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Merge pull request #528 from marckleinebudde/canerrsim 

canerrsim
pull/585/head
Marc Kleine-Budde 2025-03-02 17:19:38 +01:00 committed by GitHub
parent 18b1e7970a 491cabea07
commit da3914c491
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1
CMakeLists.txt
View File

@ -88,6 +88,7 @@ set(PROGRAMS_ISOBUSFS
set(PROGRAMS
${PROGRAMS_CANLIB}
canerrsim
canfdtest
cangw
cansniffer

1
Makefile
View File

@ -110,6 +110,7 @@ PROGRAMS := \
can-calc-bit-timing \
canbusload \
candump \
canerrsim \
canfdtest \
cangen \
cansequence \

564
canerrsim.c 100644
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@ -0,0 +1,564 @@
////////////////////////////////////////////////////////////////////////////////////////////////////
// //
// canerrsim - utility to simulate SocketCAN error messages, by Zeljko Avramovic (c) 2024 //
// //
// SPDX-License-Identifier: LGPL-2.1-or-later OR BSD-3-Clause //
// //
// Virtual CAN adapter vcan0 is hard coded and you can bring it up like this: //
// sudo modprobe vcan //
// sudo ip link add dev vcan0 type vcan //
// sudo ip link set vcan0 mtu 72 # needed for CAN FD //
// sudo ip link set vcan0 up //
// //
// To simulate error messages use canerrsim utility like this: //
// ./canerrsim vcan0 LostArBit=09 Data4=AA TX BusOff NoAck ShowBits //
// //
// That should show in canerrdump utility as: //
// 0x06A [8] 09 00 80 00 AA 00 00 00 ERR=LostArBit09,NoAck,BusOff,Prot(Type(TX),Loc(Unspec)) //
// //
// Alternatively, you could use candump from can-utils to check only error messages like this: //
// candump -tA -e -c -a any,0~0,#FFFFFFFF //
// //
////////////////////////////////////////////////////////////////////////////////////////////////////
#include <linux/can.h>
#include <linux/can/error.h>
#include <linux/can/raw.h>
#include <net/if.h>
#include <stdbool.h>
#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <sys/ioctl.h>
#include <unistd.h>
#define STR_EQUAL 0
void show_help_and_exit()
{
printf("\n");
printf("Usage: canerrsim <CAN interface> <options>\n");
printf("\n");
printf("CAN interface: ( CAN interface is case sensitive )\n");
printf(" can0 ( or can1, can2 or virtual ones like vcan0, vcan1...\n");
printf("\n");
printf("Options: ( options are not case sensitive )\n");
printf(" ( ERROR CLASS (MASK) IN CAN ID: )\n");
printf(" TxTimeout ( TX timeout by netdevice driver )\n");
printf(" NoAck ( received no ACK on transmission )\n");
printf(" BusOff ( bus off )\n");
printf(" BusError ( bus error, may flood! )\n");
printf(" Restarted ( controller restarted )\n");
printf(" TxCount=<00..FF> ( TX error counter )\n");
printf(" RxCount=<00..FF> ( RX error counter )\n");
printf(" ( ARBITRATIONLOST IN CAN ID + BIT NUMBER IN DATA[0]: )\n");
printf(" LostArBit=<00..29> ( decimal lost arbitration bit number in bitstream )\n");
printf(" ( CONTROLLER IN CAN ID + ERROR STATUS IN DATA[1]: )\n");
printf(" OverflowRX ( RX buffer overflow )\n");
printf(" OverflowTX ( TX buffer overflow )\n");
printf(" WarningRX ( reached warning level for RX errors )\n");
