Isobus and j1939acd fixes and improvements (#635)

The first three patches are from PR
https://github.com/linux-can/can-utils/pull/629 that was stuck due to
the review process. The review questions of commit
https://github.com/linux-can/can-utils/pull/629#pullrequestreview-4361812324
have been addressed in this PR (see commit message)

The most important fix that has an impact on the data structures on the
CAN bus is the last one ("isobusfs: pack the protocol structures").

"The isobusfs protocol structures describe the message layout defined in
ISO 11783-13 but were not packed. The compiler added padding bytes in
front of 16/32 bit values which follow an odd number of bytes, e.g. the
Read File Request (8 bytes according to C.3.5.2) had a size of 10 bytes
and the count value at the wrong position. Server and client of the
can-utils used the same structures and understood each other but the
messages were not compatible to other ISOBUS devices."

So this has to be checked and reviewed carefully as it breaks the former
protocol of can-utils (but likely fits the rest of the world).

.github/workflows/compile.yml

@@ -30,68 +30,127 @@ 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 \
                 gcc \
                 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
+    - name: Configure & Build with gcc (Makefile)
       env:
-        toolchain: mips-linux-gnu-gcc
+        cc: gcc
       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 --build build-${toolchain}
+        podman exec -i stable make CC=${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() }}

.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

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.5...3.10)
 
 project(can-utils LANGUAGES C)
 
@@ -12,8 +12,38 @@ 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)
@@ -37,24 +67,64 @@ include_directories (./include)
 
 check_function_exists(fork HAVE_FORK)
 
-set(PROGRAMS_CANLIB
-  asc2log
-  canbusload
+# 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(ENABLE_BASIC_TOOLS)
+  list(APPEND PROGRAMS cansniffer)
+  list(APPEND PROGRAMS_CANLIB
     candump
-  cangen
     canplayer
     cansend
+    cangen
     cansequence
-  log2asc
-  log2long
-  slcanpty
   )
+endif()
 
-if(HAVE_FORK)
+if(ENABLE_IP_SERVER AND HAVE_FORK)
+  list(APPEND PROGRAMS bcmserver)
   list(APPEND PROGRAMS_CANLIB canlogserver)
 endif()
 
-set(PROGRAMS_J1939
+if(ENABLE_GATEWAY)
+  list(APPEND PROGRAMS cangw)
+endif()
+
+if(ENABLE_MEASUREMENT)
+  list(APPEND PROGRAMS
+    canfdtest
+    canerrsim
+  )
+  list(APPEND PROGRAMS_CANLIB canbusload)
+
+  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(ENABLE_ISOTP)
+  list(APPEND PROGRAMS
+    isotpdump
+    isotpperf
+    isotprecv
+    isotpsend
+    isotpsniffer
+    isotptun
+  )
+
+  if(HAVE_FORK)
+    list(APPEND PROGRAMS isotpserver)
+  endif()
+endif()
+
+if(ENABLE_J1939)
+  list(APPEND PROGRAMS_J1939
     j1939acd
     j1939cat
     j1939spy
@@ -62,72 +132,46 @@ set(PROGRAMS_J1939
     testj1939
   )
 
-set(PROGRAMS_J1939_TIMEDATE
-  j1939-timedate-srv
-  j1939-timedate-cli
+  add_executable(j1939-timedate-cli
+    j1939_timedate/j1939_timedate_cli.c
   )
-
-set(PROGRAMS_ISOBUSFS
-  isobusfs-srv
-  isobusfs-cli
+  target_link_libraries(j1939-timedate-cli
+    PRIVATE can j1939
   )
+  install(TARGETS j1939-timedate-cli DESTINATION ${CMAKE_INSTALL_BINDIR})
 
-set(PROGRAMS
-  ${PROGRAMS_CANLIB}
-  canfdtest
-  cangw
-  cansniffer
-  isotpdump
-  isotpperf
-  isotprecv
-  isotpsend
-  isotpsniffer
-  isotptun
-  slcan_attach
-  slcand
+  add_executable(j1939-timedate-srv
+    j1939_timedate/j1939_timedate_srv.c
   )
-
-if(HAVE_FORK)
-  list(APPEND PROGRAMS bcmserver)
-  list(APPEND PROGRAMS isotpserver)
+  target_link_libraries(j1939-timedate-srv
+    PRIVATE can j1939
+  )
+  install(TARGETS j1939-timedate-srv DESTINATION ${CMAKE_INSTALL_BINDIR})
 endif()
 
-add_executable(can-calc-bit-timing
-  calc-bit-timing/can-calc-bit-timing.c
+if(ENABLE_J1939 AND ENABLE_GPS)
+  add_executable(j1939-vehicle-position-srv
+    j1939_vehicle_position/j1939_vehicle_position_srv.c
   )
-
-add_executable(mcp251xfd-dump
-  mcp251xfd/mcp251xfd-dev-coredump.c
-  mcp251xfd/mcp251xfd-dump.c
-  mcp251xfd/mcp251xfd-main.c
-  mcp251xfd/mcp251xfd-regmap.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(NOT ANDROID)
-  list(APPEND PROGRAMS ${PROGRAMS_J1939})
-
-  add_library(j1939 STATIC
-    libj1939.c
-  )
-
-  target_link_libraries(j1939
-    PRIVATE can
-  )
-
-  add_library(isobusfs SHARED
+if(ENABLE_ISOBUSFS)
+  add_library(isobusfs EXCLUDE_FROM_ALL
     isobusfs/isobusfs_cmn.c
     isobusfs/isobusfs_cmn_dh.c
   )
-
   set(PUBLIC_HEADER_ISOBUSFS
     isobusfs/isobusfs_cmn.h
     isobusfs/isobusfs_cmn_cm.h
   )
-
   set_target_properties(isobusfs PROPERTIES
     PUBLIC_HEADER "${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)

asc2log.c

@@ -42,6 +42,7 @@
  *
  */
 
+#include <ctype.h>
 #include <libgen.h>
 #include <locale.h>
 #include <stdio.h>
@@ -84,7 +85,7 @@ static void print_usage(char *prg)
 }
 
 static void prframe(FILE *file, struct timeval *tv, int dev,
-		    cu_t *cf, char dir)
+		    union cfu *cf, char dir)
 {
 	static char abuf[BUFLEN];
 
@@ -114,6 +115,42 @@ static void get_can_id(canid_t *can_id, char *idstring, int base)
 	*can_id |= strtoul(idstring, NULL, base);
 }
 
+/*
+ * Read 'len' ASCII hex bytes separated by single whitespace characters.
+ * Returns a pointer to the content behind the data or NULL on error.
+ */
+static char *get_hex_data(char *ptr, unsigned char *data, int len)
+{
+	unsigned char ctmp;
+	int i;
+
+	for (i = 0; i < len; i++) {
+		ctmp = asc2nibble(ptr[0]);
+		if (ctmp > 0x0F)
+			return NULL;
+
+		data[i] = (ctmp << 4);
+
+		ctmp = asc2nibble(ptr[1]);
+		if (ctmp > 0x0F)
+			return NULL;
+
+		data[i] |= ctmp;
+
+		/*
+		 * The hex byte has to be followed by a separator (space/tab)
+		 * or an EOL char ('\n', '\r'). This also ensures that we do
+		 * not skip the string termination with ptr += 3 below.
+		 */
+		if (!isspace((unsigned char)ptr[2]))
+			return NULL;
+
+		ptr += 3; /* start of next ASCII hex byte */
+	}
+
+	return ptr;
+}
+
 static void calc_tv(struct timeval *tv, struct timeval *read_tv,
 		    struct timeval *date_tv, char timestamps, int dplace)
 {
@@ -155,7 +192,7 @@ static void eval_can(char* buf, struct timeval *date_tvp, char timestamps,
 	struct canfd_frame cf = { 0 };
 	struct can_frame *ccf = (struct can_frame *)&cf; /* for len8_dlc */
 	char rtr;
-	int dlc = 0;
+	unsigned int dlc = 0;
 	int len = 0;
 	int data[8];
 	char idstr[21];
@@ -177,7 +214,7 @@ static void eval_can(char* buf, struct timeval *date_tvp, char timestamps,
 			cf.len = CAN_ERR_DLC;
 
 			calc_tv(&tv, &read_tv, date_tvp, timestamps, dplace);
-			prframe(outfile, &tv, interface, (cu_t *)&cf, NO_DIR);
+			prframe(outfile, &tv, interface, (union cfu *)&cf, NO_DIR);
 			fflush(outfile);
 			return;
 		}
@@ -249,7 +286,7 @@ static void eval_can(char* buf, struct timeval *date_tvp, char timestamps,
 				cf.data[i] = data[i] & 0xFFU;
 
 		calc_tv(&tv, &read_tv, date_tvp, timestamps, dplace);
-		prframe(outfile, &tv, interface, (cu_t *)&cf, dir[0]);
+		prframe(outfile, &tv, interface, (union cfu *)&cf, dir[0]);
 		fflush(outfile);
 	}
 }
@@ -261,13 +298,12 @@ static void eval_canfd(char* buf, struct timeval *date_tvp, char timestamps,
 	static struct timeval tv; /* current frame timestamp */
 	static struct timeval read_tv; /* frame timestamp from ASC file */
 	struct canfd_frame cf = { 0 };
-	unsigned char brs, esi, ctmp;
+	unsigned char brs, esi;
 	unsigned int flags;
-	int dlc, dlen = 0;
+	unsigned int dlc, dlen = 0;
 	char idstr[21];
 	char dir[5]; /* 'Rx'/'Tx'/'TxRq' plus terminating zero */
 	char *ptr;
-	int i;
 	int n = 0; /* sscanf consumed characters */
 	unsigned long long sec, usec;
 
@@ -283,12 +319,12 @@ static void eval_canfd(char* buf, struct timeval *date_tvp, char timestamps,
 	 */
 
 	/* check for valid line without symbolic name */
-	if (sscanf(buf, "%llu.%llu %*s %d %4s %20s %hhx %hhx %x %d %n",
+	if (sscanf(buf, "%llu.%llu %*s %d %4s %20s %hhx %hhx %x %u %n",
 		   &sec, &usec, &interface,
 		   dir, idstr, &brs, &esi, &dlc, &dlen, &n) != 9) {
 
 		/* check for valid line with a symbolic name */
-		if (sscanf(buf, "%llu.%llu %*s %d %4s %20s %*s %hhx %hhx %x %d %n",
+		if (sscanf(buf, "%llu.%llu %*s %d %4s %20s %*s %hhx %hhx %x %u %n",
 			   &sec, &usec, &interface,
 			   dir, idstr, &brs, &esi, &dlc, &dlen, &n) != 9) {
 
@@ -328,22 +364,10 @@ static void eval_canfd(char* buf, struct timeval *date_tvp, char timestamps,
 
 	cf.len = dlen;
 
-	for (i = 0; i < dlen; i++) {
-		ctmp = asc2nibble(ptr[0]);
-		if (ctmp > 0x0F)
+	ptr = get_hex_data(ptr, cf.data, dlen);
+	if (!ptr)
 		return;
 
-		cf.data[i] = (ctmp << 4);
-
-		ctmp = asc2nibble(ptr[1]);
-		if (ctmp > 0x0F)
-			return;
-
-		cf.data[i] |= ctmp;
-
-		ptr += 3; /* start of next ASCII hex byte */
-	}
-
 	/* skip MessageDuration and MessageLength to get Flags value */
 	if (sscanf(ptr, "   %*x %*x %x ", &flags) != 1)
 		return;
@@ -374,7 +398,7 @@ static void eval_canfd(char* buf, struct timeval *date_tvp, char timestamps,
 	}
 
 	calc_tv(&tv, &read_tv, date_tvp, timestamps, dplace);
-	prframe(outfile, &tv, interface, (cu_t *)&cf, dir[0]);
+	prframe(outfile, &tv, interface, (union cfu *)&cf, dir[0]);
 	fflush(outfile);
 
 	/* No support for really strange CANFD ErrorFrames format m( */
@@ -387,13 +411,11 @@ static void eval_canxl_cc(char* buf, struct timeval *date_tvp, char timestamps,
 	static struct timeval tv; /* current frame timestamp */
 	static struct timeval read_tv; /* frame timestamp from ASC file */
 	struct can_frame cf = { 0 };
-	unsigned char ctmp;
 	unsigned int flags;
-	int dlc, dlen = 0;
+	unsigned int dlc, dlen = 0;
 	char idstr[21];
 	char dir[5]; /* 'Rx'/'Tx'/'TxRq' plus terminating zero */
 	char *ptr;
-	int i;
 	int n = 0; /* sscanf consumed characters */
 	unsigned long long sec, usec;
 
@@ -408,7 +430,7 @@ static void eval_canxl_cc(char* buf, struct timeval *date_tvp, char timestamps,
 	if (sscanf(buf,
 		   "%llu.%llu %*s %d %4s " /* time, CANXL, channel, direction */
 		   "%*s %*s %*s %20s " /* frame format, msg dur, bit count, ID */
-		   "%x %d %n", /* DLC, Datalen */
+		   "%x %u %n", /* DLC, Datalen */
 		   &sec, &usec, &interface, dir,
 		   idstr,
 		   &dlc, &dlen, &n) != 7) {
@@ -416,7 +438,7 @@ static void eval_canxl_cc(char* buf, struct timeval *date_tvp, char timestamps,
 		if (sscanf(buf,
 			   "%llu.%llu %*s %d %4s " /* time, CANXL, channel, direction */
 			   "%*s %*s %*s %20s " /* frame format, msg dur, bit count, ID */
-			   "%*s %x %d %n", /* sym name, DLC, Datalen */
+			   "%*s %x %u %n", /* sym name, DLC, Datalen */
 			   &sec, &usec, &interface, dir,
 			   idstr,
 			   &dlc, &dlen, &n) != 7) {
@@ -452,22 +474,10 @@ static void eval_canxl_cc(char* buf, struct timeval *date_tvp, char timestamps,
 
 	cf.len = dlen;
 
-	for (i = 0; i < dlen; i++) {
-		ctmp = asc2nibble(ptr[0]);
-		if (ctmp > 0x0F)
+	ptr = get_hex_data(ptr, cf.data, dlen);
+	if (!ptr)
 		return;
 
-		cf.data[i] = (ctmp << 4);
-
-		ctmp = asc2nibble(ptr[1]);
-		if (ctmp > 0x0F)
-			return;
-
-		cf.data[i] |= ctmp;
-
-		ptr += 3; /* start of next ASCII hex byte */
-	}
-
 	/* skip FCRC to get Flags value */
 	if (sscanf(ptr, "%*x %x ", &flags) != 1)
 		return;
@@ -487,7 +497,7 @@ static void eval_canxl_cc(char* buf, struct timeval *date_tvp, char timestamps,
 		cf.len8_dlc = dlc;
 
 	calc_tv(&tv, &read_tv, date_tvp, timestamps, dplace);
-	prframe(outfile, &tv, interface, (cu_t *)&cf, dir[0]);
+	prframe(outfile, &tv, interface, (union cfu *)&cf, dir[0]);
 	fflush(outfile);
 }
 
@@ -498,13 +508,11 @@ static void eval_canxl_fd(char* buf, struct timeval *date_tvp, char timestamps,
 	static struct timeval tv; /* current frame timestamp */
 	static struct timeval read_tv; /* frame timestamp from ASC file */
 	struct canfd_frame cf = { 0 };
-	unsigned char ctmp;
 	unsigned int flags;
-	int dlc, dlen = 0;
+	unsigned int dlc, dlen = 0;
 	char idstr[21];
 	char dir[5]; /* 'Rx'/'Tx'/'TxRq' plus terminating zero */
 	char *ptr;
-	int i;
 	int n = 0; /* sscanf consumed characters */
 	unsigned long long sec, usec;
 
@@ -519,7 +527,7 @@ static void eval_canxl_fd(char* buf, struct timeval *date_tvp, char timestamps,
 	if (sscanf(buf,
 		   "%llu.%llu %*s %d %4s " /* time, CANXL, channel, direction */
 		   "%*s %*s %*s %20s " /* frame format, msg dur, bit count, ID */
-		   "%x %d %n", /* DLC, Datalen */
+		   "%x %u %n", /* DLC, Datalen */
 		   &sec, &usec, &interface, dir,
 		   idstr,
 		   &dlc, &dlen, &n) != 7) {
@@ -527,7 +535,7 @@ static void eval_canxl_fd(char* buf, struct timeval *date_tvp, char timestamps,
 		if (sscanf(buf,
 			   "%llu.%llu %*s %d %4s " /* time, CANXL, channel, direction */
 			   "%*s %*s %*s %20s " /* frame format, msg dur, bit count, ID */
-			   "%*s %x %d %n", /* sym name, DLC, Datalen */
+			   "%*s %x %u %n", /* sym name, DLC, Datalen */
 			   &sec, &usec, &interface, dir,
 			   idstr,
 			   &dlc, &dlen, &n) != 7) {
@@ -563,22 +571,10 @@ static void eval_canxl_fd(char* buf, struct timeval *date_tvp, char timestamps,
 
 	cf.len = dlen;
 
-	for (i = 0; i < dlen; i++) {
-		ctmp = asc2nibble(ptr[0]);
-		if (ctmp > 0x0F)
+	ptr = get_hex_data(ptr, cf.data, dlen);
+	if (!ptr)
 		return;
 
-		cf.data[i] = (ctmp << 4);
-
-		ctmp = asc2nibble(ptr[1]);
-		if (ctmp > 0x0F)
-			return;
-
-		cf.data[i] |= ctmp;
-
-		ptr += 3; /* start of next ASCII hex byte */
-	}
-
 	/* skip stuff field and FCRC to get Flags value */
 	if (sscanf(ptr, "%*s %*s %x ", &flags) != 1)
 		return;
@@ -594,7 +590,7 @@ static void eval_canxl_fd(char* buf, struct timeval *date_tvp, char timestamps,
 		cf.flags |= CANFD_ESI;
 
 	calc_tv(&tv, &read_tv, date_tvp, timestamps, dplace);
-	prframe(outfile, &tv, interface, (cu_t *)&cf, dir[0]);
+	prframe(outfile, &tv, interface, (union cfu *)&cf, dir[0]);
 	fflush(outfile);
 }
 
@@ -605,13 +601,12 @@ static void eval_canxl_xl(char* buf, struct timeval *date_tvp, char timestamps,
 	static struct timeval tv; /* current frame timestamp */
 	static struct timeval read_tv; /* frame timestamp from ASC file */
 	struct canxl_frame cf = { 0 };
-	unsigned char sdt, vcid, secbit, ctmp;
+	unsigned char sdt, vcid, secbit;
 	unsigned int af, flags;
-	int dlc, dlen = 0;
+	unsigned int dlc, dlen = 0;
 	char idstr[21];
 	char dir[5]; /* 'Rx'/'Tx'/'TxRq' plus terminating zero */
 	char *ptr;
-	int i;
 	int n = 0; /* sscanf consumed characters */
 	unsigned long long sec, usec;
 
@@ -627,7 +622,7 @@ static void eval_canxl_xl(char* buf, struct timeval *date_tvp, char timestamps,
 	if (sscanf(buf,
 		   "%llu.%llu %*s %d %4s " /* time, CANXL, channel, direction */
 		   "%*s %*s %*s %20s " /* frame format, msg dur, bit count, ID */
-		   "%hhx %hhx %x %d " /* SDT, SEC, DLC, Datalen */
+		   "%hhx %hhx %x %u " /* SDT, SEC, DLC, Datalen */
 		   "%*s %*s %hhx %x %n", /* stuff bit count, crc, VCID, AF */
 		   &sec, &usec, &interface, dir,
 		   idstr,
@@ -637,7 +632,7 @@ static void eval_canxl_xl(char* buf, struct timeval *date_tvp, char timestamps,
 		if (sscanf(buf,
 			   "%llu.%llu %*s %d %4s " /* time, CANXL, channel, direction */
 			   "%*s %*s %*s %20s " /* frame format, msg dur, bit count, ID */
-			   "%*s %hhx %hhx %x %d " /* sym name, SDT, SEC, DLC, Datalen */
+			   "%*s %hhx %hhx %x %u " /* sym name, SDT, SEC, DLC, Datalen */
 			   "%*s %*s %hhx %x %n", /* stuff bit count, crc, VCID, AF */
 			   &sec, &usec, &interface, dir,
 			   idstr,
@@ -689,22 +684,10 @@ static void eval_canxl_xl(char* buf, struct timeval *date_tvp, char timestamps,
 
 	cf.len = dlen;
 
-	for (i = 0; i < dlen; i++) {
-		ctmp = asc2nibble(ptr[0]);
-		if (ctmp > 0x0F)
+	ptr = get_hex_data(ptr, cf.data, dlen);
+	if (!ptr)
 		return;
 
-		cf.data[i] = (ctmp << 4);
-
-		ctmp = asc2nibble(ptr[1]);
-		if (ctmp > 0x0F)
-			return;
-
-		cf.data[i] |= ctmp;
-
-		ptr += 3; /* start of next ASCII hex byte */
-	}
-
 	/* skip FCRC to get Flags value */
 	if (sscanf(ptr, "%*x %x ", &flags) != 1)
 		return;
@@ -723,7 +706,7 @@ static void eval_canxl_xl(char* buf, struct timeval *date_tvp, char timestamps,
 		cf.flags |= CANXL_RRS;
 
 	calc_tv(&tv, &read_tv, date_tvp, timestamps, dplace);
-	prframe(outfile, &tv, interface, (cu_t *)&cf, dir[0]);
+	prframe(outfile, &tv, interface, (union cfu *)&cf, dir[0]);
 	fflush(outfile);
 
 	/* No support for CAN XL ErrorFrames */

bcmserver.c

@@ -153,7 +153,7 @@ int main(void)
 
 	char buf[MAXLEN];
 	char format[FORMATSZ];
-	char rxmsg[50];
+	char rxmsg[64];
 
 #pragma GCC diagnostic push
 #pragma GCC diagnostic ignored "-Wpragmas"
@@ -234,7 +234,7 @@ int main(void)
 	}
 
 	while (1) {
-
+again:
 		FD_ZERO(&readfds);
 		FD_SET(sc, &readfds);
 		FD_SET(sa, &readfds);
@@ -242,6 +242,8 @@ int main(void)
 		select((sc > sa)?sc+1:sa+1, &readfds, NULL, NULL, NULL);
 
 		if (FD_ISSET(sc, &readfds)) {
+			size_t size = sizeof(rxmsg);
+			int len = 0, res;
 
 			recvfrom(sc, &msg, sizeof(msg), 0,
 				 (struct sockaddr*)&caddr, &caddrlen);
@@ -249,17 +251,35 @@ int main(void)
 			ifr.ifr_ifindex = caddr.can_ifindex;
 			ioctl(sc, SIOCGIFNAME, &ifr);
 
-			sprintf(rxmsg, "< %s %03X %d ", ifr.ifr_name,
+			res = snprintf(rxmsg, size, "< %s %03X %d ", ifr.ifr_name,
 				       msg.msg_head.can_id, msg.frame.can_dlc);
+			if (res < 0 || (size_t)res >= size) {
+				printf("Error: rxmsg buffer (size %zu) too small for data.\n", size);
+				continue;
+			}
 
-			for ( i = 0; i < msg.frame.can_dlc; i++)
-				sprintf(rxmsg + strlen(rxmsg), "%02X ",
-					msg.frame.data[i]);
+			len += res;
+
+			for (i = 0; i < msg.frame.can_dlc; i++) {
+				res = snprintf(rxmsg + len, size - len, "%02X ", msg.frame.data[i]);
+				if (res < 0 || (size_t)res >= (size - len)) {
+					printf("Error: rxmsg buffer (size %zu) too small for data.\n", size);
+					goto again;
+				}
+
+				len += res;
+			}
 
 			/* delimiter '\0' for Adobe(TM) Flash(TM) XML sockets */
-			strcat(rxmsg, ">\0");
+			res = snprintf(rxmsg + len, size - len, ">");
+			if (res < 0 || (size_t)res >= (size - len)) {
+				printf("Error: rxmsg buffer (size %zu) too small for data.\n", size);
+				continue;
+			}
 
-			send(sa, rxmsg, strlen(rxmsg) + 1, 0);
+			len += res;
+
+			send(sa, rxmsg, len + 1, 0);
 		}
 
 

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 */
+		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)tv->tv_sec,
-				   (unsigned long long)tv->tv_usec);
+					   (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);
+		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)tv->tv_usec);
+					   (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;
+			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_usec);
+					   (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;
@@ -319,10 +342,10 @@ int main(int argc, char **argv)
 	struct cmsghdr *cmsg;
 	struct can_filter *rfilter;
 	can_err_mask_t err_mask;
-	static cu_t cu; /* union for CAN CC/FD/XL frames */
+	static union cfu 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 +1,563 @@
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//                                                                                                //
+//  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 <stdarg.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 __attribute__((format (printf, 1, 2))) err_exit(const char *format, ...)
+{
+	va_list ap;
+
+	va_start(ap, format);
+	vfprintf(stdout, format, ap);
+	va_end(ap);
+
+	exit(EXIT_FAILURE);
+}
+
+void show_invalid_option(const char *option)
+{
+	err_exit("Error: Invalid option %s\n", option);
+}
+
+void show_err_and_exit(const char *err_type)
+{
+	err_exit("Error: You can only have one %s parameter!\n", err_type);
+}
+
+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;
+
+	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\n");
+
+	// set interface name
+	if (strlen(argv[1]) >= IFNAMSIZ)
+		err_exit("Name of CAN device '%s' is too long!\n\n", argv[1]);
+
+	strcpy(ifr.ifr_name, argv[1]); // can0, vcan0...
+	if (ioctl(sock, SIOCGIFINDEX, &ifr) < 0)
+		err_exit("Error setting CAN interface name %s\n", argv[1]);
+
+	// 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\n");
+
+	// Send CAN error frame
+	if (write(sock, &frame, sizeof(frame)) < 0)
+		err_exit("Error writing to socket\n");
+	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");
@@ -299,7 +299,7 @@ static int setsockopt_txtime(int fd)
 	return 0;
 }
 
-static int do_send_one(int fd, cu_t *cu, size_t len, int timeout)
+static int do_send_one(int fd, union cfu *cu, size_t len, int timeout)
 {
 	uint8_t control[CMSG_SPACE(sizeof(uint64_t))] = { 0 };
 	struct iovec iov = {
@@ -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;
@@ -492,7 +494,7 @@ int main(int argc, char **argv)
 	struct can_raw_vcid_options vcid_opts = {
 		.flags = CAN_RAW_XL_VCID_TX_PASS,
 	};
-	static cu_t cu;
+	static union cfu cu;
 	int i;
 	struct ifreq ifr = { 0 };
 	const int enable_canfx = 1;
@@ -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;
 
@@ -777,34 +778,32 @@ int main(int argc, char **argv)
 			   &loopback, sizeof(loopback));
 	}
 
-	if (canfd || canxl) {
-
-		/* check if the frame fits into the CAN netdevice */
+	/* get CAN netdevice MTU for frame type capabilities */
 	if (ioctl(s, SIOCGIFMTU, &ifr) < 0) {
 		perror("SIOCGIFMTU");
 		return 1;
 	}
 
-		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));
-		} else {
-			/* limit fixed CAN XL data length to 64 */
-			if (cu.fd.len > CANFD_MAX_DLEN)
-				cu.fd.len = CANFD_MAX_DLEN;
-		}
-
-		if (canxl && (ifr.ifr_mtu < (int)CANXL_MIN_MTU)) {
+	/* 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;
 		}
+	}
 
-		if (canfd && (ifr.ifr_mtu < (int)CANFD_MTU)) {
+	/* 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;
 		}
+	}
 
-		if (ifr.ifr_mtu == (int)CANFD_MTU) {
+	/* 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))){
@@ -813,7 +812,8 @@ int main(int argc, char **argv)
 		}
 	}
 
-		if (ifr.ifr_mtu >= (int)CANXL_MIN_MTU) {
+	/* 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))){
@@ -828,6 +828,16 @@ int main(int argc, char **argv)
 		}
 	}
 
+	/* 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));
+		} else {
+			/* limit fixed CAN XL data length to 64 */
+			if (cu.fd.len > CANFD_MAX_DLEN)
+				cu.fd.len = CANFD_MAX_DLEN;
+		}
 	} 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;
+			if (mixfd) {
 				canfd = i & 2;
 				if (canfd) {
 					brs = i & 4;
 					esi = i & 8;
 				}
-			/* 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 */
+			}
+			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;
+					}
+				}
+			}
 		}
 	}
 

cangw.c

@@ -338,7 +338,7 @@ static int parse_mod(char *optarg, struct modattr *modmsg)
 	ptr = optarg;
 	nptr = strchr(ptr, ':');
 
