diff --git a/board/drivers/can.h b/board/drivers/can.h
index 1bcb46966ab617..c2786f235db9b4 100644
--- a/board/drivers/can.h
+++ b/board/drivers/can.h
@@ -37,7 +37,6 @@ int can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem);
 #define ALL_CAN_LIVE 0
 
 #include "llcan.h"
-#include "lline_relay.h"
 
 int can_live = 0, pending_can_live = 0, can_loopback = 0, can_silent = ALL_CAN_SILENT;
 
@@ -381,17 +380,14 @@ void can_rx(uint8_t can_number) {
     to_push.RDTR = (to_push.RDTR & 0xFFFF000F) | (bus_number << 4);
 
     // forwarding (panda only)
-    // relay engaged or relay isn't controlled, allow fwd
-    if ((get_lline_status() != 0) || !relay_control) {
-      int bus_fwd_num = can_forwarding[bus_number] != -1 ? can_forwarding[bus_number] : safety_fwd_hook(bus_number, &to_push);
-      if (bus_fwd_num != -1) {
-        CAN_FIFOMailBox_TypeDef to_send;
-        to_send.RIR = to_push.RIR | 1; // TXRQ
-        to_send.RDTR = to_push.RDTR;
-        to_send.RDLR = to_push.RDLR;
-        to_send.RDHR = to_push.RDHR;
-        can_send(&to_send, bus_fwd_num);
-      }
+    int bus_fwd_num = can_forwarding[bus_number] != -1 ? can_forwarding[bus_number] : safety_fwd_hook(bus_number, &to_push);
+    if (bus_fwd_num != -1) {
+      CAN_FIFOMailBox_TypeDef to_send;
+      to_send.RIR = to_push.RIR | 1; // TXRQ
+      to_send.RDTR = to_push.RDTR;
+      to_send.RDLR = to_push.RDLR;
+      to_send.RDHR = to_push.RDHR;
+      can_send(&to_send, bus_fwd_num);
     }
 
     safety_rx_hook(&to_push);
diff --git a/board/drivers/lline_relay.h b/board/drivers/lline_relay.h
deleted file mode 100644
index 217e7dfe3006bf..00000000000000
--- a/board/drivers/lline_relay.h
+++ /dev/null
@@ -1,88 +0,0 @@
-#ifdef PANDA
-
-int relay_control = 0;  // True if relay is controlled through l-line
-
-/* Conrol a relay connected to l-line pin */
-
-// 160us cycles, 1 high, 25 low
-
-volatile int turn_on_relay = 0;
-volatile int on_cycles = 25;
-
-//5s timeout
-#define LLINE_TIMEOUT_CYCLES 31250
-volatile int timeout_cycles = LLINE_TIMEOUT_CYCLES;
-
-void TIM5_IRQHandler(void) {
-  if (TIM5->SR & TIM_SR_UIF) {
-    on_cycles--;
-    timeout_cycles--;
-    if (timeout_cycles == 0) {
-      turn_on_relay = 0;
-    }
-    if (on_cycles > 0) {
-      if (turn_on_relay) {
-        set_gpio_output(GPIOC, 10, 0);
-      }
-    }
-    else {
-      set_gpio_output(GPIOC, 10, 1);
-      on_cycles = 25;
-    }
-  }
-  TIM5->ARR = 160-1;
-  TIM5->SR = 0;
-}
-
-void lline_relay_init (void) {
-  set_lline_output(0);
-  relay_control = 1;
-  set_gpio_output(GPIOC, 10, 1);
-
-  // setup
-  TIM5->PSC = 48-1; // tick on 1 us
-  TIM5->CR1 = TIM_CR1_CEN;   // enable
-  TIM5->ARR = 50-1;         // 50 us
-  TIM5->DIER = TIM_DIER_UIE; // update interrupt
-  TIM5->CNT = 0;
-
-  NVIC_EnableIRQ(TIM5_IRQn);
-
-#ifdef DEBUG
-  puts("INIT LLINE\n");
-  puts(" SR ");
-  putui(TIM5->SR);
-  puts(" PSC ");
-  putui(TIM5->PSC);
-  puts(" CR1 ");
-  putui(TIM5->CR1);
-  puts(" ARR ");
-  putui(TIM5->ARR);
-  puts(" DIER ");
-  putui(TIM5->DIER);
-  puts(" SR ");
-  putui(TIM5->SR);
-  puts(" CNT ");
-  putui(TIM5->CNT);
-  puts("\n");
-#endif
-}
-
-void lline_relay_release (void) {
-  set_lline_output(0);
-  relay_control = 0;
-  puts("RELEASE LLINE\n");
-  set_gpio_alternate(GPIOC, 10, GPIO_AF7_USART3);
-  NVIC_DisableIRQ(TIM5_IRQn);
-}
-
-void set_lline_output(int to_set) {
-  timeout_cycles = LLINE_TIMEOUT_CYCLES;
-  turn_on_relay = to_set;
-}
-
-int get_lline_status() {
-  return turn_on_relay;
-}
-
-#endif
diff --git a/board/gpio.h b/board/gpio.h
index 203484e9a70255..eb58a08f535c01 100644
--- a/board/gpio.h
+++ b/board/gpio.h
@@ -83,7 +83,7 @@ void periph_init() {
   RCC->APB1ENR |= RCC_APB1ENR_TIM2EN;
   RCC->APB1ENR |= RCC_APB1ENR_TIM3EN;
   RCC->APB1ENR |= RCC_APB1ENR_TIM4EN;
-  RCC->APB1ENR |= RCC_APB1ENR_TIM5EN;
+  //RCC->APB1ENR |= RCC_APB1ENR_TIM5EN;
   //RCC->APB1ENR |= RCC_APB1ENR_TIM6EN;
   RCC->APB2ENR |= RCC_APB2ENR_USART1EN;
   RCC->AHB2ENR |= RCC_AHB2ENR_OTGFSEN;
@@ -349,9 +349,7 @@ void gpio_init() {
     set_gpio_output(GPIOA, 14, 1);
 
     // C10,C11: L-Line setup on USART 3
-    // LLine now used for relay output
-    set_gpio_output(GPIOC, 10, 1);
-    //set_gpio_alternate(GPIOC, 10, GPIO_AF7_USART3);
+    set_gpio_alternate(GPIOC, 10, GPIO_AF7_USART3);
     set_gpio_alternate(GPIOC, 11, GPIO_AF7_USART3);
     set_gpio_pullup(GPIOC, 11, PULL_UP);
   #endif
diff --git a/board/main.c b/board/main.c
index 3e075a2629284e..9cdb708b03f7fa 100644
--- a/board/main.c
+++ b/board/main.c
@@ -139,13 +139,6 @@ void usb_cb_ep3_out(uint8_t *usbdata, int len, int hardwired) {
 
     uint8_t bus_number = (to_push.RDTR >> 4) & CAN_BUS_NUM_MASK;
     can_send(&to_push, bus_number);
-
-    // TODO: wtf, why is this here?
-    // Enable relay on can message if allowed.
-    // Temporary until OP has support for relay
-    if (safety_relay_hook()) {
-      set_lline_output(1);
-    }
   }
 }
 
@@ -414,14 +407,6 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
         }
         break;
       }
-    // **** 0xf3: set l-line relay
-    case 0xf3:
-      {
-        if (safety_relay_hook()) {
-          set_lline_output(setup->b.wValue.w == 1);
-        }
-        break;
-      }
     default:
       puts("NO HANDLER ");
       puth(setup->b.bRequest);
diff --git a/board/safety.h b/board/safety.h
index 5543333e3a6cb0..3e39830408a4f9 100644
--- a/board/safety.h
+++ b/board/safety.h
@@ -5,13 +5,11 @@ struct sample_t {
   int max;
 } sample_t_default = {{0}, 0, 0};
 
-// no float support in STM32F2 micros (cortex-m3)
-#ifdef PANDA
+// safety code requires floats
 struct lookup_t {
   float x[3];
   float y[3];
 };
-#endif
 
 void safety_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
 int safety_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
@@ -27,21 +25,14 @@ int driver_limit_check(int val, int val_last, struct sample_t *val_driver,
   const int MAX, const int MAX_RATE_UP, const int MAX_RATE_DOWN,
   const int MAX_ALLOWANCE, const int DRIVER_FACTOR);
 int rt_rate_limit_check(int val, int val_last, const int MAX_RT_DELTA);
-#ifdef PANDA
 float interpolate(struct lookup_t xy, float x);
 
-void lline_relay_init (void);
-void lline_relay_release (void);
-void set_lline_output(int to_set);
-#endif
-
 typedef void (*safety_hook_init)(int16_t param);
 typedef void (*rx_hook)(CAN_FIFOMailBox_TypeDef *to_push);
 typedef int (*tx_hook)(CAN_FIFOMailBox_TypeDef *to_send);
 typedef int (*tx_lin_hook)(int lin_num, uint8_t *data, int len);
 typedef int (*ign_hook)();
 typedef int (*fwd_hook)(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd);
-typedef int (*relay_hook)();
 
 typedef struct {
   safety_hook_init init;
@@ -50,7 +41,6 @@ typedef struct {
   tx_hook tx;
   tx_lin_hook tx_lin;
   fwd_hook fwd;
-  relay_hook relay;
 } safety_hooks;
 
 // This can be set by the safety hooks.
@@ -97,10 +87,6 @@ int safety_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
   return current_hooks->fwd(bus_num, to_fwd);
 }
 
-int safety_relay_hook(void) {
-  return current_hooks->relay();
-}
-
 typedef struct {
   uint16_t id;
   const safety_hooks *hooks;
diff --git a/board/safety/safety_cadillac.h b/board/safety/safety_cadillac.h
index 0e6636a1a0764d..2a2d8b9857ff91 100644
--- a/board/safety/safety_cadillac.h
+++ b/board/safety/safety_cadillac.h
@@ -115,9 +115,6 @@ static int cadillac_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 static void cadillac_init(int16_t param) {
   controls_allowed = 0;
   cadillac_ign = 0;
-  #ifdef PANDA
-    lline_relay_release();
-  #endif
 }
 
 static int cadillac_ign_hook() {
@@ -131,5 +128,4 @@ const safety_hooks cadillac_hooks = {
   .tx_lin = nooutput_tx_lin_hook,
   .ignition = cadillac_ign_hook,
   .fwd = alloutput_fwd_hook,
-  .relay = nooutput_relay_hook,
 };
diff --git a/board/safety/safety_chrysler.h b/board/safety/safety_chrysler.h
index a8826b9154e80d..4af588401e0ec0 100644
--- a/board/safety/safety_chrysler.h
+++ b/board/safety/safety_chrysler.h
@@ -127,9 +127,6 @@ static int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
 static void chrysler_init(int16_t param) {
   chrysler_camera_detected = 0;
-  #ifdef PANDA
-    lline_relay_release();
-  #endif
 }
 
 static int chrysler_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
@@ -153,5 +150,4 @@ const safety_hooks chrysler_hooks = {
   .tx_lin = nooutput_tx_lin_hook,
   .ignition = default_ign_hook,
   .fwd = chrysler_fwd_hook,
-  .relay = nooutput_relay_hook,
 };
diff --git a/board/safety/safety_defaults.h b/board/safety/safety_defaults.h
index 88d31a7de57b48..196df65d2f8eb6 100644
--- a/board/safety/safety_defaults.h
+++ b/board/safety/safety_defaults.h
@@ -8,9 +8,6 @@ int default_ign_hook() {
 
 static void nooutput_init(int16_t param) {
   controls_allowed = 0;
-  #ifdef PANDA
-    lline_relay_release();
-  #endif
 }
 
 static int nooutput_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
@@ -25,10 +22,6 @@ static int nooutput_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
   return -1;
 }
 
-static int nooutput_relay_hook(int to_set) {
-  return false;
-}
-
 const safety_hooks nooutput_hooks = {
   .init = nooutput_init,
   .rx = default_rx_hook,
@@ -36,16 +29,12 @@ const safety_hooks nooutput_hooks = {
   .tx_lin = nooutput_tx_lin_hook,
   .ignition = default_ign_hook,
   .fwd = nooutput_fwd_hook,
-  .relay = nooutput_relay_hook,
 };
 
 // *** all output safety mode ***
 
 static void alloutput_init(int16_t param) {
   controls_allowed = 1;
-  #ifdef PANDA
-    lline_relay_release();
-  #endif
 }
 
 static int alloutput_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
@@ -60,10 +49,6 @@ static int alloutput_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
   return -1;
 }
 
-static int alloutput_relay_hook(int to_set) {
-  return true;
-}
-
 const safety_hooks alloutput_hooks = {
   .init = alloutput_init,
   .rx = default_rx_hook,
@@ -71,5 +56,4 @@ const safety_hooks alloutput_hooks = {
   .tx_lin = alloutput_tx_lin_hook,
   .ignition = default_ign_hook,
   .fwd = alloutput_fwd_hook,
-  .relay = alloutput_relay_hook,
 };
diff --git a/board/safety/safety_elm327.h b/board/safety/safety_elm327.h
index ae0ce8106cbe7c..823d553dd738f1 100644
--- a/board/safety/safety_elm327.h
+++ b/board/safety/safety_elm327.h
@@ -32,5 +32,4 @@ const safety_hooks elm327_hooks = {
   .tx_lin = elm327_tx_lin_hook,
   .ignition = default_ign_hook,
   .fwd = nooutput_fwd_hook,
-  .relay = nooutput_relay_hook,
 };
diff --git a/board/safety/safety_ford.h b/board/safety/safety_ford.h
index 1d3f16d0694676..075029fb623e0f 100644
--- a/board/safety/safety_ford.h
+++ b/board/safety/safety_ford.h
@@ -90,5 +90,4 @@ const safety_hooks ford_hooks = {
   .tx_lin = nooutput_tx_lin_hook,
   .ignition = default_ign_hook,
   .fwd = nooutput_fwd_hook,
-  .relay = nooutput_relay_hook,
 };
diff --git a/board/safety/safety_gm.h b/board/safety/safety_gm.h
index 396fb8770c36f4..0aae46d0f4c0b9 100644
--- a/board/safety/safety_gm.h
+++ b/board/safety/safety_gm.h
@@ -228,9 +228,6 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 static void gm_init(int16_t param) {
   controls_allowed = 0;
   gm_ignition_started = 0;
-  #ifdef PANDA
-    lline_relay_release();
-  #endif
 }
 
 static int gm_ign_hook() {
@@ -244,5 +241,4 @@ const safety_hooks gm_hooks = {
   .tx_lin = nooutput_tx_lin_hook,
   .ignition = gm_ign_hook,
   .fwd = nooutput_fwd_hook,
-  .relay = nooutput_relay_hook,
 };
diff --git a/board/safety/safety_gm_ascm.h b/board/safety/safety_gm_ascm.h
index b145466d9de225..70a042ec514a69 100644
--- a/board/safety/safety_gm_ascm.h
+++ b/board/safety/safety_gm_ascm.h
@@ -48,6 +48,5 @@ const safety_hooks gm_ascm_hooks = {
   .tx_lin = nooutput_tx_lin_hook,
   .ignition = default_ign_hook,
   .fwd = gm_ascm_fwd_hook,
-  .relay = nooutput_relay_hook,
 };
 
diff --git a/board/safety/safety_honda.h b/board/safety/safety_honda.h
index 40c6917b0b4c43..fbee6cfe861f53 100644
--- a/board/safety/safety_honda.h
+++ b/board/safety/safety_honda.h
@@ -136,9 +136,6 @@ static void honda_init(int16_t param) {
   controls_allowed = 0;
   bosch_hardware = false;
   honda_alt_brake_msg = false;
-  #ifdef PANDA
-    lline_relay_release();
-  #endif
 }
 
 static void honda_bosch_init(int16_t param) {
@@ -146,9 +143,6 @@ static void honda_bosch_init(int16_t param) {
   bosch_hardware = true;
   // Checking for alternate brake override from safety parameter
   honda_alt_brake_msg = param == 1 ? true : false;
-  #ifdef PANDA
-    lline_relay_release();
-  #endif
 }
 
 static int honda_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
@@ -182,7 +176,6 @@ const safety_hooks honda_hooks = {
   .tx_lin = nooutput_tx_lin_hook,
   .ignition = default_ign_hook,
   .fwd = honda_fwd_hook,
-  .relay = nooutput_relay_hook,
 };
 
 const safety_hooks honda_bosch_hooks = {
@@ -192,5 +185,4 @@ const safety_hooks honda_bosch_hooks = {
   .tx_lin = nooutput_tx_lin_hook,
   .ignition = default_ign_hook,
   .fwd = honda_bosch_fwd_hook,
-  .relay = nooutput_relay_hook,
 };
diff --git a/board/safety/safety_hyundai.h b/board/safety/safety_hyundai.h
index 9470e34d1556bd..b67632141d8365 100644
--- a/board/safety/safety_hyundai.h
+++ b/board/safety/safety_hyundai.h
@@ -152,9 +152,6 @@ static int hyundai_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
 static void hyundai_init(int16_t param) {
   controls_allowed = 0;
   hyundai_giraffe_switch_2 = 0;
-  #ifdef PANDA
-    lline_relay_release();
-  #endif
 }
 
 const safety_hooks hyundai_hooks = {
@@ -164,5 +161,4 @@ const safety_hooks hyundai_hooks = {
   .tx_lin = nooutput_tx_lin_hook,
   .ignition = default_ign_hook,
   .fwd = hyundai_fwd_hook,
-  .relay = nooutput_relay_hook,
 };
diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index 5d2bd23d24b6a9..e64c777195da4d 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -15,9 +15,6 @@ uint32_t subaru_ts_last = 0;
 struct sample_t subaru_torque_driver;         // last few driver torques measured
 
 static void subaru_init(int16_t param) {
-  #ifdef PANDA
-    lline_relay_init();
-  #endif
 }
 
 static void subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
@@ -142,5 +139,4 @@ const safety_hooks subaru_hooks = {
   .tx_lin = nooutput_tx_lin_hook,
   .ignition = default_ign_hook,
   .fwd = subaru_fwd_hook,
-  .relay = alloutput_relay_hook,
 };
diff --git a/board/safety/safety_tesla.h b/board/safety/safety_tesla.h
index 4a1c6e71e48a4d..430a42ce94a827 100644
--- a/board/safety/safety_tesla.h
+++ b/board/safety/safety_tesla.h
@@ -224,9 +224,6 @@ static void tesla_init(int16_t param)
   controls_allowed = 0;
   tesla_ignition_started = 0;
   gmlan_switch_init(1); //init the gmlan switch with 1s timeout enabled
-  #ifdef PANDA
-    lline_relay_release();
-  #endif
 }
 
 static int tesla_ign_hook()
@@ -275,11 +272,10 @@ static int tesla_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd)
 }
 
