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canfdtest: Add CAN FD support 

Add the '-d' command line option that allow to transmit CAN FD frames instead
of CAN 2.0 frames. The frames content is the same.

This allows to stress test the flexible data rate part of a CAN FD network.

Signed-off-by: RICCIARDI-Adrien <adrien.ricciardi@hotmail.fr>
pull/365/head
RICCIARDI-Adrien 2022-06-20 18:13:18 +02:00
parent 6e7f845a68
commit d3bb67136f
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;
}
}