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pandad: add more context to spi logs (#32639) 

* pandad: add more context to spi logs

* cleanup

---------

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: e828a7bdcf
This commit is contained in:
Adeeb Shihadeh 2024-06-05 17:27:57 -07:00 committed by GitHub
parent 30c41788dc
commit d2948c3fcd
2 changed files with 27 additions and 18 deletions
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10
selfdrive/pandad/panda_comms.h
View File

@ -56,6 +56,13 @@ private:
};
#ifndef __APPLE__
struct __attribute__((packed)) spi_header {
uint8_t sync;
uint8_t endpoint;
uint16_t tx_len;
uint16_t max_rx_len;
};
class PandaSpiHandle : public PandaCommsHandle {
public:
PandaSpiHandle(std::string serial);
@ -79,5 +86,8 @@ private:
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);
spi_header header;
uint32_t xfer_count = 0;
};
#endif

35
selfdrive/pandad/spi.cc
View File

@ -28,13 +28,6 @@ enum SpiError {
ACK_TIMEOUT = -3,
};
struct __attribute__((packed)) spi_header {
uint8_t sync;
uint8_t endpoint;
uint16_t tx_len;
uint16_t max_rx_len;
};
const unsigned int SPI_ACK_TIMEOUT = 500; // milliseconds
const std::string SPI_DEVICE = "/dev/spidev0.0";
@ -55,6 +48,11 @@ private:
std::recursive_mutex &m;
};
#define SPILOG(fn, fmt, ...) do { \
fn(fmt, ## __VA_ARGS__); \
fn(" %d / 0x%x / %d / %d", \
xfer_count, header.endpoint, header.tx_len, header.max_rx_len); \
} while(0)
PandaSpiHandle::PandaSpiHandle(std::string serial) : PandaCommsHandle(serial) {
int ret;
@ -178,7 +176,7 @@ int PandaSpiHandle::bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t t
}
if (d < 0) {
LOGE("SPI: bulk transfer failed with %d", d);
SPILOG(LOGE, "SPI: bulk transfer failed with %d", d);
comms_healthy = false;
return d;
}
@ -247,7 +245,7 @@ int PandaSpiHandle::spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint1
} while (ret < 0 && connected && !timed_out);
if (ret < 0) {
LOGE("transfer failed, after %d tries, %.2fms", timeout_count, millis_since_boot() - start_time);
SPILOG(LOGE, "transfer failed, after %d tries, %.2fms", timeout_count, millis_since_boot() - start_time);
}
return ret;
@ -270,20 +268,20 @@ int PandaSpiHandle::wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout,
while (true) {
int ret = lltransfer(transfer);
if (ret < 0) {
LOGE("SPI: failed to send ACK request");
SPILOG(LOGE, "SPI: failed to send ACK request");
return ret;
}
if (rx_buf[0] == ack) {
break;
} else if (rx_buf[0] == SPI_NACK) {
LOGD("SPI: got NACK");
SPILOG(LOGD, "SPI: got NACK");
return SpiError::NACK;
}
// handle timeout
if (millis_since_boot() - start_millis > timeout) {
LOGD("SPI: timed out waiting for ACK");
SPILOG(LOGW, "SPI: timed out waiting for ACK");
return SpiError::ACK_TIMEOUT;
}
}
@ -334,7 +332,8 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
assert(tx_len < SPI_BUF_SIZE);
assert(max_rx_len < SPI_BUF_SIZE);
spi_header header = {
xfer_count++;
header = {
.sync = SPI_SYNC,
.endpoint = endpoint,
.tx_len = tx_len,
@ -352,7 +351,7 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
transfer.len = sizeof(header) + 1;
ret = lltransfer(transfer);
if (ret < 0) {
LOGE("SPI: failed to send header");
SPILOG(LOGE, "SPI: failed to send header");
return ret;
}
@ -370,7 +369,7 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
transfer.len = tx_len + 1;
ret = lltransfer(transfer);
if (ret < 0) {
LOGE("SPI: failed to send data");
SPILOG(LOGE, "SPI: failed to send data");
return ret;
}
@ -383,7 +382,7 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
// 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);
SPILOG(LOGE, "SPI: RX data len larger than buf size %d", rx_data_len);
return -1;
}
@ -391,11 +390,11 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
transfer.rx_buf = (uint64_t)(rx_buf + 2 + 1);
ret = lltransfer(transfer);
if (ret < 0) {
LOGE("SPI: failed to read rx data");
SPILOG(LOGE, "SPI: failed to read rx data");
return ret;
}
if (!check_checksum(rx_buf, rx_data_len + 4)) {
LOGE("SPI: bad checksum");
SPILOG(LOGE, "SPI: bad checksum");
return -1;
}