diff --git a/Dockerfile.openpilot b/Dockerfile.openpilot
index 71827ae9b8..865f6bdc20 100644
--- a/Dockerfile.openpilot
+++ b/Dockerfile.openpilot
@@ -72,7 +72,8 @@ RUN pyenv install 3.8.2 && \
       azure-storage-nspkg==3.1.0 \
       pycurl==7.43.0.3 \
       coverage==5.1 \
-      pre-commit==2.4.0
+      pre-commit==2.4.0 \
+      parameterized==0.7.4
 
 RUN mkdir -p /tmp/openpilot
 
diff --git a/Pipfile b/Pipfile
index 324d47c69f..5660eae360 100644
--- a/Pipfile
+++ b/Pipfile
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:df64128a2c440dcebf11649fd64d8d2dcb0c6545467c108979a575799d632d38
-size 1960
+oid sha256:03a69ace0d3ec21dacbfbbcad17688191d4f022a519e5447cda33922fb677e24
+size 1980
diff --git a/Pipfile.lock b/Pipfile.lock
index 6bd6bd03f2..a00aae1334 100644
--- a/Pipfile.lock
+++ b/Pipfile.lock
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:320ca807bda4f25e11681e22847df19e4fcd2857bc207d01f1d446e68a945064
-size 170762
+oid sha256:88300c38c21842e55204a6e351985dfcb0c24b1e882432698472dbdc378cd9f8
+size 171081
diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py
index 4d166639e5..a9050e2373 100755
--- a/selfdrive/car/tests/test_fw_fingerprint.py
+++ b/selfdrive/car/tests/test_fw_fingerprint.py
@@ -1,5 +1,9 @@
 #!/usr/bin/env python3
+import random
 import unittest
+from itertools import product
+from parameterized import parameterized
+
 from cereal import car
 from selfdrive.car.fingerprints import FW_VERSIONS
 from selfdrive.car.fw_versions import match_fw_to_car
@@ -14,7 +18,7 @@ class TestFwFingerprint(unittest.TestCase):
   def assertFingerprints(self, candidates, expected):
     candidates = list(candidates)
     self.assertEqual(len(candidates), 1)
-    self.assertEqual(candidates[0], TOYOTA.RAV4_TSS2)
+    self.assertEqual(candidates[0], expected)
 
   def test_rav4_tss2(self):
     CP = car.CarParams.new_message()
@@ -43,13 +47,42 @@ class TestFwFingerprint(unittest.TestCase):
 
     self.assertFingerprints(match_fw_to_car(CP.carFw), TOYOTA.RAV4_TSS2)
 
+  @parameterized.expand([(k, v) for k, v in FW_VERSIONS.items()])
+  def test_fw_fingerprint_all(self, car_model, ecus):
+    # TODO: this is too slow, so don't run for now
+    return
+
+    ecu_fw_lists = []  # pylint: disable=W0101
+    for ecu, fw_versions in ecus.items():
+      ecu_name, addr, sub_addr = ecu
+      ecu_fw_lists.append([])
+      for fw in fw_versions:
+        ecu_fw_lists[-1].append({"ecu": ecu_name, "fwVersion": fw, "address": addr,
+                                 "subAddress": 0 if sub_addr is None else sub_addr})
+    CP = car.CarParams.new_message()
+    for car_fw in product(*ecu_fw_lists):
+      CP.carFw = car_fw
+      self.assertFingerprints(match_fw_to_car(CP.carFw), car_model)
+
+  @parameterized.expand([(k, v) for k, v in FW_VERSIONS.items()])
+  def test_fw_fingerprint(self, car_model, ecus):
+    CP = car.CarParams.new_message()
+    for _ in range(20):
+      fw = []
+      for ecu, fw_versions in ecus.items():
+        ecu_name, addr, sub_addr = ecu
+        fw.append({"ecu": ecu_name, "fwVersion": random.choice(fw_versions),
+                         "address": addr, "subAddress": 0 if sub_addr is None else sub_addr})
+      CP.carFw = fw
+      self.assertFingerprints(match_fw_to_car(CP.carFw), car_model)
+
   def test_no_duplicate_fw_versions(self):
     passed = True
-    for car_name, ecus in FW_VERSIONS.items():
+    for car_model, ecus in FW_VERSIONS.items():
       for ecu, ecu_fw in ecus.items():
         duplicates = set([fw for fw in ecu_fw if ecu_fw.count(fw) > 1])
         if len(duplicates):
-          print(car_name, ECU_NAME[ecu[0]], duplicates)
+          print(car_model, ECU_NAME[ecu[0]], duplicates)
           passed = False
 
     self.assertTrue(passed, "Duplicate FW versions found")