From f034faf0f102516fd6e1527f4082f8d1760a8733 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 17 Oct 2025 19:25:25 -0700
Subject: [PATCH] spi debug (#2292)

Co-authored-by: Comma Device <device@comma.ai>
---
 python/spi.py          |  3 +++
 scripts/health_test.py | 18 ---------------
 scripts/spi_test.py    | 50 ++++++++++++++++++++++++++++++++++++++++++
 3 files changed, 53 insertions(+), 18 deletions(-)
 delete mode 100755 scripts/health_test.py
 create mode 100755 scripts/spi_test.py

diff --git a/python/spi.py b/python/spi.py
index d7944071..4275017e 100644
--- a/python/spi.py
+++ b/python/spi.py
@@ -117,6 +117,7 @@ class PandaSpiHandle(BaseHandle):
 
   def __init__(self) -> None:
     self.dev = SpiDevice()
+    self.no_retry = "NO_RETRY" in os.environ
 
   # helpers
   def _calc_checksum(self, data: bytes) -> int:
@@ -193,6 +194,8 @@ class PandaSpiHandle(BaseHandle):
         except PandaSpiException as e:
           exc = e
           logger.debug("SPI transfer failed, retrying", exc_info=True)
+          if self.no_retry:
+            break
 
           # ensure slave is in a consistent state and ready for the next transfer
           # (e.g. slave TX buffer isn't stuck full)
diff --git a/scripts/health_test.py b/scripts/health_test.py
deleted file mode 100755
index 1195c2d7..00000000
--- a/scripts/health_test.py
+++ /dev/null
@@ -1,18 +0,0 @@
-#!/usr/bin/env python3
-import time
-from panda import Panda
-
-if __name__ == "__main__":
-  i = 0
-  pi = 0
-
-  panda = Panda()
-  while True:
-    st = time.monotonic()
-    while time.monotonic() - st < 1:
-      panda.health()
-      i += 1
-    print(i, panda.health(), "\n")
-    print(f"Speed: {i - pi}Hz")
-    pi = i
-
diff --git a/scripts/spi_test.py b/scripts/spi_test.py
new file mode 100755
index 00000000..14bc6e39
--- /dev/null
+++ b/scripts/spi_test.py
@@ -0,0 +1,50 @@
+#!/usr/bin/env python3
+import os
+import sys
+import time
+from datetime import datetime
+from collections import defaultdict, deque
+
+os.environ['NO_RETRY'] = '1'  # no spi retries
+from panda import Panda, PandaSpiException
+
+
+if __name__ == "__main__":
+  s = defaultdict(lambda: deque(maxlen=30))
+  def avg(k):
+    return sum(s[k])/len(s[k])
+
+  #core = 6
+  #from openpilot.common.realtime import config_realtime_process
+  #config_realtime_process(core, 10)
+  #os.system(f"echo {core} | sudo tee /proc/irq/10/smp_affinity_list")
+  #os.system("sudo chrt -f -p 1 $(pgrep -f spi0)")
+  #print(f"sudo taskset -pc {core} $(pgrep -f spi0)")
+  #os.system(f"sudo taskset -pc {core} $(pgrep -f spi0)")
+
+  p = Panda()
+  p.reset()
+  start = datetime.now()
+  le = p.health()['spi_error_count']
+  while True:
+    cnt = 0
+    st = time.monotonic()
+    while time.monotonic() - st < 1:
+      try:
+        p.get_type()   # get_type has no processing on panda side
+      except PandaSpiException:
+        print(f"ERROR after {datetime.now() - start}\n\n")
+        sys.stdout.write("\033[1;32;40m" + p.serial_read(0).decode('utf8') + "\033[00m" + "\n")
+        sys.stdout.flush()
+        sys.exit()
+      cnt += 1
+    s['hz'].append(cnt)
+
+    err = p.health()['spi_error_count']
+    s['err'].append((err - le) & 0xFFFFFFFF)
+    le = err
+
+    print(
+      f"{avg('hz'):04.0f}Hz   {avg('err'):04.0f} errors   [{cnt:04d}Hz   {s['err'][-1]:04d} errors]  {datetime.now() - start}"
+    )
+