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https://git.rwth-aachen.de/acs/public/villas/node/
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can: implement can_write
This commit is contained in:
Niklas Eiling
parent
bf337ec2a3
commit
a174e06961
4 changed files with 57 additions and 251 deletions
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@ -1,40 +0,0 @@
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CC_PATH=/opt/Xilinx/SDK/2019.1/gnu/aarch64/lin/aarch64-linux/bin
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CC_PREFIX=aarch64-linux-gnu-
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CPATH=$(CC_PATH)/include
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LD_LIBRARY_PATH=$(CC_PATH)/lib64:$(CC_PATH)/lib
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CC=$(CC_PATH)/$(CC_PREFIX)gcc
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LD=$(CC)
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CC_FLAGS=
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LD_FLAGS=
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OBJ_FILES=main.o
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SRC_FILES=main.c
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MISC_FILES=create_vcan.sh
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FPGA_IP=137.226.133.231
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BINARY_SEND=can_send
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BINARY_RECEIVE=can_receive
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.PHONY: all clean deploy
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all : $(BINARY_SEND) $(BINARY_RECEIVE)
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$(BINARY_SEND) : $(SRC_FILES)
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$(LD) $(CC_FLAGS) -DSEND -o $@ $^ $(LD_FLAGS)
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$(BINARY_RECEIVE) : $(SRC_FILES)
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$(LD) $(CC_FLAGS) -o $@ $^ $(LD_FLAGS)
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#%.o : %.c
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# $(CC) $(CC_FLAGS) -c -o $@ $<
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clean:
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rm -f $(BINARY) $(OBJ_FILES)
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deploy: $(BINARY)
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scp $(BINARY) root@$(FPGA_IP):~
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scp $(MISC_FILES) root@$(FPGA_IP):~
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ssh root@$(FPGA_IP) /home/root/create_vcan.sh
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ssh root@$(FPGA_IP) /home/root/$(BINARY)
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@ -1,7 +0,0 @@
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#!/bin/bash
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# source: https://en.wikipedia.org/wiki/SocketCAN
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ip link add dev vcan0 type vcan
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ip link set up vcan0
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ip link show vcan0
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@ -1,189 +0,0 @@
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#include <stdio.h>
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#include <stdlib.h>
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#include <unistd.h>
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#include <string.h>
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#include <net/if.h>
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#include <sys/types.h>
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#include <sys/socket.h>
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#include <sys/ioctl.h>
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#include <linux/can.h>
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#include <linux/can/raw.h>
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#include <stdint.h>
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#include <sys/time.h>
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/** An accurate timestamp can be obtained with an ioctl(2) call after reading
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* a message from the socket:
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*
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* struct timeval tv;
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* ioctl(s, SIOCGSTAMP, &tv);
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*
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* The timestamp has a resolution of one microsecond and is set automatically
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* at the reception of a CAN frame.
