diff --git a/panda/board/obj/bootstub.panda.bin b/panda/board/obj/bootstub.panda.bin
new file mode 100644
index 00000000..b60c59c5
Binary files /dev/null and b/panda/board/obj/bootstub.panda.bin differ
diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed
new file mode 100644
index 00000000..83523153
Binary files /dev/null and b/panda/board/obj/panda.bin.signed differ
diff --git a/panda/python/__init__.py b/panda/python/__init__.py
index d8c9de01..671157e7 100644
--- a/panda/python/__init__.py
+++ b/panda/python/__init__.py
@@ -116,23 +116,25 @@ class Panda:
   HW_TYPE_UNKNOWN = b'\x00'
   HW_TYPE_WHITE = b'\x01'
   HW_TYPE_BLACK = b'\x03'
+  HW_TYPE_DOS = b'\x06'
   HW_TYPE_RED_PANDA = b'\x07'
   HW_TYPE_TRES = b'\x09'
   HW_TYPE_CUATRO = b'\x0a'
 
   CAN_PACKET_VERSION = 4
-  HEALTH_PACKET_VERSION = 17
+  HEALTH_PACKET_VERSION = 16
   CAN_HEALTH_PACKET_VERSION = 5
-  HEALTH_STRUCT = struct.Struct("<IIIIIIIIBBBBBHBBBHfBBHHHB")
+  HEALTH_STRUCT = struct.Struct("<IIIIIIIIBBBBBHBBBHfBBHBHHB")
   CAN_HEALTH_STRUCT = struct.Struct("<BIBBBBBBBBIIIIIIIHHBBBIIII")
 
-  F4_DEVICES = [HW_TYPE_WHITE, HW_TYPE_BLACK]
+  F4_DEVICES = [HW_TYPE_WHITE, HW_TYPE_BLACK, HW_TYPE_DOS, ]
   H7_DEVICES = [HW_TYPE_RED_PANDA, HW_TYPE_TRES, HW_TYPE_CUATRO]
-  SUPPORTED_DEVICES = H7_DEVICES
 
-  INTERNAL_DEVICES = (HW_TYPE_TRES, HW_TYPE_CUATRO)
+  INTERNAL_DEVICES = (HW_TYPE_DOS, HW_TYPE_TRES, HW_TYPE_CUATRO)
+  DEPRECATED_DEVICES = (HW_TYPE_WHITE, HW_TYPE_BLACK)
 
   MAX_FAN_RPMs = {
+    HW_TYPE_DOS: 6500,
     HW_TYPE_TRES: 6600,
     HW_TYPE_CUATRO: 12500,
   }
@@ -208,6 +210,23 @@ class Panda:
     if self._handle is None:
       raise Exception("failed to connect to panda")
 
+    # Some fallback logic to determine panda and MCU type for old bootstubs,
+    # since we now support multiple MCUs and need to know which fw to flash.
+    # Three cases to consider:
+    # A) oldest bootstubs don't have any way to distinguish
+    #    MCU or panda type
+    # B) slightly newer (~2 weeks after first C3's built) bootstubs
+    #    have the panda type set in the USB bcdDevice
+    # C) latest bootstubs also implement the endpoint for panda type
+    self._bcd_hw_type = None
+    ret = self._handle.controlRead(Panda.REQUEST_IN, 0xc1, 0, 0, 0x40)
+    missing_hw_type_endpoint = self.bootstub and ret.startswith(b'\xff\x00\xc1\x3e\xde\xad\xd0\x0d')
+    if missing_hw_type_endpoint and bcd is not None:
+      self._bcd_hw_type = bcd
+
+    # For case A, we assume F4 MCU type, since all H7 pandas should be case B at worst
+    self._assume_f4_mcu = (self._bcd_hw_type is None) and missing_hw_type_endpoint
+
     self._serial = serial
     self._connect_serial = serial
     self._handle_open = True
@@ -216,7 +235,7 @@ class Panda:
     logger.debug("connected")
 
     hw_type = self.get_type()
-    if hw_type not in self.SUPPORTED_DEVICES:
+    if hw_type in Panda.DEPRECATED_DEVICES:
       print("WARNING: Using deprecated HW")
 
     # disable openpilot's heartbeat checks
@@ -432,7 +451,7 @@ class Panda:
       handle.controlWrite(Panda.REQUEST_IN, 0xb2, i, 0, b'')
 
     # flash over EP2
-    STEP = 0x200
+    STEP = 0x10
     logger.info("flash: flashing")
     for i in range(0, len(code), STEP):
       handle.bulkWrite(2, code[i:i + STEP])
@@ -450,7 +469,7 @@ class Panda:
       return
 
     hw_type = self.get_type()
-    if hw_type not in self.SUPPORTED_DEVICES:
+    if hw_type in Panda.DEPRECATED_DEVICES:
       raise RuntimeError(f"HW type {hw_type.hex()} is deprecated and can no longer be flashed.")
 
     if not fn:
@@ -556,9 +575,10 @@ class Panda:
       "fan_power": a[19],
       "safety_rx_checks_invalid": a[20],
       "spi_error_count": a[21],
-      "sbu1_voltage_mV": a[22],
-      "sbu2_voltage_mV": a[23],
-      "som_reset_triggered": a[24],
+      "fan_stall_count": a[22],
+      "sbu1_voltage_mV": a[23],
+      "sbu2_voltage_mV": a[24],
+      "som_reset_triggered": a[25],
     }
 