 const safety_hooks tesla_hooks = {
-    .init = tesla_init,
-    .rx = tesla_rx_hook,
-    .tx = tesla_tx_hook,
-    .tx_lin = nooutput_tx_lin_hook,
-    .ignition = tesla_ign_hook,
-    .fwd = tesla_fwd_hook,
-    .relay = nooutput_relay_hook,
+  .init = tesla_init,
+  .rx = tesla_rx_hook,
+  .tx = tesla_tx_hook,
+  .tx_lin = nooutput_tx_lin_hook,
+  .ignition = tesla_ign_hook,
+  .fwd = tesla_fwd_hook,
 };
diff --git a/board/safety/safety_toyota.h b/board/safety/safety_toyota.h
index cbc83860875fde..202625b70d4a7d 100644
--- a/board/safety/safety_toyota.h
+++ b/board/safety/safety_toyota.h
@@ -160,9 +160,6 @@ static void toyota_init(int16_t param) {
   toyota_giraffe_switch_1 = 0;
   toyota_camera_forwarded = 0;
   toyota_dbc_eps_torque_factor = param;
-  #ifdef PANDA
-    lline_relay_release();
-  #endif
 }
 
 static int toyota_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
@@ -186,7 +183,6 @@ const safety_hooks toyota_hooks = {
   .tx_lin = nooutput_tx_lin_hook,
   .ignition = default_ign_hook,
   .fwd = toyota_fwd_hook,
-  .relay = nooutput_relay_hook,
 };
 
 static void toyota_nolimits_init(int16_t param) {
@@ -195,9 +191,6 @@ static void toyota_nolimits_init(int16_t param) {
   toyota_giraffe_switch_1 = 0;
   toyota_camera_forwarded = 0;
   toyota_dbc_eps_torque_factor = param;
-  #ifdef PANDA
-    lline_relay_release();
-  #endif
 }
 
 const safety_hooks toyota_nolimits_hooks = {
@@ -207,5 +200,4 @@ const safety_hooks toyota_nolimits_hooks = {
   .tx_lin = nooutput_tx_lin_hook,
   .ignition = default_ign_hook,
   .fwd = toyota_fwd_hook,
-  .relay = nooutput_relay_hook,
 };
diff --git a/board/safety/safety_toyota_ipas.h b/board/safety/safety_toyota_ipas.h
index 13e664c0f9d88e..2f0b42f649319b 100644
--- a/board/safety/safety_toyota_ipas.h
+++ b/board/safety/safety_toyota_ipas.h
@@ -152,5 +152,4 @@ const safety_hooks toyota_ipas_hooks = {
   .tx_lin = nooutput_tx_lin_hook,
   .ignition = default_ign_hook,
   .fwd = toyota_fwd_hook,
-  .relay = nooutput_relay_hook,
 };
diff --git a/python/__init__.py b/python/__init__.py
index 8c0bc5a9a2ae2d..bfca642e8256f7 100644
--- a/python/__init__.py
+++ b/python/__init__.py
@@ -392,9 +392,6 @@ def set_gmlan(self, bus=2):
     elif bus in [Panda.GMLAN_CAN2, Panda.GMLAN_CAN3]:
       self._handle.controlWrite(Panda.REQUEST_OUT, 0xdb, 1, bus, b'')
 
-  def set_lline_relay(self, enable):
-    self._handle.controlWrite(Panda.REQUEST_OUT, 0xf3, int(enable), 0, b'')
-
   def set_can_loopback(self, enable):
     # set can loopback mode for all buses
     self._handle.controlWrite(Panda.REQUEST_OUT, 0xe5, int(enable), 0, b'')
diff --git a/tests/safety/test.c b/tests/safety/test.c
index 04e6576fb8072c..d70cbb85c371cc 100644
--- a/tests/safety/test.c
+++ b/tests/safety/test.c
@@ -247,11 +247,3 @@ void reset_gmlan_switch_timeout(void){
 void gmlan_switch_init(int timeout_enable){
 }
 
-void lline_relay_init (void) {
-}
-
-void lline_relay_release (void) {
-}
-
-void set_lline_output(int to_set) {
-}