diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py
index d44748fb1..1fc329cde 100644
--- a/selfdrive/car/mazda/carstate.py
+++ b/selfdrive/car/mazda/carstate.py
@@ -300,12 +300,11 @@ class CarState(CarStateBase):
 
   @staticmethod
   def get_can_parser(CP, FPCP):
-    messages = [
-      ("CRZ_BTNS", 10),
-    ]
+    messages = []
     if not (CP.flags & (MazdaFlags.GEN2 | MazdaFlags.GEN3)):
       messages += [
         # sig_address, frequency
+        ("CRZ_BTNS", 10)
         ("BLINK_INFO", 10),
         ("STEER", 67),
         ("STEER_RATE", 83),
@@ -348,6 +347,7 @@ class CarState(CarStateBase):
         ("ENGINE_DATA", 100),
         ("BLINK_INFO", 10),
         ("WHEEL_SPEEDS", 50),
+        ("STEER", 50),
       ]
 
     return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0)
diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py
index 27534e54d..fad4106e2 100644
--- a/selfdrive/car/mazda/values.py
+++ b/selfdrive/car/mazda/values.py
@@ -31,7 +31,7 @@ class CarControllerParams:
       self.TI_STEER_DRIVER_MULTIPLIER = 40     # weight driver torque
       self.TI_STEER_DRIVER_FACTOR = 1         # from dbc
       self.TI_STEER_ERROR_MAX = 350           # max delta between torque cmd and torque motor
-    if CP.flags & MazdaFlags.GEN2:
+    if CP.flags & (MazdaFlags.GEN2 | MazdaFlags.GEN3):
       self.STEER_MAX = 8000
       self.STEER_DELTA_UP = 45              # torque increase per refresh
       self.STEER_DELTA_DOWN = 80            # torque decrease per refresh