printf(" WarningTX ( reached warning level for TX errors )\n");
printf(" PassiveRX ( reached error passive status RX, errors > 127 )\n");
printf(" PassiveTX ( reached error passive status TX, errors > 127 )\n");
printf(" Active ( recovered to error active state )\n");
printf(" ( PROTOCOL ERROR IN CAN ID + TYPE IN DATA[2]: )\n");
printf(" SingleBit ( single bit error )\n");
printf(" FrameFormat ( frame format error )\n");
printf(" BitStuffing ( bit stuffing error )\n");
printf(" Bit0 ( unable to send dominant bit )\n");
printf(" Bit1 ( unable to send recessive bit )\n");
printf(" BusOverload ( bus overload )\n");
printf(" ActiveAnnouncement ( active error announcement )\n");
printf(" TX ( error occurred on transmission )\n");
printf(" ( PROTOCOL ERROR IN CAN ID + LOCATION IN DATA[3]: )\n");
printf(" SOF ( start of frame )\n");
printf(" ID28_21 ( ID bits 21..28, SFF: 3..10 )\n");
printf(" ID20_18 ( ID bits 18..20, SFF: 0..2 )\n");
printf(" SRTR ( substitute RTR, SFF: RTR )\n");
printf(" IDE ( identifier extension )\n");
printf(" ID17_13 ( ID bits 13..17 )\n");
printf(" ID12_05 ( ID bits 5..12 )\n");
printf(" ID04_00 ( ID bits 0..4 )\n");
printf(" RTR ( RTR )\n");
printf(" RES1 ( reserved bit 1 )\n");
printf(" RES0 ( reserved bit 0 )\n");
printf(" DLC ( data length code )\n");
printf(" DATA ( data section )\n");
printf(" CRC_SEQ ( CRC sequence )\n");
printf(" CRC_DEL ( CRC delimiter )\n");
printf(" ACK ( ACK slot )\n");
printf(" ACK_DEL ( ACK delimiter )\n");
printf(" EOF ( end of frame )\n");
printf(" INTERM ( intermission )\n");
printf(" ( TRANSCEIVER ERROR IN CAN ID + STATUS IN DATA[4]: )\n");
printf(" ( CANH CANL )\n");
printf(" TransUnspec ( 0000 0000 )\n");
printf(" CanHiNoWire ( 0000 0100 )\n");
printf(" CanHiShortToBAT ( 0000 0101 )\n");
printf(" CanHiShortToVCC ( 0000 0110 )\n");
printf(" CanHiShortToGND ( 0000 0111 )\n");
printf(" CanLoNoWire ( 0100 0000 )\n");
printf(" CanLoShortToBAT ( 0101 0000 )\n");
printf(" CanLoShortToVCC ( 0110 0000 )\n");
printf(" CanLoShortToGND ( 0111 0000 )\n");
printf(" CanLoShortToCanHi ( 1000 0000 )\n");
printf(" ( CUSTOM BYTE TO DATA[0..7]: )\n");
printf(" Data<0..7>=<00..FF> ( write hex number to one of 8 payload bytes )\n");
printf(" ( DEBUG HELPERS: )\n");
printf(" ShowBits ( display all frame bits )\n");
printf("\n");
printf("Examples:\n");
printf("\n");
printf(" ./canerrsim can1 LostArBit=09 Data3=AA Data4=BB ShowBits\n");
printf(" ( can1: 9th arb. bit lost, custom bytes in Data[3] and Data[4], show debug frame bits )\n");
printf("\n");
printf(" ./canerrsim vcan0 NoAck TxTimeout Active\n");
printf(" ( vcan0: received no ACK on transmission, driver timeout, protocol type active error announcement )\n");
printf("\n");
printf(" ./canerrsim vcan0 BusError CanHiNoWire Restarted INTERM\n");
printf(" ( vcan0: bus error, lost CANH wiring, controller restarted, protocol location intermission )\n");
printf("\n");
exit(EXIT_SUCCESS);
}
void err_exit(const char *msg)
{
printf("%s", msg);
exit(EXIT_FAILURE);
}
void show_custom_format_and_exit(const char *param, const char *format)
{
char str_buf[80];
sprintf(str_buf, format, param);
err_exit(str_buf);
}
void show_invalid_option(const char *option)
{
show_custom_format_and_exit(option, "Error: Invalid option %s\n");
}
void show_err_and_exit(const char *err_type)
{
show_custom_format_and_exit(err_type, "Error: You can only have one %s parameter!\n");
}
void show_loc_err_and_exit()
{
show_err_and_exit("protocol location");
}
void show_arb_err_and_exit()
{
show_err_and_exit("arbitration bit");
}
void show_transc_err_and_exit()
{
show_err_and_exit("transceiver");
}
void print_binary(uint32_t number)
{
uint32_t mask = 0x80000000; // start with the most significant bit
for (int i = 0; i < 32; i++) {
putchar((number & mask) ? '1' : '0');
mask >>= 1; // shift the mask to the right
}
}
int main(int argc, char *argv[])
{
int sock;
struct sockaddr_can addr;
struct ifreq ifr;
struct can_frame frame;
bool show_bits = false, location_processed = false, transceiver_processed = false, arbitration_processed = false;
char tmp_str[256];
printf("CAN Sockets Error Messages Simulator\n");
if (argc < 3)
show_help_and_exit();
// initialize CAN frame
memset(&frame, 0, sizeof(frame));
frame.can_id = CAN_ERR_FLAG;
frame.can_dlc = CAN_ERR_DLC;
// Parse command line parameters
for (int i = 2; i < argc; i++) {
//printf("strlen(argv[%d]) = %d\n", i, strlen(argv[i]));
// error class (mask) in can_id
if (strcasecmp(argv[i], "TxTimeout") == STR_EQUAL)
frame.can_id |= CAN_ERR_TX_TIMEOUT; // generate TxTimeout error
else if (strcasecmp(argv[i], "NoAck") == STR_EQUAL)
frame.can_id |= CAN_ERR_ACK; // generate NoAck error
else if (strcasecmp(argv[i], "BusOff") == STR_EQUAL)
frame.can_id |= CAN_ERR_BUSOFF; // generate BusOff error
else if (strcasecmp(argv[i], "BusError") == STR_EQUAL)
frame.can_id |= CAN_ERR_BUSERROR; // generate BusError error
else if (strcasecmp(argv[i], "Restarted") == STR_EQUAL)
frame.can_id |= CAN_ERR_RESTARTED; // generate Restarted error
// error status of CAN controller / data[1]
else if (strcasecmp(argv[i], "OverflowRX") == STR_EQUAL) {
frame.can_id |= CAN_ERR_CRTL; // generate Controller error
frame.data[1] |= CAN_ERR_CRTL_RX_OVERFLOW; // generate RX Overflow suberror
} else if (strcasecmp(argv[i], "OverflowTX") == STR_EQUAL) {
frame.can_id |= CAN_ERR_CRTL; // generate Controller error
frame.data[1] |= CAN_ERR_CRTL_TX_OVERFLOW; // generate TX Overflow suberror
} else if (strcasecmp(argv[i], "WarningRX") == STR_EQUAL) {
frame.can_id |= CAN_ERR_CRTL; // generate Controller error
frame.data[1] |= CAN_ERR_CRTL_RX_WARNING; // generate RX Warning suberror
} else if (strcasecmp(argv[i], "WarningTX") == STR_EQUAL) {
frame.can_id |= CAN_ERR_CRTL; // generate Controller error
frame.data[1] |= CAN_ERR_CRTL_TX_WARNING; // generate TX Warning suberror
} else if (strcasecmp(argv[i], "PassiveRX") == STR_EQUAL) {
frame.can_id |= CAN_ERR_CRTL; // generate Controller error
frame.data[1] |= CAN_ERR_CRTL_RX_PASSIVE; // generate RX Passive suberror
} else if (strcasecmp(argv[i], "PassiveTX") == STR_EQUAL) {
