ui: prep for 60fps (#36585)

.gitmodules

@@ -15,4 +15,4 @@
   url = ../../commaai/teleoprtc
 [submodule "tinygrad"]
   path = tinygrad_repo
-  url = https://github.com/tinygrad/tinygrad.git
+  url = https://github.com/commaai/tinygrad.git

launch_env.sh

@@ -6,6 +6,15 @@ export NUMEXPR_NUM_THREADS=1
 export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 
+# models get lower priority than ui
+# - ui is ~5ms
+# - modeld is 20ms
+# - DM is 10ms
+# in order to run ui at 60fps (16.67ms), we need to allow
+# it to preempt the model workloads. we have enough
+# headroom for this until ui is moved to the CPU.
+export QCOM_PRIORITY=12
+
 if [ -z "$AGNOS_VERSION" ]; then
   export AGNOS_VERSION="14.5"
 fi

selfdrive/ui/ui.py

@@ -9,8 +9,8 @@ from openpilot.selfdrive.ui.ui_state import ui_state
 
 
 def main():
-  cores = {7, }
-  config_realtime_process(0, 1)
+  cores = {5, }
+  config_realtime_process(0, 51)
 
   gui_app.init_window("UI")
   main_layout = MainLayout()

system/hardware/tici/hardware.py

@@ -424,7 +424,8 @@ class Tici(HardwareBase):
 
     # *** GPU config ***
     # https://github.com/commaai/agnos-kernel-sdm845/blob/master/arch/arm64/boot/dts/qcom/sdm845-gpu.dtsi#L216
-    affine_irq(7, "msm_drm")   # display
+    affine_irq(5, "fts_ts")    # touch
+    affine_irq(5, "msm_drm")   # display
     sudo_write("1", "/sys/class/kgsl/kgsl-3d0/min_pwrlevel")
     sudo_write("1", "/sys/class/kgsl/kgsl-3d0/max_pwrlevel")
     sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_bus_on")