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can: implement send and receive functions and latencies measurments

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This commit is contained in:
Niklas Eiling 2020-03-03 11:17:22 +01:00 • committed by Steffen Vogel
parent 9653ea5295
commit 7a11654a92
2 changed files with 152 additions and 15 deletions
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15
lib/nodes/can-test/Makefile
View file

@ -10,20 +10,25 @@ CC_FLAGS=
LD_FLAGS=
OBJ_FILES=main.o
SRC_FILES=main.c
MISC_FILES=create_vcan.sh
FPGA_IP=137.226.133.231
BINARY=can
BINARY_SEND=can_send
BINARY_RECEIVE=can_receive
.PHONY: all clean deploy
all : $(BINARY)
all : $(BINARY_SEND) $(BINARY_RECEIVE)
$(BINARY) : $(OBJ_FILES)
$(BINARY_SEND) : $(SRC_FILES)
$(LD) $(CC_FLAGS) -DSEND -o $@ $^ $(LD_FLAGS)
$(BINARY_RECEIVE) : $(SRC_FILES)
$(LD) $(CC_FLAGS) -o $@ $^ $(LD_FLAGS)
%.o : %.c
$(CC) $(CC_FLAGS) -c -o $@ $<
#%.o : %.c
# $(CC) $(CC_FLAGS) -c -o $@ $<
clean:
rm -f $(BINARY) $(OBJ_FILES)

152
lib/nodes/can-test/main.c
View file

@ -10,9 +10,26 @@
#include <linux/can.h>
#include <linux/can/raw.h>
#include <stdint.h>
#include <sys/time.h>
int
main(void)
/** An accurate timestamp can be obtained with an ioctl(2) call after reading
* a message from the socket:
*
* struct timeval tv;
* ioctl(s, SIOCGSTAMP, &tv);
*
* The timestamp has a resolution of one microsecond and is set automatically
* at the reception of a CAN frame.
*/
void can_receive_timestamp(int socket)
{
struct timeval tv;
ioctl(socket, SIOCGSTAMP, &tv);
printf("%0d:%03d:%03d s:ms:us\n", tv.tv_sec, tv.tv_usec/1000, tv.tv_usec%1000);
}
int can_receive(char *ifn)
{
int s;
int nbytes;
@ -20,7 +37,79 @@ main(void)
struct can_frame frame;
struct ifreq ifr;
const char *ifname = "can0";
const char *ifname = ifn;
struct timeval start, end;
if((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
perror("Error while opening socket");
return -1;
}
strcpy(ifr.ifr_name, ifname);
ioctl(s, SIOCGIFINDEX, &ifr);
addr.can_family = AF_CAN;
addr.can_ifindex = ifr.ifr_ifindex;
printf("%s at index %d\n", ifname, ifr.ifr_ifindex);
if(bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
perror("Error in socket bind");
return -2;
}
int i,j;
printf("warmup...\n");
for (j=0; j < 10; ++j) {
for (i=0; i < 1000; ++i) {
nbytes = read(s, &frame, sizeof(struct can_frame));
if (nbytes != sizeof(struct can_frame)) {
printf("ERROR: can read() error. read() returned %d\n", nbytes);
}
//can_receive_timestamp(s);
//printf("id:%d, len:%d, data: 0x%x:0x%x\n", frame.can_id,
// frame.can_dlc,
// ((uint32_t*)&frame.data)[0],
// ((uint32_t*)&frame.data)[1]);
}
}
printf("measure...\n");
int sec=0, usec=0;
for (j=0; j < 10; ++j) {
gettimeofday(&start, NULL);
for (i=0; i < 1000; ++i) {
nbytes = read(s, &frame, sizeof(struct can_frame));
}
gettimeofday(&end, NULL);
sec += end.tv_sec-start.tv_sec;
usec += end.tv_usec-start.tv_usec;
printf("%d frames in %0d:%03d:%03d s:ms:us\n", i, end.tv_sec-start.tv_sec,
(end.tv_usec-start.tv_usec)/1000,
(end.tv_usec-start.tv_usec)%1000);
}
usec=((usec + sec*1000*1000)/j) % (1000*1000);
sec /= j;
printf("average: %0d:%03d:%03d s:ms:us\n", sec, usec/1000, usec%1000);
usec=((usec + sec*1000*1000)/i) % (1000*1000);
sec /= i;
printf("average per read: %0d:%03d:%03d s:ms:us\n", sec, usec/1000, usec%1000);
return 0;
}
int can_send(char *ifn)
{
int s;
int nbytes;
struct sockaddr_can addr;
struct can_frame frame;
struct ifreq ifr;
const char *ifname = ifn;
uint32_t high = 0, low = 0;
struct timeval start, end;
if((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
perror("Error while opening socket");
@ -40,15 +129,58 @@ main(void)
return -2;
}
frame.can_id = 0x123;
frame.can_dlc = 2;
frame.data[0] = 0x11;
frame.data[1] = 0x22;
frame.can_id = 0x1;
frame.can_dlc = 8;
nbytes = write(s, &frame, sizeof(struct can_frame));
int i,j;
printf("warmup...\n");
for (j=0; j < 10; ++j) {
for (i=0; i < 1000; ++i) {
((uint32_t*)frame.data)[0] = high++;
((uint32_t*)frame.data)[1] = low++;
printf("Wrote %d bytes\n", nbytes);
nbytes = write(s, &frame, sizeof(struct can_frame));
usleep(250);
}
}
printf("measure...\n");
int sec=0, usec=0;
for (j=0; j < 10; ++j) {
gettimeofday(&start, NULL);
for (i=0; i < 1000; ++i) {
((uint32_t*)frame.data)[0] = high++;
((uint32_t*)frame.data)[1] = low++;
nbytes = write(s, &frame, sizeof(struct can_frame));
usleep(250);
}
gettimeofday(&end, NULL);
sec += end.tv_sec-start.tv_sec;
usec += end.tv_usec-start.tv_usec;
printf("%d frames in %0d:%03d:%03d s:ms:us\n", i, end.tv_sec-start.tv_sec,
(end.tv_usec-start.tv_usec)/1000,
(end.tv_usec-start.tv_usec)%1000);
}
usec=((usec + sec*1000*1000)/j) % (1000*1000);
sec /= j;
printf("average: %0d:%03d:%03d s:ms:us\n", sec, usec/1000, usec%1000);
usec=((usec + sec*1000*1000)/i) % (1000*1000);
sec /= i;
printf("average per write: %0d:%03d:%03d s:ms:us\n", sec, usec/1000, usec%1000);
return 0;
}
int main()
{
#ifdef SEND
printf("can_send\n");
return can_send("vcan0");
#else
printf("can_receive\n");
return can_receive("vcan0");
#endif
}