tici IRQ tuning (#24170)

* first pass

* move that back

* move that

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: cf6c0ef19a

selfdrive/hardware/tici/hardware.py

@@ -58,6 +58,9 @@ MM_MODEM_ACCESS_TECHNOLOGY_LTE = 1 << 14
 def sudo_write(val, path):
   os.system(f"sudo su -c 'echo {val} > {path}'")
 
+def affine_irq(val, irq):
+  sudo_write(str(val), f"/proc/irq/{irq}/smp_affinity_list")
+
 
 class Tici(HardwareBase):
   @cached_property
@@ -419,6 +422,12 @@ class Tici(HardwareBase):
       gov = 'ondemand' if powersave_enabled else 'performance'
       sudo_write(gov, f"/sys/devices/system/cpu/cpufreq/policy{n}/scaling_governor")
 
+    # *** IRQ config ***
+    affine_irq(5, 565)   # kgsl-3d0
+    affine_irq(4, 740)   # xhci-hcd:usb1 goes on the boardd core
+    for irq in range(237, 246):
+      affine_irq(5, irq) # camerad
+
   def get_gpu_usage_percent(self):
     try:
       used, total = open('/sys/class/kgsl/kgsl-3d0/gpubusy').read().strip().split()
@@ -432,6 +441,14 @@ class Tici(HardwareBase):
     # Allow thermald to write engagement status to kmsg
     os.system("sudo chmod a+w /dev/kmsg")
 
+    # *** IRQ config ***
+
+    # move these off the default core
+    affine_irq(1, 7)    # msm_drm
+    affine_irq(1, 250)  # msm_vidc
+    affine_irq(1, 8)    # i2c_geni (sensord)
+    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")
@@ -472,3 +489,9 @@ class Tici(HardwareBase):
           pass
 
     return r
+
+
+if __name__ == "__main__":
+  t = Tici()
+  t.initialize_hardware()
+  t.set_power_save(False)