-/*
- * $Id$
- */
-
/*
* cangen.c - CAN frames generator for testing purposes
*
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
* DAMAGE.
*
- * Send feedback to <socketcan-users@lists.berlios.de>
+ * Send feedback to <linux-can@vger.kernel.org>
*
*/
#include <stdio.h>
#include <stdlib.h>
+#include <stdint.h>
#include <unistd.h>
#include <string.h>
#include <signal.h>
+#include <poll.h>
#include <ctype.h>
#include <libgen.h>
#include <time.h>
#define DEFAULT_GAP 200 /* ms */
+#define MODE_RANDOM 0
+#define MODE_INCREMENT 1
+#define MODE_FIX 2
+
extern int optind, opterr, optopt;
static volatile int running = 1;
+static unsigned long long enobufs_count;
void print_usage(char *prg)
{
- fprintf(stderr, "\n%s: generate random CAN frames\n\n", prg);
- fprintf(stderr, "Usage: %s [can-interface]\n", prg);
- fprintf(stderr, "Options: -g <ms> (gap in milli seconds) "
- "default: %d\n", DEFAULT_GAP);
- fprintf(stderr, " -e (extended frame mode) "
- "default: standard frame format \n");
- fprintf(stderr, " -I (fixed CAN ID) "
- "default: 0x123\n");
- fprintf(stderr, " -D (fixed CAN Data) "
- "default: 01 23 45 67 89 AB CD EF\n");
- fprintf(stderr, " -L (fixed CAN DLC) "
- "default: 8\n");
- fprintf(stderr, " -f <canframe> (other fixed CAN frame) "
- "default: 123#0123456789ABCDEF\n");
- fprintf(stderr, " -x (disable echo) "
- "default: standard echo\n");
- fprintf(stderr, " -v (verbose) "
- "default: don't print sent frames\n");
+ fprintf(stderr, "\n%s: generate CAN frames\n\n", prg);
+ fprintf(stderr, "Usage: %s [options] <CAN interface>\n", prg);
+ fprintf(stderr, "Options: -g <ms> (gap in milli seconds "
+ "- default: %d ms)\n", DEFAULT_GAP);
+ fprintf(stderr, " -e (generate extended frame mode "
+ "(EFF) CAN frames)\n");
+ fprintf(stderr, " -f (generate CAN FD CAN frames)\n");
+ fprintf(stderr, " -b (generate CAN FD CAN frames"
+ " with bitrate switch (BRS))\n");
+ fprintf(stderr, " -R (send RTR frame)\n");
+ fprintf(stderr, " -m (mix -e -f -b -R frames)\n");
+ fprintf(stderr, " -I <mode> (CAN ID"
+ " generation mode - see below)\n");
+ fprintf(stderr, " -L <mode> (CAN data length code (dlc)"
+ " generation mode - see below)\n");
+ fprintf(stderr, " -D <mode> (CAN data (payload)"
+ " generation mode - see below)\n");
+ fprintf(stderr, " -p <timeout> (poll on -ENOBUFS to write frames"
+ " with <timeout> ms)\n");
+ fprintf(stderr, " -n <count> (terminate after <count> CAN frames "
+ "- default infinite)\n");
+ fprintf(stderr, " -i (ignore -ENOBUFS return values on"
+ " write() syscalls)\n");
+ fprintf(stderr, " -x (disable local loopback of "
+ "generated CAN frames)\n");
+ fprintf(stderr, " -v (increment verbose level for "
+ "printing sent CAN frames)\n\n");
+ fprintf(stderr, "Generation modes:\n");
+ fprintf(stderr, "'r' => random values (default)\n");
+ fprintf(stderr, "'i' => increment values\n");
+ fprintf(stderr, "<hexvalue> => fix value using <hexvalue>\n\n");
+ fprintf(stderr, "When incrementing the CAN data the data length code "
+ "minimum is set to 1.\n");
+ fprintf(stderr, "CAN IDs and data content are given and expected in hexadecimal values.\n\n");
+ fprintf(stderr, "Examples:\n");
+ fprintf(stderr, "%s vcan0 -g 4 -I 42A -L 1 -D i -v -v ", prg);
+ fprintf(stderr, "(fixed CAN ID and length, inc. data)\n");
+ fprintf(stderr, "%s vcan0 -e -L i -v -v -v ", prg);
+ fprintf(stderr, "(generate EFF frames, incr. length)\n");
+ fprintf(stderr, "%s vcan0 -D 11223344DEADBEEF -L 8 ", prg);
+ fprintf(stderr, "(fixed CAN data payload and length)\n");
+ fprintf(stderr, "%s vcan0 -g 0 -i -x ", prg);
+ fprintf(stderr, "(full load test ignoring -ENOBUFS)\n");
+ fprintf(stderr, "%s vcan0 -g 0 -p 10 -x ", prg);
+ fprintf(stderr, "(full load test with polling, 10ms timeout)\n");
+ fprintf(stderr, "%s vcan0 ", prg);
+ fprintf(stderr, "(my favourite default :)\n\n");
}
void sigterm(int signo)
{
- running = 0;
+ running = 0;
}
int main(int argc, char **argv)
{
- unsigned long gap = DEFAULT_GAP;
- unsigned char extended = 0;
- unsigned char fix_id = 0;
- unsigned char fix_data = 0;
- unsigned char fix_dlc = 0;
- unsigned char default_frame = 1;
- unsigned char echo_disable = 0;
- unsigned char verbose = 0;
-
- int opt;
- int s; /* socket */
-
- struct sockaddr_can addr;
- static struct can_frame frame;
- int nbytes;
- struct ifreq ifr;
-
- struct timespec ts;
-
- signal(SIGTERM, sigterm);
- signal(SIGHUP, sigterm);
- signal(SIGINT, sigterm);
-
- while ((opt = getopt(argc, argv, "g:eIDLf:xv")) != -1) {
- switch (opt) {
- case 'g':
- gap = strtoul(optarg, NULL, 10);
- break;
-
- case 'e':
- extended = 1;
- break;
-
- case 'I':
- fix_id = 1;
- break;
-
- case 'D':
- fix_data = 1;
- break;
-
- case 'L':
- fix_dlc = 1;
- break;
-
- case 'f':
- default_frame = 0;
- if (parse_canframe(optarg, &frame)) {
- fprintf(stderr, "'%s' is a wrong CAN frame format.\n", optarg);
- exit(1);
- }
- break;
-
- case 'v':
- verbose = 1;
- break;
-
- case 'x':
- echo_disable = 1;
- break;
-
- default:
- print_usage(basename(argv[0]));
- exit(1);
- break;
+ double gap = DEFAULT_GAP;
+ unsigned long polltimeout = 0;
+ unsigned char ignore_enobufs = 0;
+ unsigned char extended = 0;
+ unsigned char canfd = 0;
+ unsigned char brs = 0;
+ unsigned char mix = 0;
+ unsigned char id_mode = MODE_RANDOM;
+ unsigned char data_mode = MODE_RANDOM;
+ unsigned char dlc_mode = MODE_RANDOM;
+ unsigned char loopback_disable = 0;
+ unsigned char verbose = 0;
+ unsigned char rtr_frame = 0;
+ int count = 0;
+ int mtu, maxdlen;
+ uint64_t incdata = 0;
+ int incdlc = 0;
+ unsigned char fixdata[CANFD_MAX_DLEN];
+
+ int opt;
+ int s; /* socket */
+ struct pollfd fds;
+
+ struct sockaddr_can addr;
+ static struct canfd_frame frame;
+ int nbytes;
+ int i;
+ struct ifreq ifr;
+
+ struct timespec ts;
+ struct timeval now;
+
+ /* set seed value for pseudo random numbers */
+ gettimeofday(&now, NULL);
+ srandom(now.tv_usec);
+
+ signal(SIGTERM, sigterm);
+ signal(SIGHUP, sigterm);
+ signal(SIGINT, sigterm);
+
+ while ((opt = getopt(argc, argv, "ig:ebfmI:L:D:xp:n:vRh?")) != -1) {
+ switch (opt) {
+
+ case 'i':
+ ignore_enobufs = 1;
+ break;
+
+ case 'g':
+ gap = strtod(optarg, NULL);
+ break;
+
+ case 'e':
+ extended = 1;
+ break;
+
+ case 'f':
+ canfd = 1;
+ break;
+
+ case 'b':
+ brs = 1; /* bitrate switch implies CAN FD */
+ canfd = 1;
+ break;
+
+ case 'm':
+ mix = 1;
+ canfd = 1; /* to switch the socket into CAN FD mode */
+ break;
+
+ case 'I':
+ if (optarg[0] == 'r') {
+ id_mode = MODE_RANDOM;
+ } else if (optarg[0] == 'i') {
+ id_mode = MODE_INCREMENT;
+ } else {
+ id_mode = MODE_FIX;
+ frame.can_id = strtoul(optarg, NULL, 16);
+ }
+ break;
+
+ case 'L':
+ if (optarg[0] == 'r') {
+ dlc_mode = MODE_RANDOM;
+ } else if (optarg[0] == 'i') {
+ dlc_mode = MODE_INCREMENT;
+ } else {
+ dlc_mode = MODE_FIX;
+ frame.len = atoi(optarg) & 0xFF; /* is cut to 8 / 64 later */
+ }
+ break;
+
+ case 'D':
+ if (optarg[0] == 'r') {
+ data_mode = MODE_RANDOM;
+ } else if (optarg[0] == 'i') {
+ data_mode = MODE_INCREMENT;
+ } else {
+ data_mode = MODE_FIX;
+ if (hexstring2data(optarg, fixdata, CANFD_MAX_DLEN)) {
+ printf ("wrong fix data definition\n");
+ return 1;
+ }
+ }
+ break;
+
+ case 'v':
+ verbose++;
+ break;
+
+ case 'x':
+ loopback_disable = 1;
+ break;
+
+ case 'R':
+ rtr_frame = 1;
+ break;
+
+ case 'p':
+ polltimeout = strtoul(optarg, NULL, 10);
+ break;
+
+ case 'n':
+ count = atoi(optarg);
+ if (count < 1) {
+ print_usage(basename(argv[0]));
+ return 1;
+ }
+ break;
+
+ case '?':
+ case 'h':
+ default:
+ print_usage(basename(argv[0]));
+ return 1;
+ break;
+ }
+ }
+
+ if (optind == argc) {
+ print_usage(basename(argv[0]));
+ return 1;
+ }
+
+ ts.tv_sec = gap / 1000;
+ ts.tv_nsec = (long)(((long long)(gap * 1000000)) % 1000000000ll);
+
+ /* recognize obviously missing commandline option */
+ if (id_mode == MODE_FIX && frame.can_id > 0x7FF && !extended) {
+ printf("The given CAN-ID is greater than 0x7FF and "
+ "the '-e' option is not set.\n");
+ return 1;
+ }
+
+ if (strlen(argv[optind]) >= IFNAMSIZ) {
+ printf("Name of CAN device '%s' is too long!\n\n", argv[optind]);
+ return 1;
}
- }
-
- if (optind == argc) {
- print_usage(basename(argv[0]));
- exit(0);
- }
-
- ts.tv_sec = gap / 1000;
- ts.tv_nsec = (gap % 1000) * 1000000;
-
-
- if (default_frame) {
- if (extended)
- frame.can_id = 0x12345678 | CAN_EFF_FLAG;
- else
- frame.can_id = 0x123;
-
- frame.can_dlc = 8;
-
- frame.data[0] = 0x01;
- frame.data[1] = 0x23;
- frame.data[2] = 0x45;
- frame.data[3] = 0x67;
- frame.data[4] = 0x89;
- frame.data[5] = 0xAB;
- frame.data[6] = 0xCD;
- frame.data[7] = 0xEF;
- }
-
- if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
- perror("socket");
- return 1;
- }
-
- addr.can_family = AF_CAN;
-
- strcpy(ifr.ifr_name, argv[optind]);
- if (ioctl(s, SIOCGIFINDEX, &ifr) < 0) {
- perror("SIOCGIFINDEX");
- return 1;
- }
- addr.can_ifindex = ifr.ifr_ifindex;
-
- /* disable default receive filter on this RAW socket */
- /* This is obsolete as we do not read from the socket at all, but for */
- /* this reason we can remove the receive list in the Kernel to save a */
- /* little (really a very little!) CPU usage. */
- setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0);
-
- if (echo_disable) {
- int echo = 0;
-
- setsockopt(s, SOL_CAN_RAW, CAN_RAW_ECHO,
- &echo, sizeof(echo));
- }
-
- if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
- perror("bind");
- return 1;
- }
-
- while (running) {
-
- if (!fix_id) {
- frame.can_id = random();
- if (extended) {
- frame.can_id &= CAN_EFF_MASK;
- frame.can_id |= CAN_EFF_FLAG;
- } else
- frame.can_id &= CAN_SFF_MASK;
+
+ if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
+ perror("socket");
+ return 1;
}
- if (!fix_dlc) {
- frame.can_dlc = random() & 0xF;
- if (frame.can_dlc & 8)
- frame.can_dlc = 8; /* for about 50% of the frames */
+ addr.can_family = AF_CAN;
+
+ strcpy(ifr.ifr_name, argv[optind]);
+ if (ioctl(s, SIOCGIFINDEX, &ifr) < 0) {
+ perror("SIOCGIFINDEX");
+ return 1;
}
+ addr.can_ifindex = ifr.ifr_ifindex;
- if (!fix_data) {
- /* that's what the 64 bit alignment of data[] is for ... :) */
- *(unsigned long*)(&frame.data[0]) = random();
- *(unsigned long*)(&frame.data[4]) = random();
+ /* disable default receive filter on this RAW socket */
+ /* This is obsolete as we do not read from the socket at all, but for */
+ /* this reason we can remove the receive list in the Kernel to save a */
+ /* little (really a very little!) CPU usage. */
+ setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0);
+
+ if (loopback_disable) {
+ int loopback = 0;
+
+ setsockopt(s, SOL_CAN_RAW, CAN_RAW_LOOPBACK,
+ &loopback, sizeof(loopback));
}
- if ((nbytes = write(s, &frame, sizeof(struct can_frame))) < 0) {
- perror("write");
- return 1;
- } else if (nbytes < sizeof(struct can_frame)) {
- fprintf(stderr, "write: incomplete CAN frame\n");
- return 1;
+ if (canfd) {
+ int enable_canfd = 1;
+
+ /* check if the frame fits into the CAN netdevice */
+ if (ioctl(s, SIOCGIFMTU, &ifr) < 0) {
+ perror("SIOCGIFMTU");
+ return 1;
+ }
+
+ if (ifr.ifr_mtu != CANFD_MTU) {
+ printf("CAN interface ist not CAN FD capable - sorry.\n");
+ return 1;
+ }
+
+ /* interface is ok - try to switch the socket into CAN FD mode */
+ if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &enable_canfd, sizeof(enable_canfd))){
+ printf("error when enabling CAN FD support\n");
+ return 1;
+ }
+
+ /* ensure discrete CAN FD length values 0..8, 12, 16, 20, 24, 32, 64 */
+ frame.len = can_dlc2len(can_len2dlc(frame.len));
+ } else {
+ /* sanitize CAN 2.0 frame length */
+ if (frame.len > 8)
+ frame.len = 8;
}
- if (gap) /* gap == 0 => performance test :-] */
- if (nanosleep(&ts, NULL))
+ if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
+ perror("bind");
return 1;
-
- if (verbose)
-#if 0
- fprint_long_canframe(stdout, &frame, "\n", 1);
-#else
- fprint_canframe(stdout, &frame, "\n", 1);
-#endif
- }
-
- close(s);
-
- return 0;
+ }
+
+ if (polltimeout) {
+ fds.fd = s;
+ fds.events = POLLOUT;
+ }
+
+ while (running) {
+ frame.flags = 0;
+
+ if (count && (--count == 0))
+ running = 0;
+
+ if (canfd){
+ mtu = CANFD_MTU;
+ maxdlen = CANFD_MAX_DLEN;
+ if (brs)
+ frame.flags |= CANFD_BRS;
+ } else {
+ mtu = CAN_MTU;
+ maxdlen = CAN_MAX_DLEN;
+ }
+
+ if (id_mode == MODE_RANDOM)
+ frame.can_id = random();
+
+ if (extended) {
+ frame.can_id &= CAN_EFF_MASK;
+ frame.can_id |= CAN_EFF_FLAG;
+ } else
+ frame.can_id &= CAN_SFF_MASK;
+
+ if (rtr_frame && !canfd)
+ frame.can_id |= CAN_RTR_FLAG;
+
+ if (dlc_mode == MODE_RANDOM) {
+
+ if (canfd)
+ frame.len = can_dlc2len(random() & 0xF);
+ else {
+ frame.len = random() & 0xF;
+ if (frame.len & 8)
+ frame.len = 8; /* for about 50% of the frames */
+ }
+ }
+
+ if (data_mode == MODE_INCREMENT && !frame.len)
+ frame.len = 1; /* min dlc value for incr. data */
+
+ if (data_mode == MODE_RANDOM) {
+
+ /* that's what the 64 bit alignment of data[] is for ... :) */
+ *(unsigned long*)(&frame.data[0]) = random();
+ *(unsigned long*)(&frame.data[4]) = random();
+
+ /* omit extra random number generation for CAN FD */
+ if (canfd && frame.len > 8) {
+ memcpy(&frame.data[8], &frame.data[0], 8);
+ memcpy(&frame.data[16], &frame.data[0], 16);
+ memcpy(&frame.data[32], &frame.data[0], 32);
+ }
+ }
+
+ if (data_mode == MODE_FIX)
+ memcpy(frame.data, fixdata, CANFD_MAX_DLEN);
+
+ /* set unused payload data to zero like the CAN driver does it on rx */
+ if (frame.len < maxdlen)
+ memset(&frame.data[frame.len], 0, maxdlen - frame.len);
+
+ if (verbose) {
+
+ printf(" %s ", argv[optind]);
+
+ if (verbose > 1)
+ fprint_long_canframe(stdout, &frame, "\n", (verbose > 2)?1:0, maxdlen);
+ else
+ fprint_canframe(stdout, &frame, "\n", 1, maxdlen);
+ }
+
+resend:
+ nbytes = write(s, &frame, mtu);
+ if (nbytes < 0) {
+ if (errno != ENOBUFS) {
+ perror("write");
+ return 1;
+ }
+ if (!ignore_enobufs && !polltimeout) {
+ perror("write");
+ return 1;
+ }
+ if (polltimeout) {
+ /* wait for the write socket (with timeout) */
+ if (poll(&fds, 1, polltimeout) < 0) {
+ perror("poll");
+ return 1;
+ } else
+ goto resend;
+ } else
+ enobufs_count++;
+
+ } else if (nbytes < mtu) {
+ fprintf(stderr, "write: incomplete CAN frame\n");
+ return 1;
+ }
+
+ if (gap) /* gap == 0 => performance test :-] */
+ if (nanosleep(&ts, NULL))
+ return 1;
+
+ if (id_mode == MODE_INCREMENT)
+ frame.can_id++;
+
+ if (dlc_mode == MODE_INCREMENT) {
+
+ incdlc++;
+
+ if (canfd && !mix) {
+ incdlc &= 0xF;
+ frame.len = can_dlc2len(incdlc);
+ } else {
+ incdlc %= 9;
+ frame.len = incdlc;
+ }
+ }
+
+ if (data_mode == MODE_INCREMENT) {
+
+ incdata++;
+
+ for (i=0; i<8 ;i++)
+ frame.data[i] = (incdata >> i*8) & 0xFFULL;
+ }
+
+ if (mix) {
+ i = random();
+ extended = i&1;
+ canfd = i&2;
+ if (canfd)
+ brs = i&4;
+ rtr_frame = ((i&24) == 24); /* reduce RTR frames to 1/4 */
+ }
+ }
+
+ if (enobufs_count)
+ printf("\nCounted %llu ENOBUFS return values on write().\n\n",
+ enobufs_count);
+
+ close(s);
+
+ return 0;
}
projects / can-utils.git / blobdiff