diff --git a/.gitattributes b/.gitattributes
new file mode 100644
index 0000000..bb253d8
--- /dev/null
+++ b/.gitattributes
@@ -0,0 +1,12 @@
+# Force LF line endings for all shell scripts and debian packaging files
+* text=auto
+
+*.sh text eol=lf
+*.bash text eol=lf
+debian/rules text eol=lf
+debian/postinst text eol=lf
+debian/postrm text eol=lf
+debian/conffiles text eol=lf
+debian/control text eol=lf
+debian/changelog text eol=lf
+debian/copyright text eol=lf
diff --git a/build_deb.sh b/build_deb.sh
new file mode 100644
index 0000000..a89eb18
--- /dev/null
+++ b/build_deb.sh
@@ -0,0 +1,20 @@
+#!/bin/bash
+# SPDX-License-Identifier: GPL-3.0
+# Copyright (C) 2026 wentywenty
+#
+# Build RoboParty base deb package
+
+set -e
+
+echo "==> Installing build dependencies..."
+sudo apt-get update
+sudo apt-get install -y dpkg-dev debhelper devscripts python3
+
+echo "==> Building deb package..."
+dpkg-buildpackage -us -uc -b
+
+echo "==> Moving deb to current directory..."
+mv ../roboparty-base_*.deb . 2>/dev/null || true
+
+echo "==> Done!"
+ls -la roboparty-base_*.deb 2>/dev/null || echo "No .deb file found, check build output above."
diff --git a/debian/changelog b/debian/changelog
index 8878f5a..46ca506 100644
--- a/debian/changelog
+++ b/debian/changelog
@@ -1,3 +1,11 @@
+roboparty-base (1.1.1-1) stable; urgency=medium
+
+  * Add wifi-reset and hpm-reset systemd services
+  * Restore debian/conffiles entries
+  * Move scripts to /opt/roboparty/bin
+
+ -- wentywenty <2321901849@qq.com>  Thu, 31 Jul 2026 00:00:00 +0800
+
 roboparty-base (1.1.0-1) stable; urgency=medium
 
   * update series udev
diff --git a/debian/conffiles b/debian/conffiles
index 0248521..207f295 100644
--- a/debian/conffiles
+++ b/debian/conffiles
@@ -8,3 +8,5 @@
 /etc/udev/rules.d/99-ethercat_hpm.rules
 /etc/udev/rules.d/99-serial_hipnuc.rules
 /etc/udev/rules.d/99-serial_tws.rules
+/etc/default/wifi-reset
+/etc/default/hpm-reset
diff --git a/debian/postinst b/debian/postinst
index 5fea89a..3af3930 100755
--- a/debian/postinst
+++ b/debian/postinst
@@ -35,3 +35,12 @@ grep -q '@orangepi - memlock unlimited' /etc/security/limits.conf 2>/dev/null ||
 udevadm control --reload-rules
 udevadm trigger --subsystem-match=tty
 udevadm trigger --subsystem-match=net
+
+# Enable and start WiFi reset monitor
+systemctl daemon-reload
+systemctl enable wifi-reset.service 2>/dev/null || true
+systemctl start wifi-reset.service 2>/dev/null || true
+
+# Enable and start HPM reset monitor
+systemctl enable hpm-reset.service 2>/dev/null || true
+systemctl start hpm-reset.service 2>/dev/null || true
diff --git a/debian/postrm b/debian/postrm
index f4a9c91..9b5899a 100755
--- a/debian/postrm
+++ b/debian/postrm
@@ -2,6 +2,15 @@
 set -e
 
 if [ "$1" = "purge" ]; then
+    systemctl stop wifi-reset.service 2>/dev/null || true
+    systemctl disable wifi-reset.service 2>/dev/null || true
+    systemctl stop hpm-reset.service 2>/dev/null || true
+    systemctl disable hpm-reset.service 2>/dev/null || true
+    rm -f /etc/systemd/system/wifi-reset.service
+    rm -f /etc/systemd/system/hpm-reset.service
+    rm -f /opt/roboparty/bin/wifi-reconnect.sh
+    rm -f /opt/roboparty/bin/reset_hpm.sh
+    systemctl daemon-reload
     rm -rf /opt/roboparty
     rm -f /etc/ld.so.conf.d/roboparty.conf
     rm -f /usr/lib/python3/dist-packages/roboparty.pth
diff --git a/debian/rules b/debian/rules
index 7df92dd..132b0c2 100755
--- a/debian/rules
+++ b/debian/rules
@@ -1,26 +1,38 @@
 #!/usr/bin/make -f
 export DH_VERBOSE = 1
 
-PYTHON_VER := $(shell python3 -c 'import sys; print(f"{sys.version_info.major}.{sys.version_info.minor}")')
-
 %:
 	dh $@
 
 override_dh_auto_configure:
 override_dh_auto_build:
+override_dh_auto_test:
+override_dh_auto_clean:
+override_dh_auto_install:
 
 override_dh_install:
 	dh_install
-	
-	install -d debian/roboparty-base/opt/roboparty/lib/python$(PYTHON_VER)/site-packages
+
+	install -d debian/roboparty-base/opt/roboparty/lib/python3.10/site-packages
 	install -d debian/roboparty-base/opt/roboparty/include
 	install -d debian/roboparty-base/opt/roboparty/bin
 	install -d debian/roboparty-base/opt/roboparty/share
-	
+
 	install -m 644 setup.bash debian/roboparty-base/opt/roboparty/
-	
+
 	install -d debian/roboparty-base/etc/ld.so.conf.d
 	install -m 644 etc/ld.so.conf.d/roboparty.conf debian/roboparty-base/etc/ld.so.conf.d/
-	
+
 	install -d debian/roboparty-base/etc/udev/rules.d
 	install -m 644 etc/udev/rules.d/*.rules debian/roboparty-base/etc/udev/rules.d/
+
+	install -d debian/roboparty-base/etc/systemd/system
+	install -m 644 etc/systemd/system/wifi-reset.service debian/roboparty-base/etc/systemd/system/
+	install -m 644 etc/systemd/system/hpm-reset.service debian/roboparty-base/etc/systemd/system/
+
+	install -m 755 scripts/wifi-reconnect.sh debian/roboparty-base/opt/roboparty/bin/
+	install -m 755 scripts/reset_hpm.sh debian/roboparty-base/opt/roboparty/bin/
+
+	install -d debian/roboparty-base/etc/default
+	install -m 644 etc/default/wifi-reset debian/roboparty-base/etc/default/
+	install -m 644 etc/default/hpm-reset debian/roboparty-base/etc/default/
diff --git a/etc/default/hpm-reset b/etc/default/hpm-reset
new file mode 100644
index 0000000..5b7bc9e
--- /dev/null
+++ b/etc/default/hpm-reset
@@ -0,0 +1,24 @@
+# HPM Reset Monitor default configuration
+# See: /etc/systemd/system/hpm-reset.service
+
+# GPIO1_B7 sysfs number on RK3588 (Bank1 * 32 + B(1) * 8 + 7)
+RESET_GPIO=47
+
+# Check interval in seconds
+CHECK_INTERVAL=2
+
+# Number of consecutive failures before triggering reset
+FAIL_THRESHOLD=10
+
+# Reset pulse duration in seconds
+RESET_HOLD_TIME=0.5
+
+# 1 = active-high, 0 = active-low
+RESET_ACTIVE_HIGH=1
+
+# Wait time after reset in seconds
+POST_RESET_WAIT=15
+
+# USB device identification (roboto_usb4can)
+HPM_VID=1209
+HPM_PID=2323
diff --git a/etc/default/wifi-reset b/etc/default/wifi-reset
new file mode 100644
index 0000000..ed0c3e8
--- /dev/null
+++ b/etc/default/wifi-reset
@@ -0,0 +1,11 @@
+# WiFi Reset Monitor default configuration
+# See: /etc/systemd/system/wifi-reset.service
+
+# Check interval in seconds
+CHECK_INTERVAL=30
+
+# Number of consecutive failures before reporting error
+FAIL_THRESHOLD=3
+
+# WiFi interface name (set to empty for auto-detection)
+WIFI_INTERFACE=wlan0
diff --git a/etc/systemd/system/hpm-reset.service b/etc/systemd/system/hpm-reset.service
new file mode 100644
index 0000000..1a7a3d5
--- /dev/null
+++ b/etc/systemd/system/hpm-reset.service
@@ -0,0 +1,25 @@
+[Unit]
+Description=RoboParty HPM Reset Monitor (GPIO1_B7 watchdog)
+Documentation=https://github.com/Roboparty/roboparty_base
+After=multi-user.target
+
+[Service]
+Type=simple
+EnvironmentFile=/etc/default/hpm-reset
+ExecStartPre=/bin/sleep 3
+ExecStart=/opt/roboparty/bin/reset_hpm.sh
+Restart=always
+RestartSec=10
+StandardOutput=journal
+StandardError=journal
+SyslogIdentifier=hpm-reset-monitor
+
+# Security hardening
+NoNewPrivileges=yes
+PrivateTmp=yes
+ProtectSystem=strict
+ProtectHome=yes
+ReadWritePaths=/sys/class/gpio
+
+[Install]
+WantedBy=multi-user.target
diff --git a/etc/systemd/system/wifi-reset.service b/etc/systemd/system/wifi-reset.service
new file mode 100644
index 0000000..b3d3641
--- /dev/null
+++ b/etc/systemd/system/wifi-reset.service
@@ -0,0 +1,22 @@
+[Unit]
+Description=RoboParty WiFi Reset Monitor
+Documentation=https://github.com/Roboparty/roboparty_base
+After=network.target NetworkManager.service
+Wants=NetworkManager.service
+
+[Service]
+Type=simple
+EnvironmentFile=/etc/default/wifi-reset
+ExecStart=/opt/roboparty/bin/wifi-reconnect.sh
+Restart=always
+RestartSec=10
+StandardOutput=journal
+StandardError=journal
+SyslogIdentifier=wifi-reset-monitor
+
+# Security hardening
+NoNewPrivileges=yes
+PrivateTmp=yes
+
+[Install]
+WantedBy=multi-user.target
diff --git a/hpm_reset.service b/hpm_reset.service
deleted file mode 100644
index 09731ff..0000000
--- a/hpm_reset.service
+++ /dev/null
@@ -1,33 +0,0 @@
-[Unit]
-Description=RoboParty HPM Reset Monitor (GPIO1_B7 watchdog)
-Documentation=https://github.com/roboparty/ecatfd-master
-After=ethercat.service roboparty-ecatfd-master.service
-Requires=ethercat.service
-Wants=roboparty-ecatfd-master.service
-
-[Service]
-Type=simple
-Environment="RESET_GPIO=47"
-Environment="CHECK_INTERVAL=2"
-Environment="FAIL_THRESHOLD=10"
-Environment="RESET_HOLD_TIME=0.5"
-Environment="RESET_ACTIVE_HIGH=1"
-Environment="POST_RESET_WAIT=15"
-ExecStartPre=/usr/bin/modprobe ec_master
-ExecStartPre=/bin/sleep 3
-ExecStart=/opt/roboparty/ethercat/bin/hpm-reset-monitor.sh
-Restart=always
-RestartSec=10
-StandardOutput=journal
-StandardError=journal
-SyslogIdentifier=hpm-reset-monitor
-
-# 安全加固
-NoNewPrivileges=yes
-PrivateTmp=yes
-ProtectSystem=strict
-ProtectHome=yes
-ReadWritePaths=/sys/class/gpio
-
-[Install]
-WantedBy=multi-user.target
\ No newline at end of file
diff --git a/reset_hpm.sh b/reset_hpm.sh
deleted file mode 100644
index 4520564..0000000
--- a/reset_hpm.sh
+++ /dev/null
@@ -1,201 +0,0 @@
-#!/bin/bash
-#==============================================================================
-# HPM Reset Monitor — RoboParty EtherCAT CANFD Master
-#
-# 功能: 后台持续监测 HPM (roboto_usb4can, 1209:2323) 的 USB 枚举状态。
-#       如果 USB 设备掉线 / 未枚举，通过 GPIO1_B7 脉冲复位 HPM。
-#
-# 设备:  roboto_usb4can (wentytwenty)
-#       VID=1209, PID=2323
-#       内核驱动: gs_usb
-#
-# GPIO1_B7 on RK3588:
-#   sysfs GPIO 编号 = Bank1 * 32 + B(1) * 8 + 7 = 32 + 8 + 7 = 47
-#   对应: /sys/class/gpio/gpio47
-#
-# 连接: RK3588 GPIO1_B7 → HPM RST 引脚 (高有效复位)
-#==============================================================================
-
-set -e
-
-# ---- 可配置参数 (通过 systemd Environment= 覆盖) -------------------------------
-RESET_GPIO="${RESET_GPIO:-47}"            # GPIO1_B7 sysfs 编号
-CHECK_INTERVAL="${CHECK_INTERVAL:-5}"     # 检测间隔 (秒)
-FAIL_THRESHOLD="${FAIL_THRESHOLD:-3}"     # 连续失败次数阈值
-RESET_HOLD_TIME="${RESET_HOLD_TIME:-0.5}" # 复位脉冲保持时间 (秒)
-RESET_ACTIVE_HIGH="${RESET_ACTIVE_HIGH:-0}" # 1=高电平有效, 0=低电平有效
-POST_RESET_WAIT="${POST_RESET_WAIT:-15}"  # 复位后等待时间 (秒)
-LOG_TAG="hpm-reset-monitor"
-
-# USB 设备匹配 (roboto_usb4can)
-HPM_VID="${HPM_VID:-1209}"
-HPM_PID="${HPM_PID:-2323}"
-
-# ---- 日志函数 ----------------------------------------------------------------
-log_msg() {
-    local level="${1:-INFO}"
-    shift
-    logger -t "$LOG_TAG" -p "daemon.${level}" "$*"
-    printf '[%s] [%s] %s\n' "$(date '+%Y-%m-%d %H:%M:%S')" "$level" "$*" >&2
-}
-
-# ---- sysfs GPIO 操作 ---------------------------------------------------------
-gpio_path() {
-    echo "/sys/class/gpio/gpio${RESET_GPIO}"
-}
-
-gpio_setup() {
-    local gpio_dir
-    gpio_dir="$(gpio_path)"
-
-    if [ ! -d "$gpio_dir" ]; then
-        echo "$RESET_GPIO" > /sys/class/gpio/export 2>/dev/null || true
-        for _ in $(seq 1 10); do
-            [ -d "$gpio_dir" ] && break
-            usleep 100000
-        done
-    fi
-
-    if [ ! -d "$gpio_dir" ]; then
-        log_msg "ERR" "无法 export GPIO ${RESET_GPIO} (GPIO1_B7), 检查设备树是否冲突"
-        return 1
-    fi
-
-    echo "out" > "${gpio_dir}/direction" 2>/dev/null || true
-
-    if [ "$RESET_ACTIVE_HIGH" -eq 1 ]; then
-        echo 0 > "${gpio_dir}/value"
-    else
-        echo 1 > "${gpio_dir}/value"
-    fi
-
-    log_msg "INFO" "GPIO${RESET_GPIO} (GPIO1_B7) 初始化完成, 方向=out, 初始=无效电平"
-    return 0
-}
-
-gpio_set_active() {
-    local gpio_dir
-    gpio_dir="$(gpio_path)"
-    if [ ! -d "$gpio_dir" ]; then
-        log_msg "ERR" "GPIO${RESET_GPIO} 不存在, 无法操作"
-        return 1
-    fi
-    if [ "$RESET_ACTIVE_HIGH" -eq 1 ]; then
-        echo 1 > "${gpio_dir}/value"
-    else
-        echo 0 > "${gpio_dir}/value"
-    fi
-}
-
-gpio_set_inactive() {
-    local gpio_dir
-    gpio_dir="$(gpio_path)"
-    if [ ! -d "$gpio_dir" ]; then
-        return 1
-    fi
-    if [ "$RESET_ACTIVE_HIGH" -eq 1 ]; then
-        echo 0 > "${gpio_dir}/value"
-    else
-        echo 1 > "${gpio_dir}/value"
-    fi
-}
-
-# ---- HPM USB 枚举检测 --------------------------------------------------------
-# 返回 0 = HPM USB 设备正常枚举
-# 返回 1 = HPM 设备未找到 (需要复位)
-check_hpm_usb() {
-    # 方法 1: lsusb — 最可靠
-    if command -v lsusb &>/dev/null; then
-        if lsusb -d "${HPM_VID}:${HPM_PID}" 2>/dev/null | grep -q .; then
-            return 0
-        fi
-    fi
-
-    # 方法 2: sysfs usb 设备树 — 无需额外工具
-    # 遍历 /sys/bus/usb/devices/ 查找 idVendor/idProduct
-    for dev in /sys/bus/usb/devices/*/; do
-        local vid pid
-        vid="$(cat "${dev}idVendor" 2>/dev/null || true)"
-        pid="$(cat "${dev}idProduct" 2>/dev/null || true)"
-        if [ "$vid" = "$HPM_VID" ] && [ "$pid" = "$HPM_PID" ]; then
-            return 0
-        fi
-    done
-
-    # 方法 3: /proc/bus/usb/devices (兼容旧内核)
-    if [ -f /proc/bus/usb/devices ]; then
-        if grep -q "Vendor=${HPM_VID}.*ProdID=${HPM_PID}" /proc/bus/usb/devices 2>/dev/null; then
-            return 0
-        fi
-    fi
-
-    log_msg "WARN" "HPM USB 设备 ${HPM_VID}:${HPM_PID} (roboto_usb4can) 未枚举"
-    return 1
-}
-
-# ---- 复位操作 ----------------------------------------------------------------
-pulse_reset() {
-    log_msg "WARN" "=== 触发 HPM 复位: GPIO${RESET_GPIO} (GPIO1_B7) ==="
-
-    gpio_set_active
-    sleep "$RESET_HOLD_TIME"
-    gpio_set_inactive
-
-    log_msg "INFO" "复位脉冲完成 (${RESET_HOLD_TIME}s), 等待 ${POST_RESET_WAIT}s 让 HPM 重新枚举..."
-    sleep "$POST_RESET_WAIT"
-}
-
-# ---- 清理 --------------------------------------------------------------------
-cleanup() {
-    log_msg "INFO" "HPM Reset Monitor 正在退出..."
-    gpio_set_inactive 2>/dev/null || true
-    if [ -d "$(gpio_path)" ]; then
-        echo "$RESET_GPIO" > /sys/class/gpio/unexport 2>/dev/null || true
-    fi
-    log_msg "INFO" "HPM Reset Monitor 已停止"
-    exit 0
-}
-
-trap cleanup SIGTERM SIGINT SIGHUP
-
-# ---- 主循环 ------------------------------------------------------------------
-main() {
-    log_msg "INFO" "=============================================="
-    log_msg "INFO" "HPM Reset Monitor 启动"
-    log_msg "INFO" "  HPM 设备:  USB ${HPM_VID}:${HPM_PID} (roboto_usb4can)"
-    log_msg "INFO" "  GPIO1_B7  → sysfs GPIO${RESET_GPIO}"
-    log_msg "INFO" "  检测间隔:  ${CHECK_INTERVAL}s"
-    log_msg "INFO" "  失败阈值:  ${FAIL_THRESHOLD} 次连续失败后复位"
-    log_msg "INFO" "  复位脉宽:  ${RESET_HOLD_TIME}s (${RESET_ACTIVE_HIGH:-高}电平有效)"
-    log_msg "INFO" "  复位后等待: ${POST_RESET_WAIT}s"
-    log_msg "INFO" "=============================================="
-
-    if ! gpio_setup; then
-        log_msg "ERR" "GPIO 初始化失败, 退出"
-        exit 1
-    fi
-
-    local fail_count=0
-
-    while true; do
-        if check_hpm_usb; then
-            if [ "$fail_count" -gt 0 ]; then
-                log_msg "INFO" "HPM USB 已恢复枚举 (之前连续失败 ${fail_count} 次)"
-            fi
-            fail_count=0
-        else
-            fail_count=$((fail_count + 1))
-            log_msg "WARN" "HPM USB 未枚举 (${fail_count}/${FAIL_THRESHOLD})"
-
-            if [ "$fail_count" -ge "$FAIL_THRESHOLD" ]; then
-                log_msg "ERR" "连续 ${FAIL_THRESHOLD} 次未检测到 HPM USB 设备 — 执行硬件复位"
-                pulse_reset
-                fail_count=0
-            fi
-        fi
-
-        sleep "$CHECK_INTERVAL"
-    done
-}
-
-main "$@"
\ No newline at end of file
diff --git a/scripts/reset_hpm.sh b/scripts/reset_hpm.sh
new file mode 100644
index 0000000..b624f37
--- /dev/null
+++ b/scripts/reset_hpm.sh
@@ -0,0 +1,202 @@
+#!/bin/bash
+#==============================================================================
+# HPM Reset Monitor — RoboParty EtherCAT CANFD Master
+#
+# Continuously monitors the USB enumeration state of the HPM device
+# (roboto_usb4can, 1209:2323). If the USB device drops offline or fails
+# to enumerate, pulses GPIO1_B7 to hardware-reset the HPM.
+#
+# Device:  roboto_usb4can (wentytwenty)
+#          VID=1209, PID=2323
+#          Kernel driver: gs_usb
+#
+# GPIO1_B7 on RK3588:
+#   sysfs GPIO number = Bank1 * 32 + B(1) * 8 + 7 = 32 + 8 + 7 = 47
+#   Maps to: /sys/class/gpio/gpio47
+#
+# Connection: RK3588 GPIO1_B7 → HPM RST pin (active-high reset)
+#==============================================================================
+
+set -e
+
+# ---- Configurable parameters (overridable via systemd Environment=) ----------
+RESET_GPIO="${RESET_GPIO:-47}"              # GPIO1_B7 sysfs number
+CHECK_INTERVAL="${CHECK_INTERVAL:-5}"       # Check interval (seconds)
+FAIL_THRESHOLD="${FAIL_THRESHOLD:-3}"       # Consecutive failure threshold
+RESET_HOLD_TIME="${RESET_HOLD_TIME:-0.5}"   # Reset pulse duration (seconds)
+RESET_ACTIVE_HIGH="${RESET_ACTIVE_HIGH:-0}" # 1=active-high, 0=active-low
+POST_RESET_WAIT="${POST_RESET_WAIT:-15}"    # Wait time after reset (seconds)
+LOG_TAG="hpm-reset-monitor"
+
+# USB device identification (roboto_usb4can)
+HPM_VID="${HPM_VID:-1209}"
+HPM_PID="${HPM_PID:-2323}"
+
+# ---- Logging -----------------------------------------------------------------
+log_msg() {
+    local level="${1:-INFO}"
+    shift
+    logger -t "$LOG_TAG" -p "daemon.${level}" "$*"
+    printf '[%s] [%s] %s\n' "$(date '+%Y-%m-%d %H:%M:%S')" "$level" "$*" >&2
+}
+
+# ---- sysfs GPIO operations ---------------------------------------------------
+gpio_path() {
+    echo "/sys/class/gpio/gpio${RESET_GPIO}"
+}
+
+gpio_setup() {
+    local gpio_dir
+    gpio_dir="$(gpio_path)"
+
+    if [ ! -d "$gpio_dir" ]; then
+        echo "$RESET_GPIO" > /sys/class/gpio/export 2>/dev/null || true
+        for _ in $(seq 1 10); do
+            [ -d "$gpio_dir" ] && break
+            sleep 0.1
+        done
+    fi
+
+    if [ ! -d "$gpio_dir" ]; then
+        log_msg "ERR" "Cannot export GPIO ${RESET_GPIO} (GPIO1_B7), check device tree conflicts"
+        return 1
+    fi
+
+    echo "out" > "${gpio_dir}/direction" 2>/dev/null || true
+
+    if [ "$RESET_ACTIVE_HIGH" -eq 1 ]; then
+        echo 0 > "${gpio_dir}/value"
+    else
+        echo 1 > "${gpio_dir}/value"
+    fi
+
+    log_msg "INFO" "GPIO${RESET_GPIO} (GPIO1_B7) initialized, direction=out, initial=inactive"
+    return 0
+}
+
+gpio_set_active() {
+    local gpio_dir
+    gpio_dir="$(gpio_path)"
+    if [ ! -d "$gpio_dir" ]; then
+        log_msg "ERR" "GPIO${RESET_GPIO} not found, cannot operate"
+        return 1
+    fi
+    if [ "$RESET_ACTIVE_HIGH" -eq 1 ]; then
+        echo 1 > "${gpio_dir}/value"
+    else
+        echo 0 > "${gpio_dir}/value"
+    fi
+}
+
+gpio_set_inactive() {
+    local gpio_dir
+    gpio_dir="$(gpio_path)"
+    if [ ! -d "$gpio_dir" ]; then
+        return 1
+    fi
+    if [ "$RESET_ACTIVE_HIGH" -eq 1 ]; then
+        echo 0 > "${gpio_dir}/value"
+    else
+        echo 1 > "${gpio_dir}/value"
+    fi
+}
+
+# ---- HPM USB enumeration detection -------------------------------------------
+# Returns 0 = HPM USB device enumerated
+# Returns 1 = HPM device not found (needs reset)
+check_hpm_usb() {
+    # Method 1: lsusb — most reliable
+    if command -v lsusb &>/dev/null; then
+        if lsusb -d "${HPM_VID}:${HPM_PID}" 2>/dev/null | grep -q .; then
+            return 0
+        fi
+    fi
+
+    # Method 2: sysfs USB device tree — no extra tools needed
+    # Search /sys/bus/usb/devices/ for matching idVendor/idProduct
+    for dev in /sys/bus/usb/devices/*/; do
+        local vid pid
+        vid="$(cat "${dev}idVendor" 2>/dev/null || true)"
+        pid="$(cat "${dev}idProduct" 2>/dev/null || true)"
+        if [ "$vid" = "$HPM_VID" ] && [ "$pid" = "$HPM_PID" ]; then
+            return 0
+        fi
+    done
+
+    # Method 3: /proc/bus/usb/devices (legacy kernel compatibility)
+    if [ -f /proc/bus/usb/devices ]; then
+        if grep -q "Vendor=${HPM_VID}.*ProdID=${HPM_PID}" /proc/bus/usb/devices 2>/dev/null; then
+            return 0
+        fi
+    fi
+
+    log_msg "WARN" "HPM USB device ${HPM_VID}:${HPM_PID} (roboto_usb4can) not enumerated"
+    return 1
+}
+
+# ---- Reset operation ---------------------------------------------------------
+pulse_reset() {
+    log_msg "WARN" "=== Triggering HPM reset: GPIO${RESET_GPIO} (GPIO1_B7) ==="
+
+    gpio_set_active
+    sleep "$RESET_HOLD_TIME"
+    gpio_set_inactive
+
+    log_msg "INFO" "Reset pulse complete (${RESET_HOLD_TIME}s), waiting ${POST_RESET_WAIT}s for HPM re-enumeration..."
+    sleep "$POST_RESET_WAIT"
+}
+
+# ---- Cleanup -----------------------------------------------------------------
+cleanup() {
+    log_msg "INFO" "HPM Reset Monitor shutting down..."
+    gpio_set_inactive 2>/dev/null || true
+    if [ -d "$(gpio_path)" ]; then
+        echo "$RESET_GPIO" > /sys/class/gpio/unexport 2>/dev/null || true
+    fi
+    log_msg "INFO" "HPM Reset Monitor stopped"
+    exit 0
+}
+
+trap cleanup SIGTERM SIGINT SIGHUP
+
+# ---- Main loop ---------------------------------------------------------------
+main() {
+    log_msg "INFO" "=============================================="
+    log_msg "INFO" "HPM Reset Monitor starting"
+    log_msg "INFO" "  HPM device:      USB ${HPM_VID}:${HPM_PID} (roboto_usb4can)"
+    log_msg "INFO" "  GPIO1_B7      →  sysfs GPIO${RESET_GPIO}"
+    log_msg "INFO" "  Check interval:   ${CHECK_INTERVAL}s"
+    log_msg "INFO" "  Failure threshold: ${FAIL_THRESHOLD} consecutive failures"
+    log_msg "INFO" "  Reset pulse:      ${RESET_HOLD_TIME}s (active-${RESET_ACTIVE_HIGH:-high})"
+    log_msg "INFO" "  Post-reset wait:  ${POST_RESET_WAIT}s"
+    log_msg "INFO" "=============================================="
+
+    if ! gpio_setup; then
+        log_msg "ERR" "GPIO initialization failed, exiting"
+        exit 1
+    fi
+
+    local fail_count=0
+
+    while true; do
+        if check_hpm_usb; then
+            if [ "$fail_count" -gt 0 ]; then
+                log_msg "INFO" "HPM USB re-enumerated (${fail_count} previous failure(s))"
+            fi
+            fail_count=0
+        else
+            fail_count=$((fail_count + 1))
+            log_msg "WARN" "HPM USB not enumerated (${fail_count}/${FAIL_THRESHOLD})"
+
+            if [ "$fail_count" -ge "$FAIL_THRESHOLD" ]; then
+                log_msg "ERR" "${FAIL_THRESHOLD} consecutive HPM USB detection failures — triggering hardware reset"
+                pulse_reset
+                fail_count=0
+            fi
+        fi
+
+        sleep "$CHECK_INTERVAL"
+    done
+}
+
+main "$@"
diff --git a/scripts/wifi-reconnect.sh b/scripts/wifi-reconnect.sh
new file mode 100644
index 0000000..4422fc2
--- /dev/null
+++ b/scripts/wifi-reconnect.sh
@@ -0,0 +1,222 @@
+#!/bin/bash
+#==============================================================================
+# WiFi Reconnect Monitor — RoboParty
+#
+# Continuously monitors WiFi connection state in the background.
+# If WiFi disconnects, automatically reconnects using locally stored
+# WiFi profiles. Reports an error after 3 consecutive reconnect failures.
+#
+# Dependencies: NetworkManager (nmcli)
+#==============================================================================
+
+set -e
+
+# ---- Configurable parameters (overridable via systemd Environment=) ----------
+CHECK_INTERVAL="${CHECK_INTERVAL:-30}"       # Check interval (seconds)
+FAIL_THRESHOLD="${FAIL_THRESHOLD:-3}"        # Consecutive failure threshold
+WIFI_INTERFACE="${WIFI_INTERFACE:-wlan0}"    # WiFi interface name
+LOG_TAG="wifi-reset-monitor"
+
+# ---- Logging -----------------------------------------------------------------
+log_msg() {
+    local level="${1:-INFO}"
+    shift
+    logger -t "$LOG_TAG" -p "daemon.${level}" "$*"
+    printf '[%s] [%s] %s\n' "$(date '+%Y-%m-%d %H:%M:%S')" "$level" "$*" >&2
+}
+
+# ---- WiFi connection state detection -----------------------------------------
+# Returns 0 = WiFi connected
+# Returns 1 = WiFi disconnected
+check_wifi() {
+    # Method 1: nmcli — check specific WiFi device state
+    if command -v nmcli &>/dev/null; then
+        local wifi_state
+        wifi_state=$(nmcli -t -f GENERAL.STATE device show "$WIFI_INTERFACE" 2>/dev/null | cut -d: -f2)
+        if [ "$wifi_state" = "100" ]; then
+            # 100 = NM_DEVICE_STATE_ACTIVATED
+            return 0
+        fi
+    fi
+
+    # Method 2: iw — check if associated with an AP
+    if command -v iw &>/dev/null; then
+        if iw dev "$WIFI_INTERFACE" link 2>/dev/null | grep -q "Connected to"; then
+            return 0
+        fi
+    fi
+
+    # Method 3: check if the interface has an IP address (last resort)
+    if ip addr show "$WIFI_INTERFACE" 2>/dev/null | grep -q "inet "; then
+        return 0
+    fi
+
+    log_msg "WARN" "WiFi interface ${WIFI_INTERFACE} is disconnected"
+    return 1
+}
+
+# ---- WiFi reconnect ----------------------------------------------------------
+# Returns 0 = reconnect succeeded
+# Returns 1 = reconnect failed
+reconnect_wifi() {
+    log_msg "INFO" "Attempting to reconnect WiFi..."
+
+    # Method 1: use nmcli saved connections
+    if command -v nmcli &>/dev/null; then
+        # Ensure WiFi device is enabled
+        nmcli radio wifi on 2>/dev/null || true
+        nmcli device set "$WIFI_INTERFACE" managed true 2>/dev/null || true
+
+        # Get all saved WiFi connection names
+        local connections
+        connections=$(nmcli -t -f NAME,TYPE connection show 2>/dev/null | grep ":802-11-wireless" | cut -d: -f1)
+
+        if [ -n "$connections" ]; then
+            log_msg "INFO" "Found $(echo "$connections" | wc -l) saved WiFi connection(s)"
+
+            while IFS= read -r conn; do
+                [ -z "$conn" ] && continue
+                log_msg "INFO" "Trying connection: [$conn]"
+
+                if nmcli connection up "$conn" 2>/dev/null; then
+                    # Wait for DHCP to assign an IP
+                    for _ in $(seq 1 15); do
+                        sleep 1
+                        if ip addr show "$WIFI_INTERFACE" 2>/dev/null | grep -q "inet "; then
+                            log_msg "INFO" "Connected to [$conn] with IP address"
+                            return 0
+                        fi
+                    done
+                    # nmcli reported success but no IP yet, treat as success
+                    log_msg "INFO" "Connected to [$conn] (waiting for IP assignment)"
+                    return 0
+                fi
+
+                log_msg "WARN" "Connection [$conn] failed, trying next..."
+            done <<< "$connections"
+        fi
+    fi
+
+    # Method 2: wpa_cli — reconnect via wpa_supplicant
+    if command -v wpa_cli &>/dev/null; then
+        log_msg "INFO" "Attempting reconnect via wpa_supplicant..."
+        if wpa_cli -i "$WIFI_INTERFACE" reconfigure 2>/dev/null; then
+            sleep 5
+            if check_wifi; then
+                return 0
+            fi
+        fi
+    fi
+
+    # Method 3: rescan and retry
+    if command -v nmcli &>/dev/null; then
+        log_msg "INFO" "Rescanning WiFi networks..."
+        nmcli device wifi rescan 2>/dev/null || true
+        sleep 3
+
+        # Retry all saved connections
+        local retry_connections
+        retry_connections=$(nmcli -t -f NAME,TYPE connection show 2>/dev/null | grep ":802-11-wireless" | cut -d: -f1)
+        while IFS= read -r conn; do
+            [ -z "$conn" ] && continue
+            if nmcli connection up "$conn" 2>/dev/null; then
+                log_msg "INFO" "Connected to [$conn] after rescan"
+                return 0
+            fi
+        done <<< "$retry_connections"
+    fi
+
+    log_msg "ERR" "All reconnect methods failed"
+    return 1
+}
+
+# ---- Error reporting ---------------------------------------------------------
+report_failure() {
+    local msg="WiFi reconnect failed! ${FAIL_THRESHOLD} consecutive attempts could not restore the connection. Please check the wireless network."
+    log_msg "ERR" "$msg"
+
+    # Multiple reporting channels
+
+    # 1. Desktop notification (X11/Wayland)
+    if command -v notify-send &>/dev/null; then
+        for disp in /tmp/.X11-unix/X*; do
+            local dnum
+            dnum=$(basename "$disp" | sed 's/^X//')
+            DISPLAY=":${dnum}" notify-send -u critical "WiFi Reconnect Failed" "$msg" 2>/dev/null || true
+        done
+    fi
+
+    # 2. wall broadcast to all terminals
+    if command -v wall &>/dev/null; then
+        echo "[WiFi Reset Monitor] ${msg}" | wall 2>/dev/null || true
+    fi
+
+    # 3. Write marker file for external monitoring
+    mkdir -p /var/run/roboparty
+    echo "$(date '+%Y-%m-%d %H:%M:%S') ${msg}" > /var/run/roboparty/wifi-failure
+}
+
+# ---- Cleanup -----------------------------------------------------------------
+cleanup() {
+    log_msg "INFO" "WiFi Reset Monitor shutting down..."
+    rm -f /var/run/roboparty/wifi-failure
+    log_msg "INFO" "WiFi Reset Monitor stopped"
+    exit 0
+}
+
+trap cleanup SIGTERM SIGINT SIGHUP
+
+# ---- Main loop ---------------------------------------------------------------
+main() {
+    log_msg "INFO" "=============================================="
+    log_msg "INFO" "WiFi Reset Monitor starting"
+    log_msg "INFO" "  Interface:       ${WIFI_INTERFACE}"
+    log_msg "INFO" "  Check interval:  ${CHECK_INTERVAL}s"
+    log_msg "INFO" "  Failure threshold: ${FAIL_THRESHOLD} consecutive failures"
+    log_msg "INFO" "=============================================="
+
+    # Verify WiFi interface exists
+    if ! ip link show "$WIFI_INTERFACE" &>/dev/null; then
+        log_msg "WARN" "WiFi interface ${WIFI_INTERFACE} not found, attempting auto-detection..."
+        local detected
+        detected=$(iw dev 2>/dev/null | grep "Interface" | head -1 | awk '{print $2}')
+        if [ -n "$detected" ]; then
+            WIFI_INTERFACE="$detected"
+            log_msg "INFO" "Auto-detected WiFi interface: ${WIFI_INTERFACE}"
+        else
+            log_msg "ERR" "No WiFi interface found, exiting"
+            exit 1
+        fi
+    fi
+
+    local fail_count=0
+
+    while true; do
+        if check_wifi; then
+            if [ "$fail_count" -gt 0 ]; then
+                log_msg "INFO" "WiFi connection restored (${fail_count} previous failure(s))"
+            fi
+            fail_count=0
+            # Clear failure marker
+            rm -f /var/run/roboparty/wifi-failure
+        else
+            fail_count=$((fail_count + 1))
+            log_msg "WARN" "WiFi disconnected (${fail_count}/${FAIL_THRESHOLD})"
+
+            # Attempt reconnect on every disconnect
+            if reconnect_wifi; then
+                log_msg "INFO" "WiFi reconnected successfully"
+                fail_count=0
+                rm -f /var/run/roboparty/wifi-failure
+            elif [ "$fail_count" -ge "$FAIL_THRESHOLD" ]; then
+                report_failure
+                # Reset counter to keep monitoring (avoid spamming errors)
+                fail_count=0
+            fi
+        fi
+
+        sleep "$CHECK_INTERVAL"
+    done
+}
+
+main "$@"
diff --git a/wifi_reset.service b/wifi_reset.service
deleted file mode 100644
index e69de29..0000000