From: Michal Sojka Date: Wed, 8 Jan 2014 17:28:03 +0000 (+0100) Subject: Commit not-finished state of frame length calculation X-Git-Tag: fix-allnoconfig~105 X-Git-Url: http://rtime.felk.cvut.cz/gitweb/can-benchmark.git/commitdiff_plain/7765317e73f5c4e9b0e9f2f28a56091efe5e4930?ds=sidebyside Commit not-finished state of frame length calculation CRC calculation works for both SFF and EFF frames (tested with osciloscope). Stuff bit calculation needs to be updated. --- diff --git a/latester/Makefile.omk b/latester/Makefile.omk index 63db1c2..c9b8e35 100644 --- a/latester/Makefile.omk +++ b/latester/Makefile.omk @@ -1,7 +1,7 @@ # -*- makefile -*- bin_PROGRAMS += latester vcanbench -latester_SOURCES = latester.c +latester_SOURCES = latester.c canframelen.c latester_LIBS = rt pthread m talloc popt #ulut vcanbench_SOURCES = vcanbench.c @@ -14,3 +14,6 @@ INCLUDES = -DSO_RXQ_OVFL=40 \ bin_PROGRAMS += setpgid setpgid_SOURCES = setpgid.c + +bin_PROGRAMS += test +test_SOURCES = test.c canframelen.c diff --git a/latester/canframelen.c b/latester/canframelen.c new file mode 100644 index 0000000..5c9003e --- /dev/null +++ b/latester/canframelen.c @@ -0,0 +1,252 @@ +#include "canframelen.h" +#include +#include +#include +#include +#include +#include /* FIXME: remove me */ + +static void sprint_canframe(char *buf , struct can_frame *cf, int sep) { + /* documentation see lib.h */ + + int i,offset; + int dlc = (cf->can_dlc > 8)? 8 : cf->can_dlc; + + if (cf->can_id & CAN_ERR_FLAG) { + sprintf(buf, "%08X#", cf->can_id & (CAN_ERR_MASK|CAN_ERR_FLAG)); + offset = 9; + } else if (cf->can_id & CAN_EFF_FLAG) { + sprintf(buf, "%08X#", cf->can_id & CAN_EFF_MASK); + offset = 9; + } else { + sprintf(buf, "%03X#", cf->can_id & CAN_SFF_MASK); + offset = 4; + } + + if (cf->can_id & CAN_RTR_FLAG) /* there are no ERR frames with RTR */ + sprintf(buf+offset, "R"); + else + for (i = 0; i < dlc; i++) { + sprintf(buf+offset, "%02X", cf->data[i]); + offset += 2; + if (sep && (i+1 < dlc)) + sprintf(buf+offset++, "."); + } +} + +/** + * Functions and types for CRC checks. + * + * Generated on Wed Jan 8 15:14:20 2014, + * by pycrc v0.8.1, 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 table used for the table_driven implementation. + *****************************************************************************/ +static const crc_t crc_table[256] = { + 0x0000, 0x4599, 0x4eab, 0x0b32, 0x58cf, 0x1d56, 0x1664, 0x53fd, 0x7407, 0x319e, 0x3aac, 0x7f35, 0x2cc8, 0x6951, 0x6263, 0x27fa, + 0x2d97, 0x680e, 0x633c, 0x26a5, 0x7558, 0x30c1, 0x3bf3, 0x7e6a, 0x5990, 0x1c09, 0x173b, 0x52a2, 0x015f, 0x44c6, 0x4ff4, 0x0a6d, + 0x5b2e, 0x1eb7, 0x1585, 0x501c, 0x03e1, 0x4678, 0x4d4a, 0x08d3, 0x2f29, 0x6ab0, 0x6182, 0x241b, 0x77e6, 0x327f, 0x394d, 0x7cd4, + 0x76b9, 0x3320, 0x3812, 0x7d8b, 0x2e76, 0x6bef, 0x60dd, 0x2544, 0x02be, 0x4727, 0x4c15, 0x098c, 0x5a71, 0x1fe8, 0x14da, 0x5143, + 0x73c5, 0x365c, 0x3d6e, 0x78f7, 0x2b0a, 0x6e93, 0x65a1, 0x2038, 0x07c2, 0x425b, 0x4969, 0x0cf0, 0x5f0d, 0x1a94, 0x11a6, 0x543f, + 0x5e52, 0x1bcb, 0x10f9, 0x5560, 0x069d, 0x4304, 0x4836, 0x0daf, 0x2a55, 0x6fcc, 0x64fe, 0x2167, 0x729a, 0x3703, 0x3c31, 0x79a8, + 0x28eb, 0x6d72, 0x6640, 0x23d9, 0x7024, 0x35bd, 0x3e8f, 0x7b16, 0x5cec, 0x1975, 0x1247, 0x57de, 0x0423, 0x41ba, 0x4a88, 0x0f11, + 0x057c, 0x40e5, 0x4bd7, 0x0e4e, 0x5db3, 0x182a, 0x1318, 0x5681, 0x717b, 0x34e2, 0x3fd0, 0x7a49, 0x29b4, 0x6c2d, 0x671f, 0x2286, + 0x2213, 0x678a, 0x6cb8, 0x2921, 0x7adc, 0x3f45, 0x3477, 0x71ee, 0x5614, 0x138d, 