diff --git a/cereal b/cereal
index 7870a1123d..bc999518e7 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit 7870a1123d4e8dfe5c39e86224c2f851382f3fed
+Subproject commit bc999518e73c2b04fee3b8207b3c28a8644233ea
diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py
index ee2c0f31d4..9c6f6e44f0 100755
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@@ -452,7 +452,8 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1,
 
   addrs.insert(0, parallel_addrs)
 
-  fw_versions = {}
+  # Get versions and build capnp list to put into CarParams
+  car_fw = []
   requests = [r for r in REQUESTS if query_brand is None or r.brand == query_brand]
   for addr in tqdm(addrs, disable=not progress):
     for addr_chunk in chunks(addr):
@@ -463,26 +464,23 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1,
 
           if addrs:
             query = IsoTpParallelQuery(sendcan, logcan, r.bus, addrs, r.request, r.response, r.rx_offset, debug=debug)
-            fw_versions.update({(r.brand, addr): (version, r) for (addr, _), version in query.get_data(timeout).items()})
-        except Exception:
-          cloudlog.warning(f"FW query exception: {traceback.format_exc()}")
+            for (addr, rx_addr), version in query.get_data(timeout).items():
+              f = car.CarParams.CarFw.new_message()
 
-  # Build capnp list to put into CarParams
-  car_fw = []
-  for (brand, addr), (version, request) in fw_versions.items():
-    f = car.CarParams.CarFw.new_message()
+              f.ecu = ecu_types[(r.brand, addr[0], addr[1])]
+              f.fwVersion = version
+              f.address = addr[0]
+              f.responseAddress = rx_addr
+              f.request = r.request
+              f.brand = r.brand
+              f.bus = r.bus
 
-    f.ecu = ecu_types[(brand, addr[0], addr[1])]
-    f.fwVersion = version
-    f.address = addr[0]
-    f.responseAddress = uds.get_rx_addr_for_tx_addr(addr[0], request.rx_offset)
-    f.request = request.request
-    f.brand = brand
+              if addr[1] is not None:
+                f.subAddress = addr[1]
 
-    if addr[1] is not None:
-      f.subAddress = addr[1]
-
-    car_fw.append(f)
+              car_fw.append(f)
+        except Exception:
+          cloudlog.warning(f"FW query exception: {traceback.format_exc()}")
 
   return car_fw
 
@@ -531,7 +529,7 @@ if __name__ == "__main__":
   padding = max([len(fw.brand) for fw in fw_vers] or [0])
   for version in fw_vers:
     subaddr = None if version.subAddress == 0 else hex(version.subAddress)
-    print(f"  Brand: {version.brand:{padding}} - (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}]")
+    print(f"  Brand: {version.brand:{padding}}, bus: {version.bus} - (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}]")
   print("}")
 
   print()
diff --git a/selfdrive/debug/test_fw_query_on_routes.py b/selfdrive/debug/test_fw_query_on_routes.py
index 191411f45a..0cc674cfc8 100755
--- a/selfdrive/debug/test_fw_query_on_routes.py
+++ b/selfdrive/debug/test_fw_query_on_routes.py
@@ -115,7 +115,7 @@ if __name__ == "__main__":
           padding = max([len(fw.brand or UNKNOWN_BRAND) for fw in car_fw])
           for version in sorted(car_fw, key=lambda fw: fw.brand):
             subaddr = None if version.subAddress == 0 else hex(version.subAddress)
-            print(f"  Brand: {version.brand or UNKNOWN_BRAND:{padding}} - (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}],")
+            print(f"  Brand: {version.brand or UNKNOWN_BRAND:{padding}}, bus: {version.bus} - (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}],")
 
           print("Mismatches")
           found = False