Merge remote-tracking branch 'upstream/agnos18.1.1' into bluetooth

.dockerignore

@@ -6,5 +6,9 @@
 
 build/
 output/
+!output/
+output/*
+!output/linux-headers/
+!output/linux-headers/**
 edk2_tici/
 agnos-kernel-sdm845/

.github/workflows/build.yaml

@@ -13,7 +13,7 @@ concurrency:
 jobs:
   build:
     name: build kernel and system
-    runs-on: namespace-profile-arm64-8x16-2004-caching
+    runs-on: ubuntu-24.04-arm
     timeout-minutes: 60
     steps:
     - uses: actions/checkout@v4

.gitignore

@@ -15,7 +15,4 @@ qcom_xbl/
 
 .vscode
 
-edl_config.json
-tools/edl_repo/
-
 edk2_tici/

Dockerfile.agnos

@@ -21,12 +21,6 @@ RUN apt-get update && apt-get install -yq --no-install-recommends \
 # Enable ccache
 ENV PATH="/usr/lib/ccache:$PATH"
 
-# ffmpeg
-FROM agnos-compiler AS agnos-compiler-ffmpeg
-COPY ./userspace/compile-ffmpeg.sh /tmp/agnos/
-RUN --mount=type=cache,target=/root/.ccache,id=ffmpeg,sharing=shared \
-    /tmp/agnos/compile-ffmpeg.sh
-
 # libqmi
 FROM agnos-compiler AS agnos-compiler-libqmi
 COPY ./userspace/compile-libqmi.sh /tmp/agnos/
@@ -118,10 +112,6 @@ RUN cd /tmp && \
     apt-get -o Dpkg::Options::="--force-overwrite" install -yq ./libqmi.deb && \
     apt-get -o Dpkg::Options::="--force-overwrite" install -yq ./modemmanager.deb
 
-# Use other pre-compiled packages
-COPY --from=agnos-compiler-ffmpeg /tmp/ffmpeg.deb /tmp/ffmpeg.deb
-RUN cd /tmp && apt-get -o Dpkg::Options::="--force-overwrite" install -yq ./ffmpeg.deb
-
 ARG XDG_DATA_HOME="/usr/local"
 
 # Install openpilot python packages
@@ -169,11 +159,13 @@ COPY ./userspace/usr/comma/ /usr/$USERNAME/
 COPY ./userspace/usr/share/fonts/* /usr/share/fonts/
 COPY ./userspace/libs/* /usr/lib/aarch64-linux-gnu/
 COPY ./userspace/libs32/* /usr/lib/arm-linux-gnueabihf/
+COPY ./output/linux-headers/include/ /usr/include/
+COPY ./userspace/files/amdgpu/ /usr/lib/firmware/amdgpu/
 
-# this is big, only enable when we need it
-# kernel headers for the AGNOS kernel (built on device)
-#COPY ./userspace/files/linux-headers-4.9.103+_4.9.103+-1_arm64.deb /tmp/
-#RUN dpkg -i /tmp/linux-headers-4.9.103+_4.9.103+-1_arm64.deb
+COPY ./userspace/power_burn/power_burn_max.c /tmp/agnos/
+RUN gcc -O2 -o /home/$USERNAME/power_burn_max /tmp/agnos/power_burn_max.c \
+    -lOpenCL -lpthread -ldl && rm /tmp/agnos/power_burn_max.c \
+    && chown $USERNAME: /home/$USERNAME/power_burn_max
 
 # Weston with hacked touch rotate and color correction
 COPY ./userspace/files/weston /usr/bin/weston
@@ -234,6 +226,15 @@ RUN sed -i 's/hosts:          files dns myhostname/hosts:          files myhostn
 
 # keep this last
 RUN ldconfig
+# ldconfig rewrites these SONAME links back to Mesa; raylib COMMA needs Adreno.
+RUN cd /usr/lib/aarch64-linux-gnu && \
+    test -f libEGL_adreno.so && \
+    test -f libGLESv2_adreno.so && \
+    install -m 755 libgbm.so /tmp/libgbm_adreno.so && \
+    ln -sf libEGL_adreno.so libEGL.so.1 && \
+    ln -sf libGLESv2_adreno.so libGLESv2.so.2 && \
+    rm -f libgbm.so.1 && \
+    mv /tmp/libgbm_adreno.so libgbm.so.1
 
 # Setup RO rootfs
 RUN mkdir -p /rwtmp

VERSION

@@ -1 +1 @@
-17
+18.3

build_kernel.sh

@@ -109,6 +109,11 @@ build_kernel() {
   # Copy to output dir
   mkdir -p $OUTPUT_DIR
   mv $BOOT_IMG $OUTPUT_DIR/
+  cd $DIR/agnos-kernel-sdm845
+
+  echo "-- Install kernel UAPI headers --"
+  rm -rf $OUTPUT_DIR/linux-headers
+  make headers_install O=out INSTALL_HDR_PATH=$OUTPUT_DIR/linux-headers
 }
 
 # Run build_kernel in container

build_kernel_headers.sh

@@ -1,44 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-DEFCONFIG=tici_defconfig
-
-# Get directories and make sure we're in the correct spot to start the build
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-TOOLS=$DIR/tools
-TMP_DIR=/tmp/agnos-builder-tmp
-OUTPUT_DIR=$DIR/output
-BOOT_IMG=./boot.img
-cd $DIR
-
-# Clone kernel if not done already
-if [ ! -d agnos-kernel-sdm845 ]; then
-  git submodule init agnos-kernel-sdm845
-fi
-cd agnos-kernel-sdm845
-
-# Build parameters
-export ARCH=arm64
-if [ ! -f /TICI ]; then
-  export CROSS_COMPILE=$TOOLS/aarch64-linux-gnu-gcc/bin/aarch64-linux-gnu-
-  export CC=$TOOLS/aarch64-linux-gnu-gcc/bin/aarch64-linux-gnu-gcc
-  export LD=$TOOLS/aarch64-linux-gnu-gcc/bin/aarch64-linux-gnu-ld.bfd
-fi
-
-# these do anything?
-export KCFLAGS="-w"
-
-# Load defconfig and build kernel
-echo "-- First make --"
-make $DEFCONFIG O=out
-echo "-- Second make: $(nproc --all) cores --"
-ARGS=""
-if [ -f /TICI ]; then
-  ARGS="sudo -E"
-fi
-$ARGS make bindeb-pkg -j$(nproc --all) O=out  # Image.gz-dtb
-
-# Copy output
-mkdir -p $OUTPUT_DIR
-cp linux-headers-*.deb $OUTPUT_DIR
-

firmware/abl.img

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee
+oid sha256:b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c
 size 274432

firmware/aop.img

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:4d925c9248672e4a69a236991983375008c44997a854ee7846d1b5fd7c787788
+oid sha256:78b2287ca219a0811b3004c523fa0f4749e4d1fd92be3aba61699305b7943ad1
 size 184364

firmware/devcfg.img

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2f374581243910db92f62bb13bd66ec8e3d56d434997ba007ded06d2d6cc8585
+oid sha256:f71df3a86958c093ba3969254c4db025187eef9385427f1ade946742939b43cc
 size 40336

firmware/xbl.img

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:dd45c0febdf0e022dab82ed0219370a86e8e6c0dfabfe29f3dab7eb1174d6bc6
+oid sha256:e8acf2a9cc7f0ce84cb803bfea9477f765c0d7b4daf26048e59651b9e6a7bfbb
 size 3282256

firmware/xbl_config.img

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:1074ae051df159ba6dba988d8f6ba2cfc304ed1466cce0db531df6f7b1e44aa9
+oid sha256:758552ecf92b5569677197783bf0ccb73d7f961685308e45d3276ac9dd974f85
 size 98124

flash_all.sh

@@ -5,8 +5,8 @@ DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
 cd $DIR
 
 for part in aop abl xbl xbl_config devcfg; do
-  tools/edl w ${part}_a $DIR/firmware/$part.img
-  tools/edl w ${part}_b $DIR/firmware/$part.img
+  tools/qdl flash ${part}_a $DIR/firmware/$part.img
+  tools/qdl flash ${part}_b $DIR/firmware/$part.img
 done
 
 ./flash_kernel.sh

flash_kernel.sh

@@ -4,16 +4,4 @@ set -e
 DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
 cd $DIR
 
-echo "Checking active slot..."
-ACTIVE_SLOT=$(tools/edl getactiveslot | grep "Current active slot:" | awk '{print $NF}')
-
-if [[ "$ACTIVE_SLOT" != "a" && "$ACTIVE_SLOT" != "b" ]]; then
-  echo "Invalid active slot: '$ACTIVE_SLOT'"
-  exit 1
-fi
-
-echo "Active slot: $ACTIVE_SLOT"
-echo "Flashing boot_$ACTIVE_SLOT..."
-tools/edl w boot_$ACTIVE_SLOT $DIR/output/boot.img
-
-echo "Flashed boot_$ACTIVE_SLOT!"
+tools/qdl flash boot $DIR/output/boot.img

flash_system.sh

@@ -4,18 +4,5 @@ set -e
 DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
 cd $DIR
 
-echo "Checking active slot..."
-ACTIVE_SLOT=$(tools/edl getactiveslot | grep "Current active slot:" | awk '{print $NF}')
-
-if [[ "$ACTIVE_SLOT" != "a" && "$ACTIVE_SLOT" != "b" ]]; then
-  echo "Invalid active slot: '$ACTIVE_SLOT'"
-  exit 1
-fi
-
-echo "Active slot: $ACTIVE_SLOT"
-echo "Flashing system_$ACTIVE_SLOT..."
-tools/edl w system_$ACTIVE_SLOT $DIR/output/system.img
-
-tools/edl reset
-
-echo "Flashed system_$ACTIVE_SLOT!"
+tools/qdl flash system $DIR/output/system.img
+tools/qdl reset

scripts/build_userdata.sh

@@ -49,7 +49,7 @@ function create_image() {
   rm -rf $WORKDIR
 }
 
-for sz in 30 89 90; do
+for sz in 89 90; do
   echo "Building ${sz}GB userdata image"
   create_image ${sz}G
 done

scripts/download-from-manifest.py

@@ -8,7 +8,7 @@ from pathlib import Path
 from urllib.parse import urlparse
 
 MASTER_MANIFEST = "https://raw.githubusercontent.com/commaai/openpilot/master/system/hardware/tici/agnos.json"
-RELEASE_MANIFEST = "https://raw.githubusercontent.com/commaai/openpilot/release3/system/hardware/tici/agnos.json"
+RELEASE_MANIFEST = "https://raw.githubusercontent.com/commaai/openpilot/release-mici/system/hardware/tici/agnos.json"
 
 ROOT = Path(__file__).parent.parent
 

scripts/mdma.py

@@ -0,0 +1,180 @@
+#!/usr/bin/env -S uv run --script
+# /// script
+# dependencies = ["pyusb"]
+# ///
+import argparse
+import errno
+import fcntl
+import os
+import re
+import select
+import sys
+import termios
+import time
+
+import usb.core
+
+SERIAL_DEV = "/dev/serial/by-id/usb-Microchip_Tech_USB2_Controller_Hub-if01"
+PROMPT_RE = re.compile(rb"(?:login:|[#\$])$")
+USB_RT_PORT = 0x23
+USB_REQ_CLEAR_FEATURE = 1
+USB_REQ_SET_FEATURE = 3
+USB_PORT_POWER = 8
+
+
+class Pins:
+  HFC_VID = 0x0424
+  HFC_PID = 0x704C
+  USB7002_VID = 0x0424
+  USB7002_PID = 0x7002
+  USB4002_VID = 0x0424
+  USB4002_PID = 0x4002
+  PIO96_OEN = 0xBF800908
+  PIO96_OUT = 0xBF800928
+  VIN_EN = 1 << (92 - 64)
+
+
+class Mdma:
+  """
+    MDMA: the mici debug and monitoring adapter
+
+    an MDMA is your best friend for low level mici (aka comma four) development.
+    - power the SOC on and off
+    - force the SOC into QDL mode for un-brickability
+    - read and write to the SOC's UART
+    - and more!
+  """
+
+  def hub(self, vid, pid):
+    hub = usb.core.find(idVendor=vid, idProduct=pid)
+    if hub is None:
+      raise SystemExit(f"could not find hub {vid:04x}:{pid:04x}")
+    return hub
+
+  def available(self):
+    return os.path.exists(SERIAL_DEV)
+
+  def reg(self, addr, value=None, size=4):
+    dev = usb.core.find(idVendor=Pins.HFC_VID, idProduct=Pins.HFC_PID)
+    if value is None:
+      return int.from_bytes(bytes(dev.ctrl_transfer(0xC0, 0x04, addr & 0xFFFF, addr >> 16, size)), "little")
+    dev.ctrl_transfer(0x40, 0x03, addr & 0xFFFF, addr >> 16, value.to_bytes(size, "little"))
+
+  def gpio(self, bit, on):
+    if on:
+      self.reg(Pins.PIO96_OEN, self.reg(Pins.PIO96_OEN) & ~bit)
+    else:
+      self.reg(Pins.PIO96_OUT, self.reg(Pins.PIO96_OUT) & ~bit)
+      self.reg(Pins.PIO96_OEN, self.reg(Pins.PIO96_OEN) | bit)
+
+  def aux(self, action):
+    request = USB_REQ_SET_FEATURE if action == "on" else USB_REQ_CLEAR_FEATURE
+    for vid, pid in [(Pins.USB7002_VID, Pins.USB7002_PID),  (Pins.USB4002_VID, Pins.USB4002_PID)]:
+      try:
+        self.hub(vid, pid).ctrl_transfer(USB_RT_PORT, request, USB_PORT_POWER, 1, None, timeout=1000)
+      except usb.core.USBError: # try one more time
+        self.hub(vid, pid).ctrl_transfer(USB_RT_PORT, request, USB_PORT_POWER, 1, None, timeout=1000)
+
+  def power_off(self):
+    self.aux("off")
+    self.gpio(Pins.VIN_EN, False)
+
+  def reboot(self, qdl):
+    self.aux("off")
+    self.gpio(Pins.VIN_EN, False)
+    time.sleep(0.1)
+    if qdl:
+      # on comma 3X and comma four, aux powering
+      # up first forces QDL mode on boot
+      self.aux("on")
+    else:
+      self.gpio(Pins.VIN_EN, True)
+    boot_time = time.monotonic()
+    time.sleep(0.1)
+    self.gpio(Pins.VIN_EN, True)
+    self.aux("on")
+
+    # give time to enumerate
+    if qdl:
+      time.sleep(1)
+
+    return boot_time
+
+  def serial(self):
+    os.execvp("screen", ["screen", SERIAL_DEV, "115200"])
+
+  def profile_boot(self):
+    # device off for clean serial
+    self.power_off()
+
+    # open the serial device
+    try:
+      fd = os.open(SERIAL_DEV, os.O_RDWR | os.O_NOCTTY | os.O_NONBLOCK)
+    except OSError as e:
+      if e.errno == errno.EBUSY:
+        raise SystemExit(f"{SERIAL_DEV} is busy; close the serial console first")
+      raise
+
+    attrs = termios.tcgetattr(fd)
+    attrs[0] = 0
+    attrs[1] = 0
+    attrs[2] = termios.CS8 | termios.CREAD | termios.CLOCAL
+    attrs[3] = 0
+    attrs[4] = termios.B115200
+    attrs[5] = termios.B115200
+    attrs[6][termios.VMIN] = 0
+    attrs[6][termios.VTIME] = 0
+    termios.tcsetattr(fd, termios.TCSANOW, attrs)
+    fcntl.fcntl(fd, fcntl.F_SETFL, fcntl.fcntl(fd, fcntl.F_GETFL) & ~os.O_NONBLOCK)
+    termios.tcflush(fd, termios.TCIFLUSH)
+    while (data := os.read(fd, 4096)):
+      time.sleep(0.1)
+
+    # boot!
+    start = self.reboot(qdl=False)
+
+    # show serial console with timestamps until boot is done
+    pending = b""
+    while True:
+      if not select.select([fd], [], [], 0.25)[0]:
+        continue
+
+      data = os.read(fd, 4096)
+      if not data:
+        continue
+      pending += data.replace(b"\r\n", b"\n")
+      while b"\n" in pending:
+        line, pending = pending.split(b"\n", 1)
+        line = line.rstrip()
+        print(f"[{time.monotonic() - start:8.3f}] {line.decode(errors='replace')}", flush=True)
+        if PROMPT_RE.search(line):
+          return
+      if PROMPT_RE.search(pending.strip()):
+        print(f"[{time.monotonic() - start:8.3f}] {pending.strip().decode(errors='replace')}", flush=True)
+        return
+
+
+if __name__ == "__main__":
+  cmds = {
+    "reboot":       (lambda: Mdma().reboot(qdl=False), "reboot comma four into normal boot"),
+    "reboot-qdl":   (lambda: Mdma().reboot(qdl=True), "reboot comma four into QDL mode for flashing"),
+    "serial":       (lambda: Mdma().serial(), "open the MSM UART console with screen"),
+    "serial":       (lambda: Mdma().serial(), "open the MSM UART console with screen"),
+    "profile-boot": (lambda: Mdma().profile_boot(), "reboot comma four and profile boot time"),
+  }
+
+  parser = argparse.ArgumentParser()
+  parser.add_argument("--missing-ok", action="store_true", help="continue successfully when no MDMA is connected")
+  subparsers = parser.add_subparsers(dest="command", required=True)
+  for cmd, (_, hlp) in cmds.items():
+    subparsers.add_parser(cmd, help=hlp)
+  if len(sys.argv) == 1:
+    parser.print_help()
+    raise SystemExit(0)
+  args = parser.parse_args()
+
+  if not Mdma().available():
+    print("MDMA not found.")
+    raise SystemExit(0 if args.missing_ok else 1)
+
+  cmds[args.command][0]()

scripts/package_ota.py

@@ -58,7 +58,6 @@ PARTITIONS = [
   Partition('system', OUTPUT_DIR / 'system.img', True, True, False, True),
   Partition('userdata_90', OUTPUT_DIR / 'userdata_90.img', False, False, True, True),
   Partition('userdata_89', OUTPUT_DIR / 'userdata_89.img', False, False, True, True),
-  Partition('userdata_30', OUTPUT_DIR / 'userdata_30.img', False, False, True, True),
 ]
 
 

tools/edl

@@ -1,56 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-ROOT=$DIR/../
-
-# just a nice wrapper around the edl python tool
-
-EDL_PATH=$DIR/edl_repo
-VERSION="8573eba1b576305fec3a068393283143ffc34342"
-
-if [ ! -d "$EDL_PATH" ]; then
-  rm -rf $EDL_PATH
-  git clone https://github.com/bkerler/edl $EDL_PATH
-fi
-
-pushd $EDL_PATH > /dev/null
-
-NEED_INSTALL=0
-if [ ! -d venv ]; then
-  python3 -m venv venv
-  NEED_INSTALL=1
-fi
-source venv/bin/activate
-
-if [ "$(< .git/HEAD)" != "$VERSION" ]; then
-  echo "updating edl..."
-  git fetch origin $VERSION
-  git checkout $VERSION
-  git submodule update --depth=1 --init --recursive
-  NEED_INSTALL=1
-fi
-
-if [ "$NEED_INSTALL" -eq 1 ]; then
-  pip3 install -r requirements.txt
-fi
-
-# patch in comma four USB id (https://github.com/commaai/agnos-builder/issues/533)
-if ! grep -q '0x3801' $EDL_PATH/edlclient/Config/usb_ids.py; then
-  sed -i '/\[0x05c6, 0x9008, -1\]/a\    [0x3801, 0x9008, -1],  # comma four' $EDL_PATH/edlclient/Config/usb_ids.py
-fi
-
-popd > /dev/null
-
-$EDL_PATH/edl "$@"
-
-################################################################################
-# On M-series macs, if you get "No backend available"
-# where python is installed with pyenv and libusb with brew
-# try this:
-#
-# brew install libusb
-# sudo mkdir -p /usr/local/lib
-# sudo ln -s /opt/homebrew/lib/libusb-1.0.0.dylib /usr/local/lib/libusb.dylib
-#
-################################################################################

tools/qdl

@@ -0,0 +1,15 @@
+#!/usr/bin/env bash
+set -e
+
+if ! command -v bun &> /dev/null; then
+  echo "Installing bun..." >&2
+  curl -fsSL https://bun.sh/install | bash >&2
+  export PATH="$HOME/.bun/bin:$PATH"
+fi
+
+QDL="bunx --bun commaai/qdl.js"
+
+# preload package so bunx output doesn't pollute stdout on first run
+$QDL --help > /dev/null 2>&1 || true
+
+exec $QDL "$@"

userspace/compile-ffmpeg.sh

@@ -1,42 +0,0 @@
-#!/bin/bash -e
-
-VERSION=4.2.2
-
-# Install build requirements
-apt-get update && apt-get install -yq --no-install-recommends \
-    libass-dev \
-    libfreetype6-dev \
-    libgnutls28-dev \
-    libmp3lame-dev \
-    libsdl2-dev \
-    libtool \
-    libva-dev \
-    libvdpau-dev \
-    libvorbis-dev \
-    libx264-dev \
-    libxcb1-dev \
-    libxcb-shm0-dev \
-    libxcb-xfixes0-dev \
-    liblzma-dev \
-    rsync \
-    texinfo \
-    zlib1g-dev
-
-# Build ffmpeg (the one from the ubuntu repos doesn't work with our libOpenCL)
-cd /tmp
-wget https://ffmpeg.org/releases/ffmpeg-${VERSION}.tar.bz2
-tar xvf ffmpeg-${VERSION}.tar.bz2
-cd ffmpeg-${VERSION}
-
-# avoid makeinfo: error parsing ./doc/t2h.pm: Undefined subroutine &Texinfo::Config::set_from_init_file called at ./doc/t2h.pm line 24.
-# with --disable-htmlpages
-# --disable-doc works too, disables building documentation completely
-# https://gist.github.com/omegdadi/6904512c0a948225c81114b1c5acb875
-# https://github.com/7Ji/archrepo/issues/10
-./configure --enable-gpl --enable-libx264 --enable-shared --disable-static --disable-htmlpages
-make -j$(nproc)
-
-# remove "--fstrans=no" when checkinstall is fixed (still not fixed in 24.04)
-# # https://bugs.launchpad.net/ubuntu/+source/checkinstall/+bug/78455
-checkinstall -yD --install=no --fstrans=no --pkgname=ffmpeg
-mv ffmpeg*.deb /tmp/ffmpeg.deb

userspace/power_burn/power_burn_max.c

@@ -0,0 +1,229 @@
+/*
+ * power_burn_max - short CPU/LED-only power blip for boot.
+ *
+ *   power_burn_max [seconds] [n_cores]
+ *
+ * seconds may be fractional. n_cores defaults to all 8 SDM845 cores; use 4 to
+ * burn only the big cluster.
+ */
+
+#define _GNU_SOURCE
+#include <fcntl.h>
+#include <pthread.h>
+#include <sched.h>
+#include <signal.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <sys/mman.h>
+#include <time.h>
+#include <unistd.h>
+
+static volatile sig_atomic_t running = 1;
+static volatile sig_atomic_t exit_signum = 0;
+static void stop_sig(int s) { exit_signum = s; running = 0; }
+
+/* End-of-ramoops DDR page. Survives warm reset if DDR stays in self-refresh
+ * across a PSU dropout, so ABL reads this cookie on boot to detect a mid-burn
+ * power cut. */
+#define POWER_TEST_ADDR  0xB03FFFFCull
+#define POWER_TEST_MAGIC 0x57505354u   /* "WPST" */
+
+static void write_magic(uint32_t val) {
+  int fd = open("/dev/mem", O_RDWR | O_SYNC);
+  if (fd < 0) return;
+  const uintptr_t page = POWER_TEST_ADDR & ~0xFFFull;
+  const uintptr_t off = POWER_TEST_ADDR & 0xFFFull;
+  void *p = mmap(NULL, 0x1000, PROT_READ | PROT_WRITE, MAP_SHARED, fd, (off_t)page);
+  if (p == MAP_FAILED) { close(fd); return; }
+  *(volatile uint32_t *)((char *)p + off) = val;
+  msync(p, 0x1000, MS_SYNC);
+  munmap(p, 0x1000);
+  close(fd);
+}
+
+#define MAX_SAVED 128
+static struct { char path[192]; char val[64]; } saved[MAX_SAVED];
+static int nsaved;
+
+static int sysfs_read(const char *p, char *b, int sz) {
+  FILE *f = fopen(p, "r");
+  if (!f) return -1;
+  if (!fgets(b, sz, f)) { fclose(f); return -1; }
+  fclose(f);
+  b[strcspn(b, "\n")] = 0;
+  return 0;
+}
+
+static void sysfs_write(const char *p, const char *v) {
+  FILE *f = fopen(p, "w");
+  if (!f) return;
+  fputs(v, f);
+  fclose(f);
+}
+
+static void save_and_write(const char *p, const char *v) {
+  if (nsaved < MAX_SAVED && sysfs_read(p, saved[nsaved].val, sizeof(saved[0].val)) == 0) {
+    strncpy(saved[nsaved].path, p, sizeof(saved[0].path) - 1);
+    saved[nsaved].path[sizeof(saved[0].path) - 1] = 0;
+    nsaved++;
+  }
+  sysfs_write(p, v);
+}
+
+static void restore_all(void) {
+  for (int i = nsaved - 1; i >= 0; i--) sysfs_write(saved[i].path, saved[i].val);
+}
+
+static void fatal_sig(int s) {
+  write_magic(0);
+  restore_all();
+  _exit(128 + s);
+}
+
+static void leds_on(void) {
+  save_and_write("/sys/class/leds/led:torch_0/brightness",  "500");
+  save_and_write("/sys/class/leds/led:torch_1/brightness",  "500");
+  save_and_write("/sys/class/leds/led:torch_2/brightness",  "300");
+  save_and_write("/sys/class/leds/led:switch_0/brightness", "255");
+  save_and_write("/sys/class/leds/led:switch_1/brightness", "255");
+  save_and_write("/sys/class/leds/led:switch_2/brightness", "255");
+}
+
+static void cpu_bus_freq_max(void) {
+  save_and_write("/sys/class/devfreq/soc:qcom,cpubw/governor",   "performance");
+  save_and_write("/sys/class/devfreq/soc:qcom,llccbw/governor",  "performance");
+  save_and_write("/sys/class/devfreq/soc:qcom,l3-cpu0/governor", "performance");
+  save_and_write("/sys/class/devfreq/soc:qcom,l3-cpu4/governor", "performance");
+}
+
+static void pin_core(int cpu) {
+  char path[160];
+  char max_freq[32];
+
+  snprintf(path, sizeof(path), "/sys/devices/system/cpu/cpu%d/cpufreq/cpuinfo_max_freq", cpu);
+  if (sysfs_read(path, max_freq, sizeof(max_freq)) != 0)
+    max_freq[0] = 0;
+
+  snprintf(path, sizeof(path), "/sys/devices/system/cpu/cpu%d/online", cpu);
+  save_and_write(path, "1");
+
+  if (max_freq[0]) {
+    snprintf(path, sizeof(path), "/sys/devices/system/cpu/cpu%d/cpufreq/scaling_max_freq", cpu);
+    save_and_write(path, max_freq);
+    snprintf(path, sizeof(path), "/sys/devices/system/cpu/cpu%d/cpufreq/scaling_min_freq", cpu);
+    save_and_write(path, max_freq);
+  }
+
+  snprintf(path, sizeof(path), "/sys/devices/system/cpu/cpu%d/cpufreq/scaling_governor", cpu);
+  save_and_write(path, "performance");
+}
+
+static void *cpu_burn(void *arg) {
+  int core = (int)(intptr_t)arg;
+  cpu_set_t set; CPU_ZERO(&set); CPU_SET(core, &set);
+  pthread_setaffinity_np(pthread_self(), sizeof(set), &set);
+
+  void *mem = NULL;
+  if (posix_memalign(&mem, 64, 4096) != 0)
+    return NULL;
+  memset(mem, core, 4096);
+
+  const uint32_t a = 0x3f000000u + (uint32_t)core;
+  const uint32_t b = 0x3e800000u + (uint32_t)core;
+  const uint32_t c = 0x3f4ccccdu + (uint32_t)core;
+
+  while (running) {
+    asm volatile(
+      "dup v0.4s, %w[a]\n"
+      "dup v1.4s, %w[b]\n"
+      "dup v2.4s, %w[c]\n"
+      "dup v3.4s, %w[a]\n"
+      "dup v4.4s, %w[b]\n"
+      "dup v5.4s, %w[c]\n"
+      "dup v6.4s, %w[a]\n"
+      "dup v7.4s, %w[b]\n"
+      "dup v16.4s, %w[c]\n"
+      "dup v17.4s, %w[a]\n"
+      "dup v18.4s, %w[b]\n"
+      "dup v19.4s, %w[c]\n"
+      "mov x9, #10000\n"
+      "1:\n"
+      "ldp q20, q21, [%[p], #0]\n"
+      "fmla v0.4s, v16.4s, v17.4s\n"
+      "fmla v1.4s, v17.4s, v18.4s\n"
+      "fmla v2.4s, v18.4s, v19.4s\n"
+      "fmla v3.4s, v19.4s, v16.4s\n"
+      "ldp q22, q23, [%[p], #32]\n"
+      "fmla v4.4s, v16.4s, v18.4s\n"
+      "fmla v5.4s, v17.4s, v19.4s\n"
+      "fmla v6.4s, v18.4s, v16.4s\n"
+      "fmla v7.4s, v19.4s, v17.4s\n"
+      "eor v20.16b, v20.16b, v22.16b\n"
+      "fmla v8.4s, v0.4s, v17.4s\n"
+      "fmla v9.4s, v1.4s, v18.4s\n"
+      "fmla v10.4s, v2.4s, v19.4s\n"
+      "fmla v11.4s, v3.4s, v16.4s\n"
+      "eor v21.16b, v21.16b, v23.16b\n"
+      "fmla v12.4s, v4.4s, v18.4s\n"
+      "fmla v13.4s, v5.4s, v19.4s\n"
+      "fmla v14.4s, v6.4s, v16.4s\n"
+      "fmla v15.4s, v7.4s, v17.4s\n"
+      "stp q20, q21, [%[p], #0]\n"
+      "stp q22, q23, [%[p], #32]\n"
+      "subs x9, x9, #1\n"
+      "b.ne 1b\n"
+      :
+      : [p] "r" (mem), [a] "r" (a), [b] "r" (b), [c] "r" (c)
+      : "x9", "cc", "memory",
+        "v0", "v1", "v2", "v3", "v4", "v5", "v6", "v7",
+        "v8", "v9", "v10", "v11", "v12", "v13", "v14", "v15",
+        "v16", "v17", "v18", "v19", "v20", "v21", "v22", "v23");
+  }
+
+  free(mem);
+  return NULL;
+}
+
+static uint64_t mono_ns(void) {
+  struct timespec ts;
+  clock_gettime(CLOCK_MONOTONIC, &ts);
+  return (uint64_t)ts.tv_sec * 1000000000ull + ts.tv_nsec;
+}
+
+int main(int argc, char **argv) {
+  double duration_s = argc > 1 ? strtod(argv[1], NULL) : 1.0;
+  int n_cores = argc > 2 ? atoi(argv[2]) : 8;
+  if (n_cores < 0) n_cores = 0;
+  if (n_cores > 8) n_cores = 8;
+  int first_cpu = n_cores > 4 ? 0 : 4;
+
+  signal(SIGTERM, stop_sig);
+  signal(SIGINT, stop_sig);
+  signal(SIGABRT, fatal_sig);
+  signal(SIGSEGV, fatal_sig);
+  signal(SIGBUS, fatal_sig);
+
+  cpu_bus_freq_max();
+  for (int i = 0; i < n_cores; i++) pin_core(first_cpu + i);
+  write_magic(POWER_TEST_MAGIC);
+  leds_on();
+
+  pthread_t th[8];
+  for (int i = 0; i < n_cores; i++)
+    pthread_create(&th[i], NULL, cpu_burn, (void *)(intptr_t)(first_cpu + i));
+
+  uint64_t end_ns = duration_s > 0.0 ? mono_ns() + (uint64_t)(duration_s * 1000000000.0) : 0;
+  while (running) {
+    if (end_ns && mono_ns() >= end_ns) break;
+    usleep(1000);
+  }
+  running = 0;
+
+  for (int i = 0; i < n_cores; i++) pthread_join(th[i], NULL);
+  restore_all();
+  write_magic(0);
+  if (exit_signum) fprintf(stderr, "[power_burn_max] interrupted by signal %d\n", (int)exit_signum);
+  return 0;
+}

userspace/usr/comma/comma.sh

@@ -8,6 +8,15 @@ CONTINUE="/data/continue.sh"
 INSTALLER="/tmp/installer"
 RESET_TRIGGER="/data/__system_reset__"
 
+# blip power to ~5W to see if the PSU is stable
+if grep -q mici /sys/firmware/devicetree/base/model; then
+  sudo timeout --kill-after=2 5 /home/comma/power_burn_max 0.3 2
+fi
+
+# use max freq to boot up quickly, then limit
+echo 1689600 | sudo tee /sys/devices/system/cpu/cpufreq/policy0/scaling_max_freq
+echo 1689600 | sudo tee /sys/devices/system/cpu/cpufreq/policy4/scaling_max_freq
+
 echo "waiting for magic"
 for i in {1..200}; do
   if systemctl is-active --quiet magic && [ -S /tmp/drmfd.sock ]; then

userspace/usr/comma/init.qcom.sh

@@ -5,9 +5,9 @@ for i in {0..7}; do
   echo "related" | sudo tee /sys/bus/msm_subsys/devices/subsys${i}/restart_level
 done
 
-# use max freq to boot up quickly, then limit
-echo 1689600 | sudo tee /sys/devices/system/cpu/cpufreq/policy0/scaling_max_freq
-echo 1689600 | sudo tee /sys/devices/system/cpu/cpufreq/policy4/scaling_max_freq
+# raise scaling_max so policy=performance can reach the BOOST top step
+echo 2649600 | sudo tee /sys/devices/system/cpu/cpufreq/policy0/scaling_max_freq
+echo 2649600 | sudo tee /sys/devices/system/cpu/cpufreq/policy4/scaling_max_freq
 
 # boot wifi
 echo 1 | sudo tee /sys/kernel/boot_wlan/boot_wlan

userspace/usr/comma/magic.py

@@ -10,7 +10,7 @@ WESTON_SOCK_PATH = os.path.join(WESTON_RUNTIME_DIR, "wayland-0")
 
 SOCK_PATH = "/tmp/drmfd.sock"
 DRM_DEVICE = "/dev/dri/card0"
-BACKGROUND = "/usr/comma/bg.jpg"
+BACKGROUND = "/usr/comma/bg.png"
 
 # This is needed to keep the old updater working. Updater used to be stored in
 # openpilot directly instead of in AGNOS. This will intercept the old updater

userspace/usr/comma/reset

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:1fe91ea2b36f42f254640410453e3d79414427f202d38c9c82a6ef7d84484e06
-size 71009549
+oid sha256:c65063074d2a8f1c334dc6debdc708edbac5f3189eaad912f93f0eaa44a8fd28
+size 23027469

userspace/usr/comma/screen_calibration.py

@@ -15,21 +15,22 @@ GAMMA_ADDR = [
 def command_mode(mode):
   return f"39 01 00 00 0A 00 02 FE {((0b1010 << 4) | mode):02X}"
 
