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modeld: wait for stable chestnut (#38742)

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modeld: wait for stable chestnut
(cherry picked from commit 06af2abe67db217f96e6152ebf4f018fa1cb4bca)
This commit is contained in:
Daniel Koepping
2026-09-01 07:20:56 -07:00
committed by Comma Device
parent 26de98f8e8
commit 5f4e447a3f
2 changed files with 7 additions and 0 deletions
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openpilot/common/params_keys.h
+1
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@@ -138,6 +138,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
{"UptimeOnroad", {PERSISTENT, FLOAT, "0.0"}},
{"ChestnutActive", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION | CLEAR_ON_IGNITION_ON, BOOL}},
{"ChestnutLoading", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION | CLEAR_ON_IGNITION_ON, BOOL}},
{"ChestnutModelError", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION | CLEAR_ON_IGNITION_ON, BOOL}},
{"Version", {PERSISTENT, STRING}},
// --- sunnypilot params --- //
openpilot/selfdrive/modeld/helpers.py
+6
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@@ -11,6 +11,8 @@ from openpilot.common.hardware.usb import CHESTNUT_USB_PRODUCT, USB_DEVICES_PATH
MODELS_DIR = Path(__file__).resolve().parent / 'models'
TG_INPUT_DEVICES_PATH = MODELS_DIR / 'tg_input_devices.json'
CHESTNUT_POWERED_VOLTAGE = 5000
CHESTNUT_PCIE_READY = 0x78
def get_tg_input_devices(process_name: str, chestnut: bool):
@@ -58,3 +60,7 @@ def chestnut_present() -> bool:
def chestnut_compiled() -> bool:
return Path(get_manifest_path(modeld_pkl_path(chestnut=True))).is_file()
def chestnut_ready(state) -> bool:
return state.supplyVoltage >= CHESTNUT_POWERED_VOLTAGE and not state.supplyFault and state.pcieLtssm == CHESTNUT_PCIE_READY