openpilot v0.9.6 release

date: 2024-02-21T23:02:42
master commit: 0b4d08fab8

panda/python/spi.py

@@ -13,7 +13,6 @@ from typing import Callable, List, Optional
 
 from .base import BaseHandle, BaseSTBootloaderHandle, TIMEOUT
 from .constants import McuType, MCU_TYPE_BY_IDCODE, USBPACKET_MAX_SIZE
-from .utils import crc8_pedal
 
 try:
   import spidev
@@ -35,6 +34,20 @@ XFER_SIZE = 0x40*31
 DEV_PATH = "/dev/spidev0.0"
 
 
+def crc8(data):
+  crc = 0xFF    # standard init value
+  poly = 0xD5   # standard crc8: x8+x7+x6+x4+x2+1
+  size = len(data)
+  for i in range(size - 1, -1, -1):
+    crc ^= data[i]
+    for _ in range(8):
+      if ((crc & 0x80) != 0):
+        crc = ((crc << 1) ^ poly) & 0xFF
+      else:
+        crc <<= 1
+  return crc
+
+
 class PandaSpiException(Exception):
   pass
 
@@ -248,7 +261,7 @@ class PandaSpiHandle(BaseHandle):
       # get response
       dat = spi.readbytes(rlen + 1)
       resp = dat[:-1]
-      calculated_crc = crc8_pedal(bytes(version_bytes + resp))
+      calculated_crc = crc8(bytes(version_bytes + resp))
       if calculated_crc != dat[-1]:
         raise PandaSpiBadChecksum
       return bytes(resp)