From 90cbb094829501706b79eaab356a623328a4f23f Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Thu, 13 Nov 2025 21:03:00 -0800
Subject: [PATCH] tinygrad: sync tinygrad and recompile models (#1464)

* ref

* add in the fixes

* Update fetcher.py

* Update helpers.py

* force push same commit so we can restart CI
---
 selfdrive/modeld/SConscript               | 4 ++--
 selfdrive/modeld/dmonitoringmodeld.py     | 2 +-
 selfdrive/modeld/modeld.py                | 2 +-
 sunnypilot/models/fetcher.py              | 2 +-
 sunnypilot/models/helpers.py              | 4 ++--
 sunnypilot/models/runners/model_runner.py | 7 ++-----
 tinygrad_repo                             | 2 +-
 7 files changed, 10 insertions(+), 13 deletions(-)

diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index 6802b45e6..1a6df4bb9 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -51,8 +51,8 @@ def tg_compile(flags, model_name):
 for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
   flags = {
     'larch64': 'DEV=QCOM',
-    'Darwin': 'DEV=CPU IMAGE=0',
-  }.get(arch, 'DEV=LLVM IMAGE=0')
+    'Darwin': f'DEV=CPU HOME={os.path.expanduser("~")} IMAGE=0', # tinygrad calls brew which needs a $HOME in the env
+  }.get(arch, 'DEV=CPU CPU_LLVM=1 IMAGE=0')
   tg_compile(flags, model_name)
 
 # Compile BIG model if USB GPU is available
diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py
index 215056e6e..5aeb035bd 100755
--- a/selfdrive/modeld/dmonitoringmodeld.py
+++ b/selfdrive/modeld/dmonitoringmodeld.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import os
 from openpilot.system.hardware import TICI
-os.environ['DEV'] = 'QCOM' if TICI else 'LLVM'
+os.environ['DEV'] = 'QCOM' if TICI else 'CPU'
 from tinygrad.tensor import Tensor
 from tinygrad.dtype import dtypes
 import math
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 00b49afab..9ac21a18d 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import os
 from openpilot.system.hardware import TICI
-os.environ['DEV'] = 'QCOM' if TICI else 'LLVM'
+os.environ['DEV'] = 'QCOM' if TICI else 'CPU'
 USBGPU = "USBGPU" in os.environ
 if USBGPU:
   os.environ['DEV'] = 'AMD'
diff --git a/sunnypilot/models/fetcher.py b/sunnypilot/models/fetcher.py
index 8c9c4eac7..0c14315ff 100644
--- a/sunnypilot/models/fetcher.py
+++ b/sunnypilot/models/fetcher.py
@@ -116,7 +116,7 @@ class ModelCache:
 
 class ModelFetcher:
   """Handles fetching and caching of model data from remote source"""
-  MODEL_URL = "https://docs.sunnypilot.ai/driving_models_v8.json"
+  MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-docs/refs/heads/gh-pages/docs/driving_models_v9.json"
 
   def __init__(self, params: Params):
     self.params = params
diff --git a/sunnypilot/models/helpers.py b/sunnypilot/models/helpers.py
index 20b94fb61..51a3a2459 100644
--- a/sunnypilot/models/helpers.py
+++ b/sunnypilot/models/helpers.py
@@ -19,8 +19,8 @@ from openpilot.system.hardware.hw import Paths
 from pathlib import Path
 
 # see the README.md for more details on the model selector versioning
-CURRENT_SELECTOR_VERSION = 10
-REQUIRED_MIN_SELECTOR_VERSION = 9
+CURRENT_SELECTOR_VERSION = 11
+REQUIRED_MIN_SELECTOR_VERSION = 11
 
 USE_ONNX = os.getenv('USE_ONNX', PC)
 
diff --git a/sunnypilot/models/runners/model_runner.py b/sunnypilot/models/runners/model_runner.py
index 712466279..6902ed09b 100644
--- a/sunnypilot/models/runners/model_runner.py
+++ b/sunnypilot/models/runners/model_runner.py
@@ -14,13 +14,10 @@ CUSTOM_MODEL_PATH = Paths.model_root()
 # Set QCOM environment variable for TICI devices, potentially enabling hardware acceleration
 USBGPU = "USBGPU" in os.environ
 if USBGPU:
-  os.environ['AMD'] = '1'
+  os.environ['DEV'] = 'AMD'
   os.environ['AMD_IFACE'] = 'USB'
-elif TICI:
-  os.environ['QCOM'] = '1'
 else:
-  os.environ['LLVM'] = '1'
-  os.environ['JIT'] = '2'  # TODO: This may cause issues
+  os.environ['DEV'] = 'QCOM' if TICI else 'CPU'
 
 
 class ModelData:
diff --git a/tinygrad_repo b/tinygrad_repo
index d2bb1bcb9..7296c74cb 160000
--- a/tinygrad_repo
+++ b/tinygrad_repo
@@ -1 +1 @@
-Subproject commit d2bb1bcb976f106a41928f2d66d354ab7afd6f59
+Subproject commit 7296c74cbd2666da7dce95d7ca6dab5340653a5c