Void

.gitignore

@@ -1,5 +1,6 @@
 *.swp
 *.tar.gz
+*.tar.xz
 *.DS_Store
 
 /logs/
@@ -17,3 +18,6 @@ edl_config.json
 tools/edl_repo/
 
 edk2_tici/
+output/system.raw
+
+void/eval/ubuntu-manifest.txt

build_kernel.sh

@@ -86,7 +86,7 @@ build_kernel() {
   $TOOLS/mkbootimg \
     --kernel Image.gz-dtb \
     --ramdisk /dev/null \
-    --cmdline "console=ttyMSM0,115200n8 isolcpus=6,7 quiet loglevel=3 earlycon=msm_geni_serial,0xA84000 androidboot.hardware=qcom androidboot.console=ttyMSM0 ehci-hcd.park=3 lpm_levels.sleep_disabled=1 service_locator.enable=1 androidboot.selinux=permissive firmware_class.path=/lib/firmware/updates net.ifnames=0 dyndbg=\"\"" \
+    --cmdline "console=ttyMSM0,115200n8 isolcpus=6,7 loglevel=7 earlycon=msm_geni_serial,0xA84000 androidboot.hardware=qcom androidboot.console=ttyMSM0 ehci-hcd.park=3 lpm_levels.sleep_disabled=1 service_locator.enable=1 androidboot.selinux=permissive firmware_class.path=/lib/firmware/updates net.ifnames=0 dyndbg=\"\"" \
     --pagesize 4096 \
     --base 0x80000000 \
     --kernel_offset 0x8000 \

flash_system.sh

@@ -4,8 +4,21 @@ set -e
 DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
 cd $DIR
 
+# Custom firehose loader with USB 3.0 SuperSpeed support
+CUSTOM_LOADER="$DIR/tools/edl_repo/Loaders/qualcomm/factory/sdm845_sdm850_sda845/prog_firehose_ddr_usb3.elf"
+
+# Use custom loader if it exists, otherwise let EDL auto-select
+if [[ -f "$CUSTOM_LOADER" ]]; then
+  LOADER_ARG="--loader=$CUSTOM_LOADER"
+  echo "Using custom USB 3.0 loader: $CUSTOM_LOADER"
+else
+  LOADER_ARG=""
+  echo "Custom loader not found, using default loader"
+fi
+
 echo "Checking active slot..."
-ACTIVE_SLOT=$(tools/edl getactiveslot | grep "Current active slot:" | awk '{print $NF}')
+#ACTIVE_SLOT=$(tools/edl getactiveslot | grep "Current active slot:" | awk '{print $NF}')
+ACTIVE_SLOT="a"
 
 if [[ "$ACTIVE_SLOT" != "a" && "$ACTIVE_SLOT" != "b" ]]; then
   echo "Invalid active slot: '$ACTIVE_SLOT'"
@@ -14,8 +27,12 @@ fi
 
 echo "Active slot: $ACTIVE_SLOT"
 echo "Flashing system_$ACTIVE_SLOT..."
-tools/edl w system_$ACTIVE_SLOT $DIR/output/system.img
+#tools/edl w system_$ACTIVE_SLOT $DIR/output/system.img $LOADER_ARG
+
+#tools/edl reset $LOADER_ARG
 
-tools/edl reset
+fastboot flash system_a $DIR/output/system.img
+fastboot --set-active=a
+fastboot continue
 
 echo "Flashed system_$ACTIVE_SLOT!"

scripts/shell.sh

@@ -1,2 +1,2 @@
 #!/usr/bin/env bash
-docker run -it --rm agnos-builder:latest /bin/bash
+docker run -it --rm void-agnos-builder:latest /bin/bash

scripts/usb-ssh.sh

@@ -0,0 +1,93 @@
+#!/bin/bash
+# USB SSH helper - loops forever, reconnects after reflash
+set -e
+
+DEVICE_IP="192.168.7.1"
+HOST_IP="192.168.7.2"
+NETMASK="24"
+
+find_usb_iface() {
+    # Look for USB CDC NCM/ECM interfaces from Qualcomm (vendor 05c6)
+    for iface in /sys/class/net/enx* /sys/class/net/enp* /sys/class/net/usb* /sys/class/net/eth*; do
+        [ -e "$iface" ] || continue
+        name=$(basename "$iface")
+        [[ "$name" == "lo" ]] && continue
+        [[ "$name" == "eth0" ]] && continue
+
+        # Get the USB device path
+        dev_path=$(readlink -f "$iface/device" 2>/dev/null) || continue
+        [[ "$dev_path" == *usb* ]] || continue
+
+        # Extract the USB device directory (e.g., /sys/devices/.../usb4/4-4)
+        usb_dev_path=$(echo "$dev_path" | sed 's|\(.*usb[0-9]*/[0-9]*-[0-9.]*\).*|\1|')
+        if [ -f "$usb_dev_path/idVendor" ]; then
+            vendor=$(cat "$usb_dev_path/idVendor" 2>/dev/null)
+            if [ "$vendor" = "05c6" ]; then
+                echo "$name"
+                return 0
+            fi
+        fi
+    done
+    return 1
+}
+
+remove_conflicting_ips() {
+    local correct_iface="$1"
+    # Remove 192.168.7.x from ALL other interfaces to prevent routing conflicts
+    for iface in $(ip -o addr show | grep "192\.168\.7\." | awk '{print $2}'); do
+        if [ "$iface" != "$correct_iface" ]; then
+            echo "Removing conflicting IP from $iface..."
+            sudo ip addr del "$HOST_IP/$NETMASK" dev "$iface" 2>/dev/null || true
+        fi
+    done
+}
+
+configure_iface() {
+    local iface="$1"
+    # First remove conflicting IPs from other interfaces
+    #remove_conflicting_ips "$iface"
+    # Add IP if not already present
+    if ! ip addr show dev "$iface" 2>/dev/null | grep -q "$HOST_IP"; then
+        sudo ip addr add "$HOST_IP/$NETMASK" dev "$iface" 2>/dev/null || true
+    fi
+    sudo ip link set "$iface" up 2>/dev/null || true
+}
+
+while true; do
+    echo "Waiting for USB network interface..."
+
+    IFACE=""
+    while [ -z "$IFACE" ]; do
+        IFACE=$(find_usb_iface) || true
+        [ -z "$IFACE" ] && sleep 0.5
+    done
+
+    echo "Found USB interface: $IFACE"
+
+    # Configure the interface
+    echo "Configuring $IFACE with $HOST_IP/$NETMASK..."
+    configure_iface "$IFACE"
+
+    # Wait for device to be reachable
+    echo "Waiting for device at $DEVICE_IP..."
+    while ! ping -c 1 -W 1 "$DEVICE_IP" &>/dev/null; do
+        # Check if interface still exists
+        if [ ! -e "/sys/class/net/$IFACE" ]; then
+            echo "Interface disappeared, device probably rebooting..."
+            break
+        fi
+        # Re-apply IP config in case NetworkManager stripped it
+        configure_iface "$IFACE"
+        sleep 0.5
+    done
+
+    # Only SSH if we got a ping response
+    if ping -c 1 -W 1 "$DEVICE_IP" &>/dev/null; then
+        echo "Connecting to comma@$DEVICE_IP..."
+        ssh -t -o StrictHostKeyChecking=no -o UserKnownHostsFile=/dev/null -o ConnectTimeout=5 comma@"$DEVICE_IP" || true
+        echo "SSH session ended."
+    fi
+
+    echo "---"
+    sleep 1
+done

sync_openpilot_dependencies.sh

@@ -11,7 +11,7 @@ if ! command -v "uv" > /dev/null 2>&1; then
 fi
 
 cd userspace/uv
-curl -sSo openpilot/pyproject.toml https://raw.githubusercontent.com/commaai/openpilot/master/pyproject.toml
+#curl -sSo openpilot/pyproject.toml https://raw.githubusercontent.com/commaai/openpilot/master/pyproject.toml
 
 export PYOPENCL_CL_PRETEND_VERSION="2.0" && \
 pc="$(python3 -c "import sysconfig;print(sysconfig.get_config_vars('installed_base')[0])")" && \

userspace/files/99-gpio.rules

@@ -1,2 +1,3 @@
-SUBSYSTEM=="gpio*", PROGRAM="/bin/sh -c 'find -L /sys/class/gpio/ -maxdepth 2 -exec chown root:gpio {} \; -exec chmod 770 {} \; || true'"
-SUBSYSTEM=="gpio", KERNEL=="gpiochip[0]", GROUP="gpio", MODE="660"
+# Set permissions on GPIO devices - use udev's built-in mechanism instead of find
+SUBSYSTEM=="gpio", GROUP="gpio", MODE="0660"
+SUBSYSTEM=="gpio*", KERNEL=="gpiochip*", GROUP="gpio", MODE="0660"

userspace/files/comma-polkit.rules

@@ -1,8 +1,9 @@
-// Allow sudo users to control network & modem
+// Allow wheel group users to control network & modem
+// Note: Void Linux uses "wheel" instead of "sudo" for admin group
 polkit.addRule(function (action, subject) {
   if ((action.id.startsWith("org.freedesktop.NetworkManager.") ||
        action.id.startsWith("org.freedesktop.ModemManager1.")) &&
-      subject.isInGroup("sudo")) {
+      subject.isInGroup("wheel")) {
     return polkit.Result.YES;
   }
 });

userspace/files/profile

@@ -37,7 +37,7 @@ export PATH="/usr/local/.cargo/bin:$PATH"
 export UV_PYTHON_INSTALL_DIR="/usr/local/uv/python"
 export UV_PYTHON_PREFERENCE=only-system
 export UV_LINK_MODE=copy
-source /usr/local/venv/bin/activate
+VIRTUAL_ENV_DISABLE_PROMPT=1 source /usr/local/venv/bin/activate
 
 # custom shims
 export PATH="/usr/comma/shims:${PATH}"

userspace/files/sshd_config

@@ -3,7 +3,7 @@
 
 # Comma
 StrictModes no
-AuthorizedKeysFile /data/params/d/GithubSshKeys /tmp/authorized_keys
+AuthorizedKeysFile /usr/comma/setup_keys /data/params/d/GithubSshKeys /tmp/authorized_keys
 PermitRootLogin no
 
 # What ports, IPs and protocols we listen for

userspace/files/usb0.nmconnection

@@ -0,0 +1,14 @@
+[connection]
+id=usb0
+type=ethernet
+interface-name=usb0
+autoconnect=true
+
+[ethernet]
+
+[ipv4]
+method=manual
+addresses=192.168.7.1/24
+
+[ipv6]
+method=disabled

userspace/home/.bash_profile

@@ -2,7 +2,8 @@ export EDITOR='vim'
 export VIMINIT='source $MYVIMRC'
 export MYVIMRC="~/.vimrc"
 
-source $HOME/.profile
+[ -f $HOME/.profile ] && source $HOME/.profile
+[ -f $HOME/.bashrc ] && source $HOME/.bashrc
 
 if [ -d "/data/openpilot" ] && [ "$(tmux display-message -p '#{session_name}')" == "comma" ] ; then
   cd /data/openpilot

userspace/home/.bashrc

@@ -0,0 +1,7 @@
+# .bashrc
+
+# If not running interactively, don't do anything
+[[ $- != *i* ]] && return
+
+alias ls='ls --color=auto'
+PS1='\[\033[01;32m\]\u@\h\[\033[00m\]:\[\033[01;34m\]\w\[\033[00m\]\$ '

userspace/irsc_util/Makefile

@@ -0,0 +1,27 @@
+# Makefile for irsc_util - IPC Router Security Configuration utility
+
+CC ?= gcc
+CFLAGS ?= -Wall -Wextra -O2
+
+# For cross-compilation, set CC to aarch64-linux-gnu-gcc
+# CC = aarch64-linux-gnu-gcc
+
+TARGET = irsc_util
+SRCS = irsc_util.c
+OBJS = $(SRCS:.c=.o)
+
+all: $(TARGET)
+
+$(TARGET): $(OBJS)
+	$(CC) $(CFLAGS) -o $@ $^
+
+%.o: %.c
+	$(CC) $(CFLAGS) -c -o $@ $<
+
+clean:
+	rm -f $(TARGET) $(OBJS)
+
+install: $(TARGET)
+	install -m 755 $(TARGET) $(DESTDIR)/usr/bin/
+
+.PHONY: all clean install