diff --git a/board/safety.h b/board/safety.h
index 08e0da71d48024..282f53d198b767 100644
--- a/board/safety.h
+++ b/board/safety.h
@@ -78,11 +78,10 @@ const safety_hook_config safety_hook_registry[] = {
   {SAFETY_ELM327, &elm327_hooks},
 };
 
-#define HOOK_CONFIG_COUNT (sizeof(safety_hook_registry)/sizeof(safety_hook_config))
-
 int safety_set_mode(uint16_t mode, int16_t param) {
   int set_status = -1;   // not set
-  for (int i = 0; i < HOOK_CONFIG_COUNT; i++) {
+  int hook_config_count = sizeof(safety_hook_registry) / sizeof(safety_hook_config);
+  for (int i = 0; i < hook_config_count; i++) {
     if (safety_hook_registry[i].id == mode) {
       current_hooks = safety_hook_registry[i].hooks;
       set_status = 0;    // set
@@ -112,7 +111,8 @@ int to_signed(int d, int bits) {
 
 // given a new sample, update the smaple_t struct
 void update_sample(struct sample_t *sample, int sample_new) {
-  for (int i = sizeof(sample->values)/sizeof(sample->values[0]) - 1; i > 0; i--) {
+  int sample_size = sizeof(sample->values) / sizeof(sample->values[0]);
+  for (int i = sample_size - 1; i > 0; i--) {
     sample->values[i] = sample->values[i-1];
   }
   sample->values[0] = sample_new;
@@ -120,7 +120,7 @@ void update_sample(struct sample_t *sample, int sample_new) {
   // get the minimum and maximum measured samples
   sample->min = sample->values[0];
   sample->max = sample->values[0];
-  for (int i = 1; i < sizeof(sample->values) / sizeof(sample->values[0]); i++) {
+  for (int i = 1; i < sample_size; i++) {
     if (sample->values[i] < sample->min) {
       sample->min = sample->values[i];
     }
diff --git a/board/safety/safety_cadillac.h b/board/safety/safety_cadillac.h
index 991dea533be0a3..87646ab0d2168e 100644
--- a/board/safety/safety_cadillac.h
+++ b/board/safety/safety_cadillac.h
@@ -4,7 +4,7 @@ const int CADILLAC_MAX_STEER = 150; // 1s
 // real time torque limit to prevent controls spamming
 // the real time limit is 1500/sec
 const int CADILLAC_MAX_RT_DELTA = 75;       // max delta torque allowed for real time checks
-const int32_t CADILLAC_RT_INTERVAL = 250000;    // 250ms between real time checks
+const uint32_t CADILLAC_RT_INTERVAL = 250000;    // 250ms between real time checks
 const int CADILLAC_MAX_RATE_UP = 2;
 const int CADILLAC_MAX_RATE_DOWN = 5;
 const int CADILLAC_DRIVER_TORQUE_ALLOWANCE = 50;
@@ -20,14 +20,14 @@ int cadillac_supercruise_on = 0;
 struct sample_t cadillac_torque_driver;         // last few driver torques measured
 
 int cadillac_get_torque_idx(uint32_t addr, int array_size) {
-  return min(max(addr - 0x151, 0), array_size);  // 0x151 is id 0, 0x152 is id 1 and so on...
+  return min(max(addr - 0x151U, 0), array_size);  // 0x151 is id 0, 0x152 is id 1 and so on...
 }
 
 static void cadillac_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   int bus_number = (to_push->RDTR >> 4) & 0xFF;
   uint32_t addr = to_push->RIR >> 21;
 
-  if (addr == 356) {
+  if (addr == 356U) {
     int torque_driver_new = ((to_push->RDLR & 0x7) << 8) | ((to_push->RDLR >> 8) & 0xFF);
     torque_driver_new = to_signed(torque_driver_new, 11);
     // update array of samples
@@ -35,12 +35,12 @@ static void cadillac_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   }
 
   // this message isn't all zeros when ignition is on
-  if ((addr == 0x160) && (bus_number == 0)) {
+  if ((addr == 0x160U) && (bus_number == 0)) {
     cadillac_ign = to_push->RDLR > 0;
   }
 
   // enter controls on rising edge of ACC, exit controls on ACC off
-  if ((addr == 0x370) && (bus_number == 0)) {
+  if ((addr == 0x370U) && (bus_number == 0)) {
     int cruise_engaged = to_push->RDLR & 0x800000;  // bit 23
     if (cruise_engaged && !cadillac_cruise_engaged_last) {
       controls_allowed = 1;
@@ -51,7 +51,7 @@ static void cadillac_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   }
 
   // know supercruise mode and block openpilot msgs if on
-  if ((addr == 0x152) || (addr == 0x154)) {
+  if ((addr == 0x152U) || (addr == 0x154U)) {
     cadillac_supercruise_on = (to_push->RDHR>>4) & 0x1;
   }
 }
@@ -61,7 +61,7 @@ static int cadillac_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
   uint32_t addr = to_send->RIR >> 21;
 
   // steer cmd checks
-  if ((addr == 0x151) || (addr == 0x152) || (addr == 0x153) || (addr == 0x154)) {
+  if ((addr == 0x151U) || (addr == 0x152U) || (addr == 0x153U) || (addr == 0x154U)) {
     int desired_torque = ((to_send->RDLR & 0x3f) << 8) + ((to_send->RDLR & 0xff00) >> 8);
     int violation = 0;
     uint32_t ts = TIM2->CNT;
diff --git a/board/safety/safety_chrysler.h b/board/safety/safety_chrysler.h
index 797d2e446c185d..6e36f423cc883d 100644
--- a/board/safety/safety_chrysler.h
+++ b/board/safety/safety_chrysler.h
@@ -1,6 +1,6 @@
 const int CHRYSLER_MAX_STEER = 261;
 const int CHRYSLER_MAX_RT_DELTA = 112;        // max delta torque allowed for real time checks
-const int32_t CHRYSLER_RT_INTERVAL = 250000;  // 250ms between real time checks
+const uint32_t CHRYSLER_RT_INTERVAL = 250000;  // 250ms between real time checks
 const int CHRYSLER_MAX_RATE_UP = 3;
 const int CHRYSLER_MAX_RATE_DOWN = 3;
 const int CHRYSLER_MAX_TORQUE_ERROR = 80;    // max torque cmd in excess of torque motor
@@ -26,7 +26,7 @@ static void chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   }
 
   // Measured eps torque
-  if (addr == 544) {
+  if (addr == 544U) {
     int rdhr = to_push->RDHR;
     int torque_meas_new = ((rdhr & 0x7) << 8) + ((rdhr & 0xFF00) >> 8) - 1024;
 
@@ -35,7 +35,7 @@ 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) {
+  if (addr == 0x1F4U) {
     int cruise_engaged = ((to_push->RDLR & 0x380000) >> 19) == 7;
     if (cruise_engaged && !chrysler_cruise_engaged_last) {
       controls_allowed = 1;
@@ -46,7 +46,7 @@ static void chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   }
 
   // check if stock camera ECU is still online
-  if ((bus == 0) && (addr == 0x292)) {
+  if ((bus == 0) && (addr == 0x292U)) {
     chrysler_camera_detected = 1;
     controls_allowed = 0;
   }
@@ -72,7 +72,7 @@ static int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
 
   // LKA STEER
-  if (addr == 0x292) {
+  if (addr == 0x292U) {
     int rdlr = to_send->RDLR;
     int desired_torque = ((rdlr & 0x7) << 8) + ((rdlr & 0xFF00) >> 8) - 1024;
     uint32_t ts = TIM2->CNT;
diff --git a/board/safety/safety_elm327.h b/board/safety/safety_elm327.h
index b6f5e4f0bc79d5..ea57766db0b7e7 100644
--- a/board/safety/safety_elm327.h
+++ b/board/safety/safety_elm327.h
@@ -15,13 +15,13 @@ static int elm327_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
   if ((to_send->RIR & 4) != 0) {
     uint32_t addr = to_send->RIR >> 3;
     //Check valid 29 bit send addresses for ISO 15765-4
-    if (!((addr == 0x18DB33F1) || ((addr & 0x1FFF00FF) == 0x18DA00F1))) {
+    if (!((addr == 0x18DB33F1U) || ((addr & 0x1FFF00FFU) == 0x18DA00F1U))) {
       tx = 0;
     }
   } else {
     uint32_t addr = to_send->RIR >> 21;
     //Check valid 11 bit send addresses for ISO 15765-4
-    if (!((addr == 0x7DF) || ((addr & 0x7F8) == 0x7E0))) {
+    if (!((addr == 0x7DFU) || ((addr & 0x7F8U) == 0x7E0U))) {
       tx = 0;
     }
   }
@@ -36,8 +36,8 @@ static int elm327_tx_lin_hook(int lin_num, uint8_t *data, int len) {
   if ((len < 5) || (len > 11)) {
     tx = 0;  //Valid KWP size
   }
-  if (!(((data[0] & 0xF8) == 0xC0) && ((data[0] & 0x07) > 0) &&
-        (data[1] == 0x33) && (data[2] == 0xF1))) {
+  if (!(((data[0] & 0xF8U) == 0xC0U) && ((data[0] & 0x07U) != 0U) &&
+        (data[1] == 0x33U) && (data[2] == 0xF1U))) {
     tx = 0;  //Bad msg
   }
   return tx;
diff --git a/board/safety/safety_gm.h b/board/safety/safety_gm.h
index bbcdd8568bf2d9..8b4b490e3b6ac6 100644
--- a/board/safety/safety_gm.h
+++ b/board/safety/safety_gm.h
@@ -10,7 +10,7 @@
 
 const int GM_MAX_STEER = 300;
 const int GM_MAX_RT_DELTA = 128;          // max delta torque allowed for real time checks
-const int32_t GM_RT_INTERVAL = 250000;    // 250ms between real time checks
+const uint32_t GM_RT_INTERVAL = 250000;    // 250ms between real time checks
 const int GM_MAX_RATE_UP = 7;
 const int GM_MAX_RATE_DOWN = 17;
 const int GM_DRIVER_TORQUE_ALLOWANCE = 50;
@@ -43,23 +43,23 @@ static void gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     addr = to_push->RIR >> 21;
   }
 
-  if (addr == 388) {
+  if (addr == 388U) {
     int torque_driver_new = (((to_push->RDHR >> 16) & 0x7) << 8) | ((to_push->RDHR >> 24) & 0xFF);
     torque_driver_new = to_signed(torque_driver_new, 11);
     // update array of samples
     update_sample(&gm_torque_driver, torque_driver_new);
   }
 
-  if ((addr == 0x1f1) && (bus_number == 0)) {
+  if ((addr == 0x1F1U) && (bus_number == 0)) {
     //Bit 5 should be ignition "on"
     //Backup plan is Bit 2 (accessory power)
-    uint32_t ign = (to_push->RDLR) & 0x20;
-    gm_ignition_started = ign > 0;
+    bool ign = ((to_push->RDLR) & 0x20) != 0;
+    gm_ignition_started = ign;
   }
 
   // sample speed, really only care if car is moving or not
   // rear left wheel speed
-  if (addr == 842) {
+  if (addr == 842U) {
     gm_speed = to_push->RDLR & 0xFFFF;
   }
 
@@ -67,13 +67,13 @@ static void gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   // on powertrain bus.
   // 384 = ASCMLKASteeringCmd
   // 715 = ASCMGasRegenCmd
-  if ((bus_number == 0) && ((addr == 384) || (addr == 715))) {
+  if ((bus_number == 0) && ((addr == 384U) || (addr == 715U))) {
     gm_ascm_detected = 1;
     controls_allowed = 0;
   }
 
   // ACC steering wheel buttons
-  if (addr == 481) {
+  if (addr == 481U) {
     int buttons = (to_push->RDHR >> 12) & 0x7;
     // res/set - enable, cancel button - disable
     if ((buttons == 2) || (buttons == 3)) {
@@ -85,7 +85,7 @@ 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) {
+  if (addr == 241U) {
     int brake = (to_push->RDLR & 0xFF00) >> 8;
     // Brake pedal's potentiometer returns near-zero reading
     // even when pedal is not pressed
@@ -99,7 +99,7 @@ static void gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   }
 
   // exit controls on rising edge of gas press
-  if (addr == 417) {
+  if (addr == 417U) {
     int gas = to_push->RDHR & 0xFF0000;
     if (gas && !gm_gas_prev && long_controls_allowed) {
       controls_allowed = 0;
@@ -108,7 +108,7 @@ static void gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   }
 
   // exit controls on regen paddle
-  if (addr == 189) {
+  if (addr == 189U) {
     bool regen = to_push->RDLR & 0x20;
     if (regen) {
       controls_allowed = 0;
@@ -146,7 +146,7 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
   }
 
   // BRAKE: safety check
-  if (addr == 789) {
+  if (addr == 789U) {
     int rdlr = to_send->RDLR;
     int brake = ((rdlr & 0xF) << 8) + ((rdlr & 0xFF00) >> 8);
     brake = (0x1000 - brake) & 0xFFF;
@@ -162,7 +162,7 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
   }
 
   // LKA STEER: safety check
-  if (addr == 384) {
+  if (addr == 384U) {
     int rdlr = to_send->RDLR;
     int desired_torque = ((rdlr & 0x7) << 8) + ((rdlr & 0xFF00) >> 8);
     uint32_t ts = TIM2->CNT;
@@ -211,15 +211,15 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
   }
 
   // PARK ASSIST STEER: unlimited torque, no thanks
-  if (addr == 823) {
+  if (addr == 823U) {
     tx = 0;
   }
 
   // GAS/REGEN: safety check
-  if (addr == 715) {
-    int rdlr = to_send->RDLR;
-    int gas_regen = ((rdlr & 0x7F0000) >> 11) + ((rdlr & 0xF8000000) >> 27);
-    int apply = rdlr & 1;
+  if (addr == 715U) {
+    uint32_t rdlr = to_send->RDLR;
+    int gas_regen = ((rdlr & 0x7F0000U) >> 11) + ((rdlr & 0xF8000000U) >> 27);
+    bool apply = (rdlr & 1U) != 0U;
     if (current_controls_allowed && long_controls_allowed) {
       if (gas_regen > GM_MAX_GAS) {
         tx = 0;
diff --git a/board/safety/safety_gm_ascm.h b/board/safety/safety_gm_ascm.h
index 5dbaccd8ec886f..e2b526befc0bbd 100644
--- a/board/safety/safety_gm_ascm.h
+++ b/board/safety/safety_gm_ascm.h
@@ -12,16 +12,16 @@ static int gm_ascm_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
     // block 0x152 and 0x154, which are the lkas command from ASCM1 and ASCM2
     // 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)) {
+    if ((addr == 0x152U) || (addr == 0x154U)) {
       int supercruise_on = (to_fwd->RDHR>>4) & 0x1;  // bit 36
       if (!supercruise_on) {
         bus_fwd = -1;
       }
-    } else if ((addr == 0x151) || (addr == 0x153) || (addr == 0x314)) {
+    } else if ((addr == 0x151U) || (addr == 0x153U) || (addr == 0x314U)) {
       // on the chassis bus, the OBDII port is on the module side, so we need to read
       // the lkas messages sent by openpilot (put on unused 0x151 ane 0x153 addrs) and send it to
       // the actuator as 0x152 and 0x154
-      to_fwd->RIR = ((addr + 1) << 21) | (to_fwd->RIR & 0x1fffff);
+      to_fwd->RIR = ((addr + 1U) << 21) | (to_fwd->RIR & 0x1fffff);
     }
   }
 
diff --git a/board/safety/safety_hyundai.h b/board/safety/safety_hyundai.h
index 6c5a93886dc3e6..bbd7e48e018178 100644
--- a/board/safety/safety_hyundai.h
+++ b/board/safety/safety_hyundai.h
@@ -1,6 +1,6 @@
 const int HYUNDAI_MAX_STEER = 255;             // like stock
 const int HYUNDAI_MAX_RT_DELTA = 112;          // max delta torque allowed for real time checks
-const int32_t HYUNDAI_RT_INTERVAL = 250000;    // 250ms between real time checks
+const uint32_t HYUNDAI_RT_INTERVAL = 250000;    // 250ms between real time checks
 const int HYUNDAI_MAX_RATE_UP = 3;
 const int HYUNDAI_MAX_RATE_DOWN = 7;
 const int HYUNDAI_DRIVER_TORQUE_ALLOWANCE = 50;
@@ -28,25 +28,25 @@ static void hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     addr = to_push->RIR >> 21;
   }
 
-  if (addr == 897) {
+  if (addr == 897U) {
     int torque_driver_new = ((to_push->RDLR >> 11) & 0xfff) - 2048;
     // update array of samples
     update_sample(&hyundai_torque_driver, torque_driver_new);
   }
 
   // check if stock camera ECU is still online
-  if ((bus == 0) && (addr == 832)) {
+  if ((bus == 0) && (addr == 832U)) {
     hyundai_camera_detected = 1;
     controls_allowed = 0;
   }
 
   // Find out which bus the camera is on
-  if (addr == 832) {
+  if (addr == 832U) {
     hyundai_camera_bus = bus;
   }
 
   // enter controls on rising edge of ACC, exit controls on ACC off
-  if (addr == 1057) {
+  if (addr == 1057U) {
     // 2 bits: 13-14
     int cruise_engaged = (to_push->RDLR >> 13) & 0x3;
     if (cruise_engaged && !hyundai_cruise_engaged_last) {
@@ -58,7 +58,7 @@ static void hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   }
 
   // 832 is lkas cmd. If it is on camera bus, then giraffe switch 2 is high
-  if ((addr == 832) && (bus == hyundai_camera_bus) && (hyundai_camera_bus != 0)) {
+  if ((addr == 832U) && (bus == hyundai_camera_bus) && (hyundai_camera_bus != 0)) {
     hyundai_giraffe_switch_2 = 1;
   }
 }
@@ -82,7 +82,7 @@ static int hyundai_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
   }
 
   // LKA STEER: safety check
-  if (addr == 832) {
+  if (addr == 832U) {
     int desired_torque = ((to_send->RDLR >> 16) & 0x7ff) - 1024;
     uint32_t ts = TIM2->CNT;
     bool violation = 0;
diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index 0f92631f83184c..eca95acc958e30 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -2,7 +2,7 @@ const int SUBARU_MAX_STEER = 2047; // 1s
 // real time torque limit to prevent controls spamming
 // the real time limit is 1500/sec
 const int SUBARU_MAX_RT_DELTA = 940;          // max delta torque allowed for real time checks
-const int32_t SUBARU_RT_INTERVAL = 250000;    // 250ms between real time checks
+const uint32_t SUBARU_RT_INTERVAL = 250000;    // 250ms between real time checks
 const int SUBARU_MAX_RATE_UP = 50;
 const int SUBARU_MAX_RATE_DOWN = 70;
 const int SUBARU_DRIVER_TORQUE_ALLOWANCE = 60;
@@ -19,7 +19,7 @@ static void subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   int bus_number = (to_push->RDTR >> 4) & 0xFF;
   uint32_t addr = to_push->RIR >> 21;
 
-  if ((addr == 0x119) && (bus_number == 0)){
+  if ((addr == 0x119U) && (bus_number == 0)){
     int torque_driver_new = ((to_push->RDLR >> 16) & 0x7FF);
     torque_driver_new = to_signed(torque_driver_new, 11);
     // update array of samples
@@ -27,7 +27,7 @@ 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_number == 0)) {
+  if ((addr == 0x240U) && (bus_number == 0)) {
     int cruise_engaged = (to_push->RDHR >> 9) & 1;
     if (cruise_engaged && !subaru_cruise_engaged_last) {
       controls_allowed = 1;
@@ -43,7 +43,7 @@ static int subaru_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
   uint32_t addr = to_send->RIR >> 21;
 
   // steer cmd checks
-  if (addr == 0x122) {
+  if (addr == 0x122U) {
     int desired_torque = ((to_send->RDLR >> 16) & 0x1FFF);
     bool violation = 0;
     uint32_t ts = TIM2->CNT;
diff --git a/board/safety/safety_tesla.h b/board/safety/safety_tesla.h
index 750dab256efb5c..543baa15ebd1ed 100644
--- a/board/safety/safety_tesla.h
+++ b/board/safety/safety_tesla.h
@@ -25,7 +25,7 @@ const struct lookup_t TESLA_LOOKUP_MAX_ANGLE = {
     {2., 29., 38.},
     {410., 92., 36.}};
 
-const int TESLA_RT_INTERVAL = 250000; // 250ms between real time checks
+const uint32_t TESLA_RT_INTERVAL = 250000; // 250ms between real time checks
 
 // state of angle limits
 float tesla_desired_angle_last = 0; // last desired steer angle
@@ -63,7 +63,7 @@ static void tesla_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     addr = to_push->RIR >> 21;
   }
 
-  if (addr == 0x45) {
+  if (addr == 0x45U) {
     // 6 bits starting at position 0
     int lever_position = (to_push->RDLR & 0x3F);
     if (lever_position == 2) { // pull forward
@@ -76,7 +76,7 @@ static void tesla_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   }
 
   // Detect drive rail on (ignition) (start recording)
-  if (addr == 0x348) {
+  if (addr == 0x348U) {
     // GTW_status
     int drive_rail_on = (to_push->RDLR & 0x0001);
     tesla_ignition_started = drive_rail_on == 1;
@@ -84,7 +84,7 @@ static void tesla_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
   // exit controls on brake press
   // DI_torque2::DI_brakePedal 0x118
-  if (addr == 0x118) {
+  if (addr == 0x118U) {
     // 1 bit at position 16
     if ((((to_push->RDLR & 0x8000)) >> 15) == 1) {
       // disable break cancel by commenting line below
@@ -99,18 +99,18 @@ static void tesla_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
   // exit controls on EPAS error
   // EPAS_sysStatus::EPAS_eacStatus 0x370
-  if (addr == 0x370) {
+  if (addr == 0x370U) {
     // if EPAS_eacStatus is not 1 or 2, disable control
     eac_status = ((to_push->RDHR >> 21)) & 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 == 1) && (eac_status != 0) && (eac_status != 1) && (eac_status != 2)) {
+    if (controls_allowed && (eac_status != 0) && (eac_status != 1) && (eac_status != 2)) {
       controls_allowed = 0;
       //puts("EPAS error! \n");
     }
   }
   //get latest steering wheel angle
-  if (addr == 0x00E) {
+  if (addr == 0x00EU) {
     float angle_meas_now = (int)(((((to_push->RDLR & 0x3F) << 8) + ((to_push->RDLR >> 8) & 0xFF)) * 0.1) - 819.2);
     uint32_t ts = TIM2->CNT;
     uint32_t ts_elapsed = get_ts_elapsed(ts, tesla_ts_angle_last);
@@ -119,8 +119,8 @@ static void tesla_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     // add 1 to not false trigger the violation and multiply by 25 since the check is done every 250 ms and steer angle is updated at     100Hz
     float rt_delta_angle_up = (interpolate(TESLA_LOOKUP_ANGLE_RATE_UP, tesla_speed) * 25.) + 1.;
     float rt_delta_angle_down = (interpolate(TESLA_LOOKUP_ANGLE_RATE_DOWN, tesla_speed) * 25.) + 1.;
-    float highest_rt_angle = tesla_rt_angle_last + ((tesla_rt_angle_last > 0) ? rt_delta_angle_up : rt_delta_angle_down);
-    float lowest_rt_angle = tesla_rt_angle_last - ((tesla_rt_angle_last > 0) ? rt_delta_angle_down : rt_delta_angle_up);
+    float highest_rt_angle = tesla_rt_angle_last + ((tesla_rt_angle_last > 0.) ? rt_delta_angle_up : rt_delta_angle_down);
+    float lowest_rt_angle = tesla_rt_angle_last - ((tesla_rt_angle_last > 0.) ? rt_delta_angle_down : rt_delta_angle_up);
 
     if ((ts_elapsed > TESLA_RT_INTERVAL) || (controls_allowed && !tesla_controls_allowed_last)) {
       tesla_rt_angle_last = angle_meas_now;
@@ -158,7 +158,7 @@ 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) {
+  if (addr == 0x488U) {
     angle_raw = ((to_send->RDLR & 0x7F) << 8) + ((to_send->RDLR & 0xFF00) >> 8);
     desired_angle = (angle_raw * 0.1) - 1638.35;
     bool violation = 0;
@@ -171,8 +171,8 @@ static int tesla_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
       // add 1 to not false trigger the violation
       float delta_angle_up = interpolate(TESLA_LOOKUP_ANGLE_RATE_UP, tesla_speed) + 1.;
       float delta_angle_down = interpolate(TESLA_LOOKUP_ANGLE_RATE_DOWN, tesla_speed) + 1.;
-      float highest_desired_angle = tesla_desired_angle_last + ((tesla_desired_angle_last > 0) ? delta_angle_up : delta_angle_down);
-      float lowest_desired_angle = tesla_desired_angle_last - ((tesla_desired_angle_last > 0) ? delta_angle_down : delta_angle_up);
+      float highest_desired_angle = tesla_desired_angle_last + ((tesla_desired_angle_last > 0.) ? delta_angle_up : delta_angle_down);
+      float lowest_desired_angle = tesla_desired_angle_last - ((tesla_desired_angle_last > 0.) ? delta_angle_down : delta_angle_up);
       float TESLA_MAX_ANGLE = interpolate(TESLA_LOOKUP_MAX_ANGLE, tesla_speed) + 1.;
 
       //check for max angles
diff --git a/board/safety/safety_toyota.h b/board/safety/safety_toyota.h
index 30214128b39366..10b303092a076b 100644
--- a/board/safety/safety_toyota.h
+++ b/board/safety/safety_toyota.h
@@ -10,7 +10,7 @@ const int TOYOTA_MAX_TORQUE_ERROR = 350;  // max torque cmd in excess of torque
 // real time torque limit to prevent controls spamming
 // the real time limit is 1500/sec
 const int TOYOTA_MAX_RT_DELTA = 375;      // max delta torque allowed for real time checks
-const int TOYOTA_RT_INTERVAL = 250000;    // 250ms between real time checks
+const uint32_t TOYOTA_RT_INTERVAL = 250000;    // 250ms between real time checks
 
 // longitudinal limits
 const int TOYOTA_MAX_ACCEL = 1500;        // 1.5 m/s2