diff --git a/board/drivers/llcan.h b/board/drivers/llcan.h
index 41f01762e0063d..0a698d4e8d9b93 100644
--- a/board/drivers/llcan.h
+++ b/board/drivers/llcan.h
@@ -8,6 +8,13 @@
 // 5000 = 500 kbps
 #define can_speed_to_prescaler(x) (CAN_PCLK / CAN_QUANTA * 10U / (x))
 
+#define GET_BUS(msg) (((msg)->RDTR >> 4) & 0xFF)
+#define GET_LEN(msg) ((msg)->RDTR & 0xF)
+#define GET_ADDR(msg) ((((msg)->RIR & 4) != 0) ? ((msg)->RIR >> 3) : ((msg)->RIR >> 21))
+#define GET_BYTE(msg, b) (((int)(b) > 3) ? (((msg)->RDHR >> (8U * ((unsigned int)(b) % 4U))) & 0XFFU) : (((msg)->RDLR >> (8U * (unsigned int)(b))) & 0xFFU))
+#define GET_BYTES_04(msg) ((msg)->RDLR)
+#define GET_BYTES_48(msg) ((msg)->RDHR)
+
 void puts(const char *a);
 
 bool llcan_set_speed(CAN_TypeDef *CAN_obj, uint32_t speed, bool loopback, bool silent) {
diff --git a/board/drivers/usb.h b/board/drivers/usb.h
index 1beb51c1d12fe5..e55906d89eb8a2 100644
--- a/board/drivers/usb.h
+++ b/board/drivers/usb.h
@@ -25,9 +25,9 @@ USB_Setup_TypeDef;
 
 void usb_init(void);
 int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired);
-int usb_cb_ep1_in(uint8_t *usbdata, int len, bool hardwired);
-void usb_cb_ep2_out(uint8_t *usbdata, int len, bool hardwired);
-void usb_cb_ep3_out(uint8_t *usbdata, int len, bool hardwired);
+int usb_cb_ep1_in(void *usbdata, int len, bool hardwired);
+void usb_cb_ep2_out(void *usbdata, int len, bool hardwired);
+void usb_cb_ep3_out(void *usbdata, int len, bool hardwired);
 void usb_cb_enumeration_complete(void);
 
 // **** supporting defines ****
@@ -404,7 +404,7 @@ void *USB_ReadPacket(void *dest, uint16_t len) {
   return ((void *)dest_copy);
 }
 
-void USB_WritePacket(const uint8_t *src, uint16_t len, uint32_t ep) {
+void USB_WritePacket(const void *src, uint16_t len, uint32_t ep) {
   #ifdef DEBUG_USB
   puts("writing ");
   hexdump(src, len);
@@ -420,10 +420,10 @@ void USB_WritePacket(const uint8_t *src, uint16_t len, uint32_t ep) {
   USBx_INEP(ep)->DIEPCTL |= (USB_OTG_DIEPCTL_CNAK | USB_OTG_DIEPCTL_EPENA);
 
   // load the FIFO
-  const uint8_t *src_copy = src;
+  const uint32_t *src_copy = (const uint32_t *)src;
   for (uint32_t i = 0; i < count32b; i++) {
-    USBx_DFIFO(ep) = *((__attribute__((__packed__)) uint32_t *)src_copy);
-    src_copy += 4;
+    USBx_DFIFO(ep) = *src_copy;
+    src_copy++;
   }
 }
 
diff --git a/board/main.c b/board/main.c
index eeb0496b01e8c5..f962169123d7d2 100644
--- a/board/main.c
+++ b/board/main.c
@@ -140,7 +140,7 @@ int get_health_pkt(void *dat) {
   return sizeof(*health);
 }
 
-int usb_cb_ep1_in(uint8_t *usbdata, int len, bool hardwired) {
+int usb_cb_ep1_in(void *usbdata, int len, bool hardwired) {
   UNUSED(hardwired);
   CAN_FIFOMailBox_TypeDef *reply = (CAN_FIFOMailBox_TypeDef *)usbdata;
   int ilen = 0;
@@ -151,13 +151,14 @@ int usb_cb_ep1_in(uint8_t *usbdata, int len, bool hardwired) {
 }
 
 // send on serial, first byte to select the ring
-void usb_cb_ep2_out(uint8_t *usbdata, int len, bool hardwired) {
+void usb_cb_ep2_out(void *usbdata, int len, bool hardwired) {
   UNUSED(hardwired);
-  uart_ring *ur = get_ring_by_number(usbdata[0]);
+  uint8_t *usbdata8 = (uint8_t *)usbdata;
+  uart_ring *ur = get_ring_by_number(usbdata8[0]);
   if ((len != 0) && (ur != NULL)) {
-    if ((usbdata[0] < 2U) || safety_tx_lin_hook(usbdata[0] - 2U, usbdata + 1, len - 1)) {
+    if ((usbdata8[0] < 2U) || safety_tx_lin_hook(usbdata8[0] - 2U, usbdata8 + 1, len - 1)) {
       for (int i = 1; i < len; i++) {
-        while (!putc(ur, usbdata[i])) {
+        while (!putc(ur, usbdata8[i])) {
           // wait
         }
       }
@@ -166,18 +167,16 @@ void usb_cb_ep2_out(uint8_t *usbdata, int len, bool hardwired) {
 }
 
 // send on CAN
-void usb_cb_ep3_out(uint8_t *usbdata, int len, bool hardwired) {
+void usb_cb_ep3_out(void *usbdata, int len, bool hardwired) {
   UNUSED(hardwired);
   int dpkt = 0;
-  for (dpkt = 0; dpkt < len; dpkt += 0x10) {
-    uint32_t *tf = (uint32_t*)(&usbdata[dpkt]);
-
-    // make a copy
+  uint32_t *d32 = (uint32_t *)usbdata;
+  for (dpkt = 0; dpkt < (len / 4); dpkt += 4) {
     CAN_FIFOMailBox_TypeDef to_push;
-    to_push.RDHR = tf[3];
-    to_push.RDLR = tf[2];
-    to_push.RDTR = tf[1];
-    to_push.RIR = tf[0];
+    to_push.RDHR = d32[dpkt + 3];
+    to_push.RDLR = d32[dpkt + 2];
+    to_push.RDTR = d32[dpkt + 1];
+    to_push.RIR = d32[dpkt];
 
     uint8_t bus_number = (to_push.RDTR >> 4) & CAN_BUS_NUM_MASK;
     can_send(&to_push, bus_number);
@@ -213,7 +212,7 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
     case 0xd0:
       // addresses are OTP
       if (setup->b.wValue.w == 1U) {
-        (void)memcpy(resp, (void *)0x1fff79c0, 0x10);
+        (void)memcpy(resp, (uint8_t *)0x1fff79c0, 0x10);
         resp_len = 0x10;
       } else {
         get_provision_chunk(resp);
@@ -492,6 +491,7 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
   return resp_len;
 }
 
+#ifndef EON
 int spi_cb_rx(uint8_t *data, int len, uint8_t *data_out) {
   // data[0]  = endpoint
   // data[2]  = length
@@ -521,7 +521,7 @@ int spi_cb_rx(uint8_t *data, int len, uint8_t *data_out) {
   }
   return resp_len;
 }
-
+#endif
 
