From 29d9e1ce6964984edd9c24b75b1e25929f0adeee Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 3 Dec 2020 13:12:43 -0800
Subject: [PATCH] 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>
---
 panda/board/boards/uno.h           | 7 ++++++-
 selfdrive/modeld/models/driving.cc | 8 ++++----
 selfdrive/modeld/models/driving.h  | 1 -
 3 files changed, 10 insertions(+), 6 deletions(-)

diff --git a/panda/board/boards/uno.h b/panda/board/boards/uno.h
index 91f65a246..cc9c4c0dc 100644
--- a/panda/board/boards/uno.h
+++ b/panda/board/boards/uno.h
@@ -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) {
diff --git a/selfdrive/modeld/models/driving.cc b/selfdrive/modeld/models/driving.cc
index c55af9e06..ebc85f066 100644
--- a/selfdrive/modeld/models/driving.cc
+++ b/selfdrive/modeld/models/driving.cc
@@ -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,
diff --git a/selfdrive/modeld/models/driving.h b/selfdrive/modeld/models/driving.h
index 346e6e876..93177105e 100644
--- a/selfdrive/modeld/models/driving.h
+++ b/selfdrive/modeld/models/driving.h
@@ -39,7 +39,6 @@
 #define POSE_SIZE 12
 
 #define MODEL_FREQ 20
-#define MAX_FRAME_DROP 0.05
 
 struct ModelDataRaw {
     float *plan;