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rescale ir power (#35858)

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* rescale ir value pandad sends to Hardware and changed max ir value in Hardware

* changed ir_percentage type

* refactored pandad.cc ir_pwr setting

* cleaned up ir update condition

---------

Co-authored-by: kostas pats <kostas@comma.ai>
This commit is contained in:
kostas.pats
2025-08-01 00:17:22 +03:00
committed by GitHub
parent 3187631935
commit e32a2ce164
2 changed files with 11 additions and 11 deletions
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selfdrive/pandad/pandad.cc
+10 -10
View File
@@ -36,8 +36,7 @@
// Ignition:
// - If any of the ignition sources in any panda is high, ignition is high
#define MAX_IR_POWER 0.5f
#define MIN_IR_POWER 0.0f
#define MAX_IR_PANDA_VAL 50
#define CUTOFF_IL 400
#define SATURATE_IL 1000
@@ -371,8 +370,8 @@ void process_peripheral_state(Panda *panda, PubMaster *pm, bool no_fan_control)
static uint64_t last_driver_camera_t = 0;
static uint16_t prev_fan_speed = 999;
static uint16_t ir_pwr = 0;
static uint16_t prev_ir_pwr = 999;
static int ir_pwr = 0;
static int prev_ir_pwr = 999;
static FirstOrderFilter integ_lines_filter(0, 30.0, 0.05);
@@ -395,11 +394,11 @@ void process_peripheral_state(Panda *panda, PubMaster *pm, bool no_fan_control)
last_driver_camera_t = event.getLogMonoTime();
if (cur_integ_lines <= CUTOFF_IL) {
ir_pwr = 100.0 * MIN_IR_POWER;
ir_pwr = 0;
} else if (cur_integ_lines > SATURATE_IL) {
ir_pwr = 100.0 * MAX_IR_POWER;
ir_pwr = 100;
} else {
ir_pwr = 100.0 * (MIN_IR_POWER + ((cur_integ_lines - CUTOFF_IL) * (MAX_IR_POWER - MIN_IR_POWER) / (SATURATE_IL - CUTOFF_IL)));
ir_pwr = 100 * (cur_integ_lines - CUTOFF_IL) / (SATURATE_IL - CUTOFF_IL);
}
}
@@ -408,9 +407,10 @@ void process_peripheral_state(Panda *panda, PubMaster *pm, bool no_fan_control)
ir_pwr = 0;
}
if (ir_pwr != prev_ir_pwr || sm.frame % 100 == 0 || ir_pwr >= 50.0) {
panda->set_ir_pwr(ir_pwr);
Hardware::set_ir_power(ir_pwr);
if (ir_pwr != prev_ir_pwr || sm.frame % 100 == 0) {
int16_t ir_panda = util::map_val(ir_pwr, 0, 100, 0, MAX_IR_PANDA_VAL);
panda->set_ir_pwr(ir_panda);
Hardware::set_ir_power(ir_pwr);
prev_ir_pwr = ir_pwr;
}
}
system/hardware/tici/hardware.h
+1 -1
View File
@@ -75,7 +75,7 @@ public:
return;
}
int value = util::map_val(std::clamp(percent, 0, 100), 0, 100, 0, 255);
int value = util::map_val(std::clamp(percent, 0, 100), 0, 100, 0, 300);
std::ofstream("/sys/class/leds/led:switch_2/brightness") << 0 << "\n";
std::ofstream("/sys/class/leds/led:torch_2/brightness") << value << "\n";
std::ofstream("/sys/class/leds/led:switch_2/brightness") << value << "\n";