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optimize CAN send over SPI (#2266)

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* profiling

* lil faster

* chunking happens later

* little better

* prealloc is no bueno?

* cleanup

* fix usb tests

---------

Co-authored-by: Comma Device <device@comma.ai>
This commit is contained in:
Adeeb Shihadeh
2025-09-02 19:26:52 -07:00
committed by GitHub
parent 819fa5854e
commit 5c1ff7bfa3
6 changed files with 35 additions and 22 deletions
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6
python/spi.py
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@@ -29,7 +29,8 @@ CHECKSUM_START = 0xAB
MIN_ACK_TIMEOUT_MS = 100
MAX_XFER_RETRY_COUNT = 5
XFER_SIZE = 0x40*31
SPI_BUF_SIZE = 4096 # from panda/board/drivers/spi.h
XFER_SIZE = SPI_BUF_SIZE - 0x40 # give some room for SPI protocol overhead
DEV_PATH = "/dev/spidev0.0"
@@ -290,8 +291,9 @@ class PandaSpiHandle(BaseHandle):
return self._transfer(0, struct.pack("<BHHH", request, value, index, length), timeout, max_rx_len=length)
def bulkWrite(self, endpoint: int, data: bytes, timeout: int = TIMEOUT) -> int:
mv = memoryview(data)
for x in range(math.ceil(len(data) / XFER_SIZE)):
self._transfer(endpoint, data[XFER_SIZE*x:XFER_SIZE*(x+1)], timeout)
self._transfer(endpoint, mv[XFER_SIZE*x:XFER_SIZE*(x+1)], timeout)
return len(data)
def bulkRead(self, endpoint: int, length: int, timeout: int = TIMEOUT) -> bytes: