
diff --git a/board/drivers/gmlan_alt.h b/board/drivers/gmlan_alt.h
index 357cffcd99..c697a21b41 100644
--- a/board/drivers/gmlan_alt.h
+++ b/board/drivers/gmlan_alt.h
@@ -41,35 +41,38 @@ int do_bitstuff(char *out, char *in, int in_len) {
 }
 
 int append_crc(char *in, int in_len) {
-  int crc = 0;
+  unsigned int crc = 0;
   for (int i = 0; i < in_len; i++) {
     crc <<= 1;
-    if ((in[i] ^ ((crc >> 15) & 1)) != 0) {
-      crc = crc ^ 0x4599;
+    if (((unsigned int)(in[i]) ^ ((crc >> 15) & 1U)) != 0U) {
+      crc = crc ^ 0x4599U;
     }
-    crc &= 0x7fff;
+    crc &= 0x7fffU;
   }
+  int in_len_copy = in_len;
   for (int i = 14; i >= 0; i--) {
-    in[in_len] = (crc>>i)&1;
-    in_len++;
+    in[in_len_copy] = (crc >> (unsigned int)(i)) & 1U;
+    in_len_copy++;
   }
-  return in_len;
+  return in_len_copy;
 }
 
 int append_bits(char *in, int in_len, char *app, int app_len) {
+  int in_len_copy = in_len;
   for (int i = 0; i < app_len; i++) {
-    in[in_len] = app[i];
-    in_len++;
+    in[in_len_copy] = app[i];
+    in_len_copy++;
   }
-  return in_len;
+  return in_len_copy;
 }
 
 int append_int(char *in, int in_len, int val, int val_len) {
-  for (int i = val_len-1; i >= 0; i--) {
-    in[in_len] = (val&(1<<i)) != 0;
-    in_len++;
+  int in_len_copy = in_len;
+  for (int i = val_len - 1; i >= 0; i--) {
+    in[in_len_copy] = ((unsigned int)(val) & (1U << (unsigned int)(i))) != 0U;
+    in_len_copy++;
   }
-  return in_len;
+  return in_len_copy;
 }
 
 int get_bit_message(char *out, CAN_FIFOMailBox_TypeDef *to_bang) {
@@ -92,7 +95,7 @@ int get_bit_message(char *out, CAN_FIFOMailBox_TypeDef *to_bang) {
     // extended identifier
     len = append_int(pkt, len, to_bang->RIR >> 21, 11);  // Identifier
     len = append_int(pkt, len, 3, 2);    // SRR+IDE
-    len = append_int(pkt, len, (to_bang->RIR >> 3) & ((1<<18)-1), 18);  // Identifier
+    len = append_int(pkt, len, (to_bang->RIR >> 3) & ((1U << 18) - 1U), 18);  // Identifier
     len = append_int(pkt, len, 0, 3);    // RTR+r1+r0
   } else {
     // standard identifier
@@ -168,15 +171,16 @@ void reset_gmlan_switch_timeout(void) {
 
 void set_bitbanged_gmlan(int val) {
   if (val != 0) {
-    GPIOB->ODR |= (1 << 13);
+    GPIOB->ODR |= (1U << 13);
   } else {
-    GPIOB->ODR &= ~(1 << 13);
+    GPIOB->ODR &= ~(1U << 13);
   }
 }
 
 char pkt_stuffed[MAX_BITS_CAN_PACKET];
 int gmlan_sending = -1;
 int gmlan_sendmax = -1;
+bool gmlan_send_ok = true;
 
 int gmlan_silent_count = 0;
 int gmlan_fail_count = 0;
@@ -193,7 +197,7 @@ void TIM4_IRQHandler(void) {
         } else {
           gmlan_silent_count++;
         }
-      } else if (gmlan_silent_count == REQUIRED_SILENT_TIME) {
+      } else {
         bool retry = 0;
         // in send loop
         if ((gmlan_sending > 0) &&  // not first bit
@@ -206,6 +210,8 @@ void TIM4_IRQHandler(void) {
         } else if ((read == 1) && (gmlan_sending == (gmlan_sendmax - 11))) {    // recessive during ACK
           puts("GMLAN ERR: didn't recv ACK\n");
           retry = 1;
+        } else {
+          // do not retry
         }
         if (retry) {
           // reset sender (retry after 7 silent)
@@ -215,6 +221,7 @@ void TIM4_IRQHandler(void) {
           gmlan_fail_count++;
           if (gmlan_fail_count == MAX_FAIL_COUNT) {
             puts("GMLAN ERR: giving up send\n");
+            gmlan_send_ok = false;
           }
         } else {
           set_bitbanged_gmlan(pkt_stuffed[gmlan_sending]);
@@ -230,9 +237,7 @@ void TIM4_IRQHandler(void) {
       }
     }
     TIM4->SR = 0;
-  } //bit bang mode
-
-  else if (gmlan_alt_mode == GPIO_SWITCH) {
+  } else if (gmlan_alt_mode == GPIO_SWITCH) {
     if ((TIM4->SR & TIM_SR_UIF) && (gmlan_switch_below_timeout != -1)) {
       if ((can_timeout_counter == 0) && gmlan_switch_timeout_enable) {
         //it has been more than 1 second since timeout was reset; disable timer and restore the GMLAN output
@@ -255,25 +260,27 @@ void TIM4_IRQHandler(void) {
       }
     }
     TIM4->SR = 0;
-  } //gmlan switch mode
+  } else {
+    puts("invalid gmlan_alt_mode\n");
+  }
 }
 
-void bitbang_gmlan(CAN_FIFOMailBox_TypeDef *to_bang) {
+bool bitbang_gmlan(CAN_FIFOMailBox_TypeDef *to_bang) {
+  gmlan_send_ok = true;
   gmlan_alt_mode = BITBANG;
-  // TODO: make failure less silent
-  if (gmlan_sendmax == -1) {
 
+  if (gmlan_sendmax == -1) {
     int len = get_bit_message(pkt_stuffed, to_bang);
     gmlan_fail_count = 0;
     gmlan_silent_count = 0;
     gmlan_sending = 0;
     gmlan_sendmax = len;
-
     // setup for bitbang loop
     set_bitbanged_gmlan(1); // recessive
     set_gpio_mode(GPIOB, 13, MODE_OUTPUT);
 
     setup_timer4();
   }
+  return gmlan_send_ok;
 }
 
diff --git a/board/drivers/llcan.h b/board/drivers/llcan.h
index 5d0b888458..0a698d4e8d 100644
--- a/board/drivers/llcan.h
+++ b/board/drivers/llcan.h
@@ -1,38 +1,48 @@
 // this is needed for 1 mbps support
-#define CAN_QUANTA 8
+#define CAN_QUANTA 8U
 #define CAN_SEQ1 6 // roundf(quanta * 0.875f) - 1;
 #define CAN_SEQ2 1 // roundf(quanta * 0.125f);
 
-#define CAN_PCLK 24000
+#define CAN_PCLK 24000U
 // 333 = 33.3 kbps
 // 5000 = 500 kbps
-#define can_speed_to_prescaler(x) (CAN_PCLK / CAN_QUANTA * 10 / (x))
+#define can_speed_to_prescaler(x) (CAN_PCLK / CAN_QUANTA * 10U / (x))
 
-bool llcan_set_speed(CAN_TypeDef *CAN, uint32_t speed, bool loopback, bool silent) {
+#define GET_BUS(msg) (((msg)->RDTR >> 4) & 0xFF)
+#define GET_LEN(msg) ((msg)->RDTR & 0xF)
+#define GET_ADDR(msg) ((((msg)->RIR & 4) != 0) ? ((msg)->RIR >> 3) : ((msg)->RIR >> 21))
+#define GET_BYTE(msg, b) (((int)(b) > 3) ? (((msg)->RDHR >> (8U * ((unsigned int)(b) % 4U))) & 0XFFU) : (((msg)->RDLR >> (8U * (unsigned int)(b))) & 0xFFU))
+#define GET_BYTES_04(msg) ((msg)->RDLR)
+#define GET_BYTES_48(msg) ((msg)->RDHR)
+
+void puts(const char *a);
+
+bool llcan_set_speed(CAN_TypeDef *CAN_obj, uint32_t speed, bool loopback, bool silent) {
   // initialization mode
-  CAN->MCR = CAN_MCR_TTCM | CAN_MCR_INRQ;
-  while((CAN->MSR & CAN_MSR_INAK) != CAN_MSR_INAK);
+  CAN_obj->MCR = CAN_MCR_TTCM | CAN_MCR_INRQ;
+  while((CAN_obj->MSR & CAN_MSR_INAK) != CAN_MSR_INAK);
 
   // set time quanta from defines
-  CAN->BTR = (CAN_BTR_TS1_0 * (CAN_SEQ1-1)) |
+  CAN_obj->BTR = (CAN_BTR_TS1_0 * (CAN_SEQ1-1)) |
             (CAN_BTR_TS2_0 * (CAN_SEQ2-1)) |
-            (can_speed_to_prescaler(speed) - 1);
+            (can_speed_to_prescaler(speed) - 1U);
 
   // silent loopback mode for debugging
   if (loopback) {
-    CAN->BTR |= CAN_BTR_SILM | CAN_BTR_LBKM;
+    CAN_obj->BTR |= CAN_BTR_SILM | CAN_BTR_LBKM;
   }
   if (silent) {
-    CAN->BTR |= CAN_BTR_SILM;
+    CAN_obj->BTR |= CAN_BTR_SILM;
   }
 
   // reset
-  CAN->MCR = CAN_MCR_TTCM | CAN_MCR_ABOM;
+  // cppcheck-suppress redundantAssignment ; it's a register
+  CAN_obj->MCR = CAN_MCR_TTCM | CAN_MCR_ABOM;
 
   #define CAN_TIMEOUT 1000000
   int tmp = 0;
   bool ret = false;
-  while(((CAN->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) && (tmp < CAN_TIMEOUT)) tmp++;
+  while(((CAN_obj->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) && (tmp < CAN_TIMEOUT)) tmp++;
   if (tmp < CAN_TIMEOUT) {
     ret = true;
   }
@@ -40,42 +50,45 @@ bool llcan_set_speed(CAN_TypeDef *CAN, uint32_t speed, bool loopback, bool silen
   return ret;
 }
 
-void llcan_init(CAN_TypeDef *CAN) {
+void llcan_init(CAN_TypeDef *CAN_obj) {
   // accept all filter
-  CAN->FMR |= CAN_FMR_FINIT;
+  CAN_obj->FMR |= CAN_FMR_FINIT;
 
   // no mask
-  CAN->sFilterRegister[0].FR1 = 0;
-  CAN->sFilterRegister[0].FR2 = 0;
-  CAN->sFilterRegister[14].FR1 = 0;
-  CAN->sFilterRegister[14].FR2 = 0;
-  CAN->FA1R |= 1 | (1U << 14);
+  CAN_obj->sFilterRegister[0].FR1 = 0;
+  CAN_obj->sFilterRegister[0].FR2 = 0;
+  CAN_obj->sFilterRegister[14].FR1 = 0;
+  CAN_obj->sFilterRegister[14].FR2 = 0;
+  CAN_obj->FA1R |= 1U | (1U << 14);
 
-  CAN->FMR &= ~(CAN_FMR_FINIT);
+  CAN_obj->FMR &= ~(CAN_FMR_FINIT);
 
   // enable certain CAN interrupts
-  CAN->IER |= CAN_IER_TMEIE | CAN_IER_FMPIE0 |  CAN_IER_WKUIE;
+  CAN_obj->IER |= CAN_IER_TMEIE | CAN_IER_FMPIE0 |  CAN_IER_WKUIE;
 
-  if (CAN == CAN1) {
+  if (CAN_obj == CAN1) {
     NVIC_EnableIRQ(CAN1_TX_IRQn);
     NVIC_EnableIRQ(CAN1_RX0_IRQn);
     NVIC_EnableIRQ(CAN1_SCE_IRQn);
-  } else if (CAN == CAN2) {
+  } else if (CAN_obj == CAN2) {
     NVIC_EnableIRQ(CAN2_TX_IRQn);
     NVIC_EnableIRQ(CAN2_RX0_IRQn);
     NVIC_EnableIRQ(CAN2_SCE_IRQn);
 #ifdef CAN3
-  } else if (CAN == CAN3) {
+  } else if (CAN_obj == CAN3) {
     NVIC_EnableIRQ(CAN3_TX_IRQn);
     NVIC_EnableIRQ(CAN3_RX0_IRQn);
     NVIC_EnableIRQ(CAN3_SCE_IRQn);
 #endif
+  } else {
+    puts("Invalid CAN: initialization failed\n");
   }
 }
 
-void llcan_clear_send(CAN_TypeDef *CAN) {
-  CAN->TSR |= CAN_TSR_ABRQ0;
-  CAN->MSR &= ~(CAN_MSR_ERRI);
-  CAN->MSR = CAN->MSR;
+void llcan_clear_send(CAN_TypeDef *CAN_obj) {
+  CAN_obj->TSR |= CAN_TSR_ABRQ0;
+  CAN_obj->MSR &= ~(CAN_MSR_ERRI);
+  // cppcheck-suppress selfAssignment ; needed to clear the register
+  CAN_obj->MSR = CAN_obj->MSR;
 }
 
diff --git a/board/drivers/llgpio.h b/board/drivers/llgpio.h
index 172776eb35..f84ee7f8ae 100644
--- a/board/drivers/llgpio.h
+++ b/board/drivers/llgpio.h
@@ -7,38 +7,38 @@
 #define PULL_UP 1
 #define PULL_DOWN 2
 
-void set_gpio_mode(GPIO_TypeDef *GPIO, int pin, int mode) {
+void set_gpio_mode(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int mode) {
   uint32_t tmp = GPIO->MODER;
-  tmp &= ~(3 << (pin*2));
-  tmp |= (mode << (pin*2));
+  tmp &= ~(3U << (pin * 2U));
+  tmp |= (mode << (pin * 2U));
   GPIO->MODER = tmp;
 }
 
-void set_gpio_output(GPIO_TypeDef *GPIO, int pin, bool enabled) {
+void set_gpio_output(GPIO_TypeDef *GPIO, unsigned int pin, bool enabled) {
   if (enabled) {
-    GPIO->ODR |= (1 << pin);
+    GPIO->ODR |= (1U << pin);
   } else {
-    GPIO->ODR &= ~(1 << pin);
+    GPIO->ODR &= ~(1U << pin);
   }
   set_gpio_mode(GPIO, pin, MODE_OUTPUT);
 }
 
-void set_gpio_alternate(GPIO_TypeDef *GPIO, int pin, int mode) {
-  uint32_t tmp = GPIO->AFR[pin>>3];
-  tmp &= ~(0xF << ((pin&7)*4));
-  tmp |= mode << ((pin&7)*4);
-  GPIO->AFR[pin>>3] = tmp;
+void set_gpio_alternate(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int mode) {
+  uint32_t tmp = GPIO->AFR[pin >> 3U];
+  tmp &= ~(0xFU << ((pin & 7U) * 4U));
+  tmp |= mode << ((pin & 7U) * 4U);
+  GPIO->AFR[pin >> 3] = tmp;
   set_gpio_mode(GPIO, pin, MODE_ALTERNATE);
 }
 
-void set_gpio_pullup(GPIO_TypeDef *GPIO, int pin, int mode) {
+void set_gpio_pullup(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int mode) {
   uint32_t tmp = GPIO->PUPDR;
-  tmp &= ~(3 << (pin*2));
-  tmp |= (mode << (pin*2));
+  tmp &= ~(3U << (pin * 2U));
+  tmp |= (mode << (pin * 2U));
   GPIO->PUPDR = tmp;
 }
 
-int get_gpio_input(GPIO_TypeDef *GPIO, int pin) {
+int get_gpio_input(GPIO_TypeDef *GPIO, unsigned int pin) {
   return (GPIO->IDR & (1U << pin)) == (1U << pin);
 }
 
diff --git a/board/drivers/spi.h b/board/drivers/spi.h
index b61cd719a1..26690984de 100644
--- a/board/drivers/spi.h
+++ b/board/drivers/spi.h
@@ -28,8 +28,8 @@ void spi_init(void) {
 
   // setup interrupt on falling edge of SPI enable (on PA4)
   SYSCFG->EXTICR[2] = SYSCFG_EXTICR2_EXTI4_PA;
-  EXTI->IMR |= (1 << 4);
-  EXTI->FTSR |= (1 << 4);
+  EXTI->IMR |= (1U << 4);
+  EXTI->FTSR |= (1U << 4);
   NVIC_EnableIRQ(EXTI4_IRQn);
 }
 
@@ -85,7 +85,7 @@ uint8_t spi_tx_buf[0x44];
 // SPI RX
 void DMA2_Stream2_IRQHandler(void) {
   int *resp_len = (int*)spi_tx_buf;
-  memset(spi_tx_buf, 0xaa, 0x44);
+  (void)memset(spi_tx_buf, 0xaa, 0x44);
   *resp_len = spi_cb_rx(spi_buf, 0x14, spi_tx_buf+4);
   #ifdef DEBUG_SPI
     puts("SPI write: ");
@@ -113,12 +113,12 @@ void DMA2_Stream3_IRQHandler(void) {
 }
 
 void EXTI4_IRQHandler(void) {
-  volatile int pr = EXTI->PR & (1 << 4);
+  volatile unsigned int pr = EXTI->PR & (1U << 4);
   #ifdef DEBUG_SPI
     puts("exti4\n");
   #endif
   // SPI CS falling
-  if ((pr & (1 << 4)) != 0) {
+  if ((pr & (1U << 4)) != 0U) {
     spi_total_count = 0;
     spi_rx_dma(spi_buf, 0x14);
   }
diff --git a/board/drivers/uart.h b/board/drivers/uart.h
index f86c5f1593..5c5452483d 100644
--- a/board/drivers/uart.h
+++ b/board/drivers/uart.h
@@ -1,6 +1,6 @@
 // IRQs: USART1, USART2, USART3, UART5
 
-#define FIFO_SIZE 0x400
+#define FIFO_SIZE 0x400U
 typedef struct uart_ring {
   volatile uint16_t w_ptr_tx;
   volatile uint16_t r_ptr_tx;
@@ -81,7 +81,7 @@ void uart_ring_process(uart_ring *q) {
   if (q->w_ptr_tx != q->r_ptr_tx) {
     if ((sr & USART_SR_TXE) != 0) {
       q->uart->DR = q->elems_tx[q->r_ptr_tx];
-      q->r_ptr_tx = (q->r_ptr_tx + 1) % FIFO_SIZE;
+      q->r_ptr_tx = (q->r_ptr_tx + 1U) % FIFO_SIZE;
     }
     // there could be more to send
     q->uart->CR1 |= USART_CR1_TXEIE;
@@ -93,7 +93,7 @@ void uart_ring_process(uart_ring *q) {
   if ((sr & USART_SR_RXNE) || (sr & USART_SR_ORE)) {
     uint8_t c = q->uart->DR;  // TODO: can drop packets
     if (q != &esp_ring) {
-      uint16_t next_w_ptr = (q->w_ptr_rx + 1) % FIFO_SIZE;
+      uint16_t next_w_ptr = (q->w_ptr_rx + 1U) % FIFO_SIZE;
       if (next_w_ptr != q->r_ptr_rx) {
         q->elems_rx[q->w_ptr_rx] = c;
         q->w_ptr_rx = next_w_ptr;
@@ -124,7 +124,7 @@ bool getc(uart_ring *q, char *elem) {
   enter_critical_section();
   if (q->w_ptr_rx != q->r_ptr_rx) {
     if (elem != NULL) *elem = q->elems_rx[q->r_ptr_rx];
-    q->r_ptr_rx = (q->r_ptr_rx + 1) % FIFO_SIZE;
+    q->r_ptr_rx = (q->r_ptr_rx + 1U) % FIFO_SIZE;
     ret = true;
   }
   exit_critical_section();
@@ -137,7 +137,7 @@ bool injectc(uart_ring *q, char elem) {
   uint16_t next_w_ptr;
 
   enter_critical_section();
-  next_w_ptr = (q->w_ptr_rx + 1) % FIFO_SIZE;
+  next_w_ptr = (q->w_ptr_rx + 1U) % FIFO_SIZE;
   if (next_w_ptr != q->r_ptr_rx) {
     q->elems_rx[q->w_ptr_rx] = elem;
     q->w_ptr_rx = next_w_ptr;
@@ -153,7 +153,7 @@ bool putc(uart_ring *q, char elem) {
   uint16_t next_w_ptr;
 
   enter_critical_section();
-  next_w_ptr = (q->w_ptr_tx + 1) % FIFO_SIZE;
+  next_w_ptr = (q->w_ptr_tx + 1U) % FIFO_SIZE;
   if (next_w_ptr != q->r_ptr_tx) {
     q->elems_tx[q->w_ptr_tx] = elem;
     q->w_ptr_tx = next_w_ptr;
@@ -195,17 +195,17 @@ void clear_uart_buff(uart_ring *q) {
 
 // ***************************** start UART code *****************************
 
-#define __DIV(_PCLK_, _BAUD_)                        (((_PCLK_) * 25) / (4 * (_BAUD_)))
-#define __DIVMANT(_PCLK_, _BAUD_)                    (__DIV((_PCLK_), (_BAUD_)) / 100)
-#define __DIVFRAQ(_PCLK_, _BAUD_)                    ((((__DIV((_PCLK_), (_BAUD_)) - (__DIVMANT((_PCLK_), (_BAUD_)) * 100)) * 16) + 50) / 100)
-#define __USART_BRR(_PCLK_, _BAUD_)              ((__DIVMANT((_PCLK_), (_BAUD_)) << 4) | (__DIVFRAQ((_PCLK_), (_BAUD_)) & 0x0F))
+#define __DIV(_PCLK_, _BAUD_)                        (((_PCLK_) * 25U) / (4U * (_BAUD_)))
+#define __DIVMANT(_PCLK_, _BAUD_)                    (__DIV((_PCLK_), (_BAUD_)) / 100U)
+#define __DIVFRAQ(_PCLK_, _BAUD_)                    ((((__DIV((_PCLK_), (_BAUD_)) - (__DIVMANT((_PCLK_), (_BAUD_)) * 100U)) * 16U) + 50U) / 100U)
+#define __USART_BRR(_PCLK_, _BAUD_)              ((__DIVMANT((_PCLK_), (_BAUD_)) << 4) | (__DIVFRAQ((_PCLK_), (_BAUD_)) & 0x0FU))
 
-void uart_set_baud(USART_TypeDef *u, int baud) {
+void uart_set_baud(USART_TypeDef *u, unsigned int baud) {
   if (u == USART1) {
     // USART1 is on APB2
-    u->BRR = __USART_BRR(48000000, baud);
+    u->BRR = __USART_BRR(48000000U, baud);
   } else {
-    u->BRR = __USART_BRR(24000000, baud);
+    u->BRR = __USART_BRR(24000000U, baud);
   }
 }
 
@@ -226,7 +226,7 @@ void uart_dma_drain(void) {
     unsigned int i;
     for (i = 0; i < (USART1_DMA_LEN - DMA2_Stream5->NDTR); i++) {
       char c = usart1_dma[i];
-      uint16_t next_w_ptr = (q->w_ptr_rx + 1) % FIFO_SIZE;
+      uint16_t next_w_ptr = (q->w_ptr_rx + 1U) % FIFO_SIZE;
       if (next_w_ptr != q->r_ptr_rx) {
         q->elems_rx[q->w_ptr_rx] = c;
         q->w_ptr_rx = next_w_ptr;
@@ -289,6 +289,8 @@ void uart_init(USART_TypeDef *u, int baud) {
     NVIC_EnableIRQ(USART3_IRQn);
   } else if (u == UART5) {
     NVIC_EnableIRQ(UART5_IRQn);
+  } else {
+    // USART type undefined, skip
   }
 }
 
@@ -302,49 +304,48 @@ void putch(const char a) {
 
     //putc(&debug_ring, a);
   } else {
-    injectc(&debug_ring, a);
+    // misra-c2012-17.7: serial debug function, ok to ignore output
+    (void)injectc(&debug_ring, a);
   }
 }
 
 void puts(const char *a) {
-  for (;*a;a++) {
-    if (*a == '\n') putch('\r');
-    putch(*a);
+  for (const char *in = a; *in; in++) {
+    if (*in == '\n') putch('\r');
+    putch(*in);
   }
 }
 
 void putui(uint32_t i) {
+  uint32_t i_copy = i;
   char str[11];
   uint8_t idx = 10;
   str[idx] = '\0';
   idx--;
   do {
-    str[idx] = (i % 10) + 0x30;
+    str[idx] = (i_copy % 10U) + 0x30U;
     idx--;
-    i /= 10;
-  } while (i != 0);
-  puts(str + idx + 1);
+    i_copy /= 10;
+  } while (i_copy != 0U);
+  puts(str + idx + 1U);
 }
 
 void puth(unsigned int i) {
-  int pos;
   char c[] = "0123456789abcdef";
-  for (pos = 28; pos != -4; pos -= 4) {
-    putch(c[(i >> pos) & 0xF]);
+  for (int pos = 28; pos != -4; pos -= 4) {
+    putch(c[(i >> (unsigned int)(pos)) & 0xFU]);
   }
 }
 
 void puth2(unsigned int i) {
-  int pos;
   char c[] = "0123456789abcdef";
-  for (pos = 4; pos != -4; pos -= 4) {
-    putch(c[(i >> pos) & 0xF]);
+  for (int pos = 4; pos != -4; pos -= 4) {
+    putch(c[(i >> (unsigned int)(pos)) & 0xFU]);
   }
 }
 
 void hexdump(const void *a, int l) {
-  int i;
-  for (i=0;i<l;i++) {
+  for (int i=0; i < l; i++) {
     if ((i != 0) && ((i & 0xf) == 0)) puts("\n");
     puth2(((const unsigned char*)a)[i]);
     puts(" ");
diff --git a/board/drivers/usb.h b/board/drivers/usb.h
index e275e6a1a5..e55906d89e 100644
--- a/board/drivers/usb.h
+++ b/board/drivers/usb.h
@@ -25,9 +25,9 @@ USB_Setup_TypeDef;
 
 void usb_init(void);
 int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired);
-int usb_cb_ep1_in(uint8_t *usbdata, int len, bool hardwired);
-void usb_cb_ep2_out(uint8_t *usbdata, int len, bool hardwired);
-void usb_cb_ep3_out(uint8_t *usbdata, int len, bool hardwired);
+int usb_cb_ep1_in(void *usbdata, int len, bool hardwired);
+void usb_cb_ep2_out(void *usbdata, int len, bool hardwired);
+void usb_cb_ep3_out(void *usbdata, int len, bool hardwired);
 void usb_cb_enumeration_complete(void);
 
 // **** supporting defines ****
@@ -96,7 +96,7 @@ USB_OTG_GlobalTypeDef *USBx = USB_OTG_FS;
 #define STS_SETUP_COMP                         4
 #define STS_SETUP_UPDT                         6
 
-#define USBD_FS_TRDT_VALUE           5
+#define USBD_FS_TRDT_VALUE           5U
 
 #define USB_OTG_SPEED_FULL 3
 
@@ -125,7 +125,7 @@ uint8_t resp[MAX_RESP_LEN];
 
 // Convert machine byte order to USB byte order
 #define TOUSBORDER(num)\
-  ((num) & 0xFF), (((num) >> 8) & 0xFF)
+  ((num) & 0xFFU), (((num) >> 8) & 0xFFU)
 
 // take in string length and return the first 2 bytes of a string descriptor
 #define STRING_DESCRIPTOR_HEADER(size)\
@@ -158,7 +158,7 @@ uint8_t device_qualifier[] = {
 
 uint8_t configuration_desc[] = {
   DSCR_CONFIG_LEN, USB_DESC_TYPE_CONFIGURATION, // Length, Type,
-  TOUSBORDER(0x0045), // Total Len (uint16)
+  TOUSBORDER(0x0045U), // Total Len (uint16)
   0x01, 0x01, STRING_OFFSET_ICONFIGURATION, // Num Interface, Config Value, Configuration
   0xc0, 0x32, // Attributes, Max Power
   // interface 0 ALT 0
@@ -169,17 +169,17 @@ uint8_t configuration_desc[] = {
     // endpoint 1, read CAN
     DSCR_ENDPOINT_LEN, USB_DESC_TYPE_ENDPOINT, // Length, Type
     ENDPOINT_RCV | 1, ENDPOINT_TYPE_BULK, // Endpoint Num/Direction, Type
-    TOUSBORDER(0x0040), // Max Packet (0x0040)
+    TOUSBORDER(0x0040U), // Max Packet (0x0040)
     0x00, // Polling Interval (NA)
     // endpoint 2, send serial
     DSCR_ENDPOINT_LEN, USB_DESC_TYPE_ENDPOINT, // Length, Type
     ENDPOINT_SND | 2, ENDPOINT_TYPE_BULK, // Endpoint Num/Direction, Type
-    TOUSBORDER(0x0040), // Max Packet (0x0040)
+    TOUSBORDER(0x0040U), // Max Packet (0x0040)
     0x00, // Polling Interval
     // endpoint 3, send CAN
     DSCR_ENDPOINT_LEN, USB_DESC_TYPE_ENDPOINT, // Length, Type
     ENDPOINT_SND | 3, ENDPOINT_TYPE_BULK, // Endpoint Num/Direction, Type
-    TOUSBORDER(0x0040), // Max Packet (0x0040)
+    TOUSBORDER(0x0040U), // Max Packet (0x0040)
     0x00, // Polling Interval
   // interface 0 ALT 1
   DSCR_INTERFACE_LEN, USB_DESC_TYPE_INTERFACE, // Length, Type
@@ -189,17 +189,17 @@ uint8_t configuration_desc[] = {
     // endpoint 1, read CAN
     DSCR_ENDPOINT_LEN, USB_DESC_TYPE_ENDPOINT, // Length, Type
     ENDPOINT_RCV | 1, ENDPOINT_TYPE_INT, // Endpoint Num/Direction, Type
-    TOUSBORDER(0x0040), // Max Packet (0x0040)
+    TOUSBORDER(0x0040U), // Max Packet (0x0040)
     0x05, // Polling Interval (5 frames)
     // endpoint 2, send serial
     DSCR_ENDPOINT_LEN, USB_DESC_TYPE_ENDPOINT, // Length, Type
     ENDPOINT_SND | 2, ENDPOINT_TYPE_BULK, // Endpoint Num/Direction, Type
-    TOUSBORDER(0x0040), // Max Packet (0x0040)
+    TOUSBORDER(0x0040U), // Max Packet (0x0040)
     0x00, // Polling Interval
     // endpoint 3, send CAN
     DSCR_ENDPOINT_LEN, USB_DESC_TYPE_ENDPOINT, // Length, Type
     ENDPOINT_SND | 3, ENDPOINT_TYPE_BULK, // Endpoint Num/Direction, Type
-    TOUSBORDER(0x0040), // Max Packet (0x0040)
+    TOUSBORDER(0x0040U), // Max Packet (0x0040)
     0x00, // Polling Interval
 };
 
@@ -394,36 +394,36 @@ int current_int0_alt_setting = 0;
 // packet read and write
 
 void *USB_ReadPacket(void *dest, uint16_t len) {
-  uint32_t i=0;
-  uint32_t count32b = (len + 3) / 4;
+  uint32_t *dest_copy = (uint32_t *)dest;
+  uint32_t count32b = (len + 3U) / 4U;
 
-  for ( i = 0; i < count32b; i++) {
-    // packed?
-    *(__attribute__((__packed__)) uint32_t *)dest = USBx_DFIFO(0);
-    dest += 4;
+  for (uint32_t i = 0; i < count32b; i++) {
+    *dest_copy = USBx_DFIFO(0);
+    dest_copy++;
   }
-  return ((void *)dest);
+  return ((void *)dest_copy);
 }
 
-void USB_WritePacket(const uint8_t *src, uint16_t len, uint32_t ep) {
+void USB_WritePacket(const void *src, uint16_t len, uint32_t ep) {
   #ifdef DEBUG_USB
   puts("writing ");
   hexdump(src, len);
   #endif
 
-  uint8_t numpacket = (len+(MAX_RESP_LEN-1))/MAX_RESP_LEN;
-  uint32_t count32b = 0, i = 0;
-  count32b = (len + 3) / 4;
+  uint8_t numpacket = (len + (MAX_RESP_LEN - 1U)) / MAX_RESP_LEN;
+  uint32_t count32b = 0;
+  count32b = (len + 3U) / 4U;
 
-  // bullshit
+  // TODO: revisit this
   USBx_INEP(ep)->DIEPTSIZ = ((numpacket << 19) & USB_OTG_DIEPTSIZ_PKTCNT) |
                             (len               & USB_OTG_DIEPTSIZ_XFRSIZ);
   USBx_INEP(ep)->DIEPCTL |= (USB_OTG_DIEPCTL_CNAK | USB_OTG_DIEPCTL_EPENA);
 
   // load the FIFO
-  for (i = 0; i < count32b; i++) {
-    USBx_DFIFO(ep) = *((__attribute__((__packed__)) uint32_t *)src);
-    src += 4;
+  const uint32_t *src_copy = (const uint32_t *)src;
+  for (uint32_t i = 0; i < count32b; i++) {
+    USBx_DFIFO(ep) = *src_copy;
+    src_copy++;
   }
 }
 
@@ -471,10 +471,10 @@ void usb_reset(void) {
   USBx->GRXFSIZ = 0x40;
 
   // 0x100 to offset past GRXFSIZ
-  USBx->DIEPTXF0_HNPTXFSIZ = (0x40 << 16) | 0x40;
+  USBx->DIEPTXF0_HNPTXFSIZ = (0x40U << 16) | 0x40U;
 
   // EP1, massive
-  USBx->DIEPTXF[0] = (0x40 << 16) | 0x80;
+  USBx->DIEPTXF[0] = (0x40U << 16) | 0x80U;
 
   // flush TX fifo
   USBx->GRSTCTL = USB_OTG_GRSTCTL_TXFFLSH | USB_OTG_GRSTCTL_TXFNUM_4;
@@ -487,7 +487,7 @@ void usb_reset(void) {
   USBx_DEVICE->DCTL |= USB_OTG_DCTL_CGINAK;
 
   // ready to receive setup packets
-  USBx_OUTEP(0)->DOEPTSIZ = USB_OTG_DOEPTSIZ_STUPCNT | (USB_OTG_DOEPTSIZ_PKTCNT & (1 << 19)) | (3 * 8);
+  USBx_OUTEP(0)->DOEPTSIZ = USB_OTG_DOEPTSIZ_STUPCNT | (USB_OTG_DOEPTSIZ_PKTCNT & (1U << 19)) | (3U << 3);
 }
 
 char to_hex_char(int a) {
@@ -506,17 +506,17 @@ void usb_setup(void) {
   switch (setup.b.bRequest) {
     case USB_REQ_SET_CONFIGURATION:
       // enable other endpoints, has to be here?
-      USBx_INEP(1)->DIEPCTL = (0x40 & USB_OTG_DIEPCTL_MPSIZ) | (2 << 18) | (1 << 22) |
+      USBx_INEP(1)->DIEPCTL = (0x40U & USB_OTG_DIEPCTL_MPSIZ) | (2U << 18) | (1U << 22) |
                               USB_OTG_DIEPCTL_SD0PID_SEVNFRM | USB_OTG_DIEPCTL_USBAEP;
       USBx_INEP(1)->DIEPINT = 0xFF;
 
-      USBx_OUTEP(2)->DOEPTSIZ = (1 << 19) | 0x40;
-      USBx_OUTEP(2)->DOEPCTL = (0x40 & USB_OTG_DOEPCTL_MPSIZ) | (2 << 18) |
+      USBx_OUTEP(2)->DOEPTSIZ = (1U << 19) | 0x40U;
+      USBx_OUTEP(2)->DOEPCTL = (0x40U & USB_OTG_DOEPCTL_MPSIZ) | (2U << 18) |
                                USB_OTG_DOEPCTL_SD0PID_SEVNFRM | USB_OTG_DOEPCTL_USBAEP;
       USBx_OUTEP(2)->DOEPINT = 0xFF;
 
-      USBx_OUTEP(3)->DOEPTSIZ = (1 << 19) | 0x40;
-      USBx_OUTEP(3)->DOEPCTL = (0x40 & USB_OTG_DOEPCTL_MPSIZ) | (2 << 18) |
+      USBx_OUTEP(3)->DOEPTSIZ = (1U << 19) | 0x40U;
+      USBx_OUTEP(3)->DOEPCTL = (0x40U & USB_OTG_DOEPCTL_MPSIZ) | (2U << 18) |
                                USB_OTG_DOEPCTL_SD0PID_SEVNFRM | USB_OTG_DOEPCTL_USBAEP;
       USBx_OUTEP(3)->DOEPINT = 0xFF;
 
@@ -529,7 +529,7 @@ void usb_setup(void) {
       break;
     case USB_REQ_SET_ADDRESS:
       // set now?
-      USBx_DEVICE->DCFG |= ((setup.b.wValue.w & 0x7f) << 4);
+      USBx_DEVICE->DCFG |= ((setup.b.wValue.w & 0x7fU) << 4);
 
       #ifdef DEBUG_USB
         puts(" set address\n");
@@ -575,16 +575,16 @@ void usb_setup(void) {
               break;
             case STRING_OFFSET_ISERIAL:
               #ifdef UID_BASE
-                resp[0] = 0x02 + 12*4;
+                resp[0] = 0x02 + (12 * 4);
                 resp[1] = 0x03;
 
                 // 96 bits = 12 bytes
                 for (int i = 0; i < 12; i++){
                   uint8_t cc = ((uint8_t *)UID_BASE)[i];
-                  resp[2 + i*4 + 0] = to_hex_char((cc>>4)&0xF);
-                  resp[2 + i*4 + 1] = '\0';
-                  resp[2 + i*4 + 2] = to_hex_char((cc>>0)&0xF);
-                  resp[2 + i*4 + 3] = '\0';
+                  resp[2 + (i * 4) + 0] = to_hex_char((cc >> 4) & 0xFU);
+                  resp[2 + (i * 4) + 1] = '\0';
+                  resp[2 + (i * 4) + 2] = to_hex_char((cc >> 0) & 0xFU);
+                  resp[2 + (i * 4) + 3] = '\0';
                 }
 
                 USB_WritePacket(resp, MIN(resp[0], setup.b.wLength.w), 0);
@@ -683,7 +683,7 @@ void usb_init(void) {
   USBx->GUSBCFG = USB_OTG_GUSBCFG_PHYSEL | USB_OTG_GUSBCFG_FDMOD;
 
   // slowest timings
-  USBx->GUSBCFG |= (uint32_t)((USBD_FS_TRDT_VALUE << 10) & USB_OTG_GUSBCFG_TRDT);
+  USBx->GUSBCFG |= ((USBD_FS_TRDT_VALUE << 10) & USB_OTG_GUSBCFG_TRDT);
 
   // power up the PHY
 #ifdef STM32F4
@@ -732,7 +732,6 @@ void usb_init(void) {
   USBx->GAHBCFG = USB_OTG_GAHBCFG_GINT;
 
   // DCTL startup value is 2 on new chip, 0 on old chip
-  // THIS IS FUCKING BULLSHIT
   USBx_DEVICE->DCTL = 0;
 
   // enable the IRQ
@@ -793,21 +792,22 @@ void usb_irqhandler(void) {
   if ((gintsts & USB_OTG_GINTSTS_RXFLVL) != 0) {
     // 1. Read the Receive status pop register
     volatile unsigned int rxst = USBx->GRXSTSP;
+    int status = (rxst & USB_OTG_GRXSTSP_PKTSTS) >> 17;
 
     #ifdef DEBUG_USB
       puts(" RX FIFO:");
       puth(rxst);
       puts(" status: ");
-      puth((rxst & USB_OTG_GRXSTSP_PKTSTS) >> 17);
+      puth(status);
       puts(" len: ");
       puth((rxst & USB_OTG_GRXSTSP_BCNT) >> 4);
       puts("\n");
     #endif
 
-    if (((rxst & USB_OTG_GRXSTSP_PKTSTS) >> 17) == STS_DATA_UPDT) {
+    if (status == STS_DATA_UPDT) {
       int endpoint = (rxst & USB_OTG_GRXSTSP_EPNUM);
       int len = (rxst & USB_OTG_GRXSTSP_BCNT) >> 4;
-      USB_ReadPacket(&usbdata, len);
+      (void)USB_ReadPacket(&usbdata, len);
       #ifdef DEBUG_USB
         puts("  data ");
         puth(len);
@@ -822,13 +822,15 @@ void usb_irqhandler(void) {
       if (endpoint == 3) {
         usb_cb_ep3_out(usbdata, len, 1);
       }
-    } else if (((rxst & USB_OTG_GRXSTSP_PKTSTS) >> 17) == STS_SETUP_UPDT) {
-      USB_ReadPacket(&setup, 8);
+    } else if (status == STS_SETUP_UPDT) {
+      (void)USB_ReadPacket(&setup, 8);
       #ifdef DEBUG_USB
         puts("  setup ");
         hexdump(&setup, 8);
         puts("\n");
       #endif
+    } else {
+      // status is neither STS_DATA_UPDT or STS_SETUP_UPDT, skip
     }
   }
 
@@ -882,7 +884,7 @@ void usb_irqhandler(void) {
       #ifdef DEBUG_USB
         puts("  OUT2 PACKET XFRC\n");
       #endif
-      USBx_OUTEP(2)->DOEPTSIZ = (1 << 19) | 0x40;
+      USBx_OUTEP(2)->DOEPTSIZ = (1U << 19) | 0x40U;
       USBx_OUTEP(2)->DOEPCTL |= USB_OTG_DOEPCTL_EPENA | USB_OTG_DOEPCTL_CNAK;
     }
 
@@ -890,24 +892,26 @@ void usb_irqhandler(void) {
       #ifdef DEBUG_USB
         puts("  OUT3 PACKET XFRC\n");
       #endif
-      USBx_OUTEP(3)->DOEPTSIZ = (1 << 19) | 0x40;
+      USBx_OUTEP(3)->DOEPTSIZ = (1U << 19) | 0x40U;
       USBx_OUTEP(3)->DOEPCTL |= USB_OTG_DOEPCTL_EPENA | USB_OTG_DOEPCTL_CNAK;
     } else if ((USBx_OUTEP(3)->DOEPINT & 0x2000) != 0) {
       #ifdef DEBUG_USB
         puts("  OUT3 PACKET WTF\n");
       #endif
       // if NAK was set trigger this, unknown interrupt
-      USBx_OUTEP(3)->DOEPTSIZ = (1 << 19) | 0x40;
+      USBx_OUTEP(3)->DOEPTSIZ = (1U << 19) | 0x40U;
       USBx_OUTEP(3)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
     } else if ((USBx_OUTEP(3)->DOEPINT) != 0) {
       puts("OUTEP3 error ");
       puth(USBx_OUTEP(3)->DOEPINT);
       puts("\n");
+    } else {
+      // USBx_OUTEP(3)->DOEPINT is 0, ok to skip
     }
 
     if ((USBx_OUTEP(0)->DOEPINT & USB_OTG_DIEPINT_XFRC) != 0) {
       // ready for next packet
-      USBx_OUTEP(0)->DOEPTSIZ = USB_OTG_DOEPTSIZ_STUPCNT | (USB_OTG_DOEPTSIZ_PKTCNT & (1 << 19)) | (1 * 8);
+      USBx_OUTEP(0)->DOEPTSIZ = USB_OTG_DOEPTSIZ_STUPCNT | (USB_OTG_DOEPTSIZ_PKTCNT & (1U << 19)) | (1U << 3);
     }
 
     // respond to setup packets
@@ -978,12 +982,12 @@ void usb_irqhandler(void) {
       puts("  IN PACKET QUEUE\n");
       #endif
 
-      if ((ep0_txlen != 0) && ((USBx_INEP(0)->DTXFSTS & USB_OTG_DTXFSTS_INEPTFSAV) >= 0x40)) {
+      if ((ep0_txlen != 0U) && ((USBx_INEP(0)->DTXFSTS & USB_OTG_DTXFSTS_INEPTFSAV) >= 0x40U)) {
         uint16_t len = MIN(ep0_txlen, 0x40);
         USB_WritePacket(ep0_txdata, len, 0);
         ep0_txdata += len;
         ep0_txlen -= len;
-        if (ep0_txlen == 0) {
+        if (ep0_txlen == 0U) {
           ep0_txdata = NULL;
           USBx_DEVICE->DIEPEMPMSK &= ~1;
           USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
diff --git a/board/gpio.h b/board/gpio.h
index 26a82d6275..e1936527e2 100644
--- a/board/gpio.h
+++ b/board/gpio.h
@@ -99,9 +99,9 @@ void periph_init(void) {
 
 // ********************* setters *********************
 
-void set_can_enable(CAN_TypeDef *CAN, bool enabled) {
+void set_can_enable(CAN_TypeDef *CAN_obj, bool enabled) {
   // enable CAN busses
-  if (CAN == CAN1) {
+  if (CAN_obj == CAN1) {
     #ifdef PANDA
       // CAN1_EN
       set_gpio_output(GPIOC, 1, !enabled);
@@ -114,7 +114,7 @@ void set_can_enable(CAN_TypeDef *CAN, bool enabled) {
         set_gpio_output(GPIOB, 3, enabled);
       #endif
     #endif
-  } else if (CAN == CAN2) {
+  } else if (CAN_obj == CAN2) {
     #ifdef PANDA
       // CAN2_EN
       set_gpio_output(GPIOC, 13, !enabled);
@@ -123,10 +123,12 @@ void set_can_enable(CAN_TypeDef *CAN, bool enabled) {
       set_gpio_output(GPIOB, 4, enabled);
     #endif
   #ifdef CAN3
-  } else if (CAN == CAN3) {
+  } else if (CAN_obj == CAN3) {
     // CAN3_EN
     set_gpio_output(GPIOA, 0, !enabled);
   #endif
+  } else {
+    puts("Invalid CAN: enabling failed\n");
   }
 }
 
@@ -171,6 +173,8 @@ void set_can_mode(int can, bool use_gmlan) {
       set_gpio_alternate(GPIOB, 3, GPIO_AF11_CAN3);
       set_gpio_alternate(GPIOB, 4, GPIO_AF11_CAN3);
 #endif
+    } else {
+      puts("Invalid CAN: mode setting failed\n");
     }
   } else {
     if (can == 1) {
@@ -190,6 +194,8 @@ void set_can_mode(int can, bool use_gmlan) {
       set_gpio_alternate(GPIOA, 8, GPIO_AF11_CAN3);
       set_gpio_alternate(GPIOA, 15, GPIO_AF11_CAN3);
 #endif
+    } else {
+      puts("Invalid CAN: mode setting failed\n");
     }
   }
 }
@@ -404,9 +410,13 @@ void early(void) {
   // if wrong chip, reboot
   volatile unsigned int id = DBGMCU->IDCODE;
   #ifdef STM32F4
-    if ((id&0xFFF) != 0x463) enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
+    if ((id & 0xFFFU) != 0x463U) {
+      enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
+    }
   #else
-    if ((id&0xFFF) != 0x411) enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
+    if ((id & 0xFFFU) != 0x411U) {
+      enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
+    }
   #endif
 
   // setup interrupt table
diff --git a/board/inc/stm32f205xx.h b/board/inc/stm32f205xx.h
index 31ec924dc5..cd65239441 100644
--- a/board/inc/stm32f205xx.h
+++ b/board/inc/stm32f205xx.h
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:65ac7a82a58b702c8c8b99cf7ee965c71cd59d5dfa663d3729a602bdea8ec4cd
-size 601889
+oid sha256:ff380e37bf47cf52d57bc128bdde48845ad4649fb2d521cafd3fc21b3e4cc61d
+size 537193
diff --git a/board/inc/stm32f2xx.h b/board/inc/stm32f2xx.h
index 83bb93ef1e..1ea3850765 100644
--- a/board/inc/stm32f2xx.h
+++ b/board/inc/stm32f2xx.h
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:9591dc7b364d8e963152a4a15f0435e8631a9d4eacc95fca022574269047dada
-size 6738
+oid sha256:a8110042b1ae172881d3b7a85d7b06a2cdc8cfed7da06c35bca6668c223b57c5
+size 6700
diff --git a/board/inc/stm32f2xx_hal_def.h b/board/inc/stm32f2xx_hal_def.h
index f4f8cb02df..a867107d79 100644
--- a/board/inc/stm32f2xx_hal_def.h
+++ b/board/inc/stm32f2xx_hal_def.h
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a312bdc79b5ac3c780f700869f73237256047e1f134310087cd1c4d3ef8255fd
-size 7352
+oid sha256:ab72c6b3f84092a1df088ec983392d9501c067f5d2df219e483423cdde8cad70
+size 7309
diff --git a/board/inc/stm32f2xx_hal_gpio_ex.h b/board/inc/stm32f2xx_hal_gpio_ex.h
index 11b5823863..bddcdff2af 100644
--- a/board/inc/stm32f2xx_hal_gpio_ex.h
+++ b/board/inc/stm32f2xx_hal_gpio_ex.h
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:e320fb1b6f44dadb3b819146ffce5cf4d1d5b0482d2ba7cddc4845899e47290c
-size 12933
+oid sha256:27c9d38068c9260165acdc47204b67f418f5c05898ff50f30fb72a3353e55589
+size 12832
diff --git a/board/inc/stm32f413xx.h b/board/inc/stm32f413xx.h
index af1a5764a4..1966cf5a2c 100644
--- a/board/inc/stm32f413xx.h
+++ b/board/inc/stm32f413xx.h
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:21e5ea5bc19e8d45cf4f32d451ea7f79a62c50e5a6c0e07cc7752ed0c9d295c3
-size 1288438
+oid sha256:d0d192a64b7d859a76a631cf9bfdb865825ca83172a455eff661217c56392638
+size 1145211
diff --git a/board/inc/stm32f4xx.h b/board/inc/stm32f4xx.h
index c86ad0af71..65e6e10176 100644
--- a/board/inc/stm32f4xx.h
+++ b/board/inc/stm32f4xx.h
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:7ccd163515bc57fa7a1ce31361ec1bc70a1b3e2c82873e940dfaaaf1072b4d3d
-size 10525
+oid sha256:6bacf7eb5c98b53a3d6d7a1939510105114cf5c8a0c340dac1fb1df9acea3268
+size 10478
diff --git a/board/inc/stm32f4xx_hal_def.h b/board/inc/stm32f4xx_hal_def.h
index b3b1090dc9..87e1c8382a 100644
--- a/board/inc/stm32f4xx_hal_def.h
+++ b/board/inc/stm32f4xx_hal_def.h
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:8f2c6a79cf25619734b65bd7e1babaeb9702fa86c89a221c3f7ea2c7ab8c2146
-size 8325
+oid sha256:5df62b93da61e8534a5ac79582cc34c1bf629ebaaf5bd17454d50e6cb86114b0
+size 8285
diff --git a/board/inc/stm32f4xx_hal_gpio_ex.h b/board/inc/stm32f4xx_hal_gpio_ex.h
index cf5c9e5dcc..5dcb5484b0 100644
--- a/board/inc/stm32f4xx_hal_gpio_ex.h
+++ b/board/inc/stm32f4xx_hal_gpio_ex.h
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2600c6ad35c8accf5aa0878a151aa69a3e21859fb7675b3ce71c0fb44ef7f521
-size 81942
+oid sha256:64af095fe7662e0e2f5e30dee7cb931639d571a3874ecaec1dcf484ea1434c3c
+size 81285
diff --git a/board/inc/system_stm32f2xx.h b/board/inc/system_stm32f2xx.h
index d5ce15cc00..ec374e9176 100644
--- a/board/inc/system_stm32f2xx.h
+++ b/board/inc/system_stm32f2xx.h
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:75bc5bac6341c0e088408c2b1548eafa24b80287bd37f6807cf52cf652984fa3
-size 3556
+oid sha256:d7789e6673b2cbc68f77ddd526f7d613c01073307c7e1fe583900337b6767daf
+size 3534
diff --git a/board/inc/system_stm32f4xx.h b/board/inc/system_stm32f4xx.h
index c4497d6c7c..65c86ce299 100644
--- a/board/inc/system_stm32f4xx.h
+++ b/board/inc/system_stm32f4xx.h
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a631a141f5e85b8fcef77b5f756392d1b9546c336fae6a565f037d84dcbe3df7
-size 3724
+oid sha256:0b1639a4684b0ffefee8671550dea9f2cc0080e88be98a9388e3c27c55cc8de6
+size 3700
diff --git a/board/libc.h b/board/libc.h
index 564d29cd89..83adb9c096 100644
--- a/board/libc.h
+++ b/board/libc.h
@@ -6,32 +6,36 @@ void delay(int a) {
 }
 
 void *memset(void *str, int c, unsigned int n) {
-  unsigned int i;
-  for (i = 0; i < n; i++) {
-    *((uint8_t*)str) = c;
-    ++str;
+  uint8_t *s = str;
+  for (unsigned int i = 0; i < n; i++) {
+    *s = c;
+    s++;
   }
   return str;
 }
 
 void *memcpy(void *dest, const void *src, unsigned int n) {
-  unsigned int i;
-  // TODO: make not slow
-  for (i = 0; i < n; i++) {
-    ((uint8_t*)dest)[i] = *(uint8_t*)src;
-    ++src;
+  uint8_t *d = dest;
+  const uint8_t *s = src;
+  for (unsigned int i = 0; i < n; i++) {
+    *d = *s;
+    d++;
+    s++;
   }
   return dest;
 }
 
 int memcmp(const void * ptr1, const void * ptr2, unsigned int num) {
-  unsigned int i;
   int ret = 0;
-  for (i = 0; i < num; i++) {
-    if ( ((uint8_t*)ptr1)[i] != ((uint8_t*)ptr2)[i] ) {
+  const uint8_t *p1 = ptr1;
+  const uint8_t *p2 = ptr2;
+  for (unsigned int i = 0; i < num; i++) {
+    if (*p1 != *p2) {
       ret = -1;
       break;
     }
+    p1++;
+    p2++;
   }
   return ret;
 }
diff --git a/board/main.c b/board/main.c
index e24df3818d..f962169123 100644
--- a/board/main.c
+++ b/board/main.c
@@ -33,7 +33,7 @@
 void debug_ring_callback(uart_ring *ring) {
   char rcv;
   while (getc(ring, &rcv)) {
-    putc(ring, rcv);
+    (void)putc(ring, rcv);  // misra-c2012-17.7: cast to void is ok: debug function
 
     // jump to DFU flash
     if (rcv == 'z') {
@@ -69,9 +69,10 @@ bool is_gpio_started(void) {
   return (GPIOA->IDR & (1U << 1)) == 0;
 }
 
+// cppcheck-suppress unusedFunction ; used in headers not included in cppcheck
 void EXTI1_IRQHandler(void) {
-  volatile int pr = EXTI->PR & (1U << 1);
-  if ((pr & (1U << 1)) != 0) {
+  volatile unsigned int pr = EXTI->PR & (1U << 1);
+  if ((pr & (1U << 1)) != 0U) {
     #ifdef DEBUG
       puts("got started interrupt\n");
     #endif
@@ -98,13 +99,14 @@ void started_interrupt_init(void) {
 
 int get_health_pkt(void *dat) {
   struct __attribute__((packed)) {
-    uint32_t voltage;
-    uint32_t current;
-    uint8_t started;
-    uint8_t controls_allowed;
-    uint8_t gas_interceptor_detected;
-    uint8_t started_signal_detected;
-    uint8_t started_alt;
+    uint32_t voltage_pkt;
+    uint32_t current_pkt;
+    uint8_t started_pkt;
+    uint8_t controls_allowed_pkt;
+    uint8_t gas_interceptor_detected_pkt;
+    uint32_t can_send_errs_pkt;
+    uint32_t can_fwd_errs_pkt;
+    uint32_t gmlan_send_errs_pkt;
   } *health = dat;
 
   //Voltage will be measured in mv. 5000 = 5V
@@ -117,29 +119,28 @@ int get_health_pkt(void *dat) {
   // s = 1000/((4095/3.3)*(1/11)) = 8.8623046875
 
   // Avoid needing floating point math
-  health->voltage = (voltage * 8862) / 1000;
+  health->voltage_pkt = (voltage * 8862U) / 1000U;
 
-  health->current = adc_get(ADCCHAN_CURRENT);
+  health->current_pkt = adc_get(ADCCHAN_CURRENT);
   int safety_ignition = safety_ignition_hook();
   if (safety_ignition < 0) {
     //Use the GPIO pin to determine ignition
-    health->started = is_gpio_started();
+    health->started_pkt = is_gpio_started();
   } else {
     //Current safety hooks want to determine ignition (ex: GM)
-    health->started = safety_ignition;
+    health->started_pkt = safety_ignition;
   }
 
-  health->controls_allowed = controls_allowed;
-  health->gas_interceptor_detected = gas_interceptor_detected;
-
-  // DEPRECATED
-  health->started_alt = 0;
-  health->started_signal_detected = 0;
+  health->controls_allowed_pkt = controls_allowed;
+  health->gas_interceptor_detected_pkt = gas_interceptor_detected;
+  health->can_send_errs_pkt = can_send_errs;
+  health->can_fwd_errs_pkt = can_fwd_errs;
+  health->gmlan_send_errs_pkt = gmlan_send_errs;
 
   return sizeof(*health);
 }
 
-int usb_cb_ep1_in(uint8_t *usbdata, int len, bool hardwired) {
+int usb_cb_ep1_in(void *usbdata, int len, bool hardwired) {
   UNUSED(hardwired);
   CAN_FIFOMailBox_TypeDef *reply = (CAN_FIFOMailBox_TypeDef *)usbdata;
   int ilen = 0;
@@ -150,13 +151,14 @@ int usb_cb_ep1_in(uint8_t *usbdata, int len, bool hardwired) {
 }
 
 // send on serial, first byte to select the ring
-void usb_cb_ep2_out(uint8_t *usbdata, int len, bool hardwired) {
+void usb_cb_ep2_out(void *usbdata, int len, bool hardwired) {
   UNUSED(hardwired);
-  uart_ring *ur = get_ring_by_number(usbdata[0]);
+  uint8_t *usbdata8 = (uint8_t *)usbdata;
+  uart_ring *ur = get_ring_by_number(usbdata8[0]);
   if ((len != 0) && (ur != NULL)) {
-    if ((usbdata[0] < 2) || safety_tx_lin_hook(usbdata[0]-2, usbdata+1, len-1)) {
+    if ((usbdata8[0] < 2U) || safety_tx_lin_hook(usbdata8[0] - 2U, usbdata8 + 1, len - 1)) {
       for (int i = 1; i < len; i++) {
-        while (!putc(ur, usbdata[i])) {
+        while (!putc(ur, usbdata8[i])) {
           // wait
         }
       }
@@ -165,18 +167,16 @@ void usb_cb_ep2_out(uint8_t *usbdata, int len, bool hardwired) {
 }
 
 // send on CAN
-void usb_cb_ep3_out(uint8_t *usbdata, int len, bool hardwired) {
+void usb_cb_ep3_out(void *usbdata, int len, bool hardwired) {
   UNUSED(hardwired);
   int dpkt = 0;
-  for (dpkt = 0; dpkt < len; dpkt += 0x10) {
-    uint32_t *tf = (uint32_t*)(&usbdata[dpkt]);
-
-    // make a copy
+  uint32_t *d32 = (uint32_t *)usbdata;
+  for (dpkt = 0; dpkt < (len / 4); dpkt += 4) {
     CAN_FIFOMailBox_TypeDef to_push;
-    to_push.RDHR = tf[3];
-    to_push.RDLR = tf[2];
-    to_push.RDTR = tf[1];
-    to_push.RIR = tf[0];
+    to_push.RDHR = d32[dpkt + 3];
+    to_push.RDLR = d32[dpkt + 2];
+    to_push.RDTR = d32[dpkt + 1];
+    to_push.RIR = d32[dpkt];
 
     uint8_t bus_number = (to_push.RDTR >> 4) & CAN_BUS_NUM_MASK;
     can_send(&to_push, bus_number);
@@ -191,7 +191,7 @@ void usb_cb_enumeration_complete() {
 }
 
 int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired) {
-  int resp_len = 0;
+  unsigned int resp_len = 0;
   uart_ring *ur = NULL;
   int i;
   switch (setup->b.bRequest) {
@@ -211,8 +211,8 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
     // **** 0xd0: fetch serial number
     case 0xd0:
       // addresses are OTP
-      if (setup->b.wValue.w == 1) {
-        memcpy(resp, (void *)0x1fff79c0, 0x10);
+      if (setup->b.wValue.w == 1U) {
+        (void)memcpy(resp, (uint8_t *)0x1fff79c0, 0x10);
         resp_len = 0x10;
       } else {
         get_provision_chunk(resp);
@@ -248,8 +248,8 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
     // **** 0xd6: get version
     case 0xd6:
       COMPILE_TIME_ASSERT(sizeof(gitversion) <= MAX_RESP_LEN);
-      memcpy(resp, gitversion, sizeof(gitversion));
-      resp_len = sizeof(gitversion)-1;
+      (void)memcpy(resp, gitversion, sizeof(gitversion));
+      resp_len = sizeof(gitversion) - 1U;
       break;
     // **** 0xd8: reset ST
     case 0xd8:
@@ -257,9 +257,9 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
       break;
     // **** 0xd9: set ESP power
     case 0xd9:
-      if (setup->b.wValue.w == 1) {
+      if (setup->b.wValue.w == 1U) {
         set_esp_mode(ESP_ENABLED);
-      } else if (setup->b.wValue.w == 2) {
+      } else if (setup->b.wValue.w == 2U) {
         set_esp_mode(ESP_BOOTMODE);
       } else {
         set_esp_mode(ESP_DISABLED);
@@ -269,7 +269,7 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
     case 0xda:
       set_esp_mode(ESP_DISABLED);
       delay(1000000);
-      if (setup->b.wValue.w == 1) {
+      if (setup->b.wValue.w == 1U) {
         set_esp_mode(ESP_BOOTMODE);
       } else {
         set_esp_mode(ESP_ENABLED);
@@ -279,12 +279,14 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
       break;
     // **** 0xdb: set GMLAN multiplexing mode
     case 0xdb:
-      if (setup->b.wValue.w == 1) {
+      if (setup->b.wValue.w == 1U) {
         // GMLAN ON
-        if (setup->b.wIndex.w == 1) {
+        if (setup->b.wIndex.w == 1U) {
           can_set_gmlan(1);
-        } else if (setup->b.wIndex.w == 2) {
+        } else if (setup->b.wIndex.w == 2U) {
           can_set_gmlan(2);
+        } else {
+          puts("Invalid bus num for GMLAN CAN set\n");
         }
       } else {
         can_set_gmlan(-1);
@@ -296,27 +298,33 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
       // and it's blocked over WiFi
       // Allow ELM security mode to be set over wifi.
       if (hardwired || (setup->b.wValue.w == SAFETY_NOOUTPUT) || (setup->b.wValue.w == SAFETY_ELM327)) {
-        safety_set_mode(setup->b.wValue.w, (int16_t)setup->b.wIndex.w);
-        if (safety_ignition_hook() != -1) {
-          // if the ignition hook depends on something other than the started GPIO
-          // we have to disable power savings (fix for GM and Tesla)
-          set_power_save_state(POWER_SAVE_STATUS_DISABLED);
-        }
-        #ifndef EON
-          // always LIVE on EON
-          switch (setup->b.wValue.w) {
-            case SAFETY_NOOUTPUT:
-              can_silent = ALL_CAN_SILENT;
-              break;
-            case SAFETY_ELM327:
-              can_silent = ALL_CAN_BUT_MAIN_SILENT;
-              break;
-            default:
-              can_silent = ALL_CAN_LIVE;
-              break;
+        int err = safety_set_mode(setup->b.wValue.w, (int16_t)setup->b.wIndex.w);
+        if (err == -1) {
+          puts("Error: safety set mode failed\n");
+        } else {
+          #ifndef EON
+            // always LIVE on EON
+            switch (setup->b.wValue.w) {
+              case SAFETY_NOOUTPUT:
+                can_silent = ALL_CAN_SILENT;
+                break;
+              case SAFETY_ELM327:
+                can_silent = ALL_CAN_BUT_MAIN_SILENT;
+                break;
+              default:
+                can_silent = ALL_CAN_LIVE;
+                break;
+            }
+          #endif
+          if (safety_ignition_hook() != -1) {
+            // if the ignition hook depends on something other than the started GPIO
+            // we have to disable power savings (fix for GM and Tesla)
+            set_power_save_state(POWER_SAVE_STATUS_DISABLED);
+          } else {
+            // power mode is already POWER_SAVE_STATUS_DISABLED and CAN TXs are active
           }
-        #endif
-        can_init_all();
+          can_init_all();
+        }
       }
       break;
     // **** 0xdd: enable can forwarding
@@ -326,8 +334,10 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
       if ((setup->b.wValue.w < BUS_MAX) && (setup->b.wIndex.w < BUS_MAX) &&
           (setup->b.wValue.w != setup->b.wIndex.w)) { // set forwarding
         can_set_forwarding(setup->b.wValue.w, setup->b.wIndex.w & CAN_BUS_NUM_MASK);
-      } else if((setup->b.wValue.w < BUS_MAX) && (setup->b.wIndex.w == 0xFF)){ //Clear Forwarding
+      } else if((setup->b.wValue.w < BUS_MAX) && (setup->b.wIndex.w == 0xFFU)){ //Clear Forwarding
         can_set_forwarding(setup->b.wValue.w, -1);
+      } else {
+        puts("Invalid CAN bus forwarding\n");
       }
       break;
     // **** 0xde: set can bitrate
@@ -340,7 +350,7 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
     // **** 0xdf: set long controls allowed
     case 0xdf:
       if (hardwired) {
-        long_controls_allowed = setup->b.wValue.w & 1;
+        long_controls_allowed = setup->b.wValue.w & 1U;
       }
       break;
     // **** 0xe0: uart read
@@ -401,15 +411,15 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
       break;
     // **** 0xe5: set CAN loopback (for testing)
     case 0xe5:
-      can_loopback = (setup->b.wValue.w > 0);
+      can_loopback = (setup->b.wValue.w > 0U);
       can_init_all();
       break;
     // **** 0xe6: set USB power
     case 0xe6:
-      if (setup->b.wValue.w == 1) {
+      if (setup->b.wValue.w == 1U) {
         puts("user setting CDP mode\n");
         set_usb_power_mode(USB_POWER_CDP);
-      } else if (setup->b.wValue.w == 2) {
+      } else if (setup->b.wValue.w == 2U) {
         puts("user setting DCP mode\n");
         set_usb_power_mode(USB_POWER_DCP);
       } else {
@@ -419,7 +429,7 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
       break;
     // **** 0xf0: do k-line wValue pulse on uart2 for Acura
     case 0xf0:
-      if (setup->b.wValue.w == 1) {
+      if (setup->b.wValue.w == 1U) {
         GPIOC->ODR &= ~(1U << 10);
         GPIOC->MODER &= ~GPIO_MODER_MODER10_1;
         GPIOC->MODER |= GPIO_MODER_MODER10_0;
@@ -431,7 +441,7 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
 
       for (i = 0; i < 80; i++) {
         delay(8000);
-        if (setup->b.wValue.w == 1) {
+        if (setup->b.wValue.w == 1U) {
           GPIOC->ODR |= (1U << 10);
           GPIOC->ODR &= ~(1U << 10);
         } else {
@@ -440,7 +450,7 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
         }
       }
 
-      if (setup->b.wValue.w == 1) {
+      if (setup->b.wValue.w == 1U) {
         GPIOC->MODER &= ~GPIO_MODER_MODER10_0;
         GPIOC->MODER |= GPIO_MODER_MODER10_1;
       } else {
@@ -452,12 +462,14 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
       break;
     // **** 0xf1: Clear CAN ring buffer.
     case 0xf1:
-      if (setup->b.wValue.w == 0xFFFF) {
+      if (setup->b.wValue.w == 0xFFFFU) {
         puts("Clearing CAN Rx queue\n");
         can_clear(&can_rx_q);
       } else if (setup->b.wValue.w < BUS_MAX) {
         puts("Clearing CAN Tx queue\n");
         can_clear(can_queues[setup->b.wValue.w]);
+      } else {
+        puts("Clearing CAN CAN ring buffer failed: wrong bus number\n");
       }
       break;
     // **** 0xf2: Clear UART ring buffer.
@@ -479,6 +491,7 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
   return resp_len;
 }
 
+#ifndef EON
 int spi_cb_rx(uint8_t *data, int len, uint8_t *data_out) {
   // data[0]  = endpoint
   // data[2]  = length
@@ -508,26 +521,28 @@ int spi_cb_rx(uint8_t *data, int len, uint8_t *data_out) {
   }
   return resp_len;
 }
-
+#endif
 
 // ***************************** main code *****************************
 
+// cppcheck-suppress unusedFunction ; used in headers not included in cppcheck
 void __initialize_hardware_early(void) {
   early();
 }
 
 void __attribute__ ((noinline)) enable_fpu(void) {
   // enable the FPU
-  SCB->CPACR |= ((3UL << (10U * 2)) | (3UL << (11U * 2)));
+  SCB->CPACR |= ((3UL << (10U * 2U)) | (3UL << (11U * 2U)));
 }
 
 uint64_t tcnt = 0;
 uint64_t marker = 0;
 
 // called once per second
+// cppcheck-suppress unusedFunction ; used in headers not included in cppcheck
 void TIM3_IRQHandler(void) {
-  #define CURRENT_THRESHOLD 0xF00
-  #define CLICKS 5 // 5 seconds to switch modes
+  #define CURRENT_THRESHOLD 0xF00U
+  #define CLICKS 5U // 5 seconds to switch modes
 
   if (TIM3->SR != 0) {
     can_live = pending_can_live;
@@ -538,7 +553,7 @@ void TIM3_IRQHandler(void) {
 
     switch (usb_power_mode) {
       case USB_POWER_CLIENT:
-        if ((tcnt-marker) >= CLICKS) {
+        if ((tcnt - marker) >= CLICKS) {
           if (!is_enumerated) {
             puts("USBP: didn't enumerate, switching to CDP mode\n");
             // switch to CDP
@@ -594,7 +609,7 @@ void TIM3_IRQHandler(void) {
     puts("\n");*/
 
     // reset this every 16th pass
-    if ((tcnt&0xF) == 0) {
+    if ((tcnt & 0xFU) == 0U) {
       pending_can_live = 0;
     }
     #ifdef DEBUG
@@ -609,10 +624,10 @@ void TIM3_IRQHandler(void) {
 
     // turn off the blue LED, turned on by CAN
     // unless we are in power saving mode
-    set_led(LED_BLUE, (tcnt & 1) && (power_save_status == POWER_SAVE_STATUS_ENABLED));
+    set_led(LED_BLUE, (tcnt & 1U) && (power_save_status == POWER_SAVE_STATUS_ENABLED));
 
     // on to the next one
-    tcnt += 1;
+    tcnt += 1U;
   }
   TIM3->SR = 0;
 }
@@ -680,7 +695,13 @@ int main(void) {
 
   // default to silent mode to prevent issues with Ford
   // hardcode a specific safety mode if you want to force the panda to be in a specific mode
-  safety_set_mode(SAFETY_NOOUTPUT, 0);
+  int err = safety_set_mode(SAFETY_NOOUTPUT, 0);
+  if (err == -1) {
+    puts("Failed to set safety mode\n");
+    while (true) {
+      // if SAFETY_NOOUTPUT isn't succesfully set, we can't continue
+    }
+  }
 #ifdef EON
   // if we're on an EON, it's fine for CAN to be live for fingerprinting
   can_silent = ALL_CAN_LIVE;
diff --git a/board/pedal/Makefile b/board/pedal/Makefile
index 37b95f90fb..7ce6dd0768 100644
--- a/board/pedal/Makefile
+++ b/board/pedal/Makefile
@@ -1,10 +1,10 @@
 # :set noet
 PROJ_NAME = comma
 
-CFLAGS  = -O2 -Wall -std=gnu11 -DPEDAL
+CFLAGS  = -O2 -Wall -Wextra -Wstrict-prototypes -Werror -std=gnu11 -DPEDAL
 CFLAGS += -mlittle-endian -mthumb -mcpu=cortex-m3
 CFLAGS += -msoft-float -DSTM32F2 -DSTM32F205xx
-CFLAGS += -I ../inc -I ../ -I ../../ -nostdlib
+CFLAGS += -I ../inc -I ../ -I ../../ -nostdlib -fno-builtin
 CFLAGS += -T../stm32_flash.ld
 
 STARTUP_FILE = startup_stm32f205xx
diff --git a/board/pedal/main.c b/board/pedal/main.c
index 4656db2831..21a3a59fa6 100644
--- a/board/pedal/main.c
+++ b/board/pedal/main.c
@@ -19,14 +19,19 @@
   #include "drivers/usb.h"
 #else
   // no serial either
-  void puts(const char *a) {}
-  void puth(unsigned int i) {}
+  void puts(const char *a) {
+    UNUSED(a);
+  }
+  void puth(unsigned int i) {
+    UNUSED(i);
+  }
 #endif
 
 #define ENTER_BOOTLOADER_MAGIC 0xdeadbeef
 uint32_t enter_bootloader_mode;
 
-void __initialize_hardware_early() {
+// cppcheck-suppress unusedFunction ; used in headers not included in cppcheck
+void __initialize_hardware_early(void) {
   early();
 }
 
@@ -36,31 +41,54 @@ void __initialize_hardware_early() {
 
 void debug_ring_callback(uart_ring *ring) {
   char rcv;
-  while (getc(ring, &rcv)) {
-    putc(ring, rcv);
+  while (getc(ring, &rcv) != 0) {
+    (void)putc(ring, rcv);
   }
 }
 
-int usb_cb_ep1_in(uint8_t *usbdata, int len, bool hardwired) { return 0; }
-void usb_cb_ep2_out(uint8_t *usbdata, int len, bool hardwired) {}
-void usb_cb_ep3_out(uint8_t *usbdata, int len, bool hardwired) {}
-void usb_cb_enumeration_complete() {}
+int usb_cb_ep1_in(uint8_t *usbdata, int len, bool hardwired) {
+  UNUSED(usbdata);
+  UNUSED(len);
+  UNUSED(hardwired);
+  return 0;
+}
+void usb_cb_ep2_out(uint8_t *usbdata, int len, bool hardwired) {
+  UNUSED(usbdata);
+  UNUSED(len);
+  UNUSED(hardwired);
+}
+void usb_cb_ep3_out(uint8_t *usbdata, int len, bool hardwired) {
+  UNUSED(usbdata);
+  UNUSED(len);
+  UNUSED(hardwired);
+}
+void usb_cb_enumeration_complete(void) {}
 
 int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired) {
-  int resp_len = 0;
+  UNUSED(hardwired);
+  unsigned int resp_len = 0;
   uart_ring *ur = NULL;
   switch (setup->b.bRequest) {
     // **** 0xe0: uart read
     case 0xe0:
       ur = get_ring_by_number(setup->b.wValue.w);
-      if (!ur) break;
-      if (ur == &esp_ring) uart_dma_drain();
+      if (!ur) {
+        break;
+      }
+      if (ur == &esp_ring) {
+        uart_dma_drain();
+      }
       // read
       while ((resp_len < MIN(setup->b.wLength.w, MAX_RESP_LEN)) &&
                          getc(ur, (char*)&resp[resp_len])) {
         ++resp_len;
       }
       break;
+    default:
+      puts("NO HANDLER ");
+      puth(setup->b.bRequest);
+      puts("\n");
+      break;
   }
   return resp_len;
 }
@@ -76,7 +104,7 @@ uint8_t pedal_checksum(uint8_t *dat, int len) {
   for (i = len - 1; i >= 0; i--) {
     crc ^= dat[i];
     for (j = 0; j < 8; j++) {
-      if ((crc & 0x80) != 0) {
+      if ((crc & 0x80U) != 0U) {
         crc = (uint8_t)((crc << 1) ^ poly);
       }
       else {
@@ -91,11 +119,12 @@ uint8_t pedal_checksum(uint8_t *dat, int len) {
 
 // addresses to be used on CAN
 #define CAN_GAS_INPUT  0x200
-#define CAN_GAS_OUTPUT 0x201
+#define CAN_GAS_OUTPUT 0x201U
 #define CAN_GAS_SIZE 6
-#define COUNTER_CYCLE 0xF
+#define COUNTER_CYCLE 0xFU
 
-void CAN1_TX_IRQHandler() {
+// cppcheck-suppress unusedFunction ; used in headers not included in cppcheck
+void CAN1_TX_IRQHandler(void) {
   // clear interrupt
   CAN->TSR |= CAN_TSR_RQCP0;
 }
@@ -104,51 +133,51 @@ void CAN1_TX_IRQHandler() {
 uint16_t gas_set_0 = 0;
 uint16_t gas_set_1 = 0;
 
-#define MAX_TIMEOUT 10
+#define MAX_TIMEOUT 10U
 uint32_t timeout = 0;
 uint32_t current_index = 0;
 
-#define NO_FAULT 0
-#define FAULT_BAD_CHECKSUM 1
-#define FAULT_SEND 2
-#define FAULT_SCE 3
-#define FAULT_STARTUP 4
-#define FAULT_TIMEOUT 5
-#define FAULT_INVALID 6
+#define NO_FAULT 0U
+#define FAULT_BAD_CHECKSUM 1U
+#define FAULT_SEND 2U
+#define FAULT_SCE 3U
+#define FAULT_STARTUP 4U
+#define FAULT_TIMEOUT 5U
+#define FAULT_INVALID 6U
 uint8_t state = FAULT_STARTUP;
 
-void CAN1_RX0_IRQHandler() {
-  while (CAN->RF0R & CAN_RF0R_FMP0) {
+// cppcheck-suppress unusedFunction ; used in headers not included in cppcheck
+void CAN1_RX0_IRQHandler(void) {
+  while ((CAN->RF0R & CAN_RF0R_FMP0) != 0) {
     #ifdef DEBUG
       puts("CAN RX\n");
     #endif
-    uint32_t address = CAN->sFIFOMailBox[0].RIR>>21;
+    int address = CAN->sFIFOMailBox[0].RIR >> 21;
     if (address == CAN_GAS_INPUT) {
       // softloader entry
-      if (CAN->sFIFOMailBox[0].RDLR == 0xdeadface) {
-        if (CAN->sFIFOMailBox[0].RDHR == 0x0ab00b1e) {
+      if (GET_BYTES_04(&CAN->sFIFOMailBox[0]) == 0xdeadface) {
+        if (GET_BYTES_48(&CAN->sFIFOMailBox[0]) == 0x0ab00b1e) {
           enter_bootloader_mode = ENTER_SOFTLOADER_MAGIC;
           NVIC_SystemReset();
-        } else if (CAN->sFIFOMailBox[0].RDHR == 0x02b00b1e) {
+        } else if (GET_BYTES_48(&CAN->sFIFOMailBox[0]) == 0x02b00b1e) {
           enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
           NVIC_SystemReset();
+        } else {
+          puts("Failed entering Softloader or Bootloader\n");
         }
       }
 
       // normal packet
       uint8_t dat[8];
-      uint8_t *rdlr = (uint8_t *)&CAN->sFIFOMailBox[0].RDLR;
-      uint8_t *rdhr = (uint8_t *)&CAN->sFIFOMailBox[0].RDHR;
-      for (int i=0; i<4; i++) {
-        dat[i] = rdlr[i];
-        dat[i+4] = rdhr[i];
+      for (int i=0; i<8; i++) {
+        dat[i] = GET_BYTE(&CAN->sFIFOMailBox[0], i);
       }
       uint16_t value_0 = (dat[0] << 8) | dat[1];
       uint16_t value_1 = (dat[2] << 8) | dat[3];
-      uint8_t enable = (dat[4] >> 7) & 1;
+      bool enable = ((dat[4] >> 7) & 1U) != 0U;
       uint8_t index = dat[4] & COUNTER_CYCLE;
       if (pedal_checksum(dat, CAN_GAS_SIZE - 1) == dat[5]) {
-        if (((current_index + 1) & COUNTER_CYCLE) == index) {
+        if (((current_index + 1U) & COUNTER_CYCLE) == index) {
           #ifdef DEBUG
             puts("setting gas ");
             puth(value);
@@ -159,12 +188,13 @@ void CAN1_RX0_IRQHandler() {
             gas_set_1 = value_1;
           } else {
             // clear the fault state if values are 0
-            if (value_0 == 0 && value_1 == 0) {
+            if ((value_0 == 0U) && (value_1 == 0U)) {
               state = NO_FAULT;
             } else {
               state = FAULT_INVALID;
             }
-            gas_set_0 = gas_set_1 = 0;
+            gas_set_0 = 0;
+            gas_set_1 = 0;
           }
           // clear the timeout
           timeout = 0;
@@ -180,17 +210,20 @@ void CAN1_RX0_IRQHandler() {
   }
 }
 
-void CAN1_SCE_IRQHandler() {
+// cppcheck-suppress unusedFunction ; used in headers not included in cppcheck
+void CAN1_SCE_IRQHandler(void) {
   state = FAULT_SCE;
   llcan_clear_send(CAN);
 }
 
-int pdl0 = 0, pdl1 = 0;
-int pkt_idx = 0;
+uint32_t pdl0 = 0;
+uint32_t pdl1 = 0;
+unsigned int pkt_idx = 0;
 
 int led_value = 0;
 
-void TIM3_IRQHandler() {
+// cppcheck-suppress unusedFunction ; used in headers not included in cppcheck
+void TIM3_IRQHandler(void) {
   #ifdef DEBUG
     puth(TIM3->CNT);
     puts(" ");
@@ -203,16 +236,16 @@ void TIM3_IRQHandler() {
   // check timer for sending the user pedal and clearing the CAN
   if ((CAN->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
     uint8_t dat[8];
-    dat[0] = (pdl0>>8) & 0xFF;
-    dat[1] = (pdl0>>0) & 0xFF;
-    dat[2] = (pdl1>>8) & 0xFF;
-    dat[3] = (pdl1>>0) & 0xFF;
-    dat[4] = (state & 0xF) << 4 | pkt_idx;
+    dat[0] = (pdl0 >> 8) & 0xFFU;
+    dat[1] = (pdl0 >> 0) & 0xFFU;
+    dat[2] = (pdl1 >> 8) & 0xFFU;
+    dat[3] = (pdl1 >> 0) & 0xFFU;
+    dat[4] = ((state & 0xFU) << 4) | pkt_idx;
     dat[5] = pedal_checksum(dat, CAN_GAS_SIZE - 1);
-    CAN->sTxMailBox[0].TDLR = dat[0] | (dat[1]<<8) | (dat[2]<<16) | (dat[3]<<24);
-    CAN->sTxMailBox[0].TDHR = dat[4] | (dat[5]<<8);
+    CAN->sTxMailBox[0].TDLR = dat[0] | (dat[1] << 8) | (dat[2] << 16) | (dat[3] << 24);
+    CAN->sTxMailBox[0].TDHR = dat[4] | (dat[5] << 8);
     CAN->sTxMailBox[0].TDTR = 6;  // len of packet is 5
-    CAN->sTxMailBox[0].TIR = (CAN_GAS_OUTPUT << 21) | 1;
+    CAN->sTxMailBox[0].TIR = (CAN_GAS_OUTPUT << 21) | 1U;
     ++pkt_idx;
     pkt_idx &= COUNTER_CYCLE;
   } else {
@@ -233,13 +266,13 @@ void TIM3_IRQHandler() {
   if (timeout == MAX_TIMEOUT) {
     state = FAULT_TIMEOUT;
   } else {
-    timeout += 1;
+    timeout += 1U;
   }
 }
 
 // ***************************** main code *****************************
 
-void pedal() {
+void pedal(void) {
   // read/write
   pdl0 = adc_get(ADCCHAN_ACCEL0);
   pdl1 = adc_get(ADCCHAN_ACCEL1);
@@ -256,7 +289,7 @@ void pedal() {
   watchdog_feed();
 }
 
-int main() {
+int main(void) {
   __disable_irq();
 
   // init devices
@@ -274,7 +307,11 @@ int main() {
   adc_init();
 
   // init can
-  llcan_set_speed(CAN1, 5000, false, false);
+  bool llcan_speed_set = llcan_set_speed(CAN1, 5000, false, false);
+  if (!llcan_speed_set) {
+    puts("Failed to set llcan speed");
+  }
+
   llcan_init(CAN1);
 
   // 48mhz / 65536 ~= 732
diff --git a/board/power_saving.h b/board/power_saving.h
index 986adf3ce2..3a9ae39e43 100644
--- a/board/power_saving.h
+++ b/board/power_saving.h
@@ -13,14 +13,14 @@ void set_power_save_state(int state) {
       if (is_grey_panda) {
         char UBLOX_SLEEP_MSG[] = "\xb5\x62\x06\x04\x04\x00\x01\x00\x08\x00\x17\x78";
         uart_ring *ur = get_ring_by_number(1);
-        for (unsigned int i = 0; i < sizeof(UBLOX_SLEEP_MSG) - 1; i++) while (!putc(ur, UBLOX_SLEEP_MSG[i]));
+        for (unsigned int i = 0; i < sizeof(UBLOX_SLEEP_MSG) - 1U; i++) while (!putc(ur, UBLOX_SLEEP_MSG[i]));
       }
     } else {
       puts("disable power savings\n");
       if (is_grey_panda) {
         char UBLOX_WAKE_MSG[] = "\xb5\x62\x06\x04\x04\x00\x01\x00\x09\x00\x18\x7a";
         uart_ring *ur = get_ring_by_number(1);
-        for (unsigned int i = 0; i < sizeof(UBLOX_WAKE_MSG) - 1; i++) while (!putc(ur, UBLOX_WAKE_MSG[i]));
+        for (unsigned int i = 0; i < sizeof(UBLOX_WAKE_MSG) - 1U; i++) while (!putc(ur, UBLOX_WAKE_MSG[i]));
       }
       enable = true;
     }
diff --git a/board/provision.h b/board/provision.h
index 2fad513508..9091322f1a 100644
--- a/board/provision.h
+++ b/board/provision.h
@@ -5,9 +5,9 @@
 // SHA1 checksum = 0x1C - 0x20
 
 void get_provision_chunk(uint8_t *resp) {
-  memcpy(resp, (void *)0x1fff79e0, PROVISION_CHUNK_LEN);
+  (void)memcpy(resp, (uint8_t *)0x1fff79e0, PROVISION_CHUNK_LEN);
   if (memcmp(resp, "\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff", 0x20) == 0) {
-    memcpy(resp, "unprovisioned\x00\x00\x00testing123\x00\x00\xa3\xa6\x99\xec", 0x20);
+    (void)memcpy(resp, "unprovisioned\x00\x00\x00testing123\x00\x00\xa3\xa6\x99\xec", 0x20);
   }
 }
 
diff --git a/board/safety.h b/board/safety.h
index dd99e6db2e..6b2b5a045e 100644
--- a/board/safety.h
+++ b/board/safety.h
@@ -44,21 +44,21 @@ typedef struct {
   const safety_hooks *hooks;
 } safety_hook_config;
 
-#define SAFETY_NOOUTPUT 0
-#define SAFETY_HONDA 1
-#define SAFETY_TOYOTA 2
-#define SAFETY_GM 3
-#define SAFETY_HONDA_BOSCH 4
-#define SAFETY_FORD 5
-#define SAFETY_CADILLAC 6
-#define SAFETY_HYUNDAI 7
-#define SAFETY_TESLA 8
-#define SAFETY_CHRYSLER 9
-#define SAFETY_SUBARU 10
-#define SAFETY_GM_ASCM 0x1334
-#define SAFETY_TOYOTA_IPAS 0x1335
-#define SAFETY_ALLOUTPUT 0x1337
-#define SAFETY_ELM327 0xE327
+#define SAFETY_NOOUTPUT 0U
+#define SAFETY_HONDA 1U
+#define SAFETY_TOYOTA 2U
+#define SAFETY_GM 3U
+#define SAFETY_HONDA_BOSCH 4U
+#define SAFETY_FORD 5U
+#define SAFETY_CADILLAC 6U
+#define SAFETY_HYUNDAI 7U
+#define SAFETY_TESLA 8U
+#define SAFETY_CHRYSLER 9U
+#define SAFETY_SUBARU 10U
+#define SAFETY_GM_ASCM 0x1334U
+#define SAFETY_TOYOTA_IPAS 0x1335U
+#define SAFETY_ALLOUTPUT 0x1337U
+#define SAFETY_ELM327 0xE327U
 
 const safety_hook_config safety_hook_registry[] = {
   {SAFETY_NOOUTPUT, &nooutput_hooks},
diff --git a/board/safety/safety_cadillac.h b/board/safety/safety_cadillac.h
index ef114abfe9..ef63360955 100644
--- a/board/safety/safety_cadillac.h
+++ b/board/safety/safety_cadillac.h
@@ -10,13 +10,13 @@ const int CADILLAC_MAX_RATE_DOWN = 5;
 const int CADILLAC_DRIVER_TORQUE_ALLOWANCE = 50;
 const int CADILLAC_DRIVER_TORQUE_FACTOR = 4;
 