frame.can_id |= CAN_ERR_CRTL; // generate Controller error
frame.data[1] |= CAN_ERR_CRTL_TX_PASSIVE; // generate TX Passive suberror
} else if (strcasecmp(argv[i], "Active") == STR_EQUAL) {
frame.can_id |= CAN_ERR_CRTL; // generate Controller error
frame.data[1] |= CAN_ERR_CRTL_ACTIVE; // generate Active suberror
} else if (strcasecmp(argv[i], "CtrlUnspec") == STR_EQUAL) {
frame.can_id |= CAN_ERR_CRTL; // generate Controller error
frame.data[1] = CAN_ERR_CRTL_UNSPEC; // generate Unspec suberror
}
// error in CAN protocol (type) / data[2]
else if (strcasecmp(argv[i], "SingleBit") == STR_EQUAL) {
frame.can_id |= CAN_ERR_PROT; // generate Protocol Type error
frame.data[2] = CAN_ERR_PROT_BIT; // generate SingleBit suberror
} else if (strcasecmp(argv[i], "FrameFormat") == STR_EQUAL) {
frame.can_id |= CAN_ERR_PROT; // generate Protocol Type error
frame.data[2] = CAN_ERR_PROT_FORM; // generate FrameFormat suberror
} else if (strcasecmp(argv[i], "BitStuffing") == STR_EQUAL) {
frame.can_id |= CAN_ERR_PROT; // generate Protocol Type error
frame.data[2] = CAN_ERR_PROT_STUFF; // generate BitStuffing suberror
} else if (strcasecmp(argv[i], "Bit0") == STR_EQUAL) {
frame.can_id |= CAN_ERR_PROT; // generate Protocol Type error
frame.data[2] = CAN_ERR_PROT_BIT0; // generate Bit0 suberror
} else if (strcasecmp(argv[i], "Bit1") == STR_EQUAL) {
frame.can_id |= CAN_ERR_PROT; // generate Protocol Type error
frame.data[2] = CAN_ERR_PROT_BIT1; // generate Bit1 suberror
} else if (strcasecmp(argv[i], "BusOverload") == STR_EQUAL) {
frame.can_id |= CAN_ERR_PROT; // generate Protocol Type error
frame.data[2] = CAN_ERR_PROT_OVERLOAD; // generate BusOverload suberror
} else if (strcasecmp(argv[i], "ActiveAnnouncement") == STR_EQUAL) {
frame.can_id |= CAN_ERR_PROT; // generate Protocol Type error
frame.data[2] = CAN_ERR_PROT_ACTIVE; // generate ActiveAnnouncement suberror
} else if (strcasecmp(argv[i], "TX") == STR_EQUAL) {
frame.can_id |= CAN_ERR_PROT; // generate Protocol Type error
frame.data[2] = CAN_ERR_PROT_TX; // generate TX suberror
} else if (strcasecmp(argv[i], "ProtUnspec") == STR_EQUAL) {
frame.can_id |= CAN_ERR_PROT; // generate Protocol Type error
frame.data[2] = CAN_ERR_PROT_UNSPEC; // generate Unspec suberror
}
// error in CAN protocol (location) / data[3]
else if (strcasecmp(argv[i], "LocUnspec") == STR_EQUAL) {
if (location_processed)
show_loc_err_and_exit();
frame.can_id |= CAN_ERR_PROT; // generate Protocol Location error
frame.data[3] = CAN_ERR_PROT_LOC_UNSPEC; // generate Unspec suberror
location_processed = true;
} else if (strcasecmp(argv[i], "SOF") == STR_EQUAL) {
if (location_processed)
show_loc_err_and_exit();
frame.can_id |= CAN_ERR_PROT; // generate Protocol Location error
frame.data[3] = CAN_ERR_PROT_LOC_SOF; // generate SOF suberror
location_processed = true;
} else if (strcasecmp(argv[i], "SOF") == STR_EQUAL) {
if (location_processed)
show_loc_err_and_exit();
frame.can_id |= CAN_ERR_PROT; // generate Protocol Location error
frame.data[3] = CAN_ERR_PROT_LOC_SOF; // generate SOF suberror
location_processed = true;
