diff --git a/opendbc_repo/opendbc/car/car.capnp b/opendbc_repo/opendbc/car/car.capnp
index 9086102f5..9e3df8423 100644
--- a/opendbc_repo/opendbc/car/car.capnp
+++ b/opendbc_repo/opendbc/car/car.capnp
@@ -469,7 +469,6 @@ struct CarParams {
   notCar @66 :Bool;  # flag for non-car robotics platforms
 
   pcmCruise @3 :Bool;        # is openpilot's state tied to the PCM's cruise state?
-  enableBsm @56 :Bool;       # blind spot monitoring
   flags @64 :UInt32;         # flags for car specific quirks
   alphaLongitudinalAvailable @71 :Bool;
 
@@ -484,20 +483,17 @@ struct CarParams {
   autoResumeSng @69 :Bool;               # describes whether car can resume from a stop automatically
 
   # things about the car in the manual
-  mass @17 :Float32;            # [kg] curb weight: all fluids no cargo
   wheelbase @18 :Float32;       # [m] distance from rear axle to front axle
   centerToFront @19 :Float32;   # [m] distance from center of mass to front axle
   steerRatio @20 :Float32;      # [] ratio of steering wheel angle to front wheel angle
-  steerRatioRear @21 :Float32;  # [] ratio of steering wheel angle to rear wheel angle (usually 0)
 
-  # things we can derive
-  rotationalInertia @22 :Float32;    # [kg*m2] body rotational inertia
+  # mass-normalized vehicle dynamics parameters
+  rotationalInertiaPerMass @22 :Float32;  # [m^2] rotational inertia per unit mass
   tireStiffnessFactor @72 :Float32;  # scaling factor used in calculating tireStiffness[Front,Rear]
-  tireStiffnessFront @23 :Float32;   # [N/rad] front tire coeff of stiff
-  tireStiffnessRear @24 :Float32;    # [N/rad] rear tire coeff of stiff
+  tireStiffnessFrontPerMass @23 :Float32;  # [N/(rad*kg)] front tire stiffness per unit mass
+  tireStiffnessRearPerMass @24 :Float32;   # [N/(rad*kg)] rear tire stiffness per unit mass
 
   longitudinalTuning @25 :LongitudinalPIDTuning;
-  lateralParams @48 :LateralParams;
   lateralTuning :union {
     pid @26 :LateralPIDTuning;
     indiDEPRECATED @27 :LateralINDITuningDEPRECATED;
@@ -648,8 +644,11 @@ struct CarParams {
     fcaGiorgio @32;
     rivian @33;
     volkswagenMeb @34;
-    mg @35;
-    gwm @36;
+    byd @35;
+    volvo @36;
+    bmw @37;
+    mg @38;
+    gwm @39;
   }
 
   enum SteerControlType {
@@ -724,6 +723,9 @@ struct CarParams {
   }
 
   deprecated :group {
+    mass @17 :Float32;
+    steerRatioRear @21 :Float32;
+    lateralParams @48 :LateralParams;
     enableGasInterceptor @2 :Bool;
     enableCamera @4 :Bool;
     enableApgs @6 :Bool;
@@ -749,6 +751,7 @@ struct CarParams {
     stoppingControl @31 :Bool; # Does the car allow full control even at lows speeds when stopping
     radarTimeStep @45: Float32 = 0.05;  # time delta between radar updates, 20Hz is very standard
     enableDsu @5 :Bool;        # driving support unit
+    enableBsm @56 :Bool;       # blind spot monitoring
     vEgoStarting @59 :Float32; # Speed at which the car goes into starting state
     startAccel @32 :Float32; # Required acceleration to get car moving
     startingState @70 :Bool; # Does this car make use of special starting state
diff --git a/opendbc_repo/opendbc/safety/declarations.h b/opendbc_repo/opendbc/safety/declarations.h
index 912513f8f..9c271be62 100644
--- a/opendbc_repo/opendbc/safety/declarations.h
+++ b/opendbc_repo/opendbc/safety/declarations.h
@@ -34,8 +34,11 @@
 #define SAFETY_PSA 31U
 #define SAFETY_RIVIAN 33U
 #define SAFETY_VOLKSWAGEN_MEB 34U
-#define SAFETY_MG 35U
-#define SAFETY_GWM 36U
+#define SAFETY_BYD 35U
+#define SAFETY_VOLVO 36U
+#define SAFETY_BMW 37U
+#define SAFETY_MG 38U
+#define SAFETY_GWM 39U
 
 #define GET_BIT(msg, b) ((bool)!!(((msg)->data[((b) / 8U)] >> ((b) % 8U)) & 0x1U))
 #define GET_FLAG(value, mask) (((value) & (mask)) == (mask))
@@ -60,7 +63,8 @@
 #define UPDATE_VEHICLE_SPEED(val_ms) (update_sample(&vehicle_speed, ROUND((val_ms) * VEHICLE_SPEED_FACTOR)))
 #define UPDATE_VEHICLE_SPEED_2(val_ms) (update_sample(&vehicle_speed_2, ROUND((val_ms) * VEHICLE_SPEED_FACTOR)))
 
-uint32_t GET_BYTES(const CANPacket_t *msg, int start, int len);
+uint32_t GET_BYTES_LE(const CANPacket_t *msg, int start, int len);
+uint64_t GET_BYTES_64_LE(const CANPacket_t *msg, int start, int len);
 
 extern const int MAX_WRONG_COUNTERS;
 #define MAX_ADDR_CHECK_MSGS 3U
@@ -256,7 +260,7 @@ bool longitudinal_interceptor_checks(const CANPacket_t *msg);  // gas intercepto
 void pcm_cruise_check(bool cruise_engaged);
 void speed_mismatch_check(const float speed_2);
 
-void safety_tick(const safety_config *safety_config);
+void safety_tick(void);
 
 // This can be set by the safety hooks
 extern bool controls_allowed;
@@ -371,5 +375,7 @@ extern const safety_hooks volkswagen_meb_hooks;
 extern const safety_hooks volkswagen_pq_hooks;
 extern const safety_hooks rivian_hooks;
 extern const safety_hooks psa_hooks;
+extern const safety_hooks byd_hooks;
 extern const safety_hooks mg_hooks;
 extern const safety_hooks gwm_hooks;
+#define GET_BYTES(msg, start, len) GET_BYTES_LE(msg, start, len)
diff --git a/opendbc_repo/opendbc/safety/helpers.h b/opendbc_repo/opendbc/safety/helpers.h
index 8f4d52880..932e6e6bc 100644
--- a/opendbc_repo/opendbc/safety/helpers.h
+++ b/opendbc_repo/opendbc/safety/helpers.h
@@ -1,3 +1,5 @@
+#pragma once
+
 #include "opendbc/safety/declarations.h"
 
 // cppcheck-suppress-macro misra-c2012-1.2; allow __typeof__ extension
@@ -34,6 +36,36 @@
 
 #define SAFETY_UNUSED(x) ((void)(x))
 
+// Update an MSB-first CRC8 with one byte; callers choose the initial value and final XOR.
+static uint8_t crc8_update(uint8_t initial_crc, uint8_t data, uint8_t poly) {
+  uint8_t crc = initial_crc ^ data;
+  for (int i = 0; i < 8; i++) {
+    if ((crc & 0x80U) != 0U) {
+      crc = (crc << 1) ^ poly;
+    } else {
+      crc <<= 1;
+    }
+  }
+  return crc;
+}
+
+// Compare address and bus as one key: CANPacket_t has a 29-bit address and 3-bit bus.
+static bool msg_matches_addr_bus(const CANPacket_t *msg, uint32_t addr, uint32_t bus) {
+  uint32_t actual = ((uint32_t)msg->addr << 3) | (uint32_t)msg->bus;
+  uint32_t expected = (addr << 3) | bus;
+  return actual == expected;
+}
+
+// Compare address, bus, and decoded byte length as one key.
+static bool msg_matches_addr_bus_len(const CANPacket_t *msg, uint32_t addr, uint32_t bus, uint32_t len) {
+  uint64_t actual = ((uint64_t)msg->addr << 10) | ((uint64_t)msg->bus << 7) | (uint64_t)dlc_to_len[msg->data_len_code];
+  uint64_t expected = ((uint64_t)addr << 10) | ((uint64_t)bus << 7) | (uint64_t)len;
+  return actual == expected;
+}
+
+#define MSG_MATCHES_SELECT(_msg, _addr, _bus, _len, NAME, ...) NAME
+#define msg_matches(...) MSG_MATCHES_SELECT(__VA_ARGS__, msg_matches_addr_bus_len, msg_matches_addr_bus)(__VA_ARGS__)
+
 // compute the time elapsed (in microseconds) from 2 counter samples
 // case where ts < ts_last is ok: overflow is properly re-casted into uint32_t
 static inline uint32_t safety_get_ts_elapsed(uint32_t ts, uint32_t ts_last) {
diff --git a/opendbc_repo/opendbc/safety/ignition.h b/opendbc_repo/opendbc/safety/ignition.h
index 2470530a7..7f499d629 100644
--- a/opendbc_repo/opendbc/safety/ignition.h
+++ b/opendbc_repo/opendbc/safety/ignition.h
@@ -4,6 +4,7 @@
 #include <stdint.h>
 
 #include "opendbc/safety/can.h"
+#include "opendbc/safety/helpers.h"
 
 bool ignition_can = false;
 uint32_t ignition_can_cnt = 0U;
@@ -77,10 +78,51 @@ void ignition_can_hook(const CANPacket_t *msg) {
     }
   }
 
-  // TODO: this is too loose, Teslas have 0x222
-  // body v2 exception
-  // if (((msg->bus == 0U) || (msg->bus == 2U)) && (msg->addr == 0x222U)) {
-  //   ignition_can = true;
-  //   ignition_can_cnt = 0U;
-  // }
+  // Rivian R1S/T GEN1 exception
+  if (msg_matches(msg, 0x152U, 0U, 8U)) {
+    // 0x152 overlaps with Subaru pre-global which has this bit as the high beam
+    int counter = msg->data[1] & 0xFU;  // max is only 14
+
+    static int prev_counter_rivian = -1;
+    if ((counter == ((prev_counter_rivian + 1) % 15)) && (prev_counter_rivian != -1)) {
+      // VDM_OutputSignals->VDM_EpasPowerMode
+      ignition_can = ((msg->data[7] >> 4U) & 0x3U) == 1U;  // VDM_EpasPowerMode_Drive_On=1
+      ignition_can_cnt = 0U;
+    }
+    prev_counter_rivian = counter;
+  }
+
+  // Tesla Model 3/Y exception
+  if (msg_matches(msg, 0x221U, 0U, 8U)) {
+    // 0x221 overlaps with Rivian which has random data on byte 0
+    int counter = msg->data[6] >> 4;
+
+    static int prev_counter_tesla = -1;
+    if ((counter == ((prev_counter_tesla + 1) % 16)) && (prev_counter_tesla != -1)) {
+      // VCFRONT_LVPowerState->VCFRONT_vehiclePowerState
+      int power_state = (msg->data[0] >> 5U) & 0x3U;
+      ignition_can = power_state == 0x3;  // VEHICLE_POWER_STATE_DRIVE=3
+      ignition_can_cnt = 0U;
+    }
+    prev_counter_tesla = counter;
+  }
+
+  // Mazda exception
+  if (msg_matches(msg, 0x9EU, 0U, 8U)) {
+    ignition_can = (msg->data[0] >> 5) == 0x6U;
+    ignition_can_cnt = 0U;
+  }
+
+  // Volkswagen MEB exception
+  if (msg_matches(msg, 0x3C0U, 0U, 4U)) {
+    int counter = msg->data[1] & 0xFU;
+
+    static int prev_counter_vw_meb = -1;
+    if ((counter == ((prev_counter_vw_meb + 1) % 16)) && (prev_counter_vw_meb != -1)) {
+      // Klemmen_Status_01->ZAS_Kl_15
+      ignition_can = ((msg->data[2] >> 1) & 1U) != 0U;
+      ignition_can_cnt = 0U;
+    }
+    prev_counter_vw_meb = counter;
+  }
 }
diff --git a/opendbc_repo/opendbc/safety/modes/body.h b/opendbc_repo/opendbc/safety/modes/body.h
index e3d5c212c..00d05bd0e 100644
--- a/opendbc_repo/opendbc/safety/modes/body.h
+++ b/opendbc_repo/opendbc/safety/modes/body.h
@@ -2,10 +2,28 @@
 
 #include "opendbc/safety/declarations.h"
 
-static void body_rx_hook(const CANPacket_t *msg) {
-  if (msg->addr == 0x201U) {
-    controls_allowed = true;
+static uint8_t body_get_counter(const CANPacket_t *msg) {
+  return msg->data[6] & 0xFU;
+}
+
+static uint32_t body_get_checksum(const CANPacket_t *msg) {
+  return msg->data[7];
+}
+
+static uint32_t body_compute_checksum(const CANPacket_t *msg) {
+  uint8_t checksum = 0xFFU;
+  int len = GET_LEN(msg);
+  for (int i = len - 2; i >= 0; i--) {
+    checksum = crc8_update(checksum, msg->data[i], 0xD5U);
   }
+  return checksum;
+}
+
+static void body_rx_hook(const CANPacket_t *msg) {
+  SAFETY_UNUSED(msg);
+
+  // controls allowed as soon as RX is valid
+  controls_allowed = true;
 }
 
 static bool body_tx_hook(const CANPacket_t *msg) {
@@ -17,7 +35,7 @@ static bool body_tx_hook(const CANPacket_t *msg) {
 
   // Allow going into CAN flashing mode even if controls are not allowed
   bool flash_msg = (msg->addr == 0x250U) && (GET_LEN(msg) == 8U);
-  if (!controls_allowed && (GET_BYTES(msg, 0, 4) == 0xdeadfaceU) && (GET_BYTES(msg, 4, 4) == 0x0ab00b1eU) && flash_msg) {
+  if (!controls_allowed && flash_msg && (GET_BYTES_64_LE(msg, 0, 8) == 0x0AB00B1EDEADFACEULL)) {
     tx = true;
   }
 
@@ -26,11 +44,15 @@ static bool body_tx_hook(const CANPacket_t *msg) {
 
 static safety_config body_init(uint16_t param) {
   static RxCheck body_rx_checks[] = {
-    {.msg = {{0x201, 0, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
+    {.msg = {{0x201, 0, 8, 100U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
   };
 
-  static const CanMsg BODY_TX_MSGS[] = {{0x250, 0, 8, .check_relay = false}, {0x250, 0, 6, .check_relay = false}, {0x251, 0, 5, .check_relay = false},  // body
-                                        {0x1, 0, 8, .check_relay = false}};  // CAN flasher
+  static const CanMsg BODY_TX_MSGS[] = {
+    {0x250, 0, 8, .check_relay = false},
+    {0x250, 0, 6, .check_relay = false},
+    {0x251, 0, 5, .check_relay = false},
+    {0x1, 0, 8, .check_relay = false},   // CAN flasher
+  };
 
   SAFETY_UNUSED(param);
   safety_config ret = BUILD_SAFETY_CFG(body_rx_checks, BODY_TX_MSGS);
@@ -42,4 +64,7 @@ const safety_hooks body_hooks = {
   .init = body_init,
   .rx = body_rx_hook,
   .tx = body_tx_hook,
+  .get_counter = body_get_counter,
+  .get_checksum = body_get_checksum,
+  .compute_checksum = body_compute_checksum,
 };
diff --git a/opendbc_repo/opendbc/safety/modes/byd.h b/opendbc_repo/opendbc/safety/modes/byd.h
new file mode 100644
index 000000000..df00939bd
--- /dev/null
+++ b/opendbc_repo/opendbc/safety/modes/byd.h
@@ -0,0 +1,119 @@
+#pragma once
+
+#include "opendbc/safety/declarations.h"
+
+static uint8_t byd_get_counter(const CANPacket_t *msg) {
+  // Speed uses the high nibble; cruise status uses the low nibble.
+  return (msg->addr == 0x1F0U) ? (msg->data[6] >> 4) : (msg->data[6] & 0xFU);
+}
+
+static uint32_t byd_get_checksum(const CANPacket_t *msg) {
+  return msg->data[7];
+}
+
+static uint32_t byd_compute_checksum(const CANPacket_t *msg) {
+  uint8_t sum = 0;
+  for (int i = 0; i < 7; i++) {
+    sum += msg->data[i];
+  }
+  return 0xFFU - sum;
+}
+
+static void byd_rx_hook(const CANPacket_t *msg) {
+  if (msg->bus == 0U) {
+    // Steering angle: 0.1 deg/LSB, signed
+    if (msg->addr == 0x11FU) {
+      int angle_meas_new = to_signed((msg->data[1] << 8) | msg->data[0], 16);  // STEER_ANGLE_2
+      update_sample(&angle_meas, angle_meas_new);
+    }
+
+    // Vehicle speed: 0.1 kph/LSB
+    if (msg->addr == 0x1F0U) {
+      int speed = (msg->data[1] << 8) | msg->data[0];  // WHEELSPEED_CLEAN
+      vehicle_moving = speed > 0;
+      UPDATE_VEHICLE_SPEED(speed * 0.1 * KPH_TO_MS);
+    }
+
+    // Gas and brake pressed
+    if (msg->addr == 0x242U) {
+      brake_pressed = (msg->data[4] >> 5) & 0x1U;   // BRAKE_PRESSED
+      gas_pressed = (msg->data[3] & 0x7FU) > 0U;    // RAW_THROTTLE
+    }
+  }
+
+  if (msg->bus == 2U) {
+    // Cruise state
+    if (msg->addr == 0x32DU) {
+      // ACC_STATE: 0=OFF, 2=ACC_ON, 3=ACC_ACTIVE, 5=FORCE_ACCEL, 7=ERROR
+      uint8_t acc_state = (msg->data[2] >> 3) & 0x7U;
+      bool acc_on = (acc_state == 3U) || (acc_state == 5U);
+      pcm_cruise_check(acc_on);
+    }
+  }
+}
+
+static bool byd_tx_hook(const CANPacket_t *msg) {
+  const AngleSteeringLimits BYD_STEERING_LIMITS = {
+    .max_angle = 3900,  // 390 deg
+    .angle_deg_to_can = 10,
+    .frequency = 50U,
+  };
+
+  // NOTE: based off BYD_ATTO_3 to match openpilot
+  const AngleSteeringParams BYD_STEERING_PARAMS = {
+    .slip_factor = -0.0006166479109059387,  // calc_slip_factor(VM)
+    .steer_ratio = 14.8,
+    .wheelbase = 2.72,
+  };
+
+  bool tx = true;
+
+  // Steering control: 0.1 deg/LSB, signed
+  if (msg->addr == 0x1E2U) {
+    int desired_angle = to_signed((msg->data[4] << 8) | msg->data[3], 16);  // STEER_ANGLE
+    bool steer_req = ((msg->data[2] >> 5) & 0x1U) != 0U;                    // STEER_REQ
+
+    if (steer_angle_cmd_checks_vm(desired_angle, steer_req, BYD_STEERING_LIMITS, BYD_STEERING_PARAMS)) {
+      tx = false;
+    }
+  }
+
+  // Only allow cancel (ACC_ON_BTN) while stock cruise is engaged, or button release.
+  if (msg->addr == 0x3B0U) {
+    bool other_buttons = ((msg->data[0] & 0x58U) != 0U) ||  // SET, RES, LKAS_ON
+                         ((msg->data[1] & 0x80U) != 0U) ||  // DEC_DISTANCE
+                         ((msg->data[2] & 0x1U) != 0U);     // INC_DISTANCE
+    bool cancel = (msg->data[2] & 0x8U) != 0U;             // ACC_ON_BTN
+    tx = !other_buttons && (!cancel || cruise_engaged_prev);
+  }
+
+  return tx;
+}
+
+static safety_config byd_init(uint16_t param) {
+  SAFETY_UNUSED(param);
+
+  static const CanMsg BYD_TX_MSGS[] = {
+    {0x1E2, 0, 8, .check_relay = true},   // STEERING_MODULE_ADAS (lateral steering command)
+    {0x316, 0, 8, .check_relay = true},   // LKAS_HUD_ADAS (dash HUD)
+    {0x3B0, 0, 8, .check_relay = false},  // PCM_BUTTONS (cruise cancel button spoof)
+  };
+
+  static RxCheck byd_rx_checks[] = {
+    {.msg = {{0x11F, 0, 5, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},  // STEER_MODULE_2 (steering angle)
+    {.msg = {{0x1F0, 0, 8,  50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},  // WHEELSPEED_CLEAN (vehicle speed)
+    {.msg = {{0x242, 0, 8,  50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},  // DRIVE_STATE (gas and brake pressed)
+    {.msg = {{0x32D, 2, 8,  50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},  // ACC_HUD_ADAS (cruise state)
+  };
+
+  return BUILD_SAFETY_CFG(byd_rx_checks, BYD_TX_MSGS);
+}
+
+const safety_hooks byd_hooks = {
+  .init = byd_init,
+  .rx = byd_rx_hook,
+  .tx = byd_tx_hook,
+  .get_counter = byd_get_counter,
+  .get_checksum = byd_get_checksum,
+  .compute_checksum = byd_compute_checksum,
+};
diff --git a/opendbc_repo/opendbc/safety/modes/chrysler.h b/opendbc_repo/opendbc/safety/modes/chrysler.h
index c374b9760..684734861 100644
--- a/opendbc_repo/opendbc/safety/modes/chrysler.h
+++ b/opendbc_repo/opendbc/safety/modes/chrysler.h
@@ -52,21 +52,20 @@ static ChryslerPlatform chrysler_platform;
 #define CHRYSLER_ADDR(name) ((uint32_t)((chrysler_platform == CHRYSLER_RAM_DT) ? CHRYSLER_RAM_DT_##name : \
                                         ((chrysler_platform == CHRYSLER_RAM_HD) ? CHRYSLER_RAM_HD_##name : CHRYSLER_##name)))
 
-
 static uint8_t chrysler_get_counter(const CANPacket_t *msg) {
   return (uint8_t)(msg->data[6] >> 4);
 }
 
 static void chrysler_rx_hook(const CANPacket_t *msg) {
   // Measured EPS torque
-  if ((msg->bus == 0U) && (msg->addr == CHRYSLER_ADDR(EPS_2))) {
+  if (msg_matches(msg, CHRYSLER_ADDR(EPS_2), 0U)) {
     int torque_meas_new = ((msg->data[4] & 0x7U) << 8) + msg->data[5] - 1024U;
     update_sample(&torque_meas, torque_meas_new);
   }
 
   // enter controls on rising edge of ACC, exit controls on ACC off
   const unsigned int das_3_bus = (chrysler_platform == CHRYSLER_PACIFICA) ? 0U : 2U;
-  if ((msg->bus == das_3_bus) && (msg->addr == CHRYSLER_ADDR(DAS_3))) {
+  if (msg_matches(msg, CHRYSLER_ADDR(DAS_3), das_3_bus)) {
     bool cruise_engaged = GET_BIT(msg, 21U);
     pcm_cruise_check(cruise_engaged);
     acc_main_on = GET_BIT(msg, 20U);
@@ -74,22 +73,22 @@ static void chrysler_rx_hook(const CANPacket_t *msg) {
 
   // TODO: use the same message for both
   // update vehicle moving
-  if ((chrysler_platform != CHRYSLER_PACIFICA) && (msg->bus == 0U) && (msg->addr == CHRYSLER_ADDR(ESP_8))) {
+  if ((chrysler_platform != CHRYSLER_PACIFICA) && msg_matches(msg, CHRYSLER_ADDR(ESP_8), 0U)) {
     vehicle_moving = ((msg->data[4] << 8) + msg->data[5]) != 0U;
   }
-  if ((chrysler_platform == CHRYSLER_PACIFICA) && (msg->bus == 0U) && (msg->addr == 514U)) {
+  if ((chrysler_platform == CHRYSLER_PACIFICA) && msg_matches(msg, 514U, 0U)) {
     int speed_l = (msg->data[0] << 4) + (msg->data[1] >> 4);
     int speed_r = (msg->data[2] << 4) + (msg->data[3] >> 4);
-    vehicle_moving = (speed_l != 0) || (speed_r != 0);
+    vehicle_moving = (speed_l | speed_r) != 0;
   }
 
   // exit controls on rising edge of gas press
-  if ((msg->bus == 0U) && (msg->addr == CHRYSLER_ADDR(ECM_5))) {
+  if (msg_matches(msg, CHRYSLER_ADDR(ECM_5), 0U)) {
     gas_pressed = msg->data[0U] != 0U;
   }
 
   // exit controls on rising edge of brake press
-  if ((msg->bus == 0U) && (msg->addr == CHRYSLER_ADDR(ESP_1))) {
+  if (msg_matches(msg, CHRYSLER_ADDR(ESP_1), 0U)) {
     brake_pressed = ((msg->data[0U] & 0xFU) >> 2U) == 1U;
   }
 
diff --git a/opendbc_repo/opendbc/safety/modes/chrysler_common.h b/opendbc_repo/opendbc/safety/modes/chrysler_common.h
index 29999b00e..5e99acedd 100644
--- a/opendbc_repo/opendbc/safety/modes/chrysler_common.h
+++ b/opendbc_repo/opendbc/safety/modes/chrysler_common.h
@@ -6,34 +6,10 @@ static uint32_t chrysler_get_checksum(const CANPacket_t *msg) {
 }
 
 static uint32_t chrysler_compute_checksum(const CANPacket_t *msg) {
-  // TODO: clean this up
-  // http://illmatics.com/Remote%20Car%20Hacking.pdf
   uint8_t checksum = 0xFFU;
   int len = GET_LEN(msg);
   for (int j = 0; j < (len - 1); j++) {
-    uint8_t shift = 0x80U;
-    uint8_t curr = (uint8_t)msg->data[j];
-    for (int i=0; i<8; i++) {
-      uint8_t bit_sum = curr & shift;
-      uint8_t temp_chk = checksum & 0x80U;
-      if (bit_sum != 0U) {
-        bit_sum = 0x1C;
-        if (temp_chk != 0U) {
-          bit_sum = 1;
-        }
-        checksum = checksum << 1;
-        temp_chk = checksum | 1U;
-        bit_sum ^= temp_chk;
-      } else {
-        if (temp_chk != 0U) {
-          bit_sum = 0x1D;
-        }
-        checksum = checksum << 1;
-        bit_sum ^= checksum;
-      }
-      checksum = bit_sum;
-      shift = shift >> 1;
-    }
+    checksum = crc8_update(checksum, msg->data[j], 0x1DU);
   }
   return (uint8_t)(~checksum);
 }
diff --git a/opendbc_repo/opendbc/safety/modes/chrysler_cusw.h b/opendbc_repo/opendbc/safety/modes/chrysler_cusw.h
index a9fb94601..f3009e9da 100644
--- a/opendbc_repo/opendbc/safety/modes/chrysler_cusw.h
+++ b/opendbc_repo/opendbc/safety/modes/chrysler_cusw.h
@@ -1,6 +1,5 @@
 #include "opendbc/safety/modes/chrysler_common.h"
 
-
 static safety_config chrysler_cusw_init(uint16_t param) {
   SAFETY_UNUSED(param);
 
@@ -22,33 +21,31 @@ static safety_config chrysler_cusw_init(uint16_t param) {
 }
 
 static void chrysler_cusw_rx_hook(const CANPacket_t *msg) {
-  if (msg->bus == 0U) {
-    if (msg->addr == 0x1ECU) {
-      // Signal: EPS_STATUS.TORQUE_MOTOR
-      int torque_meas_new = ((msg->data[3] & 0xFU) << 8) + msg->data[4] - 2048U;
-      update_sample(&torque_meas, torque_meas_new);
-    }
+  if (msg_matches(msg, 0x1ECU, 0U)) {
+    // Signal: EPS_STATUS.TORQUE_MOTOR
+    int torque_meas_new = ((msg->data[3] & 0xFU) << 8) + msg->data[4] - 2048U;
+    update_sample(&torque_meas, torque_meas_new);
+  }
 
-    if (msg->addr == 0x2ECU) {
-      // Signal: ACC_CONTROL.ACC_ACTIVE
-      bool cruise_engaged = GET_BIT(msg, 7U);
-      pcm_cruise_check(cruise_engaged);
-    }
+  if (msg_matches(msg, 0x2ECU, 0U)) {
+    // Signal: ACC_CONTROL.ACC_ACTIVE
+    bool cruise_engaged = GET_BIT(msg, 7U);
+    pcm_cruise_check(cruise_engaged);
+  }
 
-    if (msg->addr == 0x1E4U) {
-      // Signal: BRAKE_1.VEHICLE_SPEED
-      vehicle_moving = (((msg->data[4] & 0x7U) << 8) + msg->data[5]) != 0U;
-    }
+  if (msg_matches(msg, 0x1E4U, 0U)) {
+    // Signal: BRAKE_1.VEHICLE_SPEED
+    vehicle_moving = (((msg->data[4] & 0x7U) << 8) + msg->data[5]) != 0U;
+  }
 
-    if (msg->addr == 0x1FEU) {
-      // Signal: ACCEL_GAS.GAS_HUMAN
-      gas_pressed = msg->data[1] != 0U;
-    }
+  if (msg_matches(msg, 0x1FEU, 0U)) {
+    // Signal: ACCEL_GAS.GAS_HUMAN
+    gas_pressed = msg->data[1] != 0U;
+  }
 
-    if (msg->addr == 0x1E8U) {
-      // Signal: BRAKE_3.DRIVER_BRAKE_SWITCH
-      brake_pressed = GET_BIT(msg, 18U);
-    }
+  if (msg_matches(msg, 0x1E8U, 0U)) {
+    // Signal: BRAKE_3.DRIVER_BRAKE_SWITCH
+    brake_pressed = GET_BIT(msg, 18U);
   }
 }
 
diff --git a/opendbc_repo/opendbc/safety/modes/defaults.h b/opendbc_repo/opendbc/safety/modes/defaults.h
index 5f9d93761..56f2ba8fe 100644
--- a/opendbc_repo/opendbc/safety/modes/defaults.h
+++ b/opendbc_repo/opendbc/safety/modes/defaults.h
@@ -10,10 +10,9 @@ void default_rx_hook(const CANPacket_t *msg) {
 // GCOV_EXCL_STOP
 
 // *** no output safety mode ***
-
 static safety_config nooutput_init(uint16_t param) {
   SAFETY_UNUSED(param);
-  return (safety_config){NULL, 0, NULL, 0, true}; // NOLINT(readability/braces)
+  return (safety_config){NULL, 0, NULL, 0, true};  // NOLINT(readability/braces)
 }
 
 // GCOV_EXCL_START
@@ -36,7 +35,7 @@ static safety_config alloutput_init(uint16_t param) {
   const uint16_t ALLOUTPUT_PARAM_PASSTHROUGH = 1;
   controls_allowed = true;
   bool alloutput_passthrough = GET_FLAG(param, ALLOUTPUT_PARAM_PASSTHROUGH);
-  return (safety_config){NULL, 0, NULL, 0, !alloutput_passthrough}; // NOLINT(readability/braces)
+  return (safety_config){NULL, 0, NULL, 0, !alloutput_passthrough};  // NOLINT(readability/braces)
 }
 
 static bool alloutput_tx_hook(const CANPacket_t *msg) {
diff --git a/opendbc_repo/opendbc/safety/modes/elm327.h b/opendbc_repo/opendbc/safety/modes/elm327.h
index dbcc06012..eb8f2b06b 100644
--- a/opendbc_repo/opendbc/safety/modes/elm327.h
+++ b/opendbc_repo/opendbc/safety/modes/elm327.h
@@ -29,6 +29,7 @@ static bool elm327_tx_hook(const CANPacket_t *msg) {
       tx = false;
     }
   }
+
   return tx;
 }
 
diff --git a/opendbc_repo/opendbc/safety/modes/ford.h b/opendbc_repo/opendbc/safety/modes/ford.h
index f71a0365a..a448442c4 100644
--- a/opendbc_repo/opendbc/safety/modes/ford.h
+++ b/opendbc_repo/opendbc/safety/modes/ford.h
@@ -26,10 +26,10 @@ static uint8_t ford_get_counter(const CANPacket_t *msg) {
   if (msg->addr == FORD_BrakeSysFeatures) {
     // Signal: VehVActlBrk_No_Cnt
     cnt = (msg->data[2] >> 2) & 0xFU;
-  } else if (msg->addr == FORD_Yaw_Data_FD1) {
+  }
+  if (msg->addr == FORD_Yaw_Data_FD1) {
     // Signal: VehRollYaw_No_Cnt
     cnt = msg->data[5];
-  } else {
   }
   return cnt;
 }
@@ -39,10 +39,10 @@ static uint32_t ford_get_checksum(const CANPacket_t *msg) {
   if (msg->addr == FORD_BrakeSysFeatures) {
     // Signal: VehVActlBrk_No_Cs
     chksum = msg->data[3];
-  } else if (msg->addr == FORD_Yaw_Data_FD1) {
+  }
+  if (msg->addr == FORD_Yaw_Data_FD1) {
     // Signal: VehRollYawW_No_Cs
     chksum = msg->data[4];
-  } else {
   }
   return chksum;
 }
@@ -54,14 +54,14 @@ static uint32_t ford_compute_checksum(const CANPacket_t *msg) {
     chksum += msg->data[2] >> 6;                    // VehVActlBrk_D_Qf
     chksum += (msg->data[2] >> 2) & 0xFU;           // VehVActlBrk_No_Cnt
     chksum = 0xFFU - chksum;
-  } else if (msg->addr == FORD_Yaw_Data_FD1) {
+  }
+  if (msg->addr == FORD_Yaw_Data_FD1) {
     chksum += msg->data[0] + msg->data[1];  // VehRol_W_Actl
     chksum += msg->data[2] + msg->data[3];  // VehYaw_W_Actl
     chksum += msg->data[5];                         // VehRollYaw_No_Cnt
     chksum += msg->data[6] >> 6;                    // VehRolWActl_D_Qf
     chksum += (msg->data[6] >> 4) & 0x3U;           // VehYawWActl_D_Qf
     chksum = 0xFFU - chksum;
-  } else {
   }
   return chksum;
 }
@@ -70,11 +70,12 @@ static bool ford_get_quality_flag_valid(const CANPacket_t *msg) {
   bool valid = false;
   if (msg->addr == FORD_BrakeSysFeatures) {
     valid = (msg->data[2] >> 6) == 0x3U;           // VehVActlBrk_D_Qf
-  } else if (msg->addr == FORD_EngVehicleSpThrottle2) {
+  }
+  if (msg->addr == FORD_EngVehicleSpThrottle2) {
     valid = ((msg->data[4] >> 5) & 0x3U) == 0x3U;  // VehVActlEng_D_Qf
-  } else if (msg->addr == FORD_Yaw_Data_FD1) {
+  }
+  if (msg->addr == FORD_Yaw_Data_FD1) {
     valid = ((msg->data[6] >> 4) & 0x3U) == 0x3U;  // VehYawWActl_D_Qf
-  } else {
   }
   return valid;
 }
@@ -96,60 +97,58 @@ static const CurvatureSteeringLimits FORD_STEERING_LIMITS = {
 };
 
 static void ford_rx_hook(const CANPacket_t *msg) {
-  if (msg->bus == FORD_MAIN_BUS) {
-    // Update in motion state from standstill signal
-    if (msg->addr == FORD_DesiredTorqBrk) {
-      // Signal: VehStop_D_Stat
-      vehicle_moving = ((msg->data[3] >> 3) & 0x3U) != 1U;
-    }
+  // Update in motion state from standstill signal
+  if (msg_matches(msg, FORD_DesiredTorqBrk, FORD_MAIN_BUS)) {
+    // Signal: VehStop_D_Stat
+    vehicle_moving = ((msg->data[3] >> 3) & 0x3U) != 1U;
+  }
 
-    // Update vehicle speed
-    if (msg->addr == FORD_BrakeSysFeatures) {
-      // Signal: Veh_V_ActlBrk
-      UPDATE_VEHICLE_SPEED(((msg->data[0] << 8) | msg->data[1]) * 0.01 * KPH_TO_MS);
-    }
+  // Update vehicle speed
+  if (msg_matches(msg, FORD_BrakeSysFeatures, FORD_MAIN_BUS)) {
+    // Signal: Veh_V_ActlBrk
+    UPDATE_VEHICLE_SPEED(((msg->data[0] << 8) | msg->data[1]) * 0.01 * KPH_TO_MS);
+  }
 
-    // Check vehicle speed against a second source
-    if (msg->addr == FORD_EngVehicleSpThrottle2) {
-      // Disable controls if speeds from ABS and PCM ECUs are too far apart.
-      // Signal: Veh_V_ActlEng
-      float filtered_pcm_speed = ((msg->data[6] << 8) | msg->data[7]) * 0.01 * KPH_TO_MS;
-      UPDATE_VEHICLE_SPEED_2(filtered_pcm_speed);
-    }
+  // Check vehicle speed against a second source
+  if (msg_matches(msg, FORD_EngVehicleSpThrottle2, FORD_MAIN_BUS)) {
+    // Disable controls if speeds from ABS and PCM ECUs are too far apart.
+    // Signal: Veh_V_ActlEng
+    float filtered_pcm_speed = ((msg->data[6] << 8) | msg->data[7]) * 0.01 * KPH_TO_MS;
+    UPDATE_VEHICLE_SPEED_2(filtered_pcm_speed);
+  }
 
-    // Update vehicle yaw rate
-    if (msg->addr == FORD_Yaw_Data_FD1) {
-      // FIXME: safety can receive yaw before new vehicle speed, it should recompute meas on either received
-      // Signal: VehYaw_W_Actl
-      // TODO: we should use the speed which results in the closest angle measurement to the desired angle
-      float ford_yaw_rate = (((msg->data[2] << 8U) | msg->data[3]) * 0.0002) - 6.5;
-      float current_curvature = ford_yaw_rate / SAFETY_MAX(vehicle_speed.values[0] / VEHICLE_SPEED_FACTOR, 0.1);
-      // convert current curvature into units on CAN for comparison with desired curvature
-      update_sample(&curvature_state.meas, ROUND(current_curvature * FORD_STEERING_LIMITS.curvature_to_can));
-    }
+  // Update vehicle yaw rate
+  if (msg_matches(msg, FORD_Yaw_Data_FD1, FORD_MAIN_BUS)) {
+    // FIXME: safety can receive yaw before new vehicle speed, it should recompute meas on either received
+    // Signal: VehYaw_W_Actl
+    // TODO: we should use the speed which results in the closest angle measurement to the desired angle
+    float ford_yaw_rate = (((msg->data[2] << 8U) | msg->data[3]) * 0.0002) - 6.5;
+    float current_curvature = ford_yaw_rate / SAFETY_MAX(vehicle_speed.values[0] / VEHICLE_SPEED_FACTOR, 0.1);
+    // convert current curvature into units on CAN for comparison with desired curvature
+    update_sample(&curvature_state.meas, ROUND(current_curvature * FORD_STEERING_LIMITS.curvature_to_can));
+  }
 
-    // Update gas pedal
-    if (msg->addr == FORD_EngVehicleSpThrottle) {
-      // Pedal position: (0.1 * val) in percent
-      // Signal: ApedPos_Pc_ActlArb
-      gas_pressed = (((msg->data[0] & 0x03U) << 8) | msg->data[1]) > 0U;
-    }
+  // Update gas pedal
+  if (msg_matches(msg, FORD_EngVehicleSpThrottle, FORD_MAIN_BUS)) {
+    // Pedal position: (0.1 * val) in percent
+    // Signal: ApedPos_Pc_ActlArb
+    gas_pressed = (((msg->data[0] & 0x03U) << 8) | msg->data[1]) > 0U;
+  }
 
-    // Update brake pedal and cruise state
-    if (msg->addr == FORD_EngBrakeData) {
-      // Signal: BpedDrvAppl_D_Actl
-      brake_pressed = ((msg->data[0] >> 4) & 0x3U) == 2U;
+  // Update brake pedal and cruise state
+  if (msg_matches(msg, FORD_EngBrakeData, FORD_MAIN_BUS)) {
+    // Signal: BpedDrvAppl_D_Actl
+    brake_pressed = ((msg->data[0] >> 4) & 0x3U) == 2U;
 
-      // Signal: CcStat_D_Actl
-      unsigned int cruise_state = msg->data[1] & 0x07U;
-      bool cruise_engaged = (cruise_state == 4U) || (cruise_state == 5U);
-      pcm_cruise_check(cruise_engaged);
-      acc_main_on = (cruise_state == 3U) || cruise_engaged;
-    }
+    // Signal: CcStat_D_Actl
+    unsigned int cruise_state = msg->data[1] & 0x07U;
+    bool cruise_engaged = (cruise_state == 4U) || (cruise_state == 5U);
+    pcm_cruise_check(cruise_engaged);
+    acc_main_on = (cruise_state == 3U) || cruise_engaged;
+  }
 
-    if (msg->addr == FORD_Steering_Data_FD1) {
-      mads_button_press = GET_BIT(msg, 40U) ? MADS_BUTTON_PRESSED : MADS_BUTTON_NOT_PRESSED;
-    }
+  if (msg_matches(msg, FORD_Steering_Data_FD1, FORD_MAIN_BUS)) {
+    mads_button_press = GET_BIT(msg, 40U) ? MADS_BUTTON_PRESSED : MADS_BUTTON_NOT_PRESSED;
   }
 }
 
@@ -182,7 +181,7 @@ static bool ford_tx_hook(const CANPacket_t *msg) {
     bool cmbb_deny = (msg->data[4] >> 5) & 1U;
 
     // Signal: AccBrkPrchg_B_Rq & AccBrkDecel_B_Rq
-    bool brake_actuation = ((msg->data[6] >> 6) & 1U) || ((msg->data[6] >> 7) & 1U);
+    bool brake_actuation = (msg->data[6] & 0xC0U) != 0U;
 
     bool violation = false;
     violation |= longitudinal_accel_checks(accel, FORD_LONG_LIMITS);
@@ -190,7 +189,7 @@ static bool ford_tx_hook(const CANPacket_t *msg) {
     violation |= longitudinal_gas_checks(gas_pred, FORD_LONG_LIMITS);
 
     // Safety check for stock AEB
-    violation |= cmbb_deny; // do not prevent stock AEB actuation
+    violation |= cmbb_deny;  // do not prevent stock AEB actuation
 
     violation |= !get_longitudinal_allowed() && brake_actuation;
 
diff --git a/opendbc_repo/opendbc/safety/modes/gm.h b/opendbc_repo/opendbc/safety/modes/gm.h
index 832ea1b96..109b961c0 100644
--- a/opendbc_repo/opendbc/safety/modes/gm.h
+++ b/opendbc_repo/opendbc/safety/modes/gm.h
@@ -39,73 +39,71 @@ static bool gm_non_acc = false;
 static void gm_rx_hook(const CANPacket_t *msg) {
   const int GM_STANDSTILL_THRSLD = 10;  // 0.311kph
 
-  if (msg->bus == 0U) {
-    if (msg->addr == 0x184U) {
-      int torque_driver_new = ((msg->data[6] & 0x7U) << 8) | msg->data[7];
-      torque_driver_new = to_signed(torque_driver_new, 11);
-      // update array of samples
-      update_sample(&torque_driver, torque_driver_new);
+  if (msg_matches(msg, 0x184U, 0U)) {
+    int torque_driver_new = ((msg->data[6] & 0x7U) << 8) | msg->data[7];
+    torque_driver_new = to_signed(torque_driver_new, 11);
+    // update array of samples
+    update_sample(&torque_driver, torque_driver_new);
+  }
+
+  // sample rear wheel speeds
+  if (msg_matches(msg, 0x34AU, 0U)) {
+    int left_rear_speed = (msg->data[0] << 8) | msg->data[1];
+    int right_rear_speed = (msg->data[2] << 8) | msg->data[3];
+    vehicle_moving = (left_rear_speed > GM_STANDSTILL_THRSLD) || (right_rear_speed > GM_STANDSTILL_THRSLD);
+  }
+
+  // ACC steering wheel buttons (GM_CAM is tied to the PCM)
+  if (msg_matches(msg, 0x1E1U, 0U) && !gm_pcm_cruise) {
+    int button = (msg->data[5] & 0x70U) >> 4;
+
+    // enter controls on falling edge of set or rising edge of resume (avoids fault)
+    bool set = (button != GM_BTN_SET) && (cruise_button_prev == GM_BTN_SET);
+    bool res = (button == GM_BTN_RESUME) && (cruise_button_prev != GM_BTN_RESUME);
+    if (set || res) {
+      controls_allowed = true;
     }
 
-    // sample rear wheel speeds
-    if (msg->addr == 0x34AU) {
-      int left_rear_speed = (msg->data[0] << 8) | msg->data[1];
-      int right_rear_speed = (msg->data[2] << 8) | msg->data[3];
-      vehicle_moving = (left_rear_speed > GM_STANDSTILL_THRSLD) || (right_rear_speed > GM_STANDSTILL_THRSLD);
+    // exit controls on cancel press
+    if (button == GM_BTN_CANCEL) {
+      controls_allowed = false;
     }
 
-    // ACC steering wheel buttons (GM_CAM is tied to the PCM)
-    if ((msg->addr == 0x1E1U) && !gm_pcm_cruise) {
-      int button = (msg->data[5] & 0x70U) >> 4;
+    cruise_button_prev = button;
+  }
 
-      // enter controls on falling edge of set or rising edge of resume (avoids fault)
-      bool set = (button != GM_BTN_SET) && (cruise_button_prev == GM_BTN_SET);
-      bool res = (button == GM_BTN_RESUME) && (cruise_button_prev != GM_BTN_RESUME);
-      if (set || res) {
-        controls_allowed = true;
-      }
+  // Reference for brake pressed signals:
+  // https://github.com/commaai/openpilot/blob/master/selfdrive/car/gm/carstate.py
+  if (msg_matches(msg, 0xBEU, 0U) && (gm_hw == GM_ASCM)) {
+    brake_pressed = msg->data[1] >= 8U;
+  }
 
-      // exit controls on cancel press
-      if (button == GM_BTN_CANCEL) {
-        controls_allowed = false;
-      }
+  if (msg_matches(msg, 0xC9U, 0U) && (gm_hw == GM_CAM)) {
+    brake_pressed = GET_BIT(msg, 40U);
+  }
 
-      cruise_button_prev = button;
-    }
+  if (msg_matches(msg, 0x1C4U, 0U)) {
+    gas_pressed = msg->data[5] != 0U;
 
-    // Reference for brake pressed signals:
-    // https://github.com/commaai/openpilot/blob/master/selfdrive/car/gm/carstate.py
-    if ((msg->addr == 0xBEU) && (gm_hw == GM_ASCM)) {
-      brake_pressed = msg->data[1] >= 8U;
-    }
-
-    if ((msg->addr == 0xC9U) && (gm_hw == GM_CAM)) {
-      brake_pressed = GET_BIT(msg, 40U);
-    }
-
-    if (msg->addr == 0x1C4U) {
-      gas_pressed = msg->data[5] != 0U;
-
-      // enter controls on rising edge of ACC, exit controls when ACC off
-      if (gm_pcm_cruise && !gm_non_acc) {
-        bool cruise_engaged = (msg->data[1] >> 5) != 0U;
-        pcm_cruise_check(cruise_engaged);
-      }
-    }
-
-    if (msg->addr == 0xBDU) {
-      regen_braking = (msg->data[0] >> 4) != 0U;
-    }
-
-    if (msg->addr == 0xC9U) {
-      acc_main_on = GET_BIT(msg, 29U);
-    }
-
-    if (msg->addr == 0x3D1U) {
-      bool cruise_engaged = GET_BIT(msg, 39U);
+    // enter controls on rising edge of ACC, exit controls when ACC off
+    if (gm_pcm_cruise && !gm_non_acc) {
+      bool cruise_engaged = (msg->data[1] >> 5) != 0U;
       pcm_cruise_check(cruise_engaged);
     }
   }
+
+  if (msg_matches(msg, 0xBDU, 0U)) {
+    regen_braking = (msg->data[0] >> 4) != 0U;
+  }
+
+  if (msg_matches(msg, 0xC9U, 0U)) {
+    acc_main_on = GET_BIT(msg, 29U);
+  }
+
+  if (msg_matches(msg, 0x3D1U, 0U)) {
+    bool cruise_engaged = GET_BIT(msg, 39U);
+    pcm_cruise_check(cruise_engaged);
+  }
 }
 
 static bool gm_tx_hook(const CANPacket_t *msg) {
@@ -185,10 +183,18 @@ static safety_config gm_init(uint16_t param) {
     .max_brake = 400,
   };
 
-  static const CanMsg GM_ASCM_TX_MSGS[] = {{0x180, 0, 4, .check_relay = true}, {0x409, 0, 7, .check_relay = false}, {0x40A, 0, 7, .check_relay = false}, {0x2CB, 0, 8, .check_relay = true}, {0x370, 0, 6, .check_relay = false},  // pt bus
-                                           {0xA1, 1, 7, .check_relay = false}, {0x306, 1, 8, .check_relay = false}, {0x308, 1, 7, .check_relay = false}, {0x310, 1, 2, .check_relay = false},   // obs bus
-                                           {0x315, 2, 5, .check_relay = false}};  // ch bus
-
+  static const CanMsg GM_ASCM_TX_MSGS[] = {
+    {0x180, 0, 4, .check_relay = true},
+    {0x409, 0, 7, .check_relay = false},
+    {0x40A, 0, 7, .check_relay = false},
+    {0x2CB, 0, 8, .check_relay = true},
+    {0x370, 0, 6, .check_relay = false},
+    {0xA1, 1, 7, .check_relay = false},
+    {0x306, 1, 8, .check_relay = false},
+    {0x308, 1, 7, .check_relay = false},
+    {0x310, 1, 2, .check_relay = false},
+    {0x315, 2, 5, .check_relay = false},
+  };
 
   static const LongitudinalLimits GM_CAM_LONG_LIMITS = {
     .max_gas = 1346 * GM_GAS_TO_CAN,
@@ -199,11 +205,15 @@ static safety_config gm_init(uint16_t param) {
 
 #ifdef ALLOW_DEBUG
   // block PSCMStatus (0x184); forwarded through openpilot to hide an alert from the camera
-  static const CanMsg GM_CAM_LONG_TX_MSGS[] = {{0x180, 0, 4, .check_relay = true}, {0x315, 0, 5, .check_relay = true}, {0x2CB, 0, 8, .check_relay = true}, {0x370, 0, 6, .check_relay = true},  // pt bus
-                                               {0x184, 2, 8, .check_relay = true}};  // camera bus
+  static const CanMsg GM_CAM_LONG_TX_MSGS[] = {
+    {0x180, 0, 4, .check_relay = true},
+    {0x315, 0, 5, .check_relay = true},
+    {0x2CB, 0, 8, .check_relay = true},
+    {0x370, 0, 6, .check_relay = true},
+    {0x184, 2, 8, .check_relay = true},
+  };
 #endif
 
-
   static RxCheck gm_rx_checks[] = {
     GM_COMMON_RX_CHECKS
   };
@@ -224,8 +234,11 @@ static safety_config gm_init(uint16_t param) {
     GM_NON_ACC_ADDR_CHECK
   };
 
-  static const CanMsg GM_CAM_TX_MSGS[] = {{0x180, 0, 4, .check_relay = true},  // pt bus
-                                          {0x1E1, 2, 7, .check_relay = false}, {0x184, 2, 8, .check_relay = true}};  // camera bus
+  static const CanMsg GM_CAM_TX_MSGS[] = {
+    {0x180, 0, 4, .check_relay = true},
+    {0x1E1, 2, 7, .check_relay = false},
+    {0x184, 2, 8, .check_relay = true},
+  };
 
   if (GET_FLAG(param, GM_PARAM_HW_CAM)) {
     gm_hw = GM_CAM;
diff --git a/opendbc_repo/opendbc/safety/modes/honda.h b/opendbc_repo/opendbc/safety/modes/honda.h
index 4a7e64bd4..07c404aff 100644
--- a/opendbc_repo/opendbc/safety/modes/honda.h
+++ b/opendbc_repo/opendbc/safety/modes/honda.h
@@ -46,7 +46,6 @@ static bool honda_nidec_hybrid = false;
 typedef enum {HONDA_NIDEC, HONDA_BOSCH} HondaHw;
 static HondaHw honda_hw = HONDA_NIDEC;
 
-
 static unsigned int honda_get_pt_bus(void) {
   return ((honda_hw == HONDA_BOSCH) && !honda_bosch_radarless && !honda_bosch_canfd) ? 1U : 0U;
 }
@@ -129,7 +128,7 @@ static void honda_rx_hook(const CANPacket_t *msg) {
 
   // state machine to enter and exit controls for button enabling
   // 0x1A6 for the ILX, 0x296 for the Civic Touring
-  if (((msg->addr == 0x1A6U) || (msg->addr == 0x296U)) && (msg->bus == pt_bus)) {
+  if (msg_matches(msg, 0x1A6U, pt_bus) || msg_matches(msg, 0x296U, pt_bus)) {
     int button = (msg->data[0] & 0xE0U) >> 5;
 
     int cruise_setting = (msg->data[(msg->addr == 0x296U) ? 0U : 5U] & 0x0CU) >> 2U;
@@ -194,7 +193,7 @@ static void honda_rx_hook(const CANPacket_t *msg) {
 
   // disable stock Honda AEB in alternative experience
   if (!(alternative_experience & ALT_EXP_DISABLE_STOCK_AEB)) {
-    if ((msg->bus == 2U) && (msg->addr == 0x1FAU)) {
+    if (msg_matches(msg, 0x1FAU, 2U)) {
       bool honda_stock_aeb = GET_BIT(msg, 29U);
       int honda_stock_brake = (msg->data[0] << 2) | (msg->data[1] >> 6);
 
@@ -216,7 +215,6 @@ static void honda_rx_hook(const CANPacket_t *msg) {
 }
 
 static bool honda_tx_hook(const CANPacket_t *msg) {
-
   const LongitudinalLimits HONDA_BOSCH_LONG_LIMITS = {
     .max_accel = 200,   // accel is used for brakes
     .min_accel = -350,
@@ -238,7 +236,7 @@ static bool honda_tx_hook(const CANPacket_t *msg) {
   unsigned int bus_buttons = (honda_bosch_radarless) ? 2U : bus_pt;  // the camera controls ACC on radarless Bosch cars
 
   // ACC_HUD: safety check (nidec w/o pedal)
-  if ((msg->addr == 0x30CU) && (msg->bus == bus_pt)) {
+  if (msg_matches(msg, 0x30CU, bus_pt)) {
     int pcm_speed = (msg->data[0] << 8) | msg->data[1];
     int pcm_gas = msg->data[2];
 
@@ -251,7 +249,7 @@ static bool honda_tx_hook(const CANPacket_t *msg) {
   }
 
   // BRAKE: safety check (nidec)
-  if ((msg->addr == 0x1FAU) && (msg->bus == bus_pt)) {
+  if (msg_matches(msg, 0x1FAU, bus_pt)) {
     honda_brake = (msg->data[0] << 2) + ((msg->data[1] >> 6) & 0x3U);
 
     if (honda_nidec_hybrid) {
@@ -267,7 +265,7 @@ static bool honda_tx_hook(const CANPacket_t *msg) {
   }
 
   // BRAKE/GAS: safety check (bosch)
-  if ((msg->addr == 0x1DFU) && (msg->bus == bus_pt)) {
+  if (msg_matches(msg, 0x1DFU, bus_pt)) {
     int accel = (msg->data[3] << 3) | ((msg->data[4] >> 5) & 0x7U);
     accel = to_signed(accel, 11);
 
@@ -283,7 +281,7 @@ static bool honda_tx_hook(const CANPacket_t *msg) {
   }
 
   // ACCEL: safety check (radarless)
-  if ((msg->addr == 0x1C8U) && (msg->bus == bus_pt)) {
+  if (msg_matches(msg, 0x1C8U, bus_pt)) {
     int accel = (msg->data[0] << 4) | (msg->data[1] >> 4);
     accel = to_signed(accel, 12);
 
@@ -306,7 +304,7 @@ static bool honda_tx_hook(const CANPacket_t *msg) {
 
   // Bosch supplemental control check
   if (msg->addr == 0xE5U) {
-    if ((GET_BYTES(msg, 0, 4) != 0x10800004U) || ((GET_BYTES(msg, 4, 4) & 0x00FFFFFFU) != 0x0U)) {
+    if ((GET_BYTES_64_LE(msg, 0, 8) & 0x00FFFFFFFFFFFFFFULL) != 0x0000000010800004ULL) {
       tx = false;
     }
   }
@@ -314,7 +312,7 @@ static bool honda_tx_hook(const CANPacket_t *msg) {
   // FORCE CANCEL: safety check only relevant when spamming the cancel button in Bosch HW
   // ensuring that only the cancel button press is sent (VAL 2) when controls are off.
   // This avoids unintended engagements while still allowing resume spam
-  if ((msg->addr == 0x296U) && !controls_allowed && (msg->bus == bus_buttons)) {
+  if (msg_matches(msg, 0x296U, bus_buttons) && !controls_allowed) {
     if (((msg->data[0] >> 5) & 0x7U) != 2U) {
       tx = false;
     }
@@ -322,7 +320,7 @@ static bool honda_tx_hook(const CANPacket_t *msg) {
 
   // Only tester present ("\x02\x3E\x80\x00\x00\x00\x00\x00") allowed on diagnostics address
   if (msg->addr == 0x18DAB0F1U) {
-    if ((GET_BYTES(msg, 0, 4) != 0x00803E02U) || (GET_BYTES(msg, 4, 4) != 0x0U)) {
+    if (GET_BYTES_64_LE(msg, 0, 8) != 0x0000000000803E02ULL) {
       tx = false;
     }
   }
@@ -415,21 +413,52 @@ static safety_config honda_nidec_init(uint16_t param) {
 }
 
 static safety_config honda_bosch_init(uint16_t param) {
-  static CanMsg HONDA_BOSCH_TX_MSGS[] = {{0xE4, 0, 5, .check_relay = true}, {0xE5, 0, 8, .check_relay = true}, {0x296, 1, 4, .check_relay = false},
-                                         {0x33D, 0, 5, .check_relay = true}, {0x33D, 0, 8, .check_relay = true}, {0x33DA, 0, 5, .check_relay = true}, {0x33DB, 0, 8, .check_relay = true}};  // Bosch
+  // Bosch
+  static CanMsg HONDA_BOSCH_TX_MSGS[] = {
+    {0xE4, 0, 5, .check_relay = true},
+    {0xE5, 0, 8, .check_relay = true},
+    {0x296, 1, 4, .check_relay = false},
+    {0x33D, 0, 5, .check_relay = true},
+    {0x33D, 0, 8, .check_relay = true},
+    {0x33DA, 0, 5, .check_relay = true},
+    {0x33DB, 0, 8, .check_relay = true},
+  };
 
-  static CanMsg HONDA_BOSCH_LONG_TX_MSGS[] = {{0xE4, 1, 5, .check_relay = true}, {0x1DF, 1, 8, .check_relay = true}, {0x1EF, 1, 8, .check_relay = false},
-                                              {0x1FA, 1, 8, .check_relay = false}, {0x30C, 1, 8, .check_relay = false}, {0x33D, 1, 5, .check_relay = true}, {0x33D, 1, 8, .check_relay = true},
-                                              {0x33DA, 1, 5, .check_relay = true}, {0x33DB, 1, 8, .check_relay = true}, {0x39F, 1, 8, .check_relay = false},
-                                              {0x18DAB0F1, 1, 8, .check_relay = false}};  // Bosch w/ gas and brakes
+  // Bosch w/ gas and brakes
+  static CanMsg HONDA_BOSCH_LONG_TX_MSGS[] = {
+    {0xE4, 1, 5, .check_relay = true},
+    {0x1DF, 1, 8, .check_relay = true},
+    {0x1EF, 1, 8, .check_relay = false},
+    {0x1FA, 1, 8, .check_relay = false},
+    {0x30C, 1, 8, .check_relay = false},
+    {0x33D, 1, 5, .check_relay = true},
+    {0x33D, 1, 8, .check_relay = true},
+    {0x33DA, 1, 5, .check_relay = true},
+    {0x33DB, 1, 8, .check_relay = true},
+    {0x39F, 1, 8, .check_relay = false},
+    {0x18DAB0F1, 1, 8, .check_relay = false},
+  };
 
-  static CanMsg HONDA_RADARLESS_TX_MSGS[] = {{0xE4, 0, 5, .check_relay = true}, {0x296, 2, 4, .check_relay = false}, {0x33D, 0, 8, .check_relay = true}};  // Bosch radarless
+  // Bosch radarless
+  static CanMsg HONDA_RADARLESS_TX_MSGS[] = {
+    {0xE4, 0, 5, .check_relay = true},
+    {0x296, 2, 4, .check_relay = false},
+    {0x33D, 0, 8, .check_relay = true},
+  };
 
-  static CanMsg HONDA_RADARLESS_LONG_TX_MSGS[] = {{0xE4, 0, 5, .check_relay = true}, {0x33D, 0, 8, .check_relay = true}, {0x1C8, 0, 8, .check_relay = true},
-                                                  {0x30C, 0, 8, .check_relay = true}};  // Bosch radarless w/ gas and brakes
-
-  static CanMsg HONDA_CANFD_TX_MSGS[] = {{0xE4, 0, 5, .check_relay = true}, {0x296, 0, 4, .check_relay = false}, {0x33D, 0, 8, .check_relay = true}};
+  // Bosch radarless w/ gas and brakes
+  static CanMsg HONDA_RADARLESS_LONG_TX_MSGS[] = {
+    {0xE4, 0, 5, .check_relay = true},
+    {0x33D, 0, 8, .check_relay = true},
+    {0x1C8, 0, 8, .check_relay = true},
+    {0x30C, 0, 8, .check_relay = true},
+  };
 
+  static CanMsg HONDA_CANFD_TX_MSGS[] = {
+    {0xE4, 0, 5, .check_relay = true},
+    {0x296, 0, 4, .check_relay = false},
+    {0x33D, 0, 8, .check_relay = true},
+  };
 
   const uint16_t HONDA_PARAM_ALT_BRAKE = 1;
   const uint16_t HONDA_PARAM_RADARLESS = 8;
diff --git a/opendbc_repo/opendbc/safety/modes/hyundai.h b/opendbc_repo/opendbc/safety/modes/hyundai.h
index b4a1fe54f..8cc7b1e92 100644
--- a/opendbc_repo/opendbc/safety/modes/hyundai.h
+++ b/opendbc_repo/opendbc/safety/modes/hyundai.h
@@ -71,35 +71,38 @@ static const CanMsg HYUNDAI_TX_MSGS[] = {
 static bool hyundai_legacy = false;
 
 static uint8_t hyundai_get_counter(const CANPacket_t *msg) {
-
   uint8_t cnt = 0;
   if (msg->addr == 0x260U) {
     cnt = (msg->data[7] >> 4) & 0x3U;
-  } else if (msg->addr == 0x386U) {
+  }
+  if (msg->addr == 0x386U) {
     cnt = ((msg->data[3] >> 6) << 2) | (msg->data[1] >> 6);
-  } else if (msg->addr == 0x394U) {
+  }
+  if (msg->addr == 0x394U) {
     cnt = (msg->data[1] >> 5) & 0x7U;
-  } else if (msg->addr == 0x421U) {
+  }
+  if (msg->addr == 0x421U) {
     cnt = msg->data[7] & 0xFU;
-  } else if (msg->addr == 0x4F1U) {
+  }
+  if (msg->addr == 0x4F1U) {
     cnt = (msg->data[3] >> 4) & 0xFU;
-  } else {
   }
   return cnt;
 }
 
 static uint32_t hyundai_get_checksum(const CANPacket_t *msg) {
-
   uint8_t chksum = 0;
   if (msg->addr == 0x260U) {
     chksum = msg->data[7] & 0xFU;
-  } else if (msg->addr == 0x386U) {
+  }
+  if (msg->addr == 0x386U) {
     chksum = ((msg->data[7] >> 6) << 2) | (msg->data[5] >> 6);
-  } else if (msg->addr == 0x394U) {
+  }
+  if (msg->addr == 0x394U) {
     chksum = msg->data[6] & 0xFU;
-  } else if (msg->addr == 0x421U) {
+  }
+  if (msg->addr == 0x421U) {
     chksum = msg->data[7] >> 4;
-  } else {
   }
   return chksum;
 }
@@ -124,11 +127,11 @@ static uint32_t hyundai_compute_checksum(const CANPacket_t *msg) {
     // sum of nibbles
     for (int i = 0; i < 8; i++) {
       if ((msg->addr == 0x394U) && (i == 7)) {
-        continue; // exclude
+        continue;  // exclude
       }
       uint8_t b = msg->data[i];
       if (((msg->addr == 0x260U) && (i == 7)) || ((msg->addr == 0x394U) && (i == 6)) || ((msg->addr == 0x421U) && (i == 7))) {
-        b &= (msg->addr == 0x421U) ? 0x0FU : 0xF0U; // remove checksum
+        b &= (msg->addr == 0x421U) ? 0x0FU : 0xF0U;  // remove checksum
       }
       chksum += (b % 16U) + (b / 16U);
     }
@@ -139,82 +142,75 @@ static uint32_t hyundai_compute_checksum(const CANPacket_t *msg) {
 }
 
 static void hyundai_rx_hook(const CANPacket_t *msg) {
-
   // SCC12 is on bus 2 for camera-based SCC cars, bus 0 on all others
-  if (msg->addr == 0x421U) {
-    if (((msg->bus == 0U) && !hyundai_camera_scc) || ((msg->bus == 2U) && hyundai_camera_scc)) {
-      // 2 bits: 13-14
-      int cruise_engaged = (GET_BYTES(msg, 0, 4) >> 13) & 0x3U;
-      hyundai_common_cruise_state_check(cruise_engaged);
+  if (msg_matches(msg, 0x421U, hyundai_camera_scc ? 2U : 0U)) {
+    // 2 bits: 13-14
+    int cruise_engaged = (GET_BYTES_LE(msg, 0, 4) >> 13) & 0x3U;
+    hyundai_common_cruise_state_check(cruise_engaged);
+  }
+
+  if (msg_matches(msg, 0x420U, hyundai_camera_scc ? 2U : 0U)) {
+    if (!hyundai_longitudinal) {
+      acc_main_on = GET_BIT(msg, 0U);
     }
   }
 
-  if (msg->addr == 0x420U) {
-    if (((msg->bus == 0U) && !hyundai_camera_scc) || ((msg->bus == 2U) && hyundai_camera_scc)) {
-      if (!hyundai_longitudinal) {
-        acc_main_on = GET_BIT(msg, 0U);
-      }
-    }
+  if (msg_matches(msg, 0x251U, 0U)) {
+    int torque_driver_new = (GET_BYTES_LE(msg, 0, 2) & 0x7ffU) - 1024U;
+    // update array of samples
+    update_sample(&torque_driver, torque_driver_new);
   }
 
-  if (msg->bus == 0U) {
-    if (msg->addr == 0x251U) {
-      int torque_driver_new = (GET_BYTES(msg, 0, 2) & 0x7ffU) - 1024U;
-      // update array of samples
-      update_sample(&torque_driver, torque_driver_new);
-    }
+  if (msg_matches(msg, 0x391U, 0U)) {
+    mads_button_press = GET_BIT(msg, 4U) ? MADS_BUTTON_PRESSED : MADS_BUTTON_NOT_PRESSED;
+  }
 
-    if (msg->addr == 0x391U) {
-      mads_button_press = GET_BIT(msg, 4U) ? MADS_BUTTON_PRESSED : MADS_BUTTON_NOT_PRESSED;
-    }
+  // ACC steering wheel buttons
+  if (msg_matches(msg, 0x4F1U, 0U)) {
+    int cruise_button = msg->data[0] & 0x7U;
+    bool main_button = GET_BIT(msg, 3U);
+    hyundai_common_cruise_buttons_check(cruise_button, main_button);
+  }
 
-    // ACC steering wheel buttons
-    if (msg->addr == 0x4F1U) {
-      int cruise_button = msg->data[0] & 0x7U;
-      bool main_button = GET_BIT(msg, 3U);
-      hyundai_common_cruise_buttons_check(cruise_button, main_button);
-    }
+  // gas press, different for EV, hybrid, and ICE models
+  if (msg_matches(msg, 0x371U, 0U) && hyundai_ev_gas_signal) {
+    gas_pressed = (((msg->data[4] & 0x7FU) << 1) | (msg->data[3] >> 7)) != 0U;
+  } else if (msg_matches(msg, 0x371U, 0U) && hyundai_hybrid_gas_signal) {
+    gas_pressed = msg->data[7] != 0U;
+  } else if (msg_matches(msg, 0x91U, 0U) && hyundai_fcev_gas_signal) {
+    gas_pressed = msg->data[6] != 0U;
+  } else if (msg_matches(msg, 0x260U, 0U) && !hyundai_ev_gas_signal && !hyundai_hybrid_gas_signal) {
+    gas_pressed = (msg->data[7] >> 6) != 0U;
+  } else {
+  }
 
-    // gas press, different for EV, hybrid, and ICE models
-    if ((msg->addr == 0x371U) && hyundai_ev_gas_signal) {
-      gas_pressed = (((msg->data[4] & 0x7FU) << 1) | (msg->data[3] >> 7)) != 0U;
-    } else if ((msg->addr == 0x371U) && hyundai_hybrid_gas_signal) {
-      gas_pressed = msg->data[7] != 0U;
-    } else if ((msg->addr == 0x91U) && hyundai_fcev_gas_signal) {
-      gas_pressed = msg->data[6] != 0U;
-    } else if ((msg->addr == 0x260U) && !hyundai_ev_gas_signal && !hyundai_hybrid_gas_signal) {
-      gas_pressed = (msg->data[7] >> 6) != 0U;
-    } else {
-    }
+  // sample wheel speed, averaging opposite corners
+  if (msg_matches(msg, 0x386U, 0U)) {
+    uint32_t front_left_speed = GET_BYTES_LE(msg, 0, 2) & 0x3FFFU;
+    uint32_t rear_right_speed = GET_BYTES_LE(msg, 6, 2) & 0x3FFFU;
+    vehicle_moving = (front_left_speed > HYUNDAI_STANDSTILL_THRSLD) || (rear_right_speed > HYUNDAI_STANDSTILL_THRSLD);
+  }
 
-    // sample wheel speed, averaging opposite corners
-    if (msg->addr == 0x386U) {
-      uint32_t front_left_speed = GET_BYTES(msg, 0, 2) & 0x3FFFU;
-      uint32_t rear_right_speed = GET_BYTES(msg, 6, 2) & 0x3FFFU;
-      vehicle_moving = (front_left_speed > HYUNDAI_STANDSTILL_THRSLD) || (rear_right_speed > HYUNDAI_STANDSTILL_THRSLD);
-    }
+  if (msg_matches(msg, 0x394U, 0U)) {
+    brake_pressed = ((msg->data[5] >> 5U) & 0x3U) == 0x2U;
+  }
 
-    if (msg->addr == 0x394U) {
-      brake_pressed = ((msg->data[5] >> 5U) & 0x3U) == 0x2U;
-    }
+  if (msg_matches(msg, 0x592U, 0U)) {
+    acc_main_on = GET_BIT(msg, 34U);
+    bool cruise_engaged = GET_BIT(msg, 35U);
+    hyundai_common_cruise_state_check(cruise_engaged);
+  }
 
-    if (msg->addr == 0x592U) {
-      acc_main_on = GET_BIT(msg, 34U);
-      bool cruise_engaged = GET_BIT(msg, 35U);
-      hyundai_common_cruise_state_check(cruise_engaged);
-    }
+  if (msg_matches(msg, 0x595U, 0U)) {
+    acc_main_on = GET_BIT(msg, 50U);
+    bool cruise_engaged = GET_BIT(msg, 51U);
+    hyundai_common_cruise_state_check(cruise_engaged);
+  }
 
-    if (msg->addr == 0x595U) {
-      acc_main_on = GET_BIT(msg, 50U);
-      bool cruise_engaged = GET_BIT(msg, 51U);
-      hyundai_common_cruise_state_check(cruise_engaged);
-    }
-
-    if ((msg->addr == 0x260U) && hyundai_non_scc && !hyundai_ev_gas_signal && !hyundai_hybrid_gas_signal) {
-      acc_main_on = GET_BIT(msg, 25U);
-      bool cruise_engaged = GET_BIT(msg, 26U);
-      hyundai_common_cruise_state_check(cruise_engaged);
-    }
+  if (msg_matches(msg, 0x260U, 0U) && hyundai_non_scc && !hyundai_ev_gas_signal && !hyundai_hybrid_gas_signal) {
+    acc_main_on = GET_BIT(msg, 25U);
+    bool cruise_engaged = GET_BIT(msg, 26U);
+    hyundai_common_cruise_state_check(cruise_engaged);
   }
 
   hyundai_common_reset_acc_main_on_mismatches();
@@ -267,7 +263,7 @@ static bool hyundai_tx_hook(const CANPacket_t *msg) {
 
   // LKA STEER: safety check
   if (msg->addr == 0x340U) {
-    int desired_torque = ((GET_BYTES(msg, 0, 4) >> 16) & 0x7ffU) - 1024U;
+    int desired_torque = ((GET_BYTES_LE(msg, 0, 4) >> 16) & 0x7ffU) - 1024U;
     bool steer_req = GET_BIT(msg, 27U);
 
     const TorqueSteeringLimits limits = hyundai_alt_limits_2 ? HYUNDAI_STEERING_LIMITS_ALT_2 :
@@ -280,7 +276,7 @@ static bool hyundai_tx_hook(const CANPacket_t *msg) {
 
   // UDS: Only tester present ("\x02\x3E\x80\x00\x00\x00\x00\x00") allowed on diagnostics address
   if (msg->addr == 0x7D0U) {
-    if ((GET_BYTES(msg, 0, 4) != 0x00803E02U) || (GET_BYTES(msg, 4, 4) != 0x0U)) {
+    if (GET_BYTES_64_LE(msg, 0, 8) != 0x0000000000803E02ULL) {
       tx = false;
     }
   }
@@ -303,9 +299,9 @@ static bool hyundai_tx_hook(const CANPacket_t *msg) {
 static safety_config hyundai_init(uint16_t param) {
   static const CanMsg HYUNDAI_LONG_TX_MSGS[] = {
     HYUNDAI_LONG_COMMON_TX_MSGS(0)
-    {0x38D, 0, 8, .check_relay = false}, // FCA11 Bus 0
-    {0x483, 0, 8, .check_relay = false}, // FCA12 Bus 0
-    {0x7D0, 0, 8, .check_relay = false}, // radar UDS TX addr Bus 0 (for radar disable)
+    {0x38D, 0, 8, .check_relay = false},  // FCA11 Bus 0
+    {0x483, 0, 8, .check_relay = false},  // FCA12 Bus 0
+    {0x7D0, 0, 8, .check_relay = false},  // radar UDS TX addr Bus 0 (for radar disable)
   };
 
   static const CanMsg HYUNDAI_CAMERA_SCC_TX_MSGS[] = {
@@ -366,7 +362,6 @@ static safety_config hyundai_init(uint16_t param) {
     } else {
       SET_TX_MSGS(HYUNDAI_LONG_TX_MSGS, ret);
     }
-
   } else if (hyundai_camera_scc) {
     static RxCheck hyundai_cam_scc_rx_checks[] = {
       HYUNDAI_COMMON_RX_CHECKS(false)
diff --git a/opendbc_repo/opendbc/safety/modes/hyundai_canfd.h b/opendbc_repo/opendbc/safety/modes/hyundai_canfd.h
index 44263fd5a..8f86b66ec 100644
--- a/opendbc_repo/opendbc/safety/modes/hyundai_canfd.h
+++ b/opendbc_repo/opendbc/safety/modes/hyundai_canfd.h
@@ -68,73 +68,69 @@ static uint32_t hyundai_canfd_get_checksum(const CANPacket_t *msg) {
 }
 
 static void hyundai_canfd_rx_hook(const CANPacket_t *msg) {
-
   const unsigned pt_bus = hyundai_canfd_lka_steer_msg ? 1U : 0U;
   const unsigned int scc_bus = hyundai_camera_scc ? 2U : pt_bus;
 
-  if (msg->bus == pt_bus) {
-    // driver torque
-    if (msg->addr == 0xeaU) {
-      int torque_driver_new = ((msg->data[11] & 0x1fU) << 8U) | msg->data[10];
-      torque_driver_new -= 4095;
-      update_sample(&torque_driver, torque_driver_new);
-    }
-
-    // cruise buttons
-    const unsigned int button_addr = hyundai_canfd_alt_buttons ? 0x1aaU : 0x1cfU;
-    if (msg->addr == button_addr) {
-      bool main_button = false;
-      int cruise_button = 0;
-      if (msg->addr == 0x1cfU) {
-        cruise_button = msg->data[2] & 0x7U;
-        main_button = GET_BIT(msg, 19U);
-        mads_button_press = GET_BIT(msg, 23U) ? MADS_BUTTON_PRESSED : MADS_BUTTON_NOT_PRESSED;
-      } else {
-        cruise_button = (msg->data[4] >> 4) & 0x7U;
-        main_button = GET_BIT(msg, 34U);
-        mads_button_press = GET_BIT(msg, 39U) ? MADS_BUTTON_PRESSED : MADS_BUTTON_NOT_PRESSED;
-      }
-      hyundai_common_cruise_buttons_check(cruise_button, main_button);
-    }
-
-    // gas press, different for EV, hybrid, and ICE models
-    if ((msg->addr == 0x35U) && hyundai_ev_gas_signal) {
-      gas_pressed = msg->data[5] != 0U;
-    } else if ((msg->addr == 0x105U) && hyundai_hybrid_gas_signal) {
-      gas_pressed = GET_BIT(msg, 103U) || (msg->data[13] != 0U) || GET_BIT(msg, 112U);
-    } else if ((msg->addr == 0x100U) && !hyundai_ev_gas_signal && !hyundai_hybrid_gas_signal) {
-      gas_pressed = GET_BIT(msg, 176U);
-    } else {
-    }
-
-    // brake press
-    if (msg->addr == 0x175U) {
-      brake_pressed = GET_BIT(msg, 81U);
-    }
-
-    // vehicle moving
-    if (msg->addr == 0xa0U) {
-      uint32_t fl = (GET_BYTES(msg, 8, 2)) & 0x3FFFU;
-      uint32_t fr = (GET_BYTES(msg, 10, 2)) & 0x3FFFU;
-      uint32_t rl = (GET_BYTES(msg, 12, 2)) & 0x3FFFU;
-      uint32_t rr = (GET_BYTES(msg, 14, 2)) & 0x3FFFU;
-      vehicle_moving = (fl > HYUNDAI_STANDSTILL_THRSLD) || (fr > HYUNDAI_STANDSTILL_THRSLD) ||
-                       (rl > HYUNDAI_STANDSTILL_THRSLD) || (rr > HYUNDAI_STANDSTILL_THRSLD);
-
-      // average of all 4 wheel speeds. Conversion: raw * 0.03125 / 3.6 = m/s
-      UPDATE_VEHICLE_SPEED((fr + rr + rl + fl) / 4.0 * 0.03125 * KPH_TO_MS);
-    }
+  // driver torque
+  if (msg_matches(msg, 0xeaU, pt_bus)) {
+    int torque_driver_new = ((msg->data[11] & 0x1fU) << 8U) | msg->data[10];
+    torque_driver_new -= 4095;
+    update_sample(&torque_driver, torque_driver_new);
   }
 
-  if (msg->bus == scc_bus) {
-    // cruise state
-    if ((msg->addr == 0x1a0U) && !hyundai_longitudinal) {
-      // 1=enabled, 2=driver override
-      int cruise_status = ((msg->data[8] >> 4) & 0x7U);
-      bool cruise_engaged = (cruise_status == 1) || (cruise_status == 2);
-      hyundai_common_cruise_state_check(cruise_engaged);
-      acc_main_on = GET_BIT(msg, 66U);
+  // cruise buttons
+  const unsigned int button_addr = hyundai_canfd_alt_buttons ? 0x1aaU : 0x1cfU;
+  if (msg_matches(msg, button_addr, pt_bus)) {
+    bool main_button = false;
+    int cruise_button = 0;
+    if (msg_matches(msg, 0x1cfU, pt_bus)) {
+      cruise_button = msg->data[2] & 0x7U;
+      main_button = GET_BIT(msg, 19U);
+      mads_button_press = GET_BIT(msg, 23U) ? MADS_BUTTON_PRESSED : MADS_BUTTON_NOT_PRESSED;
+    } else {
+      cruise_button = (msg->data[4] >> 4) & 0x7U;
+      main_button = GET_BIT(msg, 34U);
+      mads_button_press = GET_BIT(msg, 39U) ? MADS_BUTTON_PRESSED : MADS_BUTTON_NOT_PRESSED;
     }
+    hyundai_common_cruise_buttons_check(cruise_button, main_button);
+  }
+
+  // gas press, different for EV, hybrid, and ICE models
+  if (msg_matches(msg, 0x35U, pt_bus) && hyundai_ev_gas_signal) {
+    gas_pressed = msg->data[5] != 0U;
+  }
+  if (msg_matches(msg, 0x105U, pt_bus) && hyundai_hybrid_gas_signal) {
+    gas_pressed = ((msg->data[12] >> 7) | msg->data[13] | (msg->data[14] & 1U)) != 0U;
+  }
+  if (msg_matches(msg, 0x100U, pt_bus) && !hyundai_ev_gas_signal && !hyundai_hybrid_gas_signal) {
+    gas_pressed = GET_BIT(msg, 176U);
+  }
+
+  // brake press
+  if (msg_matches(msg, 0x175U, pt_bus)) {
+    brake_pressed = GET_BIT(msg, 81U);
+  }
+
+  // vehicle moving
+  if (msg_matches(msg, 0xa0U, pt_bus)) {
+    uint32_t fl = (GET_BYTES_LE(msg, 8, 2)) & 0x3FFFU;
+    uint32_t fr = (GET_BYTES_LE(msg, 10, 2)) & 0x3FFFU;
+    uint32_t rl = (GET_BYTES_LE(msg, 12, 2)) & 0x3FFFU;
+    uint32_t rr = (GET_BYTES_LE(msg, 14, 2)) & 0x3FFFU;
+    vehicle_moving = (fl > HYUNDAI_STANDSTILL_THRSLD) || (fr > HYUNDAI_STANDSTILL_THRSLD) ||
+                     (rl > HYUNDAI_STANDSTILL_THRSLD) || (rr > HYUNDAI_STANDSTILL_THRSLD);
+
+    // average of all 4 wheel speeds. Conversion: raw * 0.03125 / 3.6 = m/s
+    UPDATE_VEHICLE_SPEED((fr + rr + rl + fl) / 4.0 * 0.03125 * KPH_TO_MS);
+  }
+
+  // cruise state
+  if (msg_matches(msg, 0x1a0U, scc_bus) && !hyundai_longitudinal) {
+    // 1=enabled, 2=driver override
+    int cruise_status = ((msg->data[8] >> 4) & 0x7U);
+    bool cruise_engaged = (cruise_status == 1) || (cruise_status == 2);
+    hyundai_common_cruise_state_check(cruise_engaged);
+    acc_main_on = GET_BIT(msg, 66U);
   }
 
   hyundai_common_reset_acc_main_on_mismatches();
@@ -186,7 +182,7 @@ static bool hyundai_canfd_tx_hook(const CANPacket_t *msg) {
 
   // UDS: only tester present ("\x02\x3E\x80\x00\x00\x00\x00\x00") allowed on diagnostics address
   if (((msg->addr == 0x730U) && hyundai_canfd_lka_steer_msg) || ((msg->addr == 0x7D0U) && !hyundai_camera_scc)) {
-    if ((GET_BYTES(msg, 0, 4) != 0x00803E02U) || (GET_BYTES(msg, 4, 4) != 0x0U)) {
+    if (GET_BYTES_64_LE(msg, 0, 8) != 0x0000000000803E02ULL) {
       tx = false;
     }
   }
@@ -260,7 +256,7 @@ static safety_config hyundai_canfd_init(uint16_t param) {
     HYUNDAI_CANFD_CRUISE_BUTTON_TX_MSGS(2)
     HYUNDAI_CANFD_LFA_STEERING_COMMON_TX_MSGS(0)
     HYUNDAI_CANFD_SCC_CONTROL_COMMON_TX_MSGS(0, true)
-    {0x160, 0, 16, .check_relay = true}, // ADRV_0x160
+    {0x160, 0, 16, .check_relay = true},  // ADRV_0x160
     {0x7D0, 0, 8, .check_relay = false},  // tester present for radar ECU disable
   };
 
@@ -285,7 +281,6 @@ static safety_config hyundai_canfd_init(uint16_t param) {
       };
 
       ret = BUILD_SAFETY_CFG(hyundai_canfd_lka_steer_msg_long_rx_checks, HYUNDAI_CANFD_LKA_STEER_MSG_LONG_TX_MSGS);
-
     } else {
       // Longitudinal checks for LFA steering
       static RxCheck hyundai_canfd_long_rx_checks[] = {
@@ -312,7 +307,6 @@ static safety_config hyundai_canfd_init(uint16_t param) {
         SET_TX_MSGS(HYUNDAI_CANFD_LFA_STEERING_LONG_TX_MSGS, ret);
       }
     }
-
   } else {
     if (hyundai_canfd_lka_steer_msg) {
       // *** LKA steering checks ***
@@ -329,7 +323,6 @@ static safety_config hyundai_canfd_init(uint16_t param) {
       } else {
         SET_TX_MSGS(HYUNDAI_CANFD_LKA_STEER_MSG_TX_MSGS, ret);
       }
-
     } else if (!hyundai_camera_scc) {
       // Radar sends SCC messages on these cars instead of camera
       static RxCheck hyundai_canfd_radar_scc_rx_checks[] = {
@@ -349,7 +342,6 @@ static safety_config hyundai_canfd_init(uint16_t param) {
       } else {
         SET_RX_CHECKS(hyundai_canfd_radar_scc_rx_checks, ret);
       }
-
     } else {
       // *** LFA steering checks ***
       // Camera sends SCC messages on LFA steering cars.
diff --git a/opendbc_repo/opendbc/safety/modes/hyundai_common.h b/opendbc_repo/opendbc/safety/modes/hyundai_common.h
index 97e833021..8eaa2ca9e 100644
--- a/opendbc_repo/opendbc/safety/modes/hyundai_common.h
+++ b/opendbc_repo/opendbc/safety/modes/hyundai_common.h
@@ -74,7 +74,7 @@ void hyundai_common_init(uint16_t param) {
   const uint16_t HYUNDAI_PARAM_HYBRID_GAS = 2;
   const uint16_t HYUNDAI_PARAM_CAMERA_SCC = 8;
   const uint16_t HYUNDAI_PARAM_CANFD_LKA_STEER_MSG = 16;
-  const uint16_t HYUNDAI_PARAM_ALT_LIMITS = 64; // TODO: shift this down with the rest of the common flags
+  const uint16_t HYUNDAI_PARAM_ALT_LIMITS = 64;  // TODO: shift this down with the rest of the common flags
   const uint16_t HYUNDAI_PARAM_FCEV_GAS = 256;
   const uint16_t HYUNDAI_PARAM_ALT_LIMITS_2 = 512;
 
@@ -169,10 +169,9 @@ uint32_t hyundai_common_canfd_compute_checksum(const CANPacket_t *msg) {
 
   if (len == 24) {
     crc ^= 0x819dU;
-  } else if (len == 32) {
+  }
+  if (len == 32) {
     crc ^= 0x9f5bU;
-  } else {
-
   }
 
   return crc;
diff --git a/opendbc_repo/opendbc/safety/modes/mazda.h b/opendbc_repo/opendbc/safety/modes/mazda.h
index 9838feccf..4b3838f6f 100644
--- a/opendbc_repo/opendbc/safety/modes/mazda.h
+++ b/opendbc_repo/opendbc/safety/modes/mazda.h
@@ -17,33 +17,31 @@
 
 // track msgs coming from OP so that we know what CAM msgs to drop and what to forward
 static void mazda_rx_hook(const CANPacket_t *msg) {
-  if ((int)msg->bus == MAZDA_MAIN) {
-    if (msg->addr == MAZDA_ENGINE_DATA) {
-      // sample speed: scale by 0.01 to get kph
-      int speed = (msg->data[2] << 8) | msg->data[3];
-      vehicle_moving = speed > 10; // moving when speed > 0.1 kph
-    }
+  if (msg_matches(msg, MAZDA_ENGINE_DATA, MAZDA_MAIN)) {
+    // sample speed: scale by 0.01 to get kph
+    int speed = (msg->data[2] << 8) | msg->data[3];
+    vehicle_moving = speed > 10;  // moving when speed > 0.1 kph
+  }
 
-    if (msg->addr == MAZDA_STEER_TORQUE) {
-      int torque_driver_new = msg->data[0] - 127U;
-      // update array of samples
-      update_sample(&torque_driver, torque_driver_new);
-    }
+  if (msg_matches(msg, MAZDA_STEER_TORQUE, MAZDA_MAIN)) {
+    int torque_driver_new = msg->data[0] - 127U;
+    // update array of samples
+    update_sample(&torque_driver, torque_driver_new);
+  }
 
-    // enter controls on rising edge of ACC, exit controls on ACC off
-    if (msg->addr == MAZDA_CRZ_CTRL) {
-      bool cruise_engaged = msg->data[0] & 0x8U;
-      pcm_cruise_check(cruise_engaged);
-      acc_main_on = GET_BIT(msg, 17U);
-    }
+  // enter controls on rising edge of ACC, exit controls on ACC off
+  if (msg_matches(msg, MAZDA_CRZ_CTRL, MAZDA_MAIN)) {
+    bool cruise_engaged = msg->data[0] & 0x8U;
+    pcm_cruise_check(cruise_engaged);
+    acc_main_on = GET_BIT(msg, 17U);
+  }
 
-    if (msg->addr == MAZDA_ENGINE_DATA) {
-      gas_pressed = (msg->data[4] || (msg->data[5] & 0xF0U));
-    }
+  if (msg_matches(msg, MAZDA_ENGINE_DATA, MAZDA_MAIN)) {
+    gas_pressed = (msg->data[4] | (msg->data[5] & 0xF0U)) != 0U;
+  }
 
-    if (msg->addr == MAZDA_PEDALS) {
-      brake_pressed = (msg->data[0] & 0x10U);
-    }
+  if (msg_matches(msg, MAZDA_PEDALS, MAZDA_MAIN)) {
+    brake_pressed = (msg->data[0] & 0x10U);
   }
 }
 
@@ -60,24 +58,22 @@ static bool mazda_tx_hook(const CANPacket_t *msg) {
 
   bool tx = true;
   // Check if msg is sent on the main BUS
-  if (msg->bus == (unsigned char)MAZDA_MAIN) {
-    // steer cmd checks
-    if (msg->addr == MAZDA_LKAS) {
-      int desired_torque = (((msg->data[0] & 0x0FU) << 8) | msg->data[1]) - 2048U;
+  // steer cmd checks
+  if (msg_matches(msg, MAZDA_LKAS, MAZDA_MAIN)) {
+    int desired_torque = (((msg->data[0] & 0x0FU) << 8) | msg->data[1]) - 2048U;
 
-      if (steer_torque_cmd_checks(desired_torque, -1, MAZDA_STEERING_LIMITS)) {
-        tx = false;
-      }
+    if (steer_torque_cmd_checks(desired_torque, -1, MAZDA_STEERING_LIMITS)) {
+      tx = false;
     }
+  }
 
-    // cruise buttons check
-    if (msg->addr == MAZDA_CRZ_BTNS) {
-      // allow resume spamming while controls allowed, but
-      // only allow cancel while controls not allowed
-      bool cancel_cmd = (msg->data[0] == 0x1U);
-      if (!controls_allowed && !cancel_cmd) {
-        tx = false;
-      }
+  // cruise buttons check
+  if (msg_matches(msg, MAZDA_CRZ_BTNS, MAZDA_MAIN)) {
+    // allow resume spamming while controls allowed, but
+    // only allow cancel while controls not allowed
+    bool cancel_cmd = (msg->data[0] == 0x1U);
+    if (!controls_allowed && !cancel_cmd) {
+      tx = false;
     }
   }
 
@@ -85,7 +81,11 @@ static bool mazda_tx_hook(const CANPacket_t *msg) {
 }
 
 static safety_config mazda_init(uint16_t param) {
-  static const CanMsg MAZDA_TX_MSGS[] = {{MAZDA_LKAS, 0, 8, .check_relay = true}, {MAZDA_CRZ_BTNS, 0, 8, .check_relay = false}, {MAZDA_LKAS_HUD, 0, 8, .check_relay = true}};
+  static const CanMsg MAZDA_TX_MSGS[] = {
+    {MAZDA_LKAS, 0, 8, .check_relay = true},
+    {MAZDA_CRZ_BTNS, 0, 8, .check_relay = false},
+    {MAZDA_LKAS_HUD, 0, 8, .check_relay = true},
+  };
 
   static RxCheck mazda_rx_checks[] = {
     {.msg = {{MAZDA_CRZ_CTRL,     0, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
diff --git a/opendbc_repo/opendbc/safety/modes/mg.h b/opendbc_repo/opendbc/safety/modes/mg.h
index a41bfb7a0..d95820998 100644
--- a/opendbc_repo/opendbc/safety/modes/mg.h
+++ b/opendbc_repo/opendbc/safety/modes/mg.h
@@ -5,66 +5,82 @@
 static uint8_t mg_crc_lut[256];
 
 static uint32_t mg_get_checksum(const CANPacket_t *msg) {
-  return msg->data[7];
+  uint32_t checksum = msg->data[7];
+  if (msg->addr == 0x1ecU) {
+    checksum = ((msg->data[2] & 0x7FU) << 8) | msg->data[3];
+  }
+  return checksum;
 }
 
 static uint32_t mg_compute_checksum(const CANPacket_t *msg) {
-  uint8_t checksum = 0xFFU;
-  for (int i = 0; i < 7; i++) {
-    checksum ^= msg->data[i];
-    checksum = mg_crc_lut[checksum];
+  uint32_t checksum;
+  if (msg->addr == 0x1ecU) {
+    uint32_t torque = ((msg->data[0] & 0x7U) << 8) | msg->data[1];
+    uint32_t valid = (msg->data[0] >> 3) & 1U;
+    uint32_t status = (msg->data[6] >> 4) & 0x7U;
+    uint32_t counter = msg->data[0] >> 4;
+    checksum = (0U - ((torque << 1) + (status << 12) + valid + counter)) & 0x7FFFU;
+  } else {
+    checksum = 0xFFU;
+    for (int i = 0; i < 7; i++) {
+      checksum ^= msg->data[i];
+      checksum = mg_crc_lut[checksum];
+    }
+    checksum ^= 0xFFU;
   }
-  return checksum ^ 0xFFU;
+  return checksum;
 }
 
 static uint8_t mg_get_counter(const CANPacket_t *msg) {
   uint8_t counter = 0U;
   if (msg->addr == 0x23cU) {
     counter = (msg->data[4] >> 4) & 0xFU;
-  } else if (msg->addr == 0x1ecU) {
+  }
+  if (msg->addr == 0x1ecU) {
     counter = (msg->data[0] >> 4) & 0xFU;
-  } else if (msg->addr == 0x242U) {
+  }
+  if (msg->addr == 0x242U) {
     counter = (msg->data[0] >> 3) & 0xFU;
-  } else if (msg->addr == 0x1b6U) {
+  }
+  if (msg->addr == 0x1b6U) {
     counter = msg->data[6] & 0xFU;
-  } else {
-    // No counter for this message
+  }
+  if (msg->addr == 0xAFU) {
+    counter = msg->data[5] >> 4U;
   }
   return counter;
 }
 
 static void mg_rx_hook(const CANPacket_t *msg) {
-  if (msg->bus == 0U)  {
-    // Vehicle speed
-    if (msg->addr == 0x23cU) {
-      float speed = (((msg->data[2] & 0x7FU) << 8) | msg->data[3]) * 0.015625;
-      vehicle_moving = speed > 0.0;
-      UPDATE_VEHICLE_SPEED(speed * KPH_TO_MS);
-    }
+  // Vehicle speed
+  if (msg_matches(msg, 0x23cU, 0U)) {
+    float speed = (((msg->data[2] & 0x7FU) << 8) | msg->data[3]) * 0.015625;
+    vehicle_moving = speed > 0.0;
+    UPDATE_VEHICLE_SPEED(speed * KPH_TO_MS);
+  }
 
-    // Gas pressed
-    if (msg->addr == 0xafU) {
-      gas_pressed = msg->data[0] != 0U;
-    }
+  // Gas pressed
+  if (msg_matches(msg, 0xafU, 0U)) {
+    gas_pressed = msg->data[0] != 0U;
+  }
 
-    // Driver torque
-    if (msg->addr == 0x1ecU) {
-      int torque_driver_new = (((msg->data[4] & 0x7U) << 8) | msg->data[5]) - 1024U;
-      update_sample(&torque_driver, torque_driver_new);
-    }
+  // Driver torque
+  if (msg_matches(msg, 0x1ecU, 0U)) {
+    int torque_driver_new = (((msg->data[4] & 0x7U) << 8) | msg->data[5]) - 1024U;
+    update_sample(&torque_driver, torque_driver_new);
+  }
 
-    // Brake pressed
-    if (msg->addr == 0x1b6U) {
-      brake_pressed = GET_BIT(msg, 10U);
-    }
+  // Brake pressed
+  if (msg_matches(msg, 0x1b6U, 0U)) {
+    brake_pressed = GET_BIT(msg, 10U);
+  }
 
-    // Cruise state
-    if (msg->addr == 0x242U) {
-      int cruise_state = (msg->data[5] & 0x38U) >> 3;
-      bool cruise_engaged = (cruise_state == 2) ||  // Active
-                            (cruise_state == 3);    // Override
-      pcm_cruise_check(cruise_engaged);
-    }
+  // Cruise state
+  if (msg_matches(msg, 0x242U, 0U)) {
+    int cruise_state = (msg->data[5] & 0x38U) >> 3;
+    bool cruise_engaged = (cruise_state == 2) ||  // Active
+                          (cruise_state == 3);    // Override
+    pcm_cruise_check(cruise_engaged);
   }
 }
 
@@ -79,22 +95,10 @@ static bool mg_tx_hook(const CANPacket_t *msg) {
     .type = TorqueDriverLimited,
   };
 
-  bool tx = true;
-  bool violation = false;
-
-  // Steering control
-  if (msg->addr == 0x1fdU) {
-    int desired_torque = (((msg->data[0] & 0x7U) << 8) | msg->data[1]) - 1024U;
-    bool steer_req = GET_BIT(msg, 35U);
-
-    violation |= steer_torque_cmd_checks(desired_torque, steer_req, MG_STEERING_LIMITS);
-  }
-
-  if (violation) {
-    tx = false;
-  }
-
-  return tx;
+  // The TX list dispatches only steering control (0x1fd, bus 0) to this hook.
+  int desired_torque = (((msg->data[0] & 0x7U) << 8) | msg->data[1]) - 1024U;
+  bool steer_req = GET_BIT(msg, 35U);
+  return !steer_torque_cmd_checks(desired_torque, steer_req, MG_STEERING_LIMITS);
 }
 
 static safety_config mg_init(uint16_t param) {
@@ -105,9 +109,9 @@ static safety_config mg_init(uint16_t param) {
   static const CanMsg MG_TX_MSGS[] = {{0x1fd, 0, 8, .check_relay = true}};
 
   static RxCheck mg_rx_checks[] = {
-    {.msg = {{0x23c, 0, 8, .frequency = 50U,  .ignore_checksum = true, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},   // SCS_HSC2_FrP19 (speed)
-    {.msg = {{0xaf,  0, 8, .frequency = 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},   // GW_HSC2_HCU_FrP00 (gas pedal)
-    {.msg = {{0x1ec, 0, 8, .frequency = 50U,  .ignore_checksum = true, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},   // EPS_HSC2_FrP03 (driver torque)
+    {.msg = {{0x23c, 0, 8, .frequency = 50U,  .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},   // SCS_HSC2_FrP19 (speed)
+    {.msg = {{0xaf,  0, 8, .frequency = 100U, .ignore_checksum = true, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},   // GW_HSC2_HCU_FrP00 (gas pedal)
+    {.msg = {{0x1ec, 0, 8, .frequency = 50U,  .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},   // EPS_HSC2_FrP03 (driver torque)
     {.msg = {{0x242, 0, 8, .frequency = 50U,  .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},   // RADAR_HSC2_FrP00 (cruise state)
     {.msg = {{0x1b6, 0, 8, .frequency = 50U,  .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},   // EHBS_HSC2_FrP00 (brake pedal)
   };
diff --git a/opendbc_repo/opendbc/safety/modes/nissan.h b/opendbc_repo/opendbc/safety/modes/nissan.h
index a7201c837..2d7707bc6 100644
--- a/opendbc_repo/opendbc/safety/modes/nissan.h
+++ b/opendbc_repo/opendbc/safety/modes/nissan.h
@@ -25,59 +25,54 @@ static const AngleSteeringLimits NISSAN_STEERING_LIMITS = {
   .angle_deg_to_can = 100,
   .angle_rate_up_lookup = {
     {0., 5., 15.},
-    {5., .8, .15}
+    {5., .8, .15},
   },
   .angle_rate_down_lookup = {
     {0., 5., 15.},
-    {5., 3.5, .4}
+    {5., 3.5, .4},
   },
 };
 
 static void nissan_rx_hook(const CANPacket_t *msg) {
-
   // Altima: on camera bus, others: on pt bus
-  if (msg->bus == 0U) {
-    if (msg->addr == 0x185U) {
-      // Current steering angle
-      int angle_meas_new = (msg->data[2] << 10) | (msg->data[3] << 2) | (msg->data[4] >> 6);
-      // Factor is -0.01, offset is 1310. Flip to correct sign, but keep units in CAN scale
-      angle_meas_new = -angle_meas_new + (1310.0f * NISSAN_STEERING_LIMITS.angle_deg_to_can);
+  if (msg_matches(msg, 0x185U, 0U)) {
+    // Current steering angle
+    int angle_meas_new = (msg->data[2] << 10) | (msg->data[3] << 2) | (msg->data[4] >> 6);
+    // Factor is -0.01, offset is 1310. Flip to correct sign, but keep units in CAN scale
+    angle_meas_new = -angle_meas_new + (1310.0f * NISSAN_STEERING_LIMITS.angle_deg_to_can);
 
-      // update array of samples
-      update_sample(&angle_meas, angle_meas_new);
+    // update array of samples
+    update_sample(&angle_meas, angle_meas_new);
+  }
+
+  if (msg_matches(msg, 0x285U, nissan_alt_eps ? 1U : 0U)) {
+    // Get current speed and standstill
+    uint16_t right_rear = (msg->data[0] << 8) | (msg->data[1]);
+    uint16_t left_rear = (msg->data[2] << 8) | (msg->data[3]);
+    vehicle_moving = (right_rear | left_rear) != 0U;
+    UPDATE_VEHICLE_SPEED((right_rear + left_rear) / 2.0 * 0.005 * KPH_TO_MS);
+  }
+
+  // X-Trail 0x15c, Leaf 0x239
+  if (msg_matches(msg, 0x15cU, nissan_alt_eps ? 1U : 0U) || msg_matches(msg, 0x239U, nissan_alt_eps ? 1U : 0U)) {
+    if (msg->addr == 0x15cU) {
+      gas_pressed = ((msg->data[5] << 2) | ((msg->data[6] >> 6) & 0x3U)) > 3U;
+    } else {
+      gas_pressed = msg->data[0] > 3U;
     }
   }
 
-  if (msg->bus == (nissan_alt_eps ? 1U : 0U)) {
-    if (msg->addr == 0x285U) {
-      // Get current speed and standstill
-      uint16_t right_rear = (msg->data[0] << 8) | (msg->data[1]);
-      uint16_t left_rear = (msg->data[2] << 8) | (msg->data[3]);
-      vehicle_moving = (right_rear | left_rear) != 0U;
-      UPDATE_VEHICLE_SPEED((right_rear + left_rear) / 2.0 * 0.005 * KPH_TO_MS);
-    }
-
-    // X-Trail 0x15c, Leaf 0x239
-    if ((msg->addr == 0x15cU) || (msg->addr == 0x239U)) {
-      if (msg->addr == 0x15cU){
-        gas_pressed = ((msg->data[5] << 2) | ((msg->data[6] >> 6) & 0x3U)) > 3U;
-      } else {
-        gas_pressed = msg->data[0] > 3U;
-      }
-    }
-
-    // X-trail 0x454, Leaf 0x239
-    if ((msg->addr == 0x454U) || (msg->addr == 0x239U)) {
-      if (msg->addr == 0x454U){
-        brake_pressed = (msg->data[2] & 0x80U) != 0U;
-      } else {
-        brake_pressed = ((msg->data[4] >> 5) & 1U) != 0U;
-      }
+  // X-trail 0x454, Leaf 0x239
+  if (msg_matches(msg, 0x454U, nissan_alt_eps ? 1U : 0U) || msg_matches(msg, 0x239U, nissan_alt_eps ? 1U : 0U)) {
+    if (msg->addr == 0x454U) {
+      brake_pressed = (msg->data[2] & 0x80U) != 0U;
+    } else {
+      brake_pressed = ((msg->data[4] >> 5) & 1U) != 0U;
     }
   }
 
   // Handle cruise enabled
-  if ((msg->addr == 0x30fU) && (msg->bus == (nissan_alt_eps ? 1U : 2U))) {
+  if (msg_matches(msg, 0x30fU, nissan_alt_eps ? 1U : 2U)) {
     bool cruise_engaged = (msg->data[0] >> 3) & 1U;
     pcm_cruise_check(cruise_engaged);
   }
@@ -91,7 +86,6 @@ static void nissan_rx_hook(const CANPacket_t *msg) {
   }
 }
 
-
 static bool nissan_tx_hook(const CANPacket_t *msg) {
   bool tx = true;
   bool violation = false;
@@ -116,7 +110,6 @@ static bool nissan_tx_hook(const CANPacket_t *msg) {
   return tx;
 }
 
-
 static safety_config nissan_init(uint16_t param) {
   static const CanMsg NISSAN_TX_MSGS_LEAF[] = {
     {0x169, 0, 8, .check_relay = true},   // LKAS
diff --git a/opendbc_repo/opendbc/safety/modes/psa.h b/opendbc_repo/opendbc/safety/modes/psa.h
index 63026c3e1..115b16203 100644
--- a/opendbc_repo/opendbc/safety/modes/psa.h
+++ b/opendbc_repo/opendbc/safety/modes/psa.h
@@ -6,9 +6,9 @@
 #define PSA_STEERING_ALT          773U  // RX from EPS, steering angle
 #define PSA_DYN_CMM               520U  // RX from CMM, gas pedal
 #define PSA_HS2_DYN_ABR_38D       909U  // RX from UC_FREIN, speed
-#define PSA_HS2_DAT_MDD_CMD_452   1106U // RX from BSI, cruise state
-#define PSA_DAT_BSI               1042U // RX from BSI, brake
-#define PSA_LANE_KEEP_ASSIST      1010U // TX from OP,  EPS
+#define PSA_HS2_DAT_MDD_CMD_452   1106U  // RX from BSI, cruise state
+#define PSA_DAT_BSI               1042U  // RX from BSI, brake
+#define PSA_LANE_KEEP_ASSIST      1010U  // TX from OP,  EPS
 
 // CAN bus
 #define PSA_MAIN_BUS 0U
@@ -19,9 +19,9 @@ static uint8_t psa_get_counter(const CANPacket_t *msg) {
   uint8_t cnt = 0;
   if (msg->addr == PSA_HS2_DAT_MDD_CMD_452) {
     cnt = (msg->data[3] >> 4) & 0xFU;
-  } else if (msg->addr == PSA_HS2_DYN_ABR_38D) {
+  }
+  if (msg->addr == PSA_HS2_DYN_ABR_38D) {
     cnt = (msg->data[5] >> 4) & 0xFU;
-  } else {
   }
   return cnt;
 }
@@ -50,45 +50,37 @@ static uint32_t psa_compute_checksum(const CANPacket_t *msg) {
   uint8_t chk = 0;
   if (msg->addr == PSA_HS2_DAT_MDD_CMD_452) {
     chk = _psa_compute_checksum(msg, 0x4, 5);
-  } else if (msg->addr == PSA_HS2_DYN_ABR_38D) {
+  }
+  if (msg->addr == PSA_HS2_DYN_ABR_38D) {
     chk = _psa_compute_checksum(msg, 0x7, 5);
-  } else {
   }
   return chk;
 }
 
 static void psa_rx_hook(const CANPacket_t *msg) {
-  if (msg->bus == PSA_MAIN_BUS) {
-    if (msg->addr == PSA_DYN_CMM) {
-      gas_pressed = msg->data[3] > 0U; // P002_Com_rAPP
-    }
-    if (msg->addr == PSA_STEERING_ALT) {
-      int angle_meas_new = to_signed((msg->data[0] << 8) | msg->data[1], 16); // ANGLE
-      update_sample(&angle_meas, angle_meas_new);
-    }
-    if (msg->addr == PSA_HS2_DYN_ABR_38D) {
-      int speed = (msg->data[0] << 8) | msg->data[1];
-      vehicle_moving = speed > 0;
-      UPDATE_VEHICLE_SPEED(speed * 0.01 * KPH_TO_MS); // VITESSE_VEHICULE_ROUES
-    }
+  if (msg_matches(msg, PSA_DYN_CMM, PSA_MAIN_BUS)) {
+    gas_pressed = msg->data[3] > 0U;  // P002_Com_rAPP
+  }
+  if (msg_matches(msg, PSA_STEERING_ALT, PSA_MAIN_BUS)) {
+    int angle_meas_new = to_signed((msg->data[0] << 8) | msg->data[1], 16);  // ANGLE
+    update_sample(&angle_meas, angle_meas_new);
+  }
+  if (msg_matches(msg, PSA_HS2_DYN_ABR_38D, PSA_MAIN_BUS)) {
+    int speed = (msg->data[0] << 8) | msg->data[1];
+    vehicle_moving = speed > 0;
+    UPDATE_VEHICLE_SPEED(speed * 0.01 * KPH_TO_MS);  // VITESSE_VEHICULE_ROUES
   }
 
-  if (msg->bus == PSA_ADAS_BUS) {
-    if (msg->addr == PSA_HS2_DAT_MDD_CMD_452) {
-      pcm_cruise_check((msg->data[2U] >> 7U) & 1U); // RVV_ACC_ACTIVATION_REQ
-    }
+  if (msg_matches(msg, PSA_HS2_DAT_MDD_CMD_452, PSA_ADAS_BUS)) {
+    pcm_cruise_check((msg->data[2U] >> 7U) & 1U);  // RVV_ACC_ACTIVATION_REQ
   }
 
-
-  if (msg->bus == PSA_CAM_BUS) {
-    if (msg->addr == PSA_DAT_BSI) {
-      brake_pressed = (msg->data[0U] >> 5U) & 1U; // P013_MainBrake
-    }
+  if (msg_matches(msg, PSA_DAT_BSI, PSA_CAM_BUS)) {
+    brake_pressed = (msg->data[0U] >> 5U) & 1U;  // P013_MainBrake
   }
 }
 
 static bool psa_tx_hook(const CANPacket_t *msg) {
-  bool tx = true;
   static const AngleSteeringLimits PSA_STEERING_LIMITS = {
     .max_angle = 3900,
     .angle_deg_to_can = 10,
@@ -102,30 +94,25 @@ static bool psa_tx_hook(const CANPacket_t *msg) {
     },
   };
 
-  // Safety check for LKA
-  if (msg->addr == PSA_LANE_KEEP_ASSIST) {
-    // SET_ANGLE
-    int desired_angle = to_signed((msg->data[6] << 6) | ((msg->data[7] & 0xFCU) >> 2), 14);
-    // TORQUE_FACTOR
-    bool lka_active = ((msg->data[5] & 0xFEU) >> 1) == 100U;
+  // The TX list dispatches only PSA_LANE_KEEP_ASSIST on PSA_MAIN_BUS to this hook.
+  // SET_ANGLE
+  int desired_angle = to_signed((msg->data[6] << 6) | ((msg->data[7] & 0xFCU) >> 2), 14);
+  // TORQUE_FACTOR
+  bool lka_active = ((msg->data[5] & 0xFEU) >> 1) == 100U;
 
-    if (steer_angle_cmd_checks(desired_angle, lka_active, PSA_STEERING_LIMITS)) {
-      tx = false;
-    }
-  }
-  return tx;
+  return !steer_angle_cmd_checks(desired_angle, lka_active, PSA_STEERING_LIMITS);
 }
 
 static safety_config psa_init(uint16_t param) {
   SAFETY_UNUSED(param);
   static const CanMsg PSA_TX_MSGS[] = {
-    {PSA_LANE_KEEP_ASSIST, PSA_MAIN_BUS, 8, .check_relay = true}, // EPS steering
+    {PSA_LANE_KEEP_ASSIST, PSA_MAIN_BUS, 8, .check_relay = true},  // EPS steering
   };
 
   static RxCheck psa_rx_checks[] = {
     {.msg = {{PSA_HS2_DAT_MDD_CMD_452, PSA_ADAS_BUS, 6, 20U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},                        // cruise state
     {.msg = {{PSA_HS2_DYN_ABR_38D, PSA_MAIN_BUS, 8, 25U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},                            // speed
-    {.msg = {{PSA_STEERING_ALT, PSA_MAIN_BUS, 7, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, // steering angle
+    {.msg = {{PSA_STEERING_ALT, PSA_MAIN_BUS, 7, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},  // steering angle
     {.msg = {{PSA_STEERING, PSA_MAIN_BUS, 7, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},     // driver torque
     {.msg = {{PSA_DYN_CMM, PSA_MAIN_BUS, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},      // gas pedal
     {.msg = {{PSA_DAT_BSI, PSA_CAM_BUS, 8, 20U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},        // brake
diff --git a/opendbc_repo/opendbc/safety/modes/rivian.h b/opendbc_repo/opendbc/safety/modes/rivian.h
index 1209937b4..58f317228 100644
--- a/opendbc_repo/opendbc/safety/modes/rivian.h
+++ b/opendbc_repo/opendbc/safety/modes/rivian.h
@@ -8,7 +8,6 @@ static uint8_t rivian_get_counter(const CANPacket_t *msg) {
 }
 
 static uint32_t rivian_get_checksum(const CANPacket_t *msg) {
-  // Signal: ESP_Status_Checksum, VDM_PropStatus_Checksum
   return msg->data[0];
 }
 
@@ -18,14 +17,7 @@ static uint8_t _rivian_compute_checksum(const CANPacket_t *msg, uint8_t poly, ui
   uint8_t crc = 0;
   // Skip the checksum byte
   for (int i = 1; i < len; i++) {
-    crc ^= msg->data[i];
-    for (int j = 0; j < 8; j++) {
-      if ((crc & 0x80U) != 0U) {
-        crc = (crc << 1) ^ poly;
-      } else {
-        crc <<= 1;
-      }
-    }
+    crc = crc8_update(crc, msg->data[i], poly);
   }
   return crc ^ xor_output;
 }
@@ -34,9 +26,18 @@ static uint32_t rivian_compute_checksum(const CANPacket_t *msg) {
   uint8_t chksum = 0;
   if (msg->addr == 0x208U) {
     chksum = _rivian_compute_checksum(msg, 0x1D, 0xB1);
-  } else if (msg->addr == 0x150U) {
+  }
+  if (msg->addr == 0x150U) {
     chksum = _rivian_compute_checksum(msg, 0x1D, 0x9A);
-  } else {
+  }
+  if (msg->addr == 0x380U) {
+    chksum = _rivian_compute_checksum(msg, 0x1D, 0x1E);
+  }
+  if (msg->addr == 0x38FU) {
+    chksum = _rivian_compute_checksum(msg, 0x1D, 0x37);
+  }
+  if (msg->addr == 0x100U) {
+    chksum = _rivian_compute_checksum(msg, 0x1D, 0x5F);
   }
   return chksum;
 }
@@ -45,50 +46,48 @@ static bool rivian_get_quality_flag_valid(const CANPacket_t *msg) {
   bool valid = false;
   if (msg->addr == 0x208U) {
     valid = ((msg->data[3] >> 3) & 0x3U) == 0x1U;  // ESP_Vehicle_Speed_Q
-  } else if (msg->addr == 0x150U) {
+  }
+  if (msg->addr == 0x150U) {
     valid = (msg->data[1] >> 6) == 0x1U;  // VDM_VehicleSpeedQ
-  } else {
+  }
+  if (msg->addr == 0x38FU) {
+    valid = ((msg->data[2] >> 5) & 0x3U) == 0x1U;  // iBESP2_BrakePedalApplied_Q
   }
   return valid;
 }
 
 static void rivian_rx_hook(const CANPacket_t *msg) {
-
-  if (msg->bus == 0U)  {
-    // Vehicle speed
-    if (msg->addr == 0x208U) {
-      float speed = ((msg->data[6] << 8) | msg->data[7]) * 0.01;
-      vehicle_moving = speed > 0.0;
-      UPDATE_VEHICLE_SPEED(speed * KPH_TO_MS);
-    }
-
-    // Gas pressed and second speed source for variable torque limit
-    if (msg->addr == 0x150U) {
-      gas_pressed = msg->data[3] | (msg->data[4] & 0xC0U);
-
-      // Disable controls if speeds from VDM and ESP ECUs are too far apart.
-      float vdm_speed = ((msg->data[5] << 8) | msg->data[6]) * 0.01 * KPH_TO_MS;
-      speed_mismatch_check(vdm_speed);
-    }
-
-    // Driver torque
-    if (msg->addr == 0x380U) {
-      int torque_driver_new = (((msg->data[2] << 4) | (msg->data[3] >> 4))) - 2050U;
-      update_sample(&torque_driver, torque_driver_new);
-    }
-
-    // Brake pressed
-    if (msg->addr == 0x38fU) {
-      brake_pressed = (msg->data[2] >> 7) & 1U;
-    }
+  // Vehicle speed
+  if (msg_matches(msg, 0x208U, 0U)) {
+    float speed = ((msg->data[6] << 8) | msg->data[7]) * 0.01;
+    vehicle_moving = speed > 0.0;
+    UPDATE_VEHICLE_SPEED(speed * KPH_TO_MS);
   }
 
-  if (msg->bus == 2U) {
-    // Cruise state
-    if (msg->addr == 0x100U) {
-      const int feature_status = msg->data[2] >> 5U;
-      pcm_cruise_check(feature_status == 1);
-    }
+  // Gas pressed and second speed source for variable torque limit
+  if (msg_matches(msg, 0x150U, 0U)) {
+    gas_pressed = msg->data[3] | (msg->data[4] & 0xC0U);
+
+    // Disable controls if speeds from VDM and ESP ECUs are too far apart.
+    float vdm_speed = ((msg->data[5] << 8) | msg->data[6]) * 0.01 * KPH_TO_MS;
+    speed_mismatch_check(vdm_speed);
+  }
+
+  // Driver torque
+  if (msg_matches(msg, 0x380U, 0U)) {
+    int torque_driver_new = (((msg->data[2] << 4) | (msg->data[3] >> 4))) - 2050U;
+    update_sample(&torque_driver, torque_driver_new);
+  }
+
+  // Brake pressed
+  if (msg_matches(msg, 0x38fU, 0U)) {
+    brake_pressed = (msg->data[2] >> 7) & 1U;
+  }
+
+  // Cruise state
+  if (msg_matches(msg, 0x100U, 2U)) {
+    const int feature_status = msg->data[2] >> 5U;
+    pcm_cruise_check(feature_status == 1);
   }
 }
 
@@ -117,23 +116,21 @@ static bool rivian_tx_hook(const CANPacket_t *msg) {
 
   bool tx = true;
 
-  if (msg->bus == 0U) {
-    // Steering control
-    if (msg->addr == 0x120U) {
-      int desired_torque = ((msg->data[2] << 3U) | (msg->data[3] >> 5U)) - 1024U;
-      bool steer_req = (msg->data[3] >> 4) & 1U;
+  // Steering control
+  if (msg_matches(msg, 0x120U, 0U)) {
+    int desired_torque = ((msg->data[2] << 3U) | (msg->data[3] >> 5U)) - 1024U;
+    bool steer_req = (msg->data[3] >> 4) & 1U;
 
-      if (steer_torque_cmd_checks(desired_torque, steer_req, RIVIAN_STEERING_LIMITS)) {
-        tx = false;
-      }
+    if (steer_torque_cmd_checks(desired_torque, steer_req, RIVIAN_STEERING_LIMITS)) {
+      tx = false;
     }
+  }
 
-    // Longitudinal control
-    if (msg->addr == 0x160U) {
-      int raw_accel = ((msg->data[2] << 3) | (msg->data[3] >> 5)) - 1024U;
-      if (longitudinal_accel_checks(raw_accel, RIVIAN_LONG_LIMITS)) {
-        tx = false;
-      }
+  // Longitudinal control
+  if (msg_matches(msg, 0x160U, 0U)) {
+    int raw_accel = ((msg->data[2] << 3) | (msg->data[3] >> 5)) - 1024U;
+    if (longitudinal_accel_checks(raw_accel, RIVIAN_LONG_LIMITS)) {
+      tx = false;
     }
   }
 
@@ -144,16 +141,24 @@ static safety_config rivian_init(uint16_t param) {
   // SCCM_WheelTouch: for hiding hold wheel alert
   // VDM_AdasSts: for canceling stock ACC
   // 0x120 = ACM_lkaHbaCmd, 0x321 = SCCM_WheelTouch, 0x162 = VDM_AdasSts
-  static const CanMsg RIVIAN_TX_MSGS[] = {{0x120, 0, 8, .check_relay = true}, {0x321, 2, 7, .check_relay = true}, {0x162, 2, 8, .check_relay = true}};
+  static const CanMsg RIVIAN_TX_MSGS[] = {
+    {0x120, 0, 8, .check_relay = true},
+    {0x321, 2, 7, .check_relay = true},
+    {0x162, 2, 8, .check_relay = true},
+  };
   // 0x160 = ACM_longitudinalRequest
-  static const CanMsg RIVIAN_LONG_TX_MSGS[] = {{0x120, 0, 8, .check_relay = true}, {0x321, 2, 7, .check_relay = true}, {0x160, 0, 5, .check_relay = true}};
+  static const CanMsg RIVIAN_LONG_TX_MSGS[] = {
+    {0x120, 0, 8, .check_relay = true},
+    {0x321, 2, 7, .check_relay = true},
+    {0x160, 0, 5, .check_relay = true},
+  };
 
   static RxCheck rivian_rx_checks[] = {
-    {.msg = {{0x208, 0, 8, 50U, .max_counter = 14U}, { 0 }, { 0 }}},                                                             // ESP_Status (speed)
-    {.msg = {{0x150, 0, 7, 50U, .max_counter = 14U}, { 0 }, { 0 }}},                                                             // VDM_PropStatus (gas pedal & 2nd speed)
-    {.msg = {{0x380, 0, 5, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},  // EPAS_SystemStatus (driver torque)
-    {.msg = {{0x38f, 0, 6, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},   // iBESP2 (brakes)
-    {.msg = {{0x100, 2, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},  // ACM_Status (cruise state)
+    {.msg = {{0x208, 0, 8, 50U, .max_counter = 14U}, { 0 }, { 0 }}},   // ESP_Status (speed)
+    {.msg = {{0x150, 0, 7, 50U, .max_counter = 14U}, { 0 }, { 0 }}},   // VDM_PropStatus (gas pedal & 2nd speed)
+    {.msg = {{0x38f, 0, 6, 50U, .max_counter = 14U}, { 0 }, { 0 }}},   // iBESP2 (brakes)
+    {.msg = {{0x380, 0, 5, 100U, .max_counter = 14U, .ignore_quality_flag = true}, { 0 }, { 0 }}},  // EPAS_SystemStatus (driver torque)
+    {.msg = {{0x100, 2, 8, 100U, .max_counter = 14U, .ignore_quality_flag = true}, { 0 }, { 0 }}},  // ACM_Status (cruise state)
   };
 
   bool rivian_longitudinal = false;
diff --git a/opendbc_repo/opendbc/safety/modes/subaru.h b/opendbc_repo/opendbc/safety/modes/subaru.h
index c085c720b..b7cc45778 100644
--- a/opendbc_repo/opendbc/safety/modes/subaru.h
+++ b/opendbc_repo/opendbc/safety/modes/subaru.h
@@ -100,9 +100,9 @@ static uint32_t subaru_compute_checksum(const CANPacket_t *msg) {
 static void subaru_rx_hook(const CANPacket_t *msg) {
   const unsigned int alt_main_bus = subaru_gen2 ? SUBARU_ALT_BUS : SUBARU_MAIN_BUS;
 
-  if ((msg->addr == MSG_SUBARU_Steering_Torque) && (msg->bus == SUBARU_MAIN_BUS)) {
+  if (msg_matches(msg, MSG_SUBARU_Steering_Torque, SUBARU_MAIN_BUS)) {
     int torque_driver_new;
-    torque_driver_new = ((GET_BYTES(msg, 0, 4) >> 16) & 0x7FFU);
+    torque_driver_new = ((GET_BYTES_LE(msg, 0, 4) >> 16) & 0x7FFU);
     torque_driver_new = -1 * to_signed(torque_driver_new, 11);
     update_sample(&torque_driver, torque_driver_new);
   }
@@ -115,29 +115,29 @@ static void subaru_rx_hook(const CANPacket_t *msg) {
   }
 
   // enter controls on rising edge of ACC, exit controls on ACC off
-  if ((msg->addr == MSG_SUBARU_CruiseControl) && (msg->bus == alt_main_bus)) {
+  if (msg_matches(msg, MSG_SUBARU_CruiseControl, alt_main_bus)) {
     bool cruise_engaged = (msg->data[5] >> 1) & 1U;
     pcm_cruise_check(cruise_engaged);
     acc_main_on = GET_BIT(msg, 40U);
   }
 
   // update vehicle moving with any non-zero wheel speed
-  if ((msg->addr == MSG_SUBARU_Wheel_Speeds) && (msg->bus == alt_main_bus)) {
-    uint32_t fr = (GET_BYTES(msg, 1, 3) >> 4) & 0x1FFFU;
-    uint32_t rr = (GET_BYTES(msg, 3, 3) >> 1) & 0x1FFFU;
-    uint32_t rl = (GET_BYTES(msg, 4, 3) >> 6) & 0x1FFFU;
-    uint32_t fl = (GET_BYTES(msg, 6, 2) >> 3) & 0x1FFFU;
+  if (msg_matches(msg, MSG_SUBARU_Wheel_Speeds, alt_main_bus)) {
+    uint32_t fr = (GET_BYTES_LE(msg, 1, 3) >> 4) & 0x1FFFU;
+    uint32_t rr = (GET_BYTES_LE(msg, 3, 3) >> 1) & 0x1FFFU;
+    uint32_t rl = (GET_BYTES_LE(msg, 4, 3) >> 6) & 0x1FFFU;
+    uint32_t fl = (GET_BYTES_LE(msg, 6, 2) >> 3) & 0x1FFFU;
 
-    vehicle_moving = (fr > 0U) || (rr > 0U) || (rl > 0U) || (fl > 0U);
+    vehicle_moving = (fr | rr | rl | fl) != 0U;
 
     UPDATE_VEHICLE_SPEED((fr + rr + rl + fl) / 4.0 * 0.057 * KPH_TO_MS);
   }
 
-  if ((msg->addr == MSG_SUBARU_Brake_Status) && (msg->bus == alt_main_bus)) {
+  if (msg_matches(msg, MSG_SUBARU_Brake_Status, alt_main_bus)) {
     brake_pressed = (msg->data[7] >> 6) & 1U;
   }
 
-  if ((msg->addr == MSG_SUBARU_Throttle) && (msg->bus == SUBARU_MAIN_BUS)) {
+  if (msg_matches(msg, MSG_SUBARU_Throttle, SUBARU_MAIN_BUS)) {
     gas_pressed = msg->data[4] != 0U;
   }
 }
@@ -149,7 +149,7 @@ static bool subaru_tx_hook(const CANPacket_t *msg) {
   const LongitudinalLimits SUBARU_LONG_LIMITS = {
     .min_gas = 808,       // appears to be engine braking
     .max_gas = 3400,      // approx  2 m/s^2 when maxing cruise_rpm and cruise_throttle
-    .inactive_gas = 1818, // this is zero acceleration
+    .inactive_gas = 1818,  // this is zero acceleration
     .max_brake = 600,     // approx -3.5 m/s^2
 
     .min_transmission_rpm = 0,
@@ -161,7 +161,7 @@ static bool subaru_tx_hook(const CANPacket_t *msg) {
 
   // steer cmd checks
   if (msg->addr == MSG_SUBARU_ES_LKAS) {
-    int desired_torque = ((GET_BYTES(msg, 0, 4) >> 16) & 0x1FFFU);
+    int desired_torque = ((GET_BYTES_LE(msg, 0, 4) >> 16) & 0x1FFFU);
     desired_torque = -1 * to_signed(desired_torque, 13);
 
     bool steer_req = (msg->data[3] >> 5) & 1U;
@@ -178,7 +178,7 @@ static bool subaru_tx_hook(const CANPacket_t *msg) {
 
   // check es_distance cruise_throttle limits
   if (msg->addr == MSG_SUBARU_ES_Distance) {
-    int cruise_throttle = (GET_BYTES(msg, 2, 2) & 0x1FFFU);
+    int cruise_throttle = (GET_BYTES_LE(msg, 2, 2) & 0x1FFFU);
     bool cruise_cancel = (msg->data[7] >> 0) & 1U;
 
     if (subaru_longitudinal) {
@@ -207,9 +207,10 @@ static bool subaru_tx_hook(const CANPacket_t *msg) {
     violation |= !(is_tester_present || is_button_rdbi);
   }
 
-  if (violation){
+  if (violation) {
     tx = false;
   }
+
   return tx;
 }
 
diff --git a/opendbc_repo/opendbc/safety/modes/subaru_preglobal.h b/opendbc_repo/opendbc/safety/modes/subaru_preglobal.h
index 2fafd0182..28d945b2c 100644
--- a/opendbc_repo/opendbc/safety/modes/subaru_preglobal.h
+++ b/opendbc_repo/opendbc/safety/modes/subaru_preglobal.h
@@ -29,34 +29,32 @@
 static bool subaru_pg_reversed_driver_torque = false;
 
 static void subaru_preglobal_rx_hook(const CANPacket_t *msg) {
-  if (msg->bus == SUBARU_PG_MAIN_BUS) {
-    if (msg->addr == MSG_SUBARU_PG_Steering_Torque) {
-      int torque_driver_new;
-      torque_driver_new = (msg->data[3] >> 5) + (msg->data[4] << 3);
-      torque_driver_new = to_signed(torque_driver_new, 11);
-      torque_driver_new = subaru_pg_reversed_driver_torque ? -torque_driver_new : torque_driver_new;
-      update_sample(&torque_driver, torque_driver_new);
-    }
+  if (msg_matches(msg, MSG_SUBARU_PG_Steering_Torque, SUBARU_PG_MAIN_BUS)) {
+    int torque_driver_new;
+    torque_driver_new = (msg->data[3] >> 5) + (msg->data[4] << 3);
+    torque_driver_new = to_signed(torque_driver_new, 11);
+    torque_driver_new = subaru_pg_reversed_driver_torque ? -torque_driver_new : torque_driver_new;
+    update_sample(&torque_driver, torque_driver_new);
+  }
 
-    // enter controls on rising edge of ACC, exit controls on ACC off
-    if (msg->addr == MSG_SUBARU_PG_CruiseControl) {
-      bool cruise_engaged = (msg->data[6] >> 1) & 1U;
-      pcm_cruise_check(cruise_engaged);
-      acc_main_on = GET_BIT(msg, 48U);
-    }
+  // enter controls on rising edge of ACC, exit controls on ACC off
+  if (msg_matches(msg, MSG_SUBARU_PG_CruiseControl, SUBARU_PG_MAIN_BUS)) {
+    bool cruise_engaged = (msg->data[6] >> 1) & 1U;
+    pcm_cruise_check(cruise_engaged);
+    acc_main_on = GET_BIT(msg, 48U);
+  }
 
-    // update vehicle moving with any non-zero wheel speed
-    if (msg->addr == MSG_SUBARU_PG_Wheel_Speeds) {
-      vehicle_moving = ((GET_BYTES(msg, 0, 4) >> 12) != 0U) || (GET_BYTES(msg, 4, 4) != 0U);
-    }
+  // update vehicle moving with any non-zero wheel speed
+  if (msg_matches(msg, MSG_SUBARU_PG_Wheel_Speeds, SUBARU_PG_MAIN_BUS)) {
+    vehicle_moving = ((GET_BYTES_LE(msg, 0, 4) >> 12) | GET_BYTES_LE(msg, 4, 4)) != 0U;
+  }
 
-    if (msg->addr == MSG_SUBARU_PG_Brake_Pedal) {
-      brake_pressed = ((GET_BYTES(msg, 0, 4) >> 16) & 0xFFU) > 0U;
-    }
+  if (msg_matches(msg, MSG_SUBARU_PG_Brake_Pedal, SUBARU_PG_MAIN_BUS)) {
+    brake_pressed = ((GET_BYTES_LE(msg, 0, 4) >> 16) & 0xFFU) > 0U;
+  }
 
-    if (msg->addr == MSG_SUBARU_PG_Throttle) {
-      gas_pressed = msg->data[0] != 0U;
-    }
+  if (msg_matches(msg, MSG_SUBARU_PG_Throttle, SUBARU_PG_MAIN_BUS)) {
+    gas_pressed = msg->data[0] != 0U;
   }
 }
 
@@ -75,7 +73,7 @@ static bool subaru_preglobal_tx_hook(const CANPacket_t *msg) {
 
   // steer cmd checks
   if (msg->addr == MSG_SUBARU_PG_ES_LKAS) {
-    int desired_torque = ((GET_BYTES(msg, 0, 4) >> 8) & 0x1FFFU);
+    int desired_torque = ((GET_BYTES_LE(msg, 0, 4) >> 8) & 0x1FFFU);
     desired_torque = -1 * to_signed(desired_torque, 13);
 
     bool steer_req = (msg->data[3] >> 0) & 1U;
@@ -84,6 +82,7 @@ static bool subaru_preglobal_tx_hook(const CANPacket_t *msg) {
       tx = false;
     }
   }
+
   return tx;
 }
 
@@ -99,7 +98,7 @@ static safety_config subaru_preglobal_init(uint16_t param) {
 
   // TODO: do checksum and counter checks after adding the signals to the outback dbc file
   static RxCheck subaru_preglobal_rx_checks[] = {
-    {.msg = {{MSG_SUBARU_PG_Throttle,        SUBARU_PG_MAIN_BUS, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
+    {.msg = {{MSG_SUBARU_PG_Throttle,       SUBARU_PG_MAIN_BUS, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
     {.msg = {{MSG_SUBARU_PG_Steering_Torque, SUBARU_PG_MAIN_BUS, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
     {.msg = {{MSG_SUBARU_PG_CruiseControl,   SUBARU_PG_MAIN_BUS, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
     {.msg = {{MSG_SUBARU_PG_Wheel_Speeds,    SUBARU_PG_MAIN_BUS, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
diff --git a/opendbc_repo/opendbc/safety/modes/tesla.h b/opendbc_repo/opendbc/safety/modes/tesla.h
index f0c482854..cabd872aa 100644
--- a/opendbc_repo/opendbc/safety/modes/tesla.h
+++ b/opendbc_repo/opendbc/safety/modes/tesla.h
@@ -38,24 +38,26 @@ extern uint8_t tesla_mads_screen_button_fingers;
 uint8_t tesla_mads_screen_button_fingers = 0U;
 
 static uint8_t tesla_get_counter(const CANPacket_t *msg) {
-
   uint8_t cnt = 0;
   if (msg->addr == 0x2b9U) {
     // Signal: DAS_controlCounter
     cnt = msg->data[6] >> 5;
-  } else if (msg->addr == 0x488U) {
+  }
+  if (msg->addr == 0x488U) {
     // Signal: DAS_steeringControlCounter
     cnt = msg->data[2] & 0x0FU;
-  } else if ((msg->addr == 0x257U) || (msg->addr == 0x118U) || (msg->addr == 0x145U) || (msg->addr == 0x286U) || (msg->addr == 0x311U)) {
+  }
+  if ((msg->addr == 0x257U) || (msg->addr == 0x118U) || (msg->addr == 0x145U) || (msg->addr == 0x286U) || (msg->addr == 0x311U)) {
     // Signal: DI_speedCounter, DI_systemStatusCounter, ESP_statusCounter, DI_locStatusCounter, UI_warningCounter
     cnt = msg->data[1] & 0x0FU;
-  } else if (msg->addr == 0x155U) {
+  }
+  if (msg->addr == 0x155U) {
     // Signal: ESP_wheelRotationCounter
     cnt = msg->data[6] >> 4;
-  } else if (msg->addr == 0x370U) {
+  }
+  if (msg->addr == 0x370U) {
     // Signal: EPAS3S_sysStatusCounter
     cnt = msg->data[6] & 0x0FU;
-  } else {
   }
   return cnt;
 }
@@ -65,13 +67,14 @@ static int _tesla_get_checksum_byte(const int addr) {
   if ((addr == 0x370) || (addr == 0x2b9) || (addr == 0x155)) {
     // Signal: EPAS3S_sysStatusChecksum, DAS_controlChecksum, ESP_wheelRotationChecksum
     checksum_byte = 7;
-  } else if (addr == 0x488) {
+  }
+  if (addr == 0x488) {
     // Signal: DAS_steeringControlChecksum
     checksum_byte = 3;
-  } else if ((addr == 0x257) || (addr == 0x118) || (addr == 0x145) || (addr == 0x286) || (addr == 0x311)) {
+  }
+  if ((addr == 0x257) || (addr == 0x118) || (addr == 0x145) || (addr == 0x286) || (addr == 0x311)) {
     // Signal: DI_speedChecksum, DI_systemStatusChecksum, ESP_statusChecksum, DI_locStatusChecksum, UI_warningChecksum
     checksum_byte = 0;
-  } else {
   }
   return checksum_byte;
 }
@@ -102,14 +105,13 @@ static uint32_t tesla_compute_checksum(const CANPacket_t *msg) {
 }
 
 static bool tesla_get_quality_flag_valid(const CANPacket_t *msg) {
-
   bool valid = false;
   if (msg->addr == 0x155U) {
     valid = (msg->data[5] & 0x1U) == 0x1U;  // ESP_wheelSpeedsQF
-  } else if (msg->addr == 0x145U) {
+  }
+  if (msg->addr == 0x145U) {
     int user_brake_status = (msg->data[3] >> 5) & 0x03U;
     valid = (user_brake_status != 0) && (user_brake_status != 3);  // ESP_driverBrakeApply=NotInit_orOff, Faulty_SNA
-  } else {
   }
   return valid;
 }
@@ -129,113 +131,105 @@ static int tesla_get_steer_ctrl_type(const int ctrl_type) {
 }
 
 static void tesla_rx_hook(const CANPacket_t *msg) {
+  // Steering angle: (0.1 * val) - 819.2 in deg.
+  if (msg_matches(msg, 0x370U, 0U)) {
+    // Store it 1/10 deg to match steering request
+    const int angle_meas_new = (((msg->data[4] & 0x3FU) << 8) | msg->data[5]) - 8192U;
+    update_sample(&angle_meas, angle_meas_new);
 
-  if (msg->bus == 0U) {
-    // Steering angle: (0.1 * val) - 819.2 in deg.
-    if (msg->addr == 0x370U) {
-      // Store it 1/10 deg to match steering request
-      const int angle_meas_new = (((msg->data[4] & 0x3FU) << 8) | msg->data[5]) - 8192U;
-      update_sample(&angle_meas, angle_meas_new);
+    const int hands_on_level = msg->data[4] >> 6;  // EPAS3S_handsOnLevel
+    const int eac_status = msg->data[6] >> 5;  // EPAS3S_eacStatus
+    const int eac_error_code = msg->data[2] >> 4;  // EPAS3S_eacErrorCode
 
-      const int hands_on_level = msg->data[4] >> 6;  // EPAS3S_handsOnLevel
-      const int eac_status = msg->data[6] >> 5;  // EPAS3S_eacStatus
-      const int eac_error_code = msg->data[2] >> 4;  // EPAS3S_eacErrorCode
+    // Disengage on normal user override, or if high angle rate fault from user overriding extremely quickly
+    steering_disengage = (hands_on_level >= 3) || ((eac_status == 0) && (eac_error_code == 9));
+  }
 
-      // Disengage on normal user override, or if high angle rate fault from user overriding extremely quickly
-      steering_disengage = (hands_on_level >= 3) || ((eac_status == 0) && (eac_error_code == 9));
-    }
-
-    // Vehicle speed (DI_speed)
-    if (msg->addr == 0x257U) {
-      // Vehicle speed: ((val * 0.08) - 40) / MS_TO_KPH
-      float speed = ((((msg->data[2] << 4) | (msg->data[1] >> 4)) * 0.08) - 40.) * KPH_TO_MS;
-      UPDATE_VEHICLE_SPEED(speed);
-    }
-
-    // 2nd vehicle speed (ESP_B)
-    if (msg->addr == 0x155U) {
-      // Disable controls if speeds from DI (Drive Inverter) and ESP ECUs are too far apart.
-      float esp_speed = (((msg->data[6] & 0x0FU) << 6) | (msg->data[5] >> 2)) * 0.5 * KPH_TO_MS;
-      speed_mismatch_check(esp_speed);
-    }
-
-    // Gas pressed
-    if (msg->addr == 0x118U) {
-      gas_pressed = (msg->data[4] != 0U);
-    }
-
-    // Brake pressed
-    if (msg->addr == 0x145U) {
-      brake_pressed = ((msg->data[3] >> 5) & 0x03U) == 2U;
-    }
-
-    // Cruise and Autopark/Summon state
-    if (msg->addr == 0x286U) {
-      // Autopark state
-      int autopark_state = (msg->data[3] >> 1) & 0x0FU;  // DI_autoparkState
-      bool tesla_autopark_now = (autopark_state == 3) ||  // ACTIVE
-                                (autopark_state == 4) ||  // COMPLETE
-                                (autopark_state == 9);    // SELFPARK_STARTED
-
-      // Only consider rising edges while controls are not allowed
-      if (tesla_autopark_now && !tesla_autopark_prev && !cruise_engaged_prev) {
-        tesla_autopark = true;
-      }
-      if (!tesla_autopark_now) {
-        tesla_autopark = false;
-      }
-      tesla_autopark_prev = tesla_autopark_now;
-
-      // Cruise state
-      int cruise_state = (msg->data[1] >> 4) & 0x07U;
-      bool cruise_engaged = (cruise_state == 2) ||  // ENABLED
-                            (cruise_state == 3) ||  // STANDSTILL
-                            (cruise_state == 4) ||  // OVERRIDE
-                            (cruise_state == 6) ||  // PRE_FAULT
-                            (cruise_state == 7);    // PRE_CANCEL
-      cruise_engaged = cruise_engaged && !tesla_autopark;
-
-      pcm_cruise_check(cruise_engaged);
-    }
-
-    if (msg->addr == 0x155U) {
-      vehicle_moving = !GET_BIT(msg, 41U);  // ESP_vehicleStandstillSts
+  if (msg_matches(msg, 0x3DFU, 1U)) {
+    if (tesla_mads_screen_button_fingers != 0U) {
+      mads_button_press = (msg->data[3] == tesla_mads_screen_button_fingers) ? MADS_BUTTON_PRESSED : MADS_BUTTON_NOT_PRESSED;
     }
   }
 
-  if (msg->bus == 1U) {
-    if (msg->addr == 0x3DFU) {
-      if (tesla_mads_screen_button_fingers != 0U) {
-        mads_button_press = (msg->data[3] == tesla_mads_screen_button_fingers) ? MADS_BUTTON_PRESSED : MADS_BUTTON_NOT_PRESSED;
-      }
-    }
+  // Vehicle speed (DI_speed)
+  if (msg_matches(msg, 0x257U, 0U)) {
+    // Vehicle speed: ((val * 0.08) - 40) / MS_TO_KPH
+    float speed = ((((msg->data[2] << 4) | (msg->data[1] >> 4)) * 0.08) - 40.) * KPH_TO_MS;
+    UPDATE_VEHICLE_SPEED(speed);
   }
 
-  if (msg->bus == 2U) {
-    // DAS_control
-    if (msg->addr == 0x2b9U) {
-      // "AEB_ACTIVE"
-      tesla_stock_aeb = (msg->data[2] & 0x03U) == 1U;
-    }
+  // 2nd vehicle speed (ESP_B)
+  if (msg_matches(msg, 0x155U, 0U)) {
+    // Disable controls if speeds from DI (Drive Inverter) and ESP ECUs are too far apart.
+    float esp_speed = (((msg->data[6] & 0x0FU) << 6) | (msg->data[5] >> 2)) * 0.5 * KPH_TO_MS;
+    speed_mismatch_check(esp_speed);
+  }
 
-    // DAS_steeringControl
-    if (msg->addr == 0x488U) {
-      int steering_control_type = msg->data[2] >> 6;
-      bool tesla_stock_lkas_now = steering_control_type == tesla_get_steer_ctrl_type(2);  // "LANE_KEEP_ASSIST"
+  // Gas pressed
+  if (msg_matches(msg, 0x118U, 0U)) {
+    gas_pressed = (msg->data[4] != 0U);
+  }
 
-      // Only consider rising edges while controls are not allowed
-      if (tesla_stock_lkas_now && !tesla_stock_lkas_prev && !(controls_allowed || controls_allowed_lateral)) {
-        tesla_stock_lkas = true;
-      }
-      if (!tesla_stock_lkas_now) {
-        tesla_stock_lkas = false;
-      }
-      tesla_stock_lkas_prev = tesla_stock_lkas_now;
+  // Brake pressed
+  if (msg_matches(msg, 0x145U, 0U)) {
+    brake_pressed = ((msg->data[3] >> 5) & 0x03U) == 2U;
+  }
+
+  // Cruise and Autopark/Summon state
+  if (msg_matches(msg, 0x286U, 0U)) {
+    // Autopark state
+    int autopark_state = (msg->data[3] >> 1) & 0x0FU;  // DI_autoparkState
+    bool tesla_autopark_now = (autopark_state == 3) ||  // ACTIVE
+                              (autopark_state == 4) ||  // COMPLETE
+                              (autopark_state == 9);    // SELFPARK_STARTED
+
+    // Only consider rising edges while controls are not allowed
+    if (tesla_autopark_now && !tesla_autopark_prev && !cruise_engaged_prev) {
+      tesla_autopark = true;
     }
+    if (!tesla_autopark_now) {
+      tesla_autopark = false;
+    }
+    tesla_autopark_prev = tesla_autopark_now;
+
+    // Cruise state
+    int cruise_state = (msg->data[1] >> 4) & 0x07U;
+    bool cruise_engaged = (cruise_state == 2) ||  // ENABLED
+                          (cruise_state == 3) ||  // STANDSTILL
+                          (cruise_state == 4) ||  // OVERRIDE
+                          (cruise_state == 6) ||  // PRE_FAULT
+                          (cruise_state == 7);    // PRE_CANCEL
+    cruise_engaged = cruise_engaged && !tesla_autopark;
+
+    pcm_cruise_check(cruise_engaged);
+  }
+
+  if (msg_matches(msg, 0x155U, 0U)) {
+    vehicle_moving = !GET_BIT(msg, 41U);  // ESP_vehicleStandstillSts
+  }
+
+  // DAS_control
+  if (msg_matches(msg, 0x2b9U, 2U)) {
+    // "AEB_ACTIVE"
+    tesla_stock_aeb = (msg->data[2] & 0x03U) == 1U;
+  }
+
+  // DAS_steeringControl
+  if (msg_matches(msg, 0x488U, 2U)) {
+    int steering_control_type = msg->data[2] >> 5;  // DAS_steeringControlType
+    bool tesla_stock_lkas_now = steering_control_type == tesla_get_steer_ctrl_type(2);  // "LANE_KEEP_ASSIST"
+
+    // Only consider rising edges while controls are not allowed
+    if (tesla_stock_lkas_now && !tesla_stock_lkas_prev && !(controls_allowed || controls_allowed_lateral)) {
+      tesla_stock_lkas = true;
+    }
+    if (!tesla_stock_lkas_now) {
+      tesla_stock_lkas = false;
+    }
+    tesla_stock_lkas_prev = tesla_stock_lkas_now;
   }
 }
 
-
 static bool tesla_tx_hook(const CANPacket_t *msg) {
   const AngleSteeringLimits TESLA_STEERING_LIMITS = {
     .max_angle = 3600,  // 360 deg, EPAS faults above this
@@ -269,7 +263,7 @@ static bool tesla_tx_hook(const CANPacket_t *msg) {
     // We use 1/10 deg as a unit here
     int raw_angle_can = ((msg->data[0] & 0x7FU) << 8) | msg->data[1];
     int desired_angle = raw_angle_can - 16384;
-    int steer_control_type = msg->data[2] >> 6;
+    int steer_control_type = msg->data[2] >> 5;
     const int angle_ctrl_type = tesla_get_steer_ctrl_type(1);
     const int lkas_ctrl_type = tesla_get_steer_ctrl_type(2);
     bool steer_control_enabled = (steer_control_type == angle_ctrl_type) ||  // ANGLE_CONTROL
@@ -364,7 +358,6 @@ static bool tesla_fwd_hook(int bus_num, int addr) {
 }
 
 static safety_config tesla_init(uint16_t param) {
-
   static const CanMsg TESLA_M3_Y_TX_MSGS[] = {
     {0x488, 0, 4, .check_relay = true, .disable_static_blocking = true},   // DAS_steeringControl
     {0x2b9, 0, 8, .check_relay = false},                                   // DAS_control (for cancel)
@@ -380,6 +373,7 @@ static safety_config tesla_init(uint16_t param) {
   const uint16_t TESLA_FLAG_FSD_14 = 2;
   tesla_fsd_14 = GET_FLAG(param, TESLA_FLAG_FSD_14);
 
+  SAFETY_UNUSED(param);
 #ifdef ALLOW_DEBUG
   const uint16_t TESLA_FLAG_LONGITUDINAL_CONTROL = 1;
   tesla_longitudinal = GET_FLAG(param, TESLA_FLAG_LONGITUDINAL_CONTROL);
diff --git a/opendbc_repo/opendbc/safety/modes/toyota.h b/opendbc_repo/opendbc/safety/modes/toyota.h
index ae03e1f95..217df38d5 100644
--- a/opendbc_repo/opendbc/safety/modes/toyota.h
+++ b/opendbc_repo/opendbc/safety/modes/toyota.h
@@ -89,7 +89,8 @@ static bool toyota_get_quality_flag_valid(const CANPacket_t *msg) {
   bool valid = false;
   if (msg->addr == 0x260U) {
     valid = !GET_BIT(msg, 3U);  // STEER_TORQUE_SENSOR.STEER_ANGLE_INITIALIZING
-  } else if (msg->addr == 0xaaU) {  // WHEEL_SPEEDS
+  }
+  if (msg->addr == 0xaaU) {  // WHEEL_SPEEDS
     // each wheel speed is 1-bit fault + 15-bit speed
     valid = true;
     for (uint8_t i = 0U; i < 4U; i += 1U) {
@@ -98,7 +99,6 @@ static bool toyota_get_quality_flag_valid(const CANPacket_t *msg) {
         break;
       }
     }
-  } else {
   }
   return valid;
 }
@@ -112,103 +112,100 @@ static int TOYOTA_GET_INTERCEPTOR(const CANPacket_t *msg) {
 }
 
 static void toyota_rx_hook(const CANPacket_t *msg) {
-  if (msg->bus == 0U) {
+  // get eps motor torque (0.66 factor in dbc)
+  if (msg_matches(msg, 0x260U, 0U)) {
+    int torque_meas_new = (msg->data[5] << 8) | msg->data[6];
+    torque_meas_new = to_signed(torque_meas_new, 16);
 
-    // get eps motor torque (0.66 factor in dbc)
-    if (msg->addr == 0x260U) {
-      int torque_meas_new = (msg->data[5] << 8) | msg->data[6];
-      torque_meas_new = to_signed(torque_meas_new, 16);
+    // scale by dbc_factor
+    torque_meas_new = (torque_meas_new * toyota_dbc_eps_torque_factor) / 100;
 
-      // scale by dbc_factor
-      torque_meas_new = (torque_meas_new * toyota_dbc_eps_torque_factor) / 100;
+    // update array of sample
+    update_sample(&torque_meas, torque_meas_new);
 
-      // update array of sample
-      update_sample(&torque_meas, torque_meas_new);
+    // increase torque_meas by 1 to be conservative on rounding
+    torque_meas.min--;
+    torque_meas.max++;
 
-      // increase torque_meas by 1 to be conservative on rounding
-      torque_meas.min--;
-      torque_meas.max++;
+    // driver torque for angle limiting
+    int torque_driver_new = (msg->data[1] << 8) | msg->data[2];
+    torque_driver_new = to_signed(torque_driver_new, 16);
+    update_sample(&torque_driver, torque_driver_new);
 
-      // driver torque for angle limiting
-      int torque_driver_new = (msg->data[1] << 8) | msg->data[2];
-      torque_driver_new = to_signed(torque_driver_new, 16);
-      update_sample(&torque_driver, torque_driver_new);
+    // LTA request angle should match current angle while inactive, clipped to max accepted angle.
+    // note that angle can be relative to init angle on some TSS2 platforms, LTA has the same offset
+    bool steer_angle_initializing = GET_BIT(msg, 3U);
+    if (!steer_angle_initializing) {
+      int angle_meas_new = (msg->data[3] << 8U) | msg->data[4];
+      angle_meas_new = to_signed(angle_meas_new, 16);
+      update_sample(&angle_meas, angle_meas_new);
+    }
+  }
 
-      // LTA request angle should match current angle while inactive, clipped to max accepted angle.
-      // note that angle can be relative to init angle on some TSS2 platforms, LTA has the same offset
-      bool steer_angle_initializing = GET_BIT(msg, 3U);
-      if (!steer_angle_initializing) {
-        int angle_meas_new = (msg->data[3] << 8U) | msg->data[4];
-        angle_meas_new = to_signed(angle_meas_new, 16);
-        update_sample(&angle_meas, angle_meas_new);
+  // enter controls on rising edge of ACC, exit controls on ACC off
+  // exit controls on rising edge of gas press, if not alternative experience
+  // exit controls on rising edge of brake press
+  if (toyota_secoc) {
+    if (msg_matches(msg, 0x176U, 0U)) {
+      bool cruise_engaged = GET_BIT(msg, 5U);  // PCM_CRUISE.CRUISE_ACTIVE
+      pcm_cruise_check(cruise_engaged);
+    }
+    if (msg_matches(msg, 0x116U, 0U)) {
+      gas_pressed = msg->data[1] != 0U;  // GAS_PEDAL.GAS_PEDAL_USER
+    }
+    if (msg_matches(msg, 0x101U, 0U)) {
+      brake_pressed = GET_BIT(msg, 3U);  // BRAKE_MODULE.BRAKE_PRESSED (toyota_rav4_prime_generated.dbc)
+    }
+  } else {
+    if (msg_matches(msg, 0x1D2U, 0U)) {
+      bool cruise_engaged = GET_BIT(msg, 5U);  // PCM_CRUISE.CRUISE_ACTIVE
+      pcm_cruise_check(cruise_engaged);
+
+      if (!enable_gas_interceptor) {
+        gas_pressed = !GET_BIT(msg, 4U);  // PCM_CRUISE.GAS_RELEASED
       }
     }
-
-    // enter controls on rising edge of ACC, exit controls on ACC off
-    // exit controls on rising edge of gas press, if not alternative experience
-    // exit controls on rising edge of brake press
-    if (toyota_secoc) {
-      if (msg->addr == 0x176U) {
-        bool cruise_engaged = GET_BIT(msg, 5U);  // PCM_CRUISE.CRUISE_ACTIVE
-        pcm_cruise_check(cruise_engaged);
-      }
-      if (msg->addr == 0x116U) {
-        gas_pressed = msg->data[1] != 0U;  // GAS_PEDAL.GAS_PEDAL_USER
-      }
-      if (msg->addr == 0x101U) {
-        brake_pressed = GET_BIT(msg, 3U);  // BRAKE_MODULE.BRAKE_PRESSED (toyota_rav4_prime_generated.dbc)
-      }
-    } else {
-      if (msg->addr == 0x1D2U) {
-        bool cruise_engaged = GET_BIT(msg, 5U);  // PCM_CRUISE.CRUISE_ACTIVE
-        pcm_cruise_check(cruise_engaged);
-
-        if (!enable_gas_interceptor) {
-          gas_pressed = !GET_BIT(msg, 4U);  // PCM_CRUISE.GAS_RELEASED
-        }
-      }
-      if (!toyota_alt_brake && (msg->addr == 0x226U)) {
-        brake_pressed = GET_BIT(msg, 37U);  // BRAKE_MODULE.BRAKE_PRESSED (toyota_nodsu_pt_generated.dbc)
-      }
-      if (toyota_alt_brake && (msg->addr == 0x224U)) {
-        brake_pressed = GET_BIT(msg, 5U);  // BRAKE_MODULE.BRAKE_PRESSED (toyota_new_mc_pt_generated.dbc)
-      }
+    if (!toyota_alt_brake && msg_matches(msg, 0x226U, 0U)) {
+      brake_pressed = GET_BIT(msg, 37U);  // BRAKE_MODULE.BRAKE_PRESSED (toyota_nodsu_pt_generated.dbc)
     }
-
-    // sample speed
-    if (msg->addr == 0xaaU) {
-      int speed = 0;
-      // sum 4 wheel speeds. conversion: raw * 0.01 - 67.67
-      for (uint8_t i = 0U; i < 8U; i += 2U) {
-        int wheel_speed = ((msg->data[i] & 0x7FU) << 8U) | msg->data[(i + 1U)];
-        speed += wheel_speed - 6767;
-      }
-      // check that all wheel speeds are at zero value
-      vehicle_moving = speed != 0;
-
-      UPDATE_VEHICLE_SPEED(speed / 4.0 * 0.01 * KPH_TO_MS);
+    if (toyota_alt_brake && msg_matches(msg, 0x224U, 0U)) {
+      brake_pressed = GET_BIT(msg, 5U);  // BRAKE_MODULE.BRAKE_PRESSED (toyota_new_mc_pt_generated.dbc)
     }
+  }
 
-    if (msg->addr == 0x1D3U) {
-      acc_main_on = GET_BIT(msg, 15U);
+  if (msg_matches(msg, 0x1D3U, 0U)) {
+    acc_main_on = GET_BIT(msg, 15U);
+  }
+
+  if (msg_matches(msg, 0x365U, 0U)) {
+    acc_main_on = GET_BIT(msg, 0U);
+  }
+
+  // sample gas interceptor
+  if (msg_matches(msg, 0x201U, 0U)) {
+    // panda interceptor threshold needs to be equivalent to openpilot threshold to avoid controls mismatches
+    // If thresholds are mismatched then it is possible for panda to see the gas fall and rise while openpilot is in the pre-enabled state
+    // Threshold calculated from DBC gains: round((((15 + 75.555) / 0.159375) + ((15 + 151.111) / 0.159375)) / 2) = 805
+    const int toyota_gas_interceptor_thrsld = 805;
+
+    int gas_interceptor = TOYOTA_GET_INTERCEPTOR(msg);
+    gas_pressed = gas_interceptor > toyota_gas_interceptor_thrsld;
+
+    gas_interceptor_prev = gas_interceptor;
+  }
+
+  // sample speed
+  if (msg_matches(msg, 0xaaU, 0U)) {
+    int speed = 0;
+    // sum 4 wheel speeds. conversion: raw * 0.01 - 67.67
+    for (uint8_t i = 0U; i < 8U; i += 2U) {
+      int wheel_speed = ((msg->data[i] & 0x7FU) << 8U) | msg->data[(i + 1U)];
+      speed += wheel_speed - 6767;
     }
+    // check that all wheel speeds are at zero value
+    vehicle_moving = speed != 0;
 
-    if (msg->addr == 0x365U) {
-      acc_main_on = GET_BIT(msg, 0U);
-    }
-
-    // sample gas interceptor
-    if (msg->addr == 0x201U) {
-      // panda interceptor threshold needs to be equivalent to openpilot threshold to avoid controls mismatches
-      // If thresholds are mismatched then it is possible for panda to see the gas fall and rise while openpilot is in the pre-enabled state
-      // Threshold calculated from DBC gains: round((((15 + 75.555) / 0.159375) + ((15 + 151.111) / 0.159375)) / 2) = 805
-      const int toyota_gas_interceptor_thrsld = 805;
-
-      int gas_interceptor = TOYOTA_GET_INTERCEPTOR(msg);
-      gas_pressed = gas_interceptor > toyota_gas_interceptor_thrsld;
-
-      gas_interceptor_prev = gas_interceptor;
-    }
+    UPDATE_VEHICLE_SPEED(speed / 4.0 * 0.01 * KPH_TO_MS);
   }
 }
 
@@ -256,142 +253,140 @@ static bool toyota_tx_hook(const CANPacket_t *msg) {
   bool tx = true;
 
   // Check if msg is sent on BUS 0
-  if (msg->bus == 0U) {
-    // ACCEL: safety check on byte 1-2
-    if (msg->addr == 0x343U) {
-      int desired_accel = (msg->data[0] << 8) | msg->data[1];
-      desired_accel = to_signed(desired_accel, 16);
+  // ACCEL: safety check on byte 1-2
+  if (msg_matches(msg, 0x343U, 0U)) {
+    int desired_accel = (msg->data[0] << 8) | msg->data[1];
+    desired_accel = to_signed(desired_accel, 16);
 
-      bool violation = false;
-      if (toyota_secoc) {
-        // SecOC cars move accel to 0x183. Only allow inactive accel on 0x343 to match stock behavior
-        violation = desired_accel != TOYOTA_LONG_LIMITS.inactive_accel;
+    bool violation = false;
+    if (toyota_secoc) {
+      // SecOC cars move accel to 0x183. Only allow inactive accel on 0x343 to match stock behavior
+      violation = desired_accel != TOYOTA_LONG_LIMITS.inactive_accel;
+    }
+    violation |= longitudinal_accel_checks(desired_accel, TOYOTA_LONG_LIMITS);
+
+    // only ACC messages that cancel are allowed when openpilot is not controlling longitudinal
+    if (toyota_stock_longitudinal) {
+      bool cancel_req = GET_BIT(msg, 24U);
+      if (!cancel_req) {
+        violation = true;
       }
-      violation |= longitudinal_accel_checks(desired_accel, TOYOTA_LONG_LIMITS);
+      if (desired_accel != TOYOTA_LONG_LIMITS.inactive_accel) {
+        violation = true;
+      }
+    }
 
-      // only ACC messages that cancel are allowed when openpilot is not controlling longitudinal
-      if (toyota_stock_longitudinal) {
-        bool cancel_req = GET_BIT(msg, 24U);
-        if (!cancel_req) {
-          violation = true;
-        }
-        if (desired_accel != TOYOTA_LONG_LIMITS.inactive_accel) {
-          violation = true;
-        }
+    if (violation) {
+      tx = false;
+    }
+  }
+
+  if (msg_matches(msg, 0x183U, 0U)) {
+    int desired_accel = (msg->data[0] << 8) | msg->data[1];
+    desired_accel = to_signed(desired_accel, 16);
+
+    tx = !longitudinal_accel_checks(desired_accel, TOYOTA_LONG_LIMITS);
+  }
+
+  // AEB: block all actuation. only used when DSU is unplugged
+  if (msg_matches(msg, 0x283U, 0U)) {
+    // only allow the checksum, which is the last byte
+    bool block = GET_BYTES_64_LE(msg, 0, 6) != 0U;
+    if (block) {
+      tx = false;
+    }
+  }
+
+  // STEERING_LTA angle steering check
+  if (msg_matches(msg, 0x191U, 0U)) {
+    // check the STEER_REQUEST, STEER_REQUEST_2, TORQUE_WIND_DOWN, STEER_ANGLE_CMD signals
+    bool lta_request = GET_BIT(msg, 0U);
+    bool lta_request2 = GET_BIT(msg, 25U);
+    int torque_wind_down = msg->data[5];
+    int lta_angle = (msg->data[1] << 8) | msg->data[2];
+    lta_angle = to_signed(lta_angle, 16);
+
+    bool steer_control_enabled = lta_request || lta_request2;
+    if (!toyota_lta) {
+      // using torque (LKA), block LTA msgs with actuation requests
+      if (steer_control_enabled || (lta_angle != 0) || (torque_wind_down != 0)) {
+        tx = false;
+      }
+    } else {
+      // check angle rate limits and inactive angle
+      if (steer_angle_cmd_checks(lta_angle, steer_control_enabled, TOYOTA_ANGLE_STEERING_LIMITS)) {
+        tx = false;
       }
 
-      if (violation) {
+      if (lta_request != lta_request2) {
+        tx = false;
+      }
+
+      // TORQUE_WIND_DOWN is gated on steer request
+      if (!steer_control_enabled && (torque_wind_down != 0)) {
+        tx = false;
+      }
+
+      // TORQUE_WIND_DOWN can only be no or full torque
+      if ((torque_wind_down != 0) && (torque_wind_down != 100)) {
+        tx = false;
+      }
+
+      // check if we should wind down torque
+      int driver_torque = SAFETY_MIN(SAFETY_ABS(torque_driver.min), SAFETY_ABS(torque_driver.max));
+      if ((driver_torque > TOYOTA_LTA_MAX_DRIVER_TORQUE) && (torque_wind_down != 0)) {
+        tx = false;
+      }
+
+      int eps_torque = SAFETY_MIN(SAFETY_ABS(torque_meas.min), SAFETY_ABS(torque_meas.max));
+      if ((eps_torque > TOYOTA_LTA_MAX_MEAS_TORQUE) && (torque_wind_down != 0)) {
         tx = false;
       }
     }
+  }
 
-    if (msg->addr == 0x183U) {
-      int desired_accel = (msg->data[0] << 8) | msg->data[1];
-      desired_accel = to_signed(desired_accel, 16);
+  // STEERING_LTA_2 angle steering check (SecOC)
+  if (toyota_secoc && msg_matches(msg, 0x131U, 0U)) {
+    // SecOC cars block any form of LTA actuation for now
+    bool lta_request = GET_BIT(msg, 3U);  // STEERING_LTA_2.STEER_REQUEST
+    bool lta_request2 = GET_BIT(msg, 0U);  // STEERING_LTA_2.STEER_REQUEST_2
+    int lta_angle_msb = msg->data[2];  // STEERING_LTA_2.STEER_ANGLE_CMD (MSB)
+    int lta_angle_lsb = msg->data[3];  // STEERING_LTA_2.STEER_ANGLE_CMD (LSB)
 
-      tx = !longitudinal_accel_checks(desired_accel, TOYOTA_LONG_LIMITS);
+    bool actuation = lta_request || lta_request2 || (lta_angle_msb != 0) || (lta_angle_lsb != 0);
+    if (actuation) {
+      tx = false;
     }
+  }
 
-    // AEB: block all actuation. only used when DSU is unplugged
-    if (msg->addr == 0x283U) {
-      // only allow the checksum, which is the last byte
-      bool block = (GET_BYTES(msg, 0, 4) != 0U) || (msg->data[4] != 0U) || (msg->data[5] != 0U);
-      if (block) {
+  // STEER: safety check on bytes 2-3
+  if (msg_matches(msg, 0x2E4U, 0U)) {
+    int desired_torque = (msg->data[1] << 8) | msg->data[2];
+    desired_torque = to_signed(desired_torque, 16);
+    bool steer_req = GET_BIT(msg, 0U);
+    // When using LTA (angle control), assert no actuation on LKA message
+    if (!toyota_lta) {
+      if (steer_torque_cmd_checks(desired_torque, steer_req, TOYOTA_TORQUE_STEERING_LIMITS)) {
+        tx = false;
+      }
+    } else {
+      if ((desired_torque != 0) || steer_req) {
         tx = false;
       }
     }
+  }
 
-    // STEERING_LTA angle steering check
-    if (msg->addr == 0x191U) {
-      // check the STEER_REQUEST, STEER_REQUEST_2, TORQUE_WIND_DOWN, STEER_ANGLE_CMD signals
-      bool lta_request = GET_BIT(msg, 0U);
-      bool lta_request2 = GET_BIT(msg, 25U);
-      int torque_wind_down = msg->data[5];
-      int lta_angle = (msg->data[1] << 8) | msg->data[2];
-      lta_angle = to_signed(lta_angle, 16);
-
-      bool steer_control_enabled = lta_request || lta_request2;
-      if (!toyota_lta) {
-        // using torque (LKA), block LTA msgs with actuation requests
-        if (steer_control_enabled || (lta_angle != 0) || (torque_wind_down != 0)) {
-          tx = false;
-        }
-      } else {
-        // check angle rate limits and inactive angle
-        if (steer_angle_cmd_checks(lta_angle, steer_control_enabled, TOYOTA_ANGLE_STEERING_LIMITS)) {
-          tx = false;
-        }
-
-        if (lta_request != lta_request2) {
-          tx = false;
-        }
-
-        // TORQUE_WIND_DOWN is gated on steer request
-        if (!steer_control_enabled && (torque_wind_down != 0)) {
-          tx = false;
-        }
-
-        // TORQUE_WIND_DOWN can only be no or full torque
-        if ((torque_wind_down != 0) && (torque_wind_down != 100)) {
-          tx = false;
-        }
-
-        // check if we should wind down torque
-        int driver_torque = SAFETY_MIN(SAFETY_ABS(torque_driver.min), SAFETY_ABS(torque_driver.max));
-        if ((driver_torque > TOYOTA_LTA_MAX_DRIVER_TORQUE) && (torque_wind_down != 0)) {
-          tx = false;
-        }
-
-        int eps_torque = SAFETY_MIN(SAFETY_ABS(torque_meas.min), SAFETY_ABS(torque_meas.max));
-        if ((eps_torque > TOYOTA_LTA_MAX_MEAS_TORQUE) && (torque_wind_down != 0)) {
-          tx = false;
-        }
-      }
-    }
-
-    // STEERING_LTA_2 angle steering check (SecOC)
-    if (toyota_secoc && (msg->addr == 0x131U)) {
-      // SecOC cars block any form of LTA actuation for now
-      bool lta_request = GET_BIT(msg, 3U);  // STEERING_LTA_2.STEER_REQUEST
-      bool lta_request2 = GET_BIT(msg, 0U);  // STEERING_LTA_2.STEER_REQUEST_2
-      int lta_angle_msb = msg->data[2];  // STEERING_LTA_2.STEER_ANGLE_CMD (MSB)
-      int lta_angle_lsb = msg->data[3];  // STEERING_LTA_2.STEER_ANGLE_CMD (LSB)
-
-      bool actuation = lta_request || lta_request2 || (lta_angle_msb != 0) || (lta_angle_lsb != 0);
-      if (actuation) {
-        tx = false;
-      }
-    }
-
-    // STEER: safety check on bytes 2-3
-    if (msg->addr == 0x2E4U) {
-      int desired_torque = (msg->data[1] << 8) | msg->data[2];
-      desired_torque = to_signed(desired_torque, 16);
-      bool steer_req = GET_BIT(msg, 0U);
-      // When using LTA (angle control), assert no actuation on LKA message
-      if (!toyota_lta) {
-        if (steer_torque_cmd_checks(desired_torque, steer_req, TOYOTA_TORQUE_STEERING_LIMITS)) {
-          tx = false;
-        }
-      } else {
-        if ((desired_torque != 0) || steer_req) {
-          tx = false;
-        }
-      }
-    }
-
-    // GAS PEDAL: safety check
-    if (msg->addr == 0x200U) {
-      if (longitudinal_interceptor_checks(msg)) {
-        tx = false;
-      }
+  // GAS PEDAL: safety check (gas interceptor)
+  if (msg_matches(msg, 0x200U, 0U)) {
+    if (longitudinal_interceptor_checks(msg)) {
+      tx = false;
     }
   }
 
   // UDS: Only tester present ("\x0F\x02\x3E\x00\x00\x00\x00\x00") allowed on diagnostics address
   if (msg->addr == 0x750U) {
     // this address is sub-addressed. only allow tester present to radar (0xF)
-    bool invalid_uds_msg = (GET_BYTES(msg, 0, 4) != 0x003E020FU) || (GET_BYTES(msg, 4, 4) != 0x0U);
+    bool invalid_uds_msg = GET_BYTES_64_LE(msg, 0, 8) != 0x00000000003E020FULL;
     if (invalid_uds_msg) {
       tx = false;
     }
diff --git a/opendbc_repo/opendbc/safety/modes/volkswagen_common.h b/opendbc_repo/opendbc/safety/modes/volkswagen_common.h
index fc5516b3c..cd3b7a595 100644
--- a/opendbc_repo/opendbc/safety/modes/volkswagen_common.h
+++ b/opendbc_repo/opendbc/safety/modes/volkswagen_common.h
@@ -3,7 +3,7 @@
 extern const uint16_t FLAG_VOLKSWAGEN_LONG_CONTROL;
 const uint16_t FLAG_VOLKSWAGEN_LONG_CONTROL = 1;
 
-static uint8_t volkswagen_crc8_lut_8h2f[256]; // Static lookup table for CRC8 poly 0x2F, aka 8H2F/AUTOSAR
+static uint8_t volkswagen_crc8_lut_8h2f[256];  // Static lookup table for CRC8 poly 0x2F, aka 8H2F/AUTOSAR
 
 extern bool volkswagen_longitudinal;
 bool volkswagen_longitudinal = false;
@@ -48,44 +48,45 @@ static void volkswagen_common_init(void) {
   return;
 }
 
-static uint32_t volkswagen_mqb_meb_get_checksum(const CANPacket_t *msg) {
+static uint32_t volkswagen_mxb_get_checksum(const CANPacket_t *msg) {
   return (uint8_t)msg->data[0];
 }
 
-static uint8_t volkswagen_mqb_meb_get_counter(const CANPacket_t *msg) {
-  // MQB/MEB message counters are consistently found at LSB 8.
+static uint8_t volkswagen_mxb_get_counter(const CANPacket_t *msg) {
+  // MQB/MLB/MEB message counters are consistently found at LSB 8.
   return (uint8_t)msg->data[1] & 0xFU;
 }
 
-static uint32_t volkswagen_mqb_meb_compute_crc(const CANPacket_t *msg) {
-  int len = GET_LEN(msg);
-
-  // This is CRC-8H2F/AUTOSAR with a twist. See the opendbc/car/volkswagen/ implementation
-  // of this algorithm for a version with explanatory comments.
-
+// This is CRC-8H2F/AUTOSAR with a counter-dependent data ID. See the
+// opendbc/car/volkswagen/ implementation for explanatory comments.
+static uint8_t volkswagen_compute_crc(const CANPacket_t *msg, int len, uint8_t salt) {
   uint8_t crc = 0xFFU;
   for (int i = 1; i < len; i++) {
     crc ^= (uint8_t)msg->data[i];
     crc = volkswagen_crc8_lut_8h2f[crc];
   }
+  return volkswagen_crc8_lut_8h2f[crc ^ salt] ^ 0xFFU;
+}
 
-  uint8_t counter = volkswagen_mqb_meb_get_counter(msg);
+static uint32_t volkswagen_mxb_compute_crc(const CANPacket_t *msg) {
+  uint8_t salt = 0;
+  uint8_t counter = volkswagen_mxb_get_counter(msg);
   if (msg->addr == MSG_LH_EPS_03) {
-    crc ^= (uint8_t[]){0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5}[counter];
-  } else if (msg->addr == MSG_ESP_05) {
-    crc ^= (uint8_t[]){0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07}[counter];
-  } else if (msg->addr == MSG_TSK_06) {
-    crc ^= (uint8_t[]){0xC4, 0xE2, 0x4F, 0xE4, 0xF8, 0x2F, 0x56, 0x81, 0x9F, 0xE5, 0x83, 0x44, 0x05, 0x3F, 0x97, 0xDF}[counter];
-  } else if (msg->addr == MSG_MOTOR_20) {
-    crc ^= (uint8_t[]){0xE9, 0x65, 0xAE, 0x6B, 0x7B, 0x35, 0xE5, 0x5F, 0x4E, 0xC7, 0x86, 0xA2, 0xBB, 0xDD, 0xEB, 0xB4}[counter];
-  } else if (msg->addr == MSG_GRA_ACC_01) {
-    crc ^= (uint8_t[]){0x6A, 0x38, 0xB4, 0x27, 0x22, 0xEF, 0xE1, 0xBB, 0xF8, 0x80, 0x84, 0x49, 0xC7, 0x9E, 0x1E, 0x2B}[counter];
-  } else {
-    // Undefined CAN message, CRC check expected to fail
+    salt = 0xF5U;
   }
-  crc = volkswagen_crc8_lut_8h2f[crc];
-
-  return (uint8_t)(crc ^ 0xFFU);
+  if (msg->addr == MSG_ESP_05) {
+    salt = 0x07U;
+  }
+  if (msg->addr == MSG_TSK_06) {
+    salt = (uint8_t[]){0xC4, 0xE2, 0x4F, 0xE4, 0xF8, 0x2F, 0x56, 0x81, 0x9F, 0xE5, 0x83, 0x44, 0x05, 0x3F, 0x97, 0xDF}[counter];
+  }
+  if (msg->addr == MSG_MOTOR_20) {
+    salt = (uint8_t[]){0xE9, 0x65, 0xAE, 0x6B, 0x7B, 0x35, 0xE5, 0x5F, 0x4E, 0xC7, 0x86, 0xA2, 0xBB, 0xDD, 0xEB, 0xB4}[counter];
+  }
+  if (msg->addr == MSG_GRA_ACC_01) {
+    salt = (uint8_t[]){0x6A, 0x38, 0xB4, 0x27, 0x22, 0xEF, 0xE1, 0xBB, 0xF8, 0x80, 0x84, 0x49, 0xC7, 0x9E, 0x1E, 0x2B}[counter];
+  }
+  return volkswagen_compute_crc(msg, GET_LEN(msg), salt);
 }
 
 static int volkswagen_mlb_mqb_driver_input_torque(const CANPacket_t *msg) {
diff --git a/opendbc_repo/opendbc/safety/modes/volkswagen_meb.h b/opendbc_repo/opendbc/safety/modes/volkswagen_meb.h
index adaef46f4..0eb2c12d2 100644
--- a/opendbc_repo/opendbc/safety/modes/volkswagen_meb.h
+++ b/opendbc_repo/opendbc/safety/modes/volkswagen_meb.h
@@ -33,35 +33,30 @@ static bool volkswagen_meb_alt_crc = false;
   {.msg = {{MSG_ESP_21, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
 
 static uint32_t volkswagen_meb_compute_crc(const CANPacket_t *msg) {
-  int len = GET_LEN(msg);
-
-  uint8_t crc = 0xFFU;
-  for (int i = 1; i < len; i++) {
-    crc ^= (uint8_t)msg->data[i];
-    crc = volkswagen_crc8_lut_8h2f[crc];
-  }
-
-  uint8_t counter = volkswagen_mqb_meb_get_counter(msg);
+  uint8_t salt = 0;
+  uint8_t counter = volkswagen_mxb_get_counter(msg);
   if (msg->addr == MSG_LH_EPS_03) {
-    crc ^= (uint8_t[]){0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5}[counter];
-  } else if (msg->addr == MSG_MOTOR_14) {
-    crc ^= (uint8_t[]){0x1F, 0x28, 0xC6, 0x85, 0xE6, 0xF8, 0xB0, 0x19, 0x5B, 0x64, 0x35, 0x21, 0xE4, 0xF7, 0x9C, 0x24}[counter];
-  } else if (msg->addr == MSG_GRA_ACC_01) {
-    crc ^= (uint8_t[]){0x6A, 0x38, 0xB4, 0x27, 0x22, 0xEF, 0xE1, 0xBB, 0xF8, 0x80, 0x84, 0x49, 0xC7, 0x9E, 0x1E, 0x2B}[counter];
-  } else if (msg->addr == MSG_QFK_01) {
-    crc ^= (uint8_t[]){0x20, 0xCA, 0x68, 0xD5, 0x1B, 0x31, 0xE2, 0xDA, 0x08, 0x0A, 0xD4, 0xDE, 0x9C, 0xE4, 0x35, 0x5B}[counter];
-  } else if (msg->addr == MSG_ESC_51) {
-    crc ^= (uint8_t[]){0x77, 0x5C, 0xA0, 0x89, 0x4B, 0x7C, 0xBB, 0xD6, 0x1F, 0x6C, 0x4F, 0xF6, 0x20, 0x2B, 0x43, 0xDD}[counter];
-  } else if (msg->addr == MSG_ESP_21) {
-    crc ^= (uint8_t[]){0xB4, 0xEF, 0xF8, 0x49, 0x1E, 0xE5, 0xC2, 0xC0, 0x97, 0x19, 0x3C, 0xC9, 0xF1, 0x98, 0xD6, 0x61}[counter];
-  } else if (msg->addr == MSG_Motor_51) {
-    crc ^= (uint8_t[]){0x77, 0x5C, 0xA0, 0x89, 0x4B, 0x7C, 0xBB, 0xD6, 0x1F, 0x6C, 0x4F, 0xF6, 0x20, 0x2B, 0x43, 0xDD}[counter];
-  } else {
-    // Undefined CAN message, CRC check expected to fail
+    salt = 0xF5U;
   }
-  crc = volkswagen_crc8_lut_8h2f[crc];
-
-  return (uint8_t)(crc ^ 0xFFU);
+  if (msg->addr == MSG_MOTOR_14) {
+    salt = (uint8_t[]){0x1F, 0x28, 0xC6, 0x85, 0xE6, 0xF8, 0xB0, 0x19, 0x5B, 0x64, 0x35, 0x21, 0xE4, 0xF7, 0x9C, 0x24}[counter];
+  }
+  if (msg->addr == MSG_GRA_ACC_01) {
+    salt = (uint8_t[]){0x6A, 0x38, 0xB4, 0x27, 0x22, 0xEF, 0xE1, 0xBB, 0xF8, 0x80, 0x84, 0x49, 0xC7, 0x9E, 0x1E, 0x2B}[counter];
+  }
+  if (msg->addr == MSG_QFK_01) {
+    salt = (uint8_t[]){0x20, 0xCA, 0x68, 0xD5, 0x1B, 0x31, 0xE2, 0xDA, 0x08, 0x0A, 0xD4, 0xDE, 0x9C, 0xE4, 0x35, 0x5B}[counter];
+  }
+  if (msg->addr == MSG_ESC_51) {
+    salt = (uint8_t[]){0x77, 0x5C, 0xA0, 0x89, 0x4B, 0x7C, 0xBB, 0xD6, 0x1F, 0x6C, 0x4F, 0xF6, 0x20, 0x2B, 0x43, 0xDD}[counter];
+  }
+  if (msg->addr == MSG_ESP_21) {
+    salt = (uint8_t[]){0xB4, 0xEF, 0xF8, 0x49, 0x1E, 0xE5, 0xC2, 0xC0, 0x97, 0x19, 0x3C, 0xC9, 0xF1, 0x98, 0xD6, 0x61}[counter];
+  }
+  if (msg->addr == MSG_Motor_51) {
+    salt = (uint8_t[]){0x77, 0x5C, 0xA0, 0x89, 0x4B, 0x7C, 0xBB, 0xD6, 0x1F, 0x6C, 0x4F, 0xF6, 0x20, 0x2B, 0x43, 0xDD}[counter];
+  }
+  return volkswagen_compute_crc(msg, GET_LEN(msg), salt);
 }
 
 static uint32_t volkswagen_meb_alt_crc_compute(const CANPacket_t *msg) {
@@ -70,34 +65,29 @@ static uint32_t volkswagen_meb_alt_crc_compute(const CANPacket_t *msg) {
   if (volkswagen_meb_alt_crc) {
     if (msg->addr == MSG_QFK_01) {
       len = 28;
-    } else if (msg->addr == MSG_ESC_51) {
+    }
+    if (msg->addr == MSG_ESC_51) {
       len = 60;
-    } else if (msg->addr == MSG_Motor_51) {
+    }
+    if (msg->addr == MSG_Motor_51) {
       len = 44;
-    } else {
-      len = 0;
     }
   }
 
   if (len > 0) {
-    uint8_t crc = 0xFFU;
-    for (int i = 1; i < len; i++) {
-      crc ^= (uint8_t)msg->data[i];
-      crc = volkswagen_crc8_lut_8h2f[crc];
-    }
-
-    uint8_t counter = volkswagen_mqb_meb_get_counter(msg);
+    uint8_t salt = 0;
+    uint8_t counter = volkswagen_mxb_get_counter(msg);
     if (msg->addr == MSG_QFK_01) {
-      crc ^= (uint8_t[]){0x18, 0x71, 0x10, 0x8D, 0xD7, 0xAA, 0xB0, 0x78, 0xAC, 0x12, 0xAE, 0x0C, 0xDD, 0xF1, 0x85, 0x68}[counter];
-    } else if (msg->addr == MSG_ESC_51) {
-      crc ^= (uint8_t[]){0x69, 0xDC, 0xF9, 0x64, 0x6A, 0xCE, 0x55, 0x2C, 0xC4, 0x38, 0x8F, 0xD1, 0xC6, 0x43, 0xB4, 0xB1}[counter];
-    } else if (msg->addr == MSG_Motor_51) {
-      crc ^= (uint8_t[]){0x2C, 0xB1, 0x1A, 0x75, 0xBB, 0x65, 0x79, 0x47, 0x81, 0x2B, 0xCC, 0x96, 0x17, 0xDB, 0xC0, 0x94}[counter];
-    } else {
-      // Undefined CAN message, CRC check expected to fail
+      salt = (uint8_t[]){0x18, 0x71, 0x10, 0x8D, 0xD7, 0xAA, 0xB0, 0x78, 0xAC, 0x12, 0xAE, 0x0C, 0xDD, 0xF1, 0x85, 0x68}[counter];
+    }
+    if (msg->addr == MSG_ESC_51) {
+      salt = (uint8_t[]){0x69, 0xDC, 0xF9, 0x64, 0x6A, 0xCE, 0x55, 0x2C, 0xC4, 0x38, 0x8F, 0xD1, 0xC6, 0x43, 0xB4, 0xB1}[counter];
+    }
+    if (msg->addr == MSG_Motor_51) {
+      salt = (uint8_t[]){0x2C, 0xB1, 0x1A, 0x75, 0xBB, 0x65, 0x79, 0x47, 0x81, 0x2B, 0xCC, 0x96, 0x17, 0xDB, 0xC0, 0x94}[counter];
     }
 
-    crc = (uint8_t)(volkswagen_crc8_lut_8h2f[crc] ^ 0xFFU);
+    uint8_t crc = volkswagen_compute_crc(msg, len, salt);
     if (crc == msg->data[0]) {
       ret = crc;
     }
@@ -142,68 +132,66 @@ static safety_config volkswagen_meb_init(uint16_t param) {
 }
 
 static void volkswagen_meb_rx_hook(const CANPacket_t *msg) {
-  if (msg->bus == 0U) {
-    // Update in-motion state by sampling wheel speeds
-    if (msg->addr == MSG_ESC_51) {
-      uint32_t fl = msg->data[8] | (msg->data[9] << 8);
-      uint32_t fr = msg->data[10] | (msg->data[11] << 8);
-      uint32_t rl = msg->data[12] | (msg->data[13] << 8);
-      uint32_t rr = msg->data[14] | (msg->data[15] << 8);
-      vehicle_moving = (fr > 0U) || (rr > 0U) || (rl > 0U) || (fl > 0U);
-      UPDATE_VEHICLE_SPEED((fr + rr + rl + fl) / 4.0 * 0.0075 * KPH_TO_MS);
+  // Update in-motion state by sampling wheel speeds
+  if (msg_matches(msg, MSG_ESC_51, 0U)) {
+    uint32_t fl = msg->data[8] | (msg->data[9] << 8);
+    uint32_t fr = msg->data[10] | (msg->data[11] << 8);
+    uint32_t rl = msg->data[12] | (msg->data[13] << 8);
+    uint32_t rr = msg->data[14] | (msg->data[15] << 8);
+    vehicle_moving = (fr | rr | rl | fl) != 0U;
+    UPDATE_VEHICLE_SPEED((fr + rr + rl + fl) / 4.0 * 0.0075 * KPH_TO_MS);
+  }
+
+  // Check vehicle speed with redundant source
+  if (msg_matches(msg, MSG_ESP_21, 0U)) {
+    // Signal: ESP_v_Signal
+    float esp_speed = ((msg->data[5] << 8) | msg->data[4]) * 0.01 * KPH_TO_MS;
+    UPDATE_VEHICLE_SPEED_2(esp_speed);
+  }
+
+  if (msg_matches(msg, MSG_QFK_01, 0U)) {
+    int current_curvature = ((msg->data[6] & 0x7FU) << 8) | msg->data[5];
+    current_curvature *= GET_BIT(msg, 55U) ? 1 : -1;
+    update_sample(&curvature_state.meas, current_curvature);
+  }
+
+  if (msg_matches(msg, MSG_LH_EPS_03, 0U)) {
+    update_sample(&torque_driver, volkswagen_mlb_mqb_driver_input_torque(msg));
+  }
+
+  if (msg_matches(msg, MSG_Motor_51, 0U)) {
+    int acc_status = (msg->data[11] & 0x07U);
+    bool cruise_engaged = (acc_status == 3) || (acc_status == 4) || (acc_status == 5);
+    acc_main_on = cruise_engaged || (acc_status == 2);
+
+    if (!acc_main_on) {
+      controls_allowed = false;
     }
 
-    // Check vehicle speed with redundant source
-    if (msg->addr == MSG_ESP_21) {
-      // Signal: ESP_v_Signal
-      float esp_speed = ((msg->data[5] << 8) | msg->data[4]) * 0.01 * KPH_TO_MS;
-      UPDATE_VEHICLE_SPEED_2(esp_speed);
+    int accel_pedal_value = ((msg->data[1] >> 4) & 0x0FU) | ((msg->data[2] & 0x1FU) << 4);
+    gas_pressed = accel_pedal_value > 0;
+  }
+
+  if (msg_matches(msg, MSG_GRA_ACC_01, 0U)) {
+    // Enter controls on falling edge of Set or Resume with main switch on
+    // Signal: GRA_ACC_01.GRA_Tip_Setzen
+    // Signal: GRA_ACC_01.GRA_Tip_Wiederaufnahme
+    bool set_button = GET_BIT(msg, 16U);
+    bool resume_button = GET_BIT(msg, 19U);
+    if ((volkswagen_set_button_prev && !set_button) || (volkswagen_resume_button_prev && !resume_button)) {
+      controls_allowed = acc_main_on;
     }
+    volkswagen_set_button_prev = set_button;
+    volkswagen_resume_button_prev = resume_button;
 
-    if (msg->addr == MSG_QFK_01) {
-      int current_curvature = ((msg->data[6] & 0x7FU) << 8) | msg->data[5];
-      current_curvature *= GET_BIT(msg, 55U) ? 1 : -1;
-      update_sample(&curvature_state.meas, current_curvature);
+    // Always exit controls on rising edge of Cancel
+    if (GET_BIT(msg, 13U)) {
+      controls_allowed = false;
     }
+  }
 
-    if (msg->addr == MSG_LH_EPS_03) {
-      update_sample(&torque_driver, volkswagen_mlb_mqb_driver_input_torque(msg));
-    }
-
-    if (msg->addr == MSG_Motor_51) {
-      int acc_status = (msg->data[11] & 0x07U);
-      bool cruise_engaged = (acc_status == 3) || (acc_status == 4) || (acc_status == 5);
-      acc_main_on = cruise_engaged || (acc_status == 2);
-
-      if (!acc_main_on) {
-        controls_allowed = false;
-      }
-
-      int accel_pedal_value = ((msg->data[1] >> 4) & 0x0FU) | ((msg->data[2] & 0x1FU) << 4);
-      gas_pressed = accel_pedal_value > 0;
-    }
-
-    if (msg->addr == MSG_GRA_ACC_01) {
-      // Enter controls on falling edge of Set or Resume with main switch on
-      // Signal: GRA_ACC_01.GRA_Tip_Setzen
-      // Signal: GRA_ACC_01.GRA_Tip_Wiederaufnahme
-      bool set_button = GET_BIT(msg, 16U);
-      bool resume_button = GET_BIT(msg, 19U);
-      if ((volkswagen_set_button_prev && !set_button) || (volkswagen_resume_button_prev && !resume_button)) {
-        controls_allowed = acc_main_on;
-      }
-      volkswagen_set_button_prev = set_button;
-      volkswagen_resume_button_prev = resume_button;
-
-      // Always exit controls on rising edge of Cancel
-      if (GET_BIT(msg, 13U)) {
-        controls_allowed = false;
-      }
-    }
-
-    if (msg->addr == MSG_MOTOR_14) {
-      brake_pressed = GET_BIT(msg, 28U);
-    }
+  if (msg_matches(msg, MSG_MOTOR_14, 0U)) {
+    brake_pressed = GET_BIT(msg, 28U);
   }
 }
 
@@ -270,7 +258,7 @@ static bool volkswagen_meb_tx_hook(const CANPacket_t *msg) {
       .max_steer_power = 125,
     };
 
-    int desired_curvature_raw = GET_BYTES(msg, 3, 2) & 0x7FFFU;
+    int desired_curvature_raw = GET_BYTES_LE(msg, 3, 2) & 0x7FFFU;
 
     bool desired_curvature_sign = GET_BIT(msg, 39U);
     if (!desired_curvature_sign) {
@@ -292,7 +280,7 @@ const safety_hooks volkswagen_meb_hooks = {
   .init = volkswagen_meb_init,
   .rx = volkswagen_meb_rx_hook,
   .tx = volkswagen_meb_tx_hook,
-  .get_counter = volkswagen_mqb_meb_get_counter,
-  .get_checksum = volkswagen_mqb_meb_get_checksum,
+  .get_counter = volkswagen_mxb_get_counter,
+  .get_checksum = volkswagen_mxb_get_checksum,
   .compute_checksum = volkswagen_meb_alt_crc_compute,
 };
diff --git a/opendbc_repo/opendbc/safety/modes/volkswagen_mlb.h b/opendbc_repo/opendbc/safety/modes/volkswagen_mlb.h
index 1390ea7e5..25eeca9d1 100644
--- a/opendbc_repo/opendbc/safety/modes/volkswagen_mlb.h
+++ b/opendbc_repo/opendbc/safety/modes/volkswagen_mlb.h
@@ -3,11 +3,14 @@
 #include "opendbc/safety/declarations.h"
 #include "opendbc/safety/modes/volkswagen_common.h"
 
-
 static safety_config volkswagen_mlb_init(uint16_t param) {
   // Transmit of LS_01 is allowed on bus 0 and 2 to keep compatibility with gateway and camera integration
-  static const CanMsg VOLKSWAGEN_MLB_STOCK_TX_MSGS[] = {{MSG_HCA_01, 0, 8, .check_relay = true}, {MSG_LDW_02, 0, 8, .check_relay = true},
-                                                        {MSG_LS_01, 0, 4, .check_relay = false}, {MSG_LS_01, 2, 4, .check_relay = false}};
+  static const CanMsg VOLKSWAGEN_MLB_STOCK_TX_MSGS[] = {
+    {MSG_HCA_01, 0, 8, .check_relay = true},
+    {MSG_LDW_02, 0, 8, .check_relay = true},
+    {MSG_LS_01, 0, 4, .check_relay = false},
+    {MSG_LS_01, 2, 4, .check_relay = false},
+  };
 
   static RxCheck volkswagen_mlb_rx_checks[] = {
     // TODO: implement checksum validation
@@ -26,56 +29,51 @@ static safety_config volkswagen_mlb_init(uint16_t param) {
 }
 
 static void volkswagen_mlb_rx_hook(const CANPacket_t *msg) {
-  if (msg->bus == 0U) {
-    // Check all wheel speeds for any movement
-    // Signals: ESP_03.ESP_[VL|VR|HL|HR]_Radgeschw
-    if (msg->addr == MSG_ESP_03) {
-      uint32_t speed = 0;
-      speed += ((msg->data[3] & 0xFU) << 8) | msg->data[2];   // FL
-      speed += (msg->data[4] << 4) | (msg->data[3] >> 4);     // FR
-      speed += ((msg->data[6] & 0xFU) << 8) | msg->data[5];   // RL
-      speed += (msg->data[7] << 4) | (msg->data[6] >> 4);     // RR
-      vehicle_moving = speed > 0U;
-    }
-
-    // Update driver input torque
-    if (msg->addr == MSG_LH_EPS_03) {
-      update_sample(&torque_driver, volkswagen_mlb_mqb_driver_input_torque(msg));
-    }
-
-    if (msg->addr == MSG_LS_01) {
-      // Always exit controls on rising edge of Cancel
-      // Signal: LS_01.LS_Abbrechen
-      if (GET_BIT(msg, 13U)) {
-        controls_allowed = false;
-      }
-    }
-
-    // Signal: Motor_03.MO_Fahrpedalrohwert_01
-    // Signal: Motor_03.MO_Fahrer_bremst
-    if (msg->addr == MSG_MOTOR_03) {
-      gas_pressed = msg->data[6] != 0U;
-      volkswagen_brake_pedal_switch = GET_BIT(msg, 35U);
-    }
-
-    if (msg->addr == MSG_ESP_05) {
-      volkswagen_brake_pressure_detected = GET_BIT(msg, 26U);
-    }
-
-    brake_pressed = volkswagen_brake_pedal_switch || volkswagen_brake_pressure_detected;
-
+  // Check all wheel speeds for any movement
+  // Signals: ESP_03.ESP_[VL|VR|HL|HR]_Radgeschw
+  if (msg_matches(msg, MSG_ESP_03, 0U)) {
+    uint32_t speed = 0;
+    speed += ((msg->data[3] & 0xFU) << 8) | msg->data[2];   // FL
+    speed += (msg->data[4] << 4) | (msg->data[3] >> 4);     // FR
+    speed += ((msg->data[6] & 0xFU) << 8) | msg->data[5];   // RL
+    speed += (msg->data[7] << 4) | (msg->data[6] >> 4);     // RR
+    vehicle_moving = speed > 0U;
   }
 
-  if (msg->bus == 1U) {
-    if (msg->addr == MSG_TSK_04) {
-      // When using stock ACC, enter controls on rising edge of stock ACC engage, exit on disengage
-      // Signal: TSK_04.TSK_Status_GRA_ACC_02
-      int acc_status = (msg->data[7] & 0xC0U) >> 6;
-      bool cruise_engaged = (acc_status == 1) || (acc_status == 2);
+  // Update driver input torque
+  if (msg_matches(msg, MSG_LH_EPS_03, 0U)) {
+    update_sample(&torque_driver, volkswagen_mlb_mqb_driver_input_torque(msg));
+  }
 
-      pcm_cruise_check(cruise_engaged);
+  if (msg_matches(msg, MSG_LS_01, 0U)) {
+    // Always exit controls on rising edge of Cancel
+    // Signal: LS_01.LS_Abbrechen
+    if (GET_BIT(msg, 13U)) {
+      controls_allowed = false;
     }
   }
+
+  // Signal: Motor_03.MO_Fahrpedalrohwert_01
+  // Signal: Motor_03.MO_Fahrer_bremst
+  if (msg_matches(msg, MSG_MOTOR_03, 0U)) {
+    gas_pressed = msg->data[6] != 0U;
+    volkswagen_brake_pedal_switch = GET_BIT(msg, 35U);
+  }
+
+  if (msg_matches(msg, MSG_ESP_05, 0U)) {
+    volkswagen_brake_pressure_detected = GET_BIT(msg, 26U);
+  }
+
+  brake_pressed = volkswagen_brake_pedal_switch || volkswagen_brake_pressure_detected;
+
+  if (msg_matches(msg, MSG_TSK_04, 1U)) {
+    // When using stock ACC, enter controls on rising edge of stock ACC engage, exit on disengage
+    // Signal: TSK_04.TSK_Status_GRA_ACC_02
+    int acc_status = (msg->data[7] & 0xC0U) >> 6;
+    bool cruise_engaged = (acc_status == 1) || (acc_status == 2);
+
+    pcm_cruise_check(cruise_engaged);
+  }
 }
 
 static bool volkswagen_mlb_tx_hook(const CANPacket_t *msg) {
@@ -116,12 +114,11 @@ static bool volkswagen_mlb_tx_hook(const CANPacket_t *msg) {
   return tx;
 }
 
-// TODO: rename these functions to MXB or something
 const safety_hooks volkswagen_mlb_hooks = {
   .init = volkswagen_mlb_init,
   .rx = volkswagen_mlb_rx_hook,
   .tx = volkswagen_mlb_tx_hook,
-  .get_counter = volkswagen_mqb_meb_get_counter,
-  .get_checksum = volkswagen_mqb_meb_get_checksum,
-  .compute_checksum = volkswagen_mqb_meb_compute_crc,
+  .get_counter = volkswagen_mxb_get_counter,
+  .get_checksum = volkswagen_mxb_get_checksum,
+  .compute_checksum = volkswagen_mxb_compute_crc,
 };
diff --git a/opendbc_repo/opendbc/safety/modes/volkswagen_mqb.h b/opendbc_repo/opendbc/safety/modes/volkswagen_mqb.h
index bf7274648..c0964d533 100644
--- a/opendbc_repo/opendbc/safety/modes/volkswagen_mqb.h
+++ b/opendbc_repo/opendbc/safety/modes/volkswagen_mqb.h
@@ -6,11 +6,22 @@
 static safety_config volkswagen_mqb_init(uint16_t param) {
   // Transmit of GRA_ACC_01 is allowed on bus 0 and 2 to keep compatibility with gateway and camera integration
   // MSG_LH_EPS_03: openpilot needs to replace apparent driver steering input torque to pacify VW Emergency Assist
-  static const CanMsg VOLKSWAGEN_MQB_STOCK_TX_MSGS[] = {{MSG_HCA_01, 0, 8, .check_relay = true}, {MSG_GRA_ACC_01, 0, 8, .check_relay = false}, {MSG_GRA_ACC_01, 2, 8, .check_relay = false},
-                                                        {MSG_LDW_02, 0, 8, .check_relay = true}, {MSG_LH_EPS_03, 2, 8, .check_relay = true}};
+  static const CanMsg VOLKSWAGEN_MQB_STOCK_TX_MSGS[] = {
+    {MSG_HCA_01, 0, 8, .check_relay = true},
+    {MSG_GRA_ACC_01, 0, 8, .check_relay = false},
+    {MSG_GRA_ACC_01, 2, 8, .check_relay = false},
+    {MSG_LDW_02, 0, 8, .check_relay = true},
+    {MSG_LH_EPS_03, 2, 8, .check_relay = true},
+  };
 
-  static const CanMsg VOLKSWAGEN_MQB_LONG_TX_MSGS[] = {{MSG_HCA_01, 0, 8, .check_relay = true}, {MSG_LDW_02, 0, 8, .check_relay = true}, {MSG_LH_EPS_03, 2, 8, .check_relay = true},
-                                                       {MSG_ACC_02, 0, 8, .check_relay = true}, {MSG_ACC_06, 0, 8, .check_relay = true}, {MSG_ACC_07, 0, 8, .check_relay = true}};
+  static const CanMsg VOLKSWAGEN_MQB_LONG_TX_MSGS[] = {
+    {MSG_HCA_01, 0, 8, .check_relay = true},
+    {MSG_LDW_02, 0, 8, .check_relay = true},
+    {MSG_LH_EPS_03, 2, 8, .check_relay = true},
+    {MSG_ACC_02, 0, 8, .check_relay = true},
+    {MSG_ACC_06, 0, 8, .check_relay = true},
+    {MSG_ACC_07, 0, 8, .check_relay = true},
+  };
 
   static RxCheck volkswagen_mqb_rx_checks[] = {
     {.msg = {{MSG_ESP_19, 0, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
@@ -35,80 +46,78 @@ static safety_config volkswagen_mqb_init(uint16_t param) {
 }
 
 static void volkswagen_mqb_rx_hook(const CANPacket_t *msg) {
-  if (msg->bus == 0U) {
-    // Update in-motion state by sampling wheel speeds
-    if (msg->addr == MSG_ESP_19) {
-      // sum 4 wheel speeds
-      int speed = 0;
-      for (uint8_t i = 0U; i < 8U; i += 2U) {
-        int wheel_speed = msg->data[i] | (msg->data[i + 1U] << 8);
-        speed += wheel_speed;
-      }
-      // Check all wheel speeds for any movement
-      vehicle_moving = speed > 0;
+  // Update in-motion state by sampling wheel speeds
+  if (msg_matches(msg, MSG_ESP_19, 0U)) {
+    // sum 4 wheel speeds
+    int speed = 0;
+    for (uint8_t i = 0U; i < 8U; i += 2U) {
+      int wheel_speed = msg->data[i] | (msg->data[i + 1U] << 8);
+      speed += wheel_speed;
     }
-
-    // Update driver input torque samples
-    // Signal: LH_EPS_03.EPS_Lenkmoment (absolute torque)
-    // Signal: LH_EPS_03.EPS_VZ_Lenkmoment (direction)
-    if (msg->addr == MSG_LH_EPS_03) {
-      update_sample(&torque_driver, volkswagen_mlb_mqb_driver_input_torque(msg));
-    }
-
-    if (msg->addr == MSG_TSK_06) {
-      // When using stock ACC, enter controls on rising edge of stock ACC engage, exit on disengage
-      // Always exit controls on main switch off
-      // Signal: TSK_06.TSK_Status
-      int acc_status = (msg->data[3] & 0x7U);
-      bool cruise_engaged = (acc_status == 3) || (acc_status == 4) || (acc_status == 5);
-      acc_main_on = cruise_engaged || (acc_status == 2);
-
-      if (!volkswagen_longitudinal) {
-        pcm_cruise_check(cruise_engaged);
-      }
-
-      if (!acc_main_on) {
-        controls_allowed = false;
-      }
-    }
-
-    if (msg->addr == MSG_GRA_ACC_01) {
-      // If using openpilot longitudinal, enter controls on falling edge of Set or Resume with main switch on
-      // Signal: GRA_ACC_01.GRA_Tip_Setzen
-      // Signal: GRA_ACC_01.GRA_Tip_Wiederaufnahme
-      if (volkswagen_longitudinal) {
-        bool set_button = GET_BIT(msg, 16U);
-        bool resume_button = GET_BIT(msg, 19U);
-        if ((volkswagen_set_button_prev && !set_button) || (volkswagen_resume_button_prev && !resume_button)) {
-          controls_allowed = acc_main_on;
-        }
-        volkswagen_set_button_prev = set_button;
-        volkswagen_resume_button_prev = resume_button;
-      }
-      // Always exit controls on rising edge of Cancel
-      // Signal: GRA_ACC_01.GRA_Abbrechen
-      if (GET_BIT(msg, 13U)) {
-        controls_allowed = false;
-      }
-    }
-
-    // Signal: Motor_20.MO_Fahrpedalrohwert_01
-    if (msg->addr == MSG_MOTOR_20) {
-      gas_pressed = ((GET_BYTES(msg, 0, 4) >> 12) & 0xFFU) != 0U;
-    }
-
-    // Signal: Motor_14.MO_Fahrer_bremst (ECU detected brake pedal switch F63)
-    if (msg->addr == MSG_MOTOR_14) {
-      volkswagen_brake_pedal_switch = GET_BIT(msg, 28U);
-    }
-
-    // Signal: ESP_05.ESP_Fahrer_bremst (ESP detected driver brake pressure above platform specified threshold)
-    if (msg->addr == MSG_ESP_05) {
-      volkswagen_brake_pressure_detected = GET_BIT(msg, 26U);
-    }
-
-    brake_pressed = volkswagen_brake_pedal_switch || volkswagen_brake_pressure_detected;
+    // Check all wheel speeds for any movement
+    vehicle_moving = speed > 0;
   }
+
+  // Update driver input torque samples
+  // Signal: LH_EPS_03.EPS_Lenkmoment (absolute torque)
+  // Signal: LH_EPS_03.EPS_VZ_Lenkmoment (direction)
+  if (msg_matches(msg, MSG_LH_EPS_03, 0U)) {
+    update_sample(&torque_driver, volkswagen_mlb_mqb_driver_input_torque(msg));
+  }
+
+  if (msg_matches(msg, MSG_TSK_06, 0U)) {
+    // When using stock ACC, enter controls on rising edge of stock ACC engage, exit on disengage
+    // Always exit controls on main switch off
+    // Signal: TSK_06.TSK_Status
+    int acc_status = (msg->data[3] & 0x7U);
+    bool cruise_engaged = (acc_status == 3) || (acc_status == 4) || (acc_status == 5);
+    acc_main_on = cruise_engaged || (acc_status == 2);
+
+    if (!volkswagen_longitudinal) {
+      pcm_cruise_check(cruise_engaged);
+    }
+
+    if (!acc_main_on) {
+      controls_allowed = false;
+    }
+  }
+
+  if (msg_matches(msg, MSG_GRA_ACC_01, 0U)) {
+    // If using openpilot longitudinal, enter controls on falling edge of Set or Resume with main switch on
+    // Signal: GRA_ACC_01.GRA_Tip_Setzen
+    // Signal: GRA_ACC_01.GRA_Tip_Wiederaufnahme
+    if (volkswagen_longitudinal) {
+      bool set_button = GET_BIT(msg, 16U);
+      bool resume_button = GET_BIT(msg, 19U);
+      if ((volkswagen_set_button_prev && !set_button) || (volkswagen_resume_button_prev && !resume_button)) {
+        controls_allowed = acc_main_on;
+      }
+      volkswagen_set_button_prev = set_button;
+      volkswagen_resume_button_prev = resume_button;
+    }
+    // Always exit controls on rising edge of Cancel
+    // Signal: GRA_ACC_01.GRA_Abbrechen
+    if (GET_BIT(msg, 13U)) {
+      controls_allowed = false;
+    }
+  }
+
+  // Signal: Motor_20.MO_Fahrpedalrohwert_01
+  if (msg_matches(msg, MSG_MOTOR_20, 0U)) {
+    gas_pressed = ((GET_BYTES_LE(msg, 0, 4) >> 12) & 0xFFU) != 0U;
+  }
+
+  // Signal: Motor_14.MO_Fahrer_bremst (ECU detected brake pedal switch F63)
+  if (msg_matches(msg, MSG_MOTOR_14, 0U)) {
+    volkswagen_brake_pedal_switch = GET_BIT(msg, 28U);
+  }
+
+  // Signal: ESP_05.ESP_Fahrer_bremst (ESP detected driver brake pressure above platform specified threshold)
+  if (msg_matches(msg, MSG_ESP_05, 0U)) {
+    volkswagen_brake_pressure_detected = GET_BIT(msg, 26U);
+  }
+
+  brake_pressed = volkswagen_brake_pedal_switch || volkswagen_brake_pressure_detected;
 }
 
 static bool volkswagen_mqb_tx_hook(const CANPacket_t *msg) {
@@ -183,7 +192,7 @@ const safety_hooks volkswagen_mqb_hooks = {
   .init = volkswagen_mqb_init,
   .rx = volkswagen_mqb_rx_hook,
   .tx = volkswagen_mqb_tx_hook,
-  .get_counter = volkswagen_mqb_meb_get_counter,
-  .get_checksum = volkswagen_mqb_meb_get_checksum,
-  .compute_checksum = volkswagen_mqb_meb_compute_crc,
+  .get_counter = volkswagen_mxb_get_counter,
+  .get_checksum = volkswagen_mxb_get_checksum,
+  .compute_checksum = volkswagen_mxb_compute_crc,
 };
diff --git a/opendbc_repo/opendbc/safety/modes/volkswagen_pq.h b/opendbc_repo/opendbc/safety/modes/volkswagen_pq.h
index c3b2184bd..ddad3f69b 100644
--- a/opendbc_repo/opendbc/safety/modes/volkswagen_pq.h
+++ b/opendbc_repo/opendbc/safety/modes/volkswagen_pq.h
@@ -23,9 +23,9 @@ static uint8_t volkswagen_pq_get_counter(const CANPacket_t *msg) {
 
   if (msg->addr == MSG_LENKHILFE_3) {
     counter = (uint8_t)(msg->data[1] & 0xF0U) >> 4;
-  } else if (msg->addr == MSG_GRA_NEU) {
+  }
+  if (msg->addr == MSG_GRA_NEU) {
     counter = (uint8_t)(msg->data[2] & 0xF0U) >> 4;
-  } else {
   }
 
   return counter;
@@ -48,11 +48,19 @@ static uint32_t volkswagen_pq_compute_checksum(const CANPacket_t *msg) {
 
 static safety_config volkswagen_pq_init(uint16_t param) {
   // Transmit of GRA_Neu is allowed on bus 0 and 2 to keep compatibility with gateway and camera integration
-  static const CanMsg VOLKSWAGEN_PQ_STOCK_TX_MSGS[] = {{MSG_HCA_1, 0, 5, .check_relay = true}, {MSG_LDW_1, 0, 8, .check_relay = true},
-                                                {MSG_GRA_NEU, 0, 4, .check_relay = false}, {MSG_GRA_NEU, 2, 4, .check_relay = false}};
+  static const CanMsg VOLKSWAGEN_PQ_STOCK_TX_MSGS[] = {
+    {MSG_HCA_1, 0, 5, .check_relay = true},
+    {MSG_LDW_1, 0, 8, .check_relay = true},
+    {MSG_GRA_NEU, 0, 4, .check_relay = false},
+    {MSG_GRA_NEU, 2, 4, .check_relay = false},
+  };
 
