From dd82382d5f9fcfbf9958238ee33739693fd3f6fa Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 22 Mar 2024 14:01:44 -0700
Subject: [PATCH] instant boot (#1910)

no more boot time :P
---
 board/drivers/harness.h | 5 -----
 python/__init__.py      | 4 ++++
 tests/hitl/8_misc.py    | 5 ++++-
 3 files changed, 8 insertions(+), 6 deletions(-)

diff --git a/board/drivers/harness.h b/board/drivers/harness.h
index 60f99fc85..bfe61050a 100644
--- a/board/drivers/harness.h
+++ b/board/drivers/harness.h
@@ -117,11 +117,6 @@ void harness_tick(void) {
 }
 
 void harness_init(void) {
-  // delay such that the connection is fully made before trying orientation detection
-  current_board->set_led(LED_BLUE, true);
-  delay(10000000);
-  current_board->set_led(LED_BLUE, false);
-
   // try to detect orientation
   harness.status = harness_detect_orientation();
   if (harness.status != HARNESS_STATUS_NC) {
diff --git a/python/__init__.py b/python/__init__.py
index f97f608ad..ba1f107d2 100644
--- a/python/__init__.py
+++ b/python/__init__.py
@@ -304,6 +304,10 @@ class Panda:
     for bus in range(PANDA_BUS_CNT):
       self.set_can_speed_kbps(bus, self._can_speed_kbps)
 
+  @property
+  def spi(self) -> bool:
+    return isinstance(self._handle, PandaSpiHandle)
+
   @classmethod
   def spi_connect(cls, serial, ignore_version=False):
     # get UID to confirm slave is present and up
diff --git a/tests/hitl/8_misc.py b/tests/hitl/8_misc.py
index 63e1c3e8c..3c47ed492 100644
--- a/tests/hitl/8_misc.py
+++ b/tests/hitl/8_misc.py
@@ -7,4 +7,7 @@ def test_boot_time(p):
   st = time.monotonic()
   p.reset(reconnect=False)
   assert Panda.wait_for_panda(p.get_usb_serial(), timeout=3.0)
-  assert time.monotonic() - st < 3.0
+
+  # USB enumeration is slow, so SPI is faster
+  assert time.monotonic() - st < (1.0 if p.spi else 5.0)
+