diff --git a/cereal/libcereal.a b/cereal/libcereal.a
index e04dd8f82..5b1a1c69e 100644
Binary files a/cereal/libcereal.a and b/cereal/libcereal.a differ
diff --git a/opendbc_repo/opendbc/safety/modes/gm.h b/opendbc_repo/opendbc/safety/modes/gm.h
index f3e9cc131..cfc6694d2 100644
--- a/opendbc_repo/opendbc/safety/modes/gm.h
+++ b/opendbc_repo/opendbc/safety/modes/gm.h
@@ -689,7 +689,7 @@ static safety_config gm_init(uint16_t param) {
   const bool gm_ascm_int_stock_cam = gm_ascm_int && (gm_hw == GM_CAM) && gm_pcm_cruise && !gm_cam_long && !gm_pedal_long && !gm_cc_long;
   gm_steer_limits = GET_FLAG(param, GM_PARAM_BOLT_2017) ? &GM_BOLT_2017_STEERING_LIMITS : &GM_STEERING_LIMITS;
 
-  if (gm_hw == GM_ASCM || gm_ascm_int || gm_force_ascm) {
+  if ((gm_hw == GM_ASCM && !gm_sdgm) || gm_ascm_int || gm_force_ascm) {
     gm_long_limits = &GM_ASCM_LONG_LIMITS;
   } else {
     gm_long_limits = &GM_CAM_LONG_LIMITS;
diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed
index 9f2f24894..ec434117d 100644
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diff --git a/panda/board/obj/body_h7/bootstub.elf b/panda/board/obj/body_h7/bootstub.elf
index f49640ebf..cd4d2adc7 100755
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diff --git a/panda/board/obj/body_h7/main.bin b/panda/board/obj/body_h7/main.bin
index b7b4d8b32..4a7bf5f8b 100755
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diff --git a/panda/board/obj/body_h7/main.elf b/panda/board/obj/body_h7/main.elf
index 7b5bef914..57578b539 100755
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diff --git a/panda/board/obj/bootstub.body_h7.bin b/panda/board/obj/bootstub.body_h7.bin
index 74eaa8810..9583f729b 100755
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diff --git a/panda/board/obj/bootstub.panda.bin b/panda/board/obj/bootstub.panda.bin
index 7e5977b53..c3e26cfcc 100755
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diff --git a/panda/board/obj/bootstub.panda_h7.bin b/panda/board/obj/bootstub.panda_h7.bin
index 527cf7db3..272d4b89a 100755
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diff --git a/panda/board/obj/bootstub.panda_h7_remote.bin b/panda/board/obj/bootstub.panda_h7_remote.bin
index 527cf7db3..272d4b89a 100755
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diff --git a/panda/board/obj/bootstub.panda_jungle_h7.bin b/panda/board/obj/bootstub.panda_jungle_h7.bin
index cfed0f014..c3f88f79b 100755
Binary files a/panda/board/obj/bootstub.panda_jungle_h7.bin and b/panda/board/obj/bootstub.panda_jungle_h7.bin differ
diff --git a/panda/board/obj/bootstub.panda_remote.bin b/panda/board/obj/bootstub.panda_remote.bin
index 7e5977b53..c3e26cfcc 100755
Binary files a/panda/board/obj/bootstub.panda_remote.bin and b/panda/board/obj/bootstub.panda_remote.bin differ
diff --git a/panda/board/obj/gitversion.h b/panda/board/obj/gitversion.h
index 3dc9498d6..22ce6e1a3 100644
--- a/panda/board/obj/gitversion.h
+++ b/panda/board/obj/gitversion.h
@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-ec152f73-DEBUG";
+const uint8_t gitversion[19] = "DEV-3bedeb4e-DEBUG";
diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed
index 1577cae34..7e7360ffc 100644
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diff --git a/panda/board/obj/panda/bootstub.elf b/panda/board/obj/panda/bootstub.elf
index f7f3c1f5e..856de0d02 100755
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diff --git a/panda/board/obj/panda/main.bin b/panda/board/obj/panda/main.bin
index 63b71ddbb..1802b30c8 100755
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diff --git a/panda/board/obj/panda/main.elf b/panda/board/obj/panda/main.elf
index 3c6dfb3b6..c06679594 100755
