diff --git a/.github/workflows/ci_weekly_report.yaml b/.github/workflows/ci_weekly_report.yaml
index 22b8745872..9821283cb5 100644
--- a/.github/workflows/ci_weekly_report.yaml
+++ b/.github/workflows/ci_weekly_report.yaml
@@ -58,14 +58,14 @@ jobs:
               const jobName = job.name.split(" / ")[2];
               const runRegex = /\((.*?)\)/;
               const run = job.name.match(runRegex)[1];
-              report[jobName] = report[jobName] || { successes: [], failures: [], cancelled: [] };
+              report[jobName] = report[jobName] || { successes: [], failures: [], canceled: [] };
               switch (job.conclusion) {
                 case "success":
                   report[jobName].successes.push({ "run_number": run, "link": job.html_url}); break;
                 case "failure":
                   report[jobName].failures.push({ "run_number": run, "link": job.html_url }); break;
-                case "cancelled":
-                  report[jobName].cancelled.push({ "run_number": run, "link": job.html_url }); break;
+                case "canceled":
+                  report[jobName].canceled.push({ "run_number": run, "link": job.html_url }); break;
               }
             });
             return JSON.stringify({"jobs": report});
diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 8c46e15c2f..9d1a546c5f 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -61,13 +61,13 @@ jobs:
         cd $STRIPPED_DIR
         ${{ env.RUN }} "release/check-dirty.sh && \
                         MAX_EXAMPLES=5 $PYTEST -m 'not slow' selfdrive/car"
-    - name: static analysis
+    - name: Static analysis
       timeout-minutes: 1
       run: |
         cd $GITHUB_WORKSPACE
         cp pyproject.toml $STRIPPED_DIR
         cd $STRIPPED_DIR
-        ${{ env.RUN }} "scripts/lint.sh"
+        ${{ env.RUN }} "scripts/lint.sh --skip check_added_large_files"
 
   build:
     strategy:
@@ -139,17 +139,16 @@ jobs:
     name: static analysis
     runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
                    ((github.event_name != 'pull_request') ||
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
+    env:
+      PYTHONWARNINGS: default
     steps:
     - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Build openpilot
-      run: ${{ env.RUN }} "scons -j$(nproc)"
-    - name: static analysis
+    - name: Setup
+      run: tools/op.sh setup
+    - name: Static analysis
       timeout-minutes: 1
-      run: ${{ env.RUN }} "scripts/lint.sh"
+      run: tools/op.sh lint
 
   unit_tests:
     name: unit tests
diff --git a/.importlinter b/.importlinter
index 721e45f1f8..ad1052643f 100644
--- a/.importlinter
+++ b/.importlinter
@@ -13,9 +13,13 @@ forbidden_modules =
     cereal
     capnp
     openpilot.common
-    openpilot.common.params
+    openpilot.selfdrive.controls
+    openpilot.selfdrive.debug
+    openpilot.selfdrive.pandad
+    openpilot.selfdrive.test
     openpilot.system
     openpilot.body
+    openpilot.tools
     openpilot.docs
     openpilot.msgq
     openpilot.panda
@@ -26,6 +30,19 @@ forbidden_modules =
 ignore_imports =
     # remove these
     openpilot.selfdrive.car.interfaces -> openpilot.selfdrive.controls.lib.events
+    openpilot.selfdrive.car.body.carcontroller -> openpilot.selfdrive.controls.lib.pid
+    openpilot.selfdrive.car.tests.test_docs -> openpilot.common.basedir
+    openpilot.selfdrive.car.docs -> openpilot.common.basedir
+
+    # car interface will not filter the speed
+    openpilot.selfdrive.car.interfaces -> openpilot.common.simple_kalman
+
+    openpilot.selfdrive.car.gm.interface -> openpilot.common.basedir
+    openpilot.selfdrive.car.interfaces -> openpilot.common.basedir
+
+    # params will need to move to new openpilot files that just call car files
+    openpilot.selfdrive.car.fw_versions -> openpilot.common.params
+    openpilot.selfdrive.car.ecu_addrs -> openpilot.common.params
 
     # these are okay
     openpilot.selfdrive.car.card -> openpilot.common.swaglog
@@ -42,9 +59,13 @@ ignore_imports =
     openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.latcontrol_pid
     openpilot.selfdrive.car.card -> openpilot.common.params
     openpilot.selfdrive.car.tests.test_models -> openpilot.common.params
-    # these two will still live in openpilot, but require some modification
-    openpilot.selfdrive.car.fw_versions -> openpilot.common.params
-    openpilot.selfdrive.car.ecu_addrs -> openpilot.common.params
+    openpilot.selfdrive.car.tests.test_models -> openpilot.common.basedir
+    openpilot.selfdrive.car.card -> openpilot.selfdrive.pandad
+    openpilot.selfdrive.car.tests.test_docs -> openpilot.selfdrive.debug.dump_car_docs
+    openpilot.selfdrive.car.tests.test_docs -> openpilot.selfdrive.debug.print_docs_diff
+    openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.pandad
+    openpilot.selfdrive.car.tests.test_models -> openpilot.selfdrive.pandad
+    openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.test.fuzzy_generation
     openpilot.selfdrive.car.tests.test_models -> capnp
     openpilot.selfdrive.car.tests.test_car_interfaces -> cereal
     openpilot.selfdrive.car.tests.test_car_interfaces -> cereal.messaging
diff --git a/common/utils.py b/common/utils.py
deleted file mode 100644
index b9de020ee6..0000000000
--- a/common/utils.py
+++ /dev/null
@@ -1,11 +0,0 @@
-class Freezable:
-  _frozen: bool = False
-
-  def freeze(self):
-    if not self._frozen:
-      self._frozen = True
-
-  def __setattr__(self, *args, **kwargs):
-    if self._frozen:
-      raise Exception("cannot modify frozen object")
-    super().__setattr__(*args, **kwargs)
diff --git a/docs/contributing/roadmap.md b/docs/contributing/roadmap.md
index 22622a7a96..ce50ad5577 100644
--- a/docs/contributing/roadmap.md
+++ b/docs/contributing/roadmap.md
@@ -5,6 +5,7 @@ This is the roadmap for the next major openpilot releases. Also check out
 * [Milestones](https://github.com/commaai/openpilot/milestones) for minor releases
 * [Projects](https://github.com/commaai/openpilot/projects?query=is%3Aopen) for shorter-term projects not tied to releases
 * [Bounties](https://comma.ai/bounties) for paid individual issues
+* [#current-projects](https://discord.com/channels/469524606043160576/1249579909739708446) in Discord for discussion on work-in-progress projects
 
 ## openpilot 0.10
 
diff --git a/opendbc_repo b/opendbc_repo
index 1e9f853615..f4d077b832 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 1e9f8536151818f08af2ddd478f577f8461af31d
+Subproject commit f4d077b832d46ac149c2b07dc37d777dc21237ea
diff --git a/pyproject.toml b/pyproject.toml
index 24ec80e787..a0131773e8 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -88,6 +88,7 @@ testing = [
   "pytest-repeat",
   "ruff",
   "codespell",
+  "pre-commit-hooks",
 ]
 
 dev = [
@@ -167,9 +168,9 @@ testpaths = [
 [tool.codespell]
 quiet-level = 3
 # if you've got a short variable name that's getting flagged, add it here
-ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable"
+ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable,jupyter,thead"
 builtin = "clear,rare,informal,code,names,en-GB_to_en-US"
-skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, ./selfdrive/ui/translations/*.ts, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*"
+skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.ts, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*"
 
 [tool.mypy]
 python_version = "3.11"
@@ -177,9 +178,11 @@ plugins = [
   "numpy.typing.mypy_plugin",
 ]
 exclude = [
-  "body/",
   "cereal/",
+  "msgq/",
+  "msgq_repo/",
   "opendbc/",
+  "opendbc_repo/",
   "panda/",
   "rednose/",
   "rednose_repo/",
@@ -204,6 +207,10 @@ warn_return_any=true
 # allow implicit optionals for default args
 implicit_optional = true
 
+local_partial_types=true
+explicit_package_bases=true
+disable_error_code = "annotation-unchecked"
+
 # https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
 [tool.ruff]
 indent-width = 2
diff --git a/scripts/lint.sh b/scripts/lint.sh
index 3da79f62f4..2b6fd07185 100755
--- a/scripts/lint.sh
+++ b/scripts/lint.sh
@@ -1,11 +1,116 @@
 #!/bin/bash
 set -e
 
+RED='\033[0;31m'
+GREEN='\033[0;32m'
+UNDERLINE='\033[4m'
+BOLD='\033[1m'
+NC='\033[0m'
+
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
 cd $DIR/../
 
-# TODO: bring back rest of pre-commit checks:
-# https://github.com/commaai/openpilot/blob/4b11c9e914707df9def598616995be2a5d355a6a/.pre-commit-config.yaml#L2
+FAILED=0
+
+IGNORED_FILES="uv\.lock|docs\/CARS.md"
+IGNORED_DIRS="^third_party.*|^msgq.*|^msgq_repo.*|^opendbc.*|^opendbc_repo.*|^cereal.*|^panda.*|^rednose.*|^rednose_repo.*|^tinygrad.*|^tinygrad_repo.*|^teleoprtc.*|^teleoprtc_repo.*"
+
+function run() {
+  shopt -s extglob
+  case $1 in
+    $SKIP | $RUN ) return 0 ;;
+  esac
+
+  echo -en "$1"
+
+  for ((i=0; i<$((50 - ${#1})); i++)); do
+    echo -n "."
+  done
+
+  shift 1;
+  CMD="$@"
+
+  set +e
+  log="$((eval "$CMD" ) 2>&1)"
+
+  if [[ $? -eq 0 ]]; then
+    echo -e "[${GREEN}✔${NC}]"
+  else
+    echo -e "[${RED}✗${NC}]"
+    echo "$log"
+    FAILED=1
+  fi
+  set -e
+}
+
+function run_tests() {
+  ALL_FILES=$1
+  PYTHON_FILES=$2
+
+  run "ruff" ruff check $PYTHON_FILES --quiet
+  run "lint-imports" lint-imports
+  run "check_added_large_files" python3 -m pre_commit_hooks.check_added_large_files --enforce-all $ALL_FILES --maxkb=120
+  run "check_shebang_scripts_are_executable" python3 -m pre_commit_hooks.check_shebang_scripts_are_executable $ALL_FILES
+
+  if [[ -z "$FAST" ]]; then
+    run "mypy" mypy $PYTHON_FILES
+    run "codespell" codespell $ALL_FILES
+  fi
+
+  return $FAILED
+}
+
+function help() {
+  echo "A fast linter"
+  echo ""
+  echo -e "${BOLD}${UNDERLINE}Usage:${NC} op lint [TESTS] [OPTIONS]"
+  echo ""
+  echo -e "${BOLD}${UNDERLINE}Tests:${NC}"
+  echo -e "  ${BOLD}ruff${NC}"
+  echo -e "  ${BOLD}mypy${NC}"
+  echo -e "  ${BOLD}lint-imports${NC}"
+  echo -e "  ${BOLD}codespell${NC}"
+  echo -e "  ${BOLD}check_added_large_files${NC}"
+  echo -e "  ${BOLD}check_shebang_scripts_are_executable${NC}"
+  echo ""
+  echo -e "${BOLD}${UNDERLINE}Options:${NC}"
+  echo -e "  ${BOLD}-f, --fast${NC}"
+  echo "          Skip slow tests"
+  echo -e "  ${BOLD}-s, --skip${NC}"
+  echo "          Specify tests to skip separated by spaces"
+  echo ""
+  echo -e "${BOLD}${UNDERLINE}Examples:${NC}"
+  echo "  op lint mypy ruff"
+  echo "          Only run the mypy and ruff tests"
+  echo ""
+  echo "  op lint --skip mypy ruff"
+  echo "          Skip the mypy and ruff tests"
+  echo ""
+  echo "  op lint"
+  echo "          Run all the tests"
+}
+
+SKIP=""
+RUN=""
+while [[ $# -gt 0 ]]; do
+  case $1 in
+    -f | --fast ) shift 1; FAST="1" ;;
+    -s | --skip ) shift 1; SKIP=" " ;;
+    -h | --help | -help | --h ) help; exit 0 ;;
+    * ) if [[ -n $SKIP ]]; then SKIP+="$1 "; else RUN+="$1 "; fi; shift 1 ;;
+  esac
+done
+
+RUN=$([ -z "$RUN" ] && echo "" || echo "!($(echo $RUN | sed 's/ /|/g'))")
+SKIP="@($(echo $SKIP | sed 's/ /|/g'))"
+
+GIT_FILES="$(git ls-files | sed -E "s/$IGNORED_FILES|$IGNORED_DIRS//g")"
+ALL_FILES=""
+for f in $GIT_FILES; do
+  if [[ -f $f ]]; then
+    ALL_FILES+="$f"$'\n'
+  fi
+done
+PYTHON_FILES=$(echo "$ALL_FILES" | grep --color=never '.py$' || true)
 
-ruff check .
-lint-imports
+run_tests "$ALL_FILES" "$PYTHON_FILES"
diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py
index 0cdc6e9d8d..2c6a45d557 100644
--- a/selfdrive/car/__init__.py
+++ b/selfdrive/car/__init__.py
@@ -9,9 +9,9 @@ import capnp
 
 from cereal import car
 from panda.python.uds import SERVICE_TYPE
-from openpilot.common.numpy_fast import clip, interp
-from openpilot.common.utils import Freezable
+from openpilot.selfdrive.car.can_definitions import CanData
 from openpilot.selfdrive.car.docs_definitions import CarDocs
+from openpilot.selfdrive.car.helpers import clip, interp
 
 # set up logging
 carlog = logging.getLogger('carlog')
@@ -194,10 +194,6 @@ def get_friction(lateral_accel_error: float, lateral_accel_deadzone: float, fric
   return friction
 
 
-def make_can_msg(addr, dat, bus):
-  return [addr, dat, bus]
-
-
 def make_tester_present_msg(addr, bus, subaddr=None, suppress_response=False):
   dat = [0x02, SERVICE_TYPE.TESTER_PRESENT]
   if subaddr is not None:
@@ -205,7 +201,7 @@ def make_tester_present_msg(addr, bus, subaddr=None, suppress_response=False):
   dat.append(0x80 if suppress_response else 0x0)  # sub-function
 
   dat.extend([0x0] * (8 - len(dat)))
-  return make_can_msg(addr, bytes(dat), bus)
+  return CanData(addr, bytes(dat), bus)
 
 
 def get_safety_config(safety_model, safety_param = None):
@@ -263,6 +259,19 @@ class CarSpecs:
     return replace(self, **kwargs)
 
 
+class Freezable:
+  _frozen: bool = False
+
+  def freeze(self):
+    if not self._frozen:
+      self._frozen = True
+
+  def __setattr__(self, *args, **kwargs):
+    if self._frozen:
+      raise Exception("cannot modify frozen object")
+    super().__setattr__(*args, **kwargs)
+
+
 @dataclass(order=True)
 class PlatformConfig(Freezable):
   car_docs: list[CarDocs]
diff --git a/selfdrive/car/body/carcontroller.py b/selfdrive/car/body/carcontroller.py
index 0771d7a471..eebf6798a2 100644
--- a/selfdrive/car/body/carcontroller.py
+++ b/selfdrive/car/body/carcontroller.py
@@ -16,8 +16,8 @@ MAX_TURN_INTEGRATOR = 0.1  # meters
 
 
 class CarController(CarControllerBase):
-  def __init__(self, dbc_name, CP, VM):
-    super().__init__(dbc_name, CP, VM)
+  def __init__(self, dbc_name, CP):
+    super().__init__(dbc_name, CP)
     self.packer = CANPacker(dbc_name)
 
     # PIDs
diff --git a/selfdrive/car/can_definitions.py b/selfdrive/car/can_definitions.py
new file mode 100644
index 0000000000..2dba7f26a8
--- /dev/null
+++ b/selfdrive/car/can_definitions.py
@@ -0,0 +1,15 @@
+from collections.abc import Callable
+from typing import NamedTuple, Protocol
+
+
+class CanData(NamedTuple):
+  address: int
+  dat: bytes
+  src: int
+
+
+CanSendCallable = Callable[[list[CanData]], None]
+
+
+class CanRecvCallable(Protocol):
+  def __call__(self, wait_for_one: bool = False) -> list[list[CanData]]: ...
diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py
index 03351fdb98..d2345f1a05 100644
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@@ -1,27 +1,19 @@
 import os
 import time
-from collections.abc import Callable
 
 from cereal import car
 from openpilot.selfdrive.car import carlog
+from openpilot.selfdrive.car.can_definitions import CanRecvCallable, CanSendCallable
 from openpilot.selfdrive.car.interfaces import get_interface_attr
 from openpilot.selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
 from openpilot.selfdrive.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN
-from openpilot.selfdrive.car.fw_versions import get_fw_versions_ordered, get_present_ecus, match_fw_to_car
+from openpilot.selfdrive.car.fw_versions import ObdCallback, get_fw_versions_ordered, get_present_ecus, match_fw_to_car
 from openpilot.selfdrive.car.mock.values import CAR as MOCK
-import cereal.messaging as messaging
 from openpilot.selfdrive.car import gen_empty_fingerprint
 
 FRAME_FINGERPRINT = 100  # 1s
 
 
-def get_one_can(logcan):
-  while True:
-    can = messaging.recv_one_retry(logcan)
-    if len(can.can) > 0:
-      return can
-
-
 def load_interfaces(brand_names):
   ret = {}
   for brand_name in brand_names:
@@ -48,7 +40,7 @@ interface_names = _get_interface_names()
 interfaces = load_interfaces(interface_names)
 
 
-def can_fingerprint(next_can: Callable) -> tuple[str | None, dict[int, dict]]:
+def can_fingerprint(can_recv: CanRecvCallable) -> tuple[str | None, dict[int, dict]]:
   finger = gen_empty_fingerprint()
   candidate_cars = {i: all_legacy_fingerprint_cars() for i in [0, 1]}  # attempt fingerprint on both bus 0 and 1
   frame = 0
@@ -56,40 +48,41 @@ def can_fingerprint(next_can: Callable) -> tuple[str | None, dict[int, dict]]:
   done = False
 
   while not done:
-    a = next_can()
-
-    for can in a.can:
-      # The fingerprint dict is generated for all buses, this way the car interface
-      # can use it to detect a (valid) multipanda setup and initialize accordingly
-      if can.src < 128:
-        if can.src not in finger:
-          finger[can.src] = {}
-        finger[can.src][can.address] = len(can.dat)
-
+    # can_recv(wait_for_one=True) may return zero or multiple packets, so we increment frame for each one we receive
+    can_packets = can_recv(wait_for_one=True)
+    for can_packet in can_packets:
+      for can in can_packet:
+        # The fingerprint dict is generated for all buses, this way the car interface
+        # can use it to detect a (valid) multipanda setup and initialize accordingly
+        if can.src < 128:
+          if can.src not in finger:
+            finger[can.src] = {}
+          finger[can.src][can.address] = len(can.dat)
+
+        for b in candidate_cars:
+          # Ignore extended messages and VIN query response.
+          if can.src == b and can.address < 0x800 and can.address not in (0x7df, 0x7e0, 0x7e8):
+            candidate_cars[b] = eliminate_incompatible_cars(can, candidate_cars[b])
+
+      # if we only have one car choice and the time since we got our first
+      # message has elapsed, exit
       for b in candidate_cars:
-        # Ignore extended messages and VIN query response.
-        if can.src == b and can.address < 0x800 and can.address not in (0x7df, 0x7e0, 0x7e8):
-          candidate_cars[b] = eliminate_incompatible_cars(can, candidate_cars[b])
-
-    # if we only have one car choice and the time since we got our first
-    # message has elapsed, exit
-    for b in candidate_cars:
-      if len(candidate_cars[b]) == 1 and frame > FRAME_FINGERPRINT:
-        # fingerprint done
-        car_fingerprint = candidate_cars[b][0]
+        if len(candidate_cars[b]) == 1 and frame > FRAME_FINGERPRINT:
+          # fingerprint done
+          car_fingerprint = candidate_cars[b][0]
 
-    # bail if no cars left or we've been waiting for more than 2s
-    failed = (all(len(cc) == 0 for cc in candidate_cars.values()) and frame > FRAME_FINGERPRINT) or frame > 200
-    succeeded = car_fingerprint is not None
-    done = failed or succeeded
+      # bail if no cars left or we've been waiting for more than 2s
+      failed = (all(len(cc) == 0 for cc in candidate_cars.values()) and frame > FRAME_FINGERPRINT) or frame > 200
+      succeeded = car_fingerprint is not None
+      done = failed or succeeded
 
-    frame += 1
+      frame += 1
 
   return car_fingerprint, finger
 
 
 # **** for use live only ****
-def fingerprint(logcan, sendcan, set_obd_multiplexing, num_pandas, cached_params_raw):
+def fingerprint(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multiplexing: ObdCallback, num_pandas: int, cached_params_raw: bytes | None):
   fixed_fingerprint = os.environ.get('FINGERPRINT', "")
   skip_fw_query = os.environ.get('SKIP_FW_QUERY', False)
   disable_fw_cache = os.environ.get('DISABLE_FW_CACHE', False)
@@ -115,9 +108,9 @@ def fingerprint(logcan, sendcan, set_obd_multiplexing, num_pandas, cached_params
       # NOTE: this takes ~0.1s and is relied on to allow sendcan subscriber to connect in time
       set_obd_multiplexing(True)
       # VIN query only reliably works through OBDII
-      vin_rx_addr, vin_rx_bus, vin = get_vin(logcan, sendcan, (0, 1))
-      ecu_rx_addrs = get_present_ecus(logcan, sendcan, set_obd_multiplexing, num_pandas=num_pandas)
-      car_fw = get_fw_versions_ordered(logcan, sendcan, set_obd_multiplexing, vin, ecu_rx_addrs, num_pandas=num_pandas)
+      vin_rx_addr, vin_rx_bus, vin = get_vin(can_recv, can_send, (0, 1))
+      ecu_rx_addrs = get_present_ecus(can_recv, can_send, set_obd_multiplexing, num_pandas=num_pandas)
+      car_fw = get_fw_versions_ordered(can_recv, can_send, set_obd_multiplexing, vin, ecu_rx_addrs, num_pandas=num_pandas)
       cached = False
 
     exact_fw_match, fw_candidates = match_fw_to_car(car_fw, vin)
@@ -138,8 +131,8 @@ def fingerprint(logcan, sendcan, set_obd_multiplexing, num_pandas, cached_params
 
   # CAN fingerprint
   # drain CAN socket so we get the latest messages
-  messaging.drain_sock_raw(logcan)
-  car_fingerprint, finger = can_fingerprint(lambda: get_one_can(logcan))
+  can_recv()
+  car_fingerprint, finger = can_fingerprint(can_recv)
 
   exact_match = True
   source = car.CarParams.FingerprintSource.can
@@ -166,8 +159,9 @@ def get_car_interface(CP):
   return CarInterface(CP, CarController, CarState)
 
 
-def get_car(logcan, sendcan, set_obd_multiplexing, experimental_long_allowed, num_pandas=1, cached_params=None):
-  candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan, set_obd_multiplexing, num_pandas, cached_params)
+def get_car(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multiplexing: ObdCallback, experimental_long_allowed: bool,
+            num_pandas: int = 1, cached_params: bytes | None = None):
+  candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(can_recv, can_send, set_obd_multiplexing, num_pandas, cached_params)
 
   if candidate is None:
     carlog.error({"event": "car doesn't match any fingerprints", "fingerprints": repr(fingerprints)})
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index e878a14c31..4919be30c9 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -12,9 +12,11 @@ from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
 from openpilot.common.swaglog import cloudlog, ForwardingHandler
 
-from openpilot.selfdrive.pandad import can_list_to_can_capnp
+from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
 from openpilot.selfdrive.car import DT_CTRL, carlog
-from openpilot.selfdrive.car.car_helpers import get_car, get_one_can
+from openpilot.selfdrive.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
+from openpilot.selfdrive.car.fw_versions import ObdCallback
+from openpilot.selfdrive.car.car_helpers import get_car
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.controls.lib.events import Events
 
@@ -26,7 +28,7 @@ EventName = car.CarEvent.EventName
 carlog.addHandler(ForwardingHandler(cloudlog))
 
 
-def obd_callback(params: Params):
+def obd_callback(params: Params) -> ObdCallback:
   def set_obd_multiplexing(obd_multiplexing: bool):
     if params.get_bool("ObdMultiplexingEnabled") != obd_multiplexing:
       cloudlog.warning(f"Setting OBD multiplexing to {obd_multiplexing}")
@@ -37,10 +39,28 @@ def obd_callback(params: Params):
   return set_obd_multiplexing
 
 
+def can_comm_callbacks(logcan: messaging.SubSocket, sendcan: messaging.PubSocket) -> tuple[CanRecvCallable, CanSendCallable]:
+  def can_recv(wait_for_one: bool = False) -> list[list[CanData]]:
+    """
+    wait_for_one: wait the normal logcan socket timeout for a CAN packet, may return empty list if nothing comes
+
+    Returns: CAN packets comprised of CanData objects for easy access
+    """
+    ret = []
+    for can in messaging.drain_sock(logcan, wait_for_one=wait_for_one):
+      ret.append([CanData(msg.address, msg.dat, msg.src) for msg in can.can])
+    return ret
+
+  def can_send(msgs: list[CanData]) -> None:
+    sendcan.send(can_list_to_can_capnp(msgs, msgtype='sendcan'))
+
+  return can_recv, can_send
+
+
 class Car:
   CI: CarInterfaceBase
 
-  def __init__(self, CI=None):
+  def __init__(self, CI=None) -> None:
     self.can_sock = messaging.sub_sock('can', timeout=20)
     self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents'])
     self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput'])
@@ -55,15 +75,20 @@ class Car:
 
     self.params = Params()
 
+    self.can_callbacks = can_comm_callbacks(self.can_sock, self.pm.sock['sendcan'])
+
     if CI is None:
       # wait for one pandaState and one CAN packet
       print("Waiting for CAN messages...")
-      get_one_can(self.can_sock)
+      while True:
+        can = messaging.recv_one_retry(self.can_sock)
+        if len(can.can) > 0:
+          break
 
       experimental_long_allowed = self.params.get_bool("ExperimentalLongitudinalEnabled")
       num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates)
       cached_params = self.params.get("CarParamsCache")
-      self.CI = get_car(self.can_sock, self.pm.sock['sendcan'], obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params)
+      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params)
       self.CP = self.CI.CP
 
       # continue onto next fingerprinting step in pandad
@@ -108,7 +133,7 @@ class Car:
 
     # Update carState from CAN
     can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True)
-    CS = self.CI.update(self.CC_prev, can_strs)
+    CS = self.CI.update(self.CC_prev, can_capnp_to_list(can_strs))
 
     self.sm.update(0)
 
@@ -166,7 +191,7 @@ class Car:
     if not self.initialized_prev:
       # Initialize CarInterface, once controls are ready
       # TODO: this can make us miss at least a few cycles when doing an ECU knockout
-      self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan'])
+      self.CI.init(self.CP, *self.can_callbacks)
       # signal pandad to switch to car safety mode
       self.params.put_bool_nonblocking("ControlsReady", True)
 
diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py
index c0c03e0e05..c194488de9 100644
--- a/selfdrive/car/chrysler/carcontroller.py
+++ b/selfdrive/car/chrysler/carcontroller.py
@@ -6,8 +6,8 @@ from openpilot.selfdrive.car.interfaces import CarControllerBase
 
 
 class CarController(CarControllerBase):
-  def __init__(self, dbc_name, CP, VM):
-    super().__init__(dbc_name, CP, VM)
+  def __init__(self, dbc_name, CP):
+    super().__init__(dbc_name, CP)
     self.apply_steer_last = 0
 
     self.hud_count = 0
diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py
index 91b922c596..c8b084aa62 100644
--- a/selfdrive/car/chrysler/carstate.py
+++ b/selfdrive/car/chrysler/carstate.py
@@ -1,9 +1,9 @@
 from cereal import car
-from openpilot.common.conversions import Conversions as CV
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
-from openpilot.selfdrive.car.interfaces import CarStateBase
 from openpilot.selfdrive.car.chrysler.values import DBC, STEER_THRESHOLD, RAM_CARS
+from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.interfaces import CarStateBase
 
 
 class CarState(CarStateBase):
diff --git a/selfdrive/car/conversions.py b/selfdrive/car/conversions.py
new file mode 100644
index 0000000000..b02b33c625
--- /dev/null
+++ b/selfdrive/car/conversions.py
@@ -0,0 +1,19 @@
+import numpy as np
+
+class Conversions:
+  # Speed
+  MPH_TO_KPH = 1.609344
+  KPH_TO_MPH = 1. / MPH_TO_KPH
+  MS_TO_KPH = 3.6
+  KPH_TO_MS = 1. / MS_TO_KPH
+  MS_TO_MPH = MS_TO_KPH * KPH_TO_MPH
+  MPH_TO_MS = MPH_TO_KPH * KPH_TO_MS
+  MS_TO_KNOTS = 1.9438
+  KNOTS_TO_MS = 1. / MS_TO_KNOTS
+
+  # Angle
+  DEG_TO_RAD = np.pi / 180.
+  RAD_TO_DEG = 1. / DEG_TO_RAD
+
+  # Mass
+  LB_TO_KG = 0.453592
diff --git a/selfdrive/car/disable_ecu.py b/selfdrive/car/disable_ecu.py
index 5229b519a8..bbf5b4c9ff 100755
--- a/selfdrive/car/disable_ecu.py
+++ b/selfdrive/car/disable_ecu.py
@@ -8,7 +8,7 @@ EXT_DIAG_RESPONSE = b'\x50\x03'
 COM_CONT_RESPONSE = b''
 
 
-def disable_ecu(logcan, sendcan, bus=0, addr=0x7d0, sub_addr=None, com_cont_req=b'\x28\x83\x01', timeout=0.1, retry=10, debug=False):
+def disable_ecu(can_recv, can_send, bus=0, addr=0x7d0, sub_addr=None, com_cont_req=b'\x28\x83\x01', timeout=0.1, retry=10, debug=False):
   """Silence an ECU by disabling sending and receiving messages using UDS 0x28.
   The ECU will stay silent as long as openpilot keeps sending Tester Present.
 
@@ -18,12 +18,12 @@ def disable_ecu(logcan, sendcan, bus=0, addr=0x7d0, sub_addr=None, com_cont_req=
 
   for i in range(retry):
     try:
-      query = IsoTpParallelQuery(sendcan, logcan, bus, [(addr, sub_addr)], [EXT_DIAG_REQUEST], [EXT_DIAG_RESPONSE], debug=debug)
+      query = IsoTpParallelQuery(can_send, can_recv, bus, [(addr, sub_addr)], [EXT_DIAG_REQUEST], [EXT_DIAG_RESPONSE], debug=debug)
 
       for _, _ in query.get_data(timeout).items():
         carlog.warning("communication control disable tx/rx ...")
 
-        query = IsoTpParallelQuery(sendcan, logcan, bus, [(addr, sub_addr)], [com_cont_req], [COM_CONT_RESPONSE], debug=debug)
+        query = IsoTpParallelQuery(can_send, can_recv, bus, [(addr, sub_addr)], [com_cont_req], [COM_CONT_RESPONSE], debug=debug)
         query.get_data(0)
 
         carlog.warning("ecu disabled")
diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py
index a04653c140..f039fea9ac 100644
--- a/selfdrive/car/docs_definitions.py
+++ b/selfdrive/car/docs_definitions.py
@@ -5,7 +5,7 @@ from dataclasses import dataclass, field
 from enum import Enum
 
 from cereal import car
-from openpilot.common.conversions import Conversions as CV
+from openpilot.selfdrive.car.conversions import Conversions as CV
 
 GOOD_TORQUE_THRESHOLD = 1.0  # m/s^2
 MODEL_YEARS_RE = r"(?<= )((\d{4}-\d{2})|(\d{4}))(,|$)"
diff --git a/selfdrive/car/ecu_addrs.py b/selfdrive/car/ecu_addrs.py
index e36c1dc981..336d0d5542 100755
--- a/selfdrive/car/ecu_addrs.py
+++ b/selfdrive/car/ecu_addrs.py
@@ -2,11 +2,10 @@
 import capnp
 import time
 
-import cereal.messaging as messaging
 from panda.python.uds import SERVICE_TYPE
 from openpilot.selfdrive.car import make_tester_present_msg, carlog
+from openpilot.selfdrive.car.can_definitions import CanRecvCallable, CanSendCallable
 from openpilot.selfdrive.car.fw_query_definitions import EcuAddrBusType
-from openpilot.selfdrive.pandad import can_list_to_can_capnp
 
 
 def _is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subaddr: int = None) -> bool:
@@ -23,26 +22,26 @@ def _is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subad
   return False
 
 
-def _get_all_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, bus: int, timeout: float = 1, debug: bool = True) -> set[EcuAddrBusType]:
+def _get_all_ecu_addrs(can_recv: CanRecvCallable, can_send: CanSendCallable, bus: int, timeout: float = 1, debug: bool = True) -> set[EcuAddrBusType]:
   addr_list = [0x700 + i for i in range(256)] + [0x18da00f1 + (i << 8) for i in range(256)]
   queries: set[EcuAddrBusType] = {(addr, None, bus) for addr in addr_list}
   responses = queries
-  return get_ecu_addrs(logcan, sendcan, queries, responses, timeout=timeout, debug=debug)
+  return get_ecu_addrs(can_recv, can_send, queries, responses, timeout=timeout, debug=debug)
 
 
-def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, queries: set[EcuAddrBusType],
+def get_ecu_addrs(can_recv: CanRecvCallable, can_send: CanSendCallable, queries: set[EcuAddrBusType],
                   responses: set[EcuAddrBusType], timeout: float = 1, debug: bool = False) -> set[EcuAddrBusType]:
   ecu_responses: set[EcuAddrBusType] = set()  # set((addr, subaddr, bus),)
   try:
     msgs = [make_tester_present_msg(addr, bus, subaddr) for addr, subaddr, bus in queries]
 
-    messaging.drain_sock_raw(logcan)
-    sendcan.send(can_list_to_can_capnp(msgs, msgtype='sendcan'))
+    can_recv()
+    can_send(msgs)
     start_time = time.monotonic()
     while time.monotonic() - start_time < timeout:
-      can_packets = messaging.drain_sock(logcan, wait_for_one=True)
+      can_packets = can_recv(wait_for_one=True)
       for packet in can_packets:
-        for msg in packet.can:
+        for msg in packet:
           if not len(msg.dat):
             carlog.warning("ECU addr scan: skipping empty remote frame")
             continue
@@ -61,6 +60,7 @@ def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, que
 
 if __name__ == "__main__":
   import argparse
+  import cereal.messaging as messaging
   from openpilot.common.params import Params
   from openpilot.selfdrive.car.card import obd_callback
 
diff --git a/selfdrive/car/filter_simple.py b/selfdrive/car/filter_simple.py
new file mode 100644
index 0000000000..0ec7a51562
--- /dev/null
+++ b/selfdrive/car/filter_simple.py
@@ -0,0 +1,18 @@
+class FirstOrderFilter:
+  # first order filter
+  def __init__(self, x0, rc, dt, initialized=True):
+    self.x = x0
+    self.dt = dt
+    self.update_alpha(rc)
+    self.initialized = initialized
+
+  def update_alpha(self, rc):
+    self.alpha = self.dt / (rc + self.dt)
+
+  def update(self, x):
+    if self.initialized:
+      self.x = (1. - self.alpha) * self.x + self.alpha * x
+    else:
+      self.initialized = True
+      self.x = x
+    return self.x
diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py
index b63b741ee7..961d7086c4 100644
--- a/selfdrive/car/ford/carcontroller.py
+++ b/selfdrive/car/ford/carcontroller.py
@@ -1,9 +1,9 @@
 from cereal import car
 from opendbc.can.packer import CANPacker
-from openpilot.common.numpy_fast import clip
 from openpilot.selfdrive.car import apply_std_steer_angle_limits
 from openpilot.selfdrive.car.ford import fordcan
 from openpilot.selfdrive.car.ford.values import CarControllerParams, FordFlags
+from openpilot.selfdrive.car.helpers import clip
 from openpilot.selfdrive.car.interfaces import CarControllerBase, V_CRUISE_MAX
 
 LongCtrlState = car.CarControl.Actuators.LongControlState
@@ -23,9 +23,8 @@ def apply_ford_curvature_limits(apply_curvature, apply_curvature_last, current_c
 
 
 class CarController(CarControllerBase):
-  def __init__(self, dbc_name, CP, VM):
-    super().__init__(dbc_name, CP, VM)
-    self.VM = VM
+  def __init__(self, dbc_name, CP):
+    super().__init__(dbc_name, CP)
     self.packer = CANPacker(dbc_name)
     self.CAN = fordcan.CanBus(CP)
 
diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py
index d7130681d4..ed707a5f78 100644
--- a/selfdrive/car/ford/carstate.py
+++ b/selfdrive/car/ford/carstate.py
@@ -1,7 +1,7 @@
 from cereal import car
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
-from openpilot.common.conversions import Conversions as CV
+from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.ford.fordcan import CanBus
 from openpilot.selfdrive.car.ford.values import DBC, CarControllerParams, FordFlags
 from openpilot.selfdrive.car.interfaces import CarStateBase
diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
index 54cf865109..b872be212b 100644
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -1,7 +1,7 @@
 from cereal import car
 from panda import Panda
-from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car import create_button_events, get_safety_config
+from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.ford.fordcan import CanBus
 from openpilot.selfdrive.car.ford.values import Ecu, FordFlags
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
diff --git a/selfdrive/car/ford/radar_interface.py b/selfdrive/car/ford/radar_interface.py
index 209bbebae3..f405373661 100644
--- a/selfdrive/car/ford/radar_interface.py
+++ b/selfdrive/car/ford/radar_interface.py
@@ -1,7 +1,7 @@
 from math import cos, sin
 from cereal import car
 from opendbc.can.parser import CANParser
-from openpilot.common.conversions import Conversions as CV
+from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.ford.fordcan import CanBus
 from openpilot.selfdrive.car.ford.values import DBC, RADAR
 from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py
index 87f5f3defd..7cee14bfbd 100755
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@@ -11,6 +11,7 @@ from cereal import car
 from openpilot.selfdrive.car import carlog
 from openpilot.selfdrive.car.ecu_addrs import get_ecu_addrs
 from openpilot.selfdrive.car.fingerprints import FW_VERSIONS
+from openpilot.selfdrive.car.can_definitions import CanRecvCallable, CanSendCallable
 from openpilot.selfdrive.car.fw_query_definitions import AddrType, EcuAddrBusType, FwQueryConfig, LiveFwVersions, OfflineFwVersions
 from openpilot.selfdrive.car.interfaces import get_interface_attr
 from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
@@ -171,7 +172,7 @@ def match_fw_to_car(fw_versions: list[capnp.lib.capnp._DynamicStructBuilder], vi
   return True, set()
 
 
-def get_present_ecus(logcan, sendcan, set_obd_multiplexing: ObdCallback, num_pandas: int = 1) -> set[EcuAddrBusType]:
+def get_present_ecus(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multiplexing: ObdCallback, num_pandas: int = 1) -> set[EcuAddrBusType]:
   # queries are split by OBD multiplexing mode
   queries: dict[bool, list[list[EcuAddrBusType]]] = {True: [], False: []}
   parallel_queries: dict[bool, list[EcuAddrBusType]] = {True: [], False: []}
@@ -205,7 +206,7 @@ def get_present_ecus(logcan, sendcan, set_obd_multiplexing: ObdCallback, num_pan
   for obd_multiplexing in queries:
     set_obd_multiplexing(obd_multiplexing)
     for query in queries[obd_multiplexing]:
-      ecu_responses.update(get_ecu_addrs(logcan, sendcan, set(query), responses, timeout=0.1))
+      ecu_responses.update(get_ecu_addrs(can_recv, can_send, set(query), responses, timeout=0.1))
   return ecu_responses
 
 
@@ -227,8 +228,9 @@ def get_brand_ecu_matches(ecu_rx_addrs: set[EcuAddrBusType]) -> dict[str, set[Ad
   return brand_matches
 
 
-def get_fw_versions_ordered(logcan, sendcan, set_obd_multiplexing: ObdCallback, vin: str, ecu_rx_addrs: set[EcuAddrBusType], timeout: float = 0.1,
-                            num_pandas: int = 1, debug: bool = False, progress: bool = False) -> list[capnp.lib.capnp._DynamicStructBuilder]:
+def get_fw_versions_ordered(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multiplexing: ObdCallback, vin: str,
+                            ecu_rx_addrs: set[EcuAddrBusType], timeout: float = 0.1, num_pandas: int = 1, debug: bool = False,
+                            progress: bool = False) -> list[capnp.lib.capnp._DynamicStructBuilder]:
   """Queries for FW versions ordering brands by likelihood, breaks when exact match is found"""
 
   all_car_fw = []
@@ -239,7 +241,8 @@ def get_fw_versions_ordered(logcan, sendcan, set_obd_multiplexing: ObdCallback,
     if not len(brand_matches[brand]):
       continue
 
-    car_fw = get_fw_versions(logcan, sendcan, set_obd_multiplexing, query_brand=brand, timeout=timeout, num_pandas=num_pandas, debug=debug, progress=progress)
+    car_fw = get_fw_versions(can_recv, can_send, set_obd_multiplexing, query_brand=brand, timeout=timeout, num_pandas=num_pandas, debug=debug,
+                             progress=progress)
     all_car_fw.extend(car_fw)
 
     # If there is a match using this brand's FW alone, finish querying early
@@ -250,8 +253,9 @@ def get_fw_versions_ordered(logcan, sendcan, set_obd_multiplexing: ObdCallback,
   return all_car_fw
 
 
-def get_fw_versions(logcan, sendcan, set_obd_multiplexing: ObdCallback, query_brand: str = None, extra: OfflineFwVersions = None, timeout: float = 0.1,
-                    num_pandas: int = 1, debug: bool = False, progress: bool = False) -> list[capnp.lib.capnp._DynamicStructBuilder]:
+def get_fw_versions(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multiplexing: ObdCallback, query_brand: str = None,
+                    extra: OfflineFwVersions = None, timeout: float = 0.1, num_pandas: int = 1, debug: bool = False,
+                    progress: bool = False) -> list[capnp.lib.capnp._DynamicStructBuilder]:
   versions = VERSIONS.copy()
 
   if query_brand is not None:
@@ -301,7 +305,7 @@ def get_fw_versions(logcan, sendcan, set_obd_multiplexing: ObdCallback, query_br
                          (len(r.whitelist_ecus) == 0 or ecu_types[(b, a, s)] in r.whitelist_ecus)]
 
           if query_addrs:
-            query = IsoTpParallelQuery(sendcan, logcan, r.bus, query_addrs, r.request, r.response, r.rx_offset, debug=debug)
+            query = IsoTpParallelQuery(can_send, can_recv, r.bus, query_addrs, r.request, r.response, r.rx_offset, debug=debug)
             for (tx_addr, sub_addr), version in query.get_data(timeout).items():
               f = car.CarParams.CarFw.new_message()
 
diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index cac4f13ed5..dff280ed9a 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -1,10 +1,10 @@
 from cereal import car
-from openpilot.common.conversions import Conversions as CV
-from openpilot.common.numpy_fast import interp
 from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits
+from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.gm import gmcan
 from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons
+from openpilot.selfdrive.car.helpers import interp
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
@@ -18,8 +18,8 @@ MIN_STEER_MSG_INTERVAL_MS = 15
 
 
 class CarController(CarControllerBase):
-  def __init__(self, dbc_name, CP, VM):
-    super().__init__(dbc_name, CP, VM)
+  def __init__(self, dbc_name, CP):
+    super().__init__(dbc_name, CP)
     self.start_time = 0.
     self.apply_steer_last = 0
     self.apply_gas = 0
diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py
index a1129c59c8..97dbd389f4 100644
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@@ -1,9 +1,9 @@
 import copy
 from cereal import car
-from openpilot.common.conversions import Conversions as CV
-from openpilot.common.numpy_fast import mean
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
+from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.helpers import mean
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD
 
diff --git a/selfdrive/car/gm/gmcan.py b/selfdrive/car/gm/gmcan.py
index a70bcccd06..0b7ada3151 100644
--- a/selfdrive/car/gm/gmcan.py
+++ b/selfdrive/car/gm/gmcan.py
@@ -1,4 +1,4 @@
-from openpilot.selfdrive.car import make_can_msg
+from openpilot.selfdrive.car.can_definitions import CanData
 from openpilot.selfdrive.car.gm.values import CAR
 
 
@@ -49,7 +49,7 @@ def create_steering_control(packer, bus, apply_steer, idx, lkas_active):
 
 def create_adas_keepalive(bus):
   dat = b"\x00\x00\x00\x00\x00\x00\x00"
-  return [make_can_msg(0x409, dat, bus), make_can_msg(0x40a, dat, bus)]
+  return [CanData(0x409, dat, bus), CanData(0x40a, dat, bus)]
 
 
 def create_gas_regen_command(packer, bus, throttle, idx, enabled, at_full_stop):
@@ -125,14 +125,14 @@ def create_adas_time_status(bus, tt, idx):
   chksum = 0x1000 - dat[0] - dat[1] - dat[2] - dat[3]
   chksum = chksum & 0xfff
   dat += [0x40 + (chksum >> 8), chksum & 0xff, 0x12]
-  return make_can_msg(0xa1, bytes(dat), bus)
+  return CanData(0xa1, bytes(dat), bus)
 
 
 def create_adas_steering_status(bus, idx):
   dat = [idx << 6, 0xf0, 0x20, 0, 0, 0]
   chksum = 0x60 + sum(dat)
   dat += [chksum >> 8, chksum & 0xff]
-  return make_can_msg(0x306, bytes(dat), bus)
+  return CanData(0x306, bytes(dat), bus)
 
 
 def create_adas_accelerometer_speed_status(bus, speed_ms, idx):
@@ -146,7 +146,7 @@ def create_adas_accelerometer_speed_status(bus, speed_ms, idx):
   dat = [0x08, spd >> 4, ((spd & 0xf) << 4) | (accel >> 8), accel & 0xff, 0]
   chksum = 0x62 + far_range_mode + (idx << 2) + dat[0] + dat[1] + dat[2] + dat[3] + dat[4]
   dat += [(idx << 5) + (far_range_mode << 4) + (near_range_mode << 3) + (chksum >> 8), chksum & 0xff]
-  return make_can_msg(0x308, bytes(dat), bus)
+  return CanData(0x308, bytes(dat), bus)
 
 
 def create_adas_headlights_status(packer, bus):
@@ -170,4 +170,4 @@ def create_lka_icon_command(bus, active, critical, steer):
       dat = b"\x40\x40\x18"
   else:
     dat = b"\x00\x00\x00"
-  return make_can_msg(0x104c006c, dat, bus)
+  return CanData(0x104c006c, dat, bus)
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 1d4a6066cc..31b874502b 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -5,8 +5,8 @@ from math import fabs, exp
 from panda import Panda
 
 from openpilot.common.basedir import BASEDIR
-from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car import create_button_events, get_safety_config, get_friction
+from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG
 from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LatControlInputs, NanoFFModel
diff --git a/selfdrive/car/gm/radar_interface.py b/selfdrive/car/gm/radar_interface.py
index b893babd31..b305d418b8 100755
--- a/selfdrive/car/gm/radar_interface.py
+++ b/selfdrive/car/gm/radar_interface.py
@@ -1,8 +1,8 @@
 #!/usr/bin/env python3
 import math
 from cereal import car
-from openpilot.common.conversions import Conversions as CV
 from opendbc.can.parser import CANParser
+from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.gm.values import DBC, CanBus
 from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
 
diff --git a/selfdrive/car/helpers.py b/selfdrive/car/helpers.py
new file mode 100644
index 0000000000..81f6d6a6bc
--- /dev/null
+++ b/selfdrive/car/helpers.py
@@ -0,0 +1,22 @@
+def clip(x, lo, hi):
+  return max(lo, min(hi, x))
+
+
+def interp(x, xp, fp):
+  N = len(xp)
+
+  def get_interp(xv):
+    hi = 0
+    while hi < N and xv > xp[hi]:
+      hi += 1
+    low = hi - 1
+    return fp[-1] if hi == N and xv > xp[low] else (
+      fp[0] if hi == 0 else
+      (xv - xp[low]) * (fp[hi] - fp[low]) / (xp[hi] - xp[low]) + fp[low])
+
+  return [get_interp(v) for v in x] if hasattr(x, '__iter__') else get_interp(x)
+
+
+def mean(x):
+  return sum(x) / len(x)
+
diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
index 5748812648..0f08ee21a8 100644
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -1,9 +1,9 @@
 from collections import namedtuple
 
 from cereal import car
-from openpilot.common.numpy_fast import clip, interp
 from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import DT_CTRL, rate_limit, make_tester_present_msg
+from openpilot.selfdrive.car.helpers import clip, interp
 from openpilot.selfdrive.car.honda import hondacan
 from openpilot.selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
 from openpilot.selfdrive.car.interfaces import CarControllerBase
@@ -104,8 +104,8 @@ def rate_limit_steer(new_steer, last_steer):
 
 
 class CarController(CarControllerBase):
-  def __init__(self, dbc_name, CP, VM):
-    super().__init__(dbc_name, CP, VM)
+  def __init__(self, dbc_name, CP):
+    super().__init__(dbc_name, CP)
     self.packer = CANPacker(dbc_name)
     self.params = CarControllerParams(CP)
     self.CAN = hondacan.CanBus(CP)
diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index c98d1a72d3..956e6a3bd3 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -1,10 +1,10 @@
 from collections import defaultdict
 
 from cereal import car
-from openpilot.common.conversions import Conversions as CV
-from openpilot.common.numpy_fast import interp
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
+from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.helpers import interp
 from openpilot.selfdrive.car.honda.hondacan import CanBus, get_cruise_speed_conversion
 from openpilot.selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, \
                                                  HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS, \
diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py
index 1be496d951..b350455014 100644
--- a/selfdrive/car/honda/hondacan.py
+++ b/selfdrive/car/honda/hondacan.py
@@ -1,5 +1,5 @@
-from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car import CanBusBase
+from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.honda.values import HondaFlags, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, CAR, CarControllerParams
 
 # CAN bus layout with relay
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index fdcba8bb81..3eefd8f862 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -1,8 +1,8 @@
 #!/usr/bin/env python3
 from cereal import car
 from panda import Panda
-from openpilot.common.conversions import Conversions as CV
-from openpilot.common.numpy_fast import interp
+from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.helpers import interp
 from openpilot.selfdrive.car.honda.hondacan import CanBus
 from openpilot.selfdrive.car.honda.values import CarControllerParams, CruiseButtons, CruiseSettings, HondaFlags, CAR, HONDA_BOSCH, \
                                                  HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS
@@ -217,9 +217,9 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   @staticmethod
-  def init(CP, logcan, sendcan):
+  def init(CP, can_recv, can_send):
     if CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and CP.openpilotLongitudinalControl:
-      disable_ecu(logcan, sendcan, bus=1, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03')
+      disable_ecu(can_recv, can_send, bus=1, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03')
 
   # returns a car.CarState
   def _update(self, c):
diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index 5a78995c0a..53e5435f29 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -2,9 +2,9 @@ from dataclasses import dataclass
 from enum import Enum, IntFlag
 
 from cereal import car
-from openpilot.common.conversions import Conversions as CV
 from panda.python import uds
 from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms, dbc_dict
+from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
 
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index 84b565f0cd..0e3a3f0afd 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -1,8 +1,8 @@
 from cereal import car
-from openpilot.common.conversions import Conversions as CV
-from openpilot.common.numpy_fast import clip
 from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits, common_fault_avoidance, make_tester_present_msg
+from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.helpers import clip
 from openpilot.selfdrive.car.hyundai import hyundaicanfd, hyundaican
 from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR
@@ -43,8 +43,8 @@ def process_hud_alert(enabled, fingerprint, hud_control):
 
 
 class CarController(CarControllerBase):
-  def __init__(self, dbc_name, CP, VM):
-    super().__init__(dbc_name, CP, VM)
+  def __init__(self, dbc_name, CP):
+    super().__init__(dbc_name, CP)
     self.CAN = CanBus(CP)
     self.params = CarControllerParams(CP)
     self.packer = CANPacker(dbc_name)
diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index 41cb9ee457..1b56b3304e 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -3,9 +3,9 @@ import copy
 import math
 
 from cereal import car
-from openpilot.common.conversions import Conversions as CV
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
+from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CAN_GEARS, CAMERA_SCC_CAR, \
                                                    CANFD_CAR, Buttons, CarControllerParams
diff --git a/selfdrive/car/hyundai/hyundaicanfd.py b/selfdrive/car/hyundai/hyundaicanfd.py
index 54804f94fd..bd46f18612 100644
--- a/selfdrive/car/hyundai/hyundaicanfd.py
+++ b/selfdrive/car/hyundai/hyundaicanfd.py
@@ -1,5 +1,5 @@
-from openpilot.common.numpy_fast import clip
 from openpilot.selfdrive.car import CanBusBase
+from openpilot.selfdrive.car.helpers import clip
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags
 
 
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index ecedf3fd7c..9bb8e7ecf5 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -139,16 +139,16 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   @staticmethod
-  def init(CP, logcan, sendcan):
+  def init(CP, can_recv, can_send):
     if CP.openpilotLongitudinalControl and not (CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value):
       addr, bus = 0x7d0, 0
       if CP.flags & HyundaiFlags.CANFD_HDA2.value:
         addr, bus = 0x730, CanBus(CP).ECAN
-      disable_ecu(logcan, sendcan, bus=bus, addr=addr, com_cont_req=b'\x28\x83\x01')
+      disable_ecu(can_recv, can_send, bus=bus, addr=addr, com_cont_req=b'\x28\x83\x01')
 
     # for blinkers
     if CP.flags & HyundaiFlags.ENABLE_BLINKERS:
-      disable_ecu(logcan, sendcan, bus=CanBus(CP).ECAN, addr=0x7B1, com_cont_req=b'\x28\x83\x01')
+      disable_ecu(can_recv, can_send, bus=CanBus(CP).ECAN, addr=0x7B1, com_cont_req=b'\x28\x83\x01')
 
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam)
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 8ed0edd319..0db82a7577 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -4,8 +4,8 @@ from enum import Enum, IntFlag
 
 from cereal import car
 from panda.python import uds
-from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
+from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
 
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index f8d71ad341..4e434ec386 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -10,14 +10,13 @@ from functools import cache
 
 from cereal import car
 from openpilot.common.basedir import BASEDIR
-from openpilot.common.conversions import Conversions as CV
 from openpilot.common.simple_kalman import KF1D, get_kalman_gain
-from openpilot.common.numpy_fast import clip
 from openpilot.selfdrive.car import DT_CTRL, apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, get_friction, STD_CARGO_KG
+from openpilot.selfdrive.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
+from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.helpers import clip
 from openpilot.selfdrive.car.values import PLATFORMS
 from openpilot.selfdrive.controls.lib.events import Events
-from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
-from openpilot.selfdrive.pandad import can_capnp_to_list
 
 ButtonType = car.CarState.ButtonEvent.Type
 GearShifter = car.CarState.GearShifter
@@ -53,7 +52,6 @@ class LatControlInputs(NamedTuple):
   aego: float
 
 
-SendCan = tuple[int, bytes, int]
 TorqueFromLateralAccelCallbackType = Callable[[LatControlInputs, car.CarParams.LateralTorqueTuning, float, float, bool, bool], float]
 
 
@@ -91,7 +89,6 @@ def get_torque_params():
 class CarInterfaceBase(ABC):
   def __init__(self, CP, CarController, CarState):
     self.CP = CP
-    self.VM = VehicleModel(CP)
 
     self.frame = 0
     self.steering_unpressed = 0
@@ -109,9 +106,9 @@ class CarInterfaceBase(ABC):
     self.can_parsers = [self.cp, self.cp_cam, self.cp_adas, self.cp_body, self.cp_loopback]
 
     dbc_name = "" if self.cp is None else self.cp.dbc_name
-    self.CC: CarControllerBase = CarController(dbc_name, CP, self.VM)
+    self.CC: CarControllerBase = CarController(dbc_name, CP)
 
-  def apply(self, c: car.CarControl, now_nanos: int) -> tuple[car.CarControl.Actuators, list[SendCan]]:
+  def apply(self, c: car.CarControl, now_nanos: int) -> tuple[car.CarControl.Actuators, list[CanData]]:
     return self.CC.update(c, self.CS, now_nanos)
 
   @staticmethod
@@ -158,7 +155,7 @@ class CarInterfaceBase(ABC):
     raise NotImplementedError
 
   @staticmethod
-  def init(CP, logcan, sendcan):
+  def init(CP: car.CarParams, can_recv: CanRecvCallable, can_send: CanSendCallable):
     pass
 
   @staticmethod
@@ -231,12 +228,11 @@ class CarInterfaceBase(ABC):
   def _update(self, c: car.CarControl) -> car.CarState:
     pass
 
-  def update(self, c: car.CarControl, can_strings: list[bytes]) -> car.CarState:
+  def update(self, c: car.CarControl, can_packets: list[tuple[int, list[CanData]]]) -> car.CarState:
     # parse can
-    can_list = can_capnp_to_list(can_strings)
     for cp in self.can_parsers:
       if cp is not None:
-        cp.update_strings(can_list)
+        cp.update_strings(can_packets)
 
     # get CarState
     ret = self._update(c)
@@ -466,12 +462,12 @@ class CarStateBase(ABC):
 
 
 class CarControllerBase(ABC):
-  def __init__(self, dbc_name: str, CP, VM):
+  def __init__(self, dbc_name: str, CP):
     self.CP = CP
     self.frame = 0
 
   @abstractmethod
-  def update(self, CC: car.CarControl.Actuators, CS: car.CarState, now_nanos: int) -> tuple[car.CarControl.Actuators, list[SendCan]]:
+  def update(self, CC: car.CarControl.Actuators, CS: car.CarState, now_nanos: int) -> tuple[car.CarControl.Actuators, list[CanData]]:
     pass
 
 
diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py
index c5f74a8156..8ec0a340e3 100644
--- a/selfdrive/car/isotp_parallel_query.py
+++ b/selfdrive/car/isotp_parallel_query.py
@@ -2,19 +2,18 @@ import time
 from collections import defaultdict
 from functools import partial
 
-import cereal.messaging as messaging
 from openpilot.selfdrive.car import carlog
+from openpilot.selfdrive.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
 from openpilot.selfdrive.car.fw_query_definitions import AddrType
-from openpilot.selfdrive.pandad import can_list_to_can_capnp
 from panda.python.uds import CanClient, IsoTpMessage, FUNCTIONAL_ADDRS, get_rx_addr_for_tx_addr
 
 
 class IsoTpParallelQuery:
-  def __init__(self, sendcan: messaging.PubSocket, logcan: messaging.SubSocket, bus: int, addrs: list[int] | list[AddrType],
+  def __init__(self, can_send: CanSendCallable, can_recv: CanRecvCallable, bus: int, addrs: list[int] | list[AddrType],
                request: list[bytes], response: list[bytes], response_offset: int = 0x8,
                functional_addrs: list[int] = None, debug: bool = False, response_pending_timeout: float = 10) -> None:
-    self.sendcan = sendcan
-    self.logcan = logcan
+    self.can_send = can_send
+    self.can_recv = can_recv
     self.bus = bus
     self.request = request
     self.response = response
@@ -27,21 +26,21 @@ class IsoTpParallelQuery:
       assert tx_addr not in FUNCTIONAL_ADDRS, f"Functional address should be defined in functional_addrs: {hex(tx_addr)}"
 
     self.msg_addrs = {tx_addr: get_rx_addr_for_tx_addr(tx_addr[0], rx_offset=response_offset) for tx_addr in real_addrs}
-    self.msg_buffer: dict[int, list[tuple[int, bytes, int]]] = defaultdict(list)
+    self.msg_buffer: dict[int, list[CanData]] = defaultdict(list)
 
-  def rx(self):
+  def rx(self) -> None:
     """Drain can socket and sort messages into buffers based on address"""
-    can_packets = messaging.drain_sock(self.logcan, wait_for_one=True)
+    can_packets = self.can_recv(wait_for_one=True)
 
     for packet in can_packets:
-      for msg in packet.can:
+      for msg in packet:
         if msg.src == self.bus and msg.address in self.msg_addrs.values():
-          self.msg_buffer[msg.address].append((msg.address, msg.dat, msg.src))
+          self.msg_buffer[msg.address].append(CanData(msg.address, msg.dat, msg.src))
 
-  def _can_tx(self, tx_addr, dat, bus):
+  def _can_tx(self, tx_addr: int, dat: bytes, bus: int):
     """Helper function to send single message"""
-    msg = [tx_addr, dat, bus]
-    self.sendcan.send(can_list_to_can_capnp([msg], msgtype='sendcan'))
+    msg = CanData(tx_addr, dat, bus)
+    self.can_send([msg])
 
   def _can_rx(self, addr, sub_addr=None):
     """Helper function to retrieve message with specified address and subadress from buffer"""
@@ -62,8 +61,8 @@ class IsoTpParallelQuery:
     self.msg_buffer[addr] = keep_msgs
     return msgs
 
-  def _drain_rx(self):
-    messaging.drain_sock_raw(self.logcan)
+  def _drain_rx(self) -> None:
+    self.can_recv()
     self.msg_buffer = defaultdict(list)
 
   def _create_isotp_msg(self, tx_addr: int, sub_addr: int | None, rx_addr: int):
diff --git a/selfdrive/car/mazda/carcontroller.py b/selfdrive/car/mazda/carcontroller.py
index 23441a3a78..910e2303d8 100644
--- a/selfdrive/car/mazda/carcontroller.py
+++ b/selfdrive/car/mazda/carcontroller.py
@@ -9,8 +9,8 @@ VisualAlert = car.CarControl.HUDControl.VisualAlert
 
 
 class CarController(CarControllerBase):
-  def __init__(self, dbc_name, CP, VM):
-    super().__init__(dbc_name, CP, VM)
+  def __init__(self, dbc_name, CP):
+    super().__init__(dbc_name, CP)
     self.apply_steer_last = 0
     self.packer = CANPacker(dbc_name)
     self.brake_counter = 0
diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py
index 83b238fb68..83aa09b66b 100644
--- a/selfdrive/car/mazda/carstate.py
+++ b/selfdrive/car/mazda/carstate.py
@@ -1,7 +1,7 @@
 from cereal import car
-from openpilot.common.conversions import Conversions as CV
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
+from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from openpilot.selfdrive.car.mazda.values import DBC, LKAS_LIMITS, MazdaFlags
 
diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py
index 6992d49ffe..fcec6b18b0 100755
--- a/selfdrive/car/mazda/interface.py
+++ b/selfdrive/car/mazda/interface.py
@@ -1,8 +1,8 @@
 #!/usr/bin/env python3
 from cereal import car
-from openpilot.common.conversions import Conversions as CV
-from openpilot.selfdrive.car.mazda.values import CAR, LKAS_LIMITS
 from openpilot.selfdrive.car import create_button_events, get_safety_config
+from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.mazda.values import CAR, LKAS_LIMITS
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
 ButtonType = car.CarState.ButtonEvent.Type
diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py
index a8c808d582..cfd7067db6 100644
--- a/selfdrive/car/mazda/values.py
+++ b/selfdrive/car/mazda/values.py
@@ -2,8 +2,8 @@ from dataclasses import dataclass, field
 from enum import IntFlag
 
 from cereal import car
-from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
+from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.docs_definitions import CarHarness, CarDocs, CarParts
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
diff --git a/selfdrive/car/nissan/carcontroller.py b/selfdrive/car/nissan/carcontroller.py
index 473282edfc..35a70ff106 100644
--- a/selfdrive/car/nissan/carcontroller.py
+++ b/selfdrive/car/nissan/carcontroller.py
@@ -9,8 +9,8 @@ VisualAlert = car.CarControl.HUDControl.VisualAlert
 
 
 class CarController(CarControllerBase):
-  def __init__(self, dbc_name, CP, VM):
-    super().__init__(dbc_name, CP, VM)
+  def __init__(self, dbc_name, CP):
+    super().__init__(dbc_name, CP)
     self.car_fingerprint = CP.carFingerprint
 
     self.lkas_max_torque = 0
diff --git a/selfdrive/car/nissan/carstate.py b/selfdrive/car/nissan/carstate.py
index 57146b49c4..c38173c3e3 100644
--- a/selfdrive/car/nissan/carstate.py
+++ b/selfdrive/car/nissan/carstate.py
@@ -2,9 +2,9 @@ import copy
 from collections import deque
 from cereal import car
 from opendbc.can.can_define import CANDefine
-from openpilot.selfdrive.car.interfaces import CarStateBase
-from openpilot.common.conversions import Conversions as CV
 from opendbc.can.parser import CANParser
+from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.interfaces import CarStateBase
 from openpilot.selfdrive.car.nissan.values import CAR, DBC, CarControllerParams
 
 TORQUE_SAMPLES = 12
diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py
index 6ce006df8b..c8c2e7417b 100644
--- a/selfdrive/car/subaru/carcontroller.py
+++ b/selfdrive/car/subaru/carcontroller.py
@@ -1,6 +1,6 @@
-from openpilot.common.numpy_fast import clip, interp
 from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance, make_tester_present_msg
+from openpilot.selfdrive.car.helpers import clip, interp
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.car.subaru import subarucan
 from openpilot.selfdrive.car.subaru.values import DBC, GLOBAL_ES_ADDR, CanBus, CarControllerParams, SubaruFlags
@@ -12,8 +12,8 @@ MAX_STEER_RATE_FRAMES = 7  # tx control frames needed before torque can be cut
 
 
 class CarController(CarControllerBase):
-  def __init__(self, dbc_name, CP, VM):
-    super().__init__(dbc_name, CP, VM)
+  def __init__(self, dbc_name, CP):
+    super().__init__(dbc_name, CP)
     self.apply_steer_last = 0
 
     self.cruise_button_prev = 0
diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py
index 821ff2c151..0501494fdd 100644
--- a/selfdrive/car/subaru/carstate.py
+++ b/selfdrive/car/subaru/carstate.py
@@ -1,9 +1,9 @@
 import copy
 from cereal import car
 from opendbc.can.can_define import CANDefine
-from openpilot.common.conversions import Conversions as CV
-from openpilot.selfdrive.car.interfaces import CarStateBase
 from opendbc.can.parser import CANParser
+from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.interfaces import CarStateBase
 from openpilot.selfdrive.car.subaru.values import DBC, CanBus, SubaruFlags
 from openpilot.selfdrive.car import CanSignalRateCalculator
 
diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py
index cb00934376..0ea71e812f 100644
--- a/selfdrive/car/subaru/interface.py
+++ b/selfdrive/car/subaru/interface.py
@@ -106,6 +106,6 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   @staticmethod
-  def init(CP, logcan, sendcan):
+  def init(CP, can_recv, can_send):
     if CP.flags & SubaruFlags.DISABLE_EYESIGHT:
-      disable_ecu(logcan, sendcan, bus=2, addr=GLOBAL_ES_ADDR, com_cont_req=b'\x28\x03\x01')
+      disable_ecu(can_recv, can_send, bus=2, addr=GLOBAL_ES_ADDR, com_cont_req=b'\x28\x03\x01')
diff --git a/selfdrive/car/tesla/carcontroller.py b/selfdrive/car/tesla/carcontroller.py
index 8ee2a2165e..ed81fd0c50 100644
--- a/selfdrive/car/tesla/carcontroller.py
+++ b/selfdrive/car/tesla/carcontroller.py
@@ -1,14 +1,14 @@
-from openpilot.common.numpy_fast import clip
 from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import apply_std_steer_angle_limits
+from openpilot.selfdrive.car.helpers import clip
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.car.tesla.teslacan import TeslaCAN
 from openpilot.selfdrive.car.tesla.values import DBC, CANBUS, CarControllerParams
 
 
 class CarController(CarControllerBase):
-  def __init__(self, dbc_name, CP, VM):
-    super().__init__(dbc_name, CP, VM)
+  def __init__(self, dbc_name, CP):
+    super().__init__(dbc_name, CP)
     self.apply_angle_last = 0
     self.packer = CANPacker(dbc_name)
     self.pt_packer = CANPacker(DBC[CP.carFingerprint]['pt'])
diff --git a/selfdrive/car/tesla/carstate.py b/selfdrive/car/tesla/carstate.py
index 645ea46014..5aa21cbc7c 100644
--- a/selfdrive/car/tesla/carstate.py
+++ b/selfdrive/car/tesla/carstate.py
@@ -1,11 +1,11 @@
 import copy
 from collections import deque
 from cereal import car
-from openpilot.common.conversions import Conversions as CV
-from openpilot.selfdrive.car.tesla.values import CAR, DBC, CANBUS, GEAR_MAP, DOORS, BUTTONS
-from openpilot.selfdrive.car.interfaces import CarStateBase
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
+from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.tesla.values import CAR, DBC, CANBUS, GEAR_MAP, DOORS, BUTTONS
+from openpilot.selfdrive.car.interfaces import CarStateBase
 
 class CarState(CarStateBase):
   def __init__(self, CP):
diff --git a/selfdrive/car/tesla/teslacan.py b/selfdrive/car/tesla/teslacan.py
index f8cd138e77..22e0ac6c4e 100644
--- a/selfdrive/car/tesla/teslacan.py
+++ b/selfdrive/car/tesla/teslacan.py
@@ -1,6 +1,6 @@
 import crcmod
 
-from openpilot.common.conversions import Conversions as CV
+from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.tesla.values import CANBUS, CarControllerParams
 
 
diff --git a/selfdrive/car/tests/test_can_fingerprint.py b/selfdrive/car/tests/test_can_fingerprint.py
index f236986d8e..e28b2fe3b4 100644
--- a/selfdrive/car/tests/test_can_fingerprint.py
+++ b/selfdrive/car/tests/test_can_fingerprint.py
@@ -1,6 +1,6 @@
 from parameterized import parameterized
 
-from cereal import log, messaging
+from openpilot.selfdrive.car.can_definitions import CanData
 from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, can_fingerprint
 from openpilot.selfdrive.car.fingerprints import _FINGERPRINTS as FINGERPRINTS
 
@@ -11,13 +11,11 @@ class TestCanFingerprint:
     """Tests online fingerprinting function on offline fingerprints"""
 
     for fingerprint in fingerprints:  # can have multiple fingerprints for each platform
-      can = messaging.new_message('can', 1)
-      can.can = [log.CanData(address=address, dat=b'\x00' * length, src=src)
-                 for address, length in fingerprint.items() for src in (0, 1)]
+      can = [CanData(address=address, dat=b'\x00' * length, src=src)
+             for address, length in fingerprint.items() for src in (0, 1)]
 
       fingerprint_iter = iter([can])
-      empty_can = messaging.new_message('can', 0)
-      car_fingerprint, finger = can_fingerprint(lambda: next(fingerprint_iter, empty_can))  # noqa: B023
+      car_fingerprint, finger = can_fingerprint(lambda **kwargs: [next(fingerprint_iter, [])])  # noqa: B023
 
       assert car_fingerprint == car_model
       assert finger[0] == fingerprint
@@ -32,30 +30,27 @@ class TestCanFingerprint:
     cases = []
 
     # case 1 - one match, make sure we keep going for 100 frames
-    can = messaging.new_message('can', 1)
-    can.can = [log.CanData(address=address, dat=b'\x00' * length, src=src)
-               for address, length in fingerprint.items() for src in (0, 1)]
+    can = [CanData(address=address, dat=b'\x00' * length, src=src)
+           for address, length in fingerprint.items() for src in (0, 1)]
     cases.append((FRAME_FINGERPRINT, car_model, can))
 
     # case 2 - no matches, make sure we keep going for 100 frames
-    can = messaging.new_message('can', 1)
-    can.can = [log.CanData(address=1, dat=b'\x00' * 1, src=src) for src in (0, 1)]  # uncommon address
+    can = [CanData(address=1, dat=b'\x00' * 1, src=src) for src in (0, 1)]  # uncommon address
     cases.append((FRAME_FINGERPRINT, None, can))
 
     # case 3 - multiple matches, make sure we keep going for 200 frames to try to eliminate some
-    can = messaging.new_message('can', 1)
-    can.can = [log.CanData(address=2016, dat=b'\x00' * 8, src=src) for src in (0, 1)]  # common address
+    can = [CanData(address=2016, dat=b'\x00' * 8, src=src) for src in (0, 1)]  # common address
     cases.append((FRAME_FINGERPRINT * 2, None, can))
 
     for expected_frames, car_model, can in cases:
       with subtests.test(expected_frames=expected_frames, car_model=car_model):
         frames = 0
 
-        def test():
+        def can_recv(**kwargs):
           nonlocal frames
           frames += 1
-          return can  # noqa: B023
+          return [can]  # noqa: B023
 
-        car_fingerprint, _ = can_fingerprint(test)
+        car_fingerprint, _ = can_fingerprint(can_recv)
         assert car_fingerprint == car_model
-        assert frames == expected_frames + 2# TODO: fix extra frames
+        assert frames == expected_frames + 2  # TODO: fix extra frames
diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py
index f5283acb1f..46a432f8a2 100644
--- a/selfdrive/car/tests/test_fw_fingerprint.py
+++ b/selfdrive/car/tests/test_fw_fingerprint.py
@@ -5,13 +5,12 @@ from collections import defaultdict
 from parameterized import parameterized
 
 from cereal import car
-from openpilot.selfdrive.car import make_can_msg
+from openpilot.selfdrive.car.can_definitions import CanData
 from openpilot.selfdrive.car.car_helpers import interfaces
 from openpilot.selfdrive.car.fingerprints import FW_VERSIONS
 from openpilot.selfdrive.car.fw_versions import ESSENTIAL_ECUS, FW_QUERY_CONFIGS, FUZZY_EXCLUDE_ECUS, VERSIONS, build_fw_dict, \
                                                 match_fw_to_car, get_brand_ecu_matches, get_fw_versions, get_fw_versions_ordered, get_present_ecus
 from openpilot.selfdrive.car.vin import get_vin
-from openpilot.selfdrive.pandad import can_list_to_can_capnp
 
 CarFw = car.CarParams.CarFw
 Ecu = car.CarParams.Ecu
@@ -19,15 +18,6 @@ Ecu = car.CarParams.Ecu
 ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
 
 
-class FakeSocket:
-  def receive(self, non_blocking=False):
-    return (can_list_to_can_capnp([make_can_msg(random.randint(0x600, 0x800), b'\x00' * 8, 0)])
-            if random.uniform(0, 1) > 0.5 else None)
-
-  def send(self, msg):
-    pass
-
-
 class TestFwFingerprint:
   def assertFingerprints(self, candidates, expected):
     candidates = list(candidates)
@@ -214,6 +204,15 @@ class TestFwFingerprintTiming:
   current_obd_multiplexing: bool
   total_time: float
 
+  @staticmethod
+  def fake_can_send(msgs):
+    pass
+
+  @staticmethod
+  def fake_can_recv(wait_for_one: bool = False) -> list[list[CanData]]:
+    return ([[CanData(random.randint(0x600, 0x800), b'\x00' * 8, 0)]]
+            if random.uniform(0, 1) > 0.5 else [])
+
   def fake_set_obd_multiplexing(self, obd_multiplexing):
     """The 10Hz blocking params loop adds on average 50ms to the query time for each OBD multiplexing change"""
     if obd_multiplexing != self.current_obd_multiplexing:
@@ -225,7 +224,6 @@ class TestFwFingerprintTiming:
     return {}
 
   def _benchmark_brand(self, brand, num_pandas, mocker):
-    fake_socket = FakeSocket()
     self.total_time = 0
     mocker.patch("openpilot.selfdrive.car.isotp_parallel_query.IsoTpParallelQuery.get_data", self.fake_get_data)
     for _ in range(self.N):
@@ -233,7 +231,7 @@ class TestFwFingerprintTiming:
       self.current_obd_multiplexing = True
 
       t = time.perf_counter()
-      get_fw_versions(fake_socket, fake_socket, self.fake_set_obd_multiplexing, brand, num_pandas=num_pandas)
+      get_fw_versions(self.fake_can_recv, self.fake_can_send, self.fake_set_obd_multiplexing, brand, num_pandas=num_pandas)
       self.total_time += time.perf_counter() - t
 
     return self.total_time / self.N
@@ -251,12 +249,11 @@ class TestFwFingerprintTiming:
       self.total_time += timeout
       return set()
 
-    fake_socket = FakeSocket()
     self.total_time = 0.0
     mocker.patch("openpilot.selfdrive.car.fw_versions.get_ecu_addrs", fake_get_ecu_addrs)
     for _ in range(self.N):
       self.current_obd_multiplexing = True
-      get_present_ecus(fake_socket, fake_socket, self.fake_set_obd_multiplexing, num_pandas=2)
+      get_present_ecus(self.fake_can_recv, self.fake_can_send, self.fake_set_obd_multiplexing, num_pandas=2)
     self._assert_timing(self.total_time / self.N, present_ecu_ref_time)
     print(f'get_present_ecus, query time={self.total_time / self.N} seconds')
 
@@ -265,7 +262,7 @@ class TestFwFingerprintTiming:
         self.total_time = 0.0
         mocker.patch("openpilot.selfdrive.car.isotp_parallel_query.IsoTpParallelQuery.get_data", self.fake_get_data)
         for _ in range(self.N):
-          get_vin(fake_socket, fake_socket, (0, 1), **args)
+          get_vin(self.fake_can_recv, self.fake_can_send, (0, 1), **args)
         self._assert_timing(self.total_time / self.N, vin_ref_times[name])
         print(f'get_vin {name} case, query time={self.total_time / self.N} seconds')
 
@@ -324,8 +321,7 @@ class TestFwFingerprintTiming:
       raise
 
     mocker.patch("openpilot.selfdrive.car.carlog.exception", fake_carlog_exception)
-    fake_socket = FakeSocket()
-    get_fw_versions_ordered(fake_socket, fake_socket, lambda obd: None, '0' * 17, set())
+    get_fw_versions_ordered(self.fake_can_recv, self.fake_can_send, lambda obd: None, '0' * 17, set())
     for brand in FW_QUERY_CONFIGS.keys():
       with subtests.test(brand=brand):
-        get_fw_versions(fake_socket, fake_socket, lambda obd: None, brand)
+        get_fw_versions(self.fake_can_recv, self.fake_can_send, lambda obd: None, brand)
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index 22a80f359a..f57def0362 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -217,7 +217,7 @@ class TestCarModelBase(unittest.TestCase):
     CC = car.CarControl.new_message().as_reader()
 
     for i, msg in enumerate(self.can_msgs):
-      CS = self.CI.update(CC, (msg.as_builder().to_bytes(),))
+      CS = self.CI.update(CC, can_capnp_to_list((msg.as_builder().to_bytes(),)))
       self.CI.apply(CC, msg.logMonoTime)
 
       if CS.canValid:
@@ -358,7 +358,7 @@ class TestCarModelBase(unittest.TestCase):
       can = messaging.new_message('can', 1)
       can.can = [log.CanData(address=address, dat=dat, src=bus)]
 
-      CS = self.CI.update(CC, (can.to_bytes(),))
+      CS = self.CI.update(CC, can_capnp_to_list((can.to_bytes(),)))
 
       if self.safety.get_gas_pressed_prev() != prev_panda_gas:
         self.assertEqual(CS.gasPressed, self.safety.get_gas_pressed_prev())
@@ -397,7 +397,7 @@ class TestCarModelBase(unittest.TestCase):
 
     # warm up pass, as initial states may be different
     for can in self.can_msgs[:300]:
-      self.CI.update(CC, (can.as_builder().to_bytes(), ))
+      self.CI.update(CC, can_capnp_to_list((can.as_builder().to_bytes(), )))
       for msg in filter(lambda m: m.src in range(64), can.can):
         to_send = libpanda_py.make_CANPacket(msg.address, msg.src % 4, msg.dat)
         self.safety.safety_rx_hook(to_send)
@@ -407,7 +407,7 @@ class TestCarModelBase(unittest.TestCase):
     checks = defaultdict(int)
     card = Car(CI=self.CI)
     for idx, can in enumerate(self.can_msgs):
-      CS = self.CI.update(CC, (can.as_builder().to_bytes(), ))
+      CS = self.CI.update(CC, can_capnp_to_list((can.as_builder().to_bytes(), )))
       for msg in filter(lambda m: m.src in range(64), can.can):
         to_send = libpanda_py.make_CANPacket(msg.address, msg.src % 4, msg.dat)
         ret = self.safety.safety_rx_hook(to_send)
diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index f844b7dc44..8f7a7ed9dd 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -1,6 +1,7 @@
 from cereal import car
-from openpilot.common.numpy_fast import clip
-from openpilot.selfdrive.car import apply_meas_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance, make_can_msg, make_tester_present_msg
+from openpilot.selfdrive.car import apply_meas_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance, make_tester_present_msg
+from openpilot.selfdrive.car.can_definitions import CanData
+from openpilot.selfdrive.car.helpers import clip
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.car.toyota import toyotacan
 from openpilot.selfdrive.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_TIMER_CAR, TSS2_CAR, \
@@ -26,8 +27,8 @@ MAX_LTA_DRIVER_TORQUE_ALLOWANCE = 150  # slightly above steering pressed allows
 
 
 class CarController(CarControllerBase):
-  def __init__(self, dbc_name, CP, VM):
-    super().__init__(dbc_name, CP, VM)
+  def __init__(self, dbc_name, CP):
+    super().__init__(dbc_name, CP)
     self.params = CarControllerParams(self.CP)
     self.last_steer = 0
     self.last_angle = 0
@@ -161,7 +162,7 @@ class CarController(CarControllerBase):
     # *** static msgs ***
     for addr, cars, bus, fr_step, vl in STATIC_DSU_MSGS:
       if self.frame % fr_step == 0 and self.CP.enableDsu and self.CP.carFingerprint in cars:
-        can_sends.append(make_can_msg(addr, vl, bus))
+        can_sends.append(CanData(addr, vl, bus))
 
     # keep radar disabled
     if self.frame % 20 == 0 and self.CP.flags & ToyotaFlags.DISABLE_RADAR.value:
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index e02293da4e..6037585c90 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -1,12 +1,12 @@
 import copy
 
 from cereal import car
-from openpilot.common.conversions import Conversions as CV
-from openpilot.common.numpy_fast import mean
-from openpilot.common.filter_simple import FirstOrderFilter
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from openpilot.selfdrive.car import DT_CTRL
+from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.filter_simple import FirstOrderFilter
+from openpilot.selfdrive.car.helpers import mean
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from openpilot.selfdrive.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, \
                                                   TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 6487257bbc..5b2a075ce8 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -138,11 +138,11 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   @staticmethod
-  def init(CP, logcan, sendcan):
+  def init(CP, can_recv, can_send):
     # disable radar if alpha longitudinal toggled on radar-ACC car
     if CP.flags & ToyotaFlags.DISABLE_RADAR.value:
       communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, uds.CONTROL_TYPE.ENABLE_RX_DISABLE_TX, uds.MESSAGE_TYPE.NORMAL])
-      disable_ecu(logcan, sendcan, bus=0, addr=0x750, sub_addr=0xf, com_cont_req=communication_control)
+      disable_ecu(can_recv, can_send, bus=0, addr=0x750, sub_addr=0xf, com_cont_req=communication_control)
 
   # returns a car.CarState
   def _update(self, c):
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 8022e8b3ab..ca422c73ef 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -4,9 +4,8 @@ from dataclasses import dataclass, field
 from enum import Enum, IntFlag
 
 from cereal import car
-from openpilot.common.conversions import Conversions as CV
-from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms
-from openpilot.selfdrive.car import AngleRateLimit, dbc_dict
+from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms, AngleRateLimit, dbc_dict
+from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarDocs, Column, CarParts, CarHarness
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
diff --git a/selfdrive/car/vin.py b/selfdrive/car/vin.py
index 1d2033e791..9a667f3ced 100755
--- a/selfdrive/car/vin.py
+++ b/selfdrive/car/vin.py
@@ -14,7 +14,7 @@ def is_valid_vin(vin: str):
   return re.fullmatch(VIN_RE, vin) is not None
 
 
-def get_vin(logcan, sendcan, buses, timeout=0.1, retry=2, debug=False):
+def get_vin(can_recv, can_send, buses, timeout=0.1, retry=2, debug=False):
   for i in range(retry):
     for bus in buses:
       for request, response, valid_buses, vin_addrs, functional_addrs, rx_offset in (
@@ -34,7 +34,7 @@ def get_vin(logcan, sendcan, buses, timeout=0.1, retry=2, debug=False):
           tx_addrs = [a for a in range(0x700, 0x800) if a != 0x7DF] + list(range(0x18DA00F1, 0x18DB00F1, 0x100))
 
         try:
-          query = IsoTpParallelQuery(sendcan, logcan, bus, tx_addrs, [request, ], [response, ], response_offset=rx_offset,
+          query = IsoTpParallelQuery(can_send, can_recv, bus, tx_addrs, [request, ], [response, ], response_offset=rx_offset,
                                      functional_addrs=functional_addrs, debug=debug)
           results = query.get_data(timeout)
 
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
index 228900b6e9..4f8552b16a 100644
--- a/selfdrive/car/volkswagen/carcontroller.py
+++ b/selfdrive/car/volkswagen/carcontroller.py
@@ -1,8 +1,8 @@
 from cereal import car
 from opendbc.can.packer import CANPacker
-from openpilot.common.numpy_fast import clip
-from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits
+from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.helpers import clip
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.car.volkswagen import mqbcan, pqcan
 from openpilot.selfdrive.car.volkswagen.values import CANBUS, CarControllerParams, VolkswagenFlags
@@ -12,8 +12,8 @@ LongCtrlState = car.CarControl.Actuators.LongControlState
 
 
 class CarController(CarControllerBase):
-  def __init__(self, dbc_name, CP, VM):
-    super().__init__(dbc_name, CP, VM)
+  def __init__(self, dbc_name, CP):
+    super().__init__(dbc_name, CP)
     self.CCP = CarControllerParams(CP)
     self.CCS = pqcan if CP.flags & VolkswagenFlags.PQ else mqbcan
     self.packer_pt = CANPacker(dbc_name)
diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py
index ec6403496f..c53639a7dd 100644
--- a/selfdrive/car/volkswagen/carstate.py
+++ b/selfdrive/car/volkswagen/carstate.py
@@ -1,8 +1,8 @@
 import numpy as np
 from cereal import car
-from openpilot.common.conversions import Conversions as CV
-from openpilot.selfdrive.car.interfaces import CarStateBase
 from opendbc.can.parser import CANParser
+from openpilot.selfdrive.car.interfaces import CarStateBase
+from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.volkswagen.values import DBC, CANBUS, NetworkLocation, TransmissionType, GearShifter, \
                                             CarControllerParams, VolkswagenFlags
 
diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index 69dd63fefd..27816712f6 100644
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -5,8 +5,8 @@ from enum import Enum, IntFlag, StrEnum
 from cereal import car
 from panda.python import uds
 from opendbc.can.can_define import CANDefine
-from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car import dbc_dict, CarSpecs, DbcDict, PlatformConfig, Platforms
+from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column, \
                                                      Device
 from openpilot.selfdrive.car.fw_query_definitions import EcuAddrSubAddr, FwQueryConfig, Request, p16
diff --git a/selfdrive/pandad/SConscript b/selfdrive/pandad/SConscript
index dcc1f9811e..58777cafe9 100644
--- a/selfdrive/pandad/SConscript
+++ b/selfdrive/pandad/SConscript
@@ -3,7 +3,7 @@ Import('env', 'envCython', 'common', 'messaging')
 libs = ['usb-1.0', common, messaging, 'pthread']
 panda = env.Library('panda', ['panda.cc', 'panda_comms.cc', 'spi.cc'])
 
-env.Program('pandad', ['main.cc', 'pandad.cc'], LIBS=[panda] + libs)
+env.Program('pandad', ['main.cc', 'pandad.cc', 'panda_safety.cc'], LIBS=[panda] + libs)
 env.Library('libcan_list_to_can_capnp', ['can_list_to_can_capnp.cc'])
 
 pandad_python = envCython.Program('pandad_api_impl.so', 'pandad_api_impl.pyx', LIBS=["can_list_to_can_capnp", 'capnp', 'kj'] + envCython["LIBS"])
diff --git a/selfdrive/pandad/panda_safety.cc b/selfdrive/pandad/panda_safety.cc
new file mode 100644
index 0000000000..1d0f72f223
--- /dev/null
+++ b/selfdrive/pandad/panda_safety.cc
@@ -0,0 +1,79 @@
+#include "selfdrive/pandad/pandad.h"
+#include "cereal/messaging/messaging.h"
+#include "common/swaglog.h"
+
+void PandaSafety::configureSafetyMode() {
+  bool is_onroad = params_.getBool("IsOnroad");
+
+  if (is_onroad && !safety_configured_) {
+    updateMultiplexingMode();
+
+    auto car_params = fetchCarParams();
+    if (!car_params.empty()) {
+      LOGW("got %lu bytes CarParams", car_params.size());
+      setSafetyMode(car_params);
+      safety_configured_ = true;
+    }
+  } else if (!is_onroad) {
+    initialized_ = false;
+    safety_configured_ = false;
+  }
+}
+
+void PandaSafety::updateMultiplexingMode() {
+  // Initialize to ELM327 without OBD multiplexing for initial fingerprinting
+  if (!initialized_) {
+    prev_obd_multiplexing_ = false;
+    for (int i = 0; i < pandas_.size(); ++i) {
+      pandas_[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, 1U);
+    }
+    initialized_ = true;
+  }
+
+  // Switch between multiplexing modes based on the OBD multiplexing request
+  bool obd_multiplexing_requested = params_.getBool("ObdMultiplexingEnabled");
+  if (obd_multiplexing_requested != prev_obd_multiplexing_) {
+    for (int i = 0; i < pandas_.size(); ++i) {
+      const uint16_t safety_param = (i > 0 || !obd_multiplexing_requested) ? 1U : 0U;
+      pandas_[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, safety_param);
+    }
+    prev_obd_multiplexing_ = obd_multiplexing_requested;
+    params_.putBool("ObdMultiplexingChanged", true);
+  }
+}
+
+std::string PandaSafety::fetchCarParams() {
+  if (!params_.getBool("FirmwareQueryDone")) {
+    return {};
+  }
+  LOGW("Finished FW query");
+
+  LOGW("Waiting for params to set safety model");
+  if (!params_.getBool("ControlsReady")) {
+    return {};
+  }
+  return params_.get("CarParams");
+}
+
+void PandaSafety::setSafetyMode(const std::string &params_string) {
+  AlignedBuffer aligned_buf;
+  capnp::FlatArrayMessageReader cmsg(aligned_buf.align(params_string.data(), params_string.size()));
+  cereal::CarParams::Reader car_params = cmsg.getRoot<cereal::CarParams>();
+
+  auto safety_configs = car_params.getSafetyConfigs();
+  uint16_t alternative_experience = car_params.getAlternativeExperience();
+
+  for (int i = 0; i < pandas_.size(); ++i) {
+    // Default to SILENT safety model if not specified
+    cereal::CarParams::SafetyModel safety_model = cereal::CarParams::SafetyModel::SILENT;
+    uint16_t safety_param = 0U;
+    if (i < safety_configs.size()) {
+      safety_model = safety_configs[i].getSafetyModel();
+      safety_param = safety_configs[i].getSafetyParam();
+    }
+
+    LOGW("Panda %d: setting safety model: %d, param: %d, alternative experience: %d", i, (int)safety_model, safety_param, alternative_experience);
+    pandas_[i]->set_alternative_experience(alternative_experience);
+    pandas_[i]->set_safety_model(safety_model, safety_param);
+  }
+}
diff --git a/selfdrive/pandad/pandad.cc b/selfdrive/pandad/pandad.cc
index 3fc89569c1..71bbd20dad 100644
--- a/selfdrive/pandad/pandad.cc
+++ b/selfdrive/pandad/pandad.cc
@@ -2,18 +2,15 @@
 
 #include <algorithm>
 #include <array>
-#include <atomic>
 #include <bitset>
 #include <cassert>
 #include <cerrno>
-#include <chrono>
-#include <future>
 #include <memory>
 #include <thread>
+#include <utility>
 
 #include "cereal/gen/cpp/car.capnp.h"
 #include "cereal/messaging/messaging.h"
-#include "common/params.h"
 #include "common/ratekeeper.h"
 #include "common/swaglog.h"
 #include "common/timing.h"
@@ -43,9 +40,6 @@
 #define MIN_IR_POWER 0.0f
 #define CUTOFF_IL 400
 #define SATURATE_IL 1000
-using namespace std::chrono_literals;
-
-std::atomic<bool> ignition(false);
 
 ExitHandler do_exit;
 
@@ -59,88 +53,6 @@ bool check_all_connected(const std::vector<Panda *> &pandas) {
   return true;
 }
 
-bool safety_setter_thread(std::vector<Panda *> pandas) {
-  LOGD("Starting safety setter thread");
-
-  Params p;
-
-  // there should be at least one panda connected
-  if (pandas.size() == 0) {
-    return false;
-  }
-
-  // initialize to ELM327 without OBD multiplexing for fingerprinting
-  bool obd_multiplexing_enabled = false;
-  for (int i = 0; i < pandas.size(); i++) {
-    pandas[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, 1U);
-  }
-
-  // openpilot can switch between multiplexing modes for different FW queries
-  while (true) {
-    if (do_exit || !check_all_connected(pandas) || !ignition) {
-      return false;
-    }
-
-    bool obd_multiplexing_requested = p.getBool("ObdMultiplexingEnabled");
-    if (obd_multiplexing_requested != obd_multiplexing_enabled) {
-      for (int i = 0; i < pandas.size(); i++) {
-        const uint16_t safety_param = (i > 0 || !obd_multiplexing_requested) ? 1U : 0U;
-        pandas[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, safety_param);
-      }
-      obd_multiplexing_enabled = obd_multiplexing_requested;
-      p.putBool("ObdMultiplexingChanged", true);
-    }
-
-    if (p.getBool("FirmwareQueryDone")) {
-      LOGW("finished FW query");
-      break;
-    }
-    util::sleep_for(20);
-  }
-
-  std::string params;
-  LOGW("waiting for params to set safety model");
-  while (true) {
-    if (do_exit || !check_all_connected(pandas) || !ignition) {
-      return false;
-    }
-
-    if (p.getBool("ControlsReady")) {
-      params = p.get("CarParams");
-      if (params.size() > 0) break;
-    }
-    util::sleep_for(100);
-  }
-  LOGW("got %lu bytes CarParams", params.size());
-
-  AlignedBuffer aligned_buf;
-  capnp::FlatArrayMessageReader cmsg(aligned_buf.align(params.data(), params.size()));
-  cereal::CarParams::Reader car_params = cmsg.getRoot<cereal::CarParams>();
-  cereal::CarParams::SafetyModel safety_model;
-  uint16_t safety_param;
-
-  auto safety_configs = car_params.getSafetyConfigs();
-  uint16_t alternative_experience = car_params.getAlternativeExperience();
-  for (uint32_t i = 0; i < pandas.size(); i++) {
-    auto panda = pandas[i];
-
-    if (safety_configs.size() > i) {
-      safety_model = safety_configs[i].getSafetyModel();
-      safety_param = safety_configs[i].getSafetyParam();
-    } else {
-      // If no safety mode is specified, default to silent
-      safety_model = cereal::CarParams::SafetyModel::SILENT;
-      safety_param = 0U;
-    }
-
-    LOGW("panda %d: setting safety model: %d, param: %d, alternative experience: %d", i, (int)safety_model, safety_param, alternative_experience);
-    panda->set_alternative_experience(alternative_experience);
-    panda->set_safety_model(safety_model, safety_param);
-  }
-
-  return true;
-}
-
 Panda *connect(std::string serial="", uint32_t index=0) {
   std::unique_ptr<Panda> panda;
   try {
@@ -197,16 +109,9 @@ void can_send_thread(std::vector<Panda *> pandas, bool fake_send) {
   }
 }
 
-void can_recv_thread(std::vector<Panda *> pandas) {
-  util::set_thread_name("pandad_can_recv");
-
-  PubMaster pm({"can"});
-
-  // run at 100Hz
-  RateKeeper rk("pandad_can_recv", 100);
-  std::vector<can_frame> raw_can_data;
-
-  while (!do_exit && check_all_connected(pandas)) {
+void can_recv(std::vector<Panda *> &pandas, PubMaster *pm) {
+  static std::vector<can_frame> raw_can_data;
+  {
     bool comms_healthy = true;
     raw_can_data.clear();
     for (const auto& panda : pandas) {
@@ -217,17 +122,71 @@ void can_recv_thread(std::vector<Panda *> pandas) {
     auto evt = msg.initEvent();
     evt.setValid(comms_healthy);
     auto canData = evt.initCan(raw_can_data.size());
-    for (uint i = 0; i<raw_can_data.size(); i++) {
+    for (size_t i = 0; i < raw_can_data.size(); ++i) {
       canData[i].setAddress(raw_can_data[i].address);
       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);
     }
-    pm.send("can", msg);
-
-    rk.keepTime();
+    pm->send("can", msg);
   }
 }
 
+void fill_panda_state(cereal::PandaState::Builder &ps, cereal::PandaState::PandaType hw_type, const health_t &health) {
+  ps.setVoltage(health.voltage_pkt);
+  ps.setCurrent(health.current_pkt);
+  ps.setUptime(health.uptime_pkt);
+  ps.setSafetyTxBlocked(health.safety_tx_blocked_pkt);
+  ps.setSafetyRxInvalid(health.safety_rx_invalid_pkt);
+  ps.setIgnitionLine(health.ignition_line_pkt);
+  ps.setIgnitionCan(health.ignition_can_pkt);
+  ps.setControlsAllowed(health.controls_allowed_pkt);
+  ps.setTxBufferOverflow(health.tx_buffer_overflow_pkt);
+  ps.setRxBufferOverflow(health.rx_buffer_overflow_pkt);
+  ps.setPandaType(hw_type);
+  ps.setSafetyModel(cereal::CarParams::SafetyModel(health.safety_mode_pkt));
+  ps.setSafetyParam(health.safety_param_pkt);
+  ps.setFaultStatus(cereal::PandaState::FaultStatus(health.fault_status_pkt));
+  ps.setPowerSaveEnabled((bool)(health.power_save_enabled_pkt));
+  ps.setHeartbeatLost((bool)(health.heartbeat_lost_pkt));
+  ps.setAlternativeExperience(health.alternative_experience_pkt);
+  ps.setHarnessStatus(cereal::PandaState::HarnessStatus(health.car_harness_status_pkt));
+  ps.setInterruptLoad(health.interrupt_load_pkt);
+  ps.setFanPower(health.fan_power);
+  ps.setFanStallCount(health.fan_stall_count);
+  ps.setSafetyRxChecksInvalid((bool)(health.safety_rx_checks_invalid_pkt));
+  ps.setSpiChecksumErrorCount(health.spi_checksum_error_count_pkt);
+  ps.setSbu1Voltage(health.sbu1_voltage_mV / 1000.0f);
+  ps.setSbu2Voltage(health.sbu2_voltage_mV / 1000.0f);
+}
+
+void fill_panda_can_state(cereal::PandaState::PandaCanState::Builder &cs, const can_health_t &can_health) {
+  cs.setBusOff((bool)can_health.bus_off);
+  cs.setBusOffCnt(can_health.bus_off_cnt);
+  cs.setErrorWarning((bool)can_health.error_warning);
+  cs.setErrorPassive((bool)can_health.error_passive);
+  cs.setLastError(cereal::PandaState::PandaCanState::LecErrorCode(can_health.last_error));
+  cs.setLastStoredError(cereal::PandaState::PandaCanState::LecErrorCode(can_health.last_stored_error));
+  cs.setLastDataError(cereal::PandaState::PandaCanState::LecErrorCode(can_health.last_data_error));
+  cs.setLastDataStoredError(cereal::PandaState::PandaCanState::LecErrorCode(can_health.last_data_stored_error));
+  cs.setReceiveErrorCnt(can_health.receive_error_cnt);
+  cs.setTransmitErrorCnt(can_health.transmit_error_cnt);
+  cs.setTotalErrorCnt(can_health.total_error_cnt);
+  cs.setTotalTxLostCnt(can_health.total_tx_lost_cnt);
+  cs.setTotalRxLostCnt(can_health.total_rx_lost_cnt);
+  cs.setTotalTxCnt(can_health.total_tx_cnt);
+  cs.setTotalRxCnt(can_health.total_rx_cnt);
+  cs.setTotalFwdCnt(can_health.total_fwd_cnt);
+  cs.setCanSpeed(can_health.can_speed);
+  cs.setCanDataSpeed(can_health.can_data_speed);
+  cs.setCanfdEnabled(can_health.canfd_enabled);
+  cs.setBrsEnabled(can_health.brs_enabled);
+  cs.setCanfdNonIso(can_health.canfd_non_iso);
+  cs.setIrq0CallRate(can_health.irq0_call_rate);
+  cs.setIrq1CallRate(can_health.irq1_call_rate);
+  cs.setIrq2CallRate(can_health.irq2_call_rate);
+  cs.setCanCoreResetCnt(can_health.can_core_reset_cnt);
+}
+
 std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *> &pandas, bool spoofing_started) {
   bool ignition_local = false;
   const uint32_t pandas_cnt = pandas.size();
@@ -305,61 +264,11 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
     }
 
     auto ps = pss[i];
-    ps.setVoltage(health.voltage_pkt);
-    ps.setCurrent(health.current_pkt);
-    ps.setUptime(health.uptime_pkt);
-    ps.setSafetyTxBlocked(health.safety_tx_blocked_pkt);
-    ps.setSafetyRxInvalid(health.safety_rx_invalid_pkt);
-    ps.setIgnitionLine(health.ignition_line_pkt);
-    ps.setIgnitionCan(health.ignition_can_pkt);
-    ps.setControlsAllowed(health.controls_allowed_pkt);
-    ps.setTxBufferOverflow(health.tx_buffer_overflow_pkt);
-    ps.setRxBufferOverflow(health.rx_buffer_overflow_pkt);
-    ps.setPandaType(panda->hw_type);
-    ps.setSafetyModel(cereal::CarParams::SafetyModel(health.safety_mode_pkt));
-    ps.setSafetyParam(health.safety_param_pkt);
-    ps.setFaultStatus(cereal::PandaState::FaultStatus(health.fault_status_pkt));
-    ps.setPowerSaveEnabled((bool)(health.power_save_enabled_pkt));
-    ps.setHeartbeatLost((bool)(health.heartbeat_lost_pkt));
-    ps.setAlternativeExperience(health.alternative_experience_pkt);
-    ps.setHarnessStatus(cereal::PandaState::HarnessStatus(health.car_harness_status_pkt));
-    ps.setInterruptLoad(health.interrupt_load_pkt);
-    ps.setFanPower(health.fan_power);
-    ps.setFanStallCount(health.fan_stall_count);
-    ps.setSafetyRxChecksInvalid((bool)(health.safety_rx_checks_invalid_pkt));
-    ps.setSpiChecksumErrorCount(health.spi_checksum_error_count_pkt);
-    ps.setSbu1Voltage(health.sbu1_voltage_mV / 1000.0f);
-    ps.setSbu2Voltage(health.sbu2_voltage_mV / 1000.0f);
-
-    std::array<cereal::PandaState::PandaCanState::Builder, PANDA_CAN_CNT> cs = {ps.initCanState0(), ps.initCanState1(), ps.initCanState2()};
+    fill_panda_state(ps, panda->hw_type, health);
 
+    auto cs = std::array{ps.initCanState0(), ps.initCanState1(), ps.initCanState2()};
     for (uint32_t j = 0; j < PANDA_CAN_CNT; j++) {
-      const auto &can_health = pandaCanStates[i][j];
-      cs[j].setBusOff((bool)can_health.bus_off);
-      cs[j].setBusOffCnt(can_health.bus_off_cnt);
-      cs[j].setErrorWarning((bool)can_health.error_warning);
-      cs[j].setErrorPassive((bool)can_health.error_passive);
-      cs[j].setLastError(cereal::PandaState::PandaCanState::LecErrorCode(can_health.last_error));
-      cs[j].setLastStoredError(cereal::PandaState::PandaCanState::LecErrorCode(can_health.last_stored_error));
-      cs[j].setLastDataError(cereal::PandaState::PandaCanState::LecErrorCode(can_health.last_data_error));
-      cs[j].setLastDataStoredError(cereal::PandaState::PandaCanState::LecErrorCode(can_health.last_data_stored_error));
-      cs[j].setReceiveErrorCnt(can_health.receive_error_cnt);
-      cs[j].setTransmitErrorCnt(can_health.transmit_error_cnt);
-      cs[j].setTotalErrorCnt(can_health.total_error_cnt);
-      cs[j].setTotalTxLostCnt(can_health.total_tx_lost_cnt);
-      cs[j].setTotalRxLostCnt(can_health.total_rx_lost_cnt);
-      cs[j].setTotalTxCnt(can_health.total_tx_cnt);
-      cs[j].setTotalRxCnt(can_health.total_rx_cnt);
-      cs[j].setTotalFwdCnt(can_health.total_fwd_cnt);
-      cs[j].setCanSpeed(can_health.can_speed);
-      cs[j].setCanDataSpeed(can_health.can_data_speed);
-      cs[j].setCanfdEnabled(can_health.canfd_enabled);
-      cs[j].setBrsEnabled(can_health.brs_enabled);
-      cs[j].setCanfdNonIso(can_health.canfd_non_iso);
-      cs[j].setIrq0CallRate(can_health.irq0_call_rate);
-      cs[j].setIrq1CallRate(can_health.irq1_call_rate);
-      cs[j].setIrq2CallRate(can_health.irq2_call_rate);
-      cs[j].setCanCoreResetCnt(can_health.can_core_reset_cnt);
+      fill_panda_can_state(cs[j], pandaCanStates[i][j]);
     }
 
     // Convert faults bitset to capnp list
@@ -380,7 +289,7 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
   return ignition_local;
 }
 
-void send_peripheral_state(PubMaster *pm, Panda *panda) {
+void send_peripheral_state(Panda *panda, PubMaster *pm) {
   // build msg
   MessageBuilder msg;
   auto evt = msg.initEvent();
@@ -403,46 +312,23 @@ void send_peripheral_state(PubMaster *pm, Panda *panda) {
   pm->send("peripheralState", msg);
 }
 
-void panda_state_thread(std::vector<Panda *> pandas, bool spoofing_started) {
-  util::set_thread_name("pandad_panda_state");
-
-  Params params;
-  SubMaster sm({"controlsState"});
-  PubMaster pm({"pandaStates", "peripheralState"});
-
-  Panda *peripheral_panda = pandas[0];
-  bool is_onroad = false;
-  bool is_onroad_last = false;
-  std::future<bool> safety_future;
+void process_panda_state(std::vector<Panda *> &pandas, PubMaster *pm, bool spoofing_started) {
+  static SubMaster sm({"controlsState"});
 
   std::vector<std::string> connected_serials;
   for (Panda *p : pandas) {
     connected_serials.push_back(p->hw_serial());
   }
 
-  LOGD("start panda state thread");
-
-  // run at 10hz
-  RateKeeper rk("panda_state_thread", 10);
-
-  while (!do_exit && check_all_connected(pandas)) {
-    // send out peripheralState at 2Hz
-    if (sm.frame % 5 == 0) {
-      send_peripheral_state(&pm, peripheral_panda);
-    }
-
-    auto ignition_opt = send_panda_states(&pm, pandas, spoofing_started);
-
+  {
+    auto ignition_opt = send_panda_states(pm, pandas, spoofing_started);
     if (!ignition_opt) {
       LOGE("Failed to get ignition_opt");
-      rk.keepTime();
-      continue;
+      return;
     }
 
-    ignition = *ignition_opt;
-
     // check if we should have pandad reconnect
-    if (!ignition) {
+    if (!ignition_opt.value()) {
       bool comms_healthy = true;
       for (const auto &panda : pandas) {
         comms_healthy &= panda->comms_healthy();
@@ -462,52 +348,28 @@ void panda_state_thread(std::vector<Panda *> pandas, bool spoofing_started) {
           }
         }
       }
-
-      if (do_exit) {
-        break;
-      }
     }
 
-    is_onroad = params.getBool("IsOnroad");
-
-    // set new safety on onroad transition, after params are cleared
-    if (is_onroad && !is_onroad_last) {
-      if (!safety_future.valid() || safety_future.wait_for(0ms) == std::future_status::ready) {
-        safety_future = std::async(std::launch::async, safety_setter_thread, pandas);
-      } else {
-        LOGW("Safety setter thread already running");
-      }
-    }
-
-    is_onroad_last = is_onroad;
-
     sm.update(0);
     const bool engaged = sm.allAliveAndValid({"controlsState"}) && sm["controlsState"].getControlsState().getEnabled();
-
     for (const auto &panda : pandas) {
       panda->send_heartbeat(engaged);
     }
-
-    rk.keepTime();
   }
 }
 
