cangen: add initial CAN XL support
TODO: - Test all features - make CAN XL content variable Signed-off-by: Oliver Hartkopp <socketcan@hartkopp.net>pull/504/head
Oliver Hartkopp
parent
09b8a6431f
commit
443312d6ce
140
cangen.c
140
cangen.c
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@ -177,9 +177,10 @@ static void print_usage(char *prg)
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fprintf(stderr, " -f (generate CAN FD CAN frames)\n");
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fprintf(stderr, " -b (generate CAN FD CAN frames with bitrate switch (BRS))\n");
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fprintf(stderr, " -E (generate CAN FD CAN frames with error state (ESI))\n");
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fprintf(stderr, " -X (generate CAN XL CAN frames)\n");
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fprintf(stderr, " -R (generate RTR frames)\n");
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fprintf(stderr, " -8 (allow DLC values greater then 8 for Classic CAN frames)\n");
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fprintf(stderr, " -m (mix -e -f -b -E -R frames)\n");
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fprintf(stderr, " -m (mix -e -f -b -E -R -X frames)\n");
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fprintf(stderr, " -I <mode> (CAN ID generation mode - see below)\n");
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fprintf(stderr, " -L <mode> (CAN data length code (dlc) generation mode - see below)\n");
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fprintf(stderr, " -D <mode> (CAN data (payload) generation mode - see below)\n");
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@ -298,7 +299,6 @@ static int do_send_one(int fd, cu_t *cu, size_t len, int timeout)
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uint8_t control[CMSG_SPACE(sizeof(uint64_t))] = { 0 };
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struct iovec iov = {
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.iov_base = cu,
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.iov_len = len,
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};
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struct msghdr msg = {
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.msg_iov = &iov,
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@ -307,6 +307,12 @@ static int do_send_one(int fd, cu_t *cu, size_t len, int timeout)
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ssize_t nbytes;
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int ret;
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/* CAN XL frames need real frame length for sending */
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if (len == CANXL_MTU)
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len = CANXL_HDR_SIZE + cu->xl.len;
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iov.iov_len = len;
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if (use_so_txtime) {
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struct cmsghdr *cm;
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uint64_t tdeliver;
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@ -443,6 +449,7 @@ int main(int argc, char **argv)
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unsigned long polltimeout = 0;
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unsigned char extended = 0;
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unsigned char canfd = 0;
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unsigned char canxl = 0;
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unsigned char brs = 0;
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unsigned char esi = 0;
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unsigned char mix = 0;
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@ -458,6 +465,7 @@ int main(int argc, char **argv)
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unsigned long burst_sent_count = 0;
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int mtu, maxdlen;
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uint64_t incdata = 0;
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__u8 *data; /* base pointer for CC/FD or XL data */
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int incdlc = 0;
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unsigned long rnd;
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unsigned char fixdata[CANFD_MAX_DLEN];
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@ -467,9 +475,13 @@ int main(int argc, char **argv)
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int s; /* socket */
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struct sockaddr_can addr = { 0 };
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struct can_raw_vcid_options vcid_opts = {
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.flags = CAN_RAW_XL_VCID_TX_PASS,
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};
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static cu_t cu;
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int i;
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struct ifreq ifr;
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static struct ifreq ifr;
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const int enable_canfx = 1;
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struct timeval now;
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int ret;
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@ -488,7 +500,7 @@ int main(int argc, char **argv)
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{ 0, 0, 0, 0 },
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};
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while ((opt = getopt_long(argc, argv, "g:atefbER8mI:L:D:p:n:ixc:vh?", long_options, NULL)) != -1) {
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while ((opt = getopt_long(argc, argv, "g:atefbEXR8mI:L:D:p:n:ixc:vh?", long_options, NULL)) != -1) {
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switch (opt) {
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case 'g':
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gap = strtod(optarg, NULL);
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@ -533,6 +545,10 @@ int main(int argc, char **argv)
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canfd = 1;
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break;
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case 'X':
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canxl = 1;
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break;
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case 'R':
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rtr_frame = 1;
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break;
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@ -676,8 +692,7 @@ int main(int argc, char **argv)
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&loopback, sizeof(loopback));
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}
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if (canfd) {
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const int enable_canfd = 1;
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if (canfd || canxl) {
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/* check if the frame fits into the CAN netdevice */
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if (ioctl(s, SIOCGIFMTU, &ifr) < 0) {
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@ -685,19 +700,49 @@ int main(int argc, char **argv)
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return 1;
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}
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if (ifr.ifr_mtu != CANFD_MTU && ifr.ifr_mtu != CANXL_MTU) {
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printf("CAN interface is only Classical CAN capable - sorry.\n");
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if (canfd) {
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/* ensure discrete CAN FD length values 0..8, 12, 16, 20, 24, 32, 64 */
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cu.fd.len = can_fd_dlc2len(can_fd_len2dlc(cu.fd.len));
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} else {
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/* limit fixed CAN XL data length to 64 */
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if (cu.fd.len > CANFD_MAX_DLEN)
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cu.fd.len = CANFD_MAX_DLEN;
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}
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if (canxl && (ifr.ifr_mtu < CANXL_MIN_MTU)) {
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printf("CAN interface not CAN XL capable - sorry.\n");
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return 1;
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}
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/* interface is ok - try to switch the socket into CAN FD mode */
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if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &enable_canfd, sizeof(enable_canfd))) {
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printf("error when enabling CAN FD support\n");
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if (canfd && (ifr.ifr_mtu < CANFD_MTU)) {
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printf("CAN interface not CAN FD capable - sorry.\n");
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return 1;
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}
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/* ensure discrete CAN FD length values 0..8, 12, 16, 20, 24, 32, 64 */
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cu.fd.len = can_fd_dlc2len(can_fd_len2dlc(cu.fd.len));
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if (ifr.ifr_mtu == CANFD_MTU) {
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/* interface is ok - try to switch the socket into CAN FD mode */
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if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_FD_FRAMES,
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&enable_canfx, sizeof(enable_canfx))){
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printf("error when enabling CAN FD support\n");
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return 1;
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}
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}
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if (ifr.ifr_mtu >= CANXL_MIN_MTU) {
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/* interface is ok - try to switch the socket into CAN XL mode */
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if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_XL_FRAMES,
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&enable_canfx, sizeof(enable_canfx))){
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printf("error when enabling CAN XL support\n");
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return 1;
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}
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/* try to enable the CAN XL VCID pass through mode */
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if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_XL_VCID_OPTS,
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&vcid_opts, sizeof(vcid_opts))) {
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printf("error when enabling CAN XL VCID pass through\n");
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return 1;
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}
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}
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} else {
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/* sanitize Classical CAN 2.0 frame length */
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if (len8_dlc) {
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@ -733,10 +778,16 @@ int main(int argc, char **argv)
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if (count && (--count == 0))
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running = 0;
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if (canfd) {
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if (canxl) {
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mtu = CANXL_MTU;
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maxdlen = CANFD_MAX_DLEN; /* generate up to 64 byte */
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extended = 0; /* prio has only 11 bit ID content */
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data = cu.xl.data; /* fill CAN XL data */
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} else if (canfd) {
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mtu = CANFD_MTU;
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maxdlen = CANFD_MAX_DLEN;
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cu.fd.flags |= CANFD_FDF;
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data = cu.fd.data; /* fill CAN CC/FD data */
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cu.fd.flags = CANFD_FDF;
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if (brs)
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cu.fd.flags |= CANFD_BRS;
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if (esi)
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@ -744,6 +795,7 @@ int main(int argc, char **argv)
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} else {
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mtu = CAN_MTU;
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maxdlen = CAN_MAX_DLEN;
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data = cu.cc.data; /* fill CAN CC/FD data */
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}
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if (id_mode == MODE_RANDOM)
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@ -759,11 +811,13 @@ int main(int argc, char **argv)
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} else
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cu.fd.can_id &= CAN_SFF_MASK;
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if (rtr_frame && !canfd)
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if (rtr_frame && !canfd && !canxl)
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cu.fd.can_id |= CAN_RTR_FLAG;
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if (dlc_mode == MODE_RANDOM) {
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if (canfd)
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if (canxl)
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cu.fd.len = CANXL_MIN_DLEN + (random() & 0x3F);
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else if (canfd)
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cu.fd.len = can_fd_dlc2len(random() & 0xF);
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else {
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cu.cc.len = random() & 0xF;
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@ -785,40 +839,40 @@ int main(int argc, char **argv)
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if (data_mode == MODE_RANDOM) {
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rnd = random();
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memcpy(&cu.cc.data[0], &rnd, 4);
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memcpy(&data[0], &rnd, 4);
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rnd = random();
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memcpy(&cu.cc.data[4], &rnd, 4);
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memcpy(&data[4], &rnd, 4);
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/* omit extra random number generation for CAN FD */
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if (canfd && cu.fd.len > 8) {
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memcpy(&cu.fd.data[8], &cu.fd.data[0], 8);
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memcpy(&cu.fd.data[16], &cu.fd.data[0], 16);
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memcpy(&cu.fd.data[32], &cu.fd.data[0], 32);
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if ((canfd || canxl) && cu.fd.len > 8) {
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memcpy(&data[8], &data[0], 8);
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memcpy(&data[16], &data[0], 16);
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memcpy(&data[32], &data[0], 32);
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}
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}
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if (data_mode == MODE_RANDOM_FIX) {
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int i;
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memcpy(cu.fd.data, fixdata, CANFD_MAX_DLEN);
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memcpy(data, fixdata, CANFD_MAX_DLEN);
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for (i = 0; i < cu.fd.len; i++) {
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if (rand_position[i] == (NIBBLE_H | NIBBLE_L)) {
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cu.fd.data[i] = random();
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data[i] = random();
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} else if (rand_position[i] == NIBBLE_H) {
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cu.fd.data[i] = (cu.fd.data[i] & 0x0f) | (random() & 0xf0);
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data[i] = (data[i] & 0x0f) | (random() & 0xf0);
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} else if (rand_position[i] == NIBBLE_L) {
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cu.fd.data[i] = (cu.fd.data[i] & 0xf0) | (random() & 0x0f);
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data[i] = (data[i] & 0xf0) | (random() & 0x0f);
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}
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}
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}
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if (data_mode == MODE_FIX)
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memcpy(cu.fd.data, fixdata, CANFD_MAX_DLEN);
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memcpy(data, fixdata, CANFD_MAX_DLEN);
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/* set unused payload data to zero like the CAN driver does it on rx */
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if (cu.fd.len < maxdlen)
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memset(&cu.fd.data[cu.fd.len], 0, maxdlen - cu.fd.len);
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memset(&data[cu.fd.len], 0, maxdlen - cu.fd.len);
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if (!use_so_txtime &&
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(ts.tv_sec || ts.tv_nsec) &&
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@ -833,6 +887,21 @@ int main(int argc, char **argv)
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}
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}
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if (canxl) {
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/* convert some CAN FD frame content into a CAN XL frame */
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if (cu.fd.len < CANXL_MIN_DLEN) {
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cu.fd.len = CANXL_MIN_DLEN;
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data[0] = 0xCC; /* default filler */
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}
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cu.xl.len = cu.fd.len;
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cu.xl.flags = CANXL_XLF;
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/* static values for now */
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cu.xl.sdt = 0x22;
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cu.xl.af = 0x12345678;
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cu.xl.prio |= (0x33 << CANXL_VCID_OFFSET);
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}
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if (verbose) {
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static char afrbuf[AFRSZ]; /* ASCII CAN frame buffer size */
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@ -854,6 +923,11 @@ int main(int argc, char **argv)
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burst_sent_count = 0;
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burst_sent_count++;
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if (canxl) {
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/* restore some CAN FD frame content from CAN XL frame */
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cu.fd.len = cu.xl.len;
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}
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if (id_mode == MODE_INCREMENT)
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cu.cc.can_id++;
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@ -861,7 +935,7 @@ int main(int argc, char **argv)
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incdlc++;
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incdlc %= CAN_MAX_RAW_DLC + 1;
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if (canfd && !mix)
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if ((canfd || canxl) && !mix)
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cu.fd.len = can_fd_dlc2len(incdlc);
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else if (len8_dlc) {
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if (incdlc > CAN_MAX_DLEN) {
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@ -881,7 +955,7 @@ int main(int argc, char **argv)
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incdata++;
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for (i = 0; i < 8; i++)
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cu.cc.data[i] = incdata >> i * 8;
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data[i] = incdata >> i * 8;
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}
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if (mix) {
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@ -892,6 +966,10 @@ int main(int argc, char **argv)
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brs = i & 4;
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esi = i & 8;
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}
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/* generate CAN XL traffic if the interface is capable */
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if (ifr.ifr_mtu >= CANXL_MIN_MTU)
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canxl = ((i & 96) == 96);
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rtr_frame = ((i & 24) == 24); /* reduce RTR frames to 1/4 */
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}
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}
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