sunnypilot v2026.003.000 release

date: 2026-08-19T09:43:43
master commit: ba29a38507

panda/scripts/spi_test.py

@@ -0,0 +1,50 @@
+#!/usr/bin/env python3
+import os
+import sys
+import time
+from datetime import datetime
+from collections import defaultdict, deque
+
+os.environ['NO_RETRY'] = '1'  # no spi retries
+from panda import Panda, PandaSpiException
+
+
+if __name__ == "__main__":
+  s = defaultdict(lambda: deque(maxlen=30))
+  def avg(k):
+    return sum(s[k])/len(s[k])
+
+  #core = 6
+  #from openpilot.common.realtime import config_realtime_process
+  #config_realtime_process(core, 10)
+  #os.system(f"echo {core} | sudo tee /proc/irq/10/smp_affinity_list")
+  #os.system("sudo chrt -f -p 1 $(pgrep -f spi0)")
+  #print(f"sudo taskset -pc {core} $(pgrep -f spi0)")
+  #os.system(f"sudo taskset -pc {core} $(pgrep -f spi0)")
+
+  p = Panda()
+  p.reset()
+  start = datetime.now()
+  le = p.health()['spi_error_count']
+  while True:
+    cnt = 0
+    st = time.monotonic()
+    while time.monotonic() - st < 1:
+      try:
+        p.get_type()   # get_type has no processing on panda side
+      except PandaSpiException:
+        print(f"ERROR after {datetime.now() - start}\n\n")
+        sys.stdout.write("\033[1;32;40m" + p.serial_read(0).decode('utf8') + "\033[00m" + "\n")
+        sys.stdout.flush()
+        sys.exit()
+      cnt += 1
+    s['hz'].append(cnt)
+
+    err = p.health()['spi_error_count']
+    s['err'].append((err - le) & 0xFFFFFFFF)
+    le = err
+
+    print(
+      f"{avg('hz'):04.0f}Hz   {avg('err'):04.0f} errors   [{cnt:04d}Hz   {s['err'][-1]:04d} errors]  {datetime.now() - start}"
+    )
+