mawei/dragonpilot
1
0
Fork 0
mirror of https://github.com/dragonpilot/dragonpilot.git synced 2026-06-23 06:52:07 +08:00
Code Issues Packages Projects Releases Wiki Activity

boardd: lock spi device (#26937)

Browse Source 
* lock spi

* bump panda

Co-authored-by: Comma Device <device@comma.ai>
This commit is contained in:
Adeeb Shihadeh
2023-01-15 13:52:16 -08:00
committed by GitHub
parent f6dc12a735
commit 11da83d2b5
2 changed files with 23 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
panda
+1 -1
Submodule panda updated: 11d90f9e78...e83b2189c1
selfdrive/boardd/spi.cc
+22 -3
View File
@@ -1,3 +1,4 @@
#include <sys/file.h>
#include <sys/ioctl.h>
#include <linux/spi/spidev.h>
@@ -28,6 +29,23 @@ struct __attribute__((packed)) spi_header {
const int SPI_MAX_RETRIES = 5;
const int SPI_ACK_TIMEOUT = 50; // milliseconds
class LockEx {
public:
LockEx(int fd, std::recursive_mutex &m) : fd(fd), m(m) {
m.lock();
flock(fd, LOCK_EX);
};
~LockEx() {
m.unlock();
flock(fd, LOCK_UN);
}
private:
int fd;
std::recursive_mutex &m;
};
PandaSpiHandle::PandaSpiHandle(std::string serial) : PandaCommsHandle(serial) {
LOGD("opening SPI panda: %s", serial.c_str());
@@ -84,6 +102,7 @@ void PandaSpiHandle::cleanup() {
int PandaSpiHandle::control_write(uint8_t request, uint16_t param1, uint16_t param2, unsigned int timeout) {
LockEx lock(spi_fd, hw_lock);
ControlPacket_t packet = {
.request = request,
.param1 = param1,
@@ -94,6 +113,7 @@ int PandaSpiHandle::control_write(uint8_t request, uint16_t param1, uint16_t par
}
int PandaSpiHandle::control_read(uint8_t request, uint16_t param1, uint16_t param2, unsigned char *data, uint16_t length, unsigned int timeout) {
LockEx lock(spi_fd, hw_lock);
ControlPacket_t packet = {
.request = request,
.param1 = param1,
@@ -104,15 +124,15 @@ int PandaSpiHandle::control_read(uint8_t request, uint16_t param1, uint16_t para
}
int PandaSpiHandle::bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) {
LockEx lock(spi_fd, hw_lock);
return bulk_transfer(endpoint, data, length, NULL, 0);
}
int PandaSpiHandle::bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) {
LockEx lock(spi_fd, hw_lock);
return bulk_transfer(endpoint, NULL, 0, data, length);
}
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 * 15;
int ret = 0;
@@ -167,7 +187,6 @@ int PandaSpiHandle::spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint1
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);