Module: xenomai-3
Branch: master
Commit: 789773177b7d124dac8c652f53a973cf71ee2b2a
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=789773177b7d124dac8c652f53a973cf71ee2b2a
Author: Philippe Gerum <r...@xenomai.org>
Date: Sat Jun 25 18:55:14 2016 +0200
testsuite/spitest: add SPI test suite
---
configure.ac | 1 +
testsuite/Makefile.am | 2 +
testsuite/gpiotest/gpiotest.c | 31 +--
testsuite/spitest/Makefile.am | 19 ++
testsuite/spitest/spitest.c | 451 +++++++++++++++++++++++++++++++++++++++++
5 files changed, 491 insertions(+), 13 deletions(-)
diff --git a/configure.ac b/configure.ac
index 1f3c4fe..1308f8b 100644
--- a/configure.ac
+++ b/configure.ac
@@ -885,6 +885,7 @@ AC_CONFIG_FILES([ \
testsuite/latency/Makefile \
testsuite/switchtest/Makefile \
testsuite/gpiotest/Makefile \
+ testsuite/spitest/Makefile \
testsuite/smokey/Makefile \
testsuite/smokey/arith/Makefile \
testsuite/smokey/sched-quota/Makefile \
diff --git a/testsuite/Makefile.am b/testsuite/Makefile.am
index c345472..76d108e 100644
--- a/testsuite/Makefile.am
+++ b/testsuite/Makefile.am
@@ -5,6 +5,7 @@ if XENO_COBALT
SUBDIRS += \
clocktest \
gpiotest \
+ spitest \
switchtest \
xeno-test
endif
@@ -14,5 +15,6 @@ DIST_SUBDIRS = \
gpiotest \
latency \
smokey \
+ spitest \
switchtest \
xeno-test
diff --git a/testsuite/gpiotest/gpiotest.c b/testsuite/gpiotest/gpiotest.c
index 65949ee..0bdd39f 100644
--- a/testsuite/gpiotest/gpiotest.c
+++ b/testsuite/gpiotest/gpiotest.c
@@ -1,19 +1,24 @@
/*
- * Copyright (C) 2016 Philippe Gerum <r...@xenomai.org>.
+ * Copyright (C) 2016 Philippe Gerum <r...@xenomai.org>
*
- * This program is free software; you can redistribute it and/or
- * modify it under the terms of the GNU General Public License as
- * published by the Free Software Foundation; either version 2 of the
- * License, or (at your option) any later version.
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
*
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software
- * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+ * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+ * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+ * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+ * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#include <stdio.h>
#include <error.h>
diff --git a/testsuite/spitest/Makefile.am b/testsuite/spitest/Makefile.am
new file mode 100644
index 0000000..ccdd392
--- /dev/null
+++ b/testsuite/spitest/Makefile.am
@@ -0,0 +1,19 @@
+testdir = @XENO_TEST_DIR@
+
+CCLD = $(top_srcdir)/scripts/wrap-link.sh $(CC)
+
+test_PROGRAMS = spitest
+
+spitest_SOURCES = spitest.c
+
+spitest_CPPFLAGS = \
+ $(XENO_USER_CFLAGS) \
+ -I$(top_srcdir)/include
+
+spitest_LDFLAGS = @XENO_AUTOINIT_LDFLAGS@ $(XENO_POSIX_WRAPPERS)
+
+spitest_LDADD = \
+ ../../lib/smokey/libsmokey.la \
+ ../../lib/@XENO_CORE_LIB@ \
+ @XENO_USER_LDADD@ \
+ -lpthread -lrt
diff --git a/testsuite/spitest/spitest.c b/testsuite/spitest/spitest.c
new file mode 100644
index 0000000..0609bad
--- /dev/null
+++ b/testsuite/spitest/spitest.c
@@ -0,0 +1,451 @@
+/*
+ * Copyright (C) 2016 Philippe Gerum <r...@xenomai.org>
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+ * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+ * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+ * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+ * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+#include <sys/types.h>
+#include <sys/mman.h>
+#include <sys/ioctl.h>
+#include <sys/timerfd.h>
+#include <stdio.h>
+#include <error.h>
+#include <semaphore.h>
+#include <errno.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <smokey/smokey.h>
+#include <linux/spi/spidev.h>
+#include <rtdm/spi.h>
+
+smokey_test_plugin(spi_transfer,
+ SMOKEY_ARGLIST(
+ SMOKEY_STRING(device),
+ SMOKEY_INT(speed),
+ SMOKEY_BOOL(latency),
+ ),
+ "Run a SPI transfer.\n"
+ "\tdevice=<device-path>\n"
+ "\tspeed=<speed-hz>\n"
+ "\tlatency"
+);
+
+#define ONE_BILLION 1000000000
+#define TEN_MILLIONS 10000000
+
+static int with_traffic = 1, with_latency;
+
+#define SEQ_SHIFT 24
+#define SEQ_MASK ((1 << SEQ_SHIFT) - 1)
+
+#define BAD_CRC 0x1
+#define BAD_SEQ 0x2
+
+struct frame_header {
+ unsigned int seq: SEQ_SHIFT,
+ crc : 8;
+} __attribute__((packed));
+
+/* We send a 32bit header followed by 32 bytes of payload. */
+#define TRANSFER_SIZE (32 + sizeof(struct frame_header))
+
+static unsigned char *i_area, *o_area;
+
+static unsigned int seq_out;
+
+static unsigned int seq_in = 1 << SEQ_SHIFT;
+
+static int32_t minjitter, maxjitter, avgjitter;
+static int32_t gminjitter = TEN_MILLIONS, gmaxjitter = -TEN_MILLIONS;
+static uint32_t goverrun, gerrors;
+static int64_t gavgjitter;
+
+nanosecs_rel_t period_ns = ONE_BILLION / 2; /* 0.5s */
+
+pthread_t display_tid, consumer_tid;
+
+static sem_t display_sem;
+
+static const int data_lines = 21;
+
+static inline void *get_obuf(void)
+{
+ return o_area;
+}
+
+static inline void *get_odata(void)
+{
+ return o_area + sizeof(struct frame_header);
+}
+
+static inline size_t get_odlen(void)
+{
+ return TRANSFER_SIZE - sizeof(struct frame_header);
+}
+
+static void set_output_header(void)
+{
+ struct frame_header *fh = get_obuf();
+ unsigned char *odata = get_odata();
+ size_t odlen = get_odlen(), n;
+ unsigned char csum;
+
+ for (n = 0, csum = 0; n < odlen; n++)
+ csum += *odata++;
+
+ fh->crc = ~csum;
+ fh->seq = seq_out;
+ seq_out = (seq_out + 1) & SEQ_MASK;
+}
+
+static int check_input_header(void *ibuf, size_t ilen)
+{
+ struct frame_header *fh = ibuf;
+ unsigned char *idata = ibuf + sizeof(*fh);
+ size_t idlen = ilen - sizeof(*fh), n;
+ unsigned int seq_next;
+ unsigned char csum;
+ int checkval = 0;
+
+ for (n = 0, csum = 0; n < idlen; n++)
+ csum += *idata++;
+
+ if (fh->crc != (unsigned char)~csum)
+ checkval |= BAD_CRC;
+
+ if (seq_in > SEQ_MASK)
+ seq_in = fh->seq;
+ else {
+ seq_next = (seq_in + 1) & SEQ_MASK;
+ if (fh->seq != seq_next) {
+ /* Try to resync. */
+ seq_in = 1 << SEQ_SHIFT;
+ checkval |= BAD_SEQ;
+ } else
+ seq_in = seq_next;
+ }
+
+ return checkval;
+}
+
+static void do_traffic(int round, const void *ibuf,
+ size_t ilen, int checkval)
+{
+ const struct frame_header *fh = ibuf;
+ size_t idlen = ilen - sizeof(*fh), n;
+ const unsigned char *idata = ibuf + sizeof(*fh);
+
+ printf("%.4d> seq=%u%s, crc=%.2X%s",
+ round,
+ fh->seq, checkval & BAD_SEQ ? "?" : "",
+ fh->crc, checkval & BAD_CRC ? "?" : "");
+
+ for (n = 0; n < idlen; n++) {
+ if ((n % 16) == 0)
+ printf("\n");
+ printf("%.2X ", idata[n]);
+ }
+ printf("\n");
+}
+
+static int do_process(int round)
+{
+ size_t odlen, n, ilen = TRANSFER_SIZE;
+ unsigned char *odata, *ibuf = i_area;
+ int checkval;
+
+ checkval = check_input_header(i_area, ilen);
+
+ if (with_traffic)
+ do_traffic(round, ibuf, ilen, checkval);
+
+ odata = get_odata();
+ odlen = get_odlen();
+ for (n = 0; n < odlen; n++)
+ odata[n] = odata[n] + 1 ?: 1;
+
+ set_output_header();
+
+ return checkval ? -EPROTO : 0;
+}
+
+static void timespec_add_ns(struct timespec *t, unsigned int ns)
+{
+ t->tv_nsec += ns;
+ if (t->tv_nsec >= ONE_BILLION) {
+ t->tv_nsec -= ONE_BILLION;
+ t->tv_sec++;
+ }
+}
+
+static inline long long diff_ts(struct timespec *left, struct timespec *right)
+{
+ return (long long)(left->tv_sec - right->tv_sec) * ONE_BILLION
+ + left->tv_nsec - right->tv_nsec;
+}
+
+static void *display_thread(void *arg)
+{
+ long minj, gminj, maxj, gmaxj, avgj;
+ time_t start, now, dt;
+ int ret, n = 0;
+
+ sem_init(&display_sem, 0, 0);
+
+ time(&start);
+
+ for (;;) {
+ ret = sem_wait(&display_sem);
+ if (ret < 0) {
+ if (errno != EIDRM)
+ panic("sem_wait(), %s", symerror(errno));
+ return NULL;
+ }
+
+ if (smokey_verbose_mode < 1)
+ continue;
+
+ minj = minjitter;
+ gminj = gminjitter;
+ avgj = avgjitter;
+ maxj = maxjitter;
+ gmaxj = gmaxjitter;
+
+ if (data_lines && (n++ % data_lines) == 0) {
+ time(&now);
+ dt = now - start;
+ printf("RTT| %.2ld:%.2ld:%.2ld (%Ld us period)\n",
+ dt / 3600, (dt / 60) % 60, dt % 60,
+ period_ns / 1000);
+ printf("RTH|%11s|%11s|%11s|%8s|%8s|%11s|%11s\n",
+ "----lat min", "----lat avg",
+ "----lat max", "-overrun", "-errors",
+ "---lat best", "--lat worst");
+ }
+ printf("RTD|%11.3f|%11.3f|%11.3f|%8d|%8d|%11.3f|%11.3f\n",
+ (double)minj / 1000,
+ (double)avgj / 1000,
+ (double)maxj / 1000,
+ goverrun,
+ gerrors,
+ (double)gminj / 1000, (double)gmaxj / 1000);
+ }
+
+ return NULL;
+}
+
+static void start_display_thread(void)
+{
+ struct sched_param param;
+ pthread_attr_t attr;
+
+ pthread_attr_init(&attr);
+ pthread_attr_setinheritsched(&attr, PTHREAD_EXPLICIT_SCHED);
+ pthread_attr_setschedpolicy(&attr, SCHED_OTHER);
+ param.sched_priority = 0;
+ pthread_attr_setschedparam(&attr, ¶m);
+ pthread_create(&display_tid, &attr, display_thread, NULL);
+}
+
+static inline
+nanosecs_rel_t get_start_delay(void)
+{
+ return ((1000000000ULL + period_ns - 1) / period_ns) * period_ns;
+}
+
+static int do_spi_loop(int fd)
+{
+ int ret, n, nsamples, loops = 0, tfd;
+ struct timespec now, start;
+ struct itimerspec its;
+
+ memset(get_odata(), 0x1, get_odlen());
+ set_output_header();
+
+ if (with_latency) {
+ nsamples = (long long)ONE_BILLION / period_ns;
+ start_display_thread();
+ } else
+ nsamples = 1;
+
+ tfd = timerfd_create(CLOCK_MONOTONIC, 0);
+ if (tfd < 0)
+ return -errno;
+
+ clock_gettime(CLOCK_MONOTONIC, &start);
+ timespec_add_ns(&start, get_start_delay());
+ its.it_value = start;
+ its.it_interval.tv_sec = period_ns / ONE_BILLION;
+ its.it_interval.tv_nsec = period_ns % ONE_BILLION;
+ ret = timerfd_settime(tfd, TFD_TIMER_ABSTIME, &its, NULL);
+ if (ret)
+ return -errno;
+
+ for (;;) {
+ int32_t minj = TEN_MILLIONS, maxj = -TEN_MILLIONS, dt;
+ uint32_t overrun = 0, errors = 0;
+ uint64_t ticks;
+ int64_t sumj;
+
+ loops++;
+
+ for (n = sumj = 0; n < nsamples; n++) {
+ ret = read(tfd, &ticks, sizeof(ticks));
+ if (ret < 0)
+ break;
+ clock_gettime(CLOCK_MONOTONIC, &start);
+ if (!__T(ret, ioctl(fd, SPI_RTIOC_TRANSFER)))
+ return ret;
+ if (with_latency) {
+ clock_gettime(CLOCK_MONOTONIC, &now);
+ dt = (int32_t)diff_ts(&now, &start);
+ if (dt > maxj)
+ maxj = dt;
+ if (dt < minj)
+ minj = dt;
+ sumj += dt;
+ }
+
+ ret = do_process(loops);
+ if (ret)
+ errors++;
+ }
+
+ if (with_latency) {
+ minjitter = minj;
+ if (minj < gminjitter)
+ gminjitter = minj;
+ maxjitter = maxj;
+ if (maxj > gmaxjitter)
+ gmaxjitter = maxj;
+ avgjitter = sumj / nsamples;
+ gavgjitter += avgjitter;
+ goverrun += overrun;
+ gerrors += errors;
+ sem_post(&display_sem);
+ }
+ }
+
+ return 0;
+}
+
+static int run_spi_transfer(struct smokey_test *t, int argc, char *const
argv[])
+{
+ int fd, ret, speed_hz = 60000000;
+ struct rtdm_spi_config config;
+ struct rtdm_spi_iobufs iobufs;
+ const char *device = NULL;
+ struct sched_param param;
+ void *p;
+
+ smokey_parse_args(t, argc, argv);
+
+ if (SMOKEY_ARG_ISSET(spi_transfer, latency) &&
+ SMOKEY_ARG_BOOL(spi_transfer, latency)) {
+ with_latency = 1;
+ /* Disable traffic tracing when monitoring latency. */
+ with_traffic = 0;
+ }
+
+ if (SMOKEY_ARG_ISSET(spi_transfer, speed))
+ speed_hz = SMOKEY_ARG_INT(spi_transfer, speed);
+
+ if (!SMOKEY_ARG_ISSET(spi_transfer, device)) {
+ warning("missing device= specification");
+ return -EINVAL;
+ }
+
+ device = SMOKEY_ARG_STRING(spi_transfer, device);
+ fd = open(device, O_RDWR);
+ if (fd < 0) {
+ ret = -errno;
+ warning("cannot open device %s [%s]",
+ device, symerror(ret));
+ return ret;
+ }
+
+ iobufs.io_len = TRANSFER_SIZE;
+ if (!__T(ret, ioctl(fd, SPI_RTIOC_SET_IOBUFS, &iobufs)))
+ return ret;
+
+ p = mmap(NULL, iobufs.io_len, PROT_READ|PROT_WRITE, MAP_SHARED, fd, 0);
+ if (!__Fassert(p == MAP_FAILED))
+ return -EINVAL;
+
+ smokey_trace("input_area[%u..%u], output_area[%u..%u], mapping
length=%u",
+ iobufs.i_offset, iobufs.i_offset + TRANSFER_SIZE - 1,
+ iobufs.o_offset, iobufs.o_offset + TRANSFER_SIZE - 1,
+ iobufs.io_len);
+
+ i_area = p + iobufs.i_offset;
+ o_area = p + iobufs.o_offset;
+
+ config.mode = SPI_MODE_0;
+ config.bits_per_word = 8;
+ config.speed_hz = speed_hz;
+ if (!__T(ret, ioctl(fd, SPI_RTIOC_SET_CONFIG, &config)))
+ return ret;
+
+ if (!__T(ret, ioctl(fd, SPI_RTIOC_GET_CONFIG, &config)))
+ return ret;
+
+ smokey_trace("speed=%u hz, mode=%#x, bits=%u",
+ config.speed_hz, config.mode, config.bits_per_word);
+
+ /* Switch current thread to real-time. */
+ param.sched_priority = 10;
+ if (!__T(ret, pthread_setschedparam(pthread_self(),
+ SCHED_FIFO, ¶m)))
+ return ret;
+
+ if (!__T(ret, do_spi_loop(fd)))
+ return ret;
+
+ return 0;
+}
+
+int main(int argc, char *const argv[])
+{
+ struct smokey_test *t;
+ int ret, fails = 0;
+
+ if (pvlist_empty(&smokey_test_list))
+ return 0;
+
+ for_each_smokey_test(t) {
+ ret = t->run(t, argc, argv);
+ if (ret) {
+ if (ret == -ENOSYS) {
+ smokey_note("%s skipped (no kernel support)",
+ t->name);
+ continue;
+ }
+ fails++;
+ if (smokey_keep_going)
+ continue;
+ if (smokey_verbose_mode)
+ error(1, -ret, "test %s failed", t->name);
+ return 1;
+ }
+ smokey_note("%s OK", t->name);
+ }
+
+ return fails != 0;
+}
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