Merge 15ed00a985 into 7fb81e6779

CMakeLists.txt: add an option to control shared library creation

.github/workflows/compile.yml

@@ -30,7 +30,45 @@ jobs:
         podman run --name stable -di --userns=keep-id:uid=1000,gid=1000 -v "$PWD":/home -w /home ${{ matrix.release }} bash
         podman exec -i stable uname -a
         podman exec -i stable id
+
+    - name: Update APT Sources List (Ubuntu Only)
+      if:
+        startsWith(matrix.release, 'ubuntu:') && matrix.release != 'ubuntu:20.04'
+      run: |
         podman exec -i -u root stable apt update
+        podman exec -e DEBIAN_FRONTEND='noninteractive' -i -u root stable apt install -o APT::Install-Suggests=false -qy \
+                lsb-release
+
+        podman exec -i -u root stable \
+                test -e /etc/apt/sources.list &&
+                podman exec -i -u root stable \
+                        sed -i -e 's|\(http.*:\)|[arch=amd64] \1|g' /etc/apt/sources.list
+
+        podman exec -i -u root stable \
+                test -e /etc/apt/sources.list.d/ubuntu.sources &&
+                podman exec -i -u root stable \
+                        sed -i -e '/^Components:/a Architectures: amd64' /etc/apt/sources.list.d/ubuntu.sources
+
+        echo "deb [arch=armhf,arm64] http://ports.ubuntu.com/ubuntu-ports/ $(podman exec -i stable lsb_release -cs) main restricted universe multiverse" | \
+                podman exec -i -u root stable tee -a /etc/apt/sources.list.d/cross.list
+        echo "deb [arch=armhf,arm64] http://ports.ubuntu.com/ubuntu-ports/ $(podman exec -i stable lsb_release -cs)-updates main restricted universe multiverse" | \
+                podman exec -i -u root stable tee -a /etc/apt/sources.list.d/cross.list
+        echo "deb [arch=armhf,arm64] http://ports.ubuntu.com/ubuntu-ports/ $(podman exec -i stable lsb_release -cs)-backports main restricted universe multiverse" | \
+                podman exec -i -u root stable tee -a /etc/apt/sources.list.d/cross.list
+
+    - name: Add Architecture
+      if:
+        matrix.release != 'ubuntu:20.04'
+      run: |
+        podman exec -i -u root stable dpkg --add-architecture arm64
+        podman exec -i -u root stable dpkg --add-architecture armhf
+
+    - name: Install Development Packages
+      env:
+        release: ${{ matrix.release == 'debian:experimental' && '-t experimental' || '' }}
+      run: |
+        podman exec -i -u root stable apt update
+        podman exec -e DEBIAN_FRONTEND='noninteractive' -i -u root stable apt upgrade -o APT::Install-Suggests=false -qy
         podman exec -e DEBIAN_FRONTEND='noninteractive' -i -u root stable apt install -o APT::Install-Suggests=false -qy ${release} \
                 clang \
                 cmake \
@@ -38,52 +76,67 @@ jobs:
                 gcc-aarch64-linux-gnu \
                 gcc-arm-linux-gnueabihf \
                 gcc-mips-linux-gnu \
+                libgps-dev \
                 make
 
+    - name: Install Cross Libs
+      env:
+        release: ${{ matrix.release == 'debian:experimental' && '-t experimental' || '' }}
+      if:
+        matrix.release != 'ubuntu:20.04'
+      run: |
+        podman exec -e DEBIAN_FRONTEND='noninteractive' -i -u root stable apt install -o APT::Install-Suggests=false -qy ${release} \
+                libgps-dev:arm64 \
+                libgps-dev:armhf
+
     - name: Configure & Build with gcc
       env:
         cc: gcc
       run: |
-        podman exec -i stable cmake -DCMAKE_BUILD_TYPE=Debug -DCMAKE_C_COMPILER=${cc} -DENABLE_WERROR=ON -B build-${cc}
+        podman exec -i stable cmake -DCMAKE_BUILD_TYPE=Debug -DCMAKE_C_COMPILER=${cc} -DENABLE_WERROR=ON -DENABLE_GPS=ON -B build-${cc}
         podman exec -i stable cmake --build build-${cc}
 
     - name: Configure & Build with clang
       env:
         cc: clang
       run: |
-        podman exec -i stable cmake -DCMAKE_BUILD_TYPE=Debug -DCMAKE_C_COMPILER=${cc} -DENABLE_WERROR=ON -B build-${cc}
+        podman exec -i stable cmake -DCMAKE_BUILD_TYPE=Debug -DCMAKE_C_COMPILER=${cc} -DENABLE_WERROR=ON -DENABLE_GPS=ON -B build-${cc}
         podman exec -i stable cmake --build build-${cc}
 
     - name: Configure & Build with arm-linux-gnueabihf-gcc
       env:
         toolchain: arm-linux-gnueabihf-gcc
+        gps: ${{ matrix.release == 'ubuntu:20.04' && 'OFF' || 'ON' }}
       run: |
-        podman exec -i stable cmake -DCMAKE_BUILD_TYPE=Debug -DCMAKE_TOOLCHAIN_FILE=cmake/${toolchain}.cmake -DENABLE_WERROR=ON -B build-${toolchain}
+        podman exec -i stable cmake -DCMAKE_BUILD_TYPE=Debug -DCMAKE_TOOLCHAIN_FILE=cmake/${toolchain}.cmake -DENABLE_WERROR=ON -DENABLE_GPS=${gps} -B build-${toolchain}
         podman exec -i stable cmake --build build-${toolchain}
 
     - name: Configure & Build with arm-linux-gnueabihf-clang
       if:
-        ${{ matrix.release != 'ubuntu:20.04' && matrix.release != 'debian:oldstable-slim' }}
+        matrix.release != 'ubuntu:20.04' && matrix.release != 'debian:oldstable-slim'
       env:
         toolchain: arm-linux-gnueabihf-clang
+        gps: ${{ matrix.release == 'ubuntu:20.04' && 'OFF' || 'ON' }}
       run: |
-        podman exec -i stable cmake -DCMAKE_BUILD_TYPE=Debug -DCMAKE_TOOLCHAIN_FILE=cmake/${toolchain}.cmake -DENABLE_WERROR=ON -B build-${toolchain}
+        podman exec -i stable cmake -DCMAKE_BUILD_TYPE=Debug -DCMAKE_TOOLCHAIN_FILE=cmake/${toolchain}.cmake -DENABLE_WERROR=ON -DENABLE_GPS=${gps} -B build-${toolchain}
         podman exec -i stable cmake --build build-${toolchain}
 
     - name: Configure & Build with aarch64-linux-gnu-gcc
       env:
         toolchain: aarch64-linux-gnu-gcc
+        gps: ${{ matrix.release == 'ubuntu:20.04' && 'OFF' || 'ON' }}
       run: |
-        podman exec -i stable cmake -DCMAKE_BUILD_TYPE=Debug -DCMAKE_TOOLCHAIN_FILE=cmake/${toolchain}.cmake -DENABLE_WERROR=ON -B build-${toolchain}
+        podman exec -i stable cmake -DCMAKE_BUILD_TYPE=Debug -DCMAKE_TOOLCHAIN_FILE=cmake/${toolchain}.cmake -DENABLE_WERROR=ON -DENABLE_GPS=${gps} -B build-${toolchain}
         podman exec -i stable cmake --build build-${toolchain}
 
     - name: Configure & Build with aarch64-linux-gnu-clang
       if:
-        ${{ matrix.release != 'ubuntu:20.04' && matrix.release != 'debian:oldstable-slim' }}
+        matrix.release != 'ubuntu:20.04' && matrix.release != 'debian:oldstable-slim'
       env:
         toolchain: aarch64-linux-gnu-clang
+        gps: ${{ matrix.release == 'ubuntu:20.04' && 'OFF' || 'ON' }}
       run: |
-        podman exec -i stable cmake -DCMAKE_BUILD_TYPE=Debug -DCMAKE_TOOLCHAIN_FILE=cmake/${toolchain}.cmake -DENABLE_WERROR=ON -B build-${toolchain}
+        podman exec -i stable cmake -DCMAKE_BUILD_TYPE=Debug -DCMAKE_TOOLCHAIN_FILE=cmake/${toolchain}.cmake -DENABLE_WERROR=ON -DENABLE_GPS=${gps} -B build-${toolchain}
         podman exec -i stable cmake --build build-${toolchain}
 
     - name: Configure & Build with mips-linux-gnu-gcc
@@ -93,6 +146,20 @@ jobs:
         podman exec -i stable cmake -DCMAKE_BUILD_TYPE=Debug -DCMAKE_TOOLCHAIN_FILE=cmake/${toolchain}.cmake -DENABLE_WERROR=ON -B build-${toolchain}
         podman exec -i stable cmake --build build-${toolchain}
 
+    - name: Configure & Build with gcc (Makefile)
+      env:
+        cc: gcc
+      run: |
+        podman exec -i stable make CC=${cc}
+        podman exec -i stable make clean
+
+    - name: Configure & Build with clang (Makefile)
+      env:
+        cc: clang
+      run: |
+        podman exec -i stable make CC=${cc}
+        podman exec -i stable make clean
+
     - name: Show logs
       if: ${{ failure() }}
       run: |

.gitignore

@@ -6,7 +6,6 @@
 .ccls-cache
 CMakeCache.txt
 CMakeFiles/
-Makefile
 cmake_install.cmake
 compile_commands.json
 tags
@@ -17,6 +16,7 @@ tags
 /can-calc-bit-timing
 /canbusload
 /candump
+/canerrsim
 /canfdtest
 /cangen
 /cangw
@@ -40,6 +40,7 @@ tags
 /j1939sr
 /j1939-timedate-cli
 /j1939-timedate-srv
+/j1939-vehicle-position-srv
 /log2asc
 /log2long
 /mcp251xfd-dump

CMakeLists.txt

@@ -4,16 +4,27 @@ project(can-utils LANGUAGES C)
 
 message(STATUS "CMake version: ${CMAKE_VERSION}")
 
-include (CheckFunctionExists)
+include(CheckFunctionExists)
-include (CheckSymbolExists)
+include(CheckSymbolExists)
-include (GNUInstallDirs)
+include(GNUInstallDirs)
 
 if(NOT CMAKE_BUILD_TYPE)
   set(CMAKE_BUILD_TYPE Release)
 endif()
 
+if(CMAKE_EXPORT_COMPILE_COMMANDS STREQUAL "")
+  set(CMAKE_EXPORT_COMPILE_COMMANDS ON CACHE BOOL "project default" FORCE)
+endif()
+
 # Add an option to enable treating warnings as errors
 option(ENABLE_WERROR "Treat all compiler warnings as errors" OFF)
+option(ENABLE_GPS "Enable GPS support" OFF)
+option(BUILD_SHARED_LIBS "Build shared libraries" ON)
+
+find_package(PkgConfig REQUIRED)
+if(ENABLE_GPS)
+  pkg_check_modules(GPS REQUIRED libgps)
+endif()
 
 if(ENABLE_WERROR)
   add_compile_options(-Werror)
@@ -32,8 +43,8 @@ set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -DCLOCK_TAI=11")
 set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -DSO_TXTIME=61")
 set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -DSCM_TXTIME=SO_TXTIME")
 
-include_directories (.)
+include_directories(.)
-include_directories (./include)
+include_directories(./include)
 
 check_function_exists(fork HAVE_FORK)
 
@@ -67,6 +78,10 @@ set(PROGRAMS_J1939_TIMEDATE
   j1939-timedate-cli
 )
 
+set(PROGRAMS_J1939_VEHICLE_POSITION
+  j1939-vehicle-position-srv
+)
+
 set(PROGRAMS_ISOBUSFS
   isobusfs-srv
   isobusfs-cli
@@ -74,6 +89,7 @@ set(PROGRAMS_ISOBUSFS
 
 set(PROGRAMS
   ${PROGRAMS_CANLIB}
+  canerrsim
   canfdtest
   cangw
   cansniffer
@@ -114,7 +130,7 @@ if(NOT ANDROID)
     PRIVATE can
   )
 
-  add_library(isobusfs SHARED
+  add_library(isobusfs
     isobusfs/isobusfs_cmn.c
     isobusfs/isobusfs_cmn_dh.c
   )
@@ -191,6 +207,24 @@ if(NOT ANDROID)
     j1939-timedate-srv
     DESTINATION ${CMAKE_INSTALL_BINDIR})
 
+  if(ENABLE_GPS)
+    set(PUBLIC_HEADER_J1939_VEHICLE_POSITION
+      j1939_vehicle_position/j1939_vehicle_position_cmn.h
+    )
+
+    add_executable(j1939-vehicle-position-srv
+      j1939_vehicle_position/j1939_vehicle_position_srv.c
+    )
+
+    target_link_libraries(j1939-vehicle-position-srv
+      PRIVATE can j1939 ${GPS_LIBRARIES}
+    )
+
+    install(TARGETS
+      j1939-vehicle-position-srv
+      DESTINATION ${CMAKE_INSTALL_BINDIR})
+  endif()
+
 endif()
 
 add_library(can STATIC

Makefile

@@ -46,6 +46,7 @@ MAKEFLAGS := -k
 CFLAGS := -O2 -Wall -Wno-parentheses -Wsign-compare
 
 HAVE_FORK := $(shell ./check_cc.sh "$(CC)" fork_test.c)
+HAVE_LIBGPS := $(shell test -x "`which pkg-config`" && pkg-config --exists libgps && echo 1 || echo 0)
 
 CPPFLAGS += \
 	-I. \
@@ -67,6 +68,11 @@ PROGRAMS_J1939_TIMEDATE := \
 	j1939-timedate-srv \
 	j1939-timedate-cli
 
+ifeq ($(HAVE_LIBGPS),1)
+PROGRAMS_J1939_VEHICLE_POSITION := \
+	j1939-vehicle-position-srv
+endif
+
 PROGRAMS_ISOBUSFS := \
 	isobusfs-srv \
 	isobusfs-cli
@@ -98,6 +104,7 @@ PROGRAMS_SLCAN := \
 PROGRAMS := \
 	$(PROGRAMS_CANGW) \
 	$(PROGRAMS_J1939_TIMEDATE) \
+	$(PROGRAMS_J1939_VEHICLE_POSITION) \
 	$(PROGRAMS_ISOBUSFS) \
 	$(PROGRAMS_ISOTP) \
 	$(PROGRAMS_J1939) \
@@ -106,6 +113,7 @@ PROGRAMS := \
 	can-calc-bit-timing \
 	canbusload \
 	candump \
+	canerrsim \
 	canfdtest \
 	cangen \
 	cansequence \
@@ -126,7 +134,8 @@ endif
 all: $(PROGRAMS)
 
 clean:
-	rm -f $(PROGRAMS) *.o mcp251xfd/*.o isobusfs/*.o j1939_timedate/*.o
+	rm -f $(PROGRAMS) *.o mcp251xfd/*.o isobusfs/*.o j1939_timedate/*.o \
+		j1939_vehicle_position/*.o
 
 install:
 	mkdir -p $(DESTDIR)$(PREFIX)/bin
@@ -153,6 +162,8 @@ isobusfs_srv.o:	lib.h libj1939.h
 isobusfs_c.o:	lib.h libj1939.h
 j1939_timedate_srv.o: lib.h libj1939.h
 j1939_timedate_cli.o: lib.h libj1939.h
+j1939_vehicle_position_srv.o: lib.h libj1939.h
+
 canframelen.o:  canframelen.h
 
 asc2log:	asc2log.o	lib.o
@@ -182,6 +193,12 @@ j1939-timedate-cli:	lib.o \
 			j1939_timedate/j1939_timedate_cli.o
 		$(CC) $(LDFLAGS) $^ $(LDLIBS) -o $@
 
