Merge pull request #301 from kurt-vd/canbusload-fd

[V2] canbusload with FD support

can-calc-bit-timing.c

@@ -273,6 +273,57 @@ static void printf_btr_rcar_can(struct can_bittiming *bt, bool hdr)
 	}
 }
 
+static void printf_btr_bxcan(struct can_bittiming *bt, bool hdr)
+{
+	if (hdr) {
+		printf("%10s", "CAN_BTR");
+	} else {
+		uint32_t btr;
+
+		btr = (((bt->brp -1) & 0x3ff) << 0) |
+			(((bt->prop_seg + bt->phase_seg1 -1) & 0xf) << 16) |
+			(((bt->phase_seg2 -1) & 0x7) << 20) |
+			(((bt->sjw -1) & 0x3) << 24);
+
+		printf("0x%08x", btr);
+	}
+}
+
+static void printf_btr_c_can(struct can_bittiming *bt, bool hdr)
+{
+	if (hdr) {
+		printf("%s", "  BTR  BRPEXT");
+	} else {
+		uint32_t btr;
+		uint32_t brpext;
+
+		btr = (((bt->brp -1) & 0x3f) << 0) |
+			(((bt->sjw -1) & 0x3) << 6) |
+			(((bt->prop_seg + bt->phase_seg1 -1) & 0xf) << 8) |
+			(((bt->phase_seg2 -1) & 0x7) << 12);
+		brpext = ((bt->brp -1) >> 6) & 0xf;
+
+		printf("0x%04x 0x%04x", btr, brpext);
+	}
+}
+
+static void printf_btr_mcan(struct can_bittiming *bt, bool hdr)
+{
+	if (hdr) {
+		printf("%10s", "NBTP");
+	} else {
+		uint32_t nbtp;
+
+
+		nbtp = (((bt->brp -1) & 0x1ff) << 16) |
+			(((bt->sjw -1) & 0x7f) << 25) |
+			(((bt->prop_seg + bt->phase_seg1 -1) & 0xff) << 8) |
+			(((bt->phase_seg2 -1) & 0x7f) << 0);
+
+		printf("0x%08x", nbtp);
+	}
+}
+
 static struct calc_bittiming_const can_calc_consts[] = {
 	{
 		.bittiming_const = {
@@ -417,6 +468,54 @@ static struct calc_bittiming_const can_calc_consts[] = {
 			{ .clk = 65000000, },
 		},
 		.printf_btr = printf_btr_rcar_can,
+	}, {
+		.bittiming_const = {
+			.name = "bxcan",
+			.tseg1_min = 1,
+			.tseg1_max = 16,
+			.tseg2_min = 1,
+			.tseg2_max = 8,
+			.sjw_max = 4,
+			.brp_min = 1,
+			.brp_max = 1024,
+			.brp_inc = 1,
+		},
+		.ref_clk = {
+			{ .clk = 48000000, },
+		},
+		.printf_btr = printf_btr_bxcan,
+	}, {
+		.bittiming_const = {
+			.name = "c_can",
+			.tseg1_min = 2,
+			.tseg1_max = 16,
+			.tseg2_min = 1,
+			.tseg2_max = 8,
+			.sjw_max = 4,
+			.brp_min = 1,
+			.brp_max = 1024,
+			.brp_inc = 1,
+		},
+		.ref_clk = {
+			{ .clk = 24000000, },
+		},
+		.printf_btr = printf_btr_c_can,
+	}, {
+		.bittiming_const = {
+			.name = "mcan-v3.1+",
+			.tseg1_min = 2,
+			.tseg1_max = 256,
+			.tseg2_min = 2,
+			.tseg2_max = 128,
+			.sjw_max = 128,
+			.brp_min = 1,
+			.brp_max = 512,
+			.brp_inc = 1,
+		},
+		.ref_clk = {
+			{ .clk = 40000000, },
+		},
+		.printf_btr = printf_btr_mcan,
 	},
 };
 

canbusload.c

@@ -74,9 +74,11 @@ extern int optind, opterr, optopt;
 static struct {
 	char devname[IFNAMSIZ+1];
 	unsigned int bitrate;
+	unsigned int dbitrate;
 	unsigned int recv_frames;
 	unsigned int recv_bits_total;
 	unsigned int recv_bits_payload;
+	unsigned int recv_bits_dbitrate;
 } stat[MAXSOCK+1];
 
 static int  max_devname_len; /* to prevent frazzled device name output */ 
@@ -103,7 +105,7 @@ void print_usage(char *prg)
 	fprintf(stderr, "         -e  (exact calculation of stuffed bits)\n");
 	fprintf(stderr, "\n");
 	fprintf(stderr, "Up to %d CAN interfaces with mandatory bitrate can be specified on the \n", MAXSOCK);
-	fprintf(stderr, "commandline in the form: <ifname>@<bitrate>\n\n");
+	fprintf(stderr, "commandline in the form: <ifname>@<bitrate>[,<dbitrate>]\n\n");
 	fprintf(stderr, "The bitrate is mandatory as it is needed to know the CAN bus bitrate to\n");
 	fprintf(stderr, "calculate the bus load percentage based on the received CAN frames.\n");
 	fprintf(stderr, "Due to the bitstuffing estimation the calculated busload may exceed 100%%.\n");
@@ -184,16 +186,18 @@ void printstats(int signo)
 		}
 
 		if (stat[i].bitrate)
-			percent = (stat[i].recv_bits_total*100)/stat[i].bitrate;
+			percent = ((stat[i].recv_bits_total-stat[i].recv_bits_dbitrate) * 100) / stat[i].bitrate
+				+ (stat[i].recv_bits_dbitrate * 100) / stat[i].dbitrate;
 		else
 			percent = 0;
 
-		printf(" %*s@%-*d %5d %7d %6d %3d%%",
+		printf(" %*s@%-*d %5d %7d %6d %6d %3d%%",
 		       max_devname_len, stat[i].devname,
 		       max_bitrate_len, stat[i].bitrate,
 		       stat[i].recv_frames,
 		       stat[i].recv_bits_total,
 		       stat[i].recv_bits_payload,
+		       stat[i].recv_bits_dbitrate,
 		       percent);
 
 		if (bargraph) {
@@ -220,6 +224,7 @@ void printstats(int signo)
 
 		stat[i].recv_frames = 0;
 		stat[i].recv_bits_total = 0;
+		stat[i].recv_bits_dbitrate = 0;
 		stat[i].recv_bits_payload = 0;
 	}
 
@@ -237,7 +242,7 @@ int main(int argc, char **argv)
 	int opt;
 	char *ptr, *nptr;
 	struct sockaddr_can addr;
-	struct can_frame frame;
+	struct canfd_frame frame;
 	int nbytes, i;
 	struct ifreq ifr;
 	sigset_t sigmask, savesigmask;
@@ -336,7 +341,13 @@ int main(int argc, char **argv)
 		if (nbytes > max_devname_len)
 			max_devname_len = nbytes; /* for nice printing */
 
-		stat[i].bitrate = atoi(nptr+1); /* bitrate is placed behind the '@' */
+		char *endp;
+		stat[i].bitrate = strtol(nptr + 1, &endp, 0); /* bitrate is placed behind the '@' */
+		if (*endp == ',')
+			/* data bitrate is placed behind the ',' */
+			stat[i].dbitrate = strtol(endp + 1, &endp, 0);
+		else
+			stat[i].dbitrate = stat[i].bitrate;
 
 		if (!stat[i].bitrate || stat[i].bitrate > 1000000) {
 			printf("invalid bitrate for CAN device '%s'!\n", ptr);
@@ -351,6 +362,9 @@ int main(int argc, char **argv)
 #ifdef DEBUG
 		printf("using interface name '%s'.\n", ifr.ifr_name);
 #endif
+		/* try to switch the socket into CAN FD mode */
+		const int canfd_on = 1;
+		setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on));
 
 		if (ioctl(s[i], SIOCGIFINDEX, &ifr) < 0) {
 			perror("SIOCGIFINDEX");
@@ -402,9 +416,11 @@ int main(int argc, char **argv)
 				}
 
 				stat[i].recv_frames++;
-				stat[i].recv_bits_payload += frame.can_dlc*8;
+				stat[i].recv_bits_payload += frame.len * 8;
-				stat[i].recv_bits_total += can_frame_length((struct canfd_frame*)&frame,
+				stat[i].recv_bits_dbitrate += can_frame_dbitrate_length(
-									    mode, sizeof(frame));
+						&frame, mode, sizeof(frame));
+				stat[i].recv_bits_total += can_frame_length(&frame,
+									    mode, nbytes);
 			}
 		}
 	}

canframelen.c

@@ -236,13 +236,40 @@ static unsigned cfl_exact(struct can_frame *frame)
 		3;		/* IFS */
 }
 
+unsigned can_frame_dbitrate_length(struct canfd_frame *frame, enum cfl_mode mode, int mtu)
+{
+	if (mtu != CANFD_MTU || !(frame->flags & CANFD_BRS))
+		return 0;
+	switch (mode) {
+	case CFL_NO_BITSTUFFING:
+		return 1 /* brs/crcdel */ + 1 /* esi */ + 4 /* dlc */ +
+			((frame->len >= 16) ? 21 : 17) +
+			frame->len * 8;
+	case CFL_WORSTCASE:
+		return can_frame_dbitrate_length(frame, CFL_NO_BITSTUFFING, mtu) * 5 / 4;
+	default:
+		return 0;
+	}
+}
 
 unsigned can_frame_length(struct canfd_frame *frame, enum cfl_mode mode, int mtu)
 {
 	int eff = (frame->can_id & CAN_EFF_FLAG);
 
-	if (mtu != CAN_MTU)
+	if (mtu == CANFD_MTU)
-		return 0;	/* CANFD is not supported yet */
+		/* not correct, but close ? */
+		switch (mode) {
+		case CFL_NO_BITSTUFFING:
+			return 1 + (eff ? 29 : 11) + ((frame->len >= 16) ? 21 : 17) +
+				5 /* r1, ide, edl, r0, brs/crcdel, */ + 12 /* trail */ +
+				frame->len * 8;
+		case CFL_WORSTCASE:
+			return can_frame_length(frame, CFL_NO_BITSTUFFING, mtu) * 5 / 4;
+		case CFL_EXACT:
+			return 0; /* exact bittiming for CANFD not supported yet */
+		}
+	else if (mtu != CAN_MTU)
+		return 0; /* Only CAN2.0 and CANFD supported now */
 
 	switch (mode) {
 	case CFL_NO_BITSTUFFING:

canframelen.h

@@ -80,5 +80,6 @@ enum cfl_mode {
  * Mode determines how to deal with stuffed bits.
  */
 unsigned can_frame_length(struct canfd_frame *frame, enum cfl_mode mode, int mtu);
+unsigned can_frame_dbitrate_length(struct canfd_frame *frame, enum cfl_mode mode, int mtu);
 
 #endif