sunnypilot v2026.002.000
version: sunnypilot v2026.002.000 (staging) date: 2026-07-21T07:44:02 master commit: 2c334ede443d7391d27575af8c854a095ba702a8
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import configparser
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import json
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import os
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import socket
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import subprocess
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import time
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from functools import cached_property, lru_cache
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from pathlib import Path
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from openpilot.cereal import log
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from openpilot.common.utils import sudo_read, sudo_write
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from openpilot.common.gpio import gpio_set, gpio_init, get_irqs_for_action
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from openpilot.common.esim.base import LPABase
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from openpilot.common.hardware.base import HardwareBase, ThermalConfig, ThermalZone
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from openpilot.common.esim.lpa import TiciLPA
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from openpilot.common.hardware.tici.pins import GPIO
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from openpilot.common.hardware.tici.amplifier import Amplifier
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MODEM_STATE_PATH = "/dev/shm/modem"
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NetworkType = log.DeviceState.NetworkType
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NetworkStrength = log.DeviceState.NetworkStrength
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def affine_irq(val, action):
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irqs = get_irqs_for_action(action)
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if len(irqs) == 0:
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print(f"No IRQs found for '{action}'")
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return
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for i in irqs:
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sudo_write(str(val), f"/proc/irq/{i}/smp_affinity_list")
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@lru_cache
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def get_device_type():
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# lru_cache and cache can cause memory leaks when used in classes
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with open("/sys/firmware/devicetree/base/model") as f:
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model = f.read().strip('\x00')
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return model.split('comma ')[-1]
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def wpa_supplicant_cmd(cmd: str, timeout: float = 0.2) -> dict[str, str]:
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with socket.socket(socket.AF_UNIX, socket.SOCK_DGRAM) as sock:
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sock.settimeout(timeout)
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sock.bind(f"\0openpilot-wpa-{os.getpid()}-{time.monotonic_ns()}")
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sock.connect("/run/wpa_supplicant/wlan0")
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sock.send(cmd.encode())
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while True:
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out = sock.recv(8192).decode("utf-8", "replace")
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if out.startswith("<"):
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continue
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if out.startswith("FAIL"):
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return {}
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return dict(l.split("=", 1) for l in out.splitlines() if "=" in l)
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def get_default_route_iface():
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with open("/proc/net/route") as f:
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routes = [(int(route[6]), route[0]) for line in f.readlines()[1:] if (route := line.split())[1] == "00000000" and int(route[3], 16) & 0x1]
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return min(routes)[1] if routes else None
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class Tici(HardwareBase):
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@cached_property
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def amplifier(self):
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if self.get_device_type() == "mici":
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return None
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return Amplifier()
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def get_modem_state(self) -> dict:
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try:
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with open(MODEM_STATE_PATH) as f:
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return json.load(f)
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except (FileNotFoundError, json.JSONDecodeError):
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return {}
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def get_os_version(self):
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with open("/VERSION") as f:
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return f.read().strip()
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def get_device_type(self):
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return get_device_type()
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def reboot(self, reason=None):
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subprocess.check_output(["sudo", "reboot"])
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def uninstall(self):
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Path("/data/__system_reset__").touch()
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os.sync()
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self.reboot()
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def get_serial(self):
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return self.get_cmdline()['androidboot.serialno']
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def get_voltage(self):
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with open("/sys/class/hwmon/hwmon1/in1_input") as f:
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return int(f.read())
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def get_current(self):
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with open("/sys/class/hwmon/hwmon1/curr1_input") as f:
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return int(f.read())
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def set_ir_power(self, percent: int):
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if self.get_device_type() == "tizi":
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return
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value = int((percent / 100) * 300)
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with open("/sys/class/leds/led:switch_2/brightness", "w") as f:
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f.write("0\n")
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with open("/sys/class/leds/led:torch_2/brightness", "w") as f:
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f.write(f"{value}\n")
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with open("/sys/class/leds/led:switch_2/brightness", "w") as f:
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f.write(f"{value}\n")
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def get_network_type(self):
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try:
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if (iface := get_default_route_iface()):
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if iface.startswith('wlan'):
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return NetworkType.wifi
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if iface.startswith('eth'):
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return NetworkType.ethernet
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except Exception:
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pass
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ms = self.get_modem_state()
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if ms.get('connected'):
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nt = ms.get('network_type', '')
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if nt == 'nr':
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return NetworkType.cell5G
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elif nt == 'lte':
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return NetworkType.cell4G
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elif nt in ('utran', 'umts'):
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return NetworkType.cell3G
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elif nt == 'gsm':
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return NetworkType.cell2G
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return NetworkType.none
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def get_sim_info(self):
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ms = self.get_modem_state()
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sim_id = ms.get('iccid', '')
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return {
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'sim_id': sim_id,
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'mcc_mnc': ms.get('mcc_mnc') or None,
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'network_type': ["Unknown"],
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'sim_state': ["ABSENT"] if not sim_id else ["READY"],
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'data_connected': ms.get('connected', False),
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}
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def get_sim_lpa(self) -> LPABase:
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return TiciLPA()
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def get_imei(self):
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return self.get_modem_state().get('imei', '')
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def get_network_info(self):
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if self.get_device_type() == "mici":
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return None
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ms = self.get_modem_state()
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return {
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'technology': ms.get('network_type', '').upper() if ms.get('network_type') else '',
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'operator': ms.get('operator', ''),
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'band': ms.get('band', ''),
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'channel': ms.get('channel', 0),
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'extra': ms.get('extra', ''),
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'state': ms.get('state', 'UNKNOWN'),
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}
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def parse_strength(self, percentage):
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if percentage < 25:
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return NetworkStrength.poor
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elif percentage < 50:
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return NetworkStrength.moderate
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elif percentage < 75:
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return NetworkStrength.good
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else:
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return NetworkStrength.great
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def get_network_strength(self, network_type):
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network_strength = NetworkStrength.unknown
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try:
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if network_type == NetworkType.none:
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pass
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elif network_type == NetworkType.ethernet:
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network_strength = NetworkStrength.great
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elif network_type == NetworkType.wifi:
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rssi = wpa_supplicant_cmd("SIGNAL_POLL").get("RSSI")
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if rssi is not None:
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dbm = int(rssi)
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if -100 < dbm <= 0:
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network_strength = self.parse_strength(120 + max(-100, min(-20, dbm)))
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else: # Cellular
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network_strength = self.parse_strength(self.get_modem_state().get('signal_quality', 0))
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except Exception:
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pass
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return network_strength
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def get_network_metered(self, network_type) -> bool:
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if network_type in (NetworkType.cell2G, NetworkType.cell3G, NetworkType.cell4G, NetworkType.cell5G):
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from openpilot.common.params import Params
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return Params().get_bool("GsmMetered")
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try:
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if network_type == NetworkType.wifi:
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ssid = wpa_supplicant_cmd("STATUS").get("ssid", "")
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if ssid:
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# wpa_supplicant escapes non-printable bytes as \xNN; NM keyfile stores ASCII SSIDs as a literal and others as a byte;byte; list
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ssid_bytes = ssid.encode().decode('unicode_escape').encode('latin-1')
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ssid_keyfile_list = ';'.join(str(b) for b in ssid_bytes) + ';'
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nm_dirs = ("/run/NetworkManager/system-connections", "/data/etc/NetworkManager/system-connections")
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for fpath in (p for d in nm_dirs for p in Path(d).glob("*.nmconnection")):
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raw = sudo_read(str(fpath))
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if not raw:
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continue
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cp = configparser.ConfigParser(interpolation=None)
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try:
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cp.read_string(raw)
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keyfile_ssid = cp.get("wifi", "ssid", fallback="")
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if keyfile_ssid != ssid and keyfile_ssid != ssid_keyfile_list:
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continue
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metered = cp.getint("connection", "metered", fallback=0)
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except (configparser.Error, ValueError):
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continue
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if metered == 1: # NM_METERED_YES
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return True
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if metered == 2: # NM_METERED_NO
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return False
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break
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except Exception:
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pass
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return super().get_network_metered(network_type)
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def get_modem_temperatures(self):
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return self.get_modem_state().get('temperatures', [])
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def get_current_power_draw(self):
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return (self.read_param_file("/sys/class/hwmon/hwmon1/power1_input", int) / 1e6)
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def get_som_power_draw(self):
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return (self.read_param_file("/sys/class/power_supply/bms/voltage_now", int) * self.read_param_file("/sys/class/power_supply/bms/current_now", int) / 1e12)
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def shutdown(self):
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subprocess.run("sudo poweroff", shell=True)
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def get_thermal_config(self):
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intake, exhaust, gnss, bottomSoc = None, None, None, None
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if self.get_device_type() == "mici":
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gnss = ThermalZone("gnss")
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intake = ThermalZone("intake")
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exhaust = ThermalZone("exhaust")
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bottomSoc = ThermalZone("bottom_soc")
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return ThermalConfig(cpu=[ThermalZone(f"cpu{i}-silver-usr") for i in range(4)] +
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[ThermalZone(f"cpu{i}-gold-usr") for i in range(4)],
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gpu=[ThermalZone("gpu0-usr"), ThermalZone("gpu1-usr")],
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dsp=ThermalZone("compute-hvx-usr"),
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memory=ThermalZone("ddr-usr"),
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pmic=[ThermalZone("pm8998_tz"), ThermalZone("pm8005_tz")],
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intake=intake,
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exhaust=exhaust,
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gnss=gnss,
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bottomSoc=bottomSoc)
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def set_display_power(self, on):
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try:
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with open("/sys/class/backlight/panel0-backlight/bl_power", "w") as f:
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f.write("0" if on else "4")
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except Exception:
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pass
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def set_screen_brightness(self, percentage):
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try:
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with open("/sys/class/backlight/panel0-backlight/max_brightness") as f:
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max_brightness = float(f.read().strip())
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val = int(percentage * (max_brightness / 100.))
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with open("/sys/class/backlight/panel0-backlight/brightness", "w") as f:
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f.write(str(val))
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except Exception:
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pass
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def get_screen_brightness(self):
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try:
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with open("/sys/class/backlight/panel0-backlight/max_brightness") as f:
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max_brightness = float(f.read().strip())
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with open("/sys/class/backlight/panel0-backlight/brightness") as f:
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return int(float(f.read()) / (max_brightness / 100.))
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except Exception:
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return 0
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def set_power_save(self, powersave_enabled):
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# amplifier, 100mW at idle
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if self.amplifier is not None:
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self.amplifier.set_global_shutdown(amp_disabled=powersave_enabled)
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if not powersave_enabled:
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self.amplifier.initialize_configuration()
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# *** CPU config ***
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# offline big cluster
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for i in range(4, 8):
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val = '0' if powersave_enabled else '1'
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sudo_write(val, f'/sys/devices/system/cpu/cpu{i}/online')
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for n in ('0', '4'):
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if powersave_enabled and n == '4':
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continue
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gov = 'ondemand' if powersave_enabled else 'performance'
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sudo_write(gov, f'/sys/devices/system/cpu/cpufreq/policy{n}/scaling_governor')
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if not powersave_enabled:
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# cap max core freq to 1689 Mhz
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sudo_write('1689600', f'/sys/devices/system/cpu/cpufreq/policy{n}/scaling_max_freq')
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# *** IRQ config ***
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# GPU, modeld core
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affine_irq(7, "kgsl-3d0")
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# camerad core
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camera_irqs = ("a5", "cci", "cpas_camnoc", "cpas-cdm", "csid", "ife", "csid-lite", "ife-lite")
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for n in camera_irqs:
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affine_irq(6, n)
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def get_gpu_usage_percent(self):
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try:
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with open('/sys/class/kgsl/kgsl-3d0/gpubusy') as f:
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used, total = f.read().strip().split()
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return 100.0 * int(used) / int(total)
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except Exception:
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return 0
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def initialize_hardware(self):
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if self.amplifier is not None:
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self.amplifier.initialize_configuration()
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# Allow hardwared to write engagement status to kmsg
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subprocess.run("sudo chmod a+w /dev/kmsg", shell=True)
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# Ensure fan gpio is enabled so fan runs until shutdown, also turned on at boot by the ABL
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gpio_init(GPIO.SOM_ST_IO, True)
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gpio_set(GPIO.SOM_ST_IO, 1)
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# *** IRQ config ***
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# mask off big cluster from default affinity
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sudo_write("f", "/proc/irq/default_smp_affinity")
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# move these off the default core
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affine_irq(1, "msm_vidc") # encoders
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affine_irq(1, "i2c_geni") # sensors
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# *** GPU config ***
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# https://github.com/commaai/agnos-kernel-sdm845/blob/master/arch/arm64/boot/dts/qcom/sdm845-gpu.dtsi#L216
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affine_irq(5, "fts_ts") # touch
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affine_irq(5, "msm_drm") # display
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sudo_write("1", "/sys/class/kgsl/kgsl-3d0/min_pwrlevel")
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sudo_write("1", "/sys/class/kgsl/kgsl-3d0/max_pwrlevel")
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sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_bus_on")
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sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_clk_on")
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sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_rail_on")
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sudo_write("1000", "/sys/class/kgsl/kgsl-3d0/idle_timer")
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sudo_write("performance", "/sys/class/kgsl/kgsl-3d0/devfreq/governor")
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sudo_write("710", "/sys/class/kgsl/kgsl-3d0/max_clock_mhz")
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# setup governors
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sudo_write("performance", "/sys/class/devfreq/soc:qcom,cpubw/governor")
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sudo_write("performance", "/sys/class/devfreq/soc:qcom,memlat-cpu0/governor")
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sudo_write("performance", "/sys/class/devfreq/soc:qcom,memlat-cpu4/governor")
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# *** VIDC (encoder) config ***
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sudo_write("N", "/sys/kernel/debug/msm_vidc/clock_scaling")
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sudo_write("Y", "/sys/kernel/debug/msm_vidc/disable_thermal_mitigation")
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# pandad core
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affine_irq(3, "spi_geni") # SPI
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try:
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pid = subprocess.check_output(["pgrep", "-f", "spi0"], encoding='utf8').strip()
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subprocess.call(["sudo", "chrt", "-f", "-p", "1", pid])
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subprocess.call(["sudo", "taskset", "-pc", "3", pid])
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except subprocess.CalledProcessError as e:
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print(str(e))
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def get_modem_data_usage(self):
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ms = self.get_modem_state()
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return ms.get('tx_bytes', -1), ms.get('rx_bytes', -1)
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def reset_internal_panda(self):
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gpio_init(GPIO.STM_RST_N, True)
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gpio_init(GPIO.STM_BOOT0, True)
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gpio_set(GPIO.STM_RST_N, 1)
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gpio_set(GPIO.STM_BOOT0, 0)
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time.sleep(0.01)
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gpio_set(GPIO.STM_RST_N, 0)
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def recover_internal_panda(self):
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gpio_init(GPIO.STM_RST_N, True)
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gpio_init(GPIO.STM_BOOT0, True)
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gpio_set(GPIO.STM_RST_N, 1)
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gpio_set(GPIO.STM_BOOT0, 1)
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time.sleep(0.01)
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gpio_set(GPIO.STM_RST_N, 0)
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time.sleep(0.01)
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gpio_set(GPIO.STM_BOOT0, 0)
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def booted(self):
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# this normally boots within 8s, but on rare occasions takes 30+s
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encoder_state = sudo_read("/sys/kernel/debug/msm_vidc/core0/info")
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if "Core state: 0" in encoder_state and (time.monotonic() < 60*2):
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return False
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return True
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if __name__ == "__main__":
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t = Tici()
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t.initialize_hardware()
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t.set_power_save(False)
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print(t.get_sim_info())
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Block a user