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spi: nack on can tx endpoint if buffer is full (#1426)

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* spi: nack on can tx endpoint if buffer is full

* handle in python lib

* fix timeout

* fix timeout

* fix linter

* cleanup

* fix

---------

Co-authored-by: Comma Device <device@comma.ai>
This commit is contained in:
Adeeb Shihadeh
2023-05-19 22:43:34 -07:00
committed by GitHub
parent f5c28f811d
commit 52f96bac68
13 changed files with 51 additions and 30 deletions
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8
python/__init__.py
View File

@@ -401,14 +401,16 @@ class Panda:
return []
def reset(self, enter_bootstub=False, enter_bootloader=False, reconnect=True):
# no response is expected since it resets right away
timeout = 5000 if isinstance(self._handle, PandaSpiHandle) else 15000
try:
if enter_bootloader:
self._handle.controlWrite(Panda.REQUEST_IN, 0xd1, 0, 0, b'')
self._handle.controlWrite(Panda.REQUEST_IN, 0xd1, 0, 0, b'', timeout=timeout)
else:
if enter_bootstub:
self._handle.controlWrite(Panda.REQUEST_IN, 0xd1, 1, 0, b'')
self._handle.controlWrite(Panda.REQUEST_IN, 0xd1, 1, 0, b'', timeout=timeout)
else:
self._handle.controlWrite(Panda.REQUEST_IN, 0xd8, 0, 0, b'')
self._handle.controlWrite(Panda.REQUEST_IN, 0xd8, 0, 0, b'', timeout=timeout)
except Exception:
pass
if not enter_bootloader and reconnect:

13
python/spi.py
View File

@@ -120,8 +120,11 @@ class PandaSpiHandle(BaseHandle):
logging.debug("starting transfer: endpoint=%d, max_rx_len=%d", endpoint, max_rx_len)
logging.debug("==============================================")
n = 0
start_time = time.monotonic()
exc = PandaSpiException()
for n in range(MAX_XFER_RETRY_COUNT):
while (time.monotonic() - start_time) < timeout*1e-3:
n += 1
logging.debug("\ntry #%d", n+1)
try:
logging.debug("- send header")
@@ -129,16 +132,18 @@ class PandaSpiHandle(BaseHandle):
packet += bytes([reduce(lambda x, y: x^y, packet) ^ CHECKSUM_START])
spi.xfer2(packet)
to = timeout - (time.monotonic() - start_time)*1e3
logging.debug("- waiting for header ACK")
self._wait_for_ack(spi, HACK, timeout, 0x11)
self._wait_for_ack(spi, HACK, int(to), 0x11)
# send data
logging.debug("- sending data")
packet = bytes([*data, self._calc_checksum(data)])
spi.xfer2(packet)
to = timeout - (time.monotonic() - start_time)*1e3
logging.debug("- waiting for data ACK")
self._wait_for_ack(spi, DACK, timeout, 0x13)
self._wait_for_ack(spi, DACK, int(to), 0x13)
# get response length, then response
response_len_bytes = bytes(spi.xfer2(b"\x00" * 2))
@@ -154,7 +159,7 @@ class PandaSpiHandle(BaseHandle):
return dat[:-1]
except PandaSpiException as e:
exc = e
logging.debug("SPI transfer failed, %d retries left", MAX_XFER_RETRY_COUNT - n - 1, exc_info=True)
logging.debug("SPI transfer failed, retrying", exc_info=True)
raise exc
# libusb1 functions