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boardd: misc spi fixes (#26670) 

old-commit-hash: 9cc06e9ea6
This commit is contained in:
Adeeb Shihadeh 2022-12-02 11:51:25 -08:00 committed by GitHub
parent 4548cf9592
commit dda7913a33
4 changed files with 18 additions and 15 deletions
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4
selfdrive/boardd/panda.cc
View File

@ -230,8 +230,6 @@ bool Panda::can_receive(std::vector<can_frame>& out_vec) {
}
bool Panda::unpack_can_buffer(uint8_t *data, int size, std::vector<can_frame> &out_vec) {
recv_buf.clear();
if (size < sizeof(uint32_t)) {
return true;
}
@ -239,7 +237,7 @@ bool Panda::unpack_can_buffer(uint8_t *data, int size, std::vector<can_frame> &o
uint32_t magic;
memcpy(&magic, &data[0], sizeof(uint32_t));
if (magic != CAN_TRANSACTION_MAGIC) {
LOGE("CAN: MALFORMED CAN RECV PACKET");
LOGE("CAN recv: buffer didn't start with magic");
handle->comms_healthy = false;
return false;
}

1
selfdrive/boardd/panda.h
View File

@ -43,7 +43,6 @@ struct can_frame {
class Panda {
private:
std::unique_ptr<PandaCommsHandle> handle;
std::vector<uint8_t> recv_buf;
public:
Panda(std::string serial="", uint32_t bus_offset=0);

3
selfdrive/boardd/panda_comms.h
View File

@ -13,8 +13,6 @@
#define TIMEOUT 0
#define SPI_BUF_SIZE 1024
const bool PANDA_NO_RETRY = getenv("PANDA_NO_RETRY");
// comms base class
class PandaCommsHandle {
@ -52,7 +50,6 @@ public:
private:
libusb_context *ctx = NULL;
libusb_device_handle *dev_handle = NULL;
std::vector<uint8_t> recv_buf;
void handle_usb_issue(int err, const char func[]);
};

25
selfdrive/boardd/spi.cc
View File

@ -6,6 +6,7 @@
#include <cstring>
#include "common/util.h"
#include "common/timing.h"
#include "common/swaglog.h"
#include "panda/board/comms_definitions.h"
#include "selfdrive/boardd/panda_comms.h"
@ -24,6 +25,9 @@ struct __attribute__((packed)) spi_header {
uint16_t max_rx_len;
};
const int SPI_MAX_RETRIES = 5;
const int SPI_ACK_TIMEOUT = 50; // milliseconds
PandaSpiHandle::PandaSpiHandle(std::string serial) : PandaCommsHandle(serial) {
LOGD("opening SPI panda: %s", serial.c_str());
@ -109,7 +113,7 @@ int PandaSpiHandle::bulk_read(unsigned char endpoint, unsigned char* data, int l
int PandaSpiHandle::bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t rx_len) {
std::lock_guard lk(hw_lock);
const int xfer_size = 0x40;
const int xfer_size = 0x40 * 15;
int ret = 0;
uint16_t length = (tx_data != NULL) ? tx_len : rx_len;
@ -119,7 +123,8 @@ int PandaSpiHandle::bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t t
int len = std::min(xfer_size, tx_len - (xfer_size * i));
d = spi_transfer_retry(endpoint, tx_data + (xfer_size * i), len, NULL, 0);
} else {
d = spi_transfer_retry(endpoint, NULL, 0, rx_data + (xfer_size * i), xfer_size);
uint16_t to_read = std::min(xfer_size, rx_len - ret);
d = spi_transfer_retry(endpoint, NULL, 0, rx_data + (xfer_size * i), to_read);
}
if (d < 0) {
@ -137,15 +142,11 @@ int PandaSpiHandle::bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t t
return ret;
}
std::vector<std::string> PandaSpiHandle::list() {
// TODO: list all pandas available over SPI
return {};
}
void add_checksum(uint8_t *data, int data_len) {
data[data_len] = SPI_CHECKSUM_START;
for (int i=0; i < data_len; i++) {
@ -165,17 +166,19 @@ bool check_checksum(uint8_t *data, int data_len) {
int PandaSpiHandle::spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len) {
int ret;
int count = SPI_MAX_RETRIES;
std::lock_guard lk(hw_lock);
do {
// TODO: handle error
ret = spi_transfer(endpoint, tx_data, tx_len, rx_data, max_rx_len);
} while (ret < 0 && connected && !PANDA_NO_RETRY);
count--;
} while (ret < 0 && connected && count > 0);
return ret;
}
int PandaSpiHandle::wait_for_ack(spi_ioc_transfer &transfer, uint8_t ack) {
// TODO: add timeout?
double start_millis = millis_since_boot();
while (true) {
int ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &transfer);
if (ret < 0) {
@ -189,6 +192,12 @@ int PandaSpiHandle::wait_for_ack(spi_ioc_transfer &transfer, uint8_t ack) {
LOGW("SPI: got NACK");
return -1;
}
// handle timeout
if (millis_since_boot() - start_millis > SPI_ACK_TIMEOUT) {
LOGE("SPI: timed out waiting for ACK");
return -1;
}
}
return 0;