   @ensure_can_health_packet_version
@@ -621,7 +641,16 @@ class Panda:
     return bytes(part_1 + part_2)
 
   def get_type(self):
-    return self._handle.controlRead(Panda.REQUEST_IN, 0xc1, 0, 0, 0x40)
+    ret = self._handle.controlRead(Panda.REQUEST_IN, 0xc1, 0, 0, 0x40)
+
+    # rick - UNO to DOS for lite
+    if ret == bytearray(b'\x05'):
+      ret = bytearray(b'\x06')
+    # old bootstubs don't implement this endpoint, see comment in Panda.device
+    if self._bcd_hw_type is not None and (ret is None or len(ret) != 1):
+      ret = self._bcd_hw_type
+
+    return ret
 
   # Returns tuple with health packet version and CAN packet/USB packet version
   def get_packets_versions(self):
@@ -638,6 +667,11 @@ class Panda:
       return McuType.F4
     elif hw_type in Panda.H7_DEVICES:
       return McuType.H7
+    else:
+      # have to assume F4, see comment in Panda.connect
+      if self._assume_f4_mcu:
+        return McuType.F4
+
     raise ValueError(f"unknown HW type: {hw_type}")
 
   def is_internal(self):
@@ -678,8 +712,8 @@ class Panda:
 
   # ******************* configuration *******************
 
-  def set_alternative_experience(self, alternative_experience, safety_param_sp=0):
-    self._handle.controlWrite(Panda.REQUEST_OUT, 0xdf, int(alternative_experience), int(safety_param_sp), b'')
+  def set_alternative_experience(self, alternative_experience):
+    self._handle.controlWrite(Panda.REQUEST_OUT, 0xdf, int(alternative_experience), 0, b'')
 
   def set_power_save(self, power_save_enabled=0):
     self._handle.controlWrite(Panda.REQUEST_OUT, 0xe7, int(power_save_enabled), 0, b'')
@@ -784,8 +818,8 @@ class Panda:
       ret += self._handle.bulkWrite(2, struct.pack("B", port_number) + ln[i:i + 0x20])
     return ret
 
-  def send_heartbeat(self, engaged=True, engaged_mads=True):
-    self._handle.controlWrite(Panda.REQUEST_OUT, 0xf3, engaged, engaged_mads, b'')
+  def send_heartbeat(self, engaged=True):
+    self._handle.controlWrite(Panda.REQUEST_OUT, 0xf3, engaged, 0, b'')
 
   # disable heartbeat checks for use outside of openpilot
   # sending a heartbeat will reenable the checks
@@ -815,6 +849,8 @@ class Panda:
     self._handle.controlWrite(Panda.REQUEST_OUT, 0xf6, int(enabled), 0, b'')
 
   # ****************** Debug *****************
+  def set_green_led(self, enabled):
+    self._handle.controlWrite(Panda.REQUEST_OUT, 0xf7, int(enabled), 0, b'')
 
   # arr: timer period
   # ccrN: channel N pulse length
diff --git a/selfdrive/pandad/pandad b/selfdrive/pandad/pandad
index d7cb8acd..59f17035 100755
Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ
diff --git a/selfdrive/pandad/pandad.py b/selfdrive/pandad/pandad.py
index f4064ddc..4e49813f 100755
--- a/selfdrive/pandad/pandad.py
+++ b/selfdrive/pandad/pandad.py
@@ -29,12 +29,6 @@ def flash_panda(panda_serial: str) -> Panda:
     HARDWARE.recover_internal_panda()
     raise
 
-  # skip flashing if the detected panda is not supported
-  supported_panda = check_panda_support(panda)
-  if not supported_panda:
-    cloudlog.warning(f"Panda {panda_serial} is not supported (hw_type: {panda.get_type()}), skipping flash...")
-    return panda
-
   fw_signature = get_expected_signature(panda)
   internal_panda = panda.is_internal()
 
@@ -67,14 +61,6 @@ def flash_panda(panda_serial: str) -> Panda:
   return panda
 
 
-def check_panda_support(panda) -> bool:
-  hw_type = panda.get_type()
-  if hw_type in Panda.SUPPORTED_DEVICES:
-    return True
-
-  return False
-
-
 def main() -> None:
   # signal pandad to close the relay and exit
   def signal_handler(signum, frame):
@@ -99,6 +85,11 @@ def main() -> None:
       cloudlog.event("pandad.flash_and_connect", count=count)
       params.remove("PandaSignatures")
 
+      # TODO: remove this in the next AGNOS
+      # wait until USB is up before counting
+      if time.monotonic() < 60.:
+        no_internal_panda_count = 0
+
       # Handle missing internal panda
       if no_internal_panda_count > 0:
         if no_internal_panda_count == 3:
@@ -148,12 +139,6 @@ def main() -> None:
       params.put("PandaSignatures", b','.join(p.get_signature() for p in pandas))
 
       for panda in pandas:
-        # skip health check if the detected panda is not supported
-        supported_panda = check_panda_support(panda)
-        if not supported_panda:
-          cloudlog.warning(f"Panda {panda.get_usb_serial()} is not supported (hw_type: {panda.get_type()}), skipping health check...")
-          continue
-
         # check health for lost heartbeat
         health = panda.health()
         if health["heartbeat_lost"]: