diff --git a/.github/workflows/codeql_intech.yml b/.github/workflows/codeql_intech.yml
deleted file mode 100644
index 871d217ed..000000000
--- a/.github/workflows/codeql_intech.yml
+++ /dev/null
@@ -1,120 +0,0 @@
-# For most projects, this workflow file will not need changing; you simply need
-# to commit it to your repository.
-#
-# You may wish to alter this file to override the set of languages analyzed,
-# or to provide custom queries or build logic.
-#
-# ******** NOTE ********
-# We have attempted to detect the languages in your repository. Please check
-# the `language` matrix defined below to confirm you have the correct set of
-# supported CodeQL languages.
-#
-name: "CodeQL"
-
-on:
-  workflow_dispatch:
-
-jobs:
-  analyze:
-    name: Analyze
-    # Runner size impacts CodeQL analysis time. To learn more, please see:
-    #   - https://gh.io/recommended-hardware-resources-for-running-codeql
-    #   - https://gh.io/supported-runners-and-hardware-resources
-    #   - https://gh.io/using-larger-runners
-    # Consider using larger runners for possible analysis time improvements.
-    runs-on: ${{ (matrix.language == 'swift' && 'macos-latest') || 'ubuntu-20.04' }}
-    timeout-minutes: ${{ (matrix.language == 'swift' && 120) || 360 }}
-    permissions:
-      actions: read
-      contents: read
-      security-events: write
-
-    strategy:
-      fail-fast: false
-      matrix:
-        language: [ 'cpp' ]
-        # CodeQL supports [ 'cpp', 'csharp', 'go', 'java', 'javascript', 'python', 'ruby', 'swift' ]
-        # Use only 'java' to analyze code written in Java, Kotlin or both
-        # Use only 'javascript' to analyze code written in JavaScript, TypeScript or both
-        # Learn more about CodeQL language support at https://aka.ms/codeql-docs/language-support
-
-    steps:
-    - name: Checkout repository
-      uses: actions/checkout@v3
-      with:
-        submodules: recursive
-
-    # Initializes the CodeQL tools for scanning.
-    - name: Initialize CodeQL
-      uses: github/codeql-action/init@v2
-      with:
-        languages: ${{ matrix.language }}
-        # If you wish to specify custom queries, you can do so here or in a config file.
-        # By default, queries listed here will override any specified in a config file.
-        # Prefix the list here with "+" to use these queries and those in the config file.
-
-        # For more details on CodeQL's query packs, refer to: https://docs.github.com/en/code-security/code-scanning/automatically-scanning-your-code-for-vulnerabilities-and-errors/configuring-code-scanning#using-queries-in-ql-packs
-        # queries: security-extended,security-and-quality
-        queries: security-and-quality
-
-
-    # Autobuild attempts to build any compiled languages (C/C++, C#, Go, Java, or Swift).
-    # If this step fails, then you should remove it and run the build manually (see below)
-    #- name: Autobuild
-    #  uses: github/codeql-action/autobuild@v2
-
-    # ℹ️ Command-line programs to run using the OS shell.
-    # 📚 See https://docs.github.com/en/actions/using-workflows/workflow-syntax-for-github-actions#jobsjob_idstepsrun
-
-    #   If the Autobuild fails above, remove it and uncomment the following three lines.
-    #   modify them (or add more) to build your code if your project, please refer to the EXAMPLE below for guidance.
-    - run: |
-        docker build -t my-image .
-        docker run -v $PWD:/project -w /project/ my-image sh -c "\
-          codeql database create /project/codeql-db --language=cpp --command='./pico_build_firmware.sh && ./esp_build_firmware.sh' \
-          && codeql database analyze /project/codeql-db --format=sarif-latest --sarif-category=true --output=/project/codeql-db/codeql-sarif"
-
-    - run: |
-        ls
-        ls codeql-db
-
-    # Filter out rules with low severity or high false positive rate
-    # Also filter out warnings in third-party code
-    # - name: Filter out unwanted errors and warnings
-    #   uses: advanced-security/filter-sarif@v1
-    #   with:
-    #     patterns: |
-    #       -**:cpp/path-injection
-    #       -**:cpp/world-writable-file-creation
-    #       -**:cpp/poorly-documented-function
-    #       -**:cpp/potentially-dangerous-function
-    #       -**:cpp/use-of-goto
-    #       -**:cpp/integer-multiplication-cast-to-long
-    #       -**:cpp/comparison-with-wider-type
-    #       -**:cpp/leap-year/*
-    #       -**:cpp/ambiguously-signed-bit-field
-    #       -**:cpp/suspicious-pointer-scaling
-    #       -**:cpp/suspicious-pointer-scaling-void
-    #       -**:cpp/unsigned-comparison-zero
-    #       -**/cmake*/Modules/**
-    #     input: codeql-db/codeql-sarif
-    #     output: codeql-sarif
-
-    - name: Copy file
-      run: |
-        cp codeql-db/codeql-sarif codeql-sarif
-        cat codeql-sarif
-
-    - name: Upload CodeQL results to code scanning
-      uses: github/codeql-action/upload-sarif@v3
-      with:
-        sarif_file: codeql-sarif
-        category: "/language:${{matrix.language}}"
-
-    - name: Upload CodeQL results as an artifact
-      if: success() || failure()
-      uses: actions/upload-artifact@v4
-      with:
-        name: codeql-results
-        path: codeql-sarif
-        retention-days: 5
diff --git a/.github/workflows/fail_on_error.py b/.github/workflows/fail_on_error.py
deleted file mode 100644
index 29791742b..000000000
--- a/.github/workflows/fail_on_error.py
+++ /dev/null
@@ -1,34 +0,0 @@
-#!/usr/bin/env python3
-
-import json
-import sys
-
-# Return whether SARIF file contains error-level results
-def codeql_sarif_contain_error(filename):
-    with open(filename, 'r') as f:
-        s = json.load(f)
-
-    for run in s.get('runs', []):
-        rules_metadata = run['tool']['driver']['rules']
-        if not rules_metadata:
-            rules_metadata = run['tool']['extensions'][0]['rules']
-
-        for res in run.get('results', []):
-            if 'ruleIndex' in res:
-                rule_index = res['ruleIndex']
-            elif 'rule' in res and 'index' in res['rule']:
-                rule_index = res['rule']['index']
-            else:
-                continue
-            try:
-                rule_level = rules_metadata[rule_index]['defaultConfiguration']['level']
-            except IndexError as e:
-                print(e, rule_index, len(rules_metadata))
-            else:
-                if rule_level == 'error':
-                    return True
-    return False
-
-if __name__ == "__main__":
-    if codeql_sarif_contain_error(sys.argv[1]):
-        sys.exit(1)
diff --git a/.gitignore b/.gitignore
index 4fbb027a6..275ec5e69 100644
--- a/.gitignore
+++ b/.gitignore
@@ -2,7 +2,6 @@ binary
 grid_esp/dependencies.lock
 lists.py
 out.json
-codeql-db
 iperf
 vmp/build
 tags
diff --git a/Dockerfile b/Dockerfile
index 7f2567f9d..007040303 100755
--- a/Dockerfile
+++ b/Dockerfile
@@ -1,30 +1,44 @@
-# Use the base image
-FROM docker.io/espressif/idf:v5.5
+FROM debian:trixie
 
