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