Merge remote-tracking branch 'upstream/master' into set-lcd-immedit

2 days ago · 26e6019fde
parent 7630162201 1f1efec4c9
commit 26e6019fde
58 changed files with 901 additions and 568 deletions
--- a/23
+++ b/23
@ -208,30 +208,22 @@ node {
        ])
      },
      'HW + Unit Tests': {
-        deviceStage("tici-hardware", "tici-common", ["UNSAFE=1"], [
+        deviceStage("tizi-hardware", "tizi-common", ["UNSAFE=1"], [
          step("build", "cd system/manager && ./build.py"),
          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
          step("test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"),
          step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py", [diffPaths: ["system/loggerd/"]]),
-          step("test pigeond", "pytest system/ubloxd/tests/test_pigeond.py", [diffPaths: ["system/ubloxd/"]]),
          step("test manager", "pytest system/manager/test/test_manager.py"),
        ])
      },
      'loopback': {
-        deviceStage("loopback", "tici-loopback", ["UNSAFE=1"], [
+        deviceStage("loopback", "tizi-loopback", ["UNSAFE=1"], [
          step("build openpilot", "cd system/manager && ./build.py"),
          step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
        ])
      },
-      'camerad AR0231': {
-        deviceStage("AR0231", "tici-ar0231", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
-          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
-        ])
-      },
      'camerad OX03C10': {
-        deviceStage("OX03C10", "tici-ox03c10", ["UNSAFE=1"], [
+        deviceStage("OX03C10", "tizi-ox03c10", ["UNSAFE=1"], [
          step("build", "cd system/manager && ./build.py"),
          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
@ -245,17 +237,13 @@ node {
        ])
      },
      'sensord': {
-        deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
-        ])
-        deviceStage("BMX + LSM", "tici-bmx-lsm", ["UNSAFE=1"], [
+        deviceStage("LSM + MMC", "tizi-lsmc", ["UNSAFE=1"], [
          step("build", "cd system/manager && ./build.py"),
          step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
        ])
      },
      'replay': {
-        deviceStage("model-replay", "tici-replay", ["UNSAFE=1"], [
+        deviceStage("model-replay", "tizi-replay", ["UNSAFE=1"], [
          step("build", "cd system/manager && ./build.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
          step("model replay", "selfdrive/test/process_replay/model_replay.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
        ])
@ -265,7 +253,6 @@ node {
          step("build openpilot", "cd system/manager && ./build.py"),
          step("test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
          step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"),
-          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
          step("test amp", "pytest system/hardware/tici/tests/test_amplifier.py"),
          // TODO: enable once new AGNOS is available
          // step("test esim", "pytest system/hardware/tici/tests/test_esim.py"),
--- a/README.md
+++ b/README.md
@ -42,10 +42,10 @@ Using openpilot in a car
 ------

 To use openpilot in a car, you need four things:
-1. **Supported Device:** a comma 3/3X, available at [comma.ai/shop](https://comma.ai/shop/comma-3x).
-2. **Software:** The setup procedure for the comma 3/3X allows users to enter a URL for custom software. Use the URL `openpilot.comma.ai` to install the release version.
+1. **Supported Device:** a comma 3X, available at [comma.ai/shop](https://comma.ai/shop/comma-3x).
+2. **Software:** The setup procedure for the comma 3X allows users to enter a URL for custom software. Use the URL `openpilot.comma.ai` to install the release version.
 3. **Supported Car:** Ensure that you have one of [the 275+ supported cars](docs/CARS.md).
-4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma 3/3X to your car.
+4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma 3X to your car.

 We have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup). Note that it's possible to run openpilot on [other hardware](https://blog.comma.ai/self-driving-car-for-free/), although it's not plug-and-play.

--- a/RELEASES.md
+++ b/RELEASES.md
@ -1,5 +1,9 @@
 Version 0.10.1 (2025-09-08)
 ========================
+* New driving model
+  * World Model: removed global localization inputs
+  * World Model: 2x the number of parameters
+  * World Model: trained on 4x the number of segments
 * Record driving feedback using LKAS button
 * Honda City 2023 support thanks to drFritz!

--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@ -585,7 +585,6 @@ struct PandaState @0xa7649e2575e4591e {
  heartbeatLost @22 :Bool;
  interruptLoad @25 :Float32;
  fanPower @28 :UInt8;
-  fanStallCount @34 :UInt8;

  spiErrorCount @33 :UInt16;

@ -714,6 +713,7 @@ struct PandaState @0xa7649e2575e4591e {
  usbPowerModeDEPRECATED @12 :PeripheralState.UsbPowerModeDEPRECATED;
  safetyParamDEPRECATED @20 :Int16;
  safetyParam2DEPRECATED @26 :UInt32;
+  fanStallCountDEPRECATED @34 :UInt8;
 }

 struct PeripheralState {
--- a/common/params_keys.h
+++ b/common/params_keys.h
@ -94,7 +94,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"Offroad_NeosUpdate", {CLEAR_ON_MANAGER_START, JSON}},
    {"Offroad_NoFirmware", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
    {"Offroad_Recalibration", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
-    {"Offroad_StorageMissing", {CLEAR_ON_MANAGER_START, JSON}},
    {"Offroad_TemperatureTooHigh", {CLEAR_ON_MANAGER_START, JSON}},
    {"Offroad_UnregisteredHardware", {CLEAR_ON_MANAGER_START, JSON}},
    {"Offroad_UpdateFailed", {CLEAR_ON_MANAGER_START, JSON}},
--- a/docs/CONTRIBUTING.md
+++ b/docs/CONTRIBUTING.md
@ -39,7 +39,7 @@ All of these are examples of good PRs:
 ### First contribution

 [Projects / openpilot bounties](https://github.com/orgs/commaai/projects/26/views/1?pane=info) is the best place to get started and goes in-depth on what's expected when working on a bounty.
-There's lot of bounties that don't require a comma 3/3X or a car.
+There's lot of bounties that don't require a comma 3X or a car.

 ## Pull Requests

--- a/docs/SAFETY.md
+++ b/docs/SAFETY.md
@ -16,7 +16,7 @@ industry standards of safety for Level 2 Driver Assistance Systems. In particula
 ISO26262 guidelines, including those from [pertinent documents](https://www.nhtsa.gov/sites/nhtsa.dot.gov/files/documents/13498a_812_573_alcsystemreport.pdf)
 released by NHTSA. In addition, we impose strict coding guidelines (like [MISRA C : 2012](https://www.misra.org.uk/what-is-misra/))
 on parts of openpilot that are safety relevant. We also perform software-in-the-loop,
-hardware-in-the-loop and in-vehicle tests before each software release.
+hardware-in-the-loop, and in-vehicle tests before each software release.

 Following Hazard and Risk Analysis and FMEA, at a very high level, we have designed openpilot
 ensuring two main safety requirements.
@ -29,8 +29,18 @@ ensuring two main safety requirements.

 For additional safety implementation details, refer to [panda safety model](https://github.com/commaai/panda#safety-model). For vehicle specific implementation of the safety concept, refer to [opendbc/safety/safety](https://github.com/commaai/opendbc/tree/master/opendbc/safety/safety).

-**Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
-  not fully meeting the above requirements.
+[^1]: For these actuator limits we observe ISO11270 and ISO15622. Lateral limits described there translate to 0.9 seconds of maximum actuation to achieve a 1m lateral deviation.

-[^1]: For these actuator limits we observe ISO11270 and ISO15622. Lateral limits described there translate to 0.9 seconds of maximum actuation to achieve a 1m lateral deviation. 
+---

+### Forks of openpilot
+
+* Do not disable or nerf [driver monitoring](https://github.com/commaai/openpilot/tree/master/selfdrive/monitoring)
+* Do not disable or nerf [excessive actuation checks](https://github.com/commaai/openpilot/tree/master/selfdrive/selfdrived/helpers.py)
+* If your fork modifies any of the code in `opendbc/safety/`:
+   * your fork cannot use the openpilot trademark
+   * your fork must preserve the full [safety test suite](https://github.com/commaai/opendbc/tree/master/opendbc/safety/tests) and all tests must pass, including any new coverage required by the fork's changes
+
+Failure to comply with these standards will get you and your users banned from comma.ai servers.
+
+**comma.ai strongly discourages the use of openpilot forks with safety code either missing or not fully meeting the above requirements.**
--- a/docs/how-to/connect-to-comma.md
+++ b/docs/how-to/connect-to-comma.md
@ -1,11 +1,11 @@
-# connect to a comma 3/3X
+# connect to a comma 3X

-A comma 3/3X is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console).
+A comma 3X is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console).

 ## Serial Console

 On both the comma three and 3X, the serial console is accessible from the main OBD-C port.
-Connect the comma 3/3X to your computer with a normal USB C cable, or use a [comma serial](https://comma.ai/shop/comma-serial) for steady 12V power.
+Connect the comma 3X to your computer with a normal USB C cable, or use a [comma serial](https://comma.ai/shop/comma-serial) for steady 12V power.

 On the comma three, the serial console is exposed through a UART-to-USB chip, and `tools/scripts/serial.sh` can be used to connect.

@ -45,7 +45,7 @@ In order to use ADB on your device, you'll need to perform the following steps u
    * Here's an example command for connecting to your device using its tethered connection: `adb connect 192.168.43.1:5555`

 > [!NOTE]
-> The default port for ADB is 5555 on the comma 3/3X.
+> The default port for ADB is 5555 on the comma 3X.

 For more info on ADB, see the [Android Debug Bridge (ADB) documentation](https://developer.android.com/tools/adb).

--- a/docs/how-to/replay-a-drive.md
+++ b/docs/how-to/replay-a-drive.md
@ -8,7 +8,7 @@ Replaying is a critical tool for openpilot development and debugging.
 Just run `tools/replay/replay --demo`.

 ## Replaying CAN data
-*Hardware required: jungle and comma 3/3X*
+*Hardware required: jungle and comma 3X*

 1. Connect your PC to a jungle.
 2.
--- a/docs/how-to/turn-the-speed-blue.md
+++ b/docs/how-to/turn-the-speed-blue.md
@ -3,7 +3,7 @@

 In 30 minutes, we'll get an openpilot development environment set up on your computer and make some changes to openpilot's UI.

-And if you have a comma 3/3X, we'll deploy the change to your device for testing.
+And if you have a comma 3X, we'll deploy the change to your device for testing.

 ## 1. Set up your development environment

--- a/mkdocs.yml
+++ b/mkdocs.yml
@ -21,7 +21,7 @@ nav:
    - What is openpilot?: getting-started/what-is-openpilot.md
  - How-to:
    - Turn the speed blue: how-to/turn-the-speed-blue.md
-    - Connect to a comma 3/3X: how-to/connect-to-comma.md
+    - Connect to a comma 3X: how-to/connect-to-comma.md
    # - Make your first pull request: how-to/make-first-pr.md
    #- Replay a drive: how-to/replay-a-drive.md
  - Concepts:
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 0fe56bc289d72d2f278e9c085f2ada6ecb13e688
+Subproject commit 7afc25d8d4096bb31e25c0b7ae0b961ea05f5394
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 3dc21386239e3073a623156b75901aa302340d6c
+Subproject commit 819fa5854e2e75da7f982f7d06be69c61793d6e1
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@ -1,15 +1,12 @@
 import os
-import math
 import hypothesis.strategies as st
 from hypothesis import Phase, given, settings
 from parameterized import parameterized

 from cereal import car
 from opendbc.car import DT_CTRL
-from opendbc.car.car_helpers import interfaces
 from opendbc.car.structs import CarParams
-from opendbc.car.tests.test_car_interfaces import get_fuzzy_car_interface_args
-from opendbc.car.fw_versions import FW_VERSIONS, FW_QUERY_CONFIGS
+from opendbc.car.tests.test_car_interfaces import get_fuzzy_car_interface
 from opendbc.car.mock.values import CAR as MOCK
 from opendbc.car.values import PLATFORMS
 from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
@ -18,11 +15,6 @@ from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from openpilot.selfdrive.controls.lib.longcontrol import LongControl
 from openpilot.selfdrive.test.fuzzy_generation import FuzzyGenerator

-ALL_ECUS = {ecu for ecus in FW_VERSIONS.values() for ecu in ecus.keys()}
-ALL_ECUS |= {ecu for config in FW_QUERY_CONFIGS.values() for ecu in config.extra_ecus}
-
-ALL_REQUESTS = {tuple(r.request) for config in FW_QUERY_CONFIGS.values() for r in config.requests}
-
 MAX_EXAMPLES = int(os.environ.get('MAX_EXAMPLES', '60'))


