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Merge pull request #365 from RICCIARDI-Adrien/canfdtest_add_can_fd_support 

canfdtest: Add CAN FD support
pull/366/head
Marc Kleine-Budde 2022-06-20 18:30:14 +02:00 committed by GitHub
parent 6e7f845a68 d3bb67136f
commit bace2e7d73
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 60 additions and 37 deletions
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97
canfdtest.c
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@ -55,6 +55,7 @@ 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 int is_can_fd = 0;
static void print_usage(char *prg)
{
@ -63,6 +64,7 @@ static void print_usage(char *prg)
"Usage: %s [options] <can-interface>\n"
"\n"
"Options:\n"
" -d (use CAN FD frames instead of classic CAN)\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"
@ -117,29 +119,29 @@ static void print_compare(
print_frame(rec_id, rec_data, rec_dlc, 0);
}
static int compare_frame(const struct can_frame *exp, const struct can_frame *rec, int inc)
static int compare_frame(const struct canfd_frame *exp, const struct canfd_frame *rec, int inc)
{
int i, err = 0;
const canid_t expected_can_id = inc ? can_id_pong : can_id_ping;
if (rec->can_id != expected_can_id) {
printf("Message ID mismatch!\n");
print_compare(expected_can_id, exp->data, exp->can_dlc,
rec->can_id, rec->data, rec->can_dlc, inc);
print_compare(expected_can_id, exp->data, exp->len,
rec->can_id, rec->data, rec->len, inc);
running = 0;
err = -1;
} else if (rec->can_dlc != exp->can_dlc) {
} else if (rec->len != exp->len) {
printf("Message length mismatch!\n");
print_compare(expected_can_id, exp->data, exp->can_dlc,
rec->can_id, rec->data, rec->can_dlc, inc);
print_compare(expected_can_id, exp->data, exp->len,
rec->can_id, rec->data, rec->len, inc);
running = 0;
err = -1;
} else {
for (i = 0; i < rec->can_dlc; i++) {
for (i = 0; i < rec->len; i++) {
if (rec->data[i] != (uint8_t)(exp->data[i] + inc)) {
printf("Databyte %x mismatch!\n", i);
print_compare(expected_can_id, exp->data, exp->can_dlc,
rec->can_id, rec->data, rec->can_dlc, inc);
print_compare(expected_can_id, exp->data, exp->len,
rec->can_id, rec->data, rec->len, inc);
running = 0;
err = -1;
}
@ -182,29 +184,38 @@ static void signal_handler(int signo)
exit_sig = signo;
}
static int recv_frame(struct can_frame *frame)
static int recv_frame(struct canfd_frame *frame)
{
int ret;
ssize_t ret, len;
ret = recv(sockfd, frame, sizeof(*frame), 0);
if (ret != sizeof(*frame)) {
if (is_can_fd)
len = sizeof(struct canfd_frame);
else
len = sizeof(struct can_frame);
ret = recv(sockfd, frame, len, 0);
if (ret != len) {
if (ret < 0)
perror("recv failed");
else
fprintf(stderr, "recv returned %d", ret);
fprintf(stderr, "recv returned %zd", ret);
return -1;
}
return 0;
}
static int send_frame(struct can_frame *frame)
static int send_frame(struct canfd_frame *frame)
{
int ret;
ssize_t ret, len;
while ((ret = send(sockfd, frame, sizeof(*frame), 0))
!= sizeof(*frame)) {
if (is_can_fd)
len = sizeof(struct canfd_frame);
else
len = sizeof(struct can_frame);
while ((ret = send(sockfd, frame, len, 0)) != len) {
if (ret >= 0) {
fprintf(stderr, "send returned %d", ret);
fprintf(stderr, "send returned %zd", ret);
return -1;
}
if (errno != ENOBUFS) {
@ -219,7 +230,7 @@ static int send_frame(struct can_frame *frame)
return 0;
}
static int check_frame(const struct can_frame *frame)
static int check_frame(const struct canfd_frame *frame)
{
int err = 0;
int i;
@ -229,15 +240,15 @@ static int check_frame(const struct can_frame *frame)
err = -1;
}
if (frame->can_dlc != CAN_MSG_LEN) {
printf("Unexpected Message length %d!\n", frame->can_dlc);
if (frame->len != CAN_MSG_LEN) {
printf("Unexpected Message length %d!\n", frame->len);
err = -1;
}
for (i = 1; i < frame->can_dlc; i++) {
for (i = 1; i < frame->len; i++) {
if (frame->data[i] != (uint8_t)(frame->data[i-1] + 1)) {
printf("Frame inconsistent!\n");
print_frame(frame->can_id, frame->data, frame->can_dlc, 0);
print_frame(frame->can_id, frame->data, frame->len, 0);
err = -1;
goto out;
}
@ -247,7 +258,7 @@ static int check_frame(const struct can_frame *frame)
return err;
}
static void inc_frame(struct can_frame *frame)
static void inc_frame(struct canfd_frame *frame)
{
int i;
@ -256,14 +267,14 @@ static void inc_frame(struct can_frame *frame)
else
frame->can_id++;
for (i = 0; i < frame->can_dlc; i++)
for (i = 0; i < frame->len; i++)
frame->data[i]++;
}
static int can_echo_dut(void)
{
unsigned int frame_count = 0;
struct can_frame frame;
struct canfd_frame frame;
int err = 0;
while (running) {
@ -273,7 +284,7 @@ static int can_echo_dut(void)
if (verbose == 1) {
echo_progress(frame.data[0]);
} else if (verbose > 1) {
print_frame(frame.can_id, frame.data, frame.can_dlc, 0);
print_frame(frame.can_id, frame.data, frame.len, 0);
}
err = check_frame(&frame);
@ -296,9 +307,9 @@ static int can_echo_dut(void)
static int can_echo_gen(void)
{
struct can_frame *tx_frames;
struct canfd_frame *tx_frames;
int *recv_tx;
struct can_frame rx_frame;
struct canfd_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;
@ -317,7 +328,7 @@ static int can_echo_gen(void)
while (running) {
if (unprocessed < inflight_count) {
/* still send messages */
tx_frames[send_pos].can_dlc = CAN_MSG_LEN;
tx_frames[send_pos].len = CAN_MSG_LEN;
tx_frames[send_pos].can_id = can_id_ping;
recv_tx[send_pos] = 0;
@ -347,7 +358,7 @@ static int can_echo_gen(void)
}
if (verbose > 1)
print_frame(rx_frame.can_id, rx_frame.data, rx_frame.can_dlc, 0);
print_frame(rx_frame.can_id, rx_frame.data, rx_frame.len, 0);
/* own frame */
if (rx_frame.can_id == can_id_ping) {
@ -361,7 +372,7 @@ static int can_echo_gen(void)
if (!recv_tx[recv_rx_pos]) {
printf("RX before TX!\n");
print_frame(rx_frame.can_id, rx_frame.data, rx_frame.can_dlc, 0);
print_frame(rx_frame.can_id, rx_frame.data, rx_frame.len, 0);
running = 0;
}
/* compare with expected */
@ -395,15 +406,19 @@ int main(int argc, char *argv[])
int family = PF_CAN, type = SOCK_RAW, proto = CAN_RAW;
int echo_gen = 0;
int opt, err;
int recv_own_msgs = 1;
int enable_socket_option = 1;
int filter = 0;
signal(SIGTERM, signal_handler);
signal(SIGHUP, signal_handler);
signal(SIGINT, signal_handler);
while ((opt = getopt(argc, argv, "f:gi:l:o:vx?")) != -1) {
while ((opt = getopt(argc, argv, "df:gi:l:o:vx?")) != -1) {
switch (opt) {
case 'd':
is_can_fd = 1;
break;
case 'f':
inflight_count = atoi(optarg);
break;
@ -454,8 +469,16 @@ int main(int argc, char *argv[])
if (echo_gen) {
if (setsockopt(sockfd, SOL_CAN_RAW, CAN_RAW_RECV_OWN_MSGS,
&recv_own_msgs, sizeof(recv_own_msgs)) == -1) {
perror("setsockopt");
&enable_socket_option, sizeof(enable_socket_option)) == -1) {
perror("setsockopt CAN_RAW_RECV_OWN_MSGS");
return 1;
}
}
if (is_can_fd) {
if (setsockopt(sockfd, SOL_CAN_RAW, CAN_RAW_FD_FRAMES,
&enable_socket_option, sizeof(enable_socket_option)) == -1) {
perror("setsockopt CAN_RAW_FD_FRAMES");
return 1;
}
}