-  static const CanMsg VOLKSWAGEN_PQ_LONG_TX_MSGS[] =  {{MSG_HCA_1, 0, 5, .check_relay = true}, {MSG_LDW_1, 0, 8, .check_relay = true},
-                                                {MSG_ACC_SYSTEM, 0, 8, .check_relay = true}, {MSG_ACC_GRA_ANZEIGE, 0, 8, .check_relay = true}};
+  static const CanMsg VOLKSWAGEN_PQ_LONG_TX_MSGS[] = {
+    {MSG_HCA_1, 0, 5, .check_relay = true},
+    {MSG_LDW_1, 0, 8, .check_relay = true},
+    {MSG_ACC_SYSTEM, 0, 8, .check_relay = true},
+    {MSG_ACC_GRA_ANZEIGE, 0, 8, .check_relay = true},
+  };
 
   static RxCheck volkswagen_pq_rx_checks[] = {
     {.msg = {{MSG_LENKHILFE_3, 0, 6, 100U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
@@ -75,72 +83,70 @@ static safety_config volkswagen_pq_init(uint16_t param) {
 }
 
 static void volkswagen_pq_rx_hook(const CANPacket_t *msg) {
-  if (msg->bus == 0U) {
-    // Update in-motion state from speed value.
-    // Signal: Bremse_1.BR1_Rad_kmh
-    if (msg->addr == MSG_BREMSE_1) {
-      int speed = ((msg->data[2] & 0xFEU) >> 1) | (msg->data[3] << 7);
-      vehicle_moving = speed > 0;
+  // Update in-motion state from speed value.
+  // Signal: Bremse_1.BR1_Rad_kmh
+  if (msg_matches(msg, MSG_BREMSE_1, 0U)) {
+    int speed = ((msg->data[2] & 0xFEU) >> 1) | (msg->data[3] << 7);
+    vehicle_moving = speed > 0;
+  }
+
+  // Update driver input torque samples
+  // Signal: Lenkhilfe_3.LH3_LM (absolute torque)
+  // Signal: Lenkhilfe_3.LH3_LMSign (direction)
+  if (msg_matches(msg, MSG_LENKHILFE_3, 0U)) {
+    int torque_driver_new = msg->data[2] | ((msg->data[3] & 0x3U) << 8);
+    int sign = (msg->data[3] & 0x4U) >> 2;
+    if (sign == 1) {
+      torque_driver_new *= -1;
     }
+    update_sample(&torque_driver, torque_driver_new);
+  }
 
-    // Update driver input torque samples
-    // Signal: Lenkhilfe_3.LH3_LM (absolute torque)
-    // Signal: Lenkhilfe_3.LH3_LMSign (direction)
-    if (msg->addr == MSG_LENKHILFE_3) {
-      int torque_driver_new = msg->data[2] | ((msg->data[3] & 0x3U) << 8);
-      int sign = (msg->data[3] & 0x4U) >> 2;
-      if (sign == 1) {
-        torque_driver_new *= -1;
-      }
-      update_sample(&torque_driver, torque_driver_new);
-    }
-
-    if (volkswagen_longitudinal) {
-      if (msg->addr == MSG_MOTOR_5) {
-        // ACC main switch on is a prerequisite to enter controls, exit controls immediately on main switch off
-        // Signal: Motor_5.MO5_GRA_Hauptsch
-        acc_main_on = GET_BIT(msg, 50U);
-        if (!acc_main_on) {
-          controls_allowed = false;
-        }
-      }
-
-      if (msg->addr == MSG_GRA_NEU) {
-        // If ACC main switch is on, enter controls on falling edge of Set or Resume
-        // Signal: GRA_Neu.GRA_Neu_Setzen
-        // Signal: GRA_Neu.GRA_Neu_Recall
-        bool set_button = GET_BIT(msg, 16U);
-        bool resume_button = GET_BIT(msg, 17U);
-        if ((volkswagen_set_button_prev && !set_button) || (volkswagen_resume_button_prev && !resume_button)) {
-          controls_allowed = acc_main_on;
-        }
-        volkswagen_set_button_prev = set_button;
-        volkswagen_resume_button_prev = resume_button;
-        // Exit controls on rising edge of Cancel, override Set/Resume if present simultaneously
-        // Signal: GRA_ACC_01.GRA_Abbrechen
-        if (GET_BIT(msg, 9U)) {
-          controls_allowed = false;
-        }
-      }
-    } else {
-      if (msg->addr == MSG_MOTOR_2) {
-        // Enter controls on rising edge of stock ACC, exit controls if stock ACC disengages
-        // Signal: Motor_2.MO2_Sta_GRA
-        int acc_status = (msg->data[2] & 0xC0U) >> 6;
-        bool cruise_engaged = (acc_status == 1) || (acc_status == 2);
-        pcm_cruise_check(cruise_engaged);
+  if (volkswagen_longitudinal) {
+    if (msg_matches(msg, MSG_MOTOR_5, 0U)) {
+      // ACC main switch on is a prerequisite to enter controls, exit controls immediately on main switch off
+      // Signal: Motor_5.MO5_GRA_Hauptsch
+      acc_main_on = GET_BIT(msg, 50U);
+      if (!acc_main_on) {
+        controls_allowed = false;
       }
     }
 
-    // Signal: Motor_3.MO3_Pedalwert
-    if (msg->addr == MSG_MOTOR_3) {
-      gas_pressed = (msg->data[2]);
+    if (msg_matches(msg, MSG_GRA_NEU, 0U)) {
+      // If ACC main switch is on, enter controls on falling edge of Set or Resume
+      // Signal: GRA_Neu.GRA_Neu_Setzen
+      // Signal: GRA_Neu.GRA_Neu_Recall
+      bool set_button = GET_BIT(msg, 16U);
+      bool resume_button = GET_BIT(msg, 17U);
+      if ((volkswagen_set_button_prev && !set_button) || (volkswagen_resume_button_prev && !resume_button)) {
+        controls_allowed = acc_main_on;
+      }
+      volkswagen_set_button_prev = set_button;
+      volkswagen_resume_button_prev = resume_button;
+      // Exit controls on rising edge of Cancel, override Set/Resume if present simultaneously
+      // Signal: GRA_ACC_01.GRA_Abbrechen
+      if (GET_BIT(msg, 9U)) {
+        controls_allowed = false;
+      }
     }
+  } else {
+    if (msg_matches(msg, MSG_MOTOR_2, 0U)) {
+      // Enter controls on rising edge of stock ACC, exit controls if stock ACC disengages
+      // Signal: Motor_2.MO2_Sta_GRA
+      int acc_status = (msg->data[2] & 0xC0U) >> 6;
+      bool cruise_engaged = (acc_status == 1) || (acc_status == 2);
+      pcm_cruise_check(cruise_engaged);
+    }
+  }
 
-    // Signal: Motor_2.MO2_BLS
-    if (msg->addr == MSG_MOTOR_2) {
-      brake_pressed = (msg->data[2] & 0x1U);
-    }
+  // Signal: Motor_3.MO3_Pedalwert
+  if (msg_matches(msg, MSG_MOTOR_3, 0U)) {
+    gas_pressed = (msg->data[2]);
+  }
+
+  // Signal: Motor_2.MO2_BLS
+  if (msg_matches(msg, MSG_MOTOR_2, 0U)) {
+    brake_pressed = (msg->data[2] & 0x1U);
   }
 }
 
diff --git a/opendbc_repo/opendbc/safety/safety.h b/opendbc_repo/opendbc/safety/safety.h
index 256480127..9b3da25f7 100644
--- a/opendbc_repo/opendbc/safety/safety.h
+++ b/opendbc_repo/opendbc/safety/safety.h
@@ -30,9 +30,10 @@
 #include "opendbc/safety/modes/elm327.h"
 #include "opendbc/safety/modes/body.h"
 #include "opendbc/safety/modes/psa.h"
+#include "opendbc/safety/modes/byd.h"
 #include "opendbc/safety/modes/hyundai_canfd.h"
 
-uint32_t GET_BYTES(const CANPacket_t *msg, int start, int len) {
+uint32_t GET_BYTES_LE(const CANPacket_t *msg, int start, int len) {
   uint32_t ret = 0U;
   for (int i = 0; i < len; i++) {
     const uint32_t shift = i * 8;
@@ -41,6 +42,16 @@ uint32_t GET_BYTES(const CANPacket_t *msg, int start, int len) {
   return ret;
 }
 
+// Read up to eight bytes in little-endian order, without alignment assumptions.
+uint64_t GET_BYTES_64_LE(const CANPacket_t *msg, int start, int len) {
+  uint64_t ret = 0U;
+  for (int i = 0; i < len; i++) {
+    const uint32_t shift = i * 8;
+    ret |= ((uint64_t)msg->data[start + i]) << shift;
+  }
+  return ret;
+}
+
 const int MAX_WRONG_COUNTERS = 5;
 
 // This can be set by the safety hooks
@@ -114,16 +125,12 @@ static bool is_msg_valid(RxCheck addr_list[], int index) {
 }
 
 static int get_addr_check_index(const CANPacket_t *msg, RxCheck addr_list[], const int len) {
-  int addr = msg->addr;
-  int length = GET_LEN(msg);
-
   int index = -1;
   for (int i = 0; i < len; i++) {
     // if multiple msgs are allowed, determine which one is present on the bus
     if (!addr_list[i].status.msg_seen) {
       for (uint8_t j = 0U; (j < MAX_ADDR_CHECK_MSGS) && (addr_list[i].msg[j].addr != 0); j++) {
-        if ((addr == addr_list[i].msg[j].addr) && (msg->bus == addr_list[i].msg[j].bus) &&
-              (length == addr_list[i].msg[j].len)) {
+        if (msg_matches(msg, addr_list[i].msg[j].addr, addr_list[i].msg[j].bus, addr_list[i].msg[j].len)) {
           addr_list[i].status.index = j;
           addr_list[i].status.msg_seen = true;
           break;
@@ -133,8 +140,7 @@ static int get_addr_check_index(const CANPacket_t *msg, RxCheck addr_list[], con
 
     if (addr_list[i].status.msg_seen) {
       int idx = addr_list[i].status.index;
-      if ((addr == addr_list[i].msg[idx].addr) && (msg->bus == addr_list[i].msg[idx].bus) &&
-          (length == addr_list[i].msg[idx].len)) {
+      if (msg_matches(msg, addr_list[i].msg[idx].addr, addr_list[i].msg[idx].bus, addr_list[i].msg[idx].len)) {
         index = i;
         break;
       }
@@ -228,12 +234,9 @@ bool safety_rx_hook(const CANPacket_t *msg) {
 }
 
 static bool tx_msg_safety_check(const CANPacket_t *msg, const CanMsg msg_list[], int len) {
-  int addr = msg->addr;
-  int length = GET_LEN(msg);
-
   bool whitelisted = false;
   for (int i = 0; i < len; i++) {
-    if ((addr == msg_list[i].addr) && (msg->bus == msg_list[i].bus) && (length == msg_list[i].len)) {
+    if (msg_matches(msg, msg_list[i].addr, msg_list[i].bus, msg_list[i].len)) {
       whitelisted = true;
       break;
     }
@@ -321,31 +324,29 @@ void gen_crc_lookup_table_16(uint16_t poly, uint16_t crc_lut[]) {
 }
 
 // 1Hz safety function called by main. Now just a check for lagging safety messages
-void safety_tick(const safety_config *cfg) {
+void safety_tick(void) {
   const uint8_t MAX_MISSED_MSGS = 10U;
   bool rx_checks_invalid = false;
   uint32_t ts = microsecond_timer_get();
-  if (cfg != NULL) {
-    for (int i=0; i < cfg->rx_checks_len; i++) {
-      uint32_t elapsed_time = safety_get_ts_elapsed(ts, cfg->rx_checks[i].status.last_timestamp);
-      // lag threshold is max of: 1s and MAX_MISSED_MSGS * expected timestep.
-      // Quite conservative to not risk false triggers.
-      // 2s of lag is worse case, since the function is called at 1Hz
-      uint32_t frequency = cfg->rx_checks[i].msg[cfg->rx_checks[i].status.index].frequency;
-      uint32_t timestep = 1e6 / frequency;
-      bool lagging = elapsed_time > SAFETY_MAX(timestep * MAX_MISSED_MSGS, 1e6);
-      cfg->rx_checks[i].status.lagging = lagging;
-      if (lagging) {
-        controls_allowed = false;
-        mads_exit_controls(MADS_DISENGAGE_REASON_LAG);
-      }
+  for (int i=0; i < current_safety_config.rx_checks_len; i++) {
+    uint32_t elapsed_time = safety_get_ts_elapsed(ts, current_safety_config.rx_checks[i].status.last_timestamp);
+    // lag threshold is max of: 1s and MAX_MISSED_MSGS * expected timestep.
+    // Quite conservative to not risk false triggers.
+    // 2s of lag is worse case, since the function is called at 1Hz
+    uint32_t frequency = current_safety_config.rx_checks[i].msg[current_safety_config.rx_checks[i].status.index].frequency;
+    uint32_t timestep = 1e6 / frequency;
+    bool lagging = elapsed_time > SAFETY_MAX(timestep * MAX_MISSED_MSGS, 1e6);
+    current_safety_config.rx_checks[i].status.lagging = lagging;
+    if (lagging) {
+      controls_allowed = false;
+      mads_exit_controls(MADS_DISENGAGE_REASON_LAG);
+    }
 
-      // enforce minimum frequency for safety-relevant messages
-      bool frequency_invalid = !cfg->rx_checks[i].msg[cfg->rx_checks[i].status.index].ignore_frequency_check && (frequency < 10U);
-      if (lagging || frequency_invalid || !is_msg_valid(cfg->rx_checks, i)) {
-        rx_checks_invalid = true;
-        controls_allowed = false;
-      }
+    // enforce minimum frequency for safety-relevant messages
+    bool frequency_invalid = !current_safety_config.rx_checks[i].msg[current_safety_config.rx_checks[i].status.index].ignore_frequency_check && (frequency < 10U);
+    if (lagging || frequency_invalid || !is_msg_valid(current_safety_config.rx_checks, i)) {
+      rx_checks_invalid = true;
+      controls_allowed = false;
     }
   }
 
@@ -395,10 +396,7 @@ static void relay_malfunction_reset(void) {
 
 // resets values and min/max for sample_t struct
 static void reset_sample(struct sample_t *sample) {
-  for (int i = 0; i < MAX_SAMPLE_VALS; i++) {
-    sample->values[i] = 0;
-  }
-  update_sample(sample, 0);
+  *sample = (struct sample_t){0};
 }
 
 int set_safety_hooks(uint16_t mode, uint16_t param) {
@@ -428,6 +426,7 @@ int set_safety_hooks(uint16_t mode, uint16_t param) {
     {SAFETY_GWM, &gwm_hooks},
     {SAFETY_CHRYSLER_CUSW, &chrysler_cusw_hooks},
     {SAFETY_PSA, &psa_hooks},
+    {SAFETY_BYD, &byd_hooks},
     {SAFETY_SUBARU_PREGLOBAL, &subaru_preglobal_hooks},
     {SAFETY_VOLKSWAGEN_MLB, &volkswagen_mlb_hooks},
     {SAFETY_VOLKSWAGEN_PQ, &volkswagen_pq_hooks},
@@ -455,11 +454,7 @@ int set_safety_hooks(uint16_t mode, uint16_t param) {
   rt_angle_msgs = 0;
   ts_angle_check_last = 0;
   desired_angle_last = 0;
-  curvature_state.desired_last = 0;
-  curvature_state.rt_msgs = 0;
-  curvature_state.rt_msgs_prev = 0;
-  curvature_state.ts_check_last = 0;
-  curvature_state.steer_power_last = 0;
+  curvature_state = (CurvatureSteeringState){0};
   ts_torque_check_last = 0;
   ts_steer_req_mismatch_last = 0;
   valid_steer_req_count = 0;
@@ -475,17 +470,12 @@ int set_safety_hooks(uint16_t mode, uint16_t param) {
   reset_sample(&torque_meas);
   reset_sample(&torque_driver);
   reset_sample(&angle_meas);
-  reset_sample(&curvature_state.meas);
 
   controls_allowed = false;
   relay_malfunction_reset();
   safety_rx_checks_invalid = false;
 
-  current_safety_config.rx_checks = NULL;
-  current_safety_config.rx_checks_len = 0;
-  current_safety_config.tx_msgs = NULL;
-  current_safety_config.tx_msgs_len = 0;
-  current_safety_config.disable_forwarding = false;
+  current_safety_config = (safety_config){0};
 
   int set_status = -1;  // not set
   int hook_config_count = sizeof(safety_hook_registry) / sizeof(safety_hook_config);
@@ -498,12 +488,7 @@ int set_safety_hooks(uint16_t mode, uint16_t param) {
     }
   }
   if ((set_status == 0) && (current_hooks->init != NULL)) {
-    safety_config cfg = current_hooks->init(param);
-    current_safety_config.rx_checks = cfg.rx_checks;
-    current_safety_config.rx_checks_len = cfg.rx_checks_len;
-    current_safety_config.tx_msgs = cfg.tx_msgs;
-    current_safety_config.tx_msgs_len = cfg.tx_msgs_len;
-    current_safety_config.disable_forwarding = cfg.disable_forwarding;
+    current_safety_config = current_hooks->init(param);
     // reset all dynamic fields in addr struct
     for (int j = 0; j < current_safety_config.rx_checks_len; j++) {
       current_safety_config.rx_checks[j].status = (RxStatus){0};
diff --git a/opendbc_repo/opendbc/safety/tests/common.py b/opendbc_repo/opendbc/safety/tests/common.py
index 90a0df3cf..d94bdf26c 100644
--- a/opendbc_repo/opendbc/safety/tests/common.py
+++ b/opendbc_repo/opendbc/safety/tests/common.py
@@ -75,12 +75,24 @@ def add_regen_tests(cls):
 
 
 class SafetyTestBase(unittest.TestCase):
-  safety: libsafety_py.LibSafety | None
+  safety: libsafety_py.LibSafety
+  DBC: str | None = None
+  packer: CANPackerSafety
+  SAFETY_MODEL: int | None
+  SAFETY_PARAM = 0
+
+  def setUp(self):
+    self.safety = libsafety_py.libsafety
+    if self.DBC is not None:
+      self.packer = CANPackerSafety(self.DBC)
+    if self.SAFETY_MODEL is not None:
+      self.safety.set_safety_hooks(self.SAFETY_MODEL, self.SAFETY_PARAM)
+    self.safety.init_tests()
 
   @classmethod
   def setUpClass(cls):
-    if cls.__name__ == "SafetyTestBase":
-      cls.safety = None
+    # Classes defined in this module and classes named *Base are shared test helpers.
+    if cls.__module__ == __name__ or cls.__name__.endswith('Base'):
       raise unittest.SkipTest
 
   def _reset_safety_hooks(self):
@@ -157,12 +169,6 @@ class LongitudinalAccelSafetyTest(SafetyTestBase, abc.ABC):
   MIN_ACCEL: float = -3.5
   INACTIVE_ACCEL: float = 0.0
 
-  @classmethod
-  def setUpClass(cls):
-    if cls.__name__ == "LongitudinalAccelSafetyTest":
-      cls.safety = None
-      raise unittest.SkipTest
-
   @abc.abstractmethod
   def _accel_msg(self, accel: float):
     pass
@@ -235,12 +241,6 @@ class TorqueSteeringSafetyTestBase(SafetyTestBase, abc.ABC):
 
   NO_STEER_REQ_BIT = False
 
-  @classmethod
-  def setUpClass(cls):
-    if cls.__name__ == "TorqueSteeringSafetyTestBase":
-      cls.safety = None
-      raise unittest.SkipTest
-
   @property
   def MAX_TORQUE(self):
     return max(self.MAX_TORQUE_LOOKUP[1])
@@ -322,12 +322,6 @@ class TorqueSteeringSafetyTestBase(SafetyTestBase, abc.ABC):
 
 class SteerRequestCutSafetyTest(TorqueSteeringSafetyTestBase, abc.ABC):
 
-  @classmethod
-  def setUpClass(cls):
-    if cls.__name__ == "SteerRequestCutSafetyTest":
-      cls.safety = None
-      raise unittest.SkipTest
-
   # Safety around steering request bit mismatch tolerance
   MIN_VALID_STEERING_FRAMES: int
   MAX_INVALID_STEERING_FRAMES: int
@@ -347,7 +341,9 @@ class SteerRequestCutSafetyTest(TorqueSteeringSafetyTestBase, abc.ABC):
         - We can always recover from violations if steer_req=1
     """
 
-    for min_valid_steer_frames in range(self.MIN_VALID_STEERING_FRAMES * 2):
+    # dense around the threshold, sparse elsewhere (the valid frame counter saturates at MIN_VALID_STEERING_FRAMES)
+    valid_frames = self._boundary_values([self.MIN_VALID_STEERING_FRAMES], 0, self.MIN_VALID_STEERING_FRAMES * 2, sparse_count=10)
+    for min_valid_steer_frames in map(int, valid_frames):
       # Reset match count and rt timer to allow cut (valid_steer_req_count, ts_steer_req_mismatch_last)
       self.safety.init_tests()
       self.safety.set_timer(self.MIN_VALID_STEERING_RT_INTERVAL)
@@ -365,7 +361,7 @@ class SteerRequestCutSafetyTest(TorqueSteeringSafetyTestBase, abc.ABC):
         self.assertEqual(should_tx and idx < self.MAX_INVALID_STEERING_FRAMES, tx)
 
       # Keep blocking after one steer_req mismatch
-      for _ in range(100):
+      for _ in range(10):
         self.assertFalse(self._tx(self._torque_cmd_msg(self.MAX_TORQUE, steer_req=0)))
 
       # Make sure we can recover
@@ -423,7 +419,7 @@ class SteerRequestCutSafetyTest(TorqueSteeringSafetyTestBase, abc.ABC):
         self.assertEqual(should_tx, self._tx(self._torque_cmd_msg(self.MAX_TORQUE, steer_req=0)))
 
       # Keep blocking after one steer_req mismatch
-      for _ in range(100):
+      for _ in range(10):
         self.assertFalse(self._tx(self._torque_cmd_msg(self.MAX_TORQUE, steer_req=0)))
 
       # Make sure we can recover
@@ -437,12 +433,6 @@ class DriverTorqueSteeringSafetyTest(TorqueSteeringSafetyTestBase, abc.ABC):
   DRIVER_TORQUE_ALLOWANCE = 0
   DRIVER_TORQUE_FACTOR = 0
 
-  @classmethod
-  def setUpClass(cls):
-    if cls.__name__ == "DriverTorqueSteeringSafetyTest":
-      cls.safety = None
-      raise unittest.SkipTest
-
   @abc.abstractmethod
   def _torque_driver_msg(self, torque):
     pass
@@ -451,6 +441,21 @@ class DriverTorqueSteeringSafetyTest(TorqueSteeringSafetyTestBase, abc.ABC):
     for _ in range(MAX_SAMPLE_VALS):
       self._rx(self._torque_driver_msg(torque))
 
+  def test_driver_torque_measurements(self):
+    for torque in (50, -50, *([0] * (MAX_SAMPLE_VALS - 2))):
+      self.assertTrue(self._rx(self._torque_driver_msg(torque)))
+
+    self.assertEqual(-50, self.safety.get_torque_driver_min())
+    self.assertEqual(50, self.safety.get_torque_driver_max())
+
+    self.assertTrue(self._rx(self._torque_driver_msg(0)))
+    self.assertEqual(0, self.safety.get_torque_driver_max())
+    self.assertEqual(-50, self.safety.get_torque_driver_min())
+
+    self.assertTrue(self._rx(self._torque_driver_msg(0)))
+    self.assertEqual(0, self.safety.get_torque_driver_max())
+    self.assertEqual(0, self.safety.get_torque_driver_min())
+
   def test_non_realtime_limit_up(self):
     self._reset_torque_driver_measurement(0)
     super().test_non_realtime_limit_up()
@@ -538,12 +543,6 @@ class MotorTorqueSteeringSafetyTest(TorqueSteeringSafetyTestBase, abc.ABC):
   MAX_TORQUE_ERROR = 0
   TORQUE_MEAS_TOLERANCE = 0
 
-  @classmethod
-  def setUpClass(cls):
-    if cls.__name__ == "MotorTorqueSteeringSafetyTest":
-      cls.safety = None
-      raise unittest.SkipTest
-
   @abc.abstractmethod
   def _torque_meas_msg(self, torque):
     pass
@@ -571,23 +570,18 @@ class MotorTorqueSteeringSafetyTest(TorqueSteeringSafetyTestBase, abc.ABC):
           self.assertEqual(send, self._tx(self._torque_cmd_msg(torque)))
 
   def test_non_realtime_limit_down(self):
-    self.safety.set_controls_allowed(True)
-
     for speed in self._torque_speed_range:
       self._reset_speed_measurement(speed)
       max_torque = self._get_max_torque(speed)
-
       torque_meas = max_torque - self.MAX_TORQUE_ERROR - 50
 
-      self.safety.set_rt_torque_last(max_torque)
-      self.safety.set_torque_meas(torque_meas, torque_meas)
-      self.safety.set_desired_torque_last(max_torque)
-      self.assertTrue(self._tx(self._torque_cmd_msg(max_torque - self.MAX_RATE_DOWN)))
-
-      self.safety.set_rt_torque_last(max_torque)
-      self.safety.set_torque_meas(torque_meas, torque_meas)
-      self.safety.set_desired_torque_last(max_torque)
-      self.assertFalse(self._tx(self._torque_cmd_msg(max_torque - self.MAX_RATE_DOWN + 1)))
+      for sign in (-1, 1):
+        for delta in (self.MAX_RATE_DOWN, self.MAX_RATE_DOWN - 1):
+          self.safety.set_controls_allowed(True)
+          self.safety.set_rt_torque_last(sign * max_torque)
+          self.safety.set_torque_meas(sign * torque_meas, sign * torque_meas)
+          self.safety.set_desired_torque_last(sign * max_torque)
+          self.assertEqual(delta == self.MAX_RATE_DOWN, self._tx(self._torque_cmd_msg(sign * (max_torque - delta))))
 
   def test_exceed_torque_sensor(self):
     self.safety.set_controls_allowed(True)
@@ -659,12 +653,6 @@ class MotorTorqueSteeringSafetyTest(TorqueSteeringSafetyTestBase, abc.ABC):
 
 
 class VehicleSpeedSafetyTest(SafetyTestBase):
-  @classmethod
-  def setUpClass(cls):
-    if cls.__name__ == "VehicleSpeedSafetyTest":
-      cls.safety = None
-      raise unittest.SkipTest
-
   @abc.abstractmethod
   def _speed_msg(self, speed):
     pass
@@ -686,12 +674,6 @@ class AngleSteeringSafetyTest(VehicleSpeedSafetyTest):
   # Real time limits
   LATERAL_FREQUENCY: int = -1  # Hz
 
-  @classmethod
-  def setUpClass(cls):
-    if cls.__name__ == "AngleSteeringSafetyTest":
-      cls.safety = None
-      raise unittest.SkipTest
-
   @abc.abstractmethod
   def _angle_cmd_msg(self, angle: float, enabled: bool, increment_timer: bool = True):
     pass
@@ -831,12 +813,6 @@ class CurvatureSteeringSafetyTest(VehicleSpeedSafetyTest):
   CURVATURE_TO_CAN: float
   SEND_RATE: float
 
-  @classmethod
-  def setUpClass(cls):
-    if cls.__name__ == "CurvatureSteeringSafetyTest":
-      cls.safety = None
-      raise unittest.SkipTest
-
   @abc.abstractmethod
   def _curvature_cmd_msg(self, curvature: float, steer_req: bool):
     pass
@@ -942,12 +918,6 @@ class SafetyTest(SafetyTestBase):
   FWD_BLACKLISTED_ADDRS: dict[int, list[int]] = {}  # {bus: [addr]}
   FWD_BUS_LOOKUP: dict[int, int] = {0: 2, 2: 0}
 
-  @classmethod
-  def setUpClass(cls):
-    if cls.__name__ == "SafetyTest" or cls.__name__.endswith('Base'):
-      cls.safety = None
-      raise unittest.SkipTest
-
   # ***** standard tests for all safety modes *****
 
   def test_tx_msg_in_scanned_range(self):
@@ -969,9 +939,10 @@ class SafetyTest(SafetyTestBase):
         self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(bus, addr), f"{addr=:#x} from {bus=} to {fwd_bus=}")
 
   def test_spam_can_buses(self):
+    tx_msgs = {(addr, bus) for addr, bus in self.TX_MSGS}
     for bus in range(4):
       for addr in self.SCANNED_ADDRS:
-        if [addr, bus] not in self.TX_MSGS:
+        if (addr, bus) not in tx_msgs:
           self.assertFalse(self._tx(make_msg(bus, addr, 8)), f"allowed TX {addr=} {bus=}")
 
   def test_default_controls_not_allowed(self):
@@ -1074,12 +1045,6 @@ class CarSafetyTest(SafetyTest, MadsSafetyTestBase):
   GAS_PRESSED_THRESHOLD = 0
   RELAY_MALFUNCTION_ADDRS: dict[int, tuple[int, ...]] | None = None
 
-  @classmethod
-  def setUpClass(cls):
-    if cls.__name__ == "CarSafetyTest" or cls.__name__.endswith('Base'):
-      cls.safety = None
-      raise unittest.SkipTest
-
   @abc.abstractmethod
   def _user_brake_msg(self, brake):
     pass
@@ -1251,10 +1216,12 @@ class CarSafetyTest(SafetyTest, MadsSafetyTestBase):
         self.assertEqual(self.safety.get_controls_allowed(), within_delta)
 
   def test_safety_tick(self):
-    self.safety.set_timer(int(2e6))
-    self.safety.set_controls_allowed(True)
-    self.safety.set_controls_allowed_lateral(True)
-    self.safety.safety_tick_current_safety_config()
-    self.assertFalse(self.safety.get_controls_allowed())
-    self.assertFalse(self.safety.get_controls_allowed_lateral())
-    self.assertFalse(self.safety.safety_config_valid())
+    # Missing valid RX messages must disable controls even before they time out.
+    for elapsed in (0, int(2e6)):
+      with self.subTest(elapsed=elapsed):
+        self._reset_safety_hooks()
+        self.safety.set_timer(elapsed)
+        self.safety.set_controls_allowed(True)
+        self.safety.safety_tick()
+        self.assertFalse(self.safety.get_controls_allowed())
+        self.assertFalse(self.safety.safety_config_valid())
diff --git a/opendbc_repo/opendbc/safety/tests/hyundai_common.py b/opendbc_repo/opendbc/safety/tests/hyundai_common.py
index 098806782..029c88933 100644
--- a/opendbc_repo/opendbc/safety/tests/hyundai_common.py
+++ b/opendbc_repo/opendbc/safety/tests/hyundai_common.py
@@ -1,5 +1,3 @@
-import unittest
-
 from opendbc.sunnypilot.car.hyundai.values import HyundaiSafetyFlagsSP
 import opendbc.safety.tests.common as common
 from opendbc.safety.tests.libsafety import libsafety_py
@@ -78,12 +76,6 @@ class HyundaiLongitudinalBase(common.LongitudinalAccelSafetyTest):
   DISABLED_ECU_UDS_MSG: tuple[int, int]
   DISABLED_ECU_ACTUATION_MSG: tuple[int, int]
 
-  @classmethod
-  def setUpClass(cls):
-    if cls.__name__ == "HyundaiLongitudinalBase":
-      cls.safety = None
-      raise unittest.SkipTest
-
   # override these tests from CarSafetyTest, hyundai longitudinal uses button enable
   def test_disable_control_allowed_from_cruise(self):
     pass
diff --git a/opendbc_repo/opendbc/safety/tests/libsafety/libsafety_py.py b/opendbc_repo/opendbc/safety/tests/libsafety/libsafety_py.py
index b4e03d469..6146acbcc 100644
--- a/opendbc_repo/opendbc/safety/tests/libsafety/libsafety_py.py
+++ b/opendbc_repo/opendbc/safety/tests/libsafety/libsafety_py.py
@@ -1,4 +1,5 @@
 import os
+import re
 import subprocess
 import tempfile
 from pathlib import Path
@@ -20,12 +21,14 @@ def _build_libsafety(release: bool = False) -> str:
     '-std=gnu11', '-Wfatal-errors', '-Wno-pointer-to-int-cast',
     '-g', '-O0', '-fno-omit-frame-pointer',
   ]
-  ldflags = [
-    '-fsanitize=undefined', '-fno-sanitize-recover=undefined',
-  ]
+  # Coverage must exclude the branches inserted by UBSan.
+  if os.environ.get("SAFETY_COVERAGE") == "1":
+    ldflags = ['-fprofile-arcs', '-ftest-coverage'] if not release else []
+  else:
+    ldflags = ['-fsanitize=undefined', '-fno-sanitize-recover=undefined']
+  cflags += ldflags
   if not release:
-    cflags += ['-DALLOW_DEBUG', '-fprofile-arcs', '-ftest-coverage']
-    ldflags += ['-fprofile-arcs', '-ftest-coverage']
+    cflags += ['-DALLOW_DEBUG']
 
   fd, safety_os = tempfile.mkstemp(suffix='.os', dir=libsafety_dir)
   os.close(fd)
@@ -37,114 +40,38 @@ def _build_libsafety(release: bool = False) -> str:
   return libsafety_so
 
 
+def cdef_from_file(path: Path) -> str:
+  source = path.read_text()
+  source = re.sub(r"//[^\n]*|/\*.*?\*/", "", source, flags=re.DOTALL)
+  source = re.sub(r"__attribute__\(\(.*\)\)", "", source)
+
+  # Keep integer constants, type declarations, and function signatures, including definitions.
+  constants = re.findall(r"^#define \w+ \d+[UuLl]*[ \t]*$", source, re.MULTILINE)
+  types = re.findall(r"^(?:typedef|struct|enum)\b(?:[^;{]|\{[^}]*\})+;", source, re.MULTILINE)
+  functions = re.findall(r"^((?!typedef\b)\w[\w *]*\b\w+\([^;{}]*\))\s*[;{]", source, re.MULTILINE)
+  return "\n".join([*constants, *types, *(f"{signature};" for signature in dict.fromkeys(functions))])
+
+
 ffi = FFI()
+safety_dir = Path(libsafety_dir).parents[1]
+ffi.cdef(cdef_from_file(safety_dir / "can.h"), packed=True)
+for path in (safety_dir / "declarations.h", safety_dir / "ignition.h", safety_dir / "sunnypilot" / "mads_declarations.h", Path(libsafety_dir) / "safety.c"):
+  ffi.cdef(cdef_from_file(path))
 
-ffi.cdef("""
-typedef struct {
-  unsigned char fd : 1;
-  unsigned char bus : 3;
-  unsigned char data_len_code : 4;
-  unsigned char rejected : 1;
-  unsigned char returned : 1;
-  unsigned char extended : 1;
-  unsigned int addr : 29;
-  unsigned char checksum;
-  unsigned char data[64];
-} CANPacket_t;
-""", packed=True)
 class CANPacket:
   pass
 
+# Functions not captured by cdef_from_file (macros, non-standard formatting, or generated)
 ffi.cdef("""
-bool safety_rx_hook(CANPacket_t *msg);
-bool safety_tx_hook(CANPacket_t *msg);
-int safety_fwd_hook(int bus_num, int addr);
-int set_safety_hooks(uint16_t mode, uint16_t param);
-
-void set_controls_allowed(bool c);
-bool get_controls_allowed(void);
-bool get_longitudinal_allowed(void);
-void set_alternative_experience(int mode);
 int get_alternative_experience(void);
-void set_relay_malfunction(bool c);
-bool get_relay_malfunction(void);
-bool get_gas_pressed_prev(void);
-void set_gas_pressed_prev(bool);
-bool get_brake_pressed_prev(void);
-bool get_regen_braking_prev(void);
-bool get_steering_disengage_prev(void);
-bool get_acc_main_on(void);
-float get_vehicle_speed_min(void);
-float get_vehicle_speed_max(void);
-int get_current_safety_mode(void);
-int get_current_safety_param(void);
-
-void set_torque_meas(int min, int max);
-int get_torque_meas_min(void);
-int get_torque_meas_max(void);
-void set_torque_driver(int min, int max);
-int get_torque_driver_min(void);
-int get_torque_driver_max(void);
-void set_desired_torque_last(int t);
-void set_rt_torque_last(int t);
-void set_desired_angle_last(int t);
-int get_desired_angle_last();
-void set_angle_meas(int min, int max);
-int get_angle_meas_min(void);
-int get_angle_meas_max(void);
-void set_desired_curvature_last(int t);
-int get_desired_curvature_last();
-void set_curvature_meas(int min, int max);
-int get_curvature_meas_min(void);
-int get_curvature_meas_max(void);
-
-bool get_cruise_engaged_prev(void);
-void set_cruise_engaged_prev(bool engaged);
-bool get_vehicle_moving(void);
-void set_timer(uint32_t t);
-
-void safety_tick_current_safety_config();
-bool safety_config_valid();
-
-void init_tests(void);
-
-void set_honda_fwd_brake(bool c);
-bool get_honda_fwd_brake(void);
-void set_honda_alt_brake_msg(bool c);
+int get_desired_angle_last(void);
 void set_honda_bosch_long(bool c);
 int get_honda_hw(void);
-
+void set_ignition_can(bool c);
+uint32_t get_acc_main_on_mismatches(void);
+int get_temp_debug(void);
 void mutation_set_active_mutant(int id);
 int mutation_get_active_mutant(void);
-
-void ignition_can_hook(const CANPacket_t *msg);
-bool get_ignition_can(void);
-void set_ignition_can(bool c);
-
-bool get_controls_allowed_lateral(void);
-bool get_controls_requested_lateral(void);
-void set_current_safety_param_sp(uint16_t param);
-uint16_t get_current_safety_param_sp(void);
-bool get_enable_mads(void);
-bool get_disengage_lateral_on_brake(void);
-bool get_pause_lateral_on_brake(void);
-void set_mads_button_press(int mads_button_press);
-void set_controls_allowed_lateral(bool c);
-void set_controls_requested_lateral(bool c);
-bool get_mads_acc_main(void);
-void set_acc_main_on(bool c);
-int get_mads_button_press(void);
-void mads_set_current_disengage_reason(int reason);
-int mads_get_current_disengage_reason(void);
-int get_temp_debug(void);
-uint32_t get_acc_main_on_mismatches(void);
-void set_mads_params(bool enable_mads, bool disengage_lateral_on_brake, bool pause_lateral_on_brake);
-void mads_apply_alternative_experience(int mode);
-void tick_mads_state(bool vm, bool acc_main, bool op_allowed, bool braking, bool steering_disengage);
-void set_heartbeat_engaged_mads(bool c);
-void mads_heartbeat_engaged_check(void);
-void set_steering_disengage(bool c);
-int get_gas_interceptor_prev(void);
 """)
 
 class LibSafety:
diff --git a/opendbc_repo/opendbc/safety/tests/libsafety/safety.c b/opendbc_repo/opendbc/safety/tests/libsafety/safety.c
index 89a2b04aa..834eca3c8 100644
--- a/opendbc_repo/opendbc/safety/tests/libsafety/safety.c
+++ b/opendbc_repo/opendbc/safety/tests/libsafety/safety.c
@@ -13,10 +13,6 @@ uint32_t microsecond_timer_get(void) {
 #include "opendbc/safety/safety.h"
 #include "opendbc/safety/ignition.h"
 
-void safety_tick_current_safety_config() {
-  safety_tick(&current_safety_config);
-}
-
 bool safety_config_valid() {
   if (current_safety_config.rx_checks_len <= 0) {
     printf("missing RX checks\n");
@@ -54,20 +50,16 @@ void set_relay_malfunction(bool c){
   relay_malfunction = c;
 }
 
-void set_ignition_can(bool c){
-  ignition_can = c;
-}
-
 bool get_controls_allowed(void){
   return controls_allowed;
 }
 
-bool get_ignition_can(void){
-  return ignition_can;
+bool get_safety_rx_checks_invalid(void){
+  return safety_rx_checks_invalid;
 }
 
-int get_alternative_experience(void){
-  return alternative_experience;
+bool get_ignition_can(void){
+  return ignition_can;
 }
 
 bool get_relay_malfunction(void){
@@ -168,10 +160,6 @@ void set_desired_angle_last(int t){
   desired_angle_last = t;
 }
 
-int get_desired_angle_last(void){
-  return desired_angle_last;
-}
-
 void set_angle_meas(int min, int max){
   angle_meas.min = min;
   angle_meas.max = max;
@@ -213,14 +201,6 @@ void set_honda_alt_brake_msg(bool c){
   honda_alt_brake_msg = c;
 }
 
-void set_honda_bosch_long(bool c){
-  honda_bosch_long = c;
-}
-
-int get_honda_hw(void) {
-  return honda_hw;
-}
-
 void set_honda_fwd_brake(bool c){
   honda_fwd_brake = c;
 }
diff --git a/opendbc_repo/opendbc/safety/tests/mads_common.py b/opendbc_repo/opendbc/safety/tests/mads_common.py
index 992a407b0..2c939a81f 100644
--- a/opendbc_repo/opendbc/safety/tests/mads_common.py
+++ b/opendbc_repo/opendbc/safety/tests/mads_common.py
@@ -573,7 +573,7 @@ class MadsSafetyTestBase(unittest.TestCase):
 
     # Simulate message lag — safety_tick clears both controls_allowed and controls_allowed_lateral
     self.safety.set_timer(int(2e6))
-    self.safety.safety_tick_current_safety_config()
+    self.safety.safety_tick()
     self.assertFalse(self.safety.get_controls_allowed_lateral())
     self.assertFalse(self.safety.get_controls_allowed_lateral())
     self.assertFalse(self.safety.get_controls_allowed())
diff --git a/opendbc_repo/opendbc/safety/tests/mutation.py b/opendbc_repo/opendbc/safety/tests/mutation.py
index 446bcfd4e..ea3365bf3 100755
--- a/opendbc_repo/opendbc/safety/tests/mutation.py
+++ b/opendbc_repo/opendbc/safety/tests/mutation.py
@@ -461,7 +461,6 @@ def compile_mutated_library(preprocessed_source, sites, output_so):
   prelude = """
     static int __mutation_active_id = -1;
     void mutation_set_active_mutant(int id) { __mutation_active_id = id; }
-    int mutation_get_active_mutant(void) { return __mutation_active_id; }
   """
   marker_re = re.compile(r'^\s*#\s+\d+\s+"[^\n]*\n?', re.MULTILINE)
   instrumented = prelude + marker_re.sub("", instrumented)
diff --git a/opendbc_repo/opendbc/safety/tests/safety_replay/replay_drive.py b/opendbc_repo/opendbc/safety/tests/safety_replay/replay_drive.py
index 5596e46d8..73b96d685 100755
--- a/opendbc_repo/opendbc/safety/tests/safety_replay/replay_drive.py
+++ b/opendbc_repo/opendbc/safety/tests/safety_replay/replay_drive.py
@@ -40,6 +40,9 @@ def replay_drive(msgs, safety_mode, param, alternative_experience, param_sp):
   print(f"  disengage lateral on brake: {_disengage_lateral_on_brake}")
   print(f"  pause lateral on brake: {_pause_lateral_on_brake}")
 
+  if not any(m.which() == "sentinel" and m.sentinel.type == "startOfRoute" for m in msgs):
+    print("WARNING: Replay starts mid-route; missing prior safety state may cause safety violations that did not appear in the route.")
+
   init_segment(safety, msgs, safety_mode, param)
 
   rx_tot, rx_invalid, tx_tot, tx_blocked, tx_controls, tx_controls_lateral, tx_controls_blocked, tx_controls_lateral_blocked = 0, 0, 0, 0, 0, 0, 0, 0
@@ -62,7 +65,7 @@ def replay_drive(msgs, safety_mode, param, alternative_experience, param_sp):
 
     # skip start and end of route, warm up/down period
     if msg.logMonoTime - start_t > 1e9 and end_t - msg.logMonoTime > 1e9:
-      safety.safety_tick_current_safety_config()
+      safety.safety_tick()
       safety_tick_rx_invalid |= not safety.safety_config_valid() or safety_tick_rx_invalid
 
     if msg.which() == 'sendcan':
diff --git a/opendbc_repo/opendbc/safety/tests/test.sh b/opendbc_repo/opendbc/safety/tests/test.sh
index 491b9e3f3..0ae505cfb 100755
--- a/opendbc_repo/opendbc/safety/tests/test.sh
+++ b/opendbc_repo/opendbc/safety/tests/test.sh
@@ -6,11 +6,15 @@ cd $DIR
 
 source ../../../setup.sh
 
-# reset coverage data
-rm -f ./libsafety/*.gcda
+# TODO: get UBSan and coverage without running the tests twice.
+# Run UBSan separately so its checks do not count as coverage branches.
+SAFETY_COVERAGE=0 python -m unittest discover -s .
+
+# reset coverage data, including metadata from previous builds
+rm -f ./libsafety/*.gcda ./libsafety/*.gcno
 
 # run safety tests and generate coverage data
-python -m unittest discover -s .
+SAFETY_COVERAGE=1 python -m unittest discover -s .
 