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*/
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void can_receive_timestamp(int socket)
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{
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struct timeval tv;
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ioctl(socket, SIOCGSTAMP, &tv);
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printf("%0d:%03d:%03d s:ms:us\n", tv.tv_sec, tv.tv_usec/1000, tv.tv_usec%1000);
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}
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int can_receive(char *ifn)
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{
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int s;
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int nbytes;
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struct sockaddr_can addr;
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struct can_frame frame;
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struct ifreq ifr;
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const char *ifname = ifn;
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struct timeval start, end;
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if((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
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perror("Error while opening socket");
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return -1;
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}
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strcpy(ifr.ifr_name, ifname);
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ioctl(s, SIOCGIFINDEX, &ifr);
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addr.can_family = AF_CAN;
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addr.can_ifindex = ifr.ifr_ifindex;
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printf("%s at index %d\n", ifname, ifr.ifr_ifindex);
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if(bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
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perror("Error in socket bind");
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return -2;
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}
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int i,j;
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printf("warmup...\n");
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for (j=0; j < 10; ++j) {
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for (i=0; i < 1000; ++i) {
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nbytes = read(s, &frame, sizeof(struct can_frame));
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if (nbytes != sizeof(struct can_frame)) {
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printf("ERROR: can read() error. read() returned %d\n", nbytes);
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}
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//can_receive_timestamp(s);
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//printf("id:%d, len:%d, data: 0x%x:0x%x\n", frame.can_id,
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// frame.can_dlc,
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// ((uint32_t*)&frame.data)[0],
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// ((uint32_t*)&frame.data)[1]);
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}
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}
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printf("measure...\n");
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int sec=0, usec=0;
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for (j=0; j < 10; ++j) {
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gettimeofday(&start, NULL);
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for (i=0; i < 1000; ++i) {
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nbytes = read(s, &frame, sizeof(struct can_frame));
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}
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gettimeofday(&end, NULL);
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sec += end.tv_sec-start.tv_sec;
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usec += end.tv_usec-start.tv_usec;
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printf("%d frames in %0d:%03d:%03d s:ms:us\n", i, end.tv_sec-start.tv_sec,
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(end.tv_usec-start.tv_usec)/1000,
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(end.tv_usec-start.tv_usec)%1000);
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}
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usec=((usec + sec*1000*1000)/j) % (1000*1000);
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sec /= j;
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printf("average: %0d:%03d:%03d s:ms:us\n", sec, usec/1000, usec%1000);
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usec=((usec + sec*1000*1000)/i) % (1000*1000);
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sec /= i;
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printf("average per read: %0d:%03d:%03d s:ms:us\n", sec, usec/1000, usec%1000);
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return 0;
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}
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int can_send(char *ifn)
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{
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int s;
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int nbytes;
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struct sockaddr_can addr;
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struct can_frame frame;
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struct ifreq ifr;
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const char *ifname = ifn;
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uint32_t high = 0, low = 0;
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struct timeval start, end;
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if((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
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perror("Error while opening socket");
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return -1;
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}
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printf("%d,%d\n", a.tv_sec, a.tv_usec);
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strcpy(ifr.ifr_name, ifname);
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ioctl(s, SIOCGIFINDEX, &ifr);
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addr.can_family = AF_CAN;
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addr.can_ifindex = ifr.ifr_ifindex;
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printf("%s at index %d\n", ifname, ifr.ifr_ifindex);
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if(bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
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perror("Error in socket bind");
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return -2;
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}
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frame.can_id = 0x1;
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frame.can_dlc = 8;
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int i,j;
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printf("warmup...\n");
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for (j=0; j < 10; ++j) {
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for (i=0; i < 1000; ++i) {
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((uint32_t*)frame.data)[0] = high++;
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((uint32_t*)frame.data)[1] = low++;
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nbytes = write(s, &frame, sizeof(struct can_frame));
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usleep(250);
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}
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}
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printf("measure...\n");
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int sec=0, usec=0;
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for (j=0; j < 10; ++j) {
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gettimeofday(&start, NULL);
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for (i=0; i < 1000; ++i) {
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((uint32_t*)frame.data)[0] = high++;
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((uint32_t*)frame.data)[1] = low++;
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nbytes = write(s, &frame, sizeof(struct can_frame));
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usleep(250);
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}
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gettimeofday(&end, NULL);
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sec += end.tv_sec-start.tv_sec;
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usec += end.tv_usec-start.tv_usec;
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printf("%d frames in %0d:%03d:%03d s:ms:us\n", i, end.tv_sec-start.tv_sec,
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(end.tv_usec-start.tv_usec)/1000,
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(end.tv_usec-start.tv_usec)%1000);
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}
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usec=((usec + sec*1000*1000)/j) % (1000*1000);
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sec /= j;
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printf("average: %0d:%03d:%03d s:ms:us\n", sec, usec/1000, usec%1000);
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usec=((usec + sec*1000*1000)/i) % (1000*1000);
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sec /= i;
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printf("average per write: %0d:%03d:%03d s:ms:us\n", sec, usec/1000, usec%1000);
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return 0;
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}
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int main()
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{
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#ifdef SEND
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printf("can_send\n");
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return can_send("vcan0");
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#else
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printf("can_receive\n");
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return can_receive("vcan0");
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#endif
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}
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@ -203,6 +203,8 @@ int can_parse(struct node *n, json_t *cfg)
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if (ret != 0) {
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free(c->in);
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free(c->out);
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c->in = nullptr;
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c->out = nullptr;
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}
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return ret;
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}
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@ -332,7 +334,7 @@ int can_read(struct node *n, struct sample *smps[], unsigned cnt, unsigned *rele
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warning("Could not get timestamp from CAN driver on interface \"%s\".", c->interface_name);
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smps[nread]->ts.received = time_now();
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} else {
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TIMEVAL_TO_TIMESPEC(&tv, &smps[nread]->ts.received);
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TIMEVAL_TO_TIMESPEC(&tv, &smps[nread]->ts.received);
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}
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for (size_t i=0; i < vlist_length(&(n->in.signals)); i++) {
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@ -344,31 +346,71 @@ int can_read(struct node *n, struct sample *smps[], unsigned cnt, unsigned *rele
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((uint8_t*)&frame.data) + c->in[i].offset,
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c->in[i].size);
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}
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}
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/* Set signals, because other VILLASnode parts expect us to */
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smps[nread]->signals = &n->in.signals;
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}
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return 1;
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return nread;
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}
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int can_write(struct node *n, struct sample *smps[], unsigned cnt, unsigned *release)
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{
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int nbytes;
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struct can_frame frame = {0};
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struct can *c = (struct can *) n->_vd;
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unsigned nwrite;
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struct can_frame *frame;
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size_t fsize = 0; /* number of frames in use */
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struct can *c = (struct can *) n->_vd;
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assert(cnt >= 1 && smps[0]->capacity >= 1);
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frame = (struct can_frame*) calloc(sizeof(struct can_frame),
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vlist_length(&(n->out.signals)));
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for (nwrite=0; nwrite < cnt; nwrite++) {
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for (size_t i=0; i < vlist_length(&(n->out.signals)); i++) {
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if (c->out[i].offset != 0) { /* frame is shared */
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continue;
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}
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frame[fsize].can_dlc = c->out[i].size;
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frame[fsize].can_id = c->out[i].id;
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memcpy(((uint8_t*)&frame[fsize].data) + c->out[i].offset,
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&smps[nwrite]->data[i],
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c->in[i].size);
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fsize++;
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}
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for (size_t i=0; i < vlist_length(&(n->out.signals)); i++) {
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if (c->out[i].offset == 0) { /* frame already stored */
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continue;
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}
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for (size_t j=0; j < fsize; j++) {
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if (c->out[i].id == frame[j].can_id) {
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frame[j].can_dlc += c->out[i].size;
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memcpy(((uint8_t*)&frame[j].data) + c->out[i].offset,
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&smps[nwrite]->data[i],
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c->in[i].size);
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}
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}
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}
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for (size_t j=0; j < fsize; j++) {
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printf("id:%d, len:%u, data: 0x%x:0x%x\n", frame[j].can_id,
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frame[j].can_dlc,
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((uint32_t*)&frame[j].data)[0],
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((uint32_t*)&frame[j].data)[1]);
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if ((nbytes = write(c->socket, &frame, sizeof(struct can_frame))) == -1) {
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error("CAN write() returned -1. Is the CAN interface up?");
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return nwrite;
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}
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if ((unsigned)nbytes != sizeof(struct can_frame)) {
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error("CAN write() error. write() returned %d bytes but expected %zu",
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nbytes, sizeof(struct can_frame));
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return nwrite;
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}
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}
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nbytes = write(c->socket, &frame, sizeof(struct can_frame));
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if (nbytes != sizeof(struct can_frame)) {
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error("CAN write() error. write() returned %u bytes but expected %zu",
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nbytes, sizeof(struct can_frame));
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return 0;
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}
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return 1;
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return nwrite;
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}
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int can_reverse(struct node *n)
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