/**************************************************************************/
/* CAN latency tester */
-/* Copyright (C) 2010 Michal Sojka, DCE FEE CTU Prague */
+/* Copyright (C) 2010, 2011, 2012, 2013 Michal Sojka, DCE FEE CTU Prague */
/* License: GPLv2 */
/**************************************************************************/
/* Temporary variables */
FILE *f_msgs;
FILE *f_hist;
+ FILE *f_hist_gw;
FILE *f_stat;
};
unsigned enobufs;
unsigned overrun;
unsigned lost;
+ struct timespec tic, tac;
+ unsigned timeouts;
+ unsigned invalid_frame;
} stats;
int num_interfaces = 0;
struct timespec ts_rx_onwire, ts_rx_onwire_kern;
struct timespec ts_rx_final, ts_rx_final_kern;
struct can_frame sent, received;
+ unsigned lat_measured_us, tx_time_us;
};
#define MAX_INFOS 10000
struct msg_info msg_infos[MAX_INFOS];
-struct histogram histogram;
+struct histogram histogram, histogram_gw;
void sprint_canframe(char *buf , struct can_frame *cf, int sep) {
/* documentation see lib.h */
}
}
-static inline struct msg_info *frame2info(struct can_frame *frame)
+static inline uint16_t frame_index(struct can_frame *frame)
{
uint16_t idx;
if (frame->can_dlc >= 2) {
error(1, 0, "%s error", __FUNCTION__);
}
- return &msg_infos[idx];
+ return idx;
+}
+
+static inline struct msg_info *frame2info(struct can_frame *frame)
+{
+ return &msg_infos[frame_index(frame)];
}
static inline char *tstamp_str(const void *ctx, struct timespec *tstamp)
tstamp->tv_sec, tstamp->tv_nsec/1000);
}
+/* Functions and types for CRC checks.
+ *
+ * Generated on Wed Sep 21 22:30:11 2011,
+ * by pycrc v0.7.8, http://www.tty1.net/pycrc/
+ * using the configuration:
+ * Width = 15
+ * Poly = 0x4599
+ * XorIn = 0x0000
+ * ReflectIn = False
+ * XorOut = 0x0000
+ * ReflectOut = False
+ * Algorithm = table-driven
+ *****************************************************************************/
+typedef uint16_t crc_t;
+
+static const crc_t crc_table[2] = {
+ 0x0000, 0x4599
+};
+
+crc_t crc_update(crc_t crc, uint32_t data, size_t bit_len)
+{
+ unsigned int tbl_idx;
+/* crc_t bc = crc; */
+/* uint32_t bd = data; */
+/* size_t bl = bit_len; */
+
+ while (bit_len--) {
+ tbl_idx = (crc >> 14) ^ (data >> 31);
+ crc = crc_table[tbl_idx & 0x01] ^ (crc << 1);
+ data <<= 1;
+ }
+ crc = crc & 0x7fff;
+/* printf("crc: 0x%04x -> 0x%04x data: 0x%08x len: %d\n", */
+/* bc, crc, bd, bl); */
+ return crc;
+}
+
+uint32_t calc_bitmap_crc(uint32_t *bitmap, unsigned start, unsigned end)
+{
+ crc_t crc = 0;
+ crc = crc_update(crc, bitmap[0] << start, 32 - start);
+ crc = crc_update(crc, bitmap[1], 32);
+ crc = crc_update(crc, bitmap[2], end - 64 > 32 ? 32 : end - 64); /* FIXME: This seems to be broken for end < 64 */
+ crc = crc_update(crc, bitmap[3], end > 96 ? end - 96 : 0);
+ return (uint32_t)htons(crc << 17);
+}
+
+void write_crc_to_bitmap(uint32_t crc, uint32_t *bitmap, struct can_frame *frame)
+{
+ unsigned index = frame->can_id & CAN_EFF_FLAG ? 2 : 1;
+ if (frame->can_dlc < 4)
+ bitmap[index] |= crc >> (frame->can_dlc*8);
+ if (frame->can_dlc == 3)
+ bitmap[index + 1] |= crc << 8;
+ if (frame->can_dlc >= 4 && frame->can_dlc < 8)
+ {
+ bitmap[index + 1] |= crc >> (frame->can_dlc*8);
+ if (frame->can_dlc == 7)
+ bitmap[index + 2] = crc << 8;
+ }
+ else if (frame->can_dlc == 8)
+ bitmap[index + 2] = crc;
+}
+
+unsigned calc_stuff_bits(struct can_frame *frame) {
+ uint32_t bitmap[4];
+ unsigned start = 0, end;
+ uint32_t mask, ones = 0, basemask = 0xf8000000;
+ unsigned stuffed = 0;
+ memset(bitmap, 0, sizeof(bitmap));
+ uint32_t crc;
+
+/* char received[64]; */
+/* sprint_canframe(received, frame, true); */
+/* printf("Frame: %s\n", received); */
+
+ if (frame->can_id & CAN_EFF_FLAG) {
+ // bit 31 0
+ // [0] |...........................sBBBB| s = SOF, B = Base ID (11 bits)
+ // [1] |BBBBBBBSIEEEEEEEEEEEEEEEEEER10DLC4| S = SRR, I = IDE, E = Extended ID (18 bits), DLC4 = DLC
+ // [2] |00000000111111112222222233333333| Data bytes, MSB first
+ // [3] |44444444555555556666666677777777|
+ bitmap[0] =
+ ((frame->can_id & CAN_EFF_MASK) >> 25);
+ bitmap[1] =
+ ((frame->can_id & CAN_EFF_MASK) >> 18) << 25 |
+ 3 << 23 |
+ ((frame->can_id & CAN_EFF_MASK) & 0x3ffff) << 7 |
+ (!!(frame->can_id & CAN_RTR_FLAG)) << 6 |
+ 0 << 4 |
+ frame->can_dlc & 0xf;
+ memcpy(&bitmap[2], &frame->data, frame->can_dlc);
+ start = 27;
+ end = 64 + 8*frame->can_dlc;
+ } else {
+ // bit 31 0
+ // [0] |.............sIIIIIIIIIIIRE0DLC4| s = SOF, I = ID (11 bits), R = RTR, E = IDE, DLC4 = DLC
+ // [1] |00000000111111112222222233333333| Data bytes, MSB first
+ // [2] |44444444555555556666666677777777|
+ bitmap[0] =
+ (frame->can_id << 7) |
+ (!!(frame->can_id & CAN_RTR_FLAG)) << 6 |
+ 0 << 4 |
+ frame->can_dlc & 0xf;
+ memcpy(&bitmap[1], &frame->data, frame->can_dlc);
+ start = 13;
+ end = 32 + 8*frame->can_dlc;
+ }
+ crc = calc_bitmap_crc(bitmap, start, end);
+ write_crc_to_bitmap(crc, bitmap, frame);
+ end += 15;
+
+ while (start < end) {
+ mask = basemask >> (start & 0x1f);
+ while (1) {
+ ones = ones ? mask : 0;
+ uint32_t chunk = (bitmap[start >> 5] & mask) ^ ones;
+ //printf("start=%d bitmap=0x%08x mask=0x%08x ones=0x%08x chunk=0x%08x\n", start, bitmap[start >> 5], mask, ones, chunk);
+ if (chunk) {
+ unsigned change = __builtin_clz(chunk);
+ start = start & ~0x1f | change;
+ basemask = 0xf8000000;
+ } else {
+ unsigned oldstart = start;
+ start += __builtin_popcount(mask);
+ mask = (oldstart & 0x1f) ? basemask << (-oldstart & 0x1f) : 0;
+ //printf("oldstart=%d shl=%d mask=0x%08x\n", oldstart, -oldstart & 0x1f, mask);
+ if (mask && start < end)
+ continue;
+ if (start <= end && !mask) {
+ stuffed++;
+ basemask = 0xf0000000;
+ //printf("stuffed %d\n", !ones);
+ }
+ }
+ break;
+ }
+ ones = !ones;
+ }
+ //printf ("STUFFED %d BITS\n", stuffed);
+ return stuffed;
+}
+
+unsigned calc_frame_txtime_us(struct can_frame *frame) {
+ return calc_stuff_bits(frame) +
+ 1 + /* SOF */
+ 11 + /* ID A */
+ ((frame->can_id & CAN_EFF_FLAG) ?
+ 1 + /* SRR */
+ 1 + /* IDE */
+ 18 + /* ID B */
+ 1 + /* RTR */
+ 2 /* r1, r0 */
+ :
+ 1 + /* rtr */
+ 2) + /* ide, r0 */
+ 4 + /* dlc */
+ 8*frame->can_dlc +
+ 15 + /* CRC */
+ 3 + /* CRC del, ACK, ACK del */
+ 7; /* EOF */
+}
+
void msg_info_print(FILE *f, struct msg_info *mi)
{
struct timespec diff;
static long num = 0;
char sent[64], received[64];
+ if (!f)
+ return;
+
sprint_canframe(sent, &mi->sent, true);
sprint_canframe(received, &mi->received, true);
#define S(ts) tstamp_str(local, &ts)
#define DIFF(a, b) (timespec_subtract(&diff, &b, &a), S(diff))
- if (num_interfaces == 2)
- fprintf(f, "%ld: %s %s -> %s (%s) %s = %s (%s)\n",
+ switch (num_interfaces) {
+ case 2:
+ fprintf(f, "%ld: %s %s -> %s (%s) %s = %s (%s) %d\n",
num, S(mi->ts_sent), sent, S(mi->ts_rx_final_kern), S(mi->ts_rx_final), received,
- DIFF(mi->ts_sent, mi->ts_rx_final_kern),
- DIFF(mi->ts_sent, mi->ts_rx_final));
- else
- fprintf(f, "%ld: %s %s -> %s (%s) -> %s (%s) %s = %s (%s), %s (%s)\n",
+ DIFF(mi->ts_sent, mi->ts_rx_final_kern),
+ DIFF(mi->ts_sent, mi->ts_rx_final),
+ mi->tx_time_us);
+ break;
+ case 3:
+ fprintf(f, "%ld: %s %s -> %s (%s) -> %s (%s) %s = %s (%s), %s (%s) %d\n",
num, S(mi->ts_sent), sent,
S(mi->ts_rx_onwire_kern), S(mi->ts_rx_onwire),
S(mi->ts_rx_final_kern), S(mi->ts_rx_final), received,
DIFF(mi->ts_sent, mi->ts_rx_onwire_kern),
DIFF(mi->ts_sent, mi->ts_rx_onwire),
DIFF(mi->ts_rx_onwire_kern, mi->ts_rx_final_kern),
- DIFF(mi->ts_rx_onwire, mi->ts_rx_final));
+ DIFF(mi->ts_rx_onwire, mi->ts_rx_final),
+ mi->tx_time_us);
+ break;
+ }
#undef S
#undef DIFF
num++;
talloc_free (local);
}
-int msg_info_store(FILE *f, struct msg_info *mi)
-{
- struct timespec diff;
- void *local = talloc_new (NULL);
- static long num = 0;
-
-#define S(ts) tstamp_str(local, &ts)
-#define DIFF(a, b) (timespec_subtract(&diff, &b, &a), S(diff))
-
- if (num_interfaces == 2)
- fprintf(f, "%ld %d %d %s\n",
- num, mi->id, mi->length,
- DIFF(mi->ts_sent, mi->ts_rx_final_kern));
- else
- fprintf(f, "%ld %d %d %s\n",
- num, mi->id, mi->length,
- DIFF(mi->ts_rx_onwire_kern, mi->ts_rx_final_kern));
-#undef S
-#undef DIFF
- talloc_free (local);
-}
-
-
/* Subtract the `struct timespec' values X and Y, storing the result in
RESULT. Return 1 if the difference is negative, otherwise 0. */
printf("%s sec=%ld nsec=%ld\n", msg, tv->tv_sec, tv->tv_nsec);
}
-static inline unsigned get_msg_latency_us(struct msg_info *mi)
+static inline void calc_msg_latencies(struct msg_info *mi)
{
struct timespec diff;
- if (num_interfaces == 3)
+ switch (num_interfaces) {
+ case 3:
if (opt.userhist)
timespec_subtract(&diff, &mi->ts_rx_final, &mi->ts_rx_onwire);
else
timespec_subtract(&diff, &mi->ts_rx_final_kern, &mi->ts_rx_onwire_kern);
- else
+ break;
+ case 2:
if (opt.userhist)
timespec_subtract(&diff, &mi->ts_rx_final, &mi->ts_sent);
else
timespec_subtract(&diff, &mi->ts_rx_final_kern, &mi->ts_sent);
- return diff.tv_sec * 1000000 + diff.tv_nsec/1000;
+ break;
+ default:
+ return;
+ }
+ mi->lat_measured_us = diff.tv_sec * 1000000 + diff.tv_nsec/1000;
+ mi->tx_time_us = calc_frame_txtime_us(&mi->received);
}
void set_sched_policy_and_prio(int policy, int rtprio)
write(trace_fd, "0", 1);
}
-void msg_info_free(struct msg_info *mi)
+static inline void msg_info_free(struct msg_info *mi)
{
mi->id = -1;
}
+static inline bool msg_info_used(struct msg_info *mi)
+{
+ return mi->id != -1;
+}
+
int send_frame(int socket)
{
struct can_frame frame;
MEMSET_ZERO(frame);
i = curr_msg+1;
- while (msg_infos[i].id != -1 && i != curr_msg) {
+ while (msg_info_used(&msg_infos[i]) && i != curr_msg) {
i++;
if (i >= MAX_INFOS)
i = 0;
ret = write(socket, &frame, sizeof(frame));
trace_off(ret);
- if (ret == -1)
+ if (ret == -1 || num_interfaces == 1)
msg_info_free(mi);
return ret;
}
struct msg_info *mi;
receive(s, &frame, &ts_kern, &ts_user);
mi = frame2info(&frame);
- mi->ts_rx_onwire_kern = ts_kern;
- mi->ts_rx_onwire = ts_user;
+ if (msg_info_used(mi)) {
+ mi->ts_rx_onwire_kern = ts_kern;
+ mi->ts_rx_onwire = ts_user;
+ } else
+ stats.invalid_frame++;
}
mi->ts_rx_final = ts_user;
mi->received = frame;
- histogram_add(&histogram, get_msg_latency_us(mi));
+ calc_msg_latencies(mi);
+
+ histogram_add(&histogram, mi->lat_measured_us);
+ histogram_add(&histogram_gw, mi->lat_measured_us - mi->tx_time_us);
ret = write(completion_pipe[1], &mi, sizeof(mi));
if (ret == -1)
struct timespec timeout;
struct sockaddr_can addr;
sigset_t set;
+ int consecutive_timeouts = 0;
MEMSET_ZERO(pfd);
if (opt.oneattime)
SEND();
+ get_tstamp(&stats.tic);
+
while (!finish_flag &&
(opt.count == 0 || count < opt.count || msg_in_progress != 0)) {
SEND();
}
} else {
- error(1, 0, "poll timeout");
+ /* Lost message - send a new one */
+ stats.timeouts++;
+ consecutive_timeouts++;
+ if (consecutive_timeouts < 10)
+ SEND();
+ else /* Something is really broken */
+ finish_flag = 1;
}
break;
default: // Event
}
pfd[0].revents = 0;
- if (num_interfaces == 3 && pfd[1].revents != 0) {
+ if (num_interfaces == 3 && pfd[1].revents & POLLIN) {
process_on_wire_rx(pfd[1].fd);
pfd[1].revents = 0;
}
+ if (num_interfaces == 3 && pfd[1].revents & ~POLLIN)
+ error(1, 0, "Unexpected pfd[1].revents: 0x%04x\n", pfd[1].revents);
i = (num_interfaces == 2) ? 1 : 2;
- if (pfd[i].revents != 0) {
+ if (pfd[i].revents & POLLIN) {
+ consecutive_timeouts = 0;
process_final_rx(pfd[i].fd);
msg_in_progress--;
pfd[i].revents = 0;
SEND();
}
}
+ if (pfd[i].revents & ~POLLIN)
+ error(1, 0, "Unexpected pfd[%d].revents: 0x%04x\n", pfd[i].revents);
}
}
+ get_tstamp(&stats.tac);
+
for (i=0; i<num_interfaces; i++)
close(pfd[i].fd);
poptBadOption(optCon, POPT_BADOPTION_NOALIAS),
poptStrerror(c));
- if (num_interfaces < 2 || num_interfaces > 3)
- error(1, 0, "-d option must be given exactly 2 or 3 times");
+ if (num_interfaces < 1 || num_interfaces > 3)
+ error(1, 0, "-d option must only be given one, two or three times");
if (opt.oneattime && opt.period_us)
error(1, 0, "oneattime and period cannot be specified at the same time");
}
if (opt.name) {
- char *f = talloc_asprintf(local, "%s-hist.txt", opt.name);
+ char *f = talloc_asprintf(local, "%s-hist-raw.txt", opt.name);
opt.f_hist = fopen(f, "w");
if (!opt.f_hist)
error(1, errno, "fopen: %s", f);
}
+ if (opt.name) {
+ char *f = talloc_asprintf(local, "%s-hist.txt", opt.name);
+ opt.f_hist_gw = fopen(f, "w");
+ if (!opt.f_hist_gw)
+ error(1, errno, "fopen: %s", f);
+ }
+
if (opt.name) {
char *f = talloc_asprintf(local, "%s-stat.txt", opt.name);
opt.f_stat = fopen(f, "w");
void print_progress()
{
if (! opt.quiet) {
- printf("\rSent %5d, in progress %5d", count, msg_in_progress);
+ if (num_interfaces > 1)
+ printf("\rSent %5d, in progress %5d", count, msg_in_progress);
+ else
+ printf("\rSent %5d", count);
fflush(stdout);
}
}
msg_infos[i].id = -1;
histogram_init(&histogram, 5000000, 1);
+ histogram_init(&histogram_gw, 5000000, 1);
ret = pipe(completion_pipe);
if (ret == -1)
error(1, errno, "pipe fcntl");
init_ftrace();
+ if (getenv("LATESTER_CONTROL_HACKBENCH")) {
+ char cmd[1000];
+ sprintf(cmd, "ssh -x -a -S $HOME/.ssh/cangw-connection root@192.168.2.3 'kill -CONT -%s'",
+ getenv("LATESTER_CONTROL_HACKBENCH"));
+ printf("Running: %s\n", cmd);
+ system(cmd);
+ }
pthread_create(&thread, 0, measure_thread, NULL);
pthread_join(thread, NULL);
+ if (getenv("LATESTER_CONTROL_HACKBENCH")) {
+ char cmd[1000];
+ sprintf(cmd, "ssh -x -a -S $HOME/.ssh/cangw-connection root@192.168.2.3 'kill -STOP -%s'",
+ getenv("LATESTER_CONTROL_HACKBENCH"));
+ printf("Running: %s\n", cmd);
+ system(cmd);
+ }
+
close(completion_pipe[0]);
close(completion_pipe[1]);
histogram_fprint(&histogram, opt.f_hist);
- fclose(opt.f_hist);
- fclose(opt.f_msgs);
-
+ histogram_fprint(&histogram_gw, opt.f_hist_gw);
+ if (opt.f_hist)
+ fclose(opt.f_hist);
+ if (opt.f_hist_gw)
+ fclose(opt.f_hist_gw);
+ if (opt.f_msgs)
+ fclose(opt.f_msgs);
+
+ if (opt.f_stat) {
+ fprintf(opt.f_stat, "cmdline='");
+ for (i=0; i<argc; i++)
+ fprintf(opt.f_stat, "%s%s", argv[i], i < argc-1 ? " " : "");
+ fprintf(opt.f_stat, "'\n");
+
+ timespec_subtract(&diff, &stats.tac, &stats.tic);
+ fprintf(opt.f_stat, "duration=%s # seconds\n", tstamp_str(NULL, &diff));
- fprintf(opt.f_stat, "sent=%d\n", count);
- fprintf(opt.f_stat, "overrun=%d\n", stats.overrun);
- if (stats.overrun && !opt.quiet)
- printf("overrun=%d\n", stats.overrun);
- fprintf(opt.f_stat, "enobufs=%d\n", stats.enobufs);
- if (stats.enobufs && !opt.quiet)
- printf("enobufs=%d\n", stats.enobufs);
- fprintf(opt.f_stat, "lost=%d\n", stats.lost);
- if (stats.lost && !opt.quiet)
- printf("lost=%d\n", stats.lost);
-
- fclose(opt.f_stat);
+ fprintf(opt.f_stat, "sent=%d\n", count);
+ fprintf(opt.f_stat, "overrun=%d\n", stats.overrun);
+ if (stats.overrun && !opt.quiet)
+ printf("overrun=%d\n", stats.overrun);
+ fprintf(opt.f_stat, "enobufs=%d\n", stats.enobufs);
+ if (stats.enobufs && !opt.quiet)
+ printf("enobufs=%d\n", stats.enobufs);
+ fprintf(opt.f_stat, "lost=%d\n", stats.lost);
+ if (stats.lost && !opt.quiet)
+ printf("lost=%d\n", stats.lost);
+ fprintf(opt.f_stat, "timeouts=%d\n", stats.timeouts);
+ if (stats.timeouts && !opt.quiet)
+ printf("timeouts=%d\n", stats.timeouts);
+ fprintf(opt.f_stat, "invalid_frame=%d\n", stats.timeouts);
+ if (stats.timeouts && !opt.quiet)
+ printf("invalid_frame=%d\n", stats.timeouts);
+
+ fclose(opt.f_stat);
+ }
return 0;
}
projects / can-benchmark.git / blobdiff