diff --git a/opendbc b/opendbc
index 8f245e6ef5..7bd94e3ff4 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit 8f245e6ef5e25814d8e6e1f096221f6dfeefe86b
+Subproject commit 7bd94e3ff4a2890eb69118f0dfadb64f9d32d618
diff --git a/panda b/panda
index 54f9390ff5..fcb1a5a8e2 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 54f9390ff51b4fb0c2b3a81b9cde8727acdd1977
+Subproject commit fcb1a5a8e233a8b520c42c58cf8bfaa82753ac5a
diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index 60d434a603..e27432e23b 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -159,7 +159,7 @@ class CarState(CarStateBase):
     elif self.CP.carFingerprint in HYBRID_CAR:
       ret.gas = cp.vl["ACCELERATOR_ALT"]["ACCELERATOR_PEDAL"] / 1023.
     ret.gasPressed = ret.gas > 1e-5
-    ret.brakePressed = cp.vl["BRAKE"]["BRAKE_PRESSED"] == 1
+    ret.brakePressed = cp.vl["TCS"]["DriverBraking"] == 1
 
     ret.doorOpen = cp.vl["DOORS_SEATBELTS"]["DRIVER_DOOR_OPEN"] == 1
     ret.seatbeltUnlatched = cp.vl["DOORS_SEATBELTS"]["DRIVER_SEATBELT_LATCHED"] == 0
@@ -415,7 +415,6 @@ class CarState(CarStateBase):
       ("WHEEL_SPEED_4", "WHEEL_SPEEDS"),
 
       ("GEAR", "GEAR_SHIFTER"),
-      ("BRAKE_PRESSED", "BRAKE"),
 
       ("STEERING_RATE", "STEERING_SENSORS"),
       ("STEERING_ANGLE", "STEERING_SENSORS"),
@@ -423,7 +422,8 @@ class CarState(CarStateBase):
       ("STEERING_OUT_TORQUE", "MDPS"),
       ("LKA_FAULT", "MDPS"),
 
-      ("CRUISE_ACTIVE", "SCC1"),
+      ("DriverBraking", "TCS"),
+
       ("COUNTER", cruise_btn_msg),
       ("CRUISE_BUTTONS", cruise_btn_msg),
       ("ADAPTIVE_CRUISE_MAIN_BTN", cruise_btn_msg),
@@ -443,7 +443,7 @@ class CarState(CarStateBase):
       ("BRAKE", 100),
       ("STEERING_SENSORS", 100),
       ("MDPS", 100),
-      ("SCC1", 50),
+      ("TCS", 50),
       (cruise_btn_msg, 50),
       ("CLUSTER_INFO", 4),
       ("BLINKERS", 4),
diff --git a/selfdrive/debug/can_print_changes.py b/selfdrive/debug/can_print_changes.py
index b883fbc23f..ff98c20e60 100755
--- a/selfdrive/debug/can_print_changes.py
+++ b/selfdrive/debug/can_print_changes.py
@@ -54,6 +54,7 @@ def can_printer(bus=0, init_msgs=None, new_msgs=None, table=False):
     update(new_msgs, bus, dat, low_to_high, high_to_low)
   else:
     # Live mode
+    print(f"Waiting for messages on bus {bus}")
     try:
       while 1:
         can_recv = messaging.drain_sock(logcan)
@@ -89,14 +90,17 @@ if __name__ == "__main__":
                                    formatter_class=argparse.ArgumentDefaultsHelpFormatter)
   parser.add_argument("--bus", type=int, help="CAN bus to print out", default=0)
   parser.add_argument("--table", action="store_true", help="Print a cabana-like table")
-  parser.add_argument("init", type=str, nargs='?', help="Route or segment to initialize with")
+  parser.add_argument("init", type=str, nargs='?', help="Route or segment to initialize with. Use empty quotes to compare against all zeros.")
   parser.add_argument("comp", type=str, nargs='?', help="Route or segment to compare against init")
 
   args = parser.parse_args()
 
   init_lr, new_lr = None, None
   if args.init:
-    init_lr = logreader_from_route_or_segment(args.init)
+    if args.init == '':
+      init_lr = []
+    else:
+      init_lr = logreader_from_route_or_segment(args.init)
   if args.comp:
     new_lr = logreader_from_route_or_segment(args.comp)