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Merge pull request #488 from marckleinebudde/canfdtest 

canfdtest: fix filter for extended frames and some cleanups
pull/491/head
Marc Kleine-Budde 2024-01-16 17:25:21 +01:00 committed by GitHub
parent 5ba9daf7ed 046b9d3b8f
commit 8ab42e4309
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 72 additions and 54 deletions
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126
canfdtest.c
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@ -24,6 +24,7 @@
#include <limits.h> #include <limits.h>
#include <sched.h> #include <sched.h>
#include <signal.h> #include <signal.h>
#include <stdbool.h>
#include <stdint.h> #include <stdint.h>
#include <stdio.h> #include <stdio.h>
#include <stdlib.h> #include <stdlib.h>
@ -54,17 +55,17 @@ static int exit_sig;
static int inflight_count = CAN_MSG_COUNT; static int inflight_count = CAN_MSG_COUNT;
static canid_t can_id_ping = CAN_MSG_ID_PING; static canid_t can_id_ping = CAN_MSG_ID_PING;
static canid_t can_id_pong = CAN_MSG_ID_PONG; static canid_t can_id_pong = CAN_MSG_ID_PONG;
static int has_pong_id = 0; static bool has_pong_id;
static int is_can_fd = 0; static bool is_can_fd;
static int bit_rate_switch = 0; static bool bit_rate_switch;
static int msg_len = CAN_MSG_LEN; static int msg_len = CAN_MSG_LEN;
static int is_extended_frame_format = 0; static bool is_extended_frame_format;
static void print_usage(char *prg) static void print_usage(char *prg)
{ {
fprintf(stderr, fprintf(stderr,
"%s - Full-duplex test program (DUT and host part).\n" "%s - Full-duplex test program (DUT and host part).\n"
"Usage: %s [options] <can-interface>\n" "Usage: %s [options] [<can-interface>]\n"
"\n" "\n"
"Options:\n" "Options:\n"
" -b (enable CAN FD Bit Rate Switch)\n" " -b (enable CAN FD Bit Rate Switch)\n"
@ -85,6 +86,8 @@ static void print_usage(char *prg)
"<can-interface> are sent back incrementing the CAN id and\n" "<can-interface> are sent back incrementing the CAN id and\n"
"all data bytes. The program can be aborted with ^C.\n" "all data bytes. The program can be aborted with ^C.\n"
"\n" "\n"
"Using 'can0' as default CAN-interface.\n"
"\n"
"Examples:\n" "Examples:\n"
"\ton DUT:\n" "\ton DUT:\n"
"%s -v can0\n" "%s -v can0\n"
@ -120,6 +123,18 @@ static void print_compare(canid_t exp_id, const uint8_t *exp_data, uint8_t exp_d
print_frame(rec_id, rec_data, rec_dlc, 0); print_frame(rec_id, rec_data, rec_dlc, 0);
} }
static canid_t normalize_canid(canid_t id)
{
if (is_extended_frame_format) {
id &= CAN_EFF_MASK;
id |= CAN_EFF_FLAG;
} else {
id &= CAN_SFF_MASK;
}
return id;
}
static int compare_frame(const struct canfd_frame *exp, const struct canfd_frame *rec, int inc) static int compare_frame(const struct canfd_frame *exp, const struct canfd_frame *rec, int inc)
{ {
int i, err = 0; int i, err = 0;
@ -185,23 +200,30 @@ static void signal_handler(int signo)
exit_sig = signo; exit_sig = signo;
} }
static int recv_frame(struct canfd_frame *frame) static int recv_frame(struct canfd_frame *frame, int *flags)
{ {
ssize_t ret, len; struct iovec iov = {
.iov_base = frame,
.iov_len = is_can_fd ? sizeof(struct canfd_frame) : sizeof(struct can_frame),
};
struct msghdr msg = {
.msg_iov = &iov,
.msg_iovlen = 1,
};
ssize_t ret;
if (is_can_fd) ret = recvmsg(sockfd, &msg, 0);
len = sizeof(struct canfd_frame); if (ret != iov.iov_len) {
else
len = sizeof(struct can_frame);
ret = recv(sockfd, frame, len, 0);
if (ret != len) {
if (ret < 0) if (ret < 0)
perror("recv failed"); perror("recvmsg() failed");
else else
fprintf(stderr, "recv returned %zd", ret); fprintf(stderr, "recvmsg() returned %zd", ret);
return -1; return -1;
} }
if (flags)
*flags = msg.msg_flags;
return 0; return 0;
} }
@ -269,7 +291,7 @@ static void inc_frame(struct canfd_frame *frame)
if (has_pong_id) if (has_pong_id)
frame->can_id = can_id_pong; frame->can_id = can_id_pong;
else else
frame->can_id++; frame->can_id = normalize_canid(frame->can_id + 1);
for (i = 0; i < frame->len; i++) for (i = 0; i < frame->len; i++)
frame->data[i]++; frame->data[i]++;
@ -282,7 +304,7 @@ static int can_echo_dut(void)
int err = 0; int err = 0;
while (running) { while (running) {
if (recv_frame(&frame)) if (recv_frame(&frame, NULL))
return -1; return -1;
frame_count++; frame_count++;
if (verbose == 1) { if (verbose == 1) {
@ -312,8 +334,7 @@ static int can_echo_dut(void)
static int can_echo_gen(void) static int can_echo_gen(void)
{ {
struct canfd_frame *tx_frames; struct canfd_frame *tx_frames;
int *recv_tx; bool *recv_tx;
struct canfd_frame rx_frame;
unsigned char counter = 0; unsigned char counter = 0;
int send_pos = 0, recv_rx_pos = 0, recv_tx_pos = 0, unprocessed = 0, loops = 0; int send_pos = 0, recv_rx_pos = 0, recv_tx_pos = 0, unprocessed = 0, loops = 0;
int err = 0; int err = 0;
@ -332,20 +353,22 @@ static int can_echo_gen(void)
while (running) { while (running) {
if (unprocessed < inflight_count) { if (unprocessed < inflight_count) {
/* still send messages */ /* still send messages */
tx_frames[send_pos].len = msg_len; struct canfd_frame *tx_frame = &tx_frames[send_pos];
tx_frames[send_pos].can_id = can_id_ping;
recv_tx[send_pos] = 0; tx_frame->len = msg_len;
tx_frame->can_id = can_id_ping;
recv_tx[send_pos] = false;
for (i = 0; i < msg_len; i++) for (i = 0; i < msg_len; i++)
tx_frames[send_pos].data[i] = counter + i; tx_frame->data[i] = counter + i;
if (send_frame(&tx_frames[send_pos])) { if (send_frame(tx_frame)) {
err = -1; err = -1;
goto out_free; goto out_free;
} }
send_pos++; send_pos++;
if (send_pos == inflight_count) send_pos %= inflight_count;
send_pos = 0;
unprocessed++; unprocessed++;
if (verbose == 1) if (verbose == 1)
echo_progress(counter); echo_progress(counter);
@ -356,7 +379,10 @@ static int can_echo_gen(void)
else else
millisleep(1); millisleep(1);
} else { } else {
if (recv_frame(&rx_frame)) { struct canfd_frame rx_frame;
int flags;
if (recv_frame(&rx_frame, &flags)) {
err = -1; err = -1;
goto out_free; goto out_free;
} }
@ -365,12 +391,11 @@ static int can_echo_gen(void)
print_frame(rx_frame.can_id, rx_frame.data, rx_frame.len, 0); print_frame(rx_frame.can_id, rx_frame.data, rx_frame.len, 0);
/* own frame */ /* own frame */
if (rx_frame.can_id == can_id_ping) { if (flags & MSG_DONTROUTE) {
err = compare_frame(&tx_frames[recv_tx_pos], &rx_frame, 0); err = compare_frame(&tx_frames[recv_tx_pos], &rx_frame, 0);
recv_tx[recv_tx_pos] = 1; recv_tx[recv_tx_pos] = true;
recv_tx_pos++; recv_tx_pos++;
if (recv_tx_pos == inflight_count) recv_tx_pos %= inflight_count;
recv_tx_pos = 0;
continue; continue;
} }
@ -382,8 +407,7 @@ static int can_echo_gen(void)
/* compare with expected */ /* compare with expected */
err = compare_frame(&tx_frames[recv_rx_pos], &rx_frame, 1); err = compare_frame(&tx_frames[recv_rx_pos], &rx_frame, 1);
recv_rx_pos++; recv_rx_pos++;
if (recv_rx_pos == inflight_count) recv_rx_pos %= inflight_count;
recv_rx_pos = 0;
loops++; loops++;
if (test_loops && loops >= test_loops) if (test_loops && loops >= test_loops)
@ -406,12 +430,12 @@ out_free_tx_frames:
int main(int argc, char *argv[]) int main(int argc, char *argv[])
{ {
struct sockaddr_can addr; struct sockaddr_can addr;
char *intf_name; char *intf_name = "can0";
int family = PF_CAN, type = SOCK_RAW, proto = CAN_RAW; int family = PF_CAN, type = SOCK_RAW, proto = CAN_RAW;
int echo_gen = 0; int echo_gen = 0;
int opt, err; int opt, err;
int enable_socket_option = 1; int enable_socket_option = 1;
int filter = 0; bool filter = false;
signal(SIGTERM, signal_handler); signal(SIGTERM, signal_handler);
signal(SIGHUP, signal_handler); signal(SIGHUP, signal_handler);
@ -420,15 +444,15 @@ int main(int argc, char *argv[])
while ((opt = getopt(argc, argv, "bdef:gi:l:o:s:vx?")) != -1) { while ((opt = getopt(argc, argv, "bdef:gi:l:o:s:vx?")) != -1) {
switch (opt) { switch (opt) {
case 'b': case 'b':
bit_rate_switch = 1; bit_rate_switch = true;
break; break;
case 'd': case 'd':
is_can_fd = 1; is_can_fd = true;
break; break;
case 'e': case 'e':
is_extended_frame_format = 1; is_extended_frame_format = true;
break; break;
case 'f': case 'f':
@ -449,7 +473,7 @@ int main(int argc, char *argv[])
case 'o': case 'o':
can_id_pong = strtoul(optarg, NULL, 16); can_id_pong = strtoul(optarg, NULL, 16);
has_pong_id = 1; has_pong_id = true;
break; break;
case 's': case 's':
@ -461,7 +485,7 @@ int main(int argc, char *argv[])
break; break;
case 'x': case 'x':
filter = 1; filter = true;
break; break;
case '?': case '?':
@ -494,19 +518,13 @@ int main(int argc, char *argv[])
} }
} }
if (is_extended_frame_format) { can_id_ping = normalize_canid(can_id_ping);
can_id_ping &= CAN_EFF_MASK; can_id_pong = normalize_canid(can_id_pong);
can_id_ping |= CAN_EFF_FLAG;
can_id_pong &= CAN_EFF_MASK;
can_id_pong |= CAN_EFF_FLAG;
} else {
can_id_ping &= CAN_SFF_MASK;
can_id_pong &= CAN_SFF_MASK;
}
if ((argc - optind) != 1) if ((argc - optind) == 1)
intf_name = argv[optind];
else if ((argc - optind))
print_usage(basename(argv[0])); print_usage(basename(argv[0]));
intf_name = argv[optind];
printf("interface = %s, family = %d, type = %d, proto = %d\n", printf("interface = %s, family = %d, type = %d, proto = %d\n",
intf_name, family, type, proto); intf_name, family, type, proto);
@ -553,11 +571,11 @@ int main(int argc, char *argv[])
const struct can_filter filters[] = { const struct can_filter filters[] = {
{ {
.can_id = can_id_ping, .can_id = can_id_ping,
.can_mask = CAN_EFF_FLAG | CAN_RTR_FLAG | CAN_SFF_MASK, .can_mask = CAN_EFF_FLAG | CAN_RTR_FLAG | CAN_EFF_MASK,
}, },
{ {
.can_id = can_id_pong, .can_id = can_id_pong,
.can_mask = CAN_EFF_FLAG | CAN_RTR_FLAG | CAN_SFF_MASK, .can_mask = CAN_EFF_FLAG | CAN_RTR_FLAG | CAN_EFF_MASK,
}, },
}; };