diff --git a/flash_all.sh b/flash_all.sh
index 66a3909..a998ac3 100755
--- a/flash_all.sh
+++ b/flash_all.sh
@@ -4,11 +4,12 @@ set -e
 DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
 cd $DIR
 
-# TODO: download firmware from firmware.json
-#for part in aop abl xbl xbl_config devcfg; do
-#  tools/edl w ${part}_a $DIR/agnos-firmware/$part.bin
-#  tools/edl w ${part}_b $DIR/agnos-firmware/$part.bin
-#done
+DOWNLOADED="aop abl xbl xbl_config devcfg"
+scripts/download-from-manifest.py --master --partitions $DOWNLOADED
+for part in $DOWNLOADED; do
+  tools/edl w ${part}_a $DIR/agnos-firmware/$part.bin
+  tools/edl w ${part}_b $DIR/agnos-firmware/$part.bin
+done
 
 ./flash_kernel.sh
 ./flash_system.sh
diff --git a/scripts/download-from-manifest.py b/scripts/download-from-manifest.py
new file mode 100755
index 0000000..e6c529b
--- /dev/null
+++ b/scripts/download-from-manifest.py
@@ -0,0 +1,75 @@
+#!/usr/bin/env python3
+import json
+import lzma
+import hashlib
+import argparse
+import requests
+
+from pathlib import Path
+
+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"
+
+ROOT = Path(__file__).parent.parent
+
+def download_and_decompress(url, expected_hash, filename):
+  # check if already downloaded
+  if Path(filename).is_file():
+    sha256 = hashlib.sha256()
+    with open(filename, 'rb') as f:
+      for chunk in iter(lambda: f.read(1024*1024), b''):
+        sha256.update(chunk)
+
+    if sha256.hexdigest().lower() == expected_hash.lower():
+      print("already downloaded ", filename)
+      return 0
+
+  size_counter = 0
+  dot_counter = 0
+  decompressor = lzma.LZMADecompressor(format=lzma.FORMAT_AUTO)
+  sha256 = hashlib.sha256()
+  with requests.get(url, stream=True, headers={'Accept-Encoding': None}) as download_stream:
+    download_stream.raise_for_status()
+    size = int(download_stream.headers.get("Content-Length"))
+    with open(filename, 'wb') as f:
+      for chunk in download_stream.iter_content(chunk_size=1024*1024):
+        decompressed_chunk = decompressor.decompress(chunk)
+        sha256.update(decompressed_chunk)
+        f.write(decompressed_chunk)
+        size_counter += len(chunk)
+
+        # Every MB
+        if size_counter//(1024*1024) > dot_counter:
+          print(f"Downloading '{filename}': {(size_counter*100)//size}%", end='\r')
+          dot_counter += 1
+  print(f"Downloading '{filename}': 100%")
+  assert(sha256.hexdigest().lower() == expected_hash.lower())
+
+def load_manifest(url):
+  r = requests.get(url)
+  r.raise_for_status()
+  return json.loads(r.content.decode())
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description='Download AGNOS')
+  parser.add_argument('--master', action='store_true',
+                      help='Download AGNOS version used in the master branch')
+  parser.add_argument('--manifest', nargs='?',
+                      help='Download AGNOS from the manifest at this URL')
+  parser.add_argument('--partitions', nargs='+', default=None,
+                      help='Whitelist of partitions to download')
+
+  args = parser.parse_args()
+
+  manifest = RELEASE_MANIFEST
+  if args.manifest is not None:
+    manifest = args.manifest
+  elif args.master:
+    manifest = MASTER_MANIFEST
+
+  update = load_manifest(manifest)
+  for partition in update:
+    if args.partitions is not None and partition['name'] not in args.partitions:
+      continue
+    download_and_decompress(partition['url'], partition['hash'], ROOT / "output"/ f"{partition['name']}.img")