diff --git a/Dockerfile b/Dockerfile
index 816a9b80e38..5fee66ac705 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -37,7 +37,7 @@ RUN pip3 install --break-system-packages --no-cache-dir $PYTHONPATH/panda/[dev]
 
 # TODO: this should be a "pip install" or not even in this repo at all
 RUN git config --global --add safe.directory $PYTHONPATH/panda
-ENV OPENDBC_REF="da0a5e3d2b3984b56ebf5e25d9769f5c77807e4d"
+ENV OPENDBC_REF="d631299b8d49253fdeb5b709684af031ab1d18be"
 RUN cd /tmp/ && \
     git clone --depth 1 https://github.com/commaai/opendbc opendbc_repo && \
     cd opendbc_repo && git fetch origin $OPENDBC_REF && git checkout FETCH_HEAD && rm -rf .git/ && \
diff --git a/SConscript b/SConscript
index f617410b434..8f9544527d5 100644
--- a/SConscript
+++ b/SConscript
@@ -84,7 +84,9 @@ def build_project(project_name, project, extra_flags):
     '..',
     panda_root,
     f"{panda_root}/board/",
+    f"{panda_root}/../opendbc/",
     f"{panda_root}/../opendbc/safety/",
+    f"{panda_root}/../opendbc/safety/board/",
   ]
 
   env = Environment(
diff --git a/board/can.h b/board/can.h
index 9b1200384de..e2da275ed8b 100644
--- a/board/can.h
+++ b/board/can.h
@@ -1,7 +1,7 @@
 #pragma once
-#include "can_declarations.h"
+
+// bump this when changing the CAN packet
+#define CAN_PACKET_VERSION 4
 
 static const uint8_t PANDA_CAN_CNT = 3U;
 static const uint8_t PANDA_BUS_CNT = 3U;
-
-static const unsigned char dlc_to_len[] = {0U, 1U, 2U, 3U, 4U, 5U, 6U, 7U, 8U, 12U, 16U, 20U, 24U, 32U, 48U, 64U};
diff --git a/board/can_declarations.h b/board/can_declarations.h
deleted file mode 100644
index 878d9c77e2e..00000000000
--- a/board/can_declarations.h
+++ /dev/null
@@ -1,29 +0,0 @@
-#pragma once
-
-// bump this when changing the CAN packet
-#define CAN_PACKET_VERSION 4
-
-#define CANPACKET_HEAD_SIZE 6U
-
-#if !defined(STM32F4)
-  #define CANFD
-  #define CANPACKET_DATA_SIZE_MAX 64U
-#else
-  #define CANPACKET_DATA_SIZE_MAX 8U
-#endif
-
-typedef struct {
-  unsigned char fd : 1;
-  unsigned char bus : 3;
-  unsigned char data_len_code : 4;  // lookup length with dlc_to_len
-  unsigned char rejected : 1;
-  unsigned char returned : 1;
-  unsigned char extended : 1;
-  unsigned int addr : 29;
-  unsigned char checksum;
-  unsigned char data[CANPACKET_DATA_SIZE_MAX];
-} __attribute__((packed, aligned(4))) CANPacket_t;
-
-#define GET_BUS(msg) ((msg)->bus)
-#define GET_LEN(msg) (dlc_to_len[(msg)->data_len_code])
-#define GET_ADDR(msg) ((msg)->addr)
diff --git a/board/drivers/can_common.h b/board/drivers/can_common.h
index fa69c698180..ecffaf5ec62 100644
--- a/board/drivers/can_common.h
+++ b/board/drivers/can_common.h
@@ -1,4 +1,7 @@
 #include "can_common_declarations.h"
+#include "can.h"
+#include "safety/board/drivers/can_common.h"
+#include "safety/safety_declarations.h"
 
 uint32_t safety_tx_blocked = 0;
 uint32_t safety_rx_invalid = 0;
@@ -218,23 +221,6 @@ bool can_tx_check_min_slots_free(uint32_t min) {
     (can_slots_empty(&can_tx3_q) >= min);
 }
 
-uint8_t calculate_checksum(const uint8_t *dat, uint32_t len) {
-  uint8_t checksum = 0U;
-  for (uint32_t i = 0U; i < len; i++) {
-    checksum ^= dat[i];
-  }
-  return checksum;
-}
-
-void can_set_checksum(CANPacket_t *packet) {
-  packet->checksum = 0U;
-  packet->checksum = calculate_checksum((uint8_t *) packet, CANPACKET_HEAD_SIZE + GET_LEN(packet));
-}
-
-bool can_check_checksum(CANPacket_t *packet) {
-  return (calculate_checksum((uint8_t *) packet, CANPACKET_HEAD_SIZE + GET_LEN(packet)) == 0U);
-}
-
 void can_send(CANPacket_t *to_push, uint8_t bus_number, bool skip_tx_hook) {
   if (skip_tx_hook || safety_tx_hook(to_push) != 0) {
     if (bus_number < PANDA_BUS_CNT) {
diff --git a/board/drivers/registers.h b/board/drivers/registers.h
index ce4be14a92a..12744d717a5 100644
--- a/board/drivers/registers.h
+++ b/board/drivers/registers.h
@@ -1,4 +1,5 @@
 #include "registers_declarations.h"
+#include "safety/board/faults.h"
 
 static reg register_map[REGISTER_MAP_SIZE];
 
diff --git a/board/fake_stm.h b/board/fake_stm.h
index 984fde14f1f..bfcfe83849b 100644
--- a/board/fake_stm.h
+++ b/board/fake_stm.h
@@ -3,7 +3,7 @@
 #include <stdint.h>
 #include <stdlib.h>
 
-#include "utils.h"
+#include "safety/board/utils.h"
 
 #define CANFD
 #define ALLOW_DEBUG
diff --git a/board/faults.h b/board/faults.h
deleted file mode 100644
index 0fc9d2c5cfb..00000000000
--- a/board/faults.h
+++ /dev/null
@@ -1,25 +0,0 @@
-#include "faults_declarations.h"
-
-uint8_t fault_status = FAULT_STATUS_NONE;
-uint32_t faults = 0U;
-
-void fault_occurred(uint32_t fault) {
-  if ((faults & fault) == 0U) {
-    if ((PERMANENT_FAULTS & fault) != 0U) {
-      print("Permanent fault occurred: 0x"); puth(fault); print("\n");
-      fault_status = FAULT_STATUS_PERMANENT;
-    } else {
-      print("Temporary fault occurred: 0x"); puth(fault); print("\n");
-      fault_status = FAULT_STATUS_TEMPORARY;
-    }
-  }
-  faults |= fault;
-}
-
-void fault_recovered(uint32_t fault) {
-  if ((PERMANENT_FAULTS & fault) == 0U) {
-    faults &= ~fault;
-  } else {
-    print("Cannot recover from a permanent fault!\n");
-  }
-}
diff --git a/board/faults_declarations.h b/board/faults_declarations.h
index eab9fcc08bb..b8570b03ea0 100644
--- a/board/faults_declarations.h
+++ b/board/faults_declarations.h
@@ -1,4 +1,5 @@
 #pragma once
+#include "safety/board/faults_declarations.h"
 
 #define FAULT_STATUS_NONE 0U
 #define FAULT_STATUS_TEMPORARY 1U
@@ -36,9 +37,3 @@
 
 // Permanent faults
 #define PERMANENT_FAULTS 0U
-
-extern uint8_t fault_status;
-extern uint32_t faults;
-
-void fault_occurred(uint32_t fault);
-void fault_recovered(uint32_t fault);
diff --git a/board/jungle/main.c b/board/jungle/main.c
index 1c73edd7ce9..b592b32755f 100644
--- a/board/jungle/main.c
+++ b/board/jungle/main.c
@@ -1,8 +1,7 @@
 // ********************* Includes *********************
 #include "board/config.h"
 
-#include "safety.h"
-
+#include "safety/safety.h"
 #include "board/drivers/led.h"
 #include "board/drivers/pwm.h"
 #include "board/drivers/usb.h"
diff --git a/board/main.c b/board/main.c
index 9770f8368f8..183b0a63417 100644
--- a/board/main.c
+++ b/board/main.c
@@ -10,8 +10,7 @@
 #include "early_init.h"
 #include "provision.h"
 
-#include "safety.h"
-
+#include "safety/safety.h"
 #include "health.h"
 
 #include "drivers/can_common.h"
diff --git a/board/stm32f4/stm32f4_config.h b/board/stm32f4/stm32f4_config.h
index b3fc2a8907e..1b71add9ad0 100644
--- a/board/stm32f4/stm32f4_config.h
+++ b/board/stm32f4/stm32f4_config.h
@@ -30,7 +30,6 @@
 #define PROVISION_CHUNK_ADDRESS 0x1FFF79E0U
 #define DEVICE_SERIAL_NUMBER_ADDRESS 0x1FFF79C0U
 
-#include "can.h"
 #include "comms_definitions.h"
 
 #ifndef BOOTSTUB
@@ -41,8 +40,8 @@
 
 #include "libc.h"
 #include "critical.h"
-#include "faults.h"
-#include "utils.h"
+#include "faults_declarations.h"
+#include "safety/board/utils.h"
 
 #include "drivers/registers.h"
 #include "drivers/interrupts.h"
diff --git a/board/stm32h7/stm32h7_config.h b/board/stm32h7/stm32h7_config.h
index 4355fe8e089..cd3d73eadb8 100644
--- a/board/stm32h7/stm32h7_config.h
+++ b/board/stm32h7/stm32h7_config.h
@@ -43,7 +43,6 @@ separate IRQs for RX and TX.
 #define PROVISION_CHUNK_ADDRESS 0x080FFFE0U
 #define DEVICE_SERIAL_NUMBER_ADDRESS 0x080FFFC0U
 
-#include "can.h"
 #include "comms_definitions.h"
 
 #ifndef BOOTSTUB
@@ -54,8 +53,8 @@ separate IRQs for RX and TX.
 
 #include "libc.h"
 #include "critical.h"
-#include "faults.h"
-#include "utils.h"
+#include "faults_declarations.h"
+#include "safety/board/utils.h"
 
 #include "drivers/registers.h"
 #include "drivers/interrupts.h"
diff --git a/board/utils.h b/board/utils.h
deleted file mode 100644
index f355ce8c2f2..00000000000
--- a/board/utils.h
+++ /dev/null
@@ -1,47 +0,0 @@
-// cppcheck-suppress-macro misra-c2012-1.2; allow __typeof__ extension
-#define MIN(a, b) ({ \
-  __typeof__ (a) _a = (a); \
-  __typeof__ (b) _b = (b); \
-  (_a < _b) ? _a : _b; \
-})
-
-// cppcheck-suppress-macro misra-c2012-1.2; allow __typeof__ extension
-#define MAX(a, b) ({ \
-  __typeof__ (a) _a = (a); \
-  __typeof__ (b) _b = (b); \
-  (_a > _b) ? _a : _b; \
-})
-
-// cppcheck-suppress-macro misra-c2012-1.2; allow __typeof__ extension
-#define CLAMP(x, low, high) ({ \
-  __typeof__(x) __x = (x); \
-  __typeof__(low) __low = (low);\
-  __typeof__(high) __high = (high);\
-  (__x > __high) ? __high : ((__x < __low) ? __low : __x); \
-})
-
-// cppcheck-suppress-macro misra-c2012-1.2; allow __typeof__ extension
-#define ABS(a) ({ \
-  __typeof__ (a) _a = (a); \
-  (_a > 0) ? _a : (-_a); \
-})
-
-#ifndef NULL
-// this just provides a standard implementation of NULL
-// in lieu of including libc in the panda build
-// cppcheck-suppress [misra-c2012-21.1]
-#define NULL ((void*)0)
-#endif
-
-// STM32 HAL defines this
-#ifndef UNUSED
-#define UNUSED(x) ((void)(x))
-#endif
-
-#define COMPILE_TIME_ASSERT(pred) ((void)sizeof(char[1 - (2 * (!(pred) ? 1 : 0))]))
-
-// compute the time elapsed (in microseconds) from 2 counter samples
-// case where ts < ts_last is ok: overflow is properly re-casted into uint32_t
-uint32_t get_ts_elapsed(uint32_t ts, uint32_t ts_last) {
-  return ts - ts_last;
-}
diff --git a/tests/libpanda/SConscript b/tests/libpanda/SConscript
index a690ba75776..bbfc840cefc 100644
--- a/tests/libpanda/SConscript
+++ b/tests/libpanda/SConscript
@@ -16,7 +16,13 @@ env = Environment(
     '-Wfatal-errors',
     '-Wno-pointer-to-int-cast',
   ],
-  CPPPATH=[".", "../../board/", "../../../opendbc/safety/"],
+  CPPPATH=[
+    ".",
+    "../../board/",
+    "../../../opendbc/",
+    "../../../opendbc/safety/",
+    "../../../opendbc/safety/board/",
+  ],
 )
 if system == "Darwin":
   env.PrependENVPath('PATH', '/opt/homebrew/bin')
diff --git a/tests/libpanda/panda.c b/tests/libpanda/panda.c
index 303d72e7d00..5e4df76f0ac 100644
--- a/tests/libpanda/panda.c
+++ b/tests/libpanda/panda.c
@@ -12,10 +12,11 @@ void can_tx_comms_resume_usb(void) { };
 void can_tx_comms_resume_spi(void) { };
 
 #include "health.h"
-#include "faults.h"
+#include "faults_declarations.h"
 #include "libc.h"
 #include "boards/board_declarations.h"
-#include "safety.h"
+#include "safety/board/faults.h"
+#include "safety/safety.h"
 #include "main_definitions.h"
 #include "drivers/can_common.h"
 
diff --git a/tests/misra/test_misra.sh b/tests/misra/test_misra.sh
index aaa7b0c365f..3f51181678b 100755
--- a/tests/misra/test_misra.sh
+++ b/tests/misra/test_misra.sh
@@ -47,7 +47,9 @@ cppcheck() {
   $CPPCHECK_DIR/cppcheck --inline-suppr -I $PANDA_DIR/board/ \
           -I "$(arm-none-eabi-gcc -print-file-name=include)" \
           -I $PANDA_DIR/board/stm32f4/inc/ -I $PANDA_DIR/board/stm32h7/inc/ \
+          -I $PANDA_DIR/../opendbc/ \
           -I $PANDA_DIR/../opendbc/safety/ \
+          -I $PANDA_DIR/../opendbc/safety/board/ \
           --suppressions-list=$DIR/suppressions.txt --suppress=*:*inc/* \
           --suppress=*:*include/* --error-exitcode=2 --check-level=exhaustive --safety \
           --platform=arm32-wchar_t4 $COMMON_DEFINES --checkers-report=$CHECKLIST.tmp \