only two run

commaai · Oct 8, 2024 · 8d9a9e2 · 8d9a9e2
1 parent 9199c64
commit 8d9a9e2
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Showing 5 changed files with 18 additions and 29 deletions.
diff --git a/launch_openpilot.sh b/launch_openpilot.sh
@@ -1,3 +1,4 @@
 #!/usr/bin/env bash
 
+export DISABLE_DRIVER=1
 exec ./launch_chffrplus.sh
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
@@ -70,7 +70,7 @@ def __init__(self, CP=None):
     # TODO: de-couple selfdrived with card/conflate on carState without introducing controls mismatches
     self.car_state_sock = messaging.sub_sock('carState', timeout=20)
 
-    ignore = self.sensor_packets + self.gps_packets + ['alertDebug']
+    ignore = self.sensor_packets + self.gps_packets + ['alertDebug', 'driverStateV2', 'driverMonitoringState', 'driverCameraState']
     if SIMULATION:
       ignore += ['driverCameraState', 'managerState']
     if REPLAY:
@@ -169,8 +169,8 @@ def update_events(self, CS):
     if not self.CP.pcmCruise and CS.vCruise > 250 and resume_pressed:
       self.events.add(EventName.resumeBlocked)
 
-    if not self.CP.notCar:
-      self.events.add_from_msg(self.sm['driverMonitoringState'].events)
+    #if not self.CP.notCar:
+    #  self.events.add_from_msg(self.sm['driverMonitoringState'].events)
 
     # Add car events, ignore if CAN isn't valid
     if CS.canValid:

diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc
@@ -483,7 +483,7 @@ void SpectraCamera::config_ife(int io_mem_handle, int fence, int request_id, int
     tmp.type_1 |= (sizeof(cam_isp_clock_config) + sizeof(tmp.extra_rdi_hz)) << 8;
     static_assert((sizeof(cam_isp_clock_config) + sizeof(tmp.extra_rdi_hz)) == 0x38);
     tmp.clock = {
-      .usage_type = 1, // dual mode
+      .usage_type = 0, // dual mode
       .num_rdi = 4,
       .left_pix_hz = 404000000,
       .right_pix_hz = 404000000,
@@ -494,7 +494,7 @@ void SpectraCamera::config_ife(int io_mem_handle, int fence, int request_id, int
     tmp.type_2 |= (sizeof(cam_isp_bw_config) + sizeof(tmp.extra_rdi_vote)) << 8;
     static_assert((sizeof(cam_isp_bw_config) + sizeof(tmp.extra_rdi_vote)) == 0xe0);
     tmp.bw = {
-      .usage_type = 1, // dual mode
+      .usage_type = 0, // dual mode
       .num_rdi = 4,
       .left_pix_vote = {
         .resource_id = 0,
@@ -691,18 +691,16 @@ void SpectraCamera::configISP() {
     .dt = sensor->frame_data_type,
     .format = sensor->mipi_format,
 
-    .test_pattern = 0x1,  // sensor's bayer pattern
+    .test_pattern = CAM_ISP_PATTERN_BAYER_GRGRGR,
     .usage_type = 0x0,
 
     .left_start = 0,
     .left_stop = sensor->frame_width - 1,
     .left_width = sensor->frame_width,
 
-     /*
     .right_start = 0,
     .right_stop = sensor->frame_width - 1,
     .right_width = sensor->frame_width,
-    */
 
     .line_start = 0,
     .line_stop = sensor->frame_height + sensor->extra_height - 1,
@@ -741,9 +739,6 @@ void SpectraCamera::configISP() {
                              CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE,
                              m->device_iommu, m->cdm_iommu);
 
-  ife_patch1.init(m, 12480, 0x20, CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, m->device_iommu, m->cdm_iommu);
-  ife_patch2.init(m, 80160, 0x20, CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, m->device_iommu, m->cdm_iommu);
-
   config_ife(0, 0, 1, 0);
 }
 

diff --git a/system/camerad/cameras/spectra.h b/system/camerad/cameras/spectra.h
@@ -67,19 +67,6 @@ class SpectraMaster {
   int cdm_iommu = -1;
 };
 
-class SpectraBuf {
-public:
-  void init(SpectraMaster *m, int s, int a, int flags, int mmu_hdl = 0, int mmu_hdl2 = 0) {
-    size = s;
-    alignment = a;
-    ptr = alloc_w_mmu_hdl(m->video0_fd, size, (uint32_t*)&handle, alignment, flags, mmu_hdl, mmu_hdl2);
-    assert(ptr != NULL);
-  };
-
-  void *ptr;
-  int size, alignment, handle;
-};
-
 class SpectraCamera {
 public:
   SpectraCamera(SpectraMaster *master, const CameraConfig &config);
@@ -134,8 +121,6 @@ class SpectraCamera {
   int buf0_handle = 0;
   const int buf0_size = 67984; // unclear what this is and how it's determined, for internal ISP use? it's just copied from an ioctl dump
   const int buf0_alignment = 0x20;
-	SpectraBuf ife_patch1;
-	SpectraBuf ife_patch2;
 
   int buf_handle[FRAME_BUF_COUNT] = {};
   int sync_objs[FRAME_BUF_COUNT] = {};

diff --git a/system/camerad/debug.sh b/system/camerad/debug.sh
@@ -1,7 +1,15 @@
 #!/usr/bin/bash
+set -e
+
+#echo 4294967295 | sudo tee /sys/module/cam_debug_util/parameters/debug_mdl
+
+# no CCI and UTIL, very spammy
+echo 0xfffdbfff | sudo tee /sys/module/cam_debug_util/parameters/debug_mdl
 
 sudo dmesg -C
 scons -u -j8 --minimal .
-#DEBUG_FRAMES=1
-#DISABLE_ROAD=1 DISABLE_WIDE_ROAD=1
-DISABLE_DRIVER=1 LOGPRINT=debug ./camerad
+export DEBUG_FRAMES=1
+#export DISABLE_ROAD=1 DISABLE_WIDE_ROAD=1
+export DISABLE_DRIVER=1
+#export LOGPRINT=debug
+./camerad