} else if (strcasecmp(argv[i], "ID28_21") == STR_EQUAL) {
if (location_processed)
show_loc_err_and_exit();
frame.can_id |= CAN_ERR_PROT; // generate Protocol Location error
frame.data[3] = CAN_ERR_PROT_LOC_ID28_21; // generate ID28_21 suberror
location_processed = true;
} else if (strcasecmp(argv[i], "ID20_18") == STR_EQUAL) {
if (location_processed)
show_loc_err_and_exit();
frame.can_id |= CAN_ERR_PROT; // generate Protocol Location error
frame.data[3] = CAN_ERR_PROT_LOC_ID20_18; // generate ID20_18 suberror
location_processed = true;
} else if (strcasecmp(argv[i], "SRTR") == STR_EQUAL) {
if (location_processed)
show_loc_err_and_exit();
frame.can_id |= CAN_ERR_PROT; // generate Protocol Location error
frame.data[3] = CAN_ERR_PROT_LOC_SRTR; // generate SRTR suberror
location_processed = true;
} else if (strcasecmp(argv[i], "IDE") == STR_EQUAL) {
if (location_processed)
show_loc_err_and_exit();
frame.can_id |= CAN_ERR_PROT; // generate Protocol Location error
frame.data[3] = CAN_ERR_PROT_LOC_IDE; // generate IDE suberror
location_processed = true;
} else if (strcasecmp(argv[i], "ID17_13") == STR_EQUAL) {
if (location_processed)
show_loc_err_and_exit();
frame.can_id |= CAN_ERR_PROT; // generate Protocol Location error
frame.data[3] = CAN_ERR_PROT_LOC_ID17_13; // generate ID17_13 suberror
location_processed = true;
} else if (strcasecmp(argv[i], "ID12_05") == STR_EQUAL) {
if (location_processed)
show_loc_err_and_exit();
frame.can_id |= CAN_ERR_PROT; // generate Protocol Location error
frame.data[3] = CAN_ERR_PROT_LOC_ID12_05; // generate ID12_05 suberror
location_processed = true;
} else if (strcasecmp(argv[i], "ID04_00") == STR_EQUAL) {
if (location_processed)
show_loc_err_and_exit();
frame.can_id |= CAN_ERR_PROT; // generate Protocol Location error
frame.data[3] = CAN_ERR_PROT_LOC_ID04_00; // generate ID04_00 suberror
location_processed = true;
} else if (strcasecmp(argv[i], "RTR") == STR_EQUAL) {
if (location_processed)
show_loc_err_and_exit();
frame.can_id |= CAN_ERR_PROT; // generate Protocol Location error
frame.data[3] = CAN_ERR_PROT_LOC_RTR; // generate RTR suberror
location_processed = true;
} else if (strcasecmp(argv[i], "RES1") == STR_EQUAL) {
if (location_processed)
show_loc_err_and_exit();
frame.can_id |= CAN_ERR_PROT; // generate Protocol Location error
frame.data[3] = CAN_ERR_PROT_LOC_RES1; // generate RES1 suberror
location_processed = true;
} else if (strcasecmp(argv[i], "RES0") == STR_EQUAL) {
if (location_processed)
show_loc_err_and_exit();
frame.can_id |= CAN_ERR_PROT; // generate Protocol Location error
frame.data[3] = CAN_ERR_PROT_LOC_RES0; // generate RES0 suberror
location_processed = true;
} else if (strcasecmp(argv[i], "DLC") == STR_EQUAL) {
if (location_processed)
show_loc_err_and_exit();
frame.can_id |= CAN_ERR_PROT; // generate Protocol Location error
frame.data[3] = CAN_ERR_PROT_LOC_DLC; // generate DLC suberror
location_processed = true;
} else if (strcasecmp(argv[i], "DATA") == STR_EQUAL) {
if (location_processed)
show_loc_err_and_exit();
frame.can_id |= CAN_ERR_PROT; // generate Protocol Location error
frame.data[3] = CAN_ERR_PROT_LOC_DATA; // generate DATA suberror
location_processed = true;
} else if (strcasecmp(argv[i], "CRC_SEQ") == STR_EQUAL) {
if (location_processed)
show_loc_err_and_exit();
frame.can_id |= CAN_ERR_PROT; // generate Protocol Location error
frame.data[3] = CAN_ERR_PROT_LOC_CRC_SEQ; // generate CRC_SEQ suberror
location_processed = true;
} else if (strcasecmp(argv[i], "CRC_DEL") == STR_EQUAL) {
if (location_processed)
show_loc_err_and_exit();
frame.can_id |= CAN_ERR_PROT; // generate Protocol Location error
frame.data[3] = CAN_ERR_PROT_LOC_CRC_DEL; // generate CRC_DEL suberror
location_processed = true;
} else if (strcasecmp(argv[i], "ACK") == STR_EQUAL) {
if (location_processed)
show_loc_err_and_exit();
frame.can_id |= CAN_ERR_PROT; // generate Protocol Location error
frame.data[3] = CAN_ERR_PROT_LOC_ACK; // generate ACK suberror
location_processed = true;
} else if (strcasecmp(argv[i], "ACK_DEL") == STR_EQUAL) {
if (location_processed)
show_loc_err_and_exit();
frame.can_id |= CAN_ERR_PROT; // generate Protocol Location error
frame.data[3] = CAN_ERR_PROT_LOC_ACK_DEL; // generate ACK_DEL suberror
location_processed = true;
} else if (strcasecmp(argv[i], "EOF") == STR_EQUAL) {
if (location_processed)
show_loc_err_and_exit();
frame.can_id |= CAN_ERR_PROT; // generate Protocol Location error
frame.data[3] = CAN_ERR_PROT_LOC_EOF; // generate EOF suberror
location_processed = true;
} else if (strcasecmp(argv[i], "INTERM") == STR_EQUAL) {
if (location_processed)
show_loc_err_and_exit();
frame.can_id |= CAN_ERR_PROT; // generate Protocol Location error
frame.data[3] = CAN_ERR_PROT_LOC_INTERM; // generate INTERM suberror
location_processed = true;
}
// error status of CAN transceiver / data[4]
else if (strcasecmp(argv[i], "TransUnspec") == STR_EQUAL) {
if (transceiver_processed)
show_transc_err_and_exit();
frame.can_id |= CAN_ERR_TRX; // generate Transceiver error
frame.data[4] = CAN_ERR_TRX_UNSPEC; // generate EOF suberror
location_processed = true;
} else if (strcasecmp(argv[i], "CanHiNoWire") == STR_EQUAL) {
if (transceiver_processed)
show_transc_err_and_exit();
frame.can_id |= CAN_ERR_TRX; // generate Transceiver error
frame.data[4] = CAN_ERR_TRX_CANH_NO_WIRE; // generate CanHiNoWire suberror
location_processed = true;
} else if (strcasecmp(argv[i], "CanHiShortToBAT") == STR_EQUAL) {
if (transceiver_processed)
show_transc_err_and_exit();
frame.can_id |= CAN_ERR_TRX; // generate Transceiver error
frame.data[4] = CAN_ERR_TRX_CANH_SHORT_TO_BAT; // generate CanHiShortToBAT suberror
location_processed = true;
} else if (strcasecmp(argv[i], "CanHiShortToVCC") == STR_EQUAL) {
if (transceiver_processed)
show_transc_err_and_exit();
frame.can_id |= CAN_ERR_TRX; // generate Transceiver error
frame.data[4] = CAN_ERR_TRX_CANH_SHORT_TO_VCC; // generate CanHiShortToVCC suberror
location_processed = true;
} else if (strcasecmp(argv[i], "CanHiShortToGND") == STR_EQUAL) {
if (transceiver_processed)
show_transc_err_and_exit();
