diff --git a/opendbc_repo b/opendbc_repo
index 7ff7798a29..723b8e432a 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 7ff7798a291556687f8e5d2c32bda77760b2e960
+Subproject commit 723b8e432a489886eb7ff7e593c08bcf88529023
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index 7966524458..c734ca8cbb 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -190,18 +190,14 @@ class TestCarModelBase(unittest.TestCase):
   def test_car_interface(self):
     # TODO: also check for checksum violations from can parser
     can_invalid_cnt = 0
-    can_valid = False
     CC = structs.CarControl().as_reader()
 
     for i, msg in enumerate(self.can_msgs):
       CS = self.CI.update(msg)
       self.CI.apply(CC, msg[0])
 
-      if CS.canValid:
-        can_valid = True
-
       # wait max of 2s for low frequency msgs to be seen
-      if i > 200 or can_valid:
+      if i > 250:
         can_invalid_cnt += not CS.canValid
 
     self.assertEqual(can_invalid_cnt, 0)
@@ -320,7 +316,7 @@ class TestCarModelBase(unittest.TestCase):
 
     vehicle_speed_seen = self.CP.steerControlType == SteerControlType.angle and not self.CP.notCar
 
-    for dat in msgs:
+    for n, dat in enumerate(msgs):
       # due to panda updating state selectively, only edges are expected to match
       # TODO: warm up CarState with real CAN messages to check edge of both sources
       #  (eg. toyota's gasPressed is the inverse of a signal being set)
@@ -339,6 +335,8 @@ class TestCarModelBase(unittest.TestCase):
 
       can = [(int(time.monotonic() * 1e9), [CanData(address=address, dat=dat, src=bus)])]
       CS = self.CI.update(can)
+      if n < 5:  # CANParser warmup time
+        continue
 
       if self.safety.get_gas_pressed_prev() != prev_panda_gas:
         self.assertEqual(CS.gasPressed, self.safety.get_gas_pressed_prev())
diff --git a/selfdrive/controls/lib/lateral_mpc_lib/SConscript b/selfdrive/controls/lib/lateral_mpc_lib/SConscript
index 38c1df6396..c9ebf89207 100644
--- a/selfdrive/controls/lib/lateral_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/lateral_mpc_lib/SConscript
@@ -1,4 +1,4 @@
-Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'opendbc_python', 'np_version')
+Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'np_version')
 
 gen = "c_generated_code"
 
@@ -62,7 +62,7 @@ lenv.Clean(generated_files, Dir(gen))
 generated_lat = lenv.Command(generated_files,
                              source_list,
                              f"cd {Dir('.').abspath} && python3 lat_mpc.py")
-lenv.Depends(generated_lat, [msgq_python, common_python, opendbc_python])
+lenv.Depends(generated_lat, [msgq_python, common_python])
 
 lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES")
 lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES")
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
index 9dff07550b..164b965142 100644
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
@@ -1,4 +1,4 @@
-Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'opendbc_python', 'pandad_python', 'np_version')
+Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'pandad_python', 'np_version')
 
 gen = "c_generated_code"
 
@@ -67,7 +67,7 @@ lenv.Clean(generated_files, Dir(gen))
 generated_long = lenv.Command(generated_files,
                               source_list,
                               f"cd {Dir('.').abspath} && python3 long_mpc.py")
-lenv.Depends(generated_long, [msgq_python, common_python, opendbc_python, pandad_python])
+lenv.Depends(generated_long, [msgq_python, common_python, pandad_python])
 
 lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES")
 lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES")
diff --git a/selfdrive/pandad/can_list_to_can_capnp.cc b/selfdrive/pandad/can_list_to_can_capnp.cc
index 6ad999da91..f2cf153453 100644
--- a/selfdrive/pandad/can_list_to_can_capnp.cc
+++ b/selfdrive/pandad/can_list_to_can_capnp.cc
@@ -1,5 +1,5 @@
 #include "cereal/messaging/messaging.h"
-#include "opendbc/can/common.h"
+#include "selfdrive/pandad/can_types.h"
 
 void can_list_to_can_capnp_cpp(const std::vector<CanFrame> &can_list, std::string &out, bool sendcan, bool valid) {
   MessageBuilder msg;
diff --git a/selfdrive/pandad/can_types.h b/selfdrive/pandad/can_types.h
new file mode 100644
index 0000000000..5fae581cfa
--- /dev/null
+++ b/selfdrive/pandad/can_types.h
@@ -0,0 +1,15 @@
+#pragma once
+
+#include <vector>
+#include <cstdint>
+
+struct CanFrame {
+  long src;
+  uint32_t address;
+  std::vector<uint8_t> dat;
+};
+
+struct CanData {
+  uint64_t nanos;
+  std::vector<CanFrame> frames;
+};
\ No newline at end of file
diff --git a/selfdrive/pandad/pandad_api_impl.pyx b/selfdrive/pandad/pandad_api_impl.pyx
index 6683b843ae..aaecb8a594 100644
--- a/selfdrive/pandad/pandad_api_impl.pyx
+++ b/selfdrive/pandad/pandad_api_impl.pyx
@@ -6,7 +6,7 @@ from libcpp.string cimport string
 from libcpp cimport bool
 from libc.stdint cimport uint8_t, uint32_t, uint64_t
 
-cdef extern from "opendbc/can/common.h":
+cdef extern from "selfdrive/pandad/can_types.h":
   cdef struct CanFrame:
     long src
     uint32_t address
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 593b2968f2..81c203a919 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-644db6ff218fe07af362490ac0670ffe4534e083
\ No newline at end of file
+bb4d3d316bc20ca57e2753ac77f055517c31bfc7
\ No newline at end of file