remove tici-specific code (#36078)

* remove tici-specific code

* lil more

* update those

README.md

@@ -42,10 +42,10 @@ Using openpilot in a car
 ------
 
 To use openpilot in a car, you need four things:
-1. **Supported Device:** a comma 3/3X, available at [comma.ai/shop](https://comma.ai/shop/comma-3x).
+1. **Supported Device:** a comma 3X, available at [comma.ai/shop](https://comma.ai/shop/comma-3x).
-2. **Software:** The setup procedure for the comma 3/3X allows users to enter a URL for custom software. Use the URL `openpilot.comma.ai` to install the release version.
+2. **Software:** The setup procedure for the comma 3X allows users to enter a URL for custom software. Use the URL `openpilot.comma.ai` to install the release version.
 3. **Supported Car:** Ensure that you have one of [the 275+ supported cars](docs/CARS.md).
-4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma 3/3X to your car.
+4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma 3X to your car.
 
 We have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup). Note that it's possible to run openpilot on [other hardware](https://blog.comma.ai/self-driving-car-for-free/), although it's not plug-and-play.
 

common/params_keys.h

@@ -94,7 +94,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"Offroad_NeosUpdate", {CLEAR_ON_MANAGER_START, JSON}},
     {"Offroad_NoFirmware", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
     {"Offroad_Recalibration", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
-    {"Offroad_StorageMissing", {CLEAR_ON_MANAGER_START, JSON}},
     {"Offroad_TemperatureTooHigh", {CLEAR_ON_MANAGER_START, JSON}},
     {"Offroad_UnregisteredHardware", {CLEAR_ON_MANAGER_START, JSON}},
     {"Offroad_UpdateFailed", {CLEAR_ON_MANAGER_START, JSON}},

docs/CONTRIBUTING.md

@@ -39,7 +39,7 @@ All of these are examples of good PRs:
 ### First contribution
 
 [Projects / openpilot bounties](https://github.com/orgs/commaai/projects/26/views/1?pane=info) is the best place to get started and goes in-depth on what's expected when working on a bounty.
-There's lot of bounties that don't require a comma 3/3X or a car.
+There's lot of bounties that don't require a comma 3X or a car.
 
 ## Pull Requests
 

docs/how-to/connect-to-comma.md

@@ -1,11 +1,11 @@
-# connect to a comma 3/3X
+# connect to a comma 3X
 
-A comma 3/3X is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console).
+A comma 3X is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console).
 
 ## Serial Console
 
 On both the comma three and 3X, the serial console is accessible from the main OBD-C port.
-Connect the comma 3/3X to your computer with a normal USB C cable, or use a [comma serial](https://comma.ai/shop/comma-serial) for steady 12V power.
+Connect the comma 3X to your computer with a normal USB C cable, or use a [comma serial](https://comma.ai/shop/comma-serial) for steady 12V power.
 
 On the comma three, the serial console is exposed through a UART-to-USB chip, and `tools/scripts/serial.sh` can be used to connect.
 
@@ -45,7 +45,7 @@ In order to use ADB on your device, you'll need to perform the following steps u
     * Here's an example command for connecting to your device using its tethered connection: `adb connect 192.168.43.1:5555`
 
 > [!NOTE]
-> The default port for ADB is 5555 on the comma 3/3X.
+> The default port for ADB is 5555 on the comma 3X.
 
 For more info on ADB, see the [Android Debug Bridge (ADB) documentation](https://developer.android.com/tools/adb).
 

docs/how-to/replay-a-drive.md

@@ -8,7 +8,7 @@ Replaying is a critical tool for openpilot development and debugging.
 Just run `tools/replay/replay --demo`.
 
 ## Replaying CAN data
-*Hardware required: jungle and comma 3/3X*
+*Hardware required: jungle and comma 3X*
 
 1. Connect your PC to a jungle.
 2.

docs/how-to/turn-the-speed-blue.md

@@ -3,7 +3,7 @@
 
 In 30 minutes, we'll get an openpilot development environment set up on your computer and make some changes to openpilot's UI.
 
-And if you have a comma 3/3X, we'll deploy the change to your device for testing.
+And if you have a comma 3X, we'll deploy the change to your device for testing.
 
 ## 1. Set up your development environment
 

mkdocs.yml

@@ -21,7 +21,7 @@ nav:
     - What is openpilot?: getting-started/what-is-openpilot.md
   - How-to:
     - Turn the speed blue: how-to/turn-the-speed-blue.md
-    - Connect to a comma 3/3X: how-to/connect-to-comma.md
+    - Connect to a comma 3X: how-to/connect-to-comma.md
     # - Make your first pull request: how-to/make-first-pr.md
     #- Replay a drive: how-to/replay-a-drive.md
   - Concepts:

selfdrive/pandad/pandad.py

@@ -85,11 +85,6 @@ def main() -> None:
       cloudlog.event("pandad.flash_and_connect", count=count)
       params.remove("PandaSignatures")
 
-      # TODO: remove this in the next AGNOS
-      # wait until USB is up before counting
-      if time.monotonic() < 60.:
-        no_internal_panda_count = 0
-
       # Handle missing internal panda
       if no_internal_panda_count > 0:
         if no_internal_panda_count == 3:

selfdrive/pandad/tests/test_pandad.py

@@ -22,8 +22,6 @@ class TestPandad:
     if len(Panda.list()) == 0:
       self._run_test(60)
 
-    self.spi = HARDWARE.get_device_type() != 'tici'
-
   def teardown_method(self):
     managed_processes['pandad'].stop()
 
@@ -106,11 +104,9 @@ class TestPandad:
     # - 0.2s pandad -> pandad
     # - plus some buffer
     print("startup times", ts, sum(ts) / len(ts))
-    assert 0.1 < (sum(ts)/len(ts)) < (0.7 if self.spi else 5.0)
+    assert 0.1 < (sum(ts)/len(ts)) < 0.7
 
   def test_protocol_version_check(self):
-    if not self.spi:
-      pytest.skip("SPI test")
     # flash old fw
     fn = os.path.join(HERE, "bootstub.panda_h7_spiv0.bin")
     self._flash_bootstub_and_test(fn, expect_mismatch=True)

selfdrive/pandad/tests/test_pandad_spi.py

@@ -6,7 +6,6 @@ import random
 
 import cereal.messaging as messaging
 from cereal.services import SERVICE_LIST
-from openpilot.system.hardware import HARDWARE
 from openpilot.selfdrive.test.helpers import with_processes
 from openpilot.selfdrive.pandad.tests.test_pandad_loopback import setup_pandad, send_random_can_messages
 
@@ -16,8 +15,6 @@ JUNGLE_SPAM = "JUNGLE_SPAM" in os.environ
 class TestBoarddSpi:
   @classmethod
   def setup_class(cls):
-    if HARDWARE.get_device_type() == 'tici':
-      pytest.skip("only for spi pandas")
     os.environ['STARTED'] = '1'
     os.environ['SPI_ERR_PROB'] = '0.001'
     if not JUNGLE_SPAM:

selfdrive/selfdrived/alerts_offroad.json

@@ -29,10 +29,6 @@
     "text": "Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.",
     "severity": 1
   },
-  "Offroad_StorageMissing": {
-    "text": "NVMe drive not mounted.",
-    "severity": 1
-  },
   "Offroad_CarUnrecognized": {
     "text": "openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.",
     "severity": 0

selfdrive/selfdrived/selfdrived.py

@@ -21,7 +21,6 @@ from openpilot.selfdrive.selfdrived.helpers import ExcessiveActuationCheck
 from openpilot.selfdrive.selfdrived.state import StateMachine
 from openpilot.selfdrive.selfdrived.alertmanager import AlertManager, set_offroad_alert
 
-from openpilot.system.hardware import HARDWARE
 from openpilot.system.version import get_build_metadata
 
 REPLAY = "REPLAY" in os.environ
@@ -122,13 +121,6 @@ class SelfdriveD:
     self.state_machine = StateMachine()
     self.rk = Ratekeeper(100, print_delay_threshold=None)
 
-    # some comma three with NVMe experience NVMe dropouts mid-drive that
-    # cause loggerd to crash on write, so ignore it only on that platform
-    self.ignored_processes = set()
-    nvme_expected = os.path.exists('/dev/nvme0n1') or (not os.path.isfile("/persist/comma/living-in-the-moment"))
-    if HARDWARE.get_device_type() == 'tici' and nvme_expected:
-      self.ignored_processes = {'loggerd', }
-
     # Determine startup event
     self.startup_event = EventName.startup if build_metadata.openpilot.comma_remote and build_metadata.tested_channel else EventName.startupMaster
     if not car_recognized:
@@ -299,7 +291,7 @@ class SelfdriveD:
       if not_running != self.not_running_prev:
         cloudlog.event("process_not_running", not_running=not_running, error=True)
       self.not_running_prev = not_running
-    if self.sm.recv_frame['managerState'] and (not_running - self.ignored_processes):
+    if self.sm.recv_frame['managerState'] and not_running:
       self.events.add(EventName.processNotRunning)
     else:
       if not SIMULATION and not self.rk.lagging:

selfdrive/ui/tests/test_ui/run.py

@@ -29,7 +29,7 @@ UI_DELAY = 0.1 # may be slower on CI?
 TEST_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19"
 
 STREAMS: list[tuple[VisionStreamType, CameraConfig, bytes]] = []
-OFFROAD_ALERTS = ['Offroad_StorageMissing', 'Offroad_IsTakingSnapshot']
+OFFROAD_ALERTS = ['Offroad_IsTakingSnapshot', ]
 DATA: dict[str, capnp.lib.capnp._DynamicStructBuilder] = dict.fromkeys(
   ["carParams", "deviceState", "pandaStates", "controlsState", "selfdriveState",
   "liveCalibration", "modelV2", "radarState", "driverMonitoringState", "carState",

selfdrive/ui/ui.cc

@@ -54,8 +54,7 @@ static void update_state(UIState *s) {
   }
   if (sm.updated("wideRoadCameraState")) {
     auto cam_state = sm["wideRoadCameraState"].getWideRoadCameraState();
-    float scale = (cam_state.getSensor() == cereal::FrameData::ImageSensor::AR0231) ? 6.0f : 1.0f;
+    scene.light_sensor = std::max(100.0f - cam_state.getExposureValPercent(), 0.0f);
-    scene.light_sensor = std::max(100.0f - scale * cam_state.getExposureValPercent(), 0.0f);
   } else if (!sm.allAliveAndValid({"wideRoadCameraState"})) {
     scene.light_sensor = -1;
   }

selfdrive/ui/ui_state.py

@@ -105,10 +105,7 @@ class UIState:
     # Handle wide road camera state updates
     if self.sm.updated["wideRoadCameraState"]:
       cam_state = self.sm["wideRoadCameraState"]
-
+      self.light_sensor = max(100.0 - cam_state.exposureValPercent, 0.0)
-      # Scale factor based on sensor type
-      scale = 6.0 if cam_state.sensor == 'ar0231' else 1.0
-      self.light_sensor = max(100.0 - scale * cam_state.exposureValPercent, 0.0)
     elif not self.sm.alive["wideRoadCameraState"] or not self.sm.valid["wideRoadCameraState"]:
       self.light_sensor = -1
 

system/camerad/cameras/hw.h

@@ -13,7 +13,7 @@ typedef enum {
   ISP_BPS_PROCESSED,  // fully processed image through the BPS
 } SpectraOutputType;
 
-// For the comma 3/3X three camera platform
+// For the comma 3X three camera platform
 
 struct CameraConfig {
   int camera_num;

system/hardware/hardwared.py

@@ -6,7 +6,6 @@ import struct
 import threading
 import time
 from collections import OrderedDict, namedtuple
-from pathlib import Path
 
 import psutil
 
@@ -334,12 +333,6 @@ def hardware_thread(end_event, hw_queue) -> None:
       # to make a different decision in your software
       startup_conditions["registered_device"] = PC or (params.get("DongleId") != UNREGISTERED_DONGLE_ID)
 
-    # TODO: this should move to TICI.initialize_hardware, but we currently can't import params there
-    if TICI and HARDWARE.get_device_type() == "tici":
-      if not os.path.isfile("/persist/comma/living-in-the-moment"):
-        if not Path("/data/media").is_mount():
-          set_offroad_alert_if_changed("Offroad_StorageMissing", True)
-
     # Handle offroad/onroad transition
     should_start = all(onroad_conditions.values())
     if started_ts is None:

system/hardware/tici/amplifier.py

@@ -61,18 +61,6 @@ BASE_CONFIG = [
 ]
 
 CONFIGS = {
-  "tici": [
-    AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111),
-    AmpConfig("Right Speaker Mixer Gain", 0b00, 0x2D, 2, 0b00001100),
-    AmpConfig("Right speaker output volume", 0x1c, 0x3E, 0, 0b00011111),
-    AmpConfig("DAI2 EQ enable", 0b1, 0x49, 1, 0b00000010),
-
-    *configs_from_eq_params(0x84, EQParams(0x274F, 0xC0FF, 0x3BF9, 0x0B3C, 0x1656)),
-    *configs_from_eq_params(0x8E, EQParams(0x1009, 0xC6BF, 0x2952, 0x1C97, 0x30DF)),
-    *configs_from_eq_params(0x98, EQParams(0x0F75, 0xCBE5, 0x0ED2, 0x2528, 0x3E42)),
-    *configs_from_eq_params(0xA2, EQParams(0x091F, 0x3D4C, 0xCE11, 0x1266, 0x2807)),
-    *configs_from_eq_params(0xAC, EQParams(0x0A9E, 0x3F20, 0xE573, 0x0A8B, 0x3A3B)),
-  ],
   "tizi": [
     AmpConfig("Left speaker output from left DAC", 0b1, 0x2B, 0, 0b11111111),
     AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111),

system/hardware/tici/hardware.py

@@ -425,9 +425,6 @@ class Tici(HardwareBase):
 
     # pandad core
     affine_irq(3, "spi_geni")         # SPI
-    if "tici" in self.get_device_type():
-      affine_irq(3, "xhci-hcd:usb3")  # aux panda USB (or potentially anything else on USB)
-      affine_irq(3, "xhci-hcd:usb1")  # internal panda USB (also modem)
     try:
       pid = subprocess.check_output(["pgrep", "-f", "spi0"], encoding='utf8').strip()
       subprocess.call(["sudo", "chrt", "-f", "-p", "1", pid])
@@ -446,22 +443,20 @@ class Tici(HardwareBase):
 
     cmds = []
 
-    if self.get_device_type() in ("tici", "tizi"):
+    if self.get_device_type() in ("tizi", ):
       # clear out old blue prime initial APN
       os.system('mmcli -m any --3gpp-set-initial-eps-bearer-settings="apn="')
 
       cmds += [
+        # SIM hot swap
+        'AT+QSIMDET=1,0',
+        'AT+QSIMSTAT=1',
+
         # configure modem as data-centric
         'AT+QNVW=5280,0,"0102000000000000"',
         'AT+QNVFW="/nv/item_files/ims/IMS_enable",00',
         'AT+QNVFW="/nv/item_files/modem/mmode/ue_usage_setting",01',
       ]
-      if self.get_device_type() == "tizi":
-        # SIM hot swap, not routed on tici
-        cmds += [
-          'AT+QSIMDET=1,0',
-          'AT+QSIMSTAT=1',
-        ]
     elif manufacturer == 'Cavli Inc.':
       cmds += [
         'AT^SIMSWAP=1',     # use SIM slot, instead of internal eSIM

system/hardware/tici/pins.py

@@ -1,5 +1,3 @@
-# TODO: these are also defined in a header
-
 # GPIO pin definitions
 class GPIO:
   # both GPIO_STM_RST_N and GPIO_LTE_RST_N are misnamed, they are high to reset
@@ -26,7 +24,4 @@ class GPIO:
   CAM2_RSTN = 12
 
   # Sensor interrupts
-  BMX055_ACCEL_INT = 21
-  BMX055_GYRO_INT = 23
-  BMX055_MAGN_INT = 87
   LSM_INT = 84

system/ui/reset.py

@@ -13,7 +13,6 @@ from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.button import Button, ButtonStyle
 from openpilot.system.ui.widgets.label import gui_label, gui_text_box
 
-NVME = "/dev/nvme0n1"
 USERDATA = "/dev/disk/by-partlabel/userdata"
 TIMEOUT = 3*60
 
@@ -49,10 +48,6 @@ class Reset(Widget):
     if PC:
       return
 
-    # Best effort to wipe NVME
-    os.system(f"sudo umount {NVME}")
-    os.system(f"yes | sudo mkfs.ext4 {NVME}")
-
     # Removing data and formatting
     rm = os.system("sudo rm -rf /data/*")
     os.system(f"sudo umount {USERDATA}")

system/updated/updated.py

@@ -243,12 +243,6 @@ class Updater:
     if b is None:
       b = self.get_branch(BASEDIR)
     b = {
-      ("tici", "release3"): "release-tici",
-      ("tici", "release3-staging"): "release-tici",
-      ("tici", "master"): "master-tici",
-      ("tici", "nightly"): "release-tici",
-      ("tici", "nightly-dev"): "release-tici",
-
       ("tizi", "release3"): "release-tizi",
     }.get((HARDWARE.get_device_type(), b), b)
     return b