Fix commIssue due to frame drop and power draw (#2689)
Co-authored-by: robbederks <robbe.derks@gmail.com> Co-authored-by: Willem Melching <willem.melching@gmail.com>pull/19532/head
parent
0b384ea101
commit
29d9e1ce69
|
@ -56,7 +56,12 @@ void uno_set_gps_load_switch(bool enabled) {
|
|||
}
|
||||
|
||||
void uno_set_bootkick(bool enabled){
|
||||
set_gpio_output(GPIOB, 14, !enabled);
|
||||
if(enabled){
|
||||
set_gpio_output(GPIOB, 14, false);
|
||||
} else {
|
||||
// We want the pin to be floating, not forced high!
|
||||
set_gpio_mode(GPIOB, 14, MODE_INPUT);
|
||||
}
|
||||
}
|
||||
|
||||
void uno_bootkick(void) {
|
||||
|
|
|
@ -311,7 +311,7 @@ void model_publish_v2(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
|
|||
float model_execution_time) {
|
||||
// make msg
|
||||
MessageBuilder msg;
|
||||
auto framed = msg.initEvent(frame_drop < MAX_FRAME_DROP).initModelV2();
|
||||
auto framed = msg.initEvent().initModelV2();
|
||||
uint32_t frame_age = (frame_id > vipc_frame_id) ? (frame_id - vipc_frame_id) : 0;
|
||||
framed.setFrameId(vipc_frame_id);
|
||||
framed.setFrameAge(frame_age);
|
||||
|
@ -319,7 +319,7 @@ void model_publish_v2(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
|
|||
framed.setTimestampEof(timestamp_eof);
|
||||
framed.setModelExecutionTime(model_execution_time);
|
||||
|
||||
// plan
|
||||
// plan
|
||||
int plan_mhp_max_idx = 0;
|
||||
for (int i=1; i<PLAN_MHP_N; i++) {
|
||||
if (net_outputs.plan[(i + 1)*(PLAN_MHP_GROUP_SIZE) - 1] >
|
||||
|
@ -393,7 +393,7 @@ void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
|
|||
|
||||
uint32_t frame_age = (frame_id > vipc_frame_id) ? (frame_id - vipc_frame_id) : 0;
|
||||
MessageBuilder msg;
|
||||
auto framed = msg.initEvent(frame_drop < MAX_FRAME_DROP).initModel();
|
||||
auto framed = msg.initEvent().initModel();
|
||||
framed.setFrameId(vipc_frame_id);
|
||||
framed.setFrameAge(frame_age);
|
||||
framed.setFrameDropPerc(frame_drop * 100);
|
||||
|
@ -429,7 +429,7 @@ void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
|
|||
|
||||
auto lpath = framed.initPath();
|
||||
fill_path(lpath, &net_outputs.plan[plan_mhp_max_idx*(PLAN_MHP_GROUP_SIZE)], valid_len, valid_len_idx);
|
||||
|
||||
|
||||
auto left_lane = framed.initLeftLane();
|
||||
int ll_idx = 1;
|
||||
fill_lane_line(left_lane, net_outputs.lane_lines, ll_idx, valid_len, valid_len_idx,
|
||||
|
|
|
@ -39,7 +39,6 @@
|
|||
#define POSE_SIZE 12
|
||||
|
||||
#define MODEL_FREQ 20
|
||||
#define MAX_FRAME_DROP 0.05
|
||||
|
||||
struct ModelDataRaw {
|
||||
float *plan;
|
||||
|
|
Loading…
Reference in New Issue