-def send_command(command_str):
+def pack_command(command_str):
   command_buf = bytes(map(lambda x: int(x, base=16), command_str.strip().split()))
-
-  data = struct.pack(f"i{len(command_buf)}s", len(command_buf), command_buf)
-  with open(COMMAND_FILE, "wb") as f:
-    f.write(data)
+  return struct.pack(f"i{len(command_buf)}s", len(command_buf), command_buf)
 
 def set_gamma(gamma):
-  send_command(command_mode(2))
+  cmds = [command_mode(2)]
   for color_idx in range(3):
     for i, val in reversed(list(enumerate(gamma[color_idx]))):
       msb, lsb = GAMMA_ADDR[color_idx][i]
-      send_command(f"39 0F 00 00 0A 00 02 {msb:02X} {(val >> 8) & 0xFF:02X}")
-      send_command(f"39 {'01' if i % 10 == 0 else '0F'} 00 00 0A 00 02 {lsb:02X} {val & 0xFF:02X}")
-  send_command(command_mode(0))
+      cmds.append(f"39 0F 00 00 0A 00 02 {msb:02X} {(val >> 8) & 0xFF:02X}")
+      cmds.append(f"39 {'01' if i % 10 == 0 else '0F'} 00 00 0A 00 02 {lsb:02X} {val & 0xFF:02X}")
+  cmds.append(command_mode(0))
+
+  data = b"".join(pack_command(c) for c in cmds)
+  with open(COMMAND_FILE, "wb") as f:
+    f.write(data)
   print("Successfully setup screen calibration")
 
 if __name__ == "__main__":

userspace/usr/comma/setup

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:ea3709cb4f59154b87e5a7c7e6cf4cac8f6c0a213836b87e83499f6e6ff29c51
-size 71009549
+oid sha256:1575da9a3e6d7e73040a1230475b1930ebbc18b7042cb437628f653a12edf3c8
+size 22996241

userspace/usr/comma/updater

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:56e6d2858a2a876cccceea9c171334b16fea5cbe82a3c1ec16755f5c8035480c
-size 71009553
+oid sha256:52be23a43ccf5adf479f35f79daf69018afc0967590593c24a56b838dc101ba3
+size 23027473

userspace/uv/openpilot/pyproject.toml

@@ -26,18 +26,23 @@ dependencies = [
   "numpy >=2.0",
 
   # vendored native dependencies
-  "bzip2 @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=bzip2",
-  "capnproto @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=capnproto",
-  "eigen @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=eigen",
-  "ffmpeg @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=ffmpeg",
-  "libjpeg @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=libjpeg",
-  "libyuv @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=libyuv",
-  "python3-dev @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=python3-dev",
-  "zstd @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=zstd",
-  "ncurses @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=ncurses",
-  "zeromq @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=zeromq",
-  "git-lfs @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=git-lfs",
-  "gcc-arm-none-eabi @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=gcc-arm-none-eabi",
+  "bzip2 @ git+https://github.com/commaai/dependencies.git@release-bzip2#subdirectory=bzip2",
+  "bootstrap-icons @ git+https://github.com/commaai/dependencies.git@release-bootstrap-icons#subdirectory=bootstrap-icons",
+  "capnproto @ git+https://github.com/commaai/dependencies.git@release-capnproto#subdirectory=capnproto",
+  "catch2 @ git+https://github.com/commaai/dependencies.git@release-catch2#subdirectory=catch2",
+  "acados @ git+https://github.com/commaai/dependencies.git@release-acados#subdirectory=acados",
+  "eigen @ git+https://github.com/commaai/dependencies.git@release-eigen#subdirectory=eigen",
+  "ffmpeg @ git+https://github.com/commaai/dependencies.git@release-ffmpeg#subdirectory=ffmpeg",
+  "libjpeg @ git+https://github.com/commaai/dependencies.git@release-libjpeg#subdirectory=libjpeg",
+  "libyuv @ git+https://github.com/commaai/dependencies.git@release-libyuv#subdirectory=libyuv",
+  "zstd @ git+https://github.com/commaai/dependencies.git@release-zstd#subdirectory=zstd",
+  "ncurses @ git+https://github.com/commaai/dependencies.git@release-ncurses#subdirectory=ncurses",
+  "zeromq @ git+https://github.com/commaai/dependencies.git@release-zeromq#subdirectory=zeromq",
+  "libusb @ git+https://github.com/commaai/dependencies.git@release-libusb#subdirectory=libusb",
+  "json11 @ git+https://github.com/commaai/dependencies.git@release-json11#subdirectory=json11",
+  "git-lfs @ git+https://github.com/commaai/dependencies.git@release-git-lfs#subdirectory=git-lfs",
+  "gcc-arm-none-eabi @ git+https://github.com/commaai/dependencies.git@release-gcc-arm-none-eabi#subdirectory=gcc-arm-none-eabi",
+  "xvfb @ git+https://github.com/commaai/dependencies.git@release-xvfb#subdirectory=xvfb",
 
   # body / webrtcd
   "av",
@@ -58,9 +63,6 @@ dependencies = [
   "json-rpc",
   "websocket_client",
 
-  # acados deps
-  "casadi >=3.6.6",  # 3.12 fixed in 3.6.6
-
   # joystickd
   "inputs",
 
@@ -73,7 +75,7 @@ dependencies = [
   "zstandard",
 
   # ui
-  #"raylib > 5.5.0.3",
+  "raylib @ git+https://github.com/commaai/dependencies.git@release-raylib#subdirectory=raylib",
   "qrcode",
   "jeepney",
   "pillow",
@@ -82,7 +84,7 @@ dependencies = [
 [project.optional-dependencies]
 docs = [
   "Jinja2",
-  "mkdocs",
+  "zensical",
 ]
 
 testing = [
@@ -94,7 +96,6 @@ testing = [
   "pytest-subtests",
   # https://github.com/pytest-dev/pytest-xdist/pull/1229
   "pytest-xdist @ git+https://github.com/sshane/pytest-xdist@2b4372bd62699fb412c4fe2f95bf9f01bd2018da",
-  "pytest-asyncio",
   "pytest-mock",
   "ruff",
   "codespell",
@@ -107,6 +108,7 @@ dev = [
 ]
 
 tools = [
+  "imgui @ git+https://github.com/commaai/dependencies.git@release-imgui#subdirectory=imgui",
   "metadrive-simulator @ git+https://github.com/commaai/metadrive.git@minimal ; (platform_machine != 'aarch64')",
 ]
 
@@ -125,15 +127,17 @@ allow-direct-references = true
 
 [tool.pytest.ini_options]
 minversion = "6.0"
-addopts = "--ignore=openpilot/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ --ignore=msgq/  -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
+addopts = "--ignore=openpilot/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ --ignore=msgq/ -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
 cpp_files = "test_*"
 cpp_harness = "selfdrive/test/cpp_harness.py"
 python_files = "test_*.py"
-asyncio_default_fixture_loop_scope = "function"
 markers = [
   "slow: tests that take awhile to run and can be skipped with -m 'not slow'",
   "tici: tests that are only meant to run on the C3/C3X",
-  "skip_tici_setup: mark test to skip tici setup fixture"
+  "skip_tici_setup: mark test to skip tici setup fixture",
+  "nocapture: don't capture test output",
+  "shared_download_cache: share download cache between tests",
+  "xdist_group_class_property: group tests by a property of the class that contains them",
 ]
 testpaths = [
   "common",
@@ -148,7 +152,7 @@ quiet-level = 3
 # if you've got a short variable name that's getting flagged, add it here
 ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable,jupyter,thead,TGE,abl,lite,ser"
 builtin = "clear,rare,informal,code,names,en-GB_to_en-US"
-skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.po, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*, docs/assets/*, tools/plotjuggler/layouts/*, selfdrive/assets/offroad/mici_fcc.html"
+skip = "../tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.po, uv.lock, *.onnx, *.pem, ./cereal/gen/*, */c_generated_code/*, docs/assets/*, tools/plotjuggler/layouts/*, selfdrive/assets/offroad/mici_fcc.html"
 
 # https://docs.astral.sh/ruff/configuration/#using-pyprojecttoml
 [tool.ruff]
@@ -173,9 +177,7 @@ lint.ignore = [
   "UP045", "UP007",  # these don't play nice with raylib atm
 ]
 line-length = 160
-target-version ="py311"
 exclude = [
-  "body",
   "cereal",
   "panda",
   "opendbc",
@@ -184,7 +186,6 @@ exclude = [
   "tinygrad_repo",
   "teleoprtc",
   "teleoprtc_repo",
-  "third_party",
   "*.ipynb",
   "generated",
 ]
@@ -194,7 +195,6 @@ lint.flake8-implicit-str-concat.allow-multiline = false
 "selfdrive".msg = "Use openpilot.selfdrive"
 "common".msg = "Use openpilot.common"
 "system".msg = "Use openpilot.system"
-"third_party".msg = "Use openpilot.third_party"
 "tools".msg = "Use openpilot.tools"
 "pytest.main".msg = "pytest.main requires special handling that is easy to mess up!"
 "unittest".msg = "Use pytest"
@@ -205,13 +205,13 @@ lint.flake8-implicit-str-concat.allow-multiline = false
 "pyray.is_mouse_button_pressed".msg = "This can miss events. Use Widget._handle_mouse_press"
 "pyray.is_mouse_button_released".msg = "This can miss events. Use Widget._handle_mouse_release"
 "pyray.draw_text".msg = "Use a function (such as rl.draw_font_ex) that takes font as an argument"
+"pyray.draw_texture".msg = "Use rl.draw_texture_ex for float position support"
 
 [tool.ruff.format]
 quote-style = "preserve"
 
 [tool.ty.src]
 exclude = [
-  "cereal/",
   "msgq/",
   "msgq_repo/",
   "opendbc/",
@@ -223,28 +223,19 @@ exclude = [
   "tinygrad_repo/",
   "teleoprtc/",
   "teleoprtc_repo/",
-  "third_party/",
 ]
 
 [tool.ty.rules]
-# Ignore unresolved imports for Cython-compiled modules (.pyx)
-unresolved-import = "ignore"
-# Ignore unresolved attributes - many from capnp and Cython modules
-unresolved-attribute = "ignore"
-# Ignore invalid method overrides - signature variance issues
-invalid-method-override = "ignore"
-# Ignore possibly-missing-attribute - too many false positives
-possibly-missing-attribute = "ignore"
-# Ignore invalid assignment - often intentional monkey-patching
-invalid-assignment = "ignore"
-# Ignore no-matching-overload - numpy/ctypes overload matching issues
-no-matching-overload = "ignore"
-# Ignore invalid-argument-type - many false positives from raylib, ctypes, numpy
-invalid-argument-type = "ignore"
-# Ignore call-non-callable - false positives from dynamic types
-call-non-callable = "ignore"
-# Ignore unsupported-operator - false positives from dynamic types
-unsupported-operator = "ignore"
-# Ignore not-subscriptable - false positives from dynamic types
-not-subscriptable = "ignore"
-# not-iterable errors are now fixed
+unresolved-import = "ignore"  # Cython-compiled modules (.pyx)
+unresolved-attribute = "ignore"  # many from capnp and Cython modules
+invalid-method-override = "ignore"  # signature variance issues
+possibly-missing-attribute = "ignore"  # too many false positives
+invalid-assignment = "ignore"  # often intentional monkey-patching
+no-matching-overload = "ignore"  # numpy/ctypes overload matching issues
+invalid-argument-type = "ignore"  # many false positives from raylib, ctypes, numpy
+call-non-callable = "ignore"  # false positives from dynamic types
+unsupported-operator = "ignore" # false positives from dynamic types
+not-subscriptable = "ignore" # false positives from dynamic types
+
+[tool.uv]
+python-preference = "only-managed"

userspace/uv/pyproject.toml

@@ -17,6 +17,8 @@ dependencies = [
 
   # provisioning
   "pyusb",
+  # pandad
+  "libusb1 ==3.1.0", # recent versions segfault on comma three
   "paramiko",
 
   # extra nice-to-haves
@@ -25,9 +27,10 @@ dependencies = [
   "py-spy",
   "spidev2",
   "flaky",
+  "matplotlib",
 
   # GUIs
-  "raylib @ https://github.com/commaai/raylib-python-cffi/releases/download/8/raylib-5.5.0.2-cp312-cp312-linux_aarch64.whl",
+  "raylib @ git+https://github.com/commaai/dependencies.git@release-raylib#subdirectory=raylib",
 ]
 
 [tool.uv.sources]