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boardd: SPI bulk read + write (#26462)

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* bulk read

* write

* write

* fix write

Co-authored-by: Comma Device <device@comma.ai>
This commit is contained in:
Adeeb Shihadeh
2022-11-11 12:51:14 -08:00
committed by GitHub
parent 4ab1330089
commit 714ab491b0
2 changed files with 43 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
selfdrive/boardd/panda_comms.h
View File

@@ -34,7 +34,7 @@ public:
virtual int bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT) = 0;
protected:
std::mutex hw_lock;
std::recursive_mutex hw_lock;
};
class PandaUsbHandle : public PandaCommsHandle {
@@ -74,6 +74,7 @@ private:
uint8_t rx_buf[SPI_BUF_SIZE];
int wait_for_ack(spi_ioc_transfer &transfer, uint8_t ack);
int bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t rx_len);
int spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len);
int spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len);
};

49
selfdrive/boardd/spi.cc
View File

@@ -2,6 +2,7 @@
#include <linux/spi/spidev.h>
#include <cassert>
#include <cmath>
#include <cstring>
#include "common/util.h"
@@ -99,13 +100,45 @@ int PandaSpiHandle::control_read(uint8_t request, uint16_t param1, uint16_t para
}
int PandaSpiHandle::bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) {
return 0;
return bulk_transfer(endpoint, data, length, NULL, 0);
}
int PandaSpiHandle::bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) {
return bulk_transfer(endpoint, NULL, 0, data, length);
}
int PandaSpiHandle::bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) {
return 0;
int PandaSpiHandle::bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t rx_len) {
std::lock_guard lk(hw_lock);
const int xfer_size = 0x40;
int ret = 0;
uint16_t length = (tx_data != NULL) ? tx_len : rx_len;
for (int i = 0; i < (int)std::ceil((float)length / xfer_size); i++) {
int d;
if (tx_data != NULL) {
int len = std::min(xfer_size, tx_len - (xfer_size * i));
d = spi_transfer_retry(endpoint, tx_data + (xfer_size * i), len, NULL, 0);
} else {
d = spi_transfer_retry(endpoint, NULL, 0, rx_data + (xfer_size * i), xfer_size);
}
if (d < 0) {
LOGE("SPI: bulk transfer failed with %d", d);
comms_healthy = false;
return -1;
}
ret += d;
if ((rx_data != NULL) && d < xfer_size) {
break;
}
}
return ret;
}
std::vector<std::string> PandaSpiHandle::list() {
// TODO: list all pandas available over SPI
return {};
@@ -130,15 +163,15 @@ bool check_checksum(uint8_t *data, int data_len) {
int PandaSpiHandle::spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len) {
int err;
int ret;
std::lock_guard lk(hw_lock);
do {
// TODO: handle error
err = spi_transfer(endpoint, tx_data, tx_len, rx_data, max_rx_len);
} while (err < 0 && connected && !PANDA_NO_RETRY);
ret = spi_transfer(endpoint, tx_data, tx_len, rx_data, max_rx_len);
} while (ret < 0 && connected && !PANDA_NO_RETRY);
return err;
return ret;
}
int PandaSpiHandle::wait_for_ack(spi_ioc_transfer &transfer, uint8_t ack) {
@@ -153,7 +186,7 @@ int PandaSpiHandle::wait_for_ack(spi_ioc_transfer &transfer, uint8_t ack) {
if (rx_buf[0] == ack) {
break;
} else if (rx_buf[0] == SPI_NACK) {
LOGW("SPI: got header NACK");
LOGW("SPI: got NACK");
return -1;
}
}