666
This commit is contained in:
1okko
+58
-36
@@ -1,23 +1,19 @@
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import binascii
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import ctypes
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import os
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import fcntl
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import math
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import time
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import struct
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import threading
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from contextlib import contextmanager
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from functools import reduce
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from collections.abc import Callable
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from .base import BaseHandle, BaseSTBootloaderHandle, TIMEOUT
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from .constants import McuType, MCU_TYPE_BY_IDCODE, USBPACKET_MAX_SIZE
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from .utils import logger
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# No fcntl on Windows
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try:
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import fcntl
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except ImportError:
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fcntl = None # type: ignore
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# No spidev on MacOS/Windows
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try:
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import spidev
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except ImportError:
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@@ -33,8 +29,7 @@ CHECKSUM_START = 0xAB
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MIN_ACK_TIMEOUT_MS = 100
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MAX_XFER_RETRY_COUNT = 5
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SPI_BUF_SIZE = 4096 # from panda/board/drivers/spi.h
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XFER_SIZE = SPI_BUF_SIZE - 0x40 # give some room for SPI protocol overhead
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XFER_SIZE = 0x40*31
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DEV_PATH = "/dev/spidev0.0"
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@@ -75,6 +70,18 @@ class PandaSpiTransferFailed(PandaSpiException):
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pass
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class PandaSpiTransfer(ctypes.Structure):
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_fields_ = [
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('rx_buf', ctypes.c_uint64),
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('tx_buf', ctypes.c_uint64),
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('tx_length', ctypes.c_uint32),
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('rx_length_max', ctypes.c_uint32),
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('timeout', ctypes.c_uint32),
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('endpoint', ctypes.c_uint8),
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('expect_disconnect', ctypes.c_uint8),
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]
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SPI_LOCK = threading.Lock()
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SPI_DEVICES = {}
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class SpiDevice:
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@@ -82,7 +89,9 @@ class SpiDevice:
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Provides locked, thread-safe access to a panda's SPI interface.
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"""
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MAX_SPEED = 50000000 # max of the SDM845
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# 50MHz is the max of the 845. older rev comma three
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# may not support the full 50MHz
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MAX_SPEED = 50000000
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def __init__(self, speed=MAX_SPEED):
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assert speed <= self.MAX_SPEED
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@@ -119,11 +128,24 @@ class PandaSpiHandle(BaseHandle):
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"""
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PROTOCOL_VERSION = 2
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HEADER = struct.Struct("<BBHH")
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def __init__(self) -> None:
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self.dev = SpiDevice()
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self.no_retry = "NO_RETRY" in os.environ
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self._transfer_raw: Callable[[SpiDevice, int, bytes, int, int, bool], bytes] = self._transfer_spidev
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if "KERN" in os.environ:
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self._transfer_raw = self._transfer_kernel_driver
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self.tx_buf = bytearray(1024)
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self.rx_buf = bytearray(1024)
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tx_buf_raw = ctypes.c_char.from_buffer(self.tx_buf)
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rx_buf_raw = ctypes.c_char.from_buffer(self.rx_buf)
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self.ioctl_data = PandaSpiTransfer()
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self.ioctl_data.tx_buf = ctypes.addressof(tx_buf_raw)
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self.ioctl_data.rx_buf = ctypes.addressof(rx_buf_raw)
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self.fileno = self.dev._spidev.fileno()
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# helpers
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def _calc_checksum(self, data: bytes) -> int:
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@@ -138,10 +160,10 @@ class PandaSpiHandle(BaseHandle):
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start = time.monotonic()
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while (timeout == 0) or ((time.monotonic() - start) < timeout_s):
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dat = spi.xfer2([tx, ] * length)
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if dat[0] == ack_val:
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return bytes(dat)
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elif dat[0] == NACK:
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if dat[0] == NACK:
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raise PandaSpiNackResponse
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elif dat[0] == ack_val:
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return bytes(dat)
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raise PandaSpiMissingAck
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@@ -149,7 +171,7 @@ class PandaSpiHandle(BaseHandle):
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max_rx_len = max(USBPACKET_MAX_SIZE, max_rx_len)
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logger.debug("- send header")
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packet = self.HEADER.pack(SYNC, endpoint, len(data), max_rx_len)
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packet = struct.pack("<BBHH", SYNC, endpoint, len(data), max_rx_len)
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packet += bytes([self._calc_checksum(packet), ])
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spi.xfer2(packet)
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@@ -178,12 +200,30 @@ class PandaSpiHandle(BaseHandle):
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if remaining > 0:
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dat += bytes(spi.readbytes(remaining))
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dat = dat[:3 + response_len + 1]
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if self._calc_checksum(dat) != 0:
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raise PandaSpiBadChecksum
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return dat[3:-1]
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def _transfer_kernel_driver(self, spi, endpoint: int, data, timeout: int, max_rx_len: int = 1000, expect_disconnect: bool = False) -> bytes:
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import spidev2
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self.tx_buf[:len(data)] = data
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self.ioctl_data.endpoint = endpoint
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self.ioctl_data.tx_length = len(data)
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self.ioctl_data.rx_length_max = max_rx_len
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self.ioctl_data.expect_disconnect = int(expect_disconnect)
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# TODO: use our own ioctl request
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try:
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ret = fcntl.ioctl(self.fileno, spidev2.SPI_IOC_RD_LSB_FIRST, self.ioctl_data)
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except OSError as e:
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raise PandaSpiException from e
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if ret < 0:
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raise PandaSpiException(f"ioctl returned {ret}")
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return bytes(self.rx_buf[:ret])
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def _transfer(self, endpoint: int, data, timeout: int, max_rx_len: int = 1000, expect_disconnect: bool = False) -> bytes:
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logger.debug("starting transfer: endpoint=%d, max_rx_len=%d", endpoint, max_rx_len)
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logger.debug("==============================================")
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@@ -196,24 +236,10 @@ class PandaSpiHandle(BaseHandle):
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logger.debug("\ntry #%d", n)
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with self.dev.acquire() as spi:
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try:
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return self._transfer_spidev(spi, endpoint, data, timeout, max_rx_len, expect_disconnect)
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return self._transfer_raw(spi, endpoint, data, timeout, max_rx_len, expect_disconnect)
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except PandaSpiException as e:
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exc = e
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logger.debug("SPI transfer failed, retrying", exc_info=True)
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if self.no_retry:
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break
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# ensure slave is in a consistent state and ready for the next transfer
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# (e.g. slave TX buffer isn't stuck full)
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nack_cnt = 0
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attempts = 5
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while (nack_cnt <= 3) and (attempts > 0):
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attempts -= 1
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try:
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self._wait_for_ack(spi, NACK, MIN_ACK_TIMEOUT_MS, 0x11, length=XFER_SIZE//2)
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nack_cnt += 1
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except PandaSpiException:
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nack_cnt = 0
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raise exc
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@@ -264,9 +290,8 @@ class PandaSpiHandle(BaseHandle):
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return self._transfer(0, struct.pack("<BHHH", request, value, index, length), timeout, max_rx_len=length)
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def bulkWrite(self, endpoint: int, data: bytes, timeout: int = TIMEOUT) -> int:
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mv = memoryview(data)
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for x in range(math.ceil(len(data) / XFER_SIZE)):
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self._transfer(endpoint, mv[XFER_SIZE*x:XFER_SIZE*(x+1)], timeout)
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self._transfer(endpoint, data[XFER_SIZE*x:XFER_SIZE*(x+1)], timeout)
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return len(data)
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def bulkRead(self, endpoint: int, length: int, timeout: int = TIMEOUT) -> bytes:
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@@ -283,9 +308,6 @@ class STBootloaderSPIHandle(BaseSTBootloaderHandle):
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"""
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Implementation of the STM32 SPI bootloader protocol described in:
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https://www.st.com/resource/en/application_note/an4286-spi-protocol-used-in-the-stm32-bootloader-stmicroelectronics.pdf
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NOTE: the bootloader's state machine is fragile and immediately gets into a bad state when
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sending any junk, e.g. when using the panda SPI protocol.
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"""
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SYNC = 0x5A
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