From 4e565266cc829051b00adc37adca337f3630cd49 Mon Sep 17 00:00:00 2001 From: Mikkeli Date: Mon, 12 Oct 2026 16:37:10 +0900 Subject: [PATCH] orin-status docs: README, plan (sources, UPS estimate) Co-Authored-By: Claude Opus 5.5 Claude-Session: https://claude.ai/code/session_01DDwfd6Ki8UfG4hK6W5YpJz --- README.md | 5 ++++- docs/impl/plans/INITIAL.md | 40 +++++++++++++++++++++++++++++++++++++- 2 files changed, 43 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index 968c601..8f081b6 100644 --- a/README.md +++ b/README.md @@ -10,15 +10,18 @@ This file serves as the minimalist portal to other docs ## What this repo is about The acquisition and processing cluster on the Orin, developed and deployed as one -unit: `recorder` now; `can-bridge`, `obd-poller`, `gnss` and `decoder` as they are +unit: `recorder` and `orin-status` now; `can-bridge`, `obd-poller`, `gnss` and `decoder` as they are needed. | Binary | Installed as | Does | |---|---|---| | `recorder` | `yukart-recorder.service` | Raw CAN + GNSS to disk, in sessions, under a storage bound | +| `orin-status` | `yukart-orin-status.service` | The Orin's health on the bus, once a second: temperatures, CPU/GPU load, memory, power, fan, WiFi/LTE/tablet links, UPS battery (`yukart/host/*`) | ```bash scripts/deploy-recorder.sh # build, glibc check, install on the car Orin +scripts/deploy-orin-status.sh # build on the development Orin, glibc check, install +yukart-orin-status --once # on an Orin: one reading as JSON, no broker yukart-recorder ctl status # on the Orin yukart-recorder ctl start "cold start" # manual session, ends only on stop yukart-recorder ctl mark "indicator left on" diff --git a/docs/impl/plans/INITIAL.md b/docs/impl/plans/INITIAL.md index 379280b..d528a67 100644 --- a/docs/impl/plans/INITIAL.md +++ b/docs/impl/plans/INITIAL.md @@ -1,7 +1,7 @@ --- type: plan status: active -updated: 2026-10-09 +updated: 2026-10-12 --- # Initial plan @@ -16,6 +16,9 @@ updated: 2026-10-09 Phase 3; MQTT at ~890 frames/s is still unproven). 4. `decoder` — frames to named signals via the DBC in `contracts`. +Alongside: **`orin-status`** — in place (2026-10-12), the first publisher on the +bus. Below. + ## Recorder Reads SocketCAN and gpsd directly. It is tier 1, and the broker is a single point @@ -106,3 +109,38 @@ enough to time individual frames against position. workstation while the development Orin is offline; `check-glibc.sh` gates it. - **Copy-off.** Recordings stay on the car until the parked-at-home step in the power plan, or a manual `rsync`. + +## orin-status + +The Orin's own health as envelopes on `yukart/host/`, retained, once a +second; names and units from contracts `signals.json` (source `host`). Tier 2, +ordered after the broker only. + +| Group | Source | +|---|---| +| Temperatures | thermal zones `cpu`, `gpu`, `soc*` (hottest), `tj`; the `cv*` zones read EAGAIN while the vision accelerators are off and are skipped | +| Load and memory | `/proc/stat`, the GPU's `load` (tenths of a percent), `/proc/meminfo` (one pool for CPU and GPU) | +| Power and fan | onboard INA3221 `VDD_IN`; `pwm_tach` | +| Network | `/sys/class/net` counters → kbit/s; WiFi level from `/proc/net/wireless`; the modem from `mmcli -m any -J` every 5 s on its own thread; the tablet link is carrier on `usb0`/`usb1`, counted on `l4tbr0` | +| UPS | INA219 on `/dev/i2c-7` `0x41`, below | + +- A reading that fails is not published. Its retained value ages and `svc-gw` + shows it stale. +- Service state on `yukart/system/orin-status`: `ready`, or `degraded` with the + failed sources; last will `stopping`. + +### UPS battery + +- **Read-only.** Only register pointers are ever written; the INA219 stays at its + power-on configuration. Current is shunt voltage (10 µV per bit) over 0.01 Ω + (Waveshare's demo code), positive when charging. Bus voltage is 4 mV per bit. +- **State:** `charging` above +50 mA, `discharging` below −50 mA (on battery: + input lost), `idle` between. +- **Charge** is an estimate from a 21700 resting-voltage table per cell, the + reading corrected by the pack's I·R drop (0.15 Ω, a rough figure) and smoothed. + Waveshare's demo maps 9.0–12.6 V linearly instead, which swings with load. + Steadiest at rest on input power, least reliable while charging. +- The ignition-off policy (orin-nano-env-setup `docs/impl/plans/POWER.md`) needs + the same readings. It should take them from here, or live here, rather than + open the INA219 a second time. +