diff --git a/Jenkinsfile b/Jenkinsfile
index 3b16b3f112..bd138bed76 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -152,7 +152,7 @@ pipeline {
         stage('camerad-ar') {
           agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
           steps {
-            phone_steps("tici-ar0321", [
+            phone_steps("tici-ar0231", [
               ["build", "cd selfdrive/manager && ./build.py"],
               ["test camerad", "python system/camerad/test/test_camerad.py"],
               ["test exposure", "python system/camerad/test/test_exposure.py"],
diff --git a/cereal b/cereal
index c0d9abf6f7..6b91a52d3d 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit c0d9abf6f7c7de140c41af10e322e226d900ef99
+Subproject commit 6b91a52d3d7bd62507f26ac1321338d4cfd2dc03
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index c62d737481..4df963167a 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -163,7 +163,7 @@ static void update_state(UIState *s) {
     scene.longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl();
   }
   if (sm.updated("wideRoadCameraState")) {
-    float scale = (sm["wideRoadCameraState"].getWideRoadCameraState().getSensor() == cereal::FrameData::ImageSensor::AR0321) ? 6.0f : 1.0f;
+    float scale = (sm["wideRoadCameraState"].getWideRoadCameraState().getSensor() == cereal::FrameData::ImageSensor::AR0231) ? 6.0f : 1.0f;
     scene.light_sensor = std::max(100.0f - scale * sm["wideRoadCameraState"].getWideRoadCameraState().getExposureValPercent(), 0.0f);
   }
   scene.started = sm["deviceState"].getDeviceState().getStarted() && scene.ignition;
diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc
index 30e2810ec4..7ee3738057 100644
--- a/system/camerad/cameras/camera_common.cc
+++ b/system/camerad/cameras/camera_common.cc
@@ -167,7 +167,7 @@ void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &fr
   framed.setExposureValPercent(perc);
 
   if (c->camera_id == CAMERA_ID_AR0231) {
-    framed.setSensor(cereal::FrameData::ImageSensor::AR0321);
+    framed.setSensor(cereal::FrameData::ImageSensor::AR0231);
   } else if (c->camera_id == CAMERA_ID_OX03C10) {
     framed.setSensor(cereal::FrameData::ImageSensor::OX03C10);
   }
diff --git a/system/camerad/test/test_camerad.py b/system/camerad/test/test_camerad.py
index 6c2ef1c7bc..34411e4ef1 100755
--- a/system/camerad/test/test_camerad.py
+++ b/system/camerad/test/test_camerad.py
@@ -10,7 +10,7 @@ from selfdrive.manager.process_config import managed_processes
 from system.hardware import TICI
 
 TEST_TIMESPAN = 30
-LAG_FRAME_TOLERANCE = {log.FrameData.ImageSensor.ar0321: 0.5, # ARs use synced pulses for frame starts
+LAG_FRAME_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 0.5, # ARs use synced pulses for frame starts
                        log.FrameData.ImageSensor.ox03c10: 1.0} # OXs react to out-of-sync at next frame
 
 CAMERAS = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState')