diff --git a/panda/board/boards/black.h b/panda/board/boards/black.h
index 133c11fb..3f198179 100644
--- a/panda/board/boards/black.h
+++ b/panda/board/boards/black.h
@@ -26,33 +26,6 @@ static void black_enable_can_transceiver(uint8_t transceiver, bool enabled) {
   }
 }
 
-static void black_enable_can_transceivers(bool enabled) {
-  for(uint8_t i=1U; i<=4U; i++){
-    // Leave main CAN always on for CAN-based ignition detection
-    if((harness.status == HARNESS_STATUS_FLIPPED) ? (i == 3U) : (i == 1U)){
-      black_enable_can_transceiver(i, true);
-    } else {
-      black_enable_can_transceiver(i, enabled);
-    }
-  }
-}
-
-static void black_set_led(uint8_t color, bool enabled) {
-  switch (color){
-    case LED_RED:
-      set_gpio_output(GPIOC, 9, !enabled);
-      break;
-     case LED_GREEN:
-      set_gpio_output(GPIOC, 7, !enabled);
-      break;
-    case LED_BLUE:
-      set_gpio_output(GPIOC, 6, !enabled);
-      break;
-    default:
-      break;
-  }
-}
-
 static void black_set_usb_load_switch(bool enabled) {
   set_gpio_output(GPIOB, 1, !enabled);
 }
@@ -102,41 +75,12 @@ static void black_init(void) {
   set_gpio_alternate(GPIOA, 8, GPIO_AF11_CAN3);
   set_gpio_alternate(GPIOA, 15, GPIO_AF11_CAN3);
 
-  // C0: OBD_SBU1 (orientation detection)
-  // C3: OBD_SBU2 (orientation detection)
-  set_gpio_mode(GPIOC, 0, MODE_ANALOG);
-  set_gpio_mode(GPIOC, 3, MODE_ANALOG);
-
   // GPS OFF
   set_gpio_output(GPIOC, 5, 0);
   set_gpio_output(GPIOC, 12, 0);
 
-  // C10: OBD_SBU1_RELAY (harness relay driving output)
-  // C11: OBD_SBU2_RELAY (harness relay driving output)
-  set_gpio_mode(GPIOC, 10, MODE_OUTPUT);
-  set_gpio_mode(GPIOC, 11, MODE_OUTPUT);
-  set_gpio_output_type(GPIOC, 10, OUTPUT_TYPE_OPEN_DRAIN);
-  set_gpio_output_type(GPIOC, 11, OUTPUT_TYPE_OPEN_DRAIN);
-  set_gpio_output(GPIOC, 10, 1);
-  set_gpio_output(GPIOC, 11, 1);
-
   // Turn on USB load switch.
   black_set_usb_load_switch(true);
-
-  // Initialize harness
-  harness_init();
-
-
-  // Enable CAN transceivers
-  black_enable_can_transceivers(true);
-
-  // Disable LEDs
-  black_set_led(LED_RED, false);
-  black_set_led(LED_GREEN, false);
-  black_set_led(LED_BLUE, false);
-
-  // Set normal CAN mode
-  black_set_can_mode(CAN_MODE_NORMAL);
 }
 
 static void black_init_bootloader(void) {
@@ -162,7 +106,6 @@ static harness_configuration black_harness_config = {
 board board_black = {
   .set_bootkick = unused_set_bootkick,
   .harness_config = &black_harness_config,
-  .has_obd = true,
   .has_spi = false,
   .has_canfd = false,
   .fan_max_rpm = 0U,
@@ -173,8 +116,8 @@ board board_black = {
   .init = black_init,
   .init_bootloader = black_init_bootloader,
   .enable_can_transceiver = black_enable_can_transceiver,
-  .enable_can_transceivers = black_enable_can_transceivers,
-  .set_led = black_set_led,
+  .led_GPIO = {GPIOC, GPIOC, GPIOC},
+  .led_pin = {9, 7, 6},
   .set_can_mode = black_set_can_mode,
   .check_ignition = black_check_ignition,
   .read_voltage_mV = white_read_voltage_mV,
diff --git a/panda/board/boards/board_declarations.h b/panda/board/boards/board_declarations.h
index 61e9ce2d..f96812e9 100644
--- a/panda/board/boards/board_declarations.h
+++ b/panda/board/boards/board_declarations.h
@@ -13,8 +13,6 @@ typedef enum {
 typedef void (*board_init)(void);
 typedef void (*board_init_bootloader)(void);
 typedef void (*board_enable_can_transceiver)(uint8_t transceiver, bool enabled);
-typedef void (*board_enable_can_transceivers)(bool enabled);
-typedef void (*board_set_led)(uint8_t color, bool enabled);
 typedef void (*board_set_can_mode)(uint8_t mode);
 typedef bool (*board_check_ignition)(void);
 typedef uint32_t (*board_read_voltage_mV)(void);
@@ -28,7 +26,8 @@ typedef void (*board_set_amp_enabled)(bool enabled);
 
 struct board {
   harness_configuration *harness_config;
-  const bool has_obd;
+  GPIO_TypeDef * const led_GPIO[3];
+  const uint8_t led_pin[3];
   const bool has_spi;
   const bool has_canfd;
   const uint16_t fan_max_rpm;
@@ -39,8 +38,6 @@ struct board {
   board_init init;
   board_init_bootloader init_bootloader;
   board_enable_can_transceiver enable_can_transceiver;
-  board_enable_can_transceivers enable_can_transceivers;
-  board_set_led set_led;
   board_set_can_mode set_can_mode;
   board_check_ignition check_ignition;
   board_read_voltage_mV read_voltage_mV;
@@ -67,11 +64,6 @@ struct board {
 #define HW_TYPE_TRES 9U
 #define HW_TYPE_CUATRO 10U
 
-// LED colors
-#define LED_RED 0U
-#define LED_GREEN 1U
-#define LED_BLUE 2U
-
 // USB power modes (from cereal.log.health)
 #define USB_POWER_NONE 0U
 #define USB_POWER_CLIENT 1U
diff --git a/panda/board/boards/cuatro.h b/panda/board/boards/cuatro.h
index 3d630f02..4407903b 100644
--- a/panda/board/boards/cuatro.h
+++ b/panda/board/boards/cuatro.h
@@ -6,22 +6,6 @@
 // Cuatro (STM32H7) + Harness //
 // ////////////////////////// //
 
-static void cuatro_set_led(uint8_t color, bool enabled) {
-  switch (color) {
-    case LED_RED:
-      set_gpio_output(GPIOC, 6, !enabled);
-      break;
-    case LED_GREEN:
-      set_gpio_output(GPIOC, 7, !enabled);
-      break;
-    case LED_BLUE:
-      set_gpio_output(GPIOC, 9, !enabled);
-      break;
-    default:
-      break;
-  }
-}
-
 static void cuatro_enable_can_transceiver(uint8_t transceiver, bool enabled) {
   switch (transceiver) {
     case 1U:
@@ -41,18 +25,6 @@ static void cuatro_enable_can_transceiver(uint8_t transceiver, bool enabled) {
   }
 }
 
-static void cuatro_enable_can_transceivers(bool enabled) {
-  uint8_t main_bus = (harness.status == HARNESS_STATUS_FLIPPED) ? 3U : 1U;
-  for (uint8_t i=1U; i<=4U; i++) {
-    // Leave main CAN always on for CAN-based ignition detection
-    if (i == main_bus) {
-      cuatro_enable_can_transceiver(i, true);
-    } else {
-      cuatro_enable_can_transceiver(i, enabled);
-    }
-  }
-}
-
 static uint32_t cuatro_read_voltage_mV(void) {
   return adc_get_mV(8) * 11U;
 }
@@ -68,7 +40,7 @@ static void cuatro_set_fan_enabled(bool enabled) {
 static void cuatro_set_bootkick(BootState state) {
   set_gpio_output(GPIOA, 0, state != BOOT_BOOTKICK);
   // TODO: confirm we need this
-  set_gpio_output(GPIOC, 12, state != BOOT_RESET);
+  //set_gpio_output(GPIOC, 12, state != BOOT_RESET);
 }
 
 static void cuatro_set_amp_enabled(bool enabled){
@@ -76,14 +48,9 @@ static void cuatro_set_amp_enabled(bool enabled){
 }
 
 static void cuatro_init(void) {
-  red_chiplet_init();
+  common_init_gpio();
 
-  // init LEDs as open drain
-  set_gpio_output_type(GPIOC, 6, OUTPUT_TYPE_OPEN_DRAIN);
-  set_gpio_output_type(GPIOC, 7, OUTPUT_TYPE_OPEN_DRAIN);
-  set_gpio_output_type(GPIOC, 9, OUTPUT_TYPE_OPEN_DRAIN);
-
-  // more open drain
+  // open drain
   set_gpio_output_type(GPIOD, 3, OUTPUT_TYPE_OPEN_DRAIN); // FAN_EN
   set_gpio_output_type(GPIOC, 12, OUTPUT_TYPE_OPEN_DRAIN); // VBAT_EN
 
@@ -114,9 +81,6 @@ static void cuatro_init(void) {
   gpio_uart7_init();
   uart_init(&uart_ring_som_debug, 115200);
 
-  // SPI init
-  gpio_spi_init();
-
   // fan setup
   set_gpio_alternate(GPIOC, 8, GPIO_AF2_TIM3);
   register_set_bits(&(GPIOC->OTYPER), GPIO_OTYPER_OT8); // open drain
@@ -142,8 +106,7 @@ static void cuatro_init(void) {
 }
 
 board board_cuatro = {
-  .harness_config = &red_chiplet_harness_config,
-  .has_obd = true,
+  .harness_config = &tres_harness_config,
   .has_spi = true,
   .has_canfd = true,
   .fan_max_rpm = 12500U,
@@ -154,9 +117,9 @@ board board_cuatro = {
   .init = cuatro_init,
   .init_bootloader = unused_init_bootloader,
   .enable_can_transceiver = cuatro_enable_can_transceiver,
-  .enable_can_transceivers = cuatro_enable_can_transceivers,
-  .set_led = cuatro_set_led,
-  .set_can_mode = red_chiplet_set_can_mode,
+  .led_GPIO = {GPIOC, GPIOC, GPIOC},
+  .led_pin = {6, 7, 9},
+  .set_can_mode = tres_set_can_mode,
   .check_ignition = red_check_ignition,
   .read_voltage_mV = cuatro_read_voltage_mV,
   .read_current_mA = cuatro_read_current_mA,
diff --git a/panda/board/boards/dos.h b/panda/board/boards/dos.h
index d96cee4c..11cc8b5d 100644
--- a/panda/board/boards/dos.h
+++ b/panda/board/boards/dos.h
@@ -26,33 +26,6 @@ static void dos_enable_can_transceiver(uint8_t transceiver, bool enabled) {
   }
 }
 
-static void dos_enable_can_transceivers(bool enabled) {
-  for(uint8_t i=1U; i<=4U; i++){
-    // Leave main CAN always on for CAN-based ignition detection
-    if((harness.status == HARNESS_STATUS_FLIPPED) ? (i == 3U) : (i == 1U)){
-      dos_enable_can_transceiver(i, true);
-    } else {
-      dos_enable_can_transceiver(i, enabled);
-    }
-  }
-}
-
-static void dos_set_led(uint8_t color, bool enabled) {
-  switch (color){
-    case LED_RED:
-      set_gpio_output(GPIOC, 9, !enabled);
-      break;
-     case LED_GREEN:
-      set_gpio_output(GPIOC, 7, !enabled);
-      break;
-    case LED_BLUE:
-      set_gpio_output(GPIOC, 6, !enabled);
-      break;
-    default:
-      break;
-  }
-}
-
 static void dos_set_bootkick(BootState state) {
   set_gpio_output(GPIOC, 4, state != BOOT_BOOTKICK);
 }
@@ -117,25 +90,6 @@ static void dos_init(void) {
   set_gpio_alternate(GPIOA, 8, GPIO_AF11_CAN3);
   set_gpio_alternate(GPIOA, 15, GPIO_AF11_CAN3);
 
-  // C0: OBD_SBU1 (orientation detection)
-  // C3: OBD_SBU2 (orientation detection)
-  set_gpio_mode(GPIOC, 0, MODE_ANALOG);
-  set_gpio_mode(GPIOC, 3, MODE_ANALOG);
-
-  // C10: OBD_SBU1_RELAY (harness relay driving output)
-  // C11: OBD_SBU2_RELAY (harness relay driving output)
-  set_gpio_mode(GPIOC, 10, MODE_OUTPUT);
-  set_gpio_mode(GPIOC, 11, MODE_OUTPUT);
-  set_gpio_output_type(GPIOC, 10, OUTPUT_TYPE_OPEN_DRAIN);
-  set_gpio_output_type(GPIOC, 11, OUTPUT_TYPE_OPEN_DRAIN);
-  set_gpio_output(GPIOC, 10, 1);
-  set_gpio_output(GPIOC, 11, 1);
-
-#ifdef ENABLE_SPI
-  // SPI init
-  gpio_spi_init();
-#endif
-
   // C8: FAN PWM aka TIM3_CH3
   set_gpio_alternate(GPIOC, 8, GPIO_AF2_TIM3);
 
@@ -148,24 +102,9 @@ static void dos_init(void) {
   pwm_init(TIM4, 2);
   dos_set_ir_power(0U);
 
-  // Initialize harness
-  harness_init();
-
-
-  // Enable CAN transceivers
-  dos_enable_can_transceivers(true);
-
-  // Disable LEDs
-  dos_set_led(LED_RED, false);
-  dos_set_led(LED_GREEN, false);
-  dos_set_led(LED_BLUE, false);
-
   // Bootkick
   dos_set_bootkick(true);
 
-  // Set normal CAN mode
-  dos_set_can_mode(CAN_MODE_NORMAL);
-
   // Init clock source (camera strobe) using PWM
   clock_source_init();
 }
@@ -186,7 +125,6 @@ static harness_configuration dos_harness_config = {
 
 board board_dos = {
   .harness_config = &dos_harness_config,
-  .has_obd = true,
 #ifdef ENABLE_SPI
   .has_spi = true,
 #else
@@ -201,8 +139,8 @@ board board_dos = {
   .init = dos_init,
   .init_bootloader = unused_init_bootloader,
   .enable_can_transceiver = dos_enable_can_transceiver,
-  .enable_can_transceivers = dos_enable_can_transceivers,
-  .set_led = dos_set_led,
+  .led_GPIO = {GPIOC, GPIOC, GPIOC},
+  .led_pin = {9, 7, 6},
   .set_can_mode = dos_set_can_mode,
   .check_ignition = dos_check_ignition,
   .read_voltage_mV = white_read_voltage_mV,
diff --git a/panda/board/boards/grey.h b/panda/board/boards/grey.h
index b3e40bc6..6ba07b4d 100644
--- a/panda/board/boards/grey.h
+++ b/panda/board/boards/grey.h
@@ -11,7 +11,6 @@
 board board_grey = {
   .set_bootkick = unused_set_bootkick,
   .harness_config = &white_harness_config,
-  .has_obd = false,
   .has_spi = false,
   .has_canfd = false,
   .fan_max_rpm = 0U,
@@ -22,8 +21,8 @@ board board_grey = {
   .init = white_grey_init,
   .init_bootloader = white_grey_init_bootloader,
   .enable_can_transceiver = white_enable_can_transceiver,
-  .enable_can_transceivers = white_enable_can_transceivers,
-  .set_led = white_set_led,
+  .led_GPIO = {GPIOC, GPIOC, GPIOC},
+  .led_pin = {9, 7, 6},
   .set_can_mode = white_set_can_mode,
   .check_ignition = white_check_ignition,
   .read_voltage_mV = white_read_voltage_mV,
diff --git a/panda/board/boards/red.h b/panda/board/boards/red.h
index f1d8d9c4..9871f959 100644
--- a/panda/board/boards/red.h
+++ b/panda/board/boards/red.h
@@ -25,34 +25,6 @@ static void red_enable_can_transceiver(uint8_t transceiver, bool enabled) {
   }
 }
 
-static void red_enable_can_transceivers(bool enabled) {
-  uint8_t main_bus = (harness.status == HARNESS_STATUS_FLIPPED) ? 3U : 1U;
-  for (uint8_t i=1U; i<=4U; i++) {
-    // Leave main CAN always on for CAN-based ignition detection
-    if (i == main_bus) {
-      red_enable_can_transceiver(i, true);
-    } else {
-      red_enable_can_transceiver(i, enabled);
-    }
-  }
-}
-
-static void red_set_led(uint8_t color, bool enabled) {
-  switch (color) {
-    case LED_RED:
-      set_gpio_output(GPIOE, 4, !enabled);
-      break;
-     case LED_GREEN:
-      set_gpio_output(GPIOE, 3, !enabled);
-      break;
-    case LED_BLUE:
-      set_gpio_output(GPIOE, 2, !enabled);
-      break;
-    default:
-      break;
-  }
-}
-
 static void red_set_can_mode(uint8_t mode) {
   red_enable_can_transceiver(2U, false);
   red_enable_can_transceiver(4U, false);
@@ -107,17 +79,6 @@ static uint32_t red_read_voltage_mV(void){
 static void red_init(void) {
   common_init_gpio();
 
-  //C10,C11 : OBD_SBU1_RELAY, OBD_SBU2_RELAY
-  set_gpio_output_type(GPIOC, 10, OUTPUT_TYPE_OPEN_DRAIN);
-  set_gpio_pullup(GPIOC, 10, PULL_NONE);
-  set_gpio_mode(GPIOC, 10, MODE_OUTPUT);
-  set_gpio_output(GPIOC, 10, 1);
-
-  set_gpio_output_type(GPIOC, 11, OUTPUT_TYPE_OPEN_DRAIN);
-  set_gpio_pullup(GPIOC, 11, PULL_NONE);
-  set_gpio_mode(GPIOC, 11, MODE_OUTPUT);
-  set_gpio_output(GPIOC, 11, 1);
-
   // G11,B3,D7,B4: transceiver enable
   set_gpio_pullup(GPIOG, 11, PULL_NONE);
   set_gpio_mode(GPIOG, 11, MODE_OUTPUT);
@@ -140,21 +101,6 @@ static void red_init(void) {
   set_gpio_pullup(GPIOB, 14, PULL_UP);
   set_gpio_mode(GPIOB, 14, MODE_OUTPUT);
   set_gpio_output(GPIOB, 14, 1);
-
-  // Initialize harness
-  harness_init();
-
-
-  // Enable CAN transceivers
-  red_enable_can_transceivers(true);
-
-  // Disable LEDs
-  red_set_led(LED_RED, false);
-  red_set_led(LED_GREEN, false);
-  red_set_led(LED_BLUE, false);
-
-  // Set normal CAN mode
-  red_set_can_mode(CAN_MODE_NORMAL);
 }
 
 static harness_configuration red_harness_config = {
@@ -174,7 +120,6 @@ static harness_configuration red_harness_config = {
 board board_red = {
   .set_bootkick = unused_set_bootkick,
   .harness_config = &red_harness_config,
-  .has_obd = true,
   .has_spi = false,
   .has_canfd = true,
   .fan_max_rpm = 0U,
@@ -185,8 +130,8 @@ board board_red = {
   .init = red_init,
   .init_bootloader = unused_init_bootloader,
   .enable_can_transceiver = red_enable_can_transceiver,
-  .enable_can_transceivers = red_enable_can_transceivers,
-  .set_led = red_set_led,
+  .led_GPIO = {GPIOE, GPIOE, GPIOE},
+  .led_pin = {4, 3, 2},
   .set_can_mode = red_set_can_mode,
   .check_ignition = red_check_ignition,
   .read_voltage_mV = red_read_voltage_mV,
diff --git a/panda/board/boards/tres.h b/panda/board/boards/tres.h
index f0602ae6..585487b2 100644
--- a/panda/board/boards/tres.h
+++ b/panda/board/boards/tres.h
@@ -9,7 +9,7 @@
 static bool tres_ir_enabled;
 static bool tres_fan_enabled;
 static void tres_update_fan_ir_power(void) {
-  red_chiplet_set_fan_or_usb_load_switch(tres_ir_enabled || tres_fan_enabled);
+  set_gpio_output(GPIOD, 3, tres_ir_enabled || tres_fan_enabled);
 }
 
 static void tres_set_ir_power(uint8_t percentage){
@@ -29,6 +29,67 @@ static void tres_set_fan_enabled(bool enabled) {
   tres_update_fan_ir_power();
 }
 
+static void tres_enable_can_transceiver(uint8_t transceiver, bool enabled) {
+  switch (transceiver) {
+    case 1U:
+      set_gpio_output(GPIOG, 11, !enabled);
+      break;
+    case 2U:
+      set_gpio_output(GPIOB, 10, !enabled);
+      break;
+    case 3U:
+      set_gpio_output(GPIOD, 7, !enabled);
+      break;
+    case 4U:
+      set_gpio_output(GPIOB, 11, !enabled);
+      break;
+    default:
+      break;
+  }
+}
+
+static void tres_set_can_mode(uint8_t mode) {
+  current_board->enable_can_transceiver(2U, false);
+  current_board->enable_can_transceiver(4U, false);
+  switch (mode) {
+    case CAN_MODE_NORMAL:
+    case CAN_MODE_OBD_CAN2:
+      if ((bool)(mode == CAN_MODE_NORMAL) != (bool)(harness.status == HARNESS_STATUS_FLIPPED)) {
+        // B12,B13: disable normal mode
+        set_gpio_pullup(GPIOB, 12, PULL_NONE);
+        set_gpio_mode(GPIOB, 12, MODE_ANALOG);
+
+        set_gpio_pullup(GPIOB, 13, PULL_NONE);
+        set_gpio_mode(GPIOB, 13, MODE_ANALOG);
+
+        // B5,B6: FDCAN2 mode
+        set_gpio_pullup(GPIOB, 5, PULL_NONE);
+        set_gpio_alternate(GPIOB, 5, GPIO_AF9_FDCAN2);
+
+        set_gpio_pullup(GPIOB, 6, PULL_NONE);
+        set_gpio_alternate(GPIOB, 6, GPIO_AF9_FDCAN2);
+        current_board->enable_can_transceiver(2U, true);
+      } else {
+        // B5,B6: disable normal mode
+        set_gpio_pullup(GPIOB, 5, PULL_NONE);
+        set_gpio_mode(GPIOB, 5, MODE_ANALOG);
+
+        set_gpio_pullup(GPIOB, 6, PULL_NONE);
+        set_gpio_mode(GPIOB, 6, MODE_ANALOG);
+        // B12,B13: FDCAN2 mode
+        set_gpio_pullup(GPIOB, 12, PULL_NONE);
+        set_gpio_alternate(GPIOB, 12, GPIO_AF9_FDCAN2);
+
+        set_gpio_pullup(GPIOB, 13, PULL_NONE);
+        set_gpio_alternate(GPIOB, 13, GPIO_AF9_FDCAN2);
+        current_board->enable_can_transceiver(4U, true);
+      }
+      break;
+    default:
+      break;
+  }
+}
+
 static bool tres_read_som_gpio (void) {
   return (get_gpio_input(GPIOC, 2) != 0);
 }
@@ -39,7 +100,7 @@ static void tres_init(void) {
   register_set_bits(&(PWR->CR3), PWR_CR3_USB33DEN);
   while ((PWR->CR3 & PWR_CR3_USB33RDY) == 0U);
 
-  red_chiplet_init();
+  common_init_gpio();
 
   // C2: SOM GPIO used as input (fan control at boot)
   set_gpio_mode(GPIOC, 2, MODE_INPUT);
@@ -54,9 +115,6 @@ static void tres_init(void) {
   gpio_uart7_init();
   uart_init(&uart_ring_som_debug, 115200);
 
-  // SPI init
-  gpio_spi_init();
-
   // fan setup
   set_gpio_alternate(GPIOC, 8, GPIO_AF2_TIM3);
 
@@ -74,9 +132,22 @@ static void tres_init(void) {
   clock_source_init();
 }
 
+static harness_configuration tres_harness_config = {
+  .has_harness = true,
+  .GPIO_SBU1 = GPIOC,
+  .GPIO_SBU2 = GPIOA,
+  .GPIO_relay_SBU1 = GPIOA,
+  .GPIO_relay_SBU2 = GPIOA,
+  .pin_SBU1 = 4,
+  .pin_SBU2 = 1,
+  .pin_relay_SBU1 = 8,
+  .pin_relay_SBU2 = 3,
+  .adc_channel_SBU1 = 4, // ADC12_INP4
+  .adc_channel_SBU2 = 17 // ADC1_INP17
+};
+
 board board_tres = {
-  .harness_config = &red_chiplet_harness_config,
-  .has_obd = true,
+  .harness_config = &tres_harness_config,
   .has_spi = true,
   .has_canfd = true,
   .fan_max_rpm = 6600U,
@@ -86,10 +157,10 @@ board board_tres = {
   .fan_enable_cooldown_time = 3U,
   .init = tres_init,
   .init_bootloader = unused_init_bootloader,
-  .enable_can_transceiver = red_chiplet_enable_can_transceiver,
-  .enable_can_transceivers = red_chiplet_enable_can_transceivers,
-  .set_led = red_set_led,
-  .set_can_mode = red_chiplet_set_can_mode,
+  .enable_can_transceiver = tres_enable_can_transceiver,
+  .led_GPIO = {GPIOE, GPIOE, GPIOE},
+  .led_pin = {4, 3, 2},
+  .set_can_mode = tres_set_can_mode,
   .check_ignition = red_check_ignition,
   .read_voltage_mV = red_read_voltage_mV,
   .read_current_mA = unused_read_current,
diff --git a/panda/board/boards/uno.h b/panda/board/boards/uno.h
index d1728f1f..fd71460a 100644
--- a/panda/board/boards/uno.h
+++ b/panda/board/boards/uno.h
@@ -26,33 +26,6 @@ static void uno_enable_can_transceiver(uint8_t transceiver, bool enabled) {
   }
 }
 
-static void uno_enable_can_transceivers(bool enabled) {
-  for(uint8_t i=1U; i<=4U; i++){
-    // Leave main CAN always on for CAN-based ignition detection
-    if((harness.status == HARNESS_STATUS_FLIPPED) ? (i == 3U) : (i == 1U)){
-      uno_enable_can_transceiver(i, true);
-    } else {
-      uno_enable_can_transceiver(i, enabled);
-    }
-  }
-}
-
-static void uno_set_led(uint8_t color, bool enabled) {
-  switch (color){
-    case LED_RED:
-      set_gpio_output(GPIOC, 9, !enabled);
-      break;
-     case LED_GREEN:
-      set_gpio_output(GPIOC, 7, !enabled);
-      break;
-    case LED_BLUE:
-      set_gpio_output(GPIOC, 6, !enabled);
-      break;
-    default:
-      break;
-  }
-}
-
 static void uno_set_bootkick(BootState state) {
   if (state == BOOT_BOOTKICK) {
     set_gpio_output(GPIOB, 14, false);
@@ -118,25 +91,11 @@ static void uno_init(void) {
   set_gpio_alternate(GPIOA, 8, GPIO_AF11_CAN3);
   set_gpio_alternate(GPIOA, 15, GPIO_AF11_CAN3);
 
-  // C0: OBD_SBU1 (orientation detection)
-  // C3: OBD_SBU2 (orientation detection)
-  set_gpio_mode(GPIOC, 0, MODE_ANALOG);
-  set_gpio_mode(GPIOC, 3, MODE_ANALOG);
-
   // GPS off
   set_gpio_output(GPIOB, 1, 0);
   set_gpio_output(GPIOC, 5, 0);
   set_gpio_output(GPIOC, 12, 0);
 
-  // C10: OBD_SBU1_RELAY (harness relay driving output)
-  // C11: OBD_SBU2_RELAY (harness relay driving output)
-  set_gpio_mode(GPIOC, 10, MODE_OUTPUT);
-  set_gpio_mode(GPIOC, 11, MODE_OUTPUT);
-  set_gpio_output_type(GPIOC, 10, OUTPUT_TYPE_OPEN_DRAIN);
-  set_gpio_output_type(GPIOC, 11, OUTPUT_TYPE_OPEN_DRAIN);
-  set_gpio_output(GPIOC, 10, 1);
-  set_gpio_output(GPIOC, 11, 1);
-
   // C8: FAN PWM aka TIM3_CH3
   set_gpio_alternate(GPIOC, 8, GPIO_AF2_TIM3);
 
@@ -148,21 +107,6 @@ static void uno_init(void) {
   pwm_init(TIM4, 2);
   uno_set_ir_power(0U);
 
-  // Initialize harness
-  harness_init();
-
-
-  // Enable CAN transceivers
-  uno_enable_can_transceivers(true);
-
-  // Disable LEDs
-  uno_set_led(LED_RED, false);
-  uno_set_led(LED_GREEN, false);
-  uno_set_led(LED_BLUE, false);
-
-  // Set normal CAN mode
-  uno_set_can_mode(CAN_MODE_NORMAL);
-
   // Switch to phone usb mode if harness connection is powered by less than 7V
   if(white_read_voltage_mV() < 7000U){
     uno_set_usb_switch(true);
@@ -197,7 +141,6 @@ static harness_configuration uno_harness_config = {
 
 board board_uno = {
   .harness_config = &uno_harness_config,
-  .has_obd = true,
   .has_spi = false,
   .has_canfd = false,
   .fan_max_rpm = 5100U,
@@ -208,8 +151,8 @@ board board_uno = {
   .init = uno_init,
   .init_bootloader = uno_init_bootloader,
   .enable_can_transceiver = uno_enable_can_transceiver,
-  .enable_can_transceivers = uno_enable_can_transceivers,
-  .set_led = uno_set_led,
+  .led_GPIO = {GPIOC, GPIOC, GPIOC},
+  .led_pin = {9, 7, 6},
   .set_can_mode = uno_set_can_mode,
   .check_ignition = uno_check_ignition,
   .read_voltage_mV = white_read_voltage_mV,
diff --git a/panda/board/boards/white.h b/panda/board/boards/white.h
index c4a25593..5f43dda6 100644
--- a/panda/board/boards/white.h
+++ b/panda/board/boards/white.h
@@ -17,30 +17,6 @@ static void white_enable_can_transceiver(uint8_t transceiver, bool enabled) {
     case 3U:
       set_gpio_output(GPIOA, 0, !enabled);
       break;
-    default:
-      print("Invalid CAN transceiver ("); puth(transceiver); print("): enabling failed\n");
-      break;
-  }
-}
-
-static void white_enable_can_transceivers(bool enabled) {
-  uint8_t t1 = enabled ? 1U : 2U;  // leave transceiver 1 enabled to detect CAN ignition
-  for(uint8_t i=t1; i<=3U; i++) {
-    white_enable_can_transceiver(i, enabled);
-  }
-}
-
-static void white_set_led(uint8_t color, bool enabled) {
-  switch (color){
-    case LED_RED:
-      set_gpio_output(GPIOC, 9, !enabled);
-      break;
-     case LED_GREEN:
-      set_gpio_output(GPIOC, 7, !enabled);
-      break;
-    case LED_BLUE:
-      set_gpio_output(GPIOC, 6, !enabled);
-      break;
     default:
       break;
   }
@@ -152,18 +128,6 @@ static void white_grey_init(void) {
   set_gpio_alternate(GPIOC, 11, GPIO_AF7_USART3);
   set_gpio_pullup(GPIOC, 11, PULL_UP);
 
-
-  // Enable CAN transceivers
-  white_enable_can_transceivers(true);
-
-  // Disable LEDs
-  white_set_led(LED_RED, false);
-  white_set_led(LED_GREEN, false);
-  white_set_led(LED_BLUE, false);
-
-  // Set normal CAN mode
-  white_set_can_mode(CAN_MODE_NORMAL);
-
   // Init usb power mode
   // Init in CDP mode only if panda is powered by 12V.
   // Otherwise a PC would not be able to flash a standalone panda
@@ -191,7 +155,6 @@ static harness_configuration white_harness_config = {
 board board_white = {
   .set_bootkick = unused_set_bootkick,
   .harness_config = &white_harness_config,
-  .has_obd = false,
   .has_spi = false,
   .has_canfd = false,
   .fan_max_rpm = 0U,
@@ -202,8 +165,8 @@ board board_white = {
   .init = white_grey_init,
   .init_bootloader = white_grey_init_bootloader,
   .enable_can_transceiver = white_enable_can_transceiver,
-  .enable_can_transceivers = white_enable_can_transceivers,
-  .set_led = white_set_led,
+  .led_GPIO = {GPIOC, GPIOC, GPIOC},
+  .led_pin = {9, 7, 6},
   .set_can_mode = white_set_can_mode,
   .check_ignition = white_check_ignition,
   .read_voltage_mV = white_read_voltage_mV,
diff --git a/panda/board/bootstub.c b/panda/board/bootstub.c
index aee665e7..5e05fa66 100644
--- a/panda/board/bootstub.c
+++ b/panda/board/bootstub.c
@@ -6,6 +6,7 @@
 // ********************* Includes *********************
 #include "config.h"
 
+#include "drivers/led.h"
 #include "drivers/pwm.h"
 #include "drivers/usb.h"
 
diff --git a/panda/board/drivers/bxcan.h b/panda/board/drivers/bxcan.h
index 721a7ee4..75bd05d5 100644
--- a/panda/board/drivers/bxcan.h
+++ b/panda/board/drivers/bxcan.h
@@ -178,7 +178,7 @@ void can_rx(uint8_t can_number) {
     safety_rx_invalid += safety_rx_hook(&to_push) ? 0U : 1U;
     ignition_can_hook(&to_push);
 
-    current_board->set_led(LED_BLUE, true);
+    led_set(LED_BLUE, true);
     rx_buffer_overflow += can_push(&can_rx_q, &to_push) ? 0U : 1U;
 
     // next
diff --git a/panda/board/drivers/can_common.h b/panda/board/drivers/can_common.h
index eeaf8738..da997d91 100644
--- a/panda/board/drivers/can_common.h
+++ b/panda/board/drivers/can_common.h
@@ -209,6 +209,12 @@ void ignition_can_hook(CANPacket_t *to_push) {
       ignition_can_cnt = 0U;
     }
 
+    // Volkswagen MEB exception
+    if ((addr == 0x3C0) && (len == 4)) {
+      ignition_can = GET_BIT(to_push, 17U);
+      ignition_can_cnt = 0U;
+    }
+
   }
 }
 
diff --git a/panda/board/drivers/fdcan.h b/panda/board/drivers/fdcan.h
index 2f032d03..f3f8d997 100644
--- a/panda/board/drivers/fdcan.h
+++ b/panda/board/drivers/fdcan.h
@@ -223,7 +223,7 @@ void can_rx(uint8_t can_number) {
     safety_rx_invalid += safety_rx_hook(&to_push) ? 0U : 1U;
     ignition_can_hook(&to_push);
 
-    current_board->set_led(LED_BLUE, true);
+    led_set(LED_BLUE, true);
     rx_buffer_overflow += can_push(&can_rx_q, &to_push) ? 0U : 1U;
 
     // Enable CAN FD and BRS if CAN FD message was received
diff --git a/panda/board/drivers/harness.h b/panda/board/drivers/harness.h
index cfb6965c..efe319d0 100644
--- a/panda/board/drivers/harness.h
+++ b/panda/board/drivers/harness.h
@@ -94,6 +94,12 @@ void harness_tick(void) {
 }
 
 void harness_init(void) {
+  // init OBD_SBUx_RELAY
+  set_gpio_output_type(current_board->harness_config->GPIO_relay_SBU1, current_board->harness_config->pin_relay_SBU1, OUTPUT_TYPE_OPEN_DRAIN);
+  set_gpio_output_type(current_board->harness_config->GPIO_relay_SBU2, current_board->harness_config->pin_relay_SBU2, OUTPUT_TYPE_OPEN_DRAIN);
+  set_gpio_output(current_board->harness_config->GPIO_relay_SBU1, current_board->harness_config->pin_relay_SBU1, 1);
+  set_gpio_output(current_board->harness_config->GPIO_relay_SBU2, current_board->harness_config->pin_relay_SBU2, 1);
+
   // try to detect orientation
   harness.status = harness_detect_orientation();
   if (harness.status != HARNESS_STATUS_NC) {
diff --git a/panda/board/early_init.h b/panda/board/early_init.h
index 1837019d..e48a8063 100644
--- a/panda/board/early_init.h
+++ b/panda/board/early_init.h
@@ -56,10 +56,11 @@ void early_initialization(void) {
   detect_board_type();
 
   if (enter_bootloader_mode == ENTER_BOOTLOADER_MAGIC) {
+    led_init();
     #ifdef PANDA
     current_board->init_bootloader();
     #endif
-    current_board->set_led(LED_GREEN, 1);
+    led_set(LED_GREEN, 1);
     jump_to_bootloader();
   }
 }
diff --git a/panda/board/fake_stm.h b/panda/board/fake_stm.h
index b73a4e89..984fde14 100644
--- a/panda/board/fake_stm.h
+++ b/panda/board/fake_stm.h
@@ -31,3 +31,5 @@ uint32_t microsecond_timer_get(void);
 uint32_t microsecond_timer_get(void) {
   return MICROSECOND_TIMER->CNT;
 }
+
+typedef uint32_t GPIO_TypeDef;
diff --git a/panda/board/flasher.h b/panda/board/flasher.h
index 9a046a25..ba9d77a8 100644
--- a/panda/board/flasher.h
+++ b/panda/board/flasher.h
@@ -35,7 +35,7 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
         flash_unlock();
         resp[1] = 0xff;
       }
-      current_board->set_led(LED_GREEN, 1);
+      led_set(LED_GREEN, 1);
       unlocked = true;
       prog_ptr = (uint32_t *)APP_START_ADDRESS;
       break;
@@ -112,14 +112,14 @@ int comms_can_read(uint8_t *data, uint32_t max_len) {
 void refresh_can_tx_slots_available(void) {}
 
 void comms_endpoint2_write(const uint8_t *data, uint32_t len) {
-  current_board->set_led(LED_RED, 0);
+  led_set(LED_RED, 0);
   for (uint32_t i = 0; i < len/4; i++) {
     flash_write_word(prog_ptr, *(uint32_t*)(data+(i*4)));
 
     //*(uint64_t*)(&spi_tx_buf[0x30+(i*4)]) = *prog_ptr;
     prog_ptr++;
   }
-  current_board->set_led(LED_RED, 1);
+  led_set(LED_RED, 1);
 }
 
 
@@ -132,6 +132,7 @@ void soft_flasher_start(void) {
 
   gpio_usart2_init();
   gpio_usb_init();
+  led_init();
 
   // enable USB
   usb_init();
@@ -143,15 +144,15 @@ void soft_flasher_start(void) {
   }
 
   // green LED on for flashing
-  current_board->set_led(LED_GREEN, 1);
+  led_set(LED_GREEN, 1);
 
   enable_interrupts();
 
   for (;;) {
     // blink the green LED fast
-    current_board->set_led(LED_GREEN, 0);
+    led_set(LED_GREEN, 0);
     delay(500000);
-    current_board->set_led(LED_GREEN, 1);
+    led_set(LED_GREEN, 1);
     delay(500000);
   }
 }
diff --git a/panda/board/jungle/boards/board_declarations.h b/panda/board/jungle/boards/board_declarations.h
index 26b093fa..e6c6601b 100644
--- a/panda/board/jungle/boards/board_declarations.h
+++ b/panda/board/jungle/boards/board_declarations.h
@@ -1,6 +1,5 @@
 // ******************** Prototypes ********************
 typedef void (*board_init)(void);
-typedef void (*board_set_led)(uint8_t color, bool enabled);
 typedef void (*board_board_tick)(void);
 typedef bool (*board_get_button)(void);
 typedef void (*board_set_panda_power)(bool enabled);
@@ -15,11 +14,12 @@ typedef float (*board_get_channel_power)(uint8_t channel);
 typedef uint16_t (*board_get_sbu_mV)(uint8_t channel, uint8_t sbu);
 
 struct board {
+  GPIO_TypeDef * const led_GPIO[3];
+  const uint8_t led_pin[3];
   const bool has_canfd;
   const bool has_sbu_sense;
   const uint16_t avdd_mV;
   board_init init;
-  board_set_led set_led;
   board_board_tick board_tick;
   board_get_button get_button;
   board_set_panda_power set_panda_power;
@@ -42,11 +42,6 @@ struct board {
 #define HW_TYPE_V1 1U
 #define HW_TYPE_V2 2U
 
-// LED colors
-#define LED_RED 0U
-#define LED_GREEN 1U
-#define LED_BLUE 2U
-
 // CAN modes
 #define CAN_MODE_NORMAL 0U
 #define CAN_MODE_OBD_CAN2 3U
diff --git a/panda/board/jungle/boards/board_v1.h b/panda/board/jungle/boards/board_v1.h
index 833f49f9..44e90b8f 100644
--- a/panda/board/jungle/boards/board_v1.h
+++ b/panda/board/jungle/boards/board_v1.h
@@ -2,22 +2,6 @@
 // Jungle board v1 (STM32F4) //
 // ///////////////////////// //
 
-void board_v1_set_led(uint8_t color, bool enabled) {
-  switch (color) {
-    case LED_RED:
-      set_gpio_output(GPIOC, 9, !enabled);
-      break;
-     case LED_GREEN:
-      set_gpio_output(GPIOC, 7, !enabled);
-      break;
-    case LED_BLUE:
-      set_gpio_output(GPIOC, 6, !enabled);
-      break;
-    default:
-      break;
-  }
-}
-
 void board_v1_enable_can_transceiver(uint8_t transceiver, bool enabled) {
   switch (transceiver) {
     case 1U:
@@ -140,11 +124,6 @@ void board_v1_init(void) {
     board_v1_enable_can_transceiver(i, true);
   }
 
-  // Disable LEDs
-  board_v1_set_led(LED_RED, false);
-  board_v1_set_led(LED_GREEN, false);
-  board_v1_set_led(LED_BLUE, false);
-
   // Set normal CAN mode
   board_v1_set_can_mode(CAN_MODE_NORMAL);
 
@@ -162,7 +141,8 @@ board board_v1 = {
   .has_sbu_sense = false,
   .avdd_mV = 3300U,
   .init = &board_v1_init,
-  .set_led = &board_v1_set_led,
+  .led_GPIO = {GPIOC, GPIOC, GPIOC},
+  .led_pin = {9, 7, 6},
   .board_tick = &board_v1_tick,
   .get_button = &board_v1_get_button,
   .set_panda_power = &board_v1_set_panda_power,
diff --git a/panda/board/jungle/boards/board_v2.h b/panda/board/jungle/boards/board_v2.h
index bfd37969..ea0a099d 100644
--- a/panda/board/jungle/boards/board_v2.h
+++ b/panda/board/jungle/boards/board_v2.h
@@ -65,22 +65,6 @@ adc_channel_t sbu2_channels[] = {
   {.adc = ADC3, .channel = 11},
 };
 
-void board_v2_set_led(uint8_t color, bool enabled) {
-  switch (color) {
-    case LED_RED:
-      set_gpio_output(GPIOE, 4, !enabled);
-      break;
-     case LED_GREEN:
-      set_gpio_output(GPIOE, 3, !enabled);
-      break;
-    case LED_BLUE:
-      set_gpio_output(GPIOE, 2, !enabled);
-      break;
-    default:
-      break;
-  }
-}
-
 void board_v2_set_harness_orientation(uint8_t orientation) {
   switch (orientation) {
     case HARNESS_ORIENTATION_NONE:
@@ -252,11 +236,6 @@ uint16_t board_v2_get_sbu_mV(uint8_t channel, uint8_t sbu) {
 void board_v2_init(void) {
   common_init_gpio();
 
-  // Disable LEDs
-  board_v2_set_led(LED_RED, false);
-  board_v2_set_led(LED_GREEN, false);
-  board_v2_set_led(LED_BLUE, false);
-
   // Normal CAN mode
   board_v2_set_can_mode(CAN_MODE_NORMAL);
 
@@ -312,7 +291,8 @@ board board_v2 = {
   .has_sbu_sense = true,
   .avdd_mV = 3300U,
   .init = &board_v2_init,
-  .set_led = &board_v2_set_led,
+  .led_GPIO = {GPIOE, GPIOE, GPIOE},
+  .led_pin = {4, 3, 2},
   .board_tick = &board_v2_tick,
   .get_button = &board_v2_get_button,
   .set_panda_power = &board_v2_set_panda_power,
diff --git a/panda/board/jungle/main.c b/panda/board/jungle/main.c
index 6b660f6c..1c73edd7 100644
--- a/panda/board/jungle/main.c
+++ b/panda/board/jungle/main.c
@@ -3,6 +3,7 @@
 
 #include "safety.h"
 
+#include "board/drivers/led.h"
 #include "board/drivers/pwm.h"
 #include "board/drivers/usb.h"
 
@@ -76,7 +77,7 @@ void tick_handler(void) {
       check_registers();
 
       // turn off the blue LED, turned on by CAN
-      current_board->set_led(LED_BLUE, false);
+      led_set(LED_BLUE, false);
 
       // Blink and OBD CAN
 #ifdef FINAL_PROVISIONING
@@ -87,7 +88,7 @@ void tick_handler(void) {
       uptime_cnt += 1U;
     }
 
-    current_board->set_led(LED_GREEN, green_led_enabled);
+    led_set(LED_GREEN, green_led_enabled);
 
     // Check on button
     bool current_button_status = current_board->get_button();
@@ -146,8 +147,8 @@ int main(void) {
   peripherals_init();
   detect_board_type();
   // red+green leds enabled until succesful USB init, as a debug indicator
-  current_board->set_led(LED_RED, true);
-  current_board->set_led(LED_GREEN, true);
+  led_set(LED_RED, true);
+  led_set(LED_GREEN, true);
 
   // print hello
   print("\n\n\n************************ MAIN START ************************\n");
@@ -176,8 +177,8 @@ int main(void) {
   // enable USB (right before interrupts or enum can fail!)
   usb_init();
 
-  current_board->set_led(LED_RED, false);
-  current_board->set_led(LED_GREEN, false);
+  led_set(LED_RED, false);
+  led_set(LED_GREEN, false);
 
   print("**** INTERRUPTS ON ****\n");
   enable_interrupts();
@@ -223,16 +224,16 @@ int main(void) {
 
     // useful for debugging, fade breaks = panda is overloaded
     for (uint32_t fade = 0U; fade < MAX_LED_FADE; fade += 1U) {
-      current_board->set_led(LED_RED, true);
+      led_set(LED_RED, true);
       delay(fade >> 4);
-      current_board->set_led(LED_RED, false);
+      led_set(LED_RED, false);
       delay((MAX_LED_FADE - fade) >> 4);
     }
 
     for (uint32_t fade = MAX_LED_FADE; fade > 0U; fade -= 1U) {
-      current_board->set_led(LED_RED, true);
+      led_set(LED_RED, true);
       delay(fade >> 4);
-      current_board->set_led(LED_RED, false);
+      led_set(LED_RED, false);
       delay((MAX_LED_FADE - fade) >> 4);
     }
   }
diff --git a/panda/board/jungle/obj/bootstub.panda_jungle.bin b/panda/board/jungle/obj/bootstub.panda_jungle.bin
index 38b86458..d2f4b10e 100755
Binary files a/panda/board/jungle/obj/bootstub.panda_jungle.bin and b/panda/board/jungle/obj/bootstub.panda_jungle.bin differ
diff --git a/panda/board/jungle/obj/bootstub.panda_jungle.elf b/panda/board/jungle/obj/bootstub.panda_jungle.elf
index 331ff449..5466ac70 100755
Binary files a/panda/board/jungle/obj/bootstub.panda_jungle.elf and b/panda/board/jungle/obj/bootstub.panda_jungle.elf differ
diff --git a/panda/board/jungle/obj/bootstub.panda_jungle_h7.bin b/panda/board/jungle/obj/bootstub.panda_jungle_h7.bin
index 487b1aa7..14f33af1 100755
Binary files a/panda/board/jungle/obj/bootstub.panda_jungle_h7.bin and b/panda/board/jungle/obj/bootstub.panda_jungle_h7.bin differ
diff --git a/panda/board/jungle/obj/bootstub.panda_jungle_h7.elf b/panda/board/jungle/obj/bootstub.panda_jungle_h7.elf
index 415ea41c..056b4a66 100755
Binary files a/panda/board/jungle/obj/bootstub.panda_jungle_h7.elf and b/panda/board/jungle/obj/bootstub.panda_jungle_h7.elf differ
diff --git a/panda/board/jungle/obj/panda_jungle.bin b/panda/board/jungle/obj/panda_jungle.bin
index 9a148bcc..77783724 100755
Binary files a/panda/board/jungle/obj/panda_jungle.bin and b/panda/board/jungle/obj/panda_jungle.bin differ
diff --git a/panda/board/jungle/obj/panda_jungle.bin.signed b/panda/board/jungle/obj/panda_jungle.bin.signed
index 42ce869d..b954ead9 100644
Binary files a/panda/board/jungle/obj/panda_jungle.bin.signed and b/panda/board/jungle/obj/panda_jungle.bin.signed differ
diff --git a/panda/board/jungle/obj/panda_jungle.elf b/panda/board/jungle/obj/panda_jungle.elf
index 33e14cc1..95b41944 100755
Binary files a/panda/board/jungle/obj/panda_jungle.elf and b/panda/board/jungle/obj/panda_jungle.elf differ
diff --git a/panda/board/jungle/obj/panda_jungle_h7.bin b/panda/board/jungle/obj/panda_jungle_h7.bin
index e1577458..35063e03 100755
Binary files a/panda/board/jungle/obj/panda_jungle_h7.bin and b/panda/board/jungle/obj/panda_jungle_h7.bin differ
diff --git a/panda/board/jungle/obj/panda_jungle_h7.bin.signed b/panda/board/jungle/obj/panda_jungle_h7.bin.signed
index 8b03fb6f..e59cbd84 100644
Binary files a/panda/board/jungle/obj/panda_jungle_h7.bin.signed and b/panda/board/jungle/obj/panda_jungle_h7.bin.signed differ
diff --git a/panda/board/jungle/obj/panda_jungle_h7.elf b/panda/board/jungle/obj/panda_jungle_h7.elf
index d947ed55..8d1cb240 100755
Binary files a/panda/board/jungle/obj/panda_jungle_h7.elf and b/panda/board/jungle/obj/panda_jungle_h7.elf differ
diff --git a/panda/board/main.c b/panda/board/main.c
index 7183b26f..9770f836 100644
--- a/panda/board/main.c
+++ b/panda/board/main.c
@@ -1,6 +1,7 @@
 // ********************* Includes *********************
 #include "config.h"
 
+#include "drivers/led.h"
 #include "drivers/pwm.h"
 #include "drivers/usb.h"
 #include "drivers/simple_watchdog.h"
@@ -76,14 +77,14 @@ void set_safety_mode(uint16_t mode, uint16_t param) {
   switch (mode_copy) {
     case SAFETY_SILENT:
       set_intercept_relay(false, false);
-      if (current_board->has_obd) {
+      if (current_board->harness_config->has_harness) {
         current_board->set_can_mode(CAN_MODE_NORMAL);
       }
       can_silent = ALL_CAN_SILENT;
       break;
     case SAFETY_NOOUTPUT:
       set_intercept_relay(false, false);
-      if (current_board->has_obd) {
+      if (current_board->harness_config->has_harness) {
         current_board->set_can_mode(CAN_MODE_NORMAL);
       }
       can_silent = ALL_CAN_LIVE;
@@ -92,7 +93,7 @@ void set_safety_mode(uint16_t mode, uint16_t param) {
       set_intercept_relay(false, false);
       heartbeat_counter = 0U;
       heartbeat_lost = false;
-      if (current_board->has_obd) {
+      if (current_board->harness_config->has_harness) {
         // Clear any pending messages in the can core (i.e. sending while comma power is unplugged)
         // TODO: rewrite using hardware queues rather than fifo to cancel specific messages
         can_clear_send(CANIF_FROM_CAN_NUM(1), 1);
@@ -108,7 +109,7 @@ void set_safety_mode(uint16_t mode, uint16_t param) {
       set_intercept_relay(true, false);
       heartbeat_counter = 0U;
       heartbeat_lost = false;
-      if (current_board->has_obd) {
+      if (current_board->harness_config->has_harness) {
         current_board->set_can_mode(CAN_MODE_NORMAL);
       }
       can_silent = ALL_CAN_LIVE;
@@ -189,11 +190,11 @@ static void tick_handler(void) {
       #endif
 
       // set green LED to be controls allowed
-      current_board->set_led(LED_GREEN, controls_allowed | green_led_enabled);
+      led_set(LED_GREEN, controls_allowed | green_led_enabled);
 
       // turn off the blue LED, turned on by CAN
       // unless we are in power saving mode
-      current_board->set_led(LED_BLUE, (uptime_cnt & 1U) && (power_save_status == POWER_SAVE_STATUS_ENABLED));
+      led_set(LED_BLUE, (uptime_cnt & 1U) && (power_save_status == POWER_SAVE_STATUS_ENABLED));
 
       const bool recent_heartbeat = heartbeat_counter == 0U;
 
@@ -303,9 +304,10 @@ int main(void) {
   clock_init();
   peripherals_init();
   detect_board_type();
+  led_init();
   // red+green leds enabled until succesful USB/SPI init, as a debug indicator
-  current_board->set_led(LED_RED, true);
-  current_board->set_led(LED_GREEN, true);
+  led_set(LED_RED, true);
+  led_set(LED_GREEN, true);
   adc_init();
 
   // print hello
@@ -319,6 +321,10 @@ int main(void) {
 
   // init board
   current_board->init();
+  current_board->set_can_mode(CAN_MODE_NORMAL);
+  if (current_board->harness_config->has_harness) {
+    harness_init();
+  }
 
   // panda has an FPU, let's use it!
   enable_fpu();
@@ -334,7 +340,7 @@ int main(void) {
   set_safety_mode(SAFETY_SILENT, 0U);
 
   // enable CAN TXs
-  current_board->enable_can_transceivers(true);
+  enable_can_transceivers(true);
 
   // init watchdog for heartbeat loop, fed at 8Hz
   simple_watchdog_init(FAULT_HEARTBEAT_LOOP_WATCHDOG, (3U * 1000000U / 8U));
@@ -351,12 +357,14 @@ int main(void) {
 
 #ifdef ENABLE_SPI
   if (current_board->has_spi) {
+    gpio_spi_init();
     spi_init();
   }
 #endif
 
-  current_board->set_led(LED_RED, false);
-  current_board->set_led(LED_GREEN, false);
+  led_set(LED_RED, false);
+  led_set(LED_GREEN, false);
+  led_set(LED_BLUE, false);
 
   print("**** INTERRUPTS ON ****\n");
   enable_interrupts();
@@ -369,24 +377,24 @@ int main(void) {
       #endif
         // useful for debugging, fade breaks = panda is overloaded
         for (uint32_t fade = 0U; fade < MAX_LED_FADE; fade += 1U) {
-          current_board->set_led(LED_RED, true);
+          led_set(LED_RED, true);
           delay(fade >> 4);
-          current_board->set_led(LED_RED, false);
+          led_set(LED_RED, false);
           delay((MAX_LED_FADE - fade) >> 4);
         }
 
         for (uint32_t fade = MAX_LED_FADE; fade > 0U; fade -= 1U) {
-          current_board->set_led(LED_RED, true);
+          led_set(LED_RED, true);
           delay(fade >> 4);
-          current_board->set_led(LED_RED, false);
+          led_set(LED_RED, false);
           delay((MAX_LED_FADE - fade) >> 4);
         }
 
       #ifdef DEBUG_FAULTS
       } else {
-          current_board->set_led(LED_RED, 1);
+          led_set(LED_RED, 1);
           delay(512000U);
-          current_board->set_led(LED_RED, 0);
+          led_set(LED_RED, 0);
           delay(512000U);
         }
       #endif
diff --git a/panda/board/main_comms.h b/panda/board/main_comms.h
index e366b19a..90056869 100644
--- a/panda/board/main_comms.h
+++ b/panda/board/main_comms.h
@@ -212,7 +212,7 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
       break;
     // **** 0xdb: set OBD CAN multiplexing mode
     case 0xdb:
-      if (current_board->has_obd) {
+      if (current_board->harness_config->has_harness) {
         if (req->param1 == 1U) {
           // Enable OBD CAN
           current_board->set_can_mode(CAN_MODE_OBD_CAN2);
diff --git a/panda/board/power_saving.h b/panda/board/power_saving.h
index 7fcc181e..dea46491 100644
--- a/panda/board/power_saving.h
+++ b/panda/board/power_saving.h
@@ -5,8 +5,15 @@
 
 int power_save_status = POWER_SAVE_STATUS_DISABLED;
 
-void set_power_save_state(int state) {
+void enable_can_transceivers(bool enabled) {
+  // Leave main CAN always on for CAN-based ignition detection
+  uint8_t main_bus = (current_board->harness_config->has_harness && (harness.status == HARNESS_STATUS_FLIPPED)) ? 3U : 1U;
+  for(uint8_t i=1U; i<=4U; i++){
+    current_board->enable_can_transceiver(i, (i == main_bus) || enabled);
+  }
+}
 
+void set_power_save_state(int state) {
   bool is_valid_state = (state == POWER_SAVE_STATUS_ENABLED) || (state == POWER_SAVE_STATUS_DISABLED);
   if (is_valid_state && (state != power_save_status)) {
     bool enable = false;
@@ -33,7 +40,7 @@ void set_power_save_state(int state) {
       enable = true;
     }
 
-    current_board->enable_can_transceivers(enable);
+    enable_can_transceivers(enable);
 
     // Switch off IR when in power saving
     if(!enable){
diff --git a/panda/board/stm32f4/board.h b/panda/board/stm32f4/board.h
index 0cbaae60..cd10c173 100644
--- a/panda/board/stm32f4/board.h
+++ b/panda/board/stm32f4/board.h
@@ -39,4 +39,7 @@ void detect_board_type(void) {
     hw_type = HW_TYPE_BLACK_PANDA;
     current_board = &board_black;
   }
+
+  // Return A13 to the alt mode to fix SWD
+  set_gpio_alternate(GPIOA, 13, GPIO_AF0_SWJ);
 }
diff --git a/panda/board/stm32f4/stm32f4_config.h b/panda/board/stm32f4/stm32f4_config.h
index eae9222a..ee2759a7 100644
--- a/panda/board/stm32f4/stm32f4_config.h
+++ b/panda/board/stm32f4/stm32f4_config.h
@@ -73,7 +73,7 @@
 void early_gpio_float(void) {
   RCC->AHB1ENR = RCC_AHB1ENR_GPIOAEN | RCC_AHB1ENR_GPIOBEN | RCC_AHB1ENR_GPIOCEN;
 
-  GPIOA->MODER = 0; GPIOB->MODER = 0; GPIOC->MODER = 0;
+  GPIOB->MODER = 0; GPIOC->MODER = 0;
   GPIOA->ODR = 0; GPIOB->ODR = 0; GPIOC->ODR = 0;
   GPIOA->PUPDR = 0; GPIOB->PUPDR = 0; GPIOC->PUPDR = 0;
 }
diff --git a/panda/board/stm32h7/board.h b/panda/board/stm32h7/board.h
index 6ab75f55..da47465d 100644
--- a/panda/board/stm32h7/board.h
+++ b/panda/board/stm32h7/board.h
@@ -14,7 +14,6 @@
 #include "stm32h7/sound.h"
 #include "drivers/clock_source.h"
 #include "boards/red.h"
-#include "boards/red_chiplet.h"
 #include "boards/tres.h"
 #include "boards/cuatro.h"
 
diff --git a/panda/board/stm32h7/peripherals.h b/panda/board/stm32h7/peripherals.h
index cae04652..a0b541cc 100644
--- a/panda/board/stm32h7/peripherals.h
+++ b/panda/board/stm32h7/peripherals.h
@@ -31,26 +31,6 @@ void gpio_uart7_init(void) {
 
 // Common GPIO initialization
 void common_init_gpio(void) {
-  /// E2,E3,E4: RGB LED
-  set_gpio_pullup(GPIOE, 2, PULL_NONE);
-  set_gpio_mode(GPIOE, 2, MODE_OUTPUT);
-  set_gpio_output_type(GPIOE, 2, OUTPUT_TYPE_OPEN_DRAIN);
-
-  set_gpio_pullup(GPIOE, 3, PULL_NONE);
-  set_gpio_mode(GPIOE, 3, MODE_OUTPUT);
-  set_gpio_output_type(GPIOE, 3, OUTPUT_TYPE_OPEN_DRAIN);
-
-  set_gpio_pullup(GPIOE, 4, PULL_NONE);
-  set_gpio_mode(GPIOE, 4, MODE_OUTPUT);
-  set_gpio_output_type(GPIOE, 4, OUTPUT_TYPE_OPEN_DRAIN);
-
-  //C4,A1: OBD_SBU1, OBD_SBU2
-  set_gpio_pullup(GPIOC, 4, PULL_NONE);
-  set_gpio_mode(GPIOC, 4, MODE_ANALOG);
-
-  set_gpio_pullup(GPIOA, 1, PULL_NONE);
-  set_gpio_mode(GPIOA, 1, MODE_ANALOG);
-
   //F11: VOLT_S
   set_gpio_pullup(GPIOF, 11, PULL_NONE);
   set_gpio_mode(GPIOF, 11, MODE_ANALOG);
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index f6fabfc4..0e934ce4 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -201,6 +201,7 @@ class Controls:
     # carControl
     cc_send = messaging.new_message('carControl')
     cc_send.valid = CS.canValid
+    CC.currentCurvature = cs.curvature
     cc_send.carControl = CC
     self.pm.send('carControl', cc_send)
 
diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/libacados_ocp_solver_lat.so b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/libacados_ocp_solver_lat.so
index e8f44138..c139bc2d 100755
Binary files a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/libacados_ocp_solver_lat.so and b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/libacados_ocp_solver_lat.so differ
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/libacados_ocp_solver_long.so b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/libacados_ocp_solver_long.so
index da1c4a48..734e67e1 100755
Binary files a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/libacados_ocp_solver_long.so and b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/libacados_ocp_solver_long.so differ
diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
index 84420e35..98fce1cb 100755
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -6,6 +6,7 @@ from typing import Any
 
 import capnp
 from cereal import messaging, log, car
+from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL, Priority, config_realtime_process
 from openpilot.common.swaglog import cloudlog
@@ -51,7 +52,7 @@ class Track:
   def __init__(self, identifier: int, v_lead: float, kalman_params: KalmanParams):
     self.identifier = identifier
     self.cnt = 0
-    self.aLeadTau = _LEAD_ACCEL_TAU
+    self.aLeadTau = FirstOrderFilter(_LEAD_ACCEL_TAU, 0.45, DT_MDL)
     self.K_A = kalman_params.A
     self.K_C = kalman_params.C
     self.K_K = kalman_params.K
@@ -74,17 +75,12 @@ class Track:
 
     # Learn if constant acceleration
     if abs(self.aLeadK) < 0.5:
-      self.aLeadTau = _LEAD_ACCEL_TAU
+      self.aLeadTau.x = _LEAD_ACCEL_TAU
     else:
-      self.aLeadTau *= 0.9
+      self.aLeadTau.update(0.0)
 
     self.cnt += 1
 
-  def reset_a_lead(self, aLeadK: float, aLeadTau: float):
-    self.kf = KF1D([[self.vLead], [aLeadK]], self.K_A, self.K_C, self.K_K)
-    self.aLeadK = aLeadK
-    self.aLeadTau = aLeadTau
-
   def get_RadarState(self, model_prob: float = 0.0):
     return {
       "dRel": float(self.dRel),
@@ -93,7 +89,7 @@ class Track:
       "vLead": float(self.vLead),
       "vLeadK": float(self.vLeadK),
       "aLeadK": float(self.aLeadK),
-      "aLeadTau": float(self.aLeadTau),
+      "aLeadTau": float(self.aLeadTau.x),
       "status": True,
       "fcw": self.is_potential_fcw(model_prob),
       "modelProb": model_prob,
diff --git a/selfdrive/modeld/constants.py b/selfdrive/modeld/constants.py
index 2bb7b810..5ca0a86b 100644
--- a/selfdrive/modeld/constants.py
+++ b/selfdrive/modeld/constants.py
@@ -14,8 +14,14 @@ class ModelConstants:
 
   # model inputs constants
   MODEL_FREQ = 20
+  HISTORY_FREQ = 5
+  HISTORY_LEN_SECONDS = 5
+  TEMPORAL_SKIP = MODEL_FREQ // HISTORY_FREQ
+  FULL_HISTORY_BUFFER_LEN = MODEL_FREQ * HISTORY_LEN_SECONDS
+  INPUT_HISTORY_BUFFER_LEN = HISTORY_FREQ * HISTORY_LEN_SECONDS
+
   FEATURE_LEN = 512
-  FULL_HISTORY_BUFFER_LEN = 100
+
   DESIRE_LEN = 8
   TRAFFIC_CONVENTION_LEN = 2
   LAT_PLANNER_STATE_LEN = 4
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index ee825d15..1e557942 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -56,16 +56,24 @@ class ModelState:
   prev_desire: np.ndarray  # for tracking the rising edge of the pulse
 
   def __init__(self, context: CLContext):
-    self.frames = {'input_imgs': DrivingModelFrame(context), 'big_input_imgs': DrivingModelFrame(context)}
+    self.frames = {
+      'input_imgs': DrivingModelFrame(context, ModelConstants.TEMPORAL_SKIP),
+      'big_input_imgs': DrivingModelFrame(context, ModelConstants.TEMPORAL_SKIP)
+    }
     self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
 
+    self.full_features_buffer = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_LEN), dtype=np.float32)
+    self.full_desire = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.DESIRE_LEN), dtype=np.float32)
+    self.full_prev_desired_curv = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32)
+    self.temporal_idxs = slice(-1-(ModelConstants.TEMPORAL_SKIP*(ModelConstants.INPUT_HISTORY_BUFFER_LEN-1)), None, ModelConstants.TEMPORAL_SKIP)
+
     # policy inputs
     self.numpy_inputs = {
-      'desire': np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.DESIRE_LEN), dtype=np.float32),
+      'desire': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.DESIRE_LEN), dtype=np.float32),
       'traffic_convention': np.zeros((1, ModelConstants.TRAFFIC_CONVENTION_LEN), dtype=np.float32),
       'lateral_control_params': np.zeros((1, ModelConstants.LATERAL_CONTROL_PARAMS_LEN), dtype=np.float32),
-      'prev_desired_curv': np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32),
-      'features_buffer': np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_LEN), dtype=np.float32),
+      'prev_desired_curv': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32),
+      'features_buffer': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_LEN), dtype=np.float32),
     }
 
     with open(VISION_METADATA_PATH, 'rb') as f:
@@ -104,8 +112,9 @@ class ModelState:
     new_desire = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0)
     self.prev_desire[:] = inputs['desire']
 
-    self.numpy_inputs['desire'][0,:-1] = self.numpy_inputs['desire'][0,1:]
-    self.numpy_inputs['desire'][0,-1] = new_desire
+    self.full_desire[0,:-1] = self.full_desire[0,1:]
+    self.full_desire[0,-1] = new_desire
+    self.numpy_inputs['desire'][:] = self.full_desire.reshape((1,ModelConstants.INPUT_HISTORY_BUFFER_LEN,ModelConstants.TEMPORAL_SKIP,-1)).max(axis=2)
 
     self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
     self.numpy_inputs['lateral_control_params'][:] = inputs['lateral_control_params']
@@ -128,15 +137,17 @@ class ModelState:
     self.vision_output = self.vision_run(**self.vision_inputs).numpy().flatten()
     vision_outputs_dict = self.parser.parse_vision_outputs(self.slice_outputs(self.vision_output, self.vision_output_slices))
 
-    self.numpy_inputs['features_buffer'][0,:-1] = self.numpy_inputs['features_buffer'][0,1:]
-    self.numpy_inputs['features_buffer'][0,-1] = vision_outputs_dict['hidden_state'][0, :]
+    self.full_features_buffer[0,:-1] = self.full_features_buffer[0,1:]
+    self.full_features_buffer[0,-1] = vision_outputs_dict['hidden_state'][0, :]
+    self.numpy_inputs['features_buffer'][:] = self.full_features_buffer[0, self.temporal_idxs]
 
     self.policy_output = self.policy_run(**self.policy_inputs).numpy().flatten()
     policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(self.policy_output, self.policy_output_slices))
 
     # TODO model only uses last value now
-    self.numpy_inputs['prev_desired_curv'][0,:-1] = self.numpy_inputs['prev_desired_curv'][0,1:]
-    self.numpy_inputs['prev_desired_curv'][0,-1,:] = policy_outputs_dict['desired_curvature'][0, :]
+    self.full_prev_desired_curv[0,:-1] = self.full_prev_desired_curv[0,1:]
+    self.full_prev_desired_curv[0,-1,:] = policy_outputs_dict['desired_curvature'][0, :]
+    self.numpy_inputs['prev_desired_curv'][:] = self.full_prev_desired_curv[0, self.temporal_idxs]
 
     combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict}
     if SEND_RAW_PRED:
diff --git a/selfdrive/modeld/models/commonmodel.cc b/selfdrive/modeld/models/commonmodel.cc
index 9973d185..d3341e76 100644
--- a/selfdrive/modeld/models/commonmodel.cc
+++ b/selfdrive/modeld/models/commonmodel.cc
@@ -5,11 +5,12 @@
 
 #include "common/clutil.h"
 
-DrivingModelFrame::DrivingModelFrame(cl_device_id device_id, cl_context context) : ModelFrame(device_id, context) {
+DrivingModelFrame::DrivingModelFrame(cl_device_id device_id, cl_context context, int _temporal_skip) : ModelFrame(device_id, context) {
   input_frames = std::make_unique<uint8_t[]>(buf_size);
+  temporal_skip = _temporal_skip;
   input_frames_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err));
-  img_buffer_20hz_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, 2*frame_size_bytes, NULL, &err));
-  region.origin = 1 * frame_size_bytes;
+  img_buffer_20hz_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (temporal_skip+1)*frame_size_bytes, NULL, &err));
+  region.origin = temporal_skip * frame_size_bytes;
   region.size = frame_size_bytes;
   last_img_cl = CL_CHECK_ERR(clCreateSubBuffer(img_buffer_20hz_cl, CL_MEM_READ_WRITE, CL_BUFFER_CREATE_TYPE_REGION, &region, &err));
 
@@ -20,7 +21,7 @@ DrivingModelFrame::DrivingModelFrame(cl_device_id device_id, cl_context context)
 cl_mem* DrivingModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) {
   run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection);
 
-  for (int i = 0; i < 1; i++) {
+  for (int i = 0; i < temporal_skip; i++) {
     CL_CHECK(clEnqueueCopyBuffer(q, img_buffer_20hz_cl, img_buffer_20hz_cl, (i+1)*frame_size_bytes, i*frame_size_bytes, frame_size_bytes, 0, nullptr, nullptr));
   }
   loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, last_img_cl);
@@ -36,6 +37,7 @@ cl_mem* DrivingModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_hei
 DrivingModelFrame::~DrivingModelFrame() {
   deinit_transform();
   loadyuv_destroy(&loadyuv);
+  CL_CHECK(clReleaseMemObject(input_frames_cl));
   CL_CHECK(clReleaseMemObject(img_buffer_20hz_cl));
   CL_CHECK(clReleaseMemObject(last_img_cl));
   CL_CHECK(clReleaseCommandQueue(q));
@@ -57,5 +59,6 @@ cl_mem* MonitoringModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_
 
 MonitoringModelFrame::~MonitoringModelFrame() {
   deinit_transform();
+  CL_CHECK(clReleaseMemObject(input_frame_cl));
   CL_CHECK(clReleaseCommandQueue(q));
 }
diff --git a/selfdrive/modeld/models/commonmodel.h b/selfdrive/modeld/models/commonmodel.h
index 14409943..176d7eb6 100644
--- a/selfdrive/modeld/models/commonmodel.h
+++ b/selfdrive/modeld/models/commonmodel.h
@@ -64,20 +64,21 @@ protected:
 
 class DrivingModelFrame : public ModelFrame {
 public:
-  DrivingModelFrame(cl_device_id device_id, cl_context context);
+  DrivingModelFrame(cl_device_id device_id, cl_context context, int _temporal_skip);
   ~DrivingModelFrame();
   cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection);
 
   const int MODEL_WIDTH = 512;
   const int MODEL_HEIGHT = 256;
   const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT * 3 / 2;
-  const int buf_size = MODEL_FRAME_SIZE * 2;
+  const int buf_size = MODEL_FRAME_SIZE * 2; // 2 frames are temporal_skip frames apart
   const size_t frame_size_bytes = MODEL_FRAME_SIZE * sizeof(uint8_t);
 
 private:
   LoadYUVState loadyuv;
   cl_mem img_buffer_20hz_cl, last_img_cl, input_frames_cl;
   cl_buffer_region region;
+  int temporal_skip;
 };
 
 class MonitoringModelFrame : public ModelFrame {
diff --git a/selfdrive/modeld/models/commonmodel.pxd b/selfdrive/modeld/models/commonmodel.pxd
index b4f08b12..4ac64d91 100644
--- a/selfdrive/modeld/models/commonmodel.pxd
+++ b/selfdrive/modeld/models/commonmodel.pxd
@@ -20,7 +20,7 @@ cdef extern from "selfdrive/modeld/models/commonmodel.h":
 
   cppclass DrivingModelFrame:
     int buf_size
-    DrivingModelFrame(cl_device_id, cl_context)
+    DrivingModelFrame(cl_device_id, cl_context, int)
 
   cppclass MonitoringModelFrame:
     int buf_size
diff --git a/selfdrive/modeld/models/commonmodel_pyx.cpp b/selfdrive/modeld/models/commonmodel_pyx.cpp
index cd0b6ba7..6dc1b1a0 100644
--- a/selfdrive/modeld/models/commonmodel_pyx.cpp
+++ b/selfdrive/modeld/models/commonmodel_pyx.cpp
@@ -3548,6 +3548,7 @@ static const char __pyx_k_stringsource[] = "<stringsource>";
 static const char __pyx_k_version_info[] = "version_info";
 static const char __pyx_k_class_getitem[] = "__class_getitem__";
 static const char __pyx_k_reduce_cython[] = "__reduce_cython__";
+static const char __pyx_k_temporal_skip[] = "temporal_skip";
 static const char __pyx_k_AssertionError[] = "AssertionError";
 static const char __pyx_k_buffer_from_cl[] = "buffer_from_cl";
 static const char __pyx_k_View_MemoryView[] = "View.MemoryView";
@@ -3664,7 +3665,7 @@ static PyObject *__pyx_pf_9selfdrive_6modeld_6models_15commonmodel_pyx_10ModelFr
 static PyObject *__pyx_pf_9selfdrive_6modeld_6models_15commonmodel_pyx_10ModelFrame_4buffer_from_cl(struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame *__pyx_v_self, struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem *__pyx_v_in_frames); /* proto */
 static PyObject *__pyx_pf_9selfdrive_6modeld_6models_15commonmodel_pyx_10ModelFrame_6__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame *__pyx_v_self); /* proto */
 static PyObject *__pyx_pf_9selfdrive_6modeld_6models_15commonmodel_pyx_10ModelFrame_8__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */
-static int __pyx_pf_9selfdrive_6modeld_6models_15commonmodel_pyx_17DrivingModelFrame___cinit__(struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_DrivingModelFrame *__pyx_v_self, struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext *__pyx_v_context); /* proto */
+static int __pyx_pf_9selfdrive_6modeld_6models_15commonmodel_pyx_17DrivingModelFrame___cinit__(struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_DrivingModelFrame *__pyx_v_self, struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext *__pyx_v_context, int __pyx_v_temporal_skip); /* proto */
 static PyObject *__pyx_pf_9selfdrive_6modeld_6models_15commonmodel_pyx_17DrivingModelFrame_2__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_DrivingModelFrame *__pyx_v_self); /* proto */
 static PyObject *__pyx_pf_9selfdrive_6modeld_6models_15commonmodel_pyx_17DrivingModelFrame_4__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_DrivingModelFrame *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */
 static int __pyx_pf_9selfdrive_6modeld_6models_15commonmodel_pyx_20MonitoringModelFrame___cinit__(struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_MonitoringModelFrame *__pyx_v_self, struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext *__pyx_v_context); /* proto */
@@ -3939,6 +3940,7 @@ typedef struct {
   PyObject *__pyx_kp_s_stringsource;
   PyObject *__pyx_n_s_struct;
   PyObject *__pyx_n_s_sys;
+  PyObject *__pyx_n_s_temporal_skip;
   PyObject *__pyx_n_s_test;
   PyObject *__pyx_kp_s_unable_to_allocate_array_data;
   PyObject *__pyx_kp_s_unable_to_allocate_shape_and_str;
@@ -4225,6 +4227,7 @@ static int __pyx_m_clear(PyObject *m) {
   Py_CLEAR(clear_module_state->__pyx_kp_s_stringsource);
   Py_CLEAR(clear_module_state->__pyx_n_s_struct);
   Py_CLEAR(clear_module_state->__pyx_n_s_sys);
+  Py_CLEAR(clear_module_state->__pyx_n_s_temporal_skip);
   Py_CLEAR(clear_module_state->__pyx_n_s_test);
   Py_CLEAR(clear_module_state->__pyx_kp_s_unable_to_allocate_array_data);
   Py_CLEAR(clear_module_state->__pyx_kp_s_unable_to_allocate_shape_and_str);
@@ -4489,6 +4492,7 @@ static int __pyx_m_traverse(PyObject *m, visitproc visit, void *arg) {
   Py_VISIT(traverse_module_state->__pyx_kp_s_stringsource);
   Py_VISIT(traverse_module_state->__pyx_n_s_struct);
   Py_VISIT(traverse_module_state->__pyx_n_s_sys);
+  Py_VISIT(traverse_module_state->__pyx_n_s_temporal_skip);
   Py_VISIT(traverse_module_state->__pyx_n_s_test);
   Py_VISIT(traverse_module_state->__pyx_kp_s_unable_to_allocate_array_data);
   Py_VISIT(traverse_module_state->__pyx_kp_s_unable_to_allocate_shape_and_str);
@@ -4799,6 +4803,7 @@ static int __pyx_m_traverse(PyObject *m, visitproc visit, void *arg) {
 #define __pyx_kp_s_stringsource __pyx_mstate_global->__pyx_kp_s_stringsource
 #define __pyx_n_s_struct __pyx_mstate_global->__pyx_n_s_struct
 #define __pyx_n_s_sys __pyx_mstate_global->__pyx_n_s_sys
+#define __pyx_n_s_temporal_skip __pyx_mstate_global->__pyx_n_s_temporal_skip
 #define __pyx_n_s_test __pyx_mstate_global->__pyx_n_s_test
 #define __pyx_kp_s_unable_to_allocate_array_data __pyx_mstate_global->__pyx_kp_s_unable_to_allocate_array_data
 #define __pyx_kp_s_unable_to_allocate_shape_and_str __pyx_mstate_global->__pyx_kp_s_unable_to_allocate_shape_and_str
@@ -21642,8 +21647,8 @@ static PyObject *__pyx_pf_9selfdrive_6modeld_6models_15commonmodel_pyx_10ModelFr
 /* "selfdrive/modeld/models/commonmodel_pyx.pyx":62
  *   cdef cppDrivingModelFrame * _frame
  * 
- *   def __cinit__(self, CLContext context):             # <<<<<<<<<<<<<<
- *     self._frame = new cppDrivingModelFrame(context.device_id, context.context)
+ *   def __cinit__(self, CLContext context, int temporal_skip):             # <<<<<<<<<<<<<<
+ *     self._frame = new cppDrivingModelFrame(context.device_id, context.context, temporal_skip)
  *     self.frame = <cppModelFrame*>(self._frame)
  */
 
@@ -21651,9 +21656,10 @@ static PyObject *__pyx_pf_9selfdrive_6modeld_6models_15commonmodel_pyx_10ModelFr
 static int __pyx_pw_9selfdrive_6modeld_6models_15commonmodel_pyx_17DrivingModelFrame_1__cinit__(PyObject *__pyx_v_self, PyObject *__pyx_args, PyObject *__pyx_kwds); /*proto*/
 static int __pyx_pw_9selfdrive_6modeld_6models_15commonmodel_pyx_17DrivingModelFrame_1__cinit__(PyObject *__pyx_v_self, PyObject *__pyx_args, PyObject *__pyx_kwds) {
   struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext *__pyx_v_context = 0;
+  int __pyx_v_temporal_skip;
   CYTHON_UNUSED Py_ssize_t __pyx_nargs;
   CYTHON_UNUSED PyObject *const *__pyx_kwvalues;
-  PyObject* values[1] = {0};
+  PyObject* values[2] = {0,0};
   int __pyx_lineno = 0;
   const char *__pyx_filename = NULL;
   int __pyx_clineno = 0;
@@ -21667,10 +21673,12 @@ static int __pyx_pw_9selfdrive_6modeld_6models_15commonmodel_pyx_17DrivingModelF
   #endif
   __pyx_kwvalues = __Pyx_KwValues_VARARGS(__pyx_args, __pyx_nargs);
   {
-    PyObject **__pyx_pyargnames[] = {&__pyx_n_s_context,0};
+    PyObject **__pyx_pyargnames[] = {&__pyx_n_s_context,&__pyx_n_s_temporal_skip,0};
     if (__pyx_kwds) {
       Py_ssize_t kw_args;
       switch (__pyx_nargs) {
+        case  2: values[1] = __Pyx_Arg_VARARGS(__pyx_args, 1);
+        CYTHON_FALLTHROUGH;
         case  1: values[0] = __Pyx_Arg_VARARGS(__pyx_args, 0);
         CYTHON_FALLTHROUGH;
         case  0: break;
@@ -21685,21 +21693,33 @@ static int __pyx_pw_9selfdrive_6modeld_6models_15commonmodel_pyx_17DrivingModelF
         }
         else if (unlikely(PyErr_Occurred())) __PYX_ERR(1, 62, __pyx_L3_error)
         else goto __pyx_L5_argtuple_error;
+        CYTHON_FALLTHROUGH;
+        case  1:
+        if (likely((values[1] = __Pyx_GetKwValue_VARARGS(__pyx_kwds, __pyx_kwvalues, __pyx_n_s_temporal_skip)) != 0)) {
+          (void)__Pyx_Arg_NewRef_VARARGS(values[1]);
+          kw_args--;
+        }
+        else if (unlikely(PyErr_Occurred())) __PYX_ERR(1, 62, __pyx_L3_error)
+        else {
+          __Pyx_RaiseArgtupleInvalid("__cinit__", 1, 2, 2, 1); __PYX_ERR(1, 62, __pyx_L3_error)
+        }
       }
       if (unlikely(kw_args > 0)) {
         const Py_ssize_t kwd_pos_args = __pyx_nargs;
         if (unlikely(__Pyx_ParseOptionalKeywords(__pyx_kwds, __pyx_kwvalues, __pyx_pyargnames, 0, values + 0, kwd_pos_args, "__cinit__") < 0)) __PYX_ERR(1, 62, __pyx_L3_error)
       }
-    } else if (unlikely(__pyx_nargs != 1)) {
+    } else if (unlikely(__pyx_nargs != 2)) {
       goto __pyx_L5_argtuple_error;
     } else {
       values[0] = __Pyx_Arg_VARARGS(__pyx_args, 0);
+      values[1] = __Pyx_Arg_VARARGS(__pyx_args, 1);
     }
     __pyx_v_context = ((struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext *)values[0]);
+    __pyx_v_temporal_skip = __Pyx_PyInt_As_int(values[1]); if (unlikely((__pyx_v_temporal_skip == (int)-1) && PyErr_Occurred())) __PYX_ERR(1, 62, __pyx_L3_error)
   }
   goto __pyx_L6_skip;
   __pyx_L5_argtuple_error:;
-  __Pyx_RaiseArgtupleInvalid("__cinit__", 1, 1, 1, __pyx_nargs); __PYX_ERR(1, 62, __pyx_L3_error)
+  __Pyx_RaiseArgtupleInvalid("__cinit__", 1, 2, 2, __pyx_nargs); __PYX_ERR(1, 62, __pyx_L3_error)
   __pyx_L6_skip:;
   goto __pyx_L4_argument_unpacking_done;
   __pyx_L3_error:;
@@ -21714,7 +21734,7 @@ static int __pyx_pw_9selfdrive_6modeld_6models_15commonmodel_pyx_17DrivingModelF
   return -1;
   __pyx_L4_argument_unpacking_done:;
   if (unlikely(!__Pyx_ArgTypeTest(((PyObject *)__pyx_v_context), __pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext, 1, "context", 0))) __PYX_ERR(1, 62, __pyx_L1_error)
-  __pyx_r = __pyx_pf_9selfdrive_6modeld_6models_15commonmodel_pyx_17DrivingModelFrame___cinit__(((struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_DrivingModelFrame *)__pyx_v_self), __pyx_v_context);
+  __pyx_r = __pyx_pf_9selfdrive_6modeld_6models_15commonmodel_pyx_17DrivingModelFrame___cinit__(((struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_DrivingModelFrame *)__pyx_v_self), __pyx_v_context, __pyx_v_temporal_skip);
 
   /* function exit code */
   goto __pyx_L0;
@@ -21731,22 +21751,22 @@ static int __pyx_pw_9selfdrive_6modeld_6models_15commonmodel_pyx_17DrivingModelF
   return __pyx_r;
 }
 
-static int __pyx_pf_9selfdrive_6modeld_6models_15commonmodel_pyx_17DrivingModelFrame___cinit__(struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_DrivingModelFrame *__pyx_v_self, struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext *__pyx_v_context) {
+static int __pyx_pf_9selfdrive_6modeld_6models_15commonmodel_pyx_17DrivingModelFrame___cinit__(struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_DrivingModelFrame *__pyx_v_self, struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext *__pyx_v_context, int __pyx_v_temporal_skip) {
   int __pyx_r;
   int __pyx_t_1;
 
   /* "selfdrive/modeld/models/commonmodel_pyx.pyx":63
  * 
- *   def __cinit__(self, CLContext context):
- *     self._frame = new cppDrivingModelFrame(context.device_id, context.context)             # <<<<<<<<<<<<<<
+ *   def __cinit__(self, CLContext context, int temporal_skip):
+ *     self._frame = new cppDrivingModelFrame(context.device_id, context.context, temporal_skip)             # <<<<<<<<<<<<<<
  *     self.frame = <cppModelFrame*>(self._frame)
  *     self.buf_size = self._frame.buf_size
  */
-  __pyx_v_self->_frame = new DrivingModelFrame(__pyx_v_context->__pyx_base.device_id, __pyx_v_context->__pyx_base.context);
+  __pyx_v_self->_frame = new DrivingModelFrame(__pyx_v_context->__pyx_base.device_id, __pyx_v_context->__pyx_base.context, __pyx_v_temporal_skip);
 
   /* "selfdrive/modeld/models/commonmodel_pyx.pyx":64
- *   def __cinit__(self, CLContext context):
- *     self._frame = new cppDrivingModelFrame(context.device_id, context.context)
+ *   def __cinit__(self, CLContext context, int temporal_skip):
+ *     self._frame = new cppDrivingModelFrame(context.device_id, context.context, temporal_skip)
  *     self.frame = <cppModelFrame*>(self._frame)             # <<<<<<<<<<<<<<
  *     self.buf_size = self._frame.buf_size
  * 
@@ -21754,7 +21774,7 @@ static int __pyx_pf_9selfdrive_6modeld_6models_15commonmodel_pyx_17DrivingModelF
   __pyx_v_self->__pyx_base.frame = ((ModelFrame *)__pyx_v_self->_frame);
 
   /* "selfdrive/modeld/models/commonmodel_pyx.pyx":65
- *     self._frame = new cppDrivingModelFrame(context.device_id, context.context)
+ *     self._frame = new cppDrivingModelFrame(context.device_id, context.context, temporal_skip)
  *     self.frame = <cppModelFrame*>(self._frame)
  *     self.buf_size = self._frame.buf_size             # <<<<<<<<<<<<<<
  * 
@@ -21766,8 +21786,8 @@ static int __pyx_pf_9selfdrive_6modeld_6models_15commonmodel_pyx_17DrivingModelF
   /* "selfdrive/modeld/models/commonmodel_pyx.pyx":62
  *   cdef cppDrivingModelFrame * _frame
  * 
- *   def __cinit__(self, CLContext context):             # <<<<<<<<<<<<<<
- *     self._frame = new cppDrivingModelFrame(context.device_id, context.context)
+ *   def __cinit__(self, CLContext context, int temporal_skip):             # <<<<<<<<<<<<<<
+ *     self._frame = new cppDrivingModelFrame(context.device_id, context.context, temporal_skip)
  *     self.frame = <cppModelFrame*>(self._frame)
  */
 
@@ -24144,6 +24164,7 @@ static int __Pyx_CreateStringTabAndInitStrings(void) {
     {&__pyx_kp_s_stringsource, __pyx_k_stringsource, sizeof(__pyx_k_stringsource), 0, 0, 1, 0},
     {&__pyx_n_s_struct, __pyx_k_struct, sizeof(__pyx_k_struct), 0, 0, 1, 1},
     {&__pyx_n_s_sys, __pyx_k_sys, sizeof(__pyx_k_sys), 0, 0, 1, 1},
+    {&__pyx_n_s_temporal_skip, __pyx_k_temporal_skip, sizeof(__pyx_k_temporal_skip), 0, 0, 1, 1},
     {&__pyx_n_s_test, __pyx_k_test, sizeof(__pyx_k_test), 0, 0, 1, 1},
     {&__pyx_kp_s_unable_to_allocate_array_data, __pyx_k_unable_to_allocate_array_data, sizeof(__pyx_k_unable_to_allocate_array_data), 0, 0, 1, 0},
     {&__pyx_kp_s_unable_to_allocate_shape_and_str, __pyx_k_unable_to_allocate_shape_and_str, sizeof(__pyx_k_unable_to_allocate_shape_and_str), 0, 0, 1, 0},
diff --git a/selfdrive/modeld/models/commonmodel_pyx.pyx b/selfdrive/modeld/models/commonmodel_pyx.pyx
index 7b3a5bb3..5b7d11bc 100644
--- a/selfdrive/modeld/models/commonmodel_pyx.pyx
+++ b/selfdrive/modeld/models/commonmodel_pyx.pyx
@@ -59,8 +59,8 @@ cdef class ModelFrame:
 cdef class DrivingModelFrame(ModelFrame):
   cdef cppDrivingModelFrame * _frame
 
-  def __cinit__(self, CLContext context):
-    self._frame = new cppDrivingModelFrame(context.device_id, context.context)
+  def __cinit__(self, CLContext context, int temporal_skip):
+    self._frame = new cppDrivingModelFrame(context.device_id, context.context, temporal_skip)
     self.frame = <cppModelFrame*>(self._frame)
     self.buf_size = self._frame.buf_size
 
diff --git a/selfdrive/modeld/models/commonmodel_pyx.so b/selfdrive/modeld/models/commonmodel_pyx.so
index 54b5d654..d52356b7 100755
Binary files a/selfdrive/modeld/models/commonmodel_pyx.so and b/selfdrive/modeld/models/commonmodel_pyx.so differ
diff --git a/selfdrive/modeld/models/dmonitoring_model_tinygrad.pkl b/selfdrive/modeld/models/dmonitoring_model_tinygrad.pkl
index 78b24e90..fd8bc927 100644
Binary files a/selfdrive/modeld/models/dmonitoring_model_tinygrad.pkl and b/selfdrive/modeld/models/dmonitoring_model_tinygrad.pkl differ
diff --git a/selfdrive/modeld/models/driving_policy_metadata.pkl b/selfdrive/modeld/models/driving_policy_metadata.pkl
index 6cc4bab0..e5ceaf0b 100644
Binary files a/selfdrive/modeld/models/driving_policy_metadata.pkl and b/selfdrive/modeld/models/driving_policy_metadata.pkl differ
diff --git a/selfdrive/modeld/models/driving_policy_tinygrad.pkl b/selfdrive/modeld/models/driving_policy_tinygrad.pkl
index 96017790..4e2d3836 100644
Binary files a/selfdrive/modeld/models/driving_policy_tinygrad.pkl and b/selfdrive/modeld/models/driving_policy_tinygrad.pkl differ
diff --git a/selfdrive/modeld/models/driving_vision_metadata.pkl b/selfdrive/modeld/models/driving_vision_metadata.pkl
index bf4bc470..89c7477e 100644
Binary files a/selfdrive/modeld/models/driving_vision_metadata.pkl and b/selfdrive/modeld/models/driving_vision_metadata.pkl differ
diff --git a/selfdrive/modeld/models/driving_vision_tinygrad.pkl b/selfdrive/modeld/models/driving_vision_tinygrad.pkl
index 31ad1940..6b2930e4 100644
Binary files a/selfdrive/modeld/models/driving_vision_tinygrad.pkl and b/selfdrive/modeld/models/driving_vision_tinygrad.pkl differ
diff --git a/selfdrive/pandad/panda.cc b/selfdrive/pandad/panda.cc
index 7b5fc9a9..93e139f0 100644
--- a/selfdrive/pandad/panda.cc
+++ b/selfdrive/pandad/panda.cc
@@ -66,6 +66,25 @@ void Panda::set_alternative_experience(uint16_t alternative_experience) {
   handle->control_write(0xdf, alternative_experience, 0);
 }
 
+std::string Panda::serial_read(int port_number) {
+  std::string ret;
+  char buffer[USBPACKET_MAX_SIZE] = {};
+
+  while (true) {
+    int bytes_read = handle->control_read(0xe0, port_number, 0, (unsigned char *)buffer, USBPACKET_MAX_SIZE);
+    if (bytes_read <= 0) {
+      break;
+    }
+    ret.append(buffer, bytes_read);
+  }
+
+  return ret;
+}
+
+void Panda::set_uart_baud(int uart, int rate) {
+  handle->control_write(0xe4, uart, int(rate / 300));
+}
+
 cereal::PandaState::PandaType Panda::get_hw_type() {
   unsigned char hw_query[1] = {0};
 
diff --git a/selfdrive/pandad/panda.h b/selfdrive/pandad/panda.h
index 6ae2c777..5cbce44f 100644
--- a/selfdrive/pandad/panda.h
+++ b/selfdrive/pandad/panda.h
@@ -64,6 +64,8 @@ public:
   cereal::PandaState::PandaType get_hw_type();
   void set_safety_model(cereal::CarParams::SafetyModel safety_model, uint16_t safety_param=0U);
   void set_alternative_experience(uint16_t alternative_experience);
+  std::string serial_read(int port_number = 0);
+  void set_uart_baud(int uart, int rate);
   void set_fan_speed(uint16_t fan_speed);
   uint16_t get_fan_speed();
   void set_ir_pwr(uint16_t ir_pwr);
diff --git a/selfdrive/pandad/pandad b/selfdrive/pandad/pandad
index 4cbbcd5e..9663b36b 100755
Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ
diff --git a/selfdrive/pandad/pandad.cc b/selfdrive/pandad/pandad.cc
index e6ef4a40..db7dd387 100644
--- a/selfdrive/pandad/pandad.cc
+++ b/selfdrive/pandad/pandad.cc
@@ -452,6 +452,14 @@ void pandad_run(std::vector<Panda *> &pandas) {
       send_peripheral_state(peripheral_panda, &pm);
     }
 
+    // Forward logs from pandas to cloudlog if available
+    for (auto *panda : pandas) {
+      std::string log = panda->serial_read();
+      if (!log.empty()) {
+        LOGD("%s", log.c_str());
+      }
+    }
+
     rk.keepTime();
   }
 
diff --git a/tinygrad_repo/extra/accel/ane/2_compile/ane.py b/tinygrad_repo/extra/accel/ane/2_compile/ane.py
index f35d8507..2e430c0f 120000
--- a/tinygrad_repo/extra/accel/ane/2_compile/ane.py
+++ b/tinygrad_repo/extra/accel/ane/2_compile/ane.py
@@ -1 +1,222 @@
-../lib/ane.py
\ No newline at end of file
+#!/usr/bin/env python3
+from pathlib import Path
+from ctypes import *
+import json
+import collections
+import numpy as np
+import faulthandler
+import struct
+faulthandler.enable()
+
+basedir = Path(__file__).resolve().parent
+
+libane = None
+aneregs = None
+def init_libane():
+  global libane, aneregs
+  libane = cdll.LoadLibrary((basedir / "libane.dylib").as_posix())
+
+  libane.ANE_Compile.argtypes = [c_char_p, c_int]
+  libane.ANE_Compile.restype = c_void_p
+
+  libane.ANE_TensorCreate.restype = c_void_p
+
+  libane.ANE_TensorData.argtypes = [c_void_p]
+  libane.ANE_TensorData.restype = POINTER(c_uint16)
+
+  libane.ANE_Run.argtypes = [c_void_p]*4
+  libane.ANE_Run.restype = c_int
+
+  #libane.ANE_RegDebug.restype = c_char_p
+
+  with open(basedir / "aneregs.json") as f:
+    aneregs = json.load(f)
+
+ANE_Struct = [
+# aneTD.Header
+  ("u32", 0x1C, "NextCommandOffset"),
+
+# KernelDMASrc @ section @ 0x2C len 0xF4
+  # reloc 0x2c-0x34?? = weights
+  # u32[16] 0x34-0x74 = 0x80 | 1 if used
+  # u32[16] 0x74-0xB4 = <channel data offset>
+  # u32[16] 0xB4-0xF4 = <channel data length>
+
+# Common @ section @ 0x128 len 0x3C (conv)
+  ("u16", 0x128, "InputWidth"),
+  ("u16", 0x12A, "InputHeight"),
+  ("u16", 0x12C, "InputDepth"),
+
+  ("u32", 0x130, "InputOutputType"),   # (OutputType * 0x10) | InputType
+                                       # UInt8 = 0, Int8 = 1, Float16 = 2
+
+  ("u32", 0x134, "InputChannels"),
+  ("u32", 0x138, "OutputChannels"),
+
+  ("u16", 0x13C, "OutputWidth"),
+  ("u16", 0x13E, "OutputHeight"),
+  ("u16", 0x140, "OutputDepth"),
+
+  ("u16", 0x144, "KernelSize"),        # 0xa000 | (KernelHeight * 0x20) | KernelWidth
+  ("u16", 0x146, "Padding"),           # 0x5000 | (PadTop * 0x40) | (PadLeft * 2)
+
+  ("u16", 0x14C, "BatchSize"),
+
+# TileDMASrc @ section @ 0x16C len 0x6C (input)
+  # reloc 0x16c-0x174 = image
+  ("u32", 0x178, "InputRowStride"),
+  ("u32", 0x17C, "InputPlaneStride"),
+  ("u32", 0x180, "InputDepthStride"),
+  ("u32", 0x184, "InputBatchStride"),
+
+  ("u8",  0x1A7, "InputInterleave"),
+
+# L2 @ section @ 0x1E0 len 0x44
+  # [0x1ec, 0x1f0, 0x1f4, 0x1f8, 0x214] = number of engines
+  # [0x1f0, 0x1f4, 0x1f8, 0x214] = engines for inconv?
+  # [0x21c, 0x220, 0x224] = engines for outconv?
+
+# NE @ section @ 0x22c len 0xC (scaling)
+  ("u16", 0x230, "BiasScalar"),
+  ("u16", 0x232, "ScaleScalar"),
+
+# section @ 0x240 len 0x10
+  ("u16", 0x246, "NeuronType"),  # 0x10 = copy, 0x11 = ReLU, 0x12 = custom
+  ("u32", 0x250, "PostScale"),
+
+# TileDMADst @ section @ 0x258 len 0x18
+
+# HandleTileDmaDstConfig
+  # 0x258 -- *(uint *)(this + 0x334) = *(uint *)(this + 0x334) & 0xfffffc3f | 0xc0;
+  #          (GetCacheHintRegisterValue & 0xf) << 6;
+  ("u32", 0x25C, "OutputOffset"),  # offset into output buffer to write at?
+
+  # 0x260 -- *(uint *)(this + 0x33c) = *(uint *)(this + 0x33c) & 0x3f | (int)uVar10 << 6;
+  ("u32", 0x260, "OutputRowStride"),
+  ("u32", 0x264, "OutputPlaneStride"),
+  ("u32", 0x268, "OutputDepthStride"),
+  ("u32", 0x26C, "OutputBatchStride"),
+
+  # 0x270 -- *(uint *)(this + 0x34c) = *(uint *)(this + 0x34c) & 0xf0ffffff | 0x1000000;
+  #  uVar6 = *(uint *)(this + 0x34c) & 0xffffcfcc | 0x2031;
+  #          (ZinTensorDescriptorDmaInterleave & 0xf) << 0x18;
+  ("u8",  0x273, "OutputInterleave"),    # i also have this at 0x211?
+]
+
+ANE_Struct_Dict = {}
+for typ, num, nam in ANE_Struct:
+  styp = {"u32": "I", "u16": "H", "u8": "B"}[typ]
+  ANE_Struct_Dict[nam] = (styp, num)
+
+class ANETensor:
+  def __init__(self, *shape):
+    self.shape = shape
+    self.dtype = np.float16
+    self.sz = int(np.prod(shape))
+    assert(self.sz <= 0x4000)
+    self.tt = libane.ANE_TensorCreate(self.sz, 1)
+    assert(self.tt is not None)
+
+  def data(self):
+    data = libane.ANE_TensorData(self.tt)
+    assert(data is not None)
+    #print(hex(addressof(data.contents)))
+    buf = np.ctypeslib.as_array(data, shape=(self.sz,))
+    ret = np.frombuffer(buf, dtype=self.dtype)
+    #print(ret.data)
+    return ret
+
+class ANE:
+  def __init__(self):
+    init_libane()
+    libane.ANE_Open()
+
+  def compile(self, dat):
+    ret = libane.ANE_Compile(create_string_buffer(dat), len(dat))
+    assert(ret is not None)
+    return ret
+
+  def run(self, prog, tin, tout, tweights=None):
+    libane.ANE_Run(prog, tin.tt, tout.tt, tweights.tt if tweights is not None else 0)
+
+  def tensor(self, shape):
+    return ANETensor(shape)
+
+  def unpack(self, dat):
+    dat = struct.unpack("Q"*(len(dat)//8), dat)
+    ret = {}
+    for k,v in aneregs:
+      by,bi,sz = v
+      bi += (by%8)*8
+      by //= 8
+      rv = (dat[by] >> bi) & ((1 << sz)-1)
+      ret[k] = rv
+    return ret
+
+  def pack(self, pk, dat):
+    dat = list(struct.unpack("Q"*(len(dat)//8), dat))
+    for k,v in aneregs:
+      by,bi,sz = v
+      bi += (by%8)*8
+      by //= 8
+      dat[by] &= ~(((1 << sz)-1) << bi)
+      dat[by] |= pk[k] << bi
+    dat = struct.pack("Q"*len(dat), *dat)
+    return dat
+
+  def debug(self, dat, mems=0):
+    add = [0x30, 0x1d4, 0x220, 0x29c, 0x2f0, 0x30c, 0x32c]
+    lens = [244, 60, 108, 68, 12, 16, 24]
+    ptr = 0x2b
+    ddat = dat[0:0x28]
+    for a, pm in zip(add, lens):
+      #assert pm == dat[ptr]
+      ddat += b"\x00" * (a-len(ddat))
+      ddat += dat[ptr+1:ptr+1+pm+4]
+      ptr += pm+8
+    ddat += b"\x00" * 0x100
+    ret = collections.OrderedDict()
+    for ln in libane.ANE_RegDebug(0, create_string_buffer(ddat), mems).decode('utf-8').strip().split("\n"):
+      lnn = ln.split(" = ")
+      if len(lnn) == 2:
+        ret[lnn[0]] = int(lnn[1])
+    return ret
+
+  def filln(self, dat, nvdict, base=0x4000):
+    for n,v in nvdict.items():
+      styp, num = ANE_Struct_Dict[n]
+      dat = self.fill(dat, [num], styp, v)
+    return dat
+
+  def fill(self, dat, addrs, type, val, base=0x4000):
+    x = struct.pack(type, val)
+    for a in addrs:
+      dat[base+a:base+a+len(x)] = x
+    return dat
+
+if __name__ == "__main__":
+  ane = ANE()
+
+  tin = ANETensor(16)
+  tout = ANETensor(16)
+
+  tind = tin.data()
+  toutd = tout.data()
+
+  tind[0:4] = [-1,1,-2,2]
+  print("** before **")
+  print(tind)
+  print(toutd)
+
+  dat = open("../ops/relu.hwx", "rb").read()
+  md = dat[0x4000:0x4300]
+  dd = ane.unpack(md)
+  mdf = ane.pack(dd, md)
+  assert(md == mdf)
+
+  comp = ane.compile(dat)
+  ret = ane.run(comp, tin, tout)
+  print("** after **")
+  print(tind)
+  print(toutd)
+
diff --git a/tinygrad_repo/extra/accel/ane/2_compile/aneregs.json b/tinygrad_repo/extra/accel/ane/2_compile/aneregs.json
index 2d097904..3862d695 120000
--- a/tinygrad_repo/extra/accel/ane/2_compile/aneregs.json
+++ b/tinygrad_repo/extra/accel/ane/2_compile/aneregs.json
@@ -1 +1,2066 @@
-../lib/aneregs.json
\ No newline at end of file
+[
+  [
+    "aneTD.Header[0].TID",
+    [
+      0,
+      0,
+      16
+    ]
+  ],
+  [
+    "aneTD.Header[0].NID",
+    [
+      2,
+      0,
+      8
+    ]
+  ],
+  [
+    "aneTD.Header[0].LNID",
+    [
+      3,
+      0,
+      1
+    ]
+  ],
+  [
+    "aneTD.Header[0].EON",
+    [
+      3,
+      1,
+      1
+    ]
+  ],
+  [
+    "aneTD.Header[1].ExeCycles",
+    [
+      4,
+      0,
+      16
+    ]
+  ],
+  [
+    "aneTD.Header[1].NextSize",
+    [
+      6,
+      0,
+      9
+    ]
+  ],
+  [
+    "aneTD.Header[2].LogEvents",
+    [
+      8,
+      0,
+      24
+    ]
+  ],
+  [
+    "aneTD.Header[3].Exceptions",
+    [
+      12,
+      0,
+      24
+    ]
+  ],
+  [
+    "aneTD.Header[4].DebugLogEvents",
+    [
+      16,
+      0,
+      24
+    ]
+  ],
+  [
+    "aneTD.Header[5].DebugExceptions",
+    [
+      20,
+      0,
+      24
+    ]
+  ],
+  [
+    "aneTD.Header[6].DisallowAbort",
+    [
+      25,
+      0,
+      1
+    ]
+  ],
+  [
+    "aneTD.Header[6].TDSkip",
+    [
+      25,
+      1,
+      1
+    ]
+  ],
+  [
+    "aneTD.Header[6].KPC",
+    [
+      25,
+      2,
+      1
+    ]
+  ],
+  [
+    "aneTD.Header[6].SPL",
+    [
+      25,
+      3,
+      1
+    ]
+  ],
+  [
+    "aneTD.Header[6].TSR",
+    [
+      25,
+      4,
+      1
+    ]
+  ],
+  [
+    "aneTD.Header[6].SPC",
+    [
+      25,
+      5,
+      1
+    ]
+  ],
+  [
+    "aneTD.Header[6].DPC",
+    [
+      25,
+      6,
+      1
+    ]
+  ],
+  [
+    "aneTD.Header[6].TSE",
+    [
+      25,
+      7,
+      1
+    ]
+  ],
+  [
+    "aneTD.Header[6].NextPriority",
+    [
+      26,
+      0,
+      6
+    ]
+  ],
+  [
+    "aneTD.Header[6].TDE",
+    [
+      27,
+      0,
+      1
+    ]
+  ],
+  [
+    "aneTD.Header[6].SrcLoc",
+    [
+      27,
+      4,
+      1
+    ]
+  ],
+  [
+    "aneTD.Header[6].DstLoc",
+    [
+      27,
+      5,
+      1
+    ]
+  ],
+  [
+    "aneTD.Header[6].TQDis",
+    [
+      27,
+      7,
+      1
+    ]
+  ],
+  [
+    "aneTD.Header[7].NextPointer",
+    [
+      28,
+      0,
+      32
+    ]
+  ],
+  [
+    "aneTD.Header[8].RBase0",
+    [
+      32,
+      0,
+      5
+    ]
+  ],
+  [
+    "aneTD.Header[8].RBE0",
+    [
+      32,
+      5,
+      1
+    ]
+  ],
+  [
+    "aneTD.Header[8].RBase1",
+    [
+      32,
+      6,
+      5
+    ]
+  ],
+  [
+    "aneTD.Header[8].RBE1",
+    [
+      33,
+      3,
+      1
+    ]
+  ],
+  [
+    "aneTD.Header[8].WBase",
+    [
+      33,
+      4,
+      5
+    ]
+  ],
+  [
+    "aneTD.Header[8].WBE",
+    [
+      34,
+      1,
+      1
+    ]
+  ],
+  [
+    "aneTD.Header[8].TBase",
+    [
+      34,
+      2,
+      5
+    ]
+  ],
+  [
+    "aneTD.Header[8].TBE",
+    [
+      34,
+      7,
+      1
+    ]
+  ],
+  [
+    "aneTD.Header[8].ENE",
+    [
+      35,
+      0,
+      3
+    ]
+  ],
+  [
+    "aneTD.Header[9].KBase0",
+    [
+      36,
+      0,
+      5
+    ]
+  ],
+  [
+    "aneTD.Header[9].KBE0",
+    [
+      36,
+      5,
+      1
+    ]
+  ],
+  [
+    "aneTD.Header[9].KBase1",
+    [
+      36,
+      6,
+      5
+    ]
+  ],
+  [
+    "aneTD.Header[9].KBE1",
+    [
+      37,
+      3,
+      1
+    ]
+  ],
+  [
+    "aneTD.Header[9].KBase2",
+    [
+      37,
+      4,
+      5
+    ]
+  ],
+  [
+    "aneTD.Header[9].KBE2",
+    [
+      38,
+      1,
+      1
+    ]
+  ],
+  [
+    "aneTD.Header[9].KBase3",
+    [
+      38,
+      2,
+      5
+    ]
+  ],
+  [
+    "aneTD.Header[9].KBE3",
+    [
+      38,
+      7,
+      1
+    ]
+  ],
+  [
+    "aneRegs.KernelDMASrc.CoeffDMAConfig[0].En",
+    [
+      52,
+      0,
+      1
+    ]
+  ],
+  [
+    "aneRegs.KernelDMASrc.CoeffDMAConfig[0].CrH",
+    [
+      52,
+      4,
+      2
+    ]
+  ],
+  [
+    "aneRegs.KernelDMASrc.CoeffDMAConfig[0].CacheHint",
+    [
+      52,
+      6,
+      4
+    ]
+  ],
+  [
+    "aneRegs.KernelDMASrc.CoeffDMAConfig[0].PrefetchParticipateEn",
+    [
+      55,
+      4,
+      1
+    ]
+  ],
+  [
+    "aneRegs.KernelDMASrc.CoeffDMAConfig[1].En",
+    [
+      56,
+      0,
+      1
+    ]
+  ],
+  [
+    "aneRegs.KernelDMASrc.CoeffDMAConfig[1].CrH",
+    [
+      56,
+      4,
+      2
+    ]
+  ],
+  [
+    "aneRegs.KernelDMASrc.CoeffDMAConfig[1].CacheHint",
+    [
+      56,
+      6,
+      4
+    ]
+  ],
+  [
+    "aneRegs.KernelDMASrc.CoeffDMAConfig[1].PrefetchParticipateEn",
+    [
+      59,
+      4,
+      1
+    ]
+  ],
+  [
+    "aneRegs.KernelDMASrc.CoeffDMAConfig[2].En",
+    [
+      60,
+      0,
+      1
+    ]
+  ],
+  [
+    "aneRegs.KernelDMASrc.CoeffDMAConfig[2].CrH",
+    [
+      60,
+      4,
+      2
+    ]
+  ],
+  [
+    "aneRegs.KernelDMASrc.CoeffDMAConfig[2].CacheHint",
+    [
+      60,
+      6,
+      4
+    ]
+  ],
+  [
+    "aneRegs.KernelDMASrc.CoeffDMAConfig[2].PrefetchParticipateEn",
+    [
+      63,
+      4,
+      1
+    ]
+  ],
+  [
+    "aneRegs.KernelDMASrc.CoeffDMAConfig[3].En",
+    [
+      64,
+      0,
+      1
+    ]
+  ],
+  [
+    "aneRegs.KernelDMASrc.CoeffDMAConfig[3].CrH",
+    [
+      64,
+      4,
+      2
+    ]
+  ],
+  [
+    "aneRegs.KernelDMASrc.CoeffDMAConfig[3].CacheHint",
+    [
+      64,
+      6,
+      4
+    ]
+  ],
+  [
+    "aneRegs.KernelDMASrc.CoeffDMAConfig[3].PrefetchParticipateEn",
+    [
+      67,
+      4,
+      1
+    ]
+  ],
+  [
+    "aneRegs.KernelDMASrc.CoeffDMAConfig[4].En",
+    [
+      68,
+      0,
+      1
+    ]
+  ],
+  [
+    "aneRegs.KernelDMASrc.CoeffDMAConfig[4].CrH",
+    [
+      68,
+      4,
+      2
+    ]
+  ],
+  [
+    "aneRegs.KernelDMASrc.CoeffDMAConfig[4].CacheHint",
+    [
+      68,
+      6,
+      4
+    ]
+  ],
+  [
+    "aneRegs.KernelDMASrc.CoeffDMAConfig[4].PrefetchParticipateEn",
+    [
+      71,
+      4,
+      1
+    ]
+  ],
+  [
+    "aneRegs.KernelDMASrc.CoeffDMAConfig[5].En",
+    [
+      72,
+      0,
+      1
+    ]
+  ],
+  [
+    "aneRegs.KernelDMASrc.CoeffDMAConfig[5].CrH",
+    [
+      72,
+      4,
+      2
+    ]
+  ],
+  [
+    "aneRegs.KernelDMASrc.CoeffDMAConfig[5].CacheHint",
+    [
+      72,
+      6,
+      4
+    ]
+  ],
+  [
+    "aneRegs.KernelDMASrc.CoeffDMAConfig[5].PrefetchParticipateEn",
+    [
+      75,
+      4,
+      1
+    ]
+  ],
+  [
+    "aneRegs.KernelDMASrc.CoeffDMAConfig[6].En",
+    [
+      76,
+      0,
+      1
+    ]
+  ],
+  [
+    "aneRegs.KernelDMASrc.CoeffDMAConfig[6].CrH",
+    [
+      76,
+      4,
+      2
+    ]
+  ],
+  [
+    "aneRegs.KernelDMASrc.CoeffDMAConfig[6].CacheHint",
+    [
+      76,
+      6,
+      4
+    ]
+  ],
+  [
+    "aneRegs.KernelDMASrc.CoeffDMAConfig[6].PrefetchParticipateEn",
+    [
+      79,
+      4,
+      1
+    ]
+  ],
+  [
+    "aneRegs.KernelDMASrc.CoeffDMAConfig[7].En",
+    [
+      80,
+      0,
+      1
+    ]
+  ],
+  [
+    "aneRegs.KernelDMASrc.CoeffDMAConfig[7].CrH",
+    [
+      80,
+      4,
+      2
+    ]
+  ],
+  [
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+  [
+    "aneRegs.L2.ResultCfg.L2BfrMode",
+    [
+      528,
+      3,
+      1
+    ]
+  ],
+  [
+    "aneRegs.L2.ResultCfg.AliasConvSrc",
+    [
+      528,
+      4,
+      1
+    ]
+  ],
+  [
+    "aneRegs.L2.ResultCfg.AliasConvRslt",
+    [
+      528,
+      5,
+      1
+    ]
+  ],
+  [
+    "aneRegs.L2.ResultCfg.DMAFmt",
+    [
+      528,
+      6,
+      2
+    ]
+  ],
+  [
+    "aneRegs.L2.ResultCfg.DMAInterleave",
+    [
+      529,
+      0,
+      4
+    ]
+  ],
+  [
+    "aneRegs.L2.ResultCfg.DMACmpVec",
+    [
+      529,
+      4,
+      4
+    ]
+  ],
+  [
+    "aneRegs.L2.ResultCfg.DMAOffsetCh",
+    [
+      530,
+      0,
+      3
+    ]
+  ],
+  [
+    "aneRegs.L2.ResultCfg.AliasPlanarSrc",
+    [
+      530,
+      4,
+      1
+    ]
+  ],
+  [
+    "aneRegs.L2.ResultCfg.AliasPlanarRslt",
+    [
+      530,
+      6,
+      1
+    ]
+  ],
+  [
+    "aneRegs.L2.ResultBase.Addr",
+    [
+      532,
+      4,
+      17
+    ]
+  ],
+  [
+    "aneRegs.L2.ConvResultChannelStride.Stride",
+    [
+      536,
+      4,
+      17
+    ]
+  ],
+  [
+    "aneRegs.L2.ConvResultRowStride.Stride",
+    [
+      540,
+      4,
+      17
+    ]
+  ],
+  [
+    "aneRegs.NE.KernelCfg.KernelFmt",
+    [
+      576,
+      0,
+      2
+    ]
+  ],
+  [
+    "aneRegs.NE.KernelCfg.PalettizedEn",
+    [
+      576,
+      2,
+      1
+    ]
+  ],
+  [
+    "aneRegs.NE.KernelCfg.PalettizedBits",
+    [
+      576,
+      4,
+      4
+    ]
+  ],
+  [
+    "aneRegs.NE.KernelCfg.SparseFmt",
+    [
+      577,
+      0,
+      1
+    ]
+  ],
+  [
+    "aneRegs.NE.KernelCfg.GroupKernelReuse",
+    [
+      577,
+      2,
+      1
+    ]
+  ],
+  [
+    "aneRegs.NE.MACCfg.OpMode",
+    [
+      580,
+      0,
+      3
+    ]
+  ],
+  [
+    "aneRegs.NE.MACCfg.KernelMode",
+    [
+      580,
+      3,
+      1
+    ]
+  ],
+  [
+    "aneRegs.NE.MACCfg.BiasMode",
+    [
+      580,
+      4,
+      1
+    ]
+  ],
+  [
+    "aneRegs.NE.MACCfg.MatrixBiasEn",
+    [
+      580,
+      6,
+      1
+    ]
+  ],
+  [
+    "aneRegs.NE.MACCfg.BinaryPoint",
+    [
+      581,
+      0,
+      5
+    ]
+  ],
+  [
+    "aneRegs.NE.MACCfg.PostScaleMode",
+    [
+      581,
+      6,
+      1
+    ]
+  ],
+  [
+    "aneRegs.NE.MACCfg.NonlinearMode",
+    [
+      582,
+      0,
+      2
+    ]
+  ],
+  [
+    "aneRegs.NE.MatrixVectorBias.MatrixVectorBias",
+    [
+      584,
+      0,
+      16
+    ]
+  ],
+  [
+    "aneRegs.NE.AccBias.AccBias",
+    [
+      588,
+      0,
+      16
+    ]
+  ],
+  [
+    "aneRegs.NE.AccBias.AccBiasShift",
+    [
+      590,
+      0,
+      5
+    ]
+  ],
+  [
+    "aneRegs.NE.PostScale.PostScale",
+    [
+      592,
+      0,
+      16
+    ]
+  ],
+  [
+    "aneRegs.NE.PostScale.PostRightShift",
+    [
+      594,
+      0,
+      5
+    ]
+  ],
+  [
+    "aneRegs.TileDMADst.DMAConfig.En",
+    [
+      600,
+      0,
+      1
+    ]
+  ],
+  [
+    "aneRegs.TileDMADst.DMAConfig.CrH",
+    [
+      600,
+      4,
+      2
+    ]
+  ],
+  [
+    "aneRegs.TileDMADst.DMAConfig.CacheHint",
+    [
+      600,
+      6,
+      4
+    ]
+  ],
+  [
+    "aneRegs.TileDMADst.DMAConfig.L2BfrMode",
+    [
+      603,
+      2,
+      1
+    ]
+  ],
+  [
+    "aneRegs.TileDMADst.DMAConfig.BypassEOW",
+    [
+      603,
+      3,
+      1
+    ]
+  ],
+  [
+    "aneRegs.TileDMADst.BaseAddr.Addr",
+    [
+      604,
+      6,
+      26
+    ]
+  ],
+  [
+    "aneRegs.TileDMADst.RowStride.RowStride",
+    [
+      608,
+      6,
+      26
+    ]
+  ],
+  [
+    "aneRegs.TileDMADst.PlaneStride.PlaneStride",
+    [
+      612,
+      6,
+      26
+    ]
+  ],
+  [
+    "aneRegs.TileDMADst.DepthStride.DepthStride",
+    [
+      616,
+      6,
+      26
+    ]
+  ],
+  [
+    "aneRegs.TileDMADst.GroupStride.GroupStride",
+    [
+      620,
+      6,
+      26
+    ]
+  ],
+  [
+    "aneRegs.TileDMADst.Fmt.FmtMode",
+    [
+      624,
+      0,
+      2
+    ]
+  ],
+  [
+    "aneRegs.TileDMADst.Fmt.Truncate",
+    [
+      624,
+      4,
+      2
+    ]
+  ],
+  [
+    "aneRegs.TileDMADst.Fmt.Shift",
+    [
+      625,
+      0,
+      1
+    ]
+  ],
+  [
+    "aneRegs.TileDMADst.Fmt.MemFmt",
+    [
+      625,
+      4,
+      2
+    ]
+  ],
+  [
+    "aneRegs.TileDMADst.Fmt.OffsetCh",
+    [
+      626,
+      0,
+      3
+    ]
+  ],
+  [
+    "aneRegs.TileDMADst.Fmt.ZeroPadLast",
+    [
+      626,
+      4,
+      1
+    ]
+  ],
+  [
+    "aneRegs.TileDMADst.Fmt.ZeroPadFirst",
+    [
+      626,
+      5,
+      1
+    ]
+  ],
+  [
+    "aneRegs.TileDMADst.Fmt.CmpVecFill",
+    [
+      626,
+      6,
+      1
+    ]
+  ],
+  [
+    "aneRegs.TileDMADst.Fmt.Interleave",
+    [
+      627,
+      0,
+      4
+    ]
+  ],
+  [
+    "aneRegs.TileDMADst.Fmt.CmpVec",
+    [
+      627,
+      4,
+      4
+    ]
+  ]
+]
\ No newline at end of file
diff --git a/tinygrad_repo/extra/accel/ane/lib/entitlements.xml b/tinygrad_repo/extra/accel/ane/lib/entitlements.xml
index 6cdb8700..ffb6ff1b 120000
--- a/tinygrad_repo/extra/accel/ane/lib/entitlements.xml
+++ b/tinygrad_repo/extra/accel/ane/lib/entitlements.xml
@@ -1 +1,9 @@
-../3_run/entitlements.xml
\ No newline at end of file
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
+
+<plist version="1.0">
+  <dict>
+    <key>com.apple.ane.iokit-user-access</key><true/>
+  </dict>
+</plist>
+
diff --git a/tinygrad_repo/extra/accel/ane/lib/h11ane.h b/tinygrad_repo/extra/accel/ane/lib/h11ane.h
index 53c61bf6..3cc1e544 120000
--- a/tinygrad_repo/extra/accel/ane/lib/h11ane.h
+++ b/tinygrad_repo/extra/accel/ane/lib/h11ane.h
@@ -1 +1,150 @@
-../3_run/h11ane.h
\ No newline at end of file
+enum ANEDeviceUsageType {
+  UsageNoProgram,
+  UsageWithProgram,  // used in running process
+  UsageCompile       // used in aned
+};
+
+struct H11ANEDeviceInfoStruct {
+  uint64_t program_handle;
+  uint64_t program_auth_code;
+  uint64_t sleep_timer;
+  uint64_t junk[0x100];
+};
+
+struct H11ANEStatusStruct {
+  uint64_t junk[0x100];
+};
+
+struct H11ANEProgramCreateArgsStruct {
+  void *program;
+  uint64_t program_length;
+  uint64_t empty[4];
+  char has_signature;
+};
+
+struct H11ANEProgramCreateArgsStructOutput {
+  uint64_t program_handle;
+  int unknown[0x2000];
+};
+
+struct H11ANEProgramPrepareArgsStruct {
+  uint64_t program_handle;
+  uint64_t flags;
+  uint64_t empty[0x100];
+};
+
+struct H11ANEProgramRequestArgsStruct {
+  uint64_t args[0x1000];
+};
+
+namespace H11ANE {
+  class H11ANEDevice;
+
+  class H11ANEDeviceController {
+    public:
+      H11ANEDeviceController(
+        int (*callback)(H11ANE::H11ANEDeviceController*, void*, H11ANE::H11ANEDevice*),
+        void *arg);
+      int SetupDeviceController();
+    private:   // size is 0x50
+      CFArrayRef array_ref;
+      mach_port_t *master_port;
+      IONotificationPortRef port_ref;
+      CFRunLoopSourceRef source_ref;
+      int (*callback)(H11ANE::H11ANEDeviceController*, void*, H11ANE::H11ANEDevice*);
+      void *callback_arg;
+      CFRunLoopRef run_loop_ref;
+      io_iterator_t io_iterator;
+      pthread_t thread_self;
+      uint64_t unused;
+  };
+
+  // we should switch to the IOKit kernel interface, it's likely a lot more stable
+  // actually this probably isn't true. ANEServices is normal dynamic links
+  // https://googleprojectzero.blogspot.com/2020/11/oops-i-missed-it-again.html
+
+  // H11ANEInDirectPathClient
+  // _ANE_DeviceOpen
+  // _ANE_DeviceClose
+  // _ANE_ProgramSendRequest
+
+  // * if they need kernel debugger attached
+  // H11ANEInUserClient
+  // _ANE_DeviceOpen
+  // _ANE_DeviceClose
+  // _ANE_ProgramSendRequest
+  // _ANE_ProgramCreate
+  // _ANE_ProgramPrepare
+  // _ANE_ProgramUnprepare
+  // _ANE_ProgramDestroy
+  // _ANE_GetStatus
+  // _ANE_PowerOn
+  // _ANE_PowerOff
+  // _ANE_IsPowered
+  // * _ANE_LoadFirmware
+  // * _ANE_ForgetFirmware
+  // * _ANE_SendCommand
+  // _ANE_SetPowerManagement
+  // _ANE_GetTime
+  // * _ANE_SetDriverLoggingFlags
+  // * _ANE_ShowSharedMemoryAllocations
+  // * _ANE_SetDARTCacheTTL
+  // * _ANE_SetFirmwareBootArg
+  // * _ANE_SetThrottlingPercentage
+  // * _ANE_AddPersistentClient
+  // * _ANE_RemovePersistentClient
+  // * _ANE_CreateClientLoggingSession
+  // * _ANE_TerminateClientLoggingSession
+  // _ANE_GetDriverLoggingFlags
+  // * _ANE_FlushInactiveDARTMappings
+  // _ANE_GetVersion
+  // _ANE_RegisterFirmwareWorkProcessor
+  // _ANE_UnregisterFirmwareWorkProcessor
+  // * _ANE_GetFirmwareWorkProcessorItem
+  // _ANE_CompleteFirmwareWorkProcessorItem
+  // _ANE_ReleaseFirmwareWorkProcessorBuffers
+  // * _ANE_ReadANERegister
+  // * _ANE_WriteANERegister
+  // _ANE_ProgramCreateInstance
+
+  // note, this is not the raw IOKit class, it's in ANEServices.framework
+  class H11ANEDevice {
+    public:
+      H11ANEDevice(H11ANE::H11ANEDeviceController *param_1, unsigned int param_2);
+
+      unsigned long H11ANEDeviceOpen(
+        int (*callback)(H11ANE::H11ANEDevice*, unsigned int, void*, void*),
+        void *param_2, ANEDeviceUsageType param_3, H11ANEDeviceInfoStruct *param_4);
+
+      void EnableDeviceMessages();
+      int ANE_AddPersistentClient();
+      int ANE_GetStatus(H11ANEStatusStruct *param_1);
+
+      // power management
+      int ANE_IsPowered();
+      int ANE_PowerOn();
+      int ANE_PowerOff();
+
+      // logging (e00002c7 error, needs PE_i_can_has_debugger)
+      int ANE_CreateClientLoggingSession(unsigned int log_iosurface);
+      int ANE_TerminateClientLoggingSession(unsigned int log_iosurface);
+      int ANE_GetDriverLoggingFlags(unsigned int *flags);
+      int ANE_SetDriverLoggingFlags(unsigned int flags);
+
+      // program creation
+      int ANE_ProgramCreate(H11ANEProgramCreateArgsStruct*,
+                            H11ANEProgramCreateArgsStructOutput*);
+      int ANE_ProgramPrepare(H11ANEProgramPrepareArgsStruct*);
+      int ANE_ProgramSendRequest(H11ANEProgramRequestArgsStruct*, mach_port_t);
+
+      // need PE_i_can_has_debugger
+      int ANE_ReadANERegister(unsigned int param_1, unsigned int *param_2);
+      int ANE_ForgetFirmware();
+
+
+    private:   // size is 0x88 
+      unsigned char unknown[0x88];
+  };
+
+};
+