+j1939-vehicle-position-srv: \
+			lib.o \
+			libj1939.o \
+			j1939_vehicle_position/j1939_vehicle_position_srv.o
+		$(CC) $(LDFLAGS) $^ $(LDLIBS) $(shell pkg-config --libs libgps) -o $@
+
 isobusfs-srv:	lib.o \
 		libj1939.o \
 		isobusfs/isobusfs_cmn.o \

README.md

@@ -29,6 +29,7 @@ subsystem (aka SocketCAN):
 * canbusload : calculate and display the CAN busload
 * can-calc-bit-timing : userspace version of in-kernel bitrate calculation
 * canfdtest : Full-duplex test program (DUT and host part)
+* canerrsim : CAN error message simulator
 
 #### ISO-TP tools [ISO15765-2:2016 for Linux](https://github.com/hartkopp/can-isotp)
 * isotpsend : send a single ISO-TP PDU
@@ -75,4 +76,4 @@ Follow the link to see examples on how this tools can be used:
 *   [SocketCAN Documentation (Linux Kernel)](https://www.kernel.org/doc/html/latest/networking/can.html)
 *   [Elinux.org CAN Bus Page](http://elinux.org/CAN_Bus)
 *   [Debian Package Description](https://packages.debian.org/sid/can-utils)
-
+*   [J1939 kernel module installation on Debian](can-j1939-install-kernel-module.md)

canerrsim.c

@@ -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;
+}

isobusfs/isobusfs_cli_int.c

@@ -1077,7 +1077,7 @@ int isobusfs_cli_interactive(struct isobusfs_priv *priv)
 			}
 		}
 
-		pr_int("unknown comand\n");
+		pr_int("unknown command\n");
 		isobusfs_cli_promt(priv);
 	} else {
 		if (errno != EAGAIN && errno != EWOULDBLOCK)

isobusfs/isobusfs_cli_selftests.c

@@ -211,7 +211,7 @@ static struct isobusfs_cli_test_dir_path test_dir_patterns[] = {
 	{ "~tilde_dir", true },
 	/* expected result \\vol1\dir1\~\ */
 	{ "\\\\vol1\\dir1\\~", true },
-	/* expected result \\vol1\~\ not clear if it is manufacture speficic dir */
+	/* expected result \\vol1\~\ not clear if it is manufacture specific dir */
 	{ "\\~\\", true },
 	/* expected result \\~\ */
 	{ "\\\\~\\", false },

isobusfs/isobusfs_cmn.c

@@ -611,7 +611,7 @@ int isobusfs_cmn_connect_socket(int sock, struct sockaddr_can *addr)
 }
 
 /* FIXME: linger is currently not supported by the kernel J1939 stack
- * but it would be nice to have it. Especially if we wont to stop sending
+ * but it would be nice to have it. Especially if we won't to stop sending
  * messages on a socket when the connection is lost.
  */
 int isobusfs_cmn_set_linger(int sock)

isobusfs/isobusfs_cmn_dh.c

@@ -23,7 +23,7 @@ int isobusfs_cmn_dh_validate_dir_path(const char *path, bool writable)
 	ret = access(path, mode);
 	if (ret == -1) {
 		ret = -errno;
-		pr_err("failed to acces path %s, for read %s. %s", path,
+		pr_err("failed to access path %s, for read %s. %s", path,
 		       writable ? "and write" : "", strerror(ret));
 		return ret;
 	}

isobusfs/isobusfs_srv.c

@@ -70,7 +70,7 @@ static int isobusfs_srv_rx_fs(struct isobusfs_srv_priv *priv,
 		      cg);
 
 		/* ISO 11783-13:2021 - Annex C.1.1 Overview:
-		 * If a client sends a command, which is not defined withing this
+		 * If a client sends a command, which is not defined within this
 		 * documentation, the file server shall respond with a
 		 * NACK (ISO 11783-3:2018 Chapter 5.4.5)
 		 */
@@ -279,7 +279,7 @@ static int isobusfs_srv_sock_fss_prepare(struct isobusfs_srv_priv *priv)
 		return ret;
 
 	/* keep address and name and overwrite PGN */
-	/* TOOD: actually, this is PGN input filter. Should we use different
+	/* TODO: actually, this is PGN input filter. Should we use different
 	 * PGN?
 	 */
 	addr.can_addr.j1939.pgn = ISOBUSFS_PGN_CL_TO_FS;
@@ -720,7 +720,7 @@ static int isobusfs_srv_parse_args(struct isobusfs_srv_priv *priv, int argc,
 	}
 
 	if (!local_name_set)
-		pr_warn("local name is not set. Wont be able to generate proper manufacturer-specific directory name. Falling mack to MCMC0000");
+		pr_warn("local name is not set. Won't be able to generate proper manufacturer-specific directory name. Falling mack to MCMC0000");
 	isobusfs_srv_generate_mfs_dir_name(priv);
 
 	pr_debug("Server configuration:");

isobusfs/isobusfs_srv_dh.c

@@ -662,8 +662,8 @@ static int isobusfs_srv_dh_ccd_res(struct isobusfs_srv_priv *priv,
 	int ret;
 
 	/*
-	 * We assime, the relative path stored in res->name is not longer
+	 * We assume, the relative path stored in res->name is not longer
-	 * than absolue path
+	 * than absolute path
 	 */
 	if (req->name_len > ISOBUSFS_SRV_MAX_PATH_LEN) {
 		pr_warn("path too long");
@@ -697,7 +697,7 @@ static int isobusfs_srv_dh_ccd_res(struct isobusfs_srv_priv *priv,
 process_error:
 	if (ret < 0) {
 		/* linux_error_to_isobusfs_error() can't distinguish between
-		 * -EINVAL vor SRC and DST, so we have to do it manually.
+		 * -EINVAL for SRC and DST, so we have to do it manually.
 		 */
 		if (ret == -EINVAL)
 			error_code = ISOBUSFS_ERR_INVALID_DST_NAME;

isobusfs/isobusfs_srv_fa.c

@@ -686,7 +686,7 @@ send_response:
 		goto free_res;
 	}
 
-	pr_debug("> tx: Read File Response. Error code: %d (%s), readed size: %d",
+	pr_debug("> tx: Read File Response. Error code: %d (%s), read size: %d",
 		 error_code, isobusfs_error_to_str(error_code), readed_size);
 
 free_res:

isotpsend.c

@@ -42,6 +42,7 @@
  *
  */
 
+#include <fcntl.h>
 #include <libgen.h>
 #include <stdio.h>
 #include <stdlib.h>
@@ -78,12 +79,32 @@ void print_usage(char *prg)
 	fprintf(stderr, "         -S            (SF broadcast mode - for functional addressing)\n");
 	fprintf(stderr, "         -C            (CF broadcast mode - no wait for flow controls)\n");
 	fprintf(stderr, "         -L <mtu>:<tx_dl>:<tx_flags>  (link layer options for CAN FD)\n");
+	fprintf(stderr, "         -i <filename> (Read PDU data from binary file instead of STDIN)\n");
 	fprintf(stderr, "\nCAN IDs and addresses are given and expected in hexadecimal values.\n");
 	fprintf(stderr, "The pdu data is expected on STDIN in space separated ASCII hex values.\n");
 	fprintf(stderr, "(*) = Use '-t %s' to set N_As to zero for Linux version 5.18+\n", ZERO_STRING);
 	fprintf(stderr, "\n");
 }
 
+ssize_t read_binary_file(void *buffer, const size_t siz_buffer, const char *filename)
+{
+	int fd = -1;
+	ssize_t num_read = -1;
+
+	if( buffer == NULL  ||  siz_buffer < 1  ||  filename == NULL ) {
+		return 0;
+	}
+
+	if( (fd = open(filename, O_RDONLY)) == -1 ) {
+		return 0;
+	}
+
+	num_read = read(fd, buffer, siz_buffer);
+	close(fd);
+
+	return num_read > 0  ?  num_read : 0;
+}
+
 int main(int argc, char **argv)
 {
     int s;
@@ -102,7 +123,7 @@ int main(int argc, char **argv)
 
     addr.can_addr.tp.tx_id = addr.can_addr.tp.rx_id = NO_CAN_ID;
 
-    while ((opt = getopt(argc, argv, "s:d:x:p:P:t:f:D:l:g:bSCL:?")) != -1) {
+    while ((opt = getopt(argc, argv, "s:d:x:p:P:t:f:D:l:g:bSCL:i:?")) != -1) {
 	    switch (opt) {
 	    case 's':
 		    addr.can_addr.tp.tx_id = strtoul(optarg, NULL, 16);
@@ -227,6 +248,10 @@ int main(int argc, char **argv)
 		    }
 		    break;
 
+		case 'i':
+			buflen = read_binary_file(&buf[0], sizeof(buf), optarg);
+			break;
+
 	    case '?':
 		    print_usage(basename(argv[0]));
 		    exit(0);
@@ -285,6 +310,7 @@ int main(int argc, char **argv)
 	exit(1);
     }
 
+	if( buflen < 1 ) {
     if (!datalen) {
 	    while (buflen < BUFSIZE && scanf("%hhx", &buf[buflen]) == 1)
 		    buflen++;
@@ -292,6 +318,7 @@ int main(int argc, char **argv)
 	    for (buflen = 0; buflen < datalen; buflen++)
 		    buf[buflen] = ((buflen % 0xFF) + 1) & 0xFF;
     }
+	}
 
 loop:
     if (usecs)
@@ -313,7 +340,7 @@ loop:
 	    goto loop;
     }
 
-    /* 
+    /*
      * due to a Kernel internal wait queue the PDU is sent completely
      * before close() returns.
      */

libj1939.c

@@ -253,6 +253,31 @@ int libj1939_bind_socket(int sock, struct sockaddr_can *addr)
 	return 0;
 }
 
+/**
+ * libj1939_connect_socket - Connects a socket to a CAN address.
+ * @sock: The socket file descriptor.
+ * @addr: The CAN address to connect to.
+ *
+ * This function attempts to establish a connection between the given socket
+ * and the specified CAN address. If the connection fails, it logs an error
+ * message with the error code and a description of the error.
+ *
+ * Return: 0 on success, or a negative error code on failure.
+ */
+int libj1939_connect_socket(int sock, struct sockaddr_can *addr)
+{
+	int ret;
+
+	ret = connect(sock, (void *)addr, sizeof(*addr));
+	if (ret < 0) {
+		ret = -errno;
+		pr_err("failed to connect socket: %d (%s)", ret, strerror(ret));
+		return ret;
+	}
+
+	return 0;
+}
+
 /**
  * libj1939_socket_prio - Set the priority of a J1939 socket
  * @sock: The file descriptor of the socket

libj1939.h

@@ -43,6 +43,7 @@ void libj1939_init_sockaddr_can(struct sockaddr_can *sac, uint32_t pgn);
 
 int libj1939_open_socket(void);
 int libj1939_bind_socket(int sock, struct sockaddr_can *addr);
+int libj1939_connect_socket(int sock, struct sockaddr_can *addr);
 int libj1939_socket_prio(int sock, int prio);
 int libj1939_set_broadcast(int sock);
 int libj1939_add_socket_to_epoll(int epoll_fd, int sock, uint32_t events);

slcand.c

@@ -160,7 +160,7 @@ static int look_up_uart_speed(long int s)
 		return B3500000;
 #endif
 #ifdef B3710000
-	case 3710000
+	case 3710000:
 		return B3710000;
 #endif
 #ifdef B4000000

testj1939.c

@@ -266,7 +266,7 @@ int main(int argc, char *argv[])
 		fprintf(stderr, "- while (1)\n");
 	while (todo_echo || todo_recv) {
 		/*
-		 * re-use peername for storing the sender's peername of
+		 * reuse peername for storing the sender's peername of
 		 * received packets
 		 */
 		if (verbose)