Merge pull request #609 from dphipps-qnx/fix_cmsg_types

candump: Use SCM_* consts instead of SO_* for cmsg_type

.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

@@ -1,6 +1,12 @@
 *~
+*.a
+*.so
+*.so.*
 *.o
 .ccls-cache
+CMakeCache.txt
+CMakeFiles/
+cmake_install.cmake
 compile_commands.json
 tags
 /build
@@ -10,6 +16,7 @@ tags
 /can-calc-bit-timing
 /canbusload
 /candump
+/canerrsim
 /canfdtest
 /cangen
 /cangw
@@ -33,6 +40,7 @@ tags
 /j1939sr
 /j1939-timedate-cli
 /j1939-timedate-srv
+/j1939-vehicle-position-srv
 /log2asc
 /log2long
 /mcp251xfd-dump

CMakeLists.txt

@@ -4,16 +4,46 @@ project(can-utils LANGUAGES C)
 
 message(STATUS "CMake version: ${CMAKE_VERSION}")
 
-include (CheckFunctionExists)
-include (CheckSymbolExists)
-include (GNUInstallDirs)
+include(CheckFunctionExists)
+include(CheckSymbolExists)
+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)
+
+# Options for controlling targets. These groups correspond to the README.
+option(ENABLE_BASIC_TOOLS "Build basic tools" ON)
+option(ENABLE_IP_SERVER   "Build tools providing CAN access via IP sockets" ON)
+option(ENABLE_GATEWAY     "Build in-kernel gateway configuration tools" ON)
+option(ENABLE_MEASUREMENT "Build measurement tools" ON)
+option(ENABLE_ISOTP       "Build isotp tools" ON)
+option(ENABLE_LOG_FILE    "Build log file converter tools" ON)
+option(ENABLE_SLCAN       "Build slcan tools" ON)
+option(ENABLE_MCP251XFD   "Build MCP251XFD tools" ON)
+
+# cmake_dependent_option is only available in CMake 3.22 and later.
+if(ANDROID)
+  set(ENABLE_J1939    OFF)
+  set(ENABLE_ISOBUSFS OFF)
+else()
+  option(ENABLE_J1939    "Build J1939 tools"  ON)
+  option(ENABLE_ISOBUSFS "Build ISOBUS tools" ON)
+endif()
+
+find_package(PkgConfig REQUIRED)
+if(ENABLE_GPS)
+  pkg_check_modules(GPS REQUIRED libgps)
+endif()
 
 if(ENABLE_WERROR)
   add_compile_options(-Werror)
@@ -32,102 +62,116 @@ 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)
+include_directories(.)
+include_directories(./include)
 
 check_function_exists(fork HAVE_FORK)
 
-set(PROGRAMS_CANLIB
-  asc2log
-  canbusload
-  candump
-  cangen
-  canplayer
-  cansend
-  cansequence
-  log2asc
-  log2long
-  slcanpty
-)
+# List of all programs to be built.
+# Each program is expected to have a corresponding source file with the same name.
+set(PROGRAMS)
+# List of programs to link against can.
+set(PROGRAMS_CANLIB)
+# List of programs to link against j1939 and can.
+set(PROGRAMS_J1939)
 
-if(HAVE_FORK)
+if(ENABLE_BASIC_TOOLS)
+  list(APPEND PROGRAMS cansniffer)
+  list(APPEND PROGRAMS_CANLIB
+    candump
+    canplayer
+    cansend
+    cangen
+    cansequence
+  )
+endif()
+
+if(ENABLE_IP_SERVER AND HAVE_FORK)
+  list(APPEND PROGRAMS bcmserver)
   list(APPEND PROGRAMS_CANLIB canlogserver)
 endif()
 
-set(PROGRAMS_J1939
-  j1939acd
-  j1939cat
-  j1939spy
-  j1939sr
-  testj1939
-)
-
-set(PROGRAMS_J1939_TIMEDATE
-  j1939-timedate-srv
-  j1939-timedate-cli
-)
-
-set(PROGRAMS_ISOBUSFS
-  isobusfs-srv
-  isobusfs-cli
-)
-
-set(PROGRAMS
-  ${PROGRAMS_CANLIB}
-  canfdtest
-  cangw
-  cansniffer
-  isotpdump
-  isotpperf
-  isotprecv
-  isotpsend
-  isotpsniffer
-  isotptun
-  slcan_attach
-  slcand
-)
-
-if(HAVE_FORK)
-  list(APPEND PROGRAMS bcmserver)
-  list(APPEND PROGRAMS isotpserver)
+if(ENABLE_GATEWAY)
+  list(APPEND PROGRAMS cangw)
 endif()
 
-add_executable(can-calc-bit-timing
-  calc-bit-timing/can-calc-bit-timing.c
-)
+if(ENABLE_MEASUREMENT)
+  list(APPEND PROGRAMS
+    canfdtest
+    canerrsim
+  )
+  list(APPEND PROGRAMS_CANLIB canbusload)
 
-add_executable(mcp251xfd-dump
-  mcp251xfd/mcp251xfd-dev-coredump.c
-  mcp251xfd/mcp251xfd-dump.c
-  mcp251xfd/mcp251xfd-main.c
-  mcp251xfd/mcp251xfd-regmap.c
-)
+  add_executable(can-calc-bit-timing
+    calc-bit-timing/can-calc-bit-timing.c
+  )
+  install(TARGETS can-calc-bit-timing DESTINATION ${CMAKE_INSTALL_BINDIR})
+endif()
 
-if(NOT ANDROID)
-  list(APPEND PROGRAMS ${PROGRAMS_J1939})
-
-  add_library(j1939 STATIC
-    libj1939.c
+if(ENABLE_ISOTP)
+  list(APPEND PROGRAMS
+    isotpdump
+    isotpperf
+    isotprecv
+    isotpsend
+    isotpsniffer
+    isotptun
   )
 
-  target_link_libraries(j1939
-    PRIVATE can
+  if(HAVE_FORK)
+    list(APPEND PROGRAMS isotpserver)
+  endif()
+endif()
+
+if(ENABLE_J1939)
+  list(APPEND PROGRAMS_J1939
+    j1939acd
+    j1939cat
+    j1939spy
+    j1939sr
+    testj1939
   )
 
-  add_library(isobusfs SHARED
+  add_executable(j1939-timedate-cli
+    j1939_timedate/j1939_timedate_cli.c
+  )
+  target_link_libraries(j1939-timedate-cli
+    PRIVATE can j1939
+  )
+  install(TARGETS j1939-timedate-cli DESTINATION ${CMAKE_INSTALL_BINDIR})
+
+  add_executable(j1939-timedate-srv
+    j1939_timedate/j1939_timedate_srv.c
+  )
+  target_link_libraries(j1939-timedate-srv
+    PRIVATE can j1939
+  )
+  install(TARGETS j1939-timedate-srv DESTINATION ${CMAKE_INSTALL_BINDIR})
+endif()
+
+if(ENABLE_J1939 AND ENABLE_GPS)
+  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 ${CMAKE_INSTALL_BINDIR})
+endif()
+
+if(ENABLE_ISOBUSFS)
+  add_library(isobusfs EXCLUDE_FROM_ALL
     isobusfs/isobusfs_cmn.c
     isobusfs/isobusfs_cmn_dh.c
   )
-
   set(PUBLIC_HEADER_ISOBUSFS
     isobusfs/isobusfs_cmn.h
     isobusfs/isobusfs_cmn_cm.h
   )
-
   set_target_properties(isobusfs PROPERTIES
     PUBLIC_HEADER "${PUBLIC_HEADER_ISOBUSFS}"
+    SOVERSION 0
   )
-
   install(TARGETS isobusfs
     LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
     PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
@@ -141,10 +185,10 @@ if(NOT ANDROID)
     isobusfs/isobusfs_cli_selftests.c
     isobusfs/isobusfs_cli_int.c
   )
-
   target_link_libraries(isobusfs-cli
     PRIVATE isobusfs can j1939
   )
+  install(TARGETS isobusfs-cli DESTINATION ${CMAKE_INSTALL_BINDIR})
 
   add_executable(isobusfs-srv
     isobusfs/isobusfs_srv.c
@@ -155,48 +199,55 @@ if(NOT ANDROID)
     isobusfs/isobusfs_srv_fh.c
     isobusfs/isobusfs_srv_vh.c
   )
-
   target_link_libraries(isobusfs-srv
     PRIVATE isobusfs can j1939
   )
-
-  install(TARGETS
-    isobusfs-cli
-    isobusfs-srv
-    DESTINATION ${CMAKE_INSTALL_BINDIR})
-
-  set(PUBLIC_HEADER_j1939_TIMEDATE
-    j1939_timedate/j1939_timedate_cmn.h
-  )
-
-  add_executable(j1939-timedate-cli
-    j1939_timedate/j1939_timedate_cli.c
-  )
-
-  target_link_libraries(j1939-timedate-cli
-    PRIVATE can j1939
-  )
-
-  add_executable(j1939-timedate-srv
-    j1939_timedate/j1939_timedate_srv.c
-  )
-
-  target_link_libraries(j1939-timedate-srv
-    PRIVATE can j1939
-  )
-
-  install(TARGETS
-    j1939-timedate-cli
-    j1939-timedate-srv
-    DESTINATION ${CMAKE_INSTALL_BINDIR})
-
+  install(TARGETS isobusfs-srv DESTINATION ${CMAKE_INSTALL_BINDIR})
 endif()
 
-add_library(can STATIC
+if(ENABLE_LOG_FILE)
+  list(APPEND PROGRAMS_CANLIB
+    asc2log
+    log2asc
+    log2long
+  )
+endif()
+
+if(ENABLE_SLCAN)
+  list(APPEND PROGRAMS
+    slcan_attach
+    slcand
+  )
+  list(APPEND PROGRAMS_CANLIB slcanpty)
+endif()
+
+if(ENABLE_MCP251XFD)
+  add_executable(mcp251xfd-dump
+    mcp251xfd/mcp251xfd-dev-coredump.c
+    mcp251xfd/mcp251xfd-dump.c
+    mcp251xfd/mcp251xfd-main.c
+    mcp251xfd/mcp251xfd-regmap.c
+  )
+  install(TARGETS mcp251xfd-dump DESTINATION ${CMAKE_INSTALL_BINDIR})
+endif()
+
+list(APPEND PROGRAMS
+  ${PROGRAMS_CANLIB}
+  ${PROGRAMS_J1939}
+)
+
+add_library(can STATIC EXCLUDE_FROM_ALL
   lib.c
   canframelen.c
 )
 
+add_library(j1939 STATIC EXCLUDE_FROM_ALL
+  libj1939.c
+)
+target_link_libraries(j1939
+  PRIVATE can
+)
+
 foreach(name ${PROGRAMS})
   add_executable(${name} ${name}.c)
 
@@ -213,12 +264,6 @@ foreach(name ${PROGRAMS})
   install(TARGETS ${name} DESTINATION ${CMAKE_INSTALL_BINDIR})
 endforeach()
 
-install(TARGETS
-  can-calc-bit-timing
-  mcp251xfd-dump
-  DESTINATION ${CMAKE_INSTALL_BINDIR}
-)
-
 add_custom_target(uninstall
   "${CMAKE_COMMAND}" -P "${CMAKE_SOURCE_DIR}/cmake/make_uninstall.cmake"
   COMMENT "Add uninstall target"

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
@@ -49,6 +50,10 @@ subsystem (aka SocketCAN):
 Follow the link to see examples on how this tools can be used:
 [Kickstart guide to can-j1939 on linux](https://github.com/linux-can/can-utils/blob/master/can-j1939-kickstart.md)
 
+#### ISOBus File server tools
+* isobusfs-cli : ISOBus file client
+* isobusfs-srv : ISOBus file server
+
 #### Log file converters
 * asc2log : convert ASC logfile to compact CAN frame logfile
 * log2asc : convert compact CAN frame logfile to ASC logfile
@@ -75,4 +80,4 @@ 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)

calc-bit-timing/can-calc-bit-timing.c

@@ -1121,6 +1121,11 @@ static const unsigned int common_data_bitrates[] = {
 	4000000,
 	2000000,
 	1000000,
+	800000,
+	500000,
+	250000,
+	125000,
+	100000,
 	0
 };
 

candump.c

@@ -72,6 +72,9 @@
 #ifndef SO_TIMESTAMPING
 #define SO_TIMESTAMPING 37
 #endif
+#ifndef SCM_TIMESTAMPING
+#define SCM_TIMESTAMPING SO_TIMESTAMPING
+#endif
 
 #define TIMESTAMPSZ 50 /* string 'absolute with date' requires max 49 bytes */
 
@@ -113,7 +116,8 @@ static const int canfx_on = 1;
 
 #define MAXANI 4
 static const char anichar[MAXANI] = { '|', '/', '-', '\\' };
-static const char extra_m_info[4][4] = { "- -", "B -", "- E", "B E" };
+static const char extra_fd_info[4][4] = { "- -", "B -", "- E", "B E" };
+static const char extra_xl_info[4][4] = { "- -", "S -", "- R", "S R" };
 
 extern int optind, opterr, optopt;
 
@@ -128,6 +132,7 @@ static void print_usage(void)
 	fprintf(stderr, "Options:\n");
 	fprintf(stderr, "         -t <type>   (timestamp: (a)bsolute/(d)elta/(z)ero/(A)bsolute w date)\n");
 	fprintf(stderr, "         -H          (read hardware timestamps instead of system timestamps)\n");
+	fprintf(stderr, "         -N          (log nanosecond timestamps instead of microseconds)\n");
 	fprintf(stderr, "         -c          (increment color mode level)\n");
 	fprintf(stderr, "         -i          (binary output - may exceed 80 chars/line)\n");
 	fprintf(stderr, "         -a          (enable additional ASCII output)\n");
@@ -142,7 +147,7 @@ static void print_usage(void)
 	fprintf(stderr, "         -d          (monitor dropped CAN frames)\n");
 	fprintf(stderr, "         -e          (dump CAN error frames in human-readable format)\n");
 	fprintf(stderr, "         -8          (display raw DLC values in {} for Classical CAN)\n");
-	fprintf(stderr, "         -x          (print extra message infos, rx/tx brs esi)\n");
+	fprintf(stderr, "         -x          (print extra message infos, rx/tx [brs esi|sec rrs])\n");
 	fprintf(stderr, "         -T <msecs>  (terminate after <msecs> if no frames were received)\n");
 	fprintf(stderr, "\n");
 	fprintf(stderr, "Up to %d CAN interfaces with optional filter sets can be specified\n", MAXSOCK);
@@ -220,16 +225,22 @@ static int idx2dindex(int ifidx, int socket)
 	return i;
 }
 
-static int sprint_timestamp(char *ts_buffer, const char timestamp,
-			    const struct timeval *tv, struct timeval *const last_tv)
+static int sprint_timestamp(char *ts_buffer, const char timestamp, const char use_ns,
+			    const struct timespec *ts, struct timespec *const last_ts)
 {
 	int numchars = 0;
 
 	switch (timestamp) {
 	case 'a': /* absolute with timestamp */
-		numchars = sprintf(ts_buffer, "(%010llu.%06llu) ",
-				   (unsigned long long)tv->tv_sec,
-				   (unsigned long long)tv->tv_usec);
+		if (use_ns) {
+			numchars = sprintf(ts_buffer, "(%010llu.%09llu) ",
+					   (unsigned long long)ts->tv_sec,
+					   (unsigned long long)ts->tv_nsec);
+		} else {
+			numchars = sprintf(ts_buffer, "(%010llu.%06llu) ",
+					   (unsigned long long)ts->tv_sec,
+					   (unsigned long long)ts->tv_nsec / 1000);
+		}
 		break;
 
 	case 'A': /* absolute with date */
@@ -237,32 +248,43 @@ static int sprint_timestamp(char *ts_buffer, const char timestamp,
 		struct tm tm;
 		char timestring[25];
 
-		tm = *localtime(&tv->tv_sec);
+		tm = *localtime(&ts->tv_sec);
 		strftime(timestring, 24, "%Y-%m-%d %H:%M:%S", &tm);
-		numchars = sprintf(ts_buffer, "(%s.%06llu) ", timestring,
-				   (unsigned long long)tv->tv_usec);
+		if (use_ns) {
+			numchars = sprintf(ts_buffer, "(%s.%09llu) ", timestring,
+					   (unsigned long long)ts->tv_nsec);
+		} else {
+			numchars = sprintf(ts_buffer, "(%s.%06llu) ", timestring,
+					   (unsigned long long)ts->tv_nsec / 1000);
+		}
 	}
 	break;
 
 	case 'd': /* delta */
 	case 'z': /* starting with zero */
 	{
-		struct timeval diff;
+		struct timespec diff;
 
-		if (last_tv->tv_sec == 0) /* first init */
-			*last_tv = *tv;
-		diff.tv_sec = tv->tv_sec - last_tv->tv_sec;
-		diff.tv_usec = tv->tv_usec - last_tv->tv_usec;
-		if (diff.tv_usec < 0)
-			diff.tv_sec--, diff.tv_usec += 1000000;
+		if (last_ts->tv_sec == 0) /* first init */
+			*last_ts = *ts;
+		diff.tv_sec = ts->tv_sec - last_ts->tv_sec;
+		diff.tv_nsec = ts->tv_nsec - last_ts->tv_nsec;
+		if (diff.tv_nsec < 0)
+			diff.tv_sec--, diff.tv_nsec += 1000000000;
 		if (diff.tv_sec < 0)
-			diff.tv_sec = diff.tv_usec = 0;
-		numchars = sprintf(ts_buffer, "(%03llu.%06llu) ",
-				   (unsigned long long)diff.tv_sec,
-				   (unsigned long long)diff.tv_usec);
+			diff.tv_sec = diff.tv_nsec = 0;
+		if (use_ns) {
+			numchars = sprintf(ts_buffer, "(%03llu.%09llu) ",
+					   (unsigned long long)diff.tv_sec,
+					   (unsigned long long)diff.tv_nsec);
+		} else {
+			numchars = sprintf(ts_buffer, "(%03llu.%06llu) ",
+					   (unsigned long long)diff.tv_sec,
+					   (unsigned long long)diff.tv_nsec / 1000);
+		}
 
 		if (timestamp == 'd')
-			*last_tv = *tv; /* update for delta calculation */
+			*last_ts = *ts; /* update for delta calculation */
 	}
 	break;
 
@@ -288,6 +310,7 @@ int main(int argc, char **argv)
 	unsigned char timestamp = 0;
 	unsigned char logtimestamp = 'a';
 	unsigned char hwtimestamp = 0;
+	unsigned char use_ns = 0;
 	unsigned char down_causes_exit = 1;
 	unsigned char dropmonitor = 0;
 	unsigned char extra_msg_info = 0;
@@ -322,7 +345,7 @@ int main(int argc, char **argv)
 	static cu_t cu; /* union for CAN CC/FD/XL frames */
 	int nbytes, i;
 	struct ifreq ifr;
-	struct timeval tv, last_tv;
+	struct timespec ts, last_ts;
 	int timeout_ms = -1; /* default to no timeout */
 	FILE *logfile = NULL;
 	char fname[83]; /* suggested by -Wformat-overflow= */
@@ -334,12 +357,12 @@ int main(int argc, char **argv)
 	signal(SIGHUP, sigterm);
 	signal(SIGINT, sigterm);
 
-	last_tv.tv_sec = 0;
-	last_tv.tv_usec = 0;
+	last_ts.tv_sec = 0;
+	last_ts.tv_nsec = 0;
 
 	progname = basename(argv[0]);
 
-	while ((opt = getopt(argc, argv, "t:HciaSs:lf:Ln:r:Dde8xT:h?")) != -1) {
+	while ((opt = getopt(argc, argv, "t:HNciaSs:lf:Ln:r:Dde8xT:h?")) != -1) {
 		switch (opt) {
 		case 't':
 			timestamp = optarg[0];
@@ -359,6 +382,10 @@ int main(int argc, char **argv)
 			hwtimestamp = 1;
 			break;
 
+		case 'N':
+			use_ns = 1;
+			break;
+
 		case 'c':
 			color++;
 			break;
@@ -783,9 +810,13 @@ int main(int argc, char **argv)
 			for (cmsg = CMSG_FIRSTHDR(&msg);
 			     cmsg && (cmsg->cmsg_level == SOL_SOCKET);
 			     cmsg = CMSG_NXTHDR(&msg,cmsg)) {
-				if (cmsg->cmsg_type == SO_TIMESTAMP) {
+				if (cmsg->cmsg_type == SCM_TIMESTAMP) {
+					struct timeval tv;
 					memcpy(&tv, CMSG_DATA(cmsg), sizeof(tv));
-				} else if (cmsg->cmsg_type == SO_TIMESTAMPING) {
+					ts.tv_sec = tv.tv_sec;
+					ts.tv_nsec = tv.tv_usec;
+					ts.tv_nsec *= 1000;
+				} else if (cmsg->cmsg_type == SCM_TIMESTAMPING) {
 					struct timespec *stamp = (struct timespec *)CMSG_DATA(cmsg);
 
 					/*
@@ -795,8 +826,7 @@ int main(int argc, char **argv)
 					 * See chapter 2.1.2 Receive timestamps in
 					 * linux/Documentation/networking/timestamping.txt
 					 */
-					tv.tv_sec = stamp[2].tv_sec;
-					tv.tv_usec = stamp[2].tv_nsec / 1000;
+					ts = stamp[2];
 				} else if (cmsg->cmsg_type == SO_RXQ_OVFL) {
 					memcpy(&obj->dropcnt, CMSG_DATA(cmsg), sizeof(__u32));
 				}
@@ -831,11 +861,9 @@ int main(int argc, char **argv)
 			/* build common log format output */
 			if ((log) || ((logfrmt) && (silent == SILENT_OFF))) {
 
-				alen = sprint_timestamp(afrbuf, logtimestamp,
-							  &tv, &last_tv);
+				alen = sprint_timestamp(afrbuf, logtimestamp, use_ns, &ts, &last_ts);
 
-				alen += sprintf(afrbuf + alen, "%*s ",
-						  max_devname_len, devname[idx]);
+				alen += sprintf(afrbuf + alen, "%*s ", max_devname_len, devname[idx]);
 
 				alen += snprintf_canframe(afrbuf + alen, sizeof(afrbuf) - alen, &cu, 0);
 			}
@@ -861,18 +889,23 @@ int main(int argc, char **argv)
 
 			/* print (colored) long CAN frame style to stdout */
 			alen = sprintf(afrbuf, " %s", (color > 2) ? col_on[idx % MAXCOL] : "");
-			alen += sprint_timestamp(afrbuf + alen, timestamp, &tv, &last_tv);
+			alen += sprint_timestamp(afrbuf + alen, timestamp, use_ns, &ts, &last_ts);
 			alen += sprintf(afrbuf + alen, " %s%*s",
 					  (color && (color < 3)) ? col_on[idx % MAXCOL] : "",
 					  max_devname_len, devname[idx]);
 
 			if (extra_msg_info) {
 				if (msg.msg_flags & MSG_DONTROUTE)
-					alen += sprintf(afrbuf + alen, "  TX %s",
-							  extra_m_info[cu.fd.flags & 3]);
+					alen += sprintf(afrbuf + alen, "  TX");
 				else
-					alen += sprintf(afrbuf + alen, "  RX %s",
-							  extra_m_info[cu.fd.flags & 3]);
+					alen += sprintf(afrbuf + alen, "  RX");
+
+				if (cu.xl.flags & CANXL_XLF)
+					alen += sprintf(afrbuf + alen, " %s",
+							extra_xl_info[cu.xl.flags & 3]);
+				else
+					alen += sprintf(afrbuf + alen, " %s",
+							extra_fd_info[cu.fd.flags & 3]);
 			}
 
 			alen += sprintf(afrbuf + alen, "%s  ", (color == 1) ? col_off : "");

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;
+}

cangen.c

@@ -180,7 +180,7 @@ static void print_usage(char *prg)
 	fprintf(stderr, "         -X            (generate CAN XL CAN frames)\n");
 	fprintf(stderr, "         -R            (generate RTR frames)\n");
 	fprintf(stderr, "         -8            (allow DLC values greater then 8 for Classic CAN frames)\n");
-	fprintf(stderr, "         -m            (mix -e -f -b -E -R -X frames)\n");
+	fprintf(stderr, "         -m            (mix CC [-e -R] FD [-f -b -E] XL [-X] on capable devices)\n");
 	fprintf(stderr, "         -I <mode>     (CAN ID generation mode - see below)\n");
 	fprintf(stderr, "         -L <mode>     (CAN data length code (dlc) generation mode - see below)\n");
 	fprintf(stderr, "         -D <mode>     (CAN data (payload) generation mode - see below)\n");
@@ -339,10 +339,9 @@ resend:
 	nbytes = sendmsg(fd, &msg, 0);
 	if (nbytes < 0) {
 		ret = -errno;
-		if (ret != -ENOBUFS) {
-			perror("write");
+		if (ret != -ENOBUFS)
 			return ret;
-		}
+
 		if (!ignore_enobufs && !timeout) {
 			perror("write");
 			return ret;
@@ -455,6 +454,9 @@ int main(int argc, char **argv)
 	unsigned char extended = 0;
 	unsigned char canfd = 0;
 	unsigned char canxl = 0;
+	unsigned char mixcc = 1; /* mix default */
+	unsigned char mixfd = 1; /* mix default */
+	unsigned char mixxl = 1; /* mix default */
 	unsigned char brs = 0;
 	unsigned char esi = 0;
 	unsigned char mix = 0;
@@ -574,7 +576,6 @@ int main(int argc, char **argv)
 
 		case 'm':
 			mix = 1;
-			canfd = 1; /* to switch the socket into CAN FD mode */
 			view |= CANLIB_VIEW_INDENT_SFF;
 			break;
 
@@ -777,14 +778,58 @@ int main(int argc, char **argv)
 			   &loopback, sizeof(loopback));
 	}
 
-	if (canfd || canxl) {
+	/* get CAN netdevice MTU for frame type capabilities */
+	if (ioctl(s, SIOCGIFMTU, &ifr) < 0) {
+		perror("SIOCGIFMTU");
+		return 1;
+	}
 
-		/* check if the frame fits into the CAN netdevice */
-		if (ioctl(s, SIOCGIFMTU, &ifr) < 0) {
-			perror("SIOCGIFMTU");
+	/* check CAN XL support */
+	if (ifr.ifr_mtu < (int)CANXL_MIN_MTU) {
+		mixxl = 0;
+		if (canxl) {
+			printf("CAN interface not CAN XL capable - sorry.\n");
 			return 1;
 		}
+	}
 
+	/* check CAN FD support */
+	if (ifr.ifr_mtu < (int)CANFD_MTU) {
+		mixfd = 0;
+		if (canfd) {
+			printf("CAN interface not CAN FD capable - sorry.\n");
+			return 1;
+		}
+	}
+
+	/* enable CAN FD on the socket */
+	if (mixfd) {
+		/* interface is ok - try to switch the socket into CAN FD mode */
+		if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_FD_FRAMES,
+			       &enable_canfx, sizeof(enable_canfx))){
+			printf("error when enabling CAN FD support\n");
+			return 1;
+		}
+	}
+
+	/* enable CAN XL on the socket */
+	if (mixxl) {
+		/* interface is ok - try to switch the socket into CAN XL mode */
+		if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_XL_FRAMES,
+			       &enable_canfx, sizeof(enable_canfx))){
+			printf("error when enabling CAN XL support\n");
+			return 1;
+		}
+		/* try to enable the CAN XL VCID pass through mode */
+		if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_XL_VCID_OPTS,
+			       &vcid_opts, sizeof(vcid_opts))) {
+			printf("error when enabling CAN XL VCID pass through\n");
+			return 1;
+		}
+	}
+
+	/* sanitize given values */
+	if (canfd || canxl) {
 		if (canfd) {
 			/* ensure discrete CAN FD length values 0..8, 12, 16, 20, 24, 32, 64 */
 			cu.fd.len = can_fd_dlc2len(can_fd_len2dlc(cu.fd.len));
@@ -793,41 +838,6 @@ int main(int argc, char **argv)
 			if (cu.fd.len > CANFD_MAX_DLEN)
 				cu.fd.len = CANFD_MAX_DLEN;
 		}
-
-		if (canxl && (ifr.ifr_mtu < (int)CANXL_MIN_MTU)) {
-			printf("CAN interface not CAN XL capable - sorry.\n");
-			return 1;
-		}
-
-		if (canfd && (ifr.ifr_mtu < (int)CANFD_MTU)) {
-			printf("CAN interface not CAN FD capable - sorry.\n");
-			return 1;
-		}
-
-		if (ifr.ifr_mtu == (int)CANFD_MTU) {
-			/* interface is ok - try to switch the socket into CAN FD mode */
-			if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_FD_FRAMES,
-				       &enable_canfx, sizeof(enable_canfx))){
-				printf("error when enabling CAN FD support\n");
-				return 1;
-			}
-		}
-
-		if (ifr.ifr_mtu >= (int)CANXL_MIN_MTU) {
-			/* interface is ok - try to switch the socket into CAN XL mode */
-			if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_XL_FRAMES,
-				       &enable_canfx, sizeof(enable_canfx))){
-				printf("error when enabling CAN XL support\n");
-				return 1;
-			}
-			/* try to enable the CAN XL VCID pass through mode */
-			if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_XL_VCID_OPTS,
-				       &vcid_opts, sizeof(vcid_opts))) {
-				printf("error when enabling CAN XL VCID pass through\n");
-				return 1;
-			}
-		}
-
 	} else {
 		/* sanitize Classical CAN 2.0 frame length */
 		if (len8_dlc) {
@@ -987,12 +997,12 @@ int main(int argc, char **argv)
 			rnd = random();
 
 			if (xl_flags_mode == MODE_RANDOM) {
-				cu.xl.flags = rnd & CANXL_SEC;
+				cu.xl.flags = rnd & (CANXL_SEC | CANXL_RRS);
 			} else if (xl_flags_mode == MODE_FIX) {
 				cu.xl.flags = xl_flags;
 			} else if (xl_flags_mode == MODE_INCREMENT) {
-				xl_flags ^= CANXL_SEC;
-				cu.xl.flags = (xl_flags & CANXL_SEC);
+				xl_flags++;
+				cu.xl.flags = (xl_flags & (CANXL_SEC | CANXL_RRS));
 			}
 
 			/* mark CAN XL frame */
@@ -1040,8 +1050,31 @@ int main(int argc, char **argv)
 		}
 
 		ret = do_send_one(s, &cu, mtu, polltimeout);
-		if (ret)
+		if ((ret == -EINVAL) && mix) {
+			/* mix mode: disable unsupported CAN frame type */
+			switch (mtu) {
+			case CAN_MTU:
+				mixcc = 0;
+				break;
+			case CANFD_MTU:
+				mixfd = 0;
+				break;
+			case CANXL_MTU:
+				mixxl = 0;
+				break;
+			default:
+				printf ("mix mode: unknown MTU");
+				return 1;
+			}
+			if (!mixcc && !mixfd && !mixxl) {
+				printf ("mix mode: no valid CAN frame types\n");
+				return 1;
+			}
+		} else if (ret) {
+			/* other error than -ENOBUFS and -EINVAL */
+			perror("write");
 			return 1;
+		}
 
 		if (burst_sent_count >= burst_count)
 			burst_sent_count = 0;
@@ -1082,18 +1115,41 @@ int main(int argc, char **argv)
 		}
 
 		if (mix) {
+			canfd = 0;
+			canxl = 0;
 			i = random();
 			extended = i & 1;
-			canfd = i & 2;
-			if (canfd) {
-				brs = i & 4;
-				esi = i & 8;
+			if (mixfd) {
+				canfd = i & 2;
+				if (canfd) {
+					brs = i & 4;
+					esi = i & 8;
+				}
+			}
+			if (mixxl) {
+				if (mixfd)
+					canxl = ((i & 96) == 96); /* 1/4 */
+				else
+					canxl = ((i & 32) == 32); /* 1/2 */
+			}
+			if (mixcc) {
+				rtr_frame = ((i & 24) == 24); /* reduce RTR to 1/4 */
+			} else {
+				/* no CC frames allowed - CAN XL-only mode? */
+				if (!canxl && !canfd) {
+					/* force XL or FD frames */
+					if (mixxl)
+						canxl = 1;
+					else if (mixfd) {
+						canfd = 1;
+						brs = i & 4;
+						esi = i & 8;
+					} else {
+						printf ("mix mode: no valid CAN frame types\n");
+						return 1;
+					}
+				}
 			}
-			/* generate CAN XL traffic if the interface is capable */
-			if (ifr.ifr_mtu >= (int)CANXL_MIN_MTU)
-				canxl = ((i & 96) == 96);
-
-			rtr_frame = ((i & 24) == 24); /* reduce RTR frames to 1/4 */
 		}
 	}
 

canplayer.c

@@ -68,7 +68,7 @@
 #endif
 
 #define DEVSZ 22 /* IFNAMSZ + 6 */
-#define TIMESZ sizeof("(1345212884.318850)   ")
+#define TIMESZ sizeof("(1345212884.318850123)   ")
 #define BUFSZ (TIMESZ + DEVSZ + AFRSZ)
 
 /* adapt sscanf() functions below on error */
@@ -452,14 +452,20 @@ int main(int argc, char **argv)
 			return 1;
 		}
 		log_tv.tv_sec = sec;
-		log_tv.tv_usec = usec;
 
 		/*
-		 * ensure the fractions of seconds are 6 decimal places long to catch
+		 * ensure the fractions of seconds are 6 or 9 decimal places long to catch
 		 * 3rd party or handcrafted logfiles that treat the timestamp as float
 		 */
-		if (strchr(buf, ')') - strchr(buf, '.') != 7) {
-			fprintf(stderr, "timestamp format in logfile requires 6 decimal places\n");
+		switch (strchr(buf, ')') - strchr(buf, '.')) {
+		case 7: //6
+			log_tv.tv_usec = usec;
+			break;
+		case 10: //9
+			log_tv.tv_usec = usec / 1000;
+			break;
+		default:
+			fprintf(stderr, "timestamp format in logfile requires 6 or 9 decimal places\n");
 			return 1;
 		}
 
@@ -541,19 +547,25 @@ int main(int argc, char **argv)
 					break;
 				}
 
-				if (sscanf(buf, "(%llu.%llu) %s %s", &sec, &usec, device, afrbuf) != 4) {
+				if (sscanf(buf, "(%llu.%llu) %21s %6299s", &sec, &usec, device, afrbuf) != 4) {
 					fprintf(stderr, "incorrect line format in logfile\n");
 					return 1;
 				}
 				log_tv.tv_sec = sec;
-				log_tv.tv_usec = usec;
 
 				/*
-				 * ensure the fractions of seconds are 6 decimal places long to catch
+				 * ensure the fractions of seconds are 6 or 9 decimal places long to catch
 				 * 3rd party or handcrafted logfiles that treat the timestamp as float
 				 */
-				if (strchr(buf, ')') - strchr(buf, '.') != 7) {
-					fprintf(stderr, "timestamp format in logfile requires 6 decimal places\n");
+				switch (strchr(buf, ')') - strchr(buf, '.')) {
+				case 7: //6
+					log_tv.tv_usec = usec;
+					break;
+				case 10: //9
+					log_tv.tv_usec = usec / 1000;
+					break;
+				default:
+					fprintf(stderr, "timestamp format in logfile requires 6 or 9 decimal places\n");
 					return 1;
 				}
 

cansend.c

@@ -80,7 +80,10 @@ static void print_usage(char *prg)
 		"_{dlc}:\n"
 		" an optional 9..F data length code value when payload length is 8\n"
 		"<flags>:\n"
-		" a single ASCII Hex value (0 .. F) which defines canfd_frame.flags\n"
+		" a single ASCII Hex value (0 .. F) which defines canfd_frame.flags:\n"
+		" %x CANFD_BRS\n"
+		" %x CANFD_ESI\n"
+		" %x CANFD_FDF\n"
 		"\n"
 		"<vcid>:\n"
 		" 2 hex chars - virtual CAN network identifier (00 .. FF)\n"
@@ -100,7 +103,8 @@ static void print_usage(char *prg)
 		"  1F334455#1122334455667788_B / 123#R / 00000123#R3 / 333#R8_E /\n"
 		"  45123#81:00:12345678#11223344.556677 / 00242#81:07:40000123#112233\n"
 		"\n",
-		prg, prg);
+		prg, prg,
+		CANFD_BRS, CANFD_ESI, CANFD_FDF);
 }
 
 int main(int argc, char **argv)

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
-	 * than absolue path
+	 * We assume, the relative path stored in res->name is not longer
+	 * 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:

lib.h

@@ -49,6 +49,8 @@
 #include <stddef.h>
 #include <stdio.h>
 
+#include <linux/can.h>
+
 #ifdef DEBUG
 #define pr_debug(fmt, args...) printf(fmt, ##args)
 #else

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

@@ -17,6 +17,7 @@
 #include <linux/can/j1939.h>
 #include <stdbool.h>
 #include <stdint.h>
+#include <time.h>
 #include <sys/socket.h>
 
 #ifndef J1939_LIB_H
@@ -42,6 +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);

log2asc.c

@@ -296,7 +296,7 @@ static void canxl_asc(cu_t *cu, int devno, int mtu,
 
 #define DEVSZ 22
 #define EXTRASZ 20
-#define TIMESZ sizeof("(1345212884.318850)   ")
+#define TIMESZ sizeof("(1345212884.318850123)   ")
 #define BUFSZ (DEVSZ + AFRSZ + EXTRASZ + TIMESZ)
 
 /* adapt sscanf() functions below on error */
@@ -407,7 +407,22 @@ int main(int argc, char **argv)
 			}
 		}
 		tv.tv_sec = sec;
-		tv.tv_usec = usec;
+
+		/*
+		 * ensure the fractions of seconds are 6 or 9 decimal places long to catch
+		 * 3rd party or handcrafted logfiles that treat the timestamp as float
+		 */
+		switch (strchr(buf, ')') - strchr(buf, '.')) {
+		case 7: //6
+			tv.tv_usec = usec;
+			break;
+		case 10: //9
+			tv.tv_usec = usec / 1000;
+			break;
+		default:
+			fprintf(stderr, "timestamp format in logfile requires 6 or 9 decimal places\n");
+			return 1;
+		}
 
 		if (print_banner) { /* print banner */
 			print_banner = 0;

log2long.c

@@ -51,7 +51,7 @@
 #include "lib.h"
 
 #define DEVSZ 22
-#define TIMESZ 22 /* sizeof("(1345212884.318850)   ") */
+#define TIMESZ 25 /* sizeof("(1345212884.318850123)   ") */
 #define BUFSZ (DEVSZ + AFRSZ + TIMESZ)
 
 /* adapt sscanf() functions below on error */
@@ -61,7 +61,7 @@
 #if (DEVSZ != 22)
 #error "DEVSZ value does not fit sscanf restrictions!"
 #endif
-#if (TIMESZ != 22)
+#if (TIMESZ != 25)
 #error "TIMESZ value does not fit sscanf restrictions!"
 #endif
 
@@ -78,7 +78,7 @@ int main(void)
 			return 1;
 		}
 
-		if (sscanf(buf, "%21s %21s %6299s", timestamp, device, afrbuf) != 3)
+		if (sscanf(buf, "%24s %21s %6299s", timestamp, device, afrbuf) != 3)
 			return 1;
 
 		mtu = parse_canframe(afrbuf, &cu);

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
@@ -370,8 +370,13 @@ int main(int argc, char *argv[])
 	
 	/* retrieve the name of the created CAN netdevice */
 	if (ioctl(fd, SIOCGIFNAME, ifr.ifr_name) < 0) {
-		perror("ioctl SIOCGIFNAME");
-		exit(EXIT_FAILURE);
+		if (name) {
+			perror("ioctl SIOCGIFNAME");
+			exit(EXIT_FAILURE);
+		} else {
+			/* Graceful degradation: we only needed the name for display. */
+			snprintf(ifr.ifr_name, sizeof(ifr.ifr_name), "<unknown>");
+		}
 	}
 
 	syslogger(LOG_NOTICE, "attached TTY %s to netdevice %s\n", ttypath, ifr.ifr_name);

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)