diff --git a/cereal b/cereal
index b39fb46a72..58545fafa6 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit b39fb46a72aa26b3220ea7d78476fede39ca361e
+Subproject commit 58545fafa6a3bc25c2548c238f29eed6cc8c6a77
diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py
index e79b03cc5c..3df7c4c5c8 100644
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@@ -14,7 +14,7 @@ EventName = car.CarEvent.EventName
 HwType = log.HealthData.HwType
 
 
-def get_startup_event(car_recognized, controller_available):
+def get_startup_event(car_recognized, controller_available, hw_type):
   if comma_remote and tested_branch:
     event = EventName.startup
   else:
@@ -24,6 +24,8 @@ def get_startup_event(car_recognized, controller_available):
     event = EventName.startupNoCar
   elif car_recognized and not controller_available:
     event = EventName.startupNoControl
+  elif hw_type == HwType.greyPanda:
+    event = EventName.startupGreyPanda
   return event
 
 
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 994d8b35b7..d58eb26775 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -131,7 +131,7 @@ class Controls:
     self.sm['dMonitoringState'].awarenessStatus = 1.
     self.sm['dMonitoringState'].faceDetected = False
 
-    self.startup_event = get_startup_event(car_recognized, controller_available)
+    self.startup_event = get_startup_event(car_recognized, controller_available, hw_type)
 
     if not sounds_available:
       self.events.add(EventName.soundsUnavailable, static=True)
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index dd425ddbd1..ce5ef47952 100644
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -252,6 +252,14 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
       Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),
   },
 
+  EventName.startupGreyPanda: {
+    ET.PERMANENT: Alert(
+      "WARNING: Grey panda is deprecated",
+      "Upgrade to comma two or black panda",
+      AlertStatus.userPrompt, AlertSize.mid,
+      Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),
+  },
+
   EventName.invalidGiraffeToyota: {
     ET.PERMANENT: Alert(
       "Unsupported Giraffe Configuration",