diff --git a/board/drivers/can.h b/board/drivers/can.h
index ff60473..10aa120 100644
--- a/board/drivers/can.h
+++ b/board/drivers/can.h
@@ -361,11 +361,6 @@ void ignition_can_hook(CAN_FIFOMailBox_TypeDef *to_push) {
       // GTW_status
       ignition_can = (GET_BYTE(to_push, 0) & 0x1) != 0;
     }
-    // Cadillac exception
-    if ((addr == 0x160) && (len == 5)) {
-      // this message isn't all zeros when ignition is on
-      ignition_can = GET_BYTES_04(to_push) != 0;
-    }
   }
 }
 
diff --git a/board/safety.h b/board/safety.h
index eadbe4c..d2d107d 100644
--- a/board/safety.h
+++ b/board/safety.h
@@ -8,7 +8,6 @@
 #include "safety/safety_gm_ascm.h"
 #include "safety/safety_gm.h"
 #include "safety/safety_ford.h"
-#include "safety/safety_cadillac.h"
 #include "safety/safety_hyundai.h"
 #include "safety/safety_chrysler.h"
 #include "safety/safety_subaru.h"
@@ -25,7 +24,6 @@
 #define SAFETY_GM 4U
 #define SAFETY_HONDA_BOSCH_GIRAFFE 5U
 #define SAFETY_FORD 6U
-#define SAFETY_CADILLAC 7U
 #define SAFETY_HYUNDAI 8U
 #define SAFETY_CHRYSLER 9U
 #define SAFETY_TESLA 10U
@@ -216,7 +214,6 @@ const safety_hook_config safety_hook_registry[] = {
   {SAFETY_VOLKSWAGEN_PQ, &volkswagen_pq_hooks},
   {SAFETY_NOOUTPUT, &nooutput_hooks},
 #ifdef ALLOW_DEBUG
-  {SAFETY_CADILLAC, &cadillac_hooks},
   {SAFETY_TESLA, &tesla_hooks},
   {SAFETY_NISSAN, &nissan_hooks},
   {SAFETY_ALLOUTPUT, &alloutput_hooks},
diff --git a/board/safety/safety_cadillac.h b/board/safety/safety_cadillac.h
deleted file mode 100644
index 0f500a8..0000000
--- a/board/safety/safety_cadillac.h
+++ /dev/null
@@ -1,125 +0,0 @@
-#define CADILLAC_TORQUE_MSG_N 4      // 4 torque messages: 0x151, 0x152, 0x153, 0x154
-
-const AddrBus CADILLAC_TX_MSGS[] = {{0x151, 2}, {0x152, 0}, {0x153, 2}, {0x154, 0}};
-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 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;
-const int CADILLAC_DRIVER_TORQUE_FACTOR = 4;
-
-int cadillac_cruise_engaged_last = 0;
-int cadillac_rt_torque_last = 0;
-const int cadillac_torque_msgs_n = 4;
-int cadillac_desired_torque_last[CADILLAC_TORQUE_MSG_N] = {0};
-uint32_t cadillac_ts_last = 0;
-bool cadillac_supercruise_on = 0;
-struct sample_t cadillac_torque_driver;         // last few driver torques measured
-
-int cadillac_get_torque_idx(int addr, int array_size) {
-  return MIN(MAX(addr - 0x151, 0), array_size);  // 0x151 is id 0, 0x152 is id 1 and so on...
-}
-
-static int cadillac_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
-  int bus = GET_BUS(to_push);
-  int addr = GET_ADDR(to_push);
-
-  if (addr == 356) {
-    int torque_driver_new = ((GET_BYTE(to_push, 0) & 0x7U) << 8) | (GET_BYTE(to_push, 1));
-
-    torque_driver_new = to_signed(torque_driver_new, 11);
-    // update array of samples
-    update_sample(&cadillac_torque_driver, torque_driver_new);
-  }
-
-  // enter controls on rising edge of ACC, exit controls on ACC off
-  if ((addr == 0x370) && (bus == 0)) {
-    int cruise_engaged = GET_BYTE(to_push, 2) & 0x80;  // bit 23
-    if (cruise_engaged && !cadillac_cruise_engaged_last) {
-      controls_allowed = 1;
-    }
-    if (!cruise_engaged) {
-      controls_allowed = 0;
-    }
-    cadillac_cruise_engaged_last = cruise_engaged;
-  }
-
-  // know supercruise mode and block openpilot msgs if on
-  if ((addr == 0x152) || (addr == 0x154)) {
-    cadillac_supercruise_on = (GET_BYTE(to_push, 4) & 0x10) != 0;
-  }
-  return 1;
-}
-
-static int cadillac_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
-  int tx = 1;
-  int addr = GET_ADDR(to_send);
-  int bus = GET_BUS(to_send);
-
-  if (!msg_allowed(addr, bus, CADILLAC_TX_MSGS, sizeof(CADILLAC_TX_MSGS) / sizeof(CADILLAC_TX_MSGS[0]))) {
-    tx = 0;
-  }
-
-  // steer cmd checks
-  if ((addr == 0x151) || (addr == 0x152) || (addr == 0x153) || (addr == 0x154)) {
-    int desired_torque = ((GET_BYTE(to_send, 0) & 0x3f) << 8) | GET_BYTE(to_send, 1);
-    int violation = 0;
-    uint32_t ts = TIM2->CNT;
-    int idx = cadillac_get_torque_idx(addr, CADILLAC_TORQUE_MSG_N);
-    desired_torque = to_signed(desired_torque, 14);
-
-    if (controls_allowed) {
-
-      // *** global torque limit check ***
-      violation |= max_limit_check(desired_torque, CADILLAC_MAX_STEER, -CADILLAC_MAX_STEER);
-
-      // *** torque rate limit check ***
-      int desired_torque_last = cadillac_desired_torque_last[idx];
-      violation |= driver_limit_check(desired_torque, desired_torque_last, &cadillac_torque_driver,
-        CADILLAC_MAX_STEER, CADILLAC_MAX_RATE_UP, CADILLAC_MAX_RATE_DOWN,
-        CADILLAC_DRIVER_TORQUE_ALLOWANCE, CADILLAC_DRIVER_TORQUE_FACTOR);
-
-      // used next time
-      cadillac_desired_torque_last[idx] = desired_torque;
-
-      // *** torque real time rate limit check ***
-      violation |= rt_rate_limit_check(desired_torque, cadillac_rt_torque_last, CADILLAC_MAX_RT_DELTA);
-
-      // every RT_INTERVAL set the new limits
-      uint32_t ts_elapsed = get_ts_elapsed(ts, cadillac_ts_last);
-      if (ts_elapsed > CADILLAC_RT_INTERVAL) {
-        cadillac_rt_torque_last = desired_torque;
-        cadillac_ts_last = ts;
-      }
-    }
-
-    // no torque if controls is not allowed
-    if (!controls_allowed && (desired_torque != 0)) {
-      violation = 1;
-    }
-
-    // reset to 0 if either controls is not allowed or there's a violation
-    if (violation || !controls_allowed) {
-      cadillac_desired_torque_last[idx] = 0;
-      cadillac_rt_torque_last = 0;
-      cadillac_ts_last = ts;
-    }
-
-    if (violation || cadillac_supercruise_on) {
-      tx = 0;
-    }
-
-  }
-  return tx;
-}
-
-const safety_hooks cadillac_hooks = {
-  .init = nooutput_init,
-  .rx = cadillac_rx_hook,
-  .tx = cadillac_tx_hook,
-  .tx_lin = nooutput_tx_lin_hook,
-  .fwd = default_fwd_hook,
-};
diff --git a/python/__init__.py b/python/__init__.py
index bda1fed..500e2b3 100644
--- a/python/__init__.py
+++ b/python/__init__.py
@@ -117,7 +117,6 @@ class Panda(object):
   SAFETY_GM = 4
   SAFETY_HONDA_BOSCH_GIRAFFE = 5
   SAFETY_FORD = 6
-  SAFETY_CADILLAC = 7
   SAFETY_HYUNDAI = 8
   SAFETY_CHRYSLER = 9
   SAFETY_TESLA = 10
diff --git a/tests/safety/libpandasafety_py.py b/tests/safety/libpandasafety_py.py
index 295a048..c73de6a 100644
--- a/tests/safety/libpandasafety_py.py
+++ b/tests/safety/libpandasafety_py.py
@@ -62,11 +62,6 @@ void set_honda_fwd_brake(bool);
 void set_honda_alt_brake_msg(bool);
 int get_honda_hw(void);
 
-void init_tests_cadillac(void);
-void set_cadillac_desired_torque_last(int t);
-void set_cadillac_rt_torque_last(int t);
-void set_cadillac_torque_driver(int min, int max);
-
 void init_tests_gm(void);
 void set_gm_desired_torque_last(int t);
 void set_gm_rt_torque_last(int t);
diff --git a/tests/safety/test.c b/tests/safety/test.c
index 9d5bd12..36cb993 100644
--- a/tests/safety/test.c
+++ b/tests/safety/test.c
@@ -24,7 +24,6 @@ typedef struct
 } TIM_TypeDef;
 
 struct sample_t toyota_torque_meas;
-struct sample_t cadillac_torque_driver;
 struct sample_t gm_torque_driver;
 struct sample_t hyundai_torque_driver;
 struct sample_t chrysler_torque_meas;
@@ -147,11 +146,6 @@ void set_toyota_torque_meas(int min, int max){
   toyota_torque_meas.max = max;
 }
 
-void set_cadillac_torque_driver(int min, int max){
-  cadillac_torque_driver.min = min;
-  cadillac_torque_driver.max = max;
-}
-
 void set_gm_torque_driver(int min, int max){
   gm_torque_driver.min = min;
   gm_torque_driver.max = max;
@@ -200,10 +194,6 @@ void set_toyota_rt_torque_last(int t){
   toyota_rt_torque_last = t;
 }
 
-void set_cadillac_rt_torque_last(int t){
-  cadillac_rt_torque_last = t;
-}
-
 void set_gm_rt_torque_last(int t){
   gm_rt_torque_last = t;
 }
@@ -228,10 +218,6 @@ void set_toyota_desired_torque_last(int t){
   toyota_desired_torque_last = t;
 }
 
-void set_cadillac_desired_torque_last(int t){
-  for (int i = 0; i < 4; i++) cadillac_desired_torque_last[i] = t;
-}
-
 void set_gm_desired_torque_last(int t){
   gm_desired_torque_last = t;
 }
@@ -295,16 +281,6 @@ void init_tests_toyota(void){
   set_timer(0);
 }
 
-void init_tests_cadillac(void){
-  init_tests();
-  cadillac_torque_driver.min = 0;
-  cadillac_torque_driver.max = 0;
-  for (int i = 0; i < 4; i++) cadillac_desired_torque_last[i] = 0;
-  cadillac_rt_torque_last = 0;
-  cadillac_ts_last = 0;
-  set_timer(0);
-}
-
 void init_tests_gm(void){
   init_tests();
   gm_torque_driver.min = 0;
diff --git a/tests/safety/test_cadillac.py b/tests/safety/test_cadillac.py
deleted file mode 100644
index e4e75f1..0000000
--- a/tests/safety/test_cadillac.py
+++ /dev/null
@@ -1,184 +0,0 @@
-#!/usr/bin/env python3
-import unittest
-import numpy as np
-from panda import Panda
-from panda.tests.safety import libpandasafety_py
-from panda.tests.safety.common import make_msg, StdTest
-
-
-MAX_RATE_UP = 2
-MAX_RATE_DOWN = 5
-MAX_TORQUE = 150
-
-MAX_RT_DELTA = 75
-RT_INTERVAL = 250000
-
-DRIVER_TORQUE_ALLOWANCE = 50;
-DRIVER_TORQUE_FACTOR = 4;
-
-IPAS_OVERRIDE_THRESHOLD = 200
-
-TX_MSGS = [[0x151, 2], [0x152, 0], [0x153, 2], [0x154, 0]]
-
-def twos_comp(val, bits):
-  if val >= 0:
-    return val
-  else:
-    return (2**bits) + val
-
-def sign(a):
-  if a > 0:
-    return 1
-  else:
-    return -1
-
-class TestCadillacSafety(unittest.TestCase):
-  @classmethod
-  def setUp(cls):
-    cls.safety = libpandasafety_py.libpandasafety
-    cls.safety.set_safety_hooks(Panda.SAFETY_CADILLAC, 0)
-    cls.safety.init_tests_cadillac()
-
-  def _set_prev_torque(self, t):
-    self.safety.set_cadillac_desired_torque_last(t)
-    self.safety.set_cadillac_rt_torque_last(t)
-
-  def _torque_driver_msg(self, torque):
-    t = twos_comp(torque, 11)
-    to_send = make_msg(0, 0x164)
-    to_send[0].RDLR = ((t >> 8) & 0x7) | ((t & 0xFF) << 8)
-    return to_send
-
-  def _torque_msg(self, torque):
-    to_send = make_msg(2, 0x151)
-    t = twos_comp(torque, 14)
-    to_send[0].RDLR = ((t >> 8) & 0x3F) | ((t & 0xFF) << 8)
-    return to_send
-
-  def test_spam_can_buses(self):
-    StdTest.test_spam_can_buses(self, TX_MSGS)
-
-  def test_default_controls_not_allowed(self):
-    self.assertFalse(self.safety.get_controls_allowed())
-
-  def test_manually_enable_controls_allowed(self):
-    StdTest.test_manually_enable_controls_allowed(self)
-
-  def test_enable_control_allowed_from_cruise(self):
-    to_push = make_msg(0, 0x370)
-    to_push[0].RDLR = 0x800000
-    self.safety.safety_rx_hook(to_push)
-    self.assertTrue(self.safety.get_controls_allowed())
-
-  def test_disable_control_allowed_from_cruise(self):
-    to_push = make_msg(0, 0x370)
-    self.safety.set_controls_allowed(1)
-    self.safety.safety_rx_hook(to_push)
-    self.assertFalse(self.safety.get_controls_allowed())
-
-  def test_torque_absolute_limits(self):
-    for controls_allowed in [True, False]:
-      for torque in np.arange(-MAX_TORQUE - 1000, MAX_TORQUE + 1000, MAX_RATE_UP):
-        self.safety.set_controls_allowed(controls_allowed)
-        self.safety.set_cadillac_rt_torque_last(torque)
-        self.safety.set_cadillac_torque_driver(0, 0)
-        self.safety.set_cadillac_desired_torque_last(torque - MAX_RATE_UP)
-
-        if controls_allowed:
-          send = (-MAX_TORQUE <= torque <= MAX_TORQUE)
-        else:
-          send = torque == 0
-
-        self.assertEqual(send, self.safety.safety_tx_hook(self._torque_msg(torque)))
-
-  def test_non_realtime_limit_up(self):
-    self.safety.set_cadillac_torque_driver(0, 0)
-    self.safety.set_controls_allowed(True)
-
-    self._set_prev_torque(0)
-    self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(MAX_RATE_UP)))
-    self._set_prev_torque(0)
-    self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(-MAX_RATE_UP)))
-
-    self._set_prev_torque(0)
-    self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(MAX_RATE_UP + 1)))
-    self.safety.set_controls_allowed(True)
-    self._set_prev_torque(0)
-    self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(-MAX_RATE_UP - 1)))
-
-  def test_non_realtime_limit_down(self):
-    self.safety.set_cadillac_torque_driver(0, 0)
-    self.safety.set_controls_allowed(True)
-
-  def test_exceed_torque_sensor(self):
-    self.safety.set_controls_allowed(True)
-
-    for sign in [-1, 1]:
-      for t in np.arange(0, DRIVER_TORQUE_ALLOWANCE + 1, 1):
-        t *= -sign
-        self.safety.set_cadillac_torque_driver(t, t)
-        self._set_prev_torque(MAX_TORQUE * sign)
-        self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(MAX_TORQUE * sign)))
-
-      self.safety.set_cadillac_torque_driver(DRIVER_TORQUE_ALLOWANCE + 1, DRIVER_TORQUE_ALLOWANCE + 1)
-      self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(-MAX_TORQUE)))
-
-    # spot check some individual cases
-    for sign in [-1, 1]:
-      driver_torque = (DRIVER_TORQUE_ALLOWANCE + 10) * sign
-      torque_desired = (MAX_TORQUE - 10 * DRIVER_TORQUE_FACTOR) * sign
-      delta = 1 * sign
-      self._set_prev_torque(torque_desired)
-      self.safety.set_cadillac_torque_driver(-driver_torque, -driver_torque)
-      self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(torque_desired)))
-      self._set_prev_torque(torque_desired + delta)
-      self.safety.set_cadillac_torque_driver(-driver_torque, -driver_torque)
-      self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(torque_desired + delta)))
-
-      self._set_prev_torque(MAX_TORQUE * sign)
-      self.safety.set_cadillac_torque_driver(-MAX_TORQUE * sign, -MAX_TORQUE * sign)
-      self.assertTrue(self.safety.safety_tx_hook(self._torque_msg((MAX_TORQUE - MAX_RATE_DOWN) * sign)))
-      self._set_prev_torque(MAX_TORQUE * sign)
-      self.safety.set_cadillac_torque_driver(-MAX_TORQUE * sign, -MAX_TORQUE * sign)
-      self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(0)))
-      self._set_prev_torque(MAX_TORQUE * sign)
-      self.safety.set_cadillac_torque_driver(-MAX_TORQUE * sign, -MAX_TORQUE * sign)
-      self.assertFalse(self.safety.safety_tx_hook(self._torque_msg((MAX_TORQUE - MAX_RATE_DOWN + 1) * sign)))
-
-
-  def test_realtime_limits(self):
-    self.safety.set_controls_allowed(True)
-
-    for sign in [-1, 1]:
-      self.safety.init_tests_cadillac()
-      self._set_prev_torque(0)
-      self.safety.set_cadillac_torque_driver(0, 0)
-      for t in np.arange(0, MAX_RT_DELTA, 1):
-        t *= sign
-        self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(t)))
-      self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA + 1))))
-
-      self._set_prev_torque(0)
-      for t in np.arange(0, MAX_RT_DELTA, 1):
-        t *= sign
-        self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(t)))
-
-      # Increase timer to update rt_torque_last
-      self.safety.set_timer(RT_INTERVAL + 1)
-      self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA - 1))))
-      self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA + 1))))
-
-
-  def test_fwd_hook(self):
-    # nothing allowed
-    buss = list(range(0x0, 0x3))
-    msgs = list(range(0x1, 0x800))
-
-    for b in buss:
-      for m in msgs:
-        # assume len 8
-        self.assertEqual(-1, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
-
-
-if __name__ == "__main__":
-  unittest.main()