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diff --git a/panda/board/obj/panda_h7.bin.signed b/panda/board/obj/panda_h7.bin.signed
index 406e6c5c3..4064a98c4 100644
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diff --git a/panda/board/obj/panda_h7/bootstub.elf b/panda/board/obj/panda_h7/bootstub.elf
index 2278213b8..5f5cddf03 100755
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diff --git a/panda/board/obj/panda_h7/main.bin b/panda/board/obj/panda_h7/main.bin
index 68781c0c5..38aff5e2e 100755
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diff --git a/panda/board/obj/panda_h7/main.elf b/panda/board/obj/panda_h7/main.elf
index fc8113e22..ddf58595c 100755
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diff --git a/panda/board/obj/panda_h7_remote.bin.signed b/panda/board/obj/panda_h7_remote.bin.signed
index e405448cc..b7bdbf777 100644
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diff --git a/panda/board/obj/panda_h7_remote/bootstub.elf b/panda/board/obj/panda_h7_remote/bootstub.elf
index 110f9966f..d7508cd15 100755
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diff --git a/panda/board/obj/panda_h7_remote/main.bin b/panda/board/obj/panda_h7_remote/main.bin
index e8bce800b..b81565738 100755
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diff --git a/panda/board/obj/panda_h7_remote/main.elf b/panda/board/obj/panda_h7_remote/main.elf
index c41821099..c057b325b 100755
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diff --git a/panda/board/obj/panda_jungle_h7.bin.signed b/panda/board/obj/panda_jungle_h7.bin.signed
index 21b0fcae7..4456f14bf 100644
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diff --git a/panda/board/obj/panda_jungle_h7/bootstub.elf b/panda/board/obj/panda_jungle_h7/bootstub.elf
index 62c3075e3..846fedb18 100755
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diff --git a/panda/board/obj/panda_jungle_h7/main.bin b/panda/board/obj/panda_jungle_h7/main.bin
index d37149126..6beb82d65 100755
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diff --git a/panda/board/obj/panda_jungle_h7/main.elf b/panda/board/obj/panda_jungle_h7/main.elf
index 79d9233ed..90a7ffaa4 100755
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diff --git a/panda/board/obj/panda_remote.bin.signed b/panda/board/obj/panda_remote.bin.signed
index 55216ee5e..24217c738 100644
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diff --git a/panda/board/obj/panda_remote/bootstub.elf b/panda/board/obj/panda_remote/bootstub.elf
index 9708febf5..f553abc90 100755
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diff --git a/panda/board/obj/panda_remote/main.bin b/panda/board/obj/panda_remote/main.bin
index 4191781e6..b9818a9c9 100755
Binary files a/panda/board/obj/panda_remote/main.bin and b/panda/board/obj/panda_remote/main.bin differ
diff --git a/panda/board/obj/panda_remote/main.elf b/panda/board/obj/panda_remote/main.elf
index 6ac901f81..46f41a90a 100755
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diff --git a/panda/board/obj/version b/panda/board/obj/version
index 94fcdc735..23a9efb03 100644
--- a/panda/board/obj/version
+++ b/panda/board/obj/version
@@ -1 +1 @@
-DEV-ec152f73-DEBUG
\ No newline at end of file
+DEV-3bedeb4e-DEBUG
\ No newline at end of file
diff --git a/scripts/laptop_device_build.sh b/scripts/laptop_device_build.sh
index 8dae02bb6..18a92eb3f 100755
--- a/scripts/laptop_device_build.sh
+++ b/scripts/laptop_device_build.sh
@@ -105,6 +105,7 @@ ensure_image_exists() {
     "${engine}" build --pull --platform linux/arm64 -f tools/laptop_device_build/Dockerfile -t "${IMAGE_NAME}" .
   fi
   assert_image_arch "${engine}"
+  ensure_image_capnp_version "${engine}"
 }
 
 assert_image_arch() {
@@ -116,6 +117,41 @@ assert_image_arch() {
   fi
 }
 
+expected_capnp_version() {
+  local raw_version=""
+  raw_version="$(sed -n 's/^#elif CAPNP_VERSION != \([0-9][0-9]*\)$/\1/p' "${ROOT_DIR}/cereal/gen/cpp/custom.capnp.h" | head -n 1)"
+  [[ -n "${raw_version}" ]] || err "Unable to determine expected Cap'n Proto version from cereal/gen/cpp/custom.capnp.h."
+
+  local major=$(( raw_version / 1000000 ))
+  local minor=$(( (raw_version / 1000) % 1000 ))
+  local micro=$(( raw_version % 1000 ))
+  echo "${major}.${minor}.${micro}"
+}
+
+image_capnp_version() {
+  local engine="$1"
+  "${engine}" run --rm --platform linux/arm64 "${IMAGE_NAME}" bash -lc "capnp --version | awk '{print \$4}'" 2>/dev/null || true
+}
+
+ensure_image_capnp_version() {
+  local engine="$1"
+  local expected actual
+  expected="$(expected_capnp_version)"
+  actual="$(image_capnp_version "${engine}")"
+
+  if [[ "${actual}" == "${expected}" ]]; then
+    return
+  fi
+
+  echo "Container image ${IMAGE_NAME} has Cap'n Proto ${actual:-unknown}, expected ${expected}. Rebuilding it now..."
+  "${engine}" build --pull --platform linux/arm64 -f tools/laptop_device_build/Dockerfile -t "${IMAGE_NAME}" .
+
+  actual="$(image_capnp_version "${engine}")"
+  if [[ "${actual}" != "${expected}" ]]; then
+    err "Container image ${IMAGE_NAME} still has Cap'n Proto ${actual:-unknown} after rebuild; expected ${expected}."
+  fi
+}
+
 assert_runtime_machine() {
   local engine="$1"
   local machine
diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd
index 78d3cec51..42cbb65bf 100755
Binary files a/system/loggerd/encoderd and b/system/loggerd/encoderd differ
diff --git a/tools/laptop_device_build/Dockerfile b/tools/laptop_device_build/Dockerfile
index 3d5151cac..8a4cf86c4 100644
--- a/tools/laptop_device_build/Dockerfile
+++ b/tools/laptop_device_build/Dockerfile
@@ -1,5 +1,7 @@
 FROM ghcr.io/commaai/openpilot-base-aarch64:latest
 
+ARG CAPNP_VERSION=1.3.0
+
 ENV PYTHONUNBUFFERED=1
 ENV UV_LINK_MODE=copy
 WORKDIR /work
@@ -7,6 +9,8 @@ WORKDIR /work
 # Keep this image minimal; dependency resolution is done by uv inside the workspace.
 # rsync/ssh-client are needed for optional sysroot sync from a comma device.
 RUN apt-get update && apt-get install -y --no-install-recommends \
+    ca-certificates \
+    curl \
     rsync \
     openssh-client \
     e2fsprogs \
@@ -14,12 +18,26 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     qemu-user-static \
     gcc-aarch64-linux-gnu \
     g++-aarch64-linux-gnu \
+    cmake \
     qtbase5-private-dev \
     python3-pip \
     xz-utils \
     git \
   && rm -rf /var/lib/apt/lists/*
 
+RUN set -eux; \
+    tmpdir="$(mktemp -d)"; \
+    curl -fsSL "https://github.com/capnproto/capnproto/archive/refs/tags/v${CAPNP_VERSION}.tar.gz" | tar -xz -C "${tmpdir}"; \
+    cmake -S "${tmpdir}/capnproto-${CAPNP_VERSION}/c++" -B "${tmpdir}/build" \
+      -DBUILD_TESTING=OFF \
+      -DCMAKE_BUILD_TYPE=Release \
+      -DCMAKE_INSTALL_PREFIX=/usr/local; \
+    cmake --build "${tmpdir}/build" -j"$(nproc)"; \
+    cmake --install "${tmpdir}/build"; \
+    ldconfig; \
+    capnp --version; \
+    rm -rf "${tmpdir}"
+
 RUN /usr/bin/python3 -m pip install --no-cache-dir --break-system-packages uv
 
 # Fix for "dubious ownership" git errors when mounting folders on Linux hosts.