@ -34,39 +26,8 @@ class TestCarInterfaces:
            phases=(Phase.reuse, Phase.generate, Phase.shrink))
  @given(data=st.data())
  def test_car_interfaces(self, car_name, data):
-    CarInterface = interfaces[car_name]
-
-    args = get_fuzzy_car_interface_args(data.draw)
-
-    car_params = CarInterface.get_params(car_name, args['fingerprints'], args['car_fw'],
-                                         alpha_long=args['alpha_long'], is_release=False, docs=False)
-    car_params = car_params.as_reader()
-    car_interface = CarInterface(car_params)
-    assert car_params
-    assert car_interface
-
-    assert car_params.mass > 1
-    assert car_params.wheelbase > 0
-    # centerToFront is center of gravity to front wheels, assert a reasonable range
-    assert car_params.wheelbase * 0.3 < car_params.centerToFront < car_params.wheelbase * 0.7
-    assert car_params.maxLateralAccel > 0
-
-    # Longitudinal sanity checks
-    assert len(car_params.longitudinalTuning.kpV) == len(car_params.longitudinalTuning.kpBP)
-    assert len(car_params.longitudinalTuning.kiV) == len(car_params.longitudinalTuning.kiBP)
-
-    # Lateral sanity checks
-    if car_params.steerControlType != CarParams.SteerControlType.angle:
-      tune = car_params.lateralTuning
-      if tune.which() == 'pid':
-        if car_name != MOCK.MOCK:
-          assert not math.isnan(tune.pid.kf) and tune.pid.kf > 0
-          assert len(tune.pid.kpV) > 0 and len(tune.pid.kpV) == len(tune.pid.kpBP)
-          assert len(tune.pid.kiV) > 0 and len(tune.pid.kiV) == len(tune.pid.kiBP)
-
-      elif tune.which() == 'torque':
-        assert not math.isnan(tune.torque.kf) and tune.torque.kf > 0
-        assert not math.isnan(tune.torque.friction) and tune.torque.friction > 0
+    car_interface = get_fuzzy_car_interface(car_name, data.draw)
+    car_params = car_interface.CP.as_reader()

    cc_msg = FuzzyGenerator.get_random_msg(data.draw, car.CarControl, real_floats=True)
    # Run car interface
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@ -52,10 +52,8 @@ class LatControlTorque(LatControl):
      actual_curvature = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
      roll_compensation = params.roll * ACCELERATION_DUE_TO_GRAVITY
      curvature_deadzone = abs(VM.calc_curvature(math.radians(self.steering_angle_deadzone_deg), CS.vEgo, 0.0))
-      desired_lateral_accel = desired_curvature * CS.vEgo ** 2

-      # desired rate is the desired rate of change in the setpoint, not the absolute desired curvature
-      # desired_lateral_jerk = desired_curvature_rate * CS.vEgo ** 2
+      desired_lateral_accel = desired_curvature * CS.vEgo ** 2
      actual_lateral_accel = actual_curvature * CS.vEgo ** 2
      lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2

@ -67,6 +65,8 @@ class LatControlTorque(LatControl):
      # do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly
      pid_log.error = float(setpoint - measurement)
      ff = gravity_adjusted_lateral_accel
+      # latAccelOffset corrects roll compensation bias from device roll misalignment relative to car roll
+      ff -= self.torque_params.latAccelOffset
      ff += get_friction(desired_lateral_accel - actual_lateral_accel, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)

      freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
--- a/selfdrive/controls/tests/test_torqued_lat_accel_offset.py
+++ b/selfdrive/controls/tests/test_torqued_lat_accel_offset.py
@ -0,0 +1,70 @@
+import numpy as np
+from cereal import car, messaging
+from opendbc.car import ACCELERATION_DUE_TO_GRAVITY
+from opendbc.car import structs
+from opendbc.car.lateral import get_friction, FRICTION_THRESHOLD
+from openpilot.common.realtime import DT_MDL
+from openpilot.selfdrive.locationd.torqued import TorqueEstimator, MIN_BUCKET_POINTS, POINTS_PER_BUCKET, STEER_BUCKET_BOUNDS
+
+np.random.seed(0)
+
+LA_ERR_STD = 1.0
+INPUT_NOISE_STD = 0.08
+V_EGO = 30.0
+
+WARMUP_BUCKET_POINTS = (1.5*MIN_BUCKET_POINTS).astype(int)
+STRAIGHT_ROAD_LA_BOUNDS = (0.02, 0.03)
+
+ROLL_BIAS_DEG = 2.0
+ROLL_COMPENSATION_BIAS = ACCELERATION_DUE_TO_GRAVITY*float(np.sin(np.deg2rad(ROLL_BIAS_DEG)))
+TORQUE_TUNE = structs.CarParams.LateralTorqueTuning(latAccelFactor=2.0, latAccelOffset=0.0, friction=0.2)
+TORQUE_TUNE_BIASED = structs.CarParams.LateralTorqueTuning(latAccelFactor=2.0, latAccelOffset=-ROLL_COMPENSATION_BIAS, friction=0.2)
+
+def generate_inputs(torque_tune, la_err_std, input_noise_std=None):
+  rng = np.random.default_rng(0)
+  steer_torques = np.concat([rng.uniform(bnd[0], bnd[1], pts) for bnd, pts in zip(STEER_BUCKET_BOUNDS, WARMUP_BUCKET_POINTS, strict=True)])
+  la_errs = rng.normal(scale=la_err_std, size=steer_torques.size)
+  frictions = np.array([get_friction(la_err, 0.0, FRICTION_THRESHOLD, torque_tune) for la_err in la_errs])
+  lat_accels = torque_tune.latAccelFactor*steer_torques + torque_tune.latAccelOffset + frictions
+  if input_noise_std is not None:
+    steer_torques += rng.normal(scale=input_noise_std, size=steer_torques.size)
+    lat_accels += rng.normal(scale=input_noise_std, size=steer_torques.size)
+  return steer_torques, lat_accels
+
+def get_warmed_up_estimator(steer_torques, lat_accels):
+  est = TorqueEstimator(car.CarParams())
+  for steer_torque, lat_accel in zip(steer_torques, lat_accels, strict=True):
+    est.filtered_points.add_point(steer_torque, lat_accel)
+  return est
+
+def simulate_straight_road_msgs(est):
+  carControl = messaging.new_message('carControl').carControl
+  carOutput = messaging.new_message('carOutput').carOutput
+  carState = messaging.new_message('carState').carState
+  livePose = messaging.new_message('livePose').livePose
+  carControl.latActive = True
+  carState.vEgo = V_EGO
+  carState.steeringPressed = False
+  ts = DT_MDL*np.arange(2*POINTS_PER_BUCKET)
+  steer_torques = np.concat((np.linspace(-0.03, -0.02, POINTS_PER_BUCKET), np.linspace(0.02, 0.03, POINTS_PER_BUCKET)))
+  lat_accels = TORQUE_TUNE.latAccelFactor * steer_torques
+  for t, steer_torque, lat_accel in zip(ts, steer_torques, lat_accels, strict=True):
+    carOutput.actuatorsOutput.torque = float(-steer_torque)
+    livePose.orientationNED.x = float(np.deg2rad(ROLL_BIAS_DEG))
+    livePose.angularVelocityDevice.z = float(lat_accel / V_EGO)
+    for which, msg in (('carControl', carControl), ('carOutput', carOutput), ('carState', carState), ('livePose', livePose)):
+      est.handle_log(t, which, msg)
+
+def test_estimated_offset():
+  steer_torques, lat_accels = generate_inputs(TORQUE_TUNE_BIASED, la_err_std=LA_ERR_STD, input_noise_std=INPUT_NOISE_STD)
+  est = get_warmed_up_estimator(steer_torques, lat_accels)
+  msg = est.get_msg()
+  # TODO add lataccelfactor and friction check when we have more accurate estimates
+  assert abs(msg.liveTorqueParameters.latAccelOffsetRaw - TORQUE_TUNE_BIASED.latAccelOffset) < 0.1
+
+def test_straight_road_roll_bias():
+  steer_torques, lat_accels = generate_inputs(TORQUE_TUNE, la_err_std=LA_ERR_STD, input_noise_std=INPUT_NOISE_STD)
+  est = get_warmed_up_estimator(steer_torques, lat_accels)
+  simulate_straight_road_msgs(est)
+  msg = est.get_msg()
+  assert (msg.liveTorqueParameters.latAccelOffsetRaw < -0.05) and np.isfinite(msg.liveTorqueParameters.latAccelOffsetRaw)
--- a/selfdrive/modeld/constants.py
+++ b/selfdrive/modeld/constants.py
@ -13,12 +13,9 @@ class ModelConstants:
  META_T_IDXS = [2., 4., 6., 8., 10.]

  # 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
+  N_FRAMES = 2
+  MODEL_RUN_FREQ = 20
+  MODEL_CONTEXT_FREQ = 5 # "model_trained_fps"

  FEATURE_LEN = 512

--- a/selfdrive/modeld/fill_model_msg.py
+++ b/selfdrive/modeld/fill_model_msg.py
@ -149,7 +149,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
  meta.hardBrakePredicted = hard_brake_predicted.item()

  # confidence
-  if vipc_frame_id % (2*ModelConstants.MODEL_FREQ) == 0:
+  if vipc_frame_id % (2*ModelConstants.MODEL_RUN_FREQ) == 0:
    # any disengage prob
    brake_disengage_probs = net_output_data['meta'][0,Meta.BRAKE_DISENGAGE]
    gas_disengage_probs = net_output_data['meta'][0,Meta.GAS_DISENGAGE]
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@ -77,6 +77,64 @@ class FrameMeta:
    if vipc is not None:
      self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof

+class InputQueues:
+  def __init__ (self, model_fps, env_fps, n_frames_input):
+    assert env_fps % model_fps == 0
+    assert env_fps >= model_fps
+    self.model_fps = model_fps
+    self.env_fps = env_fps
+    self.n_frames_input = n_frames_input
+
+    self.dtypes = {}
+    self.shapes = {}
+    self.q = {}
+
+  def update_dtypes_and_shapes(self, input_dtypes, input_shapes) -> None:
+    self.dtypes.update(input_dtypes)
+    if self.env_fps == self.model_fps:
+      self.shapes.update(input_shapes)
+    else:
+      for k in input_shapes:
+        shape = list(input_shapes[k])
+        if 'img' in k:
+          n_channels = shape[1] // self.n_frames_input
+          shape[1] = (self.env_fps // self.model_fps + (self.n_frames_input - 1)) * n_channels
+        else:
+          shape[1] = (self.env_fps // self.model_fps) * shape[1]
+        self.shapes[k] = tuple(shape)
+
+  def reset(self) -> None:
+    self.q = {k: np.zeros(self.shapes[k], dtype=self.dtypes[k]) for k in self.dtypes.keys()}
+
+  def enqueue(self, inputs:dict[str, np.ndarray]) -> None:
+    for k in inputs.keys():
+      if inputs[k].dtype != self.dtypes[k]:
+        raise ValueError(f'supplied input <{k}({inputs[k].dtype})> has wrong dtype, expected {self.dtypes[k]}')
+      input_shape = list(self.shapes[k])
+      input_shape[1] = -1
+      single_input = inputs[k].reshape(tuple(input_shape))
+      sz = single_input.shape[1]
+      self.q[k][:,:-sz] = self.q[k][:,sz:]
+      self.q[k][:,-sz:] = single_input
+
+  def get(self, *names) -> dict[str, np.ndarray]:
+    if self.env_fps == self.model_fps:
+      return {k: self.q[k] for k in names}
+    else:
+      out = {}
+      for k in names:
+        shape = self.shapes[k]
+        if 'img' in k:
+          n_channels = shape[1] // (self.env_fps // self.model_fps + (self.n_frames_input - 1))
+          out[k] = np.concatenate([self.q[k][:, s:s+n_channels] for s in np.linspace(0, shape[1] - n_channels, self.n_frames_input, dtype=int)], axis=1)
+        elif 'pulse' in k:
+          # any pulse within interval counts
+          out[k] = self.q[k].reshape((shape[0], shape[1] * self.model_fps // self.env_fps, self.env_fps // self.model_fps, -1)).max(axis=2)
+        else:
+          idxs = np.arange(-1, -shape[1], -self.env_fps // self.model_fps)[::-1]
+          out[k] = self.q[k][:, idxs]
+      return out
+
 class ModelState:
  frames: dict[str, DrivingModelFrame]
  inputs: dict[str, np.ndarray]
@ -97,19 +155,15 @@ class ModelState:
      self.policy_output_slices = policy_metadata['output_slices']
      policy_output_size = policy_metadata['output_shapes']['outputs'][1]

-    self.frames = {name: DrivingModelFrame(context, ModelConstants.TEMPORAL_SKIP) for name in self.vision_input_names}
+    self.frames = {name: DrivingModelFrame(context, ModelConstants.MODEL_RUN_FREQ//ModelConstants.MODEL_CONTEXT_FREQ) for name in self.vision_input_names}
    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.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.INPUT_HISTORY_BUFFER_LEN, ModelConstants.DESIRE_LEN), dtype=np.float32),
-      'traffic_convention': np.zeros((1, ModelConstants.TRAFFIC_CONVENTION_LEN), dtype=np.float32),
-      'features_buffer': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_LEN), dtype=np.float32),
-    }
+    self.numpy_inputs = {k: np.zeros(self.policy_input_shapes[k], dtype=np.float32) for k in self.policy_input_shapes}
+    self.full_input_queues = InputQueues(ModelConstants.MODEL_CONTEXT_FREQ, ModelConstants.MODEL_RUN_FREQ, ModelConstants.N_FRAMES)
+    for k in ['desire_pulse', 'features_buffer']:
+      self.full_input_queues.update_dtypes_and_shapes({k: self.numpy_inputs[k].dtype}, {k: self.numpy_inputs[k].shape})
+    self.full_input_queues.reset()

    # img buffers are managed in openCL transform code
    self.vision_inputs: dict[str, Tensor] = {}
@ -131,15 +185,10 @@ class ModelState:
  def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
                inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
    # Model decides when action is completed, so desire input is just a pulse triggered on rising edge
-    inputs['desire'][0] = 0
-    new_desire = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0)
-    self.prev_desire[:] = inputs['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)
+    inputs['desire_pulse'][0] = 0
+    new_desire = np.where(inputs['desire_pulse'] - self.prev_desire > .99, inputs['desire_pulse'], 0)
+    self.prev_desire[:] = inputs['desire_pulse']

-    self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
    imgs_cl = {name: self.frames[name].prepare(bufs[name], transforms[name].flatten()) for name in self.vision_input_names}

    if TICI and not USBGPU:
@ -158,9 +207,10 @@ class ModelState:
    self.vision_output = self.vision_run(**self.vision_inputs).contiguous().realize().uop.base.buffer.numpy()
    vision_outputs_dict = self.parser.parse_vision_outputs(self.slice_outputs(self.vision_output, self.vision_output_slices))

-    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.full_input_queues.enqueue({'features_buffer': vision_outputs_dict['hidden_state'], 'desire_pulse': new_desire})
+    for k in ['desire_pulse', 'features_buffer']:
+      self.numpy_inputs[k][:] = self.full_input_queues.get(k)[k]
+    self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']

    self.policy_output = self.policy_run(**self.policy_inputs).contiguous().realize().uop.base.buffer.numpy()
    policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(self.policy_output, self.policy_output_slices))
@ -218,7 +268,7 @@ def main(demo=False):
  params = Params()

  # setup filter to track dropped frames
-  frame_dropped_filter = FirstOrderFilter(0., 10., 1. / ModelConstants.MODEL_FREQ)
+  frame_dropped_filter = FirstOrderFilter(0., 10., 1. / ModelConstants.MODEL_RUN_FREQ)
  frame_id = 0
  last_vipc_frame_id = 0
  run_count = 0
@ -313,7 +363,7 @@ def main(demo=False):
    bufs = {name: buf_extra if 'big' in name else buf_main for name in model.vision_input_names}
    transforms = {name: model_transform_extra if 'big' in name else model_transform_main for name in model.vision_input_names}
    inputs:dict[str, np.ndarray] = {
-      'desire': vec_desire,
+      'desire_pulse': vec_desire,
      'traffic_convention': traffic_convention,
    }

--- a/selfdrive/modeld/models/driving_policy.onnx
+++ b/selfdrive/modeld/models/driving_policy.onnx
@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:04b763fb71efe57a8a4c4168a8043ecd58939015026ded0dc755ded6905ac251
-size 12343523
+oid sha256:ebb38a934d6472c061cc6010f46d9720ca132d631a47e585a893bdd41ade2419
+size 12343535
--- a/selfdrive/modeld/models/driving_vision.onnx
+++ b/selfdrive/modeld/models/driving_vision.onnx
@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:e66bb8d53eced3786ed71a59b55ffc6810944cb217f0518621cc76303260a1ef
+oid sha256:befac016a247b7ad5dc5b55d339d127774ed7bd2b848f1583f72aa4caee37781
 size 46271991
--- a/selfdrive/pandad/pandad.cc
+++ b/selfdrive/pandad/pandad.cc
@ -152,7 +152,6 @@ void fill_panda_state(cereal::PandaState::Builder &ps, cereal::PandaState::Panda
  ps.setHarnessStatus(cereal::PandaState::HarnessStatus(health.car_harness_status_pkt));
  ps.setInterruptLoad(health.interrupt_load_pkt);
  ps.setFanPower(health.fan_power);
-  ps.setFanStallCount(health.fan_stall_count);
  ps.setSafetyRxChecksInvalid((bool)(health.safety_rx_checks_invalid_pkt));
  ps.setSpiErrorCount(health.spi_error_count_pkt);
  ps.setSbu1Voltage(health.sbu1_voltage_mV / 1000.0f);
--- a/selfdrive/pandad/pandad.py
+++ b/selfdrive/pandad/pandad.py
@ -85,11 +85,6 @@ def main() -> None:
      cloudlog.event("pandad.flash_and_connect", count=count)
      params.remove("PandaSignatures")

-      # TODO: remove this in the next AGNOS
-      # wait until USB is up before counting
-      if time.monotonic() < 60.:
-        no_internal_panda_count = 0
-
      # Handle missing internal panda
      if no_internal_panda_count > 0:
        if no_internal_panda_count == 3:
--- a/selfdrive/pandad/tests/bootstub.panda.bin
+++ b/selfdrive/pandad/tests/bootstub.panda.bin
--- a/selfdrive/pandad/tests/test_pandad.py
+++ b/selfdrive/pandad/tests/test_pandad.py
@ -22,8 +22,6 @@ class TestPandad:
    if len(Panda.list()) == 0:
      self._run_test(60)

-    self.spi = HARDWARE.get_device_type() != 'tici'
-
  def teardown_method(self):
    managed_processes['pandad'].stop()

@ -106,11 +104,9 @@ class TestPandad:
    # - 0.2s pandad -> pandad
    # - plus some buffer
    print("startup times", ts, sum(ts) / len(ts))
-    assert 0.1 < (sum(ts)/len(ts)) < (0.7 if self.spi else 5.0)
+    assert 0.1 < (sum(ts)/len(ts)) < 0.7

  def test_protocol_version_check(self):
-    if not self.spi:
-      pytest.skip("SPI test")
    # flash old fw
    fn = os.path.join(HERE, "bootstub.panda_h7_spiv0.bin")
    self._flash_bootstub_and_test(fn, expect_mismatch=True)
--- a/selfdrive/pandad/tests/test_pandad_spi.py
+++ b/selfdrive/pandad/tests/test_pandad_spi.py
@ -6,7 +6,6 @@ import random

 import cereal.messaging as messaging
 from cereal.services import SERVICE_LIST
-from openpilot.system.hardware import HARDWARE
 from openpilot.selfdrive.test.helpers import with_processes
 from openpilot.selfdrive.pandad.tests.test_pandad_loopback import setup_pandad, send_random_can_messages

@ -16,8 +15,6 @@ JUNGLE_SPAM = "JUNGLE_SPAM" in os.environ
 class TestBoarddSpi:
  @classmethod
  def setup_class(cls):
-    if HARDWARE.get_device_type() == 'tici':
-      pytest.skip("only for spi pandas")
    os.environ['STARTED'] = '1'
    os.environ['SPI_ERR_PROB'] = '0.001'
    if not JUNGLE_SPAM:
--- a/selfdrive/selfdrived/alerts_offroad.json
+++ b/selfdrive/selfdrived/alerts_offroad.json
@ -29,10 +29,6 @@
    "text": "Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.",
    "severity": 1
  },
-  "Offroad_StorageMissing": {
-    "text": "NVMe drive not mounted.",
-    "severity": 1
-  },
  "Offroad_CarUnrecognized": {
    "text": "openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.",
    "severity": 0
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@ -21,7 +21,6 @@ from openpilot.selfdrive.selfdrived.helpers import ExcessiveActuationCheck
 from openpilot.selfdrive.selfdrived.state import StateMachine
 from openpilot.selfdrive.selfdrived.alertmanager import AlertManager, set_offroad_alert

-from openpilot.system.hardware import HARDWARE
 from openpilot.system.version import get_build_metadata

 REPLAY = "REPLAY" in os.environ
@ -122,13 +121,6 @@ class SelfdriveD:
    self.state_machine = StateMachine()
    self.rk = Ratekeeper(100, print_delay_threshold=None)

-    # some comma three with NVMe experience NVMe dropouts mid-drive that
-    # cause loggerd to crash on write, so ignore it only on that platform
-    self.ignored_processes = set()
-    nvme_expected = os.path.exists('/dev/nvme0n1') or (not os.path.isfile("/persist/comma/living-in-the-moment"))
-    if HARDWARE.get_device_type() == 'tici' and nvme_expected:
-      self.ignored_processes = {'loggerd', }
-
    # Determine startup event
    self.startup_event = EventName.startup if build_metadata.openpilot.comma_remote and build_metadata.tested_channel else EventName.startupMaster
    if not car_recognized:
@ -299,7 +291,7 @@ class SelfdriveD:
      if not_running != self.not_running_prev:
        cloudlog.event("process_not_running", not_running=not_running, error=True)
      self.not_running_prev = not_running
-    if self.sm.recv_frame['managerState'] and (not_running - self.ignored_processes):
+    if self.sm.recv_frame['managerState'] and not_running:
      self.events.add(EventName.processNotRunning)
    else:
      if not SIMULATION and not self.rk.lagging:
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@ -591,7 +591,7 @@ def get_custom_params_from_lr(lr: LogIterable, initial_state: str = "first") ->
  if len(live_calibration) > 0:
    custom_params["CalibrationParams"] = live_calibration[msg_index].as_builder().to_bytes()
  if len(live_parameters) > 0:
-    custom_params["LiveParameters"] = live_parameters[msg_index].as_builder().to_bytes()
+    custom_params["LiveParametersV2"] = live_parameters[msg_index].as_builder().to_bytes()
  if len(live_torque_parameters) > 0:
    custom_params["LiveTorqueParameters"] = live_torque_parameters[msg_index].as_builder().to_bytes()

--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@ -1 +1 @@
-209b47bea61e145cf2d27eb3ab650c97bcd1d33f
+afcab1abb62b9d5678342956cced4712f44e909e
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@ -29,7 +29,7 @@ UI_DELAY = 0.1 # may be slower on CI?
 TEST_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19"

 STREAMS: list[tuple[VisionStreamType, CameraConfig, bytes]] = []
-OFFROAD_ALERTS = ['Offroad_StorageMissing', 'Offroad_IsTakingSnapshot']
+OFFROAD_ALERTS = ['Offroad_IsTakingSnapshot', ]
 DATA: dict[str, capnp.lib.capnp._DynamicStructBuilder] = dict.fromkeys(
  ["carParams", "deviceState", "pandaStates", "controlsState", "selfdriveState",
  "liveCalibration", "modelV2", "radarState", "driverMonitoringState", "carState",
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@ -54,8 +54,7 @@ static void update_state(UIState *s) {
  }
  if (sm.updated("wideRoadCameraState")) {
    auto cam_state = sm["wideRoadCameraState"].getWideRoadCameraState();
-    float scale = (cam_state.getSensor() == cereal::FrameData::ImageSensor::AR0231) ? 6.0f : 1.0f;
-    scene.light_sensor = std::max(100.0f - scale * cam_state.getExposureValPercent(), 0.0f);
+    scene.light_sensor = std::max(100.0f - cam_state.getExposureValPercent(), 0.0f);
  } else if (!sm.allAliveAndValid({"wideRoadCameraState"})) {
    scene.light_sensor = -1;
  }
--- a/selfdrive/ui/ui_state.py
+++ b/selfdrive/ui/ui_state.py
@ -105,10 +105,7 @@ class UIState:
    # Handle wide road camera state updates
    if self.sm.updated["wideRoadCameraState"]:
      cam_state = self.sm["wideRoadCameraState"]
-
-      # Scale factor based on sensor type
-      scale = 6.0 if cam_state.sensor == 'ar0231' else 1.0
-      self.light_sensor = max(100.0 - scale * cam_state.exposureValPercent, 0.0)
+      self.light_sensor = max(100.0 - cam_state.exposureValPercent, 0.0)
    elif not self.sm.alive["wideRoadCameraState"] or not self.sm.valid["wideRoadCameraState"]:
      self.light_sensor = -1

--- a/system/camerad/SConscript
+++ b/system/camerad/SConscript
@ -4,7 +4,7 @@ libs = [common, 'OpenCL', messaging, visionipc, gpucommon]

 if arch != "Darwin":
  camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/spectra.cc',
-                           'cameras/cdm.cc', 'sensors/ar0231.cc', 'sensors/ox03c10.cc', 'sensors/os04c10.cc'])
+                           'cameras/cdm.cc', 'sensors/ox03c10.cc', 'sensors/os04c10.cc'])
  env.Program('camerad', ['main.cc', camera_obj], LIBS=libs)

 if GetOption("extras") and arch == "x86_64":
--- a/system/camerad/cameras/hw.h
+++ b/system/camerad/cameras/hw.h
@ -13,7 +13,7 @@ typedef enum {
  ISP_BPS_PROCESSED,  // fully processed image through the BPS
 } SpectraOutputType;

-// For the comma 3/3X three camera platform
+// For the comma 3X three camera platform

 struct CameraConfig {
  int camera_num;
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@ -1004,8 +1004,7 @@ bool SpectraCamera::openSensor() {
  };

  // Figure out which sensor we have
-  if (!init_sensor_lambda(new AR0231) &&
-      !init_sensor_lambda(new OX03C10) &&
+  if (!init_sensor_lambda(new OX03C10) &&
      !init_sensor_lambda(new OS04C10)) {
    LOGE("** sensor %d FAILED bringup, disabling", cc.camera_num);
    enabled = false;
--- a/system/camerad/sensors/ar0231.cc
+++ b/system/camerad/sensors/ar0231.cc
@ -1,136 +0,0 @@
-#include <cassert>
-#include <cmath>
-
-#include "system/camerad/sensors/sensor.h"
-
-namespace {
-
-const size_t AR0231_REGISTERS_HEIGHT = 2;
-// TODO: this extra height is universal and doesn't apply per camera
-const size_t AR0231_STATS_HEIGHT = 2 + 8;
-
-const float sensor_analog_gains_AR0231[] = {
-    1.0 / 8.0, 2.0 / 8.0, 2.0 / 7.0, 3.0 / 7.0,  // 0, 1, 2, 3
-    3.0 / 6.0, 4.0 / 6.0, 4.0 / 5.0, 5.0 / 5.0,  // 4, 5, 6, 7
-    5.0 / 4.0, 6.0 / 4.0, 6.0 / 3.0, 7.0 / 3.0,  // 8, 9, 10, 11
-    7.0 / 2.0, 8.0 / 2.0, 8.0 / 1.0};            // 12, 13, 14, 15 = bypass
-
-}  // namespace
-
-AR0231::AR0231() {
-  image_sensor = cereal::FrameData::ImageSensor::AR0231;
-  bayer_pattern = CAM_ISP_PATTERN_BAYER_GRGRGR;
-  pixel_size_mm = 0.003;
-  data_word = true;
-  frame_width = 1928;
-  frame_height = 1208;
-  frame_stride = (frame_width * 12 / 8) + 4;
-  extra_height = AR0231_REGISTERS_HEIGHT + AR0231_STATS_HEIGHT;
-
-  registers_offset = 0;
-  frame_offset = AR0231_REGISTERS_HEIGHT;
-  stats_offset = AR0231_REGISTERS_HEIGHT + frame_height;
-
-  start_reg_array.assign(std::begin(start_reg_array_ar0231), std::end(start_reg_array_ar0231));
-  init_reg_array.assign(std::begin(init_array_ar0231), std::end(init_array_ar0231));
-  probe_reg_addr = 0x3000;
-  probe_expected_data = 0x354;
-  bits_per_pixel = 12;
-  mipi_format = CAM_FORMAT_MIPI_RAW_12;
-  frame_data_type = 0x12;  // Changing stats to 0x2C doesn't work, so change pixels to 0x12 instead
-  mclk_frequency = 19200000; //Hz
-
-  readout_time_ns = 22850000;
-
-  dc_gain_factor = 2.5;
-  dc_gain_min_weight = 0;
-  dc_gain_max_weight = 1;
-  dc_gain_on_grey = 0.2;
-  dc_gain_off_grey = 0.3;
-  exposure_time_min = 2;       // with HDR, fastest ss
-  exposure_time_max = 0x0855;  // with HDR, slowest ss, 40ms
-  analog_gain_min_idx = 0x1;   // 0.25x
-  analog_gain_rec_idx = 0x6;   // 0.8x
-  analog_gain_max_idx = 0xD;   // 4.0x
-  analog_gain_cost_delta = 0;
-  analog_gain_cost_low = 0.1;
-  analog_gain_cost_high = 5.0;
-  for (int i = 0; i <= analog_gain_max_idx; i++) {
-    sensor_analog_gains[i] = sensor_analog_gains_AR0231[i];
-  }
-  min_ev = exposure_time_min * sensor_analog_gains[analog_gain_min_idx];
-  max_ev = exposure_time_max * dc_gain_factor * sensor_analog_gains[analog_gain_max_idx];
-  target_grey_factor = 1.0;
-
-  black_level = 168;
-  color_correct_matrix = {
-    0x000000af, 0x00000ff9, 0x00000fd8,
-    0x00000fbc, 0x000000bb, 0x00000009,
-    0x00000fb6, 0x00000fe0, 0x000000ea,
-  };
-  for (int i = 0; i < 65; i++) {
-    float fx = i / 64.0;
-    const float gamma_k = 0.75;
-    const float gamma_b = 0.125;
-    const float mp = 0.01; // ideally midpoint should be adaptive
-    const float rk = 9 - 100*mp;
-    // poly approximation for s curve
-    fx = (fx > mp) ?
-      ((rk * (fx-mp) * (1-(gamma_k*mp+gamma_b)) * (1+1/(rk*(1-mp))) / (1+rk*(fx-mp))) + gamma_k*mp + gamma_b) :
-      ((rk * (fx-mp) * (gamma_k*mp+gamma_b) * (1+1/(rk*mp)) / (1-rk*(fx-mp))) + gamma_k*mp + gamma_b);
-    gamma_lut_rgb.push_back((uint32_t)(fx*1023.0 + 0.5));
-  }
-  prepare_gamma_lut();
-  linearization_lut = {
-    0x02000000, 0x02000000, 0x02000000, 0x02000000,
-    0x020007ff, 0x020007ff, 0x020007ff, 0x020007ff,
-    0x02000bff, 0x02000bff, 0x02000bff, 0x02000bff,
-    0x020017ff, 0x020017ff, 0x020017ff, 0x020017ff,
-    0x02001bff, 0x02001bff, 0x02001bff, 0x02001bff,
-    0x020023ff, 0x020023ff, 0x020023ff, 0x020023ff,
-    0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
-    0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
-    0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
-  };
-  linearization_pts = {0x07ff0bff, 0x17ff1bff, 0x23ff3fff, 0x3fff3fff};
-  vignetting_lut = {
-    0x00eaa755, 0x00cf2679, 0x00bc05e0, 0x00acc566, 0x00a1450a, 0x009984cc, 0x0095a4ad, 0x009584ac, 0x009944ca, 0x00a0c506, 0x00ac0560, 0x00bb25d9, 0x00ce2671, 0x00e90748, 0x01112889, 0x014a2a51, 0x01984cc2,
-    0x00db06d8, 0x00c30618, 0x00afe57f, 0x00a0a505, 0x009524a9, 0x008d646b, 0x0089844c, 0x0089644b, 0x008d2469, 0x0094a4a5, 0x009fe4ff, 0x00af0578, 0x00c20610, 0x00d986cc, 0x00fda7ed, 0x01320990, 0x017aebd7,
-    0x00d1868c, 0x00baa5d5, 0x00a7853c, 0x009844c2, 0x008cc466, 0x0085a42d, 0x0083641b, 0x0083641b, 0x0085842c, 0x008c4462, 0x0097a4bd, 0x00a6c536, 0x00b9a5cd, 0x00d06683, 0x00f1678b, 0x01226913, 0x0167ab3d,
-    0x00cd0668, 0x00b625b1, 0x00a30518, 0x0093c49e, 0x00884442, 0x00830418, 0x0080e407, 0x0080c406, 0x0082e417, 0x0087c43e, 0x00932499, 0x00a22511, 0x00b525a9, 0x00cbe65f, 0x00eb0758, 0x011a68d3, 0x015daaed,
-    0x00cc4662, 0x00b565ab, 0x00a24512, 0x00930498, 0x0087843c, 0x0082a415, 0x00806403, 0x00806403, 0x00828414, 0x00870438, 0x00926493, 0x00a1850c, 0x00b465a3, 0x00cb2659, 0x00ea2751, 0x011928c9, 0x015c2ae1,
-    0x00cf667b, 0x00b885c4, 0x00a5652b, 0x009624b1, 0x008aa455, 0x00846423, 0x00822411, 0x00822411, 0x00844422, 0x008a2451, 0x009564ab, 0x00a48524, 0x00b785bc, 0x00ce4672, 0x00ee6773, 0x011e88f4, 0x0162eb17,
-    0x00d6c6b6, 0x00bf65fb, 0x00ac4562, 0x009d04e8, 0x0091848c, 0x0089c44e, 0x00862431, 0x00860430, 0x0089844c, 0x00910488, 0x009c64e3, 0x00ab655b, 0x00be65f3, 0x00d566ab, 0x00f847c2, 0x012b2959, 0x01726b93,
-    0x00e3e71f, 0x00ca0650, 0x00b705b8, 0x00a7a53d, 0x009c24e1, 0x009484a4, 0x00908484, 0x00908484, 0x009424a1, 0x009bc4de, 0x00a70538, 0x00b625b1, 0x00c90648, 0x00e26713, 0x0108e847, 0x013fe9ff, 0x018bcc5e,
-    0x00f807c0, 0x00d966cb, 0x00c5862c, 0x00b625b1, 0x00aaa555, 0x00a30518, 0x009f04f8, 0x009f04f8, 0x00a2a515, 0x00aa2551, 0x00b585ac, 0x00c4a625, 0x00d846c2, 0x00f647b2, 0x0121a90d, 0x015e4af2, 0x01b8cdc6,
-    0x011548aa, 0x00f1678b, 0x00d886c4, 0x00c86643, 0x00bce5e7, 0x00b545aa, 0x00b1658b, 0x00b1458a, 0x00b505a8, 0x00bc85e4, 0x00c7c63e, 0x00d786bc, 0x00efe77f, 0x0113489a, 0x0144ea27, 0x01888c44, 0x01fdcfee,
-    0x013e49f2, 0x0113e89f, 0x00f5a7ad, 0x00e0c706, 0x00d30698, 0x00cb665b, 0x00c7663b, 0x00c7663b, 0x00cb0658, 0x00d2a695, 0x00dfe6ff, 0x00f467a3, 0x01122891, 0x013be9df, 0x01750ba8, 0x01cfae7d, 0x025912c8,
-    0x01766bb3, 0x01446a23, 0x011fc8fe, 0x0105e82f, 0x00f467a3, 0x00e9874c, 0x00e46723, 0x00e44722, 0x00e92749, 0x00f3a79d, 0x0104c826, 0x011e48f2, 0x01424a12, 0x01738b9c, 0x01bf6dfb, 0x023611b0, 0x02ced676,
-    0x01cf8e7c, 0x01866c33, 0x015aaad5, 0x013ae9d7, 0x01250928, 0x011768bb, 0x0110a885, 0x01108884, 0x0116e8b7, 0x01242921, 0x0139a9cd, 0x0158eac7, 0x01840c20, 0x01cb0e58, 0x0233719b, 0x02b9d5ce, 0x03645b22,
-  };
-}
-
-std::vector<i2c_random_wr_payload> AR0231::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const {
-  uint16_t analog_gain_reg = 0xFF00 | (new_exp_g << 4) | new_exp_g;
-  return {
-    {0x3366, analog_gain_reg},
-    {0x3362, (uint16_t)(dc_gain_enabled ? 0x1 : 0x0)},
-    {0x3012, (uint16_t)exposure_time},
-  };
-}
-
-int AR0231::getSlaveAddress(int port) const {
-  assert(port >= 0 && port <= 2);
-  return (int[]){0x20, 0x30, 0x20}[port];
-}
-
-float AR0231::getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const {
-  // Cost of ev diff
-  float score = std::abs(desired_ev - (exp_t * exp_gain)) * 10;
-  // Cost of absolute gain
-  float m = exp_g_idx > analog_gain_rec_idx ? analog_gain_cost_high : analog_gain_cost_low;
-  score += std::abs(exp_g_idx - (int)analog_gain_rec_idx) * m;
-  // Cost of changing gain
-  score += std::abs(exp_g_idx - gain_idx) * (score + 1.0) / 10.0;
-  return score;
-}
--- a/system/camerad/sensors/ar0231_registers.h
+++ b/system/camerad/sensors/ar0231_registers.h
@ -1,121 +0,0 @@
-#pragma once
-
-const struct i2c_random_wr_payload start_reg_array_ar0231[] = {{0x301A, 0x91C}};
-const struct i2c_random_wr_payload stop_reg_array_ar0231[] = {{0x301A, 0x918}};
-
-const struct i2c_random_wr_payload init_array_ar0231[] = {
-  {0x301A, 0x0018}, // RESET_REGISTER
-
-  // **NOTE**: if this is changed, readout_time_ns must be updated in the Sensor config
-
-  // CLOCK Settings
-  // input clock is 19.2 / 2 * 0x37 = 528 MHz
-  // pixclk is 528 / 6 = 88 MHz
-  // full roll time is 1000/(PIXCLK/(LINE_LENGTH_PCK*FRAME_LENGTH_LINES)) = 39.99 ms
-  // img  roll time is 1000/(PIXCLK/(LINE_LENGTH_PCK*Y_OUTPUT_CONTROL))   = 22.85 ms
-  {0x302A, 0x0006}, // VT_PIX_CLK_DIV
-  {0x302C, 0x0001}, // VT_SYS_CLK_DIV
-  {0x302E, 0x0002}, // PRE_PLL_CLK_DIV
-  {0x3030, 0x0037}, // PLL_MULTIPLIER
-  {0x3036, 0x000C}, // OP_PIX_CLK_DIV
-  {0x3038, 0x0001}, // OP_SYS_CLK_DIV
-
-  // FORMAT
-  {0x3040, 0xC000}, // READ_MODE
-  {0x3004, 0x0000}, // X_ADDR_START_
-  {0x3008, 0x0787}, // X_ADDR_END_
-  {0x3002, 0x0000}, // Y_ADDR_START_
-  {0x3006, 0x04B7}, // Y_ADDR_END_
-  {0x3032, 0x0000}, // SCALING_MODE
-  {0x30A2, 0x0001}, // X_ODD_INC_
-  {0x30A6, 0x0001}, // Y_ODD_INC_
-  {0x3402, 0x0788}, // X_OUTPUT_CONTROL
-  {0x3404, 0x04B8}, // Y_OUTPUT_CONTROL
-  {0x3064, 0x1982}, // SMIA_TEST
-  {0x30BA, 0x11F2}, // DIGITAL_CTRL
-
-  // Enable external trigger and disable GPIO outputs
-  {0x30CE, 0x0120}, // SLAVE_SH_SYNC_MODE | FRAME_START_MODE
-  {0x340A, 0xE0},   // GPIO3_INPUT_DISABLE | GPIO2_INPUT_DISABLE | GPIO1_INPUT_DISABLE
-  {0x340C, 0x802},  // GPIO_HIDRV_EN | GPIO0_ISEL=2
-
-  // Readout timing
-  {0x300C, 0x0672}, // LINE_LENGTH_PCK (valid for 3-exposure HDR)
-  {0x300A, 0x0855}, // FRAME_LENGTH_LINES
-  {0x3042, 0x0000}, // EXTRA_DELAY
-
-  // Readout Settings
-  {0x31AE, 0x0204}, // SERIAL_FORMAT, 4-lane MIPI
-  {0x31AC, 0x0C0C}, // DATA_FORMAT_BITS, 12 -> 12
-  {0x3342, 0x1212}, // MIPI_F1_PDT_EDT
-  {0x3346, 0x1212}, // MIPI_F2_PDT_EDT
-  {0x334A, 0x1212}, // MIPI_F3_PDT_EDT
-  {0x334E, 0x1212}, // MIPI_F4_PDT_EDT
-  {0x3344, 0x0011}, // MIPI_F1_VDT_VC
-  {0x3348, 0x0111}, // MIPI_F2_VDT_VC
-  {0x334C, 0x0211}, // MIPI_F3_VDT_VC
-  {0x3350, 0x0311}, // MIPI_F4_VDT_VC
-  {0x31B0, 0x0053}, // FRAME_PREAMBLE
-  {0x31B2, 0x003B}, // LINE_PREAMBLE
-  {0x301A, 0x001C}, // RESET_REGISTER
-
-  // Noise Corrections
-  {0x3092, 0x0C24}, // ROW_NOISE_CONTROL
-  {0x337A, 0x0C80}, // DBLC_SCALE0
-  {0x3370, 0x03B1}, // DBLC
-  {0x3044, 0x0400}, // DARK_CONTROL
-
-  // Enable temperature sensor
-  {0x30B4, 0x0007}, // TEMPSENS0_CTRL_REG
-  {0x30B8, 0x0007}, // TEMPSENS1_CTRL_REG
-
-  // Enable dead pixel correction using
-  // the 1D line correction scheme
-  {0x31E0, 0x0003},
-
-  // HDR Settings
-  {0x3082, 0x0004}, // OPERATION_MODE_CTRL
-  {0x3238, 0x0444}, // EXPOSURE_RATIO
-
-  {0x1008, 0x0361}, // FINE_INTEGRATION_TIME_MIN
-  {0x100C, 0x0589}, // FINE_INTEGRATION_TIME2_MIN
-  {0x100E, 0x07B1}, // FINE_INTEGRATION_TIME3_MIN
-  {0x1010, 0x0139}, // FINE_INTEGRATION_TIME4_MIN
-
-  // TODO: do these have to be lower than LINE_LENGTH_PCK?
-  {0x3014, 0x08CB}, // FINE_INTEGRATION_TIME_
-  {0x321E, 0x0894}, // FINE_INTEGRATION_TIME2
-
-  {0x31D0, 0x0000}, // COMPANDING, no good in 10 bit?
-  {0x33DA, 0x0000}, // COMPANDING
-  {0x318E, 0x0200}, // PRE_HDR_GAIN_EN
-
-  // DLO Settings
-  {0x3100, 0x4000}, // DLO_CONTROL0
-  {0x3280, 0x0CCC}, // T1 G1
-  {0x3282, 0x0CCC}, // T1 R
-  {0x3284, 0x0CCC}, // T1 B
-  {0x3286, 0x0CCC}, // T1 G2
-  {0x3288, 0x0FA0}, // T2 G1
-  {0x328A, 0x0FA0}, // T2 R
-  {0x328C, 0x0FA0}, // T2 B
-  {0x328E, 0x0FA0}, // T2 G2
-
-   // Initial Gains
-  {0x3022, 0x0001}, // GROUPED_PARAMETER_HOLD_
-  {0x3366, 0xFF77}, // ANALOG_GAIN (1x)
-
-  {0x3060, 0x3333}, // ANALOG_COLOR_GAIN
-
-  {0x3362, 0x0000}, // DC GAIN
-
-  {0x305A, 0x00F8}, // red gain
-  {0x3058, 0x0122}, // blue gain
-  {0x3056, 0x009A}, // g1 gain
-  {0x305C, 0x009A}, // g2 gain
-
-  {0x3022, 0x0000}, // GROUPED_PARAMETER_HOLD_
-
-  // Initial Integration Time
-  {0x3012, 0x0005},
-};
--- a/system/camerad/sensors/sensor.h
+++ b/system/camerad/sensors/sensor.h
@ -10,7 +10,6 @@
 #include "media/cam_sensor.h"

 #include "cereal/gen/cpp/log.capnp.h"
-#include "system/camerad/sensors/ar0231_registers.h"
 #include "system/camerad/sensors/ox03c10_registers.h"
 #include "system/camerad/sensors/os04c10_registers.h"

@ -88,17 +87,6 @@ public:
  };
 };

-class AR0231 : public SensorInfo {
-public:
-  AR0231();
-  std::vector<i2c_random_wr_payload> getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const override;
-  float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const override;
-  int getSlaveAddress(int port) const override;
-
-private:
-  mutable std::map<uint16_t, std::pair<int, int>> ar0231_register_lut;
-};
-
 class OX03C10 : public SensorInfo {
 public:
  OX03C10();
--- a/system/hardware/base.py
+++ b/system/hardware/base.py
@ -65,6 +65,10 @@ class ThermalConfig:
    return ret

 class LPABase(ABC):
+  @abstractmethod
+  def bootstrap(self) -> None:
+    pass
+
  @abstractmethod
  def list_profiles(self) -> list[Profile]:
    pass
@ -89,6 +93,9 @@ class LPABase(ABC):
  def switch_profile(self, iccid: str) -> None:
    pass

+  def is_comma_profile(self, iccid: str) -> bool:
+    return any(iccid.startswith(prefix) for prefix in ('8985235',))
+
 class HardwareBase(ABC):
  @staticmethod
  def get_cmdline() -> dict[str, str]:
--- a/system/hardware/esim.py
+++ b/system/hardware/esim.py
@ -3,10 +3,32 @@
 import argparse
 import time
 from openpilot.system.hardware import HARDWARE
+from openpilot.system.hardware.base import LPABase
+
+
+def bootstrap(lpa: LPABase) -> None:
+  print('┌──────────────────────────────────────────────────────────────────────────────┐')
+  print('│ WARNING, PLEASE READ BEFORE PROCEEDING                                       │')
+  print('│                                                                              │')
+  print('│ this is an irreversible operation that will remove the comma-provisioned     │')
+  print('│ profile.                                                                     │')
+  print('│                                                                              │')
+  print('│ after this operation, you must purchase a new eSIM from comma in order to    │')
+  print('│ use the comma prime subscription again.                                      │')
+  print('└──────────────────────────────────────────────────────────────────────────────┘')
+  print()
+  for severity in ('sure', '100% sure'):
+    print(f'are you {severity} you want to proceed? (y/N) ', end='')
+    confirm = input()
+    if confirm != 'y':
+      print('aborting')
+      exit(0)
+  lpa.bootstrap()


 if __name__ == '__main__':
  parser = argparse.ArgumentParser(prog='esim.py', description='manage eSIM profiles on your comma device', epilog='comma.ai')
+  parser.add_argument('--bootstrap', action='store_true', help='bootstrap the eUICC (required before downloading profiles)')
  parser.add_argument('--backend', choices=['qmi', 'at'], default='qmi', help='use the specified backend, defaults to qmi')
  parser.add_argument('--switch', metavar='iccid', help='switch to profile')
  parser.add_argument('--delete', metavar='iccid', help='delete profile (warning: this cannot be undone)')
@ -16,7 +38,10 @@ if __name__ == '__main__':

  mutated = False
  lpa = HARDWARE.get_sim_lpa()
-  if args.switch:
+  if args.bootstrap:
+    bootstrap(lpa)
+    mutated = True
+  elif args.switch:
    lpa.switch_profile(args.switch)
    mutated = True
  elif args.delete:
--- a/system/hardware/hardwared.py
+++ b/system/hardware/hardwared.py
@ -6,7 +6,6 @@ import struct
 import threading
 import time
 from collections import OrderedDict, namedtuple
-from pathlib import Path

 import psutil

@ -334,12 +333,6 @@ def hardware_thread(end_event, hw_queue) -> None:
      # to make a different decision in your software
      startup_conditions["registered_device"] = PC or (params.get("DongleId") != UNREGISTERED_DONGLE_ID)

-    # TODO: this should move to TICI.initialize_hardware, but we currently can't import params there
-    if TICI and HARDWARE.get_device_type() == "tici":
-      if not os.path.isfile("/persist/comma/living-in-the-moment"):
-        if not Path("/data/media").is_mount():
-          set_offroad_alert_if_changed("Offroad_StorageMissing", True)
-
    # Handle offroad/onroad transition
    should_start = all(onroad_conditions.values())
    if started_ts is None:
--- a/system/hardware/tici/amplifier.py
+++ b/system/hardware/tici/amplifier.py
@ -61,18 +61,6 @@ BASE_CONFIG = [
 ]

 CONFIGS = {
-  "tici": [
-    AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111),
-    AmpConfig("Right Speaker Mixer Gain", 0b00, 0x2D, 2, 0b00001100),
-    AmpConfig("Right speaker output volume", 0x1c, 0x3E, 0, 0b00011111),
-    AmpConfig("DAI2 EQ enable", 0b1, 0x49, 1, 0b00000010),
-
-    *configs_from_eq_params(0x84, EQParams(0x274F, 0xC0FF, 0x3BF9, 0x0B3C, 0x1656)),
-    *configs_from_eq_params(0x8E, EQParams(0x1009, 0xC6BF, 0x2952, 0x1C97, 0x30DF)),
-    *configs_from_eq_params(0x98, EQParams(0x0F75, 0xCBE5, 0x0ED2, 0x2528, 0x3E42)),
-    *configs_from_eq_params(0xA2, EQParams(0x091F, 0x3D4C, 0xCE11, 0x1266, 0x2807)),
-    *configs_from_eq_params(0xAC, EQParams(0x0A9E, 0x3F20, 0xE573, 0x0A8B, 0x3A3B)),
-  ],
  "tizi": [
    AmpConfig("Left speaker output from left DAC", 0b1, 0x2B, 0, 0b11111111),
    AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111),
--- a/system/hardware/tici/esim.py
+++ b/system/hardware/tici/esim.py
@ -40,6 +40,7 @@ class TiciLPA(LPABase):
    self._process_notifications()

  def download_profile(self, qr: str, nickname: str | None = None) -> None:
+    self._check_bootstrapped()
    msgs = self._invoke('profile', 'download', '-a', qr)
    self._validate_successful(msgs)
    new_profile = next((m for m in msgs if m['payload']['message'] == 'es8p_meatadata_parse'), None)
@ -54,6 +55,7 @@ class TiciLPA(LPABase):
    self._validate_successful(self._invoke('profile', 'nickname', iccid, nickname))

  def switch_profile(self, iccid: str) -> None:
+    self._check_bootstrapped()
    self._validate_profile_exists(iccid)
    latest = self.get_active_profile()
    if latest and latest.iccid == iccid:
@ -61,6 +63,33 @@ class TiciLPA(LPABase):
    self._validate_successful(self._invoke('profile', 'enable', iccid))
    self._process_notifications()

+  def bootstrap(self) -> None:
+    """
+    find all comma-provisioned profiles and delete them. they conflict with user-provisioned profiles
+    and must be deleted.
+
+    **note**: this is a **very** destructive operation. you **must** purchase a new comma SIM in order
+              to use comma prime again.
+    """
+    if self._is_bootstrapped():
+      return
+
+    for p in self.list_profiles():
+      if self.is_comma_profile(p.iccid):
+        self._disable_profile(p.iccid)
+        self.delete_profile(p.iccid)
+
+  def _disable_profile(self, iccid: str) -> None:
+    self._validate_successful(self._invoke('profile', 'disable', iccid))
+    self._process_notifications()
+
+  def _check_bootstrapped(self) -> None:
+    assert self._is_bootstrapped(), 'eUICC is not bootstrapped, please bootstrap before performing this operation'
+
+  def _is_bootstrapped(self) -> bool:
+    """ check if any comma provisioned profiles are on the eUICC """
+    return not any(self.is_comma_profile(iccid) for iccid in (p.iccid for p in self.list_profiles()))
+
  def _invoke(self, *cmd: str):
    proc = subprocess.Popen(['sudo', '-E', 'lpac'] + list(cmd), stdout=subprocess.PIPE, stderr=subprocess.PIPE, env=self.env)
    try:
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@ -425,9 +425,6 @@ class Tici(HardwareBase):

    # pandad core
    affine_irq(3, "spi_geni")         # SPI
-    if "tici" in self.get_device_type():
-      affine_irq(3, "xhci-hcd:usb3")  # aux panda USB (or potentially anything else on USB)
-      affine_irq(3, "xhci-hcd:usb1")  # internal panda USB (also modem)
    try:
      pid = subprocess.check_output(["pgrep", "-f", "spi0"], encoding='utf8').strip()
      subprocess.call(["sudo", "chrt", "-f", "-p", "1", pid])
@ -446,22 +443,20 @@ class Tici(HardwareBase):

    cmds = []

-    if self.get_device_type() in ("tici", "tizi"):
+    if self.get_device_type() in ("tizi", ):
      # clear out old blue prime initial APN
      os.system('mmcli -m any --3gpp-set-initial-eps-bearer-settings="apn="')

      cmds += [
+        # SIM hot swap
+        'AT+QSIMDET=1,0',
+        'AT+QSIMSTAT=1',
+
        # configure modem as data-centric
        'AT+QNVW=5280,0,"0102000000000000"',
        'AT+QNVFW="/nv/item_files/ims/IMS_enable",00',
        'AT+QNVFW="/nv/item_files/modem/mmode/ue_usage_setting",01',
      ]
-      if self.get_device_type() == "tizi":
-        # SIM hot swap, not routed on tici
-        cmds += [
-          'AT+QSIMDET=1,0',
-          'AT+QSIMSTAT=1',
-        ]
    elif manufacturer == 'Cavli Inc.':
      cmds += [
        'AT^SIMSWAP=1',     # use SIM slot, instead of internal eSIM
@ -492,7 +487,7 @@ class Tici(HardwareBase):

    # eSIM prime
    dest = "/etc/NetworkManager/system-connections/esim.nmconnection"
-    if sim_id.startswith('8985235') and not os.path.exists(dest):
+    if self.get_sim_lpa().is_comma_profile(sim_id) and not os.path.exists(dest):
      with open(Path(__file__).parent/'esim.nmconnection') as f, tempfile.NamedTemporaryFile(mode='w') as tf:
        dat = f.read()
        dat = dat.replace("sim-id=", f"sim-id={sim_id}")
@ -503,6 +498,14 @@ class Tici(HardwareBase):
        os.system(f"sudo cp {tf.name} {dest}")
      os.system(f"sudo nmcli con load {dest}")

+  def reboot_modem(self):
+    modem = self.get_modem()
+    for state in (0, 1):
+      try:
+        modem.Command(f'AT+CFUN={state}', math.ceil(TIMEOUT), dbus_interface=MM_MODEM, timeout=TIMEOUT)
+      except Exception:
+        pass
+
  def get_networks(self):
    r = {}

--- a/system/hardware/tici/pins.py
+++ b/system/hardware/tici/pins.py
@ -1,5 +1,3 @@
-# TODO: these are also defined in a header
-
 # GPIO pin definitions
 class GPIO:
  # both GPIO_STM_RST_N and GPIO_LTE_RST_N are misnamed, they are high to reset
@ -26,7 +24,4 @@ class GPIO:
  CAM2_RSTN = 12

  # Sensor interrupts
-  BMX055_ACCEL_INT = 21
-  BMX055_GYRO_INT = 23
-  BMX055_MAGN_INT = 87
  LSM_INT = 84
--- a/system/hardware/tici/tests/test_power_draw.py
+++ b/system/hardware/tici/tests/test_power_draw.py
@ -32,8 +32,8 @@ class Proc:

 PROCS = [
  Proc(['camerad'], 1.75, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']),
-  Proc(['modeld'], 1.12, atol=0.2, msgs=['modelV2']),
-  Proc(['dmonitoringmodeld'], 0.6, msgs=['driverStateV2']),
+  Proc(['modeld'], 1.24, atol=0.2, msgs=['modelV2']),
+  Proc(['dmonitoringmodeld'], 0.7, msgs=['driverStateV2']),
  Proc(['encoderd'], 0.23, msgs=[]),
 ]

--- a/system/ui/reset.py
+++ b/system/ui/reset.py
@ -13,7 +13,6 @@ from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.button import Button, ButtonStyle
 from openpilot.system.ui.widgets.label import gui_label, gui_text_box

-NVME = "/dev/nvme0n1"
 USERDATA = "/dev/disk/by-partlabel/userdata"
 TIMEOUT = 3*60

@ -49,10 +48,6 @@ class Reset(Widget):
    if PC:
      return

-    # Best effort to wipe NVME
-    os.system(f"sudo umount {NVME}")
-    os.system(f"yes | sudo mkfs.ext4 {NVME}")
-
    # Removing data and formatting
    rm = os.system("sudo rm -rf /data/*")
    os.system(f"sudo umount {USERDATA}")
--- a/system/updated/updated.py
+++ b/system/updated/updated.py
@ -243,12 +243,6 @@ class Updater:
    if b is None:
      b = self.get_branch(BASEDIR)
    b = {
-      ("tici", "release3"): "release-tici",
-      ("tici", "release3-staging"): "release-tici",
-      ("tici", "master"): "master-tici",
-      ("tici", "nightly"): "release-tici",
-      ("tici", "nightly-dev"): "release-tici",
-
      ("tizi", "release3"): "release-tizi",
    }.get((HARDWARE.get_device_type(), b), b)
    return b
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit e146418f6566301ffe8ebea093c0081409241c8d
+Subproject commit 965ea59b16679793b8f48368ac24c4a0ef587e71
--- a/tools/auto_source.py
+++ b/tools/auto_source.py
@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 import sys
-from openpilot.tools.lib.logreader import LogReader
+from openpilot.tools.lib.logreader import LogReader, ReadMode


 def main():
@ -9,7 +9,7 @@ def main():
    sys.exit(1)

  log_path = sys.argv[1]
-  lr = LogReader(log_path, sort_by_time=True)
+  lr = LogReader(log_path, default_mode=ReadMode.AUTO, sort_by_time=True)
  print("\n".join(lr.logreader_identifiers))


--- a/tools/op.sh
+++ b/tools/op.sh
@ -365,6 +365,7 @@ function op_switch() {
  fi
  BRANCH="$1"

+  git config --replace-all remote.origin.fetch "+refs/heads/*:refs/remotes/origin/*"
  git fetch "$REMOTE" "$BRANCH"
  git checkout -f FETCH_HEAD
  git checkout -B "$BRANCH" --track "$REMOTE"/"$BRANCH"
--- a/tools/replay/SConscript
+++ b/tools/replay/SConscript
@ -12,7 +12,7 @@ else:
  base_libs.append('OpenCL')

 replay_lib_src = ["replay.cc", "consoleui.cc", "camera.cc", "filereader.cc", "logreader.cc", "framereader.cc",
-                  "route.cc", "util.cc", "seg_mgr.cc", "timeline.cc", "api.cc"]
+                  "route.cc", "util.cc", "seg_mgr.cc", "timeline.cc", "api.cc", "qcom_decoder.cc"]
 replay_lib = replay_env.Library("replay", replay_lib_src, LIBS=base_libs, FRAMEWORKS=base_frameworks)
 Export('replay_lib')
 replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'zstd', 'curl', 'yuv', 'ncurses'] + base_libs
--- a/tools/replay/framereader.cc
+++ b/tools/replay/framereader.cc
@ -8,6 +8,7 @@
 #include "common/util.h"
 #include "third_party/libyuv/include/libyuv.h"
 #include "tools/replay/util.h"
+#include "system/hardware/hw.h"

 #ifdef __APPLE__
 #define HW_DEVICE_TYPE AV_HWDEVICE_TYPE_VIDEOTOOLBOX
@ -37,7 +38,13 @@ struct DecoderManager {
      return it->second.get();
    }

-    auto decoder = std::make_unique<VideoDecoder>();
+    std::unique_ptr<VideoDecoder> decoder;
+    if (Hardware::TICI() && hw_decoder) {
+      decoder = std::make_unique<QcomVideoDecoder>();
+    } else {
+      decoder = std::make_unique<FFmpegVideoDecoder>();
+    }
+
    if (!decoder->open(codecpar, hw_decoder)) {
      decoder.reset(nullptr);
    }
@ -114,19 +121,19 @@ bool FrameReader::get(int idx, VisionBuf *buf) {

 // class VideoDecoder

-VideoDecoder::VideoDecoder() {
+FFmpegVideoDecoder::FFmpegVideoDecoder() {
  av_frame_ = av_frame_alloc();
  hw_frame_ = av_frame_alloc();
 }

-VideoDecoder::~VideoDecoder() {
+FFmpegVideoDecoder::~FFmpegVideoDecoder() {
  if (hw_device_ctx) av_buffer_unref(&hw_device_ctx);
  if (decoder_ctx) avcodec_free_context(&decoder_ctx);
  av_frame_free(&av_frame_);
  av_frame_free(&hw_frame_);
 }

-bool VideoDecoder::open(AVCodecParameters *codecpar, bool hw_decoder) {
+bool FFmpegVideoDecoder::open(AVCodecParameters *codecpar, bool hw_decoder) {
  const AVCodec *decoder = avcodec_find_decoder(codecpar->codec_id);
  if (!decoder) return false;

@ -149,7 +156,7 @@ bool VideoDecoder::open(AVCodecParameters *codecpar, bool hw_decoder) {
  return true;
 }

-bool VideoDecoder::initHardwareDecoder(AVHWDeviceType hw_device_type) {
+bool FFmpegVideoDecoder::initHardwareDecoder(AVHWDeviceType hw_device_type) {
  const AVCodecHWConfig *config = nullptr;
  for (int i = 0; (config = avcodec_get_hw_config(decoder_ctx->codec, i)) != nullptr; i++) {
    if (config->methods & AV_CODEC_HW_CONFIG_METHOD_HW_DEVICE_CTX && config->device_type == hw_device_type) {
@ -175,7 +182,7 @@ bool VideoDecoder::initHardwareDecoder(AVHWDeviceType hw_device_type) {
  return true;
 }

-bool VideoDecoder::decode(FrameReader *reader, int idx, VisionBuf *buf) {
+bool FFmpegVideoDecoder::decode(FrameReader *reader, int idx, VisionBuf *buf) {
  int current_idx = idx;
  if (idx != reader->prev_idx + 1) {
    // seeking to the nearest key frame
@ -219,7 +226,7 @@ bool VideoDecoder::decode(FrameReader *reader, int idx, VisionBuf *buf) {
  return false;
 }

-AVFrame *VideoDecoder::decodeFrame(AVPacket *pkt) {
+AVFrame *FFmpegVideoDecoder::decodeFrame(AVPacket *pkt) {
  int ret = avcodec_send_packet(decoder_ctx, pkt);
  if (ret < 0) {
    rError("Error sending a packet for decoding: %d", ret);
@ -239,7 +246,7 @@ AVFrame *VideoDecoder::decodeFrame(AVPacket *pkt) {
  return (av_frame_->format == hw_pix_fmt) ? hw_frame_ : av_frame_;
 }

-bool VideoDecoder::copyBuffer(AVFrame *f, VisionBuf *buf) {
+bool FFmpegVideoDecoder::copyBuffer(AVFrame *f, VisionBuf *buf) {
  if (hw_pix_fmt == HW_PIX_FMT) {
    for (int i = 0; i < height/2; i++) {
      memcpy(buf->y + (i*2 + 0)*buf->stride, f->data[0] + (i*2 + 0)*f->linesize[0], width);
@ -256,3 +263,45 @@ bool VideoDecoder::copyBuffer(AVFrame *f, VisionBuf *buf) {
  }
  return true;
 }
+
+bool QcomVideoDecoder::open(AVCodecParameters *codecpar, bool hw_decoder) {
+  if (codecpar->codec_id != AV_CODEC_ID_HEVC) {
+    rError("Hardware decoder only supports HEVC codec");
+    return false;
+  }
+  width = codecpar->width;
+  height = codecpar->height;
+  msm_vidc.init(VIDEO_DEVICE, width, height, V4L2_PIX_FMT_HEVC);
+  return true;
+}
+
+bool QcomVideoDecoder::decode(FrameReader *reader, int idx, VisionBuf *buf) {
+  int from_idx = idx;
+  if (idx != reader->prev_idx + 1) {
+    // seeking to the nearest key frame
+    for (int i = idx; i >= 0; --i) {
+      if (reader->packets_info[i].flags & AV_PKT_FLAG_KEY) {
+        from_idx = i;
+        break;
+      }
+    }
+
+    auto pos = reader->packets_info[from_idx].pos;
+    int ret = avformat_seek_file(reader->input_ctx, 0, pos, pos, pos, AVSEEK_FLAG_BYTE);
+    if (ret < 0) {
+      rError("Failed to seek to byte position %lld: %d", pos, AVERROR(ret));
+      return false;
+    }
+  }
+  reader->prev_idx = idx;
+  bool result = false;
+  AVPacket pkt;
+  msm_vidc.avctx = reader->input_ctx;
+  for (int i = from_idx; i <= idx; ++i) {
+    if (av_read_frame(reader->input_ctx, &pkt) == 0) {
+      result = msm_vidc.decodeFrame(&pkt, buf) && (i == idx);
+      av_packet_unref(&pkt);
+    }
+  }
+  return result;
+}
--- a/tools/replay/framereader.h
+++ b/tools/replay/framereader.h
@ -6,6 +6,7 @@
 #include "msgq/visionipc/visionbuf.h"
 #include "tools/replay/filereader.h"
 #include "tools/replay/util.h"
+#include "tools/replay/qcom_decoder.h"

 extern "C" {
 #include <libavcodec/avcodec.h>
@ -40,11 +41,18 @@ public:

 class VideoDecoder {
 public:
-  VideoDecoder();
-  ~VideoDecoder();
-  bool open(AVCodecParameters *codecpar, bool hw_decoder);
-  bool decode(FrameReader *reader, int idx, VisionBuf *buf);
+  virtual ~VideoDecoder() = default;
+  virtual bool open(AVCodecParameters *codecpar, bool hw_decoder) = 0;
+  virtual bool decode(FrameReader *reader, int idx, VisionBuf *buf) = 0;
  int width = 0, height = 0;
+};
+
+class FFmpegVideoDecoder : public VideoDecoder {
+public:
+  FFmpegVideoDecoder();
+  ~FFmpegVideoDecoder() override;
+  bool open(AVCodecParameters *codecpar, bool hw_decoder) override;
+  bool decode(FrameReader *reader, int idx, VisionBuf *buf) override;

 private:
  bool initHardwareDecoder(AVHWDeviceType hw_device_type);
@ -56,3 +64,14 @@ private:
  AVPixelFormat hw_pix_fmt = AV_PIX_FMT_NONE;
  AVBufferRef *hw_device_ctx = nullptr;
 };
+
+class QcomVideoDecoder : public VideoDecoder {
+public:
+  QcomVideoDecoder() {};
+  ~QcomVideoDecoder() override {};
+  bool open(AVCodecParameters *codecpar, bool hw_decoder) override;
+  bool decode(FrameReader *reader, int idx, VisionBuf *buf) override;
+
+private:
+  MsmVidc msm_vidc = MsmVidc();
+};
--- a/tools/replay/qcom_decoder.cc
+++ b/tools/replay/qcom_decoder.cc
@ -0,0 +1,346 @@
+#include "qcom_decoder.h"
+
+#include <assert.h>
+#include "third_party/linux/include/v4l2-controls.h"
+#include <linux/videodev2.h>
+
+
+#include "common/swaglog.h"
+#include "common/util.h"
+
+// echo "0xFFFF" > /sys/kernel/debug/msm_vidc/debug_level
+
+static void copyBuffer(VisionBuf *src_buf, VisionBuf *dst_buf) {
+  // Copy Y plane
+  memcpy(dst_buf->y, src_buf->y, src_buf->height * src_buf->stride);
+  // Copy UV plane
+  memcpy(dst_buf->uv, src_buf->uv, src_buf->height / 2 * src_buf->stride);
+}
+
+static void request_buffers(int fd, v4l2_buf_type buf_type, unsigned int count) {
+  struct v4l2_requestbuffers reqbuf = {
+    .count = count,
+    .type = buf_type,
+    .memory = V4L2_MEMORY_USERPTR
+  };
+  util::safe_ioctl(fd, VIDIOC_REQBUFS, &reqbuf, "VIDIOC_REQBUFS failed");
+}
+
+MsmVidc::~MsmVidc() {
+  if (fd > 0) {
+    close(fd);
+  }
+}
+
+bool MsmVidc::init(const char* dev, size_t width, size_t height, uint64_t codec) {
+  LOG("Initializing msm_vidc device %s", dev);
+  this->w = width;
+  this->h = height;
+  this->fd = open(dev, O_RDWR, 0);
+  if (fd < 0) {
+    LOGE("failed to open video device %s", dev);
+    return false;
+  }
+  subscribeEvents();
+  v4l2_buf_type out_type = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE;
+  setPlaneFormat(out_type, V4L2_PIX_FMT_HEVC); // Also allocates the output buffer
+  setFPS(FPS);
+  request_buffers(fd, out_type, OUTPUT_BUFFER_COUNT);
+  util::safe_ioctl(fd, VIDIOC_STREAMON, &out_type, "VIDIOC_STREAMON OUTPUT failed");
+  restartCapture();
+  setupPolling();
+
+  this->initialized = true;
+  return true;
+}
+
+VisionBuf* MsmVidc::decodeFrame(AVPacket *pkt, VisionBuf *buf) {
+  assert(initialized && (pkt != nullptr) && (buf != nullptr));
+
+  this->frame_ready = false;
+  this->current_output_buf = buf;
+  bool sent_packet = false;
+
+  while (!this->frame_ready) {
+    if (!sent_packet) {
+      int buf_index = getBufferUnlocked();
+      if (buf_index >= 0) {
+        assert(buf_index < out_buf_cnt);
+        sendPacket(buf_index, pkt);
+        sent_packet = true;
+      }
+    }
+
+    if (poll(pfd, nfds, -1) < 0) {
+      LOGE("poll() error: %d", errno);
+      return nullptr;
+    }
+
+    if (VisionBuf* result = processEvents()) {
+      return result;
+    }
+  }
+
+  return buf;
+}
+
+VisionBuf* MsmVidc::processEvents() {
+  for (int idx = 0; idx < nfds; idx++) {
+    short revents = pfd[idx].revents;
+    if (!revents) continue;
+
+    if (idx == ev[EV_VIDEO]) {
+      if (revents & (POLLIN | POLLRDNORM)) {
+        VisionBuf *result = handleCapture();
+        if (result == this->current_output_buf) {
+          this->frame_ready = true;
+        }
+      }
+      if (revents & (POLLOUT | POLLWRNORM)) {
+        handleOutput();
+      }
+      if (revents & POLLPRI) {
+        handleEvent();
+      }
+    } else {
+      LOGE("Unexpected event on fd %d", pfd[idx].fd);
+    }
+  }
+  return nullptr;
+}
+
+VisionBuf* MsmVidc::handleCapture() {
+  struct v4l2_buffer buf = {0};
+  struct v4l2_plane planes[1] = {0};
+  buf.type          = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE;
+  buf.memory        = V4L2_MEMORY_USERPTR;
+  buf.m.planes      = planes;
+  buf.length        = 1;
+  util::safe_ioctl(this->fd, VIDIOC_DQBUF, &buf, "VIDIOC_DQBUF CAPTURE failed");
+
+  if (this->reconfigure_pending || buf.m.planes[0].bytesused == 0) {
+    return nullptr;
+  }
+
+  copyBuffer(&cap_bufs[buf.index], this->current_output_buf);
+  queueCaptureBuffer(buf.index);
+  return this->current_output_buf;
+}
+
+bool MsmVidc::subscribeEvents() {
+  for (uint32_t event : subscriptions) {
+    struct v4l2_event_subscription sub = { .type = event};
+    util::safe_ioctl(fd, VIDIOC_SUBSCRIBE_EVENT, &sub, "VIDIOC_SUBSCRIBE_EVENT failed");
+  }
+  return true;
+}
+
+bool MsmVidc::setPlaneFormat(enum v4l2_buf_type type, uint32_t fourcc) {
+  struct v4l2_format fmt = {.type = type};
+  struct v4l2_pix_format_mplane *pix = &fmt.fmt.pix_mp;
+  *pix = {
+    .width = (__u32)this->w,
+    .height = (__u32)this->h,
+    .pixelformat = fourcc
+  };
+  util::safe_ioctl(fd, VIDIOC_S_FMT, &fmt, "VIDIOC_S_FMT failed");
+  if (type == V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE) {
+    this->out_buf_size = pix->plane_fmt[0].sizeimage;
+    int ion_size = this->out_buf_size * OUTPUT_BUFFER_COUNT; // Output (input) buffers are ION buffer.
+    this->out_buf.allocate(ion_size); // mmap rw
+    for (int i = 0; i < OUTPUT_BUFFER_COUNT; i++) {
+      this->out_buf_off[i] = i * this->out_buf_size;
+      this->out_buf_addr[i] = (char *)this->out_buf.addr + this->out_buf_off[i];
+      this->out_buf_flag[i] = false;
+    }
+    LOGD("Set output buffer size to %d, count %d, addr %p", this->out_buf_size, OUTPUT_BUFFER_COUNT, this->out_buf.addr);
+  } else if (type == V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE) {
+    request_buffers(this->fd, type, CAPTURE_BUFFER_COUNT);
+    util::safe_ioctl(fd, VIDIOC_G_FMT, &fmt, "VIDIOC_G_FMT failed");
+    const __u32 y_size    = pix->plane_fmt[0].sizeimage;
+    const __u32 y_stride  = pix->plane_fmt[0].bytesperline;
+    for (int i = 0; i < CAPTURE_BUFFER_COUNT; i++) {
+      size_t uv_offset = (size_t)y_stride * pix->height;
+      size_t required = uv_offset + (y_stride * pix->height / 2); // enough for Y + UV. For linear NV12, UV plane starts at y_stride * height.
+      size_t alloc_size = std::max<size_t>(y_size, required);
+      this->cap_bufs[i].allocate(alloc_size);
+      this->cap_bufs[i].init_yuv(pix->width, pix->height, y_stride, uv_offset);
+    }
+    LOGD("Set capture buffer size to %d, count %d, addr %p, extradata size %d",
+      pix->plane_fmt[0].sizeimage, CAPTURE_BUFFER_COUNT, this->cap_bufs[0].addr, pix->plane_fmt[1].sizeimage);
+  }
+  return true;
+}
+
+bool MsmVidc::setFPS(uint32_t fps) {
+  struct v4l2_streamparm streamparam = {
+    .type = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE,
+    .parm.output.timeperframe = {1, fps}
+  };
+  util::safe_ioctl(fd, VIDIOC_S_PARM, &streamparam, "VIDIOC_S_PARM failed");
+  return true;
+}
+
+bool MsmVidc::restartCapture() {
+  // stop if already initialized
+  enum v4l2_buf_type type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE;
+  if (this->initialized) {
+    LOGD("Restarting capture, flushing buffers...");
+    util::safe_ioctl(this->fd, VIDIOC_STREAMOFF, &type, "VIDIOC_STREAMOFF CAPTURE failed");
+    struct v4l2_requestbuffers reqbuf = {.type = type, .memory = V4L2_MEMORY_USERPTR};
+    util::safe_ioctl(this->fd, VIDIOC_REQBUFS, &reqbuf, "VIDIOC_REQBUFS failed");
+    for (size_t i = 0; i < CAPTURE_BUFFER_COUNT; ++i) {
+      this->cap_bufs[i].free();
+      this->cap_buf_flag[i] = false; // mark as not queued
+      cap_bufs[i].~VisionBuf();
+      new (&cap_bufs[i]) VisionBuf();
+    }
+  }
+  // setup, start and queue capture buffers
+  setDBP();
+  setPlaneFormat(type, V4L2_PIX_FMT_NV12);
+  util::safe_ioctl(this->fd, VIDIOC_STREAMON, &type, "VIDIOC_STREAMON CAPTURE failed");
+  for (size_t i = 0; i < CAPTURE_BUFFER_COUNT; ++i) {
+    queueCaptureBuffer(i);
+  }
+
+  return true;
+}
+
+bool MsmVidc::queueCaptureBuffer(int i) {
+  struct v4l2_buffer buf = {0};
+  struct v4l2_plane planes[1] = {0};
+
+  buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE;
+  buf.memory = V4L2_MEMORY_USERPTR;
+  buf.index = i;
+  buf.m.planes = planes;
+  buf.length = 1;
+  // decoded frame plane
+  planes[0].m.userptr     = (unsigned long)this->cap_bufs[i].addr; // no security
+  planes[0].length        = this->cap_bufs[i].len;
+  planes[0].reserved[0]   = this->cap_bufs[i].fd; // ION fd
+  planes[0].reserved[1]   = 0;
+  planes[0].bytesused     = this->cap_bufs[i].len;
+  planes[0].data_offset   = 0;
+  util::safe_ioctl(this->fd, VIDIOC_QBUF, &buf, "VIDIOC_QBUF failed");
+  this->cap_buf_flag[i] = true; // mark as queued
+  return true;
+}
+
+bool MsmVidc::queueOutputBuffer(int i, size_t size) {
+  struct v4l2_buffer buf = {0};
+  struct v4l2_plane planes[1] = {0};
+
+  buf.type                = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE;
+  buf.memory              = V4L2_MEMORY_USERPTR;
+  buf.index               = i;
+  buf.m.planes            = planes;
+  buf.length              = 1;
+  // decoded frame plane
+  planes[0].m.userptr     = (unsigned long)this->out_buf_off[i]; // check this
+  planes[0].length        = this->out_buf_size;
+  planes[0].reserved[0]   = this->out_buf.fd; // ION fd
+  planes[0].reserved[1]   = 0;
+  planes[0].bytesused     = size;
+  planes[0].data_offset   = 0;
+  assert((this->out_buf_off[i] & 0xfff) == 0);          // must be 4 KiB aligned
+  assert(this->out_buf_size % 4096 == 0);               // ditto for size
+
+  util::safe_ioctl(this->fd, VIDIOC_QBUF, &buf, "VIDIOC_QBUF failed");
+  this->out_buf_flag[i] = true; // mark as queued
+  return true;
+}
+
+bool MsmVidc::setDBP() {
+  struct v4l2_ext_control control[2] = {0};
+  struct v4l2_ext_controls controls = {0};
+  control[0].id           = V4L2_CID_MPEG_VIDC_VIDEO_STREAM_OUTPUT_MODE;
+  control[0].value        = 1; // V4L2_CID_MPEG_VIDC_VIDEO_STREAM_OUTPUT_SECONDARY
+  control[1].id           = V4L2_CID_MPEG_VIDC_VIDEO_DPB_COLOR_FORMAT;
+  control[1].value        = 0; // V4L2_MPEG_VIDC_VIDEO_DPB_COLOR_FMT_NONE
+  controls.count          = 2;
+  controls.ctrl_class     = V4L2_CTRL_CLASS_MPEG;
+  controls.controls       = control;
+  util::safe_ioctl(fd, VIDIOC_S_EXT_CTRLS, &controls, "VIDIOC_S_EXT_CTRLS failed");
+  return true;
+}
+
+bool MsmVidc::setupPolling() {
+  // Initialize poll array
+  pfd[EV_VIDEO] = {fd, POLLIN | POLLOUT | POLLWRNORM | POLLRDNORM | POLLPRI, 0};
+  ev[EV_VIDEO] = EV_VIDEO;
+  nfds = 1;
+  return true;
+}
+
+bool MsmVidc::sendPacket(int buf_index, AVPacket *pkt) {
+  assert(buf_index >= 0 && buf_index < out_buf_cnt);
+  assert(pkt != nullptr && pkt->data != nullptr && pkt->size > 0);
+  // Prepare output buffer
+  memset(this->out_buf_addr[buf_index], 0, this->out_buf_size);
+  uint8_t * data = (uint8_t *)this->out_buf_addr[buf_index];
+  memcpy(data, pkt->data, pkt->size);
+  queueOutputBuffer(buf_index, pkt->size);
+  return true;
+}
+
+int MsmVidc::getBufferUnlocked() {
+  for (int i = 0; i < this->out_buf_cnt; i++) {
+    if (!out_buf_flag[i]) {
+      return i;
+    }
+  }
+  return -1;
+}
+
+
+bool MsmVidc::handleOutput() {
+  struct v4l2_buffer buf = {0};
+  struct v4l2_plane planes[1];
+  buf.type      = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE;
+  buf.memory    = V4L2_MEMORY_USERPTR;
+  buf.m.planes  = planes;
+  buf.length    = 1;
+  util::safe_ioctl(this->fd, VIDIOC_DQBUF, &buf, "VIDIOC_DQBUF OUTPUT failed");
+  this->out_buf_flag[buf.index] = false; // mark as not queued
+  return true;
+}
+
+bool MsmVidc::handleEvent() {
+  // dequeue event
+  struct v4l2_event event = {0};
+  util::safe_ioctl(this->fd, VIDIOC_DQEVENT, &event, "VIDIOC_DQEVENT failed");
+  switch (event.type) {
+    case V4L2_EVENT_MSM_VIDC_PORT_SETTINGS_CHANGED_INSUFFICIENT: {
+      unsigned int *ptr     = (unsigned int *)event.u.data;
+      unsigned int height   = ptr[0];
+      unsigned int width    = ptr[1];
+      this->w               = width;
+      this->h               = height;
+      LOGD("Port Reconfig received insufficient, new size %ux%u, flushing capture bufs...", width, height); // This is normal
+      struct v4l2_decoder_cmd dec;
+      dec.flags = V4L2_QCOM_CMD_FLUSH_CAPTURE;
+      dec.cmd = V4L2_QCOM_CMD_FLUSH;
+      util::safe_ioctl(this->fd, VIDIOC_DECODER_CMD, &dec, "VIDIOC_DECODER_CMD FLUSH_CAPTURE failed");
+      this->reconfigure_pending = true;
+      LOGD("Waiting for flush done event to reconfigure capture queue");
+      break;
+    }
+
+    case V4L2_EVENT_MSM_VIDC_FLUSH_DONE: {
+      unsigned int *ptr   = (unsigned int *)event.u.data;
+      unsigned int flags  = ptr[0];
+      if (flags & V4L2_QCOM_CMD_FLUSH_CAPTURE) {
+        if (this->reconfigure_pending) {
+          this->restartCapture();
+          this->reconfigure_pending = false;
+        }
+      }
+      break;
+    }
+    default:
+      break;
+  }
+  return true;
+}
--- a/tools/replay/qcom_decoder.h
+++ b/tools/replay/qcom_decoder.h
@ -0,0 +1,88 @@
+#pragma once
+
+#include <linux/videodev2.h>
+#include <poll.h>
+
+#include "msgq/visionipc/visionbuf.h"
+
+extern "C" {
+  #include <libavcodec/avcodec.h>
+  #include <libavformat/avformat.h>
+}
+
+#define V4L2_EVENT_MSM_VIDC_START (V4L2_EVENT_PRIVATE_START + 0x00001000)
+#define V4L2_EVENT_MSM_VIDC_FLUSH_DONE (V4L2_EVENT_MSM_VIDC_START + 1)
+#define V4L2_EVENT_MSM_VIDC_PORT_SETTINGS_CHANGED_INSUFFICIENT (V4L2_EVENT_MSM_VIDC_START + 3)
+#define V4L2_CID_MPEG_MSM_VIDC_BASE 0x00992000
+#define V4L2_CID_MPEG_VIDC_VIDEO_DPB_COLOR_FORMAT (V4L2_CID_MPEG_MSM_VIDC_BASE + 44)
+#define V4L2_CID_MPEG_VIDC_VIDEO_STREAM_OUTPUT_MODE (V4L2_CID_MPEG_MSM_VIDC_BASE + 22)
+#define V4L2_QCOM_CMD_FLUSH_CAPTURE (1 << 1)
+#define V4L2_QCOM_CMD_FLUSH (4)
+
+#define VIDEO_DEVICE "/dev/video32"
+#define OUTPUT_BUFFER_COUNT 	8
+#define CAPTURE_BUFFER_COUNT 	8
+#define FPS 									20
+
+
+class MsmVidc {
+public:
+  MsmVidc() = default;
+  ~MsmVidc();
+
+  bool init(const char* dev, size_t width, size_t height, uint64_t codec);
+  VisionBuf* decodeFrame(AVPacket* pkt, VisionBuf* buf);
+
+  AVFormatContext* avctx = nullptr;
+  int fd = 0;
+
+private:
+  bool initialized = false;
+  bool reconfigure_pending = false;
+  bool frame_ready = false;
+
+  VisionBuf* current_output_buf = nullptr;
+  VisionBuf out_buf;                          // Single input buffer
+  VisionBuf cap_bufs[CAPTURE_BUFFER_COUNT];   // Capture (output) buffers
+
+  size_t w = 1928, h = 1208;
+  size_t cap_height = 0, cap_width = 0;
+
+  int cap_buf_size = 0;
+  int out_buf_size = 0;
+
+  size_t cap_plane_off[CAPTURE_BUFFER_COUNT] = {0};
+  size_t cap_plane_stride[CAPTURE_BUFFER_COUNT] = {0};
+  bool cap_buf_flag[CAPTURE_BUFFER_COUNT] = {false};
+
+  size_t out_buf_off[OUTPUT_BUFFER_COUNT] = {0};
+  void* out_buf_addr[OUTPUT_BUFFER_COUNT] = {0};
+  bool out_buf_flag[OUTPUT_BUFFER_COUNT] = {false};
+  const int out_buf_cnt = OUTPUT_BUFFER_COUNT;
+
+  const int subscriptions[2] = {
+    V4L2_EVENT_MSM_VIDC_FLUSH_DONE,
+    V4L2_EVENT_MSM_VIDC_PORT_SETTINGS_CHANGED_INSUFFICIENT
+  };
+
+  enum { EV_VIDEO, EV_COUNT };
+  struct pollfd pfd[EV_COUNT] = {0};
+  int ev[EV_COUNT] = {-1};
+  int nfds = 0;
+
+  VisionBuf* processEvents();
+  bool setupOutput();
+  bool subscribeEvents();
+  bool setPlaneFormat(v4l2_buf_type type, uint32_t fourcc);
+  bool setFPS(uint32_t fps);
+  bool restartCapture();
+  bool queueCaptureBuffer(int i);
+  bool queueOutputBuffer(int i, size_t size);
+  bool setDBP();
+  bool setupPolling();
+  bool sendPacket(int buf_index, AVPacket* pkt);
+  int getBufferUnlocked();
+  VisionBuf* handleCapture();
+  bool handleOutput();
+  bool handleEvent();
+};
--- a/uv.lock
+++ b/uv.lock
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