From d9f856be7076e2227f69e52313d6a3fa84d25b71 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 4 Oct 2025 17:54:00 -0700
Subject: [PATCH] Remove spidev2 support from SPI implementation (#2287)

* Remove spidev2 support from SPI implementation

Removed support for spidev2 and related transfer methods.

* Remove spidev2 from dependencies

Remove spidev2 dependency for Linux platform.
---
 pyproject.toml |  3 +--
 python/spi.py  | 56 +-------------------------------------------------
 2 files changed, 2 insertions(+), 57 deletions(-)

diff --git a/pyproject.toml b/pyproject.toml
index 660fc3e6..3586313b 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -30,7 +30,6 @@ dev = [
   "mypy",
   "setuptools",
   "spidev; platform_system == 'Linux'",
-  "spidev2; platform_system == 'Linux'",
 ]
 
 [build-system]
@@ -73,4 +72,4 @@ addopts = "-Werror --strict-config --strict-markers --durations=10 --ignore-glob
 python_files = "test_*.py"
 testpaths = [
   "tests/"
-]
\ No newline at end of file
+]
diff --git a/python/spi.py b/python/spi.py
index 8ee5aecb..d7944071 100644
--- a/python/spi.py
+++ b/python/spi.py
@@ -16,10 +16,6 @@ try:
   import spidev
 except ImportError:
   spidev = None
-try:
-  import spidev2
-except ImportError:
-  spidev2 = None
 
 # Constants
 SYNC = 0x5A
@@ -121,8 +117,6 @@ class PandaSpiHandle(BaseHandle):
 
   def __init__(self) -> None:
     self.dev = SpiDevice()
-    if spidev2 is not None and "SPI2" in os.environ:
-      self._spi2 = spidev2.SPIBus("/dev/spidev0.0", "w+b", bits_per_word=8, speed_hz=50_000_000)
 
   # helpers
   def _calc_checksum(self, data: bytes) -> int:
@@ -183,52 +177,6 @@ class PandaSpiHandle(BaseHandle):
 
       return dat[3:-1]
 
-  def _transfer_spidev2(self, spi, endpoint: int, data, timeout: int, max_rx_len: int = USBPACKET_MAX_SIZE, expect_disconnect: bool = False) -> bytes:
-    max_rx_len = max(USBPACKET_MAX_SIZE, max_rx_len)
-
-    header = self.HEADER.pack(SYNC, endpoint, len(data), max_rx_len)
-
-    header_ack = bytearray(1)
-
-    # ACK + <2 bytes for response length> + data + checksum
-    data_rx = bytearray(3+max_rx_len+1)
-
-    self._spi2.submitTransferList(spidev2.SPITransferList((
-      # header
-      {'tx_buf': header + bytes([self._calc_checksum(header), ]), 'delay_usecs': 0, 'cs_change': True},
-      {'rx_buf': header_ack, 'delay_usecs': 0, 'cs_change': True},
-
-      # send data
-      {'tx_buf': bytes([*data, self._calc_checksum(data)]), 'delay_usecs': 0, 'cs_change': True},
-      {'rx_buf': data_rx, 'delay_usecs': 0, 'cs_change': True},
-    )))
-
-    if header_ack[0] != HACK:
-      raise PandaSpiMissingAck
-
-    if expect_disconnect:
-      logger.debug("- expecting disconnect, returning")
-      return b""
-    else:
-      dat = bytes(data_rx)
-      if dat[0] != DACK:
-        if dat[0] == NACK:
-          raise PandaSpiNackResponse
-
-        print("trying again")
-        dat = self._wait_for_ack(spi, DACK, timeout, 0x13, length=3 + max_rx_len)
-
-      # get response length, then response
-      response_len = struct.unpack("<H", dat[1:3])[0]
-      if response_len > max_rx_len:
-        raise PandaSpiException(f"response length greater than max ({max_rx_len} {response_len})")
-
-      dat = dat[:3 + response_len + 1]
-      if self._calc_checksum(dat) != 0:
-        raise PandaSpiBadChecksum
-
-      return dat[3:-1]
-
   def _transfer(self, endpoint: int, data, timeout: int, max_rx_len: int = 1000, expect_disconnect: bool = False) -> bytes:
     logger.debug("starting transfer: endpoint=%d, max_rx_len=%d", endpoint, max_rx_len)
     logger.debug("==============================================")
@@ -241,9 +189,7 @@ class PandaSpiHandle(BaseHandle):
       logger.debug("\ntry #%d", n)
       with self.dev.acquire() as spi:
         try:
-          fn = self._transfer_spidev
-          #fn = self._transfer_spidev2
-          return fn(spi, endpoint, data, timeout, max_rx_len, expect_disconnect)
+          return self._transfer_spidev(spi, endpoint, data, timeout, max_rx_len, expect_disconnect)
         except PandaSpiException as e:
           exc = e
           logger.debug("SPI transfer failed, retrying", exc_info=True)