Tici: amplifier config (#21596)

* amplifier config on boot

* add to release

* another spot

* add debug when running separately

* rename for clarity
old-commit-hash: cbae2899df

release/files_common

@@ -277,6 +277,7 @@ selfdrive/hardware/eon/hardware.h
 selfdrive/hardware/eon/hardware.py
 selfdrive/hardware/tici/__init__.py
 selfdrive/hardware/tici/hardware.py
+selfdrive/hardware/tici/amplifier.py
 selfdrive/hardware/pc/__init__.py
 selfdrive/hardware/pc/hardware.py
 

release/files_tici

@@ -13,5 +13,6 @@ selfdrive/hardware/tici/hardware.py
 selfdrive/hardware/tici/pins.py
 selfdrive/hardware/tici/agnos.py
 selfdrive/hardware/tici/agnos.json
+selfdrive/hardware/tici/amplifier.py
 
 selfdrive/timezoned.py

selfdrive/hardware/base.py

@@ -111,7 +111,7 @@ class HardwareBase:
     pass
 
   @abstractmethod
-  def set_power_save(self, enabled):
+  def set_power_save(self, powersave_enabled):
     pass
 
   @abstractmethod
@@ -121,3 +121,7 @@ class HardwareBase:
   @abstractmethod
   def get_modem_version(self):
     pass
+
+  @abstractmethod
+  def initialize_hardware(self):
+    pass

selfdrive/hardware/eon/hardware.py

@@ -375,7 +375,7 @@ class Android(HardwareBase):
     with open("/sys/class/leds/lcd-backlight/brightness", "w") as f:
       f.write(str(int(percentage * 2.55)))
 
-  def set_power_save(self, enabled):
+  def set_power_save(self, powersave_enabled):
     pass
 
   def get_gpu_usage_percent(self):
@@ -388,3 +388,6 @@ class Android(HardwareBase):
 
   def get_modem_version(self):
     return None
+
+  def initialize_hardware(self):
+    pass

selfdrive/hardware/pc/hardware.py

@@ -83,7 +83,7 @@ class Pc(HardwareBase):
   def set_screen_brightness(self, percentage):
     pass
 
-  def set_power_save(self, enabled):
+  def set_power_save(self, powersave_enabled):
     pass
 
   def get_gpu_usage_percent(self):
@@ -91,3 +91,6 @@ class Pc(HardwareBase):
 
   def get_modem_version(self):
     return None
+
+  def initialize_hardware(self):
+    pass

selfdrive/hardware/tici/amplifier.py

@@ -0,0 +1,100 @@
+#!/usr/bin/env python
+from smbus2 import SMBus
+from collections import namedtuple
+
+# https://datasheets.maximintegrated.com/en/ds/MAX98089.pdf
+
+AmpConfig = namedtuple('AmpConfig', ['name', 'value', 'register', 'offset', 'mask'])
+EQParams = namedtuple('EQParams', ['K', 'k1', 'k2', 'c1', 'c2'])
+
+def configs_from_eq_params(base, eq_params):
+  return [
+    AmpConfig("K (high)", (eq_params.K >> 8), base, 0, 0xFF),
+    AmpConfig("K (low)", (eq_params.K & 0xFF), base + 1, 0, 0xFF),
+    AmpConfig("k1 (high)", (eq_params.k1 >> 8), base + 2, 0, 0xFF),
+    AmpConfig("k1 (low)", (eq_params.k1 & 0xFF), base + 3, 0, 0xFF),
+    AmpConfig("k2 (high)", (eq_params.k2 >> 8), base + 4, 0, 0xFF),
+    AmpConfig("k2 (low)", (eq_params.k2 & 0xFF), base + 5, 0, 0xFF),
+    AmpConfig("c1 (high)", (eq_params.c1 >> 8), base + 6, 0, 0xFF),
+    AmpConfig("c1 (low)", (eq_params.c1 & 0xFF), base + 7, 0, 0xFF),
+    AmpConfig("c2 (high)", (eq_params.c2 >> 8), base + 8, 0, 0xFF),
+    AmpConfig("c2 (low)", (eq_params.c2 & 0xFF), base + 9, 0, 0xFF),
+  ]
+
+BASE_CONFIG = [
+  AmpConfig("MCLK prescaler", 0b01, 0x10, 4, 0b00110000),
+  AmpConfig("PM: enable speakers", 0b11, 0x4D, 4, 0b00110000),
+  AmpConfig("PM: enable DACs", 0b11, 0x4D, 0, 0b00000011),
+  AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111),
+  AmpConfig("Right Speaker Mixer Gain", 0b00, 0x2D, 2, 0b00001100),
+  AmpConfig("Enable PLL1", 0b1, 0x12, 7, 0b10000000),
+  AmpConfig("Enable PLL2", 0b1, 0x1A, 7, 0b10000000),
+  AmpConfig("DAI1: I2S mode", 0b00100, 0x14, 2, 0b01111100),
+  AmpConfig("DAI2: I2S mode", 0b00100, 0x1C, 2, 0b01111100),
+  AmpConfig("Right speaker output volume", 0x1F, 0x3E, 0, 0b00011111),
+  AmpConfig("DAI1 Passband filtering: music mode", 0b1, 0x18, 7, 0b10000000),
+  AmpConfig("DAI1 voice mode gain (DV1G)", 0b00, 0x2F, 4, 0b00110000),
+  AmpConfig("DAI1 attenuation (DV1)", 0x0, 0x2F, 0, 0b00001111),
+  AmpConfig("DAI2 attenuation (DV2)", 0x0, 0x31, 0, 0b00001111),
+  AmpConfig("DAI2: DC blocking", 0b1, 0x20, 0, 0b00000001),
+  AmpConfig("DAI2: High sample rate", 0b0, 0x20, 3, 0b00001000),
+  AmpConfig("ALC enable", 0b0, 0x43, 7, 0b10000000),
+  AmpConfig("ALC/excursion limiter release time", 0b101, 0x43, 4, 0b01110000),
+  AmpConfig("DAI1 EQ enable", 0b0, 0x49, 0, 0b00000001),
+  AmpConfig("DAI2 EQ enable", 0b1, 0x49, 1, 0b00000010),
+  AmpConfig("DAI2 EQ clip detection disabled", 0b0, 0x32, 4, 0b00010000),
+  AmpConfig("DAI2 EQ attenuation", 0x5, 0x32, 0, 0b00001111),
+  AmpConfig("Excursion limiter upper corner freq", 0b100, 0x41, 4, 0b01110000),
+  AmpConfig("Excursion limiter lower corner freq", 0b00, 0x41, 0, 0b00000011),
+  AmpConfig("Excursion limiter threshold", 0b000, 0x42, 0, 0b00001111),
+  AmpConfig("Distortion limit (THDCLP)", 0x6, 0x46, 4, 0b11110000),
+  AmpConfig("Distortion limiter release time constant", 0b0, 0x46, 0, 0b00000001),
+  AmpConfig("Right DAC input mixer: DAI1 left", 0b0, 0x22, 3, 0b00001000),
+  AmpConfig("Right DAC input mixer: DAI1 right", 0b0, 0x22, 2, 0b00000100),
+  AmpConfig("Right DAC input mixer: DAI2 left", 0b1, 0x22, 1, 0b00000010),
+  AmpConfig("Right DAC input mixer: DAI2 right", 0b0, 0x22, 0, 0b00000001),
+  AmpConfig("DAI1 audio port selector", 0b10, 0x16, 6, 0b11000000),
+  AmpConfig("DAI2 audio port selector", 0b01, 0x1E, 6, 0b11000000),
+  AmpConfig("Enable left digital microphone", 0b1, 0x48, 5, 0b00100000),
+  AmpConfig("Enable right digital microphone", 0b1, 0x48, 4, 0b00010000),
+]
+
+BASE_CONFIG += configs_from_eq_params(0x84, EQParams(0x65C4, 0xC07C, 0x3D66, 0x07D9, 0x120F))
+BASE_CONFIG += configs_from_eq_params(0x8E, EQParams(0x1009, 0xC6BF, 0x2952, 0x1C97, 0x30DF))
+BASE_CONFIG += configs_from_eq_params(0x98, EQParams(0x2822, 0xC1C7, 0x3B50, 0x0EF8, 0x180A))
+BASE_CONFIG += configs_from_eq_params(0xA2, EQParams(0x1009, 0xC5C2, 0x271F, 0x1A87, 0x32A6))
+BASE_CONFIG += configs_from_eq_params(0xAC, EQParams(0x2000, 0xCA1E, 0x4000, 0x2287, 0x0000))
+
+class Amplifier:
+  AMP_I2C_BUS = 0
+  AMP_ADDRESS = 0x10
+
+  def __init__(self, debug=False):
+    self.debug = debug
+
+  def set_config(self, config):
+    with SMBus(self.AMP_I2C_BUS) as bus:
+      if self.debug:
+        print(f"Setting \"{config.name}\" to {config.value}:")
+
+      old_value = bus.read_byte_data(self.AMP_ADDRESS, config.register, force=True)
+      new_value = (old_value & (~config.mask)) | ((config.value << config.offset) & config.mask)
+      bus.write_byte_data(self.AMP_ADDRESS, config.register, new_value, force=True)
+
+      if self.debug:
+        print(f"  Changed {hex(config.register)}: {hex(old_value)} -> {hex(new_value)}")
+
+  def set_global_shutdown(self, amp_disabled):
+    self.set_config(AmpConfig("Global shutdown", 0b0 if amp_disabled else 0b1, 0x51, 7, 0b10000000))
+
+  def initialize_configuration(self):
+    for config in BASE_CONFIG:
+      self.set_config(config)
+
+    # Re-init amp
+    self.set_global_shutdown(amp_disabled=True)
+    self.set_global_shutdown(amp_disabled=False)
+
+
+if __name__ == "__main__":
+  Amplifier(debug=True).initialize_configuration()

selfdrive/hardware/tici/hardware.py

@@ -3,10 +3,10 @@ from functools import cached_property
 from enum import IntEnum
 import subprocess
 from pathlib import Path
-from smbus2 import SMBus
 
 from cereal import log
 from selfdrive.hardware.base import HardwareBase, ThermalConfig
+from selfdrive.hardware.tici.amplifier import Amplifier
 
 NM = 'org.freedesktop.NetworkManager'
 NM_CON_ACT = NM + '.Connection.Active'
@@ -43,16 +43,6 @@ NetworkStrength = log.DeviceState.NetworkStrength
 MM_MODEM_ACCESS_TECHNOLOGY_UMTS = 1 << 5
 MM_MODEM_ACCESS_TECHNOLOGY_LTE = 1 << 14
 
-AMP_I2C_BUS = 0
-AMP_ADDRESS = 0x10
-
-def write_amplifier_reg(reg, val, offset, mask):
-  with SMBus(AMP_I2C_BUS) as bus:
-    v = bus.read_byte_data(AMP_ADDRESS, reg, force=True)
-    v = (v & (~mask)) | ((val << offset) & mask)
-    bus.write_byte_data(AMP_ADDRESS, reg, v, force=True)
-
-
 class Tici(HardwareBase):
   @cached_property
   def bus(self):
@@ -67,6 +57,10 @@ class Tici(HardwareBase):
   def mm(self):
     return self.bus.get_object(MM, '/org/freedesktop/ModemManager1')
 
+  @cached_property
+  def amplifier(self):
+    return Amplifier()
+
   def get_os_version(self):
     with open("/VERSION") as f:
       return f.read().strip()
@@ -268,14 +262,14 @@ class Tici(HardwareBase):
     except Exception:
       pass
 
-  def set_power_save(self, enabled):
+  def set_power_save(self, powersave_enabled):
     # amplifier, 100mW at idle
-    write_amplifier_reg(0x51, 0b0 if enabled else 0b1, 7, 0b10000000)
+    self.amplifier.set_global_shutdown(amp_disabled=powersave_enabled)
 
     # offline big cluster, leave core 4 online for boardd
     for i in range(5, 8):
       # TODO: fix permissions with udev
-      val = "0" if enabled else "1"
+      val = "0" if powersave_enabled else "1"
       os.system(f"sudo su -c 'echo {val} > /sys/devices/system/cpu/cpu{i}/online'")
 
   def get_gpu_usage_percent(self):
@@ -284,3 +278,6 @@ class Tici(HardwareBase):
       return 100.0 * int(used) / int(total)
     except Exception:
       return 0
+
+  def initialize_hardware(self):
+    self.amplifier.initialize_configuration()

selfdrive/thermald/thermald.py

@@ -171,6 +171,7 @@ def thermald_thread():
   power_monitor = PowerMonitoring()
   no_panda_cnt = 0
 
+  HARDWARE.initialize_hardware()
   thermal_config = HARDWARE.get_thermal_config()
 
   if params.get_bool("IsOnroad"):