diff --git a/.github/workflows/repo.yml b/.github/workflows/repo.yml
new file mode 100644
index 0000000000..1445aa635d
--- /dev/null
+++ b/.github/workflows/repo.yml
@@ -0,0 +1,28 @@
+name: repo
+
+on:
+  schedule:
+    - cron: "0 15 * * 2"
+  workflow_dispatch:
+
+jobs:
+  pre-commit-autoupdate:
+    name: pre-commit autoupdate
+    runs-on: ubuntu-20.04
+    container:
+      image: ghcr.io/commaai/openpilot-base:latest
+    steps:
+    - uses: actions/checkout@v3
+    - name: pre-commit autoupdate
+      run: |
+        git config --global --add safe.directory '*'
+        pre-commit autoupdate
+    - name: Create Pull Request
+      uses: peter-evans/create-pull-request@5b4a9f6a9e2af26e5f02351490b90d01eb8ec1e5
+      with:
+        token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
+        commit-message: Update pre-commit hook versions
+        title: 'pre-commit: autoupdate hooks'
+        branch: pre-commit-updates
+        base: master
+        delete-branch: true
diff --git a/cereal b/cereal
index 4f5502c865..911cfac392 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit 4f5502c8657813ccb538e9575ca1a7b258b17af9
+Subproject commit 911cfac392d6dc05162a44a3af9d28307185ecd7
diff --git a/selfdrive/boardd/SConscript b/selfdrive/boardd/SConscript
index d99e67a9f0..ac92d7d710 100644
--- a/selfdrive/boardd/SConscript
+++ b/selfdrive/boardd/SConscript
@@ -1,7 +1,9 @@
 Import('env', 'envCython', 'common', 'cereal', 'messaging')
 
 libs = ['usb-1.0', common, cereal, messaging, 'pthread', 'zmq', 'capnp', 'kj']
-env.Program('boardd', ['main.cc', 'boardd.cc', 'panda.cc', 'panda_comms.cc', 'spi.cc'], LIBS=libs)
+panda = env.Library('panda', ['panda.cc', 'panda_comms.cc', 'spi.cc'])
+
+env.Program('boardd', ['main.cc', 'boardd.cc'], LIBS=[panda] + libs)
 env.Library('libcan_list_to_can_capnp', ['can_list_to_can_capnp.cc'])
 
 envCython.Program('boardd_api_impl.so', 'boardd_api_impl.pyx', LIBS=["can_list_to_can_capnp", 'capnp', 'kj'] + envCython["LIBS"])
diff --git a/selfdrive/boardd/panda.cc b/selfdrive/boardd/panda.cc
index 4ad4b5e652..4873040f37 100644
--- a/selfdrive/boardd/panda.cc
+++ b/selfdrive/boardd/panda.cc
@@ -21,9 +21,6 @@ Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) {
 
   hw_type = get_hw_type();
 
-  assert((hw_type != cereal::PandaState::PandaType::WHITE_PANDA) &&
-         (hw_type != cereal::PandaState::PandaType::GREY_PANDA));
-
   has_rtc = (hw_type == cereal::PandaState::PandaType::UNO) ||
             (hw_type == cereal::PandaState::PandaType::DOS) ||
             (hw_type == cereal::PandaState::PandaType::TRES);
diff --git a/selfdrive/car/ford/fordcan.py b/selfdrive/car/ford/fordcan.py
index 594d50f59f..d2fb6fad55 100644
--- a/selfdrive/car/ford/fordcan.py
+++ b/selfdrive/car/ford/fordcan.py
@@ -158,8 +158,7 @@ def create_lkas_ui_msg(packer, main_on: bool, enabled: bool, steer_alert: bool,
     else:
       lines = 30  # LA_Off
 
-  # TODO: use level 1 for no sound when less severe?
-  hands_on_wheel_dsply = 2 if steer_alert else 0
+  hands_on_wheel_dsply = 1 if steer_alert else 0
 
   values = {
     **stock_values,
diff --git a/selfdrive/car/volkswagen/mqbcan.py b/selfdrive/car/volkswagen/mqbcan.py
index 89de933ae8..b461fd02ae 100644
--- a/selfdrive/car/volkswagen/mqbcan.py
+++ b/selfdrive/car/volkswagen/mqbcan.py
@@ -1,14 +1,11 @@
 def create_steering_control(packer, bus, apply_steer, lkas_enabled):
   values = {
-    "SET_ME_0X3": 0x3,
-    "Assist_Torque": abs(apply_steer),
-    "Assist_Requested": lkas_enabled,
-    "Assist_VZ": 1 if apply_steer < 0 else 0,
-    "HCA_Available": 1,
-    "HCA_Standby": not lkas_enabled,
-    "HCA_Active": lkas_enabled,
-    "SET_ME_0XFE": 0xFE,
-    "SET_ME_0X07": 0x07,
+    "HCA_01_Status_HCA": 5 if lkas_enabled else 3,
+    "HCA_01_LM_Offset": abs(apply_steer),
+    "HCA_01_LM_OffSign": 1 if apply_steer < 0 else 0,
+    "HCA_01_Vib_Freq": 18,
+    "HCA_01_Sendestatus": 1 if lkas_enabled else 0,
+    "EA_ACC_Wunschgeschwindigkeit": 327.36,
   }
   return packer.make_can_msg("HCA_01", bus, values)
 
diff --git a/tools/cabana/README.md b/tools/cabana/README.md
index 4faa7c61d0..921decff3c 100644
--- a/tools/cabana/README.md
+++ b/tools/cabana/README.md
@@ -11,19 +11,23 @@ $ ./cabana -h
 Usage: ./cabana [options] route
 
 Options:
-  -h, --help             Displays this help.
-  --demo                 use a demo route instead of providing your own
-  --qcam                 load qcamera
-  --ecam                 load wide road camera
-  --stream               read can messages from live streaming
-  --zmq <zmq>            the ip address on which to receive zmq messages
-  --data_dir <data_dir>  local directory with routes
-  --no-vipc              do not output video
-  --dbc <dbc>            dbc file to open
+  -h, --help                     Displays help on commandline options.
+  --help-all                     Displays help including Qt specific options.
+  --demo                         use a demo route instead of providing your own
+  --qcam                         load qcamera
+  --ecam                         load wide road camera
+  --stream                       read can messages from live streaming
+  --panda                        read can messages from panda
+  --panda-serial <panda-serial>  read can messages from panda with given serial
+  --zmq <zmq>                    the ip address on which to receive zmq
+                                 messages
+  --data_dir <data_dir>          local directory with routes
+  --no-vipc                      do not output video
+  --dbc <dbc>                    dbc file to open
 
 Arguments:
-  route                  the drive to replay. find your drives at
-                         connect.comma.ai
+  route                          the drive to replay. find your drives at
+                                 connect.comma.ai
 ```
 
 See [openpilot wiki](https://github.com/commaai/openpilot/wiki/Cabana)
diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript
index 77738afae3..4acbc4fa66 100644
--- a/tools/cabana/SConscript
+++ b/tools/cabana/SConscript
@@ -17,7 +17,7 @@ qt_libs = ['qt_util'] + base_libs
 
 cabana_env = qt_env.Clone()
 cabana_env["LIBPATH"] += ['../../opendbc/can']
-cabana_libs = [widgets, cereal, messaging, visionipc, replay_lib, 'libdbc_static', 'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv'] + qt_libs
+cabana_libs = [widgets, cereal, messaging, visionipc, replay_lib, 'panda', 'libdbc_static', 'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv', 'usb-1.0'] + qt_libs
 opendbc_path = '-DOPENDBC_FILE_PATH=\'"%s"\'' % (cabana_env.Dir("../../opendbc").abspath)
 cabana_env['CXXFLAGS'] += [opendbc_path]
 
@@ -29,9 +29,9 @@ cabana_env.Depends(assets, Glob('/assets/*', exclude=[assets, assets_src, "asset
 
 prev_moc_path = cabana_env['QT_MOCHPREFIX']
 cabana_env['QT_MOCHPREFIX'] = os.path.dirname(prev_moc_path) + '/cabana/moc_'
-cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'historylog.cc', 'videowidget.cc', 'signalview.cc', 
+cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/pandastream.cc', 'streams/devicestream.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'historylog.cc', 'videowidget.cc', 'signalview.cc', 
                                                'dbc/dbc.cc', 'dbc/dbcfile.cc', 'dbc/dbcmanager.cc',
-                                               'chart/chartswidget.cc', 'chart/chart.cc', 'chart/signalselector.cc', 'chart/tiplabel.cc',
+                                               'chart/chartswidget.cc', 'chart/chart.cc', 'chart/signalselector.cc', 'chart/tiplabel.cc', 'chart/sparkline.cc',
                                                'commands.cc', 'messageswidget.cc', 'route.cc', 'settings.cc', 'util.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
 cabana_env.Program('cabana', ['cabana.cc', cabana_lib, assets], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
 
diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc
index d0576615c9..3a03ee0b70 100644
--- a/tools/cabana/binaryview.cc
+++ b/tools/cabana/binaryview.cc
@@ -239,7 +239,19 @@ std::tuple<int, int, bool> BinaryView::getSelection(QModelIndex index) {
   if (index.column() == 8) {
     index = model->index(index.row(), 7);
   }
-  bool is_lb = (resize_sig && resize_sig->is_little_endian) || (!resize_sig && index < anchor_index);
+  bool is_lb = true;
+  if (resize_sig) {
+    is_lb = resize_sig->is_little_endian;
+  } else if (settings.drag_direction == Settings::DragDirection::MsbFirst) {
+    is_lb = index < anchor_index;
+  } else if (settings.drag_direction == Settings::DragDirection::LsbFirst) {
+    is_lb = !(index < anchor_index);
+  } else if (settings.drag_direction == Settings::DragDirection::AlwaysLE) {
+    is_lb = true;
+  } else if (settings.drag_direction == Settings::DragDirection::AlwaysBE) {
+    is_lb = false;
+  }
+
   int cur_bit_idx = get_bit_index(index, is_lb);
   int anchor_bit_idx = get_bit_index(anchor_index, is_lb);
   auto [start_bit, end_bit] = std::minmax(cur_bit_idx, anchor_bit_idx);
@@ -281,11 +293,19 @@ void BinaryViewModel::refresh() {
   updateState();
 }
 
+void BinaryViewModel::updateItem(int row, int col, const QString &val, const QColor &color) {
+  auto &item = items[row * column_count + col];
+  if (item.val != val || item.bg_color != color) {
+    item.val = val;
+    item.bg_color = color;
+    auto idx = index(row, col);
+    emit dataChanged(idx, idx, {Qt::DisplayRole});
+  }
+}
+
 void BinaryViewModel::updateState() {
-  auto prev_items = items;
   const auto &last_msg = can->lastMessage(msg_id);
   const auto &binary = last_msg.dat;
-
   // data size may changed.
   if (binary.size() > row_count) {
     beginInsertRows({}, row_count, binary.size() - 1);
@@ -294,29 +314,23 @@ void BinaryViewModel::updateState() {
     endInsertRows();
   }
 
-  double max_f = 255.0;
-  double factor = 0.25;
-  double scaler = max_f / log2(1.0 + factor);
+  const double max_f = 255.0;
+  const double factor = 0.25;
+  const double scaler = max_f / log2(1.0 + factor);
   for (int i = 0; i < binary.size(); ++i) {
     for (int j = 0; j < 8; ++j) {
       auto &item = items[i * column_count + j];
-      item.val = ((binary[i] >> (7 - j)) & 1) != 0 ? '1' : '0';
+      QString val = ((binary[i] >> (7 - j)) & 1) != 0 ? "1" : "0";
       // Bit update frequency based highlighting
       double offset = !item.sigs.empty() ? 50 : 0;
       auto n = last_msg.bit_change_counts[i][7 - j];
       double min_f = n == 0 ? offset : offset + 25;
       double alpha = std::clamp(offset + log2(1.0 + factor * (double)n / (double)last_msg.count) * scaler, min_f, max_f);
-      item.bg_color.setAlpha(alpha);
-    }
-    items[i * column_count + 8].val = toHex(binary[i]);
-    items[i * column_count + 8].bg_color = last_msg.colors[i];
-  }
-
-  for (int i = 0; i < items.size(); ++i) {
-    if (i >= prev_items.size() || prev_items[i].val != items[i].val || prev_items[i].bg_color != items[i].bg_color) {
-      auto idx = index(i / column_count, i % column_count);
-      emit dataChanged(idx, idx);
+      auto color = item.bg_color;
+      color.setAlpha(alpha);
+      updateItem(i, j, val, color);
     }
+    updateItem(i, 8, toHex(binary[i]), last_msg.colors[i]);
   }
 }
 
diff --git a/tools/cabana/binaryview.h b/tools/cabana/binaryview.h
index aa1f8c656b..f80b4520ed 100644
--- a/tools/cabana/binaryview.h
+++ b/tools/cabana/binaryview.h
@@ -26,6 +26,7 @@ public:
   BinaryViewModel(QObject *parent) : QAbstractTableModel(parent) {}
   void refresh();
   void updateState();
+  void updateItem(int row, int col, const QString &val, const QColor &color);
   QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override;
   QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const { return {}; }
   int rowCount(const QModelIndex &parent = QModelIndex()) const override { return row_count; }
diff --git a/tools/cabana/cabana.cc b/tools/cabana/cabana.cc
index 10b394cec5..2f7a560600 100644
--- a/tools/cabana/cabana.cc
+++ b/tools/cabana/cabana.cc
@@ -5,7 +5,8 @@
 #include "selfdrive/ui/qt/util.h"
 #include "tools/cabana/mainwin.h"
 #include "tools/cabana/route.h"
-#include "tools/cabana/streams/livestream.h"
+#include "tools/cabana/streams/devicestream.h"
+#include "tools/cabana/streams/pandastream.h"
 #include "tools/cabana/streams/replaystream.h"
 
 int main(int argc, char *argv[]) {
@@ -24,6 +25,8 @@ int main(int argc, char *argv[]) {
   cmd_parser.addOption({"qcam", "load qcamera"});
   cmd_parser.addOption({"ecam", "load wide road camera"});
   cmd_parser.addOption({"stream", "read can messages from live streaming"});
+  cmd_parser.addOption({"panda", "read can messages from panda"});
+  cmd_parser.addOption({"panda-serial", "read can messages from panda with given serial", "panda-serial"});
   cmd_parser.addOption({"zmq", "the ip address on which to receive zmq messages", "zmq"});
   cmd_parser.addOption({"data_dir", "local directory with routes", "data_dir"});
   cmd_parser.addOption({"no-vipc", "do not output video"});
@@ -34,7 +37,13 @@ int main(int argc, char *argv[]) {
   std::unique_ptr<AbstractStream> stream;
 
   if (cmd_parser.isSet("stream")) {
-    stream.reset(new LiveStream(&app, cmd_parser.value("zmq")));
+    stream.reset(new DeviceStream(&app, cmd_parser.value("zmq")));
+  } else if (cmd_parser.isSet("panda") || cmd_parser.isSet("panda-serial")) {
+    PandaStreamConfig config = {};
+    if (cmd_parser.isSet("panda-serial")) {
+      config.serial = cmd_parser.value("panda-serial");
+    }
+    stream.reset(new PandaStream(&app, config));
   } else {
     // TODO: Remove when OpenpilotPrefix supports ZMQ
 #ifndef __APPLE__
diff --git a/tools/cabana/chart/chartswidget.cc b/tools/cabana/chart/chartswidget.cc
index 84bd3885cf..d015e97c9f 100644
--- a/tools/cabana/chart/chartswidget.cc
+++ b/tools/cabana/chart/chartswidget.cc
@@ -314,7 +314,12 @@ void ChartsWidget::updateLayout(bool force) {
     }
     for (int i = 0; i < current_charts.size(); ++i) {
       charts_layout->addWidget(current_charts[i], i / n, i % n);
-      current_charts[i]->setVisible(true);
+      if (current_charts[i]->sigs.isEmpty()) {
+        // the chart will be resized after add signal. delay setVisible to reduce flicker.
+        QTimer::singleShot(0, [c = current_charts[i]]() { c->setVisible(true); });
+      } else {
+        current_charts[i]->setVisible(true);
+      }
     }
     charts_container->setUpdatesEnabled(true);
   }
diff --git a/tools/cabana/chart/sparkline.cc b/tools/cabana/chart/sparkline.cc
new file mode 100644
index 0000000000..dd2720aa54
--- /dev/null
+++ b/tools/cabana/chart/sparkline.cc
@@ -0,0 +1,68 @@
+#include "tools/cabana/chart/sparkline.h"
+
+#include <QPainter>
+
+#include "tools/cabana/streams/abstractstream.h"
+
+void Sparkline::update(const MessageId &msg_id, const cabana::Signal *sig, double last_msg_ts, int range, QSize size) {
+  const auto &msgs = can->events().at(msg_id);
+  uint64_t ts = (last_msg_ts + can->routeStartTime()) * 1e9;
+  auto first = std::lower_bound(msgs.cbegin(), msgs.cend(), CanEvent{.mono_time = (uint64_t)std::max<int64_t>(ts - range * 1e9, 0)});
+  auto last = std::upper_bound(first, msgs.cend(), CanEvent{.mono_time = ts});
+
+  bool update_values = last_ts != last_msg_ts || time_range != range;
+  last_ts = last_msg_ts;
+  time_range = range;
+
+  if (first != last) {
+    if (update_values) {
+      values.clear();
+      values.reserve(std::distance(first, last));
+      min_val = std::numeric_limits<double>::max();
+      max_val = std::numeric_limits<double>::lowest();
+      for (auto it = first; it != last; ++it) {
+        double value = get_raw_value(it->dat, it->size, *sig);
+        values.emplace_back((it->mono_time - first->mono_time) / 1e9, value);
+        if (min_val > value) min_val = value;
+        if (max_val < value) max_val = value;
+      }
+      if (min_val == max_val) {
+        min_val -= 1;
+        max_val += 1;
+      }
+    }
+    render(getColor(sig), size);
+  } else {
+    pixmap = QPixmap();
+    min_val = -1;
+    max_val = 1;
+  }
+}
+
+void Sparkline::render(const QColor &color, QSize size) {
+  const double xscale = (size.width() - 1) / (double)time_range;
+  const double yscale = (size.height() - 3) / (max_val - min_val);
+  points.clear();
+  points.reserve(values.size());
+  for (auto &v : values) {
+    points.emplace_back(v.x() * xscale, 1 + std::abs(v.y() - max_val) * yscale);
+  }
+
+  qreal dpr = qApp->devicePixelRatio();
+  size *= dpr;
+  if (size != pixmap.size()) {
+    pixmap = QPixmap(size);
+  }
+  pixmap.setDevicePixelRatio(dpr);
+  pixmap.fill(Qt::transparent);
+  QPainter painter(&pixmap);
+  painter.setRenderHint(QPainter::Antialiasing, points.size() < 500);
+  painter.setPen(color);
+  painter.drawPolyline(points.data(), points.size());
+  painter.setPen(QPen(color, 3));
+  if ((points.back().x() - points.front().x()) / points.size() > 8) {
+    painter.drawPoints(points.data(), points.size());
+  } else {
+    painter.drawPoint(points.back());
+  }
+}
diff --git a/tools/cabana/chart/sparkline.h b/tools/cabana/chart/sparkline.h
new file mode 100644
index 0000000000..69d4f4bc55
--- /dev/null
+++ b/tools/cabana/chart/sparkline.h
@@ -0,0 +1,24 @@
+#pragma once
+
+#include <QPixmap>
+#include <QPointF>
+#include <vector>
+
+#include "tools/cabana/dbc/dbcmanager.h"
+
+class Sparkline {
+public:
+  void update(const MessageId &msg_id, const cabana::Signal *sig, double last_msg_ts, int range, QSize size);
+  const QSize size() const { return pixmap.size() / pixmap.devicePixelRatio(); }
+
+  QPixmap pixmap;
+  double min_val = 0;
+  double max_val = 0;
+  double last_ts = 0;
+  int time_range = 0;
+
+private:
+  void render(const QColor &color, QSize size);
+  std::vector<QPointF> values;
+  std::vector<QPointF> points;
+};
diff --git a/tools/cabana/dbc/dbcfile.cc b/tools/cabana/dbc/dbcfile.cc
index c4025725ac..8d6b0f656f 100644
--- a/tools/cabana/dbc/dbcfile.cc
+++ b/tools/cabana/dbc/dbcfile.cc
@@ -149,6 +149,24 @@ void DBCFile::removeMsg(const MessageId &id) {
   msgs.erase(id.address);
 }
 
+QString DBCFile::newMsgName(const MessageId &id) {
+  return QString("NEW_MSG_") + QString::number(id.address, 16).toUpper();
+}
+
+QString DBCFile::newSignalName(const MessageId &id) {
+  auto m = msg(id);
+  assert(m != nullptr);
+
+  QString name;
+
+  for (int i = 1; /**/; ++i) {
+    name = QString("NEW_SIGNAL_%1").arg(i);
+    if (m->sig(name) == nullptr) break;
+  }
+
+  return name;
+}
+
 std::map<uint32_t, cabana::Msg> DBCFile::getMessages() {
   return msgs;
 }
diff --git a/tools/cabana/dbc/dbcfile.h b/tools/cabana/dbc/dbcfile.h
index 96fbe6a9f1..e048dc5839 100644
--- a/tools/cabana/dbc/dbcfile.h
+++ b/tools/cabana/dbc/dbcfile.h
@@ -38,6 +38,9 @@ public:
   void updateMsg(const MessageId &id, const QString &name, uint32_t size);
   void removeMsg(const MessageId &id);
 
+  QString newMsgName(const MessageId &id);
+  QString newSignalName(const MessageId &id);
+
   std::map<uint32_t, cabana::Msg> getMessages();
   const cabana::Msg *msg(const MessageId &id) const;
   const cabana::Msg *msg(uint32_t address) const;
diff --git a/tools/cabana/dbc/dbcmanager.cc b/tools/cabana/dbc/dbcmanager.cc
index 123d783986..b17d535131 100644
--- a/tools/cabana/dbc/dbcmanager.cc
+++ b/tools/cabana/dbc/dbcmanager.cc
@@ -133,6 +133,20 @@ void DBCManager::removeMsg(const MessageId &id) {
   }
 }
 
+QString DBCManager::newMsgName(const MessageId &id) {
+  auto sources_dbc_file = findDBCFile(id);
+  assert(sources_dbc_file); // This should be impossible
+  auto [_, dbc_file] = *sources_dbc_file;
+  return dbc_file->newMsgName(id);
+}
+
+QString DBCManager::newSignalName(const MessageId &id) {
+  auto sources_dbc_file = findDBCFile(id);
+  assert(sources_dbc_file); // This should be impossible
+  auto [_, dbc_file] = *sources_dbc_file;
+  return dbc_file->newSignalName(id);
+}
+
 std::map<MessageId, cabana::Msg> DBCManager::getMessages(uint8_t source) {
   std::map<MessageId, cabana::Msg> ret;
 
diff --git a/tools/cabana/dbc/dbcmanager.h b/tools/cabana/dbc/dbcmanager.h
index 60d8a072ec..a1b9e2ae3a 100644
--- a/tools/cabana/dbc/dbcmanager.h
+++ b/tools/cabana/dbc/dbcmanager.h
@@ -33,6 +33,9 @@ public:
   void updateMsg(const MessageId &id, const QString &name, uint32_t size);
   void removeMsg(const MessageId &id);
 
+  QString newMsgName(const MessageId &id);
+  QString newSignalName(const MessageId &id);
+
   std::map<MessageId, cabana::Msg> getMessages(uint8_t source);
   const cabana::Msg *msg(const MessageId &id) const;
   const cabana::Msg* msg(uint8_t source, const QString &name);
diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc
index 5b6d436dca..922ea7a9e2 100644
--- a/tools/cabana/mainwin.cc
+++ b/tools/cabana/mainwin.cc
@@ -432,6 +432,7 @@ void MainWindow::saveAs() {
     QString fn = QFileDialog::getSaveFileName(this, tr("Save File"), QDir::cleanPath(settings.last_dir + "/untitled.dbc"), tr("DBC (*.dbc)"));
     if (!fn.isEmpty()) {
       dbc_file->saveAs(fn);
+      updateRecentFiles(fn);
     }
   }
 }
@@ -473,24 +474,34 @@ void MainWindow::updateLoadSaveMenus() {
   open_dbc_for_source->setEnabled(sources.size() > 0);
   open_dbc_for_source->clear();
 
+  std::map<QString, QStringList> dbc_files;
   for (uint8_t source : sources_sorted) {
     if (source >= 64) continue; // Sent and blocked buses are handled implicitly
     QAction *action = new QAction(this);
 
     auto d = dbc()->findDBCFile(source);
     QString name = tr("no DBC");
-    if (d && !d->second->name().isEmpty()) {
-      name = tr("%1").arg(d->second->name());
-    } else if (d) {
-      name = "untitled";
+    if (d) {
+      if (!d->second->name().isEmpty()) {
+        name = tr("%1").arg(d->second->name());
+      } else {
+        name = "untitled";
+      }
+      dbc_files[d->second->filename].push_back(QString::number(source));
     }
-
     action->setText(tr("Bus %1 (current: %2)").arg(source).arg(name));
     action->setData(source);
 
     QObject::connect(action, &QAction::triggered, this, &MainWindow::openFileForSource);
     open_dbc_for_source->addAction(action);
   }
+
+  QStringList title;
+  for (auto &[filename, sources] : dbc_files) {
+    QString bus = dbc_files.size() == 1 ? "all" : sources.join(",");
+    title.push_back("[" + bus + "]" + QFileInfo(filename).baseName());
+  }
+  setWindowFilePath(title.join(" | "));
 }
 
 void MainWindow::updateRecentFiles(const QString &fn) {
diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc
index abc8c755ff..c11d9d7d78 100644
--- a/tools/cabana/messageswidget.cc
+++ b/tools/cabana/messageswidget.cc
@@ -25,14 +25,16 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {
   view = new MessageView(this);
   model = new MessageListModel(this);
   auto delegate = new MessageBytesDelegate(view, settings.multiple_lines_bytes);
-  view->setItemDelegateForColumn(5, delegate);
+  view->setItemDelegate(delegate);
   view->setModel(model);
   view->setSortingEnabled(true);
   view->sortByColumn(0, Qt::AscendingOrder);
+  view->setAllColumnsShowFocus(true);
+  view->setEditTriggers(QAbstractItemView::NoEditTriggers);
   view->setItemsExpandable(false);
   view->setIndentation(0);
   view->setRootIsDecorated(false);
-  view->header()->setStretchLastSection(true);
+  view->header()->setSectionsMovable(false);
   main_layout->addWidget(view);
 
   // suppress
@@ -48,6 +50,7 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {
   QObject::connect(multiple_lines_bytes, &QCheckBox::stateChanged, [=](int state) {
     settings.multiple_lines_bytes = (state == Qt::Checked);
     delegate->setMultipleLines(settings.multiple_lines_bytes);
+    view->setUniformRowHeights(!settings.multiple_lines_bytes);
     model->sortMessages();
   });
   QObject::connect(can, &AbstractStream::msgsReceived, model, &MessageListModel::msgsReceived);
@@ -129,12 +132,20 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const {
   const auto &id = msgs[index.row()];
   auto &can_data = can->lastMessage(id);
 
+  auto getFreq = [](const CanData &d) -> QString {
+    if (d.freq > 0 && (can->currentSec() - d.ts - 1.0 / settings.fps) < (5.0 / d.freq)) {
+      return d.freq >= 1 ? QString::number(std::nearbyint(d.freq)) : QString::number(d.freq, 'f', 2);
+    } else {
+      return "--";
+    }
+  };
+
   if (role == Qt::DisplayRole) {
     switch (index.column()) {
       case 0: return msgName(id);
       case 1: return id.source;
-      case 2: return QString::number(id.address, 16);;
-      case 3: return can_data.freq;
+      case 2: return QString::number(id.address, 16);
+      case 3: return getFreq(can_data);
       case 4: return can_data.count;
       case 5: return toHex(can_data.dat);
     }
@@ -148,7 +159,7 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const {
       }
     }
     return QVariant::fromValue(colors);
-  } else if (role == BytesRole) {
+  } else if (role == BytesRole && index.column() == 5) {
     return can_data.dat;
   }
   return {};
@@ -268,9 +279,9 @@ void MessageListModel::reset() {
 
 void MessageView::drawRow(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const {
   QTreeView::drawRow(painter, option, index);
-  painter->save();
   const int gridHint = style()->styleHint(QStyle::SH_Table_GridLineColor, &option, this);
   const QColor gridColor = QColor::fromRgba(static_cast<QRgb>(gridHint));
+  QPen old_pen = painter->pen();
   painter->setPen(gridColor);
   painter->drawLine(option.rect.left(), option.rect.bottom(), option.rect.right(), option.rect.bottom());
 
@@ -280,5 +291,12 @@ void MessageView::drawRow(QPainter *painter, const QStyleOptionViewItem &option,
     painter->translate(header()->sectionSize(i), 0);
     painter->drawLine(0, y, 0, y + option.rect.height());
   }
-  painter->restore();
+  painter->setPen(old_pen);
+  painter->resetTransform();
+}
+
+void MessageView::dataChanged(const QModelIndex &topLeft, const QModelIndex &bottomRight, const QVector<int> &roles) {
+   // Bypass the slow call to QTreeView::dataChanged.
+   // QTreeView::dataChanged will invalidate the height cache and that's what we don't need in MessageView.
+   QAbstractItemView::dataChanged(topLeft, bottomRight, roles);
 }
diff --git a/tools/cabana/messageswidget.h b/tools/cabana/messageswidget.h
index cc48b70bf4..a30adc5dcd 100644
--- a/tools/cabana/messageswidget.h
+++ b/tools/cabana/messageswidget.h
@@ -40,6 +40,8 @@ class MessageView : public QTreeView {
 public:
   MessageView(QWidget *parent) : QTreeView(parent) {}
   void drawRow(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const override;
+  void drawBranches(QPainter *painter, const QRect &rect, const QModelIndex &index) const override {}
+  void dataChanged(const QModelIndex &topLeft, const QModelIndex &bottomRight, const QVector<int> &roles = QVector<int>()) override;
 };
 
 class MessagesWidget : public QWidget {
diff --git a/tools/cabana/settings.cc b/tools/cabana/settings.cc
index 4d8c4fcc5a..07fb312c3b 100644
--- a/tools/cabana/settings.cc
+++ b/tools/cabana/settings.cc
@@ -30,13 +30,14 @@ void Settings::save() {
   s.setValue("geometry", geometry);
   s.setValue("video_splitter_state", video_splitter_state);
   s.setValue("recent_files", recent_files);
-  s.setValue("message_header_state", message_header_state);
+  s.setValue("message_header_state_v2", message_header_state);
   s.setValue("chart_series_type", chart_series_type);
   s.setValue("theme", theme);
   s.setValue("sparkline_range", sparkline_range);
   s.setValue("multiple_lines_bytes", multiple_lines_bytes);
   s.setValue("log_livestream", log_livestream);
   s.setValue("log_path", log_path);
+  s.setValue("drag_direction", drag_direction);
 }
 
 void Settings::load() {
@@ -52,13 +53,14 @@ void Settings::load() {
   geometry = s.value("geometry").toByteArray();
   video_splitter_state = s.value("video_splitter_state").toByteArray();
   recent_files = s.value("recent_files").toStringList();
-  message_header_state = s.value("message_header_state").toByteArray();
+  message_header_state = s.value("message_header_state_v2").toByteArray();
   chart_series_type = s.value("chart_series_type", 0).toInt();
   theme = s.value("theme", 0).toInt();
   sparkline_range = s.value("sparkline_range", 15).toInt();
   multiple_lines_bytes = s.value("multiple_lines_bytes", true).toBool();
   log_livestream = s.value("log_livestream", true).toBool();
   log_path = s.value("log_path").toString();
+  drag_direction = (Settings::DragDirection)s.value("drag_direction", 0).toInt();
   if (log_path.isEmpty()) {
     log_path = QStandardPaths::writableLocation(QStandardPaths::HomeLocation) + "/cabana_live_stream/";
   }
@@ -91,6 +93,14 @@ SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) {
   form_layout->addRow(tr("Max Cached Minutes"), cached_minutes);
   main_layout->addWidget(groupbox);
 
+  groupbox = new QGroupBox("New Signal Settings");
+  form_layout = new QFormLayout(groupbox);
+  drag_direction = new QComboBox(this);
+  drag_direction->addItems({tr("MSB First"), tr("LSB First"), tr("Always Little Endian"), tr("Always Big Endian")});
+  drag_direction->setCurrentIndex(settings.drag_direction);
+  form_layout->addRow(tr("Drag Direction"), drag_direction);
+  main_layout->addWidget(groupbox);
+
   groupbox = new QGroupBox("Chart");
   form_layout = new QFormLayout(groupbox);
   chart_series_type = new QComboBox(this);
@@ -114,6 +124,7 @@ SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) {
   path_layout->addWidget(browse_btn);
   main_layout->addWidget(log_livestream);
 
+
   auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel | QDialogButtonBox::Apply);
   main_layout->addWidget(buttonBox);
   main_layout->addStretch(1);
@@ -151,6 +162,7 @@ void SettingsDlg::save() {
   settings.chart_height = chart_height->value();
   settings.log_livestream = log_livestream->isChecked();
   settings.log_path = log_path->text();
+  settings.drag_direction = (Settings::DragDirection)drag_direction->currentIndex();
   settings.save();
   emit settings.changed();
 }
diff --git a/tools/cabana/settings.h b/tools/cabana/settings.h
index 07aafe1682..11548ef5cc 100644
--- a/tools/cabana/settings.h
+++ b/tools/cabana/settings.h
@@ -15,6 +15,13 @@ class Settings : public QObject {
   Q_OBJECT
 
 public:
+  enum DragDirection {
+    MsbFirst,
+    LsbFirst,
+    AlwaysLE,
+    AlwaysBE,
+  };
+
   Settings();
   void save();
   void load();
@@ -37,6 +44,7 @@ public:
   QByteArray window_state;
   QStringList recent_files;
   QByteArray message_header_state;
+  DragDirection drag_direction;
 
 signals:
   void changed();
@@ -55,6 +63,7 @@ public:
   QComboBox *theme;
   QGroupBox *log_livestream;
   QLineEdit *log_path;
+  QComboBox *drag_direction;
 };
 
 extern Settings settings;
diff --git a/tools/cabana/signalview.cc b/tools/cabana/signalview.cc
index ef05decda6..32b0a39408 100644
--- a/tools/cabana/signalview.cc
+++ b/tools/cabana/signalview.cc
@@ -8,7 +8,10 @@
 #include <QHelpEvent>
 #include <QMessageBox>
 #include <QPainter>
+#include <QPainterPath>
 #include <QPushButton>
+#include <QScrollBar>
+#include <QtConcurrent>
 #include <QVBoxLayout>
 
 #include "tools/cabana/commands.h"
@@ -22,7 +25,6 @@ SignalModel::SignalModel(QObject *parent) : root(new Item), QAbstractItemModel(p
   QObject::connect(dbc(), &DBCManager::signalAdded, this, &SignalModel::handleSignalAdded);
   QObject::connect(dbc(), &DBCManager::signalUpdated, this, &SignalModel::handleSignalUpdated);
   QObject::connect(dbc(), &DBCManager::signalRemoved, this, &SignalModel::handleSignalRemoved);
-  QObject::connect(can, &AbstractStream::msgsReceived, this, &SignalModel::updateState);
 }
 
 void SignalModel::insertItem(SignalModel::Item *parent_item, int pos, const cabana::Signal *sig) {
@@ -37,9 +39,7 @@ void SignalModel::insertItem(SignalModel::Item *parent_item, int pos, const caba
 void SignalModel::setMessage(const MessageId &id) {
   msg_id = id;
   filter_str = "";
-  value_width = 0;
   refresh();
-  updateState(nullptr);
 }
 
 void SignalModel::setFilter(const QString &txt) {
@@ -60,33 +60,6 @@ void SignalModel::refresh() {
   endResetModel();
 }
 
-void SignalModel::updateState(const QHash<MessageId, CanData> *msgs) {
-  if (!msgs || msgs->contains(msg_id)) {
-    auto &dat = can->lastMessage(msg_id).dat;
-    for (auto item : root->children) {
-      double value = get_raw_value((uint8_t *)dat.constData(), dat.size(), *item->sig);
-      item->sig_val = QString::number(value, 'f', item->sig->precision);
-
-      // Show unit
-      if (!item->sig->unit.isEmpty()) {
-        item->sig_val += " " + item->sig->unit;
-      }
-
-      // Show enum string
-      for (auto &[val, desc] : item->sig->val_desc) {
-        if (std::abs(value - val.toInt()) < 1e-6) {
-          item->sig_val = desc;
-        }
-      }
-      value_width = std::max(value_width, QFontMetrics(QFont()).width(item->sig_val));
-    }
-
-    for (int i = 0; i < root->children.size(); ++i) {
-      emit dataChanged(index(i, 1), index(i, 1), {Qt::DisplayRole});
-    }
-  }
-}
-
 SignalModel::Item *SignalModel::getItem(const QModelIndex &index) const {
   SignalModel::Item *item = nullptr;
   if (index.isValid()) {
@@ -251,19 +224,13 @@ bool SignalModel::saveSignal(const cabana::Signal *origin_s, cabana::Signal &s)
 
 void SignalModel::addSignal(int start_bit, int size, bool little_endian) {
   auto msg = dbc()->msg(msg_id);
-  for (int i = 0; !msg; ++i) {
-    QString name = QString("NEW_MSG_") + QString::number(msg_id.address, 16).toUpper();
-    if (!dbc()->msg(msg_id.source, name)) {
-      UndoStack::push(new EditMsgCommand(msg_id, name, can->lastMessage(msg_id).dat.size()));
-      msg = dbc()->msg(msg_id);
-    }
+  if (!msg) {
+    QString name = dbc()->newMsgName(msg_id);
+    UndoStack::push(new EditMsgCommand(msg_id, name, can->lastMessage(msg_id).dat.size()));
+    msg = dbc()->msg(msg_id);
   }
 
-  cabana::Signal sig = {.is_little_endian = little_endian, .factor = 1, .min = "0", .max = QString::number(std::pow(2, size) - 1)};
-  for (int i = 1; /**/; ++i) {
-    sig.name = QString("NEW_SIGNAL_%1").arg(i);
-    if (msg->sig(sig.name) == nullptr) break;
-  }
+  cabana::Signal sig = {.name = dbc()->newSignalName(msg_id), .is_little_endian = little_endian, .factor = 1, .min = "0", .max = QString::number(std::pow(2, size) - 1)};
   updateSigSizeParamsFromRange(sig, start_bit, size);
   UndoStack::push(new AddSigCommand(msg_id, sig));
 }
@@ -276,6 +243,9 @@ void SignalModel::resizeSignal(const cabana::Signal *sig, int start_bit, int siz
 
 void SignalModel::removeSignal(const cabana::Signal *sig) {
   UndoStack::push(new RemoveSigCommand(msg_id, sig));
+  if (dbc()->signalCount(msg_id) == 0) {
+    UndoStack::push(new RemoveMsgCommand(msg_id));
+  }
 }
 
 void SignalModel::handleMsgChanged(MessageId id) {
@@ -293,7 +263,6 @@ void SignalModel::handleSignalAdded(MessageId id, const cabana::Signal *sig) {
     beginInsertRows({}, i, i);
     insertItem(root.get(), i, sig);
     endInsertRows();
-    updateState(nullptr);
   }
 }
 
@@ -355,120 +324,68 @@ void SignalItemDelegate::updateEditorGeometry(QWidget *editor, const QStyleOptio
     QRect geom = option.rect;
     geom.setLeft(geom.right() - editor->sizeHint().width());
     editor->setGeometry(geom);
+    button_size = geom.size();
     return;
   }
   QStyledItemDelegate::updateEditorGeometry(editor, option, index);
 }
 
 void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const {
-  int h_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameHMargin) + 1;
-  int v_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameVMargin);
   auto item = (SignalModel::Item *)index.internalPointer();
-  if (index.column() == 0 && item && item->type == SignalModel::Item::Sig) {
-    painter->save();
+  if (item && item->type == SignalModel::Item::Sig) {
     painter->setRenderHint(QPainter::Antialiasing);
     if (option.state & QStyle::State_Selected) {
       painter->fillRect(option.rect, option.palette.highlight());
     }
 
-    // color label
-    auto bg_color = getColor(item->sig);
-    QRect rc{option.rect.left() + h_margin, option.rect.top(), color_label_width, option.rect.height()};
-    painter->setPen(Qt::NoPen);
-    painter->setBrush(item->highlight ? bg_color.darker(125) : bg_color);
-    painter->drawRoundedRect(rc.adjusted(0, v_margin, 0, -v_margin), 3, 3);
-    painter->setPen(item->highlight ? Qt::white : Qt::black);
-    painter->setFont(label_font);
-    painter->drawText(rc, Qt::AlignCenter, QString::number(item->row() + 1));
-
-    // signal name
-    painter->setFont(option.font);
-    painter->setPen(option.palette.color(option.state & QStyle::State_Selected ? QPalette::HighlightedText : QPalette::Text));
-    QString text = index.data(Qt::DisplayRole).toString();
-    QRect text_rect = option.rect;
-    text_rect.setLeft(rc.right() + h_margin * 2);
-    text = painter->fontMetrics().elidedText(text, Qt::ElideRight, text_rect.width());
-    painter->drawText(text_rect, option.displayAlignment, text);
-    painter->restore();
-  } else if (index.column() == 1 && item && item->type == SignalModel::Item::Sig) {
-    painter->save();
-    if (option.state & QStyle::State_Selected) {
-      painter->fillRect(option.rect, option.palette.highlight());
+    int h_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameHMargin) + 1;
+    int v_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameVMargin);
+    QRect r = option.rect.adjusted(h_margin, v_margin, -h_margin, -v_margin);
+    if (index.column() == 0) {
+      // color label
+      QPainterPath path;
+      QRect icon_rect{r.x(), r.y(), color_label_width, r.height()};
+      path.addRoundedRect(icon_rect, 3, 3);
+      painter->setPen(item->highlight ? Qt::white : Qt::black);
+      painter->setFont(label_font);
+      painter->fillPath(path, getColor(item->sig).darker(item->highlight ? 125 : 0));
+      painter->drawText(icon_rect, Qt::AlignCenter, QString::number(item->row() + 1));
+
+      r.setLeft(icon_rect.right() + h_margin * 2);
+      auto text = option.fontMetrics.elidedText(index.data(Qt::DisplayRole).toString(), Qt::ElideRight, r.width());
+      painter->setPen(option.palette.color(option.state & QStyle::State_Selected ? QPalette::HighlightedText : QPalette::Text));
+      painter->setFont(option.font);
+      painter->drawText(r, option.displayAlignment, text);
+    } else if (index.column() == 1) {
+      // sparkline
+      QSize sparkline_size = item->sparkline.pixmap.size() / item->sparkline.pixmap.devicePixelRatio();
+      painter->drawPixmap(QRect(r.topLeft(), sparkline_size), item->sparkline.pixmap);
+      // min-max value
+      painter->setPen(option.palette.color(option.state & QStyle::State_Selected ? QPalette::HighlightedText : QPalette::Text));
+      QRect rect = r.adjusted(sparkline_size.width() + 1, 0, 0, 0);
+      int value_adjust = 10;
+      if (item->highlight || option.state & QStyle::State_Selected) {
+        painter->drawLine(rect.topLeft(), rect.bottomLeft());
+        rect.adjust(5, -v_margin, 0, v_margin);
+        painter->setFont(minmax_font);
+        QString min = QString::number(item->sparkline.min_val);
+        QString max = QString::number(item->sparkline.max_val);
+        painter->drawText(rect, Qt::AlignLeft | Qt::AlignTop, max);
+        painter->drawText(rect, Qt::AlignLeft | Qt::AlignBottom, min);
+        QFontMetrics fm(minmax_font);
+        value_adjust = std::max(fm.width(min), fm.width(max)) + 5;
+      }
+      // value
+      painter->setFont(option.font);
+      rect.adjust(value_adjust, 0, -button_size.width(), 0);
+      auto text = option.fontMetrics.elidedText(index.data(Qt::DisplayRole).toString(), Qt::ElideRight, rect.width());
+      painter->drawText(rect, Qt::AlignRight | Qt::AlignVCenter, text);
     }
-
-    SignalModel *model = (SignalModel*)index.model();
-    int adjust_right = ((SignalView *)parent())->tree->indexWidget(index)->sizeHint().width() + 2 * h_margin;
-    QRect r = option.rect.adjusted(h_margin, v_margin, -adjust_right, -v_margin);
-
-    int value_width = std::min<int>(model->value_width, r.width() * 0.4);
-    QRect value_rect = r.adjusted(r.width() - value_width - h_margin, 0, 0, 0);
-    auto text = painter->fontMetrics().elidedText(index.data(Qt::DisplayRole).toString(), Qt::ElideRight, value_rect.width());
-    painter->setPen(option.palette.color(option.state & QStyle::State_Selected ? QPalette::HighlightedText : QPalette::Text));
-    painter->drawText(value_rect, Qt::AlignRight | Qt::AlignVCenter, text);
-    drawSparkline(painter, r.adjusted(0, 0, -value_width, 0), option, index);
-    painter->restore();
   } else {
     QStyledItemDelegate::paint(painter, option, index);
   }
 }
 
-void SignalItemDelegate::drawSparkline(QPainter *painter, const QRect &rect, const QStyleOptionViewItem &option, const QModelIndex &index) const {
-  static std::vector<QPointF> points;
-  const auto &msg_id = ((SignalView *)parent())->msg_id;
-  const auto &msgs = can->events().at(msg_id);
-
-  uint64_t ts = (can->lastMessage(msg_id).ts + can->routeStartTime()) * 1e9;
-  auto first = std::lower_bound(msgs.cbegin(), msgs.cend(), CanEvent{.mono_time = (uint64_t)std::max<int64_t>(ts - settings.sparkline_range * 1e9, 0)});
-  auto last = std::upper_bound(first, msgs.cend(), CanEvent{.mono_time = ts});
-
-  if (first != last) {
-    double min = std::numeric_limits<double>::max();
-    double max = std::numeric_limits<double>::lowest();
-    const auto item = (const SignalModel::Item *)index.internalPointer();
-    const auto sig = item->sig;
-    points.clear();
-    for (auto it = first; it != last; ++it) {
-      double value = get_raw_value(it->dat, it->size, *sig);
-      points.emplace_back((it->mono_time - first->mono_time) / 1e9, value);
-      min = std::min(min, value);
-      max = std::max(max, value);
-    }
-    if (min == max) {
-      min -= 1;
-      max += 1;
-    }
-
-    const double min_max_width = std::min(rect.width() - 10, QFontMetrics(minmax_font).width("000.00") + 5);
-    const QRect r = rect.adjusted(0, 0, -min_max_width, 0);
-    const double xscale = r.width() / (double)settings.sparkline_range;
-    const double yscale = r.height() / (max - min);
-    for (auto &pt : points) {
-      pt.rx() = r.left() + pt.x() * xscale;
-      pt.ry() = r.top() + std::abs(pt.y() - max) * yscale;
-    }
-
-    auto color = item->highlight ? getColor(sig).darker(125) : getColor(sig);
-    painter->setPen(color);
-    painter->drawPolyline(points.data(), points.size());
-    if ((points.back().x() - points.front().x()) / points.size() > 10) {
-      painter->setPen(Qt::NoPen);
-      painter->setBrush(color);
-      for (const auto &pt : points) {
-        painter->drawEllipse(pt, 2, 2);
-      }
-    }
-
-    if (item->highlight || option.state & QStyle::State_Selected) {
-      painter->setFont(minmax_font);
-      painter->setPen(option.state & QStyle::State_Selected ? option.palette.color(QPalette::HighlightedText) : Qt::darkGray);
-      painter->drawLine(r.topRight(), r.bottomRight());
-      QRect minmax_rect{r.right() + 5, r.top(), 1000, r.height()};
-      painter->drawText(minmax_rect, Qt::AlignLeft | Qt::AlignTop, QString::number(max));
-      painter->drawText(minmax_rect, Qt::AlignLeft | Qt::AlignBottom, QString::number(min));
-    }
-  }
-}
-
