diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 8c46e15c2f..15b358eb10 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -61,13 +61,13 @@ jobs:
         cd $STRIPPED_DIR
         ${{ env.RUN }} "release/check-dirty.sh && \
                         MAX_EXAMPLES=5 $PYTEST -m 'not slow' selfdrive/car"
-    - name: static analysis
+    - name: Static analysis
       timeout-minutes: 1
       run: |
         cd $GITHUB_WORKSPACE
         cp pyproject.toml $STRIPPED_DIR
         cd $STRIPPED_DIR
-        ${{ env.RUN }} "scripts/lint.sh"
+        ${{ env.RUN }} "scripts/lint.sh --skip check_added_large_files"
 
   build:
     strategy:
@@ -140,16 +140,15 @@ jobs:
     runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
                    ((github.event_name != 'pull_request') ||
                     (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
+    env:
+      PYTHONWARNINGS: default
     steps:
     - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Build openpilot
-      run: ${{ env.RUN }} "scons -j$(nproc)"
-    - name: static analysis
+    - name: Setup
+      run: tools/op.sh setup
+    - name: Static analysis
       timeout-minutes: 1
-      run: ${{ env.RUN }} "scripts/lint.sh"
+      run: tools/op.sh lint
 
   unit_tests:
     name: unit tests
diff --git a/pyproject.toml b/pyproject.toml
index b311a854dc..a0131773e8 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -88,6 +88,7 @@ testing = [
   "pytest-repeat",
   "ruff",
   "codespell",
+  "pre-commit-hooks",
 ]
 
 dev = [
@@ -169,7 +170,7 @@ quiet-level = 3
 # if you've got a short variable name that's getting flagged, add it here
 ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable,jupyter,thead"
 builtin = "clear,rare,informal,code,names,en-GB_to_en-US"
-skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, ./selfdrive/ui/translations/*.ts, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*"
+skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.ts, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*"
 
 [tool.mypy]
 python_version = "3.11"
@@ -177,9 +178,11 @@ plugins = [
   "numpy.typing.mypy_plugin",
 ]
 exclude = [
-  "body/",
   "cereal/",
+  "msgq/",
+  "msgq_repo/",
   "opendbc/",
+  "opendbc_repo/",
   "panda/",
   "rednose/",
   "rednose_repo/",
@@ -204,6 +207,10 @@ warn_return_any=true
 # allow implicit optionals for default args
 implicit_optional = true
 
+local_partial_types=true
+explicit_package_bases=true
+disable_error_code = "annotation-unchecked"
+
 # https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
 [tool.ruff]
 indent-width = 2
diff --git a/scripts/lint.sh b/scripts/lint.sh
index 3da79f62f4..38dabfbf31 100755
--- a/scripts/lint.sh
+++ b/scripts/lint.sh
@@ -1,11 +1,99 @@
 #!/bin/bash
 set -e
 
+RED='\033[0;31m'
+GREEN='\033[0;32m'
+UNDERLINE='\033[4m'
+BOLD='\033[1m'
+NC='\033[0m'
+
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
 cd $DIR/../
 
-# TODO: bring back rest of pre-commit checks:
-# https://github.com/commaai/openpilot/blob/4b11c9e914707df9def598616995be2a5d355a6a/.pre-commit-config.yaml#L2
+FAILED=0
+
+IGNORED_FILES="uv\.lock|docs\/CARS.md"
+IGNORED_DIRS="^third_party.*|^msgq.*|^msgq_repo.*|^opendbc.*|^opendbc_repo.*|^cereal.*|^panda.*|^rednose.*|^rednose_repo.*|^tinygrad.*|^tinygrad_repo.*|^teleoprtc.*|^teleoprtc_repo.*"
+
+function run() {
+  shopt -s extglob
+  case $1 in
+    $SKIP ) return 0 ;;
+  esac
+
+  echo -en "$1"
+
+  for ((i=0; i<$((50 - ${#1})); i++)); do
+    echo -n "."
+  done
+
+  shift 1;
+  CMD="$@"
+
+  set +e
+  log="$((eval "$CMD" ) 2>&1)"
+
+  if [[ $? -eq 0 ]]; then
+    echo -e "[${GREEN}✔${NC}]"
+  else
+    echo -e "[${RED}✗${NC}]"
+    echo "$log"
+    FAILED=1
+  fi
+  set -e
+}
+
+function run_tests() {
+  ALL_FILES=$1
+  PYTHON_FILES=$2
+
+  run "ruff" ruff check $PYTHON_FILES --quiet
+  run "lint-imports" lint-imports
+  run "check_added_large_files" python3 -m pre_commit_hooks.check_added_large_files --enforce-all $ALL_FILES --maxkb=120
+  run "check_shebang_scripts_are_executable" python3 -m pre_commit_hooks.check_shebang_scripts_are_executable $ALL_FILES
+
+  if [[ -z "$FAST" ]]; then
+    run "mypy" mypy $PYTHON_FILES
+    run "codespell" codespell $ALL_FILES
+  fi
+
+  return $FAILED
+}
+
+function help() {
+  echo "A fast linter"
+  echo ""
+  echo -e "${BOLD}${UNDERLINE}Usage:${NC} op lint [OPTIONS]"
+  echo ""
+  echo -e "${BOLD}${UNDERLINE}Options:${NC}"
+  echo -e "  ${BOLD}-f, --fast${NC}"
+  echo "          Skip slow tests"
+  echo -e "  ${BOLD}-s, --skip${NC}"
+  echo "          Specify a test to skip"
+  echo ""
+  echo -e "${BOLD}${UNDERLINE}Examples:${NC}"
+  echo "  op lint --skip mypy --skip ruff"
+  echo "          Skip the ruff and mypy check"
+}
+
+while true; do
+  case $1 in
+    -f | --fast ) shift 1; FAST="1" ;;
+    -s | --skip ) shift 1; SKIP+="$1|"; shift 1 ;;
+    -h | --help | -help | --h ) help; exit 0 ;;
+    * )           break ;;
+  esac
+done
+
+SKIP="@($(echo $SKIP | sed 's/|$//'))"
+
+GIT_FILES="$(git ls-files | sed -E "s/$IGNORED_FILES|$IGNORED_DIRS//g")"
+ALL_FILES=""
+for f in $GIT_FILES; do
+  if [[ -f $f ]]; then
+    ALL_FILES+="$f"$'\n'
+  fi
+done
+PYTHON_FILES=$(echo "$ALL_FILES" | grep --color=never '.py$' || true)
 
-ruff check .
-lint-imports
+run_tests "$ALL_FILES" "$PYTHON_FILES"
diff --git a/uv.lock b/uv.lock
index bca0895ebf..b5a734f300 100644
--- a/uv.lock
+++ b/uv.lock
@@ -1454,6 +1454,7 @@ testing = [
     { name = "hypothesis", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
     { name = "import-linter", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
     { name = "mypy", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
+    { name = "pre-commit-hooks", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
     { name = "pytest", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
     { name = "pytest-asyncio", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
     { name = "pytest-cov", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
@@ -1637,6 +1638,18 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/9b/fb/a70a4214956182e0d7a9099ab17d50bfcba1056188e9b14f35b9e2b62a0d/portalocker-2.10.1-py3-none-any.whl", hash = "sha256:53a5984ebc86a025552264b459b46a2086e269b21823cb572f8f28ee759e45bf", size = 18423 },
 ]
 
+[[distribution]]
+name = "pre-commit-hooks"
+version = "4.6.0"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
+    { name = "ruamel-yaml", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
+]
+sdist = { url = "https://files.pythonhosted.org/packages/83/0d/b4e97cd99b26c0cd8265c9f19ee7e55248142f0c9955e4d119de96fa4a13/pre_commit_hooks-4.6.0.tar.gz", hash = "sha256:eb1f43ee67869cd41b4c59017fad4a0f9d4d61201d163f2135535aaf65035a2b", size = 29579 }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/95/d8/d09b270248bc2441f966dd094a3de8ae813112d2687036f621202bdef80b/pre_commit_hooks-4.6.0-py2.py3-none-any.whl", hash = "sha256:a69199e6a2d45ec59c1020a81ca1549abddc2afb798276d9a0d951752d6abbfe", size = 41193 },
+]
+
 [[distribution]]
 name = "progressbar"
 version = "2.5"
@@ -4882,6 +4895,42 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/8c/28/92423fe9673b738c180fb5b6b8ea4203fe4b02c1d20b06b7fae79d11cc24/rerun_sdk-0.17.0-cp38-abi3-win_amd64.whl", hash = "sha256:34e5595a326cbdddfebdf00b08e877358c564fce74cc8c6d617fc89ef3a6aa70", size = 29490986 },
 ]
 
+[[distribution]]
+name = "ruamel-yaml"
+version = "0.18.6"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
+    { name = "ruamel-yaml-clib", marker = "python_version < '3.13' and platform_python_implementation == 'CPython'" },
+]
+sdist = { url = "https://files.pythonhosted.org/packages/29/81/4dfc17eb6ebb1aac314a3eb863c1325b907863a1b8b1382cdffcb6ac0ed9/ruamel.yaml-0.18.6.tar.gz", hash = "sha256:8b27e6a217e786c6fbe5634d8f3f11bc63e0f80f6a5890f28863d9c45aac311b", size = 143362 }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/73/67/8ece580cc363331d9a53055130f86b096bf16e38156e33b1d3014fffda6b/ruamel.yaml-0.18.6-py3-none-any.whl", hash = "sha256:57b53ba33def16c4f3d807c0ccbc00f8a6081827e81ba2491691b76882d0c636", size = 117761 },
+]
+
+[[distribution]]
+name = "ruamel-yaml-clib"
+version = "0.2.8"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/46/ab/bab9eb1566cd16f060b54055dd39cf6a34bfa0240c53a7218c43e974295b/ruamel.yaml.clib-0.2.8.tar.gz", hash = "sha256:beb2e0404003de9a4cab9753a8805a8fe9320ee6673136ed7f04255fe60bb512", size = 213824 }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/b1/15/971b385c098e8d0d170893f5ba558452bb7b776a0c90658b8f4dd0e3382b/ruamel.yaml.clib-0.2.8-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:bef08cd86169d9eafb3ccb0a39edb11d8e25f3dae2b28f5c52fd997521133069", size = 148870 },
+    { url = "https://files.pythonhosted.org/packages/01/b0/4ddef56e9f703d7909febc3a421d709a3482cda25826816ec595b73e3847/ruamel.yaml.clib-0.2.8-cp311-cp311-macosx_13_0_arm64.whl", hash = "sha256:b16420e621d26fdfa949a8b4b47ade8810c56002f5389970db4ddda51dbff248", size = 134475 },
+    { url = "https://files.pythonhosted.org/packages/a4/f7/22d6b620ed895a05d40802d8281eff924dc6190f682d933d4efff60db3b5/ruamel.yaml.clib-0.2.8-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:25c515e350e5b739842fc3228d662413ef28f295791af5e5110b543cf0b57d9b", size = 544020 },
+    { url = "https://files.pythonhosted.org/packages/7c/e4/0d19d65e340f93df1c47f323d95fa4b256bb28320290f5fddef90837853a/ruamel.yaml.clib-0.2.8-cp311-cp311-manylinux_2_24_aarch64.whl", hash = "sha256:1707814f0d9791df063f8c19bb51b0d1278b8e9a2353abbb676c2f685dee6afe", size = 642643 },
+    { url = "https://files.pythonhosted.org/packages/c9/ff/f781eb5e2ae011e586d5426e2086a011cf1e0f59704a6cad1387975c5a62/ruamel.yaml.clib-0.2.8-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:46d378daaac94f454b3a0e3d8d78cafd78a026b1d71443f4966c696b48a6d899", size = 695832 },
+    { url = "https://files.pythonhosted.org/packages/e3/41/f62e67ac651358b8f0d60cfb12ab2daf99b1b69eeaa188d0cec809d943a6/ruamel.yaml.clib-0.2.8-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:09b055c05697b38ecacb7ac50bdab2240bfca1a0c4872b0fd309bb07dc9aa3a9", size = 730923 },
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+
 [[distribution]]
 name = "rubicon-objc"
 version = "0.4.9"