Move MCLK from 24 -> 19.2 mhz + Add accuracy in sidebar (commaai#20960)

* wip * one day i'll flip that right Co-authored-by: Comma Device <[email protected]>
garrettpall · May 19, 2021 · f43671c · f43671c
1 parent efca6ea
commit f43671c
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Showing 5 changed files with 8 additions and 3 deletions.
diff --git a/selfdrive/camerad/cameras/camera_qcom2.cc b/selfdrive/camerad/cameras/camera_qcom2.cc
@@ -273,7 +273,7 @@ void sensors_init(int video0_fd, int sensor_fd, int camera_num) {
   power->count = 1;
   power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_UP;
   power->power_settings[0].power_seq_type = 0;
-  power->power_settings[0].config_val_low = 24000000; //Hz
+  power->power_settings[0].config_val_low = 19200000; //Hz
   power = power_set_wait(power, 10);
 
   // 8,1 is this reset?

diff --git a/selfdrive/camerad/cameras/sensor2_i2c.h b/selfdrive/camerad/cameras/sensor2_i2c.h
@@ -8,7 +8,7 @@ struct i2c_random_wr_payload init_array_ar0231[] = {
   {0x302A, 0x0006}, // VT_PIX_CLK_DIV
   {0x302C, 0x0001}, // VT_SYS_CLK_DIV
   {0x302E, 0x0002}, // PRE_PLL_CLK_DIV
-  {0x3030, 0x0028}, // PLL_MULTIPLIER
+  {0x3030, 0x0032}, // PLL_MULTIPLIER
   {0x3036, 0x000A}, // OP_WORD_CLK_DIV
   {0x3038, 0x0001}, // OP_SYS_CLK_DIV
 

diff --git a/selfdrive/ui/qt/sidebar.cc b/selfdrive/ui/qt/sidebar.cc
@@ -80,7 +80,7 @@ void Sidebar::update(const UIState &s) {
     panda_status = danger_color;
     panda_str = "NO\nPANDA";
   } else if (Hardware::TICI() && s.scene.started) {
-    panda_str = QString("SAT CNT\n%1").arg(s.scene.satelliteCount);
+    panda_str = QString("SATS %1\nACC %2").arg(s.scene.satelliteCount).arg(fmin(10, s.scene.gpsAccuracy), 0, 'f', 2);
     panda_status = (*s.sm)["liveLocationKalman"].getLiveLocationKalman().getGpsOK() ? good_color : warning_color;
   }
 

diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
@@ -169,6 +169,9 @@ static void update_state(UIState *s) {
       scene.satelliteCount = data.getMeasurementReport().getNumMeas();
     }
   }
+  if (sm.updated("gpsLocationExternal")) {
+    scene.gpsAccuracy = sm["gpsLocationExternal"].getGpsLocationExternal().getAccuracy();
+  }
   if (sm.updated("carParams")) {
     scene.longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl();
   }
@@ -270,6 +273,7 @@ QUIState::QUIState(QObject *parent) : QObject(parent) {
   ui_state.sm = std::make_unique<SubMaster, const std::initializer_list<const char *>>({
     "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState", "liveLocationKalman",
     "pandaState", "carParams", "driverState", "driverMonitoringState", "sensorEvents", "carState", "ubloxGnss",
+    "gpsLocationExternal",
 #ifdef QCOM2
     "roadCameraState",
 #endif

diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
@@ -82,6 +82,7 @@ typedef struct UIScene {
 
   // gps
   int satelliteCount;
+  float gpsAccuracy;
 
   // modelV2
   float lane_line_probs[4];