71930a4b96

160fd207a5
b75259ad07

cereal/car.capnp

@@ -103,7 +103,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     deviceFalling @90;
     fanMalfunction @91;
     cameraMalfunction @92;
-    modelLagWarning @93;
 
     gasUnavailableDEPRECATED @3;
     dataNeededDEPRECATED @16;
@@ -117,6 +116,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     canErrorPersistentDEPRECATED @83;
     focusRecoverActiveDEPRECATED @86;
     neosUpdateRequiredDEPRECATED @88;
+    modelLagWarningDEPRECATED @93;
 
     #dp
     preLaneChangeLeftALC @94;

cereal/log.capnp

@@ -629,6 +629,7 @@ struct ModelData {
   frameDropPerc @13 :Float32;
   timestampEof @9 :UInt64;
   modelExecutionTime @14 :Float32;
+  rawPred @15 :Data;
 
   path @1 :PathData;
   leftLane @2 :PathData;
@@ -696,6 +697,7 @@ struct ModelDataV2 {
   frameDropPerc @2 :Float32;
   timestampEof @3 :UInt64;
   modelExecutionTime @15 :Float32;
+  rawPred @16 :Data;
 
   position @4 :XYZTData;
   orientation @5 :XYZTData;
@@ -1953,6 +1955,7 @@ struct OrbKeyFrame {
 struct DriverState {
   frameId @0 :UInt32;
   modelExecutionTime @14 :Float32;
+  rawPred @15 :Data;
 
   descriptorDEPRECATED @1 :List(Float32);
   stdDEPRECATED @2 :Float32;

launch_chffrplus.sh

@@ -34,6 +34,9 @@ function two_init {
   echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu0/governor
   echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu2/governor
 
+  # GPU
+  echo "performance" > /sys/class/devfreq/b00000.qcom,kgsl-3d0/governor
+
   # /sys/class/devfreq/soc:qcom,mincpubw is the only one left at "powersave"
   # it seems to gain nothing but a wasted 500mW
 

selfdrive/controls/controlsd.py

@@ -252,8 +252,6 @@ class Controls:
 
     if self.sm['model'].frameDropPerc > 20 and not SIMULATION:
       self.events.add(EventName.modeldLagging)
-    elif self.sm['model'].frameDropPerc > 2 and not SIMULATION:
-      self.events.add(EventName.modelLagWarning)
 
     # Only allow engagement with brake pressed when stopped behind another stopped car
     if not self.sm['dragonConf'].dpAtl and CS.brakePressed and self.sm['plan'].vTargetFuture >= STARTING_TARGET_SPEED \

selfdrive/controls/lib/events.py

@@ -481,14 +481,6 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
       Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimePrompt, 1., 1., 1.),
   },
 
-  EventName.modelLagWarning: {
-    ET.WARNING: Alert(
-      _("TAKE CONTROL"),
-      _("Driving Model Lagging"),
-      AlertStatus.userPrompt, AlertSize.mid,
-      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimePrompt, 1., 1., 1.),
-  },
-
   EventName.fanMalfunction: {
     ET.PERMANENT: NormalPermanentAlert(_("Fan Malfunction"), _("Contact Support")),
   },

selfdrive/controls/lib/planner.py

@@ -15,10 +15,7 @@ from selfdrive.controls.lib.fcw import FCWChecker
 from selfdrive.controls.lib.long_mpc import LongitudinalMpc
 from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
 
-MAX_SPEED = 255.0
-
 LON_MPC_STEP = 0.2  # first step is 0.2s
-MAX_SPEED_ERROR = 2.0
 AWARENESS_DECEL = -0.2     # car smoothly decel at .2m/s^2 when user is distracted
 
 # lookup tables VS speed to determine min and max accels in cruise

selfdrive/modeld/thneed/thneed.cc

@@ -39,6 +39,13 @@ int ioctl(int filedes, unsigned long request, void *argp) {
   // save the fd
   if (request == IOCTL_KGSL_GPUOBJ_ALLOC) g_fd = filedes;
 
+  if (request == IOCTL_KGSL_DRAWCTXT_CREATE) {
+    struct kgsl_drawctxt_create *create = (struct kgsl_drawctxt_create *)argp;
+    create->flags &= ~KGSL_CONTEXT_PRIORITY_MASK;
+    create->flags |= 1 << KGSL_CONTEXT_PRIORITY_SHIFT;   // priority from 1-15, 1 is max priority
+    printf("creating context with flags 0x%x\n", create->flags);
+  }
+
   if (thneed != NULL) {
     if (request == IOCTL_KGSL_GPU_COMMAND) {
       struct kgsl_gpu_command *cmd = (struct kgsl_gpu_command *)argp;

selfdrive/modeld/thneed/thneed.h

@@ -8,6 +8,7 @@
 #include <stdint.h>
 #include "include/msm_kgsl.h"
 #include <vector>
+#include <memory>
 #include <CL/cl.h>
 
 using namespace std;