114 lines
2.4 KiB
C
114 lines
2.4 KiB
C
// SPDX-License-Identifier: GPL-2.0-only
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/*
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* Copyright (C) 2023 ArtInChip Technology Co., Ltd.
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* Author: weijie.ding <weijie.ding@artinchip.com>
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*/
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/*
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* This program is used to test CAN0 loopback. You
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* should connect the TX and RX of CAN0.
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*/
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <pthread.h>
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#include <unistd.h>
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <fcntl.h>
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#include <signal.h>
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#include <termios.h>
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#include <errno.h>
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#include <getopt.h>
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#include <string.h>
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#include <sys/time.h>
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#include <sys/select.h>
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#include <sys/ioctl.h>
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#include <sys/epoll.h>
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#include <linux/can.h>
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#include <linux/if.h>
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#define CAN_DEBUG 0
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int test_can_loopback()
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{
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int sock_fd, epfd, err;
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struct can_frame tx_frame, rx_frame;
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struct epoll_event event, ev;
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socklen_t len;
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struct sockaddr_can addr;
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struct ifreq ifr;
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memset(&tx_frame, 0, sizeof(struct can_frame));
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memset(&rx_frame, 0, sizeof(struct can_frame));
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sock_fd = socket(PF_CAN, SOCK_RAW, CAN_RAW);
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strcpy(ifr.ifr_name, "can0");
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ioctl(sock_fd, 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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bind(sock_fd, (struct sockaddr *)&addr, sizeof(addr));
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tx_frame.can_id = 0x5A1;
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strcpy((char *)tx_frame.data, "hello");
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tx_frame.can_dlc = strlen((const char *)tx_frame.data);
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epfd = epoll_create(1);
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if (epfd < 0) {
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perror("epoll_create error!\n");
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return -1;
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}
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ev.events = EPOLLIN;
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err = epoll_ctl(epfd, EPOLL_CTL_ADD, sock_fd, &ev);
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if (err < 0) {
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perror("epoll_ctl()");
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return -1;
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}
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sendto(sock_fd, &tx_frame, sizeof(struct can_frame), 0,
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(struct sockaddr *)&addr, sizeof(addr));
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err = epoll_wait(epfd, &event, 1, -1);
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recvfrom(sock_fd, &rx_frame, sizeof(struct can_frame), 0,
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(struct sockaddr *)&addr, &len);
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#if CAN_DEBUG
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printf("CAN frame:\n\t ID: %x\n\t DLC: %x\n\t DATA: ",
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rx_frame.can_id, rx_frame.can_dlc);
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for (int i = 0; i < rx_frame.can_dlc; i++)
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printf("%02x ", rx_frame.data[i]);
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printf("\n");
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#endif
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err = memcmp((void *)&tx_frame, (void *)&rx_frame,
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sizeof(struct can_frame));
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if (err)
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return -1;
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else
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return 0;
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}
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int main(int argc, char *argv[])
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{
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int ret;
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system("ip link set can0 type can bitrate 1000000 loopback on");
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system("ifconfig can0 up");
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ret = test_can_loopback();
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system("ifconfig can0 down");
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if (!ret) {
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printf("CAN loopback test success\n");
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return 0;
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} else {
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printf("CAN loopback test error\n");
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return -1;
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}
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}
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