Fix commIssue due to frame drop and power draw (commaai#2689)

Co-authored-by: robbederks <[email protected]> Co-authored-by: Willem Melching <[email protected]>
icmma · Dec 4, 2020 · 29d9e1c · 29d9e1c
1 parent 0b384ea
commit 29d9e1c
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Showing 3 changed files with 10 additions and 6 deletions.
diff --git a/panda/board/boards/uno.h b/panda/board/boards/uno.h
@@ -56,7 +56,12 @@ void uno_set_gps_load_switch(bool enabled) {
 }
 
 void uno_set_bootkick(bool enabled){
-  set_gpio_output(GPIOB, 14, !enabled);
+  if(enabled){
+    set_gpio_output(GPIOB, 14, false);
+  } else {
+    // We want the pin to be floating, not forced high!
+    set_gpio_mode(GPIOB, 14, MODE_INPUT);
+  }
 }
 
 void uno_bootkick(void) {

diff --git a/selfdrive/modeld/models/driving.cc b/selfdrive/modeld/models/driving.cc
@@ -311,15 +311,15 @@ void model_publish_v2(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
                      float model_execution_time) {
   // make msg
   MessageBuilder msg;
-  auto framed = msg.initEvent(frame_drop < MAX_FRAME_DROP).initModelV2();
+  auto framed = msg.initEvent().initModelV2();
   uint32_t frame_age = (frame_id > vipc_frame_id) ? (frame_id - vipc_frame_id) : 0;
   framed.setFrameId(vipc_frame_id);
   framed.setFrameAge(frame_age);
   framed.setFrameDropPerc(frame_drop * 100);
   framed.setTimestampEof(timestamp_eof);
   framed.setModelExecutionTime(model_execution_time);
 
-  // plan 
+  // plan
   int plan_mhp_max_idx = 0;
   for (int i=1; i<PLAN_MHP_N; i++) {
     if (net_outputs.plan[(i + 1)*(PLAN_MHP_GROUP_SIZE) - 1] >
@@ -393,7 +393,7 @@ void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
 
   uint32_t frame_age = (frame_id > vipc_frame_id) ? (frame_id - vipc_frame_id) : 0;
   MessageBuilder msg;
-  auto framed = msg.initEvent(frame_drop < MAX_FRAME_DROP).initModel();
+  auto framed = msg.initEvent().initModel();
   framed.setFrameId(vipc_frame_id);
   framed.setFrameAge(frame_age);
   framed.setFrameDropPerc(frame_drop * 100);
@@ -429,7 +429,7 @@ void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
 
   auto lpath = framed.initPath();
   fill_path(lpath, &net_outputs.plan[plan_mhp_max_idx*(PLAN_MHP_GROUP_SIZE)], valid_len, valid_len_idx);
-  
+
   auto left_lane = framed.initLeftLane();
   int ll_idx = 1;
   fill_lane_line(left_lane, net_outputs.lane_lines, ll_idx, valid_len, valid_len_idx,

diff --git a/selfdrive/modeld/models/driving.h b/selfdrive/modeld/models/driving.h
@@ -39,7 +39,6 @@
 #define POSE_SIZE 12
 
 #define MODEL_FREQ 20
-#define MAX_FRAME_DROP 0.05
 
 struct ModelDataRaw {
     float *plan;