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spi: nack on can tx endpoint if buffer is full (#1426) 

* spi: nack on can tx endpoint if buffer is full

* handle in python lib

* fix timeout

* fix timeout

* fix linter

* cleanup

* fix

---------

Co-authored-by: Comma Device <device@comma.ai>
This commit is contained in:
Adeeb Shihadeh 2023-05-19 22:43:34 -07:00 committed by GitHub
parent f5c28f811d
commit 52f96bac68
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
13 changed files with 51 additions and 30 deletions
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9
board/can_comms.h
View File

@ -110,8 +110,11 @@ void comms_can_reset(void) {
}
// TODO: make this more general!
void usb_cb_ep3_out_complete(void) {
if (can_tx_check_min_slots_free(MAX_CAN_MSGS_PER_BULK_TRANSFER)) {
usb_outep3_resume_if_paused();
void refresh_can_tx_slots_available(void) {
if (can_tx_check_min_slots_free(MAX_CAN_MSGS_PER_USB_BULK_TRANSFER)) {
can_tx_comms_resume_usb();
}
if (can_tx_check_min_slots_free(MAX_CAN_MSGS_PER_SPI_BULK_TRANSFER)) {
can_tx_comms_resume_spi();
}
}

3
board/config.h
View File

@ -13,7 +13,8 @@
#define CAN_INIT_TIMEOUT_MS 500U
#define DEEPSLEEP_WAKEUP_DELAY 3U
#define USBPACKET_MAX_SIZE 0x40U
#define MAX_CAN_MSGS_PER_BULK_TRANSFER 51U
#define MAX_CAN_MSGS_PER_USB_BULK_TRANSFER 51U
#define MAX_CAN_MSGS_PER_SPI_BULK_TRANSFER 170U
#define VIN_READOUT_DIVIDER 11U

2
board/drivers/bxcan.h
View File

@ -151,7 +151,7 @@ void process_can(uint8_t can_number) {
can_health[can_number].total_tx_checksum_error_cnt += 1U;
}
usb_cb_ep3_out_complete();
refresh_can_tx_slots_available();
}
}

2
board/drivers/can_common.h
View File

@ -147,7 +147,7 @@ void can_clear(can_ring *q) {
q->r_ptr = 0;
EXIT_CRITICAL();
// handle TX buffer full with zero ECUs awake on the bus
usb_cb_ep3_out_complete();
refresh_can_tx_slots_available();
}
// assign CAN numbering

2
board/drivers/fdcan.h
View File

@ -119,7 +119,7 @@ void process_can(uint8_t can_number) {
can_health[can_number].total_tx_checksum_error_cnt += 1U;
}
usb_cb_ep3_out_complete();
refresh_can_tx_slots_available();
}
}

14
board/drivers/spi.h
View File

@ -37,7 +37,7 @@ uint8_t spi_endpoint;
uint16_t spi_data_len_mosi;
uint16_t spi_data_len_miso;
uint16_t spi_checksum_error_count = 0;
bool spi_can_tx_ready = false;
#define SPI_HEADER_SIZE 7U
@ -46,6 +46,10 @@ void llspi_init(void);
void llspi_mosi_dma(uint8_t *addr, int len);
void llspi_miso_dma(uint8_t *addr, int len);
void can_tx_comms_resume_spi(void) {
spi_can_tx_ready = true;
}
void spi_init(void) {
// platform init
llspi_init();
@ -114,8 +118,14 @@ void spi_rx_done(void) {
response_ack = true;
} else if (spi_endpoint == 3U) {
if (spi_data_len_mosi > 0U) {
if (spi_can_tx_ready) {
spi_can_tx_ready = false;
comms_can_write(&spi_buf_rx[SPI_HEADER_SIZE], spi_data_len_mosi);
response_ack = true;
} else {
response_ack = false;
print("SPI: CAN NACK\n");
}
} else {
print("SPI: did expect data for can_write\n");
}
@ -126,7 +136,7 @@ void spi_rx_done(void) {
// Checksum was incorrect
response_ack = false;
print("- incorrect data checksum ");
puth2(spi_data_len_mosi);
puth4(spi_data_len_mosi);
print("\n");
hexdump(spi_buf_rx, SPI_HEADER_SIZE);
hexdump(&(spi_buf_rx[SPI_HEADER_SIZE]), MIN(spi_data_len_mosi, 64));

7
board/drivers/usb.h
View File

@ -27,8 +27,7 @@ bool usb_enumerated = false;
uint16_t usb_last_frame_num = 0U;
void usb_init(void);
void usb_cb_ep3_out_complete(void);
void usb_outep3_resume_if_paused(void);
void refresh_can_tx_slots_available(void);
// **** supporting defines ****
@ -808,7 +807,7 @@ void usb_irqhandler(void) {
#endif
// NAK cleared by process_can (if tx buffers have room)
outep3_processing = false;
usb_cb_ep3_out_complete();
refresh_can_tx_slots_available();
} else if ((USBx_OUTEP(3)->DOEPINT & 0x2000) != 0) {
#ifdef DEBUG_USB
print(" OUT3 PACKET WTF\n");
@ -926,7 +925,7 @@ void usb_irqhandler(void) {
//USBx->GINTMSK = 0xFFFFFFFF & ~(USB_OTG_GINTMSK_NPTXFEM | USB_OTG_GINTMSK_PTXFEM | USB_OTG_GINTSTS_SOF | USB_OTG_GINTSTS_EOPF);
}
void usb_outep3_resume_if_paused(void) {
void can_tx_comms_resume_usb(void) {
ENTER_CRITICAL();
if (!outep3_processing && (USBx_OUTEP(3)->DOEPCTL & USB_OTG_DOEPCTL_NAKSTS) != 0) {
USBx_OUTEP(3)->DOEPTSIZ = (32U << 19) | 0x800U;

2
board/flasher.h
View File

@ -110,7 +110,7 @@ int comms_can_read(uint8_t *data, uint32_t max_len) {
return 0;
}
void usb_cb_ep3_out_complete(void) {}
void refresh_can_tx_slots_available(void) {}
void comms_endpoint2_write(uint8_t *data, uint32_t len) {
current_board->set_led(LED_RED, 0);

2
board/pedal/main.c
View File

@ -54,7 +54,7 @@ void comms_endpoint2_write(uint8_t *data, uint32_t len) {
UNUSED(data);
UNUSED(len);
}
void usb_cb_ep3_out_complete(void) {}
void refresh_can_tx_slots_available(void) {}
int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
unsigned int resp_len = 0;

8
python/__init__.py
View File

@ -401,14 +401,16 @@ class Panda:
return []
def reset(self, enter_bootstub=False, enter_bootloader=False, reconnect=True):
# no response is expected since it resets right away
timeout = 5000 if isinstance(self._handle, PandaSpiHandle) else 15000
try:
if enter_bootloader:
self._handle.controlWrite(Panda.REQUEST_IN, 0xd1, 0, 0, b'')
self._handle.controlWrite(Panda.REQUEST_IN, 0xd1, 0, 0, b'', timeout=timeout)
else:
if enter_bootstub:
self._handle.controlWrite(Panda.REQUEST_IN, 0xd1, 1, 0, b'')
self._handle.controlWrite(Panda.REQUEST_IN, 0xd1, 1, 0, b'', timeout=timeout)
else:
self._handle.controlWrite(Panda.REQUEST_IN, 0xd8, 0, 0, b'')
self._handle.controlWrite(Panda.REQUEST_IN, 0xd8, 0, 0, b'', timeout=timeout)
except Exception:
pass
if not enter_bootloader and reconnect:

13
python/spi.py
View File

@ -120,8 +120,11 @@ class PandaSpiHandle(BaseHandle):
logging.debug("starting transfer: endpoint=%d, max_rx_len=%d", endpoint, max_rx_len)
logging.debug("==============================================")
n = 0
start_time = time.monotonic()
exc = PandaSpiException()
for n in range(MAX_XFER_RETRY_COUNT):
while (time.monotonic() - start_time) < timeout*1e-3:
n += 1
logging.debug("\ntry #%d", n+1)
try:
logging.debug("- send header")
@ -129,16 +132,18 @@ class PandaSpiHandle(BaseHandle):
packet += bytes([reduce(lambda x, y: x^y, packet) ^ CHECKSUM_START])
spi.xfer2(packet)
to = timeout - (time.monotonic() - start_time)*1e3
logging.debug("- waiting for header ACK")
self._wait_for_ack(spi, HACK, timeout, 0x11)
self._wait_for_ack(spi, HACK, int(to), 0x11)
# send data
logging.debug("- sending data")
packet = bytes([*data, self._calc_checksum(data)])
spi.xfer2(packet)
to = timeout - (time.monotonic() - start_time)*1e3
logging.debug("- waiting for data ACK")
self._wait_for_ack(spi, DACK, timeout, 0x13)
self._wait_for_ack(spi, DACK, int(to), 0x13)
# get response length, then response
response_len_bytes = bytes(spi.xfer2(b"\x00" * 2))
@ -154,7 +159,7 @@ class PandaSpiHandle(BaseHandle):
return dat[:-1]
except PandaSpiException as e:
exc = e
logging.debug("SPI transfer failed, %d retries left", MAX_XFER_RETRY_COUNT - n - 1, exc_info=True)
logging.debug("SPI transfer failed, retrying", exc_info=True)
raise exc
# libusb1 functions

8
tests/hitl/8_spi.py
View File

@ -33,14 +33,14 @@ class TestSpi:
def test_bad_header(self, mocker, p):
with patch('panda.python.spi.SYNC', return_value=0):
with pytest.raises(PandaSpiNackResponse):
p.health()
p._handle.controlRead(Panda.REQUEST_IN, 0xd2, 0, 0, p.HEALTH_STRUCT.size, timeout=50)
self._ping(mocker, p)
def test_bad_checksum(self, mocker, p):
cnt = p.health()['spi_checksum_error_count']
with patch('panda.python.spi.PandaSpiHandle._calc_checksum', return_value=0):
with pytest.raises(PandaSpiNackResponse):
p.health()
p._handle.controlRead(Panda.REQUEST_IN, 0xd2, 0, 0, p.HEALTH_STRUCT.size, timeout=50)
self._ping(mocker, p)
assert (p.health()['spi_checksum_error_count'] - cnt) > 0
@ -48,11 +48,11 @@ class TestSpi:
for _ in range(10):
ep = random.randint(4, 20)
with pytest.raises(PandaSpiNackResponse):
p._handle.bulkRead(ep, random.randint(1, 1000))
p._handle.bulkRead(ep, random.randint(1, 1000), timeout=50)
self._ping(mocker, p)
with pytest.raises(PandaSpiNackResponse):
p._handle.bulkWrite(ep, b"abc")
p._handle.bulkWrite(ep, b"abc", timeout=50)
self._ping(mocker, p)

5
tests/libpanda/panda.c
View File

@ -8,8 +8,9 @@ void process_can(uint8_t can_number) { }
//int safety_tx_hook(CANPacket_t *to_send) { return 1; }
typedef struct harness_configuration harness_configuration;
void usb_cb_ep3_out_complete(void);
void usb_outep3_resume_if_paused(void) { };
void refresh_can_tx_slots_available(void);
void can_tx_comms_resume_usb(void) { };
void can_tx_comms_resume_spi(void) { };
#include "health.h"
#include "faults.h"