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boardd: add debug flag for injecting SPI errors (#32346) 

* pull out ll first

* errors

---------

Co-authored-by: Comma Device <device@comma.ai>
This commit is contained in:
Adeeb Shihadeh 2024-05-07 21:36:04 -07:00 committed by GitHub
parent 71832d651a
commit 2d838f95da
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
3 changed files with 32 additions and 5 deletions
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1
selfdrive/boardd/panda_comms.h
View File

@ -78,5 +78,6 @@ private:
int bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t rx_len, unsigned int timeout);
int spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout);
int spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout);
int lltransfer(spi_ioc_transfer &t);
};
#endif

34
selfdrive/boardd/spi.cc
View File

@ -268,7 +268,7 @@ int PandaSpiHandle::wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout,
tx_buf[0] = tx;
while (true) {
int ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &transfer);
int ret = lltransfer(transfer);
if (ret < 0) {
LOGE("SPI: failed to send ACK request");
return ret;
@ -291,6 +291,32 @@ int PandaSpiHandle::wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout,
return 0;
}
int PandaSpiHandle::lltransfer(spi_ioc_transfer &t) {
static const double err_prob = std::stod(util::getenv("SPI_ERR_PROB", "-1"));
if (err_prob > 0) {
if ((static_cast<double>(rand()) / RAND_MAX) < err_prob) {
printf("transfer len error\n");
t.len = rand() % SPI_BUF_SIZE;
}
if ((static_cast<double>(rand()) / RAND_MAX) < err_prob && t.tx_buf != (uint64_t)NULL) {
printf("corrupting TX\n");
memset((uint8_t*)t.tx_buf, (uint8_t)(rand() % 256), rand() % (t.len+1));
}
}
int ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &t);
if (err_prob > 0) {
if ((static_cast<double>(rand()) / RAND_MAX) < err_prob && t.rx_buf != (uint64_t)NULL) {
printf("corrupting RX\n");
memset((uint8_t*)t.rx_buf, (uint8_t)(rand() % 256), rand() % (t.len+1));
}
}
return ret;
}
int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout) {
int ret;
uint16_t rx_data_len;
@ -316,7 +342,7 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
memcpy(tx_buf, &header, sizeof(header));
add_checksum(tx_buf, sizeof(header));
transfer.len = sizeof(header) + 1;
ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &transfer);
ret = lltransfer(transfer);
if (ret < 0) {
LOGE("SPI: failed to send header");
goto transfer_fail;
@ -334,7 +360,7 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
}
add_checksum(tx_buf, tx_len);
transfer.len = tx_len + 1;
ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &transfer);
ret = lltransfer(transfer);
if (ret < 0) {
LOGE("SPI: failed to send data");
goto transfer_fail;
@ -355,7 +381,7 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
transfer.len = rx_data_len + 1;
transfer.rx_buf = (uint64_t)(rx_buf + 2 + 1);
ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &transfer);
ret = lltransfer(transfer);
if (ret < 0) {
LOGE("SPI: failed to read rx data");
goto transfer_fail;

2
selfdrive/debug/check_timings.py
View File

@ -21,5 +21,5 @@ if __name__ == "__main__":
if len(ts[s]) > 2:
d = np.diff(ts[s])
print(f"{s:25} {np.mean(d):.2f} {np.std(d):.2f} {np.max(d):.2f} {np.min(d):.2f}")
print(f"{s:25} {np.mean(d):7.2f} {np.std(d):7.2f} {np.max(d):7.2f} {np.min(d):7.2f}")
time.sleep(1)