Merge pull request #224 from marckleinebudde/canfdtest

Canfdtest

canfdtest.c

@@ -28,6 +28,7 @@
 #include <sched.h>
 #include <limits.h>
 #include <errno.h>
+#include <stdint.h>
 
 #include <sys/types.h>
 #include <sys/time.h>
@@ -48,6 +49,7 @@ static int verbose;
 static int sockfd;
 static int test_loops;
 static int exit_sig;
+static int inflight_count = CAN_MSG_COUNT;
 
 static void print_usage(char *prg)
 {
@@ -60,6 +62,7 @@ static void print_usage(char *prg)
 		"         -vv      (high verbosity)\n"
 		"         -g       (generate messages)\n"
 		"         -l COUNT (test loop count)\n"
+		"         -f COUNT (number of frames in flight, default: %d)\n"
 		"\n"
 		"With the option '-g' CAN messages are generated and checked\n"
 		"on <can-interface>, otherwise all messages received on the\n"
@@ -71,12 +74,12 @@ static void print_usage(char *prg)
 		"%s -v can0\n"
 		"\ton Host:\n"
 		"%s -g -v can2\n",
-		prg, prg, prg, prg);
+		prg, prg, CAN_MSG_COUNT, prg, prg);
 
 	exit(1);
 }
 
-static void print_frame(struct can_frame *frame, int inc)
+static void print_frame(const struct can_frame *frame, int inc)
 {
 	int i;
 
@@ -86,12 +89,12 @@ static void print_frame(struct can_frame *frame, int inc)
 	} else {
 		printf("[%d]", frame->can_dlc);
 		for (i = 0; i < frame->can_dlc; i++)
-			printf(" %02x", frame->data[i] + inc);
+			printf(" %02x", (uint8_t)(frame->data[i] + inc));
 	}
 	printf("\n");
 }
 
-static void print_compare(struct can_frame *exp, struct can_frame *rec, int inc)
+static void print_compare(const struct can_frame *exp, const struct can_frame *rec, int inc)
 {
 	printf("expected: ");
 	print_frame(exp, inc);
@@ -113,7 +116,7 @@ static void compare_frame(struct can_frame *exp, struct can_frame *rec, int inc)
 		running = 0;
 	} else {
 		for (i = 0; i < rec->can_dlc; i++) {
-			if (rec->data[i] != ((exp->data[i] + inc) & 0xff)) {
+			if (rec->data[i] != (uint8_t)(exp->data[i] + inc)) {
 				printf("Databyte %x mismatch!\n", i);
 				print_compare(exp,
 					      rec, inc);
@@ -196,11 +199,47 @@ static int send_frame(struct can_frame *frame)
 	return 0;
 }
 
+static int check_frame(const struct can_frame *frame)
+{
+	int err = 0;
+	int i;
+	
+	if (frame->can_id != CAN_MSG_ID) {
+		printf("unexpected Message ID 0x%04x!\n", frame->can_id);
+		err = -1;
+	}
+
+	if (frame->can_dlc != CAN_MSG_LEN) {
+		printf("unexpected Message length %d!\n", frame->can_dlc);
+		err = -1;
+	}
+	
+	for (i = 1; i < frame->can_dlc; i++) {
+		if (frame->data[i] != frame->data[i-1]) {
+			printf("Frame inconsistent!\n");
+			print_frame(frame, 0);
+			err = -1;
+			goto out;
+		}
+	}
+
+ out:
+	return err;
+}
+
+static void inc_frame(struct can_frame *frame)
+{
+	int i;
+
+	frame->can_id++;
+	for (i = 0; i < frame->can_dlc; i++)
+		frame->data[i]++;
+}
+
 static int can_echo_dut(void)
 {
 	unsigned int frame_count = 0;
 	struct can_frame frame;
-	int i;
 
 	while (running) {
 		if (recv_frame(&frame))
@@ -209,19 +248,11 @@ static int can_echo_dut(void)
 		if (verbose == 1) {
 			echo_progress(frame.data[0]);
 		} else if (verbose > 1) {
-			printf("%04x: ", frame.can_id);
-			if (frame.can_id & CAN_RTR_FLAG) {
-				printf("remote request");
-			} else {
-				printf("[%d]", frame.can_dlc);
-				for (i = 0; i < frame.can_dlc; i++)
-					printf(" %02x", frame.data[i]);
+			print_frame(&frame, 0);
 		}
-			printf("\n");
-		}
-		frame.can_id++;
-		for (i = 0; i < frame.can_dlc; i++)
-			frame.data[i]++;
+
+		check_frame(&frame);
+		inc_frame(&frame);
 		if (send_frame(&frame))
 			return -1;
 
@@ -240,15 +271,26 @@ static int can_echo_dut(void)
 
 static int can_echo_gen(void)
 {
-	struct can_frame tx_frames[CAN_MSG_COUNT] = { };
-	int recv_tx[CAN_MSG_COUNT];
+	struct can_frame *tx_frames;
+	int *recv_tx;
 	struct can_frame rx_frame;
 	unsigned char counter = 0;
 	int send_pos = 0, recv_rx_pos = 0, recv_tx_pos = 0, unprocessed = 0, loops = 0;
+	int err = 0;
 	int i;
 
+	tx_frames = calloc(inflight_count, sizeof(* tx_frames));
+	if (!tx_frames)
+		return -1;
+
+	recv_tx = calloc(inflight_count, sizeof(* recv_tx));
+	if (!recv_tx) {
+		err = -1;
+		goto out_free_tx_frames;
+	}
+
 	while (running) {
-		if (unprocessed < CAN_MSG_COUNT) {
+		if (unprocessed < inflight_count) {
 			/* still send messages */
 			tx_frames[send_pos].can_dlc = CAN_MSG_LEN;
 			tx_frames[send_pos].can_id = CAN_MSG_ID;
@@ -256,11 +298,13 @@ static int can_echo_gen(void)
 
 			for (i = 0; i < CAN_MSG_LEN; i++)
 				tx_frames[send_pos].data[i] = counter + i;
-			if (send_frame(&tx_frames[send_pos]))
-				return -1;
+			if (send_frame(&tx_frames[send_pos])) {
+				err = -1;
+				goto out_free;
+			}
 
 			send_pos++;
-			if (send_pos == CAN_MSG_COUNT)
+			if (send_pos == inflight_count)
 				send_pos = 0;
 			unprocessed++;
 			if (verbose == 1)
@@ -272,8 +316,10 @@ static int can_echo_gen(void)
 			else
 				millisleep(1);
 		} else {
-			if (recv_frame(&rx_frame))
-				return -1;
+			if (recv_frame(&rx_frame)) {
+				err = -1;
+				goto out_free;
+			}
 
 			if (verbose > 1)
 				print_frame(&rx_frame, 0);
@@ -283,7 +329,7 @@ static int can_echo_gen(void)
 				compare_frame(&tx_frames[recv_tx_pos], &rx_frame, 0);
 				recv_tx[recv_tx_pos] = 1;
 				recv_tx_pos++;
-				if (recv_tx_pos == CAN_MSG_COUNT)
+				if (recv_tx_pos == inflight_count)
 					recv_tx_pos = 0;
 				continue;
 			} else {
@@ -294,7 +340,7 @@ static int can_echo_gen(void)
 				/* compare with expected */
 				compare_frame(&tx_frames[recv_rx_pos], &rx_frame, 1);
 				recv_rx_pos++;
-				if (recv_rx_pos == CAN_MSG_COUNT)
+				if (recv_rx_pos == inflight_count)
 					recv_rx_pos = 0;
 			}
 
@@ -308,7 +354,12 @@ static int can_echo_gen(void)
 
 	printf("\nTest messages sent and received: %d\n", loops);
 
-	return 0;
+ out_free:
+	free(recv_tx);
+ out_free_tx_frames:
+	free(tx_frames);
+
+	return err;
 }
 
 int main(int argc, char *argv[])
@@ -324,14 +375,17 @@ int main(int argc, char *argv[])
 	signal(SIGHUP, signal_handler);
 	signal(SIGINT, signal_handler);
 
-	while ((opt = getopt(argc, argv, "gl:v?")) != -1) {
+	while ((opt = getopt(argc, argv, "f:gl:v?")) != -1) {
 		switch (opt) {
 		case 'v':
 			verbose++;
 			break;
+		case 'f':
+			inflight_count = atoi(optarg);
+			break;
 
 		case 'l':
-			test_loops = atoi(optarg);;
+			test_loops = atoi(optarg);
 			break;
 
 		case 'g':