diff --git a/canfdtest.c b/canfdtest.c index e57a975..da2178f 100644 --- a/canfdtest.c +++ b/canfdtest.c @@ -4,6 +4,7 @@ * * (C) 2009 by Vladislav Gribov, IXXAT Automation GmbH, * (C) 2009 Wolfgang Grandegger + * (C) 2021 Jean Gressmann, IAV GmbH, * * This program is free software; you can redistribute it and/or modify * it under the terms of the version 2 of the GNU General Public License @@ -39,7 +40,8 @@ #include #include -#define CAN_MSG_ID 0x77 +#define CAN_MSG_ID_PING 0x77 +#define CAN_MSG_ID_PONG 0x78 #define CAN_MSG_LEN 8 #define CAN_MSG_COUNT 50 #define CAN_MSG_WAIT 27 @@ -50,6 +52,9 @@ static int sockfd; static int test_loops; static int exit_sig; static int inflight_count = CAN_MSG_COUNT; +static canid_t can_id_ping = CAN_MSG_ID_PING; +static canid_t can_id_pong = CAN_MSG_ID_PONG; +static int has_pong_id = 0; static void print_usage(char *prg) { @@ -60,9 +65,12 @@ static void print_usage(char *prg) "Options:\n" " -f COUNT (number of frames in flight, default: %d)\n" " -g (generate messages)\n" + " -i ID (CAN ID to use for frames to DUT (ping), default %x)\n" " -l COUNT (test loop count)\n" + " -o ID (CAN ID to use for frames to host (pong), default %x)\n" " -v (low verbosity)\n" " -vv (high verbosity)\n" + " -x (ignore other frames on bus)\n" "\n" "With the option '-g' CAN messages are generated and checked\n" "on , otherwise all messages received on the\n" @@ -74,52 +82,62 @@ static void print_usage(char *prg) "%s -v can0\n" "\ton Host:\n" "%s -g -v can2\n", - prg, prg, CAN_MSG_COUNT, prg, prg); + prg, prg, CAN_MSG_COUNT, CAN_MSG_ID_PING, CAN_MSG_ID_PONG, prg, prg); exit(1); } -static void print_frame(const struct can_frame *frame, int inc) +static void print_frame(canid_t id, const uint8_t *data, int dlc, int inc_data) { int i; - printf("%04x: ", frame->can_id + inc); - if (frame->can_id & CAN_RTR_FLAG) { + printf("%04x: ", id); + if (id & CAN_RTR_FLAG) { printf("remote request"); } else { - printf("[%d]", frame->can_dlc); - for (i = 0; i < frame->can_dlc; i++) - printf(" %02x", (uint8_t)(frame->data[i] + inc)); + printf("[%d]", dlc); + for (i = 0; i < dlc; i++) + printf(" %02x", (uint8_t)(data[i] + inc_data)); } printf("\n"); } -static void print_compare(const struct can_frame *exp, const struct can_frame *rec, int inc) +static void print_compare( + canid_t exp_id, + const uint8_t *exp_data, + uint8_t exp_dlc, + canid_t rec_id, + const uint8_t *rec_data, + uint8_t rec_dlc, + int inc) { printf("expected: "); - print_frame(exp, inc); + print_frame(exp_id, exp_data, exp_dlc, inc); printf("received: "); - print_frame(rec, 0); + print_frame(rec_id, rec_data, rec_dlc, 0); } -static void compare_frame(struct can_frame *exp, struct can_frame *rec, int inc) +static void compare_frame(const struct can_frame *exp, const struct can_frame *rec, int inc) { int i; + const canid_t expected_can_id = inc ? can_id_pong : can_id_ping; - if (rec->can_id != exp->can_id + inc) { + if (rec->can_id != expected_can_id) { printf("Message ID mismatch!\n"); - print_compare(exp, rec, inc); + print_compare(expected_can_id, exp->data, exp->can_dlc, + rec->can_id, rec->data, rec->can_dlc, inc); running = 0; } else if (rec->can_dlc != exp->can_dlc) { printf("Message length mismatch!\n"); - print_compare(exp, rec, inc); + print_compare(expected_can_id, exp->data, exp->can_dlc, + rec->can_id, rec->data, rec->can_dlc, inc); running = 0; } else { for (i = 0; i < rec->can_dlc; i++) { if (rec->data[i] != (uint8_t)(exp->data[i] + inc)) { printf("Databyte %x mismatch!\n", i); - print_compare(exp, - rec, inc); + print_compare(expected_can_id, exp->data, exp->can_dlc, + rec->can_id, rec->data, rec->can_dlc, inc); running = 0; } } @@ -202,20 +220,20 @@ 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); + if (frame->can_id != can_id_ping) { + 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); + printf("Unexpected Message length %d!\n", frame->can_dlc); err = -1; } for (i = 1; i < frame->can_dlc; i++) { if (frame->data[i] != (uint8_t)(frame->data[i-1] + 1)) { printf("Frame inconsistent!\n"); - print_frame(frame, 0); + print_frame(frame->can_id, frame->data, frame->can_dlc, 0); err = -1; goto out; } @@ -229,7 +247,11 @@ static void inc_frame(struct can_frame *frame) { int i; - frame->can_id++; + if (has_pong_id) + frame->can_id = can_id_pong; + else + frame->can_id++; + for (i = 0; i < frame->can_dlc; i++) frame->data[i]++; } @@ -246,7 +268,7 @@ static int can_echo_dut(void) if (verbose == 1) { echo_progress(frame.data[0]); } else if (verbose > 1) { - print_frame(&frame, 0); + print_frame(frame.can_id, frame.data, frame.can_dlc, 0); } check_frame(&frame); @@ -291,7 +313,7 @@ static int can_echo_gen(void) 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; + tx_frames[send_pos].can_id = can_id_ping; recv_tx[send_pos] = 0; for (i = 0; i < CAN_MSG_LEN; i++) @@ -320,10 +342,10 @@ static int can_echo_gen(void) } if (verbose > 1) - print_frame(&rx_frame, 0); + print_frame(rx_frame.can_id, rx_frame.data, rx_frame.can_dlc, 0); /* own frame */ - if (rx_frame.can_id == CAN_MSG_ID) { + if (rx_frame.can_id == can_id_ping) { compare_frame(&tx_frames[recv_tx_pos], &rx_frame, 0); recv_tx[recv_tx_pos] = 1; recv_tx_pos++; @@ -334,7 +356,7 @@ static int can_echo_gen(void) if (!recv_tx[recv_rx_pos]) { printf("RX before TX!\n"); - print_frame(&rx_frame, 0); + print_frame(rx_frame.can_id, rx_frame.data, rx_frame.can_dlc, 0); running = 0; } /* compare with expected */ @@ -369,12 +391,13 @@ int main(int argc, char *argv[]) int echo_gen = 0; int opt, err; int recv_own_msgs = 1; + int filter = 0; signal(SIGTERM, signal_handler); signal(SIGHUP, signal_handler); signal(SIGINT, signal_handler); - while ((opt = getopt(argc, argv, "f:gl:v?")) != -1) { + while ((opt = getopt(argc, argv, "f:gi:l:o:vx?")) != -1) { switch (opt) { case 'f': inflight_count = atoi(optarg); @@ -384,14 +407,27 @@ int main(int argc, char *argv[]) echo_gen = 1; break; + case 'i': + can_id_ping = strtoul(optarg, NULL, 16) & CAN_SFF_MASK; + break; + case 'l': test_loops = atoi(optarg); break; + case 'o': + can_id_pong = strtoul(optarg, NULL, 16) & CAN_SFF_MASK; + has_pong_id = 1; + break; + case 'v': verbose++; break; - + + case 'x': + filter = 1; + break; + case '?': default: print_usage(basename(argv[0])); @@ -433,6 +469,29 @@ int main(int argc, char *argv[]) return 1; } + if (!has_pong_id) + can_id_pong = can_id_ping + 1; + + if (filter) { + const struct can_filter filters[] = { + { + .can_id = can_id_ping, + .can_mask = CAN_EFF_FLAG | CAN_RTR_FLAG | CAN_SFF_MASK, + }, + { + .can_id = can_id_pong, + .can_mask = CAN_EFF_FLAG | CAN_RTR_FLAG | CAN_SFF_MASK, + }, + }; + + if (setsockopt(sockfd, SOL_CAN_RAW, CAN_RAW_FILTER, filters, + sizeof(struct can_filter) * (1 + echo_gen))) { + perror("setsockopt()"); + close(sockfd); + return 1; + } + } + if (echo_gen) err = can_echo_gen(); else