diff --git a/.pi/BUILD.md b/.pi/BUILD.md
index 1b16032..80b0b80 100644
--- a/.pi/BUILD.md
+++ b/.pi/BUILD.md
@@ -46,19 +46,97 @@ Produces: `dist/bbctrl-1.6.7.tar.bz2` (~3MB)
 
 `gplan.so` is the CAMotics G-code planner compiled as a Python C extension. It **must be a 32-bit ARM binary** linked against **Python 3.5** to run on the Pi.
 
-**Do NOT build gplan.so in the devcontainer.** The devcontainer runs arm64/Debian Bullseye with Python 3.9. The resulting `.so` will be the wrong architecture and wrong Python ABI. Cross-compiling also fails because SCons ignores CC/CXX overrides.
+**Do NOT build gplan.so in the devcontainer.** The devcontainer runs arm64/Debian Bullseye with Python 3.9. The resulting `.so` will be the wrong architecture and wrong Python ABI. Cross-compiling with `CXX=arm-linux-gnueabihf-g++` also fails because SCons ignores CC/CXX env vars.
 
-**Where to get it:**
-1. From the official release: `https://github.com/OneFinityCNC/onefinity-firmware/releases/download/v1.6.6/onefinity-1.6.6.tar.bz2` — extract `src/py/camotics/gplan.so`
-2. From a working Pi: `scp bbmc@10.1.10.55:/usr/local/lib/python3.5/dist-packages/bbctrl-*.egg/camotics/gplan.so src/py/camotics/`
-3. From a backup image
-
-The correct file is:
+The correct file must be:
 ```
-ELF 32-bit LSB shared object, ARM, EABI5 version 1 (GNU/Linux), dynamically linked
+ELF 32-bit LSB shared object, ARM, EABI5  (linked against libpython3.5m.so.1.0)
+```
+If you see `ELF 64-bit LSB shared object, ARM aarch64` or `libpython3.9` — wrong.
+
+**Option A: Build from source (recommended)**
+
+Uses Docker's armv7 QEMU emulation on Apple Silicon. Requires a one-time
+copy of Python 3.5 headers from the Pi (~1.7MB):
+
+```bash
+# One-time: grab Python 3.5 headers + lib from Pi
+ssh bbmc@10.1.10.55 'tar czf - /usr/include/python3.5m \
+  /usr/lib/arm-linux-gnueabihf/libpython3.5m.so*' > /tmp/pi-python35.tar.gz
 ```
 
-If you see `ELF 64-bit LSB shared object, ARM aarch64` — that's the wrong one.
+Then build (takes ~30min under QEMU):
+
+```bash
+docker run --rm --platform linux/arm/v7 \
+  -v "$(pwd):/workspace" -w /workspace \
+  -v /tmp/pi-python35.tar.gz:/tmp/pi-python35.tar.gz \
+  debian:bullseye bash -c '
+    set -e
+    tar xzf /tmp/pi-python35.tar.gz -C /
+    apt-get update -qq && apt-get install -y -qq build-essential scons git \
+      ca-certificates python3-dev libssl-dev libexpat1-dev libbz2-dev \
+      liblz4-dev zlib1g-dev perl file
+    ln -sf /usr/lib/arm-linux-gnueabihf/libpython3.5m.so.1.0 \
+           /usr/lib/arm-linux-gnueabihf/libpython3.5m.so
+
+    # Clone cbang + camotics at pinned commits
+    mkdir -p /tmp/cbang && cd /tmp/cbang && git init -q
+    git remote add origin https://github.com/CauldronDevelopmentLLC/cbang
+    git fetch --depth 1 -q origin 18f1e963107ef26abe750c023355a5c40dd07853
+    git reset --hard FETCH_HEAD -q
+
+    mkdir -p /tmp/camotics && cd /tmp/camotics && git init -q
+    git remote add origin https://github.com/CauldronDevelopmentLLC/camotics
+    git fetch --depth 1 -q origin ec876c80d20fc19837133087cef0c447df5a939d
+    git reset --hard FETCH_HEAD -q
+
+    # Build cbang
+    cd /tmp/cbang && scons -j2 disable_local="re2 libevent"
+    export CBANG_HOME="/tmp/cbang"
+
+    # Patch camotics (clamp div-by-zero in planner)
+    P="/tmp/camotics/src/gcode/plan"
+    mkdir -p /tmp/camotics/build && touch /tmp/camotics/build/version.txt
+    for F in LineCommand.cpp LinePlanner.cpp; do
+      for V in maxVel maxJerk maxAccel; do
+        perl -i -0pe "s/(fabs\\((config\\.$V\\[axis\\]) \\/ unit\\[axis\\]\\));/std::min(\\2, \\1);/gm" $P/$F
+      done
+    done
+
+    # Compile with Python 3.9 (SCons needs python3-dev to find headers)
+    cd /tmp/camotics && scons -j2 gplan.so with_gui=0 with_tpl=0
+
+    # Relink against Python 3.5m (the Pi target)
+    g++ -o /workspace/src/py/camotics/gplan.so \
+      -Wl,--as-needed -Wl,-s -Wl,-x -Wl,--gc-sections -pthread -shared \
+      build/gplan.os -L/tmp/cbang/lib \
+      build/libCAMoticsPy.a build/libCAMotics.a build/libDXF.a \
+      build/libSTL.a build/libGCode.a \
+      -lstdc++ -lutil -lm -ldl -lz -lcbang -lcbang-boost \
+      -lssl -lcrypto -llz4 -lexpat -lbz2 -lcrypt -lpthread \
+      -lpython3.5m build/dxflib/libdxflib.a
+  '
+```
+
+Why the relink step: SCons compiles `.o` files that are Python-version-agnostic
+(they only use `#include <Python.h>` which is ABI-compatible between 3.5-3.9
+for the subset camotics uses). The only version-specific part is the final
+`-lpython3.X` link. So we let SCons build with 3.9 (since it ignores overrides)
+then relink the same objects against 3.5m.
+
+**Option B: From official release**
+
+```bash
+curl -L https://github.com/OneFinityCNC/onefinity-firmware/releases/download/v1.6.6/onefinity-1.6.6.tar.bz2 \
+  | tar xjf - --include='*/gplan.so' --strip-components=3 -C src/py/camotics/
+```
+
+**Option C: From a working Pi**
+
+```bash
+scp bbmc@10.1.10.55:/usr/local/lib/python3.5/dist-packages/bbctrl-*.egg/camotics/gplan.so src/py/camotics/
+```
 
 ### bbserial.ko — kernel module