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Merge pull request #318 from jgressma/feat/canfdtest-custom-can-ids-s…
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canfdtest: enables program use alongside existing CAN bus traffic
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@marckleinebudde
marckleinebudde committed Oct 25, 2021
2 parents 607b643 + 2dde068 commit ab9bd4f
Showing 1 changed file with 88 additions and 29 deletions.
117 changes: 88 additions & 29 deletions canfdtest.c
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Expand Up @@ -4,6 +4,7 @@
*
* (C) 2009 by Vladislav Gribov, IXXAT Automation GmbH, <gribov@ixxat.de>
* (C) 2009 Wolfgang Grandegger <wg@grandegger.com>
* (C) 2021 Jean Gressmann, IAV GmbH, <jean.steven.gressmann@iav.de>
*
* 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
Expand Down Expand Up @@ -39,7 +40,8 @@
#include <linux/can.h>
#include <linux/can/raw.h>

#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
Expand All @@ -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)
{
Expand All @@ -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 <can-interface>, otherwise all messages received on the\n"
Expand All @@ -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;
}
}
Expand Down Expand Up @@ -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;
}
Expand All @@ -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]++;
}
Expand All @@ -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);
Expand Down Expand Up @@ -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++)
Expand Down Expand Up @@ -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++;
Expand All @@ -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 */
Expand Down Expand Up @@ -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);
Expand All @@ -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]));
Expand Down Expand Up @@ -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
Expand Down

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