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boardd: reduce jitter around nacks (#29123)

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* reduce jitter

* Update selfdrive/boardd/spi.cc

---------

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 4cb8da91d709b5ebc464bdccaad9d815bb9db3ce
This commit is contained in:
Adeeb Shihadeh
2023-07-24 16:37:23 -07:00
committed by GitHub
parent 3e7ea3e910
commit 32a6898820
1 changed files with 5 additions and 6 deletions
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11
selfdrive/boardd/spi.cc
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@@ -236,9 +236,12 @@ int PandaSpiHandle::spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint1
std::this_thread::yield();
if (ret == SpiError::NACK) {
// prevent busy wait while the panda is NACK'ing
// prevent busy waiting while the panda is NACK'ing
// due to full TX buffers
nack_count += 1;
usleep(std::clamp(nack_count*10, 200, 2000));
if (nack_count > 3) {
usleep(std::clamp(nack_count*10, 200, 2000));
}
}
}
} while (ret < 0 && connected && !timed_out);
@@ -260,7 +263,6 @@ int PandaSpiHandle::wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout,
spi_ioc_transfer transfer = {
.tx_buf = (uint64_t)tx_buf,
.rx_buf = (uint64_t)rx_buf,
.delay_usecs = 10,
.len = length
};
tx_buf[0] = tx;
@@ -284,9 +286,6 @@ int PandaSpiHandle::wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout,
LOGD("SPI: timed out waiting for ACK");
return SpiError::ACK_TIMEOUT;
}
// backoff
transfer.delay_usecs = std::clamp(transfer.delay_usecs*2, 10, 250);
}
return 0;