diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py
index 2c6a45d557..e459f2c28f 100644
--- a/selfdrive/car/__init__.py
+++ b/selfdrive/car/__init__.py
@@ -10,6 +10,7 @@ import capnp
 from cereal import car
 from panda.python.uds import SERVICE_TYPE
 from openpilot.selfdrive.car.can_definitions import CanData
+from openpilot.selfdrive.car.data_structures import CarParams
 from openpilot.selfdrive.car.docs_definitions import CarDocs
 from openpilot.selfdrive.car.helpers import clip, interp
 
@@ -204,8 +205,8 @@ def make_tester_present_msg(addr, bus, subaddr=None, suppress_response=False):
   return CanData(addr, bytes(dat), bus)
 
 
-def get_safety_config(safety_model, safety_param = None):
-  ret = car.CarParams.SafetyConfig.new_message()
+def get_safety_config(safety_model: CarParams.SafetyModel, safety_param: int = None) -> CarParams.SafetyConfig:
+  ret = CarParams.SafetyConfig()
   ret.safetyModel = safety_model
   if safety_param is not None:
     ret.safetyParam = safety_param
diff --git a/selfdrive/car/body/interface.py b/selfdrive/car/body/interface.py
index 79b4637a96..d202f12257 100644
--- a/selfdrive/car/body/interface.py
+++ b/selfdrive/car/body/interface.py
@@ -10,7 +10,7 @@ class CarInterface(CarInterfaceBase):
   def _get_params(ret: CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.notCar = True
     ret.carName = "body"
-    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.body)]
+    ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.body)]
 
     ret.minSteerSpeed = -math.inf
     ret.maxLateralAccel = math.inf  # TODO: set to a reasonable value
@@ -21,7 +21,7 @@ class CarInterface(CarInterfaceBase):
 
     ret.radarUnavailable = True
     ret.openpilotLongitudinalControl = True
-    ret.steerControlType = car.CarParams.SteerControlType.angle
+    ret.steerControlType = CarParams.SteerControlType.angle
 
     return ret
 
diff --git a/selfdrive/car/capnp_to_dataclass.py b/selfdrive/car/capnp_to_dataclass.py
index 014a360420..1b3acd5f59 100644
--- a/selfdrive/car/capnp_to_dataclass.py
+++ b/selfdrive/car/capnp_to_dataclass.py
@@ -28,7 +28,7 @@ if __name__ == '__main__':
     if re.search(':.*;', line):
       if not in_struct:
         # print(line)
-        name, typ, cmt = re.search('([a-zA-Z]+)\s*@\s*\d+\s*:\s*([a-zA-Z0-9\(\)]+)(?:.*#(.*))?', line.strip()).groups()  # noqa # type: ignore
+        name, typ, cmt = re.search('([a-zA-Z]+)\s*@\s*\d+\s*:\s*([a-zA-Z0-9\(\)]+)(?:.*#(.*))?', line.strip()).groups()  # type: ignore  # noqa
         # print((name, typ, cmt))
         if name.endswith('DEPRECATED'):
           continue
diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py
index bdacb25987..730c13f03b 100755
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@@ -21,7 +21,7 @@ class CarInterface(CarInterfaceBase):
     ret.steerLimitTimer = 0.4
 
     # safety config
-    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.chrysler)]
+    ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.chrysler)]
     if candidate in RAM_HD:
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_CHRYSLER_RAM_HD
     elif candidate in RAM_DT:
diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
index f83b1e07e1..8cf2ff3910 100644
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -8,7 +8,7 @@ from openpilot.selfdrive.car.ford.values import Ecu, FordFlags
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
 ButtonType = car.CarState.ButtonEvent.Type
-TransmissionType = car.CarParams.TransmissionType
+TransmissionType = CarParams.TransmissionType
 GearShifter = car.CarState.GearShifter
 
