From e32a2ce164cc1aa2ac4c7417a88e69241dae5789 Mon Sep 17 00:00:00 2001
From: "kostas.pats" <35031825+kostas1507@users.noreply.github.com>
Date: Fri, 1 Aug 2025 00:17:22 +0300
Subject: [PATCH] rescale ir power (#35858)

* rescale ir value pandad sends to Hardware and changed max ir value in Hardware

* changed ir_percentage type

* refactored pandad.cc ir_pwr setting

* cleaned up ir update condition

---------

Co-authored-by: kostas pats <kostas@comma.ai>
---
 selfdrive/pandad/pandad.cc      | 20 ++++++++++----------
 system/hardware/tici/hardware.h |  2 +-
 2 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/selfdrive/pandad/pandad.cc b/selfdrive/pandad/pandad.cc
index 35f6afc7b3..faaeb15319 100644
--- a/selfdrive/pandad/pandad.cc
+++ b/selfdrive/pandad/pandad.cc
@@ -36,8 +36,7 @@
 // Ignition:
 // - If any of the ignition sources in any panda is high, ignition is high
 
-#define MAX_IR_POWER 0.5f
-#define MIN_IR_POWER 0.0f
+#define MAX_IR_PANDA_VAL 50
 #define CUTOFF_IL 400
 #define SATURATE_IL 1000
 
@@ -371,8 +370,8 @@ void process_peripheral_state(Panda *panda, PubMaster *pm, bool no_fan_control)
 
   static uint64_t last_driver_camera_t = 0;
   static uint16_t prev_fan_speed = 999;
-  static uint16_t ir_pwr = 0;
-  static uint16_t prev_ir_pwr = 999;
+  static int ir_pwr = 0;
+  static int prev_ir_pwr = 999;
 
   static FirstOrderFilter integ_lines_filter(0, 30.0, 0.05);
 
@@ -395,11 +394,11 @@ void process_peripheral_state(Panda *panda, PubMaster *pm, bool no_fan_control)
       last_driver_camera_t = event.getLogMonoTime();
 
       if (cur_integ_lines <= CUTOFF_IL) {
-        ir_pwr = 100.0 * MIN_IR_POWER;
+        ir_pwr = 0;
       } else if (cur_integ_lines > SATURATE_IL) {
-        ir_pwr = 100.0 * MAX_IR_POWER;
+        ir_pwr = 100;
       } else {
-        ir_pwr = 100.0 * (MIN_IR_POWER + ((cur_integ_lines - CUTOFF_IL) * (MAX_IR_POWER - MIN_IR_POWER) / (SATURATE_IL - CUTOFF_IL)));
+        ir_pwr = 100 * (cur_integ_lines - CUTOFF_IL) / (SATURATE_IL - CUTOFF_IL);
       }
     }
 
@@ -408,9 +407,10 @@ void process_peripheral_state(Panda *panda, PubMaster *pm, bool no_fan_control)
       ir_pwr = 0;
     }
 
-    if (ir_pwr != prev_ir_pwr || sm.frame % 100 == 0 || ir_pwr >= 50.0) {
-      panda->set_ir_pwr(ir_pwr);
-      Hardware::set_ir_power(ir_pwr);
+    if (ir_pwr != prev_ir_pwr || sm.frame % 100 == 0) {
+      int16_t ir_panda = util::map_val(ir_pwr, 0, 100, 0, MAX_IR_PANDA_VAL); 
+      panda->set_ir_pwr(ir_panda);
+      Hardware::set_ir_power(ir_pwr); 
       prev_ir_pwr = ir_pwr;
     }
   }
diff --git a/system/hardware/tici/hardware.h b/system/hardware/tici/hardware.h
index 179ef54a9b..ae1087fa73 100644
--- a/system/hardware/tici/hardware.h
+++ b/system/hardware/tici/hardware.h
@@ -75,7 +75,7 @@ public:
       return;
     }
 
-    int value = util::map_val(std::clamp(percent, 0, 100), 0, 100, 0, 255);
+    int value = util::map_val(std::clamp(percent, 0, 100), 0, 100, 0, 300);
     std::ofstream("/sys/class/leds/led:switch_2/brightness") << 0 << "\n";
     std::ofstream("/sys/class/leds/led:torch_2/brightness") << value << "\n";
     std::ofstream("/sys/class/leds/led:switch_2/brightness") << value << "\n";