 QWidget *SignalItemDelegate::createEditor(QWidget *parent, const QStyleOptionViewItem &option, const QModelIndex &index) const {
   auto item = (SignalModel::Item *)index.internalPointer();
   if (item->type == SignalModel::Item::Name || item->type == SignalModel::Item::Offset ||
@@ -534,7 +451,7 @@ SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts),
   // tree view
   tree = new TreeView(this);
   tree->setModel(model = new SignalModel(this));
-  tree->setItemDelegate(new SignalItemDelegate(this));
+  tree->setItemDelegate(delegate = new SignalItemDelegate(this));
   tree->setFrameShape(QFrame::NoFrame);
   tree->setHeaderHidden(true);
   tree->setMouseTracking(true);
@@ -560,6 +477,10 @@ SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts),
   QObject::connect(model, &QAbstractItemModel::modelReset, this, &SignalView::rowsChanged);
   QObject::connect(model, &QAbstractItemModel::rowsRemoved, this, &SignalView::rowsChanged);
   QObject::connect(dbc(), &DBCManager::signalAdded, [this](MessageId id, const cabana::Signal *sig) { selectSignal(sig); });
+  QObject::connect(can, &AbstractStream::msgsReceived, this, &SignalView::updateState);
+  QObject::connect(dbc(), &DBCManager::signalUpdated, this, &SignalView::handleSignalUpdated);
+  QObject::connect(tree->verticalScrollBar(), &QScrollBar::valueChanged, [this]() { updateState(); });
+  QObject::connect(tree->verticalScrollBar(), &QScrollBar::rangeChanged, [this]() { updateState(); });
 
   setWhatsThis(tr(R"(
     <b>Signal view</b><br />
@@ -568,7 +489,7 @@ SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts),
 }
 
 void SignalView::setMessage(const MessageId &id) {
-  msg_id = id;
+  max_value_width = 0;
   filter_edit->clear();
   model->setMessage(id);
 }
@@ -594,12 +515,13 @@ void SignalView::rowsChanged() {
       auto sig = model->getItem(index)->sig;
       QObject::connect(remove_btn, &QToolButton::clicked, [=]() { model->removeSignal(sig); });
       QObject::connect(plot_btn, &QToolButton::clicked, [=](bool checked) {
-        emit showChart(msg_id, sig, checked, QGuiApplication::keyboardModifiers() & Qt::ShiftModifier);
+        emit showChart(model->msg_id, sig, checked, QGuiApplication::keyboardModifiers() & Qt::ShiftModifier);
       });
     }
   }
   updateToolBar();
   updateChartState();
+  updateState();
 }
 
 void SignalView::rowClicked(const QModelIndex &index) {
@@ -626,7 +548,7 @@ void SignalView::selectSignal(const cabana::Signal *sig, bool expand) {
 void SignalView::updateChartState() {
   int i = 0;
   for (auto item : model->root->children) {
-    bool chart_opened = charts->hasSignal(msg_id, item->sig);
+    bool chart_opened = charts->hasSignal(model->msg_id, item->sig);
     auto buttons = tree->indexWidget(model->index(i, 1))->findChildren<QToolButton *>();
     if (buttons.size() > 0) {
       buttons[0]->setChecked(chart_opened);
@@ -655,7 +577,70 @@ void SignalView::updateToolBar() {
 void SignalView::setSparklineRange(int value) {
   settings.sparkline_range = value;
   updateToolBar();
-  model->updateState(nullptr);
+  updateState();
+}
+
+void SignalView::handleSignalUpdated(const cabana::Signal *sig) {
+  if (int row = model->signalRow(sig); row != -1) {
+    auto item = model->getItem(model->index(row, 1));
+    // invalidate the sparkline
+    item->sparkline.last_ts = 0;
+    updateState();
+  }
+}
+
+void SignalView::updateState(const QHash<MessageId, CanData> *msgs) {
+  if (model->rowCount() == 0 || (msgs && !msgs->contains(model->msg_id))) return;
+
+  const auto &last_msg = can->lastMessage(model->msg_id);
+  for (auto item : model->root->children) {
+    double value = get_raw_value((uint8_t *)last_msg.dat.constData(), last_msg.dat.size(), *item->sig);
+    item->sig_val = QString::number(value, 'f', item->sig->precision);
+    // Show unit
+    if (!item->sig->unit.isEmpty()) {
+      item->sig_val += " " + item->sig->unit;
+    }
+    // Show enum string
+    for (auto &[val, desc] : item->sig->val_desc) {
+      if (std::abs(value - val.toInt()) < 1e-6) {
+        item->sig_val = desc;
+      }
+    }
+    max_value_width = std::max(max_value_width, fontMetrics().width(item->sig_val));
+  }
+
+  // update visible sparkline
+  QSize size(tree->columnWidth(1) - delegate->button_size.width(), delegate->button_size.height());
+  int min_max_width = std::min(size.width() - 10, QFontMetrics(delegate->minmax_font).width("-000.00") + 5);
+  int value_width = std::min<int>(max_value_width, size.width() * 0.35);
+  size -= {value_width + min_max_width, style()->pixelMetric(QStyle::PM_FocusFrameVMargin) * 2};
+
+  QModelIndex top = tree->indexAt(QPoint(0, 0));
+  QModelIndex bottom = tree->indexAt(tree->viewport()->rect().bottomLeft());
+  int start_row = top.parent().isValid() ? top.parent().row() + 1 : top.row();
+  int end_row = model->rowCount() - 1;
+  if (bottom.isValid()) {
+    end_row = bottom.parent().isValid() ? bottom.parent().row() : bottom.row();
+  }
+  QFutureSynchronizer<void> synchronizer;
+  for (int i = start_row; i <= end_row; ++i) {
+    auto item = model->getItem(model->index(i, 1));
+    auto &s = item->sparkline;
+    if (s.last_ts != last_msg.ts || s.size() != size || s.time_range != settings.sparkline_range) {
+      synchronizer.addFuture(QtConcurrent::run(
+          &s, &Sparkline::update, model->msg_id, item->sig, last_msg.ts, settings.sparkline_range, size));
+    }
+  }
+  synchronizer.waitForFinished();
+
+  for (int i = 0; i < model->rowCount(); ++i) {
+    emit model->dataChanged(model->index(i, 1), model->index(i, 1), {Qt::DisplayRole});
+  }
+}
+
+void SignalView::resizeEvent(QResizeEvent* event) {
+  updateState();
+  QFrame::resizeEvent(event);
 }
 
 void SignalView::leaveEvent(QEvent *event) {
diff --git a/tools/cabana/signalview.h b/tools/cabana/signalview.h
index a2102ff9a7..02741234a6 100644
--- a/tools/cabana/signalview.h
+++ b/tools/cabana/signalview.h
@@ -9,6 +9,7 @@
 #include <QTreeView>
 
 #include "tools/cabana/chart/chartswidget.h"
+#include "tools/cabana/chart/sparkline.h"
 
 class SignalModel : public QAbstractItemModel {
   Q_OBJECT
@@ -27,6 +28,7 @@ public:
     bool highlight = false;
     bool extra_expanded = false;
     QString sig_val = "-";
+    Sparkline sparkline;
   };
 
   SignalModel(QObject *parent);
@@ -54,12 +56,10 @@ private:
   void handleSignalRemoved(const cabana::Signal *sig);
   void handleMsgChanged(MessageId id);
   void refresh();
-  void updateState(const QHash<MessageId, CanData> *msgs);
 
   MessageId msg_id;
   QString filter_str;
   std::unique_ptr<Item> root;
-  int value_width = 0;
   friend class SignalView;
   friend class SignalItemDelegate;
 };
@@ -86,11 +86,12 @@ public:
   QSize sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const;
   QWidget *createEditor(QWidget *parent, const QStyleOptionViewItem &option, const QModelIndex &index) const override;
   bool helpEvent(QHelpEvent *event, QAbstractItemView *view, const QStyleOptionViewItem &option, const QModelIndex &index) override;
-  void drawSparkline(QPainter *painter, const QRect &rect, const QStyleOptionViewItem &option, const QModelIndex &index) const;
-  void 	updateEditorGeometry(QWidget *editor, const QStyleOptionViewItem &option, const QModelIndex &index) const override;
+  void updateEditorGeometry(QWidget *editor, const QStyleOptionViewItem &option, const QModelIndex &index) const override;
+
   QValidator *name_validator, *double_validator;
   QFont label_font, minmax_font;
   const int color_label_width = 18;
+  mutable QSize button_size;
   mutable QHash<QString, int> width_cache;
 };
 
@@ -105,7 +106,6 @@ public:
   void selectSignal(const cabana::Signal *sig, bool expand = false);
   void rowClicked(const QModelIndex &index);
   SignalModel *model = nullptr;
-  MessageId msg_id;
 
 signals:
   void highlight(const cabana::Signal *sig);
@@ -113,9 +113,12 @@ signals:
 
 private:
   void rowsChanged();
-  void leaveEvent(QEvent *event);
+  void leaveEvent(QEvent *event) override;
+  void resizeEvent(QResizeEvent* event) override;
   void updateToolBar();
   void setSparklineRange(int value);
+  void handleSignalUpdated(const cabana::Signal *sig);
+  void updateState(const QHash<MessageId, CanData> *msgs = nullptr);
 
   struct TreeView : public QTreeView {
     TreeView(QWidget *parent) : QTreeView(parent) {}
@@ -124,13 +127,18 @@ private:
       // update widget geometries in QTreeView::rowsInserted
       QTreeView::rowsInserted(parent, start, end);
     }
+    void dataChanged(const QModelIndex &topLeft, const QModelIndex &bottomRight, const QVector<int> &roles = QVector<int>()) override {
+      // Bypass the slow call to QTreeView::dataChanged.
+      QAbstractItemView::dataChanged(topLeft, bottomRight, roles);
+    }
   };
-
+  int max_value_width = 0;
   TreeView *tree;
   QLabel *sparkline_label;
   QSlider *sparkline_range_slider;
   QLineEdit *filter_edit;
   ChartsWidget *charts;
   QLabel *signal_count_lb;
+  SignalItemDelegate *delegate;
   friend SignalItemDelegate;
 };
diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h
index caa17ab177..fa1c5f54e8 100644
--- a/tools/cabana/streams/abstractstream.h
+++ b/tools/cabana/streams/abstractstream.h
@@ -17,7 +17,7 @@ struct CanData {
 
   double ts = 0.;
   uint32_t count = 0;
-  uint32_t freq = 0;
+  double freq = 0;
   QByteArray dat;
   QVector<QColor> colors;
   QVector<double> last_change_t;
diff --git a/tools/cabana/streams/devicestream.cc b/tools/cabana/streams/devicestream.cc
new file mode 100644
index 0000000000..137fe0cee6
--- /dev/null
+++ b/tools/cabana/streams/devicestream.cc
@@ -0,0 +1,27 @@
+#include "tools/cabana/streams/devicestream.h"
+
+DeviceStream::DeviceStream(QObject *parent, QString address) : zmq_address(address), LiveStream(parent) {
+}
+
+void DeviceStream::streamThread() {
+  if (!zmq_address.isEmpty()) {
+    setenv("ZMQ", "1", 1);
+  }
+
+  std::unique_ptr<Context> context(Context::create());
+  std::string address = zmq_address.isEmpty() ? "127.0.0.1" : zmq_address.toStdString();
+  std::unique_ptr<SubSocket> sock(SubSocket::create(context.get(), "can", address));
+  assert(sock != NULL);
+  sock->setTimeout(50);
+  // run as fast as messages come in
+  while (!QThread::currentThread()->isInterruptionRequested()) {
+    Message *msg = sock->receive(true);
+    if (!msg) {
+      QThread::msleep(50);
+      continue;
+    }
+
+    std::lock_guard lk(lock);
+    handleEvent(messages.emplace_back(msg).event);
+  }
+}
diff --git a/tools/cabana/streams/devicestream.h b/tools/cabana/streams/devicestream.h
new file mode 100644
index 0000000000..715dcd17e0
--- /dev/null
+++ b/tools/cabana/streams/devicestream.h
@@ -0,0 +1,17 @@
+#pragma once
+
+#include "tools/cabana/streams/livestream.h"
+
+class DeviceStream : public LiveStream {
+  Q_OBJECT
+public:
+  DeviceStream(QObject *parent, QString address = {});
+
+  inline QString routeName() const override {
+    return QString("Live Streaming From %1").arg(zmq_address.isEmpty() ? "127.0.0.1" : zmq_address);
+  }
+
+protected:
+  void streamThread() override;
+  const QString zmq_address;
+};
diff --git a/tools/cabana/streams/livestream.cc b/tools/cabana/streams/livestream.cc
index 0fcee4455a..a7aab1ab6d 100644
--- a/tools/cabana/streams/livestream.cc
+++ b/tools/cabana/streams/livestream.cc
@@ -2,7 +2,13 @@
 
 #include <QTimer>
 
-LiveStream::LiveStream(QObject *parent, QString address) : zmq_address(address), AbstractStream(parent, true) {
+LiveStream::LiveStream(QObject *parent) : AbstractStream(parent, true) {
+  if (settings.log_livestream) {
+    std::string path = (settings.log_path + "/" + QDateTime::currentDateTime().toString("yyyy-MM-dd--hh-mm-ss") + "--0").toStdString();
+    util::create_directories(path, 0755);
+    fs.reset(new std::ofstream(path + "/rlog" , std::ios::binary | std::ios::out));
+  }
+
   stream_thread = new QThread(this);
   QObject::connect(stream_thread, &QThread::started, [=]() { streamThread(); });
   QObject::connect(stream_thread, &QThread::finished, stream_thread, &QThread::deleteLater);
@@ -15,39 +21,12 @@ LiveStream::~LiveStream() {
   stream_thread->wait();
 }
 
-void LiveStream::streamThread() {
-  if (!zmq_address.isEmpty()) {
-    setenv("ZMQ", "1", 1);
-  }
-
-  std::unique_ptr<std::ofstream> fs;
-  if (settings.log_livestream) {
-    std::string path = (settings.log_path + "/" + QDateTime::currentDateTime().toString("yyyy-MM-dd--hh-mm-ss") + "--0").toStdString();
-    util::create_directories(path, 0755);
-    fs.reset(new std::ofstream(path + "/rlog" , std::ios::binary | std::ios::out));
-  }
-  std::unique_ptr<Context> context(Context::create());
-  std::string address = zmq_address.isEmpty() ? "127.0.0.1" : zmq_address.toStdString();
-  std::unique_ptr<SubSocket> sock(SubSocket::create(context.get(), "can", address));
-  assert(sock != NULL);
-  sock->setTimeout(50);
-  // run as fast as messages come in
-  while (!QThread::currentThread()->isInterruptionRequested()) {
-    Message *msg = sock->receive(true);
-    if (!msg) {
-      QThread::msleep(50);
-      continue;
-    }
-
-    if (fs) {
-      fs->write(msg->getData(), msg->getSize());
-    }
-    std::lock_guard lk(lock);
-    handleEvent(messages.emplace_back(msg).event);
+void LiveStream::handleEvent(Event *evt) {
+  if (fs) {
+    auto bytes = evt->words.asChars();
+    fs->write(bytes.begin(), bytes.size());
   }
-}
 
-void LiveStream::handleEvent(Event *evt) {
   if (start_ts == 0 || evt->mono_time < start_ts) {
     if (evt->mono_time < start_ts) {
       qDebug() << "stream is looping back to old time stamp";
diff --git a/tools/cabana/streams/livestream.h b/tools/cabana/streams/livestream.h
index 598c0b9365..880e5b95ab 100644
--- a/tools/cabana/streams/livestream.h
+++ b/tools/cabana/streams/livestream.h
@@ -6,11 +6,8 @@ class LiveStream : public AbstractStream {
   Q_OBJECT
 
 public:
-  LiveStream(QObject *parent, QString address = {});
+  LiveStream(QObject *parent);
   virtual ~LiveStream();
-  inline QString routeName() const override {
-    return QString("Live Streaming From %1").arg(zmq_address.isEmpty() ? "127.0.0.1" : zmq_address);
-  }
   inline double routeStartTime() const override { return start_ts / (double)1e9; }
   inline double currentSec() const override { return (current_ts - start_ts) / (double)1e9; }
   void setSpeed(float speed) override { speed_ = std::min<float>(1.0, speed); }
@@ -19,7 +16,7 @@ public:
 
 protected:
   virtual void handleEvent(Event *evt);
-  virtual void streamThread();
+  virtual void streamThread() = 0;
   void process(QHash<MessageId, CanData> *) override;
 
   struct Msg {
@@ -27,6 +24,9 @@ protected:
       event = ::new Event(aligned_buf.align(m));
       delete m;
     }
+    Msg(const char *data, const size_t size) {
+      event = ::new Event(aligned_buf.align(data, size));
+    }
     ~Msg() { ::delete event; }
     Event *event;
     AlignedBuffer aligned_buf;
@@ -41,6 +41,7 @@ protected:
   std::atomic<bool> pause_ = false;
   uint64_t last_update_ts = 0;
 
-  const QString zmq_address;
+  std::unique_ptr<std::ofstream> fs;
+
   QThread *stream_thread;
 };
diff --git a/tools/cabana/streams/pandastream.cc b/tools/cabana/streams/pandastream.cc
new file mode 100644
index 0000000000..7b1bc28354
--- /dev/null
+++ b/tools/cabana/streams/pandastream.cc
@@ -0,0 +1,85 @@
+#include "tools/cabana/streams/pandastream.h"
+
+PandaStream::PandaStream(QObject *parent, PandaStreamConfig config_) : config(config_), LiveStream(parent) {
+  if (config.serial.isEmpty()) {
+    auto serials = Panda::list();
+    if (serials.size() == 0) {
+      throw std::runtime_error("No panda found");
+    }
+    config.serial = QString::fromStdString(serials[0]);
+  }
+
+  qDebug() << "Connecting to panda with serial" << config.serial;
+  if (!connect()) {
+    throw std::runtime_error("Failed to connect to panda");
+  }
+}
+
+bool PandaStream::connect() {
+  try {
+    panda.reset(new Panda(config.serial.toStdString()));
+    config.bus_config.resize(3);
+    qDebug() << "Connected";
+  } catch (const std::exception& e) {
+    return false;
+  }
+
+  panda->set_safety_model(cereal::CarParams::SafetyModel::SILENT);
+
+  for (int bus = 0; bus < config.bus_config.size(); bus++) {
+    panda->set_can_speed_kbps(bus, config.bus_config[bus].can_speed_kbps);
+
+    // CAN-FD
+    if (panda->hw_type == cereal::PandaState::PandaType::RED_PANDA || panda->hw_type == cereal::PandaState::PandaType::RED_PANDA_V2) {
+      if (config.bus_config[bus].can_fd) {
+        panda->set_data_speed_kbps(bus, config.bus_config[bus].data_speed_kbps);
+      } else {
+        // Hack to disable can-fd by setting data speed to a low value
+        panda->set_data_speed_kbps(bus, 10);
+      }
+    }
+
+  }
+  return true;
+}
+
+void PandaStream::streamThread() {
+  std::vector<can_frame> raw_can_data;
+
+  while (!QThread::currentThread()->isInterruptionRequested()) {
+    QThread::msleep(1);
+
+    if (!panda->connected()) {
+      qDebug() << "Connection to panda lost. Attempting reconnect.";
+      if (!connect()){
+        QThread::msleep(1000);
+        continue;
+      }
+    }
+
+    raw_can_data.clear();
+    if (!panda->can_receive(raw_can_data)) {
+      qDebug() << "failed to receive";
+      continue;
+    }
+
+    MessageBuilder msg;
+    auto evt = msg.initEvent();
+    auto canData = evt.initCan(raw_can_data.size());
+
+    for (uint i = 0; i<raw_can_data.size(); i++) {
+      canData[i].setAddress(raw_can_data[i].address);
+      canData[i].setBusTime(raw_can_data[i].busTime);
+      canData[i].setDat(kj::arrayPtr((uint8_t*)raw_can_data[i].dat.data(), raw_can_data[i].dat.size()));
+      canData[i].setSrc(raw_can_data[i].src);
+    }
+
+    {
+      std::lock_guard lk(lock);
+      auto bytes = msg.toBytes();
+      handleEvent(messages.emplace_back((const char*)bytes.begin(), bytes.size()).event);
+    }
+
+    panda->send_heartbeat(false);
+  }
+}
diff --git a/tools/cabana/streams/pandastream.h b/tools/cabana/streams/pandastream.h
new file mode 100644
index 0000000000..fe90de2068
--- /dev/null
+++ b/tools/cabana/streams/pandastream.h
@@ -0,0 +1,33 @@
+#pragma once
+
+#include "tools/cabana/streams/livestream.h"
+#include "selfdrive/boardd/panda.h"
+
+struct BusConfig {
+  int can_speed_kbps = 500;
+  int data_speed_kbps = 2000;
+  bool can_fd = false;
+};
+
+struct PandaStreamConfig {
+  QString serial = "";
+  std::vector<BusConfig> bus_config;
+};
+
+class PandaStream : public LiveStream {
+  Q_OBJECT
+public:
+  PandaStream(QObject *parent, PandaStreamConfig config_ = {});
+
+  inline QString routeName() const override {
+    return QString("Live Streaming From Panda %1").arg(config.serial);
+  }
+
+protected:
+  void streamThread() override;
+  bool connect();
+
+  std::unique_ptr<Panda> panda;
+  PandaStreamConfig config = {};
+};
+
diff --git a/tools/cabana/util.cc b/tools/cabana/util.cc
index 584938d0d9..f89219f9c2 100644
--- a/tools/cabana/util.cc
+++ b/tools/cabana/util.cc
@@ -3,6 +3,7 @@
 #include <QFontDatabase>
 #include <QPainter>
 #include <QPixmapCache>
+#include <QToolTip>
 
 #include "selfdrive/ui/qt/util.h"
 
@@ -53,13 +54,17 @@ void MessageBytesDelegate::setMultipleLines(bool v) {
 }
 
 QSize MessageBytesDelegate::sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const {
-  int n = index.data(BytesRole).toByteArray().size();
-  if (n <= 0 || n > 64) return {};
+  int v_margin = QApplication::style()->pixelMetric(QStyle::PM_FocusFrameVMargin) + 1;
+  auto data = index.data(BytesRole);
+  if (!data.isValid()) {
+    return {1, byte_size.height() + 2 * v_margin};
+  }
+  int n = data.toByteArray().size();
+  assert(n > 0 && n <= 64);
 
   QSize size = size_cache[n - 1];
   if (size.isEmpty()) {
     int h_margin = QApplication::style()->pixelMetric(QStyle::PM_FocusFrameHMargin) + 1;
-    int v_margin = QApplication::style()->pixelMetric(QStyle::PM_FocusFrameVMargin) + 1;
     if (!multiple_lines) {
       size.setWidth(h_margin * 2 + n * byte_size.width());
       size.setHeight(byte_size.height() + 2 * v_margin);
@@ -72,30 +77,53 @@ QSize MessageBytesDelegate::sizeHint(const QStyleOptionViewItem &option, const Q
   return size;
 }
 
+bool MessageBytesDelegate::helpEvent(QHelpEvent *e, QAbstractItemView *view, const QStyleOptionViewItem &option, const QModelIndex &index) {
+  if (e->type() == QEvent::ToolTip && index.column() == 0) {
+    if (view->visualRect(index).width() < QStyledItemDelegate::sizeHint(option, index).width()) {
+      QToolTip::showText(e->globalPos(), index.data(Qt::DisplayRole).toString(), view);
+      return true;
+    }
+  }
+  QToolTip::hideText();
+  return false;
+}
+
 void MessageBytesDelegate::paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const {
+  auto data = index.data(BytesRole);
+  if (!data.isValid()) {
+    return QStyledItemDelegate::paint(painter, option, index);
+  }
+
+  auto byte_list = data.toByteArray();
   auto colors = index.data(ColorsRole).value<QVector<QColor>>();
-  auto byte_list = index.data(BytesRole).toByteArray();
 
   int v_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameVMargin);
   int h_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameHMargin);
-  painter->save();
   if (option.state & QStyle::State_Selected) {
     painter->fillRect(option.rect, option.palette.highlight());
-    painter->setPen(option.palette.color(QPalette::HighlightedText));
   }
 
   const QPoint pt{option.rect.left() + h_margin, option.rect.top() + v_margin};
+  QFont old_font = painter->font();
+  QPen old_pen = painter->pen();
   painter->setFont(fixed_font);
   for (int i = 0; i < byte_list.size(); ++i) {
     int row = !multiple_lines ? 0 : i / 8;
     int column = !multiple_lines ? i : i % 8;
     QRect r = QRect({pt.x() + column * byte_size.width(), pt.y() + row * byte_size.height()}, byte_size);
     if (i < colors.size() && colors[i].alpha() > 0) {
+      if (option.state & QStyle::State_Selected) {
+        painter->setPen(option.palette.color(QPalette::Text));
+        painter->fillRect(r, option.palette.color(QPalette::Window));
+      }
       painter->fillRect(r, colors[i]);
+    } else if (option.state & QStyle::State_Selected) {
+      painter->setPen(option.palette.color(QPalette::HighlightedText));
     }
     painter->drawText(r, Qt::AlignCenter, toHex(byte_list[i]));
   }
-  painter->restore();
+  painter->setFont(old_font);
+  painter->setPen(old_pen);
 }
 
 QColor getColor(const cabana::Signal *sig) {
diff --git a/tools/cabana/util.h b/tools/cabana/util.h
index f9eaf7bc2b..ff7cab9a48 100644
--- a/tools/cabana/util.h
+++ b/tools/cabana/util.h
@@ -2,6 +2,7 @@
 
 #include <cmath>
 
+#include <QAbstractItemView>
 #include <QApplication>
 #include <QByteArray>
 #include <QDateTime>
@@ -66,6 +67,7 @@ public:
   MessageBytesDelegate(QObject *parent, bool multiple_lines = false);
   void paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const override;
   QSize sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const override;
+  bool helpEvent(QHelpEvent *event, QAbstractItemView *view, const QStyleOptionViewItem &option, const QModelIndex &index) override;
   void setMultipleLines(bool v);
 
 private: