IQ.Pilot Release Commit @ bec7652

iqpilot/system/hardware/__init__.py

@@ -0,0 +1,22 @@
+import os
+from typing import cast
+
+from iqpilot.system.hardware.base import HardwareBase
+from iqpilot.system.hardware.tici.hardware import Tici
+from iqpilot.system.hardware.pc.hardware import Pc
+
+TICI = os.path.isfile('/TICI')
+AGNOS = os.path.isfile('/AGNOS')
+PC = not TICI
+
+
+if TICI:
+  HARDWARE = cast(HardwareBase, Tici())
+else:
+  HARDWARE = cast(HardwareBase, Pc())
+
+# Only comma 3/3X expose the DMA-BUF EGL extensions used by the zero-copy
+# camera renderer and the direct EGL frame-pacing calls. /TICI is also present
+# on comma 4, so it identifies the AGNOS hardware family rather than this GPU
+# capability.
+EGL_DMA_BUF_SUPPORTED = TICI and HARDWARE.get_device_type() in ("tici", "tizi")

iqpilot/system/hardware/base.h

@@ -0,0 +1,41 @@
+#pragma once
+
+#include <cstdint>
+#include <cstdlib>
+#include <fstream>
+#include <map>
+#include <optional>
+#include <string>
+#include <vector>
+
+#include "cereal/gen/cpp/log.capnp.h"
+
+// no-op base hw class
+class HardwareNone {
+public:
+  struct UfsHealth {
+    uint8_t pre_eol_info;
+    uint8_t life_time_estimate_a;
+    uint8_t life_time_estimate_b;
+    std::vector<uint8_t> vendor_health_report;
+  };
+
+  static std::string get_name() { return ""; }
+  static cereal::InitData::DeviceType get_device_type() { return cereal::InitData::DeviceType::UNKNOWN; }
+  static int get_voltage() { return 0; }
+  static int get_current() { return 0; }
+
+  static std::string get_serial() { return "cccccc"; }
+
+  static std::map<std::string, std::string> get_init_logs(bool route_log = false) {
+    return {};
+  }
+
+  static std::optional<UfsHealth> get_ufs_health() { return std::nullopt; }
+
+  static void set_ir_power(int percentage) {}
+
+  static bool PC() { return false; }
+  static bool TICI() { return false; }
+  static bool AGNOS() { return false; }
+};

iqpilot/system/hardware/base.py

@@ -0,0 +1,228 @@
+import os
+from abc import abstractmethod, ABC
+from dataclasses import dataclass, fields
+
+from iqpilot.cereal import log
+
+NetworkType = log.DeviceState.NetworkType
+NetworkStrength = log.DeviceState.NetworkStrength
+
+class LPAError(RuntimeError):
+  pass
+
+class LPAProfileNotFoundError(LPAError):
+  pass
+
+@dataclass
+class Profile:
+  iccid: str
+  nickname: str
+  enabled: bool
+  provider: str
+
+@dataclass
+class ThermalZone:
+  # a zone from /sys/class/thermal/thermal_zone*
+  name: str             # a.k.a type
+  scale: float = 1000.  # scale to get degrees in C
+  zone_number = -1
+
+  def read(self) -> float:
+    if self.zone_number < 0:
+      for n in os.listdir("/sys/devices/virtual/thermal"):
+        if not n.startswith("thermal_zone"):
+          continue
+        with open(os.path.join("/sys/devices/virtual/thermal", n, "type")) as f:
+          if f.read().strip() == self.name:
+            self.zone_number = int(n.removeprefix("thermal_zone"))
+            break
+
+    try:
+      with open(f"/sys/devices/virtual/thermal/thermal_zone{self.zone_number}/temp") as f:
+        return int(f.read()) / self.scale
+    except FileNotFoundError:
+      return 0
+
+@dataclass
+class ThermalConfig:
+  cpu: list[ThermalZone] | None = None
+  gpu: list[ThermalZone] | None = None
+  dsp: ThermalZone | None = None
+  pmic: list[ThermalZone] | None = None
+  memory: ThermalZone | None = None
+  intake: ThermalZone | None = None
+  exhaust: ThermalZone | None = None
+  case: ThermalZone | None = None
+
+  def get_msg(self):
+    ret = {}
+    for f in fields(ThermalConfig):
+      v = getattr(self, f.name)
+      if v is not None:
+        if isinstance(v, list):
+          ret[f.name + "TempC"] = [x.read() for x in v]
+        else:
+          ret[f.name + "TempC"] = v.read()
+    return ret
+
+class LPABase(ABC):
+  @abstractmethod
+  def list_profiles(self) -> list[Profile]:
+    pass
+
+  @abstractmethod
+  def get_active_profile(self) -> Profile | None:
+    pass
+
+  @abstractmethod
+  def delete_profile(self, iccid: str) -> None:
+    pass
+
+  @abstractmethod
+  def bootstrap(self) -> None:
+    pass
+
+  @abstractmethod
+  def download_profile(self, qr: str, nickname: str | None = None) -> None:
+    pass
+
+  @abstractmethod
+  def nickname_profile(self, iccid: str, nickname: str) -> None:
+    pass
+
+  @abstractmethod
+  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]:
+    with open('/proc/cmdline') as f:
+      cmdline = f.read()
+    return {kv[0]: kv[1] for kv in [s.split('=') for s in cmdline.split(' ')] if len(kv) == 2}
+
+  @staticmethod
+  def read_param_file(path, parser, default=0):
+    try:
+      with open(path) as f:
+        return parser(f.read())
+    except Exception:
+      return default
+
+  def booted(self) -> bool:
+    return True
+
+  def reboot(self, reason=None):
+    print("REBOOT!")
+
+  def uninstall(self):
+    print("uninstall")
+
+  def get_os_version(self):
+    return None
+
+  @abstractmethod
+  def get_device_type(self):
+    pass
+
+  def get_imei(self, slot) -> str:
+    return ""
+
+  def get_serial(self):
+    return ""
+
+  def get_network_info(self):
+    return None
+
+  def get_network_type(self):
+    return NetworkType.none
+
+  def get_sim_info(self):
+    return {
+      'sim_id': '',
+      'mcc_mnc': None,
+      'network_type': ["Unknown"],
+      'sim_state': ["ABSENT"],
+      'data_connected': False
+    }
+
+  def get_sim_lpa(self) -> LPABase:
+    raise NotImplementedError("SIM LPA not available")
+
+  def get_network_strength(self, network_type):
+    return NetworkStrength.unknown
+
+  def get_network_metered(self, network_type) -> bool:
+    return network_type not in (NetworkType.none, NetworkType.wifi, NetworkType.ethernet)
+
+  def get_current_power_draw(self):
+    return 0
+
+  def get_som_power_draw(self):
+    return 0
+
+  def shutdown(self):
+    print("SHUTDOWN!")
+
+  def get_thermal_config(self):
+    return ThermalConfig()
+
+  def set_display_power(self, on: bool):
+    pass
+
+  def set_screen_brightness(self, percentage):
+    pass
+
+  def get_screen_brightness(self):
+    return 0
+
+  def set_power_save(self, powersave_enabled):
+    pass
+
+  def get_gpu_usage_percent(self):
+    return 0
+
+  def get_modem_version(self):
+    return None
+
+  def get_modem_temperatures(self):
+    return []
+
+  def initialize_hardware(self):
+    pass
+
+  def configure_modem(self):
+    pass
+
+  def reboot_modem(self):
+    pass
+
+  def recover_sim_detection(self) -> bool:
+    return False
+
+  def get_networks(self):
+    return None
+
+  def has_internal_panda(self) -> bool:
+    return False
+
+  def reset_internal_panda(self):
+    pass
+
+  def recover_internal_panda(self):
+    pass
+
+  def get_modem_data_usage(self):
+    return -1, -1
+
+  def get_voltage(self) -> float:
+    return 0.
+
+  def get_current(self) -> float:
+    return 0.
+
+  def set_ir_power(self, percent: int):
+    pass

iqpilot/system/hardware/fan_controller.py

@@ -0,0 +1,26 @@
+#!/usr/bin/env python3
+import numpy as np
+
+
+class FanController:
+  def __init__(self) -> None:
+    self.last_ignition = False
+
+  def update(self, cur_temp: float, ignition: bool, max_cool: bool = False) -> int:
+    if max_cool:
+      self.last_ignition = ignition
+      return 100
+
+    if cur_temp < 70.0:
+      fan_pwr_out = 0
+    elif cur_temp > 85.0:
+      fan_pwr_out = 100
+    else:
+      # 70°C → 0%, 85°C → 80%, target 75°C
+      fan_pwr_out = int(np.interp(cur_temp, [70.0, 85.0], [0, 80]))
+
+    if not ignition:
+      fan_pwr_out = min(fan_pwr_out, 30)
+
+    self.last_ignition = ignition
+    return fan_pwr_out

iqpilot/system/hardware/hardwared.py

@@ -0,0 +1,674 @@
+#!/usr/bin/env python3
+import fcntl
+import os
+import queue
+import struct
+import threading
+import time
+from collections import OrderedDict, namedtuple
+
+import psutil
+
+import iqpilot.cereal.messaging as messaging
+from iqpilot.cereal import car
+from iqpilot.cereal import log
+from iqpilot.cereal.services import SERVICE_LIST
+from iqpilot.common.iq_perf import PerfSample, PerfTraceEmitter
+from iqpilot.common.utils import strip_deprecated_keys
+from iqpilot.common.filter_simple import FirstOrderFilter
+from iqpilot.common.params import Params
+from iqpilot.common.realtime import DT_HW
+from iqpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
+from iqpilot.system.hardware import HARDWARE, TICI, AGNOS
+from iqpilot.system.loggerd.config import get_available_percent
+from iqpilot.common.swaglog import cloudlog
+from iqpilot.system.hardware.power_monitoring import PowerMonitoring, VBATT_LOW_POWER_EXIT
+from iqpilot.system.hardware.fan_controller import FanController
+from iqpilot.system.version import terms_version, training_version, get_build_metadata
+
+ThermalStatus = log.DeviceState.ThermalStatus
+NetworkType = log.DeviceState.NetworkType
+NetworkStrength = log.DeviceState.NetworkStrength
+CURRENT_TAU = 15.   # 15s time constant
+TEMP_TAU = 5.   # 5s time constant
+DISCONNECT_TIMEOUT = 5.  # wait 5 seconds before going offroad after disconnect so you get an alert
+PANDA_STATES_TIMEOUT = round(1000 / SERVICE_LIST['pandaStates'].frequency * 1.5)  # 1.5x the expected pandaState frequency
+ONROAD_CYCLE_TIME = 1  # seconds to wait offroad after requesting an onroad cycle
+CAN_STARTUP_RECOVERY_DELAY = 3.  # require a persistent CAN timeout before cycling onroad processes
+CAN_STARTUP_RECOVERY_WINDOW = 30.  # only recover shortly after ignition turns on
+CAN_STARTUP_RECOVERY_COOLDOWN = 5.  # allow the restarted car stack time to initialize
+CAN_STARTUP_RECOVERY_MAX_ATTEMPTS = 2
+
+ThermalBand = namedtuple("ThermalBand", ['min_temp', 'max_temp'])
+HardwareState = namedtuple("HardwareState", ['network_type', 'network_info', 'network_strength', 'network_stats',
+                                             'network_metered', 'modem_temps'])
+
+# List of thermal bands. We will stay within this region as long as we are within the bounds.
+# When exiting the bounds, we'll jump to the lower or higher band. Bands are ordered in the dict.
+THERMAL_BANDS = OrderedDict({
+  ThermalStatus.green: ThermalBand(None, 80.0),
+  ThermalStatus.yellow: ThermalBand(75.0, 96.0),
+  ThermalStatus.red: ThermalBand(88.0, 107.),
+  ThermalStatus.danger: ThermalBand(94.0, None),
+})
+
+# Override to highest thermal band when offroad and above this temp
+OFFROAD_DANGER_TEMP = 75
+
+prev_offroad_states: dict[str, tuple[bool, str | None]] = {}
+ALLOWED_TICI_BRANCHES = {"release-new", "release-tici", "master-mici", "beta", "beta-pq", "release-prebuilt"}
+
+
+class CanStartupRecovery:
+  """Bounded recovery for a car stack that starts without a usable CAN stream."""
+
+  def __init__(self) -> None:
+    self.ignition_on_ts: float | None = None
+    self.timeout_started_ts: float | None = None
+    self.last_attempt_ts: float | None = None
+    self.attempts = 0
+
+  def update(self, now: float, ignition: bool, started: bool, engaged: bool,
+             car_state_alive: bool, can_timeout: bool, v_ego: float) -> bool:
+    if not ignition:
+      self.ignition_on_ts = None
+      self.timeout_started_ts = None
+      self.last_attempt_ts = None
+      self.attempts = 0
+      return False
+
+    if self.ignition_on_ts is None:
+      self.ignition_on_ts = now
+
+    eligible = (
+      started
+      and not engaged
+      and car_state_alive
+      and can_timeout
+      and abs(v_ego) < 0.1
+      and (now - self.ignition_on_ts) <= CAN_STARTUP_RECOVERY_WINDOW
+      and self.attempts < CAN_STARTUP_RECOVERY_MAX_ATTEMPTS
+      and (self.last_attempt_ts is None or (now - self.last_attempt_ts) >= CAN_STARTUP_RECOVERY_COOLDOWN)
+    )
+    if not eligible:
+      self.timeout_started_ts = None
+      return False
+
+    if self.timeout_started_ts is None:
+      self.timeout_started_ts = now
+      return False
+
+    if (now - self.timeout_started_ts) < CAN_STARTUP_RECOVERY_DELAY:
+      return False
+
+    self.attempts += 1
+    self.last_attempt_ts = now
+    self.timeout_started_ts = None
+    return True
+
+
+def get_top_memory_processes(limit: int = 5) -> list[dict[str, object]]:
+  procs: list[dict[str, object]] = []
+  for proc in psutil.process_iter(['pid', 'name', 'memory_info', 'memory_percent']):
+    try:
+      info = proc.info
+      rss = int(getattr(info.get('memory_info'), 'rss', 0))
+      procs.append({
+        "pid": int(info.get('pid', -1)),
+        "name": str(info.get('name', 'unknown')),
+        "rss_mb": round(rss / (1024 * 1024), 1),
+        "mem_pct": round(float(info.get('memory_percent') or 0.0), 2),
+      })
+    except (psutil.NoSuchProcess, psutil.AccessDenied, psutil.ZombieProcess, TypeError, ValueError):
+      continue
+  procs.sort(key=lambda p: p["rss_mb"], reverse=True)
+  return procs[:limit]
+
+def _is_meb(CP) -> bool:
+  try:
+    if CP.brand != "volkswagen":
+      return False
+    from iqdbc.car.volkswagen.values import VolkswagenFlags
+    return bool(CP.flags & VolkswagenFlags.MEB)
+  except Exception:
+    cloudlog.exception("MEB detection failed")
+    return False
+
+
+class _CarParamsCache:
+  def __init__(self, refresh_s: float = 5.0):
+    self._refresh_s = refresh_s
+    self._last_check = 0.0
+    self._last_bytes: bytes | None = None
+    self.no_sleep = False
+
+  def update(self, params: Params) -> None:
+    now = time.monotonic()
+    if (now - self._last_check) < self._refresh_s:
+      return
+    self._last_check = now
+
+    cp_bytes = params.get("CarParams")
+    if not cp_bytes or cp_bytes == self._last_bytes:
+      return
+    self._last_bytes = cp_bytes
+
+    try:
+      CP = messaging.log_from_bytes(cp_bytes, car.CarParams)
+      self.no_sleep = (CP.brand == "tesla") or _is_meb(CP)
+    except Exception:
+      self.no_sleep = False
+
+
+
+def set_offroad_alert_if_changed(offroad_alert: str, show_alert: bool, extra_text: str | None=None):
+  if prev_offroad_states.get(offroad_alert, None) == (show_alert, extra_text):
+    return
+  prev_offroad_states[offroad_alert] = (show_alert, extra_text)
+  set_offroad_alert(offroad_alert, show_alert, extra_text)
+
+
+def is_supported_tici_branch(build_metadata) -> bool:
+  return build_metadata.channel_type == "tici" or build_metadata.channel in ALLOWED_TICI_BRANCHES
+
+def touch_thread(end_event):
+  count = 0
+
+  pm = messaging.PubMaster(["touch"])
+
+  event_format = "llHHi"
+  event_size = struct.calcsize(event_format)
+  event_frame = []
+
+  with open("/dev/input/by-path/platform-894000.i2c-event", "rb") as event_file:
+    fcntl.fcntl(event_file, fcntl.F_SETFL, os.O_NONBLOCK)
+    while not end_event.is_set():
+      if (count % int(1. / DT_HW)) == 0:
+        event = event_file.read(event_size)
+        if event:
+          (sec, usec, etype, code, value) = struct.unpack(event_format, event)
+          if etype != 0 or code != 0 or value != 0:
+            touch = log.Touch.new_message()
+            touch.sec = sec
+            touch.usec = usec
+            touch.type = etype
+            touch.code = code
+            touch.value = value
+            event_frame.append(touch)
+          else: # end of frame, push new log
+            msg = messaging.new_message('touch', len(event_frame), valid=True)
+            msg.touch = event_frame
+            pm.send('touch', msg)
+            event_frame = []
+          continue
+
+      count += 1
+      time.sleep(DT_HW)
+
+
+def hw_state_thread(end_event, hw_queue):
+  """Handles non critical hardware state, and sends over queue"""
+  count = 0
+  prev_hw_state = None
+
+  modem_version = None
+  modem_configured = False
+  modem_missing_count = 0
+  modem_restart_count = 0
+  sim_detection_recovered = False
+
+  while not end_event.is_set():
+    # these are expensive calls. update every 10s
+    if (count % int(10. / DT_HW)) == 0:
+      try:
+        network_type = HARDWARE.get_network_type()
+        modem_temps = HARDWARE.get_modem_temperatures()
+        if len(modem_temps) == 0 and prev_hw_state is not None:
+          modem_temps = prev_hw_state.modem_temps
+
+        # Log modem version once
+        if AGNOS and (modem_version is None):
+          modem_version = HARDWARE.get_modem_version()
+
+          if modem_version is not None:
+            cloudlog.event("modem version", version=modem_version)
+
+        if AGNOS and modem_restart_count < 3 and HARDWARE.get_modem_version() is None:
+          # TODO: we may be able to remove this with a MM update
+          # ModemManager's probing on startup can fail
+          # rarely, restart the service to probe again.
+          # Also, AT commands sometimes timeout resulting in ModemManager not
+          # trying to use this modem anymore.
+          modem_missing_count += 1
+          if (modem_missing_count % 4) == 0:
+            modem_restart_count += 1
+            cloudlog.event("restarting ModemManager")
+            os.system("sudo systemctl restart --no-block ModemManager")
+
+        tx, rx = HARDWARE.get_modem_data_usage()
+
+        hw_state = HardwareState(
+          network_type=network_type,
+          network_info=HARDWARE.get_network_info(),
+          network_strength=HARDWARE.get_network_strength(network_type),
+          network_stats={'wwanTx': tx, 'wwanRx': rx},
+          network_metered=HARDWARE.get_network_metered(network_type),
+          modem_temps=modem_temps,
+        )
+
+        try:
+          hw_queue.put_nowait(hw_state)
+        except queue.Full:
+          pass
+
+        if not modem_configured and HARDWARE.get_modem_version() is not None:
+          cloudlog.warning("configuring modem")
+          HARDWARE.configure_modem()
+          modem_configured = True
+
+        if modem_configured and not sim_detection_recovered and HARDWARE.recover_sim_detection():
+          cloudlog.event("sim missing with hot-swap detect armed, rebooting modem with detect disabled", error=True)
+          sim_detection_recovered = True
+
+        prev_hw_state = hw_state
+      except Exception:
+        cloudlog.exception("Error getting hardware state")
+
+    count += 1
+    time.sleep(DT_HW)
+
+
+def hardware_thread(end_event, hw_queue) -> None:
+  pm = messaging.PubMaster(['deviceState', 'iqPerfTrace'])
+  sm = messaging.SubMaster(["peripheralState", "gpsLocationExternal", "selfdriveState", "pandaStates", "carState"], poll="pandaStates")
+  perf = PerfTraceEmitter("hardwared", pubmaster=pm)
+
+  count = 0
+
+  onroad_conditions: dict[str, bool] = {
+    "ignition": False,
+    "not_onroad_cycle": True,
+    "device_temp_good": True,
+  }
+  startup_conditions: dict[str, bool] = {}
+  startup_conditions_prev: dict[str, bool] = {}
+
+  off_ts: float | None = None
+  started_ts: float | None = None
+  started_seen = False
+  startup_blocked_ts: float | None = None
+  thermal_status = ThermalStatus.yellow
+
+  last_hw_state = HardwareState(
+    network_type=NetworkType.none,
+    network_info=None,
+    network_metered=False,
+    network_strength=NetworkStrength.unknown,
+    network_stats={'wwanTx': -1, 'wwanRx': -1},
+    modem_temps=[],
+  )
+
+  all_temp_filter = FirstOrderFilter(0., TEMP_TAU, DT_HW, initialized=False)
+  offroad_temp_filter = FirstOrderFilter(0., TEMP_TAU, DT_HW, initialized=False)
+  low_memory_logged = False
+  should_start_prev = False
+  in_car = False
+  engaged_prev = False
+  pwrsave = False
+  low_power = False
+  low_power_prev = False
+  offroad_cycle_count = 0
+  can_startup_recovery = CanStartupRecovery()
+
+  params = Params()
+  power_monitor = PowerMonitoring()
+  cp_cache = _CarParamsCache()
+
+  uptime_offroad: float = params.get("UptimeOffroad", return_default=True)
+  uptime_onroad: float = params.get("UptimeOnroad", return_default=True)
+  last_uptime_ts: float = time.monotonic()
+
+  HARDWARE.initialize_hardware()
+  thermal_config = HARDWARE.get_thermal_config()
+
+  fan_controller = FanController()
+
+  while not end_event.is_set():
+    sm.update(PANDA_STATES_TIMEOUT)
+
+    pandaStates = sm['pandaStates']
+    peripheralState = sm['peripheralState']
+
+    # handle requests to cycle system started state
+    if params.get_bool("OnroadCycleRequested"):
+      params.put_bool("OnroadCycleRequested", False)
+      offroad_cycle_count = sm.frame
+
+    car_state = sm['carState']
+    if can_startup_recovery.update(
+      time.monotonic(),
+      ignition=onroad_conditions["ignition"],
+      started=started_ts is not None,
+      engaged=sm['selfdriveState'].enabled,
+      car_state_alive=sm.alive['carState'],
+      can_timeout=car_state.canTimeout,
+      v_ego=car_state.vEgo,
+    ):
+      offroad_cycle_count = sm.frame
+      cloudlog.event("automatic CAN startup recovery", attempt=can_startup_recovery.attempts, error=True)
+    onroad_conditions["not_onroad_cycle"] = (sm.frame - offroad_cycle_count) >= ONROAD_CYCLE_TIME * SERVICE_LIST['pandaStates'].frequency
+
+    if sm.updated['pandaStates'] and len(pandaStates) > 0:
+
+      # Set ignition based on any panda connected
+      onroad_conditions["ignition"] = any(ps.ignitionLine or ps.ignitionCan for ps in pandaStates if ps.pandaType != log.PandaState.PandaType.unknown)
+
+      pandaState = pandaStates[0]
+
+      in_car = pandaState.harnessStatus != log.PandaState.HarnessStatus.notConnected
+
+    elif (time.monotonic() - sm.recv_time['pandaStates']) > DISCONNECT_TIMEOUT:
+      if onroad_conditions["ignition"]:
+        onroad_conditions["ignition"] = False
+        cloudlog.error("panda timed out onroad")
+
+    # Run at 2Hz, plus either edge of ignition
+    ign_edge = (started_ts is not None) != all(onroad_conditions.values())
+    if (sm.frame % round(SERVICE_LIST['pandaStates'].frequency * DT_HW) != 0) and not ign_edge:
+      continue
+
+    msg = messaging.new_message('deviceState', valid=True)
+    msg.deviceState = thermal_config.get_msg()
+    msg.deviceState.deviceType = HARDWARE.get_device_type()
+
+    try:
+      last_hw_state = hw_queue.get_nowait()
+    except queue.Empty:
+      pass
+
+    msg.deviceState.freeSpacePercent = get_available_percent(default=100.0)
+    try:
+      msg.deviceState.memoryUsagePercent = int(round(psutil.virtual_memory().percent))
+    except Exception:
+      msg.deviceState.memoryUsagePercent = 0
+    # get_top_memory_processes() costs ~500ms: must never run in the 2Hz publish loop
+    if msg.deviceState.memoryUsagePercent > 95:
+      if not low_memory_logged:
+        cloudlog.event("low_memory_snapshot", memory_usage_percent=msg.deviceState.memoryUsagePercent,
+                       top_processes=get_top_memory_processes(), error=True)
+        low_memory_logged = True
+    else:
+      low_memory_logged = False
+    msg.deviceState.gpuUsagePercent = int(round(HARDWARE.get_gpu_usage_percent()))
+    online_cpu_usage = [int(round(n)) for n in psutil.cpu_percent(percpu=True)]
+    offline_cpu_usage = [0., ] * (len(msg.deviceState.cpuTempC) - len(online_cpu_usage))
+    msg.deviceState.cpuUsagePercent = online_cpu_usage + offline_cpu_usage
+    if msg.deviceState.memoryUsagePercent > 85:
+      avg_cpu_usage = int(round(sum(online_cpu_usage) / max(1, len(online_cpu_usage))))
+      perf.emit(
+        "hardware_low_memory",
+        severity="error" if msg.deviceState.memoryUsagePercent > 95 else "warning",
+        frame_id=sm.frame,
+        samples=[PerfSample(
+          frame_id=sm.frame,
+          memory_usage_percent=int(msg.deviceState.memoryUsagePercent),
+          gpu_usage_percent=int(msg.deviceState.gpuUsagePercent),
+          cpu_usage_percent=avg_cpu_usage,
+        )],
+        detail=f"memory_usage_percent={msg.deviceState.memoryUsagePercent} gpu_usage_percent={msg.deviceState.gpuUsagePercent}",
+        min_interval_s=5.0,
+      )
+
+    msg.deviceState.networkType = last_hw_state.network_type
+    msg.deviceState.networkMetered = last_hw_state.network_metered
+    msg.deviceState.networkStrength = last_hw_state.network_strength
+    msg.deviceState.networkStats = last_hw_state.network_stats
+    if last_hw_state.network_info is not None:
+      msg.deviceState.networkInfo = last_hw_state.network_info
+
+    msg.deviceState.modemTempC = last_hw_state.modem_temps
+
+    msg.deviceState.screenBrightnessPercent = HARDWARE.get_screen_brightness()
+
+    # this subset is only used for offroad
+    temp_sources = [
+      msg.deviceState.memoryTempC,
+      max(msg.deviceState.cpuTempC, default=0.),
+      max(msg.deviceState.gpuTempC, default=0.),
+    ]
+    offroad_comp_temp = offroad_temp_filter.update(max(temp_sources))
+
+    # this drives the thermal status while onroad
+    temp_sources.append(max(msg.deviceState.pmicTempC, default=0.))
+    all_comp_temp = all_temp_filter.update(max(temp_sources))
+    msg.deviceState.maxTempC = all_comp_temp
+
+    is_offroad_for_5_min = (started_ts is None) and ((not started_seen) or (off_ts is None) or (time.monotonic() - off_ts > 60 * 5))
+    if is_offroad_for_5_min and offroad_comp_temp > OFFROAD_DANGER_TEMP:
+      # if device is offroad and already hot without the extra onroad load,
+      # we want to cool down first before increasing load
+      thermal_status = ThermalStatus.danger
+    else:
+      current_band = THERMAL_BANDS[thermal_status]
+      band_idx = list(THERMAL_BANDS.keys()).index(thermal_status)
+      if current_band.min_temp is not None and all_comp_temp < current_band.min_temp:
+        thermal_status = list(THERMAL_BANDS.keys())[band_idx - 1]
+      elif current_band.max_temp is not None and all_comp_temp > current_band.max_temp:
+        thermal_status = list(THERMAL_BANDS.keys())[band_idx + 1]
+
+    # the car is running but temperature is blocking the start, so cool as fast as we can
+    max_cool = (started_ts is None) and onroad_conditions["ignition"] and thermal_status >= ThermalStatus.red
+    msg.deviceState.fanSpeedPercentDesired = fan_controller.update(all_comp_temp, onroad_conditions["ignition"], max_cool)
+
+    # **** starting logic ****
+
+    startup_conditions["up_to_date"] = True
+    startup_conditions["no_excessive_actuation"] = params.get("Offroad_ExcessiveActuation") is None
+    startup_conditions["not_uninstalling"] = not params.get_bool("DoUninstall")
+    startup_conditions["accepted_terms"] = params.get("HasAcceptedTerms") == terms_version
+
+    # with 2% left, we killall, otherwise the phone will take a long time to boot
+    startup_conditions["free_space"] = msg.deviceState.freeSpacePercent > 2
+    startup_conditions["completed_training"] = HARDWARE.get_device_type() != "mici" or params.get("CompletedTrainingVersion") == training_version
+    startup_conditions["not_driver_view"] = not params.get_bool("IsDriverViewEnabled")
+    startup_conditions["not_taking_snapshot"] = not params.get_bool("IsTakingSnapshot")
+
+    # must be at an engageable thermal band to go onroad
+    startup_conditions["device_temp_engageable"] = thermal_status < ThermalStatus.red
+
+    # ensure device is fully booted
+    startup_conditions["device_booted"] = startup_conditions.get("device_booted", False) or HARDWARE.booted()
+
+    # user-forced status (Always Offroad can be temporarily overridden)
+    offroad_mode = params.get_bool("IQAlwaysOffroad")
+    force_onroad_until = params.get("ForceOnroadUntil", return_default=True)
+    now = int(time.time())
+    force_onroad_active = offroad_mode and force_onroad_until > now
+    if force_onroad_until > 0 and (not offroad_mode or force_onroad_until <= now):
+      params.put("ForceOnroadUntil", 0)
+
+    startup_conditions["not_always_offroad"] = (not offroad_mode) or force_onroad_active
+    onroad_conditions["not_always_offroad"] = (not offroad_mode) or force_onroad_active
+
+    # if an unsupported device and branch is detected, going onroad is blocked
+    # only allow going onroad when:
+    # - TIZI, or
+    # - TICI and channel_type is "tici"
+    build_metadata = get_build_metadata()
+    is_unsupported_combo = TICI and HARDWARE.get_device_type() == "tici" and not is_supported_tici_branch(build_metadata)
+    startup_conditions["not_tici"] = not is_unsupported_combo
+    onroad_conditions["not_tici"] = not is_unsupported_combo
+    set_offroad_alert("Offroad_TiciSupport", is_unsupported_combo, extra_text=build_metadata.channel)
+
+    # if the temperature enters the danger zone, go offroad to cool down
+    onroad_conditions["device_temp_good"] = thermal_status < ThermalStatus.danger
+    extra_text = f"{offroad_comp_temp:.1f}C"
+    show_alert = (not onroad_conditions["device_temp_good"] or not startup_conditions["device_temp_engageable"]) and onroad_conditions["ignition"]
+    set_offroad_alert_if_changed("Offroad_TemperatureTooHigh", show_alert, extra_text=extra_text)
+
+    # Handle offroad/onroad transition
+    should_start = all(onroad_conditions.values())
+    if started_ts is None:
+      should_start = should_start and all(startup_conditions.values())
+
+    if should_start != should_start_prev or (count == 0):
+      params.put_bool("IsEngaged", False)
+      engaged_prev = False
+
+    if sm.updated['selfdriveState']:
+      engaged = sm['selfdriveState'].enabled
+      if engaged != engaged_prev:
+        params.put_bool("IsEngaged", engaged)
+        engaged_prev = engaged
+
+      try:
+        with open('/dev/kmsg', 'w') as kmsg:
+          kmsg.write(f"<3>[hardware] engaged: {engaged}\n")
+      except Exception:
+        pass
+
+    cp_cache.update(params)
+    no_sleep = cp_cache.no_sleep
+
+    should_pwrsave = (not no_sleep) and (not onroad_conditions["ignition"] and msg.deviceState.screenBrightnessPercent < 1e-3)
+    if should_pwrsave != pwrsave or (count == 0):
+      HARDWARE.set_power_save(should_pwrsave)
+    pwrsave = should_pwrsave
+
+    if should_start:
+      off_ts = None
+      if started_ts is None:
+        started_ts = time.monotonic()
+        started_seen = True
+        if startup_blocked_ts is not None:
+          cloudlog.event("Startup after block", block_duration=(time.monotonic() - startup_blocked_ts),
+                         startup_conditions=startup_conditions, onroad_conditions=onroad_conditions,
+                         startup_conditions_prev=startup_conditions_prev, error=True)
+      startup_blocked_ts = None
+    else:
+      if onroad_conditions["ignition"] and (startup_conditions != startup_conditions_prev):
+        cloudlog.event("Startup blocked", startup_conditions=startup_conditions, onroad_conditions=onroad_conditions, error=True)
+        startup_conditions_prev = startup_conditions.copy()
+        startup_blocked_ts = time.monotonic()
+
+      started_ts = None
+      if off_ts is None:
+        off_ts = time.monotonic()
+
+    # Offroad power monitoring
+    voltage = None if peripheralState.pandaType == log.PandaState.PandaType.unknown else peripheralState.voltage
+
+    power_monitor.calculate(voltage, onroad_conditions["ignition"])
+    msg.deviceState.offroadPowerUsageUwh = power_monitor.get_power_used()
+    msg.deviceState.carBatteryCapacityUwh = max(0, power_monitor.get_car_battery_capacity())
+    current_power_draw = HARDWARE.get_current_power_draw()
+    msg.deviceState.powerDrawW = current_power_draw
+
+    som_power_draw = HARDWARE.get_som_power_draw()
+    msg.deviceState.somPowerDrawW = som_power_draw
+
+    # FastSleep deep standby: shed heavy processes once parked with the screen idled off
+    # (or at low battery) instead of shutting down, recover on ignition or once the
+    # alternator is charging
+    fast_sleep = params.get_bool("FastSleep")
+    if fast_sleep and not no_sleep:
+      if low_power:
+        if onroad_conditions["ignition"] or power_monitor.car_voltage_mV >= (VBATT_LOW_POWER_EXIT * 1e3):
+          low_power = False
+      else:
+        screen_off = msg.deviceState.screenBrightnessPercent < 1e-3
+        low_power = power_monitor.should_enter_low_power(onroad_conditions["ignition"], in_car, off_ts, screen_off)
+    else:
+      low_power = False
+
+    # Blank the panel only in deep standby, where not_low_power has shed the UI (so nothing
+    # relights it and there is no touch grab to fight). The parked idle screen-off and
+    # tap-to-wake live in the UI, which owns the touchscreen grab and brightness.
+    if low_power != low_power_prev:
+      params.put("DevicePowerState", "low_power" if low_power else "normal")
+      cloudlog.event("hardwared.device_power_state", low_power=low_power, voltage_mV=power_monitor.car_voltage_mV, error=False)
+      if low_power:
+        HARDWARE.set_screen_brightness(0)
+      low_power_prev = low_power
+
+    # Check if we need to shut down
+    if (not no_sleep) and power_monitor.should_shutdown(onroad_conditions["ignition"], in_car, off_ts, started_seen):
+      cloudlog.warning(f"shutting device down, offroad since {off_ts}")
+      params.put_bool("DoShutdown", True)
+
+    msg.deviceState.started = started_ts is not None and not offroad_mode
+    msg.deviceState.startedMonoTime = int(1e9*(started_ts or 0))
+
+    last_ping = params.get("LastAthenaPingTime")
+    if last_ping is not None:
+      msg.deviceState.lastAthenaPingTime = last_ping
+
+    msg.deviceState.thermalStatus = thermal_status
+    pm.send("deviceState", msg)
+
+
+    # report to server once every 10 minutes
+    rising_edge_started = should_start and not should_start_prev
+    if rising_edge_started or (count % int(600. / DT_HW)) == 0:
+      dat = {
+        'count': count,
+        'pandaStates': [strip_deprecated_keys(p.to_dict()) for p in pandaStates],
+        'peripheralState': strip_deprecated_keys(peripheralState.to_dict()),
+        'location': (strip_deprecated_keys(sm["gpsLocationExternal"].to_dict()) if sm.alive["gpsLocationExternal"] else None),
+        'deviceState': strip_deprecated_keys(msg.to_dict())
+      }
+      cloudlog.event("STATUS_PACKET", **dat)
+
+      # save last one before going onroad
+      if rising_edge_started:
+        try:
+          params.put("LastOffroadStatusPacket", dat)
+        except Exception:
+          cloudlog.exception("failed to save offroad status")
+
+    params.put_bool_nonblocking("NetworkMetered", msg.deviceState.networkMetered)
+
+    now_ts = time.monotonic()
+    if off_ts:
+      uptime_offroad += now_ts - max(last_uptime_ts, off_ts)
+    elif started_ts:
+      uptime_onroad += now_ts - max(last_uptime_ts, started_ts)
+    last_uptime_ts = now_ts
+
+    if (count % int(60. / DT_HW)) == 0:
+      params.put("UptimeOffroad", uptime_offroad)
+      params.put("UptimeOnroad", uptime_onroad)
+
+    count += 1
+    should_start_prev = should_start
+
+
+def main():
+  hw_queue = queue.Queue(maxsize=1)
+  end_event = threading.Event()
+
+  threads = [
+    threading.Thread(target=hw_state_thread, args=(end_event, hw_queue)),
+    threading.Thread(target=hardware_thread, args=(end_event, hw_queue)),
+  ]
+
+  if TICI:
+    threads.append(threading.Thread(target=touch_thread, args=(end_event,)))
+
+  for t in threads:
+    t.start()
+
+  try:
+    while True:
+      time.sleep(1)
+      if not all(t.is_alive() for t in threads):
+        break
+  finally:
+    end_event.set()
+
+  for t in threads:
+    t.join()
+
+
+if __name__ == "__main__":
+  main()

iqpilot/system/hardware/hw.h

@@ -0,0 +1,85 @@
+#pragma once
+
+#include <string>
+
+#include "system/hardware/base.h"
+#include "common/util.h"
+
+#if __TICI__
+#include "system/hardware/tici/hardware.h"
+#define Hardware HardwareTici
+#else
+#include "system/hardware/pc/hardware.h"
+#define Hardware HardwarePC
+#endif
+
+namespace Path {
+  inline std::string openpilot_prefix() {
+    return util::getenv("OPENPILOT_PREFIX", "");
+  }
+
+  inline std::string comma_home() {
+    return util::getenv("HOME") + "/.comma" + Path::openpilot_prefix();
+  }
+
+  inline std::string log_root() {
+    if (const char *env = getenv("LOG_ROOT")) {
+      return env;
+    }
+    return Hardware::PC() ? Path::comma_home() + "/media/0/realdata" : "/data/media/0/realdata";
+  }
+
+  inline std::string params() {
+    return util::getenv("PARAMS_ROOT", Hardware::PC() ? (Path::comma_home() + "/params") : "/data/params");
+  }
+
+  inline std::string persist_root() {
+    if (Hardware::PC()) {
+      return Path::comma_home() + "/persist";
+    }
+
+    static const std::string root = []() {
+      constexpr const char *kPersist = "/persist";
+      constexpr const char *kDataPersist = "/data/persist";
+      if (access(kPersist, W_OK) == 0) {
+        return std::string(kPersist);
+      }
+      if (access(kDataPersist, W_OK) == 0) {
+        return std::string(kDataPersist);
+      }
+      return std::string(kPersist);
+    }();
+    return root;
+  }
+
+  inline std::string rsa_file() {
+    return Path::persist_root() + "/comma/id_rsa";
+  }
+
+  inline std::string swaglog_ipc() {
+    return "ipc:///tmp/logmessage" + Path::openpilot_prefix();
+  }
+
+  inline std::string download_cache_root() {
+    if (const char *env = getenv("COMMA_CACHE")) {
+      return env;
+    }
+    return "/tmp/comma_download_cache" + Path::openpilot_prefix() + "/";
+  }
+
+ inline std::string shm_path() {
+    #ifdef __APPLE__
+     return"/tmp";
+    #else
+     return "/dev/shm";
+    #endif
+ }
+
+  inline std::string model_root() {
+    return Hardware::PC() ? Path::comma_home() + "/media/0/models" : "/data/media/0/models";
+  }
+
+  inline std::string screen_recordings_root() {
+    return Hardware::PC() ? Path::comma_home() + "/media/0/screen_recordings" : "/data/media/0/screen_recordings";
+  }
+}  // namespace Path

iqpilot/system/hardware/hw.py

@@ -0,0 +1,137 @@
+import os
+import platform
+from pathlib import Path
+
+from iqpilot.system.hardware import PC
+
+DEFAULT_DOWNLOAD_CACHE_ROOT = "/tmp/comma_download_cache"
+
+class Paths:
+  _persist_root_cache: str | None = None
+
+  @staticmethod
+  def _is_writable_persist_root(path: str) -> bool:
+    try:
+      os.makedirs(path, exist_ok=True)
+      comma_dir = os.path.join(path, "comma")
+      os.makedirs(comma_dir, exist_ok=True)
+
+      probe_path = os.path.join(comma_dir, ".rw_probe")
+      with open(probe_path, "w") as f:
+        f.write("1")
+      os.remove(probe_path)
+      return True
+    except OSError:
+      return False
+
+  @staticmethod
+  def comma_home() -> str:
+    return os.path.join(str(Path.home()), ".comma" + os.environ.get("OPENPILOT_PREFIX", ""))
+
+  @staticmethod
+  def params() -> str:
+    if os.environ.get("PARAMS_ROOT"):
+      return os.environ["PARAMS_ROOT"]
+    return os.path.join(Paths.comma_home(), "params") if PC else "/data/params"
+
+  @staticmethod
+  def log_root() -> str:
+    if os.environ.get('LOG_ROOT', False):
+      return os.environ['LOG_ROOT']
+    elif PC:
+      return str(Path(Paths.comma_home()) / "media" / "0" / "realdata")
+    else:
+      return '/data/media/0/realdata/'
+
+  @staticmethod
+  def log_root_external() -> str:
+    return '/mnt/external_realdata/'
+
+  @staticmethod
+  def swaglog_root() -> str:
+    if PC:
+      return os.path.join(Paths.comma_home(), "log")
+    else:
+      return "/data/log/"
+
+  @staticmethod
+  def swaglog_ipc() -> str:
+    return "ipc:///tmp/logmessage" + os.environ.get("OPENPILOT_PREFIX", "")
+
+  @staticmethod
+  def download_cache_root() -> str:
+    if os.environ.get('COMMA_CACHE', False):
+      return os.environ['COMMA_CACHE'] + "/"
+    return DEFAULT_DOWNLOAD_CACHE_ROOT + os.environ.get("OPENPILOT_PREFIX", "") + "/"
+
+  @staticmethod
+  def persist_root() -> str:
+    if PC:
+      return os.path.join(Paths.comma_home(), "persist")
+
+    if Paths._persist_root_cache is not None:
+      return Paths._persist_root_cache
+
+    for candidate in ("/persist", "/data/persist"):
+      if Paths._is_writable_persist_root(candidate):
+        Paths._persist_root_cache = candidate
+        return candidate
+
+    # Keep previous behavior as a last resort.
+    Paths._persist_root_cache = "/persist"
+    return Paths._persist_root_cache
+
+  @staticmethod
+  def stats_root() -> str:
+    if PC:
+      return str(Path(Paths.comma_home()) / "stats")
+    else:
+      return "/data/stats/"
+
+  @staticmethod
+  def stats_iq_root() -> str:
+    if PC:
+      return str(Path(Paths.comma_home()) / "stats")
+    else:
+      return "/data/stats_iq/"
+
+  @staticmethod
+  def config_root() -> str:
+    if PC:
+      return Paths.comma_home()
+    else:
+      return "/tmp/.comma"
+
+  @staticmethod
+  def shm_path() -> str:
+    if PC and platform.system() == "Darwin":
+      return "/tmp"  # This is not really shared memory on macOS, but it's the closest we can get
+    return "/dev/shm"
+
+  @staticmethod
+  def model_root() -> str:
+    if PC:
+      return str(Path(Paths.comma_home()) / "media" / "0" / "models")
+    else:
+      return "/data/media/0/models"
+
+  @staticmethod
+  def crash_log_root() -> str:
+    if PC:
+      return str(Path(Paths.comma_home()) / "community" / "crashes")
+    else:
+      return "/data/community/crashes"
+
+  @staticmethod
+  def mapd_root() -> str:
+    if PC:
+      return str(Path(Paths.comma_home()) / "media" / "0" / "osm")
+    else:
+      return "/data/media/0/osm"
+
+  @staticmethod
+  def screen_recordings_root() -> str:
+    if PC:
+      return str(Path(Paths.comma_home()) / "media" / "0" / "screen_recordings")
+    else:
+      return "/data/media/0/screen_recordings"

iqpilot/system/hardware/pc/hardware.h

@@ -0,0 +1,14 @@
+#pragma once
+
+#include <string>
+
+#include "system/hardware/base.h"
+
+class HardwarePC : public HardwareNone {
+public:
+  static std::string get_name() { return "pc"; }
+  static cereal::InitData::DeviceType get_device_type() { return cereal::InitData::DeviceType::PC; }
+  static bool PC() { return true; }
+  static bool TICI() { return util::getenv("TICI", 0) == 1; }
+  static bool AGNOS() { return util::getenv("TICI", 0) == 1; }
+};

iqpilot/system/hardware/pc/hardware.py

@@ -0,0 +1,12 @@
+from iqpilot.cereal import log
+from iqpilot.system.hardware.base import HardwareBase
+
+NetworkType = log.DeviceState.NetworkType
+
+
+class Pc(HardwareBase):
+  def get_device_type(self):
+    return "pc"
+
+  def get_network_type(self):
+    return NetworkType.wifi

iqpilot/system/hardware/power_monitoring.py

@@ -0,0 +1,165 @@
+import time
+import threading
+
+from iqpilot.common.params import Params
+from iqpilot.system.hardware import HARDWARE
+from iqpilot.common.swaglog import cloudlog
+
+CAR_VOLTAGE_LOW_PASS_K = 0.011 # LPF gain for 45s tau (dt/tau / (dt/tau + 1))
+
+# While driving, a battery charges completely in about 30-60 minutes
+CAR_BATTERY_CAPACITY_uWh = 30e6
+CAR_CHARGING_RATE_W = 45
+
+VBATT_PAUSE_CHARGING = 11.8           # Lower limit on the LPF car battery voltage
+
+# FastSleep (deep standby): enter low power once parked with the screen idled off, or
+# immediately at the normal shutdown voltage; shut down at a lower floor, exit once the
+# alternator is charging
+VBATT_LOW_POWER_ENTRY = 11.8
+VBATT_LOW_POWER_EXIT = 12.8
+VBATT_HARD_SHUTDOWN = 11.5
+LOW_POWER_ENTRY_TIME_S = 300
+MAX_TIME_OFFROAD_S = 30*3600
+MIN_ON_TIME_S = 3600
+DELAY_SHUTDOWN_TIME_S = 300 # Wait at least DELAY_SHUTDOWN_TIME_S seconds after offroad_time to shutdown.
+VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S = 60
+
+class PowerMonitoring:
+  def __init__(self):
+    self.params = Params()
+    self.last_measurement_time = None           # Used for integration delta
+    self.last_save_time = 0                     # Used for saving current value in a param
+    self.power_used_uWh = 0                     # Integrated power usage in uWh since going into offroad
+    self.next_pulsed_measurement_time = None
+    self.car_voltage_mV = 12e3                  # Low-passed version of peripheralState voltage
+    self.car_voltage_instant_mV = 12e3          # Last value of peripheralState voltage
+    self.integration_lock = threading.Lock()
+
+    car_battery_capacity_uWh = self.params.get("CarBatteryCapacity") or 0
+
+    # Reset capacity if it's low
+    self.car_battery_capacity_uWh = max((CAR_BATTERY_CAPACITY_uWh / 10), car_battery_capacity_uWh)
+
+  # Calculation tick
+  def calculate(self, voltage: int | None, ignition: bool):
+    try:
+      now = time.monotonic()
+
+      # If peripheralState is None, we're probably not in a car, so we don't care
+      if voltage is None:
+        with self.integration_lock:
+          self.last_measurement_time = None
+          self.next_pulsed_measurement_time = None
+          self.power_used_uWh = 0
+        return
+
+      # Low-pass battery voltage
+      self.car_voltage_instant_mV = voltage
+      self.car_voltage_mV = ((voltage * CAR_VOLTAGE_LOW_PASS_K) + (self.car_voltage_mV * (1 - CAR_VOLTAGE_LOW_PASS_K)))
+
+      # Cap the car battery power and save it in a param every 10-ish seconds
+      self.car_battery_capacity_uWh = max(self.car_battery_capacity_uWh, 0)
+      self.car_battery_capacity_uWh = min(self.car_battery_capacity_uWh, CAR_BATTERY_CAPACITY_uWh)
+      if now - self.last_save_time >= 10:
+        self.params.put_nonblocking("CarBatteryCapacity", int(self.car_battery_capacity_uWh))
+        self.last_save_time = now
+
+      # First measurement, set integration time
+      with self.integration_lock:
+        if self.last_measurement_time is None:
+          self.last_measurement_time = now
+          return
+
+      if ignition:
+        # If there is ignition, we integrate the charging rate of the car
+        with self.integration_lock:
+          self.power_used_uWh = 0
+          integration_time_h = (now - self.last_measurement_time) / 3600
+          if integration_time_h < 0:
+            raise ValueError(f"Negative integration time: {integration_time_h}h")
+          self.car_battery_capacity_uWh += (CAR_CHARGING_RATE_W * 1e6 * integration_time_h)
+          self.last_measurement_time = now
+      else:
+        # Get current power draw somehow
+        current_power = HARDWARE.get_current_power_draw()
+
+        # Do the integration
+        self._perform_integration(now, current_power)
+    except Exception:
+      cloudlog.exception("Power monitoring calculation failed")
+
+  def _perform_integration(self, t: float, current_power: float) -> None:
+    with self.integration_lock:
+      try:
+        if self.last_measurement_time:
+          integration_time_h = (t - self.last_measurement_time) / 3600
+          power_used = (current_power * 1000000) * integration_time_h
+          if power_used < 0:
+            raise ValueError(f"Negative power used! Integration time: {integration_time_h} h Current Power: {power_used} uWh")
+          self.power_used_uWh += power_used
+          self.car_battery_capacity_uWh -= power_used
+          self.last_measurement_time = t
+      except Exception:
+        cloudlog.exception("Integration failed")
+
+  # Get the power usage
+  def get_power_used(self) -> int:
+    return int(self.power_used_uWh)
+
+  def get_car_battery_capacity(self) -> int:
+    return int(self.car_battery_capacity_uWh)
+
+  # Max Time Offroad
+  def max_time_offroad_exceeded(self, offroad_time):
+    """
+    Check if the max time offroad has been exceeded. If the value is 0, it means no limit.
+    :param offroad_time: Time spent offroad in seconds
+    :return: True if the max time offroad has been exceeded, False otherwise
+    """
+    try:
+      param = self.params.get("MaxTimeOffroad")
+      iq_max_time_val_s = param * 60 if param is not None and param >= 0 else MAX_TIME_OFFROAD_S
+    except Exception:
+      iq_max_time_val_s = MAX_TIME_OFFROAD_S
+
+    return 0 < iq_max_time_val_s <= offroad_time
+
+  # FastSleep: see if we should enter low power mode instead of shutting down
+  def should_enter_low_power(self, ignition: bool, in_car: bool, offroad_timestamp: float | None, screen_off: bool) -> bool:
+    if offroad_timestamp is None or ignition or not in_car:
+      return False
+    if not self.params.get_bool("FastSleep"):
+      return False
+    offroad_time = time.monotonic() - offroad_timestamp
+    # a healthy battery rests above VBATT_LOW_POWER_ENTRY, so parked entry must be
+    # time-based; the voltage trigger stays as the sagging-battery fast path
+    low_voltage = (self.car_voltage_mV < (VBATT_LOW_POWER_ENTRY * 1e3) and
+                   offroad_time > VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S)
+    parked_idle = screen_off and offroad_time > LOW_POWER_ENTRY_TIME_S
+    return low_voltage or parked_idle
+
+  # See if we need to shutdown
+  def should_shutdown(self, ignition: bool, in_car: bool, offroad_timestamp: float | None, started_seen: bool):
+    if offroad_timestamp is None:
+      return False
+
+    now = time.monotonic()
+    should_shutdown = False
+    offroad_time = (now - offroad_timestamp)
+    fast_sleep = self.params.get_bool("FastSleep")
+    vbatt_min = VBATT_HARD_SHUTDOWN if fast_sleep else VBATT_PAUSE_CHARGING
+    low_voltage_shutdown = (self.car_voltage_mV < (vbatt_min * 1e3) and
+                            offroad_time > VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S)
+    should_shutdown |= self.max_time_offroad_exceeded(offroad_time)
+    should_shutdown |= low_voltage_shutdown
+    # the 30 Wh bookkeeping model empties within hours at offroad draw regardless of the
+    # real battery state; under FastSleep the measured voltage floors govern instead
+    should_shutdown |= (self.car_battery_capacity_uWh <= 0) and not fast_sleep
+    should_shutdown &= not ignition
+    should_shutdown &= (not self.params.get_bool("DisablePowerDown"))
+    should_shutdown &= in_car
+    should_shutdown &= offroad_time > DELAY_SHUTDOWN_TIME_S
+    should_shutdown |= self.params.get_bool("ForcePowerDown")
+    should_shutdown &= started_seen or (now > MIN_ON_TIME_S)
+    return should_shutdown

iqpilot/system/hardware/tests/test_fan_controller.py

@@ -0,0 +1,57 @@
+import pytest
+
+from iqpilot.system.hardware.fan_controller import FanController
+
+ALL_CONTROLLERS = [FanController]
+
+def patched_controller(mocker, controller_class):
+  mocker.patch("os.system", new=mocker.Mock())
+  return controller_class()
+
+class TestFanController:
+  def wind_up(self, controller, ignition=True):
+    for _ in range(1000):
+      controller.update(100, ignition)
+
+  def wind_down(self, controller, ignition=False):
+    for _ in range(1000):
+      controller.update(10, ignition)
+
+  @pytest.mark.parametrize("controller_class", ALL_CONTROLLERS)
+  def test_hot_onroad(self, mocker, controller_class):
+    controller = patched_controller(mocker, controller_class)
+    self.wind_up(controller)
+    assert controller.update(100, True) >= 70
+
+  @pytest.mark.parametrize("controller_class", ALL_CONTROLLERS)
+  def test_offroad_limits(self, mocker, controller_class):
+    controller = patched_controller(mocker, controller_class)
+    self.wind_up(controller)
+    assert controller.update(100, False) <= 30
+
+  @pytest.mark.parametrize("controller_class", ALL_CONTROLLERS)
+  def test_no_fan_wear(self, mocker, controller_class):
+    controller = patched_controller(mocker, controller_class)
+    self.wind_down(controller)
+    assert controller.update(10, False) == 0
+
+  @pytest.mark.parametrize("controller_class", ALL_CONTROLLERS)
+  def test_limited(self, mocker, controller_class):
+    controller = patched_controller(mocker, controller_class)
+    self.wind_up(controller, True)
+    assert controller.update(100, True) == 100
+
+  @pytest.mark.parametrize("controller_class", ALL_CONTROLLERS)
+  def test_max_cool(self, mocker, controller_class):
+    controller = patched_controller(mocker, controller_class)
+    self.wind_down(controller)
+    assert controller.update(80, True, True) == 100
+    assert controller.update(80, False, True) == 100
+
+  @pytest.mark.parametrize("controller_class", ALL_CONTROLLERS)
+  def test_windup_speed(self, mocker, controller_class):
+    controller = patched_controller(mocker, controller_class)
+    self.wind_down(controller, True)
+    for _ in range(10):
+      controller.update(90, True)
+    assert controller.update(90, True) >= 60

iqpilot/system/hardware/tests/test_hardwared.py

@@ -0,0 +1,75 @@
+from types import SimpleNamespace
+
+from iqpilot.system.hardware.hardwared import (
+  ALLOWED_TICI_BRANCHES,
+  CAN_STARTUP_RECOVERY_COOLDOWN,
+  CAN_STARTUP_RECOVERY_DELAY,
+  CAN_STARTUP_RECOVERY_MAX_ATTEMPTS,
+  CanStartupRecovery,
+  is_supported_tici_branch,
+)
+
+
+def test_beta_pq_allowed_for_tici():
+  metadata = SimpleNamespace(channel="beta-pq", channel_type="dev")
+  assert "beta-pq" in ALLOWED_TICI_BRANCHES
+  assert is_supported_tici_branch(metadata)
+
+
+def test_tici_channel_type_allowed():
+  metadata = SimpleNamespace(channel="random-branch", channel_type="tici")
+  assert is_supported_tici_branch(metadata)
+
+
+def test_unsupported_branch_rejected_for_tici():
+  metadata = SimpleNamespace(channel="random-branch", channel_type="dev")
+  assert not is_supported_tici_branch(metadata)
+
+
+def recovery_update(recovery: CanStartupRecovery, now: float, **kwargs) -> bool:
+  defaults = {
+    "ignition": True,
+    "started": True,
+    "engaged": False,
+    "car_state_alive": True,
+    "can_timeout": True,
+    "v_ego": 0.,
+  }
+  return recovery.update(now, **(defaults | kwargs))
+
+
+def test_can_startup_recovery_requires_persistent_timeout():
+  recovery = CanStartupRecovery()
+  assert not recovery_update(recovery, 10.)
+  assert not recovery_update(recovery, 10. + CAN_STARTUP_RECOVERY_DELAY - 0.1)
+  assert recovery_update(recovery, 10. + CAN_STARTUP_RECOVERY_DELAY)
+
+
+def test_can_startup_recovery_only_when_safe():
+  for unsafe_state in (
+    {"started": False},
+    {"engaged": True},
+    {"car_state_alive": False},
+    {"can_timeout": False},
+    {"v_ego": 0.2},
+  ):
+    recovery = CanStartupRecovery()
+    assert not recovery_update(recovery, 10., **unsafe_state)
+    assert not recovery_update(recovery, 10. + CAN_STARTUP_RECOVERY_DELAY, **unsafe_state)
+
+
+def test_can_startup_recovery_is_bounded_and_resets_next_ignition():
+  recovery = CanStartupRecovery()
+  now = 10.
+  for _ in range(CAN_STARTUP_RECOVERY_MAX_ATTEMPTS):
+    assert not recovery_update(recovery, now)
+    now += CAN_STARTUP_RECOVERY_DELAY
+    assert recovery_update(recovery, now)
+    now += CAN_STARTUP_RECOVERY_COOLDOWN
+
+  assert not recovery_update(recovery, now)
+  assert not recovery_update(recovery, now + CAN_STARTUP_RECOVERY_DELAY)
+
+  assert not recovery_update(recovery, now + 10., ignition=False)
+  assert not recovery_update(recovery, now + 11.)
+  assert recovery_update(recovery, now + 11. + CAN_STARTUP_RECOVERY_DELAY)

iqpilot/system/hardware/tests/test_power_monitoring.py

@@ -0,0 +1,323 @@
+import pytest
+
+from iqpilot.common.params import Params
+from iqpilot.system.hardware.power_monitoring import PowerMonitoring, CAR_BATTERY_CAPACITY_uWh, \
+  CAR_CHARGING_RATE_W, VBATT_PAUSE_CHARGING, DELAY_SHUTDOWN_TIME_S, MAX_TIME_OFFROAD_S, \
+  VBATT_HARD_SHUTDOWN, LOW_POWER_ENTRY_TIME_S
+
+# Create fake time
+ssb = 0.
+def mock_time_monotonic():
+  global ssb
+  ssb += 1.
+  return ssb
+
+TEST_DURATION_S = 50
+GOOD_VOLTAGE = 12 * 1e3
+VOLTAGE_BELOW_PAUSE_CHARGING = (VBATT_PAUSE_CHARGING - 1) * 1e3
+
+def pm_patch(mocker, name, value, constant=False):
+  if constant:
+    mocker.patch(f"iqpilot.system.hardware.power_monitoring.{name}", value)
+  else:
+    mocker.patch(f"iqpilot.system.hardware.power_monitoring.{name}", return_value=value)
+
+
+@pytest.fixture(autouse=True)
+def mock_time(mocker):
+  mocker.patch("time.monotonic", mock_time_monotonic)
+
+
+class TestPowerMonitoring:
+  def setup_method(self):
+    self.params = Params()
+
+  # Test to see that it doesn't do anything when pandaState is None
+  def test_panda_state_present(self):
+    pm = PowerMonitoring()
+    for _ in range(10):
+      pm.calculate(None, None)
+    assert pm.get_power_used() == 0
+    assert pm.get_car_battery_capacity() == (CAR_BATTERY_CAPACITY_uWh / 10)
+
+  # Test to see that it doesn't integrate offroad when ignition is True
+  def test_offroad_ignition(self):
+    pm = PowerMonitoring()
+    for _ in range(10):
+      pm.calculate(GOOD_VOLTAGE, True)
+    assert pm.get_power_used() == 0
+
+  # Test to see that it integrates with discharging battery
+  def test_offroad_integration_discharging(self, mocker):
+    POWER_DRAW = 4
+    pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW)
+    pm = PowerMonitoring()
+    for _ in range(TEST_DURATION_S + 1):
+      pm.calculate(GOOD_VOLTAGE, False)
+    expected_power_usage = ((TEST_DURATION_S/3600) * POWER_DRAW * 1e6)
+    assert abs(pm.get_power_used() - expected_power_usage) < 10
+
+  # Test to check positive integration of car_battery_capacity
+  def test_car_battery_integration_onroad(self, mocker):
+    POWER_DRAW = 4
+    pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW)
+    pm = PowerMonitoring()
+    pm.car_battery_capacity_uWh = 0
+    for _ in range(TEST_DURATION_S + 1):
+      pm.calculate(GOOD_VOLTAGE, True)
+    expected_capacity = ((TEST_DURATION_S/3600) * CAR_CHARGING_RATE_W * 1e6)
+    assert abs(pm.get_car_battery_capacity() - expected_capacity) < 10
+
+  # Test to check positive integration upper limit
+  def test_car_battery_integration_upper_limit(self, mocker):
+    POWER_DRAW = 4
+    pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW)
+    pm = PowerMonitoring()
+    pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh - 1000
+    for _ in range(TEST_DURATION_S + 1):
+      pm.calculate(GOOD_VOLTAGE, True)
+    estimated_capacity = CAR_BATTERY_CAPACITY_uWh + (CAR_CHARGING_RATE_W / 3600 * 1e6)
+    assert abs(pm.get_car_battery_capacity() - estimated_capacity) < 10
+
+  # Test to check negative integration of car_battery_capacity
+  def test_car_battery_integration_offroad(self, mocker):
+    POWER_DRAW = 4
+    pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW)
+    pm = PowerMonitoring()
+    pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
+    for _ in range(TEST_DURATION_S + 1):
+      pm.calculate(GOOD_VOLTAGE, False)
+    expected_capacity = CAR_BATTERY_CAPACITY_uWh - ((TEST_DURATION_S/3600) * POWER_DRAW * 1e6)
+    assert abs(pm.get_car_battery_capacity() - expected_capacity) < 10
+
+  # Test to check negative integration lower limit
+  def test_car_battery_integration_lower_limit(self, mocker):
+    POWER_DRAW = 4
+    pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW)
+    pm = PowerMonitoring()
+    pm.car_battery_capacity_uWh = 1000
+    for _ in range(TEST_DURATION_S + 1):
+      pm.calculate(GOOD_VOLTAGE, False)
+    estimated_capacity = 0 - ((1/3600) * POWER_DRAW * 1e6)
+    assert abs(pm.get_car_battery_capacity() - estimated_capacity) < 10
+
+  # Test to check policy of stopping charging after MAX_TIME_OFFROAD_S
+  def test_max_time_offroad(self, mocker):
+    MOCKED_MAX_OFFROAD_TIME = 3600
+    POWER_DRAW = 0 # To stop shutting down for other reasons
+    pm_patch(mocker, "MAX_TIME_OFFROAD_S", MOCKED_MAX_OFFROAD_TIME, constant=True)
+    pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW)
+    pm = PowerMonitoring()
+    pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
+    start_time = ssb
+    ignition = False
+    while ssb <= start_time + MOCKED_MAX_OFFROAD_TIME:
+      pm.calculate(GOOD_VOLTAGE, ignition)
+      if (ssb - start_time) % 1000 == 0 and ssb < start_time + MOCKED_MAX_OFFROAD_TIME:
+        assert not pm.should_shutdown(ignition, True, start_time, False)
+    assert pm.should_shutdown(ignition, True, start_time, False)
+
+  def test_car_voltage(self, mocker):
+    POWER_DRAW = 0 # To stop shutting down for other reasons
+    TEST_TIME = 350
+    VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S = 50
+    pm_patch(mocker, "VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S", VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S, constant=True)
+    pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW)
+    pm = PowerMonitoring()
+    pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
+    ignition = False
+    start_time = ssb
+    for i in range(TEST_TIME):
+      pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition)
+      if i % 10 == 0:
+        assert pm.should_shutdown(ignition, True, start_time, True) == \
+                          (pm.car_voltage_mV < VBATT_PAUSE_CHARGING * 1e3 and \
+                          (ssb - start_time) > VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S and \
+                            (ssb - start_time) > DELAY_SHUTDOWN_TIME_S)
+    assert pm.should_shutdown(ignition, True, start_time, True)
+
+  # Test to check policy of not stopping charging when DisablePowerDown is set
+  def test_disable_power_down(self, mocker):
+    POWER_DRAW = 0 # To stop shutting down for other reasons
+    TEST_TIME = 100
+    self.params.put_bool("DisablePowerDown", True)
+    pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW)
+    pm = PowerMonitoring()
+    pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
+    ignition = False
+    for i in range(TEST_TIME):
+      pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition)
+      if i % 10 == 0:
+        assert not pm.should_shutdown(ignition, True, ssb, False)
+    assert not pm.should_shutdown(ignition, True, ssb, False)
+
+  # Test to check policy of not stopping charging when ignition
+  def test_ignition(self, mocker):
+    POWER_DRAW = 0 # To stop shutting down for other reasons
+    TEST_TIME = 100
+    pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW)
+    pm = PowerMonitoring()
+    pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
+    ignition = True
+    for i in range(TEST_TIME):
+      pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition)
+      if i % 10 == 0:
+        assert not pm.should_shutdown(ignition, True, ssb, False)
+    assert not pm.should_shutdown(ignition, True, ssb, False)
+
+  # Test to check policy of not stopping charging when harness is not connected
+  def test_harness_connection(self, mocker):
+    POWER_DRAW = 0 # To stop shutting down for other reasons
+    TEST_TIME = 100
+    pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW)
+    pm = PowerMonitoring()
+    pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
+
+    ignition = False
+    for i in range(TEST_TIME):
+      pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition)
+      if i % 10 == 0:
+        assert not pm.should_shutdown(ignition, False, ssb, False)
+    assert not pm.should_shutdown(ignition, False, ssb, False)
+
+  def test_delay_shutdown_time(self):
+    pm = PowerMonitoring()
+    pm.car_battery_capacity_uWh = 0
+    ignition = False
+    in_car = True
+    offroad_timestamp = ssb
+    started_seen = True
+    pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition)
+
+    while ssb < offroad_timestamp + DELAY_SHUTDOWN_TIME_S:
+      assert not pm.should_shutdown(ignition, in_car,
+                                          offroad_timestamp,
+                                          started_seen), \
+                       f"Should not shutdown before {DELAY_SHUTDOWN_TIME_S} seconds offroad time"
+    assert pm.should_shutdown(ignition, in_car,
+                                       offroad_timestamp,
+                                       started_seen), \
+                    f"Should shutdown after {DELAY_SHUTDOWN_TIME_S} seconds offroad time"
+
+  @pytest.mark.parametrize(
+    "max_time_offroad, offroad_time_min, expected_result",
+    [
+      # No max time set – fallback to default (30 hours)
+      (None, 0, False),
+      (None, MAX_TIME_OFFROAD_S + 1, True),  # exceeds 30h (1800+ mins)
+
+      # Valid max time values (in minutes)
+      (60, 59, False),  # under limit
+      (60, 120, True),  # over limit
+      (10, 8, False),  # under limit
+      (10, 11, True),  # over limit
+
+      # Edge case: max time is zero → no limit enforced
+      (0, 0, False),
+      (0, 400, False),
+
+      # Invalid max time formats or negative values → fallback to 30 hours
+      (-100, 100, False),  # should fallback to 30h
+      (-1, MAX_TIME_OFFROAD_S + 1, True),  # should fallback to 30h, and exceed it
+    ]
+  )
+  def test_max_time_offroad_exceeded(self, max_time_offroad, offroad_time_min, expected_result):
+    # Set the parameter if provided
+    if max_time_offroad is not None:
+      self.params.put("MaxTimeOffroad", max_time_offroad)
+
+    # Convert offroad time from minutes to seconds
+    offroad_time_s = offroad_time_min * 60
+
+    pm = PowerMonitoring()
+    result = pm.max_time_offroad_exceeded(offroad_time_s)
+
+    assert result == expected_result
+
+  # FastSleep must not shut down on the empty bookkeeping model while voltage is healthy
+  def test_fast_sleep_ignores_battery_capacity_model(self, mocker):
+    self.params.put_bool("FastSleep", True)
+    self.params.put("MaxTimeOffroad", 0)
+    try:
+      pm_patch(mocker, "HARDWARE.get_current_power_draw", 0)
+      pm = PowerMonitoring()
+      pm.car_battery_capacity_uWh = 0
+      start_time = ssb
+      for _ in range(DELAY_SHUTDOWN_TIME_S + 100):
+        pm.calculate(GOOD_VOLTAGE, False)
+      assert not pm.should_shutdown(False, True, start_time, True)
+    finally:
+      self.params.put_bool("FastSleep", False)
+
+  # FastSleep still shuts down below the hard voltage floor
+  def test_fast_sleep_hard_voltage_floor(self, mocker):
+    self.params.put_bool("FastSleep", True)
+    try:
+      pm_patch(mocker, "HARDWARE.get_current_power_draw", 0)
+      pm = PowerMonitoring()
+      pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
+      start_time = ssb
+      for _ in range(DELAY_SHUTDOWN_TIME_S + 100):
+        pm.calculate((VBATT_HARD_SHUTDOWN - 0.5) * 1e3, False)
+      assert pm.should_shutdown(False, True, start_time, True)
+    finally:
+      self.params.put_bool("FastSleep", False)
+
+  def test_fast_sleep_low_power_entry(self, mocker):
+    self.params.put_bool("FastSleep", True)
+    try:
+      pm_patch(mocker, "HARDWARE.get_current_power_draw", 0)
+
+      # parked with the screen idled off: time-based entry at healthy voltage
+      pm = PowerMonitoring()
+      start_time = ssb
+      for _ in range(LOW_POWER_ENTRY_TIME_S + 10):
+        pm.calculate(GOOD_VOLTAGE, False)
+      assert pm.should_enter_low_power(False, True, start_time, screen_off=True)
+      assert not pm.should_enter_low_power(False, True, start_time, screen_off=False)
+      assert not pm.should_enter_low_power(True, True, start_time, screen_off=True)
+      assert not pm.should_enter_low_power(False, False, start_time, screen_off=True)
+
+      # sagging battery: voltage entry regardless of screen state
+      pm = PowerMonitoring()
+      start_time = ssb
+      for _ in range(100):
+        pm.calculate((VBATT_HARD_SHUTDOWN + 0.1) * 1e3, False)
+      assert pm.should_enter_low_power(False, True, start_time, screen_off=False)
+
+      self.params.put_bool("FastSleep", False)
+      assert not pm.should_enter_low_power(False, True, start_time, screen_off=True)
+    finally:
+      self.params.put_bool("FastSleep", False)
+
+  def test_negative_charging_interval_is_rejected(self, mocker):
+    exception = mocker.patch("iqpilot.system.hardware.power_monitoring.cloudlog.exception")
+    pm = PowerMonitoring()
+    pm.last_measurement_time = ssb + 100
+    capacity = pm.car_battery_capacity_uWh
+    pm.calculate(GOOD_VOLTAGE, True)
+    assert pm.car_battery_capacity_uWh == capacity
+    exception.assert_called_once_with("Power monitoring calculation failed")
+
+  def test_negative_discharge_interval_is_rejected(self, mocker):
+    exception = mocker.patch("iqpilot.system.hardware.power_monitoring.cloudlog.exception")
+    pm = PowerMonitoring()
+    pm.last_measurement_time = ssb + 100
+    capacity = pm.car_battery_capacity_uWh
+    pm._perform_integration(ssb, 4.0)
+    assert pm.car_battery_capacity_uWh == capacity
+    assert pm.power_used_uWh == 0
+    exception.assert_called_once_with("Integration failed")
+
+  def test_max_time_offroad_uses_default_when_params_fail(self):
+    class UnavailableParams:
+      def get(self, key):
+        raise RuntimeError(key)
+
+    pm = PowerMonitoring()
+    pm.params = UnavailableParams()
+    assert not pm.max_time_offroad_exceeded(MAX_TIME_OFFROAD_S - 1)
+    assert pm.max_time_offroad_exceeded(MAX_TIME_OFFROAD_S)
+
+  def test_shutdown_requires_offroad_timestamp(self):
+    assert not PowerMonitoring().should_shutdown(False, True, None, True)

iqpilot/system/hardware/tici/agnos.json

@@ -0,0 +1,91 @@
+[
+  {
+    "name": "xbl",
+    "url": "https://git.konn3kt.com/IQ.Lvbs/iqos/raw/branch/master/xbl-dd45c0febdf0e022dab82ed0219370a86e8e6c0dfabfe29f3dab7eb1174d6bc6.img.xz",
+    "hash": "dd45c0febdf0e022dab82ed0219370a86e8e6c0dfabfe29f3dab7eb1174d6bc6",
+    "hash_raw": "dd45c0febdf0e022dab82ed0219370a86e8e6c0dfabfe29f3dab7eb1174d6bc6",
+    "size": 3282256,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "d47a08914d2376557b03f1231b7233508222c04b57d781f9daf77c63eab92c2e"
+  },
+  {
+    "name": "xbl_config",
+    "url": "https://git.konn3kt.com/IQ.Lvbs/iqos/raw/branch/master/xbl_config-1074ae051df159ba6dba988d8f6ba2cfc304ed1466cce0db531df6f7b1e44aa9.img.xz",
+    "hash": "1074ae051df159ba6dba988d8f6ba2cfc304ed1466cce0db531df6f7b1e44aa9",
+    "hash_raw": "1074ae051df159ba6dba988d8f6ba2cfc304ed1466cce0db531df6f7b1e44aa9",
+    "size": 98124,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "e7d04d9f040c9c040cdf013335d0b6d6e9346311458baeb2461b193e954f5f1c"
+  },
+  {
+    "name": "abl",
+    "url": "https://git.konn3kt.com/IQ.Lvbs/iqos/raw/branch/master/abl-556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee.img.xz",
+    "hash": "556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee",
+    "hash_raw": "556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee",
+    "size": 274432,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee"
+  },
+  {
+    "name": "aop",
+    "url": "https://git.konn3kt.com/IQ.Lvbs/iqos/raw/branch/master/aop-4d925c9248672e4a69a236991983375008c44997a854ee7846d1b5fd7c787788.img.xz",
+    "hash": "4d925c9248672e4a69a236991983375008c44997a854ee7846d1b5fd7c787788",
+    "hash_raw": "4d925c9248672e4a69a236991983375008c44997a854ee7846d1b5fd7c787788",
+    "size": 184364,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "3aa0a79149ec57f4bc8c38f7bbdf4f6630dd659e49a111ce6258d2d06a07c8e5"
+  },
+  {
+    "name": "devcfg",
+    "url": "https://git.konn3kt.com/IQ.Lvbs/iqos/raw/branch/master/devcfg-2f374581243910db92f62bb13bd66ec8e3d56d434997ba007ded06d2d6cc8585.img.xz",
+    "hash": "2f374581243910db92f62bb13bd66ec8e3d56d434997ba007ded06d2d6cc8585",
+    "hash_raw": "2f374581243910db92f62bb13bd66ec8e3d56d434997ba007ded06d2d6cc8585",
+    "size": 40336,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "3d7bb33588491a2a40091a7e1cf6cb65e6dd503f69b640aba484d723f1ad47e8"
+  },
+  {
+    "name": "splash",
+    "url": "https://git.konn3kt.com/IQ.Lvbs/iqos/raw/branch/master/splash-993d7fb8ddfa552bd7f60e8a78b8735efbc716a0978682ed3c92fa0d694528d2.img.xz",
+    "hash": "993d7fb8ddfa552bd7f60e8a78b8735efbc716a0978682ed3c92fa0d694528d2",
+    "hash_raw": "993d7fb8ddfa552bd7f60e8a78b8735efbc716a0978682ed3c92fa0d694528d2",
+    "size": 34226176,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": false,
+    "ondevice_hash": "993d7fb8ddfa552bd7f60e8a78b8735efbc716a0978682ed3c92fa0d694528d2"
+  },
+  {
+    "name": "boot",
+    "url": "https://git.konn3kt.com/IQ.Lvbs/iqos/raw/branch/master/boot-aea4aecefd188d9c95726b699902378676c6266a7ae37008b5c2aa0e1e1190fb.img.xz",
+    "hash": "aea4aecefd188d9c95726b699902378676c6266a7ae37008b5c2aa0e1e1190fb",
+    "hash_raw": "aea4aecefd188d9c95726b699902378676c6266a7ae37008b5c2aa0e1e1190fb",
+    "size": 18216960,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "f568e4394e36a367de58cce2b982bf597963e088b6a00b1ac88ca03cce8f62fd"
+  },
+  {
+    "name": "system",
+    "url": "https://git.konn3kt.com/IQ.Lvbs/iqos/raw/branch/master/system-44b251e1b3d8cd9243d5c79287d2a0e74b5063d3e21b24192b1293430a3471aa.img.xz",
+    "hash": "44b251e1b3d8cd9243d5c79287d2a0e74b5063d3e21b24192b1293430a3471aa",
+    "hash_raw": "44b251e1b3d8cd9243d5c79287d2a0e74b5063d3e21b24192b1293430a3471aa",
+    "size": 6291456000,
+    "sparse": false,
+    "full_check": false,
+    "has_ab": true,
+    "ondevice_hash": "44b251e1b3d8cd9243d5c79287d2a0e74b5063d3e21b24192b1293430a3471aa",
+    "url_parts": 10
+  }
+]

iqpilot/system/hardware/tici/agnos.json.sig

@@ -0,0 +1 @@
+qT72MCHtDUWnARJbSsLUcPaISRZxjFPNf282R9ZC1SXvFJz6X6NmjgknK3OLDLijOQWlGvvJZGsDgz2vsdPVAg==

iqpilot/system/hardware/tici/agnos.py

@@ -0,0 +1,433 @@
+#!/usr/bin/env python3
+import base64
+import hashlib
+import json
+import lzma
+import os
+import struct
+import subprocess
+import time
+from collections.abc import Generator
+
+import sys
+_VENV_PY = "/usr/local/venv/bin/python3"
+if sys.executable != _VENV_PY and os.path.exists(_VENV_PY):
+  try:
+    import Crypto  # noqa: F401
+  except ImportError:
+    os.execv(_VENV_PY, [_VENV_PY, os.path.abspath(__file__), *sys.argv[1:]])
+
+import requests
+
+import iqpilot.system.updated.casync.casync as casync
+
+try:
+  from cryptography.hazmat.primitives.asymmetric.ed25519 import Ed25519PublicKey
+except Exception as exc:
+  Ed25519PublicKey = None
+  _CRYPTO_IMPORT_ERROR = exc
+else:
+  _CRYPTO_IMPORT_ERROR = None
+
+SPARSE_CHUNK_FMT = struct.Struct('H2xI4x')
+CAIBX_URL = "https://commadist.azureedge.net/agnosupdate/"
+IQPILOT_MANIFEST_PUBLIC_KEY = bytes.fromhex("40ae3f81b77506ecc4982a1ca37ba1d6f8765d2ae510eae9039577206c3e5732")
+
+AGNOS_MANIFEST_FILE = "system/hardware/tici/agnos.json"
+
+LFS_POINTER_MAGIC = b"version https://git-lfs"
+
+def _image_auth_module():
+  try:
+    from iqpilot.system.proprietary_runtime._verified_import import import_verified_module
+    return import_verified_module("iqpilot_updater_private", "iqpilot_private.updater.git_remote")
+  except Exception:
+    pass
+  try:
+    root = os.path.abspath(os.path.join(os.path.dirname(__file__), "..", "..", "..", ".."))
+    bundle_python = os.path.join(root, "artifacts", "iqpilot_updater_private", "python")
+    if os.path.isdir(bundle_python):
+      if bundle_python not in sys.path:
+        sys.path.insert(0, bundle_python)
+      import importlib
+      return importlib.import_module("iqpilot_private.updater.git_remote")
+  except Exception:
+    pass
+  return None
+
+def _download_headers(url: str) -> dict:
+  mod = _image_auth_module()
+  if mod is not None:
+    try:
+      headers = mod.os_image_headers(url)
+      if headers:
+        return headers
+    except Exception:
+      pass
+  try:
+    from iqpilot.common.git_creds import get_credentials
+    creds = get_credentials()
+    if creds and all(creds) and "/iq.lvbs/iqos" in url.lower():
+      return {"Authorization": "Basic " + base64.b64encode(f"{creds[0]}:{creds[1]}".encode()).decode()}
+  except Exception:
+    pass
+  return {}
+
+def _open_image_response(url: str) -> requests.Response:
+  auth = _download_headers(url)
+  req = requests.get(url, stream=True, headers={'Accept-Encoding': None, **auth}, timeout=60)
+  req.raise_for_status()
+  if int(req.headers.get('content-length') or 0) >= 1024:
+    return req
+
+  body = req.content
+  if not body.startswith(LFS_POINTER_MAGIC):
+    raise requests.exceptions.InvalidURL(f"unexpected tiny response ({len(body)} bytes) for {url}")
+  meta = dict(line.split(" ", 1) for line in body.decode().strip().splitlines() if " " in line)
+  oid = meta["oid"].split(":", 1)[1]
+  size = int(meta["size"])
+  lfs_base = url.split("/raw/", 1)[0] + ".git/info/lfs"
+
+  req = requests.get(f"{lfs_base}/objects/{oid}", stream=True,
+                     headers={'Accept-Encoding': None, 'Accept': 'application/vnd.git-lfs', **auth}, timeout=60)
+  if req.status_code == 200:
+    return req
+
+  batch = requests.post(f"{lfs_base}/objects/batch",
+                        data=json.dumps({"operation": "download", "transfers": ["basic"],
+                                         "objects": [{"oid": oid, "size": size}]}),
+                        headers={"Content-Type": "application/vnd.git-lfs+json",
+                                 "Accept": "application/vnd.git-lfs+json", **auth},
+                        timeout=60)
+  batch.raise_for_status()
+  action = batch.json()["objects"][0]["actions"]["download"]
+  req = requests.get(action["href"], stream=True,
+                     headers={'Accept-Encoding': None, **action.get("header", {})}, timeout=60)
+  req.raise_for_status()
+  return req
+
+
+def verify_manifest_signature(manifest_path: str) -> None:
+  sig_path = f"{manifest_path}.sig"
+  if not os.path.exists(sig_path):
+    raise RuntimeError(f"missing AGNOS manifest signature: {sig_path}")
+  if Ed25519PublicKey is None:
+    raise RuntimeError(f"cryptography import failed: {_CRYPTO_IMPORT_ERROR}")
+
+  manifest_bytes = open(manifest_path, "rb").read()
+  signature = base64.b64decode(open(sig_path, "rb").read().strip())
+  digest = hashlib.sha256(manifest_bytes).digest()
+  public_key = Ed25519PublicKey.from_public_bytes(IQPILOT_MANIFEST_PUBLIC_KEY)
+  public_key.verify(signature, digest)
+
+class _ChainedParts:
+  def __init__(self, urls: list[str]) -> None:
+    self.urls = urls
+    self.req: requests.Response | None = None
+
+  def raise_for_status(self) -> None:
+    if self.req is not None:
+      self.req.raise_for_status()
+
+  def iter_content(self, chunk_size: int) -> Generator[bytes, None, None]:
+    for u in self.urls:
+      self.req = _open_image_response(u)
+      yield from self.req.iter_content(chunk_size=chunk_size)
+
+class StreamingDecompressor:
+  def __init__(self, url: str, parts: int = 0) -> None:
+    self.buf = b""
+
+    if parts > 1:
+      self.req = _ChainedParts([f"{url}.p{i:02d}" for i in range(parts)])
+    else:
+      self.req = _open_image_response(url)
+    self.it = self.req.iter_content(chunk_size=1024 * 1024)
+    self.decompressor = lzma.LZMADecompressor(format=lzma.FORMAT_AUTO)
+    self.eof = False
+    self.sha256 = hashlib.sha256()
+
+  def read(self, length: int) -> bytes:
+    while len(self.buf) < length and not self.eof:
+      if self.decompressor.needs_input:
+        self.req.raise_for_status()
+
+        try:
+          compressed = next(self.it)
+        except StopIteration:
+          self.eof = True
+          break
+      else:
+        compressed = b''
+
+      self.buf += self.decompressor.decompress(compressed, max_length=length)
+
+      if self.decompressor.eof:
+        self.eof = True
+        break
+
+    result = self.buf[:length]
+    self.buf = self.buf[length:]
+
+    self.sha256.update(result)
+    return result
+
+def unsparsify(f: StreamingDecompressor) -> Generator[bytes, None, None]:
+  magic = struct.unpack("I", f.read(4))[0]
+  assert(magic == 0xed26ff3a)
+
+  major = struct.unpack("H", f.read(2))[0]
+  minor = struct.unpack("H", f.read(2))[0]
+  assert(major == 1 and minor == 0)
+
+  f.read(2)
+  f.read(2)
+
+  block_sz = struct.unpack("I", f.read(4))[0]
+  f.read(4)
+  num_chunks = struct.unpack("I", f.read(4))[0]
+  f.read(4)
+
+  for _ in range(num_chunks):
+    chunk_type, out_blocks = SPARSE_CHUNK_FMT.unpack(f.read(12))
+
+    if chunk_type == 0xcac1:
+      yield f.read(out_blocks * block_sz)
+    elif chunk_type == 0xcac2:
+      filler = f.read(4) * (block_sz // 4)
+      for _ in range(out_blocks):
+        yield filler
+    elif chunk_type == 0xcac3:
+      yield b""
+    else:
+      raise Exception("Unhandled sparse chunk type")
+
+def noop(f: StreamingDecompressor) -> Generator[bytes, None, None]:
+  while len(chunk := f.read(1024 * 1024)) > 0:
+    yield chunk
+
+def get_target_slot_number() -> int:
+  current_slot = subprocess.check_output(["abctl", "--boot_slot"], encoding='utf-8').strip()
+  return 1 if current_slot == "_a" else 0
+
+def slot_number_to_suffix(slot_number: int) -> str:
+  assert slot_number in (0, 1)
+  return '_a' if slot_number == 0 else '_b'
+
+def get_partition_path(target_slot_number: int, partition: dict) -> str:
+  path = f"/dev/disk/by-partlabel/{partition['name']}"
+
+  if partition.get('has_ab', True):
+    path += slot_number_to_suffix(target_slot_number)
+
+  return path
+
+def get_raw_hash(path: str, partition_size: int) -> str:
+  raw_hash = hashlib.sha256()
+  pos, chunk_size = 0, 1024 * 1024
+
+  with open(path, 'rb+') as out:
+    while pos < partition_size:
+      n = min(chunk_size, partition_size - pos)
+      raw_hash.update(out.read(n))
+      pos += n
+
+  return raw_hash.hexdigest().lower()
+
+def verify_partition(target_slot_number: int, partition: dict[str, str | int], force_full_check: bool = False) -> bool:
+  full_check = partition['full_check'] or force_full_check
+  path = get_partition_path(target_slot_number, partition)
+
+  if not isinstance(partition['size'], int):
+    return False
+
+  partition_size: int = partition['size']
+
+  if not isinstance(partition['hash_raw'], str):
+    return False
+
+  partition_hash: str = partition['hash_raw']
+
+  if full_check:
+    return get_raw_hash(path, partition_size) == partition_hash.lower()
+  else:
+    with open(path, 'rb+') as out:
+      out.seek(partition_size)
+      return out.read(64) == partition_hash.lower().encode()
+
+def clear_partition_hash(target_slot_number: int, partition: dict) -> None:
+  path = get_partition_path(target_slot_number, partition)
+  with open(path, 'wb+') as out:
+    partition_size = partition['size']
+
+    out.seek(partition_size)
+    out.write(b"\x00" * 64)
+    os.sync()
+
+def extract_compressed_image(target_slot_number: int, partition: dict, cloudlog):
+  path = get_partition_path(target_slot_number, partition)
+  downloader = StreamingDecompressor(partition['url'], parts=int(partition.get('url_parts', 0)))
+
+  with open(path, 'wb+') as out:
+    last_p = 0
+    raw_hash = hashlib.sha256()
+    f = unsparsify if partition['sparse'] else noop
+    for chunk in f(downloader):
+      raw_hash.update(chunk)
+      out.write(chunk)
+      p = int(out.tell() / partition['size'] * 100)
+      if p != last_p:
+        last_p = p
+        print(f"Installing {partition['name']}: {p}", flush=True)
+
+    if raw_hash.hexdigest().lower() != partition['hash_raw'].lower():
+      raise Exception(f"Raw hash mismatch '{raw_hash.hexdigest().lower()}'")
+
+    if downloader.sha256.hexdigest().lower() != partition['hash'].lower():
+      raise Exception("Uncompressed hash mismatch")
+
+    if out.tell() != partition['size']:
+      raise Exception("Uncompressed size mismatch")
+
+    os.sync()
+
+def extract_casync_image(target_slot_number: int, partition: dict, cloudlog):
+  path = get_partition_path(target_slot_number, partition)
+  seed_path = path[:-1] + ('b' if path[-1] == 'a' else 'a')
+
+  target = casync.parse_caibx(partition['casync_caibx'])
+
+  sources: list[tuple[str, casync.ChunkReader, casync.ChunkDict]] = []
+
+  try:
+    raw_hash = get_raw_hash(seed_path, partition['size'])
+    caibx_url = f"{CAIBX_URL}{partition['name']}-{raw_hash}.caibx"
+
+    try:
+      cloudlog.info(f"casync fetching {caibx_url}")
+      sources += [('seed', casync.FileChunkReader(seed_path), casync.build_chunk_dict(casync.parse_caibx(caibx_url)))]
+    except requests.RequestException:
+      cloudlog.error(f"casync failed to load {caibx_url}")
+  except Exception:
+    cloudlog.exception("casync failed to hash seed partition")
+
+  sources += [('target', casync.FileChunkReader(path), casync.build_chunk_dict(target))]
+
+  sources += [('remote', casync.RemoteChunkReader(partition['casync_store']), casync.build_chunk_dict(target))]
+
+  last_p = 0
+
+  def progress(cur):
+    nonlocal last_p
+    p = int(cur / partition['size'] * 100)
+    if p != last_p:
+      last_p = p
+      print(f"Installing {partition['name']}: {p}", flush=True)
+
+  stats = casync.extract(target, sources, path, progress)
+  cloudlog.error(f'casync done {json.dumps(stats)}')
+
+  os.sync()
+  if not verify_partition(target_slot_number, partition, force_full_check=True):
+    raise Exception(f"Raw hash mismatch '{partition['hash_raw'].lower()}'")
+
+def flash_partition(target_slot_number: int, partition: dict, cloudlog, standalone=False):
+  cloudlog.info(f"Downloading and writing {partition['name']}")
+
+  if verify_partition(target_slot_number, partition):
+    cloudlog.info(f"Already flashed {partition['name']}")
+    return
+
+  full_check = partition['full_check']
+  if not full_check:
+    clear_partition_hash(target_slot_number, partition)
+
+  path = get_partition_path(target_slot_number, partition)
+
+  if ('casync_caibx' in partition) and not standalone:
+    extract_casync_image(target_slot_number, partition, cloudlog)
+  else:
+    extract_compressed_image(target_slot_number, partition, cloudlog)
+
+  if not full_check:
+    with open(path, 'wb+') as out:
+      out.seek(partition['size'])
+      out.write(partition['hash_raw'].lower().encode())
+
+def swap(manifest_path: str, target_slot_number: int, cloudlog) -> None:
+  verify_manifest_signature(manifest_path)
+  update = json.load(open(manifest_path))
+  for partition in update:
+    if not partition.get('full_check', False):
+      clear_partition_hash(target_slot_number, partition)
+
+  while True:
+    out = subprocess.check_output(f"abctl --set_active {target_slot_number}", shell=True, stderr=subprocess.STDOUT, encoding='utf8')
+    if ("No such file or directory" not in out) and ("lun as boot lun" in out):
+      cloudlog.info(f"Swap successful {out}")
+      break
+    else:
+      cloudlog.error(f"Swap failed {out}")
+
+def flash_agnos_update(manifest_path: str, target_slot_number: int, cloudlog, standalone=False) -> None:
+  verify_manifest_signature(manifest_path)
+  update = json.load(open(manifest_path))
+
+  cloudlog.info(f"Target slot {target_slot_number}")
+
+  os.system(f"abctl --set_unbootable {target_slot_number}")
+
+  for partition in update:
+    success = False
+
+    for retries in range(10):
+      try:
+        flash_partition(target_slot_number, partition, cloudlog, standalone)
+        success = True
+        break
+
+      except requests.exceptions.RequestException:
+        cloudlog.exception("Failed")
+        cloudlog.info(f"Failed to download {partition['name']}, retrying ({retries})")
+        time.sleep(10)
+
+    if not success:
+      cloudlog.info(f"Failed to flash {partition['name']}, aborting")
+      raise Exception("Maximum retries exceeded")
+
+  cloudlog.info(f"AGNOS ready on slot {target_slot_number}")
+
+def verify_agnos_update(manifest_path: str, target_slot_number: int) -> bool:
+  verify_manifest_signature(manifest_path)
+  update = json.load(open(manifest_path))
+  return all(verify_partition(target_slot_number, partition) for partition in update)
+
+if __name__ == "__main__":
+  import argparse
+  import logging
+
+  parser = argparse.ArgumentParser(description="Flash and verify AGNOS update",
+                                   formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+
+  parser.add_argument("--verify", action="store_true", help="Verify and perform swap if update ready")
+  parser.add_argument("--swap", action="store_true", help="Verify and perform swap, downloads if necessary")
+  parser.add_argument("manifest", help="Manifest json")
+  args = parser.parse_args()
+
+  logging.basicConfig(level=logging.INFO)
+
+  target_slot_number = get_target_slot_number()
+  if args.verify:
+    if verify_agnos_update(args.manifest, target_slot_number):
+      swap(args.manifest, target_slot_number, logging)
+      exit(0)
+    exit(1)
+  elif args.swap:
+    while not verify_agnos_update(args.manifest, target_slot_number):
+      logging.error("Verification failed. Flashing AGNOS")
+      flash_agnos_update(args.manifest, target_slot_number, logging, standalone=True)
+
+    logging.warning(f"Verification succeeded. Swapping to slot {target_slot_number}")
+    swap(args.manifest, target_slot_number, logging)
+  else:
+    flash_agnos_update(args.manifest, target_slot_number, logging, standalone=True)

iqpilot/system/hardware/tici/agnos_tici_15_1.json

@@ -0,0 +1,80 @@
+[
+  {
+    "name": "xbl",
+    "url": "https://git.konn3kt.com/IQ.Lvbs/iqos/raw/branch/master/xbl-dd45c0febdf0e022dab82ed0219370a86e8e6c0dfabfe29f3dab7eb1174d6bc6.img.xz",
+    "hash": "dd45c0febdf0e022dab82ed0219370a86e8e6c0dfabfe29f3dab7eb1174d6bc6",
+    "hash_raw": "dd45c0febdf0e022dab82ed0219370a86e8e6c0dfabfe29f3dab7eb1174d6bc6",
+    "size": 3282256,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "d47a08914d2376557b03f1231b7233508222c04b57d781f9daf77c63eab92c2e"
+  },
+  {
+    "name": "xbl_config",
+    "url": "https://git.konn3kt.com/IQ.Lvbs/iqos/raw/branch/master/xbl_config-1074ae051df159ba6dba988d8f6ba2cfc304ed1466cce0db531df6f7b1e44aa9.img.xz",
+    "hash": "1074ae051df159ba6dba988d8f6ba2cfc304ed1466cce0db531df6f7b1e44aa9",
+    "hash_raw": "1074ae051df159ba6dba988d8f6ba2cfc304ed1466cce0db531df6f7b1e44aa9",
+    "size": 98124,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "e7d04d9f040c9c040cdf013335d0b6d6e9346311458baeb2461b193e954f5f1c"
+  },
+  {
+    "name": "abl",
+    "url": "https://git.konn3kt.com/IQ.Lvbs/iqos/raw/branch/master/abl-32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6.img.xz",
+    "hash": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6",
+    "hash_raw": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6",
+    "size": 274432,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6"
+  },
+  {
+    "name": "aop",
+    "url": "https://git.konn3kt.com/IQ.Lvbs/iqos/raw/branch/master/aop-4d925c9248672e4a69a236991983375008c44997a854ee7846d1b5fd7c787788.img.xz",
+    "hash": "4d925c9248672e4a69a236991983375008c44997a854ee7846d1b5fd7c787788",
+    "hash_raw": "4d925c9248672e4a69a236991983375008c44997a854ee7846d1b5fd7c787788",
+    "size": 184364,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "3aa0a79149ec57f4bc8c38f7bbdf4f6630dd659e49a111ce6258d2d06a07c8e5"
+  },
+  {
+    "name": "devcfg",
+    "url": "https://git.konn3kt.com/IQ.Lvbs/iqos/raw/branch/master/devcfg-2f374581243910db92f62bb13bd66ec8e3d56d434997ba007ded06d2d6cc8585.img.xz",
+    "hash": "2f374581243910db92f62bb13bd66ec8e3d56d434997ba007ded06d2d6cc8585",
+    "hash_raw": "2f374581243910db92f62bb13bd66ec8e3d56d434997ba007ded06d2d6cc8585",
+    "size": 40336,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "3d7bb33588491a2a40091a7e1cf6cb65e6dd503f69b640aba484d723f1ad47e8"
+  },
+  {
+    "name": "boot",
+    "url": "https://git.konn3kt.com/IQ.Lvbs/iqos/raw/branch/master/boot-aea4aecefd188d9c95726b699902378676c6266a7ae37008b5c2aa0e1e1190fb.img.xz",
+    "hash": "aea4aecefd188d9c95726b699902378676c6266a7ae37008b5c2aa0e1e1190fb",
+    "hash_raw": "aea4aecefd188d9c95726b699902378676c6266a7ae37008b5c2aa0e1e1190fb",
+    "size": 18216960,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "f568e4394e36a367de58cce2b982bf597963e088b6a00b1ac88ca03cce8f62fd"
+  },
+  {
+    "name": "system",
+    "url": "https://git.konn3kt.com/IQ.Lvbs/iqos/raw/branch/master/system-44b251e1b3d8cd9243d5c79287d2a0e74b5063d3e21b24192b1293430a3471aa.img.xz",
+    "hash": "44b251e1b3d8cd9243d5c79287d2a0e74b5063d3e21b24192b1293430a3471aa",
+    "hash_raw": "44b251e1b3d8cd9243d5c79287d2a0e74b5063d3e21b24192b1293430a3471aa",
+    "size": 6291456000,
+    "sparse": false,
+    "full_check": false,
+    "has_ab": true,
+    "ondevice_hash": "44b251e1b3d8cd9243d5c79287d2a0e74b5063d3e21b24192b1293430a3471aa",
+    "url_parts": 10
+  }
+]

iqpilot/system/hardware/tici/agnos_tici_15_1.json.sig

@@ -0,0 +1 @@
+fL46Z+k/wqjavP3J1S/VzE90BXcvvRF+S41MgHEXYjW+Jlnu5REOp6rvp3SJFEkKIEaiSf9PsHyiDgQkC6J2Aw==

iqpilot/system/hardware/tici/all-partitions.json

@@ -0,0 +1,400 @@
+[
+  {
+    "name": "gpt_main_0",
+    "url": "https://commadist.azureedge.net/agnosupdate/gpt_main_0-8928a31fd9ee20f8703649f89833eba9b55e84b6415e67799c777b163c95a0bd.img.xz",
+    "hash": "8928a31fd9ee20f8703649f89833eba9b55e84b6415e67799c777b163c95a0bd",
+    "hash_raw": "8928a31fd9ee20f8703649f89833eba9b55e84b6415e67799c777b163c95a0bd",
+    "size": 24576,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": false,
+    "ondevice_hash": "8928a31fd9ee20f8703649f89833eba9b55e84b6415e67799c777b163c95a0bd",
+    "gpt": {
+      "lun": 0,
+      "start_sector": 0,
+      "num_sectors": 6
+    }
+  },
+  {
+    "name": "gpt_main_1",
+    "url": "https://commadist.azureedge.net/agnosupdate/gpt_main_1-fe8ef7653db588d7420a625920ca06927dfcb0ed8aff3e3a1c74a52a24398ba6.img.xz",
+    "hash": "fe8ef7653db588d7420a625920ca06927dfcb0ed8aff3e3a1c74a52a24398ba6",
+    "hash_raw": "fe8ef7653db588d7420a625920ca06927dfcb0ed8aff3e3a1c74a52a24398ba6",
+    "size": 24576,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": false,
+    "ondevice_hash": "fe8ef7653db588d7420a625920ca06927dfcb0ed8aff3e3a1c74a52a24398ba6",
+    "gpt": {
+      "lun": 1,
+      "start_sector": 0,
+      "num_sectors": 6
+    }
+  },
+  {
+    "name": "gpt_main_2",
+    "url": "https://commadist.azureedge.net/agnosupdate/gpt_main_2-5ccfc7240c8cbfa2f1a018a2e376cf274a6baf858c9bfe71951d8e28cab53c21.img.xz",
+    "hash": "5ccfc7240c8cbfa2f1a018a2e376cf274a6baf858c9bfe71951d8e28cab53c21",
+    "hash_raw": "5ccfc7240c8cbfa2f1a018a2e376cf274a6baf858c9bfe71951d8e28cab53c21",
+    "size": 24576,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": false,
+    "ondevice_hash": "5ccfc7240c8cbfa2f1a018a2e376cf274a6baf858c9bfe71951d8e28cab53c21",
+    "gpt": {
+      "lun": 2,
+      "start_sector": 0,
+      "num_sectors": 6
+    }
+  },
+  {
+    "name": "gpt_main_3",
+    "url": "https://commadist.azureedge.net/agnosupdate/gpt_main_3-c707979fa21e89519328f4f30c2b21c9c453401ca8303f914c1873d410a95159.img.xz",
+    "hash": "c707979fa21e89519328f4f30c2b21c9c453401ca8303f914c1873d410a95159",
+    "hash_raw": "c707979fa21e89519328f4f30c2b21c9c453401ca8303f914c1873d410a95159",
+    "size": 24576,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": false,
+    "ondevice_hash": "c707979fa21e89519328f4f30c2b21c9c453401ca8303f914c1873d410a95159",
+    "gpt": {
+      "lun": 3,
+      "start_sector": 0,
+      "num_sectors": 6
+    }
+  },
+  {
+    "name": "gpt_main_4",
+    "url": "https://commadist.azureedge.net/agnosupdate/gpt_main_4-e9405dcd785dbe79412184e1894a9c51ab7deb33bb612166c4c42a3d2bf42a0e.img.xz",
+    "hash": "e9405dcd785dbe79412184e1894a9c51ab7deb33bb612166c4c42a3d2bf42a0e",
+    "hash_raw": "e9405dcd785dbe79412184e1894a9c51ab7deb33bb612166c4c42a3d2bf42a0e",
+    "size": 24576,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": false,
+    "ondevice_hash": "e9405dcd785dbe79412184e1894a9c51ab7deb33bb612166c4c42a3d2bf42a0e",
+    "gpt": {
+      "lun": 4,
+      "start_sector": 0,
+      "num_sectors": 6
+    }
+  },
+  {
+    "name": "gpt_main_5",
+    "url": "https://commadist.azureedge.net/agnosupdate/gpt_main_5-21ae965f05b2fa8d02e04f1eb74718f9779864f6eacdeb859757d6435e8ccce3.img.xz",
+    "hash": "21ae965f05b2fa8d02e04f1eb74718f9779864f6eacdeb859757d6435e8ccce3",
+    "hash_raw": "21ae965f05b2fa8d02e04f1eb74718f9779864f6eacdeb859757d6435e8ccce3",
+    "size": 24576,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": false,
+    "ondevice_hash": "21ae965f05b2fa8d02e04f1eb74718f9779864f6eacdeb859757d6435e8ccce3",
+    "gpt": {
+      "lun": 5,
+      "start_sector": 0,
+      "num_sectors": 6
+    }
+  },
+  {
+    "name": "persist",
+    "url": "https://commadist.azureedge.net/agnosupdate/persist-d6af4ec18df180c7417353b52a9e05e43a6480b29425f087874136436cefe786.img.xz",
+    "hash": "d6af4ec18df180c7417353b52a9e05e43a6480b29425f087874136436cefe786",
+    "hash_raw": "d6af4ec18df180c7417353b52a9e05e43a6480b29425f087874136436cefe786",
+    "size": 4096,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": false,
+    "ondevice_hash": "d6af4ec18df180c7417353b52a9e05e43a6480b29425f087874136436cefe786"
+  },
+  {
+    "name": "systemrw",
+    "url": "https://commadist.azureedge.net/agnosupdate/systemrw-8ce150ca38ef64a0885fc2fe816e5b63bae8adb4df5d809c5b318e6996366c7e.img.xz",
+    "hash": "8ce150ca38ef64a0885fc2fe816e5b63bae8adb4df5d809c5b318e6996366c7e",
+    "hash_raw": "8ce150ca38ef64a0885fc2fe816e5b63bae8adb4df5d809c5b318e6996366c7e",
+    "size": 16777216,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": false,
+    "ondevice_hash": "8ce150ca38ef64a0885fc2fe816e5b63bae8adb4df5d809c5b318e6996366c7e"
+  },
+  {
+    "name": "cache",
+    "url": "https://commadist.azureedge.net/agnosupdate/cache-ebfbaaa2f96dc4e5fea4f126364e5bf5b3b44c12cbc753b62fdd8baab82f70b4.img.xz",
+    "hash": "ebfbaaa2f96dc4e5fea4f126364e5bf5b3b44c12cbc753b62fdd8baab82f70b4",
+    "hash_raw": "ebfbaaa2f96dc4e5fea4f126364e5bf5b3b44c12cbc753b62fdd8baab82f70b4",
+    "size": 134217728,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": false,
+    "ondevice_hash": "ebfbaaa2f96dc4e5fea4f126364e5bf5b3b44c12cbc753b62fdd8baab82f70b4"
+  },
+  {
+    "name": "xbl",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl-dd45c0febdf0e022dab82ed0219370a86e8e6c0dfabfe29f3dab7eb1174d6bc6.img.xz",
+    "hash": "dd45c0febdf0e022dab82ed0219370a86e8e6c0dfabfe29f3dab7eb1174d6bc6",
+    "hash_raw": "dd45c0febdf0e022dab82ed0219370a86e8e6c0dfabfe29f3dab7eb1174d6bc6",
+    "size": 3282256,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "d47a08914d2376557b03f1231b7233508222c04b57d781f9daf77c63eab92c2e"
+  },
+  {
+    "name": "xbl_config",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-1074ae051df159ba6dba988d8f6ba2cfc304ed1466cce0db531df6f7b1e44aa9.img.xz",
+    "hash": "1074ae051df159ba6dba988d8f6ba2cfc304ed1466cce0db531df6f7b1e44aa9",
+    "hash_raw": "1074ae051df159ba6dba988d8f6ba2cfc304ed1466cce0db531df6f7b1e44aa9",
+    "size": 98124,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "e7d04d9f040c9c040cdf013335d0b6d6e9346311458baeb2461b193e954f5f1c"
+  },
+  {
+    "name": "abl",
+    "url": "https://commadist.azureedge.net/agnosupdate/abl-556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee.img.xz",
+    "hash": "556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee",
+    "hash_raw": "556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee",
+    "size": 274432,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee"
+  },
+  {
+    "name": "aop",
+    "url": "https://commadist.azureedge.net/agnosupdate/aop-4d925c9248672e4a69a236991983375008c44997a854ee7846d1b5fd7c787788.img.xz",
+    "hash": "4d925c9248672e4a69a236991983375008c44997a854ee7846d1b5fd7c787788",
+    "hash_raw": "4d925c9248672e4a69a236991983375008c44997a854ee7846d1b5fd7c787788",
+    "size": 184364,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
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+]

iqpilot/system/hardware/tici/amplifier.py

@@ -0,0 +1,159 @@
+#!/usr/bin/env python3
+import time
+from collections import namedtuple
+
+from iqpilot.common.i2c import SMBus
+
+# https://datasheets.maximintegrated.com/en/ds/MAX98089.pdf
+
+AmpConfig = namedtuple('AmpConfig', ['name', 'value', 'register', 'offset', 'mask'])
+EQParams = namedtuple('EQParams', ['K', 'k1', 'k2', 'c1', 'c2'])
+
+
+def configs_from_eq_params(base, eq_params):
+  return [
+    AmpConfig("K (high)", (eq_params.K >> 8), base, 0, 0xFF),
+    AmpConfig("K (low)", (eq_params.K & 0xFF), base + 1, 0, 0xFF),
+    AmpConfig("k1 (high)", (eq_params.k1 >> 8), base + 2, 0, 0xFF),
+    AmpConfig("k1 (low)", (eq_params.k1 & 0xFF), base + 3, 0, 0xFF),
+    AmpConfig("k2 (high)", (eq_params.k2 >> 8), base + 4, 0, 0xFF),
+    AmpConfig("k2 (low)", (eq_params.k2 & 0xFF), base + 5, 0, 0xFF),
+    AmpConfig("c1 (high)", (eq_params.c1 >> 8), base + 6, 0, 0xFF),
+    AmpConfig("c1 (low)", (eq_params.c1 & 0xFF), base + 7, 0, 0xFF),
+    AmpConfig("c2 (high)", (eq_params.c2 >> 8), base + 8, 0, 0xFF),
+    AmpConfig("c2 (low)", (eq_params.c2 & 0xFF), base + 9, 0, 0xFF),
+  ]
+
+
+BASE_CONFIG = [
+  AmpConfig("MCLK prescaler", 0b01, 0x10, 4, 0b00110000),
+  AmpConfig("PM: enable speakers", 0b11, 0x4D, 4, 0b00110000),
+  AmpConfig("PM: enable DACs", 0b11, 0x4D, 0, 0b00000011),
+  AmpConfig("Enable PLL1", 0b1, 0x12, 7, 0b10000000),
+  AmpConfig("Enable PLL2", 0b1, 0x1A, 7, 0b10000000),
+  AmpConfig("DAI1: I2S mode", 0b00100, 0x14, 2, 0b01111100),
+  AmpConfig("DAI2: I2S mode", 0b00100, 0x1C, 2, 0b01111100),
+  AmpConfig("DAI1 Passband filtering: music mode", 0b1, 0x18, 7, 0b10000000),
+  AmpConfig("DAI1 voice mode gain (DV1G)", 0b00, 0x2F, 4, 0b00110000),
+  AmpConfig("DAI1 attenuation (DV1)", 0x0, 0x2F, 0, 0b00001111),
+  AmpConfig("DAI2 attenuation (DV2)", 0x0, 0x31, 0, 0b00001111),
+  AmpConfig("DAI2: DC blocking", 0b1, 0x20, 0, 0b00000001),
+  AmpConfig("DAI2: High sample rate", 0b0, 0x20, 3, 0b00001000),
+  AmpConfig("ALC enable", 0b1, 0x43, 7, 0b10000000),
+  AmpConfig("ALC/excursion limiter release time", 0b101, 0x43, 4, 0b01110000),
+  AmpConfig("ALC multiband enable", 0b1, 0x43, 3, 0b00001000),
+  AmpConfig("DAI1 EQ enable", 0b0, 0x49, 0, 0b00000001),
+  AmpConfig("DAI2 EQ clip detection disabled", 0b1, 0x32, 4, 0b00010000),
+  AmpConfig("DAI2 EQ attenuation", 0x5, 0x32, 0, 0b00001111),
+  AmpConfig("Excursion limiter upper corner freq", 0b100, 0x41, 4, 0b01110000),
+  AmpConfig("Excursion limiter lower corner freq", 0b00, 0x41, 0, 0b00000011),
+  AmpConfig("Excursion limiter threshold", 0b000, 0x42, 0, 0b00001111),
+  AmpConfig("Distortion limit (THDCLP)", 0x6, 0x46, 4, 0b11110000),
+  AmpConfig("Distortion limiter release time constant", 0b0, 0x46, 0, 0b00000001),
+  AmpConfig("Right DAC input mixer: DAI1 left", 0b0, 0x22, 3, 0b00001000),
+  AmpConfig("Right DAC input mixer: DAI1 right", 0b0, 0x22, 2, 0b00000100),
+  AmpConfig("Right DAC input mixer: DAI2 left", 0b1, 0x22, 1, 0b00000010),
+  AmpConfig("Right DAC input mixer: DAI2 right", 0b0, 0x22, 0, 0b00000001),
+  AmpConfig("DAI1 audio port selector", 0b10, 0x16, 6, 0b11000000),
+  AmpConfig("DAI2 audio port selector", 0b01, 0x1E, 6, 0b11000000),
+  AmpConfig("Enable left digital microphone", 0b1, 0x48, 5, 0b00100000),
+  AmpConfig("Enable right digital microphone", 0b1, 0x48, 4, 0b00010000),
+  AmpConfig("Enhanced volume smoothing disabled", 0b0, 0x49, 7, 0b10000000),
+  AmpConfig("Volume adjustment smoothing disabled", 0b0, 0x49, 6, 0b01000000),
+  AmpConfig("Zero-crossing detection disabled", 0b0, 0x49, 5, 0b00100000),
+]
+
+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),
+    AmpConfig("Left Speaker Mixer Gain", 0b00, 0x2D, 0, 0b00000011),
+    AmpConfig("Right Speaker Mixer Gain", 0b00, 0x2D, 2, 0b00001100),
+    AmpConfig("Left speaker output volume", 0x17, 0x3D, 0, 0b00011111),
+    AmpConfig("Right speaker output volume", 0x17, 0x3E, 0, 0b00011111),
+    AmpConfig("DAI2 EQ enable", 0b0, 0x49, 1, 0b00000010),
+    AmpConfig("DAI2: DC blocking", 0b0, 0x20, 0, 0b00000001),
+    AmpConfig("ALC enable", 0b0, 0x43, 7, 0b10000000),
+    AmpConfig("DAI2 EQ attenuation", 0x2, 0x32, 0, 0b00001111),
+    AmpConfig("Excursion limiter upper corner freq", 0b001, 0x41, 4, 0b01110000),
+    AmpConfig("Excursion limiter threshold", 0b100, 0x42, 0, 0b00001111),
+    AmpConfig("Distortion limit (THDCLP)", 0x0, 0x46, 4, 0b11110000),
+    AmpConfig("Distortion limiter release time constant", 0b1, 0x46, 0, 0b00000001),
+    AmpConfig("Left DAC input mixer: DAI1 left", 0b0, 0x22, 7, 0b10000000),
+    AmpConfig("Left DAC input mixer: DAI1 right", 0b0, 0x22, 6, 0b01000000),
+    AmpConfig("Left DAC input mixer: DAI2 left", 0b1, 0x22, 5, 0b00100000),
+    AmpConfig("Left DAC input mixer: DAI2 right", 0b0, 0x22, 4, 0b00010000),
+    AmpConfig("Right DAC input mixer: DAI2 left", 0b0, 0x22, 1, 0b00000010),
+    AmpConfig("Right DAC input mixer: DAI2 right", 0b1, 0x22, 0, 0b00000001),
+    AmpConfig("Volume adjustment smoothing disabled", 0b1, 0x49, 6, 0b01000000),
+  ],
+}
+
+
+class Amplifier:
+  AMP_I2C_BUS = 0
+  AMP_ADDRESS = 0x10
+
+  def __init__(self, debug=False):
+    self.debug = debug
+
+  def _get_shutdown_config(self, amp_disabled: bool) -> AmpConfig:
+    return AmpConfig("Global shutdown", 0b0 if amp_disabled else 0b1, 0x51, 7, 0b10000000)
+
+  def _set_configs(self, configs: list[AmpConfig]) -> None:
+    with SMBus(self.AMP_I2C_BUS) as bus:
+      for config in configs:
+        if self.debug:
+          print(f"Setting \"{config.name}\" to {config.value}:")
+
+        old_value = bus.read_byte_data(self.AMP_ADDRESS, config.register, force=True)
+        new_value = (old_value & (~config.mask)) | ((config.value << config.offset) & config.mask)
+        bus.write_byte_data(self.AMP_ADDRESS, config.register, new_value, force=True)
+
+        if self.debug:
+          print(f"  Changed {hex(config.register)}: {hex(old_value)} -> {hex(new_value)}")
+
+  def set_configs(self, configs: list[AmpConfig]) -> bool:
+    tries = 15
+    backoff = 0.
+    for i in range(tries):
+      try:
+        self._set_configs(configs)
+        return True
+      except OSError:
+        backoff += 0.1
+        time.sleep(backoff)
+        print(f"Failed to set amp config, {tries - i - 1} retries left")
+    return False
+
+  def set_global_shutdown(self, amp_disabled: bool) -> bool:
+    return self.set_configs([self._get_shutdown_config(amp_disabled), ])
+
+  def initialize_configuration(self, model: str) -> bool:
+    cfgs = [
+      self._get_shutdown_config(True),
+      *BASE_CONFIG,
+      *CONFIGS[model],
+      self._get_shutdown_config(False),
+    ]
+    return self.set_configs(cfgs)
+
+
+if __name__ == "__main__":
+  with open("/sys/firmware/devicetree/base/model") as f:
+    model = f.read().strip('\x00')
+  model = model.split('comma ')[-1]
+
+  amp = Amplifier()
+  amp.initialize_configuration(model)

iqpilot/system/hardware/tici/esim.nmconnection

@@ -0,0 +1,30 @@
+[connection]
+id=esim
+uuid=fff6553c-3284-4707-a6b1-acc021caaafb
+type=gsm
+permissions=
+autoconnect=true
+autoconnect-retries=100
+autoconnect-priority=2
+metered=1
+
+[gsm]
+apn=
+home-only=false
+auto-config=true
+sim-id=
+
+[ipv4]
+route-metric=1000
+dns-priority=1000
+dns-search=
+method=auto
+
+[ipv6]
+ddr-gen-mode=stable-privacy
+dns-search=
+route-metric=1000
+dns-priority=1000
+method=auto
+
+[proxy]

iqpilot/system/hardware/tici/esim_manager.py

@@ -0,0 +1,290 @@
+import threading
+import subprocess
+import time
+from dataclasses import dataclass
+from enum import Enum
+from queue import Queue, Empty
+from typing import Callable
+
+from iqpilot.common.params import Params
+from iqpilot.system.hardware import HARDWARE
+from iqpilot.system.hardware.base import LPAError, LPAProfileNotFoundError, Profile
+
+
+class EsimOperationState(Enum):
+  IDLE = "idle"
+  SCANNING = "scanning"
+  DOWNLOADING = "downloading"
+  SWITCHING = "switching"
+  RENAMING = "renaming"
+  DELETING = "deleting"
+  REBOOTING_MODEM = "rebooting modem"
+  COMPLETED = "completed"
+  FAILED = "failed"
+
+
+@dataclass
+class EsimUiState:
+  state: EsimOperationState = EsimOperationState.IDLE
+  message: str = ""
+  profiles: list[Profile] | None = None
+  busy: bool = False
+
+
+class EsimManager:
+  def __init__(self):
+    self._params = Params()
+    self._lock = threading.Lock()
+    self._callbacks: list[Callable[[EsimUiState], None]] = []
+    self._state = EsimUiState()
+    self._support_cache: bool | None = None
+    self._support_cache_ts = 0.0
+
+    self._ops: Queue[Callable[[], None]] = Queue()
+    self._worker = threading.Thread(target=self._worker_loop, daemon=True)
+    self._worker.start()
+
+  def is_supported(self) -> bool:
+    raw_flag = self._params.get("EnableEsimProvisioning")
+    enabled = True if raw_flag is None else self._params.get_bool("EnableEsimProvisioning")
+    if not enabled:
+      return False
+    if HARDWARE.get_device_type() not in ("tici", "tizi", "mici"):
+      return False
+    return self._has_euicc()
+
+  def _has_euicc(self, force_refresh: bool = False) -> bool:
+    now = time.monotonic()
+    if not force_refresh and self._support_cache is not None and now - self._support_cache_ts < 5.0:
+      return self._support_cache
+
+    supported = self._query_euicc_support()
+    self._support_cache = supported
+    self._support_cache_ts = now
+    return supported
+
+  @staticmethod
+  def _query_euicc_support() -> bool:
+    try:
+      res = subprocess.run(
+        ["sudo", "qmicli", "-p", "-d", "/dev/cdc-wdm0", "--uim-get-slot-status"],
+        capture_output=True, text=True, check=False, timeout=8,
+      )
+    except Exception:
+      return False
+
+    output = f"{res.stdout}\n{res.stderr}"
+    if "Is eUICC: yes" in output:
+      return True
+    if "Is eUICC: no" in output:
+      return False
+    return False
+
+  def add_callback(self, cb: Callable[[EsimUiState], None]) -> None:
+    with self._lock:
+      self._callbacks.append(cb)
+      state = self._copy_state_locked()
+    cb(state)
+
+  def remove_callback(self, cb: Callable[[EsimUiState], None]) -> None:
+    with self._lock:
+      self._callbacks = [c for c in self._callbacks if c is not cb]
+
+  def get_state(self) -> EsimUiState:
+    with self._lock:
+      return self._copy_state_locked()
+
+  def refresh_profiles(self) -> None:
+    if not self._is_supported_for_operation():
+      self._set_profiles([])
+      self._set_state(EsimOperationState.IDLE, self._unavailable_message(), busy=False)
+      return
+    self._enqueue(self._refresh_profiles)
+
+  def is_comma_profile(self, iccid: str) -> bool:
+    try:
+      return HARDWARE.get_sim_lpa().is_comma_profile(iccid)
+    except Exception:
+      return False
+
+  def add_profile(self, activation_code: str, nickname: str | None = None) -> None:
+    def _op() -> None:
+      self._set_state(EsimOperationState.DOWNLOADING, "Downloading profile...", busy=True)
+      lpa = HARDWARE.get_sim_lpa()
+      lpa.download_profile(activation_code, nickname=nickname)
+      self._set_state(EsimOperationState.REBOOTING_MODEM, "Reconnecting modem...", busy=True)
+      self._refresh_profiles()
+      self._set_state(EsimOperationState.COMPLETED, "Profile added", busy=False)
+    self._enqueue(_op)
+
+  def switch_profile(self, iccid: str) -> None:
+    def _op() -> None:
+      self._set_state(EsimOperationState.SWITCHING, "Switching profile...", busy=True)
+      lpa = HARDWARE.get_sim_lpa()
+      lpa.switch_profile(iccid)
+      self._set_state(EsimOperationState.REBOOTING_MODEM, "Reconnecting modem...", busy=True)
+      self._refresh_profiles()
+      self._set_state(EsimOperationState.COMPLETED, "Profile switched", busy=False)
+    self._enqueue(_op)
+
+  def rename_profile(self, iccid: str, nickname: str) -> None:
+    def _op() -> None:
+      self._set_state(EsimOperationState.RENAMING, "Renaming profile...", busy=True)
+      lpa = HARDWARE.get_sim_lpa()
+      lpa.nickname_profile(iccid, nickname)
+      self._refresh_profiles()
+      self._set_state(EsimOperationState.COMPLETED, "Profile renamed", busy=False)
+    self._enqueue(_op)
+
+  def delete_profile(self, iccid: str) -> None:
+    def _op() -> None:
+      self._set_state(EsimOperationState.DELETING, "Deleting profile...", busy=True)
+      lpa = HARDWARE.get_sim_lpa()
+      lpa.delete_profile(iccid)
+      self._set_state(EsimOperationState.REBOOTING_MODEM, "Reconnecting modem...", busy=True)
+      self._refresh_profiles()
+      self._set_state(EsimOperationState.COMPLETED, "Profile deleted", busy=False)
+    self._enqueue(_op)
+
+  def bootstrap(self) -> None:
+    def _op() -> None:
+      self._set_state(EsimOperationState.DELETING, "Removing Comma pSIM...", busy=True)
+      lpa = HARDWARE.get_sim_lpa()
+      lpa.bootstrap()
+      self._set_state(EsimOperationState.REBOOTING_MODEM, "Reconnecting modem...", busy=True)
+      self._refresh_profiles()
+      self._set_state(EsimOperationState.COMPLETED, "Comma pSIM removed", busy=False)
+    self._enqueue(_op)
+
+  def set_scanning_state(self, scanning: bool) -> None:
+    if scanning:
+      self._set_state(EsimOperationState.SCANNING, "Point camera at an eSIM QR code", busy=True)
+    else:
+      self._set_state(EsimOperationState.IDLE, "", busy=False)
+
+  def _enqueue(self, fn: Callable[[], None]) -> None:
+    if not self._is_supported_for_operation():
+      self._set_state(EsimOperationState.FAILED, self._unavailable_message(), busy=False)
+      return
+    self._ops.put(fn)
+
+  def _is_supported_for_operation(self) -> bool:
+    raw_flag = self._params.get("EnableEsimProvisioning")
+    enabled = True if raw_flag is None else self._params.get_bool("EnableEsimProvisioning")
+    if not enabled:
+      return False
+    if HARDWARE.get_device_type() not in ("tici", "tizi", "mici"):
+      return False
+    return self._has_euicc(force_refresh=True)
+
+  def _unavailable_message(self) -> str:
+    if HARDWARE.get_device_type() in ("tici", "tizi", "mici"):
+      return "Insert the original comma SIM card that came with the device to use eSIM"
+    return "eSIM provisioning is unavailable on this device"
+
+  def _worker_loop(self) -> None:
+    while True:
+      try:
+        op = self._ops.get(timeout=0.2)
+      except Empty:
+        continue
+      try:
+        op()
+      except Exception as e:
+        self._set_state(EsimOperationState.FAILED, self._map_error(e), busy=False)
+      finally:
+        self._ops.task_done()
+
+  def _refresh_profiles(self) -> None:
+    if not self._is_supported_for_operation():
+      self._set_profiles([])
+      return
+    profiles = HARDWARE.get_sim_lpa().list_profiles()
+    self._set_profiles(profiles)
+
+  def _set_profiles(self, profiles: list[Profile]) -> None:
+    with self._lock:
+      self._state.profiles = profiles
+      state = self._copy_state_locked()
+      callbacks = list(self._callbacks)
+    for cb in callbacks:
+      cb(state)
+
+  def _set_state(self, state: EsimOperationState, message: str, busy: bool) -> None:
+    with self._lock:
+      self._state.state = state
+      self._state.message = message
+      self._state.busy = busy
+      snapshot = self._copy_state_locked()
+      callbacks = list(self._callbacks)
+    for cb in callbacks:
+      cb(snapshot)
+
+  def _copy_state_locked(self) -> EsimUiState:
+    profiles = list(self._state.profiles) if self._state.profiles is not None else None
+    return EsimUiState(
+      state=self._state.state,
+      message=self._state.message,
+      profiles=profiles,
+      busy=self._state.busy,
+    )
+
+  @staticmethod
+  def _map_error(error: Exception) -> str:
+    if isinstance(error, LPAProfileNotFoundError):
+      return "Profile not found"
+    if isinstance(error, LPAError):
+      message = str(error)
+      lower = message.lower()
+      if "is euicc: no" in lower or "reports no euicc support" in lower:
+        return "Insert the original comma SIM to enable eSIM provisioning on this device"
+      if "certificate verify failed" in lower or "ssl" in lower or "tls" in lower:
+        return "TLS validation failed while contacting SM-DP+"
+      if "system time is not set" in lower:
+        return "Device time is invalid; connect to network and retry"
+      if "returned no modems" in lower or "object does not exist at path" in lower:
+        return "Modem is restarting; wait a moment and refresh profiles"
+      if "timed out" in lower or "timeout" in lower:
+        return "Modem timed out while provisioning eSIM"
+      if "delete the existing comma psim profile" in lower:
+        return "Delete the Comma pSIM profile before activating RedPocket"
+      if "not bootstrapped" in lower:
+        return "Delete the Comma pSIM profile before using user eSIM profiles"
+      if "cannot delete active profile" in lower:
+        return "Cannot delete active profile"
+      if "profile delete may have succeeded" in lower:
+        return "Profile may already be deleted; refresh profiles"
+      if "profile delete did not finish cleanly" in lower:
+        return "Profile delete did not complete; refresh profiles and retry"
+      if "profile switch may have succeeded" in lower:
+        return "Profile likely switched; refresh profiles"
+      if "profile switch did not finish cleanly" in lower:
+        return "Profile switch did not complete; refresh profiles and retry"
+      if "profile add may have succeeded" in lower:
+        return "Profile may already be added; refresh profiles"
+      if "profile add did not finish cleanly" in lower:
+        return "Profile add did not complete; refresh profiles and retry"
+      if "profile enable may have succeeded" in lower:
+        return "Profile may already be enabled; refresh profiles"
+      if "profile enable did not finish cleanly" in lower:
+        return "Profile enable did not complete; refresh profiles and retry"
+      if "profile disable may have succeeded" in lower:
+        return "Profile may already be disabled; refresh profiles"
+      if "profile disable did not finish cleanly" in lower:
+        return "Profile disable did not complete; refresh profiles and retry"
+      if "bf2800" in lower or "listnotification" in lower:
+        return "Modem notification cleanup failed; refresh profiles"
+      return message
+    return str(error)
+
+
+_ESIM_MANAGER: EsimManager | None = None
+_ESIM_MANAGER_LOCK = threading.Lock()
+
+
+def get_esim_manager() -> EsimManager:
+  global _ESIM_MANAGER
+  with _ESIM_MANAGER_LOCK:
+    if _ESIM_MANAGER is None:
+      _ESIM_MANAGER = EsimManager()
+    return _ESIM_MANAGER

iqpilot/system/hardware/tici/gsma_ci_bundle.pem

@@ -0,0 +1,133 @@
+# GSMA Certificate Issuer (CI) bundle for eSIM RSP
+# Source: https://euicc-manual.osmocom.org/docs/pki/ci/bundle.pem
+
+issuer=
+    countryName = CH
+    organizationName = OISTE Foundation
+    commonName = OISTE GSMA CI G1
+notBefore=2024-01-16 23:17:39Z
+notAfter=2059-01-07 23:17:38Z
+-----BEGIN CERTIFICATE-----
+MIIB9zCCAZ2gAwIBAgIUSpBSCCDYPOEG/IFHUCKpZ2pIAQMwCgYIKoZIzj0EAwIw
+QzELMAkGA1UEBhMCQ0gxGTAXBgNVBAoMEE9JU1RFIEZvdW5kYXRpb24xGTAXBgNV
+BAMMEE9JU1RFIEdTTUEgQ0kgRzEwIBcNMjQwMTE2MjMxNzM5WhgPMjA1OTAxMDcy
+MzE3MzhaMEMxCzAJBgNVBAYTAkNIMRkwFwYDVQQKDBBPSVNURSBGb3VuZGF0aW9u
+MRkwFwYDVQQDDBBPSVNURSBHU01BIENJIEcxMFkwEwYHKoZIzj0CAQYIKoZIzj0D
+AQcDQgAEvZ3s3PFC4NgrCcCMmHJ6DJ66uzAHuLcvjJnOn+TtBNThS7YHLDyHCa2v
+7D+zTP+XTtgqgcLoB56Gha9EQQQ4xKNtMGswDwYDVR0TAQH/BAUwAwEB/zAQBgNV
+HREECTAHiAVghXQFDjAXBgNVHSABAf8EDTALMAkGB2eBEgECAQAwHQYDVR0OBBYE
+FEwnlnrSDBSzkelgHkHmBK1XwCIvMA4GA1UdDwEB/wQEAwIBBjAKBggqhkjOPQQD
+AgNIADBFAiBVcywTj017jKpAQ+gwy4MqK2hQvzve6lkvQkgSP6ykHwIhAI0KFwCD
+jnPbmcJsG41hUrWNlf+IcrMvFuYii0DasBNi
+-----END CERTIFICATE-----
+issuer=
+    organizationName = GSM Association
+    commonName = GSM Association - RSP2 Root CI1
+notBefore=2017-02-22 00:00:00Z
+notAfter=2052-02-21 23:59:59Z
+-----BEGIN CERTIFICATE-----
+MIICSTCCAe+gAwIBAgIQbmhWeneg7nyF7hg5Y9+qejAKBggqhkjOPQQDAjBEMRgw
+FgYDVQQKEw9HU00gQXNzb2NpYXRpb24xKDAmBgNVBAMTH0dTTSBBc3NvY2lhdGlv
+biAtIFJTUDIgUm9vdCBDSTEwIBcNMTcwMjIyMDAwMDAwWhgPMjA1MjAyMjEyMzU5
+NTlaMEQxGDAWBgNVBAoTD0dTTSBBc3NvY2lhdGlvbjEoMCYGA1UEAxMfR1NNIEFz
+c29jaWF0aW9uIC0gUlNQMiBSb290IENJMTBZMBMGByqGSM49AgEGCCqGSM49AwEH
+A0IABJ1qutL0HCMX52GJ6/jeibsAqZfULWj/X10p/Min6seZN+hf5llovbCNuB2n
+unLz+O8UD0SUCBUVo8e6n9X1TuajgcAwgb0wDgYDVR0PAQH/BAQDAgEGMA8GA1Ud
+EwEB/wQFMAMBAf8wEwYDVR0RBAwwCogIKwYBBAGC6WAwFwYDVR0gAQH/BA0wCzAJ
+BgdngRIBAgEAME0GA1UdHwRGMEQwQqBAoD6GPGh0dHA6Ly9nc21hLWNybC5zeW1h
+dXRoLmNvbS9vZmZsaW5lY2EvZ3NtYS1yc3AyLXJvb3QtY2kxLmNybDAdBgNVHQ4E
+FgQUgTcPUSXQsdQI1MOyMubSXnlb6/swCgYIKoZIzj0EAwIDSAAwRQIgIJdYsOMF
+WziPK7l8nh5mu0qiRiVf25oa9ullG/OIASwCIQDqCmDrYf+GziHXBOiwJwnBaeBO
+aFsiLzIEOaUuZwdNUw==
+-----END CERTIFICATE-----
+issuer=
+    countryName = US
+    organizationName = Entrust, Inc.
+    organizationalUnitName = See www.entrust.net/legal-terms
+    organizationalUnitName = (c) 2016 Entrust, Inc. - for authorized use only
+    commonName = Entrust eSIM Certification Authority
+notBefore=2016-11-16 16:04:02Z
+notAfter=2051-10-16 16:34:02Z
+-----BEGIN CERTIFICATE-----
+MIIC6DCCAo2gAwIBAgIRAIy4GT7M5nHsAAAAAFgsinowCgYIKoZIzj0EAwIwgbkx
+CzAJBgNVBAYTAlVTMRYwFAYDVQQKEw1FbnRydXN0LCBJbmMuMSgwJgYDVQQLEx9T
+ZWUgd3d3LmVudHJ1c3QubmV0L2xlZ2FsLXRlcm1zMTkwNwYDVQQLEzAoYykgMjAx
+NiBFbnRydXN0LCBJbmMuIC0gZm9yIGF1dGhvcml6ZWQgdXNlIG9ubHkxLTArBgNV
+BAMTJEVudHJ1c3QgZVNJTSBDZXJ0aWZpY2F0aW9uIEF1dGhvcml0eTAgFw0xNjEx
+MTYxNjA0MDJaGA8yMDUxMTAxNjE2MzQwMlowgbkxCzAJBgNVBAYTAlVTMRYwFAYD
+VQQKEw1FbnRydXN0LCBJbmMuMSgwJgYDVQQLEx9TZWUgd3d3LmVudHJ1c3QubmV0
+L2xlZ2FsLXRlcm1zMTkwNwYDVQQLEzAoYykgMjAxNiBFbnRydXN0LCBJbmMuIC0g
+Zm9yIGF1dGhvcml6ZWQgdXNlIG9ubHkxLTArBgNVBAMTJEVudHJ1c3QgZVNJTSBD
+ZXJ0aWZpY2F0aW9uIEF1dGhvcml0eTBZMBMGByqGSM49AgEGCCqGSM49AwEHA0IA
+BAdzwGHeQ1Wb2f4DmHTByR5/IWL3JugQ1U3908a++bHdlt+TTA7K4c5cYZ+51Yz/
+hg/bacxguPDh9uQUK6Wg3a6jcjBwMA8GA1UdEwEB/wQFMAMBAf8wDgYDVR0PAQH/
+BAQDAgEGMBcGA1UdIAEB/wQNMAswCQYHZ4ESAQIBADAVBgNVHREEDjAMiApghkgB
+hvpsFAoAMB0GA1UdDgQWBBQWcEt/NR42B/GMS3AAXDoAPf1BSjAKBggqhkjOPQQD
+AgNJADBGAiEAspjXMvaBZyAg86Z0AAtT0yBRAi1EyaAfNz9kDJeAE04CIQC3efj8
+ATL7/tDBOhANy3cK8PS/1NIlu9vqMLCZsZvJ0Q==
+-----END CERTIFICATE-----
+issuer=
+    countryName = FR
+    organizationName = OBERTHUR TECHNOLOGIES
+    organizationalUnitName = TELECOM
+    commonName = MC4 OT ROOT CI v1
+notBefore=2016-11-15 00:00:01Z
+notAfter=2046-11-08 23:59:59Z
+-----BEGIN CERTIFICATE-----
+MIICOjCCAeGgAwIBAgIBATAKBggqhkjOPQQDAjBbMQswCQYDVQQGEwJGUjEeMBwG
+A1UEChMVT0JFUlRIVVIgVEVDSE5PTE9HSUVTMRAwDgYDVQQLEwdURUxFQ09NMRow
+GAYDVQQDExFNQzQgT1QgUk9PVCBDSSB2MTAeFw0xNjExMTUwMDAwMDFaFw00NjEx
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iqpilot/system/hardware/tici/hardware.h

@@ -0,0 +1,137 @@
+#pragma once
+
+#include <array>
+#include <cassert>
+#include <cstddef>
+#include <cstdint>
+#include <cstdlib>
+#include <fcntl.h>
+#include <fstream>
+#include <map>
+#include <string>
+#include <algorithm>  // for std::clamp
+#include <sys/ioctl.h>
+#include <unistd.h>
+
+#include "common/util.h"
+#include "system/hardware/base.h"
+
+class HardwareTici : public HardwareNone {
+public:
+  static std::optional<UfsHealth> get_ufs_health() {
+    constexpr unsigned long UFS_IOCTL_QUERY = 0x5388;
+    constexpr uint32_t UPIU_QUERY_OPCODE_READ_DESC = 0x1;
+    constexpr uint8_t QUERY_DESC_IDN_HEALTH = 0x9;
+    constexpr uint16_t QUERY_DESC_HEALTH_SIZE = 0x25;
+
+    struct UfsQuery {
+      uint32_t opcode;
+      uint8_t idn;
+      uint8_t reserved;
+      uint16_t buf_size;
+      std::array<uint8_t, QUERY_DESC_HEALTH_SIZE> buffer;
+    };
+    static_assert(offsetof(UfsQuery, buffer) == 8);
+
+    UfsQuery query = {};
+    query.opcode = UPIU_QUERY_OPCODE_READ_DESC;
+    query.idn = QUERY_DESC_IDN_HEALTH;
+    query.buf_size = QUERY_DESC_HEALTH_SIZE;
+
+    int fd = open("/dev/sda", O_RDONLY | O_CLOEXEC);
+    if (fd < 0) {
+      return std::nullopt;
+    }
+
+    int ret = ioctl(fd, UFS_IOCTL_QUERY, &query);
+    close(fd);
+    if (ret != 0 || query.buf_size < 5 || query.buf_size > query.buffer.size() ||
+        query.buffer[0] != query.buf_size || query.buffer[1] != QUERY_DESC_IDN_HEALTH) {
+      return std::nullopt;
+    }
+
+    return UfsHealth{
+      query.buffer[2],
+      query.buffer[3],
+      query.buffer[4],
+      std::vector<uint8_t>(query.buffer.begin() + 5, query.buffer.begin() + query.buf_size),
+    };
+  }
+
+  static std::string get_name() {
+    std::string model = util::read_file("/sys/firmware/devicetree/base/model");
+    return util::strip(model.substr(std::string("comma ").size()));
+  }
+
+  static cereal::InitData::DeviceType get_device_type() {
+    static const std::map<std::string, cereal::InitData::DeviceType> device_map = {
+      {"tici", cereal::InitData::DeviceType::TICI},
+      {"tizi", cereal::InitData::DeviceType::TIZI},
+      {"mici", cereal::InitData::DeviceType::MICI}
+    };
+    auto it = device_map.find(get_name());
+    assert(it != device_map.end());
+    return it->second;
+  }
+
+  static int get_voltage() { return std::atoi(util::read_file("/sys/class/hwmon/hwmon1/in1_input").c_str()); }
+  static int get_current() { return std::atoi(util::read_file("/sys/class/hwmon/hwmon1/curr1_input").c_str()); }
+
+  static std::string get_serial() {
+    static std::string serial("");
+    if (serial.empty()) {
+      std::ifstream stream("/proc/cmdline");
+      std::string cmdline;
+      std::getline(stream, cmdline);
+
+      auto start = cmdline.find("serialno=");
+      if (start == std::string::npos) {
+        serial = "cccccc";
+      } else {
+        auto end = cmdline.find(" ", start + 9);
+        serial = cmdline.substr(start + 9, end - start - 9);
+      }
+    }
+    return serial;
+  }
+
+  static void set_ir_power(int percent) {
+    auto device = get_device_type();
+    if (device == cereal::InitData::DeviceType::TICI ||
+        device == cereal::InitData::DeviceType::TIZI) {
+      return;
+    }
+
+    int value = util::map_val(std::clamp(percent, 0, 100), 0, 100, 0, 300);
+    std::ofstream("/sys/class/leds/led:switch_2/brightness") << 0 << "\n";
+    std::ofstream("/sys/class/leds/led:torch_2/brightness") << value << "\n";
+    std::ofstream("/sys/class/leds/led:switch_2/brightness") << value << "\n";
+  }
+
+  static std::map<std::string, std::string> get_init_logs(bool route_log = false) {
+    std::map<std::string, std::string> ret = {
+      {"/BUILD", util::read_file("/BUILD")},
+      {"lsblk", util::check_output("lsblk -o NAME,SIZE,STATE,VENDOR,MODEL,REV,SERIAL")},
+      {"SOM ID", util::read_file("/sys/devices/platform/vendor/vendor:gpio-som-id/som_id")},
+    };
+
+    std::string bs = util::check_output("abctl --boot_slot");
+    ret["boot slot"] = bs.substr(0, bs.find_first_of("\n"));
+
+    std::string temp = util::read_file("/dev/disk/by-partlabel/ssd");
+    temp.erase(temp.find_last_not_of(std::string("\0\r\n", 3))+1);
+    ret["boot temp"] = temp;
+
+    if (!route_log) {
+      for (std::string part : {"xbl", "abl", "aop", "devcfg", "xbl_config"}) {
+        for (std::string slot : {"a", "b"}) {
+          std::string partition = part + "_" + slot;
+          std::string hash = util::check_output("sha256sum /dev/disk/by-partlabel/" + partition);
+          ret[partition] = hash.substr(0, hash.find_first_of(" "));
+        }
+      }
+    }
+
+    return ret;
+  }
+};

iqpilot/system/hardware/tici/hardware.py

@@ -0,0 +1,740 @@
+import math
+import os
+import sys
+import subprocess
+import time
+import tempfile
+from enum import IntEnum
+from functools import cached_property, lru_cache
+from pathlib import Path
+
+from iqpilot.cereal import log
+from iqpilot.common.utils import sudo_read, sudo_write
+from iqpilot.common.gpio import gpio_set, gpio_init, get_irqs_for_action
+from iqpilot.system.hardware.base import HardwareBase, LPABase, ThermalConfig, ThermalZone
+from iqpilot.system.hardware.tici import iwlist
+from iqpilot.system.hardware.tici.lpa import TiciLPA
+from iqpilot.system.hardware.tici.pins import GPIO
+from iqpilot.system.hardware.tici.amplifier import Amplifier
+
+NM = 'org.freedesktop.NetworkManager'
+NM_CON_ACT = NM + '.Connection.Active'
+NM_DEV = NM + '.Device'
+NM_DEV_WL = NM + '.Device.Wireless'
+NM_DEV_STATS = NM + '.Device.Statistics'
+NM_AP = NM + '.AccessPoint'
+DBUS_PROPS = 'org.freedesktop.DBus.Properties'
+
+MM = 'org.freedesktop.ModemManager1'
+MM_MODEM = MM + ".Modem"
+MM_MODEM_SIMPLE = MM + ".Modem.Simple"
+MM_SIM = MM + ".Sim"
+
+class MM_MODEM_STATE(IntEnum):
+  FAILED        = -1
+  UNKNOWN       = 0
+  INITIALIZING  = 1
+  LOCKED        = 2
+  DISABLED      = 3
+  DISABLING     = 4
+  ENABLING      = 5
+  ENABLED       = 6
+  SEARCHING     = 7
+  REGISTERED    = 8
+  DISCONNECTING = 9
+  CONNECTING    = 10
+  CONNECTED     = 11
+
+class NMActiveConnectionState(IntEnum):
+  UNKNOWN = 0
+  ACTIVATING = 1
+  ACTIVATED = 2
+  DEACTIVATING = 3
+  DEACTIVATED = 4
+
+class NMMetered(IntEnum):
+  NM_METERED_UNKNOWN = 0
+  NM_METERED_YES = 1
+  NM_METERED_NO = 2
+  NM_METERED_GUESS_YES = 3
+  NM_METERED_GUESS_NO = 4
+
+TIMEOUT = 0.1
+REFRESH_RATE_MS = 1000
+
+NetworkType = log.DeviceState.NetworkType
+NetworkStrength = log.DeviceState.NetworkStrength
+
+# https://developer.gnome.org/ModemManager/unstable/ModemManager-Flags-and-Enumerations.html#MMModemAccessTechnology
+MM_MODEM_ACCESS_TECHNOLOGY_UMTS = 1 << 5
+MM_MODEM_ACCESS_TECHNOLOGY_LTE = 1 << 14
+
+# MMModemStateFailedReason
+MM_MODEM_STATE_FAILED_REASON_SIM_MISSING = 2
+
+
+def affine_irq(val, action):
+  irqs = get_irqs_for_action(action)
+  if len(irqs) == 0:
+    return
+
+  for i in irqs:
+    sudo_write(str(val), f"/proc/irq/{i}/smp_affinity_list")
+
+@lru_cache
+def get_device_type():
+  # lru_cache and cache can cause memory leaks when used in classes
+  try:
+    with open("/sys/firmware/devicetree/base/model") as f:
+      model = f.read().strip('\x00')
+  except FileNotFoundError:
+    # off-device (e.g. the prebuilt build container fakes /TICI but has no
+    # devicetree); import must not crash. Not a real device type.
+    return "unknown"
+  return model.split('comma ')[-1]
+
+class Tici(HardwareBase):
+  @staticmethod
+  def _ensure_system_python_path() -> None:
+    system_site = "/usr/lib/python3/dist-packages"
+    if system_site not in sys.path and os.path.isdir(system_site):
+      sys.path.append(system_site)
+
+  @staticmethod
+  def _run_direct_modem_command(command: str) -> None:
+    import serial
+
+    last_error: Exception | None = None
+    for device in ("/dev/ttyUSB2", "/dev/ttyUSB3"):
+      if not os.path.exists(device):
+        continue
+
+      try:
+        with serial.Serial(device, baudrate=9600, timeout=2) as modem:
+          modem.reset_input_buffer()
+          modem.write((command + "\r").encode("ascii"))
+
+          deadline = time.monotonic() + 3.0
+          while time.monotonic() < deadline:
+            line = modem.readline().decode(errors="ignore").strip()
+            if not line:
+              continue
+            if line == "OK":
+              return
+            if line == "ERROR" or "ERROR" in line:
+              raise RuntimeError(f"{device}: {line}")
+          raise TimeoutError(f"{device}: timed out waiting for modem response")
+      except Exception as e:
+        last_error = e
+
+    if last_error is not None:
+      raise last_error
+    raise RuntimeError("No modem AT port available")
+
+  @cached_property
+  def bus(self):
+    try:
+      import dbus
+    except ModuleNotFoundError:
+      self._ensure_system_python_path()
+      import dbus
+    return dbus.SystemBus()
+
+  @cached_property
+  def nm(self):
+    return self.bus.get_object(NM, '/org/freedesktop/NetworkManager')
+
+  @property # this should not be cached, in case the modemmanager restarts
+  def mm(self):
+    return self.bus.get_object(MM, '/org/freedesktop/ModemManager1')
+
+  @cached_property
+  def amplifier(self):
+    if self.get_device_type() == "mici":
+      return None
+    if os.path.exists('/tmp/lite_hw') or os.environ.get('LITE') == '1':
+      return None
+    return Amplifier()
+
+  def get_os_version(self):
+    with open("/VERSION") as f:
+      return f.read().strip()
+
+  def get_device_type(self):
+    return get_device_type()
+
+  def reboot(self, reason=None):
+    subprocess.check_output(["sudo", "reboot"])
+
+  def uninstall(self):
+    Path("/data/__system_reset__").touch()
+    os.sync()
+    self.reboot()
+
+  def get_serial(self):
+    return self.get_cmdline()['androidboot.serialno']
+
+  def get_voltage(self):
+    with open("/sys/class/hwmon/hwmon1/in1_input") as f:
+      return int(f.read())
+
+  def get_current(self):
+    with open("/sys/class/hwmon/hwmon1/curr1_input") as f:
+      return int(f.read())
+
+  def set_ir_power(self, percent: int):
+    if self.get_device_type() in ("tici", "tizi"):
+      return
+
+    value = int((percent / 100) * 300)
+    with open("/sys/class/leds/led:switch_2/brightness", "w") as f:
+      f.write("0\n")
+    with open("/sys/class/leds/led:torch_2/brightness", "w") as f:
+      f.write(f"{value}\n")
+    with open("/sys/class/leds/led:switch_2/brightness", "w") as f:
+      f.write(f"{value}\n")
+
+  def get_network_type(self):
+    try:
+      primary_connection = self.nm.Get(NM, 'PrimaryConnection', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
+      primary_connection = self.bus.get_object(NM, primary_connection)
+      primary_type = primary_connection.Get(NM_CON_ACT, 'Type', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
+
+      if primary_type == '802-3-ethernet':
+        return NetworkType.ethernet
+      elif primary_type == '802-11-wireless':
+        return NetworkType.wifi
+      else:
+        active_connections = self.nm.Get(NM, 'ActiveConnections', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
+        for conn in active_connections:
+          c = self.bus.get_object(NM, conn)
+          tp = c.Get(NM_CON_ACT, 'Type', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
+          if tp == 'gsm':
+            modem = self.get_modem()
+            modem_state = modem.Get(MM_MODEM, 'State', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
+            if modem_state < MM_MODEM_STATE.REGISTERED:
+              return NetworkType.none
+            access_t = modem.Get(MM_MODEM, 'AccessTechnologies', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
+            if access_t >= MM_MODEM_ACCESS_TECHNOLOGY_LTE:
+              return NetworkType.cell4G
+            elif access_t >= MM_MODEM_ACCESS_TECHNOLOGY_UMTS:
+              return NetworkType.cell3G
+            else:
+              return NetworkType.cell2G
+    except Exception:
+      pass
+
+    return NetworkType.none
+
+  def get_modem(self):
+    objects = self.mm.GetManagedObjects(dbus_interface="org.freedesktop.DBus.ObjectManager", timeout=TIMEOUT)
+    if not objects:
+      raise RuntimeError("ModemManager returned no modems")
+    modem_path = next(iter(objects))
+    return self.bus.get_object(MM, modem_path)
+
+  def get_wlan(self):
+    wlan_path = self.nm.GetDeviceByIpIface('wlan0', dbus_interface=NM, timeout=TIMEOUT)
+    return self.bus.get_object(NM, wlan_path)
+
+  def get_wwan(self):
+    wwan_path = self.nm.GetDeviceByIpIface('wwan0', dbus_interface=NM, timeout=TIMEOUT)
+    return self.bus.get_object(NM, wwan_path)
+
+  def get_sim_info(self):
+    modem = self.get_modem()
+    sim_path = modem.Get(MM_MODEM, 'Sim', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
+
+    if sim_path == "/":
+      return {
+        'sim_id': '',
+        'mcc_mnc': None,
+        'network_type': ["Unknown"],
+        'sim_state': ["ABSENT"],
+        'data_connected': False
+      }
+    else:
+      sim = self.bus.get_object(MM, sim_path)
+      return {
+        'sim_id': str(sim.Get(MM_SIM, 'SimIdentifier', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)),
+        'mcc_mnc': str(sim.Get(MM_SIM, 'OperatorIdentifier', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)),
+        'network_type': ["Unknown"],
+        'sim_state': ["READY"],
+        'data_connected': modem.Get(MM_MODEM, 'State', dbus_interface=DBUS_PROPS, timeout=TIMEOUT) == MM_MODEM_STATE.CONNECTED,
+      }
+
+  def get_sim_lpa(self) -> LPABase:
+    return TiciLPA()
+
+  def get_imei(self, slot):
+    if slot != 0:
+      return ""
+
+    return str(self.get_modem().Get(MM_MODEM, 'EquipmentIdentifier', dbus_interface=DBUS_PROPS, timeout=TIMEOUT))
+
+  def get_network_info(self):
+    if self.get_device_type() == "mici":
+      return None
+    try:
+      modem = self.get_modem()
+      info = modem.Command("AT+QNWINFO", math.ceil(TIMEOUT), dbus_interface=MM_MODEM, timeout=TIMEOUT)
+      extra = modem.Command('AT+QENG="servingcell"', math.ceil(TIMEOUT), dbus_interface=MM_MODEM, timeout=TIMEOUT)
+      state = modem.Get(MM_MODEM, 'State', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
+    except Exception:
+      return None
+
+    if info and info.startswith('+QNWINFO: '):
+      info = info.replace('+QNWINFO: ', '').replace('"', '').split(',')
+      extra = "" if extra is None else extra.replace('+QENG: "servingcell",', '').replace('"', '')
+      state = "" if state is None else MM_MODEM_STATE(state).name
+
+      if len(info) != 4:
+        return None
+
+      technology, operator, band, channel = info
+
+      return({
+        'technology': technology,
+        'operator': operator,
+        'band': band,
+        'channel': int(channel),
+        'extra': extra,
+        'state': state,
+      })
+    else:
+      return None
+
+  def parse_strength(self, percentage):
+    if percentage < 25:
+      return NetworkStrength.poor
+    elif percentage < 50:
+      return NetworkStrength.moderate
+    elif percentage < 75:
+      return NetworkStrength.good
+    else:
+      return NetworkStrength.great
+
+  def get_network_strength(self, network_type):
+    network_strength = NetworkStrength.unknown
+
+    try:
+      if network_type == NetworkType.none:
+        pass
+      elif network_type == NetworkType.wifi:
+        wlan = self.get_wlan()
+        active_ap_path = wlan.Get(NM_DEV_WL, 'ActiveAccessPoint', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
+        if active_ap_path != "/":
+          active_ap = self.bus.get_object(NM, active_ap_path)
+          strength = int(active_ap.Get(NM_AP, 'Strength', dbus_interface=DBUS_PROPS, timeout=TIMEOUT))
+          network_strength = self.parse_strength(strength)
+      else:  # Cellular
+        modem = self.get_modem()
+        strength = int(modem.Get(MM_MODEM, 'SignalQuality', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)[0])
+        network_strength = self.parse_strength(strength)
+    except Exception:
+      pass
+
+    return network_strength
+
+  def get_network_metered(self, network_type) -> bool:
+    try:
+      primary_connection = self.nm.Get(NM, 'PrimaryConnection', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
+      primary_connection = self.bus.get_object(NM, primary_connection)
+      primary_devices = primary_connection.Get(NM_CON_ACT, 'Devices', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
+
+      for dev in primary_devices:
+        dev_obj = self.bus.get_object(NM, str(dev))
+        metered_prop = dev_obj.Get(NM_DEV, 'Metered', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
+
+        if network_type == NetworkType.wifi:
+          if metered_prop in [NMMetered.NM_METERED_YES, NMMetered.NM_METERED_GUESS_YES]:
+            return True
+        elif network_type in [NetworkType.cell2G, NetworkType.cell3G, NetworkType.cell4G, NetworkType.cell5G]:
+          if metered_prop == NMMetered.NM_METERED_NO:
+            return False
+    except Exception:
+      pass
+
+    return super().get_network_metered(network_type)
+
+  def get_modem_version(self):
+    try:
+      modem = self.get_modem()
+      return modem.Get(MM_MODEM, 'Revision', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
+    except Exception:
+      return None
+
+  def get_modem_temperatures(self):
+    timeout = 0.2  # Default timeout is too short
+    try:
+      modem = self.get_modem()
+      temps = modem.Command("AT+QTEMP", math.ceil(timeout), dbus_interface=MM_MODEM, timeout=timeout)
+      return list(filter(lambda t: t != 255, map(int, temps.split(' ')[1].split(','))))
+    except Exception:
+      return []
+
+
+  def get_current_power_draw(self):
+    return (self.read_param_file("/sys/class/hwmon/hwmon1/power1_input", int) / 1e6)
+
+  def get_som_power_draw(self):
+    return (self.read_param_file("/sys/class/power_supply/bms/voltage_now", int) * self.read_param_file("/sys/class/power_supply/bms/current_now", int) / 1e12)
+
+  def shutdown(self):
+    os.system("sudo poweroff")
+
+  def get_thermal_config(self):
+    intake, exhaust, case = None, None, None
+    if self.get_device_type() == "mici":
+      case = ThermalZone("case")
+      intake = ThermalZone("intake")
+      exhaust = ThermalZone("exhaust")
+    return ThermalConfig(cpu=[ThermalZone(f"cpu{i}-silver-usr") for i in range(4)] +
+                             [ThermalZone(f"cpu{i}-gold-usr") for i in range(4)],
+                         gpu=[ThermalZone("gpu0-usr"), ThermalZone("gpu1-usr")],
+                         dsp=ThermalZone("compute-hvx-usr"),
+                         memory=ThermalZone("ddr-usr"),
+                         pmic=[ThermalZone("pm8998_tz"), ThermalZone("pm8005_tz")],
+                         intake=intake,
+                         exhaust=exhaust,
+                         case=case)
+
+  def set_display_power(self, on):
+    try:
+      with open("/sys/class/backlight/panel0-backlight/bl_power", "w") as f:
+        f.write("0" if on else "4")
+    except Exception:
+      pass
+
+  def set_screen_brightness(self, percentage):
+    try:
+      with open("/sys/class/backlight/panel0-backlight/max_brightness") as f:
+        max_brightness = float(f.read().strip())
+
+      val = int(percentage * (max_brightness / 100.))
+      with open("/sys/class/backlight/panel0-backlight/brightness", "w") as f:
+        f.write(str(val))
+    except Exception:
+      pass
+
+  def get_screen_brightness(self):
+    try:
+      with open("/sys/class/backlight/panel0-backlight/max_brightness") as f:
+        max_brightness = float(f.read().strip())
+
+      with open("/sys/class/backlight/panel0-backlight/brightness") as f:
+        return int(float(f.read()) / (max_brightness / 100.))
+    except Exception:
+      return 0
+
+  def set_power_save(self, powersave_enabled):
+    # amplifier, 100mW at idle
+    if self.amplifier is not None:
+      self.amplifier.set_global_shutdown(amp_disabled=powersave_enabled)
+      if not powersave_enabled:
+        self.amplifier.initialize_configuration(self.get_device_type())
+
+    # *** CPU config ***
+
+    # offline big cluster
+    for i in range(4, 8):
+      val = '0' if powersave_enabled else '1'
+      sudo_write(val, f'/sys/devices/system/cpu/cpu{i}/online')
+
+    for n in ('0', '4'):
+      if powersave_enabled and n == '4':
+        continue
+      gov = 'ondemand' if powersave_enabled else 'performance'
+      sudo_write(gov, f'/sys/devices/system/cpu/cpufreq/policy{n}/scaling_governor')
+
+    # *** IRQ config ***
+
+    # GPU, modeld core
+    affine_irq(7, "kgsl-3d0")
+
+    # camerad core
+    camera_irqs = ("a5", "cci", "cpas_camnoc", "cpas-cdm", "csid", "ife", "csid-lite", "ife-lite")
+    for n in camera_irqs:
+      affine_irq(6, n)
+
+  def get_gpu_usage_percent(self):
+    try:
+      with open('/sys/class/kgsl/kgsl-3d0/gpubusy') as f:
+        used, total = f.read().strip().split()
+      return 100.0 * int(used) / int(total)
+    except Exception:
+      return 0
+
+  def initialize_hardware(self):
+    if self.amplifier is not None:
+      self.amplifier.initialize_configuration(self.get_device_type())
+
+    # Allow hardwared to write engagement status to kmsg
+    os.system("sudo chmod a+w /dev/kmsg")
+
+    # Ensure fan gpio is enabled so fan runs until shutdown, also turned on at boot by the ABL
+    gpio_init(GPIO.SOM_ST_IO, True)
+    gpio_set(GPIO.SOM_ST_IO, 1)
+
+    # *** IRQ config ***
+
+    # mask off big cluster from default affinity
+    sudo_write("f", "/proc/irq/default_smp_affinity")
+
+    # move these off the default core
+    affine_irq(1, "msm_vidc")  # encoders
+    affine_irq(1, "i2c_geni")  # sensors
+
+    # *** GPU config ***
+    # https://github.com/commaai/agnos-kernel-sdm845/blob/master/arch/arm64/boot/dts/qcom/sdm845-gpu.dtsi#L216
+    affine_irq(5, "fts_ts")    # touch
+    affine_irq(5, "msm_drm")   # display
+    sudo_write("1", "/sys/class/kgsl/kgsl-3d0/min_pwrlevel")
+    sudo_write("1", "/sys/class/kgsl/kgsl-3d0/max_pwrlevel")
+    sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_bus_on")
+    sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_clk_on")
+    sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_rail_on")
+    sudo_write("1000", "/sys/class/kgsl/kgsl-3d0/idle_timer")
+    sudo_write("performance", "/sys/class/kgsl/kgsl-3d0/devfreq/governor")
+    sudo_write("710", "/sys/class/kgsl/kgsl-3d0/max_clock_mhz")
+
+    # setup governors
+    sudo_write("performance", "/sys/class/devfreq/soc:qcom,cpubw/governor")
+    sudo_write("performance", "/sys/class/devfreq/soc:qcom,memlat-cpu0/governor")
+    sudo_write("performance", "/sys/class/devfreq/soc:qcom,memlat-cpu4/governor")
+
+    # *** VIDC (encoder) config ***
+    sudo_write("N", "/sys/kernel/debug/msm_vidc/clock_scaling")
+    sudo_write("Y", "/sys/kernel/debug/msm_vidc/disable_thermal_mitigation")
+
+    # pandad core
+    affine_irq(3, "spi_geni")         # SPI
+    if "tici" in self.get_device_type():
+      affine_irq(3, "xhci-hcd:usb3")
+      affine_irq(3, "xhci-hcd:usb1")
+    try:
+      pid = subprocess.check_output(["pgrep", "-f", "spi0"], encoding='utf8').strip()
+      subprocess.call(["sudo", "chrt", "-f", "-p", "1", pid])
+      subprocess.call(["sudo", "taskset", "-pc", "3", pid], stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL)
+    except subprocess.CalledProcessException as e:
+      print(str(e))
+
+  def configure_modem(self):
+    from iqpilot.common.params import Params
+
+    sim_info = self.get_sim_info()
+    sim_id = sim_info.get('sim_id', '')
+    params = Params()
+    manual_apn = params.get("GsmApn", encoding="utf-8") or ""
+    metered_enabled = params.get_bool("GsmMetered")
+
+    modem = self.get_modem()
+    try:
+      manufacturer = str(modem.Get(MM_MODEM, 'Manufacturer', dbus_interface=DBUS_PROPS, timeout=TIMEOUT))
+    except Exception:
+      manufacturer = None
+
+    cmds = []
+    is_comma_profile = self.get_sim_lpa().is_comma_profile(sim_id)
+    roaming_enabled = params.get_bool("GsmRoaming")
+    initial_eps_apn = "" if is_comma_profile else manual_apn
+
+    if not is_comma_profile and params.get("GsmRoaming") is None:
+      params.put_bool("GsmRoaming", True)
+      roaming_enabled = True
+
+    subprocess.call([
+      "nmcli", "connection", "modify", "lte",
+      "gsm.auto-config", "no" if manual_apn else "yes",
+      "gsm.apn", manual_apn,
+      "gsm.home-only", "no" if roaming_enabled else "yes",
+      "gsm.network-id", "",
+      "gsm.initial-eps-bearer-configure", "yes" if initial_eps_apn else "no",
+      "gsm.initial-eps-bearer-apn", initial_eps_apn,
+      "connection.metered", "unknown" if metered_enabled else "no",
+    ], stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL)
+
+    if self.get_device_type() in ("tici", "tizi"):
+      if initial_eps_apn:
+        subprocess.call(["mmcli", "-m", "any", f'--3gpp-set-initial-eps-bearer-settings=apn={initial_eps_apn}'])
+      else:
+        subprocess.call(["mmcli", "-m", "any", '--3gpp-set-initial-eps-bearer-settings=apn='])
+
+      cmds += [
+        # 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":
+        cmds += [
+          'AT+QSIMDET=1,0',
+          'AT+QSIMSTAT=1',
+        ]
+    elif manufacturer == 'Cavli Inc.':
+      cmds += [
+        'AT^SIMSWAP=1',     # use SIM slot, instead of internal eSIM
+        'AT$QCSIMSLEEP=0',  # disable SIM sleep
+        'AT$QCSIMCFG=SimPowerSave,0',  # more sleep disable
+
+        # ethernet config
+        'AT$QCPCFG=usbNet,0',
+        'AT$QCNETDEVCTL=3,1',
+      ]
+    else:
+      # this modem gets upset with too many AT commands
+      if sim_id is None or len(sim_id) == 0:
+        cmds += [
+          # SIM sleep disable
+          'AT$QCSIMSLEEP=0',
+          'AT$QCSIMCFG=SimPowerSave,0',
+
+          # ethernet config
+          'AT$QCPCFG=usbNet,1',
+        ]
+
+    for cmd in cmds:
+      try:
+        modem.Command(cmd, math.ceil(TIMEOUT), dbus_interface=MM_MODEM, timeout=TIMEOUT)
+      except Exception:
+        pass
+
+    # eSIM prime
+    dest = "/etc/NetworkManager/system-connections/esim.nmconnection"
+    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}")
+        tf.write(dat)
+        tf.flush()
+
+        # needs to be root
+        os.system(f"sudo cp {tf.name} {dest}")
+      os.system(f"sudo nmcli con load {dest}")
+
+  def recover_sim_detection(self) -> bool:
+    # A worn SIM-tray presence switch can read "removed" while the SIM pads still make
+    # contact; with hot-swap detect armed (AT+QSIMDET=1) the modem never powers the SIM
+    # and lands in failed/sim-missing. Disabling detect and rebooting the modem makes it
+    # probe the SIM electrically. Safe to retry on failure: firing disarms the QSIMDET
+    # gate, so a genuinely SIM-less device gets at most one extra modem reboot per boot.
+    if self.get_device_type() not in ("tici", "tizi"):
+      return False
+
+    try:
+      modem = self.get_modem()
+      state = modem.Get(MM_MODEM, 'State', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
+      if state != MM_MODEM_STATE.FAILED:
+        return False
+      reason = modem.Get(MM_MODEM, 'StateFailedReason', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
+      if reason != MM_MODEM_STATE_FAILED_REASON_SIM_MISSING:
+        return False
+      detect = str(modem.Command('AT+QSIMDET?', math.ceil(TIMEOUT), dbus_interface=MM_MODEM, timeout=TIMEOUT)).strip()
+      if not detect.startswith('+QSIMDET: 1'):
+        return False
+      modem.Command('AT+QSIMDET=0,0', math.ceil(TIMEOUT), dbus_interface=MM_MODEM, timeout=TIMEOUT)
+      modem.Command('AT+CFUN=1,1', math.ceil(TIMEOUT), dbus_interface=MM_MODEM, timeout=TIMEOUT)
+      return True
+    except Exception:
+      return False
+
+  def reboot_modem(self):
+    modem = None
+    try:
+      modem = self.get_modem()
+    except Exception:
+      pass
+
+    if modem is not None:
+      for state in (0, 1):
+        try:
+          modem.Command(f'AT+CFUN={state}', math.ceil(TIMEOUT), dbus_interface=MM_MODEM, timeout=TIMEOUT)
+        except Exception:
+          pass
+      return
+
+    for state in (0, 1):
+      try:
+        self._run_direct_modem_command(f"AT+CFUN={state}")
+      except Exception:
+        pass
+
+  def get_networks(self):
+    r = {}
+
+    wlan = iwlist.scan()
+    if wlan is not None:
+      r['wlan'] = wlan
+
+    lte_info = self.get_network_info()
+    if lte_info is not None:
+      extra = lte_info['extra']
+
+      # <state>,"LTE",<is_tdd>,<mcc>,<mnc>,<cellid>,<pcid>,<earfcn>,<freq_band_ind>,
+      # <ul_bandwidth>,<dl_bandwidth>,<tac>,<rsrp>,<rsrq>,<rssi>,<sinr>,<srxlev>
+      if 'LTE' in extra:
+        extra = extra.split(',')
+        try:
+          r['lte'] = [{
+            "mcc": int(extra[3]),
+            "mnc": int(extra[4]),
+            "cid": int(extra[5], 16),
+            "nmr": [{"pci": int(extra[6]), "earfcn": int(extra[7])}],
+          }]
+        except (ValueError, IndexError):
+          pass
+
+    return r
+
+  def get_modem_data_usage(self):
+    try:
+      wwan = self.get_wwan()
+
+      # Ensure refresh rate is set so values don't go stale
+      refresh_rate = wwan.Get(NM_DEV_STATS, 'RefreshRateMs', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
+      if refresh_rate != REFRESH_RATE_MS:
+        u = type(refresh_rate)
+        wwan.Set(NM_DEV_STATS, 'RefreshRateMs', u(REFRESH_RATE_MS), dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
+
+      tx = wwan.Get(NM_DEV_STATS, 'TxBytes', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
+      rx = wwan.Get(NM_DEV_STATS, 'RxBytes', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
+      return int(tx), int(rx)
+    except Exception:
+      return -1, -1
+
+  def has_internal_panda(self):
+    return True
+
+  def reset_internal_panda(self):
+    gpio_init(GPIO.STM_RST_N, True)
+    gpio_init(GPIO.STM_BOOT0, True)
+
+    gpio_set(GPIO.STM_RST_N, 1)
+    gpio_set(GPIO.STM_BOOT0, 0)
+    time.sleep(1)
+    gpio_set(GPIO.STM_RST_N, 0)
+
+  def recover_internal_panda(self):
+    gpio_init(GPIO.STM_RST_N, True)
+    gpio_init(GPIO.STM_BOOT0, True)
+
+    gpio_set(GPIO.STM_RST_N, 1)
+    gpio_set(GPIO.STM_BOOT0, 1)
+    time.sleep(0.5)
+    gpio_set(GPIO.STM_RST_N, 0)
+    time.sleep(0.5)
+    gpio_set(GPIO.STM_BOOT0, 0)
+
+  def booted(self):
+    # this normally boots within 8s, but on rare occasions takes 30+s
+    encoder_state = sudo_read("/sys/kernel/debug/msm_vidc/core0/info")
+    if "Core state: 0" in encoder_state and (time.monotonic() < 60*2):
+      return False
+    return True
+
+if __name__ == "__main__":
+  t = Tici()
+  t.configure_modem()
+  t.initialize_hardware()
+  t.set_power_save(False)
+  print(t.get_sim_info())

iqpilot/system/hardware/tici/id_rsa

@@ -0,0 +1,28 @@
+-----BEGIN RSA PRIVATE KEY-----
+MIIEvAIBADANBgkqhkiG9w0BAQEFAASCBKYwggSiAgEAAoIBAQC+iXXq30Tq+J5N
+Kat3KWHCzcmwZ55nGh6WggAqECa5CasBlM9VeROpVu3beA+5h0MibRgbD4DMtVXB
+t6gEvZ8nd04E7eLA9LTZyFDZ7SkSOVj4oXOQsT0GnJmKrASW5KslTWqVzTfo2XCt
+Z+004ikLxmyFeBO8NOcErW1pa8gFdQDToH9FrA7kgysic/XVESTOoe7XlzRoe/eZ
+acEQ+jtnmFd21A4aEADkk00Ahjr0uKaJiLUAPatxs2icIXWpgYtfqqtaKF23wSt6
+1OTu6cAwXbOWr3m+IUSRUO0IRzEIQS3z1jfd1svgzSgSSwZ1Lhj4AoKxIEAIc8qJ
+rO4uymCJAgMBAAECggEBAISFevxHGdoL3Z5xkw6oO5SQKO2GxEeVhRzNgmu/HA+q
+x8OryqD6O1CWY4037kft6iWxlwiLOdwna2P25ueVM3LxqdQH2KS4DmlCx+kq6FwC
+gv063fQPMhC9LpWimvaQSPEC7VUPjQlo4tPY6sTTYBUOh0A1ihRm/x7juKuQCWix
+Cq8C/DVnB1X4mGj+W3nJc5TwVJtgJbbiBrq6PWrhvB/3qmkxHRL7dU2SBb2iNRF1
+LLY30dJx/cD73UDKNHrlrsjk3UJc29Mp4/MladKvUkRqNwlYxSuAtJV0nZ3+iFkL
+s3adSTHdJpClQer45R51rFDlVsDz2ZBpb/hRNRoGDuECgYEA6A1EixLq7QYOh3cb
+Xhyh3W4kpVvA/FPfKH1OMy3ONOD/Y9Oa+M/wthW1wSoRL2n+uuIW5OAhTIvIEivj
+6bAZsTT3twrvOrvYu9rx9aln4p8BhyvdjeW4kS7T8FP5ol6LoOt2sTP3T1LOuJPO
+uQvOjlKPKIMh3c3RFNWTnGzMPa0CgYEA0jNiPLxP3A2nrX0keKDI+VHuvOY88gdh
+0W5BuLMLovOIDk9aQFIbBbMuW1OTjHKv9NK+Lrw+YbCFqOGf1dU/UN5gSyE8lX/Q
+FsUGUqUZx574nJZnOIcy3ONOnQLcvHAQToLFAGUd7PWgP3CtHkt9hEv2koUwL4vo
+ikTP1u9Gkc0CgYEA2apoWxPZrY963XLKBxNQecYxNbLFaWq67t3rFnKm9E8BAICi
+4zUaE5J1tMVi7Vi9iks9Ml9SnNyZRQJKfQ+kaebHXbkyAaPmfv+26rqHKboA0uxA
+nDOZVwXX45zBkp6g1sdHxJx8JLoGEnkC9eyvSi0C//tRLx86OhLErXwYcNkCf1it
+VMRKrWYoXJTUNo6tRhvodM88UnnIo3u3CALjhgU4uC1RTMHV4ZCGBwiAOb8GozSl
+s5YD1E1iKwEULloHnK6BIh6P5v8q7J6uf/xdqoKMjlWBHgq6/roxKvkSPA1DOZ3l
+jTadcgKFnRUmc+JT9p/ZbCxkA/ALFg8++G+0ghECgYA8vG3M/utweLvq4RI7l7U7
+b+i2BajfK2OmzNi/xugfeLjY6k2tfQGRuv6ppTjehtji2uvgDWkgjJUgPfZpir3I
+RsVMUiFgloWGHETOy0Qvc5AwtqTJFLTD1Wza2uBilSVIEsg6Y83Gickh+ejOmEsY
+6co17RFaAZHwGfCFFjO76Q==
+-----END RSA PRIVATE KEY-----

iqpilot/system/hardware/tici/iwlist.py

@@ -0,0 +1,35 @@
+import subprocess
+
+
+def scan(interface="wlan0"):
+  result = []
+  try:
+    r = subprocess.check_output(["iwlist", interface, "scan"], encoding='utf8')
+
+    mac = None
+    for line in r.split('\n'):
+      if "Address" in line:
+        # Based on the adapter eithere a percentage or dBm is returned
+        # Add previous network in case no dBm signal level was seen
+        if mac is not None:
+          result.append({"mac": mac})
+          mac = None
+
+        mac = line.split(' ')[-1]
+      elif "dBm" in line:
+        try:
+          level = line.split('Signal level=')[1]
+          rss = int(level.split(' ')[0])
+          result.append({"mac": mac, "rss": rss})
+          mac = None
+        except ValueError:
+          continue
+
+    # Add last network if no dBm was found
+    if mac is not None:
+      result.append({"mac": mac})
+
+    return result
+
+  except Exception:
+    return None

iqpilot/system/hardware/tici/pins.py

@@ -0,0 +1,30 @@
+# GPIO pin definitions
+class GPIO:
+  # both GPIO_STM_RST_N and GPIO_LTE_RST_N are misnamed, they are high to reset
+  HUB_RST_N = 30
+  UBLOX_RST_N = 32
+  UBLOX_SAFEBOOT_N = 33
+  GNSS_PWR_EN = 34 # SCHEMATIC LABEL: GPIO_UBLOX_PWR_EN
+
+  STM_RST_N = 124
+  STM_BOOT0 = 134
+  STM_PWR_EN_N = 41 # because STM32H7 RST doesn't generate a full power-on-reset
+
+  SIREN = 42
+  SOM_ST_IO = 49
+
+  LTE_RST_N = 50
+  LTE_PWRKEY = 116
+  LTE_BOOT = 52
+
+  # GPIO_CAM0_DVDD_EN = /sys/kernel/debug/regulator/camera_rear_ldo
+  CAM0_AVDD_EN = 8
+  CAM0_RSTN = 9
+  CAM1_RSTN = 7
+  CAM2_RSTN = 12
+
+  # Sensor interrupts
+  BMX055_ACCEL_INT = 21
+  BMX055_GYRO_INT = 23
+  BMX055_MAGN_INT = 87
+  LSM_INT = 84

iqpilot/system/hardware/tici/power_monitor.py

@@ -0,0 +1,66 @@
+#!/usr/bin/env python3
+import sys
+import time
+import datetime
+import numpy as np
+from collections import deque
+
+from iqpilot.common.realtime import Ratekeeper
+from iqpilot.common.filter_simple import FirstOrderFilter
+
+
+def read_power():
+  with open("/sys/bus/i2c/devices/0-0040/hwmon/hwmon1/power1_input") as f:
+    return int(f.read()) / 1e6
+
+def sample_power(seconds=5) -> list[float]:
+  rate = 123
+  rk = Ratekeeper(rate, print_delay_threshold=None)
+
+  pwrs = []
+  for _ in range(rate*seconds):
+    pwrs.append(read_power())
+    rk.keep_time()
+  return pwrs
+
+def get_power(seconds=5):
+  pwrs = sample_power(seconds)
+  return np.mean(pwrs)
+
+def wait_for_power(min_pwr, max_pwr, min_secs_in_range, timeout):
+  start_time = time.monotonic()
+  pwrs = deque([min_pwr - 1.]*min_secs_in_range, maxlen=min_secs_in_range)
+  while (time.monotonic() - start_time < timeout):
+    pwrs.append(get_power(1))
+    if all(min_pwr <= p <= max_pwr for p in pwrs):
+      break
+  return np.mean(pwrs)
+
+
+if __name__ == "__main__":
+  duration = None
+  if len(sys.argv) > 1:
+    duration = int(sys.argv[1])
+
+  rate = 23
+  rk = Ratekeeper(rate, print_delay_threshold=None)
+  fltr = FirstOrderFilter(0, 5, 1. / rate, initialized=False)
+
+  measurements = []
+  start_time = time.monotonic()
+
+  try:
+    while duration is None or time.monotonic() - start_time < duration:
+      fltr.update(read_power())
+      if rk.frame % rate == 0:
+        measurements.append(fltr.x)
+        t = datetime.timedelta(seconds=time.monotonic() - start_time)
+        avg = sum(measurements) / len(measurements)
+        print(f"Now: {fltr.x:.2f} W, Avg: {avg:.2f} W over {t}")
+      rk.keep_time()
+  except KeyboardInterrupt:
+    pass
+
+  t = datetime.timedelta(seconds=time.monotonic() - start_time)
+  avg = sum(measurements) / len(measurements)
+  print(f"\nAverage power: {avg:.2f}W over {t}")

iqpilot/system/hardware/tici/qr_decode.py

@@ -0,0 +1,145 @@
+import ctypes
+import hashlib
+import os
+import subprocess
+from pathlib import Path
+
+import numpy as np
+
+try:
+  from pyzbar.pyzbar import decode as _pyzbar_decode
+except Exception:
+  _pyzbar_decode = None
+
+
+ROOT = Path(__file__).resolve().parents[3]
+QUIRC_LIB_DIR = ROOT / "third_party" / "quirc" / "lib"
+HELPER_C = Path(__file__).with_name("qr_decode_quirc.c")
+BUILD_DIR = ROOT / ".run" / "cache" / "esim_qr"
+SO_PATH = BUILD_DIR / "libiqpilot_quirc_decode.so"
+
+_LIB: ctypes.CDLL | None = None
+
+
+def _build_decoder() -> bool:
+  BUILD_DIR.mkdir(parents=True, exist_ok=True)
+  cmd = [
+    os.environ.get("CC", "cc"),
+    "-O2",
+    "-shared",
+    "-fPIC",
+    str(HELPER_C),
+    str(QUIRC_LIB_DIR / "quirc.c"),
+    str(QUIRC_LIB_DIR / "identify.c"),
+    str(QUIRC_LIB_DIR / "decode.c"),
+    str(QUIRC_LIB_DIR / "version_db.c"),
+    "-I",
+    str(QUIRC_LIB_DIR),
+    "-o",
+    str(SO_PATH),
+  ]
+  try:
+    subprocess.check_output(cmd, stderr=subprocess.STDOUT)
+    return True
+  except Exception:
+    return False
+
+
+def _load_decoder() -> ctypes.CDLL | None:
+  global _LIB
+  if _LIB is not None:
+    return _LIB
+
+  if not SO_PATH.exists():
+    if not _build_decoder():
+      return None
+
+  try:
+    lib = ctypes.CDLL(str(SO_PATH))
+    lib.iqpilot_decode_qr_gray.argtypes = [
+      ctypes.POINTER(ctypes.c_uint8),
+      ctypes.c_int,
+      ctypes.c_int,
+      ctypes.c_char_p,
+      ctypes.c_int,
+    ]
+    lib.iqpilot_decode_qr_gray.restype = ctypes.c_int
+    _LIB = lib
+    return _LIB
+  except Exception:
+    return None
+
+
+def decode_qr(image: bytes | np.ndarray, width: int | None = None, height: int | None = None) -> list[str]:
+  """
+  Decode QR payloads from a grayscale image.
+  Accepts:
+  - ndarray shape (H, W), uint8
+  - bytes + explicit width/height
+  """
+  arr: np.ndarray
+  if isinstance(image, np.ndarray):
+    if image.ndim != 2:
+      raise ValueError("decode_qr expects grayscale ndarray with shape (H, W)")
+    arr = np.ascontiguousarray(image, dtype=np.uint8)
+    h, w = arr.shape
+  else:
+    if width is None or height is None:
+      raise ValueError("width and height are required when passing raw bytes")
+    arr = np.frombuffer(image, dtype=np.uint8).reshape((height, width))
+    arr = np.ascontiguousarray(arr)
+    h, w = arr.shape
+
+  if _pyzbar_decode is not None:
+    try:
+      pyzbar_results = _pyzbar_decode(arr)
+      payloads = []
+      for result in pyzbar_results:
+        payload = result.data.decode("utf-8", errors="ignore").strip()
+        if payload:
+          payloads.append(payload)
+      if payloads:
+        return payloads
+    except Exception:
+      pass
+
+  lib = _load_decoder()
+  if lib is None:
+    return []
+
+  out_size = 8192
+  out_buf = ctypes.create_string_buffer(out_size)
+  count = lib.iqpilot_decode_qr_gray(
+    arr.ctypes.data_as(ctypes.POINTER(ctypes.c_uint8)),
+    int(w),
+    int(h),
+    out_buf,
+    out_size,
+  )
+  if count <= 0:
+    return []
+
+  raw = out_buf.value.decode("utf-8", errors="ignore")
+  return [line.strip() for line in raw.splitlines() if line.strip()]
+
+
+def validate_lpa_activation_code(payload: str) -> tuple[bool, str]:
+  if not payload.startswith("LPA:"):
+    return False, "QR does not contain an LPA activation code"
+
+  parts = payload[4:].split("$")
+  if len(parts) != 3:
+    return False, "Invalid LPA format"
+
+  version, smdp, matching = [p.strip() for p in parts]
+  if version != "1":
+    return False, "Unsupported LPA version"
+  if len(smdp) == 0 or "." not in smdp:
+    return False, "Invalid SM-DP+ address"
+  if len(matching) == 0:
+    return False, "Missing matching ID"
+  return True, ""
+
+
+def stable_code_key(payload: str) -> str:
+  return hashlib.sha256(payload.encode("utf-8")).hexdigest()

iqpilot/system/hardware/tici/qr_decode_quirc.c

@@ -0,0 +1,68 @@
+#include <stdint.h>
+#include <stdlib.h>
+#include <string.h>
+
+#include "quirc.h"
+
+int iqpilot_decode_qr_gray(const uint8_t *gray, int width, int height, char *out, int out_len) {
+  if (gray == NULL || out == NULL || out_len <= 0 || width <= 0 || height <= 0) {
+    return -1;
+  }
+
+  struct quirc *qr = quirc_new();
+  if (qr == NULL) {
+    return -2;
+  }
+
+  if (quirc_resize(qr, width, height) < 0) {
+    quirc_destroy(qr);
+    return -3;
+  }
+
+  int qw = 0, qh = 0;
+  uint8_t *image = quirc_begin(qr, &qw, &qh);
+  if (image == NULL || qw != width || qh != height) {
+    quirc_destroy(qr);
+    return -4;
+  }
+
+  memcpy(image, gray, (size_t)(width * height));
+  quirc_end(qr);
+
+  int total = quirc_count(qr);
+  int decoded_count = 0;
+  int write_pos = 0;
+
+  for (int i = 0; i < total; ++i) {
+    struct quirc_code code;
+    struct quirc_data data;
+    quirc_extract(qr, i, &code);
+
+    if (quirc_decode(&code, &data) != QUIRC_SUCCESS || data.payload_len == 0) {
+      continue;
+    }
+
+    if (write_pos > 0) {
+      if (write_pos + 1 >= out_len) {
+        break;
+      }
+      out[write_pos++] = '\n';
+    }
+
+    int copy_len = data.payload_len;
+    if (copy_len > out_len - write_pos - 1) {
+      copy_len = out_len - write_pos - 1;
+    }
+    if (copy_len <= 0) {
+      break;
+    }
+
+    memcpy(out + write_pos, data.payload, (size_t)copy_len);
+    write_pos += copy_len;
+    decoded_count++;
+  }
+
+  out[write_pos] = '\0';
+  quirc_destroy(qr);
+  return decoded_count;
+}

iqpilot/system/hardware/tici/restart_modem.sh

@@ -0,0 +1,18 @@
+#!/usr/bin/env bash
+
+#nmcli connection modify --temporary lte gsm.home-only yes
+#nmcli connection modify --temporary lte gsm.auto-config yes
+#nmcli connection modify --temporary lte connection.autoconnect-retries 20
+sudo nmcli connection reload
+
+sudo systemctl stop ModemManager
+nmcli con down lte
+nmcli con down blue-prime
+
+# power cycle modem
+/usr/comma/lte/lte.sh stop_blocking
+/usr/comma/lte/lte.sh start
+
+sudo systemctl restart NetworkManager
+#sudo systemctl restart ModemManager
+sudo ModemManager --debug

iqpilot/system/hardware/tici/set_usb_storage.sh

@@ -0,0 +1,186 @@
+#!/bin/bash
+# USB mass-storage gadget exposing a snapshot of /data/media/0/realdata (dashcam clips + logs)
+# over the same configfs gadget mechanism as /usr/comma/set_adb.sh. openpilot keeps running; the
+# export is a read-only snapshot built at enable time, not a live view of realdata.
+#
+# The device only has one physical USB controller (UDC), so ADB and USB storage must live in the
+# SAME composite gadget (/config/usb_gadget/g1) rather than each owning their own. Earlier versions
+# of this script called /usr/comma/set_adb.sh as a black box and then unbound/rebound around it,
+# but that intermediate bind/unbind churn made the *next* bind flaky (functionfs needs its
+# userspace side, adbd, settled before the gadget can (re)bind). So instead we replicate set_adb.sh's
+# handful of setup lines directly here and do exactly one bind at the end, covering whichever
+# functions (ADB, mass storage) are currently enabled.
+#
+# Without composing like this, comma's adb-param-watcher systemd unit (which fires whenever
+# /data/params/d/AdbEnabled is touched, even to the same value) would rebuild g1 with only its own
+# functions and silently drop ours.
+
+set -e
+
+# serialize invocations: rapid toggling can otherwise race on the same /config/usb_gadget/g1 tree
+# and leave it in a half-built state
+LOCKFILE="/tmp/set_usb_storage.lock"
+exec 9>"$LOCKFILE"
+flock 9
+
+IMG="/data/media/0/usb_storage.img"
+LOOP_MNT="/tmp/usb_storage_mnt"
+REALDATA="/data/media/0/realdata"
+UDC_NAME="a600000.dwc3"
+GADGET="/config/usb_gadget/g1"
+SAFETY_MARGIN_KB=$((2 * 1024 * 1024))   # keep 2GB free on /data after the image
+CAP_KB=$((4 * 1024 * 1024))             # never build more than a 4GB snapshot (FAT32 + dir overhead eats into this)
+
+build_image() {
+  avail_kb=$(df --output=avail -k /data | tail -1)
+  budget_kb=$((avail_kb - SAFETY_MARGIN_KB))
+  if [ "$budget_kb" -gt "$CAP_KB" ]; then
+    budget_kb=$CAP_KB
+  fi
+  if [ "$budget_kb" -lt $((512 * 1024)) ]; then
+    echo "Not enough free space on /data to build a USB storage snapshot" >&2
+    exit 1
+  fi
+
+  echo "Building ${budget_kb}KB FAT32 snapshot image at $IMG"
+  sudo rm -f "$IMG"
+  sudo fallocate -l "${budget_kb}K" "$IMG" || sudo dd if=/dev/zero of="$IMG" bs=1M count=$((budget_kb / 1024))
+  sudo mkfs.vfat -F 32 -n IQPILOT "$IMG"
+
+  sudo mkdir -p "$LOOP_MNT"
+  LOOP_DEV=$(sudo losetup -f)
+  sudo losetup "$LOOP_DEV" "$IMG"
+  sudo mount -t vfat "$LOOP_DEV" "$LOOP_MNT"
+
+  # select the most recent files up to budget, then copy them in one rsync
+  # pass (this script already runs as root, and one process beats thousands
+  # of per-file forked sudo/mkdir/cp calls, which was previously the actual
+  # bottleneck, not disk throughput).
+  copy_budget_kb=$((budget_kb * 90 / 100))
+  filelist=$(mktemp)
+  find "$REALDATA" -type f -printf '%T@ %s %P\n' 2>/dev/null | sort -rn | awk -v budget="$copy_budget_kb" '
+    { used += int(($2 + 1023) / 1024); if (used > budget) { exit } print $3 }
+  ' > "$filelist"
+  mkdir -p "$LOOP_MNT/realdata"
+  # FAT32 has no concept of unix owner/group/perms, so don't ask rsync to preserve them
+  rsync -rt --files-from="$filelist" "$REALDATA/" "$LOOP_MNT/realdata/"
+  echo "Copied $(wc -l < "$filelist") files into snapshot"
+  rm -f "$filelist"
+
+  sudo umount "$LOOP_MNT"
+  sudo losetup -d "$LOOP_DEV"
+}
+
+unbind() {
+  if [ -d "$GADGET" ]; then
+    cd "$GADGET"
+    echo "" | sudo tee UDC >/dev/null 2>&1 || true
+  fi
+}
+
+ensure_base() {
+  if ! mountpoint -q /config; then
+    sudo mount -t configfs none /config
+  fi
+  sudo mkdir -p "$GADGET/strings/0x409" "$GADGET/configs/c.1/strings/0x409"
+  cd "$GADGET"
+  [ -s idVendor ] || echo 0x04D8 | sudo tee idVendor >/dev/null
+  [ -s idProduct ] || echo 0x1235 | sudo tee idProduct >/dev/null
+  [ -s strings/0x409/serialnumber ] || echo "$(cat /proc/cmdline | sed -e 's/^.*androidboot.serialno=//' -e 's/ .*$//')" | sudo tee strings/0x409/serialnumber >/dev/null
+  [ -s strings/0x409/manufacturer ] || echo "comma.ai" | sudo tee strings/0x409/manufacturer >/dev/null
+  [ -s strings/0x409/product ] || echo "IQ.Pilot" | sudo tee strings/0x409/product >/dev/null
+  [ -s configs/c.1/MaxPower ] || echo 250 | sudo tee configs/c.1/MaxPower >/dev/null
+  [ -s configs/c.1/strings/0x409/configuration ] || echo "IQ.Pilot" | sudo tee configs/c.1/strings/0x409/configuration >/dev/null
+}
+
+add_adb() {
+  # same rationale as add_mass_storage: start from a clean slate to avoid stale busy attributes
+  remove_adb
+  cd "$GADGET"
+  sudo mkdir -p functions/ncm.0 functions/ffs.adb
+  sudo mkdir -p /dev/usb-ffs/adb
+  if ! mountpoint -q /dev/usb-ffs/adb; then
+    sudo mount -t functionfs adb /dev/usb-ffs/adb
+  fi
+  sudo rm -f configs/c.1/ncm.0 configs/c.1/ffs.adb
+  sudo ln -s functions/ncm.0 configs/c.1/
+  sudo ln -s functions/ffs.adb configs/c.1/
+  setprop service.adb.tcp.port -1 2>/dev/null || true
+  sudo systemctl start adbd
+  # adbd needs a moment to open the ffs endpoint and negotiate descriptors before the gadget can bind
+  sleep 1
+}
+
+remove_adb() {
+  sudo systemctl stop adbd || true
+  if [ -d "$GADGET" ]; then
+    cd "$GADGET"
+    sudo rm -f configs/c.1/ncm.0 configs/c.1/ffs.adb
+    sudo umount /dev/usb-ffs/adb 2>/dev/null || true
+    sudo rmdir functions/ncm.0 functions/ffs.adb 2>/dev/null || true
+  fi
+}
+
+add_mass_storage() {
+  # a function group that's ever been bound before can refuse attribute writes ("Device or
+  # resource busy") until it's torn down and recreated fresh, so always start from a clean slate
+  remove_mass_storage
+  cd "$GADGET"
+  sudo mkdir -p functions/mass_storage.0
+  echo 1 | sudo tee functions/mass_storage.0/stall >/dev/null
+  echo 1 | sudo tee functions/mass_storage.0/lun.0/removable >/dev/null
+  echo 1 | sudo tee functions/mass_storage.0/lun.0/ro >/dev/null
+  echo "$IMG" | sudo tee functions/mass_storage.0/lun.0/file >/dev/null
+  sudo rm -f configs/c.1/mass_storage.0
+  sudo ln -s functions/mass_storage.0 configs/c.1/
+}
+
+remove_mass_storage() {
+  if [ -d "$GADGET" ]; then
+    cd "$GADGET"
+    sudo rm -f configs/c.1/mass_storage.0
+    sudo rmdir functions/mass_storage.0 2>/dev/null || true
+  fi
+}
+
+bind() {
+  cd "$GADGET"
+  for attempt in $(seq 1 20); do
+    if echo "$UDC_NAME" | sudo tee UDC >/dev/null 2>&1; then
+      return 0
+    fi
+    sleep 0.5
+  done
+  echo "$UDC_NAME" | sudo tee UDC
+}
+
+read_bool_param() {
+  [ -f "$1" ] && [ "$(< "$1")" == "1" ]
+}
+
+USB_STORAGE_ENABLE=0
+read_bool_param "/data/params/d/UsbStorageEnabled" && USB_STORAGE_ENABLE=1
+ADB_ENABLE=0
+read_bool_param "/data/params/d/AdbEnabled" && ADB_ENABLE=1
+
+unbind
+ensure_base
+
+if [ "$ADB_ENABLE" == "1" ]; then
+  add_adb
+else
+  remove_adb
+fi
+
+if [ "$USB_STORAGE_ENABLE" == "1" ]; then
+  echo "Enabling USB storage mode"
+  if [ ! -f "$IMG" ] || [ "$1" == "--rebuild" ]; then
+    build_image
+  fi
+  add_mass_storage
+else
+  echo "Disabling USB storage mode"
+  remove_mass_storage
+fi
+
+bind

iqpilot/system/hardware/tici/tests/compare_casync_manifest.py

@@ -0,0 +1,73 @@
+#!/usr/bin/env python3
+import argparse
+import collections
+import multiprocessing
+import os
+
+import requests
+from tqdm import tqdm
+
+import iqpilot.system.hardware.tici.casync as casync
+
+
+def get_chunk_download_size(chunk):
+  sha = chunk.sha.hex()
+  path = os.path.join(remote_url, sha[:4], sha + ".cacnk")
+  if os.path.isfile(path):
+    return os.path.getsize(path)
+  else:
+    r = requests.head(path, timeout=10)
+    r.raise_for_status()
+    return int(r.headers['content-length'])
+
+
+if __name__ == "__main__":
+
+  parser = argparse.ArgumentParser(description='Compute overlap between two casync manifests')
+  parser.add_argument('frm')
+  parser.add_argument('to')
+  args = parser.parse_args()
+
+  frm = casync.parse_caibx(args.frm)
+  to = casync.parse_caibx(args.to)
+  remote_url = args.to.replace('.caibx', '')
+
+  most_common = collections.Counter(t.sha for t in to).most_common(1)[0][0]
+
+  frm_dict = casync.build_chunk_dict(frm)
+
+  # Get content-length for each chunk
+  with multiprocessing.Pool() as pool:
+    szs = list(tqdm(pool.imap(get_chunk_download_size, to), total=len(to)))
+  chunk_sizes = {t.sha: sz for (t, sz) in zip(to, szs, strict=True)}
+
+  sources: dict[str, list[int]] = {
+    'seed': [],
+    'remote_uncompressed': [],
+    'remote_compressed': [],
+  }
+
+  for chunk in to:
+    # Assume most common chunk is the zero chunk
+    if chunk.sha == most_common:
+      continue
+
+    if chunk.sha in frm_dict:
+      sources['seed'].append(chunk.length)
+    else:
+      sources['remote_uncompressed'].append(chunk.length)
+      sources['remote_compressed'].append(chunk_sizes[chunk.sha])
+
+  print()
+  print("Update statistics (excluding zeros)")
+  print()
+  print("Download only with no seed:")
+  print(f"  Remote (uncompressed)\t\t{sum(sources['seed'] + sources['remote_uncompressed']) / 1000 / 1000:.2f} MB\tn = {len(to)}")
+  print(f"  Remote (compressed download)\t{sum(chunk_sizes.values()) / 1000 / 1000:.2f} MB\tn = {len(to)}")
+  print()
+  print("Upgrade with seed partition:")
+  print(f"  Seed   (uncompressed)\t\t{sum(sources['seed']) / 1000 / 1000:.2f} MB\t\t\t\tn = {len(sources['seed'])}")
+  sz, n = sum(sources['remote_uncompressed']), len(sources['remote_uncompressed'])
+  print(f"  Remote (uncompressed)\t\t{sz / 1000 / 1000:.2f} MB\t(avg {sz / 1000 / 1000 / n:4f} MB)\tn = {n}")
+  sz, n = sum(sources['remote_compressed']), len(sources['remote_compressed'])
+  print(f"  Remote (compressed download)\t{sz / 1000 / 1000:.2f} MB\t(avg {sz / 1000 / 1000 / n:4f} MB)\tn = {n}")

iqpilot/system/hardware/tici/tests/test_agnos_updater.py

@@ -0,0 +1,37 @@
+import json
+import os
+import requests
+
+TEST_DIR = os.path.join(os.path.dirname(os.path.abspath(__file__)))
+MANIFESTS = [
+  os.path.join(TEST_DIR, "../agnos.json"),
+  os.path.join(TEST_DIR, "../agnos_tici_15_1.json"),
+]
+
+IMAGE_HOST = "git.konn3kt.com"
+
+XZ_MAGIC = b"\xfd7zXZ\x00"
+LFS_POINTER_MAGIC = b"version https://git-lfs"
+
+
+class TestAgnosUpdater:
+
+  def test_manifest(self):
+    for manifest in MANIFESTS:
+      with open(manifest) as f:
+        m = json.load(f)
+
+      for img in m:
+        assert img['url'].split('/')[2] == IMAGE_HOST
+        if not img['sparse']:
+          assert img['hash'] == img['hash_raw']
+
+        s = requests.Session()
+        s.trust_env = False
+        r = s.get(img['url'], timeout=10, stream=True,
+                  headers={"User-Agent": "IQOS-Updater"})
+        if r.status_code in (401, 403, 404):
+          continue
+        head = next(r.iter_content(chunk_size=256), b"") or b""
+        assert not head.startswith(XZ_MAGIC), f"{img['name']}: anonymous request served image content"
+        assert not head.startswith(LFS_POINTER_MAGIC), f"{img['name']}: anonymous request served the LFS pointer"

iqpilot/system/hardware/tici/tests/test_amplifier.py

@@ -0,0 +1,66 @@
+import pytest
+import time
+import random
+import subprocess
+
+from panda import Panda
+from iqpilot.system.hardware import HARDWARE
+from iqpilot.system.hardware.tici.hardware import Tici
+from iqpilot.system.hardware.tici.amplifier import Amplifier
+
+
+@pytest.mark.tici
+class TestAmplifier:
+
+  def setup_method(self):
+    # clear dmesg
+    subprocess.check_call("sudo dmesg -C", shell=True)
+
+    HARDWARE.reset_internal_panda()
+    Panda.wait_for_panda(None, 30)
+    self.panda = Panda()
+
+  def teardown_method(self):
+    HARDWARE.reset_internal_panda()
+
+  def _check_for_i2c_errors(self, expected):
+    dmesg = subprocess.check_output("dmesg", shell=True, encoding='utf8')
+    i2c_lines = [l for l in dmesg.strip().splitlines() if 'i2c_geni a88000.i2c' in l]
+    i2c_str = '\n'.join(i2c_lines)
+
+    if not expected:
+      return len(i2c_lines) == 0
+    else:
+      return "i2c error :-107" in i2c_str or "Bus arbitration lost" in i2c_str
+
+  def test_init(self):
+    amp = Amplifier(debug=True)
+    r = amp.initialize_configuration(Tici().get_device_type())
+    assert r
+    assert self._check_for_i2c_errors(False)
+
+  def test_shutdown(self):
+    amp = Amplifier(debug=True)
+    for _ in range(10):
+      r = amp.set_global_shutdown(True)
+      r = amp.set_global_shutdown(False)
+      # amp config should be successful, with no i2c errors
+      assert r
+      assert self._check_for_i2c_errors(False)
+
+  def test_init_while_siren_play(self):
+    for _ in range(10):
+      self.panda.set_siren(False)
+      time.sleep(0.1)
+
+      self.panda.set_siren(True)
+      time.sleep(random.randint(0, 5))
+
+      amp = Amplifier(debug=True)
+      r = amp.initialize_configuration(Tici().get_device_type())
+      assert r
+
+      if self._check_for_i2c_errors(True):
+        break
+    else:
+      pytest.fail("didn't hit any i2c errors")

iqpilot/system/hardware/tici/tests/test_esim.py

@@ -0,0 +1,238 @@
+import pytest
+
+from iqpilot.system.hardware import HARDWARE
+from iqpilot.system.hardware.base import LPAError, LPAProfileNotFoundError, Profile
+from iqpilot.system.hardware.tici import lpa as lpa_module
+from iqpilot.system.hardware.tici.esim_manager import EsimManager
+
+# https://euicc-manual.osmocom.org/docs/rsp/known-test-profile
+# iccid is always the same for the given activation code
+TEST_ACTIVATION_CODE = 'LPA:1$rsp.truphone.com$QRF-BETTERROAMING-PMRDGIR2EARDEIT5'
+TEST_ICCID = '8944476500001944011'
+
+TEST_NICKNAME = 'test_profile'
+
+def cleanup():
+  lpa = HARDWARE.get_sim_lpa()
+  try:
+    lpa.delete_profile(TEST_ICCID)
+  except LPAProfileNotFoundError:
+    pass
+  lpa.process_notifications()
+
+@pytest.mark.tici
+class TestEsim:
+
+  @classmethod
+  def setup_class(cls):
+    cleanup()
+
+  @classmethod
+  def teardown_class(cls):
+    cleanup()
+
+  def test_provision_enable_disable(self):
+    lpa = HARDWARE.get_sim_lpa()
+    current_active = lpa.get_active_profile()
+
+    lpa.download_profile(TEST_ACTIVATION_CODE, TEST_NICKNAME)
+    assert any(p.iccid == TEST_ICCID and p.nickname == TEST_NICKNAME for p in lpa.list_profiles())
+
+    lpa.enable_profile(TEST_ICCID)
+    new_active = lpa.get_active_profile()
+    assert new_active is not None
+    assert new_active.iccid == TEST_ICCID
+    assert new_active.nickname == TEST_NICKNAME
+
+    lpa.disable_profile(TEST_ICCID)
+    new_active = lpa.get_active_profile()
+    assert new_active is None
+
+    if current_active:
+      lpa.enable_profile(current_active.iccid)
+
+
+class TestEsimDeleteHandling:
+  def test_delete_ignores_notification_cleanup_if_profile_is_gone(self, monkeypatch):
+    target_iccid = "89012804332267989477"
+    lpa = lpa_module.TiciLPA()
+
+    monkeypatch.setattr(lpa, "_validate_profile_exists", lambda iccid: None)
+    monkeypatch.setattr(lpa, "get_active_profile", lambda: Profile("8901240527117095243", "US Mobile", True, "Wireless"))
+    monkeypatch.setattr(lpa, "_restart_modem", lambda: None)
+    monkeypatch.setattr(
+      lpa,
+      "list_profiles",
+      lambda: [Profile("8901240527117095243", "US Mobile", True, "Wireless")],
+    )
+
+    monkeypatch.setattr(lpa, "_ensure_client", lambda: object())
+    monkeypatch.setattr(lpa_module, "delete_profile", lambda client, iccid: None)
+
+    def fail_notifications(client):
+      raise RuntimeError('AT command failed (AT+CGLA=2,16,"80E2910003BF2800"): AT command failed')
+
+    monkeypatch.setattr(lpa_module, "process_notifications", fail_notifications)
+
+    lpa.delete_profile(target_iccid)
+
+  def test_delete_raises_clear_error_if_profile_still_present_after_cleanup_failure(self, monkeypatch):
+    target_iccid = "89012804332267989477"
+    lpa = lpa_module.TiciLPA()
+
+    monkeypatch.setattr(lpa, "_validate_profile_exists", lambda iccid: None)
+    monkeypatch.setattr(lpa, "get_active_profile", lambda: Profile("8901240527117095243", "US Mobile", True, "Wireless"))
+    monkeypatch.setattr(lpa, "_restart_modem", lambda: None)
+    monkeypatch.setattr(
+      lpa,
+      "list_profiles",
+      lambda: [
+        Profile("8901240527117095243", "US Mobile", True, "Wireless"),
+        Profile(target_iccid, "RedPocket", False, "RedPocket"),
+      ],
+    )
+
+    monkeypatch.setattr(lpa, "_ensure_client", lambda: object())
+    monkeypatch.setattr(lpa_module, "delete_profile", lambda client, iccid: None)
+
+    def fail_notifications(client):
+      raise RuntimeError('AT command failed (AT+CGLA=2,16,"80E2910003BF2800"): AT command failed')
+
+    monkeypatch.setattr(lpa_module, "process_notifications", fail_notifications)
+
+    with pytest.raises(LPAError, match="Profile delete did not finish cleanly"):
+      lpa.delete_profile(target_iccid)
+
+  def test_manager_maps_notification_cleanup_error(self):
+    error = LPAError('AT command failed (AT+CGLA=2,16,"80E2910003BF2800"): AT command failed')
+    assert EsimManager._map_error(error) == "Modem notification cleanup failed; refresh profiles"
+
+
+class TestEsimNotificationCleanupRecovery:
+  def test_switch_ignores_notification_cleanup_if_target_is_enabled(self, monkeypatch):
+    target_iccid = "8901240527117194095"
+    lpa = lpa_module.TiciLPA()
+
+    monkeypatch.setattr(lpa, "_validate_profile_exists", lambda iccid: None)
+    monkeypatch.setattr(lpa, "_ensure_switchable_profile", lambda iccid: None)
+    monkeypatch.setattr(lpa, "get_active_profile", lambda: Profile("8901240527117113293", "US Mobile", True, "Wireless"))
+    monkeypatch.setattr(lpa, "_wait_for_modem", lambda: None)
+    monkeypatch.setattr(lpa, "_ensure_client", lambda: type("Client", (), {"channel": "2", "_use_csim": False})())
+    monkeypatch.setattr(
+      lpa,
+      "list_profiles",
+      lambda: [
+        Profile("8901240527117113293", "US Mobile", False, "Wireless"),
+        Profile(target_iccid, "T-Mobile", True, "Wireless"),
+      ],
+    )
+    monkeypatch.setattr(lpa_module, "enable_profile", lambda client, iccid, refresh=True: None)
+    monkeypatch.setattr(
+      lpa_module,
+      "process_notifications",
+      lambda client: (_ for _ in ()).throw(RuntimeError('AT command failed (AT+CGLA=2,16,"80E2910003BF2800"): AT command failed')),
+    )
+
+    lpa.switch_profile(target_iccid)
+
+  @pytest.mark.parametrize(("is_eg25", "expected_refresh", "expected_waits", "expected_reboots"), [
+    (True, True, 1, 0),
+    (False, False, 0, 1),
+  ])
+  def test_switch_profile_uses_modem_specific_refresh_behavior(self, monkeypatch, is_eg25, expected_refresh, expected_waits, expected_reboots):
+    target_iccid = "8901240527117194095"
+    lpa = object.__new__(lpa_module.TiciLPA)
+    lpa._is_eg25 = is_eg25
+    lpa.verbose = False
+
+    waits = []
+    reboots = []
+    refresh_values = []
+
+    monkeypatch.setattr(lpa, "_validate_profile_exists", lambda iccid: None)
+    monkeypatch.setattr(lpa, "_ensure_switchable_profile", lambda iccid: None)
+    monkeypatch.setattr(lpa, "get_active_profile", lambda: Profile("8901240527117113293", "US Mobile", True, "Wireless"))
+    monkeypatch.setattr(lpa, "_wait_for_modem", lambda: waits.append(True))
+    monkeypatch.setattr(lpa, "_restart_modem", lambda: reboots.append(True))
+    monkeypatch.setattr(lpa, "_with_lpa_error", lambda fn: fn())
+    monkeypatch.setattr(lpa, "_ensure_client", lambda: type("Client", (), {"channel": "2", "_use_csim": False})())
+    monkeypatch.setattr(
+      lpa,
+      "_process_notifications_after_state_change",
+      lambda validator, _recovery_message, _failure_message: validator(),
+    )
+    monkeypatch.setattr(
+      lpa,
+      "list_profiles",
+      lambda: [
+        Profile("8901240527117113293", "US Mobile", False, "Wireless"),
+        Profile(target_iccid, "T-Mobile", True, "Wireless"),
+      ],
+    )
+
+    def fake_enable_profile(client, iccid, refresh=True):
+      refresh_values.append(refresh)
+
+    monkeypatch.setattr(lpa_module, "enable_profile", fake_enable_profile)
+
+    lpa.switch_profile(target_iccid)
+
+    assert refresh_values == [expected_refresh]
+    assert len(waits) == expected_waits
+    assert len(reboots) == expected_reboots
+
+  def test_download_ignores_notification_cleanup_if_profile_exists(self, monkeypatch, mocker):
+    target_iccid = "8901240527117194095"
+    lpa = lpa_module.TiciLPA()
+    profiles = [
+      [Profile("8901240527117113293", "US Mobile", True, "Wireless")],
+      [
+        Profile("8901240527117113293", "US Mobile", True, "Wireless"),
+        Profile(target_iccid, "T-Mobile", False, "Wireless"),
+      ],
+      [
+        Profile("8901240527117113293", "US Mobile", True, "Wireless"),
+        Profile(target_iccid, "T-Mobile", False, "Wireless"),
+      ],
+    ]
+
+    monkeypatch.setattr(lpa, "_ensure_client", lambda: object())
+    monkeypatch.setattr(lpa, "_wait_for_modem", lambda: None)
+    profile_states = iter(profiles)
+    current_profiles = profiles[-1]
+
+    def list_profiles():
+      nonlocal current_profiles
+      current_profiles = next(profile_states, current_profiles)
+      return current_profiles
+
+    monkeypatch.setattr(lpa, "list_profiles", list_profiles)
+    monkeypatch.setattr(lpa_module, "download_profile", lambda client, qr: target_iccid)
+    set_nickname = mocker.MagicMock()
+    monkeypatch.setattr(lpa_module, "set_profile_nickname", set_nickname)
+    monkeypatch.setattr(
+      lpa_module,
+      "process_notifications",
+      lambda client: (_ for _ in ()).throw(RuntimeError('AT command failed (AT+CGLA=2,16,"80E2910003BF2800"): AT command failed')),
+    )
+
+    lpa.download_profile(TEST_ACTIVATION_CODE, "T-Mobile")
+
+    set_nickname.assert_called_once_with(mocker.ANY, target_iccid, "T-Mobile")
+
+
+class TestEsimManagerSupportGating:
+  def test_refresh_profiles_does_not_touch_lpa_without_euicc(self, monkeypatch, mocker):
+    manager = EsimManager()
+
+    monkeypatch.setattr(manager, "_query_euicc_support", lambda: False)
+    manager._params = mocker.MagicMock()
+    manager._params.get.return_value = None
+    manager._params.get_bool.return_value = True
+    monkeypatch.setattr(HARDWARE, "get_device_type", lambda: "tici")
+    monkeypatch.setattr(HARDWARE, "get_sim_lpa", lambda: (_ for _ in ()).throw(AssertionError("LPA should not be touched")))
+
+    manager.refresh_profiles()
+
+    assert manager.get_state().profiles == []
+    assert manager.get_state().message == "Insert the original comma SIM card that came with the device to use eSIM"

iqpilot/system/hardware/tici/tests/test_hardware.py

@@ -0,0 +1,102 @@
+from iqpilot.system.hardware.tici.hardware import (
+  MM_MODEM_ACCESS_TECHNOLOGY_LTE,
+  MM_MODEM_STATE,
+  NMActiveConnectionState,
+  Tici,
+)
+from iqpilot.cereal import log
+
+
+def _make_connection(mocker, connection_type: str, state: int):
+  connection = mocker.MagicMock()
+
+  def get_side_effect(_iface, prop, **_kwargs):
+    values = {
+      "Type": connection_type,
+      "State": state,
+    }
+    return values[prop]
+
+  connection.Get.side_effect = get_side_effect
+  return connection
+
+
+def test_reboot_modem_falls_back_to_direct_at(monkeypatch, mocker):
+  device = Tici()
+  direct_runner = mocker.MagicMock()
+
+  monkeypatch.setattr(device, "get_modem", mocker.MagicMock(side_effect=ModuleNotFoundError("dbus")))
+  monkeypatch.setattr(device, "_run_direct_modem_command", direct_runner)
+
+  device.reboot_modem()
+
+  assert direct_runner.call_args_list == [
+    (("AT+CFUN=0",), {}),
+    (("AT+CFUN=1",), {}),
+  ]
+
+
+def test_get_network_type_ignores_non_activated_cellular(mocker):
+  device = Tici()
+  primary = _make_connection(mocker, "gsm", NMActiveConnectionState.ACTIVATING)
+  bus = mocker.MagicMock()
+  bus.get_object.return_value = primary
+  nm = mocker.MagicMock()
+  nm.Get.return_value = "/primary"
+
+  device.__dict__["bus"] = bus
+  device.__dict__["nm"] = nm
+
+  assert device.get_network_type() == log.DeviceState.NetworkType.none
+
+
+def test_get_network_type_requires_registered_modem(monkeypatch, mocker):
+  device = Tici()
+  primary = _make_connection(mocker, "gsm", NMActiveConnectionState.ACTIVATED)
+  cellular = _make_connection(mocker, "gsm", NMActiveConnectionState.ACTIVATED)
+  bus = mocker.MagicMock()
+  bus.get_object.side_effect = [primary, cellular]
+  nm = mocker.MagicMock()
+  nm.Get.side_effect = ["/primary", ["/cellular"]]
+  modem = mocker.MagicMock()
+
+  def modem_get_side_effect(_iface, prop, **_kwargs):
+    values = {
+      "State": MM_MODEM_STATE.SEARCHING,
+      "AccessTechnologies": MM_MODEM_ACCESS_TECHNOLOGY_LTE,
+    }
+    return values[prop]
+
+  modem.Get.side_effect = modem_get_side_effect
+
+  device.__dict__["bus"] = bus
+  device.__dict__["nm"] = nm
+  monkeypatch.setattr(device, "get_modem", mocker.MagicMock(return_value=modem))
+
+  assert device.get_network_type() == log.DeviceState.NetworkType.none
+
+
+def test_get_network_type_reports_lte_for_registered_modem(monkeypatch, mocker):
+  device = Tici()
+  primary = _make_connection(mocker, "gsm", NMActiveConnectionState.ACTIVATED)
+  cellular = _make_connection(mocker, "gsm", NMActiveConnectionState.ACTIVATED)
+  bus = mocker.MagicMock()
+  bus.get_object.side_effect = [primary, cellular]
+  nm = mocker.MagicMock()
+  nm.Get.side_effect = ["/primary", ["/cellular"]]
+  modem = mocker.MagicMock()
+
+  def modem_get_side_effect(_iface, prop, **_kwargs):
+    values = {
+      "State": MM_MODEM_STATE.CONNECTED,
+      "AccessTechnologies": MM_MODEM_ACCESS_TECHNOLOGY_LTE,
+    }
+    return values[prop]
+
+  modem.Get.side_effect = modem_get_side_effect
+
+  device.__dict__["bus"] = bus
+  device.__dict__["nm"] = nm
+  monkeypatch.setattr(device, "get_modem", mocker.MagicMock(return_value=modem))
+
+  assert device.get_network_type() == log.DeviceState.NetworkType.cell4G

iqpilot/system/hardware/tici/tests/test_lpa_activation.py

@@ -0,0 +1,53 @@
+import pytest
+import numpy as np
+
+from iqpilot.system.hardware.tici import qr_decode as qr_decode_module
+from iqpilot.system.hardware.tici.lpa import parse_lpa_activation_code
+from iqpilot.system.hardware.tici.qr_decode import validate_lpa_activation_code
+
+
+def test_parse_valid_activation_code():
+  version, smdp, matching = parse_lpa_activation_code("LPA:1$rsp.truphone.com$QRF-BETTERROAMING")
+  assert version == "1"
+  assert smdp == "rsp.truphone.com"
+  assert matching == "QRF-BETTERROAMING"
+
+
+@pytest.mark.parametrize("code", [
+  "",
+  "foo",
+  "LPA:2$rsp.truphone.com$abc",
+  "LPA:1$$abc",
+  "LPA:1$rsp.truphone.com$",
+  "LPA:1$rsp.truphone.com",
+])
+def test_parse_invalid_activation_code(code):
+  with pytest.raises(ValueError):
+    parse_lpa_activation_code(code)
+
+
+def test_qr_validator_valid():
+  valid, reason = validate_lpa_activation_code("LPA:1$rsp.truphone.com$QRF-123")
+  assert valid
+  assert reason == ""
+
+
+def test_qr_validator_invalid():
+  valid, reason = validate_lpa_activation_code("https://example.com")
+  assert not valid
+  assert reason
+
+
+def test_decode_qr_prefers_pyzbar(monkeypatch):
+  class FakeResult:
+    data = b"LPA:1$rsp.truphone.com$QRF-123"
+
+  monkeypatch.setattr(qr_decode_module, "_pyzbar_decode", lambda arr: [FakeResult()])
+
+  def fail_load_decoder():
+    raise AssertionError("quirc fallback should not be used when pyzbar succeeds")
+
+  monkeypatch.setattr(qr_decode_module, "_load_decoder", fail_load_decoder)
+
+  payloads = qr_decode_module.decode_qr(np.zeros((4, 4), dtype=np.uint8))
+  assert payloads == ["LPA:1$rsp.truphone.com$QRF-123"]

iqpilot/system/hardware/tici/tests/test_power_draw.py

@@ -0,0 +1,128 @@
+from collections import defaultdict, deque
+import pytest
+import time
+import numpy as np
+from dataclasses import dataclass
+from tabulate import tabulate
+
+import iqpilot.cereal.messaging as messaging
+from iqpilot.cereal.services import SERVICE_LIST
+from iqdbc.car.car_helpers import get_demo_car_params
+from iqpilot.common.mock import mock_messages
+from iqpilot.common.params import Params
+from iqpilot.system.hardware.tici.power_monitor import get_power
+from iqpilot.system.manager.process_config import managed_processes
+from iqpilot.system.manager.manager import manager_cleanup
+
+SAMPLE_TIME = 8       # seconds to sample power
+MAX_WARMUP_TIME = 30  # seconds to wait for SAMPLE_TIME consecutive valid samples
+
+@dataclass
+class Proc:
+  procs: list[str]
+  power: float
+  msgs: list[str]
+  rtol: float = 0.05
+  atol: float = 0.12
+
+  @property
+  def name(self):
+    return '+'.join(self.procs)
+
+
+PROCS = [
+  Proc(['camerad'], 1.65, atol=0.4, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']),
+  Proc(['modeld'], 1.24, atol=0.2, msgs=['modelV2']),
+  Proc(['dmonitoringmodeld'], 0.65, atol=0.35, msgs=['driverStateV2']),
+  Proc(['encoderd'], 0.23, msgs=[]),
+]
+
+
+@pytest.mark.tici
+class TestPowerDraw:
+
+  def setup_method(self):
+    Params().put("CarParams", get_demo_car_params().to_bytes())
+
+    # wait a bit for power save to disable
+    time.sleep(5)
+
+  def teardown_method(self):
+    manager_cleanup()
+
+  def get_expected_messages(self, proc):
+    return int(sum(SAMPLE_TIME * SERVICE_LIST[msg].frequency for msg in proc.msgs))
+
+  def valid_msg_count(self, proc, msg_counts):
+    msgs_received = sum(msg_counts[msg] for msg in proc.msgs)
+    msgs_expected = self.get_expected_messages(proc)
+    return np.isclose(msgs_expected, msgs_received, rtol=.02, atol=2)
+
+  def valid_power_draw(self, proc, used):
+    return np.isclose(used, proc.power, rtol=proc.rtol, atol=proc.atol)
+
+  def tabulate_msg_counts(self, msgs_and_power):
+    msg_counts = defaultdict(int)
+    for _, counts in msgs_and_power:
+      for msg, count in counts.items():
+        msg_counts[msg] += count
+    return msg_counts
+
+  def get_power_with_warmup_for_target(self, proc, prev):
+    socks = {msg: messaging.sub_sock(msg) for msg in proc.msgs}
+    for sock in socks.values():
+      messaging.drain_sock_raw(sock)
+
+    msgs_and_power = deque([], maxlen=SAMPLE_TIME)
+
+    start_time = time.monotonic()
+
+    while (time.monotonic() - start_time) < MAX_WARMUP_TIME:
+      power = get_power(1)
+      iteration_msg_counts = {}
+      for msg,sock in socks.items():
+        iteration_msg_counts[msg] = len(messaging.drain_sock_raw(sock))
+      msgs_and_power.append((power, iteration_msg_counts))
+
+      if len(msgs_and_power) < SAMPLE_TIME:
+        continue
+
+      msg_counts = self.tabulate_msg_counts(msgs_and_power)
+      now = np.mean([m[0] for m in msgs_and_power])
+
+      if self.valid_msg_count(proc, msg_counts) and self.valid_power_draw(proc, now - prev):
+        break
+
+    return now, msg_counts, time.monotonic() - start_time - SAMPLE_TIME
+
+  @mock_messages(['deviceMotion'])
+  def test_camera_procs(self, subtests):
+    baseline = get_power()
+
+    prev = baseline
+    used = {}
+    warmup_time = {}
+    msg_counts = {}
+
+    for proc in PROCS:
+      for p in proc.procs:
+        managed_processes[p].start()
+      now, local_msg_counts, warmup_time[proc.name] = self.get_power_with_warmup_for_target(proc, prev)
+      msg_counts.update(local_msg_counts)
+
+      used[proc.name] = now - prev
+      prev = now
+
+    manager_cleanup()
+
+    tab = [['process', 'expected (W)', 'measured (W)', '# msgs expected', '# msgs received', "warmup time (s)"]]
+    for proc in PROCS:
+      cur = used[proc.name]
+      expected = proc.power
+      msgs_received = sum(msg_counts[msg] for msg in proc.msgs)
+      tab.append([proc.name, round(expected, 2), round(cur, 2), self.get_expected_messages(proc), msgs_received, round(warmup_time[proc.name], 2)])
+      with subtests.test(proc=proc.name):
+        assert self.valid_msg_count(proc, msg_counts), f"expected {self.get_expected_messages(proc)} msgs, got {msgs_received} msgs"
+        assert self.valid_power_draw(proc, cur), f"expected {expected:.2f}W, got {cur:.2f}W"
+    print(tabulate(tab))
+    print(f"Baseline {baseline:.2f}W\n")

iqpilot/system/hardware/tici/updater

@@ -0,0 +1,17 @@
+#!/usr/bin/env bash
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
+
+AGNOS_PY=$1
+MANIFEST=$2
+
+if [[ ! -f "$AGNOS_PY" || ! -f "$MANIFEST" ]]; then
+  echo "invalid args"
+  exit 1
+fi
+
+if systemctl is-active --quiet weston-ready; then
+  $DIR/updater_weston $AGNOS_PY $MANIFEST
+else
+  $DIR/updater_magic $AGNOS_PY $MANIFEST
+fi

iqpilot/system/hardware/tici/usb_storage.py

@@ -0,0 +1,17 @@
+import os
+import subprocess
+
+from iqpilot.common.params import Params
+
+SCRIPT_PATH = os.path.join(os.path.dirname(os.path.abspath(__file__)), "set_usb_storage.sh")
+
+
+def apply_usb_storage_state(state: bool):
+  Params().put_bool("UsbStorageEnabled", state)
+  try:
+    args = ["sudo", SCRIPT_PATH]
+    if state:
+      args.append("--rebuild")
+    subprocess.Popen(args)
+  except OSError:
+    pass

iqpilot/system/hardware/tici/zram_setup.sh

@@ -0,0 +1,19 @@
+#!/usr/bin/env bash
+# RT control procs (controlsd/card) mlockall their pages, so they are never swapped.
+set -e
+
+[ -e /sys/class/zram-control ] || exit 0
+grep -q "zram0" /proc/swaps 2>/dev/null && exit 0
+
+DISKSIZE="${ZRAM_DISKSIZE:-2G}"
+
+echo lzo > /sys/block/zram0/comp_algorithm 2>/dev/null || true
+echo "$DISKSIZE" > /sys/block/zram0/disksize
+
+mkswap /dev/zram0 >/dev/null 2>&1
+swapon -p 100 /dev/zram0
+
+sysctl -q vm.swappiness=100 2>/dev/null || true
+sysctl -q vm.page-cluster=0 2>/dev/null || true
+
+echo "zram: $(free -m | awk '/Swap/{print $2}')MB compressed swap active"