#include "canframelen.h"
#include <linux/can.h>
#include <linux/can/raw.h>
+#include <linux/net_tstamp.h>
#include "histogram.h"
int count = 0; /* Number of sent messages */
unsigned msg_in_progress = 0;
int completion_pipe[2];
+struct timespec can_tsdiff = {0, 0}; /* can_rx2_ts - can_rx1_ts */
struct msg_info {
canid_t id;
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
tstamp->tv_sec, tstamp->tv_nsec/1000);
}
-int timespec_subtract (struct timespec *result, struct timespec *x, struct timespec *yy);
+int timespec_subtract (struct timespec *result, const struct timespec *x, const struct timespec *yy);
-void msg_info_print(FILE *f, struct msg_info *mi)
+static inline unsigned get_timestamp_diff_us(struct msg_info *mi);
+
+void msg_info_process(FILE *f, struct msg_info *mi)
{
- struct timespec diff, routing_delay, tx_time;
+ struct timespec diff;
void *local = talloc_new (NULL);
static long num = 0;
char sent[64], received[64];
+ int diff_us = get_timestamp_diff_us(mi);
+ int tx_time_us = calc_frame_length(&mi->received);
+
+ /* Update histograms */
+ histogram_add(&histogram, diff_us);
+ histogram_add(&histogram_gw, diff_us - tx_time_us);
if (!f)
return;
+ /* Print information to a file */
sprint_canframe(sent, &mi->sent, true);
sprint_canframe(received, &mi->received, true);
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),
- mi->tx_time_us);
+ tx_time_us);
break;
case 3:
- tx_time.tv_sec = 0;
- tx_time.tv_nsec = mi->tx_time_us*1000;
- timespec_subtract(&routing_delay, &mi->ts_rx_final_kern, &mi->ts_rx_onwire_kern);
- timespec_subtract(&routing_delay, &routing_delay, &tx_time);
-
- fprintf(f, "%ld: %s %s -> %s (%s) -> %s (%s) %s = %s (%s), %s (%s) %d %s\n",
+ fprintf(f, "%ld: %s %s -> %s (%s) -> %s (%s) %s = %s (%s), %s (%s) %d %.6f\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),
DIFF(mi->ts_rx_onwire_kern, mi->ts_rx_final_kern),
DIFF(mi->ts_rx_onwire, mi->ts_rx_final),
- mi->tx_time_us,
- S(routing_delay));
+ tx_time_us,
+ 1e-6*(diff_us - tx_time_us));
break;
}
#undef S
/* Subtract the `struct timespec' values X and Y, storing the result in
RESULT. Return 1 if the difference is negative, otherwise 0. */
-int timespec_subtract (struct timespec *result, struct timespec *x, struct timespec *yy)
+int timespec_subtract (struct timespec *result, const struct timespec *x, const struct timespec *yy)
{
struct timespec ylocal = *yy, *y = &ylocal;
/* Perform the carry for the later subtraction by updating Y. */
printf("%s sec=%ld nsec=%ld\n", msg, tv->tv_sec, tv->tv_nsec);
}
-static inline void calc_msg_latencies(struct msg_info *mi)
+static inline unsigned get_timestamp_diff_us(struct msg_info *mi)
{
struct timespec diff;
switch (num_interfaces) {
timespec_subtract(&diff, &mi->ts_rx_final_kern, &mi->ts_sent);
break;
default:
- return;
+ return 0;
}
- mi->lat_measured_us = diff.tv_sec * 1000000 + diff.tv_nsec/1000;
- mi->tx_time_us = calc_frame_length(&mi->received);
+ unsigned us = diff.tv_sec * 1000000 + diff.tv_nsec/1000;
+ return us;
}
void set_sched_policy_and_prio(int policy, int rtprio)
static inline void get_tstamp(struct timespec *ts)
{
- clock_gettime(CLOCK_REALTIME, ts);
+ clock_gettime(CLOCK_MONOTONIC/*REALTIME*/, ts);
}
struct sockaddr_can addr;
int nbytes;
static uint64_t dropcnt = 0;
+ bool have_hwtstamp = 0;
iov.iov_base = frame;
msg.msg_name = &addr;
for (cmsg = CMSG_FIRSTHDR(&msg);
cmsg && (cmsg->cmsg_level == SOL_SOCKET);
cmsg = CMSG_NXTHDR(&msg,cmsg)) {
- if (cmsg->cmsg_type == SO_TIMESTAMPNS)
- memcpy(ts_kern, CMSG_DATA(cmsg), sizeof(struct timespec));
+ if (cmsg->cmsg_type == SO_TIMESTAMPNS) {
+ if(!have_hwtstamp)
+ memcpy(ts_kern, CMSG_DATA(cmsg), sizeof(struct timespec));
+ }
+ else if (cmsg->cmsg_type == SO_TIMESTAMPING) {
+ struct timespec *ts = (struct timespec *) CMSG_DATA(cmsg);
+ memcpy(ts_kern, &ts[2], sizeof(struct timespec));
+ have_hwtstamp = 1;
+ }
else if (cmsg->cmsg_type == SO_RXQ_OVFL) {
uint32_t ovfl;
memcpy(&ovfl, CMSG_DATA(cmsg), sizeof(ovfl));
mi->ts_rx_final = ts_user;
mi->received = frame;
- 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)
error(1, errno, "completion_pipe write");
}
+void determine_can_timing_offset(struct pollfd *pfd, int nifc)
+{
+ int uiofd;
+ volatile uint32_t *can_crossbar;
+ uint32_t oldreg;
+ struct can_frame frame;
+ struct timespec ts_rx1, ts_rx2, ts_dummy;
+ int res;
+
+ if(nifc < 2)
+ return;
+
+ uiofd = open("/dev/uio0", O_RDWR);
+ if(uiofd < 0)
+ {
+ perror("determine_can_timing_offset: /dev/uio0");
+ return;
+ }
+
+ can_crossbar = (volatile uint32_t *) mmap(NULL, 4096, PROT_READ | PROT_WRITE, MAP_SHARED, uiofd, 0);
+ if(can_crossbar == MAP_FAILED)
+ {
+ perror("mmap");
+ goto cleanup1;
+ }
+
+ // Bit: 20 19 18 17 16 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
+ // STBY E3 E2 E1 E0 I3 I2 I1 I0 C3 C2 C1 C0
+ // C*: can* (outer can physical interface) connection line assignment (0-3)
+ // I*: ifc* (inner can network interface) connection line assignment (0-3)
+ // E*: can* output enable: 1 = connect to physical interface, 0 = disconnect from physical interface, conenect RX and TX together
+ // STBY: CAN Transceivers standby mode
+ oldreg = can_crossbar[0];
+ can_crossbar[0] = 0x00000000; // connect all interfaces together, disable output, disable standby
+
+ frame.can_id = 0x00;
+ frame.can_dlc = 4;
+ memcpy(frame.data, "SYNC", 4);
+ res = write(pfd[0].fd, &frame, sizeof(frame));
+ if(res != sizeof(frame))
+ {
+ perror("write");
+ goto cleanup2;
+ }
+
+ receive(pfd[1].fd, &frame, &ts_rx1, &ts_dummy);
+ receive(pfd[2].fd, &frame, &ts_rx2, &ts_dummy);
+ timespec_subtract(&can_tsdiff, &ts_rx2, &ts_rx1);
+
+cleanup2:
+ can_crossbar[0] = oldreg;
+ munmap((void*)can_crossbar, 4096);
+cleanup1:
+ close(uiofd);
+}
+
void *measure_thread(void *arg)
{
int s, i, ret;
if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0)
error(1, errno, "bind");
- const int timestamp_on = 1;
- if (setsockopt(s, SOL_SOCKET, SO_TIMESTAMPNS,
- ×tamp_on, sizeof(timestamp_on)) < 0)
- error(1, errno, "setsockopt SO_TIMESTAMP");
+ // TODO: set HW TSTAMP flags?
+ const int so_timestamping_flags = SOF_TIMESTAMPING_RAW_HARDWARE;
+ if (setsockopt(s, SOL_SOCKET, SO_TIMESTAMPING,
+ &so_timestamping_flags,
+ sizeof(so_timestamping_flags)) < 0)
+ {
+ perror("setsockopt SO_TIMESTAMPING");
+ fprintf(stderr, "Falling back to SW timestamps.\n");
+
+ const int timestamp_on = 1;
+ if (setsockopt(s, SOL_SOCKET, SO_TIMESTAMPNS,
+ ×tamp_on, sizeof(timestamp_on)) < 0)
+ error(1, errno, "setsockopt SO_TIMESTAMPNS");
+ }
const int dropmonitor_on = 1;
if (setsockopt(s, SOL_SOCKET, SO_RXQ_OVFL,
pfd[i].events = POLLIN;
}
+ determine_can_timing_offset(pfd, num_interfaces);
+
+
set_sched_policy_and_prio(SCHED_FIFO, 40);
#define SEND() send_and_check(pfd[0].fd)
ret = read(completion_pipe[0], &mi, sizeof(mi));
if (ret < sizeof(mi))
error(1, errno, "read completion returned %d", ret);
- msg_info_print(opt.f_msgs, mi);
+
+ msg_info_process(opt.f_msgs, mi);
msg_info_free(mi);
completed++;
}
fclose(opt.f_msgs);
if (opt.f_stat) {
+ struct histogram_stats hs;
fprintf(opt.f_stat, "cmdline='");
for (i=0; i<argc; i++)
fprintf(opt.f_stat, "%s%s", argv[i], i < argc-1 ? " " : "");
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)
if (stats.timeouts && !opt.quiet)
printf("invalid_frame=%d\n", stats.timeouts);
+ histogram_stats(&histogram_gw, &hs);
+ double avg = hs.count ? (double)hs.sum/hs.count : 0;
+ fprintf(opt.f_stat, "avg=%g\n", avg);
+ fprintf(opt.f_stat, "out_of_range_below=%d\n", hs.below);
+ fprintf(opt.f_stat, "out_of_range_above=%d\n", hs.above);
+ for (i = 0; i <= 20; i++)
+ fprintf(opt.f_stat, "percentile%d=%d\n", i*5, hs.percentile[i*5]);
+
fclose(opt.f_stat);
}
projects / can-benchmark.git / blobdiff