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boardd: read spi resp len with ack (#28966) 

old-commit-hash: 3390f1e1df
This commit is contained in:
Adeeb Shihadeh 2023-07-15 20:13:19 -07:00 committed by GitHub
parent d4cd751101
commit b8de120d86
2 changed files with 6 additions and 14 deletions
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2
selfdrive/boardd/panda_comms.h
View File

@ -74,7 +74,7 @@ private:
uint8_t rx_buf[SPI_BUF_SIZE];
inline static std::recursive_mutex hw_lock;
int wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout);
int wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout, unsigned int length);
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);

18
selfdrive/boardd/spi.cc
View File

@ -250,7 +250,7 @@ int PandaSpiHandle::spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint1
return ret;
}
int PandaSpiHandle::wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout) {
int PandaSpiHandle::wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout, unsigned int length) {
double start_millis = millis_since_boot();
if (timeout == 0) {
timeout = SPI_ACK_TIMEOUT;
@ -261,7 +261,7 @@ int PandaSpiHandle::wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout)
.tx_buf = (uint64_t)tx_buf,
.rx_buf = (uint64_t)rx_buf,
.delay_usecs = 10,
.len = 1
.len = length
};
tx_buf[0] = tx;
@ -324,7 +324,7 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
}
// Wait for (N)ACK
ret = wait_for_ack(SPI_HACK, 0x11, timeout);
ret = wait_for_ack(SPI_HACK, 0x11, timeout, 1);
if (ret < 0) {
goto transfer_fail;
}
@ -342,26 +342,18 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
}
// Wait for (N)ACK
ret = wait_for_ack(SPI_DACK, 0x13, timeout);
ret = wait_for_ack(SPI_DACK, 0x13, timeout, 3);
if (ret < 0) {
goto transfer_fail;
}
// Read data len
transfer.len = 2;
transfer.rx_buf = (uint64_t)(rx_buf + 1);
ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &transfer);
if (ret < 0) {
LOGE("SPI: failed to read rx data len");
goto transfer_fail;
}
// Read data
rx_data_len = *(uint16_t *)(rx_buf+1);
if (rx_data_len >= SPI_BUF_SIZE) {
LOGE("SPI: RX data len larger than buf size %d", rx_data_len);
goto transfer_fail;
}
// Read data
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);