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python: open SPI device once (#2066) 

Co-authored-by: Comma Device <device@comma.ai>
This commit is contained in:
Adeeb Shihadeh 2024-10-24 13:27:49 -07:00 committed by GitHub
parent 9aec4294cc
commit 8422a7437f
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1 changed files with 10 additions and 7 deletions
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17
python/spi.py
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@ -70,8 +70,6 @@ class PandaSpiTransferFailed(PandaSpiException):
pass
SPI_LOCK = threading.Lock()
class PandaSpiTransfer(ctypes.Structure):
_fields_ = [
('rx_buf', ctypes.c_uint64),
@ -83,6 +81,9 @@ class PandaSpiTransfer(ctypes.Structure):
('expect_disconnect', ctypes.c_uint8),
]
SPI_LOCK = threading.Lock()
SPI_DEVICES = {}
class SpiDevice:
"""
Provides locked, thread-safe access to a panda's SPI interface.
@ -100,9 +101,12 @@ class SpiDevice:
if spidev is None:
raise PandaSpiUnavailable("spidev is not installed")
self._spidev = spidev.SpiDev() # pylint: disable=c-extension-no-member
self._spidev.open(0, 0)
self._spidev.max_speed_hz = speed
with SPI_LOCK:
if speed not in SPI_DEVICES:
SPI_DEVICES[speed] = spidev.SpiDev() # pylint: disable=c-extension-no-member
SPI_DEVICES[speed].open(0, 0)
SPI_DEVICES[speed].max_speed_hz = speed
self._spidev = SPI_DEVICES[speed]
@contextmanager
def acquire(self):
@ -115,8 +119,7 @@ class SpiDevice:
SPI_LOCK.release()
def close(self):
self._spidev.close()
pass
class PandaSpiHandle(BaseHandle):