diff --git a/cereal b/cereal
index 29099e87a1..430cc73a3b 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit 29099e87a1372694fb81b426faaa57e832bbe87a
+Subproject commit 430cc73a3b7c31de902bd0a62fbac7cd3a05cf3e
diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py
index 478db2375c..e79b03cc5c 100644
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@@ -27,6 +27,13 @@ def get_startup_event(car_recognized, controller_available):
   return event
 
 
+def get_one_can(logcan):
+  while True:
+    can = messaging.recv_one_retry(logcan)
+    if len(can.can) > 0:
+      return can
+
+
 def load_interfaces(brand_names):
   ret = {}
   for brand_name in brand_names:
@@ -114,7 +121,7 @@ def fingerprint(logcan, sendcan, has_relay):
   done = False
 
   while not done:
-    a = messaging.get_one_can(logcan)
+    a = get_one_can(logcan)
 
     for can in a.can:
       # need to independently try to fingerprint both bus 0 and 1 to work
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 4c11c5e05a..5443f8d382 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -10,7 +10,7 @@ from common.params import Params, put_nonblocking
 import cereal.messaging as messaging
 from selfdrive.config import Conversions as CV
 from selfdrive.boardd.boardd import can_list_to_can_capnp
-from selfdrive.car.car_helpers import get_car, get_startup_event
+from selfdrive.car.car_helpers import get_car, get_startup_event, get_one_can
 from selfdrive.controls.lib.lane_planner import CAMERA_OFFSET
 from selfdrive.controls.lib.drive_helpers import update_v_cruise, initialize_v_cruise
 from selfdrive.controls.lib.longcontrol import LongControl, STARTING_TARGET_SPEED
@@ -64,7 +64,7 @@ class Controls:
     hw_type = messaging.recv_one(self.sm.sock['health']).health.hwType
     has_relay = hw_type in [HwType.blackPanda, HwType.uno, HwType.dos]
     print("Waiting for CAN messages...")
-    messaging.get_one_can(self.can_sock)
+    get_one_can(self.can_sock)
 
     self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'], has_relay)
 
diff --git a/tools/carcontrols/debug_controls.py b/tools/carcontrols/debug_controls.py
index 1f353e0666..cdb5e3af87 100755
--- a/tools/carcontrols/debug_controls.py
+++ b/tools/carcontrols/debug_controls.py
@@ -4,7 +4,7 @@ from common.params import Params
 from copy import copy
 from cereal import car, log
 import cereal.messaging as messaging
-from selfdrive.car.car_helpers import get_car
+from selfdrive.car.car_helpers import get_car, get_one_can
 from selfdrive.boardd.boardd import can_list_to_can_capnp
 
 HwType = log.HealthData.HwType
@@ -28,7 +28,7 @@ def steer_thread():
   hw_type = messaging.recv_one(health).health.hwType
   has_relay = hw_type in [HwType.blackPanda, HwType.uno, HwType.dos]
   print("Waiting for CAN messages...")
-  messaging.get_one_can(logcan)
+  get_one_can(logcan)
 
   CI, CP = get_car(logcan, sendcan, has_relay)
   Params().put("CarParams", CP.to_bytes())