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93 lines
3.3 KiB
93 lines
3.3 KiB
#pragma once
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#include <atomic>
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#include <cstdint>
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#include <mutex>
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#include <string>
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#include <vector>
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#ifndef __APPLE__
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#include <linux/spi/spidev.h>
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#endif
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#include <libusb-1.0/libusb.h>
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#define TIMEOUT 0
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#define SPI_BUF_SIZE 2048
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// comms base class
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class PandaCommsHandle {
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public:
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PandaCommsHandle(std::string serial) {}
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virtual ~PandaCommsHandle() {}
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virtual void cleanup() = 0;
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std::string hw_serial;
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std::atomic<bool> connected = true;
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std::atomic<bool> comms_healthy = true;
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static std::vector<std::string> list();
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// HW communication
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virtual int control_write(uint8_t request, uint16_t param1, uint16_t param2, unsigned int timeout=TIMEOUT) = 0;
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virtual int control_read(uint8_t request, uint16_t param1, uint16_t param2, unsigned char *data, uint16_t length, unsigned int timeout=TIMEOUT) = 0;
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virtual int bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT) = 0;
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virtual int bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT) = 0;
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};
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class PandaUsbHandle : public PandaCommsHandle {
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public:
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PandaUsbHandle(std::string serial);
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~PandaUsbHandle();
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int control_write(uint8_t request, uint16_t param1, uint16_t param2, unsigned int timeout=TIMEOUT);
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int control_read(uint8_t request, uint16_t param1, uint16_t param2, unsigned char *data, uint16_t length, unsigned int timeout=TIMEOUT);
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int bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT);
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int bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT);
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void cleanup();
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static std::vector<std::string> list();
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private:
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libusb_context *ctx = NULL;
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libusb_device_handle *dev_handle = NULL;
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std::recursive_mutex hw_lock;
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void handle_usb_issue(int err, const char func[]);
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};
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#ifndef __APPLE__
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struct __attribute__((packed)) spi_header {
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uint8_t sync;
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uint8_t endpoint;
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uint16_t tx_len;
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uint16_t max_rx_len;
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};
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class PandaSpiHandle : public PandaCommsHandle {
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public:
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PandaSpiHandle(std::string serial);
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~PandaSpiHandle();
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int control_write(uint8_t request, uint16_t param1, uint16_t param2, unsigned int timeout=TIMEOUT);
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int control_read(uint8_t request, uint16_t param1, uint16_t param2, unsigned char *data, uint16_t length, unsigned int timeout=TIMEOUT);
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int bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT);
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int bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT);
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void cleanup();
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static std::vector<std::string> list();
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private:
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int spi_fd = -1;
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uint8_t tx_buf[SPI_BUF_SIZE];
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uint8_t rx_buf[SPI_BUF_SIZE];
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inline static std::recursive_mutex hw_lock;
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int wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout, unsigned int length);
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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);
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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);
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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);
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int lltransfer(spi_ioc_transfer &t);
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spi_header header;
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uint32_t xfer_count = 0;
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};
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#endif
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