diff --git a/opendbc b/opendbc
index 3fb3f5e821..e2465cc701 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit 3fb3f5e82129ad76232bcdca10632ed0566b20f8
+Subproject commit e2465cc701e878fdae5b4e363496c2fa5d2f7c08
diff --git a/panda b/panda
index e51aa5ebce..1dfee5973b 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit e51aa5ebce031c96e802b07d13120a039fa7b82f
+Subproject commit 1dfee5973bc2884b61e55b7614f2fe90d0e2a1f3
diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py
index dca86c30a6..3fb4bc8553 100644
--- a/selfdrive/car/subaru/carcontroller.py
+++ b/selfdrive/car/subaru/carcontroller.py
@@ -49,7 +49,7 @@ class CarController:
     # *** alerts and pcm cancel ***
 
     if self.CP.carFingerprint in PREGLOBAL_CARS:
-      if self.es_distance_cnt != CS.es_distance_msg["Counter"]:
+      if self.es_distance_cnt != CS.es_distance_msg["COUNTER"]:
         # 1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 = resume deep
         # disengage ACC when OP is disengaged
         if pcm_cancel_cmd:
@@ -66,16 +66,16 @@ class CarController:
         self.cruise_button_prev = cruise_button
 
         can_sends.append(subarucan.create_preglobal_es_distance(self.packer, cruise_button, CS.es_distance_msg))
-        self.es_distance_cnt = CS.es_distance_msg["Counter"]
+        self.es_distance_cnt = CS.es_distance_msg["COUNTER"]
 
     else:
-      if self.es_distance_cnt != CS.es_distance_msg["Counter"]:
+      if self.es_distance_cnt != CS.es_distance_msg["COUNTER"]:
         can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg, pcm_cancel_cmd))
-        self.es_distance_cnt = CS.es_distance_msg["Counter"]
+        self.es_distance_cnt = CS.es_distance_msg["COUNTER"]
 
-      if self.es_lkas_cnt != CS.es_lkas_msg["Counter"]:
+      if self.es_lkas_cnt != CS.es_lkas_msg["COUNTER"]:
         can_sends.append(subarucan.create_es_lkas(self.packer, CS.es_lkas_msg, CC.enabled, hud_control.visualAlert, hud_control.leftLaneVisible, hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart))
-        self.es_lkas_cnt = CS.es_lkas_msg["Counter"]
+        self.es_lkas_cnt = CS.es_lkas_msg["COUNTER"]
 
     new_actuators = actuators.copy()
     new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX
diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py
index 45ea66fb27..b261186977 100644
--- a/selfdrive/car/subaru/carstate.py
+++ b/selfdrive/car/subaru/carstate.py
@@ -173,7 +173,7 @@ class CarState(CarStateBase):
         ("Standstill_2", "ES_Distance"),
         ("Cruise_Fault", "ES_Distance"),
         ("Signal5", "ES_Distance"),
-        ("Counter", "ES_Distance"),
+        ("COUNTER", "ES_Distance"),
         ("Signal6", "ES_Distance"),
         ("Cruise_Button", "ES_Distance"),
         ("Signal7", "ES_Distance"),
@@ -188,7 +188,7 @@ class CarState(CarStateBase):
         ("Cruise_Set_Speed", "ES_DashStatus"),
         ("Conventional_Cruise", "ES_DashStatus"),
 
-        ("Counter", "ES_Distance"),
+        ("COUNTER", "ES_Distance"),
         ("Signal1", "ES_Distance"),
         ("Cruise_Fault", "ES_Distance"),
         ("Cruise_Throttle", "ES_Distance"),
@@ -206,7 +206,7 @@ class CarState(CarStateBase):
         ("Cruise_Resume", "ES_Distance"),
         ("Signal6", "ES_Distance"),
 
-        ("Counter", "ES_LKAS_State"),
+        ("COUNTER", "ES_LKAS_State"),
         ("LKAS_Alert_Msg", "ES_LKAS_State"),
         ("Signal1", "ES_LKAS_State"),
         ("LKAS_ACTIVE", "ES_LKAS_State"),
diff --git a/selfdrive/car/subaru/subarucan.py b/selfdrive/car/subaru/subarucan.py
index 63511d183e..e6efe7aa7b 100644
--- a/selfdrive/car/subaru/subarucan.py
+++ b/selfdrive/car/subaru/subarucan.py
@@ -8,13 +8,12 @@ def create_steering_control(packer, apply_steer, frame, steer_step):
   idx = (frame / steer_step) % 16
 
   values = {
-    "Counter": idx,
     "LKAS_Output": apply_steer,
     "LKAS_Request": 1 if apply_steer != 0 else 0,
     "SET_1": 1
   }
 
-  return packer.make_can_msg("ES_LKAS", 0, values)
+  return packer.make_can_msg("ES_LKAS", 0, values, idx)
 
 def create_steering_status(packer, apply_steer, frame, steer_step):
   return packer.make_can_msg("ES_LKAS_State", 0, {})
@@ -72,13 +71,12 @@ def create_preglobal_steering_control(packer, apply_steer, frame, steer_step):
   idx = (frame / steer_step) % 8
 
   values = {
-    "Counter": idx,
     "LKAS_Command": apply_steer,
     "LKAS_Active": 1 if apply_steer != 0 else 0
   }
   values["Checksum"] = subaru_preglobal_checksum(packer, values, "ES_LKAS")
 
-  return packer.make_can_msg("ES_LKAS", 0, values)
+  return packer.make_can_msg("ES_LKAS", 0, values, idx)
 
 def create_preglobal_es_distance(packer, cruise_button, es_distance_msg):