IQ.Pilot Release Commit @ 92b3bb6

iqpilot/selfdrive/iqmodeld/iqegpumodeld.py

@@ -300,6 +300,10 @@ def main(demo: bool = False) -> None:
         cloudlog.error(f"iqegpumodeld giving up after {attempt} setup failures; exiting for a clean restart")
         sys.exit(1)
       if not usbgpu_present():
+        from iqpilot.system.hardware.usb import ensure_host_role
+        if ensure_host_role():
+          cloudlog.warning("iqegpumodeld: Type-C controller was out of host mode; restored")
+          time.sleep(2.0)
         _wait_for_egpu(params)
       time.sleep(min(SETUP_RETRY_MAX_S, SETUP_RETRY_BASE_S * attempt))
 

iqpilot/selfdrive/pandad/panda.cc

@@ -12,6 +12,11 @@
 
 const bool PANDAD_MAXOUT = getenv("PANDAD_MAXOUT") != nullptr;
 
+std::string panda_firmware_path() {
+  const char *runtime_path = getenv("IQPILOT_PANDA_FW_PATH");
+  return runtime_path != nullptr ? runtime_path : PANDA_FW_PATH;
+}
+
 Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) {
   // try USB first, then SPI
   try {
@@ -138,7 +143,7 @@ std::optional<std::string> Panda::get_serial() {
 bool Panda::up_to_date() {
   if (auto fw_sig = get_firmware_version()) {
     for (auto fn : { "panda.bin.signed", "panda_h7.bin.signed" }) {
-      auto content = util::read_file(std::string(PANDA_FW_PATH) + fn);
+      auto content = util::read_file(panda_firmware_path() + fn);
       if (content.size() >= fw_sig->size() &&
           memcmp(content.data() + content.size() - fw_sig->size(), fw_sig->data(), fw_sig->size()) == 0) {
         return true;

iqpilot/selfdrive/pandad/panda.h

@@ -42,6 +42,7 @@ struct can_frame {
   long src;
 };
 
+std::string panda_firmware_path();
 
 class Panda {
 private:

iqpilot/selfdrive/pandad/pandad.py

@@ -77,6 +77,8 @@ def check_panda_support(panda) -> bool:
 
 
 def main() -> None:
+  os.environ["IQPILOT_PANDA_FW_PATH"] = FW_PATH
+
   # signal pandad to close the relay and exit
   def signal_handler(signum, frame):
     cloudlog.info(f"Caught signal {signum}, exiting")

iqpilot/selfdrive/pandad/tests/test_pandad_usbprotocol.cc

@@ -133,3 +133,11 @@ TEST_CASE("send/recv CAN FD packets") {
     test.test_can_recv(0x40);
   }
 }
+
+TEST_CASE("firmware path runtime override") {
+  unsetenv("IQPILOT_PANDA_FW_PATH");
+  REQUIRE(panda_firmware_path() == PANDA_FW_PATH);
+  setenv("IQPILOT_PANDA_FW_PATH", "/runtime/panda/board/obj/", 1);
+  REQUIRE(panda_firmware_path() == "/runtime/panda/board/obj/");
+  unsetenv("IQPILOT_PANDA_FW_PATH");
+}