diff --git a/Jenkinsfile b/Jenkinsfile
index b90a8ca3833680..c67a1005151e49 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -6,8 +6,8 @@ pipeline {
                 script: "git --no-pager show -s --format='%an' ${GIT_COMMIT}"
              ).trim()}"""
 
-    DOCKER_IMAGE_TAG = "panda:build-${env.BUILD_ID}"
-    DOCKER_NAME = "panda-test-${env.BUILD_ID}"
+    DOCKER_IMAGE_TAG = "panda:build-${env.GIT_COMMIT}"
+    DOCKER_NAME = "panda-test-${env.GIT_COMMIT}"
   }
   stages {
     stage('Build Docker Image') {
diff --git a/board/build.mk b/board/build.mk
index a84ed3fd9d9193..bde461d2103812 100644
--- a/board/build.mk
+++ b/board/build.mk
@@ -24,6 +24,11 @@ endif
 
 DFU_UTIL = "dfu-util"
 
+DEPDIR = generated_dependencies
+$(shell mkdir -p -m 777 $(DEPDIR) >/dev/null)
+DEPFLAGS = -MT $@ -MMD -MP -MF $(DEPDIR)/$*.Td
+POSTCOMPILE = @mv -f $(DEPDIR)/$*.Td $(DEPDIR)/$*.d && touch $@
+
 # this no longer pushes the bootstub
 flash: obj/$(PROJ_NAME).bin
 	PYTHONPATH=../ python -c "from python import Panda; Panda().flash('obj/$(PROJ_NAME).bin')"
@@ -45,8 +50,9 @@ include ../common/version.mk
 obj/cert.h: ../crypto/getcertheader.py
 	../crypto/getcertheader.py ../certs/debug.pub ../certs/release.pub > $@
 
-obj/%.$(PROJ_NAME).o: %.c obj/cert.h obj/gitversion.h config.h drivers/*.h gpio.h libc.h provision.h safety.h safety/*.h spi_flasher.h
-	$(CC) $(CFLAGS) -o $@ -c $<
+obj/%.$(PROJ_NAME).o: %.c obj/gitversion.h obj/cert.h $(DEPDIR)/%.d
+	$(CC) $(DEPFLAGS) $(CFLAGS) -o $@ -c $<
+	$(POSTCOMPILE)
 
 obj/%.$(PROJ_NAME).o: ../crypto/%.c
 	$(CC) $(CFLAGS) -o $@ -c $<
@@ -59,12 +65,18 @@ obj/$(PROJ_NAME).bin: obj/$(STARTUP_FILE).o obj/main.$(PROJ_NAME).o
 	$(CC) -Wl,--section-start,.isr_vector=0x8004000 $(CFLAGS) -o obj/$(PROJ_NAME).elf $^
 	$(OBJCOPY) -v -O binary obj/$(PROJ_NAME).elf obj/code.bin
 	SETLEN=1 ../crypto/sign.py obj/code.bin $@ $(CERT)
-	@BINSIZE=$$(du -b "obj/$(PROJ_NAME).bin" | cut -f 1) ; if [ $$BINSIZE -ge 32768 ]; then echo "ERROR obj/$(PROJ_NAME).bin is too big!"; exit 1; fi;
-
+	@BINSIZE=$$(du -b "obj/$(PROJ_NAME).bin" | cut -f 1) ; \
+	if [ $$BINSIZE -ge 32768 ]; then echo "ERROR obj/$(PROJ_NAME).bin is too big!"; exit 1; fi;
 
 obj/bootstub.$(PROJ_NAME).bin: obj/$(STARTUP_FILE).o obj/bootstub.$(PROJ_NAME).o obj/sha.$(PROJ_NAME).o obj/rsa.$(PROJ_NAME).o
 	$(CC) $(CFLAGS) -o obj/bootstub.$(PROJ_NAME).elf $^
 	$(OBJCOPY) -v -O binary obj/bootstub.$(PROJ_NAME).elf $@
 
+$(DEPDIR)/%.d: ;
+.PRECIOUS: $(DEPDIR)/%.d
+
+include $(wildcard $(patsubst %,$(DEPDIR)/%.d,$(basename $(wildcard *.c))))
+
 clean:
-	@rm -f obj/*
+	@$(RM) obj/*
+	@rm -rf $(DEPDIR)
diff --git a/board/main.c b/board/main.c
index 478f8b9423f787..4fb5e9ff0468c9 100644
--- a/board/main.c
+++ b/board/main.c
@@ -627,7 +627,7 @@ int main() {
     //puth(usart1_dma); puts(" "); puth(DMA2_Stream5->M0AR); puts(" "); puth(DMA2_Stream5->NDTR); puts("\n");
 
     #ifdef PANDA
-      int current = adc_get(ADCCHAN_CURRENT);
+      uint32_t current = adc_get(ADCCHAN_CURRENT);
 
       switch (usb_power_mode) {
         case USB_POWER_CLIENT:
diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index 9fedf16c64c93d..5d2bd23d24b6a9 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -123,6 +123,10 @@ static int subaru_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
     if (addr == 545) {
       return -1;
     }
+    // ES LKAS
+    if (addr == 802) {
+      return -1;
+    }
 
     return 0; // Main CAN
   }
diff --git a/board/safety/safety_toyota.h b/board/safety/safety_toyota.h
index 02fcb36e5d6f83..cbc83860875fde 100644
--- a/board/safety/safety_toyota.h
+++ b/board/safety/safety_toyota.h
@@ -172,7 +172,9 @@ static int toyota_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
   if ((bus_num == 0 || bus_num == 2) && toyota_camera_forwarded && !toyota_giraffe_switch_1) {
     int addr = to_fwd->RIR>>21;
     bool is_lkas_msg = (addr == 0x2E4 || addr == 0x412) && bus_num == 2;
-    return is_lkas_msg? -1 : (uint8_t)(~bus_num & 0x2);
+    // in TSSP 2.0 the camera does ACC as well, so filter 0x343
+    bool is_acc_msg = (addr == 0x343 && bus_num  == 2);
+    return (is_lkas_msg || is_acc_msg)? -1 : (uint8_t)(~bus_num & 0x2);
   }
   return -1;
 }
diff --git a/examples/query_vin_and_stats.py b/examples/query_vin_and_stats.py
index cd2185b4a6f11f..09a6289bf2a05f 100755
--- a/examples/query_vin_and_stats.py
+++ b/examples/query_vin_and_stats.py
@@ -3,7 +3,7 @@
 import struct
 from panda import Panda
 from hexdump import hexdump
-from isotp import isotp_send, isotp_recv
+from panda.isotp import isotp_send, isotp_recv
 
 # 0x7e0 = Toyota
 # 0x18DB33F1 for Honda?