X-Git-Url: http://rtime.felk.cvut.cz/gitweb/can-benchmark.git/blobdiff_plain/839937d2c18ad240ff87ba33d6ce144d5d8793a0..467e092776691683b297e1328281cded11717298:/latester/latester.c diff --git a/latester/latester.c b/latester/latester.c index bdd539c..0906760 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, 2012, 2013 Michal Sojka, DCE FEE CTU Prague */ /* License: GPLv2 */ /**************************************************************************/ @@ -67,6 +67,7 @@ struct options { /* Temporary variables */ FILE *f_msgs; FILE *f_hist; + FILE *f_hist_gw; FILE *f_stat; }; @@ -83,6 +84,7 @@ struct { unsigned lost; struct timespec tic, tac; unsigned timeouts; + unsigned invalid_frame; } stats; int num_interfaces = 0; @@ -97,12 +99,13 @@ struct msg_info { 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 */ @@ -132,7 +135,7 @@ 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) { @@ -143,7 +146,12 @@ 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) @@ -152,6 +160,169 @@ 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; @@ -159,6 +330,9 @@ void msg_info_print(FILE *f, struct msg_info *mi) static long num = 0; char sent[64], received[64]; + if (!f) + return; + sprint_canframe(sent, &mi->sent, true); sprint_canframe(received, &mi->received, true); @@ -167,20 +341,22 @@ 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), + mi->tx_time_us); 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), + mi->tx_time_us); break; } #undef S @@ -222,7 +398,7 @@ void dbg_print_timespec(char *msg, struct timespec *tv) 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; switch (num_interfaces) { @@ -239,9 +415,10 @@ static inline unsigned get_msg_latency_us(struct msg_info *mi) timespec_subtract(&diff, &mi->ts_rx_final_kern, &mi->ts_sent); break; default: - return 0; + return; } - return diff.tv_sec * 1000000 + diff.tv_nsec/1000; + 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) @@ -334,11 +511,16 @@ 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; @@ -350,7 +532,7 @@ 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; @@ -479,8 +661,11 @@ 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++; } @@ -497,7 +682,10 @@ void process_final_rx(int s) 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) @@ -597,13 +785,15 @@ 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--; @@ -613,6 +803,8 @@ void *measure_thread(void *arg) SEND(); } } + if (pfd[i].revents & ~POLLIN) + error(1, 0, "Unexpected pfd[%d].revents: 0x%04x\n", pfd[i].revents); } } @@ -676,12 +868,19 @@ int parse_options(int argc, const char *argv[]) } 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"); @@ -722,6 +921,7 @@ int main(int argc, const char *argv[]) msg_infos[i].id = -1; histogram_init(&histogram, 5000000, 1); + histogram_init(&histogram_gw, 5000000, 1); ret = pipe(completion_pipe); if (ret == -1) @@ -731,6 +931,13 @@ int main(int argc, const char *argv[]) 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); @@ -780,37 +987,54 @@ int main(int argc, const char *argv[]) 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); - - - fprintf(opt.f_stat, "cmdline='"); - for (i=0; i