 // ***************************** main code *****************************
 
diff --git a/board/pedal/Makefile b/board/pedal/Makefile
index 63144fc92bda60..7ce6dd07684da5 100644
--- a/board/pedal/Makefile
+++ b/board/pedal/Makefile
@@ -1,7 +1,7 @@
 # :set noet
 PROJ_NAME = comma
 
-CFLAGS  = -O2 -Wall -Wextra -Wstrict-prototypes -std=gnu11 -DPEDAL
+CFLAGS  = -O2 -Wall -Wextra -Wstrict-prototypes -Werror -std=gnu11 -DPEDAL
 CFLAGS += -mlittle-endian -mthumb -mcpu=cortex-m3
 CFLAGS += -msoft-float -DSTM32F2 -DSTM32F205xx
 CFLAGS += -I ../inc -I ../ -I ../../ -nostdlib -fno-builtin
diff --git a/board/pedal/main.c b/board/pedal/main.c
index 522acfd1db42fb..21a3a59fa638de 100644
--- a/board/pedal/main.c
+++ b/board/pedal/main.c
@@ -155,11 +155,11 @@ void CAN1_RX0_IRQHandler(void) {
     int address = CAN->sFIFOMailBox[0].RIR >> 21;
     if (address == CAN_GAS_INPUT) {
       // softloader entry
-      if (CAN->sFIFOMailBox[0].RDLR == 0xdeadface) {
-        if (CAN->sFIFOMailBox[0].RDHR == 0x0ab00b1e) {
+      if (GET_BYTES_04(&CAN->sFIFOMailBox[0]) == 0xdeadface) {
+        if (GET_BYTES_48(&CAN->sFIFOMailBox[0]) == 0x0ab00b1e) {
           enter_bootloader_mode = ENTER_SOFTLOADER_MAGIC;
           NVIC_SystemReset();
-        } else if (CAN->sFIFOMailBox[0].RDHR == 0x02b00b1e) {
+        } else if (GET_BYTES_48(&CAN->sFIFOMailBox[0]) == 0x02b00b1e) {
           enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
           NVIC_SystemReset();
         } else {
@@ -169,11 +169,8 @@ void CAN1_RX0_IRQHandler(void) {
 
       // normal packet
       uint8_t dat[8];
-      uint8_t *rdlr = (uint8_t *)&CAN->sFIFOMailBox[0].RDLR;
-      uint8_t *rdhr = (uint8_t *)&CAN->sFIFOMailBox[0].RDHR;
-      for (int i=0; i<4; i++) {
-        dat[i] = rdlr[i];
-        dat[i+4] = rdhr[i];
+      for (int i=0; i<8; i++) {
+        dat[i] = GET_BYTE(&CAN->sFIFOMailBox[0], i);
       }
       uint16_t value_0 = (dat[0] << 8) | dat[1];
       uint16_t value_1 = (dat[2] << 8) | dat[3];
diff --git a/board/provision.h b/board/provision.h
index 5b0a520d7f3890..9091322f1a1091 100644
--- a/board/provision.h
+++ b/board/provision.h
@@ -5,7 +5,7 @@
 // SHA1 checksum = 0x1C - 0x20
 
 void get_provision_chunk(uint8_t *resp) {
-  (void)memcpy(resp, (void *)0x1fff79e0, PROVISION_CHUNK_LEN);
+  (void)memcpy(resp, (uint8_t *)0x1fff79e0, PROVISION_CHUNK_LEN);
   if (memcmp(resp, "\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff", 0x20) == 0) {
     (void)memcpy(resp, "unprovisioned\x00\x00\x00testing123\x00\x00\xa3\xa6\x99\xec", 0x20);
   }
diff --git a/board/safety/safety_cadillac.h b/board/safety/safety_cadillac.h
index ef114abfe9143e..ef63360955fe7f 100644
--- a/board/safety/safety_cadillac.h
+++ b/board/safety/safety_cadillac.h
@@ -10,13 +10,13 @@ const int CADILLAC_MAX_RATE_DOWN = 5;
 const int CADILLAC_DRIVER_TORQUE_ALLOWANCE = 50;
 const int CADILLAC_DRIVER_TORQUE_FACTOR = 4;
 
-int cadillac_ign = 0;
+bool cadillac_ign = 0;
 int cadillac_cruise_engaged_last = 0;
 int cadillac_rt_torque_last = 0;
 const int cadillac_torque_msgs_n = 4;
 int cadillac_desired_torque_last[CADILLAC_TORQUE_MSG_N] = {0};
 uint32_t cadillac_ts_last = 0;
-int cadillac_supercruise_on = 0;
+bool cadillac_supercruise_on = 0;
 struct sample_t cadillac_torque_driver;         // last few driver torques measured
 
 int cadillac_get_torque_idx(int addr, int array_size) {
@@ -28,7 +28,8 @@ static void cadillac_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   int addr = GET_ADDR(to_push);
 
   if (addr == 356) {
-    int torque_driver_new = ((to_push->RDLR & 0x7) << 8) | ((to_push->RDLR >> 8) & 0xFF);
+    int torque_driver_new = ((GET_BYTE(to_push, 0) & 0x7U) << 8) | (GET_BYTE(to_push, 1));
+
     torque_driver_new = to_signed(torque_driver_new, 11);
     // update array of samples
     update_sample(&cadillac_torque_driver, torque_driver_new);
@@ -36,12 +37,12 @@ static void cadillac_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
   // this message isn't all zeros when ignition is on
   if ((addr == 0x160) && (bus == 0)) {
-    cadillac_ign = to_push->RDLR > 0;
+    cadillac_ign = GET_BYTES_04(to_push) != 0;
   }
 
   // enter controls on rising edge of ACC, exit controls on ACC off
   if ((addr == 0x370) && (bus == 0)) {
-    int cruise_engaged = to_push->RDLR & 0x800000;  // bit 23
+    int cruise_engaged = GET_BYTE(to_push, 2) & 0x80;  // bit 23
     if (cruise_engaged && !cadillac_cruise_engaged_last) {
       controls_allowed = 1;
     }
@@ -53,7 +54,7 @@ static void cadillac_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
   // know supercruise mode and block openpilot msgs if on
   if ((addr == 0x152) || (addr == 0x154)) {
-    cadillac_supercruise_on = (to_push->RDHR>>4) & 0x1;
+    cadillac_supercruise_on = (GET_BYTE(to_push, 4) & 0x10) != 0;
   }
 }
 
@@ -63,7 +64,7 @@ static int cadillac_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
   // steer cmd checks
   if ((addr == 0x151) || (addr == 0x152) || (addr == 0x153) || (addr == 0x154)) {
-    int desired_torque = ((to_send->RDLR & 0x3f) << 8) + ((to_send->RDLR & 0xff00) >> 8);
+    int desired_torque = ((GET_BYTE(to_send, 0) & 0x3f) << 8) | GET_BYTE(to_send, 1);
     int violation = 0;
     uint32_t ts = TIM2->CNT;
     int idx = cadillac_get_torque_idx(addr, CADILLAC_TORQUE_MSG_N);
diff --git a/board/safety/safety_chrysler.h b/board/safety/safety_chrysler.h
index 19149b6b7a7ae9..e608785739b109 100644
--- a/board/safety/safety_chrysler.h
+++ b/board/safety/safety_chrysler.h
@@ -18,8 +18,7 @@ static void chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
   // Measured eps torque
   if (addr == 544) {
-    uint32_t rdhr = to_push->RDHR;
-    int torque_meas_new = ((rdhr & 0x7U) << 8) + ((rdhr & 0xFF00U) >> 8) - 1024U;
+    int torque_meas_new = ((GET_BYTE(to_push, 4) & 0x7U) << 8) + GET_BYTE(to_push, 5) - 1024U;
 
     // update array of samples
     update_sample(&chrysler_torque_meas, torque_meas_new);
@@ -27,7 +26,7 @@ static void chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
   // enter controls on rising edge of ACC, exit controls on ACC off
   if (addr == 0x1F4) {
-    int cruise_engaged = ((to_push->RDLR & 0x380000) >> 19) == 7;
+    int cruise_engaged = ((GET_BYTE(to_push, 2) & 0x38) >> 3) == 7;
     if (cruise_engaged && !chrysler_cruise_engaged_last) {
       controls_allowed = 1;
     }
@@ -57,8 +56,7 @@ static int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
   // LKA STEER
   if (addr == 0x292) {
-    uint32_t rdlr = to_send->RDLR;
-    int desired_torque = ((rdlr & 0x7U) << 8) + ((rdlr & 0xFF00U) >> 8) - 1024U;
+    int desired_torque = ((GET_BYTE(to_send, 0) & 0x7U) << 8) + GET_BYTE(to_send, 1) - 1024U;
     uint32_t ts = TIM2->CNT;
     bool violation = 0;
 
diff --git a/board/safety/safety_ford.h b/board/safety/safety_ford.h
index 21c9c54db1300c..0bb839f2f6513d 100644
--- a/board/safety/safety_ford.h
+++ b/board/safety/safety_ford.h
@@ -9,7 +9,7 @@
 
 int ford_brake_prev = 0;
 int ford_gas_prev = 0;
-int ford_is_moving = 0;
+bool ford_moving = false;
 
 static void ford_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
@@ -17,14 +17,16 @@ static void ford_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
   if (addr == 0x217) {
     // wheel speeds are 14 bits every 16
-    ford_is_moving = 0xFCFF & (to_push->RDLR | (to_push->RDLR >> 16) |
-                               to_push->RDHR | (to_push->RDHR >> 16));
+    ford_moving = false;
+    for (int i = 0; i < 8; i += 2) {
+      ford_moving |= GET_BYTE(to_push, i) | (GET_BYTE(to_push, (int)(i + 1)) & 0xFCU);
+    }
   }
 
   // state machine to enter and exit controls
   if (addr == 0x83) {
-    bool cancel = (to_push->RDLR >> 8) & 0x1;
-    bool set_or_resume = (to_push->RDLR >> 28) & 0x3;
+    bool cancel = GET_BYTE(to_push, 1) & 0x1;
+    bool set_or_resume = GET_BYTE(to_push, 3) & 0x30;
     if (cancel) {
       controls_allowed = 0;
     }
@@ -36,8 +38,8 @@ static void ford_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   // exit controls on rising edge of brake press or on brake press when
   // speed > 0
   if (addr == 0x165) {
-    int brake = to_push->RDLR & 0x20;
-    if (brake && (!(ford_brake_prev) || ford_is_moving)) {
+    int brake = GET_BYTE(to_push, 0) & 0x20;
+    if (brake && (!(ford_brake_prev) || ford_moving)) {
       controls_allowed = 0;
     }
     ford_brake_prev = brake;
@@ -45,7 +47,7 @@ static void ford_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
   // exit controls on rising edge of gas press
   if (addr == 0x204) {
-    int gas = to_push->RDLR & 0xFF03;
+    int gas = (GET_BYTE(to_push, 0) & 0x03) | GET_BYTE(to_push, 1);
     if (gas && !(ford_gas_prev)) {
       controls_allowed = 0;
     }
@@ -64,7 +66,7 @@ static int ford_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
   int tx = 1;
   // disallow actuator commands if gas or brake (with vehicle moving) are pressed
   // and the the latching controls_allowed flag is True
-  int pedal_pressed = ford_gas_prev || (ford_brake_prev && ford_is_moving);
+  int pedal_pressed = ford_gas_prev || (ford_brake_prev && ford_moving);
   bool current_controls_allowed = controls_allowed && !(pedal_pressed);
   int addr = GET_ADDR(to_send);
 
@@ -72,7 +74,7 @@ static int ford_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
   if (addr == 0x3CA) {
     if (!current_controls_allowed) {
       // bits 7-4 need to be 0xF to disallow lkas commands
-      if (((to_send->RDLR >> 4) & 0xF) != 0xF) {
+      if ((GET_BYTE(to_send, 0) & 0xF0) != 0xF0) {
         tx = 0;
       }
     }
@@ -81,7 +83,7 @@ static int ford_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
   // FORCE CANCEL: safety check only relevant when spamming the cancel button
   // ensuring that set and resume aren't sent
   if (addr == 0x83) {
-    if (((to_send->RDLR >> 28) & 0x3) != 0) {
+    if ((GET_BYTE(to_send, 3) & 0x30) != 0) {
       tx = 0;
     }
   }
diff --git a/board/safety/safety_gm.h b/board/safety/safety_gm.h
index 949f5c7e73f09f..9ca5ca32366e8d 100644
--- a/board/safety/safety_gm.h
+++ b/board/safety/safety_gm.h
@@ -21,7 +21,7 @@ const int GM_MAX_BRAKE = 350;
 
 int gm_brake_prev = 0;
 int gm_gas_prev = 0;
-int gm_speed = 0;
+bool gm_moving = false;
 // silence everything if stock car control ECUs are still online
 bool gm_ascm_detected = 0;
 bool gm_ignition_started = 0;
@@ -35,7 +35,7 @@ static void gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   int addr = GET_ADDR(to_push);
 
   if (addr == 388) {
-    int torque_driver_new = (((to_push->RDHR >> 16) & 0x7) << 8) | ((to_push->RDHR >> 24) & 0xFF);
+    int torque_driver_new = ((GET_BYTE(to_push, 6) & 0x7) << 8) | GET_BYTE(to_push, 7);
     torque_driver_new = to_signed(torque_driver_new, 11);
     // update array of samples
     update_sample(&gm_torque_driver, torque_driver_new);
@@ -44,14 +44,14 @@ static void gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   if ((addr == 0x1F1) && (bus_number == 0)) {
     //Bit 5 should be ignition "on"
     //Backup plan is Bit 2 (accessory power)
-    bool ign = ((to_push->RDLR) & 0x20) != 0;
+    bool ign = (GET_BYTE(to_push, 0) & 0x20) != 0;
     gm_ignition_started = ign;
   }
 
   // sample speed, really only care if car is moving or not
   // rear left wheel speed
   if (addr == 842) {
-    gm_speed = to_push->RDLR & 0xFFFF;
+    gm_moving = GET_BYTE(to_push, 0) | GET_BYTE(to_push, 1);
   }
 
   // Check if ASCM or LKA camera are online
@@ -65,7 +65,7 @@ static void gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
   // ACC steering wheel buttons
   if (addr == 481) {
-    int button = (to_push->RDHR >> 12) & 0x7;
+    int button = (GET_BYTE(to_push, 5) & 0x70) >> 4;
     switch (button) {
       case 2:  // resume
       case 3:  // set
@@ -82,13 +82,13 @@ static void gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   // exit controls on rising edge of brake press or on brake press when
   // speed > 0
   if (addr == 241) {
-    int brake = (to_push->RDLR & 0xFF00) >> 8;
+    int brake = GET_BYTE(to_push, 1);
     // Brake pedal's potentiometer returns near-zero reading
     // even when pedal is not pressed
     if (brake < 10) {
       brake = 0;
     }
-    if (brake && (!gm_brake_prev || gm_speed)) {
+    if (brake && (!gm_brake_prev || gm_moving)) {
        controls_allowed = 0;
     }
     gm_brake_prev = brake;
@@ -96,7 +96,7 @@ static void gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
   // exit controls on rising edge of gas press
   if (addr == 417) {
-    int gas = to_push->RDHR & 0xFF0000;
+    int gas = GET_BYTE(to_push, 6);
     if (gas && !gm_gas_prev && long_controls_allowed) {
       controls_allowed = 0;
     }
@@ -105,7 +105,7 @@ static void gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
   // exit controls on regen paddle
   if (addr == 189) {
-    bool regen = to_push->RDLR & 0x20;
+    bool regen = GET_BYTE(to_push, 0) & 0x20;
     if (regen) {
       controls_allowed = 0;
     }
@@ -129,15 +129,14 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
   // disallow actuator commands if gas or brake (with vehicle moving) are pressed
   // and the the latching controls_allowed flag is True
-  int pedal_pressed = gm_gas_prev || (gm_brake_prev && gm_speed);
+  int pedal_pressed = gm_gas_prev || (gm_brake_prev && gm_moving);
   bool current_controls_allowed = controls_allowed && !pedal_pressed;
 
   int addr = GET_ADDR(to_send);
 
   // BRAKE: safety check
   if (addr == 789) {
-    uint32_t rdlr = to_send->RDLR;
-    int brake = ((rdlr & 0xFU) << 8) + ((rdlr & 0xFF00U) >> 8);
+    int brake = ((GET_BYTE(to_send, 0) & 0xFU) << 8) + GET_BYTE(to_send, 1);
     brake = (0x1000 - brake) & 0xFFF;
     if (!current_controls_allowed || !long_controls_allowed) {
       if (brake != 0) {
@@ -151,8 +150,7 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
   // LKA STEER: safety check
   if (addr == 384) {
-    uint32_t rdlr = to_send->RDLR;
-    int desired_torque = ((rdlr & 0x7U) << 8) + ((rdlr & 0xFF00U) >> 8);
+    int desired_torque = ((GET_BYTE(to_send, 0) & 0x7U) << 8) + GET_BYTE(to_send, 1);
     uint32_t ts = TIM2->CNT;
     bool violation = 0;
     desired_torque = to_signed(desired_torque, 11);
@@ -205,12 +203,11 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
   // GAS/REGEN: safety check
   if (addr == 715) {
-    uint32_t rdlr = to_send->RDLR;
-    int gas_regen = ((rdlr & 0x7F0000U) >> 11) + ((rdlr & 0xF8000000U) >> 27);
+    int gas_regen = ((GET_BYTE(to_send, 2) & 0x7FU) << 5) + ((GET_BYTE(to_send, 3) & 0xF8U) >> 3);
     // Disabled message is !engaed with gas
     // value that corresponds to max regen.
     if (!current_controls_allowed || !long_controls_allowed) {
-      bool apply = (rdlr & 1U) != 0U;
+      bool apply = GET_BYTE(to_send, 0) & 1U;
       if (apply || (gas_regen != GM_MAX_REGEN)) {
         tx = 0;
       }
diff --git a/board/safety/safety_gm_ascm.h b/board/safety/safety_gm_ascm.h
index d452818d69b59d..82f1db6ae5741e 100644
--- a/board/safety/safety_gm_ascm.h
+++ b/board/safety/safety_gm_ascm.h
@@ -13,7 +13,7 @@ static int gm_ascm_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
     // block 0x315 and 0x2cb, which are the brake and accel commands from ASCM1
     //if ((addr == 0x152) || (addr == 0x154) || (addr == 0x315) || (addr == 0x2cb)) {
     if ((addr == 0x152) || (addr == 0x154)) {
-      int supercruise_on = (to_fwd->RDHR >> 4) & 0x1;  // bit 36
+      bool supercruise_on = (GET_BYTE(to_fwd, 4) & 0x10) != 0;  // bit 36
       if (!supercruise_on) {
         bus_fwd = -1;
       }
diff --git a/board/safety/safety_honda.h b/board/safety/safety_honda.h
index 44a57ec978ff36..c36c60fe6aa763 100644
--- a/board/safety/safety_honda.h
+++ b/board/safety/safety_honda.h
@@ -10,7 +10,7 @@
 const int HONDA_GAS_INTERCEPTOR_THRESHOLD = 328;  // ratio between offset and gain from dbc file
 int honda_brake_prev = 0;
 int honda_gas_prev = 0;
-int honda_ego_speed = 0;
+bool honda_moving = false;
 bool honda_bosch_hardware = false;
 bool honda_alt_brake_msg = false;
 
@@ -22,13 +22,13 @@ static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   // sample speed
   if (addr == 0x158) {
     // first 2 bytes
-    honda_ego_speed = to_push->RDLR & 0xFFFF;
+    honda_moving = GET_BYTE(to_push, 0) | GET_BYTE(to_push, 1);
   }
 
   // state machine to enter and exit controls
   // 0x1A6 for the ILX, 0x296 for the Civic Touring
   if ((addr == 0x1A6) || (addr == 0x296)) {
-    int button = (to_push->RDLR & 0xE0) >> 5;
+    int button = (GET_BYTE(to_push, 0) & 0xE0) >> 5;
     switch (button) {
       case 2:  // cancel
         controls_allowed = 0;
@@ -48,14 +48,11 @@ static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   // in these cases, this is used instead.
   // most hondas: 0x17C bit 53
   // accord, crv: 0x1BE bit 4
-  #define IS_USER_BRAKE_MSG(addr) (!honda_alt_brake_msg ? ((addr) == 0x17C) : ((addr) == 0x1BE))
-  #define USER_BRAKE_VALUE(to_push)  (!honda_alt_brake_msg ? ((to_push)->RDHR & 0x200000)  : ((to_push)->RDLR & 0x10))
-  // exit controls on rising edge of brake press or on brake press when
-  // speed > 0
-  bool is_user_brake_msg = IS_USER_BRAKE_MSG(addr);  // needed to enforce type
+  // exit controls on rising edge of brake press or on brake press when speed > 0
+  bool is_user_brake_msg = honda_alt_brake_msg ? ((addr) == 0x1BE) : ((addr) == 0x17C);
   if (is_user_brake_msg) {
-    int brake = USER_BRAKE_VALUE(to_push);
-    if (brake && (!(honda_brake_prev) || honda_ego_speed)) {
+    int brake = honda_alt_brake_msg ? (GET_BYTE((to_push), 0) & 0x10) : (GET_BYTE((to_push), 6) & 0x20);
+    if (brake && (!(honda_brake_prev) || honda_moving)) {
       controls_allowed = 0;
     }
     honda_brake_prev = brake;
@@ -65,7 +62,7 @@ static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   // length check because bosch hardware also uses this id (0x201 w/ len = 8)
   if ((addr == 0x201) && (len == 6)) {
     gas_interceptor_detected = 1;
-    int gas_interceptor = ((to_push->RDLR & 0xFF) << 8) | ((to_push->RDLR & 0xFF00) >> 8);
+    int gas_interceptor = (GET_BYTE(to_push, 0) << 8) | GET_BYTE(to_push, 1);
     if ((gas_interceptor > HONDA_GAS_INTERCEPTOR_THRESHOLD) &&
         (gas_interceptor_prev <= HONDA_GAS_INTERCEPTOR_THRESHOLD) &&
         long_controls_allowed) {
@@ -77,7 +74,7 @@ static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   // exit controls on rising edge of gas press if no interceptor
   if (!gas_interceptor_detected) {
     if (addr == 0x17C) {
-      int gas = to_push->RDLR & 0xFF;
+      int gas = GET_BYTE(to_push, 0);
       if (gas && !(honda_gas_prev) && long_controls_allowed) {
         controls_allowed = 0;
       }
@@ -101,17 +98,18 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
   // disallow actuator commands if gas or brake (with vehicle moving) are pressed
   // and the the latching controls_allowed flag is True
   int pedal_pressed = honda_gas_prev || (gas_interceptor_prev > HONDA_GAS_INTERCEPTOR_THRESHOLD) ||
-                      (honda_brake_prev && honda_ego_speed);
+                      (honda_brake_prev && honda_moving);
   bool current_controls_allowed = controls_allowed && !(pedal_pressed);
 
   // BRAKE: safety check
   if (addr == 0x1FA) {
+    int brake = (GET_BYTE(to_send, 0) << 2) + (GET_BYTE(to_send, 1) & 0x3);
     if (!current_controls_allowed || !long_controls_allowed) {
-      if ((to_send->RDLR & 0xFFFF0000) != to_send->RDLR) {
+      if (brake != 0) {
         tx = 0;
       }
     }
-    if ((to_send->RDLR & 0xFFFFFF3F) != to_send->RDLR) {
+    if (brake > 255) {
       tx = 0;
     }
   }
@@ -119,7 +117,8 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
   // STEER: safety check
   if ((addr == 0xE4) || (addr == 0x194)) {
     if (!current_controls_allowed) {
-      if ((to_send->RDLR & 0xFFFF0000) != to_send->RDLR) {
+      bool steer_applied = GET_BYTE(to_send, 0) | GET_BYTE(to_send, 1);
+      if (steer_applied) {
         tx = 0;
       }
     }
@@ -128,7 +127,7 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
   // GAS: safety check
   if (addr == 0x200) {
     if (!current_controls_allowed || !long_controls_allowed) {
-      if ((to_send->RDLR & 0xFFFF0000) != to_send->RDLR) {
+      if (GET_BYTE(to_send, 0) || GET_BYTE(to_send, 1)) {
         tx = 0;
       }
     }
@@ -139,7 +138,7 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
   // This avoids unintended engagements while still allowing resume spam
   if ((addr == 0x296) && honda_bosch_hardware &&
       !current_controls_allowed && (bus == 0)) {
-    if (((to_send->RDLR >> 5) & 0x7) != 2) {
+    if (((GET_BYTE(to_send, 0) >> 5) & 0x7) != 2) {
       tx = 0;
     }
   }
diff --git a/board/safety/safety_hyundai.h b/board/safety/safety_hyundai.h
index c1b55359bdfe11..aed30621f44b00 100644
--- a/board/safety/safety_hyundai.h
+++ b/board/safety/safety_hyundai.h
@@ -20,7 +20,7 @@ static void hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   int addr = GET_ADDR(to_push);
 
   if (addr == 897) {
-    int torque_driver_new = ((to_push->RDLR >> 11) & 0xfff) - 2048;
+    int torque_driver_new = ((GET_BYTES_04(to_push) >> 11) & 0xfff) - 2048;
     // update array of samples
     update_sample(&hyundai_torque_driver, torque_driver_new);
   }
@@ -39,7 +39,7 @@ static void hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   // enter controls on rising edge of ACC, exit controls on ACC off
   if (addr == 1057) {
     // 2 bits: 13-14
-    int cruise_engaged = (to_push->RDLR >> 13) & 0x3;
+    int cruise_engaged = (GET_BYTES_04(to_push) >> 13) & 0x3;
     if (cruise_engaged && !hyundai_cruise_engaged_last) {
       controls_allowed = 1;
     }
@@ -67,7 +67,7 @@ static int hyundai_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
   // LKA STEER: safety check
   if (addr == 832) {
-    int desired_torque = ((to_send->RDLR >> 16) & 0x7ff) - 1024;
+    int desired_torque = ((GET_BYTES_04(to_send) >> 16) & 0x7ff) - 1024;
     uint32_t ts = TIM2->CNT;
     bool violation = 0;
 
@@ -117,7 +117,7 @@ static int hyundai_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
   // This avoids unintended engagements while still allowing resume spam
   // TODO: fix bug preventing the button msg to be fwd'd on bus 2
   //if ((addr == 1265) && !controls_allowed && (bus == 0) {
-  //  if ((to_send->RDLR & 0x7) != 4) {
+  //  if ((GET_BYTES_04(to_send) & 0x7) != 4) {
   //    tx = 0;
   //  }
   //}
diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index c7a8c20e52c963..3eda8369be4c49 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -20,7 +20,7 @@ static void subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   int addr = GET_ADDR(to_push);
 
   if ((addr == 0x119) && (bus == 0)){
-    int torque_driver_new = ((to_push->RDLR >> 16) & 0x7FF);
+    int torque_driver_new = ((GET_BYTES_04(to_push) >> 16) & 0x7FF);
     torque_driver_new = to_signed(torque_driver_new, 11);
     // update array of samples
     update_sample(&subaru_torque_driver, torque_driver_new);
@@ -28,7 +28,7 @@ static void subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
   // enter controls on rising edge of ACC, exit controls on ACC off
   if ((addr == 0x240) && (bus == 0)) {
-    int cruise_engaged = (to_push->RDHR >> 9) & 1;
+    int cruise_engaged = GET_BYTE(to_push, 5) & 2;
     if (cruise_engaged && !subaru_cruise_engaged_last) {
       controls_allowed = 1;
     }
@@ -45,7 +45,7 @@ static int subaru_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
   // steer cmd checks
   if (addr == 0x122) {
-    int desired_torque = ((to_send->RDLR >> 16) & 0x1FFF);
+    int desired_torque = ((GET_BYTES_04(to_send) >> 16) & 0x1FFF);
     bool violation = 0;
     uint32_t ts = TIM2->CNT;
     desired_torque = to_signed(desired_torque, 13);
diff --git a/board/safety/safety_tesla.h b/board/safety/safety_tesla.h
index b58e6b2bbf7ad4..188b12ac481dfc 100644
--- a/board/safety/safety_tesla.h
+++ b/board/safety/safety_tesla.h
@@ -55,7 +55,7 @@ static void tesla_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
   if (addr == 0x45) {
     // 6 bits starting at position 0
-    int lever_position = (to_push->RDLR & 0x3F);
+    int lever_position = GET_BYTE(to_push, 0) & 0x3F;
     if (lever_position == 2) { // pull forward
       // activate openpilot
       controls_allowed = 1;
@@ -69,7 +69,7 @@ static void tesla_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   // Detect drive rail on (ignition) (start recording)
   if (addr == 0x348) {
     // GTW_status
-    int drive_rail_on = (to_push->RDLR & 0x0001);
+    int drive_rail_on = GET_BYTE(to_push, 0) & 0x1;
     tesla_ignition_started = drive_rail_on == 1;
   }
 
@@ -77,12 +77,12 @@ static void tesla_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   // DI_torque2::DI_brakePedal 0x118
   if (addr == 0x118) {
     // 1 bit at position 16
-    if ((((to_push->RDLR & 0x8000)) >> 15) == 1) {
+    if ((GET_BYTE(to_push, 1) & 0x80) != 0) {
       // disable break cancel by commenting line below
       controls_allowed = 0;
     }
     //get vehicle speed in m/s. Tesla gives MPH
-    tesla_speed = ((((((to_push->RDLR >> 24) & 0xF) << 8) + ((to_push->RDLR >> 16) & 0xFF)) * 0.05) - 25) * 1.609 / 3.6;
+    tesla_speed = (((((GET_BYTE(to_push, 3) & 0xF) << 8) + GET_BYTE(to_push, 2)) * 0.05) - 25) * 1.609 / 3.6;
     if (tesla_speed < 0) {
       tesla_speed = 0;
     }
@@ -92,7 +92,7 @@ static void tesla_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   // EPAS_sysStatus::EPAS_eacStatus 0x370
   if (addr == 0x370) {
     // if EPAS_eacStatus is not 1 or 2, disable control
-    eac_status = ((to_push->RDHR >> 21)) & 0x7;
+    eac_status = (GET_BYTE(to_push, 6) >> 5) & 0x7;
     // For human steering override we must not disable controls when eac_status == 0
     // Additional safety: we could only allow eac_status == 0 when we have human steering allowed
     if (controls_allowed && (eac_status != 0) && (eac_status != 1) && (eac_status != 2)) {
@@ -102,7 +102,7 @@ static void tesla_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   }
   //get latest steering wheel angle
   if (addr == 0x00E) {
-    float angle_meas_now = (int)(((((to_push->RDLR & 0x3F) << 8) + ((to_push->RDLR >> 8) & 0xFF)) * 0.1) - 819.2);
+    float angle_meas_now = (int)(((((GET_BYTE(to_push, 0) & 0x3F) << 8) + GET_BYTE(to_push, 1)) * 0.1) - 819.2);
     uint32_t ts = TIM2->CNT;
     uint32_t ts_elapsed = get_ts_elapsed(ts, tesla_ts_angle_last);
 
@@ -146,10 +146,10 @@ static int tesla_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
   // do not transmit CAN message if steering angle too high
   // DAS_steeringControl::DAS_steeringAngleRequest
   if (addr == 0x488) {
-    float angle_raw = ((to_send->RDLR & 0x7F) << 8) + ((to_send->RDLR & 0xFF00) >> 8);
+    float angle_raw = ((GET_BYTE(to_send, 0) & 0x7F) << 8) + GET_BYTE(to_send, 1);
     float desired_angle = (angle_raw * 0.1) - 1638.35;
     bool violation = 0;
-    int st_enabled = (to_send->RDLR & 0x400000) >> 22;
+    int st_enabled = GET_BYTE(to_send, 2) & 0x40;
 
     if (st_enabled == 0) {
       //steering is not enabled, do not check angles and do send
@@ -204,10 +204,10 @@ static int tesla_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
       bus_fwd = 2; // Custom EPAS bus
     }
     if (addr == 0x101) {
-      to_fwd->RDLR = to_fwd->RDLR | 0x4000; // 0x4000: WITH_ANGLE, 0xC000: WITH_BOTH (angle and torque)
-      uint32_t checksum = (((to_fwd->RDLR & 0xFF00) >> 8) + (to_fwd->RDLR & 0xFF) + 2) & 0xFF;
-      to_fwd->RDLR = to_fwd->RDLR & 0xFFFF;
-      to_fwd->RDLR = to_fwd->RDLR + (checksum << 16);
+      to_fwd->RDLR = GET_BYTES_04(to_fwd) | 0x4000; // 0x4000: WITH_ANGLE, 0xC000: WITH_BOTH (angle and torque)
+      uint32_t checksum = (GET_BYTE(to_fwd, 1) + GET_BYTE(to_fwd, 0) + 2) & 0xFF;
+      to_fwd->RDLR = GET_BYTES_04(to_fwd) & 0xFFFF;
+      to_fwd->RDLR = GET_BYTES_04(to_fwd) + (checksum << 16);
     }
   }
   if (bus_num == 2) {
diff --git a/board/safety/safety_toyota.h b/board/safety/safety_toyota.h
index c4d57956314384..ac3184d39737b5 100644
--- a/board/safety/safety_toyota.h
+++ b/board/safety/safety_toyota.h
@@ -39,7 +39,7 @@ static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
   // get eps motor torque (0.66 factor in dbc)
   if (addr == 0x260) {
-    int torque_meas_new = (((to_push->RDHR) & 0xFF00) | ((to_push->RDHR >> 16) & 0xFF));
+    int torque_meas_new = (GET_BYTE(to_push, 5) << 8) | GET_BYTE(to_push, 6);
     torque_meas_new = to_signed(torque_meas_new, 16);
 
     // scale by dbc_factor
@@ -56,7 +56,7 @@ static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   // enter controls on rising edge of ACC, exit controls on ACC off
   if (addr == 0x1D2) {
     // 5th bit is CRUISE_ACTIVE
-    int cruise_engaged = to_push->RDLR & 0x20;
+    int cruise_engaged = GET_BYTE(to_push, 0) & 0x20;
     if (!cruise_engaged) {
       controls_allowed = 0;
     }
@@ -69,7 +69,7 @@ static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   // exit controls on rising edge of interceptor gas press
   if (addr == 0x201) {
     gas_interceptor_detected = 1;
-    int gas_interceptor = ((to_push->RDLR & 0xFF) << 8) | ((to_push->RDLR & 0xFF00) >> 8);
+    int gas_interceptor = (GET_BYTE(to_push, 0) << 8) | GET_BYTE(to_push, 1);
     if ((gas_interceptor > TOYOTA_GAS_INTERCEPTOR_THRESHOLD) &&
         (gas_interceptor_prev <= TOYOTA_GAS_INTERCEPTOR_THRESHOLD) &&
         long_controls_allowed) {
@@ -80,7 +80,7 @@ static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
   // exit controls on rising edge of gas press
   if (addr == 0x2C1) {
-    int gas = (to_push->RDHR >> 16) & 0xFF;
+    int gas = GET_BYTE(to_push, 6) & 0xFF;
     if ((gas > 0) && (toyota_gas_prev == 0) && !gas_interceptor_detected && long_controls_allowed) {
       controls_allowed = 0;
     }
@@ -115,7 +115,7 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
     // GAS PEDAL: safety check
     if (addr == 0x200) {
       if (!controls_allowed || !long_controls_allowed) {
-        if ((to_send->RDLR & 0xFFFF0000) != to_send->RDLR) {
+        if (GET_BYTE(to_send, 0) || GET_BYTE(to_send, 1)) {
           tx = 0;
         }
       }
@@ -123,7 +123,7 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
     // ACCEL: safety check on byte 1-2
     if (addr == 0x343) {
-      int desired_accel = ((to_send->RDLR & 0xFF) << 8) | ((to_send->RDLR >> 8) & 0xFF);
+      int desired_accel = (GET_BYTE(to_send, 0) << 8) | GET_BYTE(to_send, 1);
       desired_accel = to_signed(desired_accel, 16);
       if (!controls_allowed || !long_controls_allowed) {
         if (desired_accel != 0) {
@@ -138,7 +138,7 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
     // STEER: safety check on bytes 2-3
     if (addr == 0x2E4) {
-      int desired_torque = (to_send->RDLR & 0xFF00) | ((to_send->RDLR >> 16) & 0xFF);
+      int desired_torque = (GET_BYTE(to_send, 1) << 8) | GET_BYTE(to_send, 2);
       desired_torque = to_signed(desired_torque, 16);
       bool violation = 0;
 
diff --git a/board/safety/safety_toyota_ipas.h b/board/safety/safety_toyota_ipas.h
index 99e6dae0587a9c..3e3a3b3a24134f 100644
--- a/board/safety/safety_toyota_ipas.h
+++ b/board/safety/safety_toyota_ipas.h
@@ -39,7 +39,7 @@ static void toyota_ipas_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
   if (addr == 0x260) {
     // get driver steering torque
-    int16_t torque_driver_new = (((to_push->RDLR) & 0xFF00) | ((to_push->RDLR >> 16) & 0xFF));
+    int16_t torque_driver_new = (GET_BYTE(to_push, 1) << 8) | GET_BYTE(to_push, 2);
 
     // update array of samples
     update_sample(&torque_driver, torque_driver_new);
@@ -47,7 +47,7 @@ static void toyota_ipas_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
   // get steer angle
   if (addr == 0x25) {
-    int angle_meas_new = ((to_push->RDLR & 0xf) << 8) + ((to_push->RDLR & 0xff00) >> 8);
+    int angle_meas_new = ((GET_BYTE(to_push, 0) & 0xF) << 8) | GET_BYTE(to_push, 1);
     uint32_t ts = TIM2->CNT;
 
     angle_meas_new = to_signed(angle_meas_new, 12);
@@ -81,12 +81,12 @@ static void toyota_ipas_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
   // get speed
   if (addr == 0xb4) {
-    speed = ((float) (((to_push->RDHR) & 0xFF00) | ((to_push->RDHR >> 16) & 0xFF))) * 0.01 / 3.6;
+    speed = ((float)((GET_BYTE(to_push, 5) << 8) | GET_BYTE(to_push, 6))) * 0.01 / 3.6;
   }
 
   // get ipas state
   if (addr == 0x262) {
-    ipas_state = (to_push->RDLR & 0xf);
+    ipas_state = GET_BYTE(to_push, 0) & 0xf;
   }
 
   // exit controls on high steering override
@@ -111,8 +111,8 @@ static int toyota_ipas_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
     if ((addr == 0x266) || (addr == 0x167)) {
 
       angle_control = 1;   // we are in angle control mode
-      int desired_angle = ((to_send->RDLR & 0xf) << 8) + ((to_send->RDLR & 0xff00) >> 8);
-      int ipas_state_cmd = ((to_send->RDLR & 0xff) >> 4);
+      int desired_angle = ((GET_BYTE(to_send, 0) & 0xF) << 8) | GET_BYTE(to_send, 1);
+      int ipas_state_cmd = GET_BYTE(to_send, 0) >> 4;
       bool violation = 0;
 
       desired_angle = to_signed(desired_angle, 12);
diff --git a/board/safety_declarations.h b/board/safety_declarations.h
index 21e863869bae54..2029a22593aa37 100644
--- a/board/safety_declarations.h
+++ b/board/safety_declarations.h
@@ -1,7 +1,3 @@
-#define GET_BUS(msg) (((msg)->RDTR >> 4) & 0xFF)
-#define GET_LEN(msg) ((msg)->RDTR & 0xf)
-#define GET_ADDR(msg) ((((msg)->RIR & 4) != 0) ? ((msg)->RIR >> 3) : ((msg)->RIR >> 21))
-
 // sample struct that keeps 3 samples in memory
 struct sample_t {
   int values[6];
diff --git a/board/spi_flasher.h b/board/spi_flasher.h
index 44506b81888daf..aacea822cdfd3e 100644
--- a/board/spi_flasher.h
+++ b/board/spi_flasher.h
@@ -92,13 +92,13 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
   return resp_len;
 }
 
-int usb_cb_ep1_in(uint8_t *usbdata, int len, bool hardwired) {
+int usb_cb_ep1_in(void *usbdata, int len, bool hardwired) {
   UNUSED(usbdata);
   UNUSED(len);
   UNUSED(hardwired);
   return 0;
 }
-void usb_cb_ep3_out(uint8_t *usbdata, int len, bool hardwired) {
+void usb_cb_ep3_out(void *usbdata, int len, bool hardwired) {
   UNUSED(usbdata);
   UNUSED(len);
   UNUSED(hardwired);
@@ -110,7 +110,7 @@ void usb_cb_enumeration_complete(void) {
   is_enumerated = 1;
 }
 
-void usb_cb_ep2_out(uint8_t *usbdata, int len, bool hardwired) {
+void usb_cb_ep2_out(void *usbdata, int len, bool hardwired) {
   UNUSED(hardwired);
   set_led(LED_RED, 0);
   for (int i = 0; i < len/4; i++) {
@@ -182,8 +182,9 @@ void CAN1_RX0_IRQHandler(void) {
   while (CAN->RF0R & CAN_RF0R_FMP0) {
     if ((CAN->sFIFOMailBox[0].RIR>>21) == CAN_BL_INPUT) {
       uint8_t dat[8];
-      ((uint32_t*)dat)[0] = CAN->sFIFOMailBox[0].RDLR;
-      ((uint32_t*)dat)[1] = CAN->sFIFOMailBox[0].RDHR;
+      for (int i = 0; i < 8; i++) {
+        dat[0] = GET_BYTE(&CAN->sFIFOMailBox[0], i);
+      }
       uint8_t odat[8];
       uint8_t type = dat[0] & 0xF0;
       if (type == 0x30) {
diff --git a/tests/misra/suppressions.txt b/tests/misra/suppressions.txt
index 27a2cd7aaf9fe2..8e58b6e34024a4 100644
--- a/tests/misra/suppressions.txt
+++ b/tests/misra/suppressions.txt
@@ -2,3 +2,7 @@
 misra.19.2
 # FIXME: add it back when fixed in cppcheck. Macro identifiers are unique but it false triggers on defines in #ifdef..#else conditions
 misra.5.4
+# Advisory: casting from void pointer to type pointer is ok. Done by STM libraries as well
+misra.11.4
+# Advisory: casting from void pointer to type pointer is ok. Done by STM libraries as well
+misra.11.5
diff --git a/tests/misra/test_misra.sh b/tests/misra/test_misra.sh
index b14bf570c3083b..4a6126781855c5 100755
--- a/tests/misra/test_misra.sh
+++ b/tests/misra/test_misra.sh
@@ -1,5 +1,6 @@
-#!/bin/bash
+#!/bin/bash -e
 
+mkdir /tmp/misra || true
 git clone https://github.com/danmar/cppcheck.git || true
 cd cppcheck
 git fetch
@@ -14,16 +15,11 @@ tests/misra/cppcheck/cppcheck -DPANDA -UPEDAL -DCAN3 -DUID_BASE -DEON \
                               --dump --enable=all --inline-suppr --force \
                               board/main.c 2>/tmp/misra/cppcheck_output.txt
 
-python tests/misra/cppcheck/addons/misra.py board/main.c.dump 2>/tmp/misra/misra_output.txt
+python tests/misra/cppcheck/addons/misra.py board/main.c.dump 2> /tmp/misra/misra_output.txt
 
-# violations in safety files
-misra_output=$( cat /tmp/misra/misra_output.txt | grep safety);
-cppcheck_output=$( cat /tmp/misra/cppcheck_output.txt | grep safety);
-# TODO: remove safety only check when the whole panda code is MISRA compatible and replace with below
 # strip (information) lines
-#misra_output=$(cat /tmp/misra/misra_output.txt | grep -v "(information) " || true)
-#cppcheck_output=$(cat /tmp/misra/cppcheck_output.txt | grep -v "(information) " || true)
-
+cppcheck_output=$( cat /tmp/misra/cppcheck_output.txt | grep -v "(information) " ) || true
+misra_output=$( cat /tmp/misra/misra_output.txt | grep -v "(information) " ) || true
 
 
 printf "\nPEDAL CODE\n"
@@ -32,25 +28,26 @@ tests/misra/cppcheck/cppcheck -UPANDA -DPEDAL -UCAN3 \
                               -I board/ --dump --enable=all --inline-suppr --force \
                               board/pedal/main.c 2>/tmp/misra/cppcheck_pedal_output.txt
 
-python tests/misra/cppcheck/addons/misra.py board/pedal/main.c.dump 2>/tmp/misra/misra_pedal_output.txt
+python tests/misra/cppcheck/addons/misra.py board/pedal/main.c.dump 2> /tmp/misra/misra_pedal_output.txt || true
 
 # strip (information) lines
-misra_pedal_output=$( cat /tmp/misra/misra_pedal_output.txt | grep -v "(information) ")
-cppcheck_pedal_output=$( cat /tmp/misra/cppcheck_pedal_output.txt | grep -v "(information) ")
+cppcheck_pedal_output=$( cat /tmp/misra/cppcheck_pedal_output.txt | grep -v "(information) " ) || true
+misra_pedal_output=$( cat /tmp/misra/misra_pedal_output.txt | grep -v "(information) " ) || true
 
 if [[ -n "$misra_output" ]] || [[ -n "$cppcheck_output" ]]
 then
-  echo "Found Misra violations in the safety code:"
+  echo "Failed! found Misra violations in panda code:"
   echo "$misra_output"
   echo "$cppcheck_output"
   exit 1
 fi
 
-# TODO: enable pedal check when the whole pedal code is Misra compliant
-#if [[ ! -z "$misra_pedal_output" ]] || [[ ! -z "$cppcheck_pedal_output" ]]
-#then
-#  echo "Found Misra violations in the pedal code:"
-#  echo "$misra_pedal_output"
-#  echo "$cppcheck_pedal_output"
-#  exit 1
-#fi
+if [[ -n "$misra_pedal_output" ]] || [[ -n "$cppcheck_pedal_output" ]]
+then
+  echo "Failed! found Misra violations in pedal code:"
+  echo "$misra_pedal_output"
+  echo "$cppcheck_pedal_output"
+  exit 1
+fi
+
+echo "Success"
diff --git a/tests/safety/libpandasafety_py.py b/tests/safety/libpandasafety_py.py
index dc5e5be5afb29e..1345065cb4d103 100644
--- a/tests/safety/libpandasafety_py.py
+++ b/tests/safety/libpandasafety_py.py
@@ -55,7 +55,7 @@
 void set_toyota_rt_torque_last(int t);
 
 void init_tests_honda(void);
-int get_honda_ego_speed(void);
+bool get_honda_moving(void);
 int get_honda_brake_prev(void);
 int get_honda_gas_prev(void);
 void set_honda_alt_brake_msg(bool);
diff --git a/tests/safety/test.c b/tests/safety/test.c
index be13d346afcf6b..dc3de55040b3d6 100644
--- a/tests/safety/test.c
+++ b/tests/safety/test.c
@@ -32,6 +32,7 @@ struct sample_t subaru_torque_driver;
 TIM_TypeDef timer;
 TIM_TypeDef *TIM2 = &timer;
 
+// from config.h
 #define MIN(a,b)                                \
   ({ __typeof__ (a) _a = (a);                   \
     __typeof__ (b) _b = (b);                    \
@@ -42,6 +43,14 @@ TIM_TypeDef *TIM2 = &timer;
     __typeof__ (b) _b = (b);                    \
     _a > _b ? _a : _b; })
 
+// from llcan.h
+#define GET_BUS(msg) (((msg)->RDTR >> 4) & 0xFF)
+#define GET_LEN(msg) ((msg)->RDTR & 0xf)
+#define GET_ADDR(msg) ((((msg)->RIR & 4) != 0) ? ((msg)->RIR >> 3) : ((msg)->RIR >> 21))
+#define GET_BYTE(msg, b) (((int)(b) > 3) ? (((msg)->RDHR >> (8U * ((unsigned int)(b) % 4U))) & 0XFFU) : (((msg)->RDLR >> (8U * (unsigned int)(b))) & 0xFFU))
+#define GET_BYTES_04(msg) ((msg)->RDLR)
+#define GET_BYTES_48(msg) ((msg)->RDHR)
+
 #define UNUSED(x) (void)(x)
 
 #define PANDA
@@ -199,8 +208,8 @@ void set_subaru_desired_torque_last(int t){
   subaru_desired_torque_last = t;
 }
 
-int get_honda_ego_speed(void){
-  return honda_ego_speed;
+bool get_honda_moving(void){
+  return honda_moving;
 }
 
 int get_honda_brake_prev(void){
@@ -274,7 +283,7 @@ void init_tests_subaru(void){
 }
 
 void init_tests_honda(void){
-  honda_ego_speed = 0;
+  honda_moving = false;
   honda_brake_prev = 0;
   honda_gas_prev = 0;
 }
diff --git a/tests/safety/test_honda.py b/tests/safety/test_honda.py
index bc5e8d192f1712..f0562b8d4c1351 100755
--- a/tests/safety/test_honda.py
+++ b/tests/safety/test_honda.py
@@ -99,9 +99,9 @@ def test_cancel_button(self):
     self.assertFalse(self.safety.get_controls_allowed())
 
   def test_sample_speed(self):
-    self.assertEqual(0, self.safety.get_honda_ego_speed())
+    self.assertEqual(0, self.safety.get_honda_moving())
     self.safety.safety_rx_hook(self._speed_msg(100))
-    self.assertEqual(100, self.safety.get_honda_ego_speed())
+    self.assertEqual(1, self.safety.get_honda_moving())
 
   def test_prev_brake(self):
     self.assertFalse(self.safety.get_honda_brake_prev())