openpilot v0.9.8 release

date: 2025-03-15T21:10:51
master commit: fb7b9c0f9420d228f03362970ebcfb7237095cf3

panda/python/spi.py

@@ -5,7 +5,6 @@ import fcntl
 import math
 import time
 import struct
-import logging
 import threading
 from contextlib import contextmanager
 from functools import reduce
@@ -13,6 +12,7 @@ from collections.abc import Callable
 
 from .base import BaseHandle, BaseSTBootloaderHandle, TIMEOUT
 from .constants import McuType, MCU_TYPE_BY_IDCODE, USBPACKET_MAX_SIZE
+from .utils import logger
 
 try:
   import spidev
@@ -70,8 +70,6 @@ class PandaSpiTransferFailed(PandaSpiException):
   pass
 
 
-SPI_LOCK = threading.Lock()
-
 class PandaSpiTransfer(ctypes.Structure):
   _fields_ = [
     ('rx_buf', ctypes.c_uint64),
@@ -83,6 +81,9 @@ class PandaSpiTransfer(ctypes.Structure):
     ('expect_disconnect', ctypes.c_uint8),
   ]
 
+
+SPI_LOCK = threading.Lock()
+SPI_DEVICES = {}
 class SpiDevice:
   """
   Provides locked, thread-safe access to a panda's SPI interface.
@@ -100,9 +101,12 @@ class SpiDevice:
     if spidev is None:
       raise PandaSpiUnavailable("spidev is not installed")
 
-    self._spidev = spidev.SpiDev()  # pylint: disable=c-extension-no-member
-    self._spidev.open(0, 0)
-    self._spidev.max_speed_hz = speed
+    with SPI_LOCK:
+      if speed not in SPI_DEVICES:
+        SPI_DEVICES[speed] = spidev.SpiDev()  # pylint: disable=c-extension-no-member
+        SPI_DEVICES[speed].open(0, 0)
+        SPI_DEVICES[speed].max_speed_hz = speed
+      self._spidev = SPI_DEVICES[speed]
 
   @contextmanager
   def acquire(self):
@@ -115,8 +119,7 @@ class SpiDevice:
       SPI_LOCK.release()
 
   def close(self):
-    self._spidev.close()
-
+    pass
 
 
 class PandaSpiHandle(BaseHandle):
@@ -167,23 +170,23 @@ class PandaSpiHandle(BaseHandle):
   def _transfer_spidev(self, spi, endpoint: int, data, timeout: int, max_rx_len: int = 1000, expect_disconnect: bool = False) -> bytes:
     max_rx_len = max(USBPACKET_MAX_SIZE, max_rx_len)
 
-    logging.debug("- send header")
+    logger.debug("- send header")
     packet = struct.pack("<BBHH", SYNC, endpoint, len(data), max_rx_len)
     packet += bytes([self._calc_checksum(packet), ])
     spi.xfer2(packet)
 
-    logging.debug("- waiting for header ACK")
+    logger.debug("- waiting for header ACK")
     self._wait_for_ack(spi, HACK, MIN_ACK_TIMEOUT_MS, 0x11)
 
-    logging.debug("- sending data")
+    logger.debug("- sending data")
     packet = bytes([*data, self._calc_checksum(data)])
     spi.xfer2(packet)
 
     if expect_disconnect:
-      logging.debug("- expecting disconnect, returning")
+      logger.debug("- expecting disconnect, returning")
       return b""
     else:
-      logging.debug("- waiting for data ACK")
+      logger.debug("- waiting for data ACK")
       preread_len = USBPACKET_MAX_SIZE + 1  # read enough for a controlRead
       dat = self._wait_for_ack(spi, DACK, timeout, 0x13, length=3 + preread_len)
 
@@ -222,21 +225,21 @@ class PandaSpiHandle(BaseHandle):
     return bytes(self.rx_buf[:ret])
 
   def _transfer(self, 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("==============================================")
+    logger.debug("starting transfer: endpoint=%d, max_rx_len=%d", endpoint, max_rx_len)
+    logger.debug("==============================================")
 
     n = 0
     start_time = time.monotonic()
     exc = PandaSpiException()
     while (timeout == 0) or (time.monotonic() - start_time) < timeout*1e-3:
       n += 1
-      logging.debug("\ntry #%d", n)
+      logger.debug("\ntry #%d", n)
       with self.dev.acquire() as spi:
         try:
           return self._transfer_raw(spi, endpoint, data, timeout, max_rx_len, expect_disconnect)
         except PandaSpiException as e:
           exc = e
-          logging.debug("SPI transfer failed, retrying", exc_info=True)
+          logger.debug("SPI transfer failed, retrying", exc_info=True)
 
     raise exc
 
@@ -245,7 +248,7 @@ class PandaSpiHandle(BaseHandle):
     def _get_version(spi) -> bytes:
       spi.writebytes(vers_str)
 
-      logging.debug("- waiting for echo")
+      logger.debug("- waiting for echo")
       start = time.monotonic()
       while True:
         version_bytes = spi.readbytes(len(vers_str) + 2)
@@ -273,7 +276,7 @@ class PandaSpiHandle(BaseHandle):
           return _get_version(spi)
         except PandaSpiException as e:
           exc = e
-          logging.debug("SPI get protocol version failed, retrying", exc_info=True)
+          logger.debug("SPI get protocol version failed, retrying", exc_info=True)
     raise exc
 
   # libusb1 functions
@@ -378,7 +381,7 @@ class STBootloaderSPIHandle(BaseSTBootloaderHandle):
         return self._cmd_no_retry(cmd, data, read_bytes, predata)
       except PandaSpiException as e:
         exc = e
-        logging.debug("SPI transfer failed, %d retries left", MAX_XFER_RETRY_COUNT - n - 1, exc_info=True)
+        logger.debug("SPI transfer failed, %d retries left", MAX_XFER_RETRY_COUNT - n - 1, exc_info=True)
     raise exc
 
   def _checksum(self, data: bytes) -> bytes:
@@ -394,9 +397,13 @@ class STBootloaderSPIHandle(BaseSTBootloaderHandle):
     data = [struct.pack('>I', address), struct.pack('B', length - 1)]
     return self._cmd(0x11, data=data, read_bytes=length)
 
+  def get_bootloader_id(self):
+    return self.read(0x1FF1E7FE, 1)
+
   def get_chip_id(self) -> int:
     r = self._cmd(0x02, read_bytes=3)
-    assert r[0] == 1  # response length - 1
+    if r[0] != 1: # response length - 1
+      raise PandaSpiException("incorrect response length")
     return ((r[1] << 8) + r[2])
 
   def go_cmd(self, address: int) -> None: