X-Git-Url: http://rtime.felk.cvut.cz/gitweb/can-benchmark.git/blobdiff_plain/4dfed603d7350f31bc27eac347eb824cafaf0c42..b0d0a09235093cf11fbe83ce502d7079bc255f7e:/latester/latester.c diff --git a/latester/latester.c b/latester/latester.c index fb299aa..30e62f1 100644 --- a/latester/latester.c +++ b/latester/latester.c @@ -1,6 +1,6 @@ /**************************************************************************/ /* CAN latency tester */ -/* Copyright (C) 2010 Michal Sojka, DCE FEE CTU Prague */ +/* Copyright (C) 2010, 2011 Michal Sojka, DCE FEE CTU Prague */ /* License: GPLv2 */ /**************************************************************************/ @@ -81,6 +81,9 @@ struct { unsigned enobufs; unsigned overrun; unsigned lost; + struct timespec tic, tac; + unsigned timeouts; + unsigned invalid_frame; } stats; int num_interfaces = 0; @@ -130,7 +133,7 @@ void sprint_canframe(char *buf , struct can_frame *cf, int sep) { } } -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) { @@ -141,7 +144,12 @@ static inline struct msg_info *frame2info(struct can_frame *frame) 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) @@ -150,6 +158,139 @@ 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; +} + +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)); + crc_t crc = 0; + uint32_t crcx; + + if (frame->can_id & CAN_EFF_FLAG) { + 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; + 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); + crcx = (uint32_t)htons(crc) << 17; + if (frame->can_dlc < 4) + bitmap[2] |= crcx >> (frame->can_dlc*8); + if (frame->can_dlc = 3) + bitmap[3] |= crcx << 8; + if (frame->can_dlc >= 4) + bitmap[3] |= crcx >> (frame->can_dlc*8); + } else { + 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; + } + /* TODO: Calc stuff bits in CRC */ + 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); +} + +unsigned calc_frame_txtime(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; @@ -165,20 +306,22 @@ void msg_info_print(FILE *f, struct msg_info *mi) switch (num_interfaces) { case 2: - fprintf(f, "%ld: %s %s -> %s (%s) %s = %s (%s)\n", + 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)); + DIFF(mi->ts_sent, mi->ts_rx_final_kern), + DIFF(mi->ts_sent, mi->ts_rx_final), + calc_frame_txtime(&mi->received)); break; case 3: - fprintf(f, "%ld: %s %s -> %s (%s) -> %s (%s) %s = %s (%s), %s (%s)\n", + 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), + calc_frame_txtime(&mi->received)); break; } #undef S @@ -187,33 +330,6 @@ void msg_info_print(FILE *f, struct msg_info *mi) 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)) - - switch (num_interfaces) { - case 2: - fprintf(f, "%ld %d %d %s\n", - num, mi->id, mi->length, - DIFF(mi->ts_sent, mi->ts_rx_final_kern)); - break; - case 3: - fprintf(f, "%ld %d %d %s\n", - num, mi->id, mi->length, - DIFF(mi->ts_rx_onwire_kern, mi->ts_rx_final_kern)); - break; - } -#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. */ @@ -251,13 +367,13 @@ static inline unsigned get_msg_latency_us(struct msg_info *mi) { struct timespec diff; switch (num_interfaces) { - case 2: + 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); break; - case 3: + case 2: if (opt.userhist) timespec_subtract(&diff, &mi->ts_rx_final, &mi->ts_sent); else @@ -359,11 +475,16 @@ static inline void trace_off(int ret) 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; @@ -375,7 +496,7 @@ int send_frame(int socket) 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; @@ -504,8 +625,11 @@ void process_on_wire_rx(int s) 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++; } @@ -536,6 +660,7 @@ void *measure_thread(void *arg) struct timespec timeout; struct sockaddr_can addr; sigset_t set; + int consecutive_timeouts = 0; MEMSET_ZERO(pfd); @@ -582,6 +707,8 @@ void *measure_thread(void *arg) if (opt.oneattime) SEND(); + get_tstamp(&stats.tic); + while (!finish_flag && (opt.count == 0 || count < opt.count || msg_in_progress != 0)) { @@ -600,7 +727,13 @@ void *measure_thread(void *arg) 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 @@ -613,13 +746,16 @@ void *measure_thread(void *arg) } 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; @@ -628,9 +764,13 @@ void *measure_thread(void *arg) 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