 
@@ -19,14 +19,14 @@ class CarInterface(CarInterfaceBase):
     ret.dashcamOnly = bool(ret.flags & FordFlags.CANFD)
 
     ret.radarUnavailable = True
-    ret.steerControlType = car.CarParams.SteerControlType.angle
+    ret.steerControlType = CarParams.SteerControlType.angle
     ret.steerActuatorDelay = 0.2
     ret.steerLimitTimer = 1.0
 
     CAN = CanBus(fingerprint=fingerprint)
-    cfgs = [get_safety_config(car.CarParams.SafetyModel.ford)]
+    cfgs = [get_safety_config(CarParams.SafetyModel.ford)]
     if CAN.main >= 4:
-      cfgs.insert(0, get_safety_config(car.CarParams.SafetyModel.noOutput))
+      cfgs.insert(0, get_safety_config(CarParams.SafetyModel.noOutput))
     ret.safetyConfigs = cfgs
 
     ret.experimentalLongitudinalAvailable = True
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 700dd060b0..da10c1c810 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -16,8 +16,8 @@ from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLater
 ButtonType = car.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
 GearShifter = car.CarState.GearShifter
-TransmissionType = car.CarParams.TransmissionType
-NetworkLocation = car.CarParams.NetworkLocation
+TransmissionType = CarParams.TransmissionType
+NetworkLocation = CarParams.NetworkLocation
 BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
                 CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
 
@@ -49,7 +49,7 @@ class CarInterface(CarInterfaceBase):
     else:
       return CarInterfaceBase.get_steer_feedforward_default
 
-  def torque_from_lateral_accel_siglin(self, latcontrol_inputs: LatControlInputs, torque_params: car.CarParams.LateralTorqueTuning, lateral_accel_error: float,
+  def torque_from_lateral_accel_siglin(self, latcontrol_inputs: LatControlInputs, torque_params: CarParams.LateralTorqueTuning, lateral_accel_error: float,
                                        lateral_accel_deadzone: float, friction_compensation: bool, gravity_adjusted: bool) -> float:
     friction = get_friction(lateral_accel_error, lateral_accel_deadzone, FRICTION_THRESHOLD, torque_params, friction_compensation)
 
@@ -71,7 +71,7 @@ class CarInterface(CarInterfaceBase):
     steer_torque = (sig(latcontrol_inputs.lateral_acceleration * a) * b) + (latcontrol_inputs.lateral_acceleration * c)
     return float(steer_torque) + friction
 
-  def torque_from_lateral_accel_neural(self, latcontrol_inputs: LatControlInputs, torque_params: car.CarParams.LateralTorqueTuning, lateral_accel_error: float,
+  def torque_from_lateral_accel_neural(self, latcontrol_inputs: LatControlInputs, torque_params: CarParams.LateralTorqueTuning, lateral_accel_error: float,
                                        lateral_accel_deadzone: float, friction_compensation: bool, gravity_adjusted: bool) -> float:
     friction = get_friction(lateral_accel_error, lateral_accel_deadzone, FRICTION_THRESHOLD, torque_params, friction_compensation)
     inputs = list(latcontrol_inputs)
@@ -91,7 +91,7 @@ class CarInterface(CarInterfaceBase):
   @staticmethod
   def _get_params(ret: CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "gm"
-    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
+    ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.gm)]
     ret.autoResumeSng = False
     ret.enableBsm = 0x142 in fingerprint[CanBus.POWERTRAIN]
 
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index 5546ad453c..7f49f1c6e1 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -14,7 +14,7 @@ from openpilot.selfdrive.car.disable_ecu import disable_ecu
 
 ButtonType = car.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
-TransmissionType = car.CarParams.TransmissionType
+TransmissionType = CarParams.TransmissionType
 BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
                 CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
 SETTINGS_BUTTONS_DICT = {CruiseSettings.DISTANCE: ButtonType.gapAdjustCruise, CruiseSettings.LKAS: ButtonType.altButton1}
@@ -39,7 +39,7 @@ class CarInterface(CarInterfaceBase):
     CAN = CanBus(ret, fingerprint)
 
     if candidate in HONDA_BOSCH:
-      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaBosch)]
+      ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.hondaBosch)]
       ret.radarUnavailable = True
       # Disable the radar and let openpilot control longitudinal
       # WARNING: THIS DISABLES AEB!
@@ -48,7 +48,7 @@ class CarInterface(CarInterfaceBase):
       ret.openpilotLongitudinalControl = experimental_long
       ret.pcmCruise = not ret.openpilotLongitudinalControl
     else:
-      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaNidec)]
+      ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.hondaNidec)]
       ret.openpilotLongitudinalControl = True
 
       ret.pcmCruise = True
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index fbcf3ac345..b42ad05bf0 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -101,9 +101,9 @@ class CarInterface(CarInterfaceBase):
 
     # *** panda safety config ***
     if candidate in CANFD_CAR:
-      cfgs = [get_safety_config(car.CarParams.SafetyModel.hyundaiCanfd), ]
+      cfgs = [get_safety_config(CarParams.SafetyModel.hyundaiCanfd), ]
       if CAN.ECAN >= 4:
-        cfgs.insert(0, get_safety_config(car.CarParams.SafetyModel.noOutput))
+        cfgs.insert(0, get_safety_config(CarParams.SafetyModel.noOutput))
       ret.safetyConfigs = cfgs
 
       if ret.flags & HyundaiFlags.CANFD_HDA2:
@@ -117,9 +117,9 @@ class CarInterface(CarInterfaceBase):
     else:
       if candidate in LEGACY_SAFETY_MODE_CAR:
         # these cars require a special panda safety mode due to missing counters and checksums in the messages
-        ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundaiLegacy)]
+        ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.hyundaiLegacy)]
       else:
-        ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundai, 0)]
+        ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.hyundai, 0)]
 
       if candidate in CAMERA_SCC_CAR:
         ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py
index 7bf5668db7..a3950ab816 100755
--- a/selfdrive/car/mazda/interface.py
+++ b/selfdrive/car/mazda/interface.py
@@ -14,7 +14,7 @@ class CarInterface(CarInterfaceBase):
   @staticmethod
   def _get_params(ret: CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "mazda"
-    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.mazda)]
+    ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.mazda)]
     ret.radarUnavailable = True
 
     ret.dashcamOnly = candidate not in (CAR.MAZDA_CX5_2022, CAR.MAZDA_CX9_2021)
diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py
index 1590cd3d3f..b5c6ac56f5 100644
--- a/selfdrive/car/nissan/interface.py
+++ b/selfdrive/car/nissan/interface.py
@@ -13,14 +13,14 @@ class CarInterface(CarInterfaceBase):
   @staticmethod
   def _get_params(ret: CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "nissan"
-    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.nissan)]
+    ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.nissan)]
     ret.autoResumeSng = False
 
     ret.steerLimitTimer = 1.0
 
     ret.steerActuatorDelay = 0.1
 
-    ret.steerControlType = car.CarParams.SteerControlType.angle
+    ret.steerControlType = CarParams.SteerControlType.angle
     ret.radarUnavailable = True
 
     if candidate == CAR.NISSAN_ALTIMA:
diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py
index 4636579808..4472f4f302 100644
--- a/selfdrive/car/subaru/interface.py
+++ b/selfdrive/car/subaru/interface.py
@@ -1,4 +1,3 @@
-from cereal import car
 from panda import Panda
 from openpilot.selfdrive.car import get_safety_config
 from openpilot.selfdrive.car.data_structures import CarParams
@@ -26,10 +25,10 @@ class CarInterface(CarInterfaceBase):
 
     if ret.flags & SubaruFlags.PREGLOBAL:
       ret.enableBsm = 0x25c in fingerprint[0]
-      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaruPreglobal)]
+      ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.subaruPreglobal)]
     else:
       ret.enableBsm = 0x228 in fingerprint[0]
-      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaru)]
+      ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.subaru)]
       if ret.flags & SubaruFlags.GLOBAL_GEN2:
         ret.safetyConfigs[0].safetyParam |= Panda.FLAG_SUBARU_GEN2
 
@@ -37,7 +36,7 @@ class CarInterface(CarInterfaceBase):
     ret.steerActuatorDelay = 0.1
 
     if ret.flags & SubaruFlags.LKAS_ANGLE:
-      ret.steerControlType = car.CarParams.SteerControlType.angle
+      ret.steerControlType = CarParams.SteerControlType.angle
     else:
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
diff --git a/selfdrive/car/tesla/interface.py b/selfdrive/car/tesla/interface.py
index 9600cc2ebb..d6623b840f 100755
--- a/selfdrive/car/tesla/interface.py
+++ b/selfdrive/car/tesla/interface.py
@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-from cereal import car
 from panda import Panda
 from openpilot.selfdrive.car import get_safety_config
 from openpilot.selfdrive.car.data_structures import CarParams
@@ -17,7 +16,7 @@ class CarInterface(CarInterfaceBase):
     # how openpilot should be, hence dashcamOnly
     ret.dashcamOnly = True
 
-    ret.steerControlType = car.CarParams.SteerControlType.angle
+    ret.steerControlType = CarParams.SteerControlType.angle
 
     ret.longitudinalActuatorDelay = 0.5 # s
     ret.radarTimeStep = (1.0 / 8) # 8Hz
@@ -29,12 +28,12 @@ class CarInterface(CarInterfaceBase):
       ret.openpilotLongitudinalControl = True
       flags |= Panda.FLAG_TESLA_LONG_CONTROL
       ret.safetyConfigs = [
-        get_safety_config(car.CarParams.SafetyModel.tesla, flags),
-        get_safety_config(car.CarParams.SafetyModel.tesla, flags | Panda.FLAG_TESLA_POWERTRAIN),
+        get_safety_config(CarParams.SafetyModel.tesla, flags),
+        get_safety_config(CarParams.SafetyModel.tesla, flags | Panda.FLAG_TESLA_POWERTRAIN),
       ]
     else:
       ret.openpilotLongitudinalControl = False
-      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.tesla, flags)]
+      ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.tesla, flags)]
 
     ret.steerLimitTimer = 1.0
     ret.steerActuatorDelay = 0.25
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index b6c0506446..6f789cde09 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -21,7 +21,7 @@ class CarInterface(CarInterfaceBase):
   @staticmethod
   def _get_params(ret: CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "toyota"
-    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.toyota)]
+    ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.toyota)]
     ret.safetyConfigs[0].safetyParam = EPS_SCALE[candidate]
 
     # BRAKE_MODULE is on a different address for these cars
diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py
index b35ac6266e..b5817c29ed 100644
--- a/selfdrive/car/volkswagen/interface.py
+++ b/selfdrive/car/volkswagen/interface.py
@@ -27,7 +27,7 @@ class CarInterface(CarInterfaceBase):
 
     if ret.flags & VolkswagenFlags.PQ:
       # Set global PQ35/PQ46/NMS parameters
-      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.volkswagenPq)]
+      ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.volkswagenPq)]
       ret.enableBsm = 0x3BA in fingerprint[0]  # SWA_1
 
       if 0x440 in fingerprint[0] or docs:  # Getriebe_1
@@ -50,7 +50,7 @@ class CarInterface(CarInterfaceBase):
 
     else:
       # Set global MQB parameters
-      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.volkswagen)]
+      ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.volkswagen)]
       ret.enableBsm = 0x30F in fingerprint[0]  # SWA_01
 
       if 0xAD in fingerprint[0] or docs:  # Getriebe_11