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Merge pull request #476 from marckleinebudde/cansequence 

cansequence: cleanups and add support for CAN-FD
pull/480/head
Marc Kleine-Budde 2023-11-29 18:35:43 +01:00 committed by GitHub
parent 39f6d37e47 642190647e
commit 88f0c75334
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 109 additions and 39 deletions
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96
cansequence.c
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@ -1,5 +1,5 @@
/* SPDX-License-Identifier: GPL-2.0-only */
// Copyright (c) 2007, 2008, 2009, 2010, 2014, 2015, 2019 Pengutronix,
// Copyright (c) 2007, 2008, 2009, 2010, 2014, 2015, 2019, 2023 Pengutronix,
// Marc Kleine-Budde <kernel@pengutronix.de>
// Copyright (c) 2005 Pengutronix,
// Sascha Hauer <kernel@pengutronix.de>
@ -36,6 +36,8 @@ static int s = -1;
static bool running = true;
static volatile sig_atomic_t signal_num;
static bool infinite = true;
static bool canfd = false;
static bool canfd_strict = false;
static unsigned int drop_until_quit;
static unsigned int drop_count;
static bool use_poll = false;
@ -43,16 +45,19 @@ static bool use_poll = false;
static unsigned int loopcount = 1;
static int verbose;
static struct can_frame frame = {
.can_dlc = 1,
static struct canfd_frame frame = {
.len = 1,
};
static struct can_filter filter[] = {
{ .can_id = CAN_ID_DEFAULT, },
{
.can_id = CAN_ID_DEFAULT,
},
};
static void print_usage(char *prg)
{
fprintf(stderr, "Usage: %s [<can-interface>] [Options]\n"
fprintf(stderr,
"Usage: %s [<can-interface>] [Options]\n"
"\n"
"cansequence sends CAN messages with a rising sequence number as payload.\n"
"When the -r option is given, cansequence expects to receive these messages\n"
@ -60,7 +65,10 @@ static void print_usage(char *prg)
"The main purpose of this program is to test the reliability of CAN links.\n"
"\n"
"Options:\n"
" -e, --extended send extended frame\n"
" -e, --extended send/receive extended frames\n"
" -f, --canfd send/receive CAN-FD CAN frames\n"
" -s, --strict refuse classical CAN frames in CAN-FD mode\n"
" -b, --brs send CAN-FD CAN frames with bitrate switch (BRS)\n"
" -i, --identifier=ID CAN Identifier (default = %u)\n"
" --loop=COUNT send message COUNT times\n"
" -p, --poll use poll(2) to wait for buffer space while sending\n"
@ -77,7 +85,6 @@ static void sig_handler(int signo)
signal_num = signo;
}
static void do_receive()
{
uint8_t ctrlmsg[CMSG_SPACE(sizeof(struct timeval)) + CMSG_SPACE(sizeof(__u32))];
@ -98,6 +105,12 @@ static void do_receive()
uint32_t sequence = 0;
unsigned int overflow_old = 0;
can_err_mask_t err_mask = CAN_ERR_MASK;
size_t mtu;
if (canfd)
mtu = CANFD_MTU;
else
mtu = CAN_MTU;
if (setsockopt(s, SOL_SOCKET, SO_RXQ_OVFL,
&dropmonitor_on, sizeof(dropmonitor_on)) < 0) {
@ -119,7 +132,7 @@ static void do_receive()
while ((infinite || loopcount--) && running) {
ssize_t nbytes;
msg.msg_iov[0].iov_len = sizeof(frame);
msg.msg_iov[0].iov_len = mtu;
msg.msg_controllen = sizeof(ctrlmsg);
msg.msg_flags = 0;
@ -140,6 +153,12 @@ static void do_receive()
sequence_rx = frame.data[0];
if (canfd_strict && nbytes == CAN_MTU) {
if (verbose > 1)
printf("sequence CNT: 0x%07x RX: 0x%02x (ignoring classical CAN frame)\n", sequence, sequence_rx);
continue;
}
if (sequence_init) {
sequence_init = false;
sequence = sequence_rx;
@ -188,7 +207,6 @@ static void do_receive()
sequence++;
if (verbose && !(sequence & sequence_mask))
printf("sequence wrap around (%d)\n", sequence_wrap++);
}
}
@ -196,6 +214,12 @@ static void do_send()
{
unsigned int seq_wrap = 0;
uint8_t sequence = 0;
size_t mtu;
if (canfd)
mtu = CANFD_MTU;
else
mtu = CAN_MTU;
while ((infinite || loopcount--) && running) {
ssize_t len;
@ -204,7 +228,7 @@ static void do_send()
printf("sending frame. sequence number: %d\n", sequence);
again:
len = write(s, &frame, sizeof(frame));
len = write(s, &frame, mtu);
if (len == -1) {
switch (errno) {
case ENOBUFS: {
@ -252,8 +276,9 @@ int main(int argc, char **argv)
.can_family = AF_CAN,
};
char *interface = "can0";
int extended = 0;
int receive = 0;
bool extended = false;
bool brs = false;
bool receive = false;
int opt;
sigaction(SIGINT, &act, NULL);
@ -262,6 +287,8 @@ int main(int argc, char **argv)
struct option long_options[] = {
{ "extended", no_argument, 0, 'e' },
{ "canfd", no_argument, 0, 'f' },
{ "brs", no_argument, 0, 'b' },
{ "identifier", required_argument, 0, 'i' },
{ "loop", required_argument, 0, 'l' },
{ "poll", no_argument, 0, 'p' },
@ -272,12 +299,25 @@ int main(int argc, char **argv)
{ 0, 0, 0, 0 },
};
while ((opt = getopt_long(argc, argv, "ei:pq::rvh", long_options, NULL)) != -1) {
while ((opt = getopt_long(argc, argv, "efsbi:pq::rvh?", long_options, NULL)) != -1) {
switch (opt) {
case 'e':
extended = true;
break;
case 'f':
canfd = true;
break;
case 's':
canfd_strict = true;
break;
case 'b':
brs = true; /* bitrate switch implies CAN-FD */
canfd = true;
break;
case 'i':
filter->can_id = strtoul(optarg, NULL, 0);
break;
@ -311,6 +351,7 @@ int main(int argc, char **argv)
break;
case 'h':
case '?':
print_usage(basename(argv[0]));
exit(EXIT_SUCCESS);
break;
@ -358,6 +399,35 @@ int main(int argc, char **argv)
exit(EXIT_FAILURE);
}
if (canfd) {
const int enable_canfd = 1;
struct ifreq ifr;
strncpy(ifr.ifr_name, interface, sizeof(ifr.ifr_name));
/* check if the frame fits into the CAN netdevice */
if (ioctl(s, SIOCGIFMTU, &ifr) < 0) {
perror("SIOCGIFMTU");
exit(EXIT_FAILURE);
}
if (ifr.ifr_mtu != CANFD_MTU && ifr.ifr_mtu != CANXL_MTU) {
printf("CAN interface is only Classical CAN capable - sorry.\n");
exit(EXIT_FAILURE);
}
/* interface is ok - try to switch the socket into CAN FD mode */
if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &enable_canfd, sizeof(enable_canfd))) {
printf("error when enabling CAN FD support\n");
exit(EXIT_FAILURE);
}
} else {
canfd_strict = false;
}
if (brs)
frame.flags |= CANFD_BRS;
if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
perror("bind()");
exit(EXIT_FAILURE);