0x18bf, 0x5d26, 0x0edb, 0x4b42, 0x4070, 0x05e9, + 0x0f84, 0x4a1d, 0x412f, 0x04b6, 0x574b, 0x12d2, 0x19e0, 0x5c79, 0x7b83, 0x3e1a, 0x3528, 0x70b1, 0x234c, 0x66d5, 0x6de7, 0x287e, + 0x793d, 0x3ca4, 0x3796, 0x720f, 0x21f2, 0x646b, 0x6f59, 0x2ac0, 0x0d3a, 0x48a3, 0x4391, 0x0608, 0x55f5, 0x106c, 0x1b5e, 0x5ec7, + 0x54aa, 0x1133, 0x1a01, 0x5f98, 0x0c65, 0x49fc, 0x42ce, 0x0757, 0x20ad, 0x6534, 0x6e06, 0x2b9f, 0x7862, 0x3dfb, 0x36c9, 0x7350, + 0x51d6, 0x144f, 0x1f7d, 0x5ae4, 0x0919, 0x4c80, 0x47b2, 0x022b, 0x25d1, 0x6048, 0x6b7a, 0x2ee3, 0x7d1e, 0x3887, 0x33b5, 0x762c, + 0x7c41, 0x39d8, 0x32ea, 0x7773, 0x248e, 0x6117, 0x6a25, 0x2fbc, 0x0846, 0x4ddf, 0x46ed, 0x0374, 0x5089, 0x1510, 0x1e22, 0x5bbb, + 0x0af8, 0x4f61, 0x4453, 0x01ca, 0x5237, 0x17ae, 0x1c9c, 0x5905, 0x7eff, 0x3b66, 0x3054, 0x75cd, 0x2630, 0x63a9, 0x689b, 0x2d02, + 0x276f, 0x62f6, 0x69c4, 0x2c5d, 0x7fa0, 0x3a39, 0x310b, 0x7492, 0x5368, 0x16f1, 0x1dc3, 0x585a, 0x0ba7, 0x4e3e, 0x450c, 0x0095 +}; + +/** + * Update the crc value with new data. + * + * \param crc The current crc value. + * \param data Pointer to a buffer of \a data_len bytes. + * \param data_len Number of bytes in the \a data buffer. + * \return The updated crc value. + *****************************************************************************/ +crc_t crc_update_bytewise(crc_t crc, const unsigned char *data, size_t data_len) +{ + unsigned int tbl_idx; + + while (data_len--) { + tbl_idx = ((crc >> 7) ^ *data) & 0xff; + crc = (crc_table[tbl_idx] ^ (crc << 8)) & 0x7fff; + + data++; + } + return crc & 0x7fff; +} + +/** + * Update the crc value with new data. + * + * \param crc The current crc value. + * \param data Data value + * \param bits The number of most significant bits in data used for CRC calculation + * \return The updated crc value. + *****************************************************************************/ +crc_t crc_update_bitwise(crc_t crc, uint8_t data, size_t bits) +{ + uint8_t i; + bool bit; + + for (i = 0x80; bits--; i >>= 1) { + bit = crc & 0x4000; + if (data & i) { + bit = !bit; + } + crc <<= 1; + if (bit) { + crc ^= 0x4599; + } + } + return crc & 0x7fff; +} + +crc_t calc_bitmap_crc(uint8_t *bitmap, unsigned start, unsigned end) +{ + crc_t crc = 0; + + if (start%8) { + crc = crc_update_bitwise(crc, bitmap[start/8] << (start%8), 8 - start%8); + start += 8 - start%8; + } + crc = crc_update_bytewise(crc, &bitmap[start/8], (end - start) / 8); + crc = crc_update_bitwise(crc, bitmap[end/8], end%8); + return crc; +} + +void print_bitmap(const char *prefix, uint8_t *bitmap, unsigned start, unsigned end) +{ + int i; + printf("%s", prefix); + for (i = start; i < end; i++) + printf("%c", (bitmap[i/8] << (i % 8)) & 0x80 ? '1' : '0'); + if (*prefix) + printf("\n"); +} + +unsigned calc_stuff_bits(struct can_frame *frame) { + uint8_t bitmap[16]; + unsigned start = 0, end; + + char received[64]; + sprint_canframe(received, frame, true); + printf("Frame: %s\n", received); + + memset(bitmap, 0, sizeof(bitmap)); + + if (frame->can_id & CAN_EFF_FLAG) { + // bit 7 0 7 0 7 0 7 0 + // bitmap[0-3] |.sBBBBBB BBBBBSIE EEEEEEEE EEEEEEEE| s = SOF, B = Base ID (11 bits), S = SRR, I = IDE, E = Extended ID (18 bits) + // bitmap[4-7] |ER10DLC4 00000000 11111111 22222222| R = RTR, 0 = r0, 1 = r1, DLC4 = DLC, Data bytes + // bitmap[8-11] |33333333 44444444 55555555 66666666| Data bytes + // bitmap[12-15] |77777777 ........ ........ ........| Data bytes + bitmap[0] = (frame->can_id & CAN_EFF_MASK) >> 23; + bitmap[1] = ((frame->can_id >> 18) & 0x3f) << 3 | + 3 << 1 | /* SRR, IDE */ + ((frame->can_id >> 17) & 0x01); + bitmap[2] = (frame->can_id >> 9) & 0xff; + bitmap[3] = (frame->can_id >> 1) & 0xff; + bitmap[4] = (frame->can_id & 0x1) << 7 | + (!!(frame->can_id & CAN_RTR_FLAG)) << 6 | + 0 << 4 | /* r1, r0 */ + frame->can_dlc & 0xf; + memcpy(&bitmap[5], &frame->data, frame->can_dlc); + start = 1; + end = 40 + 8*frame->can_dlc; + } else { + // bit 7 0 7 0 7 0 7 0 + // bitmap[0-3] |.....sII IIIIIIII IRE0DLC4 00000000| s = SOF, I = ID (11 bits), R = RTR, E = IDE, DLC4 = DLC + // bitmap[4-7] |11111111 22222222 33333333 44444444| Data bytes + // bitmap[8-11] |55555555 66666666 77777777 ........| Data bytes + bitmap[0] = (frame->can_id & CAN_SFF_MASK) >> 9; + bitmap[1] = (frame->can_id >> 1) & 0xff; + bitmap[2] = (frame->can_id << 7) & 0xff | + (!!(frame->can_id & CAN_RTR_FLAG)) << 6 | + 0 << 4 | /* IDE, r0 */ + frame->can_dlc & 0xf; + memcpy(&bitmap[3], &frame->data, frame->can_dlc); + start = 5; + end = 24 + 8*frame->can_dlc; + } + + crc_t crc = calc_bitmap_crc(bitmap, start, end); + uint16_t crc_be = htons(crc << 1); + assert(end%8 == 0); + memcpy(bitmap + end/8, &crc_be, 2); + print_bitmap("Frame: ", bitmap, start, end); + end += 15; + print_bitmap("FrameCRC: ", bitmap, start, end); + + uint8_t mask, ones = 0, basemask = 0xf8; + unsigned stuffed = 0; + while (start < end) { + start++; /* FIXME: This loop is currently broken!!! */ + mask = basemask >> (start%32); + while (1) { + ones = ones ? mask : 0; + uint32_t chunk = (bitmap[start/32] & 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_length(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 */ +} diff --git a/latester/canframelen.h b/latester/canframelen.h new file mode 100644 index 0000000..ba8d04a --- /dev/null +++ b/latester/canframelen.h @@ -0,0 +1,8 @@ +#ifndef TXTIME_H +#define TXTIME_H + +#include + +unsigned calc_frame_length(struct can_frame *frame); + +#endif diff --git a/latester/latester.c b/latester/latester.c index 6f4aefd..2e8f6e3 100644 --- a/latester/latester.c +++ b/latester/latester.c @@ -1,8 +1,8 @@ -/**************************************************************************/ -/* 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 */ +/*******************************************************************************/ #include #include @@ -30,6 +30,7 @@ #include #include +#include "canframelen.h" #include #include @@ -160,153 +161,6 @@ 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 crc << 17; -} - -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); - uint32_t crc_be = htons(crc << 17); - memcpy((char*)bitmap + end/8, &crc_be, 2); /* end is guaranteed to be divisible by 8 */ - 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; @@ -402,7 +256,7 @@ static inline void calc_msg_latencies(struct msg_info *mi) return; } mi->lat_measured_us = diff.tv_sec * 1000000 + diff.tv_nsec/1000; - mi->tx_time_us = calc_frame_txtime_us(&mi->received); + mi->tx_time_us = calc_frame_length(&mi->received); } void set_sched_policy_and_prio(int policy, int rtprio) diff --git a/latester/test.c b/latester/test.c new file mode 100644 index 0000000..214565f --- /dev/null +++ b/latester/test.c @@ -0,0 +1,10 @@ +#include +#include "canframelen.h" + +int main(int argc, char *argv[]) +{ + struct can_frame cf = { .can_id = 0x0f111121 | CAN_EFF_FLAG, .can_dlc = 1, .data = { 0x22 } }; + printf("Length: %u\n", calc_frame_length(&cf)); + + return 0; +}