 # NOTE: we accept that these tools will have slight differences,
 # and in return, we get to use the stock toolchain instead of
diff --git a/opendbc_repo/opendbc/safety/tests/test_body.py b/opendbc_repo/opendbc/safety/tests/test_body.py
index 8512221df..f6499bd96 100755
--- a/opendbc_repo/opendbc/safety/tests/test_body.py
+++ b/opendbc_repo/opendbc/safety/tests/test_body.py
@@ -3,21 +3,14 @@ import unittest
 
 from opendbc.car.structs import CarParams
 import opendbc.safety.tests.common as common
-from opendbc.safety.tests.libsafety import libsafety_py
-from opendbc.safety.tests.common import CANPackerSafety
-
-
 class TestBody(common.SafetyTest):
+  DBC = "comma_body"
+  SAFETY_MODEL = CarParams.SafetyModel.body
+
   TX_MSGS = [[0x250, 0], [0x251, 0],
              [0x1, 0], [0x1, 1], [0x1, 2], [0x1, 3]]
   FWD_BUS_LOOKUP = {}
 
-  def setUp(self):
-    self.packer = CANPackerSafety("comma_body")
-    self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(CarParams.SafetyModel.body, 0)
-    self.safety.init_tests()
-
   def _motors_data_msg(self, speed_l, speed_r):
     values = {"SPEED_L": speed_l, "SPEED_R": speed_r}
     return self.packer.make_can_msg_safety("MOTORS_DATA", 0, values)
@@ -36,6 +29,23 @@ class TestBody(common.SafetyTest):
     self.assertTrue(self._rx(self._motors_data_msg(0, 0)))
     self.assertTrue(self.safety.get_controls_allowed())
 
+    self._reset_safety_hooks()
+    for _ in range(16):
+      self.assertTrue(self._rx(self._motors_data_msg(0, 0)))
+
+    msg = self._motors_data_msg(0, 0)
+    msg[0].data[7] ^= 0xff
+    self.assertFalse(self._rx(msg))
+
+    self._reset_safety_hooks()
+    for _ in range(16):
+      self.assertTrue(self._rx(self._motors_data_msg(0, 0)))
+
+    msg = self._motors_data_msg(0, 0)
+    for _ in range(common.MAX_WRONG_COUNTERS + 1):
+      valid = self._rx(msg)
+    self.assertFalse(valid)
+
   def test_tx_hook(self):
     self.assertFalse(self._tx(self._torque_cmd_msg(0, 0)))
     self.safety.set_controls_allowed(True)
@@ -48,9 +58,8 @@ class TestBody(common.SafetyTest):
 
     # 0xdeadfaceU allowed for CAN flashing mode
     self.assertTrue(self._tx(common.make_msg(0, 0x250, dat=b'\xce\xfa\xad\xde\x1e\x0b\xb0\x0a')))
+    self.assertFalse(self._tx(common.make_msg(0, 0x250, dat=b'\xcf\xfa\xad\xde\x1e\x0b\xb0\x0a')))  # wrong signature
     self.assertFalse(self._tx(common.make_msg(0, 0x250, dat=b'\xce\xfa\xad\xde\x1e\x0b\xb0')))  # not correct data/len
     self.assertFalse(self._tx(common.make_msg(0, 0x251, dat=b'\xce\xfa\xad\xde\x1e\x0b\xb0\x0a')))  # wrong address
-
-
 if __name__ == "__main__":
   unittest.main()
diff --git a/opendbc_repo/opendbc/safety/tests/test_byd.py b/opendbc_repo/opendbc/safety/tests/test_byd.py
new file mode 100644
index 000000000..5bde677fe
--- /dev/null
+++ b/opendbc_repo/opendbc/safety/tests/test_byd.py
@@ -0,0 +1,212 @@
+#!/usr/bin/env python3
+import itertools
+import unittest
+import numpy as np
+
+from opendbc.car.byd.carcontroller import get_safety_CP
+from opendbc.car.byd.values import CarControllerParams
+from opendbc.car.lateral import get_max_angle_delta_vm, get_max_angle_vm
+from opendbc.car.structs import CarParams
+from opendbc.car.vehicle_model import VehicleModel
+import opendbc.safety.tests.common as common
+from opendbc.safety.tests.common import away_round
+
+STEERING_MODULE_ADAS = 0x1E2
+LKAS_HUD_ADAS = 0x316
+PCM_BUTTONS = 0x3B0
+def safety_max_can(max_angle_float, can_offset=0):
+  # Matches C: max_angle_can = (int)(max_angle * 10 + 1.) which is floor(max_angle * 10) + 1
+  return int(max_angle_float * 10 + 1.) + can_offset
+class TestBydSafety(common.CarSafetyTest, common.AngleSteeringSafetyTest):
+  DBC = "byd_atto3"
+  SAFETY_MODEL = CarParams.SafetyModel.byd
+
+  RELAY_MALFUNCTION_ADDRS = {0: (STEERING_MODULE_ADAS, LKAS_HUD_ADAS)}
+  FWD_BLACKLISTED_ADDRS = {2: [STEERING_MODULE_ADAS, LKAS_HUD_ADAS]}
+  TX_MSGS = [[STEERING_MODULE_ADAS, 0], [LKAS_HUD_ADAS, 0], [PCM_BUTTONS, 0]]
+
+  MAIN_BUS = 0
+  CAM_BUS = 2
+
+  STEER_ANGLE_MAX = 390  # deg, EPS fault limit
+  DEG_TO_CAN = 10
+
+  # BYD uses get_max_angle_delta_vm and get_max_angle_vm for lateral accel and jerk limits
+  ANGLE_RATE_BP = None
+  ANGLE_RATE_UP = None
+  ANGLE_RATE_DOWN = None
+
+  # Real time limits
+  LATERAL_FREQUENCY = 50  # Hz
+
+  def _get_steer_cmd_angle_max(self, speed):
+    return get_max_angle_vm(max(speed, 1), self.VM, CarControllerParams)
+
+  def setUp(self):
+    super().setUp()
+    self.VM = VehicleModel(get_safety_CP())
+
+  def _angle_cmd_msg(self, angle: float, enabled: bool, increment_timer: bool = True):
+    values = {"STEER_ANGLE": angle, "STEER_REQ": 1 if enabled else 0, "STEER_REQ_ACTIVE_LOW": 0 if enabled else 1}
+    if increment_timer:
+      self.safety.set_timer(self.__class__.cnt_angle_cmd * int(1e6 / self.LATERAL_FREQUENCY))
+      self.__class__.cnt_angle_cmd += 1
+    return self.packer.make_can_msg_safety("STEERING_MODULE_ADAS", self.MAIN_BUS, values)
+
+  cnt_angle_cmd = 0
+
+  def _angle_meas_msg(self, angle: float):
+    values = {"STEER_ANGLE_2": angle}
+    return self.packer.make_can_msg_safety("STEER_MODULE_2", self.MAIN_BUS, values)
+
+  def _pcm_status_msg(self, enable):
+    # ACC_STATE: 0=OFF, 3=ACC_ACTIVE
+    values = {"ACC_STATE": 3 if enable else 0}
+    return self.packer.make_can_msg_safety("ACC_HUD_ADAS", self.CAM_BUS, values)
+
+  def _speed_msg(self, speed):
+    values = {"WHEELSPEED_CLEAN": speed * 3.6}
+    return self.packer.make_can_msg_safety("WHEELSPEED_CLEAN", self.MAIN_BUS, values)
+
+  def _user_brake_msg(self, brake):
+    values = {"BRAKE_PRESSED": 1 if brake else 0}
+    return self.packer.make_can_msg_safety("DRIVE_STATE", self.MAIN_BUS, values)
+
+  def _user_gas_msg(self, gas):
+    values = {"RAW_THROTTLE": int(gas * 100)}
+    return self.packer.make_can_msg_safety("DRIVE_STATE", self.MAIN_BUS, values)
+
+  def test_cruise_buttons(self):
+    buttons = ("SET_BTN", "RES_BTN", "LKAS_ON_BTN", "DEC_DISTANCE_BTN", "INC_DISTANCE_BTN", "ACC_ON_BTN")
+    for cruise_engaged, controls_allowed in itertools.product((False, True), repeat=2):
+      self.assertTrue(self._rx(self._pcm_status_msg(cruise_engaged)))
+      self.safety.set_controls_allowed(controls_allowed)
+      for pressed in itertools.product((False, True), repeat=len(buttons)):
+        values = dict(zip(buttons, pressed, strict=True))
+        values.update(SET_ME_1_1=1, SET_ME_1_2=1)
+        with self.subTest(cruise_engaged=cruise_engaged, controls_allowed=controls_allowed, buttons=pressed):
+          msg = self.packer.make_can_msg_safety("PCM_BUTTONS", self.MAIN_BUS, values)
+          should_tx = not any(pressed[:-1]) and (not pressed[-1] or cruise_engaged)
+          self.assertEqual(should_tx, self._tx(msg))
+
+  def test_rx_checksums(self):
+    for name, bus, signal, initial, corrupt in (
+      ("WHEELSPEED_CLEAN", self.MAIN_BUS, "WHEELSPEED_CLEAN", 72, 0),
+      ("ACC_HUD_ADAS", self.CAM_BUS, "ACC_STATE", 0, 3),
+    ):
+      for byte in range(8):
+        with self.subTest(message=name, byte=byte):
+          self.safety.set_safety_hooks(CarParams.SafetyModel.byd, 0)
+          self.safety.init_tests()
+          for _ in range(16):
+            msg = self.packer.make_can_msg_safety(name, bus, {signal: initial})
+            self.assertTrue(self._rx(msg))
+          speed_min = self.safety.get_vehicle_speed_min()
+          speed_max = self.safety.get_vehicle_speed_max()
+          msg = self.packer.make_can_msg_safety(name, bus, {signal: corrupt})
+          msg[0].data[byte] ^= 0xFF
+          self.safety.set_controls_allowed(name == "WHEELSPEED_CLEAN")
+          self.assertFalse(self._rx(msg))
+          self.assertFalse(self.safety.get_controls_allowed())
+          self.assertEqual(speed_min, self.safety.get_vehicle_speed_min())
+          self.assertEqual(speed_max, self.safety.get_vehicle_speed_max())
+
+  def test_rx_counters(self):
+    for name, bus, signal, value in (
+      ("WHEELSPEED_CLEAN", self.MAIN_BUS, "WHEELSPEED_CLEAN", 72),
+      ("ACC_HUD_ADAS", self.CAM_BUS, "ACC_STATE", 3),
+    ):
+      with self.subTest(message=name):
+        # Check both counter locations and rollover with valid checksums.
+        for _ in range(32):
+          msg = self.packer.make_can_msg_safety(name, bus, {signal: value})
+          self.assertTrue(self._rx(msg))
+        self.safety.set_controls_allowed(True)
+        # Replayed frames are rejected after the common counter tolerance.
+        for i in range(common.MAX_WRONG_COUNTERS + 1):
+          should_rx = i < common.MAX_WRONG_COUNTERS - 1
+          self.assertEqual(should_rx, self._rx(msg))
+          self.assertEqual(should_rx, self.safety.get_controls_allowed())
+        # A valid sequence clears the counter faults.
+        for _ in range(common.MAX_WRONG_COUNTERS):
+          msg = self.packer.make_can_msg_safety(name, bus, {signal: 0})
+          self.assertTrue(self._rx(msg))
+
+  def test_angle_cmd_when_enabled(self):
+    # We properly test lateral acceleration and jerk below
+    pass
+
+  def test_lateral_accel_limit(self):
+    for speed in np.linspace(0, 40, 100):
+      speed = max(speed, 1)
+      # match both CAN encoding (0.1 kph/LSB) and VEHICLE_SPEED_FACTOR=1000 rounding in UPDATE_VEHICLE_SPEED
+      sent = speed + 1
+      sent_can = away_round(sent / 0.1 * 3.6) * 0.1 / 3.6
+      speed = round(sent_can * 1000) / 1000 - 1
+      for sign in (-1, 1):
+        self.safety.set_controls_allowed(True)
+        self._reset_speed_measurement(speed + 1)  # safety fudges the speed
+
+        max_angle_float = get_max_angle_vm(speed, self.VM, CarControllerParams)
+
+        # at limit (safety tolerance adds 1 CAN unit)
+        max_angle_can = safety_max_can(max_angle_float)
+        max_angle_can = min(max_angle_can, self.STEER_ANGLE_MAX * self.DEG_TO_CAN)
+        max_angle = sign * max_angle_can / self.DEG_TO_CAN
+        self.safety.set_desired_angle_last(sign * max_angle_can)
+
+        self.assertTrue(self._tx(self._angle_cmd_msg(max_angle, True)))
+
+        # 1 unit above limit
+        over_can = safety_max_can(max_angle_float, 1)
+        over_can_clipped = min(over_can, self.STEER_ANGLE_MAX * self.DEG_TO_CAN)
+        over_angle = sign * over_can_clipped / self.DEG_TO_CAN
+        self._tx(self._angle_cmd_msg(over_angle, True))
+
+        # at low speeds max angle is above STEER_ANGLE_MAX, so adding 1 has no effect
+        should_tx = over_can >= self.STEER_ANGLE_MAX * self.DEG_TO_CAN
+        self.assertEqual(should_tx, self._tx(self._angle_cmd_msg(over_angle, True)))
+
+  def test_lateral_jerk_limit(self):
+    for speed in np.linspace(0, 40, 100):
+      speed = max(speed, 1)
+      # match both CAN encoding (0.1 kph/LSB) and VEHICLE_SPEED_FACTOR=1000 rounding in UPDATE_VEHICLE_SPEED
+      sent = speed + 1
+      sent_can = away_round(sent / 0.1 * 3.6) * 0.1 / 3.6
+      speed = round(sent_can * 1000) / 1000 - 1
+      for sign in (-1, 1):
+        self.safety.set_controls_allowed(True)
+        self._reset_speed_measurement(speed + 1)  # safety fudges the speed
+        self._tx(self._angle_cmd_msg(0, True))
+
+        max_delta_float = get_max_angle_delta_vm(speed, self.VM, CarControllerParams)
+
+        # Stay within limits
+        # Up
+        max_delta_can = safety_max_can(max_delta_float)
+        max_angle_delta = sign * max_delta_can / self.DEG_TO_CAN
+        self.assertTrue(self._tx(self._angle_cmd_msg(max_angle_delta, True)))
+
+        # Don't change
+        self.assertTrue(self._tx(self._angle_cmd_msg(max_angle_delta, True)))
+
+        # Down
+        self.assertTrue(self._tx(self._angle_cmd_msg(0, True)))
+
+        # Inject too high rates
+        # Up
+        over_delta_can = safety_max_can(max_delta_float, 1)
+        max_angle_delta = sign * over_delta_can / self.DEG_TO_CAN
+        self.assertFalse(self._tx(self._angle_cmd_msg(max_angle_delta, True)))
+
+        # Don't change
+        self.safety.set_desired_angle_last(sign * over_delta_can)
+        self.assertTrue(self._tx(self._angle_cmd_msg(max_angle_delta, True)))
+
+        # Down
+        self.assertFalse(self._tx(self._angle_cmd_msg(0, True)))
+
+        # Recover
+        self.assertTrue(self._tx(self._angle_cmd_msg(0, True)))
+if __name__ == "__main__":
+  unittest.main()
diff --git a/opendbc_repo/opendbc/safety/tests/test_chrysler.py b/opendbc_repo/opendbc/safety/tests/test_chrysler.py
index 4eb65335f..20bcf7ba7 100755
--- a/opendbc_repo/opendbc/safety/tests/test_chrysler.py
+++ b/opendbc_repo/opendbc/safety/tests/test_chrysler.py
@@ -3,12 +3,11 @@ import unittest
 
 from opendbc.car.chrysler.values import ChryslerSafetyFlags
 from opendbc.car.structs import CarParams
-from opendbc.safety.tests.libsafety import libsafety_py
 import opendbc.safety.tests.common as common
-from opendbc.safety.tests.common import CANPackerSafety
-
-
 class TestChryslerSafety(common.CarSafetyTest, common.MotorTorqueSteeringSafetyTest):
+  DBC = "chrysler_pacifica_2017_hybrid_generated"
+  SAFETY_MODEL = CarParams.SafetyModel.chrysler
+
   TX_MSGS = [[0x23B, 0], [0x292, 0], [0x2A6, 0], [0x2D9, 0]]
   RELAY_MALFUNCTION_ADDRS = {0: (0x292, 0x2A6, 0x2D9)}
   FWD_BLACKLISTED_ADDRS = {2: [0x292, 0x2A6, 0x2D9]}
@@ -23,12 +22,6 @@ class TestChryslerSafety(common.CarSafetyTest, common.MotorTorqueSteeringSafetyT
 
   DAS_BUS = 0
 
-  def setUp(self):
-    self.packer = CANPackerSafety("chrysler_pacifica_2017_hybrid_generated")
-    self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(CarParams.SafetyModel.chrysler, 0)
-    self.safety.init_tests()
-
   def _button_msg(self, cancel=False, resume=False, accel=False, decel=False):
     values = {"ACC_Cancel": cancel, "ACC_Resume": resume, "ACC_Accel": accel, "ACC_Decel": decel}
     return self.packer.make_can_msg_safety("CRUISE_BUTTONS", self.DAS_BUS, values)
@@ -96,9 +89,11 @@ class TestChryslerSafety(common.CarSafetyTest, common.MotorTorqueSteeringSafetyT
   def _lkas_button_msg(self, enabled):
     values = {"TOGGLE_LKAS": enabled}
     return self.packer.make_can_msg_safety("TRACTION_BUTTON", 0, values)
-
-
 class TestChryslerRamDTSafety(TestChryslerSafety):
+  DBC = "chrysler_ram_dt_generated"
+
+  SAFETY_PARAM = ChryslerSafetyFlags.RAM_DT
+
   TX_MSGS = [[0xB1, 2], [0xA6, 0], [0xFA, 0]]
   RELAY_MALFUNCTION_ADDRS = {0: (0xA6, 0xFA)}
   FWD_BLACKLISTED_ADDRS = {2: [0xA6, 0xFA]}
@@ -111,12 +106,6 @@ class TestChryslerRamDTSafety(TestChryslerSafety):
 
   LKAS_ACTIVE_VALUE = 2
 
-  def setUp(self):
-    self.packer = CANPackerSafety("chrysler_ram_dt_generated")
-    self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(CarParams.SafetyModel.chrysler, ChryslerSafetyFlags.RAM_DT)
-    self.safety.init_tests()
-
   def _speed_msg(self, speed):
     values = {"Vehicle_Speed": speed}
     return self.packer.make_can_msg_safety("ESP_8", 0, values)
@@ -124,9 +113,11 @@ class TestChryslerRamDTSafety(TestChryslerSafety):
   def _lkas_button_msg(self, enabled):
     values = {"LKAS_Button": enabled}
     return self.packer.make_can_msg_safety("Center_Stack_2", 0, values)
-
-
 class TestChryslerRamHDSafety(TestChryslerSafety):
+  DBC = "chrysler_ram_hd_generated"
+
+  SAFETY_PARAM = ChryslerSafetyFlags.RAM_HD
+
   TX_MSGS = [[0x275, 0], [0x276, 0], [0x23A, 2]]
   RELAY_MALFUNCTION_ADDRS = {0: (0x276, 0x275)}
   FWD_BLACKLISTED_ADDRS = {2: [0x275, 0x276]}
@@ -140,12 +131,6 @@ class TestChryslerRamHDSafety(TestChryslerSafety):
 
   LKAS_ACTIVE_VALUE = 2
 
-  def setUp(self):
-    self.packer = CANPackerSafety("chrysler_ram_hd_generated")
-    self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(CarParams.SafetyModel.chrysler, ChryslerSafetyFlags.RAM_HD)
-    self.safety.init_tests()
-
   def _speed_msg(self, speed):
     values = {"Vehicle_Speed": speed}
     return self.packer.make_can_msg_safety("ESP_8", 0, values)
@@ -153,7 +138,5 @@ class TestChryslerRamHDSafety(TestChryslerSafety):
   def _lkas_button_msg(self, enabled):
     values = {"LKAS_Button": enabled}
     return self.packer.make_can_msg_safety("Center_Stack_2", 0, values)
-
-
 if __name__ == "__main__":
   unittest.main()
diff --git a/opendbc_repo/opendbc/safety/tests/test_chrysler_cusw.py b/opendbc_repo/opendbc/safety/tests/test_chrysler_cusw.py
index 3fe78c625..20bc35c8b 100644
--- a/opendbc_repo/opendbc/safety/tests/test_chrysler_cusw.py
+++ b/opendbc_repo/opendbc/safety/tests/test_chrysler_cusw.py
@@ -1,12 +1,11 @@
 #!/usr/bin/env python3
 import unittest
 from opendbc.car.structs import CarParams
-from opendbc.safety.tests.libsafety import libsafety_py
 import opendbc.safety.tests.common as common
-from opendbc.safety.tests.common import CANPackerSafety
-
-
 class TestChryslerCuswSafety(common.CarSafetyTest, common.MotorTorqueSteeringSafetyTest):
+  DBC = "chrysler_cusw"
+  SAFETY_MODEL = CarParams.SafetyModel.chryslerCusw
+
   TX_MSGS = [[0x1F6, 0], [0x2FA, 0], [0x5DC, 0]]
   STANDSTILL_THRESHOLD = 0
   RELAY_MALFUNCTION_ADDRS = {0: (0x1F6, 0x5DC)}
@@ -18,12 +17,6 @@ class TestChryslerCuswSafety(common.CarSafetyTest, common.MotorTorqueSteeringSaf
   MAX_RT_DELTA = 150
   MAX_TORQUE_ERROR = 80
 
-  def setUp(self):
-    self.packer = CANPackerSafety("chrysler_cusw")
-    self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(CarParams.SafetyModel.chryslerCusw, 0)
-    self.safety.init_tests()
-
   def _button_msg(self, cancel=False, resume=False):
     values = {"ACC_Cancel": cancel, "ACC_Resume": resume}
     return self.packer.make_can_msg_safety("CRUISE_BUTTONS", 0, values)
@@ -56,6 +49,8 @@ class TestChryslerCuswSafety(common.CarSafetyTest, common.MotorTorqueSteeringSaf
     for controls_allowed in (True, False):
       self.safety.set_controls_allowed(controls_allowed)
 
+      self.assertFalse(self._tx(self._button_msg()))
+
       # resume only while controls allowed
       self.assertEqual(controls_allowed, self._tx(self._button_msg(resume=True)))
 
@@ -69,7 +64,5 @@ class TestChryslerCuswSafety(common.CarSafetyTest, common.MotorTorqueSteeringSaf
       self.assertTrue(self._rx(self._torque_meas_msg(0)), f"{count=}")
       self.assertTrue(self._rx(self._user_gas_msg(0)), f"{count=}")
       self.assertTrue(self._rx(self._pcm_status_msg(False)), f"{count=}")
-
-
 if __name__ == "__main__":
   unittest.main()
diff --git a/opendbc_repo/opendbc/safety/tests/test_defaults.py b/opendbc_repo/opendbc/safety/tests/test_defaults.py
index 4e5961544..ec6bb97f4 100755
--- a/opendbc_repo/opendbc/safety/tests/test_defaults.py
+++ b/opendbc_repo/opendbc/safety/tests/test_defaults.py
@@ -3,9 +3,6 @@ import unittest
 
 import opendbc.safety.tests.common as common
 from opendbc.car.structs import CarParams
-from opendbc.safety.tests.libsafety import libsafety_py
-
-
 class TestDefaultRxHookBase(common.SafetyTest):
   FWD_BUS_LOOKUP = {}
 
@@ -14,36 +11,20 @@ class TestDefaultRxHookBase(common.SafetyTest):
     for bus in range(4):
       for addr in self.SCANNED_ADDRS:
         self.assertTrue(self._rx(common.make_msg(bus, addr, 8)), f"failed RX {addr=}")
-
-
 class TestNoOutput(TestDefaultRxHookBase):
+  SAFETY_MODEL = CarParams.SafetyModel.noOutput
+
   TX_MSGS = []
-
-  def setUp(self):
-    self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(CarParams.SafetyModel.noOutput, 0)
-    self.safety.init_tests()
-
-
 class TestSilent(TestNoOutput):
   """SILENT uses same hooks as NOOUTPUT"""
-
-  def setUp(self):
-    self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(CarParams.SafetyModel.silent, 0)
-    self.safety.init_tests()
-
-
+  SAFETY_MODEL = CarParams.SafetyModel.silent
 class TestAllOutput(TestDefaultRxHookBase):
+  SAFETY_MODEL = CarParams.SafetyModel.allOutput
+
   # Allow all messages
   TX_MSGS = [[addr, bus] for addr in common.SafetyTest.SCANNED_ADDRS
              for bus in range(4)]
 
-  def setUp(self):
-    self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(CarParams.SafetyModel.allOutput, 0)
-    self.safety.init_tests()
-
   def test_spam_can_buses(self):
     # asserts tx allowed for all scanned addrs
     for bus in range(4):
@@ -58,17 +39,18 @@ class TestAllOutput(TestDefaultRxHookBase):
   def test_tx_hook_on_wrong_safety_mode(self):
     # No point, since we allow all messages
     pass
-
-
 class TestAllOutputPassthrough(TestAllOutput):
+  SAFETY_PARAM = 1
+
   FWD_BLACKLISTED_ADDRS = {}
   FWD_BUS_LOOKUP = {0: 2, 2: 0}
+class TestSafetyFramework(common.SafetyTestBase):
+  SAFETY_MODEL = CarParams.SafetyModel.noOutput
 
-  def setUp(self):
-    self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(CarParams.SafetyModel.allOutput, 1)
-    self.safety.init_tests()
-
-
+  def test_unsupported_safety_mode(self):
+    self.safety.set_controls_allowed(True)
+    self.assertEqual(self.safety.set_safety_hooks(0xFFFF, 0), -1)
+    self.assertFalse(self.safety.get_controls_allowed())
+    self.assertFalse(self.safety.safety_tx_hook(common.make_msg(0, 0x123)))
 if __name__ == "__main__":
   unittest.main()
diff --git a/opendbc_repo/opendbc/safety/tests/test_elm327.py b/opendbc_repo/opendbc/safety/tests/test_elm327.py
index eb703e16d..0fe2ee49f 100755
--- a/opendbc_repo/opendbc/safety/tests/test_elm327.py
+++ b/opendbc_repo/opendbc/safety/tests/test_elm327.py
@@ -4,24 +4,18 @@ import unittest
 import opendbc.safety.tests.common as common
 from opendbc.car.structs import CarParams
 from opendbc.safety import DLC_TO_LEN
-from opendbc.safety.tests.libsafety import libsafety_py
 from opendbc.safety.tests.test_defaults import TestDefaultRxHookBase
 
 GM_CAMERA_DIAG_ADDR = 0x24B
-
-
 class TestElm327(TestDefaultRxHookBase):
+  SAFETY_MODEL = CarParams.SafetyModel.elm327
+
   TX_MSGS = [[addr, bus] for addr in [GM_CAMERA_DIAG_ADDR, *range(0x600, 0x800),
                                       *range(0x18DA00F1, 0x18DB00F1, 0x100),  # 29-bit UDS physical addressing
                                       *[0x18DB33F1],  # 29-bit UDS functional address
                                       ] for bus in range(4)]
   FWD_BUS_LOOKUP = {}
 
-  def setUp(self):
-    self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(CarParams.SafetyModel.elm327, 0)
-    self.safety.init_tests()
-
   def test_tx_hook(self):
     # ensure we can transmit arbitrary data on allowed addresses
     for bus in range(4):
@@ -46,7 +40,5 @@ class TestElm327(TestDefaultRxHookBase):
   def test_tx_hook_on_wrong_safety_mode(self):
     # No point, since we allow many diagnostic addresses
     pass
-
-
 if __name__ == "__main__":
   unittest.main()
diff --git a/opendbc_repo/opendbc/safety/tests/test_ford.py b/opendbc_repo/opendbc/safety/tests/test_ford.py
index 07e8f8e6b..d62979b85 100755
--- a/opendbc_repo/opendbc/safety/tests/test_ford.py
+++ b/opendbc_repo/opendbc/safety/tests/test_ford.py
@@ -7,8 +7,6 @@ import opendbc.safety.tests.common as common
 from opendbc.car.lateral import MAX_LATERAL_ACCEL, MAX_LATERAL_JERK
 from opendbc.car.ford.values import FordSafetyFlags
 from opendbc.car.structs import CarParams
-from opendbc.safety.tests.libsafety import libsafety_py
-from opendbc.safety.tests.common import CANPackerSafety
 
 MSG_BrakeSysFeatures = 0x415       # RX from ABS, for vehicle speed
 MSG_EngVehicleSpThrottle2 = 0x202  # RX from PCM, for second vehicle speed
@@ -20,50 +18,19 @@ MSG_Lane_Assist_Data1 = 0x3CA      # TX by OP, Lane Keep Assist
 MSG_LateralMotionControl = 0x3D3   # TX by OP, Lateral Control message
 MSG_LateralMotionControl2 = 0x3D6  # TX by OP, alternate Lateral Control message
 MSG_IPMA_Data = 0x3D8              # TX by OP, IPMA and LKAS user interface
-
-
-def checksum(msg):
-  addr, dat, bus = msg
-  ret = bytearray(dat)
-
-  if addr == MSG_Yaw_Data_FD1:
-    chksum = dat[0] + dat[1]  # VehRol_W_Actl
-    chksum += dat[2] + dat[3]  # VehYaw_W_Actl
-    chksum += dat[5]  # VehRollYaw_No_Cnt
-    chksum += dat[6] >> 6  # VehRolWActl_D_Qf
-    chksum += (dat[6] >> 4) & 0x3  # VehYawWActl_D_Qf
-    chksum = 0xff - (chksum & 0xff)
-    ret[4] = chksum
-
-  elif addr == MSG_BrakeSysFeatures:
-    chksum = dat[0] + dat[1]  # Veh_V_ActlBrk
-    chksum += (dat[2] >> 2) & 0xf  # VehVActlBrk_No_Cnt
-    chksum += dat[2] >> 6  # VehVActlBrk_D_Qf
-    chksum = 0xff - (chksum & 0xff)
-    ret[3] = chksum
-
-  elif addr == MSG_EngVehicleSpThrottle2:
-    chksum = (dat[2] >> 3) & 0xf  # VehVActlEng_No_Cnt
-    chksum += (dat[4] >> 5) & 0x3  # VehVActlEng_D_Qf
-    chksum += dat[6] + dat[7]  # Veh_V_ActlEng
-    chksum = 0xff - (chksum & 0xff)
-    ret[1] = chksum
-
-  return addr, ret, bus
-
-
 class Buttons:
   CANCEL = 0
   RESUME = 1
   TJA_TOGGLE = 2
-
-
 # Ford safety has four different configurations tested here:
 #  * CAN with openpilot longitudinal
 #  * CAN FD with stock longitudinal
 #  * CAN FD with openpilot longitudinal
 
 class TestFordSafetyBase(common.CarSafetyTest):
+  DBC = "ford_lincoln_base_pt"
+  SAFETY_MODEL = CarParams.SafetyModel.ford
+
   STANDSTILL_THRESHOLD = 1
   RELAY_MALFUNCTION_ADDRS = {0: (MSG_ACCDATA_3, MSG_Lane_Assist_Data1, MSG_LateralMotionControl,
                                  MSG_LateralMotionControl2, MSG_IPMA_Data)}
@@ -80,13 +47,7 @@ class TestFordSafetyBase(common.CarSafetyTest):
   CURVATURE_ERROR_MIN_SPEED = 10.0    # m/s
   LATERAL_FREQUENCY = 20              # Hz, for per-frame jerk limit
 
-  cnt_speed = 0
-  cnt_speed_2 = 0
-  cnt_yaw_rate = 0
-  cnt_lat_ctl = 0
-
-  packer: CANPackerSafety
-  safety: libsafety_py.LibSafety
+  lat_ctl_frame = 0
 
   def _get_max_curvature_can(self, speed):
     fudged_speed = max(speed - 1.0, 1.0)
@@ -130,16 +91,14 @@ class TestFordSafetyBase(common.CarSafetyTest):
 
   # ABS vehicle speed
   def _speed_msg(self, speed: float, quality_flag=True):
-    values = {"Veh_V_ActlBrk": speed * 3.6, "VehVActlBrk_D_Qf": 3 if quality_flag else 0, "VehVActlBrk_No_Cnt": self.cnt_speed % 16}
-    self.__class__.cnt_speed += 1
-    return self.packer.make_can_msg_safety("BrakeSysFeatures", 0, values, fix_checksum=checksum)
+    values = {"Veh_V_ActlBrk": speed * 3.6, "VehVActlBrk_D_Qf": 3 if quality_flag else 0}
+    return self.packer.make_can_msg_safety("BrakeSysFeatures", 0, values)
 
   # PCM vehicle speed
   def _speed_msg_2(self, speed: float, quality_flag=True):
     # Ford relies on speed for driver curvature limiting, so it checks two sources
-    values = {"Veh_V_ActlEng": speed * 3.6, "VehVActlEng_D_Qf": 3 if quality_flag else 0, "VehVActlEng_No_Cnt": self.cnt_speed_2 % 16}
-    self.__class__.cnt_speed_2 += 1
-    return self.packer.make_can_msg_safety("EngVehicleSpThrottle2", 0, values, fix_checksum=checksum)
+    values = {"Veh_V_ActlEng": speed * 3.6, "VehVActlEng_D_Qf": 3 if quality_flag else 0}
+    return self.packer.make_can_msg_safety("EngVehicleSpThrottle2", 0, values)
 
   # Standstill state
   def _vehicle_moving_msg(self, speed: float):
@@ -148,10 +107,8 @@ class TestFordSafetyBase(common.CarSafetyTest):
 
   # Current curvature
   def _yaw_rate_msg(self, curvature: float, speed: float, quality_flag=True):
-    values = {"VehYaw_W_Actl": curvature * speed, "VehYawWActl_D_Qf": 3 if quality_flag else 0,
-              "VehRollYaw_No_Cnt": self.cnt_yaw_rate % 256}
-    self.__class__.cnt_yaw_rate += 1
-    return self.packer.make_can_msg_safety("Yaw_Data_FD1", 0, values, fix_checksum=checksum)
+    values = {"VehYaw_W_Actl": curvature * speed, "VehYawWActl_D_Qf": 3 if quality_flag else 0}
+    return self.packer.make_can_msg_safety("Yaw_Data_FD1", 0, values)
 
   # Drive throttle input
   def _user_gas_msg(self, gas: float):
@@ -169,6 +126,11 @@ class TestFordSafetyBase(common.CarSafetyTest):
     }
     return self.packer.make_can_msg_safety("EngBrakeData", 0, values)
 
+  def test_enable_control_allowed_from_queue_assist(self):
+    msg = self.packer.make_can_msg_safety("EngBrakeData", 0, {"BpedDrvAppl_D_Actl": 1, "CcStat_D_Actl": 4})
+    self.assertTrue(self._rx(msg))
+    self.assertTrue(self.safety.get_controls_allowed())
+
   # LKAS command
   def _lkas_command_msg(self, action: int):
     values = {
@@ -180,8 +142,8 @@ class TestFordSafetyBase(common.CarSafetyTest):
   def _lat_ctl_msg(self, enabled: bool, path_offset: float, path_angle: float, curvature: float, curvature_rate: float,
                    increment_timer: bool = True):
     if increment_timer:
-      self.safety.set_timer(self.cnt_lat_ctl * int(1e6 / self.LATERAL_FREQUENCY))
-      self.__class__.cnt_lat_ctl += 1
+      self.safety.set_timer(self.lat_ctl_frame * int(1e6 / self.LATERAL_FREQUENCY))
+      self.__class__.lat_ctl_frame += 1
     if self.STEER_MESSAGE == MSG_LateralMotionControl:
       values = {
         "LatCtl_D_Rq": 1 if enabled else 0,
@@ -467,9 +429,9 @@ class TestFordSafetyBase(common.CarSafetyTest):
             self.safety.set_mads_params(enable_mads, False, False)
             self._rx(self._pcm_status_msg(main_button_msg_valid))
             self.assertEqual(enable_mads and main_button_msg_valid, self.safety.get_controls_allowed_lateral())
-
-
 class TestFordCANFDStockSafety(TestFordSafetyBase):
+  SAFETY_PARAM = FordSafetyFlags.CANFD
+
   STEER_MESSAGE = MSG_LateralMotionControl2
 
   TX_MSGS = [
@@ -481,14 +443,6 @@ class TestFordCANFDStockSafety(TestFordSafetyBase):
 
   FWD_BLACKLISTED_ADDRS = {2: [MSG_ACCDATA_3, MSG_Lane_Assist_Data1, MSG_LateralMotionControl2,
                                MSG_IPMA_Data]}
-
-  def setUp(self):
-    self.packer = CANPackerSafety("ford_lincoln_base_pt")
-    self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(CarParams.SafetyModel.ford, FordSafetyFlags.CANFD)
-    self.safety.init_tests()
-
-
 class TestFordLongitudinalSafetyBase(TestFordSafetyBase):
   MAX_ACCEL = 2.0  # accel is used for brakes, but openpilot can set positive values
   MIN_ACCEL = -3.5
@@ -538,9 +492,9 @@ class TestFordLongitudinalSafetyBase(TestFordSafetyBase):
           should_tx = (controls_allowed and self.MIN_ACCEL <= brake <= self.MAX_ACCEL) or brake == self.INACTIVE_ACCEL
           should_tx = should_tx and (controls_allowed or not brake_actuation)
           self.assertEqual(should_tx, self._tx(self._acc_command_msg(self.INACTIVE_GAS, brake, brake_actuation)))
-
-
 class TestFordLongitudinalSafety(TestFordLongitudinalSafetyBase):
+  # Make sure we enforce long safety even without long flag for CAN
+  SAFETY_PARAM = 0
   STEER_MESSAGE = MSG_LateralMotionControl
 
   TX_MSGS = [
@@ -552,16 +506,9 @@ class TestFordLongitudinalSafety(TestFordLongitudinalSafetyBase):
 
   FWD_BLACKLISTED_ADDRS = {2: [MSG_ACCDATA, MSG_ACCDATA_3, MSG_Lane_Assist_Data1, MSG_LateralMotionControl,
                                MSG_IPMA_Data]}
-
-  def setUp(self):
-    self.packer = CANPackerSafety("ford_lincoln_base_pt")
-    self.safety = libsafety_py.libsafety
-    # Make sure we enforce long safety even without long flag for CAN
-    self.safety.set_safety_hooks(CarParams.SafetyModel.ford, 0)
-    self.safety.init_tests()
-
-
 class TestFordCANFDLongitudinalSafety(TestFordLongitudinalSafetyBase):
+  SAFETY_PARAM = FordSafetyFlags.LONG_CONTROL | FordSafetyFlags.CANFD
+
   STEER_MESSAGE = MSG_LateralMotionControl2
 
   TX_MSGS = [
@@ -573,13 +520,5 @@ class TestFordCANFDLongitudinalSafety(TestFordLongitudinalSafetyBase):
 
   FWD_BLACKLISTED_ADDRS = {2: [MSG_ACCDATA, MSG_ACCDATA_3, MSG_Lane_Assist_Data1, MSG_LateralMotionControl2,
                                MSG_IPMA_Data]}
-
-  def setUp(self):
-    self.packer = CANPackerSafety("ford_lincoln_base_pt")
-    self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(CarParams.SafetyModel.ford, FordSafetyFlags.LONG_CONTROL | FordSafetyFlags.CANFD)
-    self.safety.init_tests()
-
-
 if __name__ == "__main__":
   unittest.main()
diff --git a/opendbc_repo/opendbc/safety/tests/test_gm.py b/opendbc_repo/opendbc/safety/tests/test_gm.py
index 2013fd843..bd90673eb 100755
--- a/opendbc_repo/opendbc/safety/tests/test_gm.py
+++ b/opendbc_repo/opendbc/safety/tests/test_gm.py
@@ -3,20 +3,15 @@ import unittest
 
 from opendbc.car.gm.values import GMSafetyFlags
 from opendbc.car.structs import CarParams
-from opendbc.safety.tests.libsafety import libsafety_py
 import opendbc.safety.tests.common as common
 from opendbc.safety.tests.common import CANPackerSafety
 
 from opendbc.sunnypilot.car.gm.values_ext import GMSafetyFlagsSP
-
-
 class Buttons:
   UNPRESS = 1
   RES_ACCEL = 2
   DECEL_SET = 3
   CANCEL = 6
-
-
 class GmLongitudinalBase(common.CarSafetyTest, common.LongitudinalGasBrakeSafetyTest):
 
   RELAY_MALFUNCTION_ADDRS = {0: (0x180, 0x2CB), 2: (0x184,)}  # ASCMLKASteeringCmd, ASCMGasRegenCmd, PSCMStatus
@@ -71,9 +66,10 @@ class GmLongitudinalBase(common.CarSafetyTest, common.LongitudinalGasBrakeSafety
     self.safety.set_controls_allowed(1)
     self._rx(self._button_msg(Buttons.CANCEL))
     self.assertFalse(self.safety.get_controls_allowed())
-
-
 class TestGmSafetyBase(common.CarSafetyTest, common.DriverTorqueSteeringSafetyTest):
+  DBC = "gm_global_a_powertrain_generated"
+  SAFETY_MODEL = CarParams.SafetyModel.gm
+
   STANDSTILL_THRESHOLD = 10 * 0.0311
   # Ensures ASCM is off on ASCM cars, and relay is not malfunctioning for camera-ACC cars
   RELAY_MALFUNCTION_ADDRS = {0: (0x180,), 2: (0x184,)}  # ASCMLKASteeringCmd, PSCMStatus
@@ -92,11 +88,8 @@ class TestGmSafetyBase(common.CarSafetyTest, common.DriverTorqueSteeringSafetyTe
   EXTRA_SAFETY_PARAM = 0
 
   def setUp(self):
-    self.packer = CANPackerSafety("gm_global_a_powertrain_generated")
+    super().setUp()
     self.packer_chassis = CANPackerSafety("gm_global_a_chassis")
-    self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(CarParams.SafetyModel.gm, 0)
-    self.safety.init_tests()
 
   def _pcm_status_msg(self, enable):
     if self.PCM_CRUISE:
@@ -133,8 +126,6 @@ class TestGmSafetyBase(common.CarSafetyTest, common.DriverTorqueSteeringSafetyTe
   def _button_msg(self, buttons):
     values = {"ACCButtons": buttons}
     return self.packer.make_can_msg_safety("ASCMSteeringButton", self.BUTTONS_BUS, values)
-
-
 class TestGmEVSafetyBase(TestGmSafetyBase):
   EXTRA_SAFETY_PARAM = GMSafetyFlags.EV
 
@@ -142,8 +133,6 @@ class TestGmEVSafetyBase(TestGmSafetyBase):
   def _user_regen_msg(self, regen):
     values = {"RegenPaddle": 2 if regen else 0}
     return self.packer.make_can_msg_safety("EBCMRegenPaddle", 0, values)
-
-
 class TestGmAscmSafety(GmLongitudinalBase, TestGmSafetyBase):
   TX_MSGS = [[0x180, 0], [0x409, 0], [0x40A, 0], [0x2CB, 0], [0x370, 0],  # pt bus
              [0xA1, 1], [0x306, 1], [0x308, 1], [0x310, 1],  # obs bus
@@ -157,36 +146,24 @@ class TestGmAscmSafety(GmLongitudinalBase, TestGmSafetyBase):
   MIN_GAS = -650  # maximum regen
   INACTIVE_GAS = -650
 
-  def setUp(self):
-    self.packer = CANPackerSafety("gm_global_a_powertrain_generated")
-    self.packer_chassis = CANPackerSafety("gm_global_a_chassis")
-    self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(CarParams.SafetyModel.gm, self.EXTRA_SAFETY_PARAM)
-    self.safety.init_tests()
-
-
+  @property
+  def SAFETY_PARAM(self):
+    return self.EXTRA_SAFETY_PARAM
 class TestGmAscmEVSafety(TestGmAscmSafety, TestGmEVSafetyBase):
   pass
-
-
 class TestGmCameraSafetyBase(TestGmSafetyBase):
   def _user_brake_msg(self, brake):
     values = {"BrakePressed": brake}
     return self.packer.make_can_msg_safety("ECMEngineStatus", 0, values)
-
-
 class TestGmCameraSafety(TestGmCameraSafetyBase):
   TX_MSGS = [[0x180, 0],  # pt bus
              [0x184, 2]]  # camera bus
   FWD_BLACKLISTED_ADDRS = {2: [0x180], 0: [0x184]}  # block LKAS message and PSCMStatus
   BUTTONS_BUS = 2  # tx only
 
-  def setUp(self):
-    self.packer = CANPackerSafety("gm_global_a_powertrain_generated")
-    self.packer_chassis = CANPackerSafety("gm_global_a_chassis")
-    self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(CarParams.SafetyModel.gm, GMSafetyFlags.HW_CAM | self.EXTRA_SAFETY_PARAM)
-    self.safety.init_tests()
+  @property
+  def SAFETY_PARAM(self):
+    return GMSafetyFlags.HW_CAM | self.EXTRA_SAFETY_PARAM
 
   def test_buttons(self):
     # Only CANCEL button is allowed while cruise is enabled
@@ -201,12 +178,8 @@ class TestGmCameraSafety(TestGmCameraSafetyBase):
     for enabled in (True, False):
       self._rx(self._pcm_status_msg(enabled))
       self.assertEqual(enabled, self._tx(self._button_msg(Buttons.CANCEL)))
-
-
 class TestGmCameraEVSafety(TestGmCameraSafety, TestGmEVSafetyBase):
   pass
-
-
 class TestGmCameraLongitudinalSafety(GmLongitudinalBase, TestGmCameraSafetyBase):
   TX_MSGS = [[0x180, 0], [0x315, 0], [0x2CB, 0], [0x370, 0],  # pt bus
              [0x184, 2]]  # camera bus
@@ -218,45 +191,31 @@ class TestGmCameraLongitudinalSafety(GmLongitudinalBase, TestGmCameraSafetyBase)
   MIN_GAS = -540  # maximum regen
   INACTIVE_GAS = -500
 
-  def setUp(self):
-    self.packer = CANPackerSafety("gm_global_a_powertrain_generated")
-    self.packer_chassis = CANPackerSafety("gm_global_a_chassis")
-    self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(CarParams.SafetyModel.gm, GMSafetyFlags.HW_CAM | GMSafetyFlags.HW_CAM_LONG | self.EXTRA_SAFETY_PARAM)
-    self.safety.init_tests()
-
-
+  @property
+  def SAFETY_PARAM(self):
+    return GMSafetyFlags.HW_CAM | GMSafetyFlags.HW_CAM_LONG | self.EXTRA_SAFETY_PARAM
 class TestGmCameraLongitudinalEVSafety(TestGmCameraLongitudinalSafety, TestGmEVSafetyBase):
   pass
-
-
 class TestGmCameraNonACCSafety(TestGmCameraSafety):
+  @property
+  def SAFETY_PARAM(self):
+    return GMSafetyFlags.HW_CAM | self.EXTRA_SAFETY_PARAM
 
   def setUp(self):
-    self.packer = CANPackerSafety("gm_global_a_powertrain_generated")
-    self.packer_chassis = CANPackerSafety("gm_global_a_chassis")
-    self.safety = libsafety_py.libsafety
+    super().setUp()
     self.safety.set_current_safety_param_sp(GMSafetyFlagsSP.NON_ACC)
-    self.safety.set_safety_hooks(CarParams.SafetyModel.gm, GMSafetyFlags.HW_CAM | self.EXTRA_SAFETY_PARAM)
-    self.safety.init_tests()
 
   def _pcm_status_msg(self, enable):
     values = {"CruiseActive": enable}
     return self.packer.make_can_msg_safety("ECMCruiseControl", 0, values)
-
-
 class TestGmCameraEVNonACCSafety(TestGmCameraNonACCSafety, TestGmEVSafetyBase):
   pass
+class TestGmIgnition(common.SafetyTestBase):
+  DBC = "gm_global_a_powertrain_generated"
+  SAFETY_MODEL = None
 
-
-class TestGmIgnition(unittest.TestCase):
   TX_MSGS: list = []
 
-  def setUp(self):
-    self.safety = libsafety_py.libsafety
-    self.safety.init_tests()
-    self.packer = CANPackerSafety("gm_global_a_powertrain_generated")
-
   def _msg(self, mode):
     return self.packer.make_can_msg_safety("BCMGeneralPlatformStatus", 0, {"SystemPowerMode": mode})
 
@@ -270,7 +229,5 @@ class TestGmIgnition(unittest.TestCase):
     self.assertTrue(self.safety.get_ignition_can())
     self.safety.ignition_can_hook(self._msg(0))
     self.assertFalse(self.safety.get_ignition_can())
-
-
 if __name__ == "__main__":
   unittest.main()
diff --git a/opendbc_repo/opendbc/safety/tests/test_honda.py b/opendbc_repo/opendbc/safety/tests/test_honda.py
index 0e564286c..20337cbad 100755
--- a/opendbc_repo/opendbc/safety/tests/test_honda.py
+++ b/opendbc_repo/opendbc/safety/tests/test_honda.py
@@ -6,14 +6,12 @@ from opendbc.car.honda.values import HondaSafetyFlags
 from opendbc.safety.tests.libsafety import libsafety_py
 import opendbc.safety.tests.common as common
 from opendbc.car.structs import CarParams
-from opendbc.safety.tests.common import CANPackerSafety, MAX_WRONG_COUNTERS
+from opendbc.safety.tests.common import MAX_WRONG_COUNTERS
 from opendbc.safety.tests.gas_interceptor_common import GasInterceptorSafetyTest
 
 from opendbc.sunnypilot.car.honda.values_ext import HondaSafetyFlagsSP
 
 HONDA_N_COMMON_TX_MSGS = [[0xE4, 0], [0x194, 0], [0x1FA, 0], [0x30C, 0], [0x33D, 0]]
-
-
 class Btn:
   NONE = 0
   MAIN = 1
@@ -31,8 +29,6 @@ class Btn:
 #    * Bosch with Longitudinal Support
 #  * Bosch Radarless
 #    * Bosch Radarless with Longitudinal Support
-
-
 class HondaButtonEnableBase(common.CarSafetyTest):
 
   # override these inherited tests since we're using button enable
@@ -113,11 +109,11 @@ class HondaButtonEnableBase(common.CarSafetyTest):
         self.assertFalse(self.safety.get_controls_allowed())
 
     # counter
-    # reset wrong_counters to zero by sending valid messages
+    # Skip every other counter to trigger counter faults.
     for i in range(MAX_WRONG_COUNTERS + 1):
-      self.__class__.cnt_speed += 1
-      self.__class__.cnt_button += 1
-      self.__class__.cnt_powertrain_data += 1
+      self._speed_msg(0)
+      self._button_msg(Btn.SET)
+      self._user_gas_msg(0)
       if i < MAX_WRONG_COUNTERS:
         self.safety.set_controls_allowed(1)
         self._rx(self._button_msg(Btn.SET))
@@ -137,8 +133,6 @@ class HondaButtonEnableBase(common.CarSafetyTest):
       self._rx(self._user_gas_msg(0))
     self._rx(self._button_msg(Btn.SET, main_on=True))
     self.assertTrue(self.safety.get_controls_allowed())
-
-
 class HondaPcmEnableBase(common.CarSafetyTest):
 
   def test_buttons(self):
@@ -164,8 +158,6 @@ class HondaPcmEnableBase(common.CarSafetyTest):
             self.assertFalse(self.safety.get_controls_allowed())
           else:
             self.assertEqual(controls_allowed, self.safety.get_controls_allowed())
-
-
 class HondaBase(common.CarSafetyTest):
   MAX_BRAKE = 255
   PT_BUS: int | None = None  # must be set when inherited
@@ -194,28 +186,23 @@ class HondaBase(common.CarSafetyTest):
       "ACC_STATUS": cruise_on,
       "BRAKE_PRESSED": brake_pressed,
       "PEDAL_GAS": gas_pressed,
-      "COUNTER": self.cnt_powertrain_data % 4
     }
-    self.__class__.cnt_powertrain_data += 1
     return self.packer.make_can_msg_safety("POWERTRAIN_DATA", self.PT_BUS, values)
 
   def _pcm_status_msg(self, enable):
     return self._powertrain_data_msg(cruise_on=enable)
 
   def _speed_msg(self, speed):
-    values = {"XMISSION_SPEED": speed, "COUNTER": self.cnt_speed % 4}
-    self.__class__.cnt_speed += 1
+    values = {"XMISSION_SPEED": speed}
     return self.packer.make_can_msg_safety("ENGINE_DATA", self.PT_BUS, values)
 
   def _acc_state_msg(self, main_on):
-    values = {"MAIN_ON": main_on, "COUNTER": self.cnt_acc_state % 4}
-    self.__class__.cnt_acc_state += 1
+    values = {"MAIN_ON": main_on}
     return self.packer.make_can_msg_safety("SCM_FEEDBACK", self.PT_BUS, values)
 
   def _button_msg(self, buttons, main_on=False, bus=None):
     bus = self.PT_BUS if bus is None else bus
-    values = {"CRUISE_BUTTONS": buttons, "COUNTER": self.cnt_button % 4}
-    self.__class__.cnt_button += 1
+    values = {"CRUISE_BUTTONS": buttons}
     return self.packer.make_can_msg_safety("SCM_BUTTONS", bus, values)
 
   def _user_brake_msg(self, brake):
@@ -279,12 +266,11 @@ class HondaBase(common.CarSafetyTest):
         self.assertEqual(1, self.safety.get_mads_button_press())
         self._rx(self._lkas_button_msg(False, 0))
         self.assertEqual(0, self.safety.get_mads_button_press())
-
-
 # ********************* Honda Nidec **********************
-
-
 class TestHondaNidecSafetyBase(HondaBase):
+  DBC = "honda_civic_touring_2016_can_generated"
+  SAFETY_MODEL = CarParams.SafetyModel.hondaNidec
+
   TX_MSGS = HONDA_N_COMMON_TX_MSGS
   FWD_BLACKLISTED_ADDRS = {2: [0xE4, 0x194, 0x33D, 0x30C]}
   RELAY_MALFUNCTION_ADDRS = {0: (0xE4, 0x194, 0x33D, 0x30C)}
@@ -297,12 +283,6 @@ class TestHondaNidecSafetyBase(HondaBase):
 
   BRAKE_SIG = "COMPUTER_BRAKE"
 
-  def setUp(self):
-    self.packer = CANPackerSafety("honda_civic_touring_2016_can_generated")
-    self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(CarParams.SafetyModel.hondaNidec, 0)
-    self.safety.init_tests()
-
   def _send_brake_msg(self, brake, aeb_req=0, bus=0):
     values = {self.BRAKE_SIG: brake, "AEB_REQ_1": aeb_req}
     return self.packer.make_can_msg_safety("BRAKE_COMMAND", bus, values)
@@ -381,8 +361,6 @@ class TestHondaNidecPcmSafety(HondaPcmEnableBase, TestHondaNidecSafetyBase):
   # Nidec doesn't disengage on falling edge of cruise. See comment in safety_honda.h
   def test_disable_control_allowed_from_cruise(self):
     pass
-
-
 class TestHondaNidecGasInterceptorSafety(GasInterceptorSafetyTest, HondaButtonEnableBase, TestHondaNidecSafetyBase):
   """
     Covers the Honda Nidec safety mode with a gas interceptor, switches to a button-enable car
@@ -392,49 +370,37 @@ class TestHondaNidecGasInterceptorSafety(GasInterceptorSafetyTest, HondaButtonEn
   INTERCEPTOR_THRESHOLD = 492
 
   def setUp(self):
-    self.packer = CANPackerSafety("honda_civic_touring_2016_can_generated")
-    self.safety = libsafety_py.libsafety
+    super().setUp()
     self.safety.set_current_safety_param_sp(HondaSafetyFlagsSP.GAS_INTERCEPTOR)
-    self.safety.set_safety_hooks(CarParams.SafetyModel.hondaNidec, 0)
-    self.safety.init_tests()
-
-
 class TestHondaNidecPcmAltSafety(TestHondaNidecPcmSafety):
   """
     Covers the Honda Nidec safety mode with alt SCM messages
   """
-  def setUp(self):
-    self.packer = CANPackerSafety("acura_ilx_2016_can_generated")
-    self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(CarParams.SafetyModel.hondaNidec, HondaSafetyFlags.NIDEC_ALT)
-    self.safety.init_tests()
+  DBC = "acura_ilx_2016_can_generated"
+
+  SAFETY_PARAM = HondaSafetyFlags.NIDEC_ALT
 
   def _acc_state_msg(self, main_on):
-    values = {"MAIN_ON": main_on, "COUNTER": self.cnt_acc_state % 4}
-    self.__class__.cnt_acc_state += 1
+    values = {"MAIN_ON": main_on}
     return self.packer.make_can_msg_safety("SCM_BUTTONS", self.PT_BUS, values)
 
   def _button_msg(self, buttons, main_on=False, bus=None):
     bus = self.PT_BUS if bus is None else bus
-    values = {"CRUISE_BUTTONS": buttons, "MAIN_ON": main_on, "COUNTER": self.cnt_button % 4}
-    self.__class__.cnt_button += 1
+    values = {"CRUISE_BUTTONS": buttons, "MAIN_ON": main_on}
     return self.packer.make_can_msg_safety("SCM_BUTTONS", bus, values)
-
-
 class TestHondaNidecAltGasInterceptorSafety(GasInterceptorSafetyTest, HondaButtonEnableBase, TestHondaNidecSafetyBase):
   """
     Covers the Honda Nidec safety mode with alt SCM messages and gas interceptor, switches to a button-enable car
   """
+  DBC = "acura_ilx_2016_can_generated"
+  SAFETY_PARAM = HondaSafetyFlags.NIDEC_ALT
 
   TX_MSGS = HONDA_N_COMMON_TX_MSGS + [[0x200, 0]]
   INTERCEPTOR_THRESHOLD = 492
 
   def setUp(self):
-    self.packer = CANPackerSafety("acura_ilx_2016_can_generated")
-    self.safety = libsafety_py.libsafety
+    super().setUp()
     self.safety.set_current_safety_param_sp(HondaSafetyFlagsSP.GAS_INTERCEPTOR)
-    self.safety.set_safety_hooks(CarParams.SafetyModel.hondaNidec, HondaSafetyFlags.NIDEC_ALT)
-    self.safety.init_tests()
 
   def _acc_state_msg(self, main_on):
     values = {"MAIN_ON": main_on, "COUNTER": self.cnt_acc_state % 4}
@@ -446,12 +412,11 @@ class TestHondaNidecAltGasInterceptorSafety(GasInterceptorSafetyTest, HondaButto
     values = {"CRUISE_BUTTONS": buttons, "MAIN_ON": main_on, "COUNTER": self.cnt_button % 4}
     self.__class__.cnt_button += 1
     return self.packer.make_can_msg_safety("SCM_BUTTONS", bus, values)
-
-
 # ********************* Honda Bosch **********************
-
-
 class TestHondaBoschSafetyBase(HondaBase):
+  DBC = "honda_civic_hatchback_ex_2017_can_generated"
+  SAFETY_MODEL = CarParams.SafetyModel.hondaBosch
+
   PT_BUS = 1
   STEER_BUS = 0
   BUTTONS_BUS = 1
@@ -460,13 +425,8 @@ class TestHondaBoschSafetyBase(HondaBase):
   FWD_BLACKLISTED_ADDRS = {2: [0xE4, 0xE5, 0x33D, 0x33DA, 0x33DB]}
   RELAY_MALFUNCTION_ADDRS = {0: (0xE4, 0xE5, 0x33D, 0x33DA, 0x33DB)}  # STEERING_CONTROL, BOSCH_SUPPLEMENTAL_1
 
-  def setUp(self):
-    self.packer = CANPackerSafety("honda_civic_hatchback_ex_2017_can_generated")
-    self.safety = libsafety_py.libsafety
-
   def _alt_brake_msg(self, brake):
-    values = {"BRAKE_PRESSED": brake, "COUNTER": self.cnt_brake % 4}
-    self.__class__.cnt_brake += 1
+    values = {"BRAKE_PRESSED": brake}
     return self.packer.make_can_msg_safety("BRAKE_MODULE", self.PT_BUS, values)
 
   def _send_brake_msg(self, brake):
@@ -480,16 +440,11 @@ class TestHondaBoschSafetyBase(HondaBase):
     # do not block resume if we are engaged already
     self.safety.set_controls_allowed(1)
     self.assertTrue(self._tx(self._button_msg(Btn.RESUME, bus=self.BUTTONS_BUS)))
-
-
 class TestHondaBoschAltBrakeSafetyBase(TestHondaBoschSafetyBase):
   """
     Base Bosch safety test class with an alternate brake message
   """
-  def setUp(self):
-    super().setUp()
-    self.safety.set_safety_hooks(CarParams.SafetyModel.hondaBosch, HondaSafetyFlags.ALT_BRAKE)
-    self.safety.init_tests()
+  SAFETY_PARAM = HondaSafetyFlags.ALT_BRAKE
 
   def _user_brake_msg(self, brake):
     return self._alt_brake_msg(brake)
@@ -513,28 +468,20 @@ class TestHondaBoschAltBrakeSafetyBase(TestHondaBoschSafetyBase):
     self.safety.set_controls_allowed(1)
     self._rx(self._alt_brake_msg(1))
     self.assertTrue(self.safety.get_controls_allowed())
-
-
 class TestHondaBoschSafety(HondaPcmEnableBase, TestHondaBoschSafetyBase):
   """
     Covers the Honda Bosch safety mode with stock longitudinal
   """
-  def setUp(self):
-    super().setUp()
-    self.safety.set_safety_hooks(CarParams.SafetyModel.hondaBosch, 0)
-    self.safety.init_tests()
-
-
 class TestHondaBoschAltBrakeSafety(HondaPcmEnableBase, TestHondaBoschAltBrakeSafetyBase):
   """
     Covers the Honda Bosch safety mode with stock longitudinal and an alternate brake message
   """
-
-
 class TestHondaBoschLongSafety(HondaButtonEnableBase, TestHondaBoschSafetyBase):
   """
     Covers the Honda Bosch safety mode with longitudinal control
   """
+  SAFETY_PARAM = HondaSafetyFlags.BOSCH_LONG
+
   NO_GAS = -30000
   MAX_GAS = 2000
   MAX_ACCEL = 2.0  # accel is used for brakes, but openpilot can set positive values
@@ -546,11 +493,6 @@ class TestHondaBoschLongSafety(HondaButtonEnableBase, TestHondaBoschSafetyBase):
   # 0x1DF is to test that radar is disabled
   RELAY_MALFUNCTION_ADDRS = {1: (0xE4, 0x1DF, 0x33D, 0x33DA, 0x33DB)}  # STEERING_CONTROL, ACC_CONTROL
 
-  def setUp(self):
-    super().setUp()
-    self.safety.set_safety_hooks(CarParams.SafetyModel.hondaBosch, HondaSafetyFlags.BOSCH_LONG)
-    self.safety.init_tests()
-
   def _send_gas_brake_msg(self, gas, accel):
     values = {
       "GAS_COMMAND": gas,
@@ -589,6 +531,8 @@ class TestHondaBoschLongSafety(HondaButtonEnableBase, TestHondaBoschSafetyBase):
 
 class TestHondaBoschRadarlessSafetyBase(TestHondaBoschSafetyBase):
   """Base class for radarless Honda Bosch"""
+  DBC = "honda_bosch_radarless_generated"
+
   PT_BUS = 0
   STEER_BUS = 0
   BUTTONS_BUS = 2  # camera controls ACC, need to send buttons on bus 2
@@ -596,48 +540,27 @@ class TestHondaBoschRadarlessSafetyBase(TestHondaBoschSafetyBase):
   TX_MSGS = [[0xE4, 0], [0x296, 2], [0x33D, 0]]
   FWD_BLACKLISTED_ADDRS = {2: [0xE4, 0x33D]}
   RELAY_MALFUNCTION_ADDRS = {0: (0xE4, 0x33D)}  # STEERING_CONTROL
-
-  def setUp(self):
-    self.packer = CANPackerSafety("honda_bosch_radarless_generated")
-    self.safety = libsafety_py.libsafety
-
-
 class TestHondaBoschRadarlessSafety(HondaPcmEnableBase, TestHondaBoschRadarlessSafetyBase):
   """
     Covers the Honda Bosch Radarless safety mode with stock longitudinal
   """
-
-  def setUp(self):
-    super().setUp()
-    self.safety.set_safety_hooks(CarParams.SafetyModel.hondaBosch, HondaSafetyFlags.RADARLESS)
-    self.safety.init_tests()
-
-
+  SAFETY_PARAM = HondaSafetyFlags.RADARLESS
 class TestHondaBoschRadarlessAltBrakeSafety(HondaPcmEnableBase, TestHondaBoschRadarlessSafetyBase, TestHondaBoschAltBrakeSafetyBase):
   """
     Covers the Honda Bosch Radarless safety mode with stock longitudinal and an alternate brake message
   """
-
-  def setUp(self):
-    super().setUp()
-    self.safety.set_safety_hooks(CarParams.SafetyModel.hondaBosch, HondaSafetyFlags.RADARLESS | HondaSafetyFlags.ALT_BRAKE)
-    self.safety.init_tests()
-
-
+  SAFETY_PARAM = HondaSafetyFlags.RADARLESS | HondaSafetyFlags.ALT_BRAKE
 class TestHondaBoschRadarlessLongSafety(common.LongitudinalAccelSafetyTest, HondaButtonEnableBase,
                                         TestHondaBoschRadarlessSafetyBase):
   """
     Covers the Honda Bosch Radarless safety mode with longitudinal control
   """
+  SAFETY_PARAM = HondaSafetyFlags.RADARLESS | HondaSafetyFlags.BOSCH_LONG
+
   TX_MSGS = [[0xE4, 0], [0x33D, 0], [0x1C8, 0], [0x30C, 0]]
   FWD_BLACKLISTED_ADDRS = {2: [0xE4, 0x33D, 0x1C8, 0x30C]}
   RELAY_MALFUNCTION_ADDRS = {0: (0xE4, 0x1C8, 0x30C, 0x33D)}
 
-  def setUp(self):
-    super().setUp()
-    self.safety.set_safety_hooks(CarParams.SafetyModel.hondaBosch, HondaSafetyFlags.RADARLESS | HondaSafetyFlags.BOSCH_LONG)
-    self.safety.init_tests()
-
   def _accel_msg(self, accel):
     values = {
       "ACCEL_COMMAND": accel,
@@ -647,10 +570,10 @@ class TestHondaBoschRadarlessLongSafety(common.LongitudinalAccelSafetyTest, Hond
   # Longitudinal doesn't need to send buttons
   def test_spam_cancel_safety_check(self):
     pass
-
-
 class TestHondaBoschCANFDSafetyBase(TestHondaBoschSafetyBase):
   """Base class for CANFD Honda Bosch"""
+  DBC = "honda_common_canfd_generated"
+
   PT_BUS = 0
   STEER_BUS = 0
   BUTTONS_BUS = 0
@@ -658,48 +581,26 @@ class TestHondaBoschCANFDSafetyBase(TestHondaBoschSafetyBase):
   TX_MSGS = [[0xE4, 0], [0x296, 0], [0x33D, 0]]
   FWD_BLACKLISTED_ADDRS = {2: [0xE4, 0x33D]}
   RELAY_MALFUNCTION_ADDRS = {0: (0xE4, 0x33D)}
-
-  def setUp(self):
-    self.packer = CANPackerSafety("honda_common_canfd_generated")
-    self.safety = libsafety_py.libsafety
-
-
 class TestHondaBoschCANFDSafety(HondaPcmEnableBase, TestHondaBoschCANFDSafetyBase):
   """
     Covers the Honda Bosch CANFD safety mode with stock longitudinal
   """
-
-  def setUp(self):
-    super().setUp()
-    self.safety.set_safety_hooks(CarParams.SafetyModel.hondaBosch, HondaSafetyFlags.BOSCH_CANFD)
-    self.safety.init_tests()
-
-
+  SAFETY_PARAM = HondaSafetyFlags.BOSCH_CANFD
 class TestHondaBoschCANFDAltBrakeSafety(HondaPcmEnableBase, TestHondaBoschCANFDSafetyBase, TestHondaBoschAltBrakeSafetyBase):
   """
     Covers the Honda Bosch CANFD safety mode with stock longitudinal and an alternate brake message
   """
-
-  def setUp(self):
-    super().setUp()
-    self.safety.set_safety_hooks(CarParams.SafetyModel.hondaBosch, HondaSafetyFlags.BOSCH_CANFD | HondaSafetyFlags.ALT_BRAKE)
-    self.safety.init_tests()
-
-
+  SAFETY_PARAM = HondaSafetyFlags.BOSCH_CANFD | HondaSafetyFlags.ALT_BRAKE
 class TestHondaNidecHybridSafety(TestHondaNidecPcmSafety):
   """
     Covers the Honda Nidec safety mode with hybrid brake
   """
 
   BRAKE_SIG = "COMPUTER_BRAKE_HYBRID"
+  DBC = "honda_clarity_hybrid_2018_can_generated"
 
   def setUp(self):
-    self.packer = CANPackerSafety("honda_clarity_hybrid_2018_can_generated")
-    self.safety = libsafety_py.libsafety
+    super().setUp()
     self.safety.set_current_safety_param_sp(HondaSafetyFlagsSP.NIDEC_HYBRID)
-    self.safety.set_safety_hooks(CarParams.SafetyModel.hondaNidec, 0)
-    self.safety.init_tests()
-
-
 if __name__ == "__main__":
   unittest.main()
diff --git a/opendbc_repo/opendbc/safety/tests/test_hyundai.py b/opendbc_repo/opendbc/safety/tests/test_hyundai.py
index 333a0d93b..1920fcece 100755
--- a/opendbc_repo/opendbc/safety/tests/test_hyundai.py
+++ b/opendbc_repo/opendbc/safety/tests/test_hyundai.py
@@ -5,8 +5,8 @@ import unittest
 
 from opendbc.car.hyundai.values import HyundaiSafetyFlags
 from opendbc.car.structs import CarParams
-from opendbc.safety.tests.libsafety import libsafety_py
 import opendbc.safety.tests.common as common
+from opendbc.safety.tests.libsafety import libsafety_py
 from opendbc.safety.tests.common import CANPackerSafety
 from opendbc.safety.tests.hyundai_common import HyundaiButtonBase, HyundaiLongitudinalBase
 
@@ -32,8 +32,6 @@ _ALL_NON_SCC_HEV_EV_COMBOS = [
    "SAFETY_PARAM": HyundaiSafetyFlags.EV_GAS},
 ]
 ALL_NON_SCC_HEV_EV_COMBOS = [{**p, **lda} for lda in LDA_BUTTON for p in _ALL_NON_SCC_HEV_EV_COMBOS]
-
-
 # 4 bit checkusm used in some hyundai messages
 # lives outside the can packer because we never send this msg
 def checksum(msg):
@@ -67,10 +65,11 @@ def checksum(msg):
     ret[6 if addr == 0x394 else 7] |= chksum << (4 if addr == 0x421 else 0)
 
   return addr, ret, bus
-
-
 @parameterized_class(LDA_BUTTON)
 class TestHyundaiSafety(HyundaiButtonBase, common.CarSafetyTest, common.DriverTorqueSteeringSafetyTest, common.SteerRequestCutSafetyTest):
+  DBC = "hyundai_can_generated"
+  SAFETY_MODEL = CarParams.SafetyModel.hyundai
+
   TX_MSGS = [[0x340, 0], [0x4F1, 0], [0x485, 0]]
   STANDSTILL_THRESHOLD = 12  # 0.375 kph
   RELAY_MALFUNCTION_ADDRS = {0: (0x340, 0x485)}  # LKAS11
@@ -102,11 +101,8 @@ class TestHyundaiSafety(HyundaiButtonBase, common.CarSafetyTest, common.DriverTo
       raise unittest.SkipTest
 
   def setUp(self):
-    self.packer = CANPackerSafety("hyundai_can_generated")
-    self.safety = libsafety_py.libsafety
+    super().setUp()
     self.safety.set_current_safety_param_sp(self.SAFETY_PARAM_SP)
-    self.safety.set_safety_hooks(CarParams.SafetyModel.hyundai, 0)
-    self.safety.init_tests()
 
   def _button_msg(self, buttons, main_button=0, bus=0):
     values = {"CF_Clu_CruiseSwState": buttons, "CF_Clu_CruiseSwMain": main_button, "CF_Clu_AliveCnt1": self.cnt_button}
@@ -224,10 +220,10 @@ class TestHyundaiSafety(HyundaiButtonBase, common.CarSafetyTest, common.DriverTo
               self.assertEqual(enable_mads and has_lda_button_param, self.safety.get_controls_allowed_lateral())
     finally:
       self.safety.set_current_safety_param_sp(default_safety_param_sp)
-
-
 @parameterized_class(LDA_BUTTON)
 class TestHyundaiSafetyAltLimits(TestHyundaiSafety):
+  SAFETY_PARAM = HyundaiSafetyFlags.ALT_LIMITS
+
   MAX_RATE_UP = 2
   MAX_RATE_DOWN = 3
   MAX_TORQUE_LOOKUP = [0], [270]
@@ -239,15 +235,12 @@ class TestHyundaiSafetyAltLimits(TestHyundaiSafety):
       raise unittest.SkipTest
 
   def setUp(self):
-    self.packer = CANPackerSafety("hyundai_can_generated")
-    self.safety = libsafety_py.libsafety
+    super().setUp()
     self.safety.set_current_safety_param_sp(self.SAFETY_PARAM_SP)
-    self.safety.set_safety_hooks(CarParams.SafetyModel.hyundai, HyundaiSafetyFlags.ALT_LIMITS)
-    self.safety.init_tests()
-
-
 @parameterized_class(LDA_BUTTON)
 class TestHyundaiSafetyAltLimits2(TestHyundaiSafety):
+  SAFETY_PARAM = HyundaiSafetyFlags.ALT_LIMITS_2
+
   MAX_RATE_UP = 2
   MAX_RATE_DOWN = 3
   MAX_TORQUE_LOOKUP = [0], [170]
@@ -259,15 +252,12 @@ class TestHyundaiSafetyAltLimits2(TestHyundaiSafety):
       raise unittest.SkipTest
 
   def setUp(self):
-    self.packer = CANPackerSafety("hyundai_can_generated")
-    self.safety = libsafety_py.libsafety
+    super().setUp()
     self.safety.set_current_safety_param_sp(self.SAFETY_PARAM_SP)
-    self.safety.set_safety_hooks(CarParams.SafetyModel.hyundai, HyundaiSafetyFlags.ALT_LIMITS_2)
-    self.safety.init_tests()
-
-
 @parameterized_class(LDA_BUTTON)
 class TestHyundaiSafetyCameraSCC(TestHyundaiSafety):
+  SAFETY_PARAM = HyundaiSafetyFlags.CAMERA_SCC
+
   BUTTONS_TX_BUS = 2  # tx on 2, rx on 0
   SCC_BUS = 2  # rx on 2
 
@@ -278,11 +268,8 @@ class TestHyundaiSafetyCameraSCC(TestHyundaiSafety):
       raise unittest.SkipTest
 
   def setUp(self):
-    self.packer = CANPackerSafety("hyundai_can_generated")
-    self.safety = libsafety_py.libsafety
+    super().setUp()
     self.safety.set_current_safety_param_sp(self.SAFETY_PARAM_SP)
-    self.safety.set_safety_hooks(CarParams.SafetyModel.hyundai, HyundaiSafetyFlags.CAMERA_SCC)
-    self.safety.init_tests()
 
   def test_pcm_main_cruise_state_availability(self):
     """
@@ -294,10 +281,10 @@ class TestHyundaiSafetyCameraSCC(TestHyundaiSafety):
       with self.subTest("acc_main_on", should_turn_acc_main_on=should_turn_acc_main_on):
         self._rx(self._acc_state_msg(should_turn_acc_main_on))
         self.assertEqual(should_turn_acc_main_on, self.safety.get_acc_main_on())
-
-
 @parameterized_class(LDA_BUTTON)
 class TestHyundaiSafetyFCEV(TestHyundaiSafety):
+  SAFETY_PARAM = HyundaiSafetyFlags.FCEV_GAS
+
   @classmethod
   def setUpClass(cls):
     if cls.__name__ == "TestHyundaiSafetyFCEV":
@@ -305,51 +292,32 @@ class TestHyundaiSafetyFCEV(TestHyundaiSafety):
       raise unittest.SkipTest
 
   def setUp(self):
-    self.packer = CANPackerSafety("hyundai_can_generated")
-    self.safety = libsafety_py.libsafety
+    super().setUp()
     self.safety.set_current_safety_param_sp(self.SAFETY_PARAM_SP)
-    self.safety.set_safety_hooks(CarParams.SafetyModel.hyundai, HyundaiSafetyFlags.FCEV_GAS)
-    self.safety.init_tests()
 
   def _user_gas_msg(self, gas):
     values = {"ACCELERATOR_PEDAL": gas}
     return self.packer.make_can_msg_safety("FCEV_ACCELERATOR", 0, values)
-
-
 class TestHyundaiLegacySafety(TestHyundaiSafety):
-  def setUp(self):
-    self.packer = CANPackerSafety("hyundai_can_generated")
-    self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(CarParams.SafetyModel.hyundaiLegacy, 0)
-    self.safety.init_tests()
-
-
+  SAFETY_MODEL = CarParams.SafetyModel.hyundaiLegacy
 class TestHyundaiLegacySafetyEV(TestHyundaiSafety):
-  def setUp(self):
-    self.packer = CANPackerSafety("hyundai_can_generated")
-    self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(CarParams.SafetyModel.hyundaiLegacy, HyundaiSafetyFlags.EV_GAS)
-    self.safety.init_tests()
+  SAFETY_MODEL = CarParams.SafetyModel.hyundaiLegacy
+  SAFETY_PARAM = HyundaiSafetyFlags.EV_GAS
 
   def _user_gas_msg(self, gas):
     values = {"Accel_Pedal_Pos": gas}
     return self.packer.make_can_msg_safety("E_EMS11", 0, values, fix_checksum=checksum)
-
-
 class TestHyundaiLegacySafetyHEV(TestHyundaiSafety):
-  def setUp(self):
-    self.packer = CANPackerSafety("hyundai_can_generated")
-    self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(CarParams.SafetyModel.hyundaiLegacy, HyundaiSafetyFlags.HYBRID_GAS)
-    self.safety.init_tests()
+  SAFETY_MODEL = CarParams.SafetyModel.hyundaiLegacy
+  SAFETY_PARAM = HyundaiSafetyFlags.HYBRID_GAS
 
   def _user_gas_msg(self, gas):
     values = {"CR_Vcu_AccPedDep_Pos": gas}
     return self.packer.make_can_msg_safety("E_EMS11", 0, values, fix_checksum=checksum)
-
-
 @parameterized_class(LDA_BUTTON)
 class TestHyundaiLongitudinalSafety(HyundaiLongitudinalBase, TestHyundaiSafety):
+  SAFETY_PARAM = HyundaiSafetyFlags.LONG
+
   TX_MSGS = [[0x340, 0], [0x4F1, 0], [0x485, 0], [0x420, 0], [0x421, 0], [0x50A, 0], [0x389, 0], [0x4A2, 0], [0x38D, 0], [0x483, 0], [0x7D0, 0]]
 
   FWD_BLACKLISTED_ADDRS = {2: [0x340, 0x485, 0x421, 0x420, 0x50A, 0x389]}
@@ -366,11 +334,8 @@ class TestHyundaiLongitudinalSafety(HyundaiLongitudinalBase, TestHyundaiSafety):
       raise unittest.SkipTest
 
   def setUp(self):
-    self.packer = CANPackerSafety("hyundai_can_generated")
-    self.safety = libsafety_py.libsafety
+    super().setUp()
     self.safety.set_current_safety_param_sp(self.SAFETY_PARAM_SP)
-    self.safety.set_safety_hooks(CarParams.SafetyModel.hyundai, HyundaiSafetyFlags.LONG)
-    self.safety.init_tests()
 
   def _accel_msg(self, accel, aeb_req=False, aeb_decel=0):
     values = {
@@ -408,17 +373,16 @@ class TestHyundaiLongitudinalSafety(HyundaiLongitudinalBase, TestHyundaiSafety):
 
 
 class TestHyundaiLongitudinalSafetyCameraSCC(HyundaiLongitudinalBase, TestHyundaiSafety):
+  SAFETY_PARAM = HyundaiSafetyFlags.LONG | HyundaiSafetyFlags.CAMERA_SCC
+
   TX_MSGS = [[0x340, 0], [0x4F1, 2], [0x485, 0], [0x420, 0], [0x421, 0], [0x50A, 0], [0x389, 0], [0x4A2, 0]]
 
   FWD_BLACKLISTED_ADDRS = {2: [0x340, 0x485, 0x420, 0x421, 0x50A, 0x389]}
   RELAY_MALFUNCTION_ADDRS = {0: (0x340, 0x485, 0x421, 0x420, 0x50A, 0x389)}  # LKAS11, LFAHDA_MFC, SCC12, SCC11, SCC13, SCC14
 
   def setUp(self):
-    self.packer = CANPackerSafety("hyundai_can_generated")
-    self.safety = libsafety_py.libsafety
+    super().setUp()
     self.safety.set_current_safety_param_sp(HyundaiSafetyFlagsSP.HAS_LDA_BUTTON)
-    self.safety.set_safety_hooks(CarParams.SafetyModel.hyundai, HyundaiSafetyFlags.LONG | HyundaiSafetyFlags.CAMERA_SCC)
-    self.safety.init_tests()
 
   def _accel_msg(self, accel, aeb_req=False, aeb_decel=0):
     values = {
@@ -443,10 +407,10 @@ class TestHyundaiLongitudinalSafetyCameraSCC(HyundaiLongitudinalBase, TestHyunda
 
   def test_disabled_ecu_alive(self):
     pass
-
-
 @parameterized_class(LDA_BUTTON)
 class TestHyundaiSafetyFCEVLong(TestHyundaiLongitudinalSafety, TestHyundaiSafetyFCEV):
+  SAFETY_PARAM = HyundaiSafetyFlags.FCEV_GAS | HyundaiSafetyFlags.LONG
+
   @classmethod
   def setUpClass(cls):
     if cls.__name__ == "TestHyundaiSafetyFCEVLong":
@@ -454,13 +418,8 @@ class TestHyundaiSafetyFCEVLong(TestHyundaiLongitudinalSafety, TestHyundaiSafety
       raise unittest.SkipTest
 
   def setUp(self):
-    self.packer = CANPackerSafety("hyundai_can_generated")
-    self.safety = libsafety_py.libsafety
+    super().setUp()
     self.safety.set_current_safety_param_sp(self.SAFETY_PARAM_SP)
-    self.safety.set_safety_hooks(CarParams.SafetyModel.hyundai, HyundaiSafetyFlags.FCEV_GAS | HyundaiSafetyFlags.LONG)
-    self.safety.init_tests()
-
-
 @parameterized_class(LDA_BUTTON)
 class TestHyundaiLongitudinalESCCSafety(HyundaiLongitudinalBase, TestHyundaiSafety):
   TX_MSGS = [[0x340, 0], [0x4F1, 0], [0x485, 0], [0x420, 0], [0x421, 0], [0x50A, 0], [0x389, 0]]
@@ -497,8 +456,6 @@ class TestHyundaiLongitudinalESCCSafety(HyundaiLongitudinalBase, TestHyundaiSafe
 
   def test_disabled_ecu_alive(self):
     pass
-
-
 @parameterized_class(LDA_BUTTON)
 class TestHyundaiNonSCCSafety(TestHyundaiSafety):
 
@@ -548,8 +505,6 @@ class TestHyundaiNonSCCSafety(TestHyundaiSafety):
     # Make sure we can re-gain longitudinal actuation
     self._rx(self._user_gas_msg(0, self.safety.get_controls_allowed()))
     self.assertTrue(self.safety.get_longitudinal_allowed())
-
-
 @parameterized_class(ALL_NON_SCC_HEV_EV_COMBOS)
 class TestHyundaiNonSCCSafety_HEV_EV(TestHyundaiSafety):
 
@@ -582,7 +537,5 @@ class TestHyundaiNonSCCSafety_HEV_EV(TestHyundaiSafety):
   def _user_gas_msg(self, gas):
     values = {self.GAS_MSG[1]: gas}
     return self.packer.make_can_msg_safety(self.GAS_MSG[0], 0, values, fix_checksum=checksum)
-
-
 if __name__ == "__main__":
   unittest.main()
diff --git a/opendbc_repo/opendbc/safety/tests/test_hyundai_canfd.py b/opendbc_repo/opendbc/safety/tests/test_hyundai_canfd.py
index a5f7702f8..d7fbea930 100755
--- a/opendbc_repo/opendbc/safety/tests/test_hyundai_canfd.py
+++ b/opendbc_repo/opendbc/safety/tests/test_hyundai_canfd.py
@@ -4,26 +4,25 @@ import unittest
 
 from opendbc.car.hyundai.values import HyundaiSafetyFlags
 from opendbc.car.structs import CarParams
-from opendbc.safety.tests.libsafety import libsafety_py
 import opendbc.safety.tests.common as common
-from opendbc.safety.tests.common import CANPackerSafety
 from opendbc.safety.tests.hyundai_common import HyundaiButtonBase, HyundaiLongitudinalBase
 
 # All combinations of radar/camera-SCC and gas/hybrid/EV cars
 ALL_GAS_EV_HYBRID_COMBOS = [
   # Radar SCC
-  {"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 0, "SAFETY_PARAM": 0},
-  {"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": HyundaiSafetyFlags.EV_GAS},
-  {"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": HyundaiSafetyFlags.HYBRID_GAS},
+  {"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 0, "EXTRA_SAFETY_PARAM": 0},
+  {"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "EXTRA_SAFETY_PARAM": HyundaiSafetyFlags.EV_GAS},
+  {"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "EXTRA_SAFETY_PARAM": HyundaiSafetyFlags.HYBRID_GAS},
   # Camera SCC
-  {"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiSafetyFlags.CAMERA_SCC},
-  {"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiSafetyFlags.EV_GAS | HyundaiSafetyFlags.CAMERA_SCC},
-  {"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiSafetyFlags.HYBRID_GAS | HyundaiSafetyFlags.CAMERA_SCC},
+  {"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 2, "EXTRA_SAFETY_PARAM": HyundaiSafetyFlags.CAMERA_SCC},
+  {"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "EXTRA_SAFETY_PARAM": HyundaiSafetyFlags.EV_GAS | HyundaiSafetyFlags.CAMERA_SCC},
+  {"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "EXTRA_SAFETY_PARAM": HyundaiSafetyFlags.HYBRID_GAS | HyundaiSafetyFlags.CAMERA_SCC},
 ]
-
-
 class TestHyundaiCanfdBase(HyundaiButtonBase, common.CarSafetyTest, common.DriverTorqueSteeringSafetyTest, common.SteerRequestCutSafetyTest):
 
+  DBC = "hyundai_canfd_generated"
+  SAFETY_MODEL = CarParams.SafetyModel.hyundaiCanfd
+
   TX_MSGS = [[0x50, 0], [0x1CF, 1], [0x2A4, 0]]
   STANDSTILL_THRESHOLD = 12  # 0.375 kph
   FWD_BLACKLISTED_ADDRS = {2: [0x50, 0x2a4]}
@@ -91,8 +90,6 @@ class TestHyundaiCanfdBase(HyundaiButtonBase, common.CarSafetyTest, common.Drive
 
   def _main_cruise_button_msg(self, enabled):
     return self._button_msg(0, enabled)
-
-
 class TestHyundaiCanfdLFASteeringBase(TestHyundaiCanfdBase):
 
   TX_MSGS = [[0x12A, 0], [0x1A0, 1], [0x1CF, 0], [0x1E0, 0]]
@@ -101,37 +98,28 @@ class TestHyundaiCanfdLFASteeringBase(TestHyundaiCanfdBase):
 
   STEER_MSG = "LFA"
   BUTTONS_TX_BUS = 2
-  SAFETY_PARAM: int
+  EXTRA_SAFETY_PARAM: int
 
   @classmethod
   def setUpClass(cls):
     super().setUpClass()
     if cls.__name__ in ("TestHyundaiCanfdLFASteering", "TestHyundaiCanfdLFASteeringAltButtons"):
       cls.packer = None
-      cls.safety = None
       raise unittest.SkipTest
 
-  def setUp(self):
-    self.packer = CANPackerSafety("hyundai_canfd_generated")
-    self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, self.SAFETY_PARAM)
-    self.safety.init_tests()
-
-
+  @property
+  def SAFETY_PARAM(self):
+    return self.EXTRA_SAFETY_PARAM
 @parameterized_class(ALL_GAS_EV_HYBRID_COMBOS)
 class TestHyundaiCanfdLFASteering(TestHyundaiCanfdLFASteeringBase):
   pass
-
-
 class TestHyundaiCanfdLFASteeringAltButtonsBase(TestHyundaiCanfdLFASteeringBase):
 
-  SAFETY_PARAM: int
+  EXTRA_SAFETY_PARAM: int
 
-  def setUp(self):
-    self.packer = CANPackerSafety("hyundai_canfd_generated")
-    self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, HyundaiSafetyFlags.CANFD_ALT_BUTTONS | self.SAFETY_PARAM)
-    self.safety.init_tests()
+  @property
+  def SAFETY_PARAM(self):
+    return HyundaiSafetyFlags.CANFD_ALT_BUTTONS | self.EXTRA_SAFETY_PARAM
 
   def _button_msg(self, buttons, main_button=0, bus=1):
     values = {
@@ -164,15 +152,13 @@ class TestHyundaiCanfdLFASteeringAltButtonsBase(TestHyundaiCanfdLFASteeringBase)
       self.assertTrue(self._tx(self._acc_cancel_msg(True)))
       self.assertFalse(self._tx(self._acc_cancel_msg(True, accel=1)))
       self.assertFalse(self._tx(self._acc_cancel_msg(False)))
-
-
 @parameterized_class(ALL_GAS_EV_HYBRID_COMBOS)
 class TestHyundaiCanfdLFASteeringAltButtons(TestHyundaiCanfdLFASteeringAltButtonsBase):
   pass
-
-
 class TestHyundaiCanfdLKASteeringEV(TestHyundaiCanfdBase):
 
+  SAFETY_PARAM = HyundaiSafetyFlags.CANFD_LKA_STEER_MSG | HyundaiSafetyFlags.EV_GAS
+
   TX_MSGS = [[0x50, 0], [0x1CF, 1], [0x2A4, 0]]
   RELAY_MALFUNCTION_ADDRS = {0: (0x50, 0x2a4)}  # LKAS, CAM_0x2A4
   FWD_BLACKLISTED_ADDRS = {2: [0x50, 0x2a4]}
@@ -181,17 +167,11 @@ class TestHyundaiCanfdLKASteeringEV(TestHyundaiCanfdBase):
   SCC_BUS = 1
   STEER_MSG = "LKAS"
   GAS_MSG = ("ACCELERATOR", "ACCELERATOR_PEDAL")
-
-  def setUp(self):
-    self.packer = CANPackerSafety("hyundai_canfd_generated")
-    self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, HyundaiSafetyFlags.CANFD_LKA_STEER_MSG | HyundaiSafetyFlags.EV_GAS)
-    self.safety.init_tests()
-
-
 # TODO: Handle ICE and HEV configurations once we see cars that use the new messages
 class TestHyundaiCanfdLKASteeringAltEV(TestHyundaiCanfdBase):
 
+  SAFETY_PARAM = HyundaiSafetyFlags.CANFD_LKA_STEER_MSG | HyundaiSafetyFlags.EV_GAS | HyundaiSafetyFlags.CANFD_LKA_STEER_MSG_ALT
+
   TX_MSGS = [[0x110, 0], [0x1CF, 1], [0x362, 0]]
   RELAY_MALFUNCTION_ADDRS = {0: (0x110, 0x362)}  # LKAS_ALT, CAM_0x362
   FWD_BLACKLISTED_ADDRS = {2: [0x110, 0x362]}
@@ -200,17 +180,10 @@ class TestHyundaiCanfdLKASteeringAltEV(TestHyundaiCanfdBase):
   SCC_BUS = 1
   STEER_MSG = "LKAS_ALT"
   GAS_MSG = ("ACCELERATOR", "ACCELERATOR_PEDAL")
-
-  def setUp(self):
-    self.packer = CANPackerSafety("hyundai_canfd_generated")
-    self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, HyundaiSafetyFlags.CANFD_LKA_STEER_MSG | HyundaiSafetyFlags.EV_GAS |
-                                 HyundaiSafetyFlags.CANFD_LKA_STEER_MSG_ALT)
-    self.safety.init_tests()
-
-
 class TestHyundaiCanfdLKASteeringLongEV(HyundaiLongitudinalBase, TestHyundaiCanfdLKASteeringEV):
 
+  SAFETY_PARAM = HyundaiSafetyFlags.CANFD_LKA_STEER_MSG | HyundaiSafetyFlags.LONG | HyundaiSafetyFlags.EV_GAS
+
   TX_MSGS = [[0x50, 0], [0x1CF, 1], [0x2A4, 0], [0x51, 0], [0x730, 1], [0x12a, 1], [0x160, 1],
              [0x1e0, 1], [0x1a0, 1], [0x1ea, 1], [0x200, 1], [0x345, 1], [0x1da, 1]]
 
@@ -223,13 +196,6 @@ class TestHyundaiCanfdLKASteeringLongEV(HyundaiLongitudinalBase, TestHyundaiCanf
   GAS_MSG = ("ACCELERATOR", "ACCELERATOR_PEDAL")
   STEER_BUS = 1
 
-  def setUp(self):
-    self.packer = CANPackerSafety("hyundai_canfd_generated")
-    self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, HyundaiSafetyFlags.CANFD_LKA_STEER_MSG |
-                                 HyundaiSafetyFlags.LONG | HyundaiSafetyFlags.EV_GAS)
-    self.safety.init_tests()
-
   def _accel_msg(self, accel, aeb_req=False, aeb_decel=0):
     values = {
       "aReqRaw": accel,
@@ -240,8 +206,6 @@ class TestHyundaiCanfdLKASteeringLongEV(HyundaiLongitudinalBase, TestHyundaiCanf
   def _tx_acc_state_msg(self, enable):
     values = {"MainMode_ACC": enable}
     return self.packer.make_can_msg_safety("SCC_CONTROL", self.PT_BUS, values)
-
-
 # Tests longitudinal for ICE, hybrid, EV cars with LFA steering
 class TestHyundaiCanfdLFASteeringLongBase(HyundaiLongitudinalBase, TestHyundaiCanfdLFASteeringBase):
 
@@ -252,17 +216,9 @@ class TestHyundaiCanfdLFASteeringLongBase(HyundaiLongitudinalBase, TestHyundaiCa
   DISABLED_ECU_UDS_MSG = (0x7D0, 0)
   DISABLED_ECU_ACTUATION_MSG = (0x1a0, 0)
 
-  @classmethod
-  def setUpClass(cls):
-    if cls.__name__ == "TestHyundaiCanfdLFASteeringLongBase":
-      cls.safety = None
-      raise unittest.SkipTest
-
-  def setUp(self):
-    self.packer = CANPackerSafety("hyundai_canfd_generated")
-    self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, HyundaiSafetyFlags.LONG | self.SAFETY_PARAM)
-    self.safety.init_tests()
+  @property
+  def SAFETY_PARAM(self):
+    return HyundaiSafetyFlags.LONG | self.EXTRA_SAFETY_PARAM
 
   def _accel_msg(self, accel, aeb_req=False, aeb_decel=0):
     values = {
@@ -275,38 +231,29 @@ class TestHyundaiCanfdLFASteeringLongBase(HyundaiLongitudinalBase, TestHyundaiCa
     values = {"MainMode_ACC": enable}
     return self.packer.make_can_msg_safety("SCC_CONTROL", self.PT_BUS, values)
 
-  # no knockout
-  def test_tester_present_allowed(self):
-    pass
-
-
+  def test_tester_present_allowed(self, ecu_disable: bool = True):
+    super().test_tester_present_allowed(ecu_disable=not self.EXTRA_SAFETY_PARAM & HyundaiSafetyFlags.CAMERA_SCC)
 @parameterized_class(ALL_GAS_EV_HYBRID_COMBOS)
 class TestHyundaiCanfdLFASteeringLong(TestHyundaiCanfdLFASteeringLongBase):
   @classmethod
   def setUpClass(cls):
+    super().setUpClass()
     if cls.__name__ == "TestHyundaiCanfdLFASteeringLong":
-      cls.safety = None
       raise unittest.SkipTest
-
-
 @parameterized_class(ALL_GAS_EV_HYBRID_COMBOS)
 class TestHyundaiCanfdLFASteeringLongAltButtons(TestHyundaiCanfdLFASteeringLongBase, TestHyundaiCanfdLFASteeringAltButtonsBase):
   @classmethod
   def setUpClass(cls):
+    super().setUpClass()
     if cls.__name__ == "TestHyundaiCanfdLFASteeringLongAltButtons":
-      cls.safety = None
       raise unittest.SkipTest
 
-  def setUp(self):
-    self.packer = CANPackerSafety("hyundai_canfd_generated")
-    self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, HyundaiSafetyFlags.LONG | HyundaiSafetyFlags.CANFD_ALT_BUTTONS | self.SAFETY_PARAM)
-    self.safety.init_tests()
+  @property
+  def SAFETY_PARAM(self):
+    return HyundaiSafetyFlags.LONG | HyundaiSafetyFlags.CANFD_ALT_BUTTONS | self.EXTRA_SAFETY_PARAM
 
   def test_acc_cancel(self):
     # Alt buttons does not use SCC_CONTROL to cancel if longitudinal
     pass
-
-
 if __name__ == "__main__":
   unittest.main()
diff --git a/opendbc_repo/opendbc/safety/tests/test_mazda.py b/opendbc_repo/opendbc/safety/tests/test_mazda.py
index 8fb77444a..70d901359 100755
--- a/opendbc_repo/opendbc/safety/tests/test_mazda.py
+++ b/opendbc_repo/opendbc/safety/tests/test_mazda.py
@@ -2,13 +2,13 @@
 import unittest
 
 from opendbc.car.structs import CarParams
-from opendbc.safety.tests.libsafety import libsafety_py
 import opendbc.safety.tests.common as common
-from opendbc.safety.tests.common import CANPackerSafety, make_msg
-
-
+from opendbc.safety.tests.common import make_msg
 class TestMazdaSafety(common.CarSafetyTest, common.DriverTorqueSteeringSafetyTest):
 
+  DBC = "mazda_2017"
+  SAFETY_MODEL = CarParams.SafetyModel.mazda
+
   TX_MSGS = [[0x243, 0], [0x09d, 0], [0x440, 0]]
   STANDSTILL_THRESHOLD = .1
   RELAY_MALFUNCTION_ADDRS = {0: (0x243, 0x440)}
@@ -26,12 +26,6 @@ class TestMazdaSafety(common.CarSafetyTest, common.DriverTorqueSteeringSafetyTes
   # Mazda actually does not set any bit when requesting torque
   NO_STEER_REQ_BIT = True
 
-  def setUp(self):
-    self.packer = CANPackerSafety("mazda_2017")
-    self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(CarParams.SafetyModel.mazda, 0)
-    self.safety.init_tests()
-
   def _torque_meas_msg(self, torque):
     values = {"STEER_TORQUE_MOTOR": torque}
     return self.packer.make_can_msg_safety("STEER_TORQUE", 0, values)
@@ -79,15 +73,11 @@ class TestMazdaSafety(common.CarSafetyTest, common.DriverTorqueSteeringSafetyTes
     self.safety.set_controls_allowed(1)
     self.assertTrue(self._tx(self._button_msg(cancel=True)))
     self.assertTrue(self._tx(self._button_msg(resume=True)))
+class TestMazdaIgnition(common.SafetyTestBase):
+  SAFETY_MODEL = None
 
-
-class TestMazdaIgnition(unittest.TestCase):
   TX_MSGS: list = []
 
-  def setUp(self):
-    self.safety = libsafety_py.libsafety
-    self.safety.init_tests()
-
   def _msg(self, byte0):
     return make_msg(0, 0x9E, dat=bytes([byte0]) + b"\x00" * 7)
 
@@ -101,7 +91,5 @@ class TestMazdaIgnition(unittest.TestCase):
     self.assertTrue(self.safety.get_ignition_can())
     self.safety.ignition_can_hook(self._msg(0x20))
     self.assertFalse(self.safety.get_ignition_can())
-
-
 if __name__ == "__main__":
   unittest.main()
diff --git a/opendbc_repo/opendbc/safety/tests/test_nissan.py b/opendbc_repo/opendbc/safety/tests/test_nissan.py
index f21c5c335..67107e8a3 100755
--- a/opendbc_repo/opendbc/safety/tests/test_nissan.py
+++ b/opendbc_repo/opendbc/safety/tests/test_nissan.py
@@ -4,14 +4,15 @@ import unittest
 from opendbc.car.nissan.values import NissanSafetyFlags
 from opendbc.sunnypilot.car.nissan.values import NissanSafetyFlagsSP
 from opendbc.car.structs import CarParams
-from opendbc.safety.tests.libsafety import libsafety_py
 import opendbc.safety.tests.common as common
+from opendbc.safety.tests.libsafety import libsafety_py
 from opendbc.safety.tests.common import CANPackerSafety
-
-
 class TestNissanSafety(common.CarSafetyTest, common.AngleSteeringSafetyTest):
 
-  TX_MSGS = [[0x169, 0], [0x2b1, 0], [0x4cc, 0], [0x20b, 2]]
+  DBC = "nissan_x_trail_2017_generated"
+  SAFETY_MODEL = CarParams.SafetyModel.nissan
+
+  TX_MSGS = [[0x169, 0], [0x2b1, 0], [0x4cc, 0], [0x20b, 2], [0x280, 2]]
   GAS_PRESSED_THRESHOLD = 3
   RELAY_MALFUNCTION_ADDRS = {0: (0x169, 0x2b1, 0x4cc), 2: (0x20b,)}
   FWD_BLACKLISTED_ADDRS = {0: [0x20b], 2: [0x169, 0x2b1, 0x4cc]}
@@ -28,12 +29,6 @@ class TestNissanSafety(common.CarSafetyTest, common.AngleSteeringSafetyTest):
   ANGLE_RATE_UP = [5., .8, .15]  # windup limit
   ANGLE_RATE_DOWN = [5., 3.5, .4]  # unwind limit
 
-  def setUp(self):
-    self.packer = CANPackerSafety("nissan_x_trail_2017_generated")
-    self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(CarParams.SafetyModel.nissan, 0)
-    self.safety.init_tests()
-
   def _angle_cmd_msg(self, angle: float, enabled: bool):
     values = {"DESIRED_ANGLE": angle, "LKA_ACTIVE": 1 if enabled else 0}
     return self.packer.make_can_msg_safety("LKAS", 0, values)
@@ -84,10 +79,9 @@ class TestNissanSafety(common.CarSafetyTest, common.AngleSteeringSafetyTest):
         args = {} if btn is None else {btn: 1}
         tx = self._tx(self._acc_button_cmd(**args))
         self.assertEqual(tx, should_tx)
-
-
 class TestNissanSafetyAltEpsBus(TestNissanSafety):
   """Altima uses different buses"""
+  SAFETY_PARAM = NissanSafetyFlags.ALT_EPS_BUS
 
   TX_MSGS = [[0x169, 0], [0x2b1, 0], [0x4cc, 0], [0x20b, 1]]
   RELAY_MALFUNCTION_ADDRS = {0: (0x169, 0x2b1, 0x4cc)}
@@ -97,15 +91,10 @@ class TestNissanSafetyAltEpsBus(TestNissanSafety):
   CRUISE_BUS = 1
   ACC_MAIN_BUS = 2
 
-  def setUp(self):
-    self.packer = CANPackerSafety("nissan_x_trail_2017_generated")
-    self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(CarParams.SafetyModel.nissan, NissanSafetyFlags.ALT_EPS_BUS)
-    self.safety.init_tests()
-
-
 class TestNissanLeafSafety(TestNissanSafety):
 
+  DBC = "nissan_leaf_2018_generated"
+
   TX_MSGS = [[0x169, 0], [0x2b1, 0], [0x4cc, 0], [0x239, 2]]
   RELAY_MALFUNCTION_ADDRS = {0: (0x169, 0x2b1, 0x4cc), 2: (0x239,)}
   FWD_BLACKLISTED_ADDRS = {0: [0x239], 2: [0x169, 0x2b1, 0x4cc]}
@@ -146,7 +135,5 @@ class TestNissanLeafSafety(TestNissanSafety):
         args = {} if btn is None else {btn: 1}
         tx = self._tx(self._acc_button_cmd(**args))
         self.assertEqual(tx, should_tx)
-
-
 if __name__ == "__main__":
   unittest.main()
diff --git a/opendbc_repo/opendbc/safety/tests/test_psa.py b/opendbc_repo/opendbc/safety/tests/test_psa.py
index ac4566630..5eeaa1dba 100644
--- a/opendbc_repo/opendbc/safety/tests/test_psa.py
+++ b/opendbc_repo/opendbc/safety/tests/test_psa.py
@@ -2,14 +2,13 @@
 import unittest
 
 from opendbc.car.structs import CarParams
-from opendbc.safety.tests.libsafety import libsafety_py
 import opendbc.safety.tests.common as common
-from opendbc.safety.tests.common import CANPackerSafety
 
 LANE_KEEP_ASSIST = 0x3F2
-
-
 class TestPsaSafetyBase(common.CarSafetyTest, common.AngleSteeringSafetyTest):
+  DBC = "psa_aee2010_r3"
+  SAFETY_MODEL = CarParams.SafetyModel.psa
+
   RELAY_MALFUNCTION_ADDRS = {0: (LANE_KEEP_ASSIST,)}
   FWD_BLACKLISTED_ADDRS = {2: [LANE_KEEP_ASSIST]}
   TX_MSGS = [[1010, 0]]
@@ -25,12 +24,6 @@ class TestPsaSafetyBase(common.CarSafetyTest, common.AngleSteeringSafetyTest):
   ANGLE_RATE_UP = [2.5, 1.5, .2]
   ANGLE_RATE_DOWN = [5., 2., .3]
 
-  def setUp(self):
-    self.packer = CANPackerSafety("psa_aee2010_r3")
-    self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(CarParams.SafetyModel.psa, 0)
-    self.safety.init_tests()
-
   def _angle_cmd_msg(self, angle: float, enabled: bool):
     values = {"SET_ANGLE": angle, "TORQUE_FACTOR": 100 if enabled else 0}
     return self.packer.make_can_msg_safety("LANE_KEEP_ASSIST", self.MAIN_BUS, values)
@@ -75,16 +68,7 @@ class TestPsaSafetyBase(common.CarSafetyTest, common.AngleSteeringSafetyTest):
     # write to unused payload byte
     msg[0].data[6] = 0xAB
     self.assertTrue(self._rx(msg))
-
-
 class TestPsaStockSafety(TestPsaSafetyBase):
-
-  def setUp(self):
-    self.packer = CANPackerSafety("psa_aee2010_r3")
-    self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(CarParams.SafetyModel.psa, 0)
-    self.safety.init_tests()
-
-
+  pass
 if __name__ == "__main__":
     unittest.main()
diff --git a/opendbc_repo/opendbc/safety/tests/test_release_build.py b/opendbc_repo/opendbc/safety/tests/test_release_build.py
index b1c44b136..3c027dec0 100644
--- a/opendbc_repo/opendbc/safety/tests/test_release_build.py
+++ b/opendbc_repo/opendbc/safety/tests/test_release_build.py
@@ -2,15 +2,11 @@
 import unittest
 
 from opendbc.safety.tests.libsafety.libsafety_py import _build_libsafety
-
-
 class TestBuild(unittest.TestCase):
   def test_development_build(self):
     _build_libsafety(release=False)
 
   def test_release_build(self):
     _build_libsafety(release=True)
-
-
 if __name__ == "__main__":
   unittest.main()
diff --git a/opendbc_repo/opendbc/safety/tests/test_rivian.py b/opendbc_repo/opendbc/safety/tests/test_rivian.py
index 307e3237e..a4c15afe8 100755
--- a/opendbc_repo/opendbc/safety/tests/test_rivian.py
+++ b/opendbc_repo/opendbc/safety/tests/test_rivian.py
@@ -2,29 +2,14 @@
 import unittest
 
 from opendbc.car.structs import CarParams
-from opendbc.safety.tests.libsafety import libsafety_py
 import opendbc.safety.tests.common as common
-from opendbc.safety.tests.common import CANPackerSafety
 from opendbc.car.rivian.values import RivianSafetyFlags
-from opendbc.car.rivian.riviancan import checksum as _checksum
-
-
-def checksum(msg):
-  addr, dat, bus = msg
-  ret = bytearray(dat)
-
-  # ESP_Status
-  if addr == 0x208:
-    ret[0] = _checksum(ret[1:], 0x1D, 0xB1)
-  elif addr == 0x150:
-    ret[0] = _checksum(ret[1:], 0x1D, 0x9A)
-
-  return addr, ret, bus
-
-
 class TestRivianSafetyBase(common.CarSafetyTest, common.DriverTorqueSteeringSafetyTest, common.LongitudinalAccelSafetyTest,
                            common.VehicleSpeedSafetyTest):
 
+  DBC = "rivian_primary_actuator"
+  SAFETY_MODEL = CarParams.SafetyModel.rivian
+
   TX_MSGS = [[0x120, 0], [0x321, 2], [0x162, 2]]
   RELAY_MALFUNCTION_ADDRS = {0: (0x120,), 2: (0x321, 0x162)}
   FWD_BLACKLISTED_ADDRS = {0: [0x321, 0x162], 2: [0x120]}
@@ -41,9 +26,13 @@ class TestRivianSafetyBase(common.CarSafetyTest, common.DriverTorqueSteeringSafe
 
   cnt_speed = 0
   cnt_speed_2 = 0
+  cnt_torque = 0
+  cnt_brake = 0
+  cnt_pcm = 0
 
   def _torque_driver_msg(self, torque):
-    values = {"EPAS_TorsionBarTorque": torque / 100.0}
+    values = {"EPAS_TorsionBarTorque": torque / 100.0, "EPAS_SystemStatus_Counter": self.cnt_torque % 15}
+    self.__class__.cnt_torque += 1
     return self.packer.make_can_msg_safety("EPAS_SystemStatus", 0, values)
 
   def _torque_cmd_msg(self, torque, steer_req=1):
@@ -54,24 +43,27 @@ class TestRivianSafetyBase(common.CarSafetyTest, common.DriverTorqueSteeringSafe
     values = {"ESP_Vehicle_Speed": speed * 3.6, "ESP_Status_Counter": self.cnt_speed % 15,
               "ESP_Vehicle_Speed_Q": 1 if quality_flag else 0}
     self.__class__.cnt_speed += 1
-    return self.packer.make_can_msg_safety("ESP_Status", 0, values, fix_checksum=checksum)
+    return self.packer.make_can_msg_safety("ESP_Status", 0, values)
 
   def _speed_msg_2(self, speed, quality_flag=True):
     # Rivian has a dynamic max torque limit based on speed, so it checks two sources
     return self._user_gas_msg(0, speed, quality_flag)
 
-  def _user_brake_msg(self, brake):
-    values = {"iBESP2_BrakePedalApplied": brake}
+  def _user_brake_msg(self, brake, quality_flag=True):
+    values = {"iBESP2_BrakePedalApplied": brake, "iBESP2_BrakePedalApplied_Q": 1 if quality_flag else 2,
+              "iBESP2_AliveCounter": self.cnt_brake % 15}
+    self.__class__.cnt_brake += 1
     return self.packer.make_can_msg_safety("iBESP2", 0, values)
 
   def _user_gas_msg(self, gas, speed=0, quality_flag=True):
     values = {"VDM_AcceleratorPedalPosition": gas, "VDM_VehicleSpeed": speed * 3.6,
               "VDM_PropStatus_Counter": self.cnt_speed_2 % 15, "VDM_VehicleSpeedQ": 1 if quality_flag else 0}
     self.__class__.cnt_speed_2 += 1
-    return self.packer.make_can_msg_safety("VDM_PropStatus", 0, values, fix_checksum=checksum)
+    return self.packer.make_can_msg_safety("VDM_PropStatus", 0, values)
 
   def _pcm_status_msg(self, enable):
-    values = {"ACM_FeatureStatus": enable, "ACM_Unkown1": 1}
+    values = {"ACM_FeatureStatus": enable, "ACM_Unkown1": 1, "ACM_Status_Counter": self.cnt_pcm % 15}
+    self.__class__.cnt_pcm += 1
     return self.packer.make_can_msg_safety("ACM_Status", 2, values)
 
   def _accel_msg(self, accel: float):
@@ -109,17 +101,37 @@ class TestRivianSafetyBase(common.CarSafetyTest, common.DriverTorqueSteeringSafe
         self.assertFalse(self._rx(msg))
         self.assertFalse(self.safety.get_controls_allowed())
 
+    # The DBC defines counters for the remaining monitored RX messages too.
+    for make_msg in (self._torque_driver_msg, self._user_brake_msg, self._pcm_status_msg):
+      self._reset_safety_hooks()
+      self.safety.set_controls_allowed(True)
+      for _ in range(10):
+        self.assertTrue(self._rx(make_msg(0) if make_msg == self._torque_driver_msg else make_msg(False)))
 
+      msg = make_msg(0) if make_msg == self._torque_driver_msg else make_msg(False)
+      msg[0].data[0] ^= 0xff
+      self.assertFalse(self._rx(msg))
+      self.assertFalse(self.safety.get_controls_allowed())
+
+      if make_msg == self._user_brake_msg:
+        self._reset_safety_hooks()
+        self.safety.set_controls_allowed(True)
+        self.assertFalse(self._rx(self._user_brake_msg(False, quality_flag=False)))
+        self.assertFalse(self.safety.get_controls_allowed())
+
+      # A single bad counter is tolerated, but repeated bad counters must disengage.
+      self._reset_safety_hooks()
+      self.safety.set_controls_allowed(True)
+      for _ in range(7):
+        msg = make_msg(0) if make_msg == self._torque_driver_msg else make_msg(False)
+        msg[0].data[1] &= 0xf0
+        valid = self._rx(msg)
+      self.assertFalse(valid)
+      self.assertFalse(self.safety.get_controls_allowed())
 class TestRivianStockSafety(TestRivianSafetyBase):
 
   LONGITUDINAL = False
 
-  def setUp(self):
-    self.packer = CANPackerSafety("rivian_primary_actuator")
-    self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(CarParams.SafetyModel.rivian, 0)
-    self.safety.init_tests()
-
   def test_adas_status(self):
     # For canceling stock ACC
     for controls_allowed in (True, False):
@@ -127,29 +139,19 @@ class TestRivianStockSafety(TestRivianSafetyBase):
       for interface_status in range(4):
         values = {"VDM_AdasInterfaceStatus": interface_status}
         self.assertTrue(self._tx(self.packer.make_can_msg_safety("VDM_AdasSts", 2, values)))
-
-
 class TestRivianLongitudinalSafety(TestRivianSafetyBase):
 
+  SAFETY_PARAM = RivianSafetyFlags.LONG_CONTROL
+
   TX_MSGS = [[0x120, 0], [0x321, 2], [0x160, 0]]
   RELAY_MALFUNCTION_ADDRS = {0: (0x120, 0x160), 2: (0x321,)}
   FWD_BLACKLISTED_ADDRS = {0: [0x321], 2: [0x120, 0x160]}
+class TestRivianIgnition(common.SafetyTestBase):
+  DBC = "rivian_primary_actuator"
+  SAFETY_MODEL = None
 
-  def setUp(self):
-    self.packer = CANPackerSafety("rivian_primary_actuator")
-    self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(CarParams.SafetyModel.rivian, RivianSafetyFlags.LONG_CONTROL)
-    self.safety.init_tests()
-
-
-class TestRivianIgnition(unittest.TestCase):
   TX_MSGS: list = []
 
-  def setUp(self):
-    self.safety = libsafety_py.libsafety
-    self.safety.init_tests()
-    self.packer = CANPackerSafety("rivian_primary_actuator")
-
   def _msg(self, counter, mode):
     return self.packer.make_can_msg_safety("VDM_OutputSignals", 0,
                                            {"VDM_OutputSigs_Counter": counter,
@@ -171,7 +173,5 @@ class TestRivianIgnition(unittest.TestCase):
     self.safety.ignition_can_hook(self._msg(2, 0))
     self.safety.ignition_can_hook(self._msg(3, 0))
     self.assertFalse(self.safety.get_ignition_can())
-
-
 if __name__ == "__main__":
   unittest.main()
diff --git a/opendbc_repo/opendbc/safety/tests/test_subaru.py b/opendbc_repo/opendbc/safety/tests/test_subaru.py
index 4902efd95..28c24be84 100755
--- a/opendbc_repo/opendbc/safety/tests/test_subaru.py
+++ b/opendbc_repo/opendbc/safety/tests/test_subaru.py
@@ -4,12 +4,8 @@ import unittest
 
 from opendbc.car.subaru.values import SubaruSafetyFlags
 from opendbc.car.structs import CarParams
-from opendbc.safety.tests.libsafety import libsafety_py
 import opendbc.safety.tests.common as common
-from opendbc.safety.tests.common import CANPackerSafety
 from functools import partial
-
-
 class SubaruMsg(enum.IntEnum):
   Brake_Status      = 0x13c
   CruiseControl     = 0x240
@@ -33,8 +29,6 @@ class SubaruMsg(enum.IntEnum):
 SUBARU_MAIN_BUS = 0
 SUBARU_ALT_BUS  = 1
 SUBARU_CAM_BUS  = 2
-
-
 def lkas_tx_msgs(alt_bus, lkas_msg=SubaruMsg.ES_LKAS):
   return [[lkas_msg,                    SUBARU_MAIN_BUS],
           [SubaruMsg.ES_Distance,       alt_bus],
@@ -57,10 +51,10 @@ def gen2_long_additional_tx_msgs():
 
 def fwd_blacklisted_addr(lkas_msg=SubaruMsg.ES_LKAS):
   return {SUBARU_CAM_BUS: [lkas_msg, SubaruMsg.ES_DashStatus, SubaruMsg.ES_LKAS_State, SubaruMsg.ES_Infotainment]}
-
-
 class TestSubaruSafetyBase(common.CarSafetyTest):
-  FLAGS = 0
+  DBC = "subaru_global_2017_generated"
+  SAFETY_MODEL = CarParams.SafetyModel.subaru
+
   RELAY_MALFUNCTION_ADDRS = {SUBARU_MAIN_BUS: (SubaruMsg.ES_LKAS, SubaruMsg.ES_DashStatus, SubaruMsg.ES_LKAS_State,
                                                SubaruMsg.ES_Infotainment)}
   FWD_BLACKLISTED_ADDRS = fwd_blacklisted_addr()
@@ -77,12 +71,6 @@ class TestSubaruSafetyBase(common.CarSafetyTest):
 
   INACTIVE_GAS = 1818
 
-  def setUp(self):
-    self.packer = CANPackerSafety("subaru_global_2017_generated")
-    self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(CarParams.SafetyModel.subaru, self.FLAGS)
-    self.safety.init_tests()
-
   def _set_prev_torque(self, t):
     self.safety.set_desired_torque_last(t)
     self.safety.set_rt_torque_last(t)
@@ -121,8 +109,6 @@ class TestSubaruSafetyBase(common.CarSafetyTest):
             self._rx(self._lkas_button_msg(False, mads_button_press))
             self.assertEqual(enable_mads and mads_button_press in range(1, 4),
                              self.safety.get_controls_allowed_lateral())
-
-
 class TestSubaruStockLongitudinalSafetyBase(TestSubaruSafetyBase):
   def _cancel_msg(self, cancel, cruise_throttle=0):
     values = {"Cruise_Cancel": cancel, "Cruise_Throttle": cruise_throttle}
@@ -181,13 +167,8 @@ class TestSubaruTorqueSafetyBase(TestSubaruSafetyBase, common.DriverTorqueSteeri
   def _torque_cmd_msg(self, torque, steer_req=1):
     values = {"LKAS_Output": torque, "LKAS_Request": steer_req}
     return self.packer.make_can_msg_safety("ES_LKAS", SUBARU_MAIN_BUS, values)
-
-
 class TestSubaruGen1TorqueStockLongitudinalSafety(TestSubaruStockLongitudinalSafetyBase, TestSubaruTorqueSafetyBase):
-  FLAGS = 0
   TX_MSGS = lkas_tx_msgs(SUBARU_MAIN_BUS)
-
-
 class TestSubaruGen2TorqueSafetyBase(TestSubaruTorqueSafetyBase):
   ALT_MAIN_BUS = SUBARU_ALT_BUS
   ALT_CAM_BUS = SUBARU_ALT_BUS
@@ -195,10 +176,9 @@ class TestSubaruGen2TorqueSafetyBase(TestSubaruTorqueSafetyBase):
   MAX_RATE_UP = 35
   MAX_RATE_DOWN = 50
   MAX_TORQUE_LOOKUP = [0], [1500]
-
-
 class TestSubaruGen2TorqueStockLongitudinalSafety(TestSubaruStockLongitudinalSafetyBase, TestSubaruGen2TorqueSafetyBase):
-  FLAGS = SubaruSafetyFlags.GEN2
+  SAFETY_PARAM = SubaruSafetyFlags.GEN2
+
   TX_MSGS = lkas_tx_msgs(SUBARU_ALT_BUS)
 
 
diff --git a/opendbc_repo/opendbc/safety/tests/test_subaru_preglobal.py b/opendbc_repo/opendbc/safety/tests/test_subaru_preglobal.py
index fb96de248..558543755 100755
--- a/opendbc_repo/opendbc/safety/tests/test_subaru_preglobal.py
+++ b/opendbc_repo/opendbc/safety/tests/test_subaru_preglobal.py
@@ -3,13 +3,10 @@ import unittest
 
 from opendbc.car.structs import CarParams
 from opendbc.car.subaru.values import SubaruSafetyFlags
-from opendbc.safety.tests.libsafety import libsafety_py
 import opendbc.safety.tests.common as common
-from opendbc.safety.tests.common import CANPackerSafety
-
-
 class TestSubaruPreglobalSafety(common.CarSafetyTest, common.DriverTorqueSteeringSafetyTest):
-  FLAGS = 0
+  SAFETY_MODEL = CarParams.SafetyModel.subaruPreglobal
+
   DBC = "subaru_outback_2015_generated"
   TX_MSGS = [[0x161, 0], [0x164, 0]]
   RELAY_MALFUNCTION_ADDRS = {0: (0x164, 0x161)}
@@ -24,12 +21,6 @@ class TestSubaruPreglobalSafety(common.CarSafetyTest, common.DriverTorqueSteerin
   DRIVER_TORQUE_ALLOWANCE = 75
   DRIVER_TORQUE_FACTOR = 10
 
-  def setUp(self):
-    self.packer = CANPackerSafety(self.DBC)
-    self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(CarParams.SafetyModel.subaruPreglobal, self.FLAGS)
-    self.safety.init_tests()
-
   def _set_prev_torque(self, t):
     self.safety.set_desired_torque_last(t)
     self.safety.set_rt_torque_last(t)
@@ -58,12 +49,9 @@ class TestSubaruPreglobalSafety(common.CarSafetyTest, common.DriverTorqueSteerin
   def _pcm_status_msg(self, enable):
     values = {"Cruise_Activated": enable}
     return self.packer.make_can_msg_safety("CruiseControl", 0, values)
-
-
 class TestSubaruPreglobalReversedDriverTorqueSafety(TestSubaruPreglobalSafety):
-  FLAGS = SubaruSafetyFlags.PREGLOBAL_REVERSED_DRIVER_TORQUE
+  SAFETY_PARAM = SubaruSafetyFlags.PREGLOBAL_REVERSED_DRIVER_TORQUE
+
   DBC = "subaru_outback_2019_generated"
-
-
 if __name__ == "__main__":
   unittest.main()
diff --git a/opendbc_repo/opendbc/safety/tests/test_tesla.py b/opendbc_repo/opendbc/safety/tests/test_tesla.py
index b8879c2f1..c18c4ca28 100755
--- a/opendbc_repo/opendbc/safety/tests/test_tesla.py
+++ b/opendbc_repo/opendbc/safety/tests/test_tesla.py
@@ -10,8 +10,8 @@ from opendbc.car.tesla.carcontroller import get_safety_CP
 from opendbc.car.structs import CarParams
 from opendbc.car.vehicle_model import VehicleModel
 from opendbc.can import CANDefine
-from opendbc.safety.tests.libsafety import libsafety_py
 import opendbc.safety.tests.common as common
+from opendbc.safety.tests.libsafety import libsafety_py
 from opendbc.safety.tests.common import CANPackerSafety, MAX_SPEED_DELTA, MAX_WRONG_COUNTERS, away_round, round_speed
 
 from opendbc.sunnypilot.car.tesla.values import TeslaSafetyFlagsSP
@@ -19,17 +19,15 @@ from opendbc.sunnypilot.car.tesla.values import TeslaSafetyFlagsSP
 MSG_DAS_steeringControl = 0x488
 MSG_APS_eacMonitor = 0x27d
 MSG_DAS_Control = 0x2b9
-
-
 def round_angle(apply_angle, can_offset=0):
   apply_angle_can = (apply_angle + 1638.35) / 0.1 + can_offset
   # 0.49999_ == 0.5
   rnd_offset = 1e-5 if apply_angle >= 0 else -1e-5
   return away_round(apply_angle_can + rnd_offset) * 0.1 - 1638.35
-
-
 class TestTeslaSafetyBase(common.CarSafetyTest, common.AngleSteeringSafetyTest, common.LongitudinalAccelSafetyTest):
-  SAFETY_PARAM = 0
+
+  DBC = "tesla_model3_party"
+  SAFETY_MODEL = CarParams.SafetyModel.tesla
 
   RELAY_MALFUNCTION_ADDRS = {0: (MSG_DAS_steeringControl, MSG_APS_eacMonitor)}
   FWD_BLACKLISTED_ADDRS = {2: [MSG_DAS_steeringControl, MSG_APS_eacMonitor]}
@@ -56,34 +54,27 @@ class TestTeslaSafetyBase(common.CarSafetyTest, common.AngleSteeringSafetyTest,
   MIN_ACCEL = -3.48
   INACTIVE_ACCEL = 0.0
 
-  cnt_epas = 0
   cnt_angle_cmd = 0
 
-  packer: CANPackerSafety
-
   def _get_steer_cmd_angle_max(self, speed):
     return get_max_angle_vm(max(speed, 1), self.VM, CarControllerParams)
 
   def setUp(self):
+    super().setUp()
     self.VM = VehicleModel(get_safety_CP())
-    self.packer = CANPackerSafety("tesla_model3_party")
-    self.define = CANDefine("tesla_model3_party")
+    self.define = CANDefine(self.DBC)
     self.acc_states = {d: v for v, d in self.define.dv["DAS_control"]["DAS_accState"].items()}
     self.autopark_states = {d: v for v, d in self.define.dv["DI_state"]["DI_autoparkState"].items()}
     self.active_autopark_states = [self.autopark_states[s] for s in ('ACTIVE', 'COMPLETE', 'SELFPARK_STARTED')]
 
     self.steer_control_types = {d: v for v, d in self.define.dv["DAS_steeringControl"]["DAS_steeringControlType"].items()}
 
-    self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(CarParams.SafetyModel.tesla, self.SAFETY_PARAM)
-    self.safety.init_tests()
-
   def _angle_cmd_msg(self, angle: float, state: bool | int, increment_timer: bool = True, bus: int = 0):
     # If FSD 14, translate steer control type to new flipped definition
     if self.safety.get_current_safety_param() & TeslaSafetyFlags.FSD_14:
       state = get_steer_ctrl_type(TeslaFlags.FSD_14, int(state))
 
-    values = {"DAS_steeringAngleRequest": angle, "DAS_steeringControlType": state}
+    values = {"DAS_steeringAngleRequest": angle, "DAS_steeringControlType": int(state)}
     if increment_timer:
       self.safety.set_timer(self.cnt_angle_cmd * int(1e6 / self.LATERAL_FREQUENCY))
       self.__class__.cnt_angle_cmd += 1
@@ -91,9 +82,7 @@ class TestTeslaSafetyBase(common.CarSafetyTest, common.AngleSteeringSafetyTest,
 
   def _angle_meas_msg(self, angle: float, hands_on_level: int = 0, eac_status: int = 1, eac_error_code: int = 0):
     values = {"EPAS3S_internalSAS": angle, "EPAS3S_handsOnLevel": hands_on_level,
-              "EPAS3S_eacStatus": eac_status, "EPAS3S_eacErrorCode": eac_error_code,
-              "EPAS3S_sysStatusCounter": self.cnt_epas % 16}
-    self.__class__.cnt_epas += 1
+              "EPAS3S_eacStatus": eac_status, "EPAS3S_eacErrorCode": eac_error_code}
     return self.packer.make_can_msg_safety("EPAS3S_sysStatus", 0, values)
 
   def _user_brake_msg(self, brake, quality_flag: bool = True):
@@ -272,9 +261,9 @@ class TestTeslaSafetyBase(common.CarSafetyTest, common.AngleSteeringSafetyTest,
       self.assertEqual(self.LONGITUDINAL, self._tx(self._long_control_msg(0, acc_state=self.acc_states["ACC_ON"])))
 
   def test_steering_control_type(self):
-    # Only angle control is allowed (no LANE_KEEP_ASSIST or EMERGENCY_LANE_KEEP)
+    # Only angle control is allowed (no LANE_KEEP_ASSIST, EMERGENCY_LANE_KEEP, or FSD)
     self.safety.set_controls_allowed(True)
-    for steer_control_type in range(4):
+    for steer_control_type in range(8):
       should_tx = steer_control_type in (self.steer_control_types["NONE"],
                                          self.steer_control_types["ANGLE_CONTROL"],
                                          self.steer_control_types["LANE_KEEP_ASSIST"])
@@ -366,8 +355,6 @@ class TestTeslaSafetyBase(common.CarSafetyTest, common.AngleSteeringSafetyTest,
 
         # Recover
         self.assertTrue(self._tx(self._angle_cmd_msg(0, True)))
-
-
 class TestTeslaStockSafety(TestTeslaSafetyBase):
 
   LONGITUDINAL = False
@@ -459,13 +446,11 @@ class TestTeslaFSD14LongitudinalSafety(TestTeslaLongitudinalSafety):
   SAFETY_PARAM = TeslaSafetyFlags.LONG_CONTROL | TeslaSafetyFlags.FSD_14
 
 
-class TestTeslaIgnition(unittest.TestCase):
-  TX_MSGS: list = []
+class TestTeslaIgnition(common.SafetyTestBase):
+  DBC = "tesla_model3_party"
+  SAFETY_MODEL = None
 
-  def setUp(self):
-    self.safety = libsafety_py.libsafety
-    self.safety.init_tests()
-    self.packer = CANPackerSafety("tesla_model3_party")
+  TX_MSGS: list = []
 
   def _msg(self, counter, state):
     return self.packer.make_can_msg_safety("VCFRONT_LVPowerState", 0,
@@ -488,8 +473,6 @@ class TestTeslaIgnition(unittest.TestCase):
     self.safety.ignition_can_hook(self._msg(2, 2))
     self.safety.ignition_can_hook(self._msg(3, 2))
     self.assertFalse(self.safety.get_ignition_can())
-
-
 class TestTeslaVehicleBusSafety(TestTeslaSafetyBase):
 
   LONGITUDINAL = False
@@ -540,6 +523,25 @@ class TestTeslaVehicleBusSafety(TestTeslaSafetyBase):
         self._rx(self._touch_points_msg(actual))
         self.assertEqual(-1, self.safety.get_mads_button_press())  # UNAVAILABLE
 
+  def test_vehicle_bus_rx_checks_valid(self):
+    """The 2 Hz 0x3DF VEHICLE bus check must not flag the RX checks invalid."""
+    # keep every message on the same fake clock, the shared safety lib carries time across tests
+    self.safety.set_timer(0)
+    # feed every message of the VEHICLE bus config so each RX check has been seen
+    self._rx(self._speed_msg(0))
+    self._rx(self._speed_msg_2(0))
+    self._rx(self._user_gas_msg(0))
+    self._rx(self._user_brake_msg(False))
+    self._rx(self._pcm_status_msg(False))
+    self._rx(self._angle_meas_msg(0))
+    self._rx(self.packer.make_can_msg_safety("UI_warning", 0, {}))
+    self._rx(self._long_control_msg(0, bus=2))
+    self._rx(self._angle_cmd_msg(0, 0, increment_timer=False, bus=2))
+    self._rx(self._touch_points_msg(0))
+
+    self.safety.safety_tick()
+    self.assertFalse(self.safety.get_safety_rx_checks_invalid())
+
 
 if __name__ == "__main__":
   unittest.main()
diff --git a/opendbc_repo/opendbc/safety/tests/test_toyota.py b/opendbc_repo/opendbc/safety/tests/test_toyota.py
index c849d602f..04a5dcb99 100755
--- a/opendbc_repo/opendbc/safety/tests/test_toyota.py
+++ b/opendbc_repo/opendbc/safety/tests/test_toyota.py
@@ -25,10 +25,11 @@ UNSUPPORTED_DSU = [
   {"SAFETY_PARAM_SP": ToyotaSafetyFlagsSP.DEFAULT},
   {"SAFETY_PARAM_SP": ToyotaSafetyFlagsSP.UNSUPPORTED_DSU},
 ]
-
-
 class TestToyotaSafetyBase(common.CarSafetyTest, common.LongitudinalAccelSafetyTest):
 
+  DBC = "toyota_nodsu_pt_generated"
+  SAFETY_MODEL = CarParams.SafetyModel.toyota
+
   TX_MSGS = TOYOTA_COMMON_TX_MSGS + TOYOTA_COMMON_LONG_TX_MSGS
   RELAY_MALFUNCTION_ADDRS = {0: (0x2E4, 0x191, 0x412, 0x343)}
   FWD_BLACKLISTED_ADDRS = {2: [0x2E4, 0x412, 0x191, 0x343]}
@@ -151,8 +152,6 @@ class TestToyotaSafetyBase(common.CarSafetyTest, common.LongitudinalAccelSafetyT
     # OVERRIDDEN: 72.22_ is the max speed in m/s
     self._common_measurement_test(self._speed_msg, 0, 259 / 3.6, 1,
                                   self.safety.get_vehicle_speed_min, self.safety.get_vehicle_speed_max)
-
-
 class TestToyotaSafetyGasInterceptorBase(GasInterceptorSafetyTest, TestToyotaSafetyBase):
 
   TX_MSGS = TOYOTA_COMMON_TX_MSGS + TOYOTA_COMMON_LONG_TX_MSGS + GAS_INTERCEPTOR_TX_MSGS
@@ -179,8 +178,6 @@ class TestToyotaSafetyGasInterceptorBase(GasInterceptorSafetyTest, TestToyotaSaf
       with self.subTest(test=test.__name__):
         with self.assertRaises(AssertionError):
           test()
-
-
 @parameterized_class(UNSUPPORTED_DSU)
 class TestToyotaSafetyTorque(TestToyotaSafetyBase, common.MotorTorqueSteeringSafetyTest, common.SteerRequestCutSafetyTest):
 
@@ -195,6 +192,10 @@ class TestToyotaSafetyTorque(TestToyotaSafetyBase, common.MotorTorqueSteeringSaf
   MIN_VALID_STEERING_FRAMES = 17
   MAX_INVALID_STEERING_FRAMES = 1
 
+  @property
+  def SAFETY_PARAM(self):
+    return self.EPS_SCALE
+
   @classmethod
   def setUpClass(cls):
     if cls.__name__ == "TestToyotaSafetyTorque":
@@ -202,13 +203,8 @@ class TestToyotaSafetyTorque(TestToyotaSafetyBase, common.MotorTorqueSteeringSaf
       raise unittest.SkipTest
 
   def setUp(self):
-    self.packer = CANPackerSafety("toyota_nodsu_pt_generated")
-    self.safety = libsafety_py.libsafety
+    super().setUp()
     self.safety.set_current_safety_param_sp(self.SAFETY_PARAM_SP)
-    self.safety.set_safety_hooks(CarParams.SafetyModel.toyota, self.EPS_SCALE)
-    self.safety.init_tests()
-
-
 @parameterized_class(UNSUPPORTED_DSU)
 class TestToyotaSafetyTorqueGasInterceptor(TestToyotaSafetyGasInterceptorBase, TestToyotaSafetyTorque):
 
@@ -217,8 +213,6 @@ class TestToyotaSafetyTorqueGasInterceptor(TestToyotaSafetyGasInterceptorBase, T
     if cls.__name__ == "TestToyotaSafetyTorqueGasInterceptor":
       cls.safety = None
       raise unittest.SkipTest
-
-
 class TestToyotaSafetyAngle(TestToyotaSafetyBase, common.AngleSteeringSafetyTest):
 
   # Angle control limits
@@ -233,11 +227,9 @@ class TestToyotaSafetyAngle(TestToyotaSafetyBase, common.AngleSteeringSafetyTest
   MAX_MEAS_TORQUE = 1500  # max allowed measured EPS torque before wind down
   MAX_LTA_DRIVER_TORQUE = 150  # max allowed driver torque before wind down
 
-  def setUp(self):
-    self.packer = CANPackerSafety("toyota_nodsu_pt_generated")
-    self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(CarParams.SafetyModel.toyota, self.EPS_SCALE | ToyotaSafetyFlags.LTA)
-    self.safety.init_tests()
+  @property
+  def SAFETY_PARAM(self):
+    return self.EPS_SCALE | ToyotaSafetyFlags.LTA
 
   # Only allow LKA msgs with no actuation
   def test_lka_steer_cmd(self):
@@ -328,15 +320,17 @@ class TestToyotaSafetyAngle(TestToyotaSafetyBase, common.AngleSteeringSafetyTest
         self._rx(self._angle_meas_msg(0))
         self.assertEqual(self.safety.get_angle_meas_min(), 0)
         self.assertEqual(self.safety.get_angle_meas_max(), 0)
-
-
 class TestToyotaSafetyAngleGasInterceptor(TestToyotaSafetyGasInterceptorBase, TestToyotaSafetyAngle):
   pass
-
-
 @parameterized_class(UNSUPPORTED_DSU)
 class TestToyotaAltBrakeSafety(TestToyotaSafetyTorque):
 
+  DBC = "toyota_new_mc_pt_generated"
+
+  @property
+  def SAFETY_PARAM(self):
+    return self.EPS_SCALE | ToyotaSafetyFlags.ALT_BRAKE
+
   @classmethod
   def setUpClass(cls):
     if cls.__name__ == "TestToyotaAltBrakeSafety":
@@ -344,11 +338,8 @@ class TestToyotaAltBrakeSafety(TestToyotaSafetyTorque):
       raise unittest.SkipTest
 
   def setUp(self):
-    self.packer = CANPackerSafety("toyota_new_mc_pt_generated")
-    self.safety = libsafety_py.libsafety
+    super().setUp()
     self.safety.set_current_safety_param_sp(self.SAFETY_PARAM_SP)
-    self.safety.set_safety_hooks(CarParams.SafetyModel.toyota, self.EPS_SCALE | ToyotaSafetyFlags.ALT_BRAKE)
-    self.safety.init_tests()
 
   def _user_brake_msg(self, brake):
     values = {"BRAKE_PRESSED": brake}
@@ -357,8 +348,6 @@ class TestToyotaAltBrakeSafety(TestToyotaSafetyTorque):
   # No LTA message in the DBC
   def test_lta_steer_cmd(self):
     pass
-
-
 @parameterized_class(UNSUPPORTED_DSU)
 class TestToyotaAltBrakeSafetyGasInterceptor(TestToyotaSafetyGasInterceptorBase, TestToyotaAltBrakeSafety):
 
@@ -371,8 +360,6 @@ class TestToyotaAltBrakeSafetyGasInterceptor(TestToyotaSafetyGasInterceptorBase,
   # No LTA message in the DBC
   def test_lta_steer_cmd(self):
     pass
-
-
 class TestToyotaStockLongitudinalBase(TestToyotaSafetyBase):
 
   TX_MSGS = TOYOTA_COMMON_TX_MSGS
@@ -398,11 +385,13 @@ class TestToyotaStockLongitudinalBase(TestToyotaSafetyBase):
         self.assertFalse(self._tx(self._accel_msg_343(accel)))
         should_tx = np.isclose(accel, self.INACTIVE_ACCEL, atol=0.0001)
         self.assertEqual(should_tx, self._tx(self._accel_msg_343(accel, cancel_req=1)))
-
-
 @parameterized_class(UNSUPPORTED_DSU)
 class TestToyotaStockLongitudinalTorque(TestToyotaStockLongitudinalBase, TestToyotaSafetyTorque):
 
+  @property
+  def SAFETY_PARAM(self):
+    return self.EPS_SCALE | ToyotaSafetyFlags.STOCK_LONGITUDINAL
+
   @classmethod
   def setUpClass(cls):
     if cls.__name__ == "TestToyotaStockLongitudinalTorque":
@@ -410,35 +399,24 @@ class TestToyotaStockLongitudinalTorque(TestToyotaStockLongitudinalBase, TestToy
       raise unittest.SkipTest
 
   def setUp(self):
-    self.packer = CANPackerSafety("toyota_nodsu_pt_generated")
-    self.safety = libsafety_py.libsafety
+    super().setUp()
     self.safety.set_current_safety_param_sp(self.SAFETY_PARAM_SP)
-    self.safety.set_safety_hooks(CarParams.SafetyModel.toyota, self.EPS_SCALE | ToyotaSafetyFlags.STOCK_LONGITUDINAL)
-    self.safety.init_tests()
-
-
 class TestToyotaStockLongitudinalAngle(TestToyotaStockLongitudinalBase, TestToyotaSafetyAngle):
 
-  def setUp(self):
-    self.packer = CANPackerSafety("toyota_nodsu_pt_generated")
-    self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(CarParams.SafetyModel.toyota,
-                                 self.EPS_SCALE | ToyotaSafetyFlags.STOCK_LONGITUDINAL | ToyotaSafetyFlags.LTA)
-    self.safety.init_tests()
-
-
+  @property
+  def SAFETY_PARAM(self):
+    return self.EPS_SCALE | ToyotaSafetyFlags.STOCK_LONGITUDINAL | ToyotaSafetyFlags.LTA
 class TestToyotaSecOcSafetyBase(TestToyotaSafetyBase):
 
+  DBC = "toyota_secoc_pt_generated"
+
   TX_MSGS = TOYOTA_SECOC_TX_MSGS
   RELAY_MALFUNCTION_ADDRS = {0: (0x2E4, 0x191, 0x412, 0x131)}
   FWD_BLACKLISTED_ADDRS = {2: [0x2E4, 0x191, 0x412, 0x131]}
 
-  def setUp(self):
-    self.packer = CANPackerSafety("toyota_secoc_pt_generated")
-    self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(CarParams.SafetyModel.toyota,
-                                 self.EPS_SCALE | ToyotaSafetyFlags.SECOC)
-    self.safety.init_tests()
+  @property
+  def SAFETY_PARAM(self):
+    return self.EPS_SCALE | ToyotaSafetyFlags.SECOC
 
   def test_diagnostics(self, ecu_disabled: bool = False):
     super().test_diagnostics(ecu_disabled=ecu_disabled)
@@ -469,29 +447,16 @@ class TestToyotaSecOcSafetyBase(TestToyotaSafetyBase):
 
   def _accel_msg(self, accel, cancel_req=0):
     return self._accel_msg_183(accel)
-
-
 class TestToyotaSecOcSafetyStockLongitudinal(TestToyotaSecOcSafetyBase, TestToyotaStockLongitudinalBase):
 
-  def setUp(self):
-    self.packer = CANPackerSafety("toyota_secoc_pt_generated")
-    self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(CarParams.SafetyModel.toyota,
-                                 self.EPS_SCALE | ToyotaSafetyFlags.STOCK_LONGITUDINAL | ToyotaSafetyFlags.SECOC)
-    self.safety.init_tests()
-
-
+  @property
+  def SAFETY_PARAM(self):
+    return self.EPS_SCALE | ToyotaSafetyFlags.STOCK_LONGITUDINAL | ToyotaSafetyFlags.SECOC
 class TestToyotaSecOcSafety(TestToyotaSecOcSafetyBase):
 
   RELAY_MALFUNCTION_ADDRS = {0: (0x2E4, 0x191, 0x412, 0x131, 0x343, 0x183)}
   FWD_BLACKLISTED_ADDRS = {2: [0x2E4, 0x191, 0x412, 0x131, 0x343, 0x183]}
 
-  def setUp(self):
-    self.packer = CANPackerSafety("toyota_secoc_pt_generated")
-    self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(CarParams.SafetyModel.toyota, self.EPS_SCALE | ToyotaSafetyFlags.SECOC)
-    self.safety.init_tests()
-
   @unittest.skip("test not applicable for cars without a DSU")
   def test_block_aeb(self, stock_longitudinal: bool = False):
     pass
@@ -507,7 +472,5 @@ class TestToyotaSecOcSafety(TestToyotaSecOcSafetyBase):
         should_tx = np.isclose(accel, self.INACTIVE_ACCEL, atol=0.0001)
         self.assertEqual(should_tx, self._tx(self._accel_msg_343(accel)))
         self.assertEqual(should_tx, self._tx(self._accel_msg_343(accel, cancel_req=1)))
-
-
 if __name__ == "__main__":
   unittest.main()
diff --git a/opendbc_repo/opendbc/safety/tests/test_volkswagen_meb.py b/opendbc_repo/opendbc/safety/tests/test_volkswagen_meb.py
index e8475ac7f..3a706074b 100644
--- a/opendbc_repo/opendbc/safety/tests/test_volkswagen_meb.py
+++ b/opendbc_repo/opendbc/safety/tests/test_volkswagen_meb.py
@@ -4,9 +4,7 @@ import unittest
 
 from opendbc.car.structs import CarParams
 from opendbc.car.volkswagen.values import VolkswagenSafetyFlags
-from opendbc.safety.tests.libsafety import libsafety_py
 import opendbc.safety.tests.common as common
-from opendbc.safety.tests.common import CANPackerSafety
 
 MAX_ACCEL = 2.0
 MIN_ACCEL = -3.5
@@ -28,8 +26,6 @@ MSG_TA_01      = 0x26B
 MSG_ACC_19     = 0x300
 MSG_HCA_03     = 0x303
 MSG_LDW_02     = 0x397
-
-
 class TestVolkswagenMebSafetyBase(common.CarSafetyTest, common.CurvatureSteeringSafetyTest):
   STANDSTILL_THRESHOLD = 0
 
@@ -193,19 +189,19 @@ class TestVolkswagenMebSafetyBase(common.CarSafetyTest, common.CurvatureSteering
     for name in ("LH_EPS_03", "Motor_14", "GRA_ACC_01", "QFK_01", "ESP_21", "Motor_51", "ESC_51"):
       with self.subTest(msg=name):
         # an expected counter sequence is always accepted, and clears the wrong counter count
-        next_counter = common.MAX_WRONG_COUNTERS + 1
-        for counter in range(next_counter):
-          self.assertTrue(self._rx(self.packer.make_can_msg_safety(name, 0, {"COUNTER": counter})))
+        for _ in range(common.MAX_WRONG_COUNTERS + 1):
+          self.assertTrue(self._rx(self.packer.make_can_msg_safety(name, 0, {})))
 
         # mess with the checksum to make it fail, it's the first byte of every MEB message
-        msg = self.packer.make_can_msg_safety(name, 0, {"COUNTER": next_counter})
+        msg = self.packer.make_can_msg_safety(name, 0, {})
         msg[0].data[0] ^= 0xFF
         self.assertFalse(self._rx(msg))
 
         # a stuck counter fails as well, its checksum is still correct
+        msg[0].data[0] ^= 0xFF
         for i in range(common.MAX_WRONG_COUNTERS):
           should_rx = i < common.MAX_WRONG_COUNTERS - 1
-          self.assertEqual(should_rx, self._rx(self.packer.make_can_msg_safety(name, 0, {"COUNTER": next_counter})))
+          self.assertEqual(should_rx, self._rx(msg))
 
   def test_main_switch_off_disables_controls(self):
     self.safety.set_controls_allowed(True)
@@ -258,9 +254,10 @@ class TestVolkswagenMebSafetyBase(common.CarSafetyTest, common.CurvatureSteering
             # controls_allowed is checked if actuation bit is 1, else the curvature must be zero (inactive)
             should_tx = controls_allowed if steer_req else round(curvature_cmd * self.CURVATURE_TO_CAN) == 0
             self.assertEqual(should_tx, self._tx(self._curvature_cmd_msg(curvature_cmd, steer_req=steer_req, power=50 if steer_req else 0)))
-
-
 class TestVolkswagenMebSafety(TestVolkswagenMebSafetyBase):
+  DBC = "vw_meb_generated"
+  SAFETY_MODEL = CarParams.SafetyModel.volkswagenMeb
+
   TX_MSGS = [[MSG_HCA_03, 0], [MSG_LDW_02, 0], [MSG_ACC_19, 0], [MSG_ACC_18, 0],
              [MSG_TA_01, 0], [MSG_KLR_01, 0], [MSG_KLR_01, 2]]
   FWD_BLACKLISTED_ADDRS = {0: [MSG_KLR_01],
@@ -271,12 +268,6 @@ class TestVolkswagenMebSafety(TestVolkswagenMebSafetyBase):
   ACCEL_OVERRIDE = 0
   INACTIVE_ACCEL = 3.01
 
-  def setUp(self):
-    self.packer = CANPackerSafety("vw_meb_generated")
-    self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(CarParams.SafetyModel.volkswagenMeb, 0)
-    self.safety.init_tests()
-
   # stock cruise controls are entirely bypassed under openpilot longitudinal control
   def test_disable_control_allowed_from_cruise(self):
     pass
@@ -357,24 +348,16 @@ class TestVolkswagenMebSafety(TestVolkswagenMebSafetyBase):
         self.safety.set_controls_allowed(controls_allowed)
         send = controls_allowed or acc_status not in (ACC_AKTIV_REGELT, ACC_OVERRIDE)
         self.assertEqual(send, self._tx(self._accel_msg(self.INACTIVE_ACCEL, acc_status=acc_status)))
-
-
 class TestVolkswagenMebGen2Safety(TestVolkswagenMebSafety):
-  def setUp(self):
-    self.packer = CANPackerSafety("vw_meb_2024_generated")
-    self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(CarParams.SafetyModel.volkswagenMeb, VolkswagenSafetyFlags.MEB_ALT_CRC)
-    self.safety.init_tests()
-
+  DBC = "vw_meb_2024_generated"
 
+  SAFETY_PARAM = VolkswagenSafetyFlags.MEB_ALT_CRC
 # ZAS_Kl_15=1
-class TestVolkswagenMebIgnition(unittest.TestCase):
-  TX_MSGS: list = []
+class TestVolkswagenMebIgnition(common.SafetyTestBase):
+  DBC = "vw_meb_generated"
+  SAFETY_MODEL = None
 
-  def setUp(self):
-    self.safety = libsafety_py.libsafety
-    self.safety.init_tests()
-    self.packer = CANPackerSafety("vw_meb_generated")
+  TX_MSGS: list = []
 
   def _msg(self, counter, ign):
     return self.packer.make_can_msg_safety("Klemmen_Status_01", 0,
@@ -396,7 +379,5 @@ class TestVolkswagenMebIgnition(unittest.TestCase):
     self.safety.ignition_can_hook(self._msg(2, 0))
     self.safety.ignition_can_hook(self._msg(3, 0))
     self.assertFalse(self.safety.get_ignition_can())
-
-
 if __name__ == "__main__":
   unittest.main()
diff --git a/opendbc_repo/opendbc/safety/tests/test_volkswagen_mlb.py b/opendbc_repo/opendbc/safety/tests/test_volkswagen_mlb.py
index 57bb93a77..f33239d99 100755
--- a/opendbc_repo/opendbc/safety/tests/test_volkswagen_mlb.py
+++ b/opendbc_repo/opendbc/safety/tests/test_volkswagen_mlb.py
@@ -1,15 +1,11 @@
 #!/usr/bin/env python3
 import unittest
 from opendbc.car.structs import CarParams
-from opendbc.safety.tests.libsafety import libsafety_py
 import opendbc.safety.tests.common as common
-from opendbc.safety.tests.common import CANPackerSafety
 
 MSG_LS_01 = 0x10B       # TX by OP, ACC control buttons for cancel/resume
 MSG_HCA_01 = 0x126      # TX by OP, Heading Control Assist steering torque
 MSG_LDW_02 = 0x397      # TX by OP, Lane line recognition and text alerts
-
-
 class TestVolkswagenMlbSafetyBase(common.CarSafetyTest, common.DriverTorqueSteeringSafetyTest):
   RELAY_MALFUNCTION_ADDRS = {0: (MSG_HCA_01, MSG_LDW_02)}
 
@@ -82,39 +78,14 @@ class TestVolkswagenMlbSafetyBase(common.CarSafetyTest, common.DriverTorqueSteer
       self._rx(self._esp_05_msg(esp_05_signal))
       self.assertEqual(brake_pressed, self.safety.get_brake_pressed_prev(),
                        f"expected {brake_pressed=} with {motor_03_signal=} and {esp_05_signal=}")
-
-  def test_torque_measurements(self):
-    # TODO: make this test work with all cars
-    self._rx(self._torque_driver_msg(50))
-    self._rx(self._torque_driver_msg(-50))
-    self._rx(self._torque_driver_msg(0))
-    self._rx(self._torque_driver_msg(0))
-    self._rx(self._torque_driver_msg(0))
-    self._rx(self._torque_driver_msg(0))
-
-    self.assertEqual(-50, self.safety.get_torque_driver_min())
-    self.assertEqual(50, self.safety.get_torque_driver_max())
-
-    self._rx(self._torque_driver_msg(0))
-    self.assertEqual(0, self.safety.get_torque_driver_max())
-    self.assertEqual(-50, self.safety.get_torque_driver_min())
-
-    self._rx(self._torque_driver_msg(0))
-    self.assertEqual(0, self.safety.get_torque_driver_max())
-    self.assertEqual(0, self.safety.get_torque_driver_min())
-
-
 class TestVolkswagenMlbStockSafety(TestVolkswagenMlbSafetyBase):
+  DBC = "vw_mlb"
+  SAFETY_MODEL = CarParams.SafetyModel.volkswagenMlb
+
   TX_MSGS = [[MSG_HCA_01, 0], [MSG_LDW_02, 0], [MSG_LS_01, 0], [MSG_LS_01, 2]]
   FWD_BLACKLISTED_ADDRS = {2: [MSG_HCA_01, MSG_LDW_02]}
   FWD_BUS_LOOKUP = {0: 2, 2: 0}
 
-  def setUp(self):
-    self.packer = CANPackerSafety("vw_mlb")
-    self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(CarParams.SafetyModel.volkswagenMlb, 0)
-    self.safety.init_tests()
-
   def test_spam_cancel_safety_check(self):
     self.safety.set_controls_allowed(0)
     self.assertTrue(self._tx(self._ls_01_msg(cancel=1)))
@@ -130,7 +101,5 @@ class TestVolkswagenMlbStockSafety(TestVolkswagenMlbSafetyBase):
     self.safety.set_controls_allowed(1)
     self._rx(self._ls_01_msg(cancel=True, bus=0))
     self.assertFalse(self.safety.get_controls_allowed(), "controls allowed after cancel")
-
-
 if __name__ == "__main__":
   unittest.main()
diff --git a/opendbc_repo/opendbc/safety/tests/test_volkswagen_mqb.py b/opendbc_repo/opendbc/safety/tests/test_volkswagen_mqb.py
index 9ef7e261f..72249f879 100755
--- a/opendbc_repo/opendbc/safety/tests/test_volkswagen_mqb.py
+++ b/opendbc_repo/opendbc/safety/tests/test_volkswagen_mqb.py
@@ -2,9 +2,7 @@
 import unittest
 import numpy as np
 from opendbc.car.structs import CarParams
-from opendbc.safety.tests.libsafety import libsafety_py
 import opendbc.safety.tests.common as common
-from opendbc.safety.tests.common import CANPackerSafety
 from opendbc.car.volkswagen.values import VolkswagenSafetyFlags
 
 MAX_ACCEL = 2.0
@@ -17,9 +15,8 @@ MSG_GRA_ACC_01 = 0x12B  # TX by OP, ACC control buttons for cancel/resume
 MSG_ACC_07 = 0x12E      # TX by OP, ACC control instructions to the drivetrain coordinator
 MSG_ACC_02 = 0x30C      # TX by OP, ACC HUD data to the instrument cluster
 MSG_LDW_02 = 0x397      # TX by OP, Lane line recognition and text alerts
-
-
 class TestVolkswagenMqbSafetyBase(common.CarSafetyTest, common.DriverTorqueSteeringSafetyTest):
+  DBC = "vw_mqb"
   RELAY_MALFUNCTION_ADDRS = {0: (MSG_HCA_01, MSG_LDW_02), 2: (MSG_LH_EPS_03,)}
 
   MAX_RATE_UP = 4
@@ -101,38 +98,12 @@ class TestVolkswagenMqbSafetyBase(common.CarSafetyTest, common.DriverTorqueSteer
       self._rx(self._esp_05_msg(esp_05_signal))
       self.assertEqual(brake_pressed, self.safety.get_brake_pressed_prev(),
                        f"expected {brake_pressed=} with {motor_14_signal=} and {esp_05_signal=}")
-
-  def test_torque_measurements(self):
-    # TODO: make this test work with all cars
-    self._rx(self._torque_driver_msg(50))
-    self._rx(self._torque_driver_msg(-50))
-    self._rx(self._torque_driver_msg(0))
-    self._rx(self._torque_driver_msg(0))
-    self._rx(self._torque_driver_msg(0))
-    self._rx(self._torque_driver_msg(0))
-
-    self.assertEqual(-50, self.safety.get_torque_driver_min())
-    self.assertEqual(50, self.safety.get_torque_driver_max())
-
-    self._rx(self._torque_driver_msg(0))
-    self.assertEqual(0, self.safety.get_torque_driver_max())
-    self.assertEqual(-50, self.safety.get_torque_driver_min())
-
-    self._rx(self._torque_driver_msg(0))
-    self.assertEqual(0, self.safety.get_torque_driver_max())
-    self.assertEqual(0, self.safety.get_torque_driver_min())
-
-
 class TestVolkswagenMqbStockSafety(TestVolkswagenMqbSafetyBase):
+  SAFETY_MODEL = CarParams.SafetyModel.volkswagen
+
   TX_MSGS = [[MSG_HCA_01, 0], [MSG_LDW_02, 0], [MSG_LH_EPS_03, 2], [MSG_GRA_ACC_01, 0], [MSG_GRA_ACC_01, 2]]
   FWD_BLACKLISTED_ADDRS = {0: [MSG_LH_EPS_03], 2: [MSG_HCA_01, MSG_LDW_02]}
 
-  def setUp(self):
-    self.packer = CANPackerSafety("vw_mqb")
-    self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(CarParams.SafetyModel.volkswagen, 0)
-    self.safety.init_tests()
-
   def test_spam_cancel_safety_check(self):
     self.safety.set_controls_allowed(0)
     self.assertTrue(self._tx(self._gra_acc_01_msg(cancel=1)))
@@ -141,20 +112,15 @@ class TestVolkswagenMqbStockSafety(TestVolkswagenMqbSafetyBase):
     # do not block resume if we are engaged already
     self.safety.set_controls_allowed(1)
     self.assertTrue(self._tx(self._gra_acc_01_msg(resume=1)))
-
-
 class TestVolkswagenMqbLongSafety(TestVolkswagenMqbSafetyBase):
+  SAFETY_MODEL = CarParams.SafetyModel.volkswagen
+  SAFETY_PARAM = VolkswagenSafetyFlags.LONG_CONTROL
+
   TX_MSGS = [[MSG_HCA_01, 0], [MSG_LDW_02, 0], [MSG_LH_EPS_03, 2], [MSG_ACC_02, 0], [MSG_ACC_06, 0], [MSG_ACC_07, 0]]
   FWD_BLACKLISTED_ADDRS = {0: [MSG_LH_EPS_03], 2: [MSG_HCA_01, MSG_LDW_02, MSG_ACC_02, MSG_ACC_06, MSG_ACC_07]}
   RELAY_MALFUNCTION_ADDRS = {0: (MSG_HCA_01, MSG_LDW_02, MSG_ACC_02, MSG_ACC_06, MSG_ACC_07), 2: (MSG_LH_EPS_03,)}
   INACTIVE_ACCEL = 3.01
 
-  def setUp(self):
-    self.packer = CANPackerSafety("vw_mqb")
-    self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(CarParams.SafetyModel.volkswagen, VolkswagenSafetyFlags.LONG_CONTROL)
-    self.safety.init_tests()
-
   # stock cruise controls are entirely bypassed under openpilot longitudinal control
   def test_disable_control_allowed_from_cruise(self):
     pass
@@ -206,7 +172,5 @@ class TestVolkswagenMqbLongSafety(TestVolkswagenMqbSafetyBase):
         self.assertEqual(send, self._tx(self._acc_07_msg(accel)), (controls_allowed, accel))
         # ensure the optional secondary accel field remains inactive for now
         self.assertEqual(is_inactive_accel, self._tx(self._acc_07_msg(accel, secondary_accel=accel)), (controls_allowed, accel))
-
-
 if __name__ == "__main__":
   unittest.main()
diff --git a/opendbc_repo/opendbc/safety/tests/test_volkswagen_pq.py b/opendbc_repo/opendbc/safety/tests/test_volkswagen_pq.py
index b6b134b77..2dc16d4f1 100755
--- a/opendbc_repo/opendbc/safety/tests/test_volkswagen_pq.py
+++ b/opendbc_repo/opendbc/safety/tests/test_volkswagen_pq.py
@@ -3,18 +3,15 @@ import unittest
 
 from opendbc.car.volkswagen.values import VolkswagenSafetyFlags
 from opendbc.car.structs import CarParams
-from opendbc.safety.tests.libsafety import libsafety_py
 import opendbc.safety.tests.common as common
-from opendbc.safety.tests.common import CANPackerSafety
 
 MSG_HCA_1 = 0x0D2             # TX by OP, Heading Control Assist steering torque
 MSG_ACC_SYSTEM = 0x368        # TX by OP, longitudinal acceleration controls
 MSG_GRA_NEU = 0x38A           # TX by OP, ACC control buttons for cancel/resume
 MSG_ACC_GRA_ANZEIGE = 0x56A   # TX by OP, ACC HUD
 MSG_LDW_1 = 0x5BE             # TX by OP, Lane line recognition and text alerts
-
-
 class TestVolkswagenPqSafetyBase(common.CarSafetyTest, common.DriverTorqueSteeringSafetyTest):
+  DBC = "vw_pq"
   cruise_engaged = False
 
   RELAY_MALFUNCTION_ADDRS = {0: (MSG_HCA_1, MSG_LDW_1)}
@@ -82,39 +79,13 @@ class TestVolkswagenPqSafetyBase(common.CarSafetyTest, common.DriverTorqueSteeri
   def _button_msg(self, _set=False, resume=False, cancel=False, bus=2):
     values = {"GRA_Neu_Setzen": _set, "GRA_Recall": resume, "GRA_Abbrechen": cancel}
     return self.packer.make_can_msg_safety("GRA_Neu", bus, values)
-
-  def test_torque_measurements(self):
-    # TODO: make this test work with all cars
-    self._rx(self._torque_driver_msg(50))
-    self._rx(self._torque_driver_msg(-50))
-    self._rx(self._torque_driver_msg(0))
-    self._rx(self._torque_driver_msg(0))
-    self._rx(self._torque_driver_msg(0))
-    self._rx(self._torque_driver_msg(0))
-
-    self.assertEqual(-50, self.safety.get_torque_driver_min())
-    self.assertEqual(50, self.safety.get_torque_driver_max())
-
-    self._rx(self._torque_driver_msg(0))
-    self.assertEqual(0, self.safety.get_torque_driver_max())
-    self.assertEqual(-50, self.safety.get_torque_driver_min())
-
-    self._rx(self._torque_driver_msg(0))
-    self.assertEqual(0, self.safety.get_torque_driver_max())
-    self.assertEqual(0, self.safety.get_torque_driver_min())
-
-
 class TestVolkswagenPqStockSafety(TestVolkswagenPqSafetyBase):
   # Transmit of GRA_Neu is allowed on bus 0 and 2 to keep compatibility with gateway and camera integration
+  SAFETY_MODEL = CarParams.SafetyModel.volkswagenPq
+
   TX_MSGS = [[MSG_HCA_1, 0], [MSG_GRA_NEU, 0], [MSG_GRA_NEU, 2], [MSG_LDW_1, 0]]
   FWD_BLACKLISTED_ADDRS = {2: [MSG_HCA_1, MSG_LDW_1]}
 
-  def setUp(self):
-    self.packer = CANPackerSafety("vw_pq")
-    self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(CarParams.SafetyModel.volkswagenPq, 0)
-    self.safety.init_tests()
-
   def test_spam_cancel_safety_check(self):
     self.safety.set_controls_allowed(0)
     self.assertTrue(self._tx(self._button_msg(cancel=True)))
@@ -123,20 +94,15 @@ class TestVolkswagenPqStockSafety(TestVolkswagenPqSafetyBase):
     # do not block resume if we are engaged already
     self.safety.set_controls_allowed(1)
     self.assertTrue(self._tx(self._button_msg(resume=True)))
-
-
 class TestVolkswagenPqLongSafety(TestVolkswagenPqSafetyBase, common.LongitudinalAccelSafetyTest):
+  SAFETY_MODEL = CarParams.SafetyModel.volkswagenPq
+  SAFETY_PARAM = VolkswagenSafetyFlags.LONG_CONTROL
+
   TX_MSGS = [[MSG_HCA_1, 0], [MSG_LDW_1, 0], [MSG_ACC_SYSTEM, 0], [MSG_ACC_GRA_ANZEIGE, 0]]
   FWD_BLACKLISTED_ADDRS = {2: [MSG_HCA_1, MSG_LDW_1, MSG_ACC_SYSTEM, MSG_ACC_GRA_ANZEIGE]}
   RELAY_MALFUNCTION_ADDRS = {0: (MSG_HCA_1, MSG_LDW_1, MSG_ACC_SYSTEM, MSG_ACC_GRA_ANZEIGE)}
   INACTIVE_ACCEL = 3.01
 
-  def setUp(self):
-    self.packer = CANPackerSafety("vw_pq")
-    self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(CarParams.SafetyModel.volkswagenPq, VolkswagenSafetyFlags.LONG_CONTROL)
-    self.safety.init_tests()
-
   # stock cruise controls are entirely bypassed under openpilot longitudinal control
   def test_disable_control_allowed_from_cruise(self):
     pass
@@ -181,7 +147,5 @@ class TestVolkswagenPqLongSafety(TestVolkswagenPqSafetyBase, common.Longitudinal
     for enabled_status in (5, 7):
       self.assertTrue(self._tx(self._torque_cmd_msg(self.MAX_RATE_UP, steer_req=1, hca_status=enabled_status)),
                       f"torque cmd rejected with {enabled_status=}")
-
-
 if __name__ == "__main__":
   unittest.main()