mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-08-21 08:14:00 +08:00
sensord: rewrite in Python (#35353)
* py sensord * fix up mmc * temp * port over accel * lil more * kinda works * rm that * gpiochip * mostly there * lil more * lil more * irq timestamps * fix ts * fix double deg2rad * test passes * fix up mypy * rm one more * exception * lint: * read in all events * bump that * get under budget: * accel self test * gyro self-test * keep these readable * give it more cores * debug * valid * rewrite that --------- Co-authored-by: Comma Device <device@comma.ai>
This commit is contained in:
Adeeb Shihadeh
@@ -4,14 +4,10 @@ common_libs = [
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'params.cc',
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'swaglog.cc',
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'util.cc',
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'i2c.cc',
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'watchdog.cc',
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'ratekeeper.cc'
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]
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if arch != "Darwin":
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common_libs.append('gpio.cc')
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_common = env.Library('common', common_libs, LIBS="json11")
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files = [
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@@ -1,84 +0,0 @@
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#include "common/gpio.h"
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#include <string>
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#ifdef __APPLE__
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int gpio_init(int pin_nr, bool output) {
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return 0;
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}
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int gpio_set(int pin_nr, bool high) {
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return 0;
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}
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int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int pin_nr) {
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return 0;
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}
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#else
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#include <fcntl.h>
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#include <unistd.h>
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#include <cstring>
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#include <linux/gpio.h>
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#include <sys/ioctl.h>
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#include "common/util.h"
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#include "common/swaglog.h"
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int gpio_init(int pin_nr, bool output) {
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char pin_dir_path[50];
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int pin_dir_path_len = snprintf(pin_dir_path, sizeof(pin_dir_path),
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"/sys/class/gpio/gpio%d/direction", pin_nr);
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if (pin_dir_path_len <= 0) {
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return -1;
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}
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const char *value = output ? "out" : "in";
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return util::write_file(pin_dir_path, (void*)value, strlen(value));
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}
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int gpio_set(int pin_nr, bool high) {
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char pin_val_path[50];
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int pin_val_path_len = snprintf(pin_val_path, sizeof(pin_val_path),
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"/sys/class/gpio/gpio%d/value", pin_nr);
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if (pin_val_path_len <= 0) {
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return -1;
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}
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return util::write_file(pin_val_path, (void*)(high ? "1" : "0"), 1);
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}
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int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int pin_nr) {
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// Assumed that all interrupt pins are unexported and rights are given to
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// read from gpiochip0.
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std::string gpiochip_path = "/dev/gpiochip" + std::to_string(gpiochiop_id);
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int fd = open(gpiochip_path.c_str(), O_RDONLY);
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if (fd < 0) {
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LOGE("Error opening gpiochip0 fd");
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return -1;
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}
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// Setup event
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struct gpioevent_request rq;
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rq.lineoffset = pin_nr;
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rq.handleflags = GPIOHANDLE_REQUEST_INPUT;
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/* Requesting both edges as the data ready pulse from the lsm6ds sensor is
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very short(75us) and is mostly detected as falling edge instead of rising.
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So if it is detected as rising the following falling edge is skipped. */
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rq.eventflags = GPIOEVENT_REQUEST_BOTH_EDGES;
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strncpy(rq.consumer_label, consumer_label, std::size(rq.consumer_label) - 1);
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int ret = util::safe_ioctl(fd, GPIO_GET_LINEEVENT_IOCTL, &rq);
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if (ret == -1) {
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LOGE("Unable to get line event from ioctl : %s", strerror(errno));
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close(fd);
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return -1;
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}
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close(fd);
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return rq.fd;
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}
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#endif
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@@ -1,33 +0,0 @@
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#pragma once
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// Pin definitions
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#ifdef QCOM2
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#define GPIO_HUB_RST_N 30
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#define GPIO_UBLOX_RST_N 32
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#define GPIO_UBLOX_SAFEBOOT_N 33
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#define GPIO_GNSS_PWR_EN 34 /* SCHEMATIC LABEL: GPIO_UBLOX_PWR_EN */
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#define GPIO_STM_RST_N 124
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#define GPIO_STM_BOOT0 134
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#define GPIO_BMX_ACCEL_INT 21
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#define GPIO_BMX_GYRO_INT 23
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#define GPIO_BMX_MAGN_INT 87
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#define GPIO_LSM_INT 84
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#define GPIOCHIP_INT 0
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#else
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#define GPIO_HUB_RST_N 0
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#define GPIO_UBLOX_RST_N 0
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#define GPIO_UBLOX_SAFEBOOT_N 0
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#define GPIO_GNSS_PWR_EN 0 /* SCHEMATIC LABEL: GPIO_UBLOX_PWR_EN */
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#define GPIO_STM_RST_N 0
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#define GPIO_STM_BOOT0 0
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#define GPIO_BMX_ACCEL_INT 0
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#define GPIO_BMX_GYRO_INT 0
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#define GPIO_BMX_MAGN_INT 0
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#define GPIO_LSM_INT 0
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#define GPIOCHIP_INT 0
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#endif
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int gpio_init(int pin_nr, bool output);
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int gpio_set(int pin_nr, bool high);
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int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int pin_nr);
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@@ -1,4 +1,6 @@
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import os
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import fcntl
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import ctypes
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from functools import cache
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def gpio_init(pin: int, output: bool) -> None:
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@@ -52,3 +54,36 @@ def get_irqs_for_action(action: str) -> list[str]:
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if irq.isdigit() and action in get_irq_action(irq):
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ret.append(irq)
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return ret
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# *** gpiochip ***
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class gpioevent_data(ctypes.Structure):
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_fields_ = [
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("timestamp", ctypes.c_uint64),
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("id", ctypes.c_uint32),
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]
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class gpioevent_request(ctypes.Structure):
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_fields_ = [
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("lineoffset", ctypes.c_uint32),
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("handleflags", ctypes.c_uint32),
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("eventflags", ctypes.c_uint32),
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("label", ctypes.c_char * 32),
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("fd", ctypes.c_int)
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]
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def gpiochip_get_ro_value_fd(label: str, gpiochip_id: int, pin: int) -> int:
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GPIOEVENT_REQUEST_BOTH_EDGES = 0x3
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GPIOHANDLE_REQUEST_INPUT = 0x1
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GPIO_GET_LINEEVENT_IOCTL = 0xc030b404
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rq = gpioevent_request()
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rq.lineoffset = pin
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rq.handleflags = GPIOHANDLE_REQUEST_INPUT
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rq.eventflags = GPIOEVENT_REQUEST_BOTH_EDGES
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rq.label = label.encode('utf-8')[:31] + b'\0'
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fd = os.open(f"/dev/gpiochip{gpiochip_id}", os.O_RDONLY)
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fcntl.ioctl(fd, GPIO_GET_LINEEVENT_IOCTL, rq)
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os.close(fd)
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return int(rq.fd)
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@@ -1,92 +0,0 @@
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#include "common/i2c.h"
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#include <fcntl.h>
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#include <sys/ioctl.h>
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#include <unistd.h>
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#include <cassert>
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#include <cstdio>
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#include <stdexcept>
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#include "common/swaglog.h"
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#include "common/util.h"
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#define UNUSED(x) (void)(x)
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#ifdef QCOM2
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// TODO: decide if we want to install libi2c-dev everywhere
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extern "C" {
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#include <linux/i2c-dev.h>
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#include <i2c/smbus.h>
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}
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I2CBus::I2CBus(uint8_t bus_id) {
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char bus_name[20];
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snprintf(bus_name, 20, "/dev/i2c-%d", bus_id);
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i2c_fd = HANDLE_EINTR(open(bus_name, O_RDWR));
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if (i2c_fd < 0) {
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throw std::runtime_error("Failed to open I2C bus");
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}
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}
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I2CBus::~I2CBus() {
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if (i2c_fd >= 0) {
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close(i2c_fd);
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}
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}
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int I2CBus::read_register(uint8_t device_address, uint register_address, uint8_t *buffer, uint8_t len) {
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std::lock_guard lk(m);
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int ret = 0;
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ret = HANDLE_EINTR(ioctl(i2c_fd, I2C_SLAVE, device_address));
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if (ret < 0) { goto fail; }
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ret = i2c_smbus_read_i2c_block_data(i2c_fd, register_address, len, buffer);
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if ((ret < 0) || (ret != len)) { goto fail; }
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fail:
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return ret;
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}
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int I2CBus::set_register(uint8_t device_address, uint register_address, uint8_t data) {
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std::lock_guard lk(m);
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int ret = 0;
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ret = HANDLE_EINTR(ioctl(i2c_fd, I2C_SLAVE, device_address));
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if (ret < 0) { goto fail; }
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ret = i2c_smbus_write_byte_data(i2c_fd, register_address, data);
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if (ret < 0) { goto fail; }
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fail:
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return ret;
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}
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#else
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I2CBus::I2CBus(uint8_t bus_id) {
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UNUSED(bus_id);
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i2c_fd = -1;
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}
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I2CBus::~I2CBus() {}
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int I2CBus::read_register(uint8_t device_address, uint register_address, uint8_t *buffer, uint8_t len) {
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UNUSED(device_address);
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UNUSED(register_address);
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UNUSED(buffer);
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UNUSED(len);
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return -1;
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}
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int I2CBus::set_register(uint8_t device_address, uint register_address, uint8_t data) {
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UNUSED(device_address);
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UNUSED(register_address);
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UNUSED(data);
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return -1;
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}
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#endif
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@@ -1,19 +0,0 @@
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#pragma once
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#include <cstdint>
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#include <mutex>
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#include <sys/types.h>
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class I2CBus {
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private:
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int i2c_fd;
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std::mutex m;
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public:
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I2CBus(uint8_t bus_id);
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~I2CBus();
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int read_register(uint8_t device_address, uint register_address, uint8_t *buffer, uint8_t len);
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int set_register(uint8_t device_address, uint register_address, uint8_t data);
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};
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@@ -1,3 +1,25 @@
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import os
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import subprocess
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def sudo_write(val: str, path: str) -> None:
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try:
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with open(path, 'w') as f:
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f.write(str(val))
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except PermissionError:
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os.system(f"sudo chmod a+w {path}")
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try:
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with open(path, 'w') as f:
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f.write(str(val))
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except PermissionError:
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# fallback for debugfs files
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os.system(f"sudo su -c 'echo {val} > {path}'")
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def sudo_read(path: str) -> str:
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try:
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return subprocess.check_output(f"sudo cat {path}", shell=True, encoding='utf8').strip()
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except Exception:
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return ""
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class MovingAverage:
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def __init__(self, window_size: int):
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self.window_size: int = window_size
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