-# Install pico sdk required dependencies
-RUN apt update && \
-    apt install -y git python3 python3-pip cmake gcc-arm-none-eabi libnewlib-arm-none-eabi build-essential xxd && \
-    mkdir -p pico && \
+RUN apt-get update
+
+# Dependencies of esp-idf
+RUN apt -y install git wget flex bison gperf python3 python3-pip python3-venv cmake ninja-build ccache libffi-dev libssl-dev dfu-util libusb-1.0-0
+
+# Clone esp-idf
+RUN git clone -b v5.5 --recursive https://github.com/espressif/esp-idf.git
+
+# Install tools used by esp-idf for esp32s3
+WORKDIR /esp-idf
+RUN ./install.sh esp32s3 > install-sh.log 2>&1
+WORKDIR /
+
+ENV IDF_PATH=/esp-idf
+ENTRYPOINT ["/esp-idf/tools/docker/entrypoint.sh"]
+
+# Install pico sdk and build dependencies
+RUN apt-get update && \
+    apt-get install -y git python3 python3-pip cmake gcc-arm-none-eabi libnewlib-arm-none-eabi build-essential xxd
+
+# Clone pico sdk
+RUN mkdir -p pico && \
     cd pico && \
     git clone https://github.com/raspberrypi/pico-sdk.git --branch 2.1.1 && \
     cd pico-sdk/ && \
-    git submodule update --init && \
-    cd ../.. && \
-    \
-    git clone https://github.com/emscripten-core/emsdk.git && \
+    git submodule update --init
+
+# Install emscripten sdk
+RUN git clone https://github.com/emscripten-core/emsdk.git && \
     cd emsdk && \
-    git pull && \
     ./emsdk install latest && \
-    ./emsdk activate latest && \
-    . ./emsdk_env.sh && \
-    cd ..
+    ./emsdk activate latest
 
 WORKDIR /
 
 ENV PICO_SDK_PATH=/pico/pico-sdk
 
 # Install picotool
-RUN apt install libusb-1.0-0-dev
+RUN apt-get install -y libusb-1.0-0-dev
 RUN git clone --depth 1 --branch 2.1.1 https://github.com/raspberrypi/picotool.git
 RUN mkdir -p picotool/build
 WORKDIR /picotool
@@ -36,24 +50,11 @@ WORKDIR /
 
 ENV EMSDK=/emsdk EM_CONFIG=/emsdk/.emscripten EMSDK_NODE=/emsdk/node/14.18.2_64bit/bin/node PATH=/emsdk:/emsdk/upstream/emscripten:/emsdk/upstream/bin:/emsdk/node/14.18.2_64bit/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin
 
-# Set up environment variables
-ENV CODEQL_HOME=/opt/codeql
-ENV PATH="${CODEQL_HOME}/codeql:${PATH}"
-
-# Install CodeQL CLI tools
-RUN mkdir -p ${CODEQL_HOME} && \
-    curl -L https://github.com/github/codeql-cli-binaries/releases/latest/download/codeql-linux64.zip -o ${CODEQL_HOME}/codeql.zip && \
-    unzip ${CODEQL_HOME}/codeql.zip -d ${CODEQL_HOME} && \
-    rm ${CODEQL_HOME}/codeql.zip && \
-    codeql --version
-
-RUN cd ${CODEQL_HOME} && git clone --recursive https://github.com/github/codeql.git codeql-repo
-
-RUN apt update && \
-    apt install -y socat
+RUN apt-get update && \
+    apt-get install -y socat
 
 # Install pre-commit from pip
-RUN apt install -y pre-commit
+RUN python3 -m pip install --break-system-packages pre-commit
 RUN pre-commit --version
 
 # Copy pre-commit hooks and create a git directory,
@@ -65,10 +66,6 @@ RUN pre-commit install-hooks
 # Add /project as a safe git repository
 RUN git config --global --add safe.directory /project
 
-# Patch esp_efuse_startup.c
-COPY ./patch_esp_efuse_startup.sh /
-RUN ./patch_esp_efuse_startup.sh
-
 # Patch FreeRTOSConfig.h
 COPY ./patch_esp_trace_include.sh /
 RUN ./patch_esp_trace_include.sh
diff --git a/grid_common/grid_ain.c b/grid_common/grid_ain.c
index b75527a3c..6f920e513 100644
--- a/grid_common/grid_ain.c
+++ b/grid_common/grid_ain.c
@@ -7,6 +7,7 @@
 
 #include "grid_ain.h"
 
+#include <assert.h>
 #include <limits.h>
 #include <stdio.h>
 #include <stdlib.h>
diff --git a/grid_common/grid_asc.c b/grid_common/grid_asc.c
index 277408f71..ca8b0b851 100644
--- a/grid_common/grid_asc.c
+++ b/grid_common/grid_asc.c
@@ -1,5 +1,7 @@
 #include "grid_asc.h"
 
+#include <assert.h>
+
 void grid_asc_array_set_factors(struct grid_asc* asc, size_t capacity, uint8_t start, uint8_t length, uint8_t factor) {
 
   assert(start < capacity);
diff --git a/grid_common/grid_cal.c b/grid_common/grid_cal.c
index b1e8754e2..ce1f06c64 100644
--- a/grid_common/grid_cal.c
+++ b/grid_common/grid_cal.c
@@ -7,6 +7,7 @@
 
 #include "grid_cal.h"
 
+#include <assert.h>
 #include <stdlib.h>
 
 struct grid_cal_model grid_cal_state = {0};
@@ -233,4 +234,5 @@ uint16_t grid_cal_next(struct grid_cal_model* cal, uint8_t channel, uint16_t in)
   }
 
   assert(0);
+  return 0;
 }
diff --git a/grid_common/grid_config.c b/grid_common/grid_config.c
index 48bf2d13c..0a0b7cf9c 100644
--- a/grid_common/grid_config.c
+++ b/grid_common/grid_config.c
@@ -8,6 +8,7 @@
 #include "grid_config.h"
 
 #include <stdio.h>
+#include <stdlib.h>
 #include <string.h>
 
 #include "tomlc99/toml.h"
diff --git a/grid_common/grid_led.c b/grid_common/grid_led.c
index 33a398b03..f435308a4 100644
--- a/grid_common/grid_led.c
+++ b/grid_common/grid_led.c
@@ -20,6 +20,7 @@
 
 #include "grid_led.h"
 
+#include <assert.h>
 #include <stdlib.h>
 #include <string.h>
 
diff --git a/grid_common/grid_littlefs.c b/grid_common/grid_littlefs.c
index fafd593bb..654e5fa13 100644
--- a/grid_common/grid_littlefs.c
+++ b/grid_common/grid_littlefs.c
@@ -1,5 +1,6 @@
 #include "grid_littlefs.h"
 
+#include <assert.h>
 #include <limits.h>
 
 #include "grid_platform.h"
diff --git a/grid_common/grid_lua_api.c b/grid_common/grid_lua_api.c
index a5b109a2f..3dd10dda5 100644
--- a/grid_common/grid_lua_api.c
+++ b/grid_common/grid_lua_api.c
@@ -1,5 +1,6 @@
 #include "grid_lua_api.h"
 
+#include <assert.h>
 #include <stdlib.h>
 #include <string.h>
 
diff --git a/grid_common/grid_module.c b/grid_common/grid_module.c
index 62b262c9c..32651647f 100644
--- a/grid_common/grid_module.c
+++ b/grid_common/grid_module.c
@@ -1,5 +1,6 @@
 #include "grid_module.h"
 
+#include <assert.h>
 #include <math.h>
 #include <stdint.h>
 #include <stdlib.h>
diff --git a/grid_common/grid_port.c b/grid_common/grid_port.c
index 71156627f..3fa9f00f0 100644
--- a/grid_common/grid_port.c
+++ b/grid_common/grid_port.c
@@ -2,6 +2,7 @@
 
 #include <assert.h>
 #include <stdio.h>
+#include <stdlib.h>
 #include <string.h>
 
 #include "grid_decode.h"
diff --git a/grid_common/grid_transport.c b/grid_common/grid_transport.c
index ba5b445ef..ba99d3b61 100644
--- a/grid_common/grid_transport.c
+++ b/grid_common/grid_transport.c
@@ -2,6 +2,7 @@
 
 #include <assert.h>
 #include <stdio.h>
+#include <stdlib.h>
 #include <string.h>
 
 struct grid_transport grid_transport_state;
diff --git a/grid_common/grid_ui_button.c b/grid_common/grid_ui_button.c
index f066a2ad9..21bf7057b 100644
--- a/grid_common/grid_ui_button.c
+++ b/grid_common/grid_ui_button.c
@@ -1,5 +1,6 @@
 #include "grid_ui_button.h"
 
+#include <assert.h>
 #include <stdbool.h>
 #include <stdlib.h>
 #include <string.h>
diff --git a/grid_common/grid_ui_endless.c b/grid_common/grid_ui_endless.c
index 6fe4b5960..829e27103 100644
--- a/grid_common/grid_ui_endless.c
+++ b/grid_common/grid_ui_endless.c
@@ -1,5 +1,6 @@
 #include "grid_ui_endless.h"
 
+#include <assert.h>
 #include <math.h>
 #include <stdlib.h>
 #include <string.h>
diff --git a/grid_common/grid_ui_potmeter.c b/grid_common/grid_ui_potmeter.c
index 45fa09635..3e3b715c0 100644
--- a/grid_common/grid_ui_potmeter.c
+++ b/grid_common/grid_ui_potmeter.c
@@ -1,5 +1,6 @@
 #include "grid_ui_potmeter.h"
 
+#include <assert.h>
 #include <stdlib.h>
 #include <string.h>
 
diff --git a/grid_esp/bootloader/apps/blinky.uf2 b/grid_esp/bootloader/apps/blinky.uf2
new file mode 100644
index 000000000..92c34a12d
Binary files /dev/null and b/grid_esp/bootloader/apps/blinky.uf2 differ
diff --git a/grid_esp/bootloader/apps/update-tinyuf2.uf2 b/grid_esp/bootloader/apps/update-tinyuf2.uf2
new file mode 100644
index 000000000..e4cfac353
Binary files /dev/null and b/grid_esp/bootloader/apps/update-tinyuf2.uf2 differ
diff --git a/grid_esp/bootloader/bootloader.bin b/grid_esp/bootloader/bootloader.bin
index b726580ec..4b9027364 100644
Binary files a/grid_esp/bootloader/bootloader.bin and b/grid_esp/bootloader/bootloader.bin differ
diff --git a/grid_esp/bootloader/combined.bin b/grid_esp/bootloader/combined.bin
index 75f08d70f..394fd78dd 100644
Binary files a/grid_esp/bootloader/combined.bin and b/grid_esp/bootloader/combined.bin differ
diff --git a/grid_esp/bootloader/flash_args b/grid_esp/bootloader/flash_args
new file mode 100644
index 000000000..ef562d35f
--- /dev/null
+++ b/grid_esp/bootloader/flash_args
@@ -0,0 +1,5 @@
+--flash_mode dio --flash_freq 80m --flash_size 8MB
+0x0 bootloader/bootloader.bin
+0x410000 tinyuf2.bin
+0x8000 partition_table/partition-table.bin
+0xe000 ota_data_initial.bin
diff --git a/grid_esp/bootloader/tinyuf2.bin b/grid_esp/bootloader/tinyuf2.bin
index 45ede8e96..7f40bd7ee 100644
Binary files a/grid_esp/bootloader/tinyuf2.bin and b/grid_esp/bootloader/tinyuf2.bin differ
diff --git a/grid_esp/main/grid_esp32.c b/grid_esp/main/grid_esp32.c
index c47b7c144..e758336c3 100644
--- a/grid_esp/main/grid_esp32.c
+++ b/grid_esp/main/grid_esp32.c
@@ -8,6 +8,34 @@
 
 static const char* TAG = "grid_esp32";
 
+void grid_esp32_setup_rom_log_scheme(void) {
+  // Configure ROM bootloader to only log when GPIO is high.
+  // This speeds up boot by suppressing ROM logs on normal boots.
+  // We handle this in firmware instead of via CONFIG_BOOT_ROM_LOG_ON_GPIO_HIGH
+  // to avoid ESP-IDF bug: https://github.com/espressif/esp-idf/issues/12894
+  // The fix was supposedly merged but never actually made it to the main branch.
+  // IMPORTANT: sdkconfig must have CONFIG_BOOT_ROM_LOG_ALWAYS_ON=y (the default).
+  // Do NOT set CONFIG_BOOT_ROM_LOG_ON_GPIO_HIGH in sdkconfig - it will crash.
+  esp_err_t err = esp_efuse_set_rom_log_scheme(ESP_EFUSE_ROM_LOG_ON_GPIO_HIGH);
+
+  switch (err) {
+  case ESP_OK:
+    ESP_LOGI(TAG, "ROM log scheme set to GPIO_HIGH");
+    break;
+  case ESP_ERR_INVALID_STATE:
+    // eFuse already burned - this is expected after first boot
+    ESP_LOGD(TAG, "ROM log eFuse already configured");
+    break;
+  case ESP_ERR_NOT_SUPPORTED:
+    // Chip doesn't support this feature (e.g., ESP32)
+    ESP_LOGD(TAG, "ROM log scheme not supported on this chip");
+    break;
+  default:
+    ESP_LOGW(TAG, "Unexpected error setting ROM log scheme: %s", esp_err_to_name(err));
+    break;
+  }
+}
+
 void vTaskGetRunTimeStats2(char* pcWriteBuffer) {
 
   TaskStatus_t* pxTaskStatusArray;
diff --git a/grid_esp/main/grid_esp32.h b/grid_esp/main/grid_esp32.h
index 474fad8eb..2ed2b5032 100644
--- a/grid_esp/main/grid_esp32.h
+++ b/grid_esp/main/grid_esp32.h
@@ -70,6 +70,8 @@ void grid_platform_nvm_defrag();
 
 uint8_t grid_platform_get_adc_bit_depth();
 
+void grid_esp32_setup_rom_log_scheme(void);
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/grid_esp/main/grid_fw.c b/grid_esp/main/grid_fw.c
index f6d8eb619..13668a93f 100644
--- a/grid_esp/main/grid_fw.c
+++ b/grid_esp/main/grid_fw.c
@@ -359,6 +359,8 @@ void app_main(void) {
 
   esp_log_level_set("*", ESP_LOG_INFO);
 
+  grid_esp32_setup_rom_log_scheme();
+
   TaskHandle_t core2_task_hdl;
   xTaskCreatePinnedToCore(system_init_core_2_task, "swd_init", 1024 * 3, NULL, 4, &core2_task_hdl, 1);
 
diff --git a/grid_esp/sdkconfig b/grid_esp/sdkconfig
index a2eabfe9f..5cd6f9024 100644
--- a/grid_esp/sdkconfig
+++ b/grid_esp/sdkconfig
@@ -536,9 +536,9 @@ CONFIG_ESP_ROM_CONSOLE_OUTPUT_SECONDARY=y
 #
 # Boot ROM Behavior
 #
-# CONFIG_BOOT_ROM_LOG_ALWAYS_ON is not set
+CONFIG_BOOT_ROM_LOG_ALWAYS_ON=y
 # CONFIG_BOOT_ROM_LOG_ALWAYS_OFF is not set
-CONFIG_BOOT_ROM_LOG_ON_GPIO_HIGH=y
+# CONFIG_BOOT_ROM_LOG_ON_GPIO_HIGH is not set
 # CONFIG_BOOT_ROM_LOG_ON_GPIO_LOW is not set
 # end of Boot ROM Behavior
 
diff --git a/grid_make/grid/d51/grid_d51.c b/grid_make/grid/d51/grid_d51.c
index b12d93ddc..ce316e418 100644
--- a/grid_make/grid/d51/grid_d51.c
+++ b/grid_make/grid/d51/grid_d51.c
@@ -514,7 +514,7 @@ uint8_t grid_fusb302_read_id(struct io_descriptor* i2c_io) {
     msg.buffer = buffer;
 
     /* start transfer then return */
-    ret = i2c_m_async_transfer(&i2c->device, &msg);
+    ret = i2c_m_async_transfer(i2c, &msg);
 
     if (ret != 0) {
       printf("I2C error\r\n");
@@ -527,7 +527,7 @@ uint8_t grid_fusb302_read_id(struct io_descriptor* i2c_io) {
     }
 
     msg.flags = I2C_M_RD | I2C_M_STOP;
-    ret = i2c_m_async_transfer(&i2c->device, &msg);
+    ret = i2c_m_async_transfer(i2c, &msg);
 
     if (ret != 0) {
       printf("I2C error\r\n");
@@ -561,7 +561,7 @@ uint8_t grid_mxt144u_read_id(struct io_descriptor* i2c_io) {
     msg.buffer = buffer;
 
     /* start transfer then return */
-    ret = i2c_m_async_transfer(&i2c->device, &msg);
+    ret = i2c_m_async_transfer(i2c, &msg);
 
     if (ret != 0) {
       printf("I2C error\r\n");
@@ -573,7 +573,7 @@ uint8_t grid_mxt144u_read_id(struct io_descriptor* i2c_io) {
 
     msg.len = 7;
     msg.flags = I2C_M_RD | I2C_M_STOP;
-    ret = i2c_m_async_transfer(&i2c->device, &msg);
+    ret = i2c_m_async_transfer(i2c, &msg);
 
     if (ret != 0) {
       printf("I2C error\r\n");
diff --git a/grid_make/grid/d51/grid_d51.h b/grid_make/grid/d51/grid_d51.h
index 2ea2116a0..2b0e48500 100644
--- a/grid_make/grid/d51/grid_d51.h
+++ b/grid_make/grid/d51/grid_d51.h
@@ -17,7 +17,7 @@
 #include "grid_d51_nvm.h"
 #include "grid_d51_uart.h"
 
-#define GRID_D51_USER_ROW_BASE 0x804000
+#define GRID_D51_USER_ROW_BASE ((void*)0x804000)
 
 #define GRID_D51_DEMCR (*(uint32_t*)0xE000EDFC)
 #define GRID_D51_DWT_CTRL (*(uint32_t*)0xE0001000)
diff --git a/grid_make/grid/d51/grid_d51_led.c b/grid_make/grid/d51/grid_d51_led.c
index 47847c8f9..69b363e41 100644
--- a/grid_make/grid/d51/grid_d51_led.c
+++ b/grid_make/grid/d51/grid_d51_led.c
@@ -74,7 +74,7 @@ void grid_d51_led_init(struct grid_d51_led_model* d51_mod, struct grid_led_model
     grid_d51_led_set_color(d51_mod, i, 0, 0, 0);
   }
 
-  grid_led_startup_animation(&d51_mod);
+  grid_led_startup_animation(d51_mod);
 }
 
 void grid_d51_led_set_color(struct grid_d51_led_model* mod, uint32_t led_index, uint8_t r, uint8_t g, uint8_t b) {
diff --git a/grid_make/grid/d51/grid_d51_module.c b/grid_make/grid/d51/grid_d51_module.c
index 3e9efae64..64bde68ca 100644
--- a/grid_make/grid/d51/grid_d51_module.c
+++ b/grid_make/grid/d51/grid_d51_module.c
@@ -1,6 +1,8 @@
 #include "grid_d51_module.h"
 
+#include "grid_d51.h"
 #include "grid_d51_nvm.h"
+#include "grid_d51_uart.h"
 
 // Define all of the peripheral interrupt callbacks
 
diff --git a/grid_make/grid/d51/grid_d51_uart.c b/grid_make/grid/d51/grid_d51_uart.c
index 48f85adae..c1e763e2d 100644
--- a/grid_make/grid/d51/grid_d51_uart.c
+++ b/grid_make/grid/d51/grid_d51_uart.c
@@ -19,6 +19,9 @@ struct io_descriptor* grid_sys_east_io;
 struct io_descriptor* grid_sys_south_io;
 struct io_descriptor* grid_sys_west_io;
 
+static void dma_transfer_complete(struct grid_port* port);
+void tx_cb_USART_GRID(uint8_t dir);
+
 static void tx_cb_USART_GRID_N(const struct usart_async_descriptor* const descr) { tx_cb_USART_GRID(0); }
 static void tx_cb_USART_GRID_E(const struct usart_async_descriptor* const descr) { tx_cb_USART_GRID(1); }
 static void tx_cb_USART_GRID_S(const struct usart_async_descriptor* const descr) { tx_cb_USART_GRID(2); }
@@ -31,7 +34,7 @@ static void rx_cb_USART_GRID_E(const struct usart_async_descriptor* const descr)
 static void rx_cb_USART_GRID_S(const struct usart_async_descriptor* const descr) {}
 static void rx_cb_USART_GRID_W(const struct usart_async_descriptor* const descr) {}
 
-volatile dmatest = 0;
+volatile int dmatest = 0;
 
 static void dma_transfer_complete_n_cb(struct _dma_resource* resource) { dma_transfer_complete(usart_ports[0]); }
 static void dma_transfer_complete_e_cb(struct _dma_resource* resource) { dma_transfer_complete(usart_ports[1]); }
@@ -140,12 +143,12 @@ void grid_d51_uart_init() {
   grid_d51_uart_dma_rx_init();
 }
 
-void grid_d51_uart_dma_rx_init_one(struct usart_async_descriptor* usart, uint8_t channel, uint8_t* buffer, uint32_t length, void* transfer_done_cb()) {
+void grid_d51_uart_dma_rx_init_one(struct usart_async_descriptor* usart, uint8_t channel, uint8_t* buffer, uint32_t length, void (*transfer_done_cb)(struct _dma_resource*)) {
 
   uint8_t dma_rx_channel = channel;
 
-  _dma_set_source_address(dma_rx_channel, (uint32_t) & (((Sercom*)((*usart).device.hw))->USART.DATA.reg));
-  _dma_set_destination_address(dma_rx_channel, (uint32_t*)buffer);
+  _dma_set_source_address(dma_rx_channel, (const void*)&(((Sercom*)((*usart).device.hw))->USART.DATA.reg));
+  _dma_set_destination_address(dma_rx_channel, (const void*)buffer);
   _dma_set_data_amount(dma_rx_channel, (uint32_t)length);
 
   struct _dma_resource* resource_rx;
diff --git a/grid_make/grid/d51/grid_d51_uart.h b/grid_make/grid/d51/grid_d51_uart.h
index 91187aada..aa331f64f 100644
--- a/grid_make/grid/d51/grid_d51_uart.h
+++ b/grid_make/grid/d51/grid_d51_uart.h
@@ -55,7 +55,7 @@ static void dma_transfer_complete_s_cb(struct _dma_resource* resource);
 static void dma_transfer_complete_w_cb(struct _dma_resource* resource);
 static void dma_transfer_complete(struct grid_port* por);
 
-void grid_d51_uart_dma_rx_init_one(struct usart_async_descriptor* usart, uint8_t channel, uint8_t* buffer, uint32_t length, void* transfer_done_cb());
+void grid_d51_uart_dma_rx_init_one(struct usart_async_descriptor* usart, uint8_t channel, uint8_t* buffer, uint32_t length, void (*transfer_done_cb)(struct _dma_resource*));
 static void grid_d51_uart_dma_rx_init();
 
 #endif /* GRID_D51_UART_H_ */
diff --git a/grid_make/grid/d51/grid_d51_usb.c b/grid_make/grid/d51/grid_d51_usb.c
index c26290baf..15b07475b 100644
--- a/grid_make/grid/d51/grid_d51_usb.c
+++ b/grid_make/grid/d51/grid_d51_usb.c
@@ -8,6 +8,7 @@
 #include "grid_d51_usb.h"
 
 #include <assert.h>
+#include <stdio.h>
 
 volatile uint8_t grid_usb_serial_rx_buffer[CONF_USB_COMPOSITE_CDC_ACM_DATA_BULKIN_MAXPKSZ];
 
@@ -204,5 +205,5 @@ int32_t grid_platform_usb_keyboard_keys_state_change(struct grid_usb_keyboard_ev
     hid_key_array[i].state = active_key_list[i].ispressed;
   }
 
-  return hiddf_keyboard_keys_state_change(hid_key_array, keys_count);
+  return hiddf_keyboard_keys_state_change((struct hiddf_kb_key_descriptors*)hid_key_array, keys_count);
 }
diff --git a/grid_make/grid/d51/grid_d51_usb.h b/grid_make/grid/d51/grid_d51_usb.h
index 671e257a5..6faf29d03 100644
--- a/grid_make/grid/d51/grid_d51_usb.h
+++ b/grid_make/grid/d51/grid_d51_usb.h
@@ -16,6 +16,7 @@
 
 #include "config/usbd_config.h"
 
+#include "../../usb_start.h"
 #include "grid_port.h"
 #include "grid_usb.h"
 
diff --git a/grid_make/grid/grid_d51_module_bu16.c b/grid_make/grid/grid_d51_module_bu16.c
index 394e13b43..2df71ad69 100644
--- a/grid_make/grid/grid_d51_module_bu16.c
+++ b/grid_make/grid/grid_d51_module_bu16.c
@@ -1,5 +1,6 @@
 #include "grid_d51_module_bu16.h"
 
+#include "grid_module.h"
 #include "grid_ui_button.h"
 #include "grid_ui_system.h"
 
@@ -19,7 +20,7 @@ static void hardware_start_transfer(void) {
   adc_async_start_conversion(&ADC_1);
 }
 
-static void adc_transfer_complete_cb(void) {
+static void adc_transfer_complete_cb(const struct adc_async_descriptor* const descr, const uint8_t channel) {
 
   if (adc_complete_count == 0) {
     adc_complete_count++;
@@ -34,8 +35,8 @@ static void adc_transfer_complete_cb(void) {
   uint8_t adc_index_0 = multiplexer_lookup[multiplexer_index + 8];
   uint8_t adc_index_1 = multiplexer_lookup[multiplexer_index + 0];
 
-  adc_async_read_channel(&ADC_0, 0, &adcresult_0, 2);
-  adc_async_read_channel(&ADC_1, 0, &adcresult_1, 2);
+  adc_async_read_channel(&ADC_0, 0, (uint8_t*)&adcresult_0, 2);
+  adc_async_read_channel(&ADC_1, 0, (uint8_t*)&adcresult_1, 2);
 
   /* Update the multiplexer */
 
diff --git a/grid_make/grid/grid_d51_module_ef44.c b/grid_make/grid/grid_d51_module_ef44.c
index 0de178f4f..7e27447f6 100644
--- a/grid_make/grid/grid_d51_module_ef44.c
+++ b/grid_make/grid/grid_d51_module_ef44.c
@@ -1,5 +1,6 @@
 #include "grid_d51_module_ef44.h"
 
+#include "grid_module.h"
 #include "grid_ui_button.h"
 #include "grid_ui_encoder.h"
 #include "grid_ui_potmeter.h"
@@ -40,7 +41,7 @@ static void hardware_adc_start_transfer(void) {
   adc_async_start_conversion(&ADC_1);
 }
 
-static void spi_transfer_complete_cb(void) {
+static void spi_transfer_complete_cb(struct spi_m_async_descriptor* descr) {
 
   /* Transfer completed */
 
@@ -69,7 +70,7 @@ static void spi_transfer_complete_cb(void) {
   hardware_spi_start_transfer();
 }
 
-static void adc_transfer_complete_cb(void) {
+static void adc_transfer_complete_cb(const struct adc_async_descriptor* const descr, const uint8_t channel) {
 
   if (adc_complete_count == 0) {
     adc_complete_count++;
@@ -84,8 +85,8 @@ static void adc_transfer_complete_cb(void) {
   uint8_t adc_index_0 = multiplexer_index + 2;
   uint8_t adc_index_1 = multiplexer_index;
 
