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hardware: don't kernel panic when a heat-soaked display stops acking frames #38515

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hardware: don't kernel panic when a heat-soaked display stops acking frames #38515

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9 changes: 9 additions & 0 deletions launch_chffrplus.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -9,6 +9,15 @@ function agnos_init {
sudo rm -f /data/etc/NetworkManager/system-connections/*.nmmeta
rm -f /data/scons_cache/config.lock

# The SDE display driver panics the kernel when a command-mode panel misses two
# consecutive pingpong-done IRQs (sde_encoder_phys_cmd.c, SDE_DBG_DUMP("panic")),
# which heat-soaked EA8074 panels do ~20-45s into boot - so a recoverable panel
# fault becomes a reboot loop. Disarming panic_on_err keeps the register dump and
# the PANEL_DEAD/ctl-reset recovery path; it only skips the panic() call.
# See commaai/openpilot#34971 and commaai/agnos-kernel-sdm845#85.
# Done here rather than in hardwared: this runs before any openpilot DRM client.
echo 0 | sudo tee /sys/kernel/debug/dri/0/debug/panic > /dev/null || true

# set success flag for current boot slot
sudo abctl --set_success

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9 changes: 8 additions & 1 deletion openpilot/system/hardware/hardwared.py
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Expand Up @@ -10,7 +10,7 @@
import openpilot.cereal.messaging as messaging
from openpilot.cereal import log
from openpilot.cereal.services import SERVICE_LIST
from openpilot.common.utils import strip_deprecated_keys
from openpilot.common.utils import strip_deprecated_keys, sudo_read
from openpilot.common.filter_simple import FirstOrderFilter
from openpilot.common.params import Params
from openpilot.common.realtime import DT_HW
Expand Down Expand Up @@ -192,6 +192,13 @@ def hardware_thread(end_event, hw_queue) -> None:
last_uptime_ts: float = time.monotonic()

HARDWARE.initialize_hardware()

if TICI:
# panic-on-display-error is disarmed in launch_chffrplus.sh. journald is only_onroad,
# so nothing else records the state during the offroad boot window where a heat-soaked
# panel faults - log the readback so that boot is diagnosable after the fact.
cloudlog.event("hardwared.sde_panic_on_err", value=sudo_read("/sys/kernel/debug/dri/0/debug/panic"))

thermal_config = HARDWARE.get_thermal_config()

fan_controller = FanController(int(1./DT_HW))
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