tici downclock (#24088)

* tici downclock

* fix that

* gp ref

* lower that a bit

* that was a scam

* perf

* update power

* increase that

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: b88fb037ab

selfdrive/hardware/tici/hardware.py

@@ -415,12 +415,12 @@ class Tici(HardwareBase):
 
     # offline big cluster, leave core 4 online for boardd
     for i in range(5, 8):
-      val = "0" if powersave_enabled else "1"
-      sudo_write(val, f"/sys/devices/system/cpu/cpu{i}/online")
+      val = '0' if powersave_enabled else '1'
+      sudo_write(val, f'/sys/devices/system/cpu/cpu{i}/online')
 
     for n in ('0', '4'):
       gov = 'ondemand' if powersave_enabled else 'performance'
-      sudo_write(gov, f"/sys/devices/system/cpu/cpufreq/policy{n}/scaling_governor")
+      sudo_write(gov, f'/sys/devices/system/cpu/cpufreq/policy{n}/scaling_governor')
 
     # *** IRQ config ***
     affine_irq(5, 565)   # kgsl-3d0
@@ -450,13 +450,15 @@ class Tici(HardwareBase):
     sudo_write("f", "/proc/irq/default_smp_affinity")
 
     # *** GPU config ***
-    sudo_write("0", "/sys/class/kgsl/kgsl-3d0/min_pwrlevel")
-    sudo_write("0", "/sys/class/kgsl/kgsl-3d0/max_pwrlevel")
+    # https://github.com/commaai/agnos-kernel-sdm845/blob/master/arch/arm64/boot/dts/qcom/sdm845-gpu.dtsi#L216
+    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")
     sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_clk_on")
     sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_rail_on")
     sudo_write("1000000", "/sys/class/kgsl/kgsl-3d0/idle_timer")
     sudo_write("performance", "/sys/class/kgsl/kgsl-3d0/devfreq/governor")
+    sudo_write("596", "/sys/class/kgsl/kgsl-3d0/max_clock_mhz")
 
     # setup governors
     sudo_write("performance", "/sys/class/devfreq/soc:qcom,cpubw/governor")

selfdrive/hardware/tici/power_monitor.py

@@ -38,7 +38,6 @@ if __name__ == '__main__':
     voltage_average = (0, 0)  # average, count
     current_average = (0, 0)
     power_average = (0, 0)
-    power_total_average = (0, 0)
     while sample_time is None or time.monotonic() - start_time < sample_time:
       with open("/sys/bus/i2c/devices/0-0040/hwmon/hwmon1/in1_input") as f:
         voltage_total = int(f.read()) / 1000.
@@ -46,23 +45,23 @@ if __name__ == '__main__':
       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
+      # SOM measurements are questionable
+      #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
 
-      with open("/sys/class/power_supply/bms/current_now") as f:
-        current = int(f.read()) / 1e3   # ma
-
-      power = voltage*current
       power_total = voltage_total*current_total
 
       # compute averages
-      voltage_average = average(voltage_average, voltage)
-      current_average = average(current_average, current)
-      power_average = average(power_average, power)
-      power_total_average = average(power_total_average, power_total)
+      voltage_average = average(voltage_average, voltage_total)
+      current_average = average(current_average, current_total)
+      power_average = average(power_average, power_total)
 
-      print(f"{power:12.2f} mW {power_total:12.2f} mW {power_total - power:12.2f} mW")
+      print(f"now: {power_total:.2f} mW, avg: {power_average[0]:.2f} mW")
       time.sleep(0.25)
+  except KeyboardInterrupt:
+    pass
   finally:
     stop_time = time.monotonic()
     print("\n----------------------Average-----------------------------------")

selfdrive/hardware/tici/test_power_draw.py

@@ -10,8 +10,8 @@ from selfdrive.manager.process_config import managed_processes
 from selfdrive.manager.manager import manager_cleanup
 
 POWER = OrderedDict(
-  camerad=2.65,
-  modeld=1.15,
+  camerad=2.58,
+  modeld=0.90,
   dmonitoringmodeld=0.25,
   loggerd=0.45,
 )

selfdrive/test/test_onroad.py

@@ -205,7 +205,7 @@ class TestOnroad(unittest.TestCase):
     result += "------------------------------------------------\n"
     # TODO: this went up when plannerd cpu usage increased, why?
     cfgs = [
-      ("modelV2", 0.038, 0.036),
+      ("modelV2", 0.050, 0.036),
       ("driverState", 0.050, 0.026),
     ]
     for (s, instant_max, avg_max) in cfgs: