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openpilot v0.9.3 release

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date: 2023-06-16T05:25:00
master commit: 8704c1ff952b5c85a44f50143bbd1a4f7b4887e2
This commit is contained in:
Vehicle Researcher
2023-06-16 05:25:01 +00:00
parent cfd8323ccb
commit c39abc00af
188 changed files with 4182 additions and 2011 deletions
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panda/python/spi.py
+29 -19
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@@ -116,54 +116,64 @@ class PandaSpiHandle(BaseHandle):
raise PandaSpiMissingAck
def _transfer(self, spi, endpoint: int, data, timeout: int, max_rx_len: int = 1000) -> bytes:
def _transfer(self, spi, endpoint: int, data, timeout: int, max_rx_len: int = 1000, expect_disconnect: bool = False) -> bytes:
logging.debug("starting transfer: endpoint=%d, max_rx_len=%d", endpoint, max_rx_len)
logging.debug("==============================================")
n = 0
start_time = time.monotonic()
exc = PandaSpiException()
for n in range(MAX_XFER_RETRY_COUNT):
logging.debug("\ntry #%d", n+1)
while (time.monotonic() - start_time) < timeout*1e-3:
n += 1
logging.debug("\ntry #%d", n)
try:
logging.debug("- send header")
packet = struct.pack("<BBHH", SYNC, endpoint, len(data), max_rx_len)
packet += bytes([reduce(lambda x, y: x^y, packet) ^ CHECKSUM_START])
spi.xfer2(packet)
to = timeout - (time.monotonic() - start_time)*1e3
logging.debug("- waiting for header ACK")
self._wait_for_ack(spi, HACK, timeout, 0x11)
self._wait_for_ack(spi, HACK, int(to), 0x11)
# send data
logging.debug("- sending data")
packet = bytes([*data, self._calc_checksum(data)])
spi.xfer2(packet)
logging.debug("- waiting for data ACK")
self._wait_for_ack(spi, DACK, timeout, 0x13)
if expect_disconnect:
logging.debug("- expecting disconnect, returning")
return b""
else:
to = timeout - (time.monotonic() - start_time)*1e3
logging.debug("- waiting for data ACK")
self._wait_for_ack(spi, DACK, int(to), 0x13)
# get response length, then response
response_len_bytes = bytes(spi.xfer2(b"\x00" * 2))
response_len = struct.unpack("<H", response_len_bytes)[0]
if response_len > max_rx_len:
raise PandaSpiException("response length greater than max")
# get response length, then response
response_len_bytes = bytes(spi.xfer2(b"\x00" * 2))
response_len = struct.unpack("<H", response_len_bytes)[0]
if response_len > max_rx_len:
raise PandaSpiException("response length greater than max")
logging.debug("- receiving response")
dat = bytes(spi.xfer2(b"\x00" * (response_len + 1)))
if self._calc_checksum([DACK, *response_len_bytes, *dat]) != 0:
raise PandaSpiBadChecksum
logging.debug("- receiving response")
dat = bytes(spi.xfer2(b"\x00" * (response_len + 1)))
if self._calc_checksum([DACK, *response_len_bytes, *dat]) != 0:
raise PandaSpiBadChecksum
return dat[:-1]
return dat[:-1]
except PandaSpiException as e:
exc = e
logging.debug("SPI transfer failed, %d retries left", MAX_XFER_RETRY_COUNT - n - 1, exc_info=True)
logging.debug("SPI transfer failed, retrying", exc_info=True)
raise exc
# libusb1 functions
def close(self):
self.dev.close()
def controlWrite(self, request_type: int, request: int, value: int, index: int, data, timeout: int = TIMEOUT):
def controlWrite(self, request_type: int, request: int, value: int, index: int, data, timeout: int = TIMEOUT, expect_disconnect: bool = False):
with self.dev.acquire() as spi:
return self._transfer(spi, 0, struct.pack("<BHHH", request, value, index, 0), timeout)
return self._transfer(spi, 0, struct.pack("<BHHH", request, value, index, 0), timeout, expect_disconnect=expect_disconnect)
def controlRead(self, request_type: int, request: int, value: int, index: int, length: int, timeout: int = TIMEOUT):
with self.dev.acquire() as spi: