diff --git a/board/safety.h b/board/safety.h
index 7c678e6..52f9a85 100644
--- a/board/safety.h
+++ b/board/safety.h
@@ -19,11 +19,11 @@
 
 // from cereal.car.CarParams.SafetyModel
 #define SAFETY_SILENT 0U
-#define SAFETY_HONDA 1U
+#define SAFETY_HONDA_NIDEC 1U
 #define SAFETY_TOYOTA 2U
 #define SAFETY_ELM327 3U
 #define SAFETY_GM 4U
-#define SAFETY_HONDA_BOSCH 5U
+#define SAFETY_HONDA_BOSCH_GIRAFFE 5U
 #define SAFETY_FORD 6U
 #define SAFETY_CADILLAC 7U
 #define SAFETY_HYUNDAI 8U
@@ -36,6 +36,7 @@
 #define SAFETY_ALLOUTPUT 17U
 #define SAFETY_GM_ASCM 18U
 #define SAFETY_NOOUTPUT 19U
+#define SAFETY_HONDA_BOSCH_HARNESS 20U
 
 uint16_t current_safety_mode = SAFETY_SILENT;
 const safety_hooks *current_hooks = &nooutput_hooks;
@@ -74,11 +75,12 @@ typedef struct {
 
 const safety_hook_config safety_hook_registry[] = {
   {SAFETY_SILENT, &nooutput_hooks},
-  {SAFETY_HONDA, &honda_hooks},
+  {SAFETY_HONDA_NIDEC, &honda_nidec_hooks},
   {SAFETY_TOYOTA, &toyota_hooks},
   {SAFETY_ELM327, &elm327_hooks},
   {SAFETY_GM, &gm_hooks},
-  {SAFETY_HONDA_BOSCH, &honda_bosch_hooks},
+  {SAFETY_HONDA_BOSCH_GIRAFFE, &honda_bosch_hooks},
+  {SAFETY_HONDA_BOSCH_HARNESS, &honda_bosch_hooks},  // TODO: distinguish from above
   {SAFETY_HYUNDAI, &hyundai_hooks},
   {SAFETY_CHRYSLER, &chrysler_hooks},
   {SAFETY_SUBARU, &subaru_hooks},
diff --git a/board/safety/safety_honda.h b/board/safety/safety_honda.h
index 05525a0..783b2e1 100644
--- a/board/safety/safety_honda.h
+++ b/board/safety/safety_honda.h
@@ -196,7 +196,7 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
   return tx;
 }
 
-static void honda_init(int16_t param) {
+static void honda_nidec_init(int16_t param) {
   UNUSED(param);
   controls_allowed = false;
   relay_malfunction = false;
@@ -212,7 +212,7 @@ static void honda_bosch_init(int16_t param) {
   honda_alt_brake_msg = (param == 1) ? true : false;
 }
 
-static int honda_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
+static int honda_nidec_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
   // fwd from car to camera. also fwd certain msgs from camera to car
   // 0xE4 is steering on all cars except CRV and RDX, 0x194 for CRV and RDX,
   // 0x1FA is brake control, 0x30C is acc hud, 0x33D is lkas hud,
@@ -260,12 +260,12 @@ static int honda_bosch_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
   return bus_fwd;
 }
 
-const safety_hooks honda_hooks = {
-  .init = honda_init,
+const safety_hooks honda_nidec_hooks = {
+  .init = honda_nidec_init,
   .rx = honda_rx_hook,
   .tx = honda_tx_hook,
   .tx_lin = nooutput_tx_lin_hook,
-  .fwd = honda_fwd_hook,
+  .fwd = honda_nidec_fwd_hook,
 };
 
 const safety_hooks honda_bosch_hooks = {
diff --git a/drivers/windows/panda_shared/panda.h b/drivers/windows/panda_shared/panda.h
index 117fc92..6e8933f 100644
--- a/drivers/windows/panda_shared/panda.h
+++ b/drivers/windows/panda_shared/panda.h
@@ -39,7 +39,7 @@
 namespace panda {
 	typedef enum _PANDA_SAFETY_MODE : uint16_t {
 		SAFETY_SILENT = 0,
-		SAFETY_HONDA = 1,
+		SAFETY_HONDA_NIDEC = 1,
 		SAFETY_ALLOUTPUT = 17,
 	} PANDA_SAFETY_MODE;
 
diff --git a/python/__init__.py b/python/__init__.py
index 3246e30..436e72a 100644
--- a/python/__init__.py
+++ b/python/__init__.py
@@ -111,11 +111,11 @@ class Panda(object):
 
   # matches cereal.car.CarParams.SafetyModel
   SAFETY_SILENT = 0
-  SAFETY_HONDA = 1
+  SAFETY_HONDA_NIDEC = 1
   SAFETY_TOYOTA = 2
   SAFETY_ELM327 = 3
   SAFETY_GM = 4
-  SAFETY_HONDA_BOSCH = 5
+  SAFETY_HONDA_BOSCH_GIRAFFE = 5
   SAFETY_FORD = 6
   SAFETY_CADILLAC = 7
   SAFETY_HYUNDAI = 8
@@ -128,6 +128,7 @@ class Panda(object):
   SAFETY_ALLOUTPUT = 17
   SAFETY_GM_ASCM = 18
   SAFETY_NOOUTPUT = 19
+  SAFETY_HONDA_BOSCH_HARNESS = 20
 
   SERIAL_DEBUG = 0
   SERIAL_ESP = 1
diff --git a/tests/safety/test_honda.py b/tests/safety/test_honda.py
index 6ab2478..fab2c99 100755
--- a/tests/safety/test_honda.py
+++ b/tests/safety/test_honda.py
@@ -14,7 +14,7 @@ class TestHondaSafety(unittest.TestCase):
   @classmethod
   def setUp(cls):
     cls.safety = libpandasafety_py.libpandasafety
-    cls.safety.set_safety_hooks(Panda.SAFETY_HONDA, 0)
+    cls.safety.set_safety_hooks(Panda.SAFETY_HONDA_NIDEC, 0)
     cls.safety.init_tests_honda()
 
   def _speed_msg(self, speed):
diff --git a/tests/safety/test_honda_bosch.py b/tests/safety/test_honda_bosch.py
index eed3622..ee6eb9f 100755
--- a/tests/safety/test_honda_bosch.py
+++ b/tests/safety/test_honda_bosch.py
@@ -14,7 +14,7 @@ class TestHondaSafety(unittest.TestCase):
   @classmethod
   def setUp(cls):
     cls.safety = libpandasafety_py.libpandasafety
-    cls.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, 0)
+    cls.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH_GIRAFFE, 0)
     cls.safety.init_tests_honda()
 
   def test_spam_can_buses(self):
diff --git a/tests/safety_replay/helpers.py b/tests/safety_replay/helpers.py
index 8fa1d3a..b5fe1a0 100644
--- a/tests/safety_replay/helpers.py
+++ b/tests/safety_replay/helpers.py
@@ -11,7 +11,7 @@ def to_signed(d, bits):
 
 def is_steering_msg(mode, addr):
   ret = False
-  if mode == Panda.SAFETY_HONDA or mode == Panda.SAFETY_HONDA_BOSCH:
+  if mode in [Panda.SAFETY_HONDA_NIDEC, Panda.SAFETY_HONDA_BOSCH_GIRAFFE, Panda.SAFETY_HONDA_BOSCH_HARNESS]:
     ret = (addr == 0xE4) or (addr == 0x194) or (addr == 0x33D)
   elif mode == Panda.SAFETY_TOYOTA:
     ret = addr == 0x2E4
@@ -27,7 +27,7 @@ def is_steering_msg(mode, addr):
 
 def get_steer_torque(mode, to_send):
   ret = 0
-  if mode == Panda.SAFETY_HONDA or mode == Panda.SAFETY_HONDA_BOSCH:
+  if mode in [Panda.SAFETY_HONDA_NIDEC, Panda.SAFETY_HONDA_BOSCH_GIRAFFE, Panda.SAFETY_HONDA_BOSCH_HARNESS]:
     ret = to_send.RDLR & 0xFFFF0000
   elif mode == Panda.SAFETY_TOYOTA:
     ret = (to_send.RDLR & 0xFF00) | ((to_send.RDLR >> 16) & 0xFF)
@@ -45,7 +45,7 @@ def get_steer_torque(mode, to_send):
   return ret
 
 def set_desired_torque_last(safety, mode, torque):
-  if mode == Panda.SAFETY_HONDA or mode == Panda.SAFETY_HONDA_BOSCH:
+  if mode in [Panda.SAFETY_HONDA_NIDEC, Panda.SAFETY_HONDA_BOSCH_GIRAFFE, Panda.SAFETY_HONDA_BOSCH_HARNESS]:
     pass # honda safety mode doesn't enforce a rate on steering msgs
   elif mode == Panda.SAFETY_TOYOTA:
     safety.set_toyota_desired_torque_last(torque)
diff --git a/tests/safety_replay/test_safety_replay.py b/tests/safety_replay/test_safety_replay.py
index b427835..62546ba 100755
--- a/tests/safety_replay/test_safety_replay.py
+++ b/tests/safety_replay/test_safety_replay.py
@@ -11,10 +11,10 @@ BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
 
 # (route, safety mode, param)
 logs = [
-  ("b0c9d2329ad1606b|2019-05-30--20-23-57.bz2", Panda.SAFETY_HONDA, 0), # HONDA.CIVIC
+  ("b0c9d2329ad1606b|2019-05-30--20-23-57.bz2", Panda.SAFETY_HONDA_NIDEC, 0), # HONDA.CIVIC
   ("38bfd238edecbcd7|2019-06-07--10-15-25.bz2", Panda.SAFETY_TOYOTA, 66), # TOYOTA.PRIUS
   ("f89c604cf653e2bf|2018-09-29--13-46-50.bz2", Panda.SAFETY_GM, 0), # GM.VOLT
-  ("0375fdf7b1ce594d|2019-05-21--20-10-33.bz2", Panda.SAFETY_HONDA_BOSCH, 1), # HONDA.ACCORD
+  ("0375fdf7b1ce594d|2019-05-21--20-10-33.bz2", Panda.SAFETY_HONDA_BOSCH_GIRAFFE, 1), # HONDA.ACCORD
   ("02ec6bea180a4d36|2019-04-17--11-21-35.bz2", Panda.SAFETY_HYUNDAI, 0), # HYUNDAI.SANTA_FE
   ("6fb4948a7ebe670e|2019-11-12--00-35-53.bz2", Panda.SAFETY_CHRYSLER, 0), # CHRYSLER.PACIFICA_2018_HYBRID
   ("791340bc01ed993d|2019-04-08--10-26-00.bz2", Panda.SAFETY_SUBARU, 0), # SUBARU.IMPREZA