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#!/usr/bin/env python3
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import os
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import time
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import numpy as np
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from openpilot.system.hardware.tici.hardware import Tici
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from openpilot.system.hardware.tici.pins import GPIO
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from openpilot.common.gpio import gpio_init, gpio_set, gpio_export
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def read_power():
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with open("/sys/bus/i2c/devices/0-0040/hwmon/hwmon1/in1_input") as f:
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voltage_total = int(f.read()) / 1000.
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with open("/sys/bus/i2c/devices/0-0040/hwmon/hwmon1/curr1_input") as f:
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current_total = int(f.read())
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with open("/sys/class/power_supply/bms/voltage_now") as f:
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voltage = int(f.read()) / 1e6 # volts
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with open("/sys/class/power_supply/bms/current_now") as f:
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current = int(f.read()) / 1e3 # ma
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power_som = voltage*current
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power_total = voltage_total*current_total
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return power_total, power_som
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def read_power_avg():
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pwrs = []
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for _ in range(100):
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pwrs.append(read_power())
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time.sleep(0.01)
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power_total, power_som = np.mean([x[0] for x in pwrs]), np.mean([x[1] for x in pwrs])
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return "total %7.2f mW SOM %7.2f mW" % (power_total, power_som)
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if __name__ == "__main__":
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gpio_export(GPIO.CAM0_AVDD_EN)
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gpio_export(GPIO.CAM0_RSTN)
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gpio_export(GPIO.CAM1_RSTN)
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gpio_export(GPIO.CAM2_RSTN)
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print("hello")
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os.system('kill $(pgrep -f "manager.py")')
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os.system('kill $(pgrep -f "python -m selfdrive.athena.manage_athenad")')
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os.system('kill $(pgrep -f "selfdrive.athena.athenad")')
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# stopping weston turns off lcd3v3
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os.system("sudo service weston stop")
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os.system("sudo service ModemManager stop")
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print("services stopped")
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t = Tici()
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t.initialize_hardware()
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t.set_power_save(True)
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t.set_screen_brightness(0)
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gpio_init(GPIO.STM_RST_N, True)
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gpio_init(GPIO.HUB_RST_N, True)
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gpio_init(GPIO.UBLOX_PWR_EN, True)
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gpio_init(GPIO.LTE_RST_N, True)
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gpio_init(GPIO.LTE_PWRKEY, True)
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gpio_init(GPIO.CAM0_AVDD_EN, True)
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gpio_init(GPIO.CAM0_RSTN, True)
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gpio_init(GPIO.CAM1_RSTN, True)
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gpio_init(GPIO.CAM2_RSTN, True)
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os.system("sudo su -c 'echo 0 > /sys/kernel/debug/regulator/camera_rear_ldo/enable'") # cam 1v2 off
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gpio_set(GPIO.CAM0_AVDD_EN, False) # cam 2v8 off
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gpio_set(GPIO.LTE_RST_N, True) # quectel off
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gpio_set(GPIO.UBLOX_PWR_EN, False) # gps off
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gpio_set(GPIO.STM_RST_N, True) # panda off
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gpio_set(GPIO.HUB_RST_N, False) # hub off
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# cameras in reset
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gpio_set(GPIO.CAM0_RSTN, False)
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gpio_set(GPIO.CAM1_RSTN, False)
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gpio_set(GPIO.CAM2_RSTN, False)
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time.sleep(8)
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print("baseline: ", read_power_avg())
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gpio_set(GPIO.CAM0_AVDD_EN, True)
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time.sleep(2)
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print("cam avdd: ", read_power_avg())
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os.system("sudo su -c 'echo 1 > /sys/kernel/debug/regulator/camera_rear_ldo/enable'")
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time.sleep(2)
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print("cam dvdd: ", read_power_avg())
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gpio_set(GPIO.CAM0_RSTN, True)
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gpio_set(GPIO.CAM1_RSTN, True)
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gpio_set(GPIO.CAM2_RSTN, True)
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time.sleep(2)
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print("cams up: ", read_power_avg())
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gpio_set(GPIO.HUB_RST_N, True)
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time.sleep(2)
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print("usb hub: ", read_power_avg())
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gpio_set(GPIO.STM_RST_N, False)
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time.sleep(5)
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print("panda: ", read_power_avg())
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gpio_set(GPIO.UBLOX_PWR_EN, True)
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time.sleep(5)
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print("gps: ", read_power_avg())
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gpio_set(GPIO.LTE_RST_N, False)
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time.sleep(1)
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gpio_set(GPIO.LTE_PWRKEY, True)
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time.sleep(1)
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gpio_set(GPIO.LTE_PWRKEY, False)
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time.sleep(5)
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print("quectel: ", read_power_avg())
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