+void process_peripheral_state(Panda *panda, PubMaster *pm, bool no_fan_control) {
+  static SubMaster sm({"deviceState", "driverCameraState"});
 
-void peripheral_control_thread(Panda *panda, bool no_fan_control) {
-  util::set_thread_name("pandad_peripheral_control");
-
-  SubMaster sm({"deviceState", "driverCameraState"});
-
-  uint64_t last_driver_camera_t = 0;
-  uint16_t prev_fan_speed = 999;
-  uint16_t ir_pwr = 0;
-  uint16_t prev_ir_pwr = 999;
-
-  FirstOrderFilter integ_lines_filter(0, 30.0, 0.05);
+  static uint64_t last_driver_camera_t = 0;
+  static uint16_t prev_fan_speed = 999;
+  static uint16_t ir_pwr = 0;
+  static uint16_t prev_ir_pwr = 999;
 
-  while (!do_exit && panda->connected()) {
-    sm.update(1000);
+  static FirstOrderFilter integ_lines_filter(0, 30.0, 0.05);
 
+  {
+    sm.update(0);
     if (sm.updated("deviceState") && !no_fan_control) {
       // Fan speed
       uint16_t fan_speed = sm["deviceState"].getDeviceState().getFanSpeedPercentDesired();
@@ -545,9 +407,46 @@ void peripheral_control_thread(Panda *panda, bool no_fan_control) {
   }
 }
 
-void pandad_main_thread(std::vector<std::string> serials) {
-  LOGW("launching pandad");
+void pandad_run(std::vector<Panda *> &pandas) {
+  const bool no_fan_control = getenv("NO_FAN_CONTROL") != nullptr;
+  const bool spoofing_started = getenv("STARTED") != nullptr;
+  const bool fake_send = getenv("FAKESEND") != nullptr;
+
+  // Start the CAN send thread
+  std::thread send_thread(can_send_thread, pandas, fake_send);
+
+  RateKeeper rk("pandad", 100);
+  PubMaster pm({"can", "pandaStates", "peripheralState"});
+  PandaSafety panda_safety(pandas);
+  Panda *peripheral_panda = pandas[0];
+
+  // Main loop: receive CAN data and process states
+  while (!do_exit && check_all_connected(pandas)) {
+    can_recv(pandas, &pm);
+
+    // Process peripheral state at 20 Hz
+    if (rk.frame() % 5 == 0) {
+      process_peripheral_state(peripheral_panda, &pm, no_fan_control);
+    }
 
+    // Process panda state at 10 Hz
+    if (rk.frame() % 10 == 0) {
+      process_panda_state(pandas, &pm, spoofing_started);
+      panda_safety.configureSafetyMode();
+    }
+
+    // Send out peripheralState at 2Hz
+    if (rk.frame() % 50 == 0) {
+      send_peripheral_state(peripheral_panda, &pm);
+    }
+
+    rk.keepTime();
+  }
+
+  send_thread.join();
+}
+
+void pandad_main_thread(std::vector<std::string> serials) {
   if (serials.size() == 0) {
     serials = Panda::list();
 
@@ -579,16 +478,7 @@ void pandad_main_thread(std::vector<std::string> serials) {
 
   if (!do_exit) {
     LOGW("connected to all pandas");
-
-    std::vector<std::thread> threads;
-
-    threads.emplace_back(panda_state_thread, pandas, getenv("STARTED") != nullptr);
-    threads.emplace_back(peripheral_control_thread, pandas[0], getenv("NO_FAN_CONTROL") != nullptr);
-
-    threads.emplace_back(can_send_thread, pandas, getenv("FAKESEND") != nullptr);
-    threads.emplace_back(can_recv_thread, pandas);
-
-    for (auto &t : threads) t.join();
+    pandad_run(pandas);
   }
 
   for (Panda *panda : pandas) {
diff --git a/selfdrive/pandad/pandad.h b/selfdrive/pandad/pandad.h
index 9d35949a8f..14d97551f4 100644
--- a/selfdrive/pandad/pandad.h
+++ b/selfdrive/pandad/pandad.h
@@ -3,7 +3,24 @@
 #include <string>
 #include <vector>
 
+#include "common/params.h"
 #include "selfdrive/pandad/panda.h"
 
-bool safety_setter_thread(std::vector<Panda *> pandas);
 void pandad_main_thread(std::vector<std::string> serials);
+
+class PandaSafety {
+public:
+  PandaSafety(const std::vector<Panda *> &pandas) : pandas_(pandas) {}
+  void configureSafetyMode();
+
+private:
+  void updateMultiplexingMode();
+  std::string fetchCarParams();
+  void setSafetyMode(const std::string &params_string);
+
+  bool initialized_ = false;
+  bool safety_configured_ = false;
+  bool prev_obd_multiplexing_ = false;
+  std::vector<Panda *> pandas_;
+  Params params_;
+};
diff --git a/selfdrive/pandad/pandad_api_impl.pyx b/selfdrive/pandad/pandad_api_impl.pyx
index 8a12e1c433..787968f53e 100644
--- a/selfdrive/pandad/pandad_api_impl.pyx
+++ b/selfdrive/pandad/pandad_api_impl.pyx
@@ -50,7 +50,7 @@ def can_capnp_to_list(strings, msgtype='can'):
   cdef vector[CanData].iterator it = data.begin()
   while it != data.end():
     d = &deref(it)
-    frames = [[f.address, (<char *>&f.dat[0])[:f.dat.size()], f.src] for f in d.frames]
-    result.append([d.nanos, frames])
+    frames = [(f.address, (<char *>&f.dat[0])[:f.dat.size()], f.src) for f in d.frames]
+    result.append((d.nanos, frames))
     preinc(it)
   return result
diff --git a/selfdrive/pandad/tests/test_pandad_loopback.py b/selfdrive/pandad/tests/test_pandad_loopback.py
index d2b6d047d5..3f0926662c 100644
--- a/selfdrive/pandad/tests/test_pandad_loopback.py
+++ b/selfdrive/pandad/tests/test_pandad_loopback.py
@@ -12,7 +12,7 @@ from openpilot.common.retry import retry
 from openpilot.common.params import Params
 from openpilot.common.timeout import Timeout
 from openpilot.selfdrive.pandad import can_list_to_can_capnp
-from openpilot.selfdrive.car import make_can_msg
+from openpilot.selfdrive.car.can_definitions import CanData
 from openpilot.system.hardware import TICI
 from openpilot.selfdrive.test.helpers import phone_only, with_processes
 
@@ -60,7 +60,7 @@ def send_random_can_messages(sendcan, count, num_pandas=1):
       if (addr, dat) in sent_msgs[bus]:
         continue
       sent_msgs[bus].add((addr, dat))
-      to_send.append(make_can_msg(addr, dat, bus))
+      to_send.append(CanData(addr, dat, bus))
     sendcan.send(can_list_to_can_capnp(to_send, msgtype='sendcan'))
   return sent_msgs
 
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 609da3967a..055293f16f 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -22,6 +22,7 @@ from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.common.timeout import Timeout
 from openpilot.common.realtime import DT_CTRL
 from panda.python import ALTERNATIVE_EXPERIENCE
+from openpilot.selfdrive.car.card import can_comm_callbacks
 from openpilot.selfdrive.car.car_helpers import get_car, interfaces
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state, available_streams
@@ -335,7 +336,7 @@ def card_fingerprint_callback(rc, pm, msgs, fingerprint):
 
     m = canmsgs.pop(0)
     rc.send_sync(pm, "can", m.as_builder().to_bytes())
-    rc.wait_for_next_recv(False)
+    rc.wait_for_next_recv(True)
 
 
 def get_car_params_callback(rc, pm, msgs, fingerprint):
@@ -356,7 +357,8 @@ def get_car_params_callback(rc, pm, msgs, fingerprint):
 
     for m in canmsgs[:300]:
       can.send(m.as_builder().to_bytes())
-    CP = get_car(can, sendcan, lambda obd: None, Params().get_bool("ExperimentalLongitudinalEnabled"), cached_params=cached_params).CP
+    can_callbacks = can_comm_callbacks(can, sendcan)
+    CP = get_car(*can_callbacks, lambda obd: None, Params().get_bool("ExperimentalLongitudinalEnabled"), cached_params=cached_params).CP
 
     if not params.get_bool("DisengageOnAccelerator"):
       CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
diff --git a/system/sensord/sensors/bmx055_magn.cc b/system/sensord/sensors/bmx055_magn.cc
index 3d0d3d2fc6..223f0337e8 100644
--- a/system/sensord/sensors/bmx055_magn.cc
+++ b/system/sensord/sensors/bmx055_magn.cc
@@ -78,7 +78,7 @@ int BMX055_Magn::init() {
   // suspend -> sleep
   int ret = set_register(BMX055_MAGN_I2C_REG_PWR_0, 0x01);
   if (ret < 0) {
-    LOGE("Enabling power failed: %d", ret);
+    LOGW("Enabling power failed: %d", ret);
     goto fail;
   }
   util::sleep_for(5); // wait until the chip is powered on
diff --git a/system/sensord/sensors/i2c_sensor.h b/system/sensord/sensors/i2c_sensor.h
index ba100c3b01..6082510083 100644
--- a/system/sensord/sensors/i2c_sensor.h
+++ b/system/sensord/sensors/i2c_sensor.h
@@ -39,7 +39,7 @@ public:
     uint8_t chip_id = 0;
     int ret = read_register(address, &chip_id, 1);
     if (ret < 0) {
-      LOGE("Reading chip ID failed: %d", ret);
+      LOGW("Reading chip ID failed: %d", ret);
       return -1;
     }
     for (int i = 0; i < expected_ids.size(); ++i) {
diff --git a/uv.lock b/uv.lock
index bca0895ebf..b5a734f300 100644
--- a/uv.lock
+++ b/uv.lock
@@ -1454,6 +1454,7 @@ testing = [
     { name = "hypothesis", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
     { name = "import-linter", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
     { name = "mypy", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
+    { name = "pre-commit-hooks", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
     { name = "pytest", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
     { name = "pytest-asyncio", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
     { name = "pytest-cov", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
@@ -1637,6 +1638,18 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/9b/fb/a70a4214956182e0d7a9099ab17d50bfcba1056188e9b14f35b9e2b62a0d/portalocker-2.10.1-py3-none-any.whl", hash = "sha256:53a5984ebc86a025552264b459b46a2086e269b21823cb572f8f28ee759e45bf", size = 18423 },
 ]
 
+[[distribution]]
+name = "pre-commit-hooks"
+version = "4.6.0"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
+    { name = "ruamel-yaml", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
+]
+sdist = { url = "https://files.pythonhosted.org/packages/83/0d/b4e97cd99b26c0cd8265c9f19ee7e55248142f0c9955e4d119de96fa4a13/pre_commit_hooks-4.6.0.tar.gz", hash = "sha256:eb1f43ee67869cd41b4c59017fad4a0f9d4d61201d163f2135535aaf65035a2b", size = 29579 }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/95/d8/d09b270248bc2441f966dd094a3de8ae813112d2687036f621202bdef80b/pre_commit_hooks-4.6.0-py2.py3-none-any.whl", hash = "sha256:a69199e6a2d45ec59c1020a81ca1549abddc2afb798276d9a0d951752d6abbfe", size = 41193 },
+]
+
 [[distribution]]
 name = "progressbar"
 version = "2.5"
@@ -4882,6 +4895,42 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/8c/28/92423fe9673b738c180fb5b6b8ea4203fe4b02c1d20b06b7fae79d11cc24/rerun_sdk-0.17.0-cp38-abi3-win_amd64.whl", hash = "sha256:34e5595a326cbdddfebdf00b08e877358c564fce74cc8c6d617fc89ef3a6aa70", size = 29490986 },
 ]
 
+[[distribution]]
+name = "ruamel-yaml"
+version = "0.18.6"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
+    { name = "ruamel-yaml-clib", marker = "python_version < '3.13' and platform_python_implementation == 'CPython'" },
+]
+sdist = { url = "https://files.pythonhosted.org/packages/29/81/4dfc17eb6ebb1aac314a3eb863c1325b907863a1b8b1382cdffcb6ac0ed9/ruamel.yaml-0.18.6.tar.gz", hash = "sha256:8b27e6a217e786c6fbe5634d8f3f11bc63e0f80f6a5890f28863d9c45aac311b", size = 143362 }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/73/67/8ece580cc363331d9a53055130f86b096bf16e38156e33b1d3014fffda6b/ruamel.yaml-0.18.6-py3-none-any.whl", hash = "sha256:57b53ba33def16c4f3d807c0ccbc00f8a6081827e81ba2491691b76882d0c636", size = 117761 },
+]
+
+[[distribution]]
+name = "ruamel-yaml-clib"
+version = "0.2.8"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/46/ab/bab9eb1566cd16f060b54055dd39cf6a34bfa0240c53a7218c43e974295b/ruamel.yaml.clib-0.2.8.tar.gz", hash = "sha256:beb2e0404003de9a4cab9753a8805a8fe9320ee6673136ed7f04255fe60bb512", size = 213824 }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/b1/15/971b385c098e8d0d170893f5ba558452bb7b776a0c90658b8f4dd0e3382b/ruamel.yaml.clib-0.2.8-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:bef08cd86169d9eafb3ccb0a39edb11d8e25f3dae2b28f5c52fd997521133069", size = 148870 },
+    { url = "https://files.pythonhosted.org/packages/01/b0/4ddef56e9f703d7909febc3a421d709a3482cda25826816ec595b73e3847/ruamel.yaml.clib-0.2.8-cp311-cp311-macosx_13_0_arm64.whl", hash = "sha256:b16420e621d26fdfa949a8b4b47ade8810c56002f5389970db4ddda51dbff248", size = 134475 },
+    { url = "https://files.pythonhosted.org/packages/a4/f7/22d6b620ed895a05d40802d8281eff924dc6190f682d933d4efff60db3b5/ruamel.yaml.clib-0.2.8-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:25c515e350e5b739842fc3228d662413ef28f295791af5e5110b543cf0b57d9b", size = 544020 },
+    { url = "https://files.pythonhosted.org/packages/7c/e4/0d19d65e340f93df1c47f323d95fa4b256bb28320290f5fddef90837853a/ruamel.yaml.clib-0.2.8-cp311-cp311-manylinux_2_24_aarch64.whl", hash = "sha256:1707814f0d9791df063f8c19bb51b0d1278b8e9a2353abbb676c2f685dee6afe", size = 642643 },
+    { url = "https://files.pythonhosted.org/packages/c9/ff/f781eb5e2ae011e586d5426e2086a011cf1e0f59704a6cad1387975c5a62/ruamel.yaml.clib-0.2.8-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:46d378daaac94f454b3a0e3d8d78cafd78a026b1d71443f4966c696b48a6d899", size = 695832 },
+    { url = "https://files.pythonhosted.org/packages/e3/41/f62e67ac651358b8f0d60cfb12ab2daf99b1b69eeaa188d0cec809d943a6/ruamel.yaml.clib-0.2.8-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:09b055c05697b38ecacb7ac50bdab2240bfca1a0c4872b0fd309bb07dc9aa3a9", size = 730923 },
+    { url = "https://files.pythonhosted.org/packages/9f/f0/19ab8acbf983cd1b37f47d27ceb8b10a738d60d36316a54bad57e0d73fbb/ruamel.yaml.clib-0.2.8-cp311-cp311-win32.whl", hash = "sha256:53a300ed9cea38cf5a2a9b069058137c2ca1ce658a874b79baceb8f892f915a7", size = 99999 },
+    { url = "https://files.pythonhosted.org/packages/ec/54/d8a795997921d87224c65d44499ca595a833093fb215b133f920c1062956/ruamel.yaml.clib-0.2.8-cp311-cp311-win_amd64.whl", hash = "sha256:c2a72e9109ea74e511e29032f3b670835f8a59bbdc9ce692c5b4ed91ccf1eedb", size = 118008 },
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