diff --git a/meta-opencentauri/images/files/overlayfs-etc-preinit.sh.in b/meta-opencentauri/images/files/overlayfs-etc-preinit.sh.in
index d3a48249..34fc34d9 100644
--- a/meta-opencentauri/images/files/overlayfs-etc-preinit.sh.in
+++ b/meta-opencentauri/images/files/overlayfs-etc-preinit.sh.in
@@ -58,6 +58,37 @@ then
     mkdir -p $UPPER_DIR
     mkdir -p $WORK_DIR
 
+    # Init scripts supplied by the image are release-owned rather than printer
+    # configuration.  Before /etc becomes an overlay, compare upper entries
+    # with the new rootfs's /etc/init.d and discard only stale overrides of
+    # scripts that the image also supplies.  This keeps user-created scripts
+    # (for example ustreamer.new) intact while allowing every shipped service
+    # to receive revised launch defaults on the first boot after an A/B update.
+    if [ -d "$UPPER_DIR/init.d" ]; then
+        for upper_script in "$UPPER_DIR"/init.d/*; do
+            [ -f "$upper_script" ] || continue
+            script_name=${{upper_script##*/}}
+            [ -f "/etc/init.d/$script_name" ] || continue
+            rm -f "$upper_script"
+        done
+
+        # A deleted image script may be represented by an overlayfs whiteout.
+        # Remove whiteouts only when they hide an image-owned init script.
+        for whiteout in "$UPPER_DIR"/init.d/.wh.*; do
+            [ -e "$whiteout" ] || continue
+            whiteout_name=${{whiteout##*/}}
+            case "$whiteout_name" in
+                .wh..wh..opq)
+                    rm -f "$whiteout"
+                    ;;
+                .wh.*)
+                    script_name=${{whiteout_name#.wh.}}
+                    [ -f "/etc/init.d/$script_name" ] && rm -f "$whiteout"
+                    ;;
+            esac
+        done
+    fi
+
     if {OVERLAYFS_ETC_EXPOSE_LOWER}; then
         mkdir -p $LOWER_DIR
 
diff --git a/meta-opencentauri/images/opencentauri-image-base.bb b/meta-opencentauri/images/opencentauri-image-base.bb
index a2281ced..d556c88c 100644
--- a/meta-opencentauri/images/opencentauri-image-base.bb
+++ b/meta-opencentauri/images/opencentauri-image-base.bb
@@ -21,6 +21,7 @@ CORE_IMAGE_EXTRA_INSTALL += "\
     rtw88 \
     aic8800 \
     kalico \
+    rusty-shaper \
     moonraker \
     mainsail \
     fluidd \
diff --git a/meta-opencentauri/recipes-apps/klipper/files/0001-Memory-optimisation-in-shaper_calibrate.patch b/meta-opencentauri/recipes-apps/klipper/files/0001-Memory-optimisation-in-shaper_calibrate.patch
new file mode 100644
index 00000000..e157609b
--- /dev/null
+++ b/meta-opencentauri/recipes-apps/klipper/files/0001-Memory-optimisation-in-shaper_calibrate.patch
@@ -0,0 +1,110 @@
+From 0e90d3d558a119af3239519e105778c8a5bd3d16 Mon Sep 17 00:00:00 2001
+From: James Turton <james.turton@gmx.com>
+Date: Sat, 27 Jun 2026 10:50:56 +0200
+Subject: [PATCH] shaper_calibrate: bound Welch PSD memory use
+
+The previous Welch implementation materialised and transformed every
+overlapping window at once.  On the printer that makes its largest temporary
+arrays proportional to the complete accelerometer capture.
+
+Accumulate the FFT energy in fixed 64-window batches instead.  This preserves
+the original PSD calculation while bounding the window and FFT intermediates.
+Also pack the retained samples as float32 and keep timestamps relative to the
+first sample, avoiding precision loss from large absolute timestamps.
+
+This intentionally does not change accelerometer capture or raw CSV writing:
+it reduces the memory used while Kalico processes calibration data.
+
+Upstream-Status: Pending [OpenCentauri memory-constrained targets]
+
+---
+ klippy/extras/shaper_calibrate.py | 49 ++++++++++++++++++++++--------
+ 1 file changed, 35 insertions(+), 14 deletions(-)
+
+diff --git a/klippy/extras/shaper_calibrate.py b/klippy/extras/shaper_calibrate.py
+index 230e2f58..457d3632 100644
+--- a/klippy/extras/shaper_calibrate.py
++++ b/klippy/extras/shaper_calibrate.py
+@@ -147,25 +147,31 @@ class ShaperCalibrate:
+         window = np.kaiser(nfft, 6.0)
+         # Compensation for windowing loss
+         scale = 1.0 / (window**2).sum()
++        window = window[:, None]
+ 
+         # Split into overlapping windows of size nfft
+         overlap = nfft // 2
+         x = self._split_into_windows(x, nfft, overlap)
++        n_windows = x.shape[-1]
++
++        # Accumulate the response over windows in small batches to keep
++        # peak memory usage low
++        psd = np.zeros(nfft // 2 + 1)
++        batch = 64
++        for start in range(0, n_windows, batch):
++            win = x[:, start : start + batch]
++            # First detrend, then apply windowing function
++            win = window * (win - win.mean(axis=0))
++            # Calculate frequency response for each window using FFT
++            result = np.fft.rfft(win, n=nfft, axis=0)
++            psd += (result.real**2 + result.imag**2).sum(axis=-1)
+ 
+-        # First detrend, then apply windowing function
+-        x = window[:, None] * (x - np.mean(x, axis=0))
+-
+-        # Calculate frequency response for each window using FFT
+-        result = np.fft.rfft(x, n=nfft, axis=0)
+-        result = np.conjugate(result) * result
+-        result *= scale / fs
++        # Welch's algorithm: average response over windows
++        psd *= scale / (fs * n_windows)
+         # For one-sided FFT output the response must be doubled, except
+         # the last point for unpaired Nyquist frequency (assuming even nfft)
+         # and the 'DC' term (0 Hz)
+-        result[1:-1, :] *= 2.0
+-
+-        # Welch's algorithm: average response over windows
+-        psd = result.real.mean(axis=-1)
++        psd[1:-1] *= 2.0
+ 
+         # Calculate the frequency bins
+         freqs = np.fft.rfftfreq(nfft, 1.0 / fs)
+@@ -177,14 +183,19 @@ class ShaperCalibrate:
+             return None
+         if isinstance(raw_values, np.ndarray):
+             data = raw_values
++            N = data.shape[0]
++            T = float(data[-1, 0]) - float(data[0, 0])
+         else:
+             samples = raw_values.get_samples()
+             if not samples:
+                 return None
+-            data = np.array(samples)
++            # Determine the sampling interval before converting timestamps
++            # to a compact single-precision representation.
++            N = len(samples)
++            T = samples[-1][0] - samples[0][0]
++            data = np.asarray(samples, dtype=np.float32)
++            del samples
+ 
+-        N = data.shape[0]
+-        T = data[-1, 0] - data[0, 0]
+         SAMPLING_FREQ = N / T
+         # Round up to the nearest power of 2 for faster FFT
+         M = 1 << int(SAMPLING_FREQ * WINDOW_T_SEC - 1).bit_length()
+@@ -199,6 +210,16 @@ class ShaperCalibrate:
+         return CalibrationData(fx, px + py + pz, px, py, pz)
+ 
+     def process_accelerometer_data(self, data):
++        np = self.numpy
++        if not isinstance(data, np.ndarray):
++            samples = data.get_samples()
++            if samples:
++                # Keep timestamps relative to the first sample before packing
++                # into float32, preserving the sampling interval precision.
++                data = np.asarray(samples, dtype=np.float32)
++                data[0, 0] = 0.0
++                data[-1, 0] = samples[-1][0] - samples[0][0]
++                del samples
+         calibration_data = self.background_process_exec(
+             self.calc_freq_response, (data,)
+         )
diff --git a/meta-opencentauri/recipes-apps/klipper/files/0002-persist-set-input-shaper.patch b/meta-opencentauri/recipes-apps/klipper/files/0002-persist-set-input-shaper.patch
new file mode 100644
index 00000000..cb489178
--- /dev/null
+++ b/meta-opencentauri/recipes-apps/klipper/files/0002-persist-set-input-shaper.patch
@@ -0,0 +1,38 @@
+From 0d1a2b3c4d5e6f7a8b9c0d1e2f3a4b5c6d7e8f9a Mon Sep 17 00:00:00 2001
+From: Paul Swenson <paul@swenson.co>
+Date: Sat, 18 Jul 2026 19:50:00 +0000
+Subject: [PATCH] input_shaper: persist SET_INPUT_SHAPER values for SAVE_CONFIG
+
+Klipper's SET_INPUT_SHAPER updates the live shaper parameters but never
+marks the config file as dirty, so a later SAVE_CONFIG does not write the
+updated shaper_type_*/shaper_freq_* values. This breaks Rusty Shaper and any
+other flow that expects the user to hit SAVE_CONFIG after setting shapers via
+G-code.
+
+Call configfile.set() for each axis when the command actually changes
+parameters, mirroring the behaviour of shaper_calibrate.save_params().
+
+Upstream-Status: Pending
+
+---
+ klippy/extras/input_shaper.py | 8 ++++++++
+ 1 file changed, 8 insertions(+)
+
+diff --git a/klippy/extras/input_shaper.py b/klippy/extras/input_shaper.py
+index 1600d034..179632df 100644
+--- a/klippy/extras/input_shaper.py
++++ b/klippy/extras/input_shaper.py
+@@ -212,6 +212,14 @@ class InputShaper:
+             for shaper in self.shapers:
+                 shaper.update(gcmd)
+             self._update_input_shaping()
++            configfile = self.printer.lookup_object('configfile')
++            for shaper in self.shapers:
++                status = shaper.params.get_status()
++                axis = shaper.axis
++                configfile.set("input_shaper", "shaper_type_" + axis,
++                               status["shaper_type"])
++                configfile.set("input_shaper", "shaper_freq_" + axis,
++                               status["shaper_freq"])
+         for shaper in self.shapers:
+             shaper.report(gcmd)
diff --git a/meta-opencentauri/recipes-apps/klipper/files/0003-adxl345-stream-raw-writes.patch b/meta-opencentauri/recipes-apps/klipper/files/0003-adxl345-stream-raw-writes.patch
new file mode 100644
index 00000000..6bb34706
--- /dev/null
+++ b/meta-opencentauri/recipes-apps/klipper/files/0003-adxl345-stream-raw-writes.patch
@@ -0,0 +1,51 @@
+From be88bd00a33ae93a813c21f48aed7a3f167dc35e Mon Sep 17 00:00:00 2001
+From: Paul Swenson <pdscomp@gmail.com>
+Date: Sat, 18 Jul 2026 16:07:49 -0400
+Subject: [PATCH] adxl345: stream raw accelerometer writes to avoid holding samples in RAM
+
+write_to_file() previously flattened all captured batches into a Python list
+of Accel_Measurement tuples before writing. For long resonance captures this
+doubles the peak memory: the batches already in msgs plus the new samples list.
+
+Stream the same batches directly to the CSV instead. The msgs are already
+filtered to the requested time window by handle_batch, so iterate them and
+skip samples outside request_start_time/request_end_time exactly as before.
+No new allocations for the full capture.
+
+Upstream-Status: Pending
+
+---
+
+diff --git a/klippy/extras/adxl345.py b/klippy/extras/adxl345.py
+index 7909e04a..478647b6 100644
+--- a/klippy/extras/adxl345.py
++++ b/klippy/extras/adxl345.py
+@@ -109,18 +109,18 @@ class AccelQueryHelper:
+     def write_to_file(self, filename):
+         def write_impl():
+             try:
+-                # Try to re-nice writing process
++                # ponytail: keep re-nice; IO-bound writer should not steal reactor time
+                 os.nice(20)
+-            except:
++            except Exception:
+                 pass
+-            f = open(filename, "w")
+-            f.write("#time,accel_x,accel_y,accel_z\n")
+-            samples = self.samples or self.get_samples()
+-            for t, accel_x, accel_y, accel_z in samples:
+-                f.write(
+-                    "%.6f,%.6f,%.6f,%.6f\n" % (t, accel_x, accel_y, accel_z)
+-                )
+-            f.close()
++            with open(filename, "w") as f:
++                f.write("#time,accel_x,accel_y,accel_z\n")
++                # ponytail: stream from msgs; avoid flattening whole capture into a list
++                for msg in self.msgs:
++                    for t, x, y, z in msg["data"]:
++                        if t < self.request_start_time or t > self.request_end_time:
++                            continue
++                        f.write("%.6f,%.6f,%.6f,%.6f\n" % (t, x, y, z))
+ 
+         write_proc = multiprocessing.Process(target=write_impl)
+         write_proc.daemon = True
diff --git a/meta-opencentauri/recipes-apps/klipper/files/calibration.cfg b/meta-opencentauri/recipes-apps/klipper/files/calibration.cfg
index 05cf425e..5af3879b 100644
--- a/meta-opencentauri/recipes-apps/klipper/files/calibration.cfg
+++ b/meta-opencentauri/recipes-apps/klipper/files/calibration.cfg
@@ -25,9 +25,10 @@ gcode:
   {% set bed_mesh_default_exists = 'bed_mesh default' in printer.configfile.settings %} 
   {% set load_cell_probe_reference_tare_counts = printer.configfile.settings.load_cell_probe.reference_tare_counts|default([71000]) %}
   {% set load_cell_probe_calibrated = (load_cell_probe_reference_tare_counts|sum) != (71000 * load_cell_probe_reference_tare_counts|length)  %}
-  {% set extruder_pid_kp = printer.configfile.settings.extruder.pid_kp %}
-  {% set extruder_control_type = printer.configfile.settings.extruder.control %}
-  {% set extruder_pid_calibrated = extruder_control_type != 'pid' or extruder_pid_kp != 24.860427 %}
+  {% set extruder_config = printer.configfile.config.extruder %}
+  {% set extruder_control_type = extruder_config.control|default('pid')|lower %}
+  {% set extruder_pid_version = extruder_config.pid_version|default(0)|int %}
+  {% set extruder_pid_calibrated = extruder_control_type != 'pid' or extruder_pid_version >= 1 %}
   {% set all_calibrated = shaper_calibrated and bed_mesh_default_exists and load_cell_probe_calibrated and extruder_pid_calibrated %}
 
   SET_GCODE_VARIABLE MACRO=_CHECK_CALIBRATION_VARS VARIABLE=shaper_calibrated VALUE={shaper_calibrated}
@@ -80,59 +81,237 @@ gcode:
   {% endif %}
 
   RESPOND TYPE=command MSG="action:prompt_footer_button Close|_CLOSE_PROMPT"
-  RESPOND TYPE=command MSG="action:prompt_footer_button Calibrate All|_CALIBRATE_ALL_STEP_1|warning"
+  RESPOND TYPE=command MSG="action:prompt_footer_button Calibrate All|CALIBRATE_ALL FORCE=0|warning"
   RESPOND TYPE=command MSG="action:prompt_show"
 
+# CALIBRATE_ALL runs every saved stage by default. Use FORCE=0 after
+# the initial setup to only re-run stages that are missing or out of date.
+[gcode_macro CALIBRATE_ALL]
+description: Calibrate all stages; use FORCE=0 to skip already-saved stages.
+gcode:
+  _CALIBRATE_ALL_STEP_1 FORCE={params.FORCE|default(1)|int}
+
+[gcode_macro _CALIBRATE_ALL_STATE]
+variable_force: False
+variable_shaper_ran: False
+variable_load_cell_ran: False
+gcode:
+
 [gcode_macro _CALIBRATE_ALL_STEP_1]
 gcode:
   {% set settings = printer["gcode_macro _COSMOS_SETTINGS"]|default({}) %}
   {% set hotend_temperature = settings.full_calibrate_hotend_temperature|int %}
   {% set bed_temperature = settings.full_calibrate_bed_temperature|int %}
+  {% set input_shaper = settings.input_shaper|default('rusty')|lower %}
+  {% set force = params.FORCE|default(0)|int > 0 %}
+  {% set shaper_freq_x = printer.configfile.settings.input_shaper.shaper_freq_x|default(0)|float %}
+  {% set shaper_freq_y = printer.configfile.settings.input_shaper.shaper_freq_y|default(0)|float %}
+  {% set shaper_calibrated = shaper_freq_x > 0 and shaper_freq_y > 0 %}
+  {% set bed_mesh_calibrated = 'bed_mesh default' in printer.configfile.settings %}
+  {% set reference_tare_counts = printer.configfile.settings.load_cell_probe.reference_tare_counts|default([71000]) %}
+  {% set load_cell_calibrated = (reference_tare_counts|sum) != (71000 * reference_tare_counts|length) %}
+  {% set extruder_config = printer.configfile.config.extruder %}
+  {% set extruder_control_type = extruder_config.control|default('pid')|lower %}
+  {% set extruder_pid_version = extruder_config.pid_version|default(0)|int %}
+  {% set extruder_pid_calibrated = extruder_control_type != 'pid' or extruder_pid_version >= 1 %}
+  {% set needs_shaper = force or not shaper_calibrated %}
+  {% set needs_mesh = force or not bed_mesh_calibrated %}
+  {% set needs_load_cell = force or not load_cell_calibrated %}
+  {% set needs_pid = force or not extruder_pid_calibrated %}
+
+  SET_GCODE_VARIABLE MACRO=_CALIBRATE_ALL_STATE VARIABLE=force VALUE={force}
+  SET_GCODE_VARIABLE MACRO=_CALIBRATE_ALL_STATE VARIABLE=shaper_ran VALUE=False
+  SET_GCODE_VARIABLE MACRO=_CALIBRATE_ALL_STATE VARIABLE=load_cell_ran VALUE=False
 
   RESPOND TYPE=command MSG="action:prompt_begin Calibrate all"
-  RESPOND TYPE=command MSG="action:prompt_text The screen and camera will be disabled during resonance compensation calibration. When the calibration is complete, you will be prompted to save the updated configuration."
-  RESPOND TYPE=command MSG="action:prompt_text The bed mesh will be calibrated with a bed temperature of {bed_temperature}C. The extruder PID will be calibrated with a hotend temperature of {hotend_temperature}C."
-  RESPOND TYPE=command MSG="action:prompt_text Please clear out the chamber and bed of any foreign objects and click Ready."
+  {% if not (needs_shaper or needs_mesh or needs_load_cell or needs_pid) %}
+    RESPOND TYPE=command MSG="action:prompt_text All saved calibration data is already current. Run CALIBRATE_ALL FORCE=1 to rerun every calibration."
+    RESPOND TYPE=command MSG="action:prompt_footer_button Close|_CLOSE_PROMPT|primary"
+    RESPOND TYPE=command MSG="action:prompt_show"
+    RETURN
+  {% endif %}
+  {% if needs_shaper and input_shaper == 'classic' %}
+    RESPOND TYPE=command MSG="action:prompt_text The screen and camera will be disabled during resonance compensation calibration. When the calibration is complete, you will be prompted to save the updated configuration."
+  {% endif %}
+  {% if needs_shaper %}
+    RESPOND TYPE=command MSG="action:prompt_text Resonance compensation will be calibrated. Clear the chamber and bed of loose objects before clicking Ready."
+  {% endif %}
+  {% if needs_load_cell %}
+    RESPOND TYPE=command MSG="action:prompt_text Load cells will be tare calibrated. Keep the bed empty before clicking Ready."
+  {% endif %}
+  {% if needs_pid %}
+    RESPOND TYPE=command MSG="action:prompt_text Extruder PID will be calibrated at {hotend_temperature}C. Keep the toolhead-to-tray path clear."
+  {% endif %}
+  {% if needs_mesh %}
+    RESPOND TYPE=command MSG="action:prompt_text Probe z-offset and the default bed mesh will be calibrated at {bed_temperature}C. Clear and clean the bed."
+  {% endif %}
+  {% if force %}
+    RESPOND TYPE=command MSG="action:prompt_text FORCE=1 reruns all calibration stages, including stages with saved data."
+  {% endif %}
   RESPOND TYPE=command MSG="action:prompt_footer_button Back|CHECK_CALIBRATION"
   RESPOND TYPE=command MSG="action:prompt_footer_button Ready|_CALIBRATE_ALL_STEP_2|primary"
   RESPOND TYPE=command MSG="action:prompt_show"
 
 [gcode_macro _CALIBRATE_ALL_STEP_2]
+gcode:
+  {% set reference_tare_counts = printer.configfile.settings.load_cell_probe.reference_tare_counts|default([71000]) %}
+  {% set load_cell_calibrated = (reference_tare_counts|sum) != (71000 * reference_tare_counts|length) %}
+  {% set force = printer["gcode_macro _CALIBRATE_ALL_STATE"].force %}
+
+  _CLOSE_PROMPT
+  {% if load_cell_calibrated and not force %}
+    _CALIBRATE_ALL_STEP_4
+  {% else %}
+    SET_GCODE_VARIABLE MACRO=_CALIBRATE_ALL_STATE VARIABLE=load_cell_ran VALUE=True
+    SET_DISPLAY_TEXT MSG="Calibrating load cells"
+    LOAD_CELL_CALIBRATE TARE=TRUE SAVE=TRUE
+    G4 P2000
+    _CALIBRATE_ALL_STEP_4
+  {% endif %}
+
+[gcode_macro _CALIBRATE_ALL_STEP_4]
+gcode:
+  {% set settings = printer["gcode_macro _COSMOS_SETTINGS"]|default({}) %}
+  {% set input_shaper = settings.input_shaper|default('rusty')|lower %}
+  {% set input_shapers = settings.input_shapers|default('mzv')|trim %}
+  {% set force = printer["gcode_macro _CALIBRATE_ALL_STATE"].force %}
+  {% set shaper_freq_x = printer.configfile.settings.input_shaper.shaper_freq_x|default(0)|float %}
+  {% set shaper_freq_y = printer.configfile.settings.input_shaper.shaper_freq_y|default(0)|float %}
+  {% set shaper_calibrated = shaper_freq_x > 0 and shaper_freq_y > 0 %}
+
+  _CLOSE_PROMPT
+
+  {% if shaper_calibrated and not force %}
+    _CALIBRATE_ALL_STEP_5
+  {% else %}
+    SET_GCODE_VARIABLE MACRO=_CALIBRATE_ALL_STATE VARIABLE=shaper_ran VALUE=True
+    SET_DISPLAY_TEXT MSG="Performing shaper calibration"
+    G28
+    M400
+    {% if input_shaper == 'rusty' %}
+      TEST_RESONANCES AXIS=X OUTPUT=raw_data
+      G4 P1000
+      TEST_RESONANCES AXIS=Y OUTPUT=raw_data
+      G4 P1000
+      SET_GCODE_VARIABLE MACRO=_RUSTY_SHAPER_LAUNCH VARIABLE=full_calibration VALUE=True
+      SET_GCODE_VARIABLE MACRO=_RUSTY_SHAPER_LAUNCH VARIABLE=shapers VALUE="'{input_shapers}'"
+      UPDATE_DELAYED_GCODE ID=rusty_shaper_start DURATION=0.1
+    {% elif input_shaper == 'classic' %}
+      {% if ',' in input_shapers or input_shapers == 'all' %}
+        { action_raise_error("Classic input-shaper calibration supports one shaper or a blank input_shapers setting.") }
+      {% endif %}
+      RUN_SHELL_COMMAND CMD=CAMERA_STOP
+      RUN_SHELL_COMMAND CMD=GUI_STOP
+      {% if input_shapers %}
+        SHAPER_CALIBRATE AXIS=X FORCE_SHAPER={input_shapers}
+        G4 P1000
+        SHAPER_CALIBRATE AXIS=Y FORCE_SHAPER={input_shapers}
+      {% else %}
+        SHAPER_CALIBRATE AXIS=X
+        G4 P1000
+        SHAPER_CALIBRATE AXIS=Y
+      {% endif %}
+      G4 P1000
+      RUN_SHELL_COMMAND CMD=GUI_START
+      RUN_SHELL_COMMAND CMD=CAMERA_START
+      _CALIBRATE_ALL_STEP_5
+    {% else %}
+      { action_raise_error("Unknown input_shaper setting: " ~ input_shaper) }
+    {% endif %}
+  {% endif %}
+
+[gcode_macro _CALIBRATE_ALL_STEP_5]
 gcode:
   {% set settings = printer["gcode_macro _COSMOS_SETTINGS"]|default({}) %}
   {% set hotend_temperature = settings.full_calibrate_hotend_temperature|int %}
   {% set bed_temperature = settings.full_calibrate_bed_temperature|int %}
+  {% set state = printer["gcode_macro _CALIBRATE_ALL_STATE"] %}
+  {% set force = state.force %}
+  {% set extruder_config = printer.configfile.config.extruder %}
+  {% set extruder_control_type = extruder_config.control|default('pid')|lower %}
+  {% set extruder_pid_version = extruder_config.pid_version|default(0)|int %}
+  {% set extruder_pid_calibrated = extruder_control_type != 'pid' or extruder_pid_version >= 1 %}
+  {% set bed_mesh_calibrated = 'bed_mesh default' in printer.configfile.settings %}
+  {% set needs_pid = force or not extruder_pid_calibrated %}
+  {% set needs_mesh = force or not bed_mesh_calibrated %}
+  {% set needs_save = state.shaper_ran or state.load_cell_ran or needs_pid or needs_mesh %}
 
-  _CLOSE_PROMPT
+  {% if needs_pid %}
+    SET_DISPLAY_TEXT MSG="Performing extruder PID calibration"
+    MOVE_TO_TRAY
+    PID_CALIBRATE HEATER=extruder TARGET={hotend_temperature}
+    M400
+  {% endif %}
 
-  SET_DISPLAY_TEXT MSG="Performing shaper calibration"
-  RUN_SHELL_COMMAND CMD=CAMERA_STOP
-  RUN_SHELL_COMMAND CMD=GUI_STOP
-  G28
-  M400
-  SHAPER_CALIBRATE AXIS=X FORCE_SHAPER=mzv
-  G4 P1000
-  SHAPER_CALIBRATE AXIS=Y FORCE_SHAPER=mzv
-  G4 P1000
-  RUN_SHELL_COMMAND CMD=GUI_START
-  RUN_SHELL_COMMAND CMD=CAMERA_START
-  
-  SET_DISPLAY_TEXT MSG="Performing extruder PID calibration"
-  MOVE_TO_TRAY
-  PID_CALIBRATE HEATER=extruder TARGET={hotend_temperature}
-  CLEAN_NOZZLE
-  M400
-
-  SET_DISPLAY_TEXT MSG="Calibrating load cells"
-  LOAD_CELL_CALIBRATE TARE=TRUE SAVE=TRUE
-  G4 P2000
-
-  SET_DISPLAY_TEXT MSG="Performing probe z-offset & bed mesh calibration"
-  G90
-  G1 X128 Y128 F6000
-  BED_MESH_CALIBRATE BED_TEMP={bed_temperature}
-
-  _SAVE_CONFIG_PROMPT
+  {% if needs_mesh %}
+    SET_DISPLAY_TEXT MSG="Performing probe z-offset & bed mesh calibration"
+    G90
+    G1 X128 Y128 F6000
+    BED_MESH_CALIBRATE BED_TEMP={bed_temperature}
+  {% endif %}
+
+  SET_GCODE_VARIABLE MACRO=_CALIBRATE_ALL_STATE VARIABLE=force VALUE=False
+  SET_GCODE_VARIABLE MACRO=_CALIBRATE_ALL_STATE VARIABLE=shaper_ran VALUE=False
+  SET_GCODE_VARIABLE MACRO=_CALIBRATE_ALL_STATE VARIABLE=load_cell_ran VALUE=False
+  {% if needs_save %}
+    _SAVE_CONFIG_PROMPT
+  {% else %}
+    SET_DISPLAY_TEXT MSG="Saved calibration data is already current"
+    { action_respond_info("All saved calibration data is already current. Use CALIBRATE_ALL FORCE=1 to rerun every calibration.") }
+  {% endif %}
+
+[gcode_macro _RUSTY_SHAPER_LAUNCH]
+variable_full_calibration: False
+variable_shapers: ''
+gcode:
+
+[gcode_macro _RUSTY_SHAPER_START_STANDALONE]
+description: Queue Rusty Shaper after the caller's G-code has returned
+gcode:
+  SET_GCODE_VARIABLE MACRO=_RUSTY_SHAPER_LAUNCH VARIABLE=full_calibration VALUE=False
+  SET_GCODE_VARIABLE MACRO=_RUSTY_SHAPER_LAUNCH VARIABLE=shapers VALUE="''"
+  UPDATE_DELAYED_GCODE ID=rusty_shaper_start DURATION=0.1
+
+[delayed_gcode rusty_shaper_start]
+initial_duration: 0
+gcode:
+  {% set launch = printer["gcode_macro _RUSTY_SHAPER_LAUNCH"] %}
+  {% set full_calibration = launch.full_calibration %}
+  {% set shapers = launch.shapers|default('') %}
+  SET_GCODE_VARIABLE MACRO=_RUSTY_SHAPER_LAUNCH VARIABLE=full_calibration VALUE=False
+  {% if full_calibration %}
+    RUN_SHELL_COMMAND CMD=RUSTY_SHAPER_START PARAMS="full {shapers}"
+  {% else %}
+    RUN_SHELL_COMMAND CMD=RUSTY_SHAPER_START
+  {% endif %}
+
+[gcode_macro _RUSTY_SHAPER_STATE]
+variable_result: 'idle'
+variable_continue_full_calibration: False
+gcode:
+
+[gcode_macro RUSTY_SHAPER_FINISHED]
+description: Receive the asynchronous Rusty Shaper worker result
+gcode:
+  {% set result = params.RESULT|default('error')|lower %}
+  {% set continue_full_calibration = params.FULL|default(0)|int %}
+  SET_GCODE_VARIABLE MACRO=_RUSTY_SHAPER_STATE VARIABLE=result VALUE="'{result}'"
+  SET_GCODE_VARIABLE MACRO=_RUSTY_SHAPER_STATE VARIABLE=continue_full_calibration VALUE={continue_full_calibration}
+  UPDATE_DELAYED_GCODE ID=rusty_shaper_complete DURATION=0.1
+
+[delayed_gcode rusty_shaper_complete]
+initial_duration: 0
+gcode:
+  {% set result = printer["gcode_macro _RUSTY_SHAPER_STATE"].result %}
+  {% set continue_full_calibration = printer["gcode_macro _RUSTY_SHAPER_STATE"].continue_full_calibration %}
+  SET_GCODE_VARIABLE MACRO=_RUSTY_SHAPER_STATE VARIABLE=continue_full_calibration VALUE=False
+  {% if result == 'success' %}
+    {% if continue_full_calibration %}
+      _CALIBRATE_ALL_STEP_5
+    {% endif %}
+  {% else %}
+    { action_raise_error("Rusty Shaper failed; the remaining calibration steps were not started.") }
+  {% endif %}
 
 [delayed_gcode open_oobe]
 initial_duration: 2
diff --git a/meta-opencentauri/recipes-apps/klipper/files/klipper-init-d b/meta-opencentauri/recipes-apps/klipper/files/klipper-init-d
index 5d0bc2e9..7267a7ee 100644
--- a/meta-opencentauri/recipes-apps/klipper/files/klipper-init-d
+++ b/meta-opencentauri/recipes-apps/klipper/files/klipper-init-d
@@ -10,7 +10,7 @@
 
 KLIPPY_EXEC="/usr/bin/python3"
 KLIPPER_PRINTER_CONFIG="/etc/klipper/config/printer.cfg"
-KLIPPY_ARGS="-O /usr/share/klipper/klippy/klippy.py $KLIPPER_PRINTER_CONFIG -l /board-resource/klippy.log -a /run/klippy.sock"
+KLIPPY_ARGS="-O -X no_debug_ranges /usr/share/klipper/klippy/klippy.py $KLIPPER_PRINTER_CONFIG -l /board-resource/klippy.log -a /run/klippy.sock"
 PIDFILE="/var/run/klipper.pid"
 KLIPPER_VAR_CONFIG_BUILDER="/usr/bin/build-klipper-var-config"
 KLIPPER_CONFIG_VERSION="0.0.8-2"
@@ -18,6 +18,9 @@ KLIPPER_CONFIG_VERSION_FILE="/etc/klipper-config.ver"
 KLIPPER_CONFIG_BACKUP_DIR="/etc/klipper/config/config-backups"
 
 export TMPDIR="/user-resource/.tmp"
+# Limit glibc's per-thread arena retention.  This is particularly effective
+# for Klipper's threaded Python and native-extension workload on Centauri.
+export MALLOC_ARENA_MAX=1
 
 ensure_klipper_config_version() {
     current_version=""
diff --git a/meta-opencentauri/recipes-apps/klipper/files/macros.cfg b/meta-opencentauri/recipes-apps/klipper/files/macros.cfg
index 23dcda23..42d4508f 100644
--- a/meta-opencentauri/recipes-apps/klipper/files/macros.cfg
+++ b/meta-opencentauri/recipes-apps/klipper/files/macros.cfg
@@ -524,7 +524,7 @@ gcode:
     {% for _ in range(2) %}
       G90
       G1 X120 Y-1 F9000
-      PROBE HOME=Z SAMPLES=3 SAMPLES_TOLERANCE=0.05 BAD_PROBE_RETRIES=3 BAD_PROBE_STRATEGY=RETRY ; Cleaning passes
+      PROBE HOME=Z SAMPLES=3 SAMPLES_TOLERANCE=0.1 BAD_PROBE_RETRIES=3 BAD_PROBE_STRATEGY=RETRY ; Cleaning passes (ooze management, not measurement: the squish cycles mangle the edge contact, so a valid sample can legitimately deviate >0.05mm)
       G91
       G0 X4 F600
       G0 Z0.8 F300 ; Using pressure of bending the build plate to squish filament
@@ -703,6 +703,11 @@ gcode:
   {% set index = params.P|default(1)|int %}
   M106 P{index} S0
 
+[gcode_macro M125]
+description: Echo a message to the console and klippy.log, similar to M118 but always visible in both sinks.
+gcode:
+  { action_respond_info(rawparams) }
+
 
 [gcode_macro _SHOW_PROMPT]
 gcode:
diff --git a/meta-opencentauri/recipes-apps/klipper/files/shell.cfg b/meta-opencentauri/recipes-apps/klipper/files/shell.cfg
index 0c50e204..0788916b 100644
--- a/meta-opencentauri/recipes-apps/klipper/files/shell.cfg
+++ b/meta-opencentauri/recipes-apps/klipper/files/shell.cfg
@@ -78,6 +78,11 @@ command: /etc/init.d/gui-switcher stop
 timeout: 5
 verbose: False
 
+[gcode_shell_command RUSTY_SHAPER_START]
+command: /usr/bin/klippy-rusty-shaper
+timeout: 5
+verbose: False
+
 [gcode_shell_command REBOOT_SYSTEM]
 command: reboot
 timeout: 5
diff --git a/meta-opencentauri/recipes-apps/klipper/kalico_2026.02.00.bb b/meta-opencentauri/recipes-apps/klipper/kalico_2026.02.00.bb
index dc8e319a..143240c2 100644
--- a/meta-opencentauri/recipes-apps/klipper/kalico_2026.02.00.bb
+++ b/meta-opencentauri/recipes-apps/klipper/kalico_2026.02.00.bb
@@ -17,7 +17,7 @@ SRC_URI += " \
     file://client.cfg \
 "
 
-inherit python3-dir update-rc.d
+inherit python3-dir python3native update-rc.d
 
 RDEPENDS:${PN} = " \
     python3 \
@@ -82,9 +82,10 @@ do_install() {
     sed -i 's/APP_NAME = "Kalico"/APP_NAME = "${DISTRO_NAME}"/' ${D}${datadir}/klipper/klippy/__init__.py
     echo "Release - ${DISTRO_VERSION}" > ${D}${datadir}/klipper/klippy/.version
 
-    # Remove any .pyc files to avoid TMPDIR references
+    # Remove any source-tree caches, then ship target-version optimized
+    # bytecode without debug ranges.  Stripping ${D} avoids TMPDIR references.
     find ${D} -name '*.pyc' -delete
-    find ${D} -name '__pycache__' -type d -exec rm -rf {} + 2>/dev/null || true
+    PYTHONNODEBUGRANGES=1 ${PYTHON} -O -m compileall -q -s ${D} ${D}${datadir}/klipper
 
     # Make config_examples to suppress moonraker warnings
     install -d ${D}${datadir}/klipper/config
diff --git a/meta-opencentauri/recipes-apps/klipper/kalico_2026.02.00.inc b/meta-opencentauri/recipes-apps/klipper/kalico_2026.02.00.inc
index 5767cedc..3c3caa22 100644
--- a/meta-opencentauri/recipes-apps/klipper/kalico_2026.02.00.inc
+++ b/meta-opencentauri/recipes-apps/klipper/kalico_2026.02.00.inc
@@ -4,7 +4,7 @@ LIC_FILES_CHKSUM = "file://COPYING;md5=1ebbd3e34237af26da5dc08a4e440464"
 
 FILESEXTRAPATHS:prepend := "${THISDIR}/files:"
 
-SRC_URI = "git://github.com/OpenCentauri/kalico.git;protocol=https;branch=hx711s-new \
+SRC_URI = "git://github.com/OpenCentauri/kalico.git;protocol=https;branch=paul/hx711-reliability \
     file://0001-remove-save-config-subfile-check.patch \
     file://0002-reduce-calibration-difference-tolerance.patch \
     file://0001-Reduce-log-rotate-threshold.patch \
@@ -12,10 +12,13 @@ SRC_URI = "git://github.com/OpenCentauri/kalico.git;protocol=https;branch=hx711s
     file://0001-implement-pulldown-resistor-in-thermistor-calc.patch \
     file://0001-probe-home-z-includes-z-offset.patch \
     file://0001-force-specific-input-shaper.patch \
+    file://0001-Memory-optimisation-in-shaper_calibrate.patch \
+    file://0002-persist-set-input-shaper.patch \
+    file://0003-adxl345-stream-raw-writes.patch \
 "
-SRCREV = "fa59d011f425c5aef6f06abc08efe43f7f6c569d"
+SRCREV = "c368f84ec516f5d639aeddcb99d2c967957ab8e7"
 
-PR = "r7"
+PR = "r16"
 
 S = "${WORKDIR}/git"
 
diff --git a/meta-opencentauri/recipes-apps/moonraker/files/moonraker-init-d b/meta-opencentauri/recipes-apps/moonraker/files/moonraker-init-d
index 73ef744e..4fe984e2 100644
--- a/meta-opencentauri/recipes-apps/moonraker/files/moonraker-init-d
+++ b/meta-opencentauri/recipes-apps/moonraker/files/moonraker-init-d
@@ -9,11 +9,17 @@
 ### END INIT INFO
 
 MOONRAKER_EXEC="/usr/bin/python3"
-MOONRAKER_ARGS="-m moonraker.moonraker -d /etc/klipper -l /board-resource/moonraker.log -u /run/moonraker.sock"
+# Match Klipper's optimization level and omit optional debug location ranges.
+# This reduces Python code-object overhead without changing Moonraker's
+# enabled component set or public API.
+MOONRAKER_ARGS="-O -X no_debug_ranges -m moonraker.moonraker -d /etc/klipper -l /board-resource/moonraker.log -u /run/moonraker.sock"
 PIDFILE="/var/run/moonraker.pid"
 
 export PYTHONPATH="/usr/share/moonraker"
 export TMPDIR="/user-resource/.tmp"
+# Limit glibc's per-thread arena retention.  On the live Centauri this reduced
+# Klipper PSS by about 3 MiB while the printer API remained healthy.
+export MALLOC_ARENA_MAX=1
 
 case "$1" in
     start)
diff --git a/meta-opencentauri/recipes-apps/moonraker/moonraker_0.10.0.bb b/meta-opencentauri/recipes-apps/moonraker/moonraker_0.10.0.bb
index 5770b60c..5a982ff8 100644
--- a/meta-opencentauri/recipes-apps/moonraker/moonraker_0.10.0.bb
+++ b/meta-opencentauri/recipes-apps/moonraker/moonraker_0.10.0.bb
@@ -23,7 +23,7 @@ S = "${WORKDIR}/git"
 
 PR = "r1"
 
-inherit python3-dir update-rc.d
+inherit python3-dir python3native update-rc.d
 
 DEPENDS = " \
     python3-native \
@@ -70,6 +70,10 @@ do_install() {
     # Install moonraker python package
     install -d ${D}${datadir}/moonraker
     cp -r ${S}/moonraker ${D}${datadir}/moonraker/
+    # Ship target-version optimized bytecode.  Removing debug ranges makes
+    # code objects and their cache files smaller; -s keeps build paths out of
+    # tracebacks and avoids a TMPDIR-dependent cache.
+    PYTHONNODEBUGRANGES=1 ${PYTHON} -O -m compileall -q -s ${D} ${D}${datadir}/moonraker
 
     # Install default moonraker config
     install -d ${D}${sysconfdir}/klipper
diff --git a/meta-opencentauri/recipes-apps/rusty-shaper/files/klippy-rusty-shaper b/meta-opencentauri/recipes-apps/rusty-shaper/files/klippy-rusty-shaper
new file mode 100644
index 00000000..d4bc40aa
--- /dev/null
+++ b/meta-opencentauri/recipes-apps/rusty-shaper/files/klippy-rusty-shaper
@@ -0,0 +1,63 @@
+#!/bin/sh
+
+log_file=/etc/klipper/logs/klippy.log
+full_calibration=0
+if [ "${1:-}" = full ]; then
+    full_calibration=1
+    shift
+fi
+shapers=${1:-}
+run_dir=/user-resource/.tmp
+moonraker_host=127.0.0.1
+moonraker_port=80
+worker_log="$run_dir/rusty-shaper.log"
+status_file="$run_dir/rusty-shaper.status"
+
+find_raw_data() {
+    axis=$1
+    awk -v axis="$axis" '
+        /Writing raw accelerometer data to/ && $0 ~ ("raw_data_" axis "_") {
+            if (match($0, /\/[^ ]+\.csv/))
+                file = substr($0, RSTART, RLENGTH)
+        }
+        END { print file }
+    ' "$log_file"
+}
+
+mkdir -p "$run_dir"
+rm -f "$status_file"
+
+# RUN_SHELL_COMMAND waits for its child.  Rusty Shaper reports progress and
+# applies settings through Moonraker, which requires Klipper's reactor to be
+# free, so detach the worker before it issues those callbacks.
+(
+    x_file=$(find_raw_data x)
+    y_file=$(find_raw_data y)
+
+    if [ -z "$x_file" ] || [ -z "$y_file" ]; then
+        echo "Rusty Shaper could not find the X and Y raw resonance captures in $log_file" >&2
+        result=error
+    else
+        work_dir=$(dirname "$x_file")
+        set -- --workdir "$work_dir" --output csv --output klippy \
+            --log-macro M125 --moonraker-host "$moonraker_host" --moonraker-port "$moonraker_port"
+
+        if [ -n "$shapers" ]; then
+            set -- "$@" --shapers "$shapers"
+        fi
+
+        if /usr/bin/rusty-shaper "$@" "$x_file" "$y_file"; then
+            result=success
+        else
+            result=error
+        fi
+    fi
+
+    printf '%s\n' "$result" > "$status_file"
+    curl --fail --silent --show-error --connect-timeout 2 --max-time 5 \
+        --data-urlencode "script=RUSTY_SHAPER_FINISHED RESULT=$result FULL=$full_calibration" \
+        "http://$moonraker_host:$moonraker_port/printer/gcode/script" >/dev/null || \
+        echo "Rusty Shaper could not report completion to Klipper" >&2
+) > "$worker_log" 2>&1 < /dev/null &
+
+exit 0
diff --git a/meta-opencentauri/recipes-apps/rusty-shaper/rusty-shaper_0.1.0.bb b/meta-opencentauri/recipes-apps/rusty-shaper/rusty-shaper_0.1.0.bb
new file mode 100644
index 00000000..5e1af6cb
--- /dev/null
+++ b/meta-opencentauri/recipes-apps/rusty-shaper/rusty-shaper_0.1.0.bb
@@ -0,0 +1,190 @@
+inherit cargo
+
+SUMMARY = "Low-RAM Rust input-shaper calibration"
+DESCRIPTION = "Rust implementation of Kalico input-shaper calibration for constrained printers"
+HOMEPAGE = "https://github.com/OpenCentauri/OpenCentauri"
+LICENSE = "GPL-3.0-only"
+LIC_FILES_CHKSUM = "file://COPYING;md5=1ebbd3e34237af26da5dc08a4e440464"
+
+SRC_URI = "git://github.com/OpenCentauri/OpenCentauri.git;protocol=https;branch=paul/rusty-shaper-review \
+    file://klippy-rusty-shaper \
+    crate://crates.io/adler2/2.0.1 \
+    crate://crates.io/android_system_properties/0.1.5 \
+    crate://crates.io/anstream/1.0.0 \
+    crate://crates.io/anstyle/1.0.14 \
+    crate://crates.io/anstyle-parse/1.0.0 \
+    crate://crates.io/anstyle-query/1.1.5 \
+    crate://crates.io/anstyle-wincon/3.0.11 \
+    crate://crates.io/approx/0.5.1 \
+    crate://crates.io/autocfg/1.5.1 \
+    crate://crates.io/bitflags/2.13.0 \
+    crate://crates.io/bumpalo/3.20.3 \
+    crate://crates.io/cc/1.2.65 \
+    crate://crates.io/cfg-if/1.0.4 \
+    crate://crates.io/chrono/0.4.45 \
+    crate://crates.io/clap/4.6.1 \
+    crate://crates.io/clap_builder/4.6.0 \
+    crate://crates.io/clap_derive/4.6.1 \
+    crate://crates.io/clap_lex/1.1.0 \
+    crate://crates.io/colorchoice/1.0.5 \
+    crate://crates.io/core-foundation-sys/0.8.7 \
+    crate://crates.io/crc32fast/1.5.0 \
+    crate://crates.io/csv/1.4.0 \
+    crate://crates.io/csv-core/0.1.13 \
+    crate://crates.io/errno/0.3.14 \
+    crate://crates.io/fastrand/2.4.1 \
+    crate://crates.io/flate2/1.1.9 \
+    crate://crates.io/find-msvc-tools/0.1.9 \
+    crate://crates.io/futures-core/0.3.32 \
+    crate://crates.io/futures-task/0.3.32 \
+    crate://crates.io/futures-util/0.3.32 \
+    crate://crates.io/getrandom/0.4.3 \
+    crate://crates.io/heck/0.5.0 \
+    crate://crates.io/iana-time-zone/0.1.65 \
+    crate://crates.io/iana-time-zone-haiku/0.1.2 \
+    crate://crates.io/is_terminal_polyfill/1.70.2 \
+    crate://crates.io/itoa/1.0.18 \
+    crate://crates.io/js-sys/0.3.103 \
+    crate://crates.io/libc/0.2.186 \
+    crate://crates.io/linux-raw-sys/0.12.1 \
+    crate://crates.io/log/0.4.33 \
+    crate://crates.io/memchr/2.8.2 \
+    crate://crates.io/miniz_oxide/0.8.9 \
+    crate://crates.io/num-complex/0.4.6 \
+    crate://crates.io/num-integer/0.1.46 \
+    crate://crates.io/num-traits/0.2.19 \
+    crate://crates.io/once_cell/1.21.4 \
+    crate://crates.io/once_cell_polyfill/1.70.2 \
+    crate://crates.io/pin-project-lite/0.2.17 \
+    crate://crates.io/primal-check/0.3.4 \
+    crate://crates.io/proc-macro2/1.0.106 \
+    crate://crates.io/quote/1.0.46 \
+    crate://crates.io/r-efi/6.0.0 \
+    crate://crates.io/rustfft/6.4.1 \
+    crate://crates.io/rustix/1.1.4 \
+    crate://crates.io/rustversion/1.0.22 \
+    crate://crates.io/ryu/1.0.23 \
+    crate://crates.io/serde/1.0.228 \
+    crate://crates.io/serde_core/1.0.228 \
+    crate://crates.io/serde_derive/1.0.228 \
+    crate://crates.io/serde_json/1.0.150 \
+    crate://crates.io/simd-adler32/0.3.10 \
+    crate://crates.io/shlex/2.0.1 \
+    crate://crates.io/slab/0.4.12 \
+    crate://crates.io/strength_reduce/0.2.4 \
+    crate://crates.io/strsim/0.11.1 \
+    crate://crates.io/syn/2.0.118 \
+    crate://crates.io/tempfile/3.27.0 \
+    crate://crates.io/thiserror/2.0.18 \
+    crate://crates.io/thiserror-impl/2.0.18 \
+    crate://crates.io/transpose/0.2.3 \
+    crate://crates.io/unicode-ident/1.0.24 \
+    crate://crates.io/utf8parse/0.2.2 \
+    crate://crates.io/wasm-bindgen/0.2.126 \
+    crate://crates.io/wasm-bindgen-macro/0.2.126 \
+    crate://crates.io/wasm-bindgen-macro-support/0.2.126 \
+    crate://crates.io/wasm-bindgen-shared/0.2.126 \
+    crate://crates.io/windows-core/0.62.2 \
+    crate://crates.io/windows-implement/0.60.2 \
+    crate://crates.io/windows-interface/0.59.3 \
+    crate://crates.io/windows-link/0.2.1 \
+    crate://crates.io/windows-result/0.4.1 \
+    crate://crates.io/windows-strings/0.5.1 \
+    crate://crates.io/windows-sys/0.61.2 \
+    crate://crates.io/zmij/1.0.21 \
+"
+SRCREV = "186532a007bbf6c3fff03e3a80666e85d7c7247d"
+S = "${WORKDIR}/git/rusty-shaper"
+
+# The upstream release profile intentionally strips this low-RAM binary
+# (strip = true, LTO, opt-level = z).  Do not ask package QA to strip it again.
+INSANE_SKIP:${PN} += "already-stripped"
+
+do_install:append() {
+    install -m 0755 ${WORKDIR}/klippy-rusty-shaper ${D}${bindir}/klippy-rusty-shaper
+}
+
+SRC_URI[android_system_properties-0.1.5.sha256sum] = "819e7219dbd41043ac279b19830f2efc897156490d7fd6ea916720117ee66311"
+SRC_URI[adler2-2.0.1.sha256sum] = "320119579fcad9c21884f5c4861d16174d0e06250625266f50fe6898340abefa"
+SRC_URI[anstream-1.0.0.sha256sum] = "824a212faf96e9acacdbd09febd34438f8f711fb84e09a8916013cd7815ca28d"
+SRC_URI[anstyle-1.0.14.sha256sum] = "940b3a0ca603d1eade50a4846a2afffd5ef57a9feac2c0e2ec2e14f9ead76000"
+SRC_URI[anstyle-parse-1.0.0.sha256sum] = "52ce7f38b242319f7cabaa6813055467063ecdc9d355bbb4ce0c68908cd8130e"
+SRC_URI[anstyle-query-1.1.5.sha256sum] = "40c48f72fd53cd289104fc64099abca73db4166ad86ea0b4341abe65af83dadc"
+SRC_URI[anstyle-wincon-3.0.11.sha256sum] = "291e6a250ff86cd4a820112fb8898808a366d8f9f58ce16d1f538353ad55747d"
+SRC_URI[approx-0.5.1.sha256sum] = "cab112f0a86d568ea0e627cc1d6be74a1e9cd55214684db5561995f6dad897c6"
+SRC_URI[autocfg-1.5.1.sha256sum] = "f2032f911046de80f0a198e0901378627c33f59ea0ac00e363d481118bd70a53"
+SRC_URI[bitflags-2.13.0.sha256sum] = "b4388bee8683e3d04af747c73422af53102d2bd24d9eadb6cbc100baef4b43f8"
+SRC_URI[bumpalo-3.20.3.sha256sum] = "72f5acc6cb2ba439de613abc23857ec3d78374d8ed5ac84e9d11336e87da8649"
+SRC_URI[cc-1.2.65.sha256sum] = "e228eec9be7c17ccb640b59b36a5cd805ea2a564a4c5e162c2f659fea30d3b96"
+SRC_URI[cfg-if-1.0.4.sha256sum] = "9330f8b2ff13f34540b44e946ef35111825727b38d33286ef986142615121801"
+SRC_URI[chrono-0.4.45.sha256sum] = "1aa79e62e7697b8e29b513a68abacf485adcd1fe8284a4316c5ae868e6633327"
+SRC_URI[clap-4.6.1.sha256sum] = "1ddb117e43bbf7dacf0a4190fef4d345b9bad68dfc649cb349e7d17d28428e51"
+SRC_URI[clap_builder-4.6.0.sha256sum] = "714a53001bf66416adb0e2ef5ac857140e7dc3a0c48fb28b2f10762fc4b5069f"
+SRC_URI[clap_derive-4.6.1.sha256sum] = "f2ce8604710f6733aa641a2b3731eaa1e8b3d9973d5e3565da11800813f997a9"
+SRC_URI[clap_lex-1.1.0.sha256sum] = "c8d4a3bb8b1e0c1050499d1815f5ab16d04f0959b233085fb31653fbfc9d98f9"
+SRC_URI[colorchoice-1.0.5.sha256sum] = "1d07550c9036bf2ae0c684c4297d503f838287c83c53686d05370d0e139ae570"
+SRC_URI[core-foundation-sys-0.8.7.sha256sum] = "773648b94d0e5d620f64f280777445740e61fe701025087ec8b57f45c791888b"
+SRC_URI[crc32fast-1.5.0.sha256sum] = "9481c1c90cbf2ac953f07c8d4a58aa3945c425b7185c9154d67a65e4230da511"
+SRC_URI[csv-1.4.0.sha256sum] = "52cd9d68cf7efc6ddfaaee42e7288d3a99d613d4b50f76ce9827ae0c6e14f938"
+SRC_URI[csv-core-0.1.13.sha256sum] = "704a3c26996a80471189265814dbc2c257598b96b8a7feae2d31ace646bb9782"
+SRC_URI[errno-0.3.14.sha256sum] = "39cab71617ae0d63f51a36d69f866391735b51691dbda63cf6f96d042b63efeb"
+SRC_URI[fastrand-2.4.1.sha256sum] = "9f1f227452a390804cdb637b74a86990f2a7d7ba4b7d5693aac9b4dd6defd8d6"
+SRC_URI[flate2-1.1.9.sha256sum] = "843fba2746e448b37e26a819579957415c8cef339bf08564fe8b7ddbd959573c"
+SRC_URI[find-msvc-tools-0.1.9.sha256sum] = "5baebc0774151f905a1a2cc41989300b1e6fbb29aff0ceffa1064fdd3088d582"
+SRC_URI[futures-core-0.3.32.sha256sum] = "7e3450815272ef58cec6d564423f6e755e25379b217b0bc688e295ba24df6b1d"
+SRC_URI[futures-task-0.3.32.sha256sum] = "037711b3d59c33004d3856fbdc83b99d4ff37a24768fa1be9ce3538a1cde4393"
+SRC_URI[futures-util-0.3.32.sha256sum] = "389ca41296e6190b48053de0321d02a77f32f8a5d2461dd38762c0593805c6d6"
+SRC_URI[getrandom-0.4.3.sha256sum] = "300e883d756b2e4ec94e02791f39b04b522276138852cfc41d9fb7e904106099"
+SRC_URI[heck-0.5.0.sha256sum] = "2304e00983f87ffb38b55b444b5e3b60a884b5d30c0fca7d82fe33449bbe55ea"
+SRC_URI[iana-time-zone-0.1.65.sha256sum] = "e31bc9ad994ba00e440a8aa5c9ef0ec67d5cb5e5cb0cc7f8b744a35b389cc470"
+SRC_URI[iana-time-zone-haiku-0.1.2.sha256sum] = "f31827a206f56af32e590ba56d5d2d085f558508192593743f16b2306495269f"
+SRC_URI[is_terminal_polyfill-1.70.2.sha256sum] = "a6cb138bb79a146c1bd460005623e142ef0181e3d0219cb493e02f7d08a35695"
+SRC_URI[itoa-1.0.18.sha256sum] = "8f42a60cbdf9a97f5d2305f08a87dc4e09308d1276d28c869c684d7777685682"
+SRC_URI[js-sys-0.3.103.sha256sum] = "53b44bfcdb3f8d5837a46dae1ca9660a837176eee74a28b229bc626816589102"
+SRC_URI[libc-0.2.186.sha256sum] = "68ab91017fe16c622486840e4c83c9a37afeff978bd239b5293d61ece587de66"
+SRC_URI[linux-raw-sys-0.12.1.sha256sum] = "32a66949e030da00e8c7d4434b251670a91556f4144941d37452769c25d58a53"
+SRC_URI[log-0.4.33.sha256sum] = "0ceec5bc11778974d1bcb055b18002eba7f4b3518b6a0081b3af5f21666da9ad"
+SRC_URI[memchr-2.8.2.sha256sum] = "88904434abc2901f197fe8cc55f0445e7ded921dba5911dad2e2b39b48e663c4"
+SRC_URI[miniz_oxide-0.8.9.sha256sum] = "1fa76a2c86f704bdb222d66965fb3d63269ce38518b83cb0575fca855ebb6316"
+SRC_URI[num-complex-0.4.6.sha256sum] = "73f88a1307638156682bada9d7604135552957b7818057dcef22705b4d509495"
+SRC_URI[num-integer-0.1.46.sha256sum] = "7969661fd2958a5cb096e56c8e1ad0444ac2bbcd0061bd28660485a44879858f"
+SRC_URI[num-traits-0.2.19.sha256sum] = "071dfc062690e90b734c0b2273ce72ad0ffa95f0c74596bc250dcfd960262841"
+SRC_URI[once_cell-1.21.4.sha256sum] = "9f7c3e4beb33f85d45ae3e3a1792185706c8e16d043238c593331cc7cd313b50"
+SRC_URI[once_cell_polyfill-1.70.2.sha256sum] = "384b8ab6d37215f3c5301a95a4accb5d64aa607f1fcb26a11b5303878451b4fe"
+SRC_URI[pin-project-lite-0.2.17.sha256sum] = "a89322df9ebe1c1578d689c92318e070967d1042b512afbe49518723f4e6d5cd"
+SRC_URI[primal-check-0.3.4.sha256sum] = "dc0d895b311e3af9902528fbb8f928688abbd95872819320517cc24ca6b2bd08"
+SRC_URI[proc-macro2-1.0.106.sha256sum] = "8fd00f0bb2e90d81d1044c2b32617f68fcb9fa3bb7640c23e9c748e53fb30934"
+SRC_URI[quote-1.0.46.sha256sum] = "dfbc457d0c7a0759a614551b11a6409e5951f6c7537be1f1b7682b9ae9230368"
+SRC_URI[r-efi-6.0.0.sha256sum] = "f8dcc9c7d52a811697d2151c701e0d08956f92b0e24136cf4cf27b57a6a0d9bf"
+SRC_URI[rustfft-6.4.1.sha256sum] = "21db5f9893e91f41798c88680037dba611ca6674703c1a18601b01a72c8adb89"
+SRC_URI[rustix-1.1.4.sha256sum] = "b6fe4565b9518b83ef4f91bb47ce29620ca828bd32cb7e408f0062e9930ba190"
+SRC_URI[rustversion-1.0.22.sha256sum] = "b39cdef0fa800fc44525c84ccb54a029961a8215f9619753635a9c0d2538d46d"
+SRC_URI[ryu-1.0.23.sha256sum] = "9774ba4a74de5f7b1c1451ed6cd5285a32eddb5cccb8cc655a4e50009e06477f"
+SRC_URI[serde-1.0.228.sha256sum] = "9a8e94ea7f378bd32cbbd37198a4a91436180c5bb472411e48b5ec2e2124ae9e"
+SRC_URI[serde_core-1.0.228.sha256sum] = "41d385c7d4ca58e59fc732af25c3983b67ac852c1a25000afe1175de458b67ad"
+SRC_URI[serde_derive-1.0.228.sha256sum] = "d540f220d3187173da220f885ab66608367b6574e925011a9353e4badda91d79"
+SRC_URI[serde_json-1.0.150.sha256sum] = "e8014e44b4736ed0538adeecded0fce2a272f22dc9578a7eb6b2d9993c74cfb9"
+SRC_URI[simd-adler32-0.3.10.sha256sum] = "3a219298ac11a56ea9a6d2120044824d6f01aeb034955e7af7bc16858527deea"
+SRC_URI[shlex-2.0.1.sha256sum] = "f8fadd59c855ef2080decdef8ff161eb6661b86933c9d82e5ba29dc602a55aba"
+SRC_URI[slab-0.4.12.sha256sum] = "0c790de23124f9ab44544d7ac05d60440adc586479ce501c1d6d7da3cd8c9cf5"
+SRC_URI[strength_reduce-0.2.4.sha256sum] = "fe895eb47f22e2ddd4dabc02bce419d2e643c8e3b585c78158b349195bc24d82"
+SRC_URI[strsim-0.11.1.sha256sum] = "7da8b5736845d9f2fcb837ea5d9e2628564b3b043a70948a3f0b778838c5fb4f"
+SRC_URI[syn-2.0.118.sha256sum] = "1b9ae57f904213ebb649ce6895b8a66c66f0203b9319718f69a5612a065b1422"
+SRC_URI[tempfile-3.27.0.sha256sum] = "32497e9a4c7b38532efcdebeef879707aa9f794296a4f0244f6f69e9bc8574bd"
+SRC_URI[thiserror-2.0.18.sha256sum] = "4288b5bcbc7920c07a1149a35cf9590a2aa808e0bc1eafaade0b80947865fbc4"
+SRC_URI[thiserror-impl-2.0.18.sha256sum] = "ebc4ee7f67670e9b64d05fa4253e753e016c6c95ff35b89b7941d6b856dec1d5"
+SRC_URI[transpose-0.2.3.sha256sum] = "1ad61aed86bc3faea4300c7aee358b4c6d0c8d6ccc36524c96e4c92ccf26e77e"
+SRC_URI[unicode-ident-1.0.24.sha256sum] = "e6e4313cd5fcd3dad5cafa179702e2b244f760991f45397d14d4ebf38247da75"
+SRC_URI[utf8parse-0.2.2.sha256sum] = "06abde3611657adf66d383f00b093d7faecc7fa57071cce2578660c9f1010821"
+SRC_URI[wasm-bindgen-0.2.126.sha256sum] = "4b067c0c11094aef6b7a801c1e34a26affafdf3d051dba08456b868789aaf9a4"
+SRC_URI[wasm-bindgen-macro-0.2.126.sha256sum] = "167ce5e579f6bcf889c4f7175a8a5a585de84e8ff93976ce393efa5f2837aab1"
+SRC_URI[wasm-bindgen-macro-support-0.2.126.sha256sum] = "f3997c7839262f4ef12cf90b818d6340c18e80f263f1a94bf157d0ec4420380e"
+SRC_URI[wasm-bindgen-shared-0.2.126.sha256sum] = "dc1b4cb0cc549fcf58d7dfc081778139b3d283a081644e833e84682ad71cea24"
+SRC_URI[windows-core-0.62.2.sha256sum] = "b8e83a14d34d0623b51dce9581199302a221863196a1dde71a7663a4c2be9deb"
+SRC_URI[windows-implement-0.60.2.sha256sum] = "053e2e040ab57b9dc951b72c264860db7eb3b0200ba345b4e4c3b14f67855ddf"
+SRC_URI[windows-interface-0.59.3.sha256sum] = "3f316c4a2570ba26bbec722032c4099d8c8bc095efccdc15688708623367e358"
+SRC_URI[windows-link-0.2.1.sha256sum] = "f0805222e57f7521d6a62e36fa9163bc891acd422f971defe97d64e70d0a4fe5"
+SRC_URI[windows-result-0.4.1.sha256sum] = "7781fa89eaf60850ac3d2da7af8e5242a5ea78d1a11c49bf2910bb5a73853eb5"
+SRC_URI[windows-strings-0.5.1.sha256sum] = "7837d08f69c77cf6b07689544538e017c1bfcf57e34b4c0ff58e6c2cd3b37091"
+SRC_URI[windows-sys-0.61.2.sha256sum] = "ae137229bcbd6cdf0f7b80a31df61766145077ddf49416a728b02cb3921ff3fc"
+SRC_URI[zmij-1.0.21.sha256sum] = "b8848ee67ecc8aedbaf3e4122217aff892639231befc6a1b58d29fff4c2cabaa"
diff --git a/meta-opencentauri/recipes-apps/ustreamer/files/0002-reduce-memory-usage.patch b/meta-opencentauri/recipes-apps/ustreamer/files/0002-reduce-memory-usage.patch
new file mode 100644
index 00000000..d50b8a4b
--- /dev/null
+++ b/meta-opencentauri/recipes-apps/ustreamer/files/0002-reduce-memory-usage.patch
@@ -0,0 +1,371 @@
+From 144318c470cb5512227f24d217a7539de47be201 Mon Sep 17 00:00:00 2001
+From: Paul Swenson <pdscomp@gmail.com>
+Date: Fri, 10 Jul 2026 10:15:31 -0400
+Subject: [PATCH] ustreamer: reduce camera streamer memory use
+
+The Centauri Carbon camera service shares a 128 MiB system with the
+printer-control stack, so its steady-state frame buffering matters.  At
+864x480 camera-MJPEG and 8 FPS on carbon2u, the stock ustreamer measured
+4.67 MiB PSS and 5.76 MiB RSS.  This change measured 3.17 MiB PSS and
+4.30 MiB RSS while snapshots and a live stream remained functional.
+
+Reduce long-lived allocations without changing the service architecture:
+
+* cap internal thread stacks;
+* retain only the newest JPEG in the streamer backlog and let HTTP clients
+  borrow a frame while it remains valid;
+* avoid allocating a permanent RGB canvas for the blank frame;
+* start generic frame buffers smaller and grow them on demand; and
+* use bounded USERPTR buffers when supported, with an MMAP retry when a UVC
+  camera rejects USERPTR.
+
+The CC2 UVC camera rejects USERPTR queueing, so MMAP remains the validated
+capture method on this device.  The fallback keeps the safer low-allocation
+default for cameras that do support USERPTR without sacrificing operation on
+the deployed camera.
+
+Signed-off-by: Paul Swenson <pdscomp@gmail.com>
+Upstream-Status: Pending [Not submitted to upstream yet]
+---
+ src/libs/capture.c                  | 37 ++++++++++++++++++++++++++++---
+ src/libs/frame.c                    | 44 +++++++++++++++++++++++++++++++++++--
+ src/libs/frame.h                    |  3 +++
+ src/libs/frametext.c                |  1 +
+ src/libs/queue.c                    |  2 +-
+ src/libs/threading.h                | 36 +++++++++++++++++++++++++++++-
+ src/ustreamer/blank.c               |  1 +
+ src/ustreamer/encoders/hw/encoder.c |  4 +++-
+ src/ustreamer/options.c             |  2 +-
+ src/ustreamer/stream.c              | 13 ++++++++---
+ 10 files changed, 131 insertions(+), 12 deletions(-)
+
+diff --git a/src/libs/capture.c b/src/libs/capture.c
+index ee2021e17dd23083d45dd7a37678efff1adcc817..2614e117120d1a9fdb1c109c62758d526873cd71 100644
+--- a/src/libs/capture.c
++++ b/src/libs/capture.c
+@@ -94,6 +94,8 @@ static int _capture_open_dv_timings(us_capture_s *cap, bool apply);
+ static int _capture_open_format(us_capture_s *cap, bool first);
+ static void _capture_open_hw_fps(us_capture_s *cap);
+ static void _capture_open_jpeg_quality(us_capture_s *cap);
++static uz _capture_get_userptr_buffer_size(const us_capture_runtime_s *run);
++static int _capture_open_impl(us_capture_s *cap);
+ static int _capture_open_io_method(us_capture_s *cap);
+ static int _capture_open_io_method_mmap(us_capture_s *cap);
+ static int _capture_open_io_method_userptr(us_capture_s *cap);
+@@ -144,7 +146,7 @@ us_capture_s *us_capture_init(void) {
+ 	cap->format = V4L2_PIX_FMT_YUYV;
+ 	cap->jpeg_quality = 80;
+ 	cap->standard = V4L2_STD_UNKNOWN;
+-	cap->io_method = V4L2_MEMORY_MMAP;
++	cap->io_method = V4L2_MEMORY_USERPTR;
+ 	cap->n_bufs = us_get_cores_available() + 1;
+ 	cap->min_frame_size = 128;
+ 	cap->timeout = 1;
+@@ -185,6 +187,27 @@ int us_capture_parse_io_method(const char *str) {
+ }
+ 
+ int us_capture_open(us_capture_s *cap) {
++	const enum v4l2_memory requested_io_method = cap->io_method;
++	int result = _capture_open_impl(cap);
++
++	if (result >= 0) {
++		return result;
++	}
++
++	if (requested_io_method != V4L2_MEMORY_USERPTR) {
++		return result;
++	}
++
++	_LOG_INFO("USERPTR capture failed, retrying with MMAP");
++	cap->io_method = V4L2_MEMORY_MMAP;
++	result = _capture_open_impl(cap);
++	if (result < 0) {
++		cap->io_method = requested_io_method;
++	}
++	return result;
++}
++
++static int _capture_open_impl(us_capture_s *cap) {
+ 	us_capture_runtime_s *const run = cap->run;
+ 
+ 	if (access(cap->path, R_OK | W_OK) < 0) {
+@@ -1009,12 +1032,11 @@ static int _capture_open_io_method_userptr(us_capture_s *cap) {
+ 	US_CALLOC(run->bufs, req.count);
+ 
+ 	const uint page_size = getpagesize();
+-	const uint buf_size = us_align_size(run->raw_size, page_size);
++	const uint buf_size = _capture_get_userptr_buffer_size(run);
+ 
+ 	for (run->n_bufs = 0; run->n_bufs < req.count; ++run->n_bufs) {
+ 		us_capture_hwbuf_s *hw = &run->bufs[run->n_bufs];
+ 		US_A((hw->raw.data = aligned_alloc(page_size, buf_size)) != NULL);
+-		memset(hw->raw.data, 0, buf_size);
+ 		hw->raw.allocated = buf_size;
+ 		if (run->capture_mplane) {
+ 			US_CALLOC(hw->buf.m.planes, VIDEO_MAX_PLANES);
+@@ -1023,6 +1045,15 @@ static int _capture_open_io_method_userptr(us_capture_s *cap) {
+ 	return 0;
+ }
+ 
++static uz _capture_get_userptr_buffer_size(const us_capture_runtime_s *run) {
++	// The driver-reported sizeimage is much larger than the actual MJPEG payload
++	// we observe on this target. Cap USERPTR to keep the resident capture buffer
++	// small while still leaving a conservative safety margin.
++	const uz raw_size = run->raw_size;
++	const uz cap_size = 256 * 1024UL;
++	return us_align_size(US_MIN(raw_size, cap_size), getpagesize());
++}
++
+ static int _capture_open_queue_buffers(us_capture_s *cap) {
+ 	us_capture_runtime_s *const run = cap->run;
+ 
+diff --git a/src/libs/frame.c b/src/libs/frame.c
+index a770969e9ad7134e2c98328c9b906782090aafcf..222eb06cd7e4e803d429c6c54c4152d2f1a75acf 100644
+--- a/src/libs/frame.c
++++ b/src/libs/frame.c
+@@ -35,27 +35,67 @@
+ us_frame_s *us_frame_init(void) {
+ 	us_frame_s *frame;
+ 	US_CALLOC(frame, 1);
+-	us_frame_realloc_data(frame, 32 * 1024);
++	// Most live JPEG buffers settle well below 32 KiB in this deployment,
++	// so keep the startup floor small and grow only when needed.
++	us_frame_realloc_data(frame, 8 * 1024);
+ 	frame->dma_fd = -1;
+ 	return frame;
+ }
+ 
+ void us_frame_destroy(us_frame_s *frame) {
+-	US_DELETE(frame->data, free);
++	if (!frame->external_data) {
++		US_DELETE(frame->data, free);
++	}
+ 	free(frame);
+ }
+ 
+ void us_frame_realloc_data(us_frame_s *frame, uz size) {
++	if (frame->external_data) {
++		u8 *owned;
++		US_CALLOC(owned, size);
++		if (frame->data != NULL && frame->used > 0) {
++			memcpy(owned, frame->data, frame->used);
++		}
++		frame->data = owned;
++		frame->external_data = false;
++		frame->allocated = size;
++		return;
++	}
+ 	if (frame->allocated < size) {
+ 		US_REALLOC(frame->data, size);
+ 		frame->allocated = size;
+ 	}
+ }
+ 
++void us_frame_release_data(us_frame_s *frame) {
++	if (frame->external_data) {
++		frame->data = NULL;
++		frame->used = 0;
++		frame->allocated = 0;
++		frame->external_data = false;
++		return;
++	}
++
++	US_DELETE(frame->data, free);
++	frame->used = 0;
++	frame->allocated = 0;
++}
++
++void us_frame_set_external_data(us_frame_s *frame, const u8 *data, uz size) {
++	if (!frame->external_data) {
++		US_DELETE(frame->data, free);
++	}
++	frame->data = (u8*)data;
++	frame->used = size;
++	frame->allocated = 0;
++	frame->external_data = true;
++}
++
+ void us_frame_set_data(us_frame_s *frame, const u8 *data, uz size) {
+ 	us_frame_realloc_data(frame, size);
+ 	memcpy(frame->data, data, size);
+ 	frame->used = size;
++	frame->external_data = false;
+ }
+ 
+ void us_frame_append_data(us_frame_s *frame, const u8 *data, uz size) {
+diff --git a/src/libs/frame.h b/src/libs/frame.h
+index 74c45512c6fa1fd0755b621483294ffb61e0292d..a24ce4bf994edf24748ed1e1cbc0e736f0641df7 100644
+--- a/src/libs/frame.h
++++ b/src/libs/frame.h
+@@ -49,6 +49,7 @@ typedef struct {
+ 	uz		used;
+ 	uz		allocated;
+ 	int		dma_fd;
++	bool	external_data;
+ 
+ 	US_FRAME_META_DECLARE;
+ } us_frame_s;
+@@ -102,6 +103,8 @@ us_frame_s *us_frame_init(void);
+ void us_frame_destroy(us_frame_s *frame);
+ 
+ void us_frame_realloc_data(us_frame_s *frame, uz size);
++void us_frame_release_data(us_frame_s *frame);
++void us_frame_set_external_data(us_frame_s *frame, const u8 *data, uz size);
+ void us_frame_set_data(us_frame_s *frame, const u8 *data, uz size);
+ void us_frame_append_data(us_frame_s *frame, const u8 *data, uz size);
+ 
+diff --git a/src/libs/frametext.c b/src/libs/frametext.c
+index d5adfc73765558dd3f7e0b5052dec9c4678b1041..9daa61f02666a588c3d63378aeede9d1faee6393 100644
+--- a/src/libs/frametext.c
++++ b/src/libs/frametext.c
+@@ -92,6 +92,7 @@ void us_frametext_draw(us_frametext_s *ft, const char *text, uint width, uint he
+ 	if (
+ 		frame->width == width && frame->height == height
+ 		&& ft->text != NULL && !strcmp(ft->text, text)
++		&& frame->data != NULL && frame->used > 0
+ 	) {
+ 		return;
+ 	}
+diff --git a/src/libs/queue.c b/src/libs/queue.c
+index d72f656a7fdfde16c6e7f83202f8914a8cd808c7..854ecb11556a441b632a8365886e16ca9c22f5e1 100644
+--- a/src/libs/queue.c
++++ b/src/libs/queue.c
+@@ -107,5 +107,5 @@ bool us_queue_is_empty(us_queue_s *q) {
+ 	US_MUTEX_LOCK(q->mutex);
+ 	const uint size = q->size;
+ 	US_MUTEX_UNLOCK(q->mutex);
+-	return (bool)(q->capacity - size);
++	return (size == 0);
+ }
+diff --git a/src/libs/threading.h b/src/libs/threading.h
+index 2f161af24c9c78702a6eaca2ad6438f3df7783f2..be145e1407259bf9a9088ecb8295034248cd0988 100644
+--- a/src/libs/threading.h
++++ b/src/libs/threading.h
+@@ -46,7 +46,41 @@
+ #	define US_THREAD_NAME_SIZE ((uz)16)
+ #endif
+ 
+-#define US_THREAD_CREATE(x_tid, x_func, x_arg)	US_A(!pthread_create(&(x_tid), NULL, (x_func), (x_arg)))
++#ifndef US_THREAD_STACK_SIZE
++#	define US_THREAD_STACK_SIZE (32 * 1024UL)
++#endif
++
++INLINE int us_thread_create(pthread_t *tid, void *(*func)(void*), void *arg) {
++#if (US_THREAD_STACK_SIZE > 0)
++	pthread_attr_t attr;
++	US_A(!pthread_attr_init(&attr));
++
++	// These threads are long-lived but have shallow call stacks, so cap the
++	// default pthread stack reservation to keep memory overhead predictable.
++	uz stack_size = US_THREAD_STACK_SIZE;
++	const uz min_stack_size = (uz)PTHREAD_STACK_MIN;
++	if (stack_size < min_stack_size) {
++		stack_size = min_stack_size;
++	}
++#	if defined(_SC_PAGESIZE)
++	{
++		const long page_size = sysconf(_SC_PAGESIZE);
++		if (page_size > 0 && (stack_size % (uz)page_size) != 0) {
++			stack_size += (uz)page_size - (stack_size % (uz)page_size);
++		}
++	}
++#	endif
++	US_A(!pthread_attr_setstacksize(&attr, stack_size));
++
++	const int retval = pthread_create(tid, &attr, func, arg);
++	US_A(!pthread_attr_destroy(&attr));
++	return retval;
++#else
++	return pthread_create(tid, NULL, func, arg);
++#endif
++}
++
++#define US_THREAD_CREATE(x_tid, x_func, x_arg)	US_A(!us_thread_create(&(x_tid), (x_func), (x_arg)))
+ #define US_THREAD_JOIN(x_tid)					US_A(!pthread_join((x_tid), NULL))
+ 
+ #ifdef WITH_PTHREAD_NP
+diff --git a/src/ustreamer/blank.c b/src/ustreamer/blank.c
+index 09b1b0008c406d43ffba1d78b7f1664b749d63ea..50fb5af947acabeee2b78e8be9746d3ab8a13b43 100644
+--- a/src/ustreamer/blank.c
++++ b/src/ustreamer/blank.c
+@@ -43,6 +43,7 @@ us_blank_s *us_blank_init(void) {
+ void us_blank_draw(us_blank_s *blank, const char *text, uint width, uint height) {
+ 	us_frametext_draw(blank->ft, text, width, height);
+ 	us_cpu_encoder_compress(blank->raw, blank->jpeg, 95);
++	us_frame_release_data(blank->raw);
+ }
+ 
+ void us_blank_destroy(us_blank_s *blank) {
+diff --git a/src/ustreamer/encoders/hw/encoder.c b/src/ustreamer/encoders/hw/encoder.c
+index 7e35495954e16d6ca5473c6d09b00220784c7c6c..32791083f107a7196885325bf3b5cd25bf7d0e2c 100644
+--- a/src/ustreamer/encoders/hw/encoder.c
++++ b/src/ustreamer/encoders/hw/encoder.c
+@@ -69,7 +69,9 @@ void _copy_plus_huffman(const us_frame_s *src, us_frame_s *dest) {
+ 		us_frame_append_data(dest, src_ptr, src->used - paste);
+ 
+ 	} else {
+-		us_frame_set_data(dest, src->data, src->used);
++		// Borrow the camera JPEG buffer directly when it is already complete.
++		// The caller keeps the capture buffer alive until after exposure.
++		us_frame_set_external_data(dest, src->data, src->used);
+ 	}
+ 
+ 	us_frame_encoding_end(dest);
+diff --git a/src/ustreamer/options.c b/src/ustreamer/options.c
+index 048e6c50854edbf369c39e9ca4128205364d4993..2d36e1277c0b6ba0768562f41f2da7c52f0e7ae4 100644
+--- a/src/ustreamer/options.c
++++ b/src/ustreamer/options.c
+@@ -703,7 +703,7 @@ static void _help(
+ 	SAY("                                           Available: %s; default: disabled.\n", US_STANDARDS_STR);
+ 	SAY("    -I|--io-method <method>  ───────────── Set V4L2 IO method (see kernel documentation).");
+ 	SAY("                                           Changing of this parameter may increase the performance. Or not.");
+-	SAY("                                           Available: %s; default: MMAP.\n", US_IO_METHODS_STR);
++	SAY("                                           Available: %s; default: USERPTR, with MMAP fallback if needed.\n", US_IO_METHODS_STR);
+ 	SAY("    -f|--desired-fps <N>  ──────────────── Desired FPS. Default: maximum possible.\n");
+ 	SAY("    -z|--min-frame-size <N>  ───────────── Drop frames smaller than this limit. Useful if the device");
+ 	SAY("                                           produces small-sized garbage frames. Default: %zu bytes.\n", cap->min_frame_size);
+diff --git a/src/ustreamer/stream.c b/src/ustreamer/stream.c
+index 9ae94e42b35d355df43d449a595810eefb06d501..dd28e3e64589d916e96f37d67fbeb0feaf8f3be8 100644
+--- a/src/ustreamer/stream.c
++++ b/src/ustreamer/stream.c
+@@ -58,6 +58,11 @@
+ #endif
+ 
+ 
++#ifndef US_HTTP_JPEG_RING_SIZE
++#	define US_HTTP_JPEG_RING_SIZE 1
++#endif
++
++
+ typedef struct {
+ 	pthread_t		tid;
+ 	us_capture_s	*cap;
+@@ -104,7 +109,9 @@ us_stream_s *us_stream_init(us_capture_s *cap, us_encoder_s *enc) {
+ 	http->drm_fpsi = us_fpsi_init("DRM", true);
+ #	endif
+ 	http->h264_fpsi = us_fpsi_init("H264", true);
+-	US_RING_INIT_WITH_ITEMS(http->jpeg_ring, 4, us_frame_init);
++	// Keep a minimal HTTP JPEG backlog: the refresher copies the newest frame
++	// into the stable exposed buffer, so extra slots mostly retain stale copies.
++	US_RING_INIT_WITH_ITEMS(http->jpeg_ring, US_HTTP_JPEG_RING_SIZE, us_frame_init);
+ 	atomic_init(&http->has_clients, false);
+ 	atomic_init(&http->snapshot_requested, 0);
+ 	atomic_init(&http->last_req_ts, 0);
+@@ -331,8 +338,6 @@ static void *_jpeg_thread(void *v_ctx) {
+ 		us_encoder_job_s *const job = wr->job;
+ 
+ 		if (job->hw != NULL) {
+-			us_capture_hwbuf_decref(job->hw);
+-			job->hw = NULL;
+ 			if (wr->job_failed) {
+ 				// pass
+ 			} else if (wr->job_timely) {
+@@ -345,6 +350,8 @@ static void *_jpeg_thread(void *v_ctx) {
+ 			} else {
+ 				US_LOG_PERF("JPEG: ----- Encoded JPEG dropped; worker=%s", wr->name);
+ 			}
++			us_capture_hwbuf_decref(job->hw);
++			job->hw = NULL;
+ 		}
+ 
+ 		us_capture_hwbuf_s *hw = _get_latest_hw(ctx->q);
diff --git a/meta-opencentauri/recipes-apps/ustreamer/files/ustreamer-init-d b/meta-opencentauri/recipes-apps/ustreamer/files/ustreamer-init-d
index b513fcfe..6c3cbcfc 100644
--- a/meta-opencentauri/recipes-apps/ustreamer/files/ustreamer-init-d
+++ b/meta-opencentauri/recipes-apps/ustreamer/files/ustreamer-init-d
@@ -9,7 +9,9 @@
 ### END INIT INFO
 
 USTREAMER_EXEC="/usr/bin/ustreamer"
-USTREAMER_ARGS="-r 864x480 -c HW -m MJPEG -b 1 -w 1 -f 10 -l --host=0.0.0.0 --allow-origin=*"
+# The CC2 deployment uses camera-provided MJPEG at 864x480.  Eight FPS is the
+# measured stable delivery rate with the bounded frame backlog.
+USTREAMER_ARGS="-r 864x480 -c HW -m MJPEG -b 1 -w 1 -f 8 -l --host=0.0.0.0 --allow-origin=*"
 PIDFILE="/var/run/ustreamer.pid"
 
 case "$1" in
diff --git a/meta-opencentauri/recipes-apps/ustreamer/ustreamer_6.55.bb b/meta-opencentauri/recipes-apps/ustreamer/ustreamer_6.55.bb
index 5c5ea395..73abeb9d 100644
--- a/meta-opencentauri/recipes-apps/ustreamer/ustreamer_6.55.bb
+++ b/meta-opencentauri/recipes-apps/ustreamer/ustreamer_6.55.bb
@@ -18,6 +18,7 @@ INITSCRIPT_PARAMS = "defaults 97 5"
 SRC_URI = " \
 	git://github.com/pikvm/ustreamer.git;protocol=https;branch=master \
 	file://0001-retry-http-bind.patch \
+	file://0002-reduce-memory-usage.patch \
 	file://ustreamer-init-d \
 "
 SRCREV = "88460b72e191035d04355e25106af817cbfe069e"
diff --git a/meta-opencentauri/recipes-core/swu-flasher/files/readonly-config-reset b/meta-opencentauri/recipes-core/swu-flasher/files/readonly-config-reset
index ace52a1f..66472d38 100644
--- a/meta-opencentauri/recipes-core/swu-flasher/files/readonly-config-reset
+++ b/meta-opencentauri/recipes-core/swu-flasher/files/readonly-config-reset
@@ -9,6 +9,15 @@ backup_file="$KLIPPER_CONFIG_BACKUP_DIR/readonly-$backup_timestamp.tar.gz"
 mkdir -p "$KLIPPER_CONFIG_BACKUP_DIR"
 tar -czf "$backup_file" /etc/klipper/config/*-readonly
 rm -rf /data/overlay-etc/upper/klipper/config/*-readonly
+
+# These package-owned scripts have changes in this release.  The new rootfs
+# performs the general image-owned init-script cleanup before mounting /etc;
+# keep this focused pre-flash cleanup for launch scripts changed by this update.
+rm -f \
+    /data/overlay-etc/upper/init.d/moonraker \
+    /data/overlay-etc/upper/init.d/ustreamer \
+    /data/overlay-etc/upper/init.d/zram
+
 sync
 echo 3 > /proc/sys/vm/drop_caches
-echo "Readonly configs reset to default state. A reboot may be required for files to reappear."
\ No newline at end of file
+echo "Readonly configs and package-owned launch scripts reset to image defaults. A reboot may be required for files to reappear."
diff --git a/meta-opencentauri/recipes-core/zram/files/init b/meta-opencentauri/recipes-core/zram/files/init
old mode 100644
new mode 100755
index e9bdbf8e..712b7a2a
--- a/meta-opencentauri/recipes-core/zram/files/init
+++ b/meta-opencentauri/recipes-core/zram/files/init
@@ -6,67 +6,414 @@
 # Default-Start: 2 3 4 5
 # Default-Stop: 0 1 6
 # Short-Description: Increased Performance In Linux With zRam (Virtual Swap Compressed in RAM)
-# Description: Adapted from zram init script in meta-openembedded
+# Description: Reliable zram swap initialization for embedded SysV systems
 ### END INIT INFO
-set -e
+
+# Do not use set -e here.  A transient sysfs or device-node failure must be
+# logged and retried, not silently turn into a boot without swap.
+
+NAME=zram
+PATH=${ZRAM_PATH:-/sbin:/usr/sbin:/bin:/usr/bin}
+
+ZRAM_SYSFS=${ZRAM_SYSFS:-/sys/block/zram0}
+ZRAM_MODULE_SYSFS=${ZRAM_MODULE_SYSFS:-/sys/module/zram}
+ZRAM_DEV=${ZRAM_DEV:-/dev/zram0}
+PROC_SWAPS=${PROC_SWAPS:-/proc/swaps}
+MEMINFO=${MEMINFO:-/proc/meminfo}
+SYSCTL_DIR=${SYSCTL_DIR:-/proc/sys}
+ZRAM_DEFAULTS=${ZRAM_DEFAULTS:-/etc/default/zram}
+
+# Defaults selected for the CC1.  Every retry-related value is deliberately
+# capped below so a malformed /etc/default/zram cannot hang the boot forever.
+FACTOR=200
+ZRAM_ALGO="lz4 lzo-rle zstd lzo"
+ZRAM_MAX_ATTEMPTS=5
+ZRAM_READY_TIMEOUT=5
+ZRAM_RETRY_DELAY=1
+ZRAM_PRIORITY=100
+
+log() {
+    log_message="$*"
+    if command -v logger >/dev/null 2>&1; then
+        logger -t "$NAME" "$log_message" 2>/dev/null || true
+    fi
+    echo "$NAME: $log_message"
+}
+
+is_decimal() {
+    case "$1" in
+        ''|*[!0-9]*) return 1 ;;
+        *) return 0 ;;
+    esac
+}
+
+is_active() {
+    grep -q "^${ZRAM_DEV}[[:space:]]" "$PROC_SWAPS" 2>/dev/null
+}
+
+load_defaults() {
+    if [ -f "$ZRAM_DEFAULTS" ]; then
+        # shellcheck disable=SC1090
+        if ! . "$ZRAM_DEFAULTS"; then
+            log "ERROR: could not source $ZRAM_DEFAULTS"
+            return 1
+        fi
+    fi
+    return 0
+}
+
+validate_config() {
+    if ! is_decimal "$FACTOR" || [ "$FACTOR" -lt 1 ] || [ "$FACTOR" -gt 400 ]; then
+        log "ERROR: FACTOR must be an integer from 1 through 400 (got '$FACTOR')"
+        return 1
+    fi
+    if ! is_decimal "$ZRAM_MAX_ATTEMPTS" || [ "$ZRAM_MAX_ATTEMPTS" -lt 1 ] || [ "$ZRAM_MAX_ATTEMPTS" -gt 5 ]; then
+        log "ERROR: ZRAM_MAX_ATTEMPTS must be an integer from 1 through 5 (got '$ZRAM_MAX_ATTEMPTS')"
+        return 1
+    fi
+    if ! is_decimal "$ZRAM_READY_TIMEOUT" || [ "$ZRAM_READY_TIMEOUT" -lt 1 ] || [ "$ZRAM_READY_TIMEOUT" -gt 5 ]; then
+        log "ERROR: ZRAM_READY_TIMEOUT must be an integer from 1 through 5 (got '$ZRAM_READY_TIMEOUT')"
+        return 1
+    fi
+    if ! is_decimal "$ZRAM_RETRY_DELAY" || [ "$ZRAM_RETRY_DELAY" -gt 5 ]; then
+        log "ERROR: ZRAM_RETRY_DELAY must be an integer from 0 through 5 (got '$ZRAM_RETRY_DELAY')"
+        return 1
+    fi
+    if ! is_decimal "$ZRAM_PRIORITY" || [ "$ZRAM_PRIORITY" -gt 32767 ]; then
+        log "ERROR: ZRAM_PRIORITY must be an integer from 0 through 32767 (got '$ZRAM_PRIORITY')"
+        return 1
+    fi
+    return 0
+}
+
+read_value() {
+    if [ -r "$1" ]; then
+        cat "$1" 2>/dev/null
+    else
+        echo unavailable
+    fi
+}
+
+log_state() {
+    state_disksize=$(read_value "$ZRAM_SYSFS/disksize")
+    state_initstate=$(read_value "$ZRAM_SYSFS/initstate")
+    state_algorithm=$(read_value "$ZRAM_SYSFS/comp_algorithm")
+    if [ -r "$PROC_SWAPS" ]; then
+        state_swap=$(grep "^${ZRAM_DEV}[[:space:]]" "$PROC_SWAPS" 2>/dev/null || true)
+    else
+        state_swap=unavailable
+    fi
+    [ -n "$state_swap" ] || state_swap=inactive
+    log "state: disksize=$state_disksize initstate=$state_initstate algorithm=$state_algorithm swap=$state_swap"
+}
+
+wait_for_device() {
+    ready_count=0
+    while [ "$ready_count" -lt "$ZRAM_READY_TIMEOUT" ]; do
+        if [ -e "$ZRAM_SYSFS/disksize" ] && \
+           [ -e "$ZRAM_SYSFS/reset" ] && \
+           [ -e "$ZRAM_SYSFS/comp_algorithm" ] && \
+           [ -e "$ZRAM_DEV" ]; then
+            return 0
+        fi
+        sleep 1
+        ready_count=$((ready_count + 1))
+    done
+    log "ERROR: zram device did not become ready within ${ZRAM_READY_TIMEOUT}s"
+    log_state
+    return 1
+}
+
+ensure_module() {
+    command_output=$(modprobe zram num_devices=1 2>&1)
+    command_status=$?
+    if [ "$command_status" -ne 0 ]; then
+        log "ERROR: modprobe zram failed (status $command_status): $command_output"
+        return 1
+    fi
+    [ -z "$command_output" ] || log "modprobe: $command_output"
+    return 0
+}
+
+reset_device() {
+    if [ ! -e "$ZRAM_SYSFS/reset" ]; then
+        log "ERROR: zram reset attribute is unavailable"
+        return 1
+    fi
+
+    command_output=$(printf '1\n' > "$ZRAM_SYSFS/reset" 2>&1)
+    command_status=$?
+    if [ "$command_status" -ne 0 ]; then
+        log "ERROR: could not reset $ZRAM_DEV (status $command_status): $command_output"
+        return 1
+    fi
+
+    reset_count=0
+    while [ "$reset_count" -lt "$ZRAM_READY_TIMEOUT" ]; do
+        reset_disksize=$(read_value "$ZRAM_SYSFS/disksize")
+        if [ "$reset_disksize" = "0" ]; then
+            return 0
+        fi
+        sleep 1
+        reset_count=$((reset_count + 1))
+    done
+    log "ERROR: reset did not return $ZRAM_DEV to disksize=0"
+    return 1
+}
+
+cleanup_device() {
+    cleanup_status=0
+
+    if is_active; then
+        command_output=$(swapoff "$ZRAM_DEV" 2>&1)
+        command_status=$?
+        if [ "$command_status" -ne 0 ]; then
+            log "ERROR: swapoff $ZRAM_DEV failed (status $command_status): $command_output"
+            cleanup_status=1
+        fi
+    fi
+
+    if is_active; then
+        log "ERROR: $ZRAM_DEV is still active; refusing to reset it"
+        cleanup_status=1
+    elif [ -e "$ZRAM_SYSFS/reset" ]; then
+        reset_device || cleanup_status=1
+    fi
+
+    return "$cleanup_status"
+}
+
+reload_module_once() {
+    if is_active; then
+        log "note: swap became active during recovery; keeping the active device"
+        return 0
+    fi
+
+    if [ -d "$ZRAM_MODULE_SYSFS" ]; then
+        command_output=$(rmmod zram 2>&1)
+        command_status=$?
+        if [ "$command_status" -ne 0 ]; then
+            log "note: rmmod zram failed (status $command_status): $command_output"
+        else
+            log "module reload recovery: zram unloaded"
+            sleep 1
+        fi
+    fi
+
+    ensure_module || return 1
+    wait_for_device || return 1
+    return 0
+}
+
+select_algorithm() {
+    algorithm_selected=0
+    for algorithm in $ZRAM_ALGO; do
+        command_output=$(printf '%s\n' "$algorithm" > "$ZRAM_SYSFS/comp_algorithm" 2>&1)
+        command_status=$?
+        if [ "$command_status" -eq 0 ]; then
+            log "compressor: $algorithm"
+            algorithm_selected=1
+            break
+        fi
+        log "note: compressor '$algorithm' was rejected (status $command_status): $command_output"
+    done
+
+    if [ "$algorithm_selected" -eq 0 ]; then
+        current_algorithm=$(read_value "$ZRAM_SYSFS/comp_algorithm")
+        if [ -n "$current_algorithm" ] && [ "$current_algorithm" != unavailable ]; then
+            log "note: keeping kernel-selected compressor: $current_algorithm"
+            return 0
+        fi
+        log "ERROR: no usable zram compressor is available"
+        return 1
+    fi
+    return 0
+}
+
+configure_device() {
+    if ! reset_device; then
+        return 1
+    fi
+    if ! select_algorithm; then
+        return 1
+    fi
+
+    command_output=$(printf '%s\n' "$disksize" > "$ZRAM_SYSFS/disksize" 2>&1)
+    command_status=$?
+    if [ "$command_status" -ne 0 ]; then
+        log "ERROR: could not set disksize=$disksize (status $command_status): $command_output"
+        return 1
+    fi
+
+    configured_disksize=$(read_value "$ZRAM_SYSFS/disksize")
+    if [ "$configured_disksize" != "$disksize" ]; then
+        log "ERROR: disksize verification failed (expected $disksize, got $configured_disksize)"
+        return 1
+    fi
+
+    command_output=$(mkswap "$ZRAM_DEV" 2>&1)
+    command_status=$?
+    if [ "$command_status" -ne 0 ]; then
+        log "ERROR: mkswap $ZRAM_DEV failed (status $command_status): $command_output"
+        return 1
+    fi
+
+    command_output=$(swapon -p "$ZRAM_PRIORITY" "$ZRAM_DEV" 2>&1)
+    command_status=$?
+    if [ "$command_status" -ne 0 ]; then
+        log "ERROR: swapon $ZRAM_DEV failed (status $command_status): $command_output"
+        return 1
+    fi
+
+    if ! is_active; then
+        log "ERROR: swapon returned success but $ZRAM_DEV is absent from $PROC_SWAPS"
+        return 1
+    fi
+    return 0
+}
+
+tune_vm() {
+    for tuning in \
+        vm.swappiness=150 \
+        vm.watermark_boost_factor=0 \
+        vm.watermark_scale_factor=125 \
+        vm.page-cluster=0 \
+        vm.vfs_cache_pressure=500
+    do
+        tuning_key=${tuning%%=*}
+        tuning_value=${tuning#*=}
+        tuning_path="$SYSCTL_DIR/$(printf '%s' "$tuning_key" | tr '.' '/')"
+        if [ ! -e "$tuning_path" ]; then
+            log "note: $tuning_key is not present on this kernel (skipped)"
+            continue
+        fi
+        command_output=$(printf '%s\n' "$tuning_value" > "$tuning_path" 2>&1)
+        command_status=$?
+        if [ "$command_status" -ne 0 ]; then
+            log "note: could not set $tuning_key=$tuning_value (status $command_status): $command_output"
+        fi
+    done
+}
+
+get_memory_size() {
+    memtotal=$(awk '/^MemTotal:[[:space:]]+[0-9]+/ { print $2; exit }' "$MEMINFO" 2>/dev/null)
+    if ! is_decimal "$memtotal" || [ "$memtotal" -lt 1 ]; then
+        log "ERROR: could not read a valid MemTotal from $MEMINFO"
+        return 1
+    fi
+
+    # Multiply before converting kB to bytes, but keep the intermediate
+    # product bounded for the 32-bit shell used by the CC1.
+    disksize_kb=$((memtotal * FACTOR / 100))
+    disksize=$((disksize_kb * 1024))
+    if [ "$disksize" -lt 4096 ]; then
+        log "ERROR: calculated zram disksize is invalid: $disksize bytes"
+        return 1
+    fi
+    log "memory: ${memtotal}kB; zram disksize=${disksize} bytes (factor ${FACTOR}%)"
+    return 0
+}
 
 start() {
-    #default Factor % = 200 change this value here or create /etc/default/zram
-    FACTOR=200
-    #& put the above single line in /etc/default/zram with the value you want
-    [ -f /etc/default/zram ] && . /etc/default/zram || true
-    factor=$FACTOR # percentage
+    load_defaults || return 1
+    validate_config || return 1
 
-    # get the amount of memory in the machine
-    memtotal=$(grep MemTotal /proc/meminfo | awk ' { print $2 } ')
-    disksize=$(($memtotal*$factor/100*1024))
+    if is_active; then
+        log "zram swap already active; nothing to do"
+        log_state
+        return 0
+    fi
+
+    get_memory_size || return 1
+    log "starting zram swap (up to $ZRAM_MAX_ATTEMPTS attempts; readiness timeout ${ZRAM_READY_TIMEOUT}s)"
+
+    attempt=1
+    module_reload_used=0
+    while [ "$attempt" -le "$ZRAM_MAX_ATTEMPTS" ]; do
+        log "initialization attempt $attempt/$ZRAM_MAX_ATTEMPTS"
 
-    # load dependency modules
-    modprobe zram num_devices=1
-    echo "zram devices probed successfully"
+        if ensure_module && wait_for_device && configure_device; then
+            log "zram swap active: ${disksize} bytes at priority ${ZRAM_PRIORITY}"
+            log_state
+            tune_vm
+            return 0
+        fi
 
-    echo 1 > /sys/block/zram0/reset
-    echo lz4 > /sys/block/zram0/comp_algorithm
-    echo $disksize > /sys/block/zram0/disksize
+        log "ERROR: initialization attempt $attempt failed"
+        cleanup_device || true
 
-    # Creating swap filesystems
-    mkswap /dev/zram0
+        if is_active; then
+            log "zram swap is active after recovery; treating initialization as successful"
+            log_state
+            tune_vm
+            return 0
+        fi
 
-    # zram tuning
-    echo 150 > /proc/sys/vm/swappiness
-    echo 0   > /proc/sys/vm/watermark_boost_factor
-    echo 125 > /proc/sys/vm/watermark_scale_factor
-    echo 0   > /proc/sys/vm/page-cluster
-    echo 500 > /proc/sys/vm/vfs_cache_pressure
+        if [ "$module_reload_used" -eq 0 ] && [ "$attempt" -lt "$ZRAM_MAX_ATTEMPTS" ]; then
+            log "recovery: attempting one zram module unload/reload"
+            reload_module_once || log "note: module reload recovery did not complete"
+            module_reload_used=1
+        fi
 
-    # Switch the swaps on
-    swapon -p 100 /dev/zram0
+        if [ "$attempt" -lt "$ZRAM_MAX_ATTEMPTS" ] && [ "$ZRAM_RETRY_DELAY" -gt 0 ]; then
+            sleep "$ZRAM_RETRY_DELAY"
+        fi
+        attempt=$((attempt + 1))
+    done
+
+    log "ERROR: zram swap unavailable after $ZRAM_MAX_ATTEMPTS attempts"
+    log_state
+    return 1
 }
 
 stop() {
-    # Switching off swap
-    if [ "$(grep /dev/zram0 /proc/swaps)" != "" ]; then
-        swapoff /dev/zram0
-        sleep 1
+    stop_status=0
+
+    if is_active; then
+        command_output=$(swapoff "$ZRAM_DEV" 2>&1)
+        command_status=$?
+        if [ "$command_status" -ne 0 ] || is_active; then
+            log "ERROR: could not disable swap on $ZRAM_DEV (status $command_status): $command_output"
+            stop_status=1
+        fi
     fi
-    sleep 1
-    rmmod zram
+
+    if ! is_active && [ -e "$ZRAM_SYSFS/reset" ]; then
+        reset_device || stop_status=1
+    fi
+
+    if [ -d "$ZRAM_MODULE_SYSFS" ]; then
+        command_output=$(rmmod zram 2>&1)
+        command_status=$?
+        if [ "$command_status" -ne 0 ]; then
+            log "ERROR: rmmod zram failed (status $command_status): $command_output"
+            stop_status=1
+        else
+            log "zram module unloaded"
+        fi
+    fi
+    return "$stop_status"
 }
 
+RETVAL=0
 case "$1" in
     start)
-        start
+        start || RETVAL=$?
         ;;
     stop)
-        stop
+        stop || RETVAL=$?
         ;;
     restart)
-        stop
-        sleep 3
-        start
+        if stop; then
+            sleep 1
+            start || RETVAL=$?
+        else
+            RETVAL=1
+        fi
         ;;
     *)
         echo "Usage: $0 {start|stop|restart}"
         RETVAL=1
+        ;;
 esac
-exit $RETVAL
+exit "$RETVAL"
diff --git a/meta-opencentauri/recipes-data/config-manager/files/build-klipper-var-config.sh b/meta-opencentauri/recipes-data/config-manager/files/build-klipper-var-config.sh
index a980a764..4d61053f 100644
--- a/meta-opencentauri/recipes-data/config-manager/files/build-klipper-var-config.sh
+++ b/meta-opencentauri/recipes-data/config-manager/files/build-klipper-var-config.sh
@@ -21,6 +21,8 @@ full_calibrate_hotend_temperature=$(get_config_value full_calibrate_hotend_tempe
 full_calibrate_bed_temperature=$(get_config_value full_calibrate_bed_temperature)
 bypass_calibration=$(get_config_value bypass_calibration)
 toolhead_led=$(get_config_value toolhead_led)
+input_shaper=$(get_config_value input_shaper)
+input_shapers=$(get_config_value input_shapers)
 
 mkdir -p "${OUTPUT_DIR}"
 
@@ -40,7 +42,11 @@ variable_full_calibrate_hotend_temperature: ${full_calibrate_hotend_temperature}
 variable_full_calibrate_bed_temperature: ${full_calibrate_bed_temperature}
 variable_bypass_calibration: ${bypass_calibration}
 variable_toolhead_led: ${toolhead_led}
+variable_input_shaper: '${input_shaper}'
+variable_input_shapers: '${input_shapers}'
+variable_toolhead_led: ${toolhead_led}
+variable_input_shaper: '${input_shaper}'
+variable_input_shapers: '${input_shapers}'
 gcode:
 
 EOF
-
diff --git a/meta-opencentauri/recipes-data/config-manager/files/config_manager.py b/meta-opencentauri/recipes-data/config-manager/files/config_manager.py
index 58e5c524..614e505a 100644
--- a/meta-opencentauri/recipes-data/config-manager/files/config_manager.py
+++ b/meta-opencentauri/recipes-data/config-manager/files/config_manager.py
@@ -1,6 +1,17 @@
 #!/usr/bin/env python3
 import os, configparser, sys
 
+VALID_INPUT_SHAPERS = {'zv', 'mzv', 'zvd', 'ei', '2hump_ei', '3hump_ei'}
+
+def valid_input_shapers(value: str) -> bool:
+    """Accept an empty value or a comma-separated Rusty Shaper list."""
+    if not value:
+        return True
+    shapers = value.split(',')
+    return ('all' not in shapers or len(shapers) == 1) and all(
+        shaper in VALID_INPUT_SHAPERS or shaper == 'all'
+        for shaper in shapers)
+
 VALIDATORS = {
     'ui': {
         'screen_ui': ['grumpyscreen', 'guppyscreen', 'atomscreen', 'none'],
@@ -23,6 +34,8 @@
         'full_calibrate_hotend_temperature': [str(i) for i in range(200, 301)],
         'full_calibrate_bed_temperature': [str(i) for i in range(30, 111)],
         'toolhead_led': ['True', 'False'],
+        'input_shaper': ['rusty', 'classic'],
+        'input_shapers': valid_input_shapers,
     },
 }
 
@@ -37,7 +50,9 @@ def validate_config(config : dict):
             if option not in config[section]:
                 continue
             value = config[section][option]
-            if value not in valid_values:
+            is_valid = (valid_values(value) if callable(valid_values)
+                        else value in valid_values)
+            if not is_valid:
                 print(f"Warning: Invalid value '{value}' for '{option}' in section '{section}'. Valid options are: {valid_values}", file=sys.stderr)
                 del config[section][option]
 
diff --git a/meta-opencentauri/recipes-data/config-manager/files/default.conf b/meta-opencentauri/recipes-data/config-manager/files/default.conf
index 0835ae1f..7663506a 100644
--- a/meta-opencentauri/recipes-data/config-manager/files/default.conf
+++ b/meta-opencentauri/recipes-data/config-manager/files/default.conf
@@ -38,4 +38,9 @@ full_calibrate_hotend_temperature = 250
 # Bed temperature in Celsius used during the full calibration workflow. Range: 40-100.
 full_calibrate_bed_temperature = 60
 # Turn on Toolhead LED for printing and loading filament
-toolhead_led = False
\ No newline at end of file
+toolhead_led = False
+# Input-shaper calibration engine. Valid values: rusty (fast, low-RAM Rust implementation) or classic (Kalico's built-in calibrator).
+input_shaper = rusty
+# Shaper candidates used by the selected engine. Rusty accepts zv, mzv, zvd, ei, 2hump_ei, 3hump_ei, all, or a comma-separated list.
+# Classic accepts one of zv, mzv, zvd, ei, 2hump_ei, 3hump_ei, or blank. Default: mzv. Leave blank to use the Kalico-compatible default set.
+input_shapers = mzv
diff --git a/meta-opencentauri/recipes-kernel/linux/linux-mainline/elegoo-centauri-carbon1/runtime-memory.cfg b/meta-opencentauri/recipes-kernel/linux/linux-mainline/elegoo-centauri-carbon1/runtime-memory.cfg
new file mode 100644
index 00000000..5b18ea94
--- /dev/null
+++ b/meta-opencentauri/recipes-kernel/linux/linux-mainline/elegoo-centauri-carbon1/runtime-memory.cfg
@@ -0,0 +1,97 @@
+# Runtime-memory profile for the 128 MiB Centauri Carbon 1.
+#
+# Keep this as the final machine fragment so generic arm/defconfig settings do
+# not re-enable facilities that are not part of the appliance contract.
+
+# Release diagnostics and runtime instrumentation.  Developers should use a
+# separate debug kernel rather than carrying these tables in every printer.
+# Linux 6.6 only exposes KALLSYMS when EXPERT is enabled.  EXPERT selects the
+# DEBUG_KERNEL menu, but not its instrumentation: retain the menu symbol so
+# that the material KALLSYMS tables can be removed and explicitly keep its
+# debug features off below.
+CONFIG_EXPERT=y
+CONFIG_DEBUG_KERNEL=y
+# CONFIG_DEBUG_MISC is not set
+# CONFIG_DEBUG_BUGVERBOSE is not set
+# CONFIG_SLUB_DEBUG is not set
+# CONFIG_IKCONFIG is not set
+# CONFIG_IKCONFIG_PROC is not set
+# CONFIG_KALLSYMS is not set
+# CONFIG_FTRACE is not set
+# CONFIG_EVENT_TRACING is not set
+# CONFIG_TRACING is not set
+# CONFIG_UPROBES is not set
+# CONFIG_UPROBE_EVENTS is not set
+# CONFIG_PERF_EVENTS is not set
+# CONFIG_TASKSTATS is not set
+# CONFIG_TASK_DELAY_ACCT is not set
+# CONFIG_TASK_XACCT is not set
+# CONFIG_TASK_IO_ACCOUNTING is not set
+# CONFIG_SCHED_INFO is not set
+
+# No containers, sandboxing, or general-purpose asynchronous I/O are used on
+# the appliance image.
+# SCHED_AUTOGROUP selects the otherwise unused cgroup scheduler hierarchy.
+# CONFIG_SCHED_AUTOGROUP is not set
+# CONFIG_CGROUPS is not set
+# CONFIG_CGROUP_SCHED is not set
+# CONFIG_CGROUP_NET_CLASSID is not set
+# CONFIG_FAIR_GROUP_SCHED is not set
+# Basic networking selects the small core BPF interpreter in Linux 6.6.  The
+# syscall and JIT remain disabled by kernel-size-reduction.cfg.
+# CONFIG_IO_URING is not set
+# CONFIG_FANOTIFY is not set
+# CONFIG_HIGHMEM is not set
+# CONFIG_POSIX_MQUEUE is not set
+# CONFIG_SYSVIPC is not set
+# CONFIG_SECCOMP is not set
+# CONFIG_SECCOMP_FILTER is not set
+
+# The appliance networking contract is IPv4 TCP/UDP over Ethernet or Wi-Fi;
+# it has no firewall, bridge, VLAN, or IPv6 requirement.
+# CONFIG_IPV6 is not set
+# CONFIG_NETFILTER is not set
+# CONFIG_NETFILTER_ADVANCED is not set
+# CONFIG_NF_CONNTRACK is not set
+# CONFIG_BRIDGE is not set
+# CONFIG_VLAN_8021Q is not set
+
+# The CC1 is a D1/T113 board.  Generic arm/defconfig enables several older
+# Allwinner pinctrl/PWM/I2C drivers that can never bind to this device tree.
+# CONFIG_PINCTRL_SUN4I_A10 is not set
+# CONFIG_PINCTRL_SUN5I is not set
+# CONFIG_PINCTRL_SUN6I_A31 is not set
+# CONFIG_PINCTRL_SUN6I_A31_R is not set
+# CONFIG_PINCTRL_SUN8I_A23 is not set
+# CONFIG_PINCTRL_SUN8I_A23_R is not set
+# CONFIG_PINCTRL_SUN8I_A33 is not set
+# CONFIG_PINCTRL_SUN8I_A83T is not set
+# CONFIG_PINCTRL_SUN8I_A83T_R is not set
+# CONFIG_PINCTRL_SUN8I_H3 is not set
+# CONFIG_PINCTRL_SUN8I_H3_R is not set
+# CONFIG_PINCTRL_SUN9I_A80 is not set
+# CONFIG_PINCTRL_SUN9I_A80_R is not set
+# CONFIG_PWM_SUN4I is not set
+
+# Explicitly retain the printer's diagnostics and hardware interfaces.
+CONFIG_DEVMEM=y
+CONFIG_GPIOLIB=y
+CONFIG_GPIO_SYSFS=y
+CONFIG_GPIO_CDEV=y
+CONFIG_GPIO_CDEV_V1=y
+CONFIG_I2C_CHARDEV=y
+# The D1/T113 device tree uses an A31-compatible I2C node.  Linux binds that
+# node through this legacy-named driver and exposes the printer's /dev/i2c-2.
+CONFIG_I2C_MV64XXX=y
+CONFIG_SPI_SPIDEV=y
+CONFIG_USB_STORAGE=y
+CONFIG_MEDIA_SUPPORT=m
+CONFIG_USB_VIDEO_CLASS=m
+CONFIG_DRM=y
+CONFIG_DRM_FBDEV_EMULATION=y
+CONFIG_RPMSG=y
+CONFIG_RPMSG_TTY=m
+CONFIG_REMOTEPROC=y
+CONFIG_SUNXI_R528_HIFI4_REMOTEPROC=m
+CONFIG_SWAP=y
+CONFIG_ZRAM=m
diff --git a/meta-opencentauri/recipes-kernel/linux/linux-mainline_%.bbappend b/meta-opencentauri/recipes-kernel/linux/linux-mainline_%.bbappend
index 92041866..1efe52cc 100644
--- a/meta-opencentauri/recipes-kernel/linux/linux-mainline_%.bbappend
+++ b/meta-opencentauri/recipes-kernel/linux/linux-mainline_%.bbappend
@@ -16,6 +16,7 @@ SRC_URI:append:elegoo-centauri-carbon1 = " \
 	file://squashfs-overlayfs.cfg \
 	file://kernel-size-reduction.cfg \
 	file://usb-net-adapters.cfg \
+	file://runtime-memory.cfg \
 	file://0001-dt-bindings-pwm-Add-binding-for-Allwinner-D1-T113-S3.patch \
 	file://0002-pwm-Add-Allwinner-s-D1-T113-S3-R329-SoCs-PWM-support.patch \
 	file://0003-riscv-dts-allwinner-d1-Add-pwm-node.patch \