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2024-04-27 03:24:56 -05:00
parent 680e909d73
commit 4401b71958
21 changed files with 1983 additions and 6932 deletions
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82
selfdrive/boardd/panda_comms.h Normal file
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#pragma once
#include <atomic>
#include <cstdint>
#include <mutex>
#include <string>
#include <vector>
#ifndef __APPLE__
#include <linux/spi/spidev.h>
#endif
#include <libusb-1.0/libusb.h>
#define TIMEOUT 0
#define SPI_BUF_SIZE 2048
// comms base class
class PandaCommsHandle {
public:
PandaCommsHandle(std::string serial) {}
virtual ~PandaCommsHandle() {}
virtual void cleanup() = 0;
std::string hw_serial;
std::atomic<bool> connected = true;
std::atomic<bool> comms_healthy = true;
static std::vector<std::string> list();
// HW communication
virtual int control_write(uint8_t request, uint16_t param1, uint16_t param2, unsigned int timeout=TIMEOUT) = 0;
virtual int control_read(uint8_t request, uint16_t param1, uint16_t param2, unsigned char *data, uint16_t length, unsigned int timeout=TIMEOUT) = 0;
virtual int bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT) = 0;
virtual int bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT) = 0;
};
class PandaUsbHandle : public PandaCommsHandle {
public:
PandaUsbHandle(std::string serial);
~PandaUsbHandle();
int control_write(uint8_t request, uint16_t param1, uint16_t param2, unsigned int timeout=TIMEOUT);
int control_read(uint8_t request, uint16_t param1, uint16_t param2, unsigned char *data, uint16_t length, unsigned int timeout=TIMEOUT);
int bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT);
int bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT);
void cleanup();
static std::vector<std::string> list();
private:
libusb_context *ctx = NULL;
libusb_device_handle *dev_handle = NULL;
std::recursive_mutex hw_lock;
void handle_usb_issue(int err, const char func[]);
};
#ifndef __APPLE__
class PandaSpiHandle : public PandaCommsHandle {
public:
PandaSpiHandle(std::string serial);
~PandaSpiHandle();
int control_write(uint8_t request, uint16_t param1, uint16_t param2, unsigned int timeout=TIMEOUT);
int control_read(uint8_t request, uint16_t param1, uint16_t param2, unsigned char *data, uint16_t length, unsigned int timeout=TIMEOUT);
int bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT);
int bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT);
void cleanup();
static std::vector<std::string> list();
private:
int spi_fd = -1;
uint8_t tx_buf[SPI_BUF_SIZE];
uint8_t rx_buf[SPI_BUF_SIZE];
inline static std::recursive_mutex hw_lock;
int wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout, unsigned int length);
int bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t rx_len, unsigned int timeout);
int spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout);
int spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout);
};
#endif