diff --git a/.github/workflows/test.yaml b/.github/workflows/test.yaml
index ee2e144b..82bc2345 100644
--- a/.github/workflows/test.yaml
+++ b/.github/workflows/test.yaml
@@ -80,4 +80,4 @@ jobs:
       - name: tests/misra/install.sh
         run: ${{ env.RUN }} "cd tests/misra && ./install.sh"
       - name: MISRA mutation tests
-        run: ${{ env.RUN }} "cd tests/misra && pytest -n2 test_mutation.py"
+        run: ${{ env.RUN }} "cd tests/misra && pytest test_mutation.py"
diff --git a/.gitignore b/.gitignore
index 378d327f..612b14f7 100644
--- a/.gitignore
+++ b/.gitignore
@@ -22,9 +22,11 @@ nosetests.xml
 .mypy_cache/
 .sconsign.dblite
 uv.lock
+compile_commands.json
 
 # CTU info files generated by Cppcheck
 *.*.ctu-info
+cppcheck-addon-ctu-file-list
 
 # safety coverage-related files
 *.gcda
diff --git a/Dockerfile b/Dockerfile
index 88190b08..a8a80e97 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -1,21 +1,19 @@
 FROM ubuntu:24.04
 
+ENV WORKDIR=/tmp/panda/
 ENV PYTHONUNBUFFERED=1
-ENV PYTHONPATH=/tmp/pythonpath
+ENV PATH="$WORKDIR/.venv/bin:$PATH"
+
+WORKDIR $WORKDIR
 
 # deps install
-COPY pyproject.toml __init__.py setup.sh /tmp/
-COPY python/__init__.py /tmp/python/
-ENV DEBIAN_FRONTEND=noninteractive
-RUN apt-get update && apt-get install -y --no-install-recommends sudo && /tmp/setup.sh
+COPY pyproject.toml __init__.py setup.sh $WORKDIR
+RUN mkdir -p $WORKDIR/python/ && touch $WORKDIR/__init__.py
+RUN apt-get update && apt-get install -y --no-install-recommends sudo && DEBIAN_FRONTEND=noninteractive $WORKDIR/setup.sh
 
-COPY pyproject.toml __init__.py $PYTHONPATH/panda/
-COPY python/__init__.py $PYTHONPATH/panda/python/
-RUN pip3 install --break-system-packages --no-cache-dir $PYTHONPATH/panda/[dev]
+# second pass for the opendbc moving tag
+ARG CACHEBUST=1
+RUN DEBIAN_FRONTEND=noninteractive $WORKDIR/setup.sh
 
-RUN git config --global --add safe.directory $PYTHONPATH/panda
-
-# for Jenkins
-COPY README.md panda.tar.* /tmp/
-RUN mkdir -p /tmp/pythonpath/panda && \
-    tar -xvf /tmp/panda.tar.gz -C /tmp/pythonpath/panda/ || true
+RUN git config --global --add safe.directory $WORKDIR/panda
+COPY . $WORKDIR
diff --git a/Jenkinsfile b/Jenkinsfile
index da692afe..25e386a0 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -4,7 +4,6 @@ def docker_run(String step_label, int timeout_mins, String cmd) {
           --env PYTHONWARNINGS=error \
           --volume /dev/bus/usb:/dev/bus/usb \
           --volume /var/run/dbus:/var/run/dbus \
-          --workdir /tmp/pythonpath/panda \
           --net host \
           ${env.DOCKER_IMAGE_TAG} \
           bash -c 'scons -j8 && ${cmd}'", \
@@ -35,6 +34,9 @@ export PYTHONPATH=${env.TEST_DIR}/../
 export PYTHONWARNINGS=error
 ln -sf /data/openpilot/opendbc_repo/opendbc /data/opendbc
 
+# TODO: this is an agnos issue
+export PYTEST_ADDOPTS="-p no:asyncio"
+
 cd ${env.TEST_DIR} || true
 ${cmd}
 exit 0
@@ -83,8 +85,7 @@ pipeline {
           steps {
             timeout(time: 20, unit: 'MINUTES') {
               script {
-                sh 'git archive -v -o panda.tar.gz --format=tar.gz HEAD'
-                dockerImage = docker.build("${env.DOCKER_IMAGE_TAG}")
+                dockerImage = docker.build("${env.DOCKER_IMAGE_TAG}", "--build-arg CACHEBUST=${env.BUILD_NUMBER} .")
               }
             }
           }
@@ -108,7 +109,7 @@ pipeline {
                   ["build", "scons -j4"],
                   ["flash", "cd scripts/ && ./reflash_internal_panda.py"],
                   ["flash jungle", "cd board/jungle && ./flash.py --all"],
-                  ["test", "cd tests/hitl && HW_TYPES=10 pytest -n0 --durations=0 2*.py [5-9]*.py"],
+                  ["test", "cd tests/hitl && HW_TYPES=10 pytest --durations=0 2*.py [5-9]*.py"],
                 ])
               }
             }
@@ -120,7 +121,7 @@ pipeline {
                   ["build", "scons -j4"],
                   ["flash", "cd scripts/ && ./reflash_internal_panda.py"],
                   ["flash jungle", "cd board/jungle && ./flash.py --all"],
-                  ["test", "cd tests/hitl && HW_TYPES=9 pytest -n0 --durations=0 2*.py [5-9]*.py"],
+                  ["test", "cd tests/hitl && HW_TYPES=9 pytest --durations=0 2*.py [5-9]*.py"],
                 ])
               }
             }
@@ -132,7 +133,7 @@ pipeline {
                   ["build", "scons -j4"],
                   ["flash", "cd scripts/ && ./reflash_internal_panda.py"],
                   ["flash jungle", "cd board/jungle && ./flash.py --all"],
-                  ["test", "cd tests/hitl && HW_TYPES=6 pytest -n0 --durations=0 [2-9]*.py -k 'not test_send_recv'"],
+                  ["test", "cd tests/hitl && HW_TYPES=6 pytest --durations=0 [2-9]*.py -k 'not test_send_recv'"],
                 ])
               }
             }
@@ -140,7 +141,7 @@ pipeline {
             stage('bootkick tests') {
               steps {
                 script {
-                  docker_run("test", 10, "pytest -n0 ./tests/som/test_bootkick.py")
+                  docker_run("test", 10, "pytest ./tests/som/test_bootkick.py")
                 }
               }
             }
diff --git a/SConscript b/SConscript
index 1a4c875b..0fe6723f 100644
--- a/SConscript
+++ b/SConscript
@@ -7,8 +7,6 @@ BUILDER = "DEV"
 
 common_flags = []
 
-panda_root = Dir('.')
-
 if os.getenv("RELEASE"):
   BUILD_TYPE = "RELEASE"
   cert_fn = os.getenv("CERT")
@@ -62,10 +60,10 @@ def to_c_uint32(x):
   return "{" + 'U,'.join(map(str, nums)) + "U}"
 
 
-def build_project(project_name, project, extra_flags):
-  linkerscript_fn = File(project["LINKER_SCRIPT"]).srcnode().relpath
+def build_project(project_name, project, main, extra_flags):
+  project_dir = Dir(f'./board/obj/{project_name}/')
 
-  flags = project["PROJECT_FLAGS"] + extra_flags + common_flags + [
+  flags = project["FLAGS"] + extra_flags + common_flags + [
     "-Wall",
     "-Wextra",
     "-Wstrict-prototypes",
@@ -76,15 +74,10 @@ def build_project(project_name, project, extra_flags):
     "-fno-builtin",
     "-std=gnu11",
     "-fmax-errors=1",
-    f"-T{linkerscript_fn}",
-  ]
-
-  includes = [
-    '.',
-    '..',
-    panda_root,
-    f"{panda_root}/board/",
-    opendbc.INCLUDE_PATH,
+    f"-T{File(project['LINKER_SCRIPT']).srcnode().relpath}",
+    "-fsingle-precision-constant",
+    "-Os",
+    "-g",
   ]
 
   env = Environment(
@@ -93,10 +86,11 @@ def build_project(project_name, project, extra_flags):
     AS=PREFIX + 'gcc',
     OBJCOPY=PREFIX + 'objcopy',
     OBJDUMP=PREFIX + 'objdump',
+    OBJPREFIX=project_dir,
     CFLAGS=flags,
     ASFLAGS=flags,
     LINKFLAGS=flags,
-    CPPPATH=includes,
+    CPPPATH=[Dir("./"), "./board/stm32f4/inc", "./board/stm32h7/inc", opendbc.INCLUDE_PATH],
     ASCOM="$AS $ASFLAGS -o $TARGET -c $SOURCES",
     BUILDERS={
       'Objcopy': Builder(generator=objcopy, suffix='.bin', src_suffix='.elf')
@@ -104,68 +98,57 @@ def build_project(project_name, project, extra_flags):
     tools=["default", "compilation_db"],
   )
 
-  startup = env.Object(f"obj/startup_{project_name}", project["STARTUP_FILE"])
+  startup = env.Object(project["STARTUP_FILE"])
 
-  # Bootstub
-  crypto_obj = [
-    env.Object(f"rsa-{project_name}", f"{panda_root}/crypto/rsa.c"),
-    env.Object(f"sha-{project_name}", f"{panda_root}/crypto/sha.c")
-  ]
-  bootstub_obj = env.Object(f"bootstub-{project_name}", File(project.get("BOOTSTUB", f"{panda_root}/board/bootstub.c")))
-  bootstub_elf = env.Program(f"obj/bootstub.{project_name}.elf",
-                                     [startup] + crypto_obj + [bootstub_obj])
-  env.Objcopy(f"obj/bootstub.{project_name}.bin", bootstub_elf)
+  # Build bootstub
+  bs_env = env.Clone()
+  bs_env.Append(CFLAGS="-DBOOTSTUB", ASFLAGS="-DBOOTSTUB", LINKFLAGS="-DBOOTSTUB")
+  bs_elf = bs_env.Program(f"{project_dir}/bootstub.elf", [
+    startup,
+    "./crypto/rsa.c",
+    "./crypto/sha.c",
+    "./board/bootstub.c",
+  ])
+  bs_env.Objcopy(f"./board/obj/bootstub.{project_name}.bin", bs_elf)
 
-  # Build main
-  main_obj = env.Object(f"main-{project_name}", project["MAIN"])
-  main_elf = env.Program(f"obj/{project_name}.elf", [startup, main_obj],
-    LINKFLAGS=[f"-Wl,--section-start,.isr_vector={project['APP_START_ADDRESS']}"] + flags)
-  main_bin = env.Objcopy(f"obj/{project_name}.bin", main_elf)
-
-  # Sign main
-  sign_py = File(f"{panda_root}/crypto/sign.py").srcnode().relpath
-  env.Command(f"obj/{project_name}.bin.signed", main_bin, f"SETLEN=1 {sign_py} $SOURCE $TARGET {cert_fn}")
+  # Build + sign main (aka app)
+  main_elf = env.Program(f"{project_dir}/main.elf", [
+    startup,
+    main
+  ], LINKFLAGS=[f"-Wl,--section-start,.isr_vector={project['APP_START_ADDRESS']}"] + flags)
+  main_bin = env.Objcopy(f"{project_dir}/main.bin", main_elf)
+  sign_py = File(f"./crypto/sign.py").srcnode().relpath
+  env.Command(f"./board/obj/{project_name}.bin.signed", main_bin, f"SETLEN=1 {sign_py} $SOURCE $TARGET {cert_fn}")
 
 
 base_project_f4 = {
-  "MAIN": "main.c",
-  "STARTUP_FILE": File("./board/stm32f4/startup_stm32f413xx.s"),
-  "LINKER_SCRIPT": File("./board/stm32f4/stm32f4_flash.ld"),
+  "STARTUP_FILE": "./board/stm32f4/startup_stm32f413xx.s",
+  "LINKER_SCRIPT": "./board/stm32f4/stm32f4_flash.ld",
   "APP_START_ADDRESS": "0x8004000",
-  "PROJECT_FLAGS": [
+  "FLAGS": [
     "-mcpu=cortex-m4",
     "-mhard-float",
     "-DSTM32F4",
     "-DSTM32F413xx",
     "-Iboard/stm32f4/inc",
     "-mfpu=fpv4-sp-d16",
-    "-fsingle-precision-constant",
-    "-Os",
-    "-g",
   ],
 }
 
 base_project_h7 = {
-  "MAIN": "main.c",
-  "STARTUP_FILE": File("./board/stm32h7/startup_stm32h7x5xx.s"),
-  "LINKER_SCRIPT": File("./board/stm32h7/stm32h7x5_flash.ld"),
+  "STARTUP_FILE": "./board/stm32h7/startup_stm32h7x5xx.s",
+  "LINKER_SCRIPT": "./board/stm32h7/stm32h7x5_flash.ld",
   "APP_START_ADDRESS": "0x8020000",
-  "PROJECT_FLAGS": [
+  "FLAGS": [
     "-mcpu=cortex-m7",
     "-mhard-float",
     "-DSTM32H7",
     "-DSTM32H725xx",
     "-Iboard/stm32h7/inc",
     "-mfpu=fpv5-d16",
-    "-fsingle-precision-constant",
-    "-Os",
-    "-g",
   ],
 }
 
-Export('base_project_f4', 'base_project_h7', 'build_project')
-
-
 # Common autogenerated includes
 with open("board/obj/gitversion.h", "w") as f:
   version = get_version(BUILDER, BUILD_TYPE)
@@ -181,10 +164,16 @@ with open("board/obj/cert.h", "w") as f:
     f.write("\n".join(cert) + "\n")
 
 # panda fw
-SConscript('board/SConscript')
+build_project("panda", base_project_f4, "./board/main.c", [])
+build_project("panda_h7", base_project_h7, "./board/main.c", [])
 
 # panda jungle fw
-SConscript('board/jungle/SConscript')
+flags = [
+  "-DPANDA_JUNGLE",
+]
+if os.getenv("FINAL_PROVISIONING"):
+  flags += ["-DFINAL_PROVISIONING"]
+build_project("panda_jungle_h7", base_project_h7, "./board/jungle/main.c", flags)
 
 # test files
 if GetOption('extras'):
diff --git a/board/SConscript b/board/SConscript
deleted file mode 100644
index 3ff77648..00000000
--- a/board/SConscript
+++ /dev/null
@@ -1,18 +0,0 @@
-import os
-import copy
-
-Import('build_project', 'base_project_f4', 'base_project_h7')
-
-build_projects = {
-  "panda": base_project_f4,
-  "panda_h7": base_project_h7,
-}
-
-for project_name, project in build_projects.items():
-  flags = [
-    "-DPANDA",
-  ]
-  if ("ENABLE_SPI" in os.environ or "h7" in project_name):
-    flags.append('-DENABLE_SPI')
-
-  build_project(project_name, project, flags)
diff --git a/board/boards/black.h b/board/boards/black.h
deleted file mode 100644
index 3f198179..00000000
--- a/board/boards/black.h
+++ /dev/null
@@ -1,130 +0,0 @@
-#pragma once
-
-#include "board_declarations.h"
-
-// /////////////////////////////// //
-// Black Panda (STM32F4) + Harness //
-// /////////////////////////////// //
-
-static void black_enable_can_transceiver(uint8_t transceiver, bool enabled) {
-  switch (transceiver){
-    case 1U:
-      set_gpio_output(GPIOC, 1, !enabled);
-      break;
-    case 2U:
-      set_gpio_output(GPIOC, 13, !enabled);
-      break;
-    case 3U:
-      set_gpio_output(GPIOA, 0, !enabled);
-      break;
-    case 4U:
-      set_gpio_output(GPIOB, 10, !enabled);
-      break;
-    default:
-      print("Invalid CAN transceiver ("); puth(transceiver); print("): enabling failed\n");
-      break;
-  }
-}
-
-static void black_set_usb_load_switch(bool enabled) {
-  set_gpio_output(GPIOB, 1, !enabled);
-}
-
-static void black_set_can_mode(uint8_t mode) {
-  black_enable_can_transceiver(2U, false);
-  black_enable_can_transceiver(4U, false);
-  switch (mode) {
-    case CAN_MODE_NORMAL:
-    case CAN_MODE_OBD_CAN2:
-      if ((bool)(mode == CAN_MODE_NORMAL) != (bool)(harness.status == HARNESS_STATUS_FLIPPED)) {
-        // B12,B13: disable OBD mode
-        set_gpio_mode(GPIOB, 12, MODE_INPUT);
-        set_gpio_mode(GPIOB, 13, MODE_INPUT);
-
-        // B5,B6: normal CAN2 mode
-        set_gpio_alternate(GPIOB, 5, GPIO_AF9_CAN2);
-        set_gpio_alternate(GPIOB, 6, GPIO_AF9_CAN2);
-        black_enable_can_transceiver(2U, true);
-
-      } else {
-        // B5,B6: disable normal CAN2 mode
-        set_gpio_mode(GPIOB, 5, MODE_INPUT);
-        set_gpio_mode(GPIOB, 6, MODE_INPUT);
-
-        // B12,B13: OBD mode
-        set_gpio_alternate(GPIOB, 12, GPIO_AF9_CAN2);
-        set_gpio_alternate(GPIOB, 13, GPIO_AF9_CAN2);
-        black_enable_can_transceiver(4U, true);
-      }
-      break;
-    default:
-      print("Tried to set unsupported CAN mode: "); puth(mode); print("\n");
-      break;
-  }
-}
-
-static bool black_check_ignition(void){
-  // ignition is checked through harness
-  return harness_check_ignition();
-}
-
-static void black_init(void) {
-  common_init_gpio();
-
-  // A8,A15: normal CAN3 mode
-  set_gpio_alternate(GPIOA, 8, GPIO_AF11_CAN3);
-  set_gpio_alternate(GPIOA, 15, GPIO_AF11_CAN3);
-
-  // GPS OFF
-  set_gpio_output(GPIOC, 5, 0);
-  set_gpio_output(GPIOC, 12, 0);
-
-  // Turn on USB load switch.
-  black_set_usb_load_switch(true);
-}
-
-static void black_init_bootloader(void) {
-  // GPS OFF
-  set_gpio_output(GPIOC, 5, 0);
-  set_gpio_output(GPIOC, 12, 0);
-}
-
-static harness_configuration black_harness_config = {
-  .has_harness = true,
-  .GPIO_SBU1 = GPIOC,
-  .GPIO_SBU2 = GPIOC,
-  .GPIO_relay_SBU1 = GPIOC,
-  .GPIO_relay_SBU2 = GPIOC,
-  .pin_SBU1 = 0,
-  .pin_SBU2 = 3,
-  .pin_relay_SBU1 = 10,
-  .pin_relay_SBU2 = 11,
-  .adc_channel_SBU1 = 10,
-  .adc_channel_SBU2 = 13
-};
-
-board board_black = {
-  .set_bootkick = unused_set_bootkick,
-  .harness_config = &black_harness_config,
-  .has_spi = false,
-  .has_canfd = false,
-  .fan_max_rpm = 0U,
-  .fan_max_pwm = 100U,
-  .avdd_mV = 3300U,
-  .fan_stall_recovery = false,
-  .fan_enable_cooldown_time = 0U,
-  .init = black_init,
-  .init_bootloader = black_init_bootloader,
-  .enable_can_transceiver = black_enable_can_transceiver,
-  .led_GPIO = {GPIOC, GPIOC, GPIOC},
-  .led_pin = {9, 7, 6},
-  .set_can_mode = black_set_can_mode,
-  .check_ignition = black_check_ignition,
-  .read_voltage_mV = white_read_voltage_mV,
-  .read_current_mA = unused_read_current,
-  .set_fan_enabled = unused_set_fan_enabled,
-  .set_ir_power = unused_set_ir_power,
-  .set_siren = unused_set_siren,
-  .read_som_gpio = unused_read_som_gpio,
-  .set_amp_enabled = unused_set_amp_enabled
-};
diff --git a/board/boards/board_declarations.h b/board/boards/board_declarations.h
index aa41fe3a..539244eb 100644
--- a/board/boards/board_declarations.h
+++ b/board/boards/board_declarations.h
@@ -14,7 +14,6 @@ typedef void (*board_init)(void);
 typedef void (*board_init_bootloader)(void);
 typedef void (*board_enable_can_transceiver)(uint8_t transceiver, bool enabled);
 typedef void (*board_set_can_mode)(uint8_t mode);
-typedef bool (*board_check_ignition)(void);
 typedef uint32_t (*board_read_voltage_mV)(void);
 typedef uint32_t (*board_read_current_mA)(void);
 typedef void (*board_set_ir_power)(uint8_t percentage);
@@ -30,7 +29,6 @@ struct board {
   const uint8_t led_pin[3];
   const uint8_t led_pwm_channels[3]; // leave at 0 to disable PWM
   const bool has_spi;
-  const bool has_canfd;
   const uint16_t fan_max_rpm;
   const uint16_t avdd_mV;
   const bool fan_stall_recovery;
@@ -40,7 +38,6 @@ struct board {
   board_init_bootloader init_bootloader;
   board_enable_can_transceiver enable_can_transceiver;
   board_set_can_mode set_can_mode;
-  board_check_ignition check_ignition;
   board_read_voltage_mV read_voltage_mV;
   board_read_current_mA read_current_mA;
   board_set_ir_power set_ir_power;
@@ -54,30 +51,17 @@ struct board {
 // ******************* Definitions ********************
 // These should match the enums in cereal/log.capnp and __init__.py
 #define HW_TYPE_UNKNOWN 0U
-#define HW_TYPE_WHITE_PANDA 1U
-//#define HW_TYPE_GREY_PANDA 2U
-#define HW_TYPE_BLACK_PANDA 3U
-//#define HW_TYPE_PEDAL 4U
-//#define HW_TYPE_UNO 5U
 #define HW_TYPE_DOS 6U
 #define HW_TYPE_RED_PANDA 7U
 #define HW_TYPE_RED_PANDA_V2 8U
 #define HW_TYPE_TRES 9U
 #define HW_TYPE_CUATRO 10U
 
-// USB power modes (from cereal.log.health)
-#define USB_POWER_NONE 0U
-#define USB_POWER_CLIENT 1U
-#define USB_POWER_CDP 2U
-#define USB_POWER_DCP 3U
-
 // CAN modes
 #define CAN_MODE_NORMAL 0U
 #define CAN_MODE_OBD_CAN2 1U
 
-extern struct board board_black;
 extern struct board board_dos;
 extern struct board board_tres;
-extern struct board board_white;
 extern struct board board_cuatro;
 extern struct board board_red;
diff --git a/board/boards/cuatro.h b/board/boards/cuatro.h
index 53b671e1..a4a04652 100644
--- a/board/boards/cuatro.h
+++ b/board/boards/cuatro.h
@@ -26,11 +26,11 @@ static void cuatro_enable_can_transceiver(uint8_t transceiver, bool enabled) {
 }
 
 static uint32_t cuatro_read_voltage_mV(void) {
-  return adc_get_mV(8) * 11U;
+  return adc_get_mV(&(const adc_signal_t) ADC_CHANNEL_DEFAULT(ADC1, 8)) * 11U;
 }
 
 static uint32_t cuatro_read_current_mA(void) {
-  return adc_get_mV(3) * 2U;
+  return adc_get_mV(&(const adc_signal_t) ADC_CHANNEL_DEFAULT(ADC1, 3)) * 2U;
 }
 
 static void cuatro_set_fan_enabled(bool enabled) {
@@ -39,12 +39,27 @@ static void cuatro_set_fan_enabled(bool enabled) {
 
 static void cuatro_set_bootkick(BootState state) {
   set_gpio_output(GPIOA, 0, state != BOOT_BOOTKICK);
-  // TODO: confirm we need this
-  //set_gpio_output(GPIOC, 12, state != BOOT_RESET);
 }
 
-static void cuatro_set_amp_enabled(bool enabled){
-  set_gpio_output(GPIOA, 5, enabled);
+static void cuatro_set_amp_enabled(bool enabled) {
+  // *** tmp, remove soon ***
+  static const uint8_t olds[][12] = {
+    {0x44, 0x00, 0x10, 0x00, 0x19, 0x51, 0x32, 0x34, 0x39, 0x37, 0x37, 0x30},
+    {0x14, 0x00, 0x13, 0x00, 0x18, 0x51, 0x32, 0x34, 0x39, 0x37, 0x37, 0x30},
+    {0x04, 0x00, 0x30, 0x00, 0x18, 0x51, 0x32, 0x34, 0x39, 0x37, 0x37, 0x30},
+    {0x2f, 0x00, 0x14, 0x00, 0x18, 0x51, 0x32, 0x34, 0x39, 0x37, 0x37, 0x30},
+    {0x1e, 0x00, 0x2f, 0x00, 0x18, 0x51, 0x32, 0x34, 0x39, 0x37, 0x37, 0x30},
+    {0x26, 0x00, 0x15, 0x00, 0x19, 0x51, 0x32, 0x34, 0x39, 0x37, 0x37, 0x30},
+    {0x35, 0x00, 0x32, 0x00, 0x18, 0x51, 0x32, 0x34, 0x39, 0x37, 0x37, 0x30},
+    {0x37, 0x00, 0x2f, 0x00, 0x18, 0x51, 0x32, 0x34, 0x39, 0x37, 0x37, 0x30},
+  };
+  bool is_old = false;
+  for (uint8_t i = 0U; i < (sizeof(olds) / sizeof(olds[0])); i++) {
+    is_old |= (memcmp(olds[i], ((uint8_t *)UID_BASE), 12) == 0);
+  }
+  if (is_old) set_gpio_output(GPIOA, 5, enabled);
+  // *** tmp end ***
+
   set_gpio_output(GPIOB, 0, enabled);
 }
 
@@ -102,7 +117,6 @@ static void cuatro_init(void) {
 }
 
 static harness_configuration cuatro_harness_config = {
-  .has_harness = true,
   .GPIO_SBU1 = GPIOC,
   .GPIO_SBU2 = GPIOA,
   .GPIO_relay_SBU1 = GPIOA,
@@ -111,14 +125,13 @@ static harness_configuration cuatro_harness_config = {
   .pin_SBU2 = 1,
   .pin_relay_SBU1 = 9,
   .pin_relay_SBU2 = 3,
-  .adc_channel_SBU1 = 4, // ADC12_INP4
-  .adc_channel_SBU2 = 17 // ADC1_INP17
+  .adc_signal_SBU1 = ADC_CHANNEL_DEFAULT(ADC1, 4),
+  .adc_signal_SBU2 = ADC_CHANNEL_DEFAULT(ADC1, 17)
 };
 
 board board_cuatro = {
   .harness_config = &cuatro_harness_config,
   .has_spi = true,
-  .has_canfd = true,
   .fan_max_rpm = 12500U,
   .fan_max_pwm = 99U, // it can go up to 14k RPM, but 99% -> 100% is very non-linear
   .avdd_mV = 1800U,
@@ -131,7 +144,6 @@ board board_cuatro = {
   .led_pin = {6, 7, 9},
   .led_pwm_channels = {1, 2, 4},
   .set_can_mode = tres_set_can_mode,
-  .check_ignition = red_check_ignition,
   .read_voltage_mV = cuatro_read_voltage_mV,
   .read_current_mA = cuatro_read_current_mA,
   .set_fan_enabled = cuatro_set_fan_enabled,
diff --git a/board/boards/dos.h b/board/boards/dos.h
index 661f91fb..0bb9cc82 100644
--- a/board/boards/dos.h
+++ b/board/boards/dos.h
@@ -62,11 +62,6 @@ static void dos_set_can_mode(uint8_t mode) {
   }
 }
 
-static bool dos_check_ignition(void){
-  // ignition is checked through harness
-  return harness_check_ignition();
-}
-
 static void dos_set_ir_power(uint8_t percentage){
   pwm_set(TIM4, 2, percentage);
 }
@@ -79,6 +74,10 @@ static void dos_set_siren(bool enabled){
   set_gpio_output(GPIOC, 12, enabled);
 }
 
+static uint32_t dos_read_voltage_mV(void){
+  return adc_get_mV(&(const adc_signal_t) ADC_CHANNEL_DEFAULT(ADC1, 12)) * 11U;
+}
+
 static bool dos_read_som_gpio (void){
   return (get_gpio_input(GPIOC, 2) != 0);
 }
@@ -110,7 +109,6 @@ static void dos_init(void) {
 }
 
 static harness_configuration dos_harness_config = {
-  .has_harness = true,
   .GPIO_SBU1 = GPIOC,
   .GPIO_SBU2 = GPIOC,
   .GPIO_relay_SBU1 = GPIOC,
@@ -119,18 +117,13 @@ static harness_configuration dos_harness_config = {
   .pin_SBU2 = 3,
   .pin_relay_SBU1 = 10,
   .pin_relay_SBU2 = 11,
-  .adc_channel_SBU1 = 10,
-  .adc_channel_SBU2 = 13
+  .adc_signal_SBU1 = ADC_CHANNEL_DEFAULT(ADC1, 10),
+  .adc_signal_SBU2 = ADC_CHANNEL_DEFAULT(ADC1, 13),
 };
 
 board board_dos = {
   .harness_config = &dos_harness_config,
-#ifdef ENABLE_SPI
-  .has_spi = true,
-#else
   .has_spi = false,
-#endif
-  .has_canfd = false,
   .fan_max_rpm = 6500U,
   .fan_max_pwm = 100U,
   .avdd_mV = 3300U,
@@ -142,8 +135,7 @@ board board_dos = {
   .led_GPIO = {GPIOC, GPIOC, GPIOC},
   .led_pin = {9, 7, 6},
   .set_can_mode = dos_set_can_mode,
-  .check_ignition = dos_check_ignition,
-  .read_voltage_mV = white_read_voltage_mV,
+  .read_voltage_mV = dos_read_voltage_mV,
   .read_current_mA = unused_read_current,
   .set_fan_enabled = dos_set_fan_enabled,
   .set_ir_power = dos_set_ir_power,
diff --git a/board/boards/red.h b/board/boards/red.h
index 9871f959..c1f96500 100644
--- a/board/boards/red.h
+++ b/board/boards/red.h
@@ -67,13 +67,8 @@ static void red_set_can_mode(uint8_t mode) {
   }
 }
 
-static bool red_check_ignition(void) {
-  // ignition is checked through harness
-  return harness_check_ignition();
-}
-
 static uint32_t red_read_voltage_mV(void){
-  return adc_get_mV(2) * 11U; // TODO: is this correct?
+  return adc_get_mV(&(const adc_signal_t) ADC_CHANNEL_DEFAULT(ADC1, 2)) * 11U;
 }
 
 static void red_init(void) {
@@ -104,7 +99,6 @@ static void red_init(void) {
 }
 
 static harness_configuration red_harness_config = {
-  .has_harness = true,
   .GPIO_SBU1 = GPIOC,
   .GPIO_SBU2 = GPIOA,
   .GPIO_relay_SBU1 = GPIOC,
@@ -113,15 +107,14 @@ static harness_configuration red_harness_config = {
   .pin_SBU2 = 1,
   .pin_relay_SBU1 = 10,
   .pin_relay_SBU2 = 11,
-  .adc_channel_SBU1 = 4, //ADC12_INP4
-  .adc_channel_SBU2 = 17 //ADC1_INP17
+  .adc_signal_SBU1 = ADC_CHANNEL_DEFAULT(ADC1, 4),
+  .adc_signal_SBU2 = ADC_CHANNEL_DEFAULT(ADC1, 17)
 };
 
 board board_red = {
   .set_bootkick = unused_set_bootkick,
   .harness_config = &red_harness_config,
   .has_spi = false,
-  .has_canfd = true,
   .fan_max_rpm = 0U,
   .fan_max_pwm = 100U,
   .avdd_mV = 3300U,
@@ -133,7 +126,6 @@ board board_red = {
   .led_GPIO = {GPIOE, GPIOE, GPIOE},
   .led_pin = {4, 3, 2},
   .set_can_mode = red_set_can_mode,
-  .check_ignition = red_check_ignition,
   .read_voltage_mV = red_read_voltage_mV,
   .read_current_mA = unused_read_current,
   .set_fan_enabled = unused_set_fan_enabled,
diff --git a/board/boards/tres.h b/board/boards/tres.h
index 811314a5..b92c5d6a 100644
--- a/board/boards/tres.h
+++ b/board/boards/tres.h
@@ -133,7 +133,6 @@ static void tres_init(void) {
 }
 
 static harness_configuration tres_harness_config = {
-  .has_harness = true,
   .GPIO_SBU1 = GPIOC,
   .GPIO_SBU2 = GPIOA,
   .GPIO_relay_SBU1 = GPIOA,
@@ -142,14 +141,13 @@ static harness_configuration tres_harness_config = {
   .pin_SBU2 = 1,
   .pin_relay_SBU1 = 8,
   .pin_relay_SBU2 = 3,
-  .adc_channel_SBU1 = 4, // ADC12_INP4
-  .adc_channel_SBU2 = 17 // ADC1_INP17
+  .adc_signal_SBU1 = ADC_CHANNEL_DEFAULT(ADC1, 4),
+  .adc_signal_SBU2 = ADC_CHANNEL_DEFAULT(ADC1, 17)
 };
 
 board board_tres = {
   .harness_config = &tres_harness_config,
   .has_spi = true,
-  .has_canfd = true,
   .fan_max_rpm = 6600U,
   .fan_max_pwm = 100U,
   .avdd_mV = 1800U,
@@ -161,7 +159,6 @@ board board_tres = {
   .led_GPIO = {GPIOE, GPIOE, GPIOE},
   .led_pin = {4, 3, 2},
   .set_can_mode = tres_set_can_mode,
-  .check_ignition = red_check_ignition,
   .read_voltage_mV = red_read_voltage_mV,
   .read_current_mA = unused_read_current,
   .set_fan_enabled = tres_set_fan_enabled,
diff --git a/board/boards/white.h b/board/boards/white.h
deleted file mode 100644
index 5f43dda6..00000000
--- a/board/boards/white.h
+++ /dev/null
@@ -1,179 +0,0 @@
-#pragma once
-
-#include "board_declarations.h"
-
-// ///////////////////// //
-// White Panda (STM32F4) //
-// ///////////////////// //
-
-static void white_enable_can_transceiver(uint8_t transceiver, bool enabled) {
-  switch (transceiver){
-    case 1U:
-      set_gpio_output(GPIOC, 1, !enabled);
-      break;
-    case 2U:
-      set_gpio_output(GPIOC, 13, !enabled);
-      break;
-    case 3U:
-      set_gpio_output(GPIOA, 0, !enabled);
-      break;
-    default:
-      break;
-  }
-}
-
-static void white_set_usb_power_mode(uint8_t mode){
-  switch (mode) {
-    case USB_POWER_CLIENT:
-      // B2,A13: set client mode
-      set_gpio_output(GPIOB, 2, 0);
-      set_gpio_output(GPIOA, 13, 1);
-      break;
-    case USB_POWER_CDP:
-      // B2,A13: set CDP mode
-      set_gpio_output(GPIOB, 2, 1);
-      set_gpio_output(GPIOA, 13, 1);
-      break;
-    case USB_POWER_DCP:
-      // B2,A13: set DCP mode on the charger (breaks USB!)
-      set_gpio_output(GPIOB, 2, 0);
-      set_gpio_output(GPIOA, 13, 0);
-      break;
-    default:
-      print("Invalid usb power mode\n");
-      break;
-  }
-}
-
-static void white_set_can_mode(uint8_t mode){
-  if (mode == CAN_MODE_NORMAL) {
-    // B12,B13: disable GMLAN mode
-    set_gpio_mode(GPIOB, 12, MODE_INPUT);
-    set_gpio_mode(GPIOB, 13, MODE_INPUT);
-
-    // B3,B4: disable GMLAN mode
-    set_gpio_mode(GPIOB, 3, MODE_INPUT);
-    set_gpio_mode(GPIOB, 4, MODE_INPUT);
-
-    // B5,B6: normal CAN2 mode
-    set_gpio_alternate(GPIOB, 5, GPIO_AF9_CAN2);
-    set_gpio_alternate(GPIOB, 6, GPIO_AF9_CAN2);
-
-    // A8,A15: normal CAN3 mode
-    set_gpio_alternate(GPIOA, 8, GPIO_AF11_CAN3);
-    set_gpio_alternate(GPIOA, 15, GPIO_AF11_CAN3);
-  }
-}
-
-static uint32_t white_read_voltage_mV(void){
-  return adc_get_mV(12) * 11U;
-}
-
-static uint32_t white_read_current_mA(void){
-  // This isn't in mA, but we're keeping it for backwards compatibility
-  return adc_get_raw(13);
-}
-
-static bool white_check_ignition(void){
-  // ignition is on PA1
-  return !get_gpio_input(GPIOA, 1);
-}
-
-static void white_grey_init(void) {
-  common_init_gpio();
-
-  // C3: current sense
-  set_gpio_mode(GPIOC, 3, MODE_ANALOG);
-
-  // A1: started_alt
-  set_gpio_pullup(GPIOA, 1, PULL_UP);
-
-  // A2, A3: USART 2 for debugging
-  set_gpio_alternate(GPIOA, 2, GPIO_AF7_USART2);
-  set_gpio_alternate(GPIOA, 3, GPIO_AF7_USART2);
-
-  // A4, A5, A6, A7: SPI
-  set_gpio_alternate(GPIOA, 4, GPIO_AF5_SPI1);
-  set_gpio_alternate(GPIOA, 5, GPIO_AF5_SPI1);
-  set_gpio_alternate(GPIOA, 6, GPIO_AF5_SPI1);
-  set_gpio_alternate(GPIOA, 7, GPIO_AF5_SPI1);
-
-  // B12: GMLAN, ignition sense, pull up
-  set_gpio_pullup(GPIOB, 12, PULL_UP);
-
-  /* GMLAN mode pins:
-      M0(B15)  M1(B14)  mode
-      =======================
-      0        0        sleep
-      1        0        100kbit
-      0        1        high voltage wakeup
-      1        1        33kbit (normal)
-  */
-  set_gpio_output(GPIOB, 14, 0);
-  set_gpio_output(GPIOB, 15, 0);
-
-  // B7: K-line enable
-  set_gpio_output(GPIOB, 7, 1);
-
-  // C12, D2: Setup K-line (UART5)
-  set_gpio_alternate(GPIOC, 12, GPIO_AF8_UART5);
-  set_gpio_alternate(GPIOD, 2, GPIO_AF8_UART5);
-  set_gpio_pullup(GPIOD, 2, PULL_UP);
-
-  // L-line enable
-  set_gpio_output(GPIOA, 14, 1);
-
-  // C10, C11: L-Line setup (USART3)
-  set_gpio_alternate(GPIOC, 10, GPIO_AF7_USART3);
-  set_gpio_alternate(GPIOC, 11, GPIO_AF7_USART3);
-  set_gpio_pullup(GPIOC, 11, PULL_UP);
-
-  // Init usb power mode
-  // Init in CDP mode only if panda is powered by 12V.
-  // Otherwise a PC would not be able to flash a standalone panda
-  if (white_read_voltage_mV() > 8000U) {  // 8V threshold
-    white_set_usb_power_mode(USB_POWER_CDP);
-  } else {
-    white_set_usb_power_mode(USB_POWER_CLIENT);
-  }
-
-  // ESP/GPS off
-  set_gpio_output(GPIOC, 5, 0);
-  set_gpio_output(GPIOC, 14, 0);
-}
-
-static void white_grey_init_bootloader(void) {
-  // ESP/GPS off
-  set_gpio_output(GPIOC, 5, 0);
-  set_gpio_output(GPIOC, 14, 0);
-}
-
-static harness_configuration white_harness_config = {
-  .has_harness = false
-};
-
-board board_white = {
-  .set_bootkick = unused_set_bootkick,
-  .harness_config = &white_harness_config,
-  .has_spi = false,
-  .has_canfd = false,
-  .fan_max_rpm = 0U,
-  .fan_max_pwm = 100U,
-  .avdd_mV = 3300U,
-  .fan_stall_recovery = false,
-  .fan_enable_cooldown_time = 0U,
-  .init = white_grey_init,
-  .init_bootloader = white_grey_init_bootloader,
-  .enable_can_transceiver = white_enable_can_transceiver,
-  .led_GPIO = {GPIOC, GPIOC, GPIOC},
-  .led_pin = {9, 7, 6},
-  .set_can_mode = white_set_can_mode,
-  .check_ignition = white_check_ignition,
-  .read_voltage_mV = white_read_voltage_mV,
-  .read_current_mA = white_read_current_mA,
-  .set_fan_enabled = unused_set_fan_enabled,
-  .set_ir_power = unused_set_ir_power,
-  .set_siren = unused_set_siren,
-  .read_som_gpio = unused_read_som_gpio,
-  .set_amp_enabled = unused_set_amp_enabled
-};
diff --git a/board/bootstub.c b/board/bootstub.c
index 5e05fa66..a48f308a 100644
--- a/board/bootstub.c
+++ b/board/bootstub.c
@@ -1,24 +1,22 @@
-#define BOOTSTUB
-
 #define VERS_TAG 0x53524556
 #define MIN_VERSION 2
 
 // ********************* Includes *********************
-#include "config.h"
+#include "board/config.h"
 
-#include "drivers/led.h"
-#include "drivers/pwm.h"
-#include "drivers/usb.h"
+#include "board/drivers/led.h"
+#include "board/drivers/pwm.h"
+#include "board/drivers/usb.h"
 
-#include "early_init.h"
-#include "provision.h"
+#include "board/early_init.h"
+#include "board/provision.h"
 
 #include "crypto/rsa.h"
 #include "crypto/sha.h"
 
-#include "obj/cert.h"
-#include "obj/gitversion.h"
-#include "flasher.h"
+#include "board/obj/cert.h"
+#include "board/obj/gitversion.h"
+#include "board/flasher.h"
 
 // cppcheck-suppress unusedFunction ; used in headers not included in cppcheck
 void __initialize_hardware_early(void) {
@@ -32,9 +30,6 @@ void fail(void) {
 // know where to sig check
 extern void *_app_start[];
 
-// FIXME: sometimes your panda will fail flashing and will quickly blink a single Green LED
-// BOUNTY: $200 coupon on shop.comma.ai or $100 check.
-
 int main(void) {
   // Init interrupt table
   init_interrupts(true);
diff --git a/board/config.h b/board/config.h
index 6fb95ada..94ef5490 100644
--- a/board/config.h
+++ b/board/config.h
@@ -34,9 +34,9 @@
 
 // platform includes
 #ifdef STM32H7
-  #include "stm32h7/stm32h7_config.h"
+  #include "board/stm32h7/stm32h7_config.h"
 #elif defined(STM32F4)
-  #include "stm32f4/stm32f4_config.h"
+  #include "board/stm32f4/stm32f4_config.h"
 #else
   // TODO: uncomment this, cppcheck complains
   // building for tests
diff --git a/board/crc.h b/board/crc.h
index a3caf785..3e20fb09 100644
--- a/board/crc.h
+++ b/board/crc.h
@@ -1,6 +1,5 @@
 #pragma once
 
-#if defined(ENABLE_SPI) || defined(BOOTSTUB)
 uint8_t crc_checksum(const uint8_t *dat, int len, const uint8_t poly) {
   uint8_t crc = 0xFFU;
   int i;
@@ -18,4 +17,3 @@ uint8_t crc_checksum(const uint8_t *dat, int len, const uint8_t poly) {
   }
   return crc;
 }
-#endif
diff --git a/board/dfu_util_f4.sh b/board/debug/dfu_util_f4.sh
similarity index 100%
rename from board/dfu_util_f4.sh
rename to board/debug/dfu_util_f4.sh
diff --git a/board/dfu_util_h7.sh b/board/debug/dfu_util_h7.sh
similarity index 100%
rename from board/dfu_util_h7.sh
rename to board/debug/dfu_util_h7.sh
diff --git a/board/gdb.sh b/board/debug/gdb.sh
similarity index 100%
rename from board/gdb.sh
rename to board/debug/gdb.sh
diff --git a/board/drivers/can_common.h b/board/drivers/can_common.h
index fd2cfad4..23e0c1a4 100644
--- a/board/drivers/can_common.h
+++ b/board/drivers/can_common.h
@@ -139,9 +139,9 @@ bus_config_t bus_config[BUS_CONFIG_ARRAY_SIZE] = {
 
 void can_init_all(void) {
   for (uint8_t i=0U; i < PANDA_CAN_CNT; i++) {
-    if (!current_board->has_canfd) {
+    #ifndef CANFD
       bus_config[i].can_data_speed = 0U;
-    }
+    #endif
     can_clear(can_queues[i]);
     (void)can_init(i);
   }
@@ -160,28 +160,28 @@ void can_set_forwarding(uint8_t from, uint8_t to) {
 }
 #endif
 
-void ignition_can_hook(CANPacket_t *to_push) {
-  int bus = GET_BUS(to_push);
+void ignition_can_hook(CANPacket_t *msg) {
+  int bus = GET_BUS(msg);
   if (bus == 0) {
-    int addr = GET_ADDR(to_push);
-    int len = GET_LEN(to_push);
+    int addr = GET_ADDR(msg);
+    int len = GET_LEN(msg);
 
     // GM exception
     if ((addr == 0x1F1) && (len == 8)) {
       // SystemPowerMode (2=Run, 3=Crank Request)
-      ignition_can = (GET_BYTE(to_push, 0) & 0x2U) != 0U;
+      ignition_can = (msg->data[0] & 0x2U) != 0U;
       ignition_can_cnt = 0U;
     }
 
     // Rivian R1S/T GEN1 exception
     if ((addr == 0x152) && (len == 8)) {
       // 0x152 overlaps with Subaru pre-global which has this bit as the high beam
-      int counter = GET_BYTE(to_push, 1) & 0xFU;  // max is only 14
+      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 = ((GET_BYTE(to_push, 7) >> 4U) & 0x3U) == 1U;  // VDM_EpasPowerMode_Drive_On=1
+        ignition_can = ((msg->data[7] >> 4U) & 0x3U) == 1U;  // VDM_EpasPowerMode_Drive_On=1
         ignition_can_cnt = 0U;
       }
       prev_counter_rivian = counter;
@@ -190,12 +190,12 @@ void ignition_can_hook(CANPacket_t *to_push) {
     // Tesla Model 3/Y exception
     if ((addr == 0x221) && (len == 8)) {
       // 0x221 overlaps with Rivian which has random data on byte 0
-      int counter = GET_BYTE(to_push, 6) >> 4;
+      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 = (GET_BYTE(to_push, 0) >> 5U) & 0x3U;
+        int power_state = (msg->data[0] >> 5U) & 0x3U;
         ignition_can = power_state == 0x3;  // VEHICLE_POWER_STATE_DRIVE=3
         ignition_can_cnt = 0U;
       }
@@ -204,7 +204,7 @@ void ignition_can_hook(CANPacket_t *to_push) {
 
     // Mazda exception
     if ((addr == 0x9E) && (len == 8)) {
-      ignition_can = (GET_BYTE(to_push, 0) >> 5) == 0x6U;
+      ignition_can = (msg->data[0] >> 5) == 0x6U;
       ignition_can_cnt = 0U;
     }
 
diff --git a/board/drivers/fake_siren.h b/board/drivers/fake_siren.h
index 9468afd8..4bce95bd 100644
--- a/board/drivers/fake_siren.h
+++ b/board/drivers/fake_siren.h
@@ -1,4 +1,4 @@
-#include "stm32h7/lli2c.h"
+#include "board/stm32h7/lli2c.h"
 
 #define CODEC_I2C_ADDR 0x10
 
diff --git a/board/drivers/harness.h b/board/drivers/harness.h
index 1d8c5806..3ebf109f 100644
--- a/board/drivers/harness.h
+++ b/board/drivers/harness.h
@@ -4,31 +4,29 @@ struct harness_t harness;
 
 // The ignition relay is only used for testing purposes
 void set_intercept_relay(bool intercept, bool ignition_relay) {
-  if (current_board->harness_config->has_harness) {
-    bool drive_relay = intercept;
-    if (harness.status == HARNESS_STATUS_NC) {
-      // no harness, no relay to drive
-      drive_relay = false;
-    }
+  bool drive_relay = intercept;
+  if (harness.status == HARNESS_STATUS_NC) {
+    // no harness, no relay to drive
+    drive_relay = false;
+  }
 
-    if (drive_relay || ignition_relay) {
-      harness.relay_driven = true;
-    }
+  if (drive_relay || ignition_relay) {
+    harness.relay_driven = true;
+  }
 
-    // wait until we're not reading the analog voltages anymore
-    while (harness.sbu_adc_lock) {}
+  // wait until we're not reading the analog voltages anymore
+  while (harness.sbu_adc_lock) {}
 
-    if (harness.status == HARNESS_STATUS_NORMAL) {
-      set_gpio_output(current_board->harness_config->GPIO_relay_SBU1, current_board->harness_config->pin_relay_SBU1, !ignition_relay);
-      set_gpio_output(current_board->harness_config->GPIO_relay_SBU2, current_board->harness_config->pin_relay_SBU2, !drive_relay);
-    } else {
-      set_gpio_output(current_board->harness_config->GPIO_relay_SBU1, current_board->harness_config->pin_relay_SBU1, !drive_relay);
-      set_gpio_output(current_board->harness_config->GPIO_relay_SBU2, current_board->harness_config->pin_relay_SBU2, !ignition_relay);
-    }
+  if (harness.status == HARNESS_STATUS_NORMAL) {
+    set_gpio_output(current_board->harness_config->GPIO_relay_SBU1, current_board->harness_config->pin_relay_SBU1, !ignition_relay);
+    set_gpio_output(current_board->harness_config->GPIO_relay_SBU2, current_board->harness_config->pin_relay_SBU2, !drive_relay);
+  } else {
+    set_gpio_output(current_board->harness_config->GPIO_relay_SBU1, current_board->harness_config->pin_relay_SBU1, !drive_relay);
+    set_gpio_output(current_board->harness_config->GPIO_relay_SBU2, current_board->harness_config->pin_relay_SBU2, !ignition_relay);
+  }
 
-    if (!(drive_relay || ignition_relay)) {
-      harness.relay_driven = false;
-    }
+  if (!(drive_relay || ignition_relay)) {
+    harness.relay_driven = false;
   }
 }
 
@@ -56,13 +54,13 @@ static uint8_t harness_detect_orientation(void) {
 
   #ifndef BOOTSTUB
   // We can't detect orientation if the relay is being driven
-  if (!harness.relay_driven && current_board->harness_config->has_harness) {
+  if (!harness.relay_driven) {
     harness.sbu_adc_lock = true;
     set_gpio_mode(current_board->harness_config->GPIO_SBU1, current_board->harness_config->pin_SBU1, MODE_ANALOG);
     set_gpio_mode(current_board->harness_config->GPIO_SBU2, current_board->harness_config->pin_SBU2, MODE_ANALOG);
 
-    harness.sbu1_voltage_mV = adc_get_mV(current_board->harness_config->adc_channel_SBU1);
-    harness.sbu2_voltage_mV = adc_get_mV(current_board->harness_config->adc_channel_SBU2);
+    harness.sbu1_voltage_mV = adc_get_mV(&current_board->harness_config->adc_signal_SBU1);
+    harness.sbu2_voltage_mV = adc_get_mV(&current_board->harness_config->adc_signal_SBU2);
     uint16_t detection_threshold = current_board->avdd_mV / 2U;
 
     // Detect connection and orientation
diff --git a/board/drivers/harness_declarations.h b/board/drivers/harness_declarations.h
index 953941f6..6f4327aa 100644
--- a/board/drivers/harness_declarations.h
+++ b/board/drivers/harness_declarations.h
@@ -14,7 +14,6 @@ struct harness_t {
 extern struct harness_t harness;
 
 struct harness_configuration {
-  const bool has_harness;
   GPIO_TypeDef * const GPIO_SBU1;
   GPIO_TypeDef * const GPIO_SBU2;
   GPIO_TypeDef * const GPIO_relay_SBU1;
@@ -23,8 +22,8 @@ struct harness_configuration {
   const uint8_t pin_SBU2;
   const uint8_t pin_relay_SBU1;
   const uint8_t pin_relay_SBU2;
-  const uint8_t adc_channel_SBU1;
-  const uint8_t adc_channel_SBU2;
+  const adc_signal_t adc_signal_SBU1;
+  const adc_signal_t adc_signal_SBU2;
 };
 
 // The ignition relay is only used for testing purposes
diff --git a/board/drivers/pwm.h b/board/drivers/pwm.h
index 67e5181e..b8ff9302 100644
--- a/board/drivers/pwm.h
+++ b/board/drivers/pwm.h
@@ -3,54 +3,54 @@
 // TODO: Implement for 32-bit timers
 
 void pwm_init(TIM_TypeDef *TIM, uint8_t channel){
-    // Enable timer and auto-reload
-    register_set(&(TIM->CR1), TIM_CR1_CEN | TIM_CR1_ARPE, 0x3FU);
+  // Enable timer and auto-reload
+  register_set(&(TIM->CR1), TIM_CR1_CEN | TIM_CR1_ARPE, 0x3FU);
 
-    // Set channel as PWM mode 1 and enable output
-    switch(channel){
-        case 1U:
-            register_set_bits(&(TIM->CCMR1), (TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC1M_1 | TIM_CCMR1_OC1PE));
-            register_set_bits(&(TIM->CCER), TIM_CCER_CC1E);
-            break;
-        case 2U:
-            register_set_bits(&(TIM->CCMR1), (TIM_CCMR1_OC2M_2 | TIM_CCMR1_OC2M_1 | TIM_CCMR1_OC2PE));
-            register_set_bits(&(TIM->CCER), TIM_CCER_CC2E);
-            break;
-        case 3U:
-            register_set_bits(&(TIM->CCMR2), (TIM_CCMR2_OC3M_2 | TIM_CCMR2_OC3M_1 | TIM_CCMR2_OC3PE));
-            register_set_bits(&(TIM->CCER), TIM_CCER_CC3E);
-            break;
-        case 4U:
-            register_set_bits(&(TIM->CCMR2), (TIM_CCMR2_OC4M_2 | TIM_CCMR2_OC4M_1 | TIM_CCMR2_OC4PE));
-            register_set_bits(&(TIM->CCER), TIM_CCER_CC4E);
-            break;
-        default:
-            break;
-    }
+  // Set channel as PWM mode 1 and enable output
+  switch(channel){
+    case 1U:
+      register_set_bits(&(TIM->CCMR1), (TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC1M_1 | TIM_CCMR1_OC1PE));
+      register_set_bits(&(TIM->CCER), TIM_CCER_CC1E);
+      break;
+    case 2U:
+      register_set_bits(&(TIM->CCMR1), (TIM_CCMR1_OC2M_2 | TIM_CCMR1_OC2M_1 | TIM_CCMR1_OC2PE));
+      register_set_bits(&(TIM->CCER), TIM_CCER_CC2E);
+      break;
+    case 3U:
+      register_set_bits(&(TIM->CCMR2), (TIM_CCMR2_OC3M_2 | TIM_CCMR2_OC3M_1 | TIM_CCMR2_OC3PE));
+      register_set_bits(&(TIM->CCER), TIM_CCER_CC3E);
+      break;
+    case 4U:
+      register_set_bits(&(TIM->CCMR2), (TIM_CCMR2_OC4M_2 | TIM_CCMR2_OC4M_1 | TIM_CCMR2_OC4PE));
+      register_set_bits(&(TIM->CCER), TIM_CCER_CC4E);
+      break;
+    default:
+      break;
+  }
 
-    // Set max counter value
-    register_set(&(TIM->ARR), PWM_COUNTER_OVERFLOW, 0xFFFFU);
+  // Set max counter value
+  register_set(&(TIM->ARR), PWM_COUNTER_OVERFLOW, 0xFFFFU);
 
-    // Update registers and clear counter
-    TIM->EGR |= TIM_EGR_UG;
+  // Update registers and clear counter
+  TIM->EGR |= TIM_EGR_UG;
 }
 
 void pwm_set(TIM_TypeDef *TIM, uint8_t channel, uint8_t percentage){
-    uint16_t comp_value = (((uint16_t) percentage * PWM_COUNTER_OVERFLOW) / 100U);
-    switch(channel){
-        case 1U:
-            register_set(&(TIM->CCR1), comp_value, 0xFFFFU);
-            break;
-        case 2U:
-            register_set(&(TIM->CCR2), comp_value, 0xFFFFU);
-            break;
-        case 3U:
-            register_set(&(TIM->CCR3), comp_value, 0xFFFFU);
-            break;
-        case 4U:
-            register_set(&(TIM->CCR4), comp_value, 0xFFFFU);
-            break;
-        default:
-            break;
-    }
+  uint16_t comp_value = (((uint16_t) percentage * PWM_COUNTER_OVERFLOW) / 100U);
+  switch(channel){
+    case 1U:
+      register_set(&(TIM->CCR1), comp_value, 0xFFFFU);
+      break;
+    case 2U:
+      register_set(&(TIM->CCR2), comp_value, 0xFFFFU);
+      break;
+    case 3U:
+      register_set(&(TIM->CCR3), comp_value, 0xFFFFU);
+      break;
+    case 4U:
+      register_set(&(TIM->CCR4), comp_value, 0xFFFFU);
+      break;
+    default:
+      break;
+  }
 }
diff --git a/board/drivers/spi.h b/board/drivers/spi.h
index 469243db..6bac6c0c 100644
--- a/board/drivers/spi.h
+++ b/board/drivers/spi.h
@@ -1,7 +1,7 @@
 #pragma once
 
-#include "spi_declarations.h"
-#include "crc.h"
+#include "board/drivers/spi_declarations.h"
+#include "board/crc.h"
 
 #ifdef STM32H7
 #define SPI_BUF_SIZE 2048U
@@ -14,9 +14,8 @@ uint8_t spi_buf_rx[SPI_BUF_SIZE];
 uint8_t spi_buf_tx[SPI_BUF_SIZE];
 #endif
 
-uint16_t spi_checksum_error_count = 0;
+uint16_t spi_error_count = 0;
 
-#if defined(ENABLE_SPI) || defined(BOOTSTUB)
 static uint8_t spi_state = SPI_STATE_HEADER;
 static uint16_t spi_data_len_mosi;
 static bool spi_can_tx_ready = false;
@@ -153,9 +152,12 @@ void spi_rx_done(void) {
           print("SPI: did expect data for can_write\n");
         }
       } else if (spi_endpoint == 0xABU) {
-        // test endpoint, send max response length
+        // test endpoint: mimics panda -> device transfer
         response_len = spi_data_len_miso;
         response_ack = true;
+      } else if (spi_endpoint == 0xACU) {
+        // test endpoint: mimics device -> panda transfer (with NACK)
+        response_ack = false;
       } else {
         print("SPI: unexpected endpoint"); puth(spi_endpoint); print("\n");
       }
@@ -206,8 +208,8 @@ void spi_rx_done(void) {
   llspi_miso_dma(spi_buf_tx, response_len);
 
   spi_state = next_rx_state;
-  if (!checksum_valid && (spi_checksum_error_count < UINT16_MAX)) {
-    spi_checksum_error_count += 1U;
+  if (!checksum_valid && (spi_error_count < UINT16_MAX)) {
+    spi_error_count += 1U;
   }
 }
 
@@ -234,8 +236,3 @@ void spi_tx_done(bool reset) {
 void can_tx_comms_resume_spi(void) {
   spi_can_tx_ready = true;
 }
-#else
-void can_tx_comms_resume_spi(void) {
-  return;
-}
-#endif
diff --git a/board/drivers/spi_declarations.h b/board/drivers/spi_declarations.h
index 8c830e6b..d7fff9a4 100644
--- a/board/drivers/spi_declarations.h
+++ b/board/drivers/spi_declarations.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include "crc.h"
+#include "board/crc.h"
 
 #define SPI_TIMEOUT_US 10000U
 
@@ -35,7 +35,7 @@ enum {
   SPI_STATE_DATA_TX
 };
 
-extern uint16_t spi_checksum_error_count;
+extern uint16_t spi_error_count;
 
 #define SPI_HEADER_SIZE 7U
 
@@ -45,8 +45,6 @@ void llspi_mosi_dma(uint8_t *addr, int len);
 void llspi_miso_dma(uint8_t *addr, int len);
 
 void can_tx_comms_resume_spi(void);
-#if defined(ENABLE_SPI) || defined(BOOTSTUB)
 void spi_init(void);
 void spi_rx_done(void);
 void spi_tx_done(bool reset);
-#endif
diff --git a/board/drivers/uart.h b/board/drivers/uart.h
index ee15999a..da6f5e4d 100644
--- a/board/drivers/uart.h
+++ b/board/drivers/uart.h
@@ -1,7 +1,5 @@
 #include "uart_declarations.h"
 
-// IRQs: USART2, USART3, UART5
-
 // ***************************** Definitions *****************************
 
 #define UART_BUFFER(x, size_rx, size_tx, uart_ptr, callback_ptr, overwrite_mode) \
@@ -112,15 +110,6 @@ bool put_char(uart_ring *q, char elem) {
   return ret;
 }
 
-void clear_uart_buff(uart_ring *q) {
-  ENTER_CRITICAL();
-  q->w_ptr_tx = 0;
-  q->r_ptr_tx = 0;
-  q->w_ptr_rx = 0;
-  q->r_ptr_rx = 0;
-  EXIT_CRITICAL();
-}
-
 // ************************ High-level debug functions **********************
 void putch(const char a) {
   // misra-c2012-17.7: serial debug function, ok to ignore output
@@ -145,14 +134,14 @@ void puth(unsigned int i) {
   puthx(i, 8U);
 }
 
-#if defined(ENABLE_SPI) || defined(BOOTSTUB) || defined(DEBUG)
-void puth4(unsigned int i) {
+#if defined(DEBUG_SPI) || defined(BOOTSTUB) || defined(DEBUG)
+static void puth4(unsigned int i) {
   puthx(i, 4U);
 }
 #endif
 
-#if defined(ENABLE_SPI) || defined(BOOTSTUB) || defined(DEBUG_USB) || defined(DEBUG_COMMS)
-void hexdump(const void *a, int l) {
+#if defined(DEBUG_SPI) || defined(BOOTSTUB) || defined(DEBUG_USB) || defined(DEBUG_COMMS)
+static void hexdump(const void *a, int l) {
   if (a != NULL) {
     for (int i=0; i < l; i++) {
       if ((i != 0) && ((i & 0xf) == 0)) print("\n");
diff --git a/board/drivers/uart_declarations.h b/board/drivers/uart_declarations.h
index f2775d3f..14ec2611 100644
--- a/board/drivers/uart_declarations.h
+++ b/board/drivers/uart_declarations.h
@@ -1,7 +1,5 @@
 #pragma once
 
-// IRQs: USART2, USART3, UART5
-
 // ***************************** Definitions *****************************
 #define FIFO_SIZE_INT 0x400U
 
@@ -33,7 +31,9 @@ void putch(const char a);
 void print(const char *a);
 void puthx(uint32_t i, uint8_t len);
 void puth(unsigned int i);
-#if defined(ENABLE_SPI) || defined(BOOTSTUB) || defined(DEBUG)
-void puth4(unsigned int i);
+#if defined(DEBUG_SPI) || defined(BOOTSTUB) || defined(DEBUG)
+static void puth4(unsigned int i);
+#endif
+#if defined(DEBUG_SPI) || defined(DEBUG_USB) || defined(DEBUG_COMMS)
+static void hexdump(const void *a, int l);
 #endif
-void hexdump(const void *a, int l);
diff --git a/board/early_init.h b/board/early_init.h
index e48a8063..d5131a42 100644
--- a/board/early_init.h
+++ b/board/early_init.h
@@ -57,9 +57,7 @@ void early_initialization(void) {
 
   if (enter_bootloader_mode == ENTER_BOOTLOADER_MAGIC) {
     led_init();
-    #ifdef PANDA
     current_board->init_bootloader();
-    #endif
     led_set(LED_GREEN, 1);
     jump_to_bootloader();
   }
diff --git a/board/fake_stm.h b/board/fake_stm.h
index 984fde14..f526ad5a 100644
--- a/board/fake_stm.h
+++ b/board/fake_stm.h
@@ -7,7 +7,6 @@
 
 #define CANFD
 #define ALLOW_DEBUG
-#define PANDA
 
 #define ENTER_CRITICAL() 0
 #define EXIT_CRITICAL() 0
diff --git a/board/flasher.h b/board/flasher.h
index 9cf21542..13ce1ae7 100644
--- a/board/flasher.h
+++ b/board/flasher.h
@@ -134,15 +134,12 @@ void soft_flasher_start(void) {
   gpio_usb_init();
   led_init();
 
-  // enable USB
+  // enable comms
   usb_init();
-
-#ifdef ENABLE_SPI
   if (current_board->has_spi) {
     gpio_spi_init();
     spi_init();
   }
-#endif
 
   // green LED on for flashing
   led_set(LED_GREEN, 1);
diff --git a/board/health.h b/board/health.h
index 74d822dc..673fc12e 100644
--- a/board/health.h
+++ b/board/health.h
@@ -23,7 +23,7 @@ struct __attribute__((packed)) health_t {
   float interrupt_load_pkt;
   uint8_t fan_power;
   uint8_t safety_rx_checks_invalid_pkt;
-  uint16_t spi_checksum_error_count_pkt;
+  uint16_t spi_error_count_pkt;
   uint8_t fan_stall_count;
   uint16_t sbu1_voltage_mV;
   uint16_t sbu2_voltage_mV;
diff --git a/board/jungle/SConscript b/board/jungle/SConscript
deleted file mode 100644
index 3e40611a..00000000
--- a/board/jungle/SConscript
+++ /dev/null
@@ -1,18 +0,0 @@
-import os
-import copy
-
-Import('build_project', 'base_project_f4', 'base_project_h7')
-
-build_projects = {
-  "panda_jungle": base_project_f4,
-  "panda_jungle_h7": base_project_h7,
-}
-
-for project_name, project in build_projects.items():
-  flags = [
-    "-DPANDA_JUNGLE",
-  ]
-  if os.getenv("FINAL_PROVISIONING"):
-    flags += ["-DFINAL_PROVISIONING"]
-
-  build_project(project_name, project, flags)
diff --git a/board/jungle/__init__.py b/board/jungle/__init__.py
index 0f968d80..85c1a4ff 100644
--- a/board/jungle/__init__.py
+++ b/board/jungle/__init__.py
@@ -7,7 +7,7 @@ from panda import Panda, PandaDFU
 from panda.python.constants import McuType
 
 BASEDIR = os.path.dirname(os.path.realpath(__file__))
-FW_PATH = os.path.join(BASEDIR, "obj/")
+FW_PATH = os.path.join(BASEDIR, "../obj/")
 
 
 def ensure_jungle_health_packet_version(fn):
diff --git a/board/jungle/boards/board_declarations.h b/board/jungle/boards/board_declarations.h
index 88427041..aad54ded 100644
--- a/board/jungle/boards/board_declarations.h
+++ b/board/jungle/boards/board_declarations.h
@@ -2,6 +2,7 @@
 typedef void (*board_init)(void);
 typedef void (*board_board_tick)(void);
 typedef bool (*board_get_button)(void);
+typedef void (*board_init_bootloader)(void);
 typedef void (*board_set_panda_power)(bool enabled);
 typedef void (*board_set_panda_individual_power)(uint8_t port_num, bool enabled);
 typedef void (*board_set_ignition)(bool enabled);
@@ -17,12 +18,11 @@ struct board {
   GPIO_TypeDef * const led_GPIO[3];
   const uint8_t led_pin[3];
   const uint8_t led_pwm_channels[3]; // leave at 0 to disable PWM
-  const bool has_canfd;
-  const bool has_sbu_sense;
   const uint16_t avdd_mV;
   board_init init;
   board_board_tick board_tick;
   board_get_button get_button;
+  board_init_bootloader init_bootloader;
   board_set_panda_power set_panda_power;
   board_set_panda_individual_power set_panda_individual_power;
   board_set_ignition set_ignition;
@@ -40,7 +40,6 @@ struct board {
 
 // ******************* Definitions ********************
 #define HW_TYPE_UNKNOWN 0U
-#define HW_TYPE_V1 1U
 #define HW_TYPE_V2 2U
 
 // CAN modes
@@ -59,18 +58,3 @@ struct board {
 uint8_t harness_orientation = HARNESS_ORIENTATION_NONE;
 uint8_t can_mode = CAN_MODE_NORMAL;
 uint8_t ignition = 0U;
-
-
-void unused_set_individual_ignition(uint8_t bitmask) {
-  UNUSED(bitmask);
-}
-
-void unused_board_enable_header_pin(uint8_t pin_num, bool enabled) {
-  UNUSED(pin_num);
-  UNUSED(enabled);
-}
-
-void unused_set_panda_individual_power(uint8_t port_num, bool enabled) {
-  UNUSED(port_num);
-  UNUSED(enabled);
-}
diff --git a/board/jungle/boards/board_v1.h b/board/jungle/boards/board_v1.h
deleted file mode 100644
index 44e90b8f..00000000
--- a/board/jungle/boards/board_v1.h
+++ /dev/null
@@ -1,158 +0,0 @@
-// ///////////////////////// //
-// Jungle board v1 (STM32F4) //
-// ///////////////////////// //
-
-void board_v1_enable_can_transceiver(uint8_t transceiver, bool enabled) {
-  switch (transceiver) {
-    case 1U:
-      set_gpio_output(GPIOC, 1, !enabled);
-      break;
-    case 2U:
-      set_gpio_output(GPIOC, 13, !enabled);
-      break;
-    case 3U:
-      set_gpio_output(GPIOA, 0, !enabled);
-      break;
-    case 4U:
-      set_gpio_output(GPIOB, 10, !enabled);
-      break;
-    default:
-      print("Invalid CAN transceiver ("); puth(transceiver); print("): enabling failed\n");
-      break;
-  }
-}
-
-void board_v1_set_can_mode(uint8_t mode) {
-  board_v1_enable_can_transceiver(2U, false);
-  board_v1_enable_can_transceiver(4U, false);
-  switch (mode) {
-    case CAN_MODE_NORMAL:
-      print("Setting normal CAN mode\n");
-      // B12,B13: disable OBD mode
-      set_gpio_mode(GPIOB, 12, MODE_INPUT);
-      set_gpio_mode(GPIOB, 13, MODE_INPUT);
-
-      // B5,B6: normal CAN2 mode
-      set_gpio_alternate(GPIOB, 5, GPIO_AF9_CAN2);
-      set_gpio_alternate(GPIOB, 6, GPIO_AF9_CAN2);
-      can_mode = CAN_MODE_NORMAL;
-      board_v1_enable_can_transceiver(2U, true);
-      break;
-    case CAN_MODE_OBD_CAN2:
-      print("Setting OBD CAN mode\n");
-      // B5,B6: disable normal CAN2 mode
-      set_gpio_mode(GPIOB, 5, MODE_INPUT);
-      set_gpio_mode(GPIOB, 6, MODE_INPUT);
-
-      // B12,B13: OBD mode
-      set_gpio_alternate(GPIOB, 12, GPIO_AF9_CAN2);
-      set_gpio_alternate(GPIOB, 13, GPIO_AF9_CAN2);
-      can_mode = CAN_MODE_OBD_CAN2;
-      board_v1_enable_can_transceiver(4U, true);
-      break;
-    default:
-      print("Tried to set unsupported CAN mode: "); puth(mode); print("\n");
-      break;
-  }
-}
-
-void board_v1_set_harness_orientation(uint8_t orientation) {
-  switch (orientation) {
-    case HARNESS_ORIENTATION_NONE:
-      set_gpio_output(GPIOA, 2, false);
-      set_gpio_output(GPIOA, 3, false);
-      set_gpio_output(GPIOA, 4, false);
-      set_gpio_output(GPIOA, 5, false);
-      harness_orientation = orientation;
-      break;
-    case HARNESS_ORIENTATION_1:
-      set_gpio_output(GPIOA, 2, false);
-      set_gpio_output(GPIOA, 3, (ignition != 0U));
-      set_gpio_output(GPIOA, 4, true);
-      set_gpio_output(GPIOA, 5, false);
-      harness_orientation = orientation;
-      break;
-    case HARNESS_ORIENTATION_2:
-      set_gpio_output(GPIOA, 2, (ignition != 0U));
-      set_gpio_output(GPIOA, 3, false);
-      set_gpio_output(GPIOA, 4, false);
-      set_gpio_output(GPIOA, 5, true);
-      harness_orientation = orientation;
-      break;
-    default:
-      print("Tried to set an unsupported harness orientation: "); puth(orientation); print("\n");
-      break;
-  }
-}
-
-bool panda_power = false;
-void board_v1_set_panda_power(bool enable) {
-  panda_power = enable;
-  set_gpio_output(GPIOB, 14, enable);
-}
-
-bool board_v1_get_button(void) {
-  return get_gpio_input(GPIOC, 8);
-}
-
-void board_v1_set_ignition(bool enabled) {
-  ignition = enabled ? 0xFFU : 0U;
-  board_v1_set_harness_orientation(harness_orientation);
-}
-
-float board_v1_get_channel_power(uint8_t channel) {
-  UNUSED(channel);
-  return 0.0f;
-}
-
-uint16_t board_v1_get_sbu_mV(uint8_t channel, uint8_t sbu) {
-  UNUSED(channel); UNUSED(sbu);
-  return 0U;
-}
-
-void board_v1_init(void) {
-  common_init_gpio();
-
-  // A8,A15: normal CAN3 mode
-  set_gpio_alternate(GPIOA, 8, GPIO_AF11_CAN3);
-  set_gpio_alternate(GPIOA, 15, GPIO_AF11_CAN3);
-
-  board_v1_set_can_mode(CAN_MODE_NORMAL);
-
-  // Enable CAN transceivers
-  for(uint8_t i = 1; i <= 4; i++) {
-    board_v1_enable_can_transceiver(i, true);
-  }
-
-  // Set normal CAN mode
-  board_v1_set_can_mode(CAN_MODE_NORMAL);
-
-  // Set to no harness orientation
-  board_v1_set_harness_orientation(HARNESS_ORIENTATION_NONE);
-
-  // Enable panda power by default
-  board_v1_set_panda_power(true);
-}
-
-void board_v1_tick(void) {}
-
-board board_v1 = {
-  .has_canfd = false,
-  .has_sbu_sense = false,
-  .avdd_mV = 3300U,
-  .init = &board_v1_init,
-  .led_GPIO = {GPIOC, GPIOC, GPIOC},
-  .led_pin = {9, 7, 6},
-  .board_tick = &board_v1_tick,
-  .get_button = &board_v1_get_button,
-  .set_panda_power = &board_v1_set_panda_power,
-  .set_panda_individual_power = &unused_set_panda_individual_power,
-  .set_ignition = &board_v1_set_ignition,
-  .set_individual_ignition = &unused_set_individual_ignition,
-  .set_harness_orientation = &board_v1_set_harness_orientation,
-  .set_can_mode = &board_v1_set_can_mode,
-  .enable_can_transceiver = &board_v1_enable_can_transceiver,
-  .enable_header_pin = &unused_board_enable_header_pin,
-  .get_channel_power = &board_v1_get_channel_power,
-  .get_sbu_mV = &board_v1_get_sbu_mV,
-};
diff --git a/board/jungle/boards/board_v2.h b/board/jungle/boards/board_v2.h
index ea0a099d..45f8fb92 100644
--- a/board/jungle/boards/board_v2.h
+++ b/board/jungle/boards/board_v2.h
@@ -2,6 +2,8 @@
 // Jungle board v2 (STM32H7) //
 // ///////////////////////// //
 
+#define ADC_CHANNEL(a, c) {.adc = (a), .channel = (c), .sample_time = SAMPLETIME_810_CYCLES, .oversampling = OVERSAMPLING_1}
+
 gpio_t power_pins[] = {
   {.bank = GPIOA, .pin = 0},
   {.bank = GPIOA, .pin = 1},
@@ -47,22 +49,22 @@ gpio_t sbu2_relay_pins[] = {
   {.bank = GPIOE, .pin = 12},
 };
 
-adc_channel_t sbu1_channels[] = {
-  {.adc = ADC3, .channel = 12},
-  {.adc = ADC3, .channel = 2},
-  {.adc = ADC3, .channel = 4},
-  {.adc = ADC3, .channel = 6},
-  {.adc = ADC3, .channel = 8},
-  {.adc = ADC3, .channel = 10},
+const adc_signal_t sbu1_channels[] = {
+  ADC_CHANNEL(ADC3, 12),
+  ADC_CHANNEL(ADC3, 2),
+  ADC_CHANNEL(ADC3, 4),
+  ADC_CHANNEL(ADC3, 6),
+  ADC_CHANNEL(ADC3, 8),
+  ADC_CHANNEL(ADC3, 10),
 };
 
-adc_channel_t sbu2_channels[] = {
-  {.adc = ADC1, .channel = 13},
-  {.adc = ADC3, .channel = 3},
-  {.adc = ADC3, .channel = 5},
-  {.adc = ADC3, .channel = 7},
-  {.adc = ADC3, .channel = 9},
-  {.adc = ADC3, .channel = 11},
+const adc_signal_t sbu2_channels[] = {
+  ADC_CHANNEL(ADC1, 13),
+  ADC_CHANNEL(ADC3, 3),
+  ADC_CHANNEL(ADC3, 5),
+  ADC_CHANNEL(ADC3, 7),
+  ADC_CHANNEL(ADC3, 9),
+  ADC_CHANNEL(ADC3, 11),
 };
 
 void board_v2_set_harness_orientation(uint8_t orientation) {
@@ -204,8 +206,7 @@ void board_v2_set_individual_ignition(uint8_t bitmask) {
 float board_v2_get_channel_power(uint8_t channel) {
   float ret = 0.0f;
   if ((channel >= 1U) && (channel <= 6U)) {
-    uint16_t readout = adc_get_mV(ADC1, channel - 1U); // these are mapped nicely in hardware
-
+    uint16_t readout = adc_get_mV(&(const adc_signal_t) ADC_CHANNEL(ADC1, channel - 1U)); // these are mapped nicely in hardware
     ret = (((float) readout / 33e6) - 0.8e-6) / 52e-6 * 12.0f;
   } else {
     print("Invalid channel ("); puth(channel); print(")\n");
@@ -218,10 +219,10 @@ uint16_t board_v2_get_sbu_mV(uint8_t channel, uint8_t sbu) {
   if ((channel >= 1U) && (channel <= 6U)) {
     switch(sbu){
       case SBU1:
-        ret = adc_get_mV(sbu1_channels[channel - 1U].adc, sbu1_channels[channel - 1U].channel);
+        ret = adc_get_mV(&sbu1_channels[channel - 1U]);
         break;
       case SBU2:
-        ret = adc_get_mV(sbu2_channels[channel - 1U].adc, sbu2_channels[channel - 1U].channel);
+        ret = adc_get_mV(&sbu2_channels[channel - 1U]);
         break;
       default:
         print("Invalid SBU ("); puth(sbu); print(")\n");
@@ -287,10 +288,9 @@ void board_v2_init(void) {
 void board_v2_tick(void) {}
 
 board board_v2 = {
-  .has_canfd = true,
-  .has_sbu_sense = true,
   .avdd_mV = 3300U,
   .init = &board_v2_init,
+  .init_bootloader = &board_v2_tick,
   .led_GPIO = {GPIOE, GPIOE, GPIOE},
   .led_pin = {4, 3, 2},
   .board_tick = &board_v2_tick,
diff --git a/board/jungle/main.c b/board/jungle/main.c
index 664351c1..0c383091 100644
--- a/board/jungle/main.c
+++ b/board/jungle/main.c
@@ -11,20 +11,16 @@
 #include "board/provision.h"
 
 #include "board/health.h"
-#include "jungle_health.h"
+#include "board/jungle/jungle_health.h"
 
 #include "board/drivers/can_common.h"
 
-#ifdef STM32H7
-  #include "board/drivers/fdcan.h"
-#else
-  #include "board/drivers/bxcan.h"
-#endif
+#include "board/drivers/fdcan.h"
 
 #include "board/obj/gitversion.h"
 
 #include "board/can_comms.h"
-#include "main_comms.h"
+#include "board/jungle/main_comms.h"
 
 
 // ********************* Serial debugging *********************
@@ -106,17 +102,15 @@ void tick_handler(void) {
     current_board->set_individual_ignition(ignition_bitmask);
 
     // SBU voltage reporting
-    if (current_board->has_sbu_sense) {
-      for (uint8_t i = 0U; i < 6U; i++) {
-        CANPacket_t pkt = { 0 };
-        pkt.data_len_code = 8U;
-        pkt.addr = 0x100U + i;
-        *(uint16_t *) &pkt.data[0] = current_board->get_sbu_mV(i + 1U, SBU1);
-        *(uint16_t *) &pkt.data[2] = current_board->get_sbu_mV(i + 1U, SBU2);
-        pkt.data[4] = (ignition_bitmask >> i) & 1U;
-        can_set_checksum(&pkt);
-        can_send(&pkt, 0U, false);
-      }
+    for (uint8_t i = 0U; i < 6U; i++) {
+      CANPacket_t pkt = { 0 };
+      pkt.data_len_code = 8U;
+      pkt.addr = 0x100U + i;
+      *(uint16_t *) &pkt.data[0] = current_board->get_sbu_mV(i + 1U, SBU1);
+      *(uint16_t *) &pkt.data[2] = current_board->get_sbu_mV(i + 1U, SBU2);
+      pkt.data[4] = (ignition_bitmask >> i) & 1U;
+      can_set_checksum(&pkt);
+      can_send(&pkt, 0U, false);
     }
 #else
     // toggle ignition on button press
diff --git a/board/jungle/main_comms.h b/board/jungle/main_comms.h
index 83d7ad03..b646381d 100644
--- a/board/jungle/main_comms.h
+++ b/board/jungle/main_comms.h
@@ -219,11 +219,6 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
         print("Clearing CAN CAN ring buffer failed: wrong bus number\n");
       }
       break;
-    // **** 0xf2: Clear debug ring buffer.
-    case 0xf2:
-      print("Clearing debug queue.\n");
-      clear_uart_buff(get_ring_by_number(0));
-      break;
     // **** 0xf4: Set CAN transceiver enable pin
     case 0xf4:
       current_board->enable_can_transceiver(req->param1, req->param2 > 0U);
@@ -240,7 +235,6 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
     // **** 0xf9: set CAN FD data bitrate
     case 0xf9:
       if ((req->param1 < PANDA_CAN_CNT) &&
-           current_board->has_canfd &&
            is_speed_valid(req->param2, data_speeds, sizeof(data_speeds)/sizeof(data_speeds[0]))) {
         bus_config[req->param1].can_data_speed = req->param2;
         bus_config[req->param1].canfd_enabled = (req->param2 >= bus_config[req->param1].can_speed);
@@ -251,7 +245,7 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
       break;
     // **** 0xfc: set CAN FD non-ISO mode
     case 0xfc:
-      if ((req->param1 < PANDA_CAN_CNT) && current_board->has_canfd) {
+      if (req->param1 < PANDA_CAN_CNT) {
         bus_config[req->param1].canfd_non_iso = (req->param2 != 0U);
         bool ret = can_init(CAN_NUM_FROM_BUS_NUM(req->param1));
         UNUSED(ret);
diff --git a/board/jungle/stm32f4/board.h b/board/jungle/stm32f4/board.h
deleted file mode 100644
index 0adf7923..00000000
--- a/board/jungle/stm32f4/board.h
+++ /dev/null
@@ -1,7 +0,0 @@
-#include "boards/board_declarations.h"
-#include "boards/board_v1.h"
-
-void detect_board_type(void) {
-  hw_type = HW_TYPE_V1;
-  current_board = &board_v1;
-}
diff --git a/board/jungle/stm32h7/board.h b/board/jungle/stm32h7/board.h
index 4fe4fa46..760a7041 100644
--- a/board/jungle/stm32h7/board.h
+++ b/board/jungle/stm32h7/board.h
@@ -1,7 +1,7 @@
-#include "boards/board_declarations.h"
+#include "board/jungle/boards/board_declarations.h"
 
-#include "stm32h7/lladc.h"
-#include "boards/board_v2.h"
+#include "board/stm32h7/lladc.h"
+#include "board/jungle/boards/board_v2.h"
 
 void detect_board_type(void) {
   hw_type = HW_TYPE_V2;
diff --git a/board/jungle/stm32h7/lladc.h b/board/jungle/stm32h7/lladc.h
deleted file mode 100644
index 06b742dd..00000000
--- a/board/jungle/stm32h7/lladc.h
+++ /dev/null
@@ -1,54 +0,0 @@
-
-typedef struct {
-  ADC_TypeDef *adc;
-  uint8_t channel;
-} adc_channel_t;
-
-void adc_init(ADC_TypeDef *adc) {
-  adc->CR &= ~(ADC_CR_DEEPPWD); // Reset deep-power-down mode
-  adc->CR |= ADC_CR_ADVREGEN; // Enable ADC regulator
-  while(!(adc->ISR & ADC_ISR_LDORDY) && (adc != ADC3));
-
-  if (adc != ADC3) {
-    adc->CR &= ~(ADC_CR_ADCALDIF); // Choose single-ended calibration
-    adc->CR |= ADC_CR_ADCALLIN; // Lineriality calibration
-  }
-  adc->CR |= ADC_CR_ADCAL; // Start calibrtation
-  while((adc->CR & ADC_CR_ADCAL) != 0);
-
-  adc->ISR |= ADC_ISR_ADRDY;
-  adc->CR |= ADC_CR_ADEN;
-  while(!(adc->ISR & ADC_ISR_ADRDY));
-}
-
-uint16_t adc_get_raw(ADC_TypeDef *adc, uint8_t channel) {
-  adc->SQR1 &= ~(ADC_SQR1_L);
-  adc->SQR1 = ((uint32_t) channel << 6U);
-
-  if (channel < 10U) {
-    adc->SMPR1 = (0x7U << (channel * 3U));
-  } else {
-    adc->SMPR2 = (0x7U << ((channel - 10U) * 3U));
-  }
-  adc->PCSEL_RES0 = (0x1U << channel);
-
-  adc->CR |= ADC_CR_ADSTART;
-  while (!(adc->ISR & ADC_ISR_EOC));
-
-  uint16_t res = adc->DR;
-
-  while (!(adc->ISR & ADC_ISR_EOS));
-  adc->ISR |= ADC_ISR_EOS;
-
-  return res;
-}
-
-uint16_t adc_get_mV(ADC_TypeDef *adc, uint8_t channel) {
-  uint16_t ret = 0;
-  if ((adc == ADC1) || (adc == ADC2)) {
-    ret = (adc_get_raw(adc, channel) * current_board->avdd_mV) / 65535U;
-  } else if (adc == ADC3) {
-    ret = (adc_get_raw(adc, channel) * current_board->avdd_mV) / 4095U;
-  } else {}
-  return ret;
-}
diff --git a/board/main.c b/board/main.c
index e3aadefe..55814293 100644
--- a/board/main.c
+++ b/board/main.c
@@ -1,60 +1,41 @@
 // ********************* Includes *********************
-#include "config.h"
+#include "board/config.h"
 
-#include "drivers/led.h"
-#include "drivers/pwm.h"
-#include "drivers/usb.h"
-#include "drivers/simple_watchdog.h"
-#include "drivers/bootkick.h"
+#include "board/drivers/led.h"
+#include "board/drivers/pwm.h"
+#include "board/drivers/usb.h"
+#include "board/drivers/simple_watchdog.h"
+#include "board/drivers/bootkick.h"
 
-#include "early_init.h"
-#include "provision.h"
+#include "board/early_init.h"
+#include "board/provision.h"
 
 #include "opendbc/safety/safety.h"
 
-#include "health.h"
+#include "board/health.h"
 
-#include "drivers/can_common.h"
+#include "board/drivers/can_common.h"
 
 #ifdef STM32H7
-  #include "drivers/fdcan.h"
+  #include "board/drivers/fdcan.h"
 #else
-  #include "drivers/bxcan.h"
+  #include "board/drivers/bxcan.h"
 #endif
 
-#include "power_saving.h"
+#include "board/power_saving.h"
 
-#include "obj/gitversion.h"
+#include "board/obj/gitversion.h"
 
-#include "can_comms.h"
-#include "main_comms.h"
+#include "board/can_comms.h"
+#include "board/main_comms.h"
 
 
 // ********************* Serial debugging *********************
 
-static bool check_started(void) {
-  bool started = current_board->check_ignition() || ignition_can;
-  return started;
-}
-
 void debug_ring_callback(uart_ring *ring) {
   char rcv;
   while (get_char(ring, &rcv)) {
     (void)put_char(ring, rcv);  // misra-c2012-17.7: cast to void is ok: debug function
-
-    // only allow bootloader entry on debug builds
-    #ifdef ALLOW_DEBUG
-      // jump to DFU flash
-      if (rcv == 'z') {
-        enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
-        NVIC_SystemReset();
-      }
-    #endif
-
-    // normal reset
-    if (rcv == 'x') {
-      NVIC_SystemReset();
-    }
   }
 }
 
@@ -77,31 +58,26 @@ void set_safety_mode(uint16_t mode, uint16_t param) {
   switch (mode_copy) {
     case SAFETY_SILENT:
       set_intercept_relay(false, false);
-      if (current_board->harness_config->has_harness) {
-        current_board->set_can_mode(CAN_MODE_NORMAL);
-      }
+      current_board->set_can_mode(CAN_MODE_NORMAL);
       can_silent = ALL_CAN_SILENT;
       break;
     case SAFETY_NOOUTPUT:
       set_intercept_relay(false, false);
-      if (current_board->harness_config->has_harness) {
-        current_board->set_can_mode(CAN_MODE_NORMAL);
-      }
+      current_board->set_can_mode(CAN_MODE_NORMAL);
       can_silent = ALL_CAN_LIVE;
       break;
     case SAFETY_ELM327:
       set_intercept_relay(false, false);
       heartbeat_counter = 0U;
       heartbeat_lost = false;
-      if (current_board->harness_config->has_harness) {
-        // Clear any pending messages in the can core (i.e. sending while comma power is unplugged)
-        // TODO: rewrite using hardware queues rather than fifo to cancel specific messages
-        can_clear_send(CANIF_FROM_CAN_NUM(1), 1);
-        if (param == 0U) {
-          current_board->set_can_mode(CAN_MODE_OBD_CAN2);
-        } else {
-          current_board->set_can_mode(CAN_MODE_NORMAL);
-        }
+
+      // Clear any pending messages in the can core (i.e. sending while comma power is unplugged)
+      // TODO: rewrite using hardware queues rather than fifo to cancel specific messages
+      can_clear_send(CANIF_FROM_CAN_NUM(1), 1);
+      if (param == 0U) {
+        current_board->set_can_mode(CAN_MODE_OBD_CAN2);
+      } else {
+        current_board->set_can_mode(CAN_MODE_NORMAL);
       }
       can_silent = ALL_CAN_LIVE;
       break;
@@ -109,9 +85,7 @@ void set_safety_mode(uint16_t mode, uint16_t param) {
       set_intercept_relay(true, false);
       heartbeat_counter = 0U;
       heartbeat_lost = false;
-      if (current_board->harness_config->has_harness) {
-        current_board->set_can_mode(CAN_MODE_NORMAL);
-      }
+      current_board->set_can_mode(CAN_MODE_NORMAL);
       can_silent = ALL_CAN_LIVE;
       break;
   }
@@ -199,7 +173,8 @@ static void tick_handler(void) {
       const bool recent_heartbeat = heartbeat_counter == 0U;
 
       // tick drivers at 1Hz
-      bootkick_tick(check_started(), recent_heartbeat);
+      bool started = harness_check_ignition() || ignition_can;
+      bootkick_tick(started, recent_heartbeat);
 
       // increase heartbeat counter and cap it at the uint32 limit
       if (heartbeat_counter < UINT32_MAX) {
@@ -237,7 +212,7 @@ static void tick_handler(void) {
 
       if (!heartbeat_disabled) {
         // if the heartbeat has been gone for a while, go to SILENT safety mode and enter power save
-        if (heartbeat_counter >= (check_started() ? HEARTBEAT_IGNITION_CNT_ON : HEARTBEAT_IGNITION_CNT_OFF)) {
+        if (heartbeat_counter >= (started ? HEARTBEAT_IGNITION_CNT_ON : HEARTBEAT_IGNITION_CNT_OFF)) {
           print("device hasn't sent a heartbeat for 0x");
           puth(heartbeat_counter);
           print(" seconds. Safety is set to SILENT mode.\n");
@@ -310,7 +285,7 @@ int main(void) {
   // red+green leds enabled until succesful USB/SPI init, as a debug indicator
   led_set(LED_RED, true);
   led_set(LED_GREEN, true);
-  adc_init();
+  adc_init(ADC1);
 
   // print hello
   print("\n\n\n************************ MAIN START ************************\n");
@@ -324,9 +299,7 @@ int main(void) {
   // init board
   current_board->init();
   current_board->set_can_mode(CAN_MODE_NORMAL);
-  if (current_board->harness_config->has_harness) {
-    harness_init();
-  }
+  harness_init();
 
   // panda has an FPU, let's use it!
   enable_fpu();
@@ -357,12 +330,10 @@ int main(void) {
   // enable USB (right before interrupts or enum can fail!)
   usb_init();
 
-#ifdef ENABLE_SPI
   if (current_board->has_spi) {
     gpio_spi_init();
     spi_init();
   }
-#endif
 
   led_set(LED_RED, false);
   led_set(LED_GREEN, false);
diff --git a/board/main_comms.h b/board/main_comms.h
index d3d49ce7..83e0b590 100644
--- a/board/main_comms.h
+++ b/board/main_comms.h
@@ -12,8 +12,7 @@ static int get_health_pkt(void *dat) {
   health->voltage_pkt = current_board->read_voltage_mV();
   health->current_pkt = current_board->read_current_mA();
 
-  // Use the GPIO pin to determine ignition or use a CAN based logic
-  health->ignition_line_pkt = (uint8_t)(current_board->check_ignition());
+  health->ignition_line_pkt = (uint8_t)(harness_check_ignition());
   health->ignition_can_pkt = ignition_can;
 
   health->controls_allowed_pkt = controls_allowed;
@@ -29,7 +28,9 @@ static int get_health_pkt(void *dat) {
   health->heartbeat_lost_pkt = heartbeat_lost;
   health->safety_rx_checks_invalid_pkt = safety_rx_checks_invalid;
 
-  health->spi_checksum_error_count_pkt = spi_checksum_error_count;
+  #ifndef STM32F4
+  health->spi_error_count_pkt = spi_error_count;
+  #endif
 
   health->fault_status_pkt = fault_status;
   health->faults_pkt = faults;
@@ -97,7 +98,7 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
       resp[1] = ((fan_state.rpm & 0xFF00U) >> 8U);
       resp_len = 2;
       break;
-    // **** 0xc0: reset communications
+    // **** 0xc0: reset communications state
     case 0xc0:
       comms_can_reset();
       break;
@@ -212,17 +213,14 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
       break;
     // **** 0xdb: set OBD CAN multiplexing mode
     case 0xdb:
-      if (current_board->harness_config->has_harness) {
-        if (req->param1 == 1U) {
-          // Enable OBD CAN
-          current_board->set_can_mode(CAN_MODE_OBD_CAN2);
-        } else {
-          // Disable OBD CAN
-          current_board->set_can_mode(CAN_MODE_NORMAL);
-        }
+      if (req->param1 == 1U) {
+        // Enable OBD CAN
+        current_board->set_can_mode(CAN_MODE_OBD_CAN2);
+      } else {
+        // Disable OBD CAN
+        current_board->set_can_mode(CAN_MODE_NORMAL);
       }
       break;
-
     // **** 0xdc: set safety mode
     case 0xdc:
       set_safety_mode(req->param1, (uint16_t)req->param2);
@@ -265,47 +263,6 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
         ++resp_len;
       }
       break;
-    // **** 0xe1: uart set baud rate
-    case 0xe1:
-      ur = get_ring_by_number(req->param1);
-      if (!ur) {
-        break;
-      }
-      uart_set_baud(ur->uart, req->param2);
-      break;
-    // **** 0xe2: uart set parity
-    case 0xe2:
-      ur = get_ring_by_number(req->param1);
-      if (!ur) {
-        break;
-      }
-      switch (req->param2) {
-        case 0:
-          // disable parity, 8-bit
-          ur->uart->CR1 &= ~(USART_CR1_PCE | USART_CR1_M);
-          break;
-        case 1:
-          // even parity, 9-bit
-          ur->uart->CR1 &= ~USART_CR1_PS;
-          ur->uart->CR1 |= USART_CR1_PCE | USART_CR1_M;
-          break;
-        case 2:
-          // odd parity, 9-bit
-          ur->uart->CR1 |= USART_CR1_PS;
-          ur->uart->CR1 |= USART_CR1_PCE | USART_CR1_M;
-          break;
-        default:
-          break;
-      }
-      break;
-    // **** 0xe4: uart set baud rate extended
-    case 0xe4:
-      ur = get_ring_by_number(req->param1);
-      if (!ur) {
-        break;
-      }
-      uart_set_baud(ur->uart, (int)req->param2*300);
-      break;
     // **** 0xe5: set CAN loopback (for testing)
     case 0xe5:
       can_loopback = req->param1 > 0U;
@@ -335,16 +292,6 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
         print("Clearing CAN CAN ring buffer failed: wrong bus number\n");
       }
       break;
-    // **** 0xf2: Clear UART ring buffer.
-    case 0xf2:
-      {
-        uart_ring * rb = get_ring_by_number(req->param1);
-        if (rb != NULL) {
-          print("Clearing UART queue.\n");
-          clear_uart_buff(rb);
-        }
-        break;
-      }
     // **** 0xf3: Heartbeat. Resets heartbeat counter.
     case 0xf3:
       {
@@ -372,7 +319,6 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
     // **** 0xf9: set CAN FD data bitrate
     case 0xf9:
       if ((req->param1 < PANDA_CAN_CNT) &&
-           current_board->has_canfd &&
            is_speed_valid(req->param2, data_speeds, sizeof(data_speeds)/sizeof(data_speeds[0]))) {
         bus_config[req->param1].can_data_speed = req->param2;
         bus_config[req->param1].canfd_enabled = (req->param2 >= bus_config[req->param1].can_speed);
@@ -383,7 +329,7 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
       break;
     // **** 0xfc: set CAN FD non-ISO mode
     case 0xfc:
-      if ((req->param1 < PANDA_CAN_CNT) && current_board->has_canfd) {
+      if (req->param1 < PANDA_CAN_CNT) {
         bus_config[req->param1].canfd_non_iso = (req->param2 != 0U);
         bool ret = can_init(CAN_NUM_FROM_BUS_NUM(req->param1));
         UNUSED(ret);
diff --git a/board/main_declarations.h b/board/main_declarations.h
index 3b4a807d..269d958c 100644
--- a/board/main_declarations.h
+++ b/board/main_declarations.h
@@ -3,8 +3,6 @@
 // ******************** Prototypes ********************
 void print(const char *a);
 void puth(unsigned int i);
-void puth4(unsigned int i);
-void hexdump(const void *a, int l);
 typedef struct board board;
 typedef struct harness_configuration harness_configuration;
 void pwm_init(TIM_TypeDef *TIM, uint8_t channel);
diff --git a/board/power_saving.h b/board/power_saving.h
index dea46491..1e95c951 100644
--- a/board/power_saving.h
+++ b/board/power_saving.h
@@ -7,7 +7,7 @@ int power_save_status = POWER_SAVE_STATUS_DISABLED;
 
 void enable_can_transceivers(bool enabled) {
   // Leave main CAN always on for CAN-based ignition detection
-  uint8_t main_bus = (current_board->harness_config->has_harness && (harness.status == HARNESS_STATUS_FLIPPED)) ? 3U : 1U;
+  uint8_t main_bus = (harness.status == HARNESS_STATUS_FLIPPED) ? 3U : 1U;
   for(uint8_t i=1U; i<=4U; i++){
     current_board->enable_can_transceiver(i, (i == main_bus) || enabled);
   }
diff --git a/board/stm32f4/board.h b/board/stm32f4/board.h
index 3f1f78b3..455f7c3c 100644
--- a/board/stm32f4/board.h
+++ b/board/stm32f4/board.h
@@ -1,39 +1,23 @@
 // ///////////////////////////////////////////////////////////// //
 // Hardware abstraction layer for all different supported boards //
 // ///////////////////////////////////////////////////////////// //
-#include "boards/board_declarations.h"
-#include "boards/unused_funcs.h"
+#include "board/boards/board_declarations.h"
+#include "board/boards/unused_funcs.h"
 
 // ///// Board definition and detection ///// //
-#include "stm32f4/lladc.h"
-#include "drivers/harness.h"
-#include "drivers/fan.h"
-#include "stm32f4/llfan.h"
-#include "drivers/clock_source.h"
-#include "boards/white.h"
-#include "boards/black.h"
-#include "boards/dos.h"
-
-// Unused functions on F4
-void sound_tick(void) {}
+#include "board/stm32f4/lladc.h"
+#include "board/drivers/harness.h"
+#include "board/drivers/fan.h"
+#include "board/stm32f4/llfan.h"
+#include "board/drivers/clock_source.h"
+#include "board/boards/dos.h"
 
 void detect_board_type(void) {
-  // SPI lines floating: white (TODO: is this reliable? Not really, we have to enable ESP/GPS to be able to detect this on the UART)
   set_gpio_output(GPIOC, 14, 1);
   set_gpio_output(GPIOC, 5, 1);
-  if(!detect_with_pull(GPIOB, 1, PULL_UP) && !detect_with_pull(GPIOB, 7, PULL_UP)){
+  if (!detect_with_pull(GPIOB, 1, PULL_UP) && !detect_with_pull(GPIOB, 7, PULL_UP)) {
     hw_type = HW_TYPE_DOS;
     current_board = &board_dos;
-  } else if((detect_with_pull(GPIOA, 4, PULL_DOWN)) || (detect_with_pull(GPIOA, 5, PULL_DOWN)) || (detect_with_pull(GPIOA, 6, PULL_DOWN)) || (detect_with_pull(GPIOA, 7, PULL_DOWN))){
-    hw_type = HW_TYPE_WHITE_PANDA;
-    current_board = &board_white;
-  } else if(detect_with_pull(GPIOA, 13, PULL_DOWN)) { // Rev AB deprecated, so no pullup means black. In REV C, A13 is pulled up to 5V with a 10K
-    // grey is deprecated
-  } else if(!detect_with_pull(GPIOB, 15, PULL_UP)) {
-    // uno is deprecated
-  } else {
-    hw_type = HW_TYPE_BLACK_PANDA;
-    current_board = &board_black;
   }
 
   // Return A13 to the alt mode to fix SWD
diff --git a/board/stm32f4/lladc.h b/board/stm32f4/lladc.h
index c2df10f1..cbd16895 100644
--- a/board/stm32f4/lladc.h
+++ b/board/stm32f4/lladc.h
@@ -1,24 +1,31 @@
+#include "lladc_declarations.h"
 
 void register_set(volatile uint32_t *addr, uint32_t val, uint32_t mask);
 
-void adc_init(void) {
+void adc_init(ADC_TypeDef *adc) {
   register_set(&(ADC->CCR), ADC_CCR_TSVREFE | ADC_CCR_VBATE, 0xC30000U);
-  register_set(&(ADC1->CR2), ADC_CR2_ADON, 0xFF7F0F03U);
-  register_set(&(ADC1->SMPR1), ADC_SMPR1_SMP12 | ADC_SMPR1_SMP13, 0x7FFFFFFU);
+  register_set(&(adc->CR2), ADC_CR2_ADON, 0xFF7F0F03U);
 }
 
-uint16_t adc_get_raw(uint8_t channel) {
-  // Select channel
-  register_set(&(ADC1->JSQR), ((uint32_t) channel << 15U), 0x3FFFFFU);
+static uint16_t adc_get_raw(const adc_signal_t *signal) {
+  // sample time
+  if (signal->channel < 10U) {
+    signal->adc->SMPR2 = ((uint32_t) signal->sample_time << (signal->channel * 3U));
+  } else {
+    signal->adc->SMPR1 = ((uint32_t) signal->sample_time << ((signal->channel - 10U) * 3U));
+  }
 
-  // Start conversion
-  ADC1->SR &= ~(ADC_SR_JEOC);
-  ADC1->CR2 |= ADC_CR2_JSWSTART;
-  while (!(ADC1->SR & ADC_SR_JEOC));
+  // select channel
+  signal->adc->JSQR = ((uint32_t) signal->channel << 15U);
 
-  return ADC1->JDR1;
+  // start conversion
+  signal->adc->SR &= ~(ADC_SR_JEOC);
+  signal->adc->CR2 |= ADC_CR2_JSWSTART;
+  while (!(signal->adc->SR & ADC_SR_JEOC));
+
+  return signal->adc->JDR1;
 }
 
-uint16_t adc_get_mV(uint8_t channel) {
-  return (adc_get_raw(channel) * current_board->avdd_mV) / 4095U;
+uint16_t adc_get_mV(const adc_signal_t *signal) {
+  return (adc_get_raw(signal) * current_board->avdd_mV) / 4095U;
 }
diff --git a/board/stm32f4/lladc_declarations.h b/board/stm32f4/lladc_declarations.h
new file mode 100644
index 00000000..64a733a9
--- /dev/null
+++ b/board/stm32f4/lladc_declarations.h
@@ -0,0 +1,20 @@
+#pragma once
+
+typedef enum {
+  SAMPLETIME_3_CYCLES = 0,
+  SAMPLETIME_15_CYCLES = 1,
+  SAMPLETIME_28_CYCLES = 2,
+  SAMPLETIME_56_CYCLES = 3,
+  SAMPLETIME_84_CYCLES = 4,
+  SAMPLETIME_112_CYCLES = 5,
+  SAMPLETIME_144_CYCLES = 6,
+  SAMPLETIME_480_CYCLES = 7
+} adc_sample_time_t;
+
+typedef struct {
+  ADC_TypeDef *adc;
+  uint8_t channel;
+  adc_sample_time_t sample_time;
+} adc_signal_t;
+
+#define ADC_CHANNEL_DEFAULT(a, c) {.adc = (a), .channel = (c), .sample_time = SAMPLETIME_480_CYCLES}
diff --git a/board/stm32f4/llspi.h b/board/stm32f4/llspi.h
index e986adb4..8cf9d811 100644
--- a/board/stm32f4/llspi.h
+++ b/board/stm32f4/llspi.h
@@ -1,91 +1,12 @@
-#if defined(ENABLE_SPI) || defined(BOOTSTUB)
 void llspi_miso_dma(uint8_t *addr, int len) {
-  // disable DMA
-  DMA2_Stream3->CR &= ~DMA_SxCR_EN;
-  register_clear_bits(&(SPI1->CR2), SPI_CR2_TXDMAEN);
-
-  // setup source and length
-  register_set(&(DMA2_Stream3->M0AR), (uint32_t)addr, 0xFFFFFFFFU);
-  DMA2_Stream3->NDTR = len;
-
-  // enable DMA
-  register_set_bits(&(SPI1->CR2), SPI_CR2_TXDMAEN);
-  DMA2_Stream3->CR |= DMA_SxCR_EN;
+  UNUSED(addr);
+  UNUSED(len);
 }
 
 void llspi_mosi_dma(uint8_t *addr, int len) {
-  // disable DMA
-  register_clear_bits(&(SPI1->CR2), SPI_CR2_RXDMAEN);
-  DMA2_Stream2->CR &= ~DMA_SxCR_EN;
-
-  // drain the bus
-  volatile uint8_t dat = SPI1->DR;
-  (void)dat;
-
-  // setup destination and length
-  register_set(&(DMA2_Stream2->M0AR), (uint32_t)addr, 0xFFFFFFFFU);
-  DMA2_Stream2->NDTR = len;
-
-  // enable DMA
-  DMA2_Stream2->CR |= DMA_SxCR_EN;
-  register_set_bits(&(SPI1->CR2), SPI_CR2_RXDMAEN);
-}
-// SPI MOSI DMA FINISHED
-static void DMA2_Stream2_IRQ_Handler(void) {
-  // Clear interrupt flag
-  ENTER_CRITICAL();
-  DMA2->LIFCR = DMA_LIFCR_CTCIF2;
-
-  spi_rx_done();
-
-  EXIT_CRITICAL();
+  UNUSED(addr);
+  UNUSED(len);
 }
 
-// SPI MISO DMA FINISHED
-static void DMA2_Stream3_IRQ_Handler(void) {
-  // Clear interrupt flag
-  DMA2->LIFCR = DMA_LIFCR_CTCIF3;
-
-  // Wait until the transaction is actually finished and clear the DR
-  // Timeout to prevent hang when the master clock stops.
-  bool timed_out = false;
-  uint32_t start_time = microsecond_timer_get();
-  while (!(SPI1->SR & SPI_SR_TXE)) {
-    if (get_ts_elapsed(microsecond_timer_get(), start_time) > SPI_TIMEOUT_US) {
-      timed_out = true;
-      break;
-    }
-  }
-  volatile uint8_t dat = SPI1->DR;
-  (void)dat;
-  SPI1->DR = 0U;
-
-  if (timed_out) {
-    print("SPI: TX timeout\n");
-  }
-
-  spi_tx_done(timed_out);
-}
-
-// ***************************** SPI init *****************************
 void llspi_init(void) {
-  REGISTER_INTERRUPT(DMA2_Stream2_IRQn, DMA2_Stream2_IRQ_Handler, SPI_IRQ_RATE, FAULT_INTERRUPT_RATE_SPI_DMA)
-  REGISTER_INTERRUPT(DMA2_Stream3_IRQn, DMA2_Stream3_IRQ_Handler, SPI_IRQ_RATE, FAULT_INTERRUPT_RATE_SPI_DMA)
-
-  // Setup MOSI DMA
-  register_set(&(DMA2_Stream2->CR), (DMA_SxCR_CHSEL_1 | DMA_SxCR_CHSEL_0 | DMA_SxCR_MINC | DMA_SxCR_TCIE), 0x1E077EFEU);
-  register_set(&(DMA2_Stream2->PAR), (uint32_t)&(SPI1->DR), 0xFFFFFFFFU);
-
-  // Setup MISO DMA
-  register_set(&(DMA2_Stream3->CR), (DMA_SxCR_CHSEL_1 | DMA_SxCR_CHSEL_0 | DMA_SxCR_MINC | DMA_SxCR_DIR_0 | DMA_SxCR_TCIE), 0x1E077EFEU);
-  register_set(&(DMA2_Stream3->PAR), (uint32_t)&(SPI1->DR), 0xFFFFFFFFU);
-
-  // Enable SPI and the error interrupts
-  // TODO: verify clock phase and polarity
-  register_set(&(SPI1->CR1), SPI_CR1_SPE, 0xFFFFU);
-  register_set(&(SPI1->CR2), 0U, 0xF7U);
-
-  NVIC_EnableIRQ(DMA2_Stream2_IRQn);
-  NVIC_EnableIRQ(DMA2_Stream3_IRQn);
 }
-#endif
diff --git a/board/stm32f4/lluart.h b/board/stm32f4/lluart.h
index 660c1ce1..ceb51a30 100644
--- a/board/stm32f4/lluart.h
+++ b/board/stm32f4/lluart.h
@@ -29,7 +29,3 @@ void uart_tx_ring(uart_ring *q){
 #define DIVMANT_(_PCLK_, _BAUD_)                (DIV_((_PCLK_), (_BAUD_)) / 100U)
 #define DIVFRAQ_(_PCLK_, _BAUD_)                ((((DIV_((_PCLK_), (_BAUD_)) - (DIVMANT_((_PCLK_), (_BAUD_)) * 100U)) * 16U) + 50U) / 100U)
 #define USART_BRR_(_PCLK_, _BAUD_)              ((DIVMANT_((_PCLK_), (_BAUD_)) << 4) | (DIVFRAQ_((_PCLK_), (_BAUD_)) & 0x0FU))
-
-void uart_set_baud(USART_TypeDef *u, unsigned int baud) {
-  u->BRR = USART_BRR_(APB1_FREQ*1000000U, baud);
-}
diff --git a/board/stm32f4/peripherals.h b/board/stm32f4/peripherals.h
index fc974091..1725c2ed 100644
--- a/board/stm32f4/peripherals.h
+++ b/board/stm32f4/peripherals.h
@@ -9,16 +9,8 @@ static void gpio_usb_init(void) {
   GPIOA->OSPEEDR = GPIO_OSPEEDER_OSPEEDR11 | GPIO_OSPEEDER_OSPEEDR12;
 }
 
-#ifdef ENABLE_SPI
 void gpio_spi_init(void) {
-  // A4-A7: SPI
-  set_gpio_alternate(GPIOA, 4, GPIO_AF5_SPI1);
-  set_gpio_alternate(GPIOA, 5, GPIO_AF5_SPI1);
-  set_gpio_alternate(GPIOA, 6, GPIO_AF5_SPI1);
-  set_gpio_alternate(GPIOA, 7, GPIO_AF5_SPI1);
-  register_set_bits(&(GPIOA->OSPEEDR), GPIO_OSPEEDER_OSPEEDR4 | GPIO_OSPEEDER_OSPEEDR5 | GPIO_OSPEEDER_OSPEEDR6 | GPIO_OSPEEDER_OSPEEDR7);
 }
-#endif
 
 #ifdef BOOTSTUB
 void gpio_usart2_init(void) {
@@ -30,8 +22,6 @@ void gpio_usart2_init(void) {
 
 // Common GPIO initialization
 void common_init_gpio(void) {
-  // TODO: Is this block actually doing something???
-  // pull low to hold ESP in reset??
   // enable OTG out tied to ground
   GPIOA->ODR = 0;
   GPIOB->ODR = 0;
diff --git a/board/stm32f4/stm32f4_config.h b/board/stm32f4/stm32f4_config.h
index b3fc2a89..1af38f8e 100644
--- a/board/stm32f4/stm32f4_config.h
+++ b/board/stm32f4/stm32f4_config.h
@@ -1,5 +1,5 @@
-#include "stm32f4/inc/stm32f4xx.h"
-#include "stm32f4/inc/stm32f4xx_hal_gpio_ex.h"
+#include "stm32f4xx.h"
+#include "stm32f4xx_hal_gpio_ex.h"
 #define MCU_IDCODE 0x463U
 
 #define CORE_FREQ 96U // in MHz
@@ -30,44 +30,46 @@
 #define PROVISION_CHUNK_ADDRESS 0x1FFF79E0U
 #define DEVICE_SERIAL_NUMBER_ADDRESS 0x1FFF79C0U
 
-#include "can.h"
-#include "comms_definitions.h"
+#include "board/can.h"
+#include "board/comms_definitions.h"
 
 #ifndef BOOTSTUB
-  #include "main_definitions.h"
+  #include "board/main_definitions.h"
 #else
-  #include "bootstub_declarations.h"
+  #include "board/bootstub_declarations.h"
 #endif
 
-#include "libc.h"
-#include "critical.h"
-#include "faults.h"
-#include "utils.h"
+#include "board/libc.h"
+#include "board/critical.h"
+#include "board/faults.h"
+#include "board/utils.h"
 
-#include "drivers/registers.h"
-#include "drivers/interrupts.h"
-#include "drivers/gpio.h"
-#include "stm32f4/peripherals.h"
-#include "stm32f4/interrupt_handlers.h"
-#include "drivers/timers.h"
-#include "stm32f4/board.h"
-#include "stm32f4/clock.h"
-
-#include "drivers/spi.h"
-#include "stm32f4/llspi.h"
+#include "board/drivers/registers.h"
+#include "board/drivers/interrupts.h"
+#include "board/drivers/gpio.h"
+#include "board/stm32f4/peripherals.h"
+#include "board/stm32f4/interrupt_handlers.h"
+#include "board/drivers/timers.h"
+#include "board/stm32f4/board.h"
+#include "board/stm32f4/clock.h"
 
 #if !defined(BOOTSTUB)
-  #include "drivers/uart.h"
-  #include "stm32f4/lluart.h"
+  #include "board/drivers/uart.h"
+  #include "board/stm32f4/lluart.h"
 #endif
 
 #ifdef BOOTSTUB
-  #include "stm32f4/llflash.h"
+  #include "board/stm32f4/llflash.h"
 #else
-  #include "stm32f4/llbxcan.h"
+  #include "board/stm32f4/llbxcan.h"
 #endif
 
-#include "stm32f4/llusb.h"
+#include "board/stm32f4/llusb.h"
+
+// unused
+void spi_init(void) {};
+void sound_tick(void) {};
+void can_tx_comms_resume_spi(void) {};
 
 void early_gpio_float(void) {
   RCC->AHB1ENR = RCC_AHB1ENR_GPIOAEN | RCC_AHB1ENR_GPIOBEN | RCC_AHB1ENR_GPIOCEN;
diff --git a/board/stm32h7/board.h b/board/stm32h7/board.h
index 0507ca3f..04c4162d 100644
--- a/board/stm32h7/board.h
+++ b/board/stm32h7/board.h
@@ -1,20 +1,20 @@
 // ///////////////////////////////////////////////////////////// //
 // Hardware abstraction layer for all different supported boards //
 // ///////////////////////////////////////////////////////////// //
-#include "boards/board_declarations.h"
-#include "boards/unused_funcs.h"
+#include "board/boards/board_declarations.h"
+#include "board/boards/unused_funcs.h"
 
 // ///// Board definition and detection ///// //
-#include "stm32h7/lladc.h"
-#include "drivers/harness.h"
-#include "drivers/fan.h"
-#include "stm32h7/llfan.h"
-#include "drivers/fake_siren.h"
-#include "stm32h7/sound.h"
-#include "drivers/clock_source.h"
-#include "boards/red.h"
-#include "boards/tres.h"
-#include "boards/cuatro.h"
+#include "board/stm32h7/lladc.h"
+#include "board/drivers/harness.h"
+#include "board/drivers/fan.h"
+#include "board/stm32h7/llfan.h"
+#include "board/drivers/fake_siren.h"
+#include "board/stm32h7/sound.h"
+#include "board/drivers/clock_source.h"
+#include "board/boards/red.h"
+#include "board/boards/tres.h"
+#include "board/boards/cuatro.h"
 
 
 void detect_board_type(void) {
diff --git a/board/stm32h7/lladc.h b/board/stm32h7/lladc.h
index 9ff2b54f..0a7e983c 100644
--- a/board/stm32h7/lladc.h
+++ b/board/stm32h7/lladc.h
@@ -1,39 +1,80 @@
+#include "lladc_declarations.h"
 
-void adc_init(void) {
-  ADC1->CR &= ~(ADC_CR_DEEPPWD); //Reset deep-power-down mode
-  ADC1->CR |= ADC_CR_ADVREGEN; // Enable ADC regulator
-  while(!(ADC1->ISR & ADC_ISR_LDORDY));
+static uint32_t adc_avdd_mV = 0U;
 
-  ADC1->CR &= ~(ADC_CR_ADCALDIF); // Choose single-ended calibration
-  ADC1->CR |= ADC_CR_ADCALLIN; // Lineriality calibration
-  ADC1->CR |= ADC_CR_ADCAL; // Start calibrtation
-  while((ADC1->CR & ADC_CR_ADCAL) != 0U);
+void adc_init(ADC_TypeDef *adc) {
+  adc->CR &= ~(ADC_CR_ADEN); // Disable ADC
+  adc->CR &= ~(ADC_CR_DEEPPWD); // Reset deep-power-down mode
+  adc->CR |= ADC_CR_ADVREGEN; // Enable ADC regulator
+  while(!(adc->ISR & ADC_ISR_LDORDY) && (adc != ADC3));
 
-  ADC1->ISR |= ADC_ISR_ADRDY;
-  ADC1->CR |= ADC_CR_ADEN;
-  while(!(ADC1->ISR & ADC_ISR_ADRDY));
+  if (adc != ADC3) {
+    adc->CR &= ~(ADC_CR_ADCALDIF); // Choose single-ended calibration
+    adc->CR |= ADC_CR_ADCALLIN; // Lineriality calibration
+  }
+  adc->CR |= ADC_CR_ADCAL; // Start calibration
+  while((adc->CR & ADC_CR_ADCAL) != 0U);
+
+  adc->ISR |= ADC_ISR_ADRDY;
+  adc->CR |= ADC_CR_ADEN;
+  while(!(adc->ISR & ADC_ISR_ADRDY));
 }
 
-static uint16_t adc_get_raw(uint8_t channel) {
-  uint16_t res = 0U;
-  ADC1->SQR1 &= ~(ADC_SQR1_L);
-  ADC1->SQR1 = (uint32_t)channel << 6U;
+uint16_t adc_get_raw(const adc_signal_t *signal) {
+  signal->adc->SQR1 &= ~(ADC_SQR1_L);
+  signal->adc->SQR1 = ((uint32_t) signal->channel << 6U);
 
-  ADC1->SMPR1 = 0x4UL << (channel * 3UL);
-  ADC1->PCSEL_RES0 = (0x1UL << channel);
-  ADC1->CFGR2 = (63UL << ADC_CFGR2_OVSR_Pos) | (0x6U << ADC_CFGR2_OVSS_Pos) | ADC_CFGR2_ROVSE;
+  // sample time
+  if (signal->channel < 10U) {
+    signal->adc->SMPR1 = ((uint32_t) signal->sample_time << (signal->channel * 3U));
+  } else {
+    signal->adc->SMPR2 = ((uint32_t) signal->sample_time << ((signal->channel - 10U) * 3U));
+  }
 
-  ADC1->CR |= ADC_CR_ADSTART;
-  while (!(ADC1->ISR & ADC_ISR_EOC));
+  // select channel
+  signal->adc->PCSEL_RES0 = (0x1UL << signal->channel);
 
-  res = ADC1->DR;
+  // oversampling
+  signal->adc->CFGR2 = (((1U << (uint32_t) signal->oversampling) - 1U) << ADC_CFGR2_OVSR_Pos) | ((uint32_t) signal->oversampling << ADC_CFGR2_OVSS_Pos);
+  signal->adc->CFGR2 |= (signal->oversampling != OVERSAMPLING_1) ? ADC_CFGR2_ROVSE : 0U;
 
-  while (!(ADC1->ISR & ADC_ISR_EOS));
-  ADC1->ISR |= ADC_ISR_EOS;
+  // start conversion
+  signal->adc->CR |= ADC_CR_ADSTART;
+  while (!(signal->adc->ISR & ADC_ISR_EOC));
+
+  uint16_t res = signal->adc->DR;
+
+  while (!(signal->adc->ISR & ADC_ISR_EOS));
+  signal->adc->ISR |= ADC_ISR_EOS;
 
   return res;
 }
 
-uint16_t adc_get_mV(uint8_t channel) {
-  return (adc_get_raw(channel) * current_board->avdd_mV) / 65535U;
+static void adc_calibrate_vdda(void) {
+  // ADC2 used for calibration
+  adc_init(ADC2);
+
+  // enable VREFINT channel
+  ADC3_COMMON->CCR |= ADC_CCR_VREFEN;
+  SYSCFG->ADC2ALT |= SYSCFG_ADC2ALT_ADC2_ROUT1;
+
+  // measure VREFINT and derive AVDD
+  uint16_t raw_vrefint = adc_get_raw(&(adc_signal_t){.adc = ADC2, .channel = 17U, .sample_time = SAMPLETIME_810_CYCLES, .oversampling = OVERSAMPLING_256});
+  adc_avdd_mV = (uint32_t) *VREFINT_CAL_ADDR * 16U * 3300U / raw_vrefint;
+  print("  AVDD: 0x"); puth(adc_avdd_mV); print(" mV\n");
+}
+
+uint16_t adc_get_mV(const adc_signal_t *signal) {
+  uint16_t ret = 0;
+
+  if (adc_avdd_mV == 0U) {
+    adc_calibrate_vdda();
+  }
+
+  if ((signal->adc == ADC1) || (signal->adc == ADC2)) {
+    ret = (adc_get_raw(signal) * adc_avdd_mV) / 65535U;
+  } else if (signal->adc == ADC3) {
+    ret = (adc_get_raw(signal) * adc_avdd_mV) / 4095U;
+  } else {}
+  return ret;
 }
diff --git a/board/stm32h7/lladc_declarations.h b/board/stm32h7/lladc_declarations.h
new file mode 100644
index 00000000..979919c8
--- /dev/null
+++ b/board/stm32h7/lladc_declarations.h
@@ -0,0 +1,37 @@
+#pragma once
+
+typedef enum {
+  SAMPLETIME_1_CYCLE = 0,
+  SAMPLETIME_2_CYCLES = 1,
+  SAMPLETIME_8_CYCLES = 2,
+  SAMPLETIME_16_CYCLES = 3,
+  SAMPLETIME_32_CYCLES = 4,
+  SAMPLETIME_64_CYCLES = 5,
+  SAMPLETIME_387_CYCLES = 6,
+  SAMPLETIME_810_CYCLES = 7
+} adc_sample_time_t;
+
+typedef enum {
+  OVERSAMPLING_1 = 0,
+  OVERSAMPLING_2 = 1,
+  OVERSAMPLING_4 = 2,
+  OVERSAMPLING_8 = 3,
+  OVERSAMPLING_16 = 4,
+  OVERSAMPLING_32 = 5,
+  OVERSAMPLING_64 = 6,
+  OVERSAMPLING_128 = 7,
+  OVERSAMPLING_256 = 8,
+  OVERSAMPLING_512 = 9,
+  OVERSAMPLING_1024 = 10
+} adc_oversampling_t;
+
+typedef struct {
+  ADC_TypeDef *adc;
+  uint8_t channel;
+  adc_sample_time_t sample_time;
+  adc_oversampling_t oversampling;
+} adc_signal_t;
+
+#define ADC_CHANNEL_DEFAULT(a, c) {.adc = (a), .channel = (c), .sample_time = SAMPLETIME_32_CYCLES, .oversampling = OVERSAMPLING_64}
+
+#define VREFINT_CAL_ADDR ((uint16_t *)0x1FF1E860UL)
diff --git a/board/stm32h7/llspi.h b/board/stm32h7/llspi.h
index a5dca37a..05f8e22f 100644
--- a/board/stm32h7/llspi.h
+++ b/board/stm32h7/llspi.h
@@ -1,4 +1,3 @@
-#if defined(ENABLE_SPI) || defined(BOOTSTUB)
 // master -> panda DMA start
 void llspi_mosi_dma(uint8_t *addr, int len) {
   // disable DMA + SPI
@@ -106,4 +105,3 @@ void llspi_init(void) {
   NVIC_EnableIRQ(DMA2_Stream3_IRQn);
   NVIC_EnableIRQ(SPI4_IRQn);
 }
-#endif
diff --git a/board/stm32h7/lluart.h b/board/stm32h7/lluart.h
index 742549bb..e18f1e9f 100644
--- a/board/stm32h7/lluart.h
+++ b/board/stm32h7/lluart.h
@@ -44,11 +44,6 @@ void uart_tx_ring(uart_ring *q){
   EXIT_CRITICAL();
 }
 
-void uart_set_baud(USART_TypeDef *u, unsigned int baud) {
-  // UART7 is connected to APB1 at 60MHz
-  u->BRR = 60000000U / baud;
-}
-
 // This read after reading ISR clears all error interrupts. We don't want compiler warnings, nor optimizations
 #define UART_READ_RDR(uart) volatile uint8_t t = (uart)->RDR; UNUSED(t);
 
@@ -90,11 +85,12 @@ static void uart_interrupt_handler(uart_ring *q) {
 
 static void UART7_IRQ_Handler(void) { uart_interrupt_handler(&uart_ring_som_debug); }
 
-void uart_init(uart_ring *q, int baud) {
+void uart_init(uart_ring *q, unsigned int baud) {
   if (q->uart == UART7) {
     REGISTER_INTERRUPT(UART7_IRQn, UART7_IRQ_Handler, 150000U, FAULT_INTERRUPT_RATE_UART_7)
 
-    uart_set_baud(q->uart, baud);
+    // UART7 is connected to APB1 at 60MHz
+    q->uart->BRR = 60000000U / baud;
     q->uart->CR1 = USART_CR1_UE | USART_CR1_TE | USART_CR1_RE;
 
     // Enable interrupt on RX not empty
diff --git a/board/stm32h7/peripherals.h b/board/stm32h7/peripherals.h
index 3e9256da..8eb38430 100644
--- a/board/stm32h7/peripherals.h
+++ b/board/stm32h7/peripherals.h
@@ -9,7 +9,6 @@ static void gpio_usb_init(void) {
   GPIOA->OSPEEDR = GPIO_OSPEEDR_OSPEED11 | GPIO_OSPEEDR_OSPEED12;
 }
 
-#ifdef ENABLE_SPI
 void gpio_spi_init(void) {
   set_gpio_alternate(GPIOE, 11, GPIO_AF5_SPI4);
   set_gpio_alternate(GPIOE, 12, GPIO_AF5_SPI4);
@@ -17,7 +16,6 @@ void gpio_spi_init(void) {
   set_gpio_alternate(GPIOE, 14, GPIO_AF5_SPI4);
   register_set_bits(&(GPIOE->OSPEEDR), GPIO_OSPEEDR_OSPEED11 | GPIO_OSPEEDR_OSPEED12 | GPIO_OSPEEDR_OSPEED13 | GPIO_OSPEEDR_OSPEED14);
 }
-#endif
 
 #ifdef BOOTSTUB
 void gpio_usart2_init(void) {
@@ -110,6 +108,7 @@ void peripherals_init(void) {
 
   // Analog
   RCC->AHB1ENR |= RCC_AHB1ENR_ADC12EN; // Enable ADC12 clocks
+  RCC->AHB4ENR |= RCC_AHB4ENR_ADC3EN; // Enable ADC3 clocks
   RCC->APB1LENR |= RCC_APB1LENR_DAC12EN; // DAC
 
   // Audio
@@ -128,7 +127,6 @@ void peripherals_init(void) {
 
 #ifdef PANDA_JUNGLE
   RCC->AHB3ENR |= RCC_AHB3ENR_SDMMC1EN; // SDMMC
-  RCC->AHB4ENR |= RCC_AHB4ENR_ADC3EN; // Enable ADC3 clocks
 #endif
 }
 
diff --git a/board/stm32h7/sound.h b/board/stm32h7/sound.h
index 467c3567..9c75e465 100644
--- a/board/stm32h7/sound.h
+++ b/board/stm32h7/sound.h
@@ -104,11 +104,33 @@ void sound_init(void) {
   REGISTER_INTERRUPT(BDMA_Channel0_IRQn, BDMA_Channel0_IRQ_Handler, 128U, FAULT_INTERRUPT_RATE_SOUND_DMA)
   REGISTER_INTERRUPT(DMA1_Stream0_IRQn, DMA1_Stream0_IRQ_Handler, 128U, FAULT_INTERRUPT_RATE_SOUND_DMA)
 
+  // *** tmp, remove soon ***
+  static const uint8_t olds[][12] = {
+    {0x44, 0x00, 0x10, 0x00, 0x19, 0x51, 0x32, 0x34, 0x39, 0x37, 0x37, 0x30},
+    {0x14, 0x00, 0x13, 0x00, 0x18, 0x51, 0x32, 0x34, 0x39, 0x37, 0x37, 0x30},
+    {0x04, 0x00, 0x30, 0x00, 0x18, 0x51, 0x32, 0x34, 0x39, 0x37, 0x37, 0x30},
+    {0x2f, 0x00, 0x14, 0x00, 0x18, 0x51, 0x32, 0x34, 0x39, 0x37, 0x37, 0x30},
+    {0x1e, 0x00, 0x2f, 0x00, 0x18, 0x51, 0x32, 0x34, 0x39, 0x37, 0x37, 0x30},
+    {0x26, 0x00, 0x15, 0x00, 0x19, 0x51, 0x32, 0x34, 0x39, 0x37, 0x37, 0x30},
+    {0x35, 0x00, 0x32, 0x00, 0x18, 0x51, 0x32, 0x34, 0x39, 0x37, 0x37, 0x30},
+    {0x37, 0x00, 0x2f, 0x00, 0x18, 0x51, 0x32, 0x34, 0x39, 0x37, 0x37, 0x30},
+  };
+  bool is_old = false;
+  for (uint8_t i = 0U; i < (sizeof(olds) / sizeof(olds[0])); i++) {
+    is_old |= (memcmp(olds[i], ((uint8_t *)UID_BASE), 12) == 0);
+  }
+  // *** tmp end ***
+
   // Init DAC
   DAC1->DHR12R1 = (1UL << 11);
+  if (!is_old) DAC1->DHR12R2 = (1UL << 11);
   register_set(&DAC1->MCR, 0U, 0xFFFFFFFFU);
   register_set(&DAC1->CR, DAC_CR_TEN1 | (4U << DAC_CR_TSEL1_Pos) | DAC_CR_DMAEN1, 0xFFFFFFFFU);
-  register_set_bits(&DAC1->CR, DAC_CR_EN1);
+  if (is_old) {
+    register_set_bits(&DAC1->CR, DAC_CR_EN1);
+  } else {
+    register_set_bits(&DAC1->CR, DAC_CR_EN1 | DAC_CR_EN2);
+  }
 
   // Setup DMAMUX (DAC_CH1_DMA as input)
   register_set(&DMAMUX1_Channel1->CCR, 67U, DMAMUX_CxCR_DMAREQ_ID_Msk);
diff --git a/board/stm32h7/stm32h7_config.h b/board/stm32h7/stm32h7_config.h
index 4355fe8e..5e7dcb0c 100644
--- a/board/stm32h7/stm32h7_config.h
+++ b/board/stm32h7/stm32h7_config.h
@@ -1,5 +1,5 @@
-#include "stm32h7/inc/stm32h7xx.h"
-#include "stm32h7/inc/stm32h7xx_hal_gpio_ex.h"
+#include "stm32h7xx.h"
+#include "stm32h7xx_hal_gpio_ex.h"
 #define MCU_IDCODE 0x483U
 
 #define CORE_FREQ 240U // in Mhz
@@ -43,45 +43,49 @@ separate IRQs for RX and TX.
 #define PROVISION_CHUNK_ADDRESS 0x080FFFE0U
 #define DEVICE_SERIAL_NUMBER_ADDRESS 0x080FFFC0U
 
-#include "can.h"
-#include "comms_definitions.h"
+#include "board/can.h"
+#include "board/comms_definitions.h"
 
 #ifndef BOOTSTUB
-  #include "main_definitions.h"
+  #include "board/main_definitions.h"
 #else
-  #include "bootstub_declarations.h"
+  #include "board/bootstub_declarations.h"
 #endif
 
-#include "libc.h"
-#include "critical.h"
-#include "faults.h"
-#include "utils.h"
+#include "board/libc.h"
+#include "board/critical.h"
+#include "board/faults.h"
+#include "board/utils.h"
 
-#include "drivers/registers.h"
-#include "drivers/interrupts.h"
-#include "drivers/gpio.h"
-#include "stm32h7/peripherals.h"
-#include "stm32h7/interrupt_handlers.h"
-#include "drivers/timers.h"
+#include "board/drivers/registers.h"
+#include "board/drivers/interrupts.h"
+#include "board/drivers/gpio.h"
+#include "board/stm32h7/peripherals.h"
+#include "board/stm32h7/interrupt_handlers.h"
+#include "board/drivers/timers.h"
 
 #if !defined(BOOTSTUB)
-  #include "drivers/uart.h"
-  #include "stm32h7/lluart.h"
+  #include "board/drivers/uart.h"
+  #include "board/stm32h7/lluart.h"
 #endif
 
-#include "stm32h7/board.h"
-#include "stm32h7/clock.h"
+#ifdef PANDA_JUNGLE
+#include "board/jungle/stm32h7/board.h"
+#else
+#include "board/stm32h7/board.h"
+#endif
+#include "board/stm32h7/clock.h"
 
 #ifdef BOOTSTUB
-  #include "stm32h7/llflash.h"
+  #include "board/stm32h7/llflash.h"
 #else
-  #include "stm32h7/llfdcan.h"
+  #include "board/stm32h7/llfdcan.h"
 #endif
 
-#include "stm32h7/llusb.h"
+#include "board/stm32h7/llusb.h"
 
-#include "drivers/spi.h"
-#include "stm32h7/llspi.h"
+#include "board/drivers/spi.h"
+#include "board/stm32h7/llspi.h"
 
 void early_gpio_float(void) {
   RCC->AHB4ENR = RCC_AHB4ENR_GPIOAEN | RCC_AHB4ENR_GPIOBEN | RCC_AHB4ENR_GPIOCEN | RCC_AHB4ENR_GPIODEN | RCC_AHB4ENR_GPIOEEN | RCC_AHB4ENR_GPIOFEN | RCC_AHB4ENR_GPIOGEN | RCC_AHB4ENR_GPIOHEN;
diff --git a/examples/query_fw_versions.py b/examples/query_fw_versions.py
index 302ece04..67807d5a 100755
--- a/examples/query_fw_versions.py
+++ b/examples/query_fw_versions.py
@@ -75,7 +75,7 @@ if __name__ == "__main__":
       if args.bus:
         bus = int(args.bus)
       else:
-        bus = 1 if panda.has_obd() else 0
+        bus = 1
       rx_addr = addr + int(args.rxoffset, base=16) if args.rxoffset else None
 
       # Try all sub-addresses for addr. By default, this is None
diff --git a/pyproject.toml b/pyproject.toml
index 23eb534b..1fa20287 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -3,7 +3,7 @@ name = "pandacan"
 version = "0.0.10"
 description = "Code powering the comma.ai panda"
 readme = "README.md"
-requires-python = ">=3.11,<3.13"
+requires-python = ">=3.11,<3.13"  # macOS doesn't work with 3.13 due to pycapnp from opendbc
 license = {text = "MIT"}
 authors = [{name = "comma.ai"}]
 classifiers = [
@@ -13,7 +13,7 @@ classifiers = [
 ]
 dependencies = [
   "libusb1",
-    "opendbc @ git+https://github.com/sunnypilot/opendbc.git@c87940a6b5f0b74b8df95f5ef24d4003e7b932d4#egg=opendbc",
+  "opendbc @ git+https://github.com/sunnypilot/opendbc.git@master#egg=opendbc",
 ]
 
 [project.optional-dependencies]
@@ -24,7 +24,6 @@ dev = [
   "flaky",
   "pytest",
   "pytest-mock",
-  "pytest-xdist",
   "pytest-timeout",
   "pytest-randomly",
   "ruff",
@@ -69,7 +68,7 @@ flake8-implicit-str-concat.allow-multiline=false
 "pytest.main".msg = "pytest.main requires special handling that is easy to mess up!"
 
 [tool.pytest.ini_options]
-addopts = "-n0 -Werror --strict-config --strict-markers --durations=10 --ignore-glob='*.sh' --ignore=tests/misra --ignore=tests/som --ignore=tests/hitl"
+addopts = "-Werror --strict-config --strict-markers --durations=10 --ignore-glob='*.sh' --ignore=tests/misra --ignore=tests/som --ignore=tests/hitl"
 python_files = "test_*.py"
 testpaths = [
   "tests/"
diff --git a/python/__init__.py b/python/__init__.py
index e710616b..70d68d5b 100644
--- a/python/__init__.py
+++ b/python/__init__.py
@@ -105,9 +105,6 @@ ensure_health_packet_version = partial(ensure_version, "health", "HEALTH_PACKET_
 class Panda:
 
   SERIAL_DEBUG = 0
-  SERIAL_ESP = 1
-  SERIAL_LIN1 = 2
-  SERIAL_LIN2 = 3
   SERIAL_SOM_DEBUG = 4
 
   USB_VIDS = (0xbbaa, 0x3801)  # 0x3801 is comma's registered VID
@@ -115,15 +112,10 @@ class Panda:
   REQUEST_IN = usb1.ENDPOINT_IN | usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE
   REQUEST_OUT = usb1.ENDPOINT_OUT | usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE
 
+  # from https://github.com/commaai/openpilot/blob/103b4df18cbc38f4129555ab8b15824d1a672bdf/cereal/log.capnp#L648
   HW_TYPE_UNKNOWN = b'\x00'
-  HW_TYPE_WHITE_PANDA = b'\x01'
-  HW_TYPE_GREY_PANDA = b'\x02'
-  HW_TYPE_BLACK_PANDA = b'\x03'
-  HW_TYPE_PEDAL = b'\x04'
-  HW_TYPE_UNO = b'\x05'
   HW_TYPE_DOS = b'\x06'
   HW_TYPE_RED_PANDA = b'\x07'
-  HW_TYPE_RED_PANDA_V2 = b'\x08'
   HW_TYPE_TRES = b'\x09'
   HW_TYPE_CUATRO = b'\x0a'
 
@@ -133,14 +125,12 @@ class Panda:
   HEALTH_STRUCT = struct.Struct("<IIIIIIIIBBBBBHBBBHfBBHBHHB")
   CAN_HEALTH_STRUCT = struct.Struct("<BIBBBBBBBBIIIIIIIHHBBBIIII")
 
-  F4_DEVICES = [HW_TYPE_WHITE_PANDA, HW_TYPE_GREY_PANDA, HW_TYPE_BLACK_PANDA, HW_TYPE_UNO, HW_TYPE_DOS]
-  H7_DEVICES = [HW_TYPE_RED_PANDA, HW_TYPE_RED_PANDA_V2, HW_TYPE_TRES, HW_TYPE_CUATRO]
+  F4_DEVICES = [HW_TYPE_DOS, ]
+  H7_DEVICES = [HW_TYPE_RED_PANDA, HW_TYPE_TRES, HW_TYPE_CUATRO]
 
-  INTERNAL_DEVICES = (HW_TYPE_UNO, HW_TYPE_DOS, HW_TYPE_TRES, HW_TYPE_CUATRO)
-  HAS_OBD = (HW_TYPE_BLACK_PANDA, HW_TYPE_UNO, HW_TYPE_DOS, HW_TYPE_RED_PANDA, HW_TYPE_RED_PANDA_V2, HW_TYPE_TRES, HW_TYPE_CUATRO)
+  INTERNAL_DEVICES = (HW_TYPE_DOS, HW_TYPE_TRES, HW_TYPE_CUATRO)
 
   MAX_FAN_RPMs = {
-    HW_TYPE_UNO: 5100,
     HW_TYPE_DOS: 6500,
     HW_TYPE_TRES: 6600,
     HW_TYPE_CUATRO: 12500,
@@ -522,16 +512,16 @@ class Panda:
       dfu_list = PandaDFU.list()
     return True
 
-  @staticmethod
-  def wait_for_panda(serial: str | None, timeout: int) -> bool:
+  @classmethod
+  def wait_for_panda(cls, serial: str | None, timeout: int) -> bool:
     t_start = time.monotonic()
-    serials = Panda.list()
+    serials = cls.list()
     while (serial is None and len(serials) == 0) or (serial is not None and serial not in serials):
       logger.debug("waiting for panda...")
       time.sleep(0.1)
       if timeout is not None and (time.monotonic() - t_start) > timeout:
         return False
-      serials = Panda.list()
+      serials = cls.list()
     return True
 
   def up_to_date(self, fn=None) -> bool:
@@ -572,7 +562,7 @@ class Panda:
       "interrupt_load": a[18],
       "fan_power": a[19],
       "safety_rx_checks_invalid": a[20],
-      "spi_checksum_error_count": a[21],
+      "spi_error_count": a[21],
       "fan_stall_count": a[22],
       "sbu1_voltage_mV": a[23],
       "sbu2_voltage_mV": a[24],
@@ -669,9 +659,6 @@ class Panda:
 
     raise ValueError(f"unknown HW type: {hw_type}")
 
-  def has_obd(self):
-    return self.get_type() in Panda.HAS_OBD
-
   def is_internal(self):
     return self.get_type() in Panda.INTERNAL_DEVICES
 
@@ -816,16 +803,6 @@ class Panda:
       ret += self._handle.bulkWrite(2, struct.pack("B", port_number) + ln[i:i + 0x20])
     return ret
 
-  def serial_clear(self, port_number):
-    """Clears all messages (tx and rx) from the specified internal uart
-    ringbuffer as though it were drained.
-
-    Args:
-      port_number (int): port number of the uart to clear.
-
-    """
-    self._handle.controlWrite(Panda.REQUEST_OUT, 0xf2, port_number, 0, b'')
-
   def send_heartbeat(self, engaged=True, engaged_mads=True):
     self._handle.controlWrite(Panda.REQUEST_OUT, 0xf3, engaged, engaged_mads, b'')
 
diff --git a/scripts/black_white_loopback_test.py b/scripts/black_white_loopback_test.py
deleted file mode 100755
index 4a243690..00000000
--- a/scripts/black_white_loopback_test.py
+++ /dev/null
@@ -1,157 +0,0 @@
-#!/usr/bin/env python3
-
-# Loopback test between black panda (+ harness and power) and white/grey panda
-# Tests all buses, including OBD CAN, which is on the same bus as CAN0 in this test.
-# To be sure, the test should be run with both harness orientations
-
-
-import os
-import time
-import random
-import argparse
-from opendbc.car.structs import CarParams
-from panda import Panda
-
-def get_test_string():
-  return b"test" + os.urandom(10)
-
-counter = 0
-nonzero_bus_errors = 0
-zero_bus_errors = 0
-content_errors = 0
-
-def run_test(sleep_duration):
-  global counter
-
-  pandas = Panda.list()
-  print(pandas)
-
-  # make sure two pandas are connected
-  if len(pandas) != 2:
-    raise Exception("Connect white/grey and black panda to run this test!")
-
-  # connect
-  pandas[0] = Panda(pandas[0])
-  pandas[1] = Panda(pandas[1])
-
-  black_panda = None
-  other_panda = None
-
-  # find out which one is black
-  if pandas[0].is_black() and not pandas[1].is_black():
-    black_panda = pandas[0]
-    other_panda = pandas[1]
-  elif not pandas[0].is_black() and pandas[1].is_black():
-    black_panda = pandas[1]
-    other_panda = pandas[0]
-  else:
-    raise Exception("Connect white/grey and black panda to run this test!")
-
-  # disable safety modes
-  black_panda.set_safety_mode(CarParams.SafetyModel.allOutput)
-  other_panda.set_safety_mode(CarParams.SafetyModel.allOutput)
-
-  # test health packet
-  print("black panda health", black_panda.health())
-  print("other panda health", other_panda.health())
-
-  # test black -> other
-  while True:
-    test_buses(black_panda, other_panda, True, [(0, False, [0]), (1, False, [1]), (2, False, [2]), (1, True, [0])], sleep_duration)
-    test_buses(black_panda, other_panda, False, [(0, False, [0]), (1, False, [1]), (2, False, [2]), (0, True, [0, 1])], sleep_duration)
-    counter += 1
-    print("Number of cycles:", counter, "Non-zero bus errors:", nonzero_bus_errors, "Zero bus errors:", zero_bus_errors, "Content errors:", content_errors)
-
-    # Toggle relay
-    black_panda.set_safety_mode(CarParams.SafetyModel.silent)
-    time.sleep(1)
-    black_panda.set_safety_mode(CarParams.SafetyModel.allOutput)
-    time.sleep(1)
-
-
-def test_buses(black_panda, other_panda, direction, test_array, sleep_duration):
-  global nonzero_bus_errors, zero_bus_errors, content_errors
-
-  if direction:
-    print("***************** TESTING (BLACK --> OTHER) *****************")
-  else:
-    print("***************** TESTING (OTHER --> BLACK) *****************")
-
-  for send_bus, obd, recv_buses in test_array:
-    black_panda.send_heartbeat()
-    other_panda.send_heartbeat()
-    print("\ntest can: ", send_bus, " OBD: ", obd)
-
-    # set OBD on black panda
-    black_panda.set_obd(True if obd else None)
-
-    # clear and flush
-    if direction:
-      black_panda.can_clear(send_bus)
-    else:
-      other_panda.can_clear(send_bus)
-
-    for recv_bus in recv_buses:
-      if direction:
-        other_panda.can_clear(recv_bus)
-      else:
-        black_panda.can_clear(recv_bus)
-
-    black_panda.can_recv()
-    other_panda.can_recv()
-
-    # send the characters
-    at = random.randint(1, 2000)
-    st = get_test_string()[0:8]
-    if direction:
-      black_panda.can_send(at, st, send_bus)
-    else:
-      other_panda.can_send(at, st, send_bus)
-    time.sleep(0.1)
-
-    # check for receive
-    if direction:
-      _ = black_panda.can_recv()  # can echo
-      cans_loop = other_panda.can_recv()
-    else:
-      _ = other_panda.can_recv()  # can echo
-      cans_loop = black_panda.can_recv()
-
-    loop_buses = []
-    for loop in cans_loop:
-      if (loop[0] != at) or (loop[1] != st):
-        content_errors += 1
-
-      print("  Loop on bus", str(loop[2]))
-      loop_buses.append(loop[2])
-    if len(cans_loop) == 0:
-      print("  No loop")
-      assert not os.getenv("NOASSERT")
-
-    # test loop buses
-    recv_buses.sort()
-    loop_buses.sort()
-    if(recv_buses != loop_buses):
-      if len(loop_buses) == 0:
-        zero_bus_errors += 1
-      else:
-        nonzero_bus_errors += 1
-      assert not os.getenv("NOASSERT")
-    else:
-      print("  TEST PASSED")
-
-    time.sleep(sleep_duration)
-  print("\n")
-
-if __name__ == "__main__":
-  parser = argparse.ArgumentParser()
-  parser.add_argument("-n", type=int, help="Number of test iterations to run")
-  parser.add_argument("-sleep", type=int, help="Sleep time between tests", default=0)
-  args = parser.parse_args()
-
-  if args.n is None:
-    while True:
-      run_test(sleep_duration=args.sleep)
-  else:
-    for _ in range(args.n):
-      run_test(sleep_duration=args.sleep)
diff --git a/scripts/black_white_relay_endurance.py b/scripts/black_white_relay_endurance.py
deleted file mode 100755
index 6cb0a190..00000000
--- a/scripts/black_white_relay_endurance.py
+++ /dev/null
@@ -1,165 +0,0 @@
-#!/usr/bin/env python3
-
-# Loopback test between black panda (+ harness and power) and white/grey panda
-# Tests all buses, including OBD CAN, which is on the same bus as CAN0 in this test.
-# To be sure, the test should be run with both harness orientations
-
-
-import os
-import time
-import random
-import argparse
-
-from opendbc.car.structs import CarParams
-from panda import Panda
-
-def get_test_string():
-  return b"test" + os.urandom(10)
-
-counter = 0
-nonzero_bus_errors = 0
-zero_bus_errors = 0
-content_errors = 0
-
-def run_test(sleep_duration):
-  global counter
-
-  pandas = Panda.list()
-  print(pandas)
-
-  # make sure two pandas are connected
-  if len(pandas) != 2:
-    raise Exception("Connect white/grey and black panda to run this test!")
-
-  # connect
-  pandas[0] = Panda(pandas[0])
-  pandas[1] = Panda(pandas[1])
-
-  black_panda = None
-  other_panda = None
-
-  # find out which one is black
-  if pandas[0].is_black() and not pandas[1].is_black():
-    black_panda = pandas[0]
-    other_panda = pandas[1]
-  elif not pandas[0].is_black() and pandas[1].is_black():
-    black_panda = pandas[1]
-    other_panda = pandas[0]
-  else:
-    raise Exception("Connect white/grey and black panda to run this test!")
-
-  # disable safety modes
-  black_panda.set_safety_mode(CarParams.SafetyModel.allOutput)
-  other_panda.set_safety_mode(CarParams.SafetyModel.allOutput)
-
-  # test health packet
-  print("black panda health", black_panda.health())
-  print("other panda health", other_panda.health())
-
-  # test black -> other
-  start_time = time.time()
-  temp_start_time = start_time
-  while True:
-    test_buses(black_panda, other_panda, True, [(0, False, [0]), (1, False, [1]), (2, False, [2]), (1, True, [0])], sleep_duration)
-    test_buses(black_panda, other_panda, False, [(0, False, [0]), (1, False, [1]), (2, False, [2]), (0, True, [0, 1])], sleep_duration)
-    counter += 1
-
-    runtime = time.time() - start_time
-    print("Number of cycles:", counter, "Non-zero bus errors:", nonzero_bus_errors, "Zero bus errors:", zero_bus_errors,
-          "Content errors:", content_errors, "Runtime: ", runtime)
-
-    if (time.time() - temp_start_time) > 3600 * 6:
-      # Toggle relay
-      black_panda.set_safety_mode(CarParams.SafetyModel.silent)
-      time.sleep(1)
-      black_panda.set_safety_mode(CarParams.SafetyModel.allOutput)
-      time.sleep(1)
-      temp_start_time = time.time()
-
-
-def test_buses(black_panda, other_panda, direction, test_array, sleep_duration):
-  global nonzero_bus_errors, zero_bus_errors, content_errors
-
-  if direction:
-    print("***************** TESTING (BLACK --> OTHER) *****************")
-  else:
-    print("***************** TESTING (OTHER --> BLACK) *****************")
-
-  for send_bus, obd, recv_buses in test_array:
-    black_panda.send_heartbeat()
-    other_panda.send_heartbeat()
-    print("\ntest can: ", send_bus, " OBD: ", obd)
-
-    # set OBD on black panda
-    black_panda.set_obd(True if obd else None)
-
-    # clear and flush
-    if direction:
-      black_panda.can_clear(send_bus)
-    else:
-      other_panda.can_clear(send_bus)
-
-    for recv_bus in recv_buses:
-      if direction:
-        other_panda.can_clear(recv_bus)
-      else:
-        black_panda.can_clear(recv_bus)
-
-    black_panda.can_recv()
-    other_panda.can_recv()
-
-    # send the characters
-    at = random.randint(1, 2000)
-    st = get_test_string()[0:8]
-    if direction:
-      black_panda.can_send(at, st, send_bus)
-    else:
-      other_panda.can_send(at, st, send_bus)
-    time.sleep(0.1)
-
-    # check for receive
-    if direction:
-      _ = black_panda.can_recv()  # cans echo
-      cans_loop = other_panda.can_recv()
-    else:
-      _ = other_panda.can_recv()  # cans echo
-      cans_loop = black_panda.can_recv()
-
-    loop_buses = []
-    for loop in cans_loop:
-      if (loop[0] != at) or (loop[1] != st):
-        content_errors += 1
-
-      print("  Loop on bus", str(loop[2]))
-      loop_buses.append(loop[2])
-    if len(cans_loop) == 0:
-      print("  No loop")
-      assert os.getenv("NOASSERT")
-
-    # test loop buses
-    recv_buses.sort()
-    loop_buses.sort()
-    if(recv_buses != loop_buses):
-      if len(loop_buses) == 0:
-        zero_bus_errors += 1
-      else:
-        nonzero_bus_errors += 1
-      assert os.getenv("NOASSERT")
-    else:
-      print("  TEST PASSED")
-
-    time.sleep(sleep_duration)
-  print("\n")
-
-if __name__ == "__main__":
-  parser = argparse.ArgumentParser()
-  parser.add_argument("-n", type=int, help="Number of test iterations to run")
-  parser.add_argument("-sleep", type=int, help="Sleep time between tests", default=0)
-  args = parser.parse_args()
-
-  if args.n is None:
-    while True:
-      run_test(sleep_duration=args.sleep)
-  else:
-    for _ in range(args.n):
-      run_test(sleep_duration=args.sleep)
diff --git a/scripts/black_white_relay_test.py b/scripts/black_white_relay_test.py
deleted file mode 100755
index 7526d1af..00000000
--- a/scripts/black_white_relay_test.py
+++ /dev/null
@@ -1,136 +0,0 @@
-#!/usr/bin/env python3
-
-# Relay test with loopback between black panda (+ harness and power) and white/grey panda
-# Tests the relay switching multiple times / second by looking at the buses on which loop occurs.
-
-
-import os
-import time
-import random
-import argparse
-
-from opendbc.car.structs import CarParams
-from panda import Panda
-
-def get_test_string():
-  return b"test" + os.urandom(10)
-
-counter = 0
-open_errors = 0
-closed_errors = 0
-content_errors = 0
-
-def run_test(sleep_duration):
-  global counter, open_errors, closed_errors
-
-  pandas = Panda.list()
-  print(pandas)
-
-  # make sure two pandas are connected
-  if len(pandas) != 2:
-    raise Exception("Connect white/grey and black panda to run this test!")
-
-  # connect
-  pandas[0] = Panda(pandas[0])
-  pandas[1] = Panda(pandas[1])
-
-  # find out which one is black
-  type0 = pandas[0].get_type()
-  type1 = pandas[1].get_type()
-
-  black_panda = None
-  other_panda = None
-
-  if type0 == "\x03" and type1 != "\x03":
-    black_panda = pandas[0]
-    other_panda = pandas[1]
-  elif type0 != "\x03" and type1 == "\x03":
-    black_panda = pandas[1]
-    other_panda = pandas[0]
-  else:
-    raise Exception("Connect white/grey and black panda to run this test!")
-
-  # disable safety modes
-  black_panda.set_safety_mode(CarParams.SafetyModel.allOutput)
-  other_panda.set_safety_mode(CarParams.SafetyModel.allOutput)
-
-  # test health packet
-  print("black panda health", black_panda.health())
-  print("other panda health", other_panda.health())
-
-  # test black -> other
-  while True:
-    # Switch on relay
-    black_panda.set_safety_mode(CarParams.SafetyModel.allOutput)
-    time.sleep(0.05)
-
-    if not test_buses(black_panda, other_panda, (0, False, [0])):
-      open_errors += 1
-      raise Exception("Open error")
-
-    # Switch off relay
-    black_panda.set_safety_mode(CarParams.SafetyModel.silent)
-    time.sleep(0.05)
-
-    if not test_buses(black_panda, other_panda, (0, False, [0, 2])):
-      closed_errors += 1
-      raise Exception("Close error")
-
-    counter += 1
-    print("Number of cycles:", counter, "Open errors:", open_errors, "Closed errors:", closed_errors, "Content errors:", content_errors)
-
-def test_buses(black_panda, other_panda, test_obj):
-  global content_errors
-  send_bus, obd, recv_buses = test_obj
-
-  black_panda.send_heartbeat()
-  other_panda.send_heartbeat()
-
-  # Set OBD on send panda
-  other_panda.set_obd(True if obd else None)
-
-  # clear and flush
-  other_panda.can_clear(send_bus)
-
-  for recv_bus in recv_buses:
-    black_panda.can_clear(recv_bus)
-
-  black_panda.can_recv()
-  other_panda.can_recv()
-
-  # send the characters
-  at = random.randint(1, 2000)
-  st = get_test_string()[0:8]
-  other_panda.can_send(at, st, send_bus)
-  time.sleep(0.05)
-
-  # check for receive
-  _ = other_panda.can_recv()  # can echo
-  cans_loop = black_panda.can_recv()
-
-  loop_buses = []
-  for loop in cans_loop:
-    if (loop[0] != at) or (loop[1] != st):
-      content_errors += 1
-    loop_buses.append(loop[2])
-
-  # test loop buses
-  recv_buses.sort()
-  loop_buses.sort()
-  if(recv_buses != loop_buses):
-    return False
-  else:
-    return True
-
-if __name__ == "__main__":
-  parser = argparse.ArgumentParser()
-  parser.add_argument("-n", type=int, help="Number of test iterations to run")
-  parser.add_argument("-sleep", type=int, help="Sleep time between tests", default=0)
-  args = parser.parse_args()
-
-  if args.n is None:
-    while True:
-      run_test(sleep_duration=args.sleep)
-  else:
-    for _ in range(args.n):
-      run_test(sleep_duration=args.sleep)
diff --git a/setup.sh b/setup.sh
index 016b1820..41fb8ae2 100755
--- a/setup.sh
+++ b/setup.sh
@@ -12,11 +12,17 @@ if [[ $PLATFORM == "Darwin" ]]; then
   brew install --cask gcc-arm-embedded
   brew install python3 gcc@13
 elif [[ $PLATFORM == "Linux" ]]; then
+  # for AGNOS since we clear the apt lists
+  if [[ ! -d /"var/lib/apt/" ]]; then
+    sudo apt update
+  fi
+
   sudo apt-get install -y --no-install-recommends \
-    curl \
+    curl ca-certificates \
     make g++ git libnewlib-arm-none-eabi \
     libusb-1.0-0 \
-    gcc-arm-none-eabi python3-pip python3-venv python3-dev
+    gcc-arm-none-eabi \
+    python3-dev python3-pip python3-venv
 else
   echo "WARNING: unsupported platform. skipping apt/brew install."
 fi
diff --git a/test.sh b/test.sh
index 72879771..6412ce74 100755
--- a/test.sh
+++ b/test.sh
@@ -17,5 +17,5 @@ mypy python/
 
 # *** test ***
 
-# TODO: make xdist and randomly work
-pytest -n0 --randomly-dont-reorganize tests/
+# TODO: make randomly work
+pytest --randomly-dont-reorganize tests/
diff --git a/tests/hitl/3_usb_to_can.py b/tests/hitl/3_usb.py
similarity index 95%
rename from tests/hitl/3_usb_to_can.py
rename to tests/hitl/3_usb.py
index 638f4337..ba7081a4 100644
--- a/tests/hitl/3_usb_to_can.py
+++ b/tests/hitl/3_usb.py
@@ -1,10 +1,15 @@
 import time
+import pytest
 from flaky import flaky
 
 from opendbc.car.structs import CarParams
 from panda import Panda
 from panda.tests.hitl.helpers import time_many_sends
 
+pytestmark = [
+  pytest.mark.test_panda_types((Panda.HW_TYPE_DOS, Panda.HW_TYPE_RED_PANDA))
+]
+
 def test_can_loopback(p):
   p.set_safety_mode(CarParams.SafetyModel.allOutput)
   p.set_can_loopback(True)
diff --git a/tests/hitl/4_can_loopback.py b/tests/hitl/4_can_loopback.py
index 4c7f926a..63fce9d9 100644
--- a/tests/hitl/4_can_loopback.py
+++ b/tests/hitl/4_can_loopback.py
@@ -7,7 +7,6 @@ from flaky import flaky
 from collections import defaultdict
 
 from opendbc.car.structs import CarParams
-from panda.tests.hitl.conftest import PandaGroup
 from panda.tests.hitl.helpers import time_many_sends, get_random_can_messages, clear_can_buffers
 
 @flaky(max_runs=3, min_passes=1)
@@ -90,7 +89,6 @@ def test_latency(p, panda_jungle):
 
 
 @pytest.mark.panda_expect_can_error
-@pytest.mark.test_panda_types(PandaGroup.GEN2)
 def test_gen2_loopback(p, panda_jungle):
   def test(p_send, p_recv, address=None):
     for bus in range(4):
diff --git a/tests/hitl/5_spi.py b/tests/hitl/5_spi.py
index f9a4e28d..1861ffef 100644
--- a/tests/hitl/5_spi.py
+++ b/tests/hitl/5_spi.py
@@ -82,12 +82,12 @@ class TestSpi:
     self._ping(mocker, p)
 
   def test_bad_checksum(self, mocker, p):
-    cnt = p.health()['spi_checksum_error_count']
+    cnt = p.health()['spi_error_count']
     with patch('panda.python.spi.PandaSpiHandle._calc_checksum', return_value=0):
       with pytest.raises(PandaSpiNackResponse):
         p._handle.controlRead(Panda.REQUEST_IN, 0xd2, 0, 0, p.HEALTH_STRUCT.size, timeout=50)
     self._ping(mocker, p)
-    assert (p.health()['spi_checksum_error_count'] - cnt) > 0
+    assert (p.health()['spi_error_count'] - cnt) > 0
 
   def test_non_existent_endpoint(self, mocker, p):
     for _ in range(10):
diff --git a/tests/hitl/9_harness.py b/tests/hitl/9_harness.py
index d588fa0a..ddd3516e 100644
--- a/tests/hitl/9_harness.py
+++ b/tests/hitl/9_harness.py
@@ -4,12 +4,10 @@ import itertools
 
 from opendbc.car.structs import CarParams
 from panda import Panda
-from panda.tests.hitl.conftest import PandaGroup
 
 # TODO: test relay
 
 @pytest.mark.panda_expect_can_error
-@pytest.mark.test_panda_types(PandaGroup.GEN2)
 def test_harness_status(p, panda_jungle):
   # map from jungle orientations to panda orientations
   orientation_map = {
@@ -61,7 +59,7 @@ def test_harness_status(p, panda_jungle):
       assert buses[2] == (0 if flipped else 2)
 
     # SBU voltages
-    supply_voltage_mV = 1800 if p.get_type() in [Panda.HW_TYPE_TRES, ] else 3300
+    supply_voltage_mV = 1800 if p.get_type() in [Panda.HW_TYPE_TRES, Panda.HW_TYPE_CUATRO] else 3300
 
     if orientation == Panda.HARNESS_STATUS_NC:
       assert health['sbu1_voltage_mV'] > 0.9 * supply_voltage_mV
diff --git a/tests/hitl/conftest.py b/tests/hitl/conftest.py
index 1c4db1e9..ecc3a455 100644
--- a/tests/hitl/conftest.py
+++ b/tests/hitl/conftest.py
@@ -1,62 +1,32 @@
 import os
 import pytest
-import concurrent.futures
 
 from panda import Panda, PandaDFU, PandaJungle
 from panda.tests.hitl.helpers import clear_can_buffers
 
-# needed to get output when using xdist
-if "DEBUG" in os.environ:
-  import sys
-  sys.stdout = sys.stderr
-
 SPEED_NORMAL = 500
 BUS_SPEEDS = [(0, SPEED_NORMAL), (1, SPEED_NORMAL), (2, SPEED_NORMAL)]
 
-
-JUNGLE_SERIAL = os.getenv("PANDAS_JUNGLE")
+# test options
 NO_JUNGLE = os.environ.get("NO_JUNGLE", "0") == "1"
-PANDAS_EXCLUDE = os.getenv("PANDAS_EXCLUDE", "").strip().split(" ")
-HW_TYPES = os.environ.get("HW_TYPES", None)
-
-PARALLEL = "PARALLEL" in os.environ
-NON_PARALLEL = "NON_PARALLEL" in os.environ
-if PARALLEL:
-  NO_JUNGLE = True
-
-class PandaGroup:
-  H7 = (Panda.HW_TYPE_RED_PANDA, Panda.HW_TYPE_RED_PANDA_V2, Panda.HW_TYPE_TRES)
-  GEN2 = (Panda.HW_TYPE_BLACK_PANDA, Panda.HW_TYPE_UNO, Panda.HW_TYPE_DOS) + H7
-  TESTED = (Panda.HW_TYPE_WHITE_PANDA, Panda.HW_TYPE_BLACK_PANDA, Panda.HW_TYPE_RED_PANDA, Panda.HW_TYPE_RED_PANDA_V2, Panda.HW_TYPE_UNO)
-
-if HW_TYPES is not None:
-  PandaGroup.TESTED = [bytes([int(x), ]) for x in HW_TYPES.strip().split(",")] # type: ignore
-
 
 # Find all pandas connected
-_all_pandas = {}
 _panda_jungle = None
-def init_all_pandas():
+_panda_type = None
+_panda_serial = None
+def init_devices():
   if not NO_JUNGLE:
     global _panda_jungle
-    _panda_jungle = PandaJungle(JUNGLE_SERIAL)
+    _panda_jungle = PandaJungle()
     _panda_jungle.set_panda_power(True)
 
-  for serial in Panda.list():
-    if serial not in PANDAS_EXCLUDE:
-      with Panda(serial=serial, claim=False) as p:
-        ptype = bytes(p.get_type())
-        if ptype in PandaGroup.TESTED:
-          _all_pandas[serial] = ptype
-
-  # ensure we have all tested panda types
-  missing_types = set(PandaGroup.TESTED) - set(_all_pandas.values())
-  assert len(missing_types) == 0, f"Missing panda types: {missing_types}"
-
-  print(f"{len(_all_pandas)} total pandas")
-init_all_pandas()
-_all_panda_serials = sorted(_all_pandas.keys())
-
+  with Panda(serial=None, claim=False) as p:
+    global _panda_type
+    global _panda_serial
+    _panda_serial = p.get_usb_serial()
+    _panda_type = bytes(p.get_type())
+  assert _panda_serial is not None, "No panda found!"
+init_devices()
 
 def init_jungle():
   if _panda_jungle is None:
@@ -90,24 +60,9 @@ def pytest_collection_modifyitems(items):
     if item.get_closest_marker('timeout') is None:
       item.add_marker(pytest.mark.timeout(60))
 
-    # xdist grouping by panda
-    serial = item.name.split("serial=")[1].split(",")[0]
-    assert len(serial) == 24
-    item.add_marker(pytest.mark.xdist_group(serial))
-
     needs_jungle = "panda_jungle" in item.fixturenames
-    if PARALLEL and needs_jungle:
-      item.add_marker(pytest.mark.skip(reason="no jungle tests in PARALLEL mode"))
-    elif NON_PARALLEL and not needs_jungle:
-      item.add_marker(pytest.mark.skip(reason="only running jungle tests"))
-
-def pytest_make_parametrize_id(config, val, argname):
-  if val in _all_pandas:
-    # TODO: get nice string instead of int
-    hw_type = _all_pandas[val][0]
-    return f"serial={val}, hw_type={hw_type}"
-  return None
-
+    if needs_jungle and NO_JUNGLE:
+      item.add_marker(pytest.mark.skip(reason="skipping tests that requires a jungle"))
 
 @pytest.fixture(name='panda_jungle', scope='function')
 def fixture_panda_jungle(request):
@@ -116,6 +71,8 @@ def fixture_panda_jungle(request):
 
 @pytest.fixture(name='p', scope='function')
 def func_fixture_panda(request, module_panda):
+  # *** Setup ***
+
   p = module_panda
 
   # Check if test is applicable to this panda
@@ -123,14 +80,14 @@ def func_fixture_panda(request, module_panda):
   if mark:
     assert len(mark.args) > 0, "Missing panda types argument in mark"
     test_types = mark.args[0]
-    if _all_pandas[p.get_usb_serial()] not in test_types:
+    if _panda_type not in test_types:
       pytest.skip(f"Not applicable, {test_types} pandas only")
 
   mark = request.node.get_closest_marker('skip_panda_types')
   if mark:
     assert len(mark.args) > 0, "Missing panda types argument in mark"
     skip_types = mark.args[0]
-    if _all_pandas[p.get_usb_serial()] in skip_types:
+    if _panda_type in skip_types:
       pytest.skip(f"Not applicable to {skip_types}")
 
   # this is 2+ seconds on USB pandas due to slow
@@ -140,10 +97,10 @@ def func_fixture_panda(request, module_panda):
   # ensure FW hasn't changed
   assert p.up_to_date()
 
-  # Run test
+  # *** Run test ***
   yield p
 
-  # Teardown
+  # *** Teardown ***
 
   # reconnect
   if p.get_dfu_serial() in PandaDFU.list():
@@ -164,7 +121,7 @@ def func_fixture_panda(request, module_panda):
   assert p.health()['fault_status'] == 0
 
   # Check for SPI errors
-  #assert p.health()['spi_checksum_error_count'] == 0
+  #assert p.health()['spi_error_count'] == 0
 
   # Check health of each CAN core after test, normal to fail for test_gen2_loopback on OBD bus, so skipping
   mark = request.node.get_closest_marker('panda_expect_can_error')
@@ -182,41 +139,27 @@ def func_fixture_panda(request, module_panda):
       assert can_health['total_error_cnt'] == 0
       assert can_health['total_tx_checksum_error_cnt'] == 0
 
-@pytest.fixture(name='module_panda', params=_all_panda_serials, scope='module')
+@pytest.fixture(name='module_panda', scope='module')
 def fixture_panda_setup(request):
   """
-    Clean up all pandas + jungle and return the panda under test.
+    Clean up panda + jungle and return the panda under test.
   """
-  panda_serial = request.param
-
-  # Initialize jungle
+  # init jungle
   init_jungle()
 
-  # Connect to pandas
-  def cnnct(s):
-    if s == panda_serial:
-      p = Panda(serial=s)
-      p.reset(reconnect=True)
+  # init panda
+  p = Panda(serial=_panda_serial)
+  p.reset(reconnect=True)
 
-      p.set_can_loopback(False)
-      p.set_power_save(False)
-      for bus, speed in BUS_SPEEDS:
-        p.set_can_speed_kbps(bus, speed)
-      clear_can_buffers(p)
-      p.set_power_save(False)
-      return p
-    elif not PARALLEL:
-      with Panda(serial=s) as p:
-        p.reset(reconnect=False)
-    return None
-
-  with concurrent.futures.ThreadPoolExecutor() as exc:
-    ps = list(exc.map(cnnct, _all_panda_serials, timeout=20))
-    pandas = [p for p in ps if p is not None]
+  p.set_can_loopback(False)
+  p.set_power_save(False)
+  for bus, speed in BUS_SPEEDS:
+    p.set_can_speed_kbps(bus, speed)
+  clear_can_buffers(p)
+  p.set_power_save(False)
 
   # run test
-  yield pandas[0]
+  yield p
 
-  # Teardown
-  for p in pandas:
-    p.close()
+  # teardown
+  p.close()
diff --git a/tests/hitl/reset_jungles.py b/tests/hitl/reset_jungles.py
index fb946731..09bd04ad 100755
--- a/tests/hitl/reset_jungles.py
+++ b/tests/hitl/reset_jungles.py
@@ -4,7 +4,9 @@ import concurrent.futures
 from panda import PandaJungle, PandaJungleDFU, McuType
 from panda.tests.libs.resetter import Resetter
 
-SERIALS = {'180019001451313236343430', '1d0017000c50435635333720'}
+SERIALS = {
+  '180019001451313236343430',  # jungle v2
+}
 
 def recover(s):
   with PandaJungleDFU(s) as pd:
@@ -25,9 +27,9 @@ if __name__ == "__main__":
     for i in range(1, 4):
       r.enable_power(i, 0)
     r.cycle_power(ports=[1, 2], dfu=True)
-
+    for s in SERIALS:
+      assert PandaJungle.wait_for_dfu(PandaJungleDFU.st_serial_to_dfu_serial(s, McuType.H7), timeout=10)
     dfu_serials = PandaJungleDFU.list()
-    print(len(dfu_serials), len(SERIALS))
     assert len(dfu_serials) == len(SERIALS)
 
     with concurrent.futures.ProcessPoolExecutor(max_workers=len(dfu_serials)) as exc:
@@ -36,7 +38,9 @@ if __name__ == "__main__":
       # power cycle for H7 bootloader bug
       r.cycle_power(ports=[1, 2])
 
-      serials = PandaJungle.list()
+      # wait for them to come back up
+      for s in SERIALS:
+        assert PandaJungle.wait_for_panda(s, timeout=10)
       assert set(PandaJungle.list()) >= SERIALS
       mcu_types = list(exc.map(flash, SERIALS, timeout=20))
-      assert set(mcu_types) == {McuType.F4, McuType.H7}
+      assert set(mcu_types) == {McuType.H7, }
diff --git a/tests/hitl/run_parallel_tests.sh b/tests/hitl/run_parallel_tests.sh
deleted file mode 100755
index f60d838c..00000000
--- a/tests/hitl/run_parallel_tests.sh
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-cd $DIR
-
-# n = number of pandas tested
-PARALLEL=1 pytest --durations=0 *.py -n 5 --dist loadgroup -x
diff --git a/tests/hitl/run_serial_tests.sh b/tests/hitl/run_serial_tests.sh
deleted file mode 100755
index 4feae5e3..00000000
--- a/tests/hitl/run_serial_tests.sh
+++ /dev/null
@@ -1,7 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-cd $DIR
-
-NON_PARALLEL=1 pytest --durations=0 *.py -x
diff --git a/tests/libs/resetter.py b/tests/libs/resetter.py
index 3868bde6..52c44e42 100644
--- a/tests/libs/resetter.py
+++ b/tests/libs/resetter.py
@@ -42,16 +42,17 @@ class Resetter():
   def enable_boot(self, enabled):
     self._handle.controlWrite((usb1.ENDPOINT_OUT | usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE), 0xff, 0, enabled, b'')
 
-  def cycle_power(self, delay=5, dfu=False, ports=None):
+  def cycle_power(self, dfu=False, ports=None):
     if ports is None:
       ports = [1, 2, 3]
 
     self.enable_boot(dfu)
     for port in ports:
       self.enable_power(port, False)
-    time.sleep(0.5)
+    time.sleep(0.05)
 
     for port in ports:
       self.enable_power(port, True)
-    time.sleep(delay)
+    time.sleep(0.05)
     self.enable_boot(False)
+    time.sleep(0.12)  # takes the kernel this long to detect the disconnect
diff --git a/tests/misra/checkers.txt b/tests/misra/checkers.txt
index 0b6bfc55..0c8b0d77 100644
--- a/tests/misra/checkers.txt
+++ b/tests/misra/checkers.txt
@@ -5,7 +5,7 @@ Cppcheck checkers list from test_misra.sh:
 
 
 TEST variant options:
---enable=all --disable=unusedFunction -DPANDA --addon=misra -DSTM32F4 -DSTM32F413xx /board/main.c
+--enable=all --disable=unusedFunction --addon=misra -DSTM32F4 -DSTM32F413xx -I /board/stm32f4/inc/ /board/main.c
 
 
 Critical errors
@@ -460,7 +460,7 @@ Not available, Cppcheck Premium is not used
 
 
 TEST variant options:
---enable=all --disable=unusedFunction -DPANDA --addon=misra -DSTM32H7 -DSTM32H725xx /board/main.c
+--enable=all --disable=unusedFunction --addon=misra -DSTM32H7 -DSTM32H725xx -I /board/stm32h7/inc/ /board/main.c
 
 
 Critical errors
diff --git a/tests/misra/test_misra.sh b/tests/misra/test_misra.sh
index 3b16863b..f909ab9e 100755
--- a/tests/misra/test_misra.sh
+++ b/tests/misra/test_misra.sh
@@ -37,7 +37,7 @@ echo "Cppcheck checkers list from test_misra.sh:" > $CHECKLIST
 
 cppcheck() {
   # get all gcc defines: arm-none-eabi-gcc -dM -E - < /dev/null
-  COMMON_DEFINES="-D__GNUC__=9 -UCMSIS_NVIC_VIRTUAL -UCMSIS_VECTAB_VIRTUAL"
+  COMMON_DEFINES="-D__GNUC__=9 -UCMSIS_NVIC_VIRTUAL -UCMSIS_VECTAB_VIRTUAL -UPANDA_JUNGLE -UBOOTSTUB"
 
   # note that cppcheck build cache results in inconsistent results as of v2.13.0
   OUTPUT=$DIR/.output.log
@@ -45,9 +45,9 @@ cppcheck() {
   echo -e "\n\n\n\n\nTEST variant options:" >> $CHECKLIST
   echo -e ""${@//$PANDA_DIR/}"\n\n" >> $CHECKLIST # (absolute path removed)
 
-  $CPPCHECK_DIR/cppcheck --inline-suppr -I $PANDA_DIR/board/ \
+  $CPPCHECK_DIR/cppcheck --inline-suppr \
+          -I $PANDA_DIR \
           -I "$(arm-none-eabi-gcc -print-file-name=include)" \
-          -I $PANDA_DIR/board/stm32f4/inc/ -I $PANDA_DIR/board/stm32h7/inc/ \
           -I $OPENDBC_ROOT \
           --suppressions-list=$DIR/suppressions.txt --suppress=*:*inc/* \
           --suppress=*:*include/* --error-exitcode=2 --check-level=exhaustive --safety \
@@ -64,13 +64,13 @@ cppcheck() {
   fi
 }
 
-PANDA_OPTS="--enable=all --disable=unusedFunction -DPANDA --addon=misra"
+PANDA_OPTS="--enable=all --disable=unusedFunction --addon=misra"
 
 printf "\n${GREEN}** PANDA F4 CODE **${NC}\n"
-cppcheck $PANDA_OPTS -DSTM32F4 -DSTM32F413xx $PANDA_DIR/board/main.c
+cppcheck $PANDA_OPTS -DSTM32F4 -DSTM32F413xx -I $PANDA_DIR/board/stm32f4/inc/ $PANDA_DIR/board/main.c
 
 printf "\n${GREEN}** PANDA H7 CODE **${NC}\n"
-cppcheck $PANDA_OPTS -DSTM32H7 -DSTM32H725xx $PANDA_DIR/board/main.c
+cppcheck $PANDA_OPTS -DSTM32H7 -DSTM32H725xx -I $PANDA_DIR/board/stm32h7/inc/ $PANDA_DIR/board/main.c
 
 # unused needs to run globally
 #printf "\n${GREEN}** UNUSED ALL CODE **${NC}\n"
diff --git a/tests/som/test_bootkick.py b/tests/som/test_bootkick.py
index ba63cff8..497cfd81 100644
--- a/tests/som/test_bootkick.py
+++ b/tests/som/test_bootkick.py
@@ -4,7 +4,7 @@ import pytest
 from opendbc.car.structs import CarParams
 from panda import Panda, PandaJungle
 
-PANDA_SERIAL = "28002d000451323431333839"
+PANDA_SERIAL = "300008001851333037333932"
 JUNGLE_SERIAL = "26001c001451313236343430"
 
 OBDC_PORT = 1