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pandad: move to core 3 (#32402) 

* move to core 3

* core is fully offlined now

* move to init

---------

Co-authored-by: Comma Device <device@comma.ai>
This commit is contained in:
Adeeb Shihadeh 2024-06-05 14:50:25 -07:00 committed by GitHub
parent 7381872a54
commit 7b09285817
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GPG Key ID: B5690EEEBB952194
2 changed files with 16 additions and 8 deletions
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2
selfdrive/pandad/main.cc
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@ -12,7 +12,7 @@ int main(int argc, char *argv[]) {
int err;
err = util::set_realtime_priority(54);
assert(err == 0);
err = util::set_core_affinity({4});
err = util::set_core_affinity({3});
assert(err == 0);
}

22
system/hardware/tici/hardware.py
View File

@ -380,22 +380,18 @@ class Tici(HardwareBase):
# *** CPU config ***
# offline big cluster, leave core 4 online for pandad
for i in range(5, 8):
for i in range(4, 8):
val = '0' if powersave_enabled else '1'
sudo_write(val, f'/sys/devices/system/cpu/cpu{i}/online')
for n in ('0', '4'):
if powersave_enabled and n == '4':
continue
gov = 'ondemand' if powersave_enabled else 'performance'
sudo_write(gov, f'/sys/devices/system/cpu/cpufreq/policy{n}/scaling_governor')
# *** IRQ config ***
# pandad 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 (also modem)
# GPU
affine_irq(5, "kgsl-3d0")
@ -453,6 +449,18 @@ class Tici(HardwareBase):
sudo_write("N", "/sys/kernel/debug/msm_vidc/clock_scaling")
sudo_write("Y", "/sys/kernel/debug/msm_vidc/disable_thermal_mitigation")
# 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])
subprocess.call(["sudo", "taskset", "-pc", "3", pid])
except subprocess.CalledProcessException as e:
print(str(e))
def configure_modem(self):
sim_id = self.get_sim_info().get('sim_id', '')