Comma 4 Splash Screen Hang and Post-Restart Audio Delay

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Bug Report: comma 4 Splash Screen Hang and Post-Restart Audio Delay (v0.11.0)

Checklist

• The issue is not likely limited to my specific car make (Initialization/UI hang)
• The issue is not related to driving or driver monitoring models
• I am running the latest openpilot release (v0.11.0)
• I am using officially supported hardware (comma 4)
• I have searched for existing issues (related to comma four: no engage/disengage sound #37384)
• I am running stock openpilot

Environment

• Device: comma 4
• Version: v0.11.0 (Release: March 14, 2026)
• Vehicle: 2025 Mazda CX-5 Preferred
• Historical Context: This behavior occurred once on v0.10.3; it has become a frequent daily regression since updating to v0.11.0.

Description of Primary Bug: Initialization Hang

During "warm start" scenarios, the comma 4 fails to transition from the "openpilot" splash/initialization screen to the onroad camera UI. The device remains unresponsive to the vehicle's ignition state.

• Trigger Condition: Vehicle ignition cycle after being powered off for a duration between 2 minutes and 6 hours.
• Observed Behavior: The screen remains on the splash image indefinitely.
• Expected Behavior: The device should detect the ignition/CAN wake-up and transition to the driving UI.
• Cold Start Comparison: Does not occur during "Cold Starts" (e.g., >8 hours off); the device performs a clean boot and functions normally.

Description of Secondary Bug: Post-Recovery Audio Delay

This symptom occurs only after a manual intervention is performed to resolve the primary hang described above.

• Trigger: Manual software restart or physical power cycle performed while the device is stuck on the splash screen.
• Behavior:
  • Following the restart, the UI enters the road view and detects the car.
  • Engagement is possible; the device successfully provides lateral control (steering).
  • Audio Failure: System sounds (engagement chimes, disengagement sounds) are completely silent for a few minutes after engagement begins.
  • Recovery: Audio functionality restores itself automatically after this period.
• Developer Context: This secondary symptom seems to be identical to Issue #37384, but in this instance, it is consistently preceded by the splash screen hang.

Steps to Reproduce

1. Operate the vehicle until the comma 4 is at operating temperature.
2. Turn off the vehicle for a duration between 2 minutes and 6 hours.
3. Restart the vehicle; observe the device remaining on the splash screen.
4. Perform a manual software restart or physical power cycle.
5. Engage openpilot and observe the lack of audio feedback for several minutes while lateral control remains functional.

Technical Notes

• Regression: The frequency increase from v0.10.3 to v0.11.0 suggests a regression in the new "Stop Mode" logic.
• Process State: controlsd initializes correctly post-restart (enabling steering), while soundd or the peripheral audio hardware remains in a non-responsive state for an extended duration.
• Hypothesis: This is likely a failure in the transition from VOS3 (Low Power) to VOS1 (High Performance) or a peripheral wake-up timeout affecting the audio ADC and GPU/UI layers.

Provide a route where the issue occurs

N/A - ALL drives that encountered this issue does not have route recorded/logged, suggesting system is not initialized or recognize ignition/driving to start route logging/recording.

openpilot version

0.11.0

Additional info

No response