-int cadillac_ign = 0;
+bool cadillac_ign = 0;
 int cadillac_cruise_engaged_last = 0;
 int cadillac_rt_torque_last = 0;
 const int cadillac_torque_msgs_n = 4;
 int cadillac_desired_torque_last[CADILLAC_TORQUE_MSG_N] = {0};
 uint32_t cadillac_ts_last = 0;
-int cadillac_supercruise_on = 0;
+bool cadillac_supercruise_on = 0;
 struct sample_t cadillac_torque_driver;         // last few driver torques measured
 
 int cadillac_get_torque_idx(int addr, int array_size) {
@@ -28,7 +28,8 @@ static void cadillac_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   int addr = GET_ADDR(to_push);
 
   if (addr == 356) {
-    int torque_driver_new = ((to_push->RDLR & 0x7) << 8) | ((to_push->RDLR >> 8) & 0xFF);
+    int torque_driver_new = ((GET_BYTE(to_push, 0) & 0x7U) << 8) | (GET_BYTE(to_push, 1));
+
     torque_driver_new = to_signed(torque_driver_new, 11);
     // update array of samples
     update_sample(&cadillac_torque_driver, torque_driver_new);
@@ -36,12 +37,12 @@ static void cadillac_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
   // this message isn't all zeros when ignition is on
   if ((addr == 0x160) && (bus == 0)) {
-    cadillac_ign = to_push->RDLR > 0;
+    cadillac_ign = GET_BYTES_04(to_push) != 0;
   }
 
   // enter controls on rising edge of ACC, exit controls on ACC off
   if ((addr == 0x370) && (bus == 0)) {
-    int cruise_engaged = to_push->RDLR & 0x800000;  // bit 23
+    int cruise_engaged = GET_BYTE(to_push, 2) & 0x80;  // bit 23
     if (cruise_engaged && !cadillac_cruise_engaged_last) {
       controls_allowed = 1;
     }
@@ -53,7 +54,7 @@ static void cadillac_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
   // know supercruise mode and block openpilot msgs if on
   if ((addr == 0x152) || (addr == 0x154)) {
-    cadillac_supercruise_on = (to_push->RDHR>>4) & 0x1;
+    cadillac_supercruise_on = (GET_BYTE(to_push, 4) & 0x10) != 0;
   }
 }
 
@@ -63,7 +64,7 @@ static int cadillac_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
   // steer cmd checks
   if ((addr == 0x151) || (addr == 0x152) || (addr == 0x153) || (addr == 0x154)) {
-    int desired_torque = ((to_send->RDLR & 0x3f) << 8) + ((to_send->RDLR & 0xff00) >> 8);
+    int desired_torque = ((GET_BYTE(to_send, 0) & 0x3f) << 8) | GET_BYTE(to_send, 1);
     int violation = 0;
     uint32_t ts = TIM2->CNT;
     int idx = cadillac_get_torque_idx(addr, CADILLAC_TORQUE_MSG_N);
diff --git a/board/safety/safety_chrysler.h b/board/safety/safety_chrysler.h
index 19149b6b7a..e608785739 100644
--- a/board/safety/safety_chrysler.h
+++ b/board/safety/safety_chrysler.h
@@ -18,8 +18,7 @@ static void chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
   // Measured eps torque
   if (addr == 544) {
-    uint32_t rdhr = to_push->RDHR;
-    int torque_meas_new = ((rdhr & 0x7U) << 8) + ((rdhr & 0xFF00U) >> 8) - 1024U;
+    int torque_meas_new = ((GET_BYTE(to_push, 4) & 0x7U) << 8) + GET_BYTE(to_push, 5) - 1024U;
 
     // update array of samples
     update_sample(&chrysler_torque_meas, torque_meas_new);
@@ -27,7 +26,7 @@ static void chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
   // enter controls on rising edge of ACC, exit controls on ACC off
   if (addr == 0x1F4) {
-    int cruise_engaged = ((to_push->RDLR & 0x380000) >> 19) == 7;
+    int cruise_engaged = ((GET_BYTE(to_push, 2) & 0x38) >> 3) == 7;
     if (cruise_engaged && !chrysler_cruise_engaged_last) {
       controls_allowed = 1;
     }
@@ -57,8 +56,7 @@ static int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
   // LKA STEER
   if (addr == 0x292) {
-    uint32_t rdlr = to_send->RDLR;
-    int desired_torque = ((rdlr & 0x7U) << 8) + ((rdlr & 0xFF00U) >> 8) - 1024U;
+    int desired_torque = ((GET_BYTE(to_send, 0) & 0x7U) << 8) + GET_BYTE(to_send, 1) - 1024U;
     uint32_t ts = TIM2->CNT;
     bool violation = 0;
 
diff --git a/board/safety/safety_ford.h b/board/safety/safety_ford.h
index 21c9c54db1..0bb839f2f6 100644
--- a/board/safety/safety_ford.h
+++ b/board/safety/safety_ford.h
@@ -9,7 +9,7 @@
 
 int ford_brake_prev = 0;
 int ford_gas_prev = 0;
-int ford_is_moving = 0;
+bool ford_moving = false;
 
 static void ford_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
@@ -17,14 +17,16 @@ static void ford_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
   if (addr == 0x217) {
     // wheel speeds are 14 bits every 16
-    ford_is_moving = 0xFCFF & (to_push->RDLR | (to_push->RDLR >> 16) |
-                               to_push->RDHR | (to_push->RDHR >> 16));
+    ford_moving = false;
+    for (int i = 0; i < 8; i += 2) {
+      ford_moving |= GET_BYTE(to_push, i) | (GET_BYTE(to_push, (int)(i + 1)) & 0xFCU);
+    }
   }
 
   // state machine to enter and exit controls
   if (addr == 0x83) {
-    bool cancel = (to_push->RDLR >> 8) & 0x1;
-    bool set_or_resume = (to_push->RDLR >> 28) & 0x3;
+    bool cancel = GET_BYTE(to_push, 1) & 0x1;
+    bool set_or_resume = GET_BYTE(to_push, 3) & 0x30;
     if (cancel) {
       controls_allowed = 0;
     }
@@ -36,8 +38,8 @@ static void ford_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   // exit controls on rising edge of brake press or on brake press when
   // speed > 0
   if (addr == 0x165) {
-    int brake = to_push->RDLR & 0x20;
-    if (brake && (!(ford_brake_prev) || ford_is_moving)) {
+    int brake = GET_BYTE(to_push, 0) & 0x20;
+    if (brake && (!(ford_brake_prev) || ford_moving)) {
       controls_allowed = 0;
     }
     ford_brake_prev = brake;
@@ -45,7 +47,7 @@ static void ford_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
   // exit controls on rising edge of gas press
   if (addr == 0x204) {
-    int gas = to_push->RDLR & 0xFF03;
+    int gas = (GET_BYTE(to_push, 0) & 0x03) | GET_BYTE(to_push, 1);
     if (gas && !(ford_gas_prev)) {
       controls_allowed = 0;
     }
@@ -64,7 +66,7 @@ static int ford_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
   int tx = 1;
   // disallow actuator commands if gas or brake (with vehicle moving) are pressed
   // and the the latching controls_allowed flag is True
-  int pedal_pressed = ford_gas_prev || (ford_brake_prev && ford_is_moving);
+  int pedal_pressed = ford_gas_prev || (ford_brake_prev && ford_moving);
   bool current_controls_allowed = controls_allowed && !(pedal_pressed);
   int addr = GET_ADDR(to_send);
 
@@ -72,7 +74,7 @@ static int ford_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
   if (addr == 0x3CA) {
     if (!current_controls_allowed) {
       // bits 7-4 need to be 0xF to disallow lkas commands
-      if (((to_send->RDLR >> 4) & 0xF) != 0xF) {
+      if ((GET_BYTE(to_send, 0) & 0xF0) != 0xF0) {
         tx = 0;
       }
     }
@@ -81,7 +83,7 @@ static int ford_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
   // FORCE CANCEL: safety check only relevant when spamming the cancel button
   // ensuring that set and resume aren't sent
   if (addr == 0x83) {
-    if (((to_send->RDLR >> 28) & 0x3) != 0) {
+    if ((GET_BYTE(to_send, 3) & 0x30) != 0) {
       tx = 0;
     }
   }
diff --git a/board/safety/safety_gm.h b/board/safety/safety_gm.h
index 949f5c7e73..9ca5ca3236 100644
--- a/board/safety/safety_gm.h
+++ b/board/safety/safety_gm.h
@@ -21,7 +21,7 @@ const int GM_MAX_BRAKE = 350;
 
 int gm_brake_prev = 0;
 int gm_gas_prev = 0;
-int gm_speed = 0;
+bool gm_moving = false;
 // silence everything if stock car control ECUs are still online
 bool gm_ascm_detected = 0;
 bool gm_ignition_started = 0;
@@ -35,7 +35,7 @@ static void gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   int addr = GET_ADDR(to_push);
 
   if (addr == 388) {
-    int torque_driver_new = (((to_push->RDHR >> 16) & 0x7) << 8) | ((to_push->RDHR >> 24) & 0xFF);
+    int torque_driver_new = ((GET_BYTE(to_push, 6) & 0x7) << 8) | GET_BYTE(to_push, 7);
     torque_driver_new = to_signed(torque_driver_new, 11);
     // update array of samples
     update_sample(&gm_torque_driver, torque_driver_new);
@@ -44,14 +44,14 @@ static void gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   if ((addr == 0x1F1) && (bus_number == 0)) {
     //Bit 5 should be ignition "on"
     //Backup plan is Bit 2 (accessory power)
-    bool ign = ((to_push->RDLR) & 0x20) != 0;
+    bool ign = (GET_BYTE(to_push, 0) & 0x20) != 0;
     gm_ignition_started = ign;
   }
 
   // sample speed, really only care if car is moving or not
   // rear left wheel speed
   if (addr == 842) {
-    gm_speed = to_push->RDLR & 0xFFFF;
+    gm_moving = GET_BYTE(to_push, 0) | GET_BYTE(to_push, 1);
   }
 
   // Check if ASCM or LKA camera are online
@@ -65,7 +65,7 @@ static void gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
   // ACC steering wheel buttons
   if (addr == 481) {
-    int button = (to_push->RDHR >> 12) & 0x7;
+    int button = (GET_BYTE(to_push, 5) & 0x70) >> 4;
     switch (button) {
       case 2:  // resume
       case 3:  // set
@@ -82,13 +82,13 @@ static void gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   // exit controls on rising edge of brake press or on brake press when
   // speed > 0
   if (addr == 241) {
-    int brake = (to_push->RDLR & 0xFF00) >> 8;
+    int brake = GET_BYTE(to_push, 1);
     // Brake pedal's potentiometer returns near-zero reading
     // even when pedal is not pressed
     if (brake < 10) {
       brake = 0;
     }
-    if (brake && (!gm_brake_prev || gm_speed)) {
+    if (brake && (!gm_brake_prev || gm_moving)) {
        controls_allowed = 0;
     }
     gm_brake_prev = brake;
@@ -96,7 +96,7 @@ static void gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
   // exit controls on rising edge of gas press
   if (addr == 417) {
-    int gas = to_push->RDHR & 0xFF0000;
+    int gas = GET_BYTE(to_push, 6);
     if (gas && !gm_gas_prev && long_controls_allowed) {
       controls_allowed = 0;
     }
@@ -105,7 +105,7 @@ static void gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
   // exit controls on regen paddle
   if (addr == 189) {
-    bool regen = to_push->RDLR & 0x20;
+    bool regen = GET_BYTE(to_push, 0) & 0x20;
     if (regen) {
       controls_allowed = 0;
     }
@@ -129,15 +129,14 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
   // disallow actuator commands if gas or brake (with vehicle moving) are pressed
   // and the the latching controls_allowed flag is True
-  int pedal_pressed = gm_gas_prev || (gm_brake_prev && gm_speed);
+  int pedal_pressed = gm_gas_prev || (gm_brake_prev && gm_moving);
   bool current_controls_allowed = controls_allowed && !pedal_pressed;
 
   int addr = GET_ADDR(to_send);
 
   // BRAKE: safety check
   if (addr == 789) {
-    uint32_t rdlr = to_send->RDLR;
-    int brake = ((rdlr & 0xFU) << 8) + ((rdlr & 0xFF00U) >> 8);
+    int brake = ((GET_BYTE(to_send, 0) & 0xFU) << 8) + GET_BYTE(to_send, 1);
     brake = (0x1000 - brake) & 0xFFF;
     if (!current_controls_allowed || !long_controls_allowed) {
       if (brake != 0) {
@@ -151,8 +150,7 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
   // LKA STEER: safety check
   if (addr == 384) {
-    uint32_t rdlr = to_send->RDLR;
-    int desired_torque = ((rdlr & 0x7U) << 8) + ((rdlr & 0xFF00U) >> 8);
+    int desired_torque = ((GET_BYTE(to_send, 0) & 0x7U) << 8) + GET_BYTE(to_send, 1);
     uint32_t ts = TIM2->CNT;
     bool violation = 0;
     desired_torque = to_signed(desired_torque, 11);
@@ -205,12 +203,11 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
   // GAS/REGEN: safety check
   if (addr == 715) {
-    uint32_t rdlr = to_send->RDLR;
-    int gas_regen = ((rdlr & 0x7F0000U) >> 11) + ((rdlr & 0xF8000000U) >> 27);
+    int gas_regen = ((GET_BYTE(to_send, 2) & 0x7FU) << 5) + ((GET_BYTE(to_send, 3) & 0xF8U) >> 3);
     // Disabled message is !engaed with gas
     // value that corresponds to max regen.
     if (!current_controls_allowed || !long_controls_allowed) {
-      bool apply = (rdlr & 1U) != 0U;
+      bool apply = GET_BYTE(to_send, 0) & 1U;
       if (apply || (gas_regen != GM_MAX_REGEN)) {
         tx = 0;
       }
diff --git a/board/safety/safety_gm_ascm.h b/board/safety/safety_gm_ascm.h
index d452818d69..82f1db6ae5 100644
--- a/board/safety/safety_gm_ascm.h
+++ b/board/safety/safety_gm_ascm.h
@@ -13,7 +13,7 @@ static int gm_ascm_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
     // block 0x315 and 0x2cb, which are the brake and accel commands from ASCM1
     //if ((addr == 0x152) || (addr == 0x154) || (addr == 0x315) || (addr == 0x2cb)) {
     if ((addr == 0x152) || (addr == 0x154)) {
-      int supercruise_on = (to_fwd->RDHR >> 4) & 0x1;  // bit 36
+      bool supercruise_on = (GET_BYTE(to_fwd, 4) & 0x10) != 0;  // bit 36
       if (!supercruise_on) {
         bus_fwd = -1;
       }
diff --git a/board/safety/safety_honda.h b/board/safety/safety_honda.h
index 44a57ec978..6179a5e374 100644
--- a/board/safety/safety_honda.h
+++ b/board/safety/safety_honda.h
@@ -10,7 +10,7 @@
 const int HONDA_GAS_INTERCEPTOR_THRESHOLD = 328;  // ratio between offset and gain from dbc file
 int honda_brake_prev = 0;
 int honda_gas_prev = 0;
-int honda_ego_speed = 0;
+bool honda_moving = false;
 bool honda_bosch_hardware = false;
 bool honda_alt_brake_msg = false;
 
@@ -22,13 +22,13 @@ static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   // sample speed
   if (addr == 0x158) {
     // first 2 bytes
-    honda_ego_speed = to_push->RDLR & 0xFFFF;
+    honda_moving = GET_BYTE(to_push, 0) | GET_BYTE(to_push, 1);
   }
 
   // state machine to enter and exit controls
   // 0x1A6 for the ILX, 0x296 for the Civic Touring
   if ((addr == 0x1A6) || (addr == 0x296)) {
-    int button = (to_push->RDLR & 0xE0) >> 5;
+    int button = (GET_BYTE(to_push, 0) & 0xE0) >> 5;
     switch (button) {
       case 2:  // cancel
         controls_allowed = 0;
@@ -48,14 +48,11 @@ static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   // in these cases, this is used instead.
   // most hondas: 0x17C bit 53
   // accord, crv: 0x1BE bit 4
-  #define IS_USER_BRAKE_MSG(addr) (!honda_alt_brake_msg ? ((addr) == 0x17C) : ((addr) == 0x1BE))
-  #define USER_BRAKE_VALUE(to_push)  (!honda_alt_brake_msg ? ((to_push)->RDHR & 0x200000)  : ((to_push)->RDLR & 0x10))
-  // exit controls on rising edge of brake press or on brake press when
-  // speed > 0
-  bool is_user_brake_msg = IS_USER_BRAKE_MSG(addr);  // needed to enforce type
+  // exit controls on rising edge of brake press or on brake press when speed > 0
+  bool is_user_brake_msg = honda_alt_brake_msg ? ((addr) == 0x1BE) : ((addr) == 0x17C);
   if (is_user_brake_msg) {
-    int brake = USER_BRAKE_VALUE(to_push);
-    if (brake && (!(honda_brake_prev) || honda_ego_speed)) {
+    int brake = honda_alt_brake_msg ? (GET_BYTE((to_push), 0) & 0x10) : (GET_BYTE((to_push), 6) & 0x20);
+    if (brake && (!(honda_brake_prev) || honda_moving)) {
       controls_allowed = 0;
     }
     honda_brake_prev = brake;
@@ -65,7 +62,7 @@ static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   // length check because bosch hardware also uses this id (0x201 w/ len = 8)
   if ((addr == 0x201) && (len == 6)) {
     gas_interceptor_detected = 1;
-    int gas_interceptor = ((to_push->RDLR & 0xFF) << 8) | ((to_push->RDLR & 0xFF00) >> 8);
+    int gas_interceptor = GET_INTERCEPTOR(to_push);
     if ((gas_interceptor > HONDA_GAS_INTERCEPTOR_THRESHOLD) &&
         (gas_interceptor_prev <= HONDA_GAS_INTERCEPTOR_THRESHOLD) &&
         long_controls_allowed) {
@@ -77,7 +74,7 @@ static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   // exit controls on rising edge of gas press if no interceptor
   if (!gas_interceptor_detected) {
     if (addr == 0x17C) {
-      int gas = to_push->RDLR & 0xFF;
+      int gas = GET_BYTE(to_push, 0);
       if (gas && !(honda_gas_prev) && long_controls_allowed) {
         controls_allowed = 0;
       }
@@ -101,17 +98,18 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
   // disallow actuator commands if gas or brake (with vehicle moving) are pressed
   // and the the latching controls_allowed flag is True
   int pedal_pressed = honda_gas_prev || (gas_interceptor_prev > HONDA_GAS_INTERCEPTOR_THRESHOLD) ||
-                      (honda_brake_prev && honda_ego_speed);
+                      (honda_brake_prev && honda_moving);
   bool current_controls_allowed = controls_allowed && !(pedal_pressed);
 
   // BRAKE: safety check
   if (addr == 0x1FA) {
+    int brake = (GET_BYTE(to_send, 0) << 2) + (GET_BYTE(to_send, 1) & 0x3);
     if (!current_controls_allowed || !long_controls_allowed) {
-      if ((to_send->RDLR & 0xFFFF0000) != to_send->RDLR) {
+      if (brake != 0) {
         tx = 0;
       }
     }
-    if ((to_send->RDLR & 0xFFFFFF3F) != to_send->RDLR) {
+    if (brake > 255) {
       tx = 0;
     }
   }
@@ -119,7 +117,8 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
   // STEER: safety check
   if ((addr == 0xE4) || (addr == 0x194)) {
     if (!current_controls_allowed) {
-      if ((to_send->RDLR & 0xFFFF0000) != to_send->RDLR) {
+      bool steer_applied = GET_BYTE(to_send, 0) | GET_BYTE(to_send, 1);
+      if (steer_applied) {
         tx = 0;
       }
     }
@@ -128,7 +127,7 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
   // GAS: safety check
   if (addr == 0x200) {
     if (!current_controls_allowed || !long_controls_allowed) {
-      if ((to_send->RDLR & 0xFFFF0000) != to_send->RDLR) {
+      if (GET_BYTE(to_send, 0) || GET_BYTE(to_send, 1)) {
         tx = 0;
       }
     }
@@ -139,7 +138,7 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
   // This avoids unintended engagements while still allowing resume spam
   if ((addr == 0x296) && honda_bosch_hardware &&
       !current_controls_allowed && (bus == 0)) {
-    if (((to_send->RDLR >> 5) & 0x7) != 2) {
+    if (((GET_BYTE(to_send, 0) >> 5) & 0x7) != 2) {
       tx = 0;
     }
   }
diff --git a/board/safety/safety_hyundai.h b/board/safety/safety_hyundai.h
index c1b55359bd..aed30621f4 100644
--- a/board/safety/safety_hyundai.h
+++ b/board/safety/safety_hyundai.h
@@ -20,7 +20,7 @@ static void hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   int addr = GET_ADDR(to_push);
 
   if (addr == 897) {
-    int torque_driver_new = ((to_push->RDLR >> 11) & 0xfff) - 2048;
+    int torque_driver_new = ((GET_BYTES_04(to_push) >> 11) & 0xfff) - 2048;
     // update array of samples
     update_sample(&hyundai_torque_driver, torque_driver_new);
   }
@@ -39,7 +39,7 @@ static void hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   // enter controls on rising edge of ACC, exit controls on ACC off
   if (addr == 1057) {
     // 2 bits: 13-14
-    int cruise_engaged = (to_push->RDLR >> 13) & 0x3;
+    int cruise_engaged = (GET_BYTES_04(to_push) >> 13) & 0x3;
     if (cruise_engaged && !hyundai_cruise_engaged_last) {
       controls_allowed = 1;
     }
@@ -67,7 +67,7 @@ static int hyundai_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
   // LKA STEER: safety check
   if (addr == 832) {
-    int desired_torque = ((to_send->RDLR >> 16) & 0x7ff) - 1024;
+    int desired_torque = ((GET_BYTES_04(to_send) >> 16) & 0x7ff) - 1024;
     uint32_t ts = TIM2->CNT;
     bool violation = 0;
 
@@ -117,7 +117,7 @@ static int hyundai_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
   // This avoids unintended engagements while still allowing resume spam
   // TODO: fix bug preventing the button msg to be fwd'd on bus 2
   //if ((addr == 1265) && !controls_allowed && (bus == 0) {
-  //  if ((to_send->RDLR & 0x7) != 4) {
+  //  if ((GET_BYTES_04(to_send) & 0x7) != 4) {
   //    tx = 0;
   //  }
   //}
diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index c7a8c20e52..3eda8369be 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -20,7 +20,7 @@ static void subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   int addr = GET_ADDR(to_push);
 
   if ((addr == 0x119) && (bus == 0)){
-    int torque_driver_new = ((to_push->RDLR >> 16) & 0x7FF);
+    int torque_driver_new = ((GET_BYTES_04(to_push) >> 16) & 0x7FF);
     torque_driver_new = to_signed(torque_driver_new, 11);
     // update array of samples
     update_sample(&subaru_torque_driver, torque_driver_new);
@@ -28,7 +28,7 @@ static void subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
   // enter controls on rising edge of ACC, exit controls on ACC off
   if ((addr == 0x240) && (bus == 0)) {
-    int cruise_engaged = (to_push->RDHR >> 9) & 1;
+    int cruise_engaged = GET_BYTE(to_push, 5) & 2;
     if (cruise_engaged && !subaru_cruise_engaged_last) {
       controls_allowed = 1;
     }
@@ -45,7 +45,7 @@ static int subaru_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
   // steer cmd checks
   if (addr == 0x122) {
-    int desired_torque = ((to_send->RDLR >> 16) & 0x1FFF);
+    int desired_torque = ((GET_BYTES_04(to_send) >> 16) & 0x1FFF);
     bool violation = 0;
     uint32_t ts = TIM2->CNT;
     desired_torque = to_signed(desired_torque, 13);
diff --git a/board/safety/safety_tesla.h b/board/safety/safety_tesla.h
index b58e6b2bbf..188b12ac48 100644
--- a/board/safety/safety_tesla.h
+++ b/board/safety/safety_tesla.h
@@ -55,7 +55,7 @@ static void tesla_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
   if (addr == 0x45) {
     // 6 bits starting at position 0
-    int lever_position = (to_push->RDLR & 0x3F);
+    int lever_position = GET_BYTE(to_push, 0) & 0x3F;
     if (lever_position == 2) { // pull forward
       // activate openpilot
       controls_allowed = 1;
@@ -69,7 +69,7 @@ static void tesla_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   // Detect drive rail on (ignition) (start recording)
   if (addr == 0x348) {
     // GTW_status
-    int drive_rail_on = (to_push->RDLR & 0x0001);
+    int drive_rail_on = GET_BYTE(to_push, 0) & 0x1;
     tesla_ignition_started = drive_rail_on == 1;
   }
 
@@ -77,12 +77,12 @@ static void tesla_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   // DI_torque2::DI_brakePedal 0x118
   if (addr == 0x118) {
     // 1 bit at position 16
-    if ((((to_push->RDLR & 0x8000)) >> 15) == 1) {
+    if ((GET_BYTE(to_push, 1) & 0x80) != 0) {
       // disable break cancel by commenting line below
       controls_allowed = 0;
     }
     //get vehicle speed in m/s. Tesla gives MPH
-    tesla_speed = ((((((to_push->RDLR >> 24) & 0xF) << 8) + ((to_push->RDLR >> 16) & 0xFF)) * 0.05) - 25) * 1.609 / 3.6;
+    tesla_speed = (((((GET_BYTE(to_push, 3) & 0xF) << 8) + GET_BYTE(to_push, 2)) * 0.05) - 25) * 1.609 / 3.6;
     if (tesla_speed < 0) {
       tesla_speed = 0;
     }
@@ -92,7 +92,7 @@ static void tesla_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   // EPAS_sysStatus::EPAS_eacStatus 0x370
   if (addr == 0x370) {
     // if EPAS_eacStatus is not 1 or 2, disable control
-    eac_status = ((to_push->RDHR >> 21)) & 0x7;
+    eac_status = (GET_BYTE(to_push, 6) >> 5) & 0x7;
     // For human steering override we must not disable controls when eac_status == 0
     // Additional safety: we could only allow eac_status == 0 when we have human steering allowed
     if (controls_allowed && (eac_status != 0) && (eac_status != 1) && (eac_status != 2)) {
@@ -102,7 +102,7 @@ static void tesla_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   }
   //get latest steering wheel angle
   if (addr == 0x00E) {
-    float angle_meas_now = (int)(((((to_push->RDLR & 0x3F) << 8) + ((to_push->RDLR >> 8) & 0xFF)) * 0.1) - 819.2);
+    float angle_meas_now = (int)(((((GET_BYTE(to_push, 0) & 0x3F) << 8) + GET_BYTE(to_push, 1)) * 0.1) - 819.2);
     uint32_t ts = TIM2->CNT;
     uint32_t ts_elapsed = get_ts_elapsed(ts, tesla_ts_angle_last);
 
@@ -146,10 +146,10 @@ static int tesla_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
   // do not transmit CAN message if steering angle too high
   // DAS_steeringControl::DAS_steeringAngleRequest
   if (addr == 0x488) {
-    float angle_raw = ((to_send->RDLR & 0x7F) << 8) + ((to_send->RDLR & 0xFF00) >> 8);
+    float angle_raw = ((GET_BYTE(to_send, 0) & 0x7F) << 8) + GET_BYTE(to_send, 1);
     float desired_angle = (angle_raw * 0.1) - 1638.35;
     bool violation = 0;
-    int st_enabled = (to_send->RDLR & 0x400000) >> 22;
+    int st_enabled = GET_BYTE(to_send, 2) & 0x40;
 
     if (st_enabled == 0) {
       //steering is not enabled, do not check angles and do send
@@ -204,10 +204,10 @@ static int tesla_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
       bus_fwd = 2; // Custom EPAS bus
     }
     if (addr == 0x101) {
-      to_fwd->RDLR = to_fwd->RDLR | 0x4000; // 0x4000: WITH_ANGLE, 0xC000: WITH_BOTH (angle and torque)
-      uint32_t checksum = (((to_fwd->RDLR & 0xFF00) >> 8) + (to_fwd->RDLR & 0xFF) + 2) & 0xFF;
-      to_fwd->RDLR = to_fwd->RDLR & 0xFFFF;
-      to_fwd->RDLR = to_fwd->RDLR + (checksum << 16);
+      to_fwd->RDLR = GET_BYTES_04(to_fwd) | 0x4000; // 0x4000: WITH_ANGLE, 0xC000: WITH_BOTH (angle and torque)
+      uint32_t checksum = (GET_BYTE(to_fwd, 1) + GET_BYTE(to_fwd, 0) + 2) & 0xFF;
+      to_fwd->RDLR = GET_BYTES_04(to_fwd) & 0xFFFF;
+      to_fwd->RDLR = GET_BYTES_04(to_fwd) + (checksum << 16);
     }
   }
   if (bus_num == 2) {
diff --git a/board/safety/safety_toyota.h b/board/safety/safety_toyota.h
index c4d5795631..c1ce996058 100644
--- a/board/safety/safety_toyota.h
+++ b/board/safety/safety_toyota.h
@@ -39,7 +39,7 @@ static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
   // get eps motor torque (0.66 factor in dbc)
   if (addr == 0x260) {
-    int torque_meas_new = (((to_push->RDHR) & 0xFF00) | ((to_push->RDHR >> 16) & 0xFF));
+    int torque_meas_new = (GET_BYTE(to_push, 5) << 8) | GET_BYTE(to_push, 6);
     torque_meas_new = to_signed(torque_meas_new, 16);
 
     // scale by dbc_factor
@@ -56,7 +56,7 @@ static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   // enter controls on rising edge of ACC, exit controls on ACC off
   if (addr == 0x1D2) {
     // 5th bit is CRUISE_ACTIVE
-    int cruise_engaged = to_push->RDLR & 0x20;
+    int cruise_engaged = GET_BYTE(to_push, 0) & 0x20;
     if (!cruise_engaged) {
       controls_allowed = 0;
     }
@@ -69,7 +69,7 @@ static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   // exit controls on rising edge of interceptor gas press
   if (addr == 0x201) {
     gas_interceptor_detected = 1;
-    int gas_interceptor = ((to_push->RDLR & 0xFF) << 8) | ((to_push->RDLR & 0xFF00) >> 8);
+    int gas_interceptor = GET_INTERCEPTOR(to_push);
     if ((gas_interceptor > TOYOTA_GAS_INTERCEPTOR_THRESHOLD) &&
         (gas_interceptor_prev <= TOYOTA_GAS_INTERCEPTOR_THRESHOLD) &&
         long_controls_allowed) {
@@ -80,7 +80,7 @@ static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
   // exit controls on rising edge of gas press
   if (addr == 0x2C1) {
-    int gas = (to_push->RDHR >> 16) & 0xFF;
+    int gas = GET_BYTE(to_push, 6) & 0xFF;
     if ((gas > 0) && (toyota_gas_prev == 0) && !gas_interceptor_detected && long_controls_allowed) {
       controls_allowed = 0;
     }
@@ -115,7 +115,7 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
     // GAS PEDAL: safety check
     if (addr == 0x200) {
       if (!controls_allowed || !long_controls_allowed) {
-        if ((to_send->RDLR & 0xFFFF0000) != to_send->RDLR) {
+        if (GET_BYTE(to_send, 0) || GET_BYTE(to_send, 1)) {
           tx = 0;
         }
       }
@@ -123,7 +123,7 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
     // ACCEL: safety check on byte 1-2
     if (addr == 0x343) {
-      int desired_accel = ((to_send->RDLR & 0xFF) << 8) | ((to_send->RDLR >> 8) & 0xFF);
+      int desired_accel = (GET_BYTE(to_send, 0) << 8) | GET_BYTE(to_send, 1);
       desired_accel = to_signed(desired_accel, 16);
       if (!controls_allowed || !long_controls_allowed) {
         if (desired_accel != 0) {
@@ -138,7 +138,7 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
     // STEER: safety check on bytes 2-3
     if (addr == 0x2E4) {
-      int desired_torque = (to_send->RDLR & 0xFF00) | ((to_send->RDLR >> 16) & 0xFF);
+      int desired_torque = (GET_BYTE(to_send, 1) << 8) | GET_BYTE(to_send, 2);
       desired_torque = to_signed(desired_torque, 16);
       bool violation = 0;
 
diff --git a/board/safety/safety_toyota_ipas.h b/board/safety/safety_toyota_ipas.h
index 99e6dae058..3e3a3b3a24 100644
--- a/board/safety/safety_toyota_ipas.h
+++ b/board/safety/safety_toyota_ipas.h
@@ -39,7 +39,7 @@ static void toyota_ipas_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
   if (addr == 0x260) {
     // get driver steering torque
-    int16_t torque_driver_new = (((to_push->RDLR) & 0xFF00) | ((to_push->RDLR >> 16) & 0xFF));
+    int16_t torque_driver_new = (GET_BYTE(to_push, 1) << 8) | GET_BYTE(to_push, 2);
 
     // update array of samples
     update_sample(&torque_driver, torque_driver_new);
@@ -47,7 +47,7 @@ static void toyota_ipas_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
   // get steer angle
   if (addr == 0x25) {
-    int angle_meas_new = ((to_push->RDLR & 0xf) << 8) + ((to_push->RDLR & 0xff00) >> 8);
+    int angle_meas_new = ((GET_BYTE(to_push, 0) & 0xF) << 8) | GET_BYTE(to_push, 1);
     uint32_t ts = TIM2->CNT;
 
     angle_meas_new = to_signed(angle_meas_new, 12);
@@ -81,12 +81,12 @@ static void toyota_ipas_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
   // get speed
   if (addr == 0xb4) {
-    speed = ((float) (((to_push->RDHR) & 0xFF00) | ((to_push->RDHR >> 16) & 0xFF))) * 0.01 / 3.6;
+    speed = ((float)((GET_BYTE(to_push, 5) << 8) | GET_BYTE(to_push, 6))) * 0.01 / 3.6;
   }
 
   // get ipas state
   if (addr == 0x262) {
-    ipas_state = (to_push->RDLR & 0xf);
+    ipas_state = GET_BYTE(to_push, 0) & 0xf;
   }
 
   // exit controls on high steering override
@@ -111,8 +111,8 @@ static int toyota_ipas_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
     if ((addr == 0x266) || (addr == 0x167)) {
 
       angle_control = 1;   // we are in angle control mode
-      int desired_angle = ((to_send->RDLR & 0xf) << 8) + ((to_send->RDLR & 0xff00) >> 8);
-      int ipas_state_cmd = ((to_send->RDLR & 0xff) >> 4);
+      int desired_angle = ((GET_BYTE(to_send, 0) & 0xF) << 8) | GET_BYTE(to_send, 1);
+      int ipas_state_cmd = GET_BYTE(to_send, 0) >> 4;
       bool violation = 0;
 
       desired_angle = to_signed(desired_angle, 12);
diff --git a/board/safety_declarations.h b/board/safety_declarations.h
index 21e863869b..7e0a54d73e 100644
--- a/board/safety_declarations.h
+++ b/board/safety_declarations.h
@@ -1,7 +1,3 @@
-#define GET_BUS(msg) (((msg)->RDTR >> 4) & 0xFF)
-#define GET_LEN(msg) ((msg)->RDTR & 0xf)
-#define GET_ADDR(msg) ((((msg)->RIR & 4) != 0) ? ((msg)->RIR >> 3) : ((msg)->RIR >> 21))
-
 // sample struct that keeps 3 samples in memory
 struct sample_t {
   int values[6];
@@ -54,3 +50,6 @@ int gas_interceptor_prev = 0;
 
 // This is set by USB command 0xdf
 bool long_controls_allowed = 1;
+
+// avg between 2 tracks
+#define GET_INTERCEPTOR(msg) (((GET_BYTE((msg), 0) << 8) + GET_BYTE((msg), 1) + ((GET_BYTE((msg), 2) << 8) + GET_BYTE((msg), 3)) / 2 ) / 2)
diff --git a/board/spi_flasher.h b/board/spi_flasher.h
index 94d41c7e32..aacea822cd 100644
--- a/board/spi_flasher.h
+++ b/board/spi_flasher.h
@@ -92,16 +92,26 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
   return resp_len;
 }
 
-int usb_cb_ep1_in(uint8_t *usbdata, int len, bool hardwired) { return 0; }
-void usb_cb_ep3_out(uint8_t *usbdata, int len, bool hardwired) { }
+int usb_cb_ep1_in(void *usbdata, int len, bool hardwired) {
+  UNUSED(usbdata);
+  UNUSED(len);
+  UNUSED(hardwired);
+  return 0;
+}
+void usb_cb_ep3_out(void *usbdata, int len, bool hardwired) {
+  UNUSED(usbdata);
+  UNUSED(len);
+  UNUSED(hardwired);
+}
 
 int is_enumerated = 0;
-void usb_cb_enumeration_complete() {
+void usb_cb_enumeration_complete(void) {
   puts("USB enumeration complete\n");
   is_enumerated = 1;
 }
 
-void usb_cb_ep2_out(uint8_t *usbdata, int len, bool hardwired) {
+void usb_cb_ep2_out(void *usbdata, int len, bool hardwired) {
+  UNUSED(hardwired);
   set_led(LED_RED, 0);
   for (int i = 0; i < len/4; i++) {
     // program byte 1
@@ -118,6 +128,7 @@ void usb_cb_ep2_out(uint8_t *usbdata, int len, bool hardwired) {
 
 
 int spi_cb_rx(uint8_t *data, int len, uint8_t *data_out) {
+  UNUSED(len);
   int resp_len = 0;
   switch (data[0]) {
     case 0:
@@ -140,7 +151,7 @@ int spi_cb_rx(uint8_t *data, int len, uint8_t *data_out) {
 #define CAN_BL_INPUT 0x1
 #define CAN_BL_OUTPUT 0x2
 
-void CAN1_TX_IRQHandler() {
+void CAN1_TX_IRQHandler(void) {
   // clear interrupt
   CAN->TSR |= CAN_TSR_RQCP0;
 }
@@ -167,12 +178,13 @@ void bl_can_send(uint8_t *odat) {
   CAN->sTxMailBox[0].TIR = (CAN_BL_OUTPUT << 21) | 1;
 }
 
-void CAN1_RX0_IRQHandler() {
+void CAN1_RX0_IRQHandler(void) {
   while (CAN->RF0R & CAN_RF0R_FMP0) {
     if ((CAN->sFIFOMailBox[0].RIR>>21) == CAN_BL_INPUT) {
       uint8_t dat[8];
-      ((uint32_t*)dat)[0] = CAN->sFIFOMailBox[0].RDLR;
-      ((uint32_t*)dat)[1] = CAN->sFIFOMailBox[0].RDHR;
+      for (int i = 0; i < 8; i++) {
+        dat[0] = GET_BYTE(&CAN->sFIFOMailBox[0], i);
+      }
       uint8_t odat[8];
       uint8_t type = dat[0] & 0xF0;
       if (type == 0x30) {
@@ -241,13 +253,13 @@ void CAN1_RX0_IRQHandler() {
   }
 }
 
-void CAN1_SCE_IRQHandler() {
+void CAN1_SCE_IRQHandler(void) {
   llcan_clear_send(CAN);
 }
 
 #endif
 
-void soft_flasher_start() {
+void soft_flasher_start(void) {
   puts("\n\n\n************************ FLASHER START ************************\n");
 
   enter_bootloader_mode = 0;
diff --git a/board/startup_stm32f205xx.s b/board/startup_stm32f205xx.s
index f4b6c6cb74..7554efc4c1 100644
--- a/board/startup_stm32f205xx.s
+++ b/board/startup_stm32f205xx.s
@@ -4,7 +4,7 @@
   * @author    MCD Application Team
   * @version   V2.1.2
   * @date      29-June-2016
-  * @brief     STM32F205xx Devices vector table for Atollic TrueSTUDIO toolchain. 
+  * @brief     STM32F205xx Devices vector table for Atollic TrueSTUDIO toolchain.
   *            This module performs:
   *                - Set the initial SP
   *                - Set the initial PC == Reset_Handler,
@@ -42,7 +42,7 @@
   *
   ******************************************************************************
   */
-    
+
   .syntax unified
   .cpu cortex-m3
   .thumb
@@ -50,10 +50,10 @@
 .global  g_pfnVectors
 .global  Default_Handler
 
-/* start address for the initialization values of the .data section. 
+/* start address for the initialization values of the .data section.
 defined in linker script */
 .word  _sidata
-/* start address for the .data section. defined in linker script */  
+/* start address for the .data section. defined in linker script */
 .word  _sdata
 /* end address for the .data section. defined in linker script */
 .word  _edata
@@ -67,7 +67,7 @@ defined in linker script */
  * @brief  This is the code that gets called when the processor first
  *          starts execution following a reset event. Only the absolutely
  *          necessary set is performed, after which the application
- *          supplied main() routine is called. 
+ *          supplied main() routine is called.
  * @param  None
  * @retval : None
 */
@@ -75,7 +75,7 @@ defined in linker script */
     .section  .text.Reset_Handler
   .weak  Reset_Handler
   .type  Reset_Handler, %function
-Reset_Handler:  
+Reset_Handler:
   ldr   sp, =_estack     /* set stack pointer */
   bl __initialize_hardware_early
 
@@ -88,7 +88,7 @@ CopyDataInit:
   ldr  r3, [r3, r1]
   str  r3, [r0, r1]
   adds  r1, r1, #4
-    
+
 LoopCopyDataInit:
   ldr  r0, =_sdata
   ldr  r3, =_edata
@@ -101,7 +101,7 @@ LoopCopyDataInit:
 FillZerobss:
   movs  r3, #0
   str  r3, [r2], #4
-    
+
 LoopFillZerobss:
   ldr  r3, = _ebss
   cmp  r2, r3
@@ -113,15 +113,15 @@ LoopFillZerobss:
     /*bl __libc_init_array*/
 /* Call the application's entry point.*/
   bl  main
-  bx  lr    
+  bx  lr
 .size  Reset_Handler, .-Reset_Handler
 
 /**
- * @brief  This is the code that gets called when the processor receives an 
+ * @brief  This is the code that gets called when the processor receives an
  *         unexpected interrupt.  This simply enters an infinite loop, preserving
  *         the system state for examination by a debugger.
- * @param  None     
- * @retval None       
+ * @param  None
+ * @retval None
 */
     .section  .text.Default_Handler,"ax",%progbits
 Default_Handler:
@@ -133,14 +133,14 @@ Infinite_Loop:
 * The minimal vector table for a Cortex M3. Note that the proper constructs
 * must be placed on this to ensure that it ends up at physical address
 * 0x0000.0000.
-* 
+*
 *******************************************************************************/
    .section  .isr_vector,"a",%progbits
   .type  g_pfnVectors, %object
   .size  g_pfnVectors, .-g_pfnVectors
-    
 
-	
+
+
 g_pfnVectors:
   .word  _estack
   .word  Reset_Handler
@@ -159,7 +159,7 @@ g_pfnVectors:
   .word  0
   .word  PendSV_Handler
   .word  SysTick_Handler
-  
+
   /* External Interrupts */
   .word     WWDG_IRQHandler                   /* Window WatchDog              */
   .word     PVD_IRQHandler                    /* PVD through EXTI Line detection */
@@ -248,7 +248,7 @@ g_pfnVectors:
 * Provide weak aliases for each Exception handler to the Default_Handler.
 * As they are weak aliases, any function with the same name will override
 * this definition.
-* 
+*
 *******************************************************************************/
    .weak      NMI_Handler
    .thumb_set NMI_Handler,Default_Handler
@@ -302,7 +302,7 @@ g_pfnVectors:
    .thumb_set EXTI1_IRQHandler,Default_Handler
 
    .weak      EXTI2_IRQHandler
-   .thumb_set EXTI2_IRQHandler,Default_Handler 
+   .thumb_set EXTI2_IRQHandler,Default_Handler
 
    .weak      EXTI3_IRQHandler
    .thumb_set EXTI3_IRQHandler,Default_Handler
@@ -320,7 +320,7 @@ g_pfnVectors:
    .thumb_set DMA1_Stream2_IRQHandler,Default_Handler
 
    .weak      DMA1_Stream3_IRQHandler
-   .thumb_set DMA1_Stream3_IRQHandler,Default_Handler 
+   .thumb_set DMA1_Stream3_IRQHandler,Default_Handler
 
    .weak      DMA1_Stream4_IRQHandler
    .thumb_set DMA1_Stream4_IRQHandler,Default_Handler
@@ -432,7 +432,7 @@ g_pfnVectors:
 
    .weak      SPI3_IRQHandler
    .thumb_set SPI3_IRQHandler,Default_Handler
- 
+
    .weak      UART4_IRQHandler
    .thumb_set UART4_IRQHandler,Default_Handler
 
diff --git a/board/startup_stm32f413xx.s b/board/startup_stm32f413xx.s
index 00b645d11b..6e6fb5ffa5 100644
--- a/board/startup_stm32f413xx.s
+++ b/board/startup_stm32f413xx.s
@@ -4,7 +4,7 @@
   * @author    MCD Application Team
   * @version   V2.6.0
   * @date      04-November-2016
-  * @brief     STM32F413xx Devices vector table for GCC based toolchains. 
+  * @brief     STM32F413xx Devices vector table for GCC based toolchains.
   *            This module performs:
   *                - Set the initial SP
   *                - Set the initial PC == Reset_Handler,
@@ -42,7 +42,7 @@
   *
   ******************************************************************************
   */
-    
+
   .syntax unified
   .cpu cortex-m4
   .fpu softvfp
@@ -51,7 +51,7 @@
 .global  g_pfnVectors
 .global  Default_Handler
 
-/* start address for the initialization values of the .data section. 
+/* start address for the initialization values of the .data section.
 defined in linker script */
 .word  _sidata
 /* start address for the .data section. defined in linker script */
@@ -68,7 +68,7 @@ defined in linker script */
  * @brief  This is the code that gets called when the processor first
  *          starts execution following a reset event. Only the absolutely
  *          necessary set is performed, after which the application
- *          supplied main() routine is called. 
+ *          supplied main() routine is called.
  * @param  None
  * @retval : None
 */
@@ -76,7 +76,7 @@ defined in linker script */
     .section  .text.Reset_Handler
   .weak  Reset_Handler
   .type  Reset_Handler, %function
-Reset_Handler:  
+Reset_Handler:
   ldr   sp, =_estack       /* set stack pointer */
   bl __initialize_hardware_early
 
@@ -89,7 +89,7 @@ CopyDataInit:
   ldr  r3, [r3, r1]
   str  r3, [r0, r1]
   adds  r1, r1, #4
-    
+
 LoopCopyDataInit:
   ldr  r0, =_sdata
   ldr  r3, =_edata
@@ -102,7 +102,7 @@ LoopCopyDataInit:
 FillZerobss:
   movs  r3, #0
   str  r3, [r2], #4
-    
+
 LoopFillZerobss:
   ldr  r3, = _ebss
   cmp  r2, r3
@@ -114,15 +114,15 @@ LoopFillZerobss:
     /* bl __libc_init_array */
 /* Call the application's entry point.*/
   bl  main
-  bx  lr    
+  bx  lr
 .size  Reset_Handler, .-Reset_Handler
 
 /**
- * @brief  This is the code that gets called when the processor receives an 
+ * @brief  This is the code that gets called when the processor receives an
  *         unexpected interrupt.  This simply enters an infinite loop, preserving
  *         the system state for examination by a debugger.
- * @param  None     
- * @retval None       
+ * @param  None
+ * @retval None
 */
     .section  .text.Default_Handler,"ax",%progbits
 Default_Handler:
@@ -134,12 +134,12 @@ Infinite_Loop:
 * The minimal vector table for a Cortex M3. Note that the proper constructs
 * must be placed on this to ensure that it ends up at physical address
 * 0x0000.0000.
-* 
+*
 *******************************************************************************/
    .section  .isr_vector,"a",%progbits
   .type  g_pfnVectors, %object
   .size  g_pfnVectors, .-g_pfnVectors
-    
+
 g_pfnVectors:
   .word  _estack
   .word  Reset_Handler
@@ -261,11 +261,11 @@ g_pfnVectors:
   .word     DFSDM2_FLT1_IRQHandler            /* DFSDM2 Filter1                              */
   .word     DFSDM2_FLT2_IRQHandler            /* DFSDM2 Filter2                              */
   .word     DFSDM2_FLT3_IRQHandler            /* DFSDM2 Filter3                              */
-  
+
 /*******************************************************************************
 *
-* Provide weak aliases for each Exception handler to the Default_Handler. 
-* As they are weak aliases, any function with the same name will override 
+* Provide weak aliases for each Exception handler to the Default_Handler.
+* As they are weak aliases, any function with the same name will override
 * this definition.
 *
 *******************************************************************************/
@@ -277,7 +277,7 @@ g_pfnVectors:
 
    .weak      MemManage_Handler
    .thumb_set MemManage_Handler,Default_Handler
-  
+
    .weak      BusFault_Handler
    .thumb_set BusFault_Handler,Default_Handler
 
@@ -321,7 +321,7 @@ g_pfnVectors:
    .thumb_set EXTI1_IRQHandler,Default_Handler
 
    .weak      EXTI2_IRQHandler
-   .thumb_set EXTI2_IRQHandler,Default_Handler 
+   .thumb_set EXTI2_IRQHandler,Default_Handler
 
    .weak      EXTI3_IRQHandler
    .thumb_set EXTI3_IRQHandler,Default_Handler
@@ -439,9 +439,9 @@ g_pfnVectors:
 
    .weak      DMA1_Stream7_IRQHandler
    .thumb_set DMA1_Stream7_IRQHandler,Default_Handler
-   
+
    .weak      FSMC_IRQHandler
-   .thumb_set FSMC_IRQHandler,Default_Handler   
+   .thumb_set FSMC_IRQHandler,Default_Handler
 
    .weak      SDIO_IRQHandler
    .thumb_set SDIO_IRQHandler,Default_Handler
@@ -451,12 +451,12 @@ g_pfnVectors:
 
    .weak      SPI3_IRQHandler
    .thumb_set SPI3_IRQHandler,Default_Handler
-   
+
    .weak      UART4_IRQHandler
    .thumb_set UART4_IRQHandler,Default_Handler
 
    .weak      UART5_IRQHandler
-   .thumb_set UART5_IRQHandler,Default_Handler   
+   .thumb_set UART5_IRQHandler,Default_Handler
 
    .weak      TIM6_DAC_IRQHandler
    .thumb_set TIM6_DAC_IRQHandler,Default_Handler
@@ -517,7 +517,7 @@ g_pfnVectors:
 
    .weak      I2C3_ER_IRQHandler
    .thumb_set I2C3_ER_IRQHandler,Default_Handler
-   
+
    .weak      CAN3_TX_IRQHandler
    .thumb_set CAN3_TX_IRQHandler,Default_Handler
 
@@ -528,26 +528,26 @@ g_pfnVectors:
    .thumb_set CAN3_RX1_IRQHandler,Default_Handler
 
    .weak      CAN3_SCE_IRQHandler
-   .thumb_set CAN3_SCE_IRQHandler,Default_Handler   
+   .thumb_set CAN3_SCE_IRQHandler,Default_Handler
 
    .weak      RNG_IRQHandler
    .thumb_set RNG_IRQHandler,Default_Handler
 
    .weak      FPU_IRQHandler
    .thumb_set FPU_IRQHandler,Default_Handler
-   
+
    .weak      UART7_IRQHandler
    .thumb_set UART7_IRQHandler,Default_Handler
 
    .weak      UART8_IRQHandler
-   .thumb_set UART8_IRQHandler,Default_Handler   
+   .thumb_set UART8_IRQHandler,Default_Handler
 
    .weak      SPI4_IRQHandler
    .thumb_set SPI4_IRQHandler,Default_Handler
 
    .weak      SPI5_IRQHandler
    .thumb_set SPI5_IRQHandler,Default_Handler
-   
+
    .weak      SAI1_IRQHandler
    .thumb_set SAI1_IRQHandler,Default_Handler
 
@@ -555,7 +555,7 @@ g_pfnVectors:
    .thumb_set UART9_IRQHandler,Default_Handler
 
    .weak      UART10_IRQHandler
-   .thumb_set UART10_IRQHandler,Default_Handler   
+   .thumb_set UART10_IRQHandler,Default_Handler
 
    .weak      QUADSPI_IRQHandler
    .thumb_set QUADSPI_IRQHandler,Default_Handler
@@ -565,7 +565,7 @@ g_pfnVectors:
 
    .weak      FMPI2C1_ER_IRQHandler
    .thumb_set FMPI2C1_ER_IRQHandler,Default_Handler
-   
+
    .weak      LPTIM1_IRQHandler
    .thumb_set LPTIM1_IRQHandler,Default_Handler
 
diff --git a/boardesp/webserver.c b/boardesp/webserver.c
index f855f88c91..65e0258826 100644
--- a/boardesp/webserver.c
+++ b/boardesp/webserver.c
@@ -84,7 +84,7 @@ int ICACHE_FLASH_ATTR usb_cmd(int ep, int len, int request,
 
   return recv[0];
 }
- 
+
 
 void ICACHE_FLASH_ATTR st_flash() {
   if (st_firmware != NULL) {
@@ -212,14 +212,14 @@ static void ICACHE_FLASH_ATTR web_rx_cb(void *arg, char *data, uint16_t len) {
       } else {
         ets_strcat(resp, "\nin INSECURE mode...<a href=\"/secure\">secure it</a>");
       }
-      
+
       ets_strcat(resp,"\nSet USB Mode:"
         "<button onclick=\"var xhr = new XMLHttpRequest(); xhr.open('GET', 'set_property?usb_mode=0'); xhr.send()\" type='button'>Client</button>"
         "<button onclick=\"var xhr = new XMLHttpRequest(); xhr.open('GET', 'set_property?usb_mode=1'); xhr.send()\" type='button'>CDP</button>"
         "<button onclick=\"var xhr = new XMLHttpRequest(); xhr.open('GET', 'set_property?usb_mode=2'); xhr.send()\" type='button'>DCP</button>\n");
 
       ets_strcat(resp, pagefooter);
-      
+
       espconn_send_string(&web_conn, resp);
       espconn_disconnect(conn);
     } else if (memcmp(data, "GET /secure", 11) == 0 && !wifi_secure_mode) {
@@ -235,7 +235,7 @@ static void ICACHE_FLASH_ATTR web_rx_cb(void *arg, char *data, uint16_t len) {
           os_sprintf(resp, "%sUSB Mode set to %02x\n\n", OK_header, mode_value);
           espconn_send_string(&web_conn, resp);
           espconn_disconnect(conn);
-        }  
+        }
     } else if (memcmp(data, "PUT /stupdate ", 14) == 0 && wifi_secure_mode) {
       os_printf("init st firmware\n");
       char *cl = strstr(data, "Content-Length: ");
@@ -251,7 +251,7 @@ static void ICACHE_FLASH_ATTR web_rx_cb(void *arg, char *data, uint16_t len) {
         memset(st_firmware, 0, real_content_length);
         state = RECEIVING_ST_FIRMWARE;
       }
-      
+
     } else if (((memcmp(data, "PUT /espupdate1 ", 16) == 0) ||
                 (memcmp(data, "PUT /espupdate2 ", 16) == 0)) && wifi_secure_mode) {
       // 0x1000   = user1.bin
diff --git a/crypto/sha.c b/crypto/sha.c
index 8e1715525c..a13162c5fa 100644
--- a/crypto/sha.c
+++ b/crypto/sha.c
@@ -130,7 +130,7 @@ const uint8_t* SHA_final(SHA_CTX* ctx) {
 
     /* Hack - right shift operator with non const argument requires
      *        libgcc.a which is missing in EON
-     *        thus expanding for loop from 
+     *        thus expanding for loop from
 
               for (i = 0; i < 8; ++i) {
                   uint8_t tmp = (uint8_t) (cnt >> ((7 - i) * 8));
diff --git a/drivers/windows/pandaJ2534DLL/PandaJ2534Device.cpp b/drivers/windows/pandaJ2534DLL/PandaJ2534Device.cpp
index 4cda1fa2e2..19ae43b0d7 100644
--- a/drivers/windows/pandaJ2534DLL/PandaJ2534Device.cpp
+++ b/drivers/windows/pandaJ2534DLL/PandaJ2534Device.cpp
@@ -93,7 +93,7 @@ DWORD PandaJ2534Device::can_process_thread() {
 		if (count == 0) {
 			continue;
 		}
-		
+
 		for (int i = 0; i < count; i++) {
 			auto msg_in = msg_recv[i];
 			J2534Frame msg_out(msg_in);
diff --git a/drivers/windows/pandaJ2534DLL/resource.h b/drivers/windows/pandaJ2534DLL/resource.h
index 771e7b80bc..af0e13cc04 100644
--- a/drivers/windows/pandaJ2534DLL/resource.h
+++ b/drivers/windows/pandaJ2534DLL/resource.h
@@ -3,7 +3,7 @@
 // Used by pandaJ2534DLL.rc
 
 // Next default values for new objects
-// 
+//
 #ifdef APSTUDIO_INVOKED
 #ifndef APSTUDIO_READONLY_SYMBOLS
 #define _APS_NEXT_RESOURCE_VALUE        101
diff --git a/examples/can_unique.md b/examples/can_unique.md
index bf316940d3..4d8ac460e4 100644
--- a/examples/can_unique.md
+++ b/examples/can_unique.md
@@ -10,8 +10,8 @@ First record a few minutes of background CAN messages with all the doors closed
 ./can_logger.py
 mv output.csv background.csv
 ```
-Then run can_logger.py for a few seconds while performing the action you're interested, such as opening and then closing the 
-front-left door and save it as door-fl-1.csv 
+Then run can_logger.py for a few seconds while performing the action you're interested, such as opening and then closing the
+front-left door and save it as door-fl-1.csv
 Repeat the process and save it as door-f1-2.csv to have an easy way to confirm any suspicions.
 
 Now we'll use can_unique.py to look for unique bits:
diff --git a/examples/get_panda_password.py b/examples/get_panda_password.py
index 11071d0353..575cbb0795 100644
--- a/examples/get_panda_password.py
+++ b/examples/get_panda_password.py
@@ -2,11 +2,11 @@
 from panda import Panda
 
 def get_panda_password():
-  
+
   try:
     print("Trying to connect to Panda over USB...")
     p = Panda()
-    
+
   except AssertionError:
     print("USB connection failed")
     sys.exit(0)
@@ -15,6 +15,6 @@ def get_panda_password():
   #print('[%s]' % ', '.join(map(str, wifi)))
   print("SSID: " + wifi[0])
   print("Password: " + wifi[1])
-  
+
 if __name__ == "__main__":
   get_panda_password()
\ No newline at end of file
diff --git a/examples/tesla_tester.py b/examples/tesla_tester.py
index 99d8d92854..4365e424bb 100644
--- a/examples/tesla_tester.py
+++ b/examples/tesla_tester.py
@@ -4,14 +4,14 @@ import binascii
 from panda import Panda
 
 def tesla_tester():
-  
+
   try:
     print("Trying to connect to Panda over USB...")
     p = Panda()
-    
+
   except AssertionError:
     print("USB connection failed. Trying WiFi...")
-    
+
     try:
       p = Panda("WIFI")
     except:
@@ -21,12 +21,12 @@ def tesla_tester():
   body_bus_speed = 125 # Tesla Body busses (B, BF) are 125kbps, rest are 500kbps
   body_bus_num = 1 # My TDC to OBD adapter has PT on bus0 BDY on bus1 and CH on bus2
   p.set_can_speed_kbps(body_bus_num, body_bus_speed)
-  
+
   # Now set the panda from its default of SAFETY_NOOUTPUT (read only) to SAFETY_ALLOUTPUT
   # Careful, as this will let us send any CAN messages we want (which could be very bad!)
   print("Setting Panda to output mode...")
   p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
-  
+
   # BDY 0x248 is the MCU_commands message, which includes folding mirrors, opening the trunk, frunk, setting the cars lock state and more. For our test, we will edit the 3rd byte, which is MCU_lockRequest. 0x01 will lock, 0x02 will unlock:
   print("Unlocking Tesla...")
   p.can_send(0x248, "\x00\x00\x02\x00\x00\x00\x00\x00", body_bus_num)
@@ -34,13 +34,13 @@ def tesla_tester():
   #Or, we can set the first byte, MCU_frontHoodCommand + MCU_liftgateSwitch, to 0x01 to pop the frunk, or 0x04 to open/close the trunk (0x05 should open both)
   print("Opening Frunk...")
   p.can_send(0x248, "\x01\x00\x00\x00\x00\x00\x00\x00", body_bus_num)
-  
+
   #Back to safety...
   print("Disabling output on Panda...")
   p.set_safety_mode(Panda.SAFETY_NOOUTPUT)
-  
+
   print("Reading VIN from 0x568. This is painfully slow and can take up to 3 minutes (1 minute per message; 3 messages needed for full VIN)...")
-  
+
   vin = {}
   while True:
     #Read the VIN
diff --git a/python/esptool.py b/python/esptool.py
index e68e6cd6e0..970aa3d4d8 100755
--- a/python/esptool.py
+++ b/python/esptool.py
@@ -1216,7 +1216,7 @@ def main():
     operation_func = globals()[args.operation]
     operation_args,_,_,_ = inspect.getargspec(operation_func)
     if operation_args[0] == 'esp':  # operation function takes an ESPROM connection object
-        initial_baud = MIN(ESPROM.ESP_ROM_BAUD, args.baud)  # don't sync faster than the default baud rate
+        initial_baud = min(ESPROM.ESP_ROM_BAUD, args.baud)  # don't sync faster than the default baud rate
         esp = ESPROM(args.port, initial_baud)
         esp.connect()
         operation_func(esp, args)
diff --git a/python/flash_release.py b/python/flash_release.py
index 51f6a72e7a..0f407ff22f 100755
--- a/python/flash_release.py
+++ b/python/flash_release.py
@@ -89,7 +89,7 @@ def flash_release(path=None, st_serial=None):
 
   # done!
   status("6. Success!")
-  
+
 if __name__ == "__main__":
   flash_release(*sys.argv[1:])
 
diff --git a/python/isotp.py b/python/isotp.py
index d68aa4d70e..971827007a 100644
--- a/python/isotp.py
+++ b/python/isotp.py
@@ -29,7 +29,7 @@ def recv(panda, cnt, addr, nbus):
 def isotp_recv_subaddr(panda, addr, bus, sendaddr, subaddr):
   msg = recv(panda, 1, addr, bus)[0]
 
-  # TODO: handle other subaddr also communicating 
+  # TODO: handle other subaddr also communicating
   assert ord(msg[0]) == subaddr
 
   if ord(msg[1])&0xf0 == 0x10:
diff --git a/run_automated_tests.sh b/run_automated_tests.sh
index 4e07d329ca..583d6c1ed7 100755
--- a/run_automated_tests.sh
+++ b/run_automated_tests.sh
@@ -1,14 +1,21 @@
-#!/bin/bash
+#!/bin/bash -e
 TEST_FILENAME=${TEST_FILENAME:-nosetests.xml}
-if [ ! -f "/EON" ]; then
+if [ -f "/EON" ]; then
   TESTSUITE_NAME="Panda_Test-EON"
 else
   TESTSUITE_NAME="Panda_Test-DEV"
 fi
 
-cd boardesp
-make flashall
-cd ..
+if [ ! -z "${SKIPWIFI}" ] || [ -f "/EON" ]; then
+  TEST_SCRIPTS=$(ls tests/automated/$1*.py | grep -v wifi)
+else
+  TEST_SCRIPTS=$(ls tests/automated/$1*.py)
+fi
 
+IFS=$'\n'
+for NAME in $(nmcli --fields NAME con show | grep panda | awk '{$1=$1};1')
+do
+  nmcli connection delete "$NAME"
+done
 
-PYTHONPATH="." python $(which nosetests) -v --with-xunit --xunit-file=./$TEST_FILENAME --xunit-testsuite-name=$TESTSUITE_NAME -s tests/automated/$1*.py
+PYTHONPATH="." python $(which nosetests) -v --with-xunit --xunit-file=./$TEST_FILENAME --xunit-testsuite-name=$TESTSUITE_NAME -s $TEST_SCRIPTS
diff --git a/tests/automated/5_wifi_udp.py b/tests/automated/5_wifi_udp.py
index 873f78bdb3..d55baa659a 100644
--- a/tests/automated/5_wifi_udp.py
+++ b/tests/automated/5_wifi_udp.py
@@ -34,7 +34,7 @@ def test_udp_doesnt_drop(serial=None):
         sys.stdout.flush()
       else:
         print("UDP WIFI loopback %d messages at speed %d, comp speed is %.2f, percent %.2f" % (msg_count, speed, comp_kbps, saturation_pct))
-        assert_greater(saturation_pct, 15) #sometimes the wifi can be slow...
+        assert_greater(saturation_pct, 20) #sometimes the wifi can be slow...
         assert_less(saturation_pct, 100)
         saturation_pcts.append(saturation_pct)
     if len(saturation_pcts) > 0:
diff --git a/tests/build_strict/Dockerfile b/tests/build_strict/Dockerfile
deleted file mode 100644
index b1c75c0258..0000000000
--- a/tests/build_strict/Dockerfile
+++ /dev/null
@@ -1,9 +0,0 @@
-FROM ubuntu:16.04
-
-RUN apt-get update && apt-get install -y gcc-arm-none-eabi libnewlib-arm-none-eabi python python-pip gcc g++
-
-RUN pip install pycrypto==2.6.1
-
-COPY . /panda
-
-WORKDIR /panda
diff --git a/tests/build_strict/test_build_strict.sh b/tests/build_strict/test_build_strict.sh
deleted file mode 100755
index ee57ba8ad8..0000000000
--- a/tests/build_strict/test_build_strict.sh
+++ /dev/null
@@ -1,15 +0,0 @@
-#!/bin/bash -e
-
-cd ../../board/
-
-make -f Makefile.strict clean
-make -f Makefile.strict bin 2> compiler_output.txt
-
-
-if [[ -s "compiler_output.txt" ]]
-then
-  echo "Found alerts from the compiler:"
-  cat compiler_output.txt
-  exit 1
-fi
-      
diff --git a/tests/elm_car_simulator.py b/tests/elm_car_simulator.py
index bcee821cd0..f931e66ff4 100755
--- a/tests/elm_car_simulator.py
+++ b/tests/elm_car_simulator.py
@@ -152,7 +152,7 @@ class ELMCarSimulator():
             if len(outmsg) <= 5:
                 self._lin_send(0x10, obd_header + outmsg)
             else:
-                first_msg_len = MIN(4, len(outmsg)%4) or 4
+                first_msg_len = min(4, len(outmsg)%4) or 4
                 self._lin_send(0x10, obd_header + b'\x01' +
                                b'\x00'*(4-first_msg_len) +
                                outmsg[:first_msg_len])
@@ -229,7 +229,7 @@ class ELMCarSimulator():
                 outaddr = 0x7E8 if address == 0x7DF or address == 0x7E0 else 0x18DAF110
                 msgnum = 1
                 while(self.__can_multipart_data):
-                    datalen = MIN(7, len(self.__can_multipart_data))
+                    datalen = min(7, len(self.__can_multipart_data))
                     msgpiece = struct.pack("B", 0x20 | msgnum) + self.__can_multipart_data[:datalen]
                     self._can_send(outaddr, msgpiece)
                     self.__can_multipart_data = self.__can_multipart_data[7:]
@@ -246,7 +246,7 @@ class ELMCarSimulator():
                     self._can_send(outaddr,
                                    struct.pack("BBB", len(outmsg)+2, 0x40|data[1], pid) + outmsg)
                 else:
-                    first_msg_len = MIN(3, len(outmsg)%7)
+                    first_msg_len = min(3, len(outmsg)%7)
                     payload_len = len(outmsg)+3
                     msgpiece = struct.pack("BBBBB", 0x10 | ((payload_len>>8)&0xF),
                                            payload_len&0xFF,
diff --git a/tests/gmbitbang/test_one.py b/tests/gmbitbang/test_one.py
index a398e27803..d7d430437d 100755
--- a/tests/gmbitbang/test_one.py
+++ b/tests/gmbitbang/test_one.py
@@ -5,7 +5,7 @@ from panda import Panda
 p = Panda()
 p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
 
-# ack any crap on bus
+# hack anything on bus
 p.set_gmlan(bus=2)
 time.sleep(0.1)
 while len(p.can_recv()) > 0:
diff --git a/tests/language/Dockerfile b/tests/language/Dockerfile
new file mode 100644
index 0000000000..068847145e
--- /dev/null
+++ b/tests/language/Dockerfile
@@ -0,0 +1,6 @@
+FROM ubuntu:16.04
+
+RUN apt-get update && apt-get install -y make python python-pip
+COPY tests/safety/requirements.txt /panda/tests/safety/requirements.txt
+RUN pip install -r /panda/tests/safety/requirements.txt
+COPY . /panda
diff --git a/tests/language/LICENSE b/tests/language/LICENSE
new file mode 100644
index 0000000000..8dada3edaf
--- /dev/null
+++ b/tests/language/LICENSE
@@ -0,0 +1,201 @@
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+
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diff --git a/tests/language/list.txt b/tests/language/list.txt
new file mode 100644
index 0000000000..cfd25897d8
--- /dev/null
+++ b/tests/language/list.txt
@@ -0,0 +1,451 @@
+4r5e
+5h1t
+5hit
+a55
+anal
+anus
+ar5e
+arrse
+arse
+ass
+ass-fucker
+asses
+assfucker
+assfukka
+asshole
+assholes
+asswhole
+a_s_s
+b!tch
+b00bs
+b17ch
+b1tch
+ballbag
+balls
+ballsack
+bastard
+beastial
+beastiality
+bellend
+bestial
+bestiality
+bi+ch
+biatch
+bitch
+bitcher
+bitchers
+bitches
+bitchin
+bitching
+bloody
+blow job
+blowjob
+blowjobs
+boiolas
+bollock
+bollok
+boner
+boob
+boobs
+booobs
+boooobs
+booooobs
+booooooobs
+breasts
+buceta
+bugger
+bum
+bunny fucker
+bullshit
+butt
+butthole
+buttmuch
+buttplug
+c0ck
+c0cksucker
+carpet muncher
+cawk
+chink
+cipa
+cl1t
+clit
+clitoris
+clits
+cnut
+cock
+cock-sucker
+cockface
+cockhead
+cockmunch
+cockmuncher
+cocks
+cocksuck 
+cocksucked 
+cocksucker
+cocksucking
+cocksucks 
+cocksuka
+cocksukka
+cok
+cokmuncher
+coksucka
+coon
+cox
+crap
+cum
+cummer
+cumming
+cums
+cumshot
+cunilingus
+cunillingus
+cunnilingus
+cunt
+cuntlick 
+cuntlicker 
+cuntlicking 
+cunts
+cyalis
+cyberfuc
+cyberfuck 
+cyberfucked 
+cyberfucker
+cyberfuckers
+cyberfucking 
+d1ck
+damn
+dick
+dickhead
+dildo
+dildos
+dink
+dinks
+dirsa
+dlck
+dog-fucker
+doggin
+dogging
+donkeyribber
+doosh
+duche
+dyke
+ejaculate
+ejaculated
+ejaculates 
+ejaculating 
+ejaculatings
+ejaculation
+ejakulate
+f u c k
+f u c k e r
+f4nny
+fag
+fagging
+faggitt
+faggot
+faggs
+fagot
+fagots
+fags
+fanny
+fannyflaps
+fannyfucker
+fanyy
+fatass
+fcuk
+fcuker
+fcuking
+feck
+fecker
+felching
+fellate
+fellatio
+fingerfuck 
+fingerfucked 
+fingerfucker 
+fingerfuckers
+fingerfucking 
+fingerfucks 
+fistfuck
+fistfucked 
+fistfucker 
+fistfuckers 
+fistfucking 
+fistfuckings 
+fistfucks 
+flange
+fook
+fooker
+fuck
+fucka
+fucked
+fucker
+fuckers
+fuckhead
+fuckheads
+fuckin
+fucking
+fuckings
+fuckingshitmotherfucker
+fuckme 
+fucks
+fuckwhit
+fuckwit
+fudge packer
+fudgepacker
+fuk
+fuker
+fukker
+fukkin
+fuks
+fukwhit
+fukwit
+fux
+fux0r
+f_u_c_k
+gangbang
+gangbanged 
+gangbangs 
+gaylord
+gaysex
+goatse
+God
+god-dam
+god-damned
+goddamn
+goddamned
+hardcoresex 
+hell
+heshe
+hoar
+hoare
+hoer
+homo
+hore
+horniest
+horny
+hotsex
+jack-off 
+jackoff
+jap
+jerk-off 
+jism
+jiz 
+jizm 
+jizz
+kawk
+knob
+knobead
+knobed
+knobend
+knobhead
+knobjocky
+knobjokey
+kock
+kondum
+kondums
+kum
+kummer
+kumming
+kums
+kunilingus
+l3i+ch
+l3itch
+labia
+lmfao
+lust
+lusting
+m0f0
+m0fo
+m45terbate
+ma5terb8
+ma5terbate
+masochist
+master-bate
+masterb8
+masterbat*
+masterbat3
+masterbate
+masterbation
+masterbations
+masturbate
+mo-fo
+mof0
+mofo
+mothafuck
+mothafucka
+mothafuckas
+mothafuckaz
+mothafucked 
+mothafucker
+mothafuckers
+mothafuckin
+mothafucking 
+mothafuckings
+mothafucks
+mother fucker
+motherfuck
+motherfucked
+motherfucker
+motherfuckers
+motherfuckin
+motherfucking
+motherfuckings
+motherfuckka
+motherfucks
+muff
+mutha
+muthafecker
+muthafuckker
+muther
+mutherfucker
+n1gga
+n1gger
+nazi
+nigg3r
+nigg4h
+nigga
+niggah
+niggas
+niggaz
+nigger
+niggers 
+nob
+nob jokey
+nobhead
+nobjocky
+nobjokey
+numbnuts
+nutsack
+orgasim 
+orgasims 
+orgasm
+orgasms 
+p0rn
+pawn
+pecker
+penis
+penisfucker
+phonesex
+phuck
+phuk
+phuked
+phuking
+phukked
+phukking
+phuks
+phuq
+pigfucker
+pimpis
+piss
+pissed
+pisser
+pissers
+pisses 
+pissflaps
+pissin 
+pissing
+pissoff 
+poop
+porn
+porno
+pornography
+pornos
+prick
+pricks 
+pron
+pube
+pusse
+pussi
+pussies
+pussy
+pussys 
+rectum
+retard
+rimjaw
+rimming
+s hit
+s.o.b.
+sadist
+schlong
+screwing
+scroat
+scrote
+scrotum
+semen
+sex
+sh!+
+sh!t
+sh1t
+shag
+shagger
+shaggin
+shagging
+shemale
+shi+
+shit
+shitdick
+shite
+shited
+shitey
+shitfuck
+shitfull
+shithead
+shiting
+shitings
+shits
+shitted
+shitter
+shitters 
+shitting
+shittings
+shitty 
+skank
+slut
+sluts
+smegma
+smut
+snatch
+son-of-a-bitch
+spac
+spunk
+s_h_i_t
+t1tt1e5
+t1tties
+teets
+teez
+testical
+testicle
+tit
+titfuck
+tits
+titt
+tittie5
+tittiefucker
+titties
+tittyfuck
+tittywank
+titwank
+tosser
+turd
+tw4t
+twat
+twathead
+twatty
+twunt
+twunter
+v14gra
+v1gra
+vagina
+viagra
+vulva
+w00se
+wang
+wank
+wanker
+wanky
+whoar
+whore
+willies
+willy
+xrated
diff --git a/tests/language/test_language.py b/tests/language/test_language.py
new file mode 100755
index 0000000000..3afb34619a
--- /dev/null
+++ b/tests/language/test_language.py
@@ -0,0 +1,28 @@
+#!/usr/bin/env python
+
+import subprocess
+import sys
+
+checked_ext = ["h", "c", "py", "pyx", "cpp", "hpp", "md", "mk"]
+
+if __name__ == "__main__":
+  with open("list.txt", 'r') as handle:
+
+    suffix_cmd = " "
+    for i in checked_ext:
+      suffix_cmd +=  "--include \*." + i + " "
+
+    found_bad_language = False
+    for line in handle:
+      line = line.rstrip('\n').rstrip(" ")
+      try:
+        cmd = "cd ../../; grep -R -i -w " + suffix_cmd + " '" + line + "'"
+        res = subprocess.check_output(cmd, shell=True, stderr=subprocess.STDOUT)
+        print res
+        found_bad_language = True
+      except subprocess.CalledProcessError as e:
+        pass
+  if found_bad_language:
+    sys.exit("Failed: found bad language")
+  else:
+    print "Success"
diff --git a/tests/misra/suppressions.txt b/tests/misra/suppressions.txt
new file mode 100644
index 0000000000..8e58b6e340
--- /dev/null
+++ b/tests/misra/suppressions.txt
@@ -0,0 +1,8 @@
+# Advisory: union types can be used
+misra.19.2
+# FIXME: add it back when fixed in cppcheck. Macro identifiers are unique but it false triggers on defines in #ifdef..#else conditions
+misra.5.4
+# Advisory: casting from void pointer to type pointer is ok. Done by STM libraries as well
+misra.11.4
+# Advisory: casting from void pointer to type pointer is ok. Done by STM libraries as well
+misra.11.5
diff --git a/tests/misra/test_misra.sh b/tests/misra/test_misra.sh
index 835f4ebcfd..6338009120 100755
--- a/tests/misra/test_misra.sh
+++ b/tests/misra/test_misra.sh
@@ -1,24 +1,53 @@
 #!/bin/bash -e
 
+mkdir /tmp/misra || true
 git clone https://github.com/danmar/cppcheck.git || true
 cd cppcheck
 git fetch
-git checkout 44d6066c6fad32e2b0332b3f2b24bd340febaef8
+git checkout 862c4ef87b109ae86c2d5f12769b7c8d199f35c5
 make -j4
 cd ../../../
 
-# whole panda code
-tests/misra/cppcheck/cppcheck --dump --enable=all --inline-suppr board/main.c 2>/tmp/misra/cppcheck_output.txt || true
-python tests/misra/cppcheck/addons/misra.py board/main.c.dump 2>/tmp/misra/misra_output.txt || true
 
-# violations in safety files
-(cat /tmp/misra/misra_output.txt | grep safety) > /tmp/misra/misra_safety_output.txt || true
-(cat /tmp/misra/cppcheck_output.txt | grep safety) > /tmp/misra/cppcheck_safety_output.txt || true
+printf "\nPANDA CODE\n"
+tests/misra/cppcheck/cppcheck -DPANDA -UPEDAL -DCAN3 -DUID_BASE -DEON \
+                              --suppressions-list=tests/misra/suppressions.txt \
+                              --dump --enable=all --inline-suppr --force \
+                              board/main.c 2>/tmp/misra/cppcheck_output.txt
 
-if [[ -s "/tmp/misra/misra_safety_output.txt" ]] || [[ -s "/tmp/misra/cppcheck_safety_output.txt" ]]
+python tests/misra/cppcheck/addons/misra.py board/main.c.dump 2> /tmp/misra/misra_output.txt || true
+
+# strip (information) lines
+cppcheck_output=$( cat /tmp/misra/cppcheck_output.txt | grep -v "(information) " ) || true
+misra_output=$( cat /tmp/misra/misra_output.txt | grep -v "(information) " ) || true
+
+
+printf "\nPEDAL CODE\n"
+tests/misra/cppcheck/cppcheck -UPANDA -DPEDAL -UCAN3 \
+                              --suppressions-list=tests/misra/suppressions.txt \
+                              -I board/ --dump --enable=all --inline-suppr --force \
+                              board/pedal/main.c 2>/tmp/misra/cppcheck_pedal_output.txt
+
+python tests/misra/cppcheck/addons/misra.py board/pedal/main.c.dump 2> /tmp/misra/misra_pedal_output.txt || true
+
+# strip (information) lines
+cppcheck_pedal_output=$( cat /tmp/misra/cppcheck_pedal_output.txt | grep -v "(information) " ) || true
+misra_pedal_output=$( cat /tmp/misra/misra_pedal_output.txt | grep -v "(information) " ) || true
+
+if [[ -n "$misra_output" ]] || [[ -n "$cppcheck_output" ]]
 then
-  echo "Found Misra violations in the safety code:"
-  cat /tmp/misra/misra_safety_output.txt
-  cat /tmp/misra/cppcheck_safety_output.txt
+  echo "Failed! found Misra violations in panda code:"
+  echo "$misra_output"
+  echo "$cppcheck_output"
   exit 1
 fi
+
+if [[ -n "$misra_pedal_output" ]] || [[ -n "$cppcheck_pedal_output" ]]
+then
+  echo "Failed! found Misra violations in pedal code:"
+  echo "$misra_pedal_output"
+  echo "$cppcheck_pedal_output"
+  exit 1
+fi
+
+echo "Success"
diff --git a/tests/safety/libpandasafety_py.py b/tests/safety/libpandasafety_py.py
index dc5e5be5af..1345065cb4 100644
--- a/tests/safety/libpandasafety_py.py
+++ b/tests/safety/libpandasafety_py.py
@@ -55,7 +55,7 @@ void set_toyota_camera_forwarded(int t);
 void set_toyota_rt_torque_last(int t);
 
 void init_tests_honda(void);
-int get_honda_ego_speed(void);
+bool get_honda_moving(void);
 int get_honda_brake_prev(void);
 int get_honda_gas_prev(void);
 void set_honda_alt_brake_msg(bool);
diff --git a/tests/safety/test.c b/tests/safety/test.c
index be13d346af..dc3de55040 100644
--- a/tests/safety/test.c
+++ b/tests/safety/test.c
@@ -32,6 +32,7 @@ struct sample_t subaru_torque_driver;
 TIM_TypeDef timer;
 TIM_TypeDef *TIM2 = &timer;
 
+// from config.h
 #define MIN(a,b)                                \
   ({ __typeof__ (a) _a = (a);                   \
     __typeof__ (b) _b = (b);                    \
@@ -42,6 +43,14 @@ TIM_TypeDef *TIM2 = &timer;
     __typeof__ (b) _b = (b);                    \
     _a > _b ? _a : _b; })
 
+// from llcan.h
+#define GET_BUS(msg) (((msg)->RDTR >> 4) & 0xFF)
+#define GET_LEN(msg) ((msg)->RDTR & 0xf)
+#define GET_ADDR(msg) ((((msg)->RIR & 4) != 0) ? ((msg)->RIR >> 3) : ((msg)->RIR >> 21))
+#define GET_BYTE(msg, b) (((int)(b) > 3) ? (((msg)->RDHR >> (8U * ((unsigned int)(b) % 4U))) & 0XFFU) : (((msg)->RDLR >> (8U * (unsigned int)(b))) & 0xFFU))
+#define GET_BYTES_04(msg) ((msg)->RDLR)
+#define GET_BYTES_48(msg) ((msg)->RDHR)
+
 #define UNUSED(x) (void)(x)
 
 #define PANDA
@@ -199,8 +208,8 @@ void set_subaru_desired_torque_last(int t){
   subaru_desired_torque_last = t;
 }
 
-int get_honda_ego_speed(void){
-  return honda_ego_speed;
+bool get_honda_moving(void){
+  return honda_moving;
 }
 
 int get_honda_brake_prev(void){
@@ -274,7 +283,7 @@ void init_tests_subaru(void){
 }
 
 void init_tests_honda(void){
-  honda_ego_speed = 0;
+  honda_moving = false;
   honda_brake_prev = 0;
   honda_gas_prev = 0;
 }
diff --git a/tests/safety/test_honda.py b/tests/safety/test_honda.py
index bc5e8d192f..5833d96e3f 100755
--- a/tests/safety/test_honda.py
+++ b/tests/safety/test_honda.py
@@ -5,6 +5,8 @@ import libpandasafety_py
 
 MAX_BRAKE = 255
 
+INTERCEPTOR_THRESHOLD = 328
+
 class TestHondaSafety(unittest.TestCase):
   @classmethod
   def setUp(cls):
@@ -66,7 +68,9 @@ class TestHondaSafety(unittest.TestCase):
     to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
     to_send[0].RIR = addr << 21
     to_send[0].RDTR = 6
-    to_send[0].RDLR = ((gas & 0xff) << 8) | ((gas & 0xff00) >> 8)
+    gas2 = gas * 2
+    to_send[0].RDLR = ((gas & 0xff) << 8) | ((gas & 0xff00) >> 8) | \
+                      ((gas2 & 0xff) << 24) | ((gas2 & 0xff00) << 8)
 
     return to_send
 
@@ -99,9 +103,9 @@ class TestHondaSafety(unittest.TestCase):
     self.assertFalse(self.safety.get_controls_allowed())
 
   def test_sample_speed(self):
-    self.assertEqual(0, self.safety.get_honda_ego_speed())
+    self.assertEqual(0, self.safety.get_honda_moving())
     self.safety.safety_rx_hook(self._speed_msg(100))
-    self.assertEqual(100, self.safety.get_honda_ego_speed())
+    self.assertEqual(1, self.safety.get_honda_moving())
 
   def test_prev_brake(self):
     self.assertFalse(self.safety.get_honda_brake_prev())
@@ -176,16 +180,15 @@ class TestHondaSafety(unittest.TestCase):
 
   def test_disengage_on_gas_interceptor(self):
     for long_controls_allowed in [0, 1]:
-      self.safety.set_long_controls_allowed(long_controls_allowed)
-      self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
-      self.safety.set_controls_allowed(1)
-      self.safety.safety_rx_hook(self._send_interceptor_msg(0x1000, 0x201))
-      if long_controls_allowed:
-        self.assertFalse(self.safety.get_controls_allowed())
-      else:
-        self.assertTrue(self.safety.get_controls_allowed())
-      self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
-      self.safety.set_gas_interceptor_detected(False)
+      for g in range(0, 0x1000):
+        self.safety.set_long_controls_allowed(long_controls_allowed)
+        self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
+        self.safety.set_controls_allowed(True)
+        self.safety.safety_rx_hook(self._send_interceptor_msg(g, 0x201))
+        remain_enabled = (not long_controls_allowed or g <= INTERCEPTOR_THRESHOLD)
+        self.assertEqual(remain_enabled, self.safety.get_controls_allowed())
+        self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
+        self.safety.set_gas_interceptor_detected(False)
     self.safety.set_long_controls_allowed(True)
 
   def test_allow_engage_with_gas_interceptor_pressed(self):
diff --git a/tests/safety/test_toyota.py b/tests/safety/test_toyota.py
index 7dd1601d77..dc5b21ac8f 100644
--- a/tests/safety/test_toyota.py
+++ b/tests/safety/test_toyota.py
@@ -15,6 +15,8 @@ RT_INTERVAL = 250000
 
 MAX_TORQUE_ERROR = 350
 
+INTERCEPTOR_THRESHOLD = 475
+
 def twos_comp(val, bits):
   if val >= 0:
     return val
@@ -81,7 +83,9 @@ class TestToyotaSafety(unittest.TestCase):
     to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
     to_send[0].RIR = addr << 21
     to_send[0].RDTR = 6
-    to_send[0].RDLR = ((gas & 0xff) << 8) | ((gas & 0xff00) >> 8)
+    gas2 = gas * 2
+    to_send[0].RDLR = ((gas & 0xff) << 8) | ((gas & 0xff00) >> 8) | \
+                      ((gas2 & 0xff) << 24) | ((gas2 & 0xff00) << 8)
 
     return to_send
 
@@ -145,16 +149,15 @@ class TestToyotaSafety(unittest.TestCase):
 
   def test_disengage_on_gas_interceptor(self):
     for long_controls_allowed in [0, 1]:
-      self.safety.set_long_controls_allowed(long_controls_allowed)
-      self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
-      self.safety.set_controls_allowed(True)
-      self.safety.safety_rx_hook(self._send_interceptor_msg(0x1000, 0x201))
-      if long_controls_allowed:
-        self.assertFalse(self.safety.get_controls_allowed())
-      else:
-        self.assertTrue(self.safety.get_controls_allowed())
-      self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
-      self.safety.set_gas_interceptor_detected(False)
+      for g in range(0, 0x1000):
+        self.safety.set_long_controls_allowed(long_controls_allowed)
+        self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
+        self.safety.set_controls_allowed(True)
+        self.safety.safety_rx_hook(self._send_interceptor_msg(g, 0x201))
+        remain_enabled = (not long_controls_allowed or g <= INTERCEPTOR_THRESHOLD)
+        self.assertEqual(remain_enabled, self.safety.get_controls_allowed())
+        self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
+        self.safety.set_gas_interceptor_detected(False)
     self.safety.set_long_controls_allowed(True)
 
   def test_allow_engage_with_gas_interceptor_pressed(self):
diff --git a/tests/safety_replay/Dockerfile b/tests/safety_replay/Dockerfile
index bf2b7f2c1f..5d59ca38d5 100644
--- a/tests/safety_replay/Dockerfile
+++ b/tests/safety_replay/Dockerfile
@@ -17,4 +17,4 @@ COPY . /openpilot/panda
 WORKDIR /openpilot/panda/tests/safety_replay
 RUN git clone https://github.com/commaai/openpilot-tools.git tools || true
 WORKDIR tools
-RUN git checkout b6461274d684915f39dc45efc5292ea890698da9
+RUN git checkout feb724a14f0f5223c700c94317efaf46923fd48a
diff --git a/tests/safety_replay/install_capnp.sh b/tests/safety_replay/install_capnp.sh
index e13ab48c24..51559d3991 100755
--- a/tests/safety_replay/install_capnp.sh
+++ b/tests/safety_replay/install_capnp.sh
@@ -8,13 +8,3 @@ cd capnproto-c++-0.6.1
 make -j4
 make install
 
-cd ..
-git clone https://github.com/commaai/c-capnproto.git
-cd c-capnproto
-git checkout 2e625acacf58a5f5c8828d8453d1f8dacc700a96
-git submodule update --init --recursive
-autoreconf -f -i -s
-CFLAGS="-fPIC" ./configure --prefix=/usr/local
-make -j4
-make install
-