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SPI HITL tests + cleanup (#1417)

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* start comms hitl tests

* pull that out

* revert that

* more test

* fix warnings

* fix linter

* another simple case

---------

Co-authored-by: Comma Device <device@comma.ai>
This commit is contained in:
Adeeb Shihadeh
2023-05-17 17:13:12 -07:00
committed by GitHub
parent 3c9d277276
commit a93bc954c5
7 changed files with 121 additions and 40 deletions
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13
python/spi.py
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@@ -58,7 +58,14 @@ class SpiDevice:
"""
Provides locked, thread-safe access to a panda's SPI interface.
"""
def __init__(self, speed):
# 50MHz is the max of the 845. older rev comma three
# may not support the full 50MHz
MAX_SPEED = 50000000
def __init__(self, speed=MAX_SPEED):
assert speed <= self.MAX_SPEED
if not os.path.exists(DEV_PATH):
raise PandaSpiUnavailable(f"SPI device not found: {DEV_PATH}")
if spidev is None:
@@ -87,9 +94,7 @@ class PandaSpiHandle(BaseHandle):
A class that mimics a libusb1 handle for panda SPI communications.
"""
def __init__(self):
# 50MHz is the max of the 845. older rev comma three
# may not support the full 50MHz
self.dev = SpiDevice(50000000)
self.dev = SpiDevice()
# helpers
def _calc_checksum(self, data: List[int]) -> int: