diff --git a/selfdrive/car/modules/ALCA_module.py b/selfdrive/car/modules/ALCA_module.py
index 63e5dd333dc5e0..b2238a39342671 100644
--- a/selfdrive/car/modules/ALCA_module.py
+++ b/selfdrive/car/modules/ALCA_module.py
@@ -47,7 +47,7 @@
 from common.numpy_fast import interp,clip
 from selfdrive.controls.lib.pid import PIController
 from common.realtime import sec_since_boot
-from selfdrive.services import service_list
+from cereal.services import service_list
 import selfdrive.messaging as messaging
 import numpy as np
 from cereal import tesla
diff --git a/selfdrive/car/modules/GYRO_module.py b/selfdrive/car/modules/GYRO_module.py
index 8e7ae580f503e5..a4d34cf691d060 100644
--- a/selfdrive/car/modules/GYRO_module.py
+++ b/selfdrive/car/modules/GYRO_module.py
@@ -1,4 +1,4 @@
-from selfdrive.services import service_list
+from cereal.services import service_list
 from collections import deque
 import selfdrive.messaging as messaging
 import cereal
diff --git a/selfdrive/car/tesla/carcontroller.py b/selfdrive/car/tesla/carcontroller.py
index 3c1276fc014f7d..e68859dff9a705 100644
--- a/selfdrive/car/tesla/carcontroller.py
+++ b/selfdrive/car/tesla/carcontroller.py
@@ -8,7 +8,7 @@
 from selfdrive.car.tesla.blinker_module import Blinker
 from selfdrive.car.tesla.speed_utils.fleet_speed import FleetSpeed
 from selfdrive.car.tesla.values import AH, CM
-from selfdrive.can.packer import CANPacker
+from opendbc.can.packer import CANPacker
 from selfdrive.config import Conversions as CV
 from selfdrive.car.modules.ALCA_module import ALCAController
 from selfdrive.car.modules.GYRO_module import GYROController
diff --git a/selfdrive/car/tesla/carstate.py b/selfdrive/car/tesla/carstate.py
index 5ea34d663da11b..a9fce760145698 100644
--- a/selfdrive/car/tesla/carstate.py
+++ b/selfdrive/car/tesla/carstate.py
@@ -1,5 +1,5 @@
 from common.kalman.simple_kalman import KF1D
-from selfdrive.can.parser import CANParser
+from opendbc.can.parser import CANParser
 from selfdrive.config import Conversions as CV
 from selfdrive.car.tesla.ACC_module import ACCMode
 from selfdrive.car.tesla.PCC_module import PCCModes
diff --git a/selfdrive/car/tesla/interface.py b/selfdrive/car/tesla/interface.py
index a9ca80a4b669db..887913151692e1 100644
--- a/selfdrive/car/tesla/interface.py
+++ b/selfdrive/car/tesla/interface.py
@@ -11,7 +11,7 @@
 from selfdrive.car import STD_CARGO_KG
 from selfdrive.car.tesla.readconfig import CarSettings
 import selfdrive.messaging as messaging
-from selfdrive.services import service_list
+from cereal.services import service_list
 from selfdrive.controls.lib.planner import _A_CRUISE_MAX_V
 
 A_ACC_MAX = max(_A_CRUISE_MAX_V)
diff --git a/selfdrive/car/tesla/radar_interface.py b/selfdrive/car/tesla/radar_interface.py
index d003c238fdd865..ee1507e594fb99 100644
--- a/selfdrive/car/tesla/radar_interface.py
+++ b/selfdrive/car/tesla/radar_interface.py
@@ -4,7 +4,7 @@
 from cereal import car, tesla
 from selfdrive.can.parser import CANParser
 from common.realtime import DT_RDR
-from selfdrive.services import service_list
+from cereal.services import service_list
 import selfdrive.messaging as messaging
 from selfdrive.car.interfaces import RadarInterfaceBase
 from selfdrive.car.tesla.readconfig import CarSettings
diff --git a/selfdrive/car/tesla/radar_tools/calibrateRadar.py b/selfdrive/car/tesla/radar_tools/calibrateRadar.py
index 9f8c660df45443..7276b165bf9c45 100644
--- a/selfdrive/car/tesla/radar_tools/calibrateRadar.py
+++ b/selfdrive/car/tesla/radar_tools/calibrateRadar.py
@@ -10,7 +10,7 @@
 import os
 from selfdrive.can.parser import CANParser
 from common.realtime import sec_since_boot
-from selfdrive.services import service_list
+from cereal.services import service_list
 import selfdrive.messaging as messaging
 from selfdrive.car.tesla.readconfig import read_config_file,CarSettings
 from selfdrive.car.tesla.radar_interface import RadarInterface
diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index fdbdfb41bcd833..2a89548c182dbb 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -51,20 +51,13 @@ def __init__(self, dbc_name, CP, VM):
     self.alert_active = False
     self.last_standstill = False
     self.standstill_req = False
-
+ 
     self.last_fault_frame = -200
     self.steer_rate_limited = False
 
     self.fake_ecus = set()
-<<<<<<< HEAD
-    if enable_camera: self.fake_ecus.add(ECU.CAM)
-    if enable_dsu: self.fake_ecus.add(ECU.DSU)
-    if enable_apg: self.fake_ecus.add(ECU.APGS)
-    self.ALCA = ALCAController(self,True,False)  # Enabled True and SteerByAngle only False
-=======
     if CP.enableCamera: self.fake_ecus.add(Ecu.fwdCamera)
     if CP.enableDsu: self.fake_ecus.add(Ecu.dsu)
->>>>>>> cc6358d983479e918d8deac95554c39ed5866e1a
 
     self.packer = CANPacker(dbc_name)
 
@@ -97,16 +90,9 @@ def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, hud_alert,
     if (frame % 10 == 0):
       self.ALCA.update_status(CS.cstm_btns.get_button_status("alca") > 0)
     # steer torque
-<<<<<<< HEAD
-    alca_angle, alca_steer, alca_enabled, turn_signal_needed = self.ALCA.update(enabled, CS, frame, actuators)
-    apply_steer = int(round(alca_steer * SteerLimitParams.STEER_MAX))
-
-    apply_steer = apply_toyota_steer_torque_limits(apply_steer, self.last_steer, CS.steer_torque_motor, SteerLimitParams)
-=======
     new_steer = int(round(actuators.steer * SteerLimitParams.STEER_MAX))
     apply_steer = apply_toyota_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, SteerLimitParams)
     self.steer_rate_limited = new_steer != apply_steer
->>>>>>> cc6358d983479e918d8deac95554c39ed5866e1a
 
     # only cut torque when steer state is a known fault
     if CS.steer_state in [9, 25]:
@@ -119,31 +105,6 @@ def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, hud_alert,
     else:
       apply_steer_req = 1
 
-<<<<<<< HEAD
-    self.steer_angle_enabled, self.ipas_reset_counter = \
-      ipas_state_transition(self.steer_angle_enabled, enabled, CS.ipas_active, self.ipas_reset_counter)
-    #print("{0} {1} {2}".format(self.steer_angle_enabled, self.ipas_reset_counter, CS.ipas_active))
-
-
-    # steer angle
-    if self.steer_angle_enabled and CS.ipas_active:
-
-      apply_angle = alca_angle
-      angle_lim = interp(CS.v_ego, ANGLE_MAX_BP, ANGLE_MAX_V)
-      apply_angle = clip(apply_angle, -angle_lim, angle_lim)
-
-      # windup slower
-      if self.last_angle * apply_angle > 0. and abs(apply_angle) > abs(self.last_angle):
-        angle_rate_lim = interp(CS.v_ego, ANGLE_DELTA_BP, ANGLE_DELTA_V)
-      else:
-        angle_rate_lim = interp(CS.v_ego, ANGLE_DELTA_BP, ANGLE_DELTA_VU)
-
-      apply_angle = clip(apply_angle, self.last_angle - angle_rate_lim, self.last_angle + angle_rate_lim)
-    else:
-      apply_angle = CS.angle_steers
-
-=======
->>>>>>> cc6358d983479e918d8deac95554c39ed5866e1a
     if not enabled and CS.pcm_acc_status:
       # send pcm acc cancel cmd if drive is disabled but pcm is still on, or if the system can't be activated
       pcm_cancel_cmd = 1
diff --git a/selfdrive/ui/Makefile b/selfdrive/ui/Makefile
deleted file mode 100644
index 0d47649c47fc24..00000000000000
--- a/selfdrive/ui/Makefile
+++ /dev/null
@@ -1,127 +0,0 @@
-CC = clang
-CXX = clang++
-
-BASEDIR = ../..
-PHONELIBS = ../../phonelibs
-
-WARN_FLAGS = -Werror=implicit-function-declaration \
-             -Werror=incompatible-pointer-types \
-             -Werror=int-conversion \
-             -Werror=return-type \
-             -Werror=format-extra-args
-
-CFLAGS = -std=gnu11 -fPIC -O2 $(WARN_FLAGS)
-CXXFLAGS = -std=c++11 -fPIC -O2 $(WARN_FLAGS)
-
-ZMQ_LIBS = -l:libczmq.a
-
-MESSAGING_FLAGS = -I$(BASEDIR)/selfdrive/messaging
-MESSAGING_LIBS = $(BASEDIR)/selfdrive/messaging/messaging.a
-
-CEREAL_LIBS = -l:libcapn.a
-CEREAL_OBJS = ../../cereal/gen/c/log.capnp.o ../../cereal/gen/c/ui.capnp.o
-
-NANOVG_FLAGS = -I$(PHONELIBS)/nanovg
-JSON_FLAGS = -I$(PHONELIBS)/json/src
-
-OPENCL_FLAGS = -I$(PHONELIBS)/opencl/include
-OPENCL_LIBS = -lgsl -lCB -lOpenCL
-
-OPENGL_LIBS = -lGLESv3
-
-OPENSL_LIBS = -lOpenSLES
-
-UUID_LIBS = -luuid
-
-FRAMEBUFFER_LIBS = -lutils -lgui -lEGL
-
-CFLAGS += -DQCOM \
-          -I$(PHONELIBS)/android_frameworks_native/include \
-          -I$(PHONELIBS)/android_system_core/include \
-          -I$(PHONELIBS)/android_hardware_libhardware/include
-CXXFLAGS += -DQCOM \
-            -I$(PHONELIBS)/android_frameworks_native/include \
-            -I$(PHONELIBS)/android_system_core/include \
-            -I$(PHONELIBS)/android_hardware_libhardware/include
-
-# ui can only be compiled for the phone
-CFLAGS += -mcpu=cortex-a57
-CXXFLAGS += -mcpu=cortex-a57
-
-OBJS = slplay.o \
-       ui.o \
-       ../common/glutil.o \
-       ../common/visionipc.o \
-       ../common/ipc.o \
-       ../common/visionimg.o \
-       ../common/visionbuf_ion.o \
-       ../common/framebuffer.o \
-       ../common/params.o \
-       ../common/util.o \
-       ../common/touch.o \
-       ../common/swaglog.o \
-       $(PHONELIBS)/nanovg/nanovg.o \
-       $(PHONELIBS)/json/src/json.o \
-       $(CEREAL_OBJS)
-
-DEPS := $(OBJS:.o=.d)
-
-all: ui
-
-ui: $(OBJS) $(MESSAGING_LIBS)
-	@echo "[ LINK ] $@"
-	$(CXX) -fPIC -o '$@' $^ \
-	      $(FRAMEBUFFER_LIBS) \
-	      $(CEREAL_LIBS) \
-	      -lgnustl_shared \
-        -L/system/vendor/lib64 \
-        -lhardware -lui \
-        $(ZMQ_LIBS) \
-        $(OPENGL_LIBS) \
-        $(OPENCL_LIBS) \
-        ${OPENSL_LIBS} \
-        ${UUID_LIBS} \
-        -Wl,-rpath=/system/lib64,-rpath=/system/comma/usr/lib \
-        -lcutils -lm -llog -lui -ladreno_utils
-
-slplay.o: slplay.c
-	@echo "[ CC ] $@"
-	$(CC) $(CFLAGS) -fPIC \
-	-I../ \
-	$(OPENSL_LIBS) \
-	-c -o '$@' $^
-
-%.o: %.cc
-	@echo "[ CXX ] $@"
-	$(CXX) $(CXXFLAGS) -MMD \
-           -Iinclude -I.. -I../.. \
-           $(OPENCL_FLAGS) \
-           $(NANOVG_FLAGS) \
-           $(ZMQ_FLAGS) \
-           $(MESSAGING_FLAGS) \
-           $(CEREAL_CFLAGS) \
-           $(JSON_FLAGS) \
-           -I$(PHONELIBS)/android_frameworks_native/include \
-           -I$(PHONELIBS)/android_system_core/include \
-           -I$(PHONELIBS)/android_hardware_libhardware/include \
-           -I$(PHONELIBS)/libgralloc/include \
-           -I$(PHONELIBS)/linux/include \
-           -c -o '$@' '$<'
-
-%.o: %.c
-	@echo "[ CC ] $@"
-	$(CC) $(CFLAGS) -MMD \
-          -Iinclude -I.. -I../.. \
-          $(NANOVG_FLAGS) \
-          $(ZMQ_FLAGS) \
-          $(CEREAL_CFLAGS) \
-          $(JSON_FLAGS) \
-          $(OPENCL_FLAGS) \
-          -I$(PHONELIBS)/linux/include \
-          -c -o '$@' '$<'
-
-.PHONY: clean
-clean:
-	rm -f ui $(OBJS) $(DEPS)
-
--include $(DEPS)
diff --git a/selfdrive/ui/spinner/spinner b/selfdrive/ui/spinner/spinner
index c8f8e68ecf4ae3..17b6491b142281 100755
Binary files a/selfdrive/ui/spinner/spinner and b/selfdrive/ui/spinner/spinner differ
diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui
deleted file mode 100755
index d212c92da72524..00000000000000
--- a/selfdrive/ui/ui
+++ /dev/null
@@ -1,4 +0,0 @@
-#!/bin/sh
-export LD_LIBRARY_PATH="/system/lib64:$LD_LIBRARY_PATH"
-exec ./_ui
-