frame.can_id |= CAN_ERR_TRX; // generate Transceiver error
frame.data[4] = CAN_ERR_TRX_CANH_SHORT_TO_GND; // generate CanHiShortToGND suberror
location_processed = true;
} else if (strcasecmp(argv[i], "CanLoNoWire") == STR_EQUAL) {
if (transceiver_processed)
show_transc_err_and_exit();
frame.can_id |= CAN_ERR_TRX; // generate Transceiver error
frame.data[4] = CAN_ERR_TRX_CANL_NO_WIRE; // generate CanLoNoWire suberror
location_processed = true;
} else if (strcasecmp(argv[i], "CanLoShortToBAT") == STR_EQUAL) {
if (transceiver_processed)
show_transc_err_and_exit();
frame.can_id |= CAN_ERR_TRX; // generate Transceiver error
frame.data[4] = CAN_ERR_TRX_CANL_SHORT_TO_BAT; // generate CanLoShortToBAT suberror
location_processed = true;
} else if (strcasecmp(argv[i], "CanLoShortToVCC") == STR_EQUAL) {
if (transceiver_processed)
show_transc_err_and_exit();
frame.can_id |= CAN_ERR_TRX; // generate Transceiver error
frame.data[4] = CAN_ERR_TRX_CANL_SHORT_TO_VCC; // generate CanLoShortToVCC suberror
location_processed = true;
} else if (strcasecmp(argv[i], "CanLoShortToGND") == STR_EQUAL) {
if (transceiver_processed)
show_transc_err_and_exit();
frame.can_id |= CAN_ERR_TRX; // generate Transceiver error
frame.data[4] = CAN_ERR_TRX_CANL_SHORT_TO_GND; // generate CanLoShortToGND suberror
location_processed = true;
} else if (strcasecmp(argv[i], "CanLoShortToCanHi") == STR_EQUAL) {
if (transceiver_processed)
show_transc_err_and_exit();
frame.can_id |= CAN_ERR_TRX; // generate Transceiver error
frame.data[4] = CAN_ERR_TRX_CANL_SHORT_TO_CANH; // generate CanLoShortToCanHi suberror
location_processed = true;
}
// LostArBit=29 (Totallength=12)
else if ((strlen(argv[i]) == 12) && // 'LostArBit=29'
(argv[i][9] == '=') && // '='
(argv[i][10] >= '0' && argv[i][10] <= '2') && // valid bits are from 00 to 29 (in decimal)
(argv[i][11] >= '0' && argv[i][11] <= '9')) { // valid bits are from 00 to 29 (in decimal)
unsigned char arb_bit_num = (argv[i][10] - '0') * 10 + argv[i][11] - '0'; // convert decimal bitnumber to byte
argv[i][9] = 0; // terminate string for comparison
if (strcasecmp(argv[i], "LostArBit") == STR_EQUAL) {
if (arbitration_processed)
show_arb_err_and_exit();
frame.can_id |= CAN_ERR_LOSTARB; // generate LostArbitartionBit error
frame.data[0] = arb_bit_num; // bitnumber
arbitration_processed = true;
} else {
argv[i][9] = '='; // undo string termination
show_invalid_option(argv[i]);
}
}
// Data1=F4 (Totallength=8) // since this does not set any error bit, has to be combined with other errors
else if ((strlen(argv[i]) == 8) && // 'Data1=F4'
(argv[i][4] >= '0' && argv[i][4] <= '7') && // valid data bytes are from 0 to 7 (in decimal)
(argv[i][5] == '=') && // '='
((argv[i][6] >= '0' && argv[i][6] <= '9') || (argv[i][6] >= 'A' && argv[i][6] <= 'F')) && // first hexadecimal digit
((argv[i][7] >= '0' && argv[i][7] <= '9') || (argv[i][6] >= 'A' && argv[i][6] <= 'F'))) { // second hexadecimal digit
unsigned char data_byte_value, data_byte_no = 0;
data_byte_no = argv[i][4] - '0'; // convert order number of data byte (Data1 to 1, Data2 to 2...)
data_byte_value = 0;
if (argv[i][6] >= 'A') // convert higher digit hexadecimal char to byte
data_byte_value += (argv[i][6] - 'A' + 10) * 16;
else
data_byte_value += (argv[i][6] - '0') * 16;
if (argv[i][7] >= 'A') // convert lower digit hexadecimal char to byte
data_byte_value += (argv[i][7] - 'A' + 10);
else
data_byte_value += (argv[i][7] - '0');
argv[i][4] = 0; // terminate string for comparison
if (strcasecmp(argv[i], "Data") == STR_EQUAL) {
if (transceiver_processed)
show_transc_err_and_exit();
frame.data[data_byte_no] = data_byte_value; // populate proper data byte
arbitration_processed = true;
} else {
argv[i][4] = data_byte_no + '0'; // undo string termination
show_invalid_option(argv[i]);
}
}
// RxCount=F4 or TxCount=3A (Totallength=10)
else if ((strlen(argv[i]) == 10) && // 'RxCounter=F4' or 'TxCounter=3A'
(argv[i][7] == '=') && // '='
((argv[i][8] >= '0' && argv[i][8] <= '9') || (argv[i][8] >= 'A' && argv[i][8] <= 'F')) && // first hexadecimal digit
((argv[i][9] >= '0' && argv[i][9] <= '9') || (argv[i][9] >= 'A' && argv[i][9] <= 'F'))) { // second hexadecimal digit
unsigned char counter_value = 0;
if (argv[i][8] >= 'A') // convert higher digit hexadecimal char to byte
counter_value += (argv[i][8] - 'A' + 10) * 16;
else
counter_value += (argv[i][8] - '0') * 16;
if (argv[i][9] >= 'A') // convert lower digit hexadecimal char to byte
counter_value += (argv[i][9] - 'A' + 10);
else
counter_value += (argv[i][9] - '0');
argv[i][7] = 0; // terminate string for comparison
if (strcasecmp(argv[i], "TxCount") == STR_EQUAL) {
frame.can_id |= CAN_ERR_CNT; // generate TxCounter error
frame.data[6] = counter_value; // populate proper data byte
} else if (strcasecmp(argv[i], "RxCount") == STR_EQUAL) {
frame.can_id |= CAN_ERR_CNT; // generate RxCounter error
frame.data[7] = counter_value; // populate proper data byte
} else {
argv[i][7] = '='; // undo string termination
show_invalid_option(argv[i]);
}
} else if (strcasecmp(argv[i], "ShowBits") == STR_EQUAL) // DEBUG helper
show_bits = true; // Display frame as bits
else
show_invalid_option(argv[i]);
}
if (show_bits == true) {
printf("CAN ID = ");
print_binary(frame.can_id);
printf("\n");
// printf("frame.can_dlc = %d\n", frame.can_dlc);
printf("CAN Data = ");
for (size_t i = 0; i < frame.can_dlc; i++)
printf("%02X ", frame.data[i]);
printf("\n");
}
// create socket
if ((sock = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0)
err_exit("Error while opening socket");
// set interface name
strcpy(ifr.ifr_name, argv[1]); // can0, vcan0...
if (ioctl(sock, SIOCGIFINDEX, &ifr) < 0) {
sprintf(tmp_str, "Error setting CAN interface name %s", argv[1]);
err_exit(tmp_str);
}
// bind socket to the CAN interface
addr.can_family = AF_CAN;
addr.can_ifindex = ifr.ifr_ifindex;
if (bind(sock, (struct sockaddr *)&addr, sizeof(addr)) < 0)
err_exit("Error in socket bind");
// Send CAN error frame
if (write(sock, &frame, sizeof(frame)) < 0)
err_exit("Error writing to socket");
else
printf("CAN error frame sent\n");
close(sock);
return 0;
}