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spi: handle timeout more like usb (#28249)

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old-commit-hash: 038d2264aab863a5c262456782e8c84443c70c56
This commit is contained in:
Adeeb Shihadeh
2023-05-20 23:35:14 -07:00
committed by GitHub
parent 514f4a45fd
commit 29efcea415
3 changed files with 44 additions and 19 deletions
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panda
+1 -1
Submodule panda updated: 52f96bac68...c898ec7ce8
selfdrive/boardd/panda_comms.h
+2 -2
View File
@@ -74,9 +74,9 @@ private:
uint8_t rx_buf[SPI_BUF_SIZE];
inline static std::recursive_mutex hw_lock;
int wait_for_ack(spi_ioc_transfer &transfer, uint8_t ack);
int wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout);
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);
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);
};
#endif
selfdrive/boardd/spi.cc
+41 -16
View File
@@ -22,6 +22,12 @@
#define SPI_NACK 0x1FU
#define SPI_CHECKSUM_START 0xABU
enum SpiError {
NACK = -2,
ACK_TIMEOUT = -3,
};
struct __attribute__((packed)) spi_header {
uint8_t sync;
uint8_t endpoint;
@@ -40,8 +46,8 @@ public:
};
~LockEx() {
m.unlock();
flock(fd, LOCK_UN);
m.unlock();
}
private:
@@ -170,7 +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);
comms_healthy = false;
return -1;
return d;
}
ret += d;
@@ -210,17 +216,40 @@ 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, unsigned int timeout) {
int ret;
int count = 0;
bool timed_out = false;
double start_time = millis_since_boot();
do {
// TODO: handle error
ret = spi_transfer(endpoint, tx_data, tx_len, rx_data, max_rx_len);
} while (ret < 0 && connected && ((timeout == 0) || (millis_since_boot() - start_time) < timeout));
ret = spi_transfer(endpoint, tx_data, tx_len, rx_data, max_rx_len, timeout);
if (ret < 0) {
timed_out = (timeout != 0) && (count > 5);
count += ret == SpiError::ACK_TIMEOUT;
std::this_thread::yield();
}
} while (ret < 0 && connected && !timed_out);
if (ret < 0) {
LOGE("transfer failed, after %d tries, %.2fms", count, millis_since_boot() - start_time);
}
return ret;
}
int PandaSpiHandle::wait_for_ack(spi_ioc_transfer &transfer, uint8_t ack) {
int PandaSpiHandle::wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout) {
double start_millis = millis_since_boot();
if (timeout <= 0) {
timeout = SPI_ACK_TIMEOUT;
}
spi_ioc_transfer transfer = {
.tx_buf = (uint64_t)tx_buf,
.rx_buf = (uint64_t)rx_buf,
.delay_usecs = 5,
.len = 1
};
tx_buf[0] = tx;
while (true) {
int ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &transfer);
if (ret < 0) {
@@ -232,20 +261,20 @@ int PandaSpiHandle::wait_for_ack(spi_ioc_transfer &transfer, uint8_t ack) {
break;
} else if (rx_buf[0] == SPI_NACK) {
LOGD("SPI: got NACK");
return -1;
return SpiError::NACK;
}
// handle timeout
if (millis_since_boot() - start_millis > SPI_ACK_TIMEOUT) {
if (millis_since_boot() - start_millis > timeout) {
LOGD("SPI: timed out waiting for ACK");
return -1;
return SpiError::ACK_TIMEOUT;
}
}
return 0;
}
int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len) {
int PandaSpiHandle::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 ret;
uint16_t rx_data_len;
LockEx lock(spi_fd, hw_lock);
@@ -277,9 +306,7 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
}
// Wait for (N)ACK
tx_buf[0] = 0x11;
transfer.len = 1;
ret = wait_for_ack(transfer, SPI_HACK);
ret = wait_for_ack(SPI_HACK, 0x11, timeout);
if (ret < 0) {
goto transfer_fail;
}
@@ -297,9 +324,7 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
}
// Wait for (N)ACK
tx_buf[0] = 0x13;
transfer.len = 1;
ret = wait_for_ack(transfer, SPI_DACK);
ret = wait_for_ack(SPI_DACK, 0x13, timeout);
if (ret < 0) {
goto transfer_fail;
}