-  adc_async_read_channel(&ADC_0, 0, &adcresult_0, 2);
-  adc_async_read_channel(&ADC_1, 0, &adcresult_1, 2);
+  adc_async_read_channel(&ADC_0, 0, (uint8_t*)&adcresult_0, 2);
+  adc_async_read_channel(&ADC_1, 0, (uint8_t*)&adcresult_1, 2);
 
   /* Update the multiplexer */
 
@@ -117,7 +118,7 @@ static void hardware_init(void) {
   spi_m_async_set_baudrate(&UI_SPI,
                            100000); // was 400000 check clock div setting
 
-  spi_m_async_register_callback(&UI_SPI, SPI_M_ASYNC_CB_XFER, spi_transfer_complete_cb);
+  spi_m_async_register_callback(&UI_SPI, SPI_M_ASYNC_CB_XFER, (FUNC_PTR)spi_transfer_complete_cb);
 
   adc_async_register_callback(&ADC_0, 0, ADC_ASYNC_CONVERT_CB, adc_transfer_complete_cb);
   adc_async_register_callback(&ADC_1, 0, ADC_ASYNC_CONVERT_CB, adc_transfer_complete_cb);
diff --git a/grid_make/grid/grid_d51_module_en16.c b/grid_make/grid/grid_d51_module_en16.c
index 23294faae..92cf3378c 100644
--- a/grid_make/grid/grid_d51_module_en16.c
+++ b/grid_make/grid/grid_d51_module_en16.c
@@ -1,5 +1,6 @@
 #include "grid_d51_module_en16.h"
 
+#include "grid_module.h"
 #include "grid_ui_button.h"
 #include "grid_ui_encoder.h"
 #include "grid_ui_system.h"
@@ -22,7 +23,7 @@ static void hardware_start_transfer(void) {
   spi_m_async_transfer(&UI_SPI, UI_SPI_TX_BUFFER, UI_SPI_RX_BUFFER, 8);
 }
 
-static void spi_transfer_complete_cb(void) {
+static void spi_transfer_complete_cb(struct spi_m_async_descriptor* descr) {
 
   /* Transfer completed */
 
@@ -62,7 +63,7 @@ static void hardware_init(void) {
   spi_m_async_set_baudrate(&UI_SPI,
                            100000); // was 400000 check clock div setting
 
-  spi_m_async_register_callback(&UI_SPI, SPI_M_ASYNC_CB_XFER, spi_transfer_complete_cb);
+  spi_m_async_register_callback(&UI_SPI, SPI_M_ASYNC_CB_XFER, (FUNC_PTR)spi_transfer_complete_cb);
 }
 
 void grid_module_en16_init() {
diff --git a/grid_make/grid/grid_d51_module_pbf4.c b/grid_make/grid/grid_d51_module_pbf4.c
index 2570d41de..6b227a8f1 100644
--- a/grid_make/grid/grid_d51_module_pbf4.c
+++ b/grid_make/grid/grid_d51_module_pbf4.c
@@ -1,5 +1,6 @@
 #include "grid_d51_module_pbf4.h"
 
+#include "grid_module.h"
 #include "grid_ui_button.h"
 #include "grid_ui_potmeter.h"
 #include "grid_ui_system.h"
@@ -26,7 +27,7 @@ static void hardware_start_transfer(void) {
   adc_async_start_conversion(&ADC_1);
 }
 
-static void adc_transfer_complete_cb(void) {
+static void adc_transfer_complete_cb(const struct adc_async_descriptor* const descr, const uint8_t channel) {
 
   if (adc_complete_count == 0) {
     adc_complete_count++;
@@ -41,8 +42,8 @@ static void adc_transfer_complete_cb(void) {
   uint8_t adc_index_0 = multiplexer_lookup[multiplexer_index + 8];
   uint8_t adc_index_1 = multiplexer_lookup[multiplexer_index + 0];
 
-  adc_async_read_channel(&ADC_0, 0, &adcresult_0, 2);
-  adc_async_read_channel(&ADC_1, 0, &adcresult_1, 2);
+  adc_async_read_channel(&ADC_0, 0, (uint8_t*)&adcresult_0, 2);
+  adc_async_read_channel(&ADC_1, 0, (uint8_t*)&adcresult_1, 2);
 
   /* Update the multiplexer */
 
diff --git a/grid_make/grid/grid_d51_module_po16.c b/grid_make/grid/grid_d51_module_po16.c
index c27657485..8030bc27b 100644
--- a/grid_make/grid/grid_d51_module_po16.c
+++ b/grid_make/grid/grid_d51_module_po16.c
@@ -1,5 +1,6 @@
 #include "grid_d51_module_po16.h"
 
+#include "grid_module.h"
 #include "grid_ui_potmeter.h"
 #include "grid_ui_system.h"
 
@@ -22,7 +23,7 @@ static void hardware_start_transfer(void) {
   adc_async_start_conversion(&ADC_1);
 }
 
-static void adc_transfer_complete_cb(void) {
+static void adc_transfer_complete_cb(const struct adc_async_descriptor* const descr, const uint8_t channel) {
 
   if (adc_complete_count == 0) {
     adc_complete_count++;
@@ -37,8 +38,8 @@ static void adc_transfer_complete_cb(void) {
   uint8_t adc_index_0 = multiplexer_lookup[multiplexer_index + 8];
   uint8_t adc_index_1 = multiplexer_lookup[multiplexer_index + 0];
 
-  adc_async_read_channel(&ADC_0, 0, &adcresult_0, 2);
-  adc_async_read_channel(&ADC_1, 0, &adcresult_1, 2);
+  adc_async_read_channel(&ADC_0, 0, (uint8_t*)&adcresult_0, 2);
+  adc_async_read_channel(&ADC_1, 0, (uint8_t*)&adcresult_1, 2);
 
   /* Update the multiplexer */
 
diff --git a/grid_make/main.c b/grid_make/main.c
index 4a254a033..37b91f247 100644
--- a/grid_make/main.c
+++ b/grid_make/main.c
@@ -1,8 +1,10 @@
 #include "grid_d51_module.h"
 
+#include "grid_d51.h"
 #include "grid_d51_led.h"
 #include "grid_d51_nvm.h"
 #include "grid_d51_uart.h"
+#include "grid_d51_usb.h"
 
 #include "atmel_start_pins.h"
 #include <atmel_start.h>
@@ -25,7 +27,7 @@
 #include "usb/class/midi/device/audiodf_midi.h"
 
 extern const struct luaL_Reg* grid_lua_api_generic_lib_reference;
-const struct luaL_Reg grid_lua_api_gui_lib_reference[] = {NULL, NULL};
+const struct luaL_Reg grid_lua_api_gui_lib_reference[] = {{NULL, NULL}};
 
 #include <stdio.h>
 #include <stdlib.h>
diff --git a/grid_make/samd51a/gcc/gcc/startup_samd51.c b/grid_make/samd51a/gcc/gcc/startup_samd51.c
index ca33d3908..93dac63bb 100644
--- a/grid_make/samd51a/gcc/gcc/startup_samd51.c
+++ b/grid_make/samd51a/gcc/gcc/startup_samd51.c
@@ -28,6 +28,7 @@
  */
 
 #include "samd51.h"
+#include <stdio.h>
 
 /* Initialize segments */
 extern uint32_t _sfixed;
diff --git a/grid_make/usb/class/midi/device/audiodf_midi.c b/grid_make/usb/class/midi/device/audiodf_midi.c
index c99e2bd2d..c575d0fe7 100644
--- a/grid_make/usb/class/midi/device/audiodf_midi.c
+++ b/grid_make/usb/class/midi/device/audiodf_midi.c
@@ -1,4 +1,5 @@
 #include "audiodf_midi.h"
+#include <stdio.h>
 
 #define AUDIODF_MIDI_VERSION 0x00000001u
 
@@ -125,8 +126,8 @@ static int32_t audio_midi_enable(struct usbdf_driver *drv, struct usbd_descripto
 
 	printf("MIDI TEST %d %d \r\n", _audiodf_midi_funcd.func_ep_in, _audiodf_midi_funcd.func_ep_out);
 
-	usb_d_ep_register_callback(_audiodf_midi_funcd.func_ep_in, USB_D_EP_CB_XFER, midi_in_cb);
-	usb_d_ep_register_callback(_audiodf_midi_funcd.func_ep_out, USB_D_EP_CB_XFER, midi_out_cb);
+	usb_d_ep_register_callback(_audiodf_midi_funcd.func_ep_in, USB_D_EP_CB_XFER, (FUNC_PTR)midi_in_cb);
+	usb_d_ep_register_callback(_audiodf_midi_funcd.func_ep_out, USB_D_EP_CB_XFER, (FUNC_PTR)midi_out_cb);
 
 	if (midi_installed_cb){
 		midi_installed_cb(0, 0, 0);
@@ -149,7 +150,6 @@ static int32_t audio_midi_disable(struct usbdf_driver *drv, struct usbd_descript
 	struct audiodf_midi_func_data *func_data = (struct audiodf_midi_func_data *)(drv->func_data);
 
 	usb_iface_desc_t ifc_desc;
-	uint8_t          i;
 
 	if (desc) {
 		ifc_desc.bInterfaceClass = desc->sod[5];
@@ -347,13 +347,13 @@ int32_t audiodf_midi_register_callback(enum audiodf_midi_cb_type cb_type, FUNC_P
 {
 	switch (cb_type) {
 		case AUDIODF_MIDI_CB_READ:
-		midi_in_cb = func;
+		midi_in_cb = (midi_xfer_cb_t)func;
 		break;
 		case AUDIODF_MIDI_CB_WRITE:
-		midi_out_cb = func;
+		midi_out_cb = (midi_xfer_cb_t)func;
 		break;
 		case AUDIODF_MIDI_CB_INSTALLED:
-		midi_installed_cb = func;
+		midi_installed_cb = (midi_xfer_cb_t)func;
 		break;
 		default:
 		return ERR_INVALID_ARG;
diff --git a/gui_build.sh b/gui_build.sh
index 4e1557413..26183c1d9 100755
--- a/gui_build.sh
+++ b/gui_build.sh
@@ -1,3 +1,3 @@
 mkdir -p ./grid_gui/build
-cmake -S ./grid_gui -B ./grid_gui/build
+emcmake cmake -S ./grid_gui -B ./grid_gui/build
 cmake --build ./grid_gui/build
diff --git a/patch_esp_efuse_startup.sh b/patch_esp_efuse_startup.sh
deleted file mode 100755
index 643651fa9..000000000
--- a/patch_esp_efuse_startup.sh
+++ /dev/null
@@ -1,6 +0,0 @@
-#!/bin/sh
-
-FILEPATH=/opt/esp/idf/components/efuse/src/esp_efuse_startup.c
-LINENO=$(grep -n "ROM log scheme" "$FILEPATH")
-LINENO=${LINENO%:*}
-sed -i "$((LINENO))d" "$FILEPATH"
diff --git a/patch_esp_trace_include.sh b/patch_esp_trace_include.sh
index a3fba645e..869aabcbe 100755
--- a/patch_esp_trace_include.sh
+++ b/patch_esp_trace_include.sh
@@ -1,6 +1,13 @@
 #!/bin/sh
 
-FILEPATH=/opt/esp/idf/components/freertos/config/include/freertos/FreeRTOSConfig.h
+set -e
+
+if [ -z "$IDF_PATH" ]; then
+    echo "Error: IDF_PATH is not set" >&2
+    exit 1
+fi
+
+FILEPATH=$IDF_PATH/components/freertos/config/include/freertos/FreeRTOSConfig.h
 LINENO="10"
 DIRECTIVE="#include \"../../../../../../../../../project/grid_esp/components/grid_esp32_trace/trace_hooks.h\""
 sed -i "${LINENO}i ${DIRECTIVE}" "$FILEPATH"