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boardd: set min spi timeout

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old-commit-hash: ea1e0a16dd
This commit is contained in:
Adeeb Shihadeh
2023-05-22 18:50:03 -07:00
parent 2bc8f7efce
commit 716ffecb14
1 changed files with 3 additions and 2 deletions
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selfdrive/boardd/spi.cc
+3 -2
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@@ -35,7 +35,7 @@ struct __attribute__((packed)) spi_header {
uint16_t max_rx_len;
};
const int SPI_ACK_TIMEOUT = 500; // milliseconds
const unsigned int SPI_ACK_TIMEOUT = 500; // milliseconds
const std::string SPI_DEVICE = "/dev/spidev0.0";
class LockEx {
@@ -238,9 +238,10 @@ int PandaSpiHandle::spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint1
int PandaSpiHandle::wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout) {
double start_millis = millis_since_boot();
if (timeout <= 0) {
if (timeout == 0) {
timeout = SPI_ACK_TIMEOUT;
}
timeout = std::clamp(timeout, 100U, SPI_ACK_TIMEOUT);
spi_ioc_transfer transfer = {
.tx_buf = (uint64_t)tx_buf,