-/**************************************************************************/
-/* CAN latency tester */
-/* Copyright (C) 2010, 2011, 2012, 2013 Michal Sojka, DCE FEE CTU Prague */
-/* License: GPLv2 */
-/**************************************************************************/
+/*******************************************************************************/
+/* CAN latency tester */
+/* Copyright (C) 2010, 2011, 2012, 2013, 2014 Michal Sojka, DCE FEE CTU Prague */
+/* License: GPLv2 */
+/*******************************************************************************/
+#define _GNU_SOURCE
#include <ctype.h>
#include <errno.h>
#include <error.h>
#include <talloc.h>
#include <unistd.h>
+#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);
}
-/* 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);
- 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;
- bitmap[2] = htonl(((uint32_t*)frame->data)[0]);
- bitmap[3] = htonl(((uint32_t*)frame->data)[1]);
- 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;
- bitmap[1] = htonl(((uint32_t*)frame->data)[0]);
- bitmap[2] = htonl(((uint32_t*)frame->data)[1]);
- 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;
-}
+int timespec_subtract (struct timespec *result, const struct timespec *x, const struct timespec *yy);
-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 */
-}
+static inline unsigned get_timestamp_diff_us(struct msg_info *mi);
-void msg_info_print(FILE *f, struct msg_info *mi)
+void msg_info_process(FILE *f, struct msg_info *mi)
{
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:
- fprintf(f, "%ld: %s %s -> %s (%s) -> %s (%s) %s = %s (%s), %s (%s) %d\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);
+ 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_txtime_us(&mi->received);
+ unsigned us = diff.tv_sec * 1000000 + diff.tv_nsec/1000;
+ return us;
}
void set_sched_policy_and_prio(int policy, int rtprio)
return ifr.ifr_ifindex;
}
-static inline get_tstamp(struct timespec *ts)
+static inline void get_tstamp(struct timespec *ts)
{
- clock_gettime(CLOCK_REALTIME, ts);
+ clock_gettime(CLOCK_MONOTONIC/*REALTIME*/, ts);
}
int trace_fd = -1;
int marker_fd = -1;
-int init_ftrace()
+void init_ftrace()
{
#ifdef FTRACE
char *debugfs;
return ret;
}
-static inline send_and_check(int s)
+static inline void send_and_check(int s)
{
int ret;
ret = send_frame(s);
}
}
-static inline void get_next_timeout(struct timespec *timeout)
+static inline void get_next_timeout(struct timespec *timeout, bool advance)
{
struct timespec now;
static struct timespec last = {-1, 0 };
clock_gettime(CLOCK_MONOTONIC, &now);
- if (last.tv_sec == -1)
+ if (last.tv_sec == -1) {
last = now;
+ last.tv_nsec = last.tv_nsec/1000000*1000000;
+ }
if (opt.period_us != 0) {
- last.tv_sec += opt.period_us/1000000;
- last.tv_nsec += (opt.period_us%1000000)*1000;
- while (last.tv_nsec >= 1000000000) {
- last.tv_nsec -= 1000000000;
- last.tv_sec++;
+ if (advance) {
+ last.tv_sec += opt.period_us/1000000;
+ last.tv_nsec += (opt.period_us%1000000)*1000;
+ while (last.tv_nsec >= 1000000000) {
+ last.tv_nsec -= 1000000000;
+ last.tv_sec++;
+ }
}
if (timespec_subtract(timeout, &last, &now) /* is negative */) {
stats.overrun++;
memset(timeout, 0, sizeof(*timeout));
}
+/* printf("next %ld.%06ld now %ld.%06ld --> timeout %ld.%06ld\n", */
+/* last.tv_sec, last.tv_nsec/1000, */
+/* now.tv_sec, now.tv_nsec/1000, */
+/* timeout->tv_sec, timeout->tv_nsec/1000); */
} else if (opt.timeout_ms != 0) {
timeout->tv_sec = opt.timeout_ms/1000;
timeout->tv_nsec = (opt.timeout_ms%1000)*1000000;
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)
- *ts_kern = *(struct timespec *)CMSG_DATA(cmsg);
- else if (cmsg->cmsg_type == SO_RXQ_OVFL)
- dropcnt += *(__u32 *)CMSG_DATA(cmsg);
+ 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));
+ dropcnt += ovfl;
+ }
}
}
void process_on_wire_rx(int s)
{
- struct timespec ts_kern, ts_user, ts_diff;
+ struct timespec ts_kern, ts_user;
struct can_frame frame;
struct msg_info *mi;
receive(s, &frame, &ts_kern, &ts_user);
void process_final_rx(int s)
{
- struct timespec ts_kern, ts_user, ts_diff;
+ struct timespec ts_kern, ts_user;
struct can_frame frame;
struct msg_info *mi;
int ret;
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;
struct pollfd pfd[3];
struct timespec timeout;
struct sockaddr_can addr;
- sigset_t set;
int consecutive_timeouts = 0;
MEMSET_ZERO(pfd);
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)
SEND();
get_tstamp(&stats.tic);
-
+ ret = 0;
while (!finish_flag &&
(opt.count == 0 || count < opt.count || msg_in_progress != 0)) {
- get_next_timeout(&timeout);
+ get_next_timeout(&timeout, ret == 0);
+ //printf("timeout %ld.%06ld\n", timeout.tv_sec, timeout.tv_nsec/1000);
//printf("ppoll"); fflush(stdout);
ret = ppoll(pfd, num_interfaces, &timeout, NULL);
//printf("=%d\n", ret);
}
}
if (pfd[i].revents & ~POLLIN)
- error(1, 0, "Unexpected pfd[%d].revents: 0x%04x\n", pfd[i].revents);
+ error(1, 0, "Unexpected pfd[%d].revents: 0x%04x\n", i, pfd[i].revents);
}
}
int main(int argc, const char *argv[])
{
pthread_t thread;
- sigset_t set;
int ret, i;
parse_options(argc, argv);
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);
}