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Fix commIssue due to frame drop and power draw (#2689)

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* Don't re-init pigeon while offroad (#2687)

* don't re-init pigeon while offroad

* we don't need this

* update panda

* remove check on frame drop in modeld (#2638)

Co-authored-by: robbederks <robbe.derks@gmail.com>
Co-authored-by: Willem Melching <willem.melching@gmail.com>
This commit is contained in:
Adeeb Shihadeh
2020-12-03 13:12:43 -08:00
committed by GitHub
parent 0b384ea101
commit 11ce6152dd
4 changed files with 23 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files
panda/board/boards/uno.h
+6 -1
View File
@@ -56,7 +56,12 @@ void uno_set_gps_load_switch(bool enabled) {
}
void uno_set_bootkick(bool enabled){
set_gpio_output(GPIOB, 14, !enabled);
if(enabled){
set_gpio_output(GPIOB, 14, false);
} else {
// We want the pin to be floating, not forced high!
set_gpio_mode(GPIOB, 14, MODE_INPUT);
}
}
void uno_bootkick(void) {
selfdrive/boardd/boardd.cc
+13 -4
View File
@@ -474,6 +474,7 @@ void pigeon_thread() {
// ubloxRaw = 8042
PubMaster pm({"ubloxRaw"});
bool ignition_last = false;
#ifdef QCOM2
Pigeon * pigeon = Pigeon::connect("/dev/ttyHS0");
@@ -481,19 +482,27 @@ void pigeon_thread() {
Pigeon * pigeon = Pigeon::connect(panda);
#endif
pigeon->init();
while (!do_exit && panda->connected) {
std::string recv = pigeon->receive();
if (recv.length() > 0) {
if (recv[0] == (char)0x00){
LOGW("received invalid ublox message, resetting panda GPS");
pigeon->init();
if (ignition) {
LOGW("received invalid ublox message while onroad, resetting panda GPS");
pigeon->init();
}
} else {
pigeon_publish_raw(pm, recv);
}
}
// init pigeon on rising ignition edge
// since it was turned off in low power mode
if(ignition && !ignition_last) {
pigeon->init();
}
ignition_last = ignition;
// 10ms - 100 Hz
usleep(10*1000);
}
selfdrive/modeld/models/driving.cc
+4 -4
View File
@@ -311,7 +311,7 @@ void model_publish_v2(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
float model_execution_time) {
// make msg
MessageBuilder msg;
auto framed = msg.initEvent(frame_drop < MAX_FRAME_DROP).initModelV2();
auto framed = msg.initEvent().initModelV2();
uint32_t frame_age = (frame_id > vipc_frame_id) ? (frame_id - vipc_frame_id) : 0;
framed.setFrameId(vipc_frame_id);
framed.setFrameAge(frame_age);
@@ -319,7 +319,7 @@ void model_publish_v2(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
framed.setTimestampEof(timestamp_eof);
framed.setModelExecutionTime(model_execution_time);
// plan
// plan
int plan_mhp_max_idx = 0;
for (int i=1; i<PLAN_MHP_N; i++) {
if (net_outputs.plan[(i + 1)*(PLAN_MHP_GROUP_SIZE) - 1] >
@@ -393,7 +393,7 @@ void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
uint32_t frame_age = (frame_id > vipc_frame_id) ? (frame_id - vipc_frame_id) : 0;
MessageBuilder msg;
auto framed = msg.initEvent(frame_drop < MAX_FRAME_DROP).initModel();
auto framed = msg.initEvent().initModel();
framed.setFrameId(vipc_frame_id);
framed.setFrameAge(frame_age);
framed.setFrameDropPerc(frame_drop * 100);
@@ -429,7 +429,7 @@ void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
auto lpath = framed.initPath();
fill_path(lpath, &net_outputs.plan[plan_mhp_max_idx*(PLAN_MHP_GROUP_SIZE)], valid_len, valid_len_idx);
auto left_lane = framed.initLeftLane();
int ll_idx = 1;
fill_lane_line(left_lane, net_outputs.lane_lines, ll_idx, valid_len, valid_len_idx,
selfdrive/modeld/models/driving.h
-1
View File
@@ -39,7 +39,6 @@
#define POSE_SIZE 12
#define MODEL_FREQ 20
#define MAX_FRAME_DROP 0.05
struct ModelDataRaw {
float *plan;