diff --git a/Jenkinsfile b/Jenkinsfile
index c362512038..b77891bb75 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -1,3 +1,33 @@
+def phone(String ip, String step_label, String cmd) {
+  def ci_env = "CI=1 TEST_DIR=${env.TEST_DIR} GIT_BRANCH=${env.GIT_BRANCH} GIT_COMMIT=${env.GIT_COMMIT}"
+
+  withCredentials([file(credentialsId: 'id_rsa_public', variable: 'key_file')]) {
+    sh label: step_label,
+        script: """
+                ssh -tt -o StrictHostKeyChecking=no -i ${key_file} -p 8022 root@${ip} '${ci_env} /usr/bin/bash -le' <<'EOF'
+echo \$\$ > /dev/cpuset/app/tasks || true
+echo \$PPID > /dev/cpuset/app/tasks || true
+mkdir -p /dev/shm
+chmod 777 /dev/shm
+cd ${env.TEST_DIR} || true
+${cmd}
+exit 0
+EOF"""
+  }
+}
+
+def phone_steps(String device_type, steps) {
+  lock(resource: "", label: device_type, inversePrecedence: true, variable: 'device_ip', quantity: 1) {
+    timeout(time: 60, unit: 'MINUTES') {
+      phone(device_ip, "kill old processes", "pkill -f comma || true")
+      phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
+      steps.each { item ->
+        phone(device_ip, item[0], item[1])
+      }
+    }
+  }
+}
+
 pipeline {
   agent {
     docker {
@@ -7,6 +37,7 @@ pipeline {
   }
   environment {
     COMMA_JWT = credentials('athena-test-jwt')
+    TEST_DIR = "/data/openpilot"
   }
 
   stages {
@@ -16,14 +47,9 @@ pipeline {
         branch 'devel-staging'
       }
       steps {
-        lock(resource: "", label: 'eon-build', inversePrecedence: true, variable: 'eon_ip', quantity: 1){
-          timeout(time: 60, unit: 'MINUTES') {
-            dir(path: 'selfdrive/test') {
-              sh 'pip install paramiko'
-              sh 'python phone_ci.py "cd release && PUSH=1 ./build_release2.sh"'
-            }
-          }
-        }
+        phone_steps("eon-build", [
+          ["build release2-staging and dashcam-staging", "cd release && PUSH=1 ./build_release2.sh"],
+        ])
       }
     }
 
@@ -40,50 +66,38 @@ pipeline {
 
         stage('Build') {
           environment {
-            CI_PUSH = "${env.BRANCH_NAME == 'master' ? 'master-ci' : ''}"
+            CI_PUSH = "${env.BRANCH_NAME == 'master' ? 'master-ci' : ' '}"
           }
-
           steps {
-            lock(resource: "", label: 'eon', inversePrecedence: true, variable: 'eon_ip', quantity: 1){
-              timeout(time: 60, unit: 'MINUTES') {
-                dir(path: 'selfdrive/test') {
-                  sh 'pip install paramiko'
-                  sh 'python phone_ci.py "cd release && ./build_devel.sh"'
-                }
-              }
-            }
+            phone_steps("eon", [
+              ["build devel", "cd release && CI_PUSH=${env.CI_PUSH} ./build_devel.sh"],
+              ["test openpilot", "nosetests -s selfdrive/test/test_openpilot.py"],
+              //["test cpu usage", "cd selfdrive/test/ && ./test_cpu_usage.py"],
+              ["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
+            ])
           }
         }
 
         stage('Replay Tests') {
           steps {
-            lock(resource: "", label: 'eon2', inversePrecedence: true, variable: 'eon_ip', quantity: 1){
-              timeout(time: 60, unit: 'MINUTES') {
-                dir(path: 'selfdrive/test') {
-                  sh 'pip install paramiko'
-                  sh 'python phone_ci.py "cd selfdrive/test/process_replay && ./camera_replay.py"'
-                }
-              }
-            }
+            phone_steps("eon2", [
+              ["camerad/modeld replay", "cd selfdrive/test/process_replay && ./camera_replay.py"],
+            ])
           }
         }
 
         stage('HW Tests') {
           steps {
-            lock(resource: "", label: 'eon', inversePrecedence: true, variable: 'eon_ip', quantity: 1){
-              timeout(time: 60, unit: 'MINUTES') {
-                dir(path: 'selfdrive/test') {
-                  sh 'pip install paramiko'
-                  sh 'python phone_ci.py "SCONS_CACHE=1 scons -j3 cereal/ && \
-                                          nosetests -s selfdrive/test/test_sounds.py && \
-                                          nosetests -s selfdrive/boardd/tests/test_boardd_loopback.py"'
-                }
-              }
-            }
+            phone_steps("eon", [
+              ["build cereal", "SCONS_CACHE=1 scons -j4 cereal/"],
+              ["test sounds", "nosetests -s selfdrive/test/test_sounds.py"],
+              ["test boardd loopback", "nosetests -s selfdrive/boardd/tests/test_boardd_loopback.py"],
+            ])
           }
         }
 
       }
     }
+
   }
 }
diff --git a/release/build_devel.sh b/release/build_devel.sh
index 782ea0fae5..8e2e7ce7f6 100755
--- a/release/build_devel.sh
+++ b/release/build_devel.sh
@@ -1,13 +1,4 @@
-#!/usr/bin/env bash
-set -e
-
-mkdir -p /dev/shm
-chmod 777 /dev/shm
-
-# Write cpuset
-echo $$ > /dev/cpuset/app/tasks
-echo $PPID > /dev/cpuset/app/tasks
-
+#!/usr/bin/bash -e
 
 SOURCE_DIR=/data/openpilot_source
 TARGET_DIR=/data/openpilot
@@ -18,7 +9,7 @@ export GIT_COMMITTER_NAME="Vehicle Researcher"
 export GIT_COMMITTER_EMAIL="user@comma.ai"
 export GIT_AUTHOR_NAME="Vehicle Researcher"
 export GIT_AUTHOR_EMAIL="user@comma.ai"
-export GIT_SSH_COMMAND="ssh -i /tmp/deploy_key"
+export GIT_SSH_COMMAND="ssh -i /data/gitkey"
 
 echo "[-] Setting up repo T=$SECONDS"
 if [ ! -d "$TARGET_DIR" ]; then
@@ -73,16 +64,6 @@ git commit -a -m "openpilot v$VERSION release"
 # Run build
 SCONS_CACHE=1 scons -j3
 
-echo "[-] testing openpilot T=$SECONDS"
-echo -n "0" > /data/params/d/Passive
-echo -n "0.2.0" > /data/params/d/CompletedTrainingVersion
-echo -n "1" > /data/params/d/HasCompletedSetup
-echo -n "1" > /data/params/d/CommunityFeaturesToggle
-
-PYTHONPATH="$TARGET_DIR:$TARGET_DIR/pyextra" nosetests -s selfdrive/test/test_openpilot.py
-PYTHONPATH="$TARGET_DIR:$TARGET_DIR/pyextra" selfdrive/test/test_cpu_usage.py
-PYTHONPATH="$TARGET_DIR:$TARGET_DIR/pyextra" selfdrive/car/tests/test_car_interfaces.py
-
 echo "[-] testing panda build T=$SECONDS"
 pushd panda/board/
 make bin
@@ -99,10 +80,4 @@ if [ ! -z "$CI_PUSH" ]; then
   git push -f origin master-ci:$CI_PUSH
 fi
 
-echo "[-] done pushing T=$SECONDS"
-
-# reset version
-cd $SOURCE_DIR
-git checkout -- selfdrive/common/version.h
-
 echo "[-] done T=$SECONDS"
diff --git a/release/files_common b/release/files_common
index d297b550db..01d743c482 100644
--- a/release/files_common
+++ b/release/files_common
@@ -312,9 +312,8 @@ selfdrive/thermald/thermald.py
 selfdrive/thermald/power_monitoring.py
 
 selfdrive/test/__init__.py
-selfdrive/test/id_rsa
 selfdrive/test/helpers.py
-selfdrive/test/phone_ci.py
+selfdrive/test/setup_device_ci.sh
 selfdrive/test/test_openpilot.py
 selfdrive/test/test_fingerprints.py
 selfdrive/test/test_cpu_usage.py
diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py
index 2a6cf501a2..733c09dc72 100644
--- a/selfdrive/test/helpers.py
+++ b/selfdrive/test/helpers.py
@@ -4,8 +4,19 @@ from nose.tools import nottest
 
 from common.android import ANDROID
 from common.apk import update_apks, start_offroad, pm_apply_packages, android_packages
+from common.params import Params
+from selfdrive.version import training_version
 from selfdrive.manager import start_managed_process, kill_managed_process, get_running
 
+def set_params_enabled():
+  params = Params()
+  params.put("HasAcceptedTerms", "1")
+  params.put("HasCompletedSetup", "1")
+  params.put("OpenpilotEnabledToggle", "1")
+  params.put("CommunityFeaturesToggle", "1")
+  params.put("Passive", "0")
+  params.put("CompletedTrainingVersion", training_version)
+
 def phone_only(x):
   if ANDROID:
     return x
diff --git a/selfdrive/test/phone_ci.py b/selfdrive/test/phone_ci.py
deleted file mode 100755
index a3a966ce2f..0000000000
--- a/selfdrive/test/phone_ci.py
+++ /dev/null
@@ -1,98 +0,0 @@
-#!/usr/bin/env python3
-import paramiko  # pylint: disable=import-error
-import os
-import sys
-import re
-import time
-import socket
-
-
-SOURCE_DIR = "/data/openpilot_source/"
-TEST_DIR = "/data/openpilot/"
-
-def run_on_phone(test_cmd):
-
-  eon_ip = os.environ.get('eon_ip', None)
-  if eon_ip is None:
-    raise Exception("'eon_ip' not set")
-
-  ssh = paramiko.SSHClient()
-  ssh.set_missing_host_key_policy(paramiko.AutoAddPolicy())
-
-  key_file = open(os.path.join(os.path.dirname(__file__), "id_rsa"))
-  key = paramiko.RSAKey.from_private_key(key_file)
-
-  print("SSH to phone at {}".format(eon_ip))
-
-  # try connecting for one minute
-  t_start = time.time()
-  while True:
-    try:
-      ssh.connect(hostname=eon_ip, port=8022, pkey=key, timeout=10)
-    except (paramiko.ssh_exception.SSHException, socket.timeout, paramiko.ssh_exception.NoValidConnectionsError):
-      print("Connection failed")
-      if time.time() - t_start > 60:
-        raise
-    else:
-      break
-    time.sleep(1)
-
-  branch = os.environ['GIT_BRANCH']
-  commit = os.environ.get('GIT_COMMIT', branch)
-
-  conn = ssh.invoke_shell()
-
-  # pass in all environment variables prefixed with 'CI_'
-  for k, v in os.environ.items():
-    if k.startswith("CI_") or k in ["GIT_BRANCH", "GIT_COMMIT"]:
-      conn.send(f"export {k}='{v}'\n")
-  conn.send("export CI=1\n")
-
-  # clear scons cache dirs that haven't been written to in one day
-  conn.send("cd /tmp && find -name 'scons_cache_*' -type d -maxdepth 1 -mtime 1 -exec rm -rf '{}' \\;\n")
-
-  # set up environment
-  conn.send(f"cd {SOURCE_DIR}\n")
-  conn.send("git reset --hard\n")
-  conn.send("git fetch origin\n")
-  conn.send("find . -maxdepth 1 -not -path './.git' -not -name '.' -not -name '..' -exec rm -rf '{}' \\;\n")
-  conn.send(f"git reset --hard {commit}\n")
-  conn.send(f"git checkout {commit}\n")
-  conn.send("git clean -xdf\n")
-  conn.send("git submodule update --init\n")
-  conn.send("git submodule foreach --recursive git reset --hard\n")
-  conn.send("git submodule foreach --recursive git clean -xdf\n")
-  conn.send('echo "git took $SECONDS seconds"\n')
-
-  conn.send(f"rsync -a --delete {SOURCE_DIR} {TEST_DIR}\n")
-
-  # run the test
-  conn.send(test_cmd + "\n")
-
-  # get the result and print it back out
-  conn.send('echo "RESULT:" $?\n')
-  conn.send("exit\n")
-
-  dat = b""
-  conn.settimeout(240)
-
-  while True:
-    try:
-      recvd = conn.recv(4096)
-    except socket.timeout:
-      print("connection to phone timed out")
-      sys.exit(1)
-
-    if len(recvd) == 0:
-      break
-
-    dat += recvd
-    sys.stdout.buffer.write(recvd)
-    sys.stdout.flush()
-
-  return_code = int(re.findall(rb'^RESULT: (\d+)', dat[-1024:], flags=re.MULTILINE)[0])
-  sys.exit(return_code)
-
-
-if __name__ == "__main__":
-  run_on_phone(sys.argv[1])
diff --git a/selfdrive/test/setup_device_ci.sh b/selfdrive/test/setup_device_ci.sh
new file mode 100755
index 0000000000..e8228ce7d4
--- /dev/null
+++ b/selfdrive/test/setup_device_ci.sh
@@ -0,0 +1,35 @@
+#!/usr/bin/bash -e
+
+export SOURCE_DIR="/data/openpilot_source/"
+
+if [ -z "$GIT_COMMIT" ]; then
+  echo "GIT_COMMIT must be set"
+  exit 1
+fi
+
+if [ -z "$TEST_DIR" ]; then
+
+  echo "TEST_DIR must be set"
+  exit 1
+fi
+
+# TODO: never clear qcom_replay cache
+# clear scons cache dirs that haven't been written to in one day
+cd /tmp && find -name 'scons_cache_*' -type d -maxdepth 1 -mtime 1 -exec rm -rf '{}' \;
+
+# set up environment
+cd $SOURCE_DIR
+git reset --hard
+git fetch origin
+find . -maxdepth 1 -not -path './.git' -not -name '.' -not -name '..' -exec rm -rf '{}' \;
+git reset --hard $GIT_COMMIT
+git checkout $GIT_COMMIT
+git clean -xdf
+git submodule update --init
+git submodule foreach --recursive git reset --hard
+git submodule foreach --recursive git clean -xdf
+echo "git checkout took $SECONDS seconds"
+
+rsync -a --delete $SOURCE_DIR $TEST_DIR
+
+echo "$TEST_DIR synced with $GIT_COMMIT, took $SECONDS seconds"
diff --git a/selfdrive/test/test_cpu_usage.py b/selfdrive/test/test_cpu_usage.py
index b9bd374824..d6d2841c7e 100755
--- a/selfdrive/test/test_cpu_usage.py
+++ b/selfdrive/test/test_cpu_usage.py
@@ -6,8 +6,9 @@ import signal
 import sys
 
 import cereal.messaging as messaging
+from common.params import Params
 import selfdrive.manager as manager
-
+from selfdrive.test.helpers import set_params_enabled
 
 def cputime_total(ct):
   return ct.cpuUser + ct.cpuSystem + ct.cpuChildrenUser + ct.cpuChildrenSystem
@@ -70,13 +71,18 @@ return_code = 1
 def test_thread():
   try:
     global return_code
-    proc_sock = messaging.sub_sock('procLog', conflate=True, timeout=1000)
+    proc_sock = messaging.sub_sock('procLog', conflate=True, timeout=2000)
 
     # wait until everything's started and get first sample
-    time.sleep(30)
+    start_time = time.monotonic()
+    while time.monotonic() - start_time < 120:
+      if Params().get("CarParams") is not None:
+        break
+      time.sleep(2)
     first_proc = messaging.recv_sock(proc_sock, wait=True)
     if first_proc is None or not all_running():
-      print("\n\nTEST FAILED: all car started processes not running\n\n")
+      err_msg = "procLog recv timed out" if first_proc is None else "all car started process not running"
+      print(f"\n\nTEST FAILED: {err_msg}\n\n")
       raise Exception
 
     # run for a minute and get last sample
@@ -90,12 +96,16 @@ def test_thread():
 
 if __name__ == "__main__":
 
+
   # setup signal handler to exit with test status
   def handle_exit(sig, frame):
     sys.exit(return_code)
   signal.signal(signal.SIGINT, handle_exit)
 
   # start manager and test thread
+  set_params_enabled()
+  Params().delete("CarParams")
+
   t = threading.Thread(target=test_thread)
   t.daemon = True
   t.start()
diff --git a/selfdrive/test/test_openpilot.py b/selfdrive/test/test_openpilot.py
index fc3b17dded..75e8192f4c 100644
--- a/selfdrive/test/test_openpilot.py
+++ b/selfdrive/test/test_openpilot.py
@@ -5,7 +5,7 @@ os.environ['FAKEUPLOAD'] = "1"
 from common.params import Params
 from common.realtime import sec_since_boot
 from selfdrive.manager import manager_init, manager_prepare, start_daemon_process
-from selfdrive.test.helpers import phone_only, with_processes
+from selfdrive.test.helpers import phone_only, with_processes, set_params_enabled
 import json
 import requests
 import signal
@@ -16,6 +16,7 @@ import time
 # must run first
 @phone_only
 def test_manager_prepare():
+  set_params_enabled()
   manager_init()
   manager_prepare()
 
diff --git a/selfdrive/test/id_rsa b/tools/ssh/id_rsa
similarity index 100%
rename from selfdrive/test/id_rsa
rename to tools/ssh/id_rsa
diff --git a/tools/ssh/key/id_rsa b/tools/ssh/key/id_rsa
deleted file mode 120000
index d4e6dd344a..0000000000
--- a/tools/ssh/key/id_rsa
+++ /dev/null
@@ -1 +0,0 @@
-../../../selfdrive/test/id_rsa
\ No newline at end of file