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openpilot v0.9.7 release

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date: 2024-06-11T01:36:39
master commit: f8cb04e4a8
This commit is contained in:
Vehicle Researcher
2024-06-11 01:36:40 +00:00
parent fa724893fb
commit d64fb1838d
1014 changed files with 40763 additions and 16667 deletions
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14
panda/python/spi.py
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@@ -9,7 +9,7 @@ import logging
import threading
from contextlib import contextmanager
from functools import reduce
from typing import Callable, List, Optional
from collections.abc import Callable
from .base import BaseHandle, BaseSTBootloaderHandle, TIMEOUT
from .constants import McuType, MCU_TYPE_BY_IDCODE, USBPACKET_MAX_SIZE
@@ -251,7 +251,7 @@ class PandaSpiHandle(BaseHandle):
version_bytes = spi.readbytes(len(vers_str) + 2)
if bytes(version_bytes).startswith(vers_str):
break
if (time.monotonic() - start) > 0.01:
if (time.monotonic() - start) > 0.001:
raise PandaSpiMissingAck
rlen = struct.unpack("<H", bytes(version_bytes[-2:]))[0]
@@ -319,7 +319,7 @@ class STBootloaderSPIHandle(BaseSTBootloaderHandle):
with self.dev.acquire() as spi:
spi.xfer([self.SYNC, ])
try:
self._get_ack(spi)
self._get_ack(spi, 0.1)
except (PandaSpiNackResponse, PandaSpiMissingAck):
# NACK ok here, will only ACK the first time
pass
@@ -333,7 +333,7 @@ class STBootloaderSPIHandle(BaseSTBootloaderHandle):
start_time = time.monotonic()
while data not in (self.ACK, self.NACK) and (time.monotonic() - start_time < timeout):
data = spi.xfer([0x00, ])[0]
time.sleep(0.001)
time.sleep(0)
spi.xfer([self.ACK, ])
if data == self.NACK:
@@ -341,13 +341,13 @@ class STBootloaderSPIHandle(BaseSTBootloaderHandle):
elif data != self.ACK:
raise PandaSpiMissingAck
def _cmd_no_retry(self, cmd: int, data: Optional[List[bytes]] = None, read_bytes: int = 0, predata=None) -> bytes:
def _cmd_no_retry(self, cmd: int, data: list[bytes] | None = None, read_bytes: int = 0, predata=None) -> bytes:
ret = b""
with self.dev.acquire() as spi:
# sync + command
spi.xfer([self.SYNC, ])
spi.xfer([cmd, cmd ^ 0xFF])
self._get_ack(spi, timeout=0.1)
self._get_ack(spi, timeout=0.01)
# "predata" - for commands that send the first data without a checksum
if predata is not None:
@@ -371,7 +371,7 @@ class STBootloaderSPIHandle(BaseSTBootloaderHandle):
return bytes(ret)
def _cmd(self, cmd: int, data: Optional[List[bytes]] = None, read_bytes: int = 0, predata=None) -> bytes:
def _cmd(self, cmd: int, data: list[bytes] | None = None, read_bytes: int = 0, predata=None) -> bytes:
exc = PandaSpiException()
for n in range(MAX_XFER_RETRY_COUNT):
try: