dragonpilot beta3

date: 2023-07-26T22:20:36 commit: c6d842c412052be1985b63d683c63be9dcb2b0eb
2026-08-20 23:53:44 +08:00 · 2023-07-26 22:14:57 +08:00
parent 67c2c03b43
commit 1abc7d7daa
536 changed files with 437552 additions and 24400 deletions
@@ -1,19 +1,19 @@
 [
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    "name": "boot",
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-    "size": 15153152,
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+    "hash": "8d8d8620de8b2687f3a8fffdb81b2abd1fe2ead5bc831361a1a212e5589ac279",
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    "sparse": false,
    "full_check": true,
    "has_ab": true
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    "name": "abl",
-    "url": "https://commadist.azureedge.net/agnosupdate/abl-50329ac734ff7a6c20c3f552dce9b13f84b3eb2e73faa64b9810049d9b406602.img.xz",
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+    "url": "https://commadist.azureedge.net/agnosupdate/abl-0084fcf79fea067632a1c2d9519b6445ad484aa8b09f49f22e6b45b4dccacd2d.img.xz",
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@@ -21,9 +21,9 @@
  },
  {
    "name": "xbl",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl-dc297986b38f50c47584bd8549b188b37b1d6a0c77b3255859dd675c177b5c15.img.xz",
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-    "hash_raw": "dc297986b38f50c47584bd8549b188b37b1d6a0c77b3255859dd675c177b5c15",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl-942b9b2914d89c2a70fdf27380b59e04b549ac2fd53ecb29d6549d1a9c8daeaa.img.xz",
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    "sparse": false,
    "full_check": true,
@@ -31,9 +31,9 @@
  },
  {
    "name": "xbl_config",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-b73fbbb42934aabc6d4f16ce84ac6c8c0205bc70e0a85412a771f3cc1d62cc40.img.xz",
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-    "hash_raw": "b73fbbb42934aabc6d4f16ce84ac6c8c0205bc70e0a85412a771f3cc1d62cc40",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-6881d94599f65d94c13bcc0bd860184dfba2dfe96ec776d08fb35ac5b5f85bbf.img.xz",
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@@ -41,9 +41,9 @@
  },
  {
    "name": "devcfg",
-    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-2d3063d106813006ac9ceeaf8818a31d4b33996873e81178ac5129f5e1b82bca.img.xz",
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-    "hash_raw": "2d3063d106813006ac9ceeaf8818a31d4b33996873e81178ac5129f5e1b82bca",
+    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-9bbf168baff6101f4890c5c95c118e30813c2610cfb35b8e19e363f04a32a262.img.xz",
+    "hash": "9bbf168baff6101f4890c5c95c118e30813c2610cfb35b8e19e363f04a32a262",
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@@ -51,9 +51,9 @@
  },
  {
    "name": "aop",
-    "url": "https://commadist.azureedge.net/agnosupdate/aop-d69450d5438b3e5e2ba5b77db1ae49e1cf9cab17836f563aa57192b5b3a4ac3e.img.xz",
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-    "hash_raw": "d69450d5438b3e5e2ba5b77db1ae49e1cf9cab17836f563aa57192b5b3a4ac3e",
+    "url": "https://commadist.azureedge.net/agnosupdate/aop-c1d9d712980f6b2a4b12196597f4d1bf3fe4fec6c59edf29ae63ef21f11b8222.img.xz",
+    "hash": "c1d9d712980f6b2a4b12196597f4d1bf3fe4fec6c59edf29ae63ef21f11b8222",
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    "sparse": false,
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@@ -61,9 +61,9 @@
  },
  {
    "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-4a8311dd591006e0c2a6f60060d6ef579ceec9b3d688e8438a9aef4e230ae028.img.xz",
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-    "hash_raw": "4a8311dd591006e0c2a6f60060d6ef579ceec9b3d688e8438a9aef4e230ae028",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-e1fa3018bce9bad01c6967e5e21f1141cf5c8f02d2edfaed51c738f74a32a432.img.xz",
+    "hash": "611011f3e3f147bc24f371105a9dd3760ec11ba424c56d4a442a66b098c784c0",
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@@ -8,7 +8,7 @@ from functools import cached_property, lru_cache
 from pathlib import Path

 from cereal import log
-from common.gpio import gpio_set, gpio_init, get_irq_for_action
+from common.gpio import gpio_set, gpio_init, get_irqs_for_action
 from system.hardware.base import HardwareBase, ThermalConfig
 from system.hardware.tici import iwlist
 from system.hardware.tici.pins import GPIO
@@ -61,17 +61,27 @@ MM_MODEM_ACCESS_TECHNOLOGY_LTE = 1 << 14


 def sudo_write(val, path):
-  os.system(f"sudo su -c 'echo {val} > {path}'")
+  try:
+    with open(path, 'w') as f:
+      f.write(str(val))
+  except PermissionError:
+    os.system(f"sudo chmod a+w {path}")
+    try:
+      with open(path, 'w') as f:
+        f.write(str(val))
+    except PermissionError:
+      # fallback for debugfs files
+      os.system(f"sudo su -c 'echo {val} > {path}'")


 def affine_irq(val, action):
-  irq = get_irq_for_action(action)
-  if len(irq) == 0:
+  irqs = get_irqs_for_action(action)
+  if len(irqs) == 0:
    print(f"No IRQs found for '{action}'")
    return
-  for i in irq:
-    sudo_write(str(val), f"/proc/irq/{i}/smp_affinity_list")

+  for i in irqs:
+    sudo_write(str(val), f"/proc/irq/{i}/smp_affinity_list")

 class Tici(HardwareBase):
  @cached_property
@@ -438,17 +448,17 @@ class Tici(HardwareBase):

    # *** IRQ config ***

-    # GPU
-    affine_irq(5, "kgsl-3d0")
-
    # boardd core
    affine_irq(4, "spi_geni")         # SPI
    affine_irq(4, "xhci-hcd:usb3")    # aux panda USB (or potentially anything else on USB)
    if "tici" in self.get_device_type():
-      affine_irq(4, "xhci-hcd:usb1")  # internal panda USB
+      affine_irq(4, "xhci-hcd:usb1")  # internal panda USB (also modem)
+
+    # GPU
+    affine_irq(5, "kgsl-3d0")

    # camerad core
-    camera_irqs = ("cci", "cpas_camnoc", "cpas-cdm", "csid", "ife", "csid", "csid-lite", "ife-lite")
+    camera_irqs = ("cci", "cpas_camnoc", "cpas-cdm", "csid", "ife", "csid-lite", "ife-lite")
    for n in camera_irqs:
      affine_irq(5, n)

@@ -472,14 +482,14 @@ class Tici(HardwareBase):

    # *** IRQ config ***

-    # move these off the default core
-    affine_irq(1, "msm_drm")
-    affine_irq(1, "msm_vidc")
-    affine_irq(1, "i2c_geni")
-
    # mask off big cluster from default affinity
    sudo_write("f", "/proc/irq/default_smp_affinity")

+    # move these off the default core
+    affine_irq(1, "msm_drm")   # display
+    affine_irq(1, "msm_vidc")  # encoders
+    affine_irq(1, "i2c_geni")  # sensors
+
    # *** GPU config ***
    # https://github.com/commaai/agnos-kernel-sdm845/blob/master/arch/arm64/boot/dts/qcom/sdm845-gpu.dtsi#L216
    sudo_write("1", "/sys/class/kgsl/kgsl-3d0/min_pwrlevel")