diff --git a/cereal/messaging/__init__.py b/cereal/messaging/__init__.py
index a3c50a2baac1b7..085c05af9aeddd 100644
--- a/cereal/messaging/__init__.py
+++ b/cereal/messaging/__init__.py
@@ -137,13 +137,11 @@ def __init__(self, services, ignore_alive=None, addr="127.0.0.1"):
     self.rcv_time = {s : 0. for s in services}
     self.rcv_frame = {s : 0 for s in services}
     self.alive = {s : False for s in services}
-    self.alive_cnt = {s: 0 for s in services}
     self.sock = {}
     self.freq = {}
     self.data = {}
     self.logMonoTime = {}
     self.valid = {}
-    self.valid_cnt = {s: 0 for s in services}
 
     if ignore_alive is not None:
       self.ignore_alive = ignore_alive
@@ -163,13 +161,7 @@ def __init__(self, services, ignore_alive=None, addr="127.0.0.1"):
 
       self.data[s] = getattr(data, s)
       self.logMonoTime[s] = 0
-      if data.valid:
-        self.valid_cnt[s] = 0
-        self.valid[s] = True
-      else:
-        self.valid_cnt[s] += 1
-        if self.valid_cnt[s] >= MSG_ERROR_LVL:
-            self.valid[s] = False
+      self.valid[s] = data.valid
 
   def __getitem__(self, s):
     return self.data[s]
@@ -194,120 +186,25 @@ def update_msgs(self, cur_time, msgs):
       self.rcv_frame[s] = self.frame
       self.data[s] = getattr(msg, s)
       self.logMonoTime[s] = msg.logMonoTime
-      if msg.valid:
-        self.valid_cnt[s] = 0
-        self.valid[s] = True
-      else:
-        self.valid_cnt[s] += 1
-        if self.valid_cnt[s] >=  MSG_ERROR_LVL:
-            self.valid[s] = False
+      self.valid[s] = msg.valid
 
     for s in self.data:
       # arbitrary small number to avoid float comparison. If freq is 0, we can skip the check
       if self.freq[s] > 1e-5:
         # alive if delay is within 10x the expected frequency
-        if (cur_time - self.rcv_time[s]) < (10. / self.freq[s]):
-          self.alive_cnt[s] = 0
-          self.alive[s] = True
-        else:
-          self.alive_cnt[s] += 1
-          if self.alive_cnt[s] >= MSG_ERROR_LVL:
-              self.alive[s] = False
+        self.alive[s] = (cur_time - self.rcv_time[s]) < (10. / self.freq[s])
       else:
-        self.alive_cnt[s] = 0
         self.alive[s] = True
 
-  def all_alive_with_info(self, service_list=None):
-    """Returns alive state for tracked processes.
-    Args:
-        service_list (list): Optional service list.
-    Returns:
-        tuple: areAllAlive, processName, count
-    """
-    if service_list is None:  # check all
-      service_list = self.alive.keys()
-    areAllAlive = True
-    processName = ""
-    count = 0
-    for s in service_list:
-      if not self.alive[s]:
-        areAllAlive = False
-        processName = s
-        count = self.alive_cnt[s]
-        break
-    return (areAllAlive, processName, count)
-
   def all_alive(self, service_list=None):
-    """Returns alive state for tracked processes.
-
-    Args:
-        service_list (list): Optional service list.
-
-    Returns:
-        tuple: areAllAlive, processName, count
-    """
     if service_list is None:  # check all
       service_list = self.alive.keys()
     return all(self.alive[s] for s in service_list if s not in self.ignore_alive)
 
   def all_valid(self, service_list=None):
-    """Returns valid state for tracked processes.
-
-    Args:
-        service_list (list): Optional service list.
-
-    Returns:
-        tuple: areAllValid, processName, count
-    """
-    if service_list is None:  # check all
-      service_list = self.valid.keys()
-    areAllValid = True
-    processName = ""
-    count = 0
-    for s in service_list:
-      if not self.valid[s]:
-        areAllValid = False
-        processName = s
-        count = self.valid_cnt[s]
-        break
-    return areAllValid
-
-  def all_valid_with_info(self, service_list=None):
-    """Returns valid state for tracked processes.
-
-    Args:
-        service_list (list): Optional service list.
-
-    Returns:
-        tuple: areAllValid, processName, count
-    """
     if service_list is None:  # check all
       service_list = self.valid.keys()
-    areAllValid = True
-    processName = ""
-    count = 0
-    for s in service_list:
-      if not self.valid[s]:
-        areAllValid = False
-        processName = s
-        count = self.valid_cnt[s]
-        break
-    return (areAllValid, processName, count)
-
-  def all_alive_and_valid_with_info(self, service_list=None):
-    """Returns alive and valid state for tracked processes.
-
-    Args:
-        service_list (list): Optional service list.
-
-    Returns:
-        tuple: areAllAlive, areAllValid, aliveProcessName, aliveCount, validProcessName, validCount
-    """
-    if service_list is None:  # check all
-      service_list = self.alive.keys()
-    areAllAlive, aliveProcessName, aliveCount = self.all_alive(service_list=service_list)
-    areAllValid, validProcessName, validCount = self.all_valid(service_list=service_list)
-    return (areAllAlive, areAllValid, aliveProcessName, aliveCount, validProcessName, )
+    return all(self.valid[s] for s in service_list)
 
   def all_alive_and_valid(self, service_list=None):
     if service_list is None:  # check all
@@ -326,3 +223,4 @@ def send(self, s, dat):
     if not isinstance(dat, bytes):
       dat = dat.to_bytes()
     self.sock[s].send(dat)
+
diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py
index 1cbe0eca65d3ef..6e8cd299611ce7 100644
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@@ -164,7 +164,7 @@ def get_car(logcan, sendcan, has_relay = False):
     fingerprints=["","",""]
     vin="TESLAFORCED123456"
     #BB
-    car_fw= "1234"
+    fw_candidates, car_fw = set(), []
     source=car.CarParams.FingerprintSource.fixed
     cloudlog.warning("VIN %s", vin)
     Params().put("CarVin", vin)
diff --git a/selfdrive/car/modules/ALCA_module.py b/selfdrive/car/modules/ALCA_module.py
index b2238a39342671..6c2aaf92610342 100644
--- a/selfdrive/car/modules/ALCA_module.py
+++ b/selfdrive/car/modules/ALCA_module.py
@@ -48,7 +48,7 @@
 from selfdrive.controls.lib.pid import PIController
 from common.realtime import sec_since_boot
 from cereal.services import service_list
-import selfdrive.messaging as messaging
+import cereal.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 a4d34cf691d060..4f9ef34d4e4f99 100644
--- a/selfdrive/car/modules/GYRO_module.py
+++ b/selfdrive/car/modules/GYRO_module.py
@@ -1,6 +1,6 @@
 from cereal.services import service_list
 from collections import deque
-import selfdrive.messaging as messaging
+import cereal.messaging as messaging
 import cereal
 import math
 from common.realtime import sec_since_boot
diff --git a/selfdrive/car/modules/UIEV_module.py b/selfdrive/car/modules/UIEV_module.py
index 712c787cb2fbeb..5c84044d241050 100644
--- a/selfdrive/car/modules/UIEV_module.py
+++ b/selfdrive/car/modules/UIEV_module.py
@@ -1,6 +1,6 @@
 from cereal import ui
 from common import realtime
-import selfdrive.messaging as messaging
+import cereal.messaging as messaging
 
 class UIEvents():
     def __init__(self,carstate):
diff --git a/selfdrive/car/tesla/ACC_module.py b/selfdrive/car/tesla/ACC_module.py
index 68ee860196f4c9..5be456016c9297 100644
--- a/selfdrive/car/tesla/ACC_module.py
+++ b/selfdrive/car/tesla/ACC_module.py
@@ -1,7 +1,7 @@
 from selfdrive.car.tesla.speed_utils.fleet_speed import FleetSpeed
 from selfdrive.car.tesla.values import CruiseButtons, CruiseState
 from selfdrive.config import Conversions as CV
-import selfdrive.messaging as messaging
+import cereal.messaging as messaging
 import sys
 import time
 
diff --git a/selfdrive/car/tesla/AHB_module.py b/selfdrive/car/tesla/AHB_module.py
index d7a92cf946e22f..0f5f4254f0b440 100644
--- a/selfdrive/car/tesla/AHB_module.py
+++ b/selfdrive/car/tesla/AHB_module.py
@@ -1,6 +1,6 @@
 from selfdrive.config import Conversions as CV
 from cereal import tesla,log
-import selfdrive.messaging as messaging
+import cereal.messaging as messaging
 import time
 
 DEBUG = False
diff --git a/selfdrive/car/tesla/PCC_module.py b/selfdrive/car/tesla/PCC_module.py
index da07e440705796..8cee8c0ada3f07 100644
--- a/selfdrive/car/tesla/PCC_module.py
+++ b/selfdrive/car/tesla/PCC_module.py
@@ -7,7 +7,7 @@
 from selfdrive.config import Conversions as CV
 from selfdrive.controls.lib.speed_smoother import speed_smoother
 from selfdrive.controls.lib.planner import calc_cruise_accel_limits
-import selfdrive.messaging as messaging
+import cereal.messaging as messaging
 import time
 import math
 from collections import OrderedDict
diff --git a/selfdrive/car/tesla/carcontroller.py b/selfdrive/car/tesla/carcontroller.py
index e68859dff9a705..f513068fb5ba9e 100644
--- a/selfdrive/car/tesla/carcontroller.py
+++ b/selfdrive/car/tesla/carcontroller.py
@@ -17,7 +17,7 @@
 from selfdrive.car.tesla.HSO_module import HSOController
 from selfdrive.car.tesla.speed_utils.movingaverage import MovingAverage
 from selfdrive.car.tesla.AHB_module import AHBController
-import selfdrive.messaging as messaging
+import cereal.messaging as messaging
 
 # Steer angle limits
 ANGLE_MAX_BP = [0., 27., 36.]
@@ -76,7 +76,7 @@ def process_hud_alert(hud_alert):
 
 
 class CarController():
-  def __init__(self, dbc_name):
+  def __init__(self, dbc_name,CP,VM):
     self.fleet_speed_state = 0
     self.cc_counter = 0
     self.alcaStateData = None
diff --git a/selfdrive/car/tesla/carstate.py b/selfdrive/car/tesla/carstate.py
index a9fce760145698..99233b2936d06f 100644
--- a/selfdrive/car/tesla/carstate.py
+++ b/selfdrive/car/tesla/carstate.py
@@ -7,6 +7,7 @@
 from selfdrive.car.modules.UIBT_module import UIButtons
 from selfdrive.car.modules.UIEV_module import UIEvents
 from selfdrive.car.tesla.readconfig import read_config_file
+from selfdrive.car.interfaces import CarStateBase
 import os
 import subprocess
 from common.params import read_db, write_db
@@ -183,20 +184,9 @@ def get_pedal_can_signals(CP):
   checks = []
   return signals, checks
 
-def get_can_parser(CP,mydbc):
-  signals, checks = get_can_signals(CP)
-  return CANParser(mydbc, signals, checks, 0)
-
-def get_epas_parser(CP,epascan):
-  signals, checks = get_epas_can_signals(CP)
-  return CANParser(DBC[CP.carFingerprint]['pt']+"_epas", signals, checks, epascan)
-
-def get_pedal_parser(CP,pedalcan):
-  signals, checks = get_pedal_can_signals(CP)
-  return CANParser(DBC[CP.carFingerprint]['pt']+"_pedal", signals, checks, pedalcan)
-
-class CarState():
+class CarState(CarStateBase):
   def __init__(self, CP):
+    super().__init__(CP)
     self.speed_control_enabled = 0
     self.CL_MIN_V = 8.9
     self.CL_MAX_A = 20.
@@ -425,6 +415,28 @@ def __init__(self, CP):
     self.ahbLoBeamOn = 0
     self.ahbHiBeamOn = 0
     self.ahbNightMode = 0
+
+  @staticmethod
+  def get_can_parser(CP):
+    signals, checks = get_can_signals(CP)
+    return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
+
+  @staticmethod
+  def get_can_parser2(CP,mydbc):
+    signals, checks = get_can_signals(CP)
+    return CANParser(mydbc, signals, checks, 0)
+
+  @staticmethod
+  def get_epas_parser(CP,epascan):
+    signals, checks = get_epas_can_signals(CP)
+    return CANParser(DBC[CP.carFingerprint]['pt']+"_epas", signals, checks, epascan)
+
+  @staticmethod
+  def get_pedal_parser(CP,pedalcan):
+    signals, checks = get_pedal_can_signals(CP)
+    return CANParser(DBC[CP.carFingerprint]['pt']+"_pedal", signals, checks, pedalcan)
+
+
    
   def config_ui_buttons(self, pcc_available, pcc_blocked_by_acc_mode):
     if pcc_available:
diff --git a/selfdrive/car/tesla/interface.py b/selfdrive/car/tesla/interface.py
index c8ab1d79833daa..22829a8b2c87bd 100644
--- a/selfdrive/car/tesla/interface.py
+++ b/selfdrive/car/tesla/interface.py
@@ -5,14 +5,14 @@
 from selfdrive.config import Conversions as CV
 from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET, get_events
 from selfdrive.controls.lib.vehicle_model import VehicleModel
-from selfdrive.car.tesla.carstate import CarState, get_can_parser, get_epas_parser, get_pedal_parser
 from selfdrive.car.tesla.values import CruiseButtons, CM, BP, AH, CAR,DBC
 from common.params import read_db
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
 from selfdrive.car.tesla.readconfig import CarSettings
-import selfdrive.messaging as messaging
+import cereal.messaging as messaging
 from cereal.services import service_list
 from selfdrive.controls.lib.planner import _A_CRUISE_MAX_V
+from selfdrive.car.interfaces import CarInterfaceBase
 
 A_ACC_MAX = max(_A_CRUISE_MAX_V)
 AudibleAlert = car.CarControl.HUDControl.AudibleAlert
@@ -23,8 +23,9 @@
 
 
 
-class CarInterface():
-  def __init__(self, CP, CarController):
+class CarInterface(CarInterfaceBase):
+  def __init__(self, CP, CarController, CarState):
+    super().__init__(CP, CarController, CarState)
     self.CP = CP
 
     self.frame = 0
@@ -41,19 +42,19 @@ def __init__(self, CP, CarController):
     mydbc = DBC[CP.carFingerprint]['pt']
     if CP.carFingerprint == CAR.MODELS and self.CS.fix1916:
       mydbc = mydbc + "1916"
-    self.cp = get_can_parser(CP,mydbc)
+    self.cp = self.CS.get_can_parser2(CP,mydbc)
     self.epas_cp = None
     self.pedal_cp = None
     if self.CS.useWithoutHarness:
-      self.epas_cp = get_epas_parser(CP,0)
-      self.pedal_cp = get_pedal_parser(CP,0)
+      self.epas_cp = self.CS.get_epas_parser(CP,0)
+      self.pedal_cp = self.CS.get_pedal_parser(CP,0)
     else:
-      self.epas_cp = get_epas_parser(CP,2)
-      self.pedal_cp = get_pedal_parser(CP,2)
+      self.epas_cp = self.CS.get_epas_parser(CP,2)
+      self.pedal_cp = self.CS.get_pedal_parser(CP,2)
 
     self.CC = None
     if CarController is not None:
-      self.CC = CarController(self.cp.dbc_name)
+      self.CC = CarController(self.cp.dbc_name,CP,self.VM)
 
 
   @staticmethod
@@ -103,7 +104,6 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False,
 
     ret.carName = "tesla"
     ret.carFingerprint = candidate
-    ret.isPandaBlack = is_panda_black
 
     teslaModel = read_db('/data/params','TeslaModel')
     if teslaModel is not None:
@@ -113,7 +113,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False,
 
     ret.safetyModel = car.CarParams.SafetyModel.tesla
     ret.safetyParam = 1
-    ret.carVin = vin
+    ret.carVin = "TESLAFAKEVIN12345"
 
     ret.enableCamera = True
     ret.enableGasInterceptor = False #keep this False for now
diff --git a/selfdrive/car/tesla/radar_interface.py b/selfdrive/car/tesla/radar_interface.py
index ee1507e594fb99..75398fb2d3fdc4 100644
--- a/selfdrive/car/tesla/radar_interface.py
+++ b/selfdrive/car/tesla/radar_interface.py
@@ -5,7 +5,7 @@
 from selfdrive.can.parser import CANParser
 from common.realtime import DT_RDR
 from cereal.services import service_list
-import selfdrive.messaging as messaging
+import cereal.messaging as messaging
 from selfdrive.car.interfaces import RadarInterfaceBase
 from selfdrive.car.tesla.readconfig import CarSettings
 from selfdrive.tinklad.tinkla_interface import TinklaClient
diff --git a/selfdrive/car/tesla/radar_tools/calibrateRadar.py b/selfdrive/car/tesla/radar_tools/calibrateRadar.py
index 7276b165bf9c45..884f2a9804f8d1 100644
--- a/selfdrive/car/tesla/radar_tools/calibrateRadar.py
+++ b/selfdrive/car/tesla/radar_tools/calibrateRadar.py
@@ -11,7 +11,7 @@
 from selfdrive.can.parser import CANParser
 from common.realtime import sec_since_boot
 from cereal.services import service_list
-import selfdrive.messaging as messaging
+import cereal.messaging as messaging
 from selfdrive.car.tesla.readconfig import read_config_file,CarSettings
 from selfdrive.car.tesla.radar_interface import RadarInterface