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Remove spidev2 support from SPI implementation (#2287)

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* Remove spidev2 support from SPI implementation

Removed support for spidev2 and related transfer methods.

* Remove spidev2 from dependencies

Remove spidev2 dependency for Linux platform.
This commit is contained in:
Adeeb Shihadeh
2025-10-04 17:54:00 -07:00
committed by GitHub
parent 615009cf0f
commit d9f856be70
2 changed files with 2 additions and 57 deletions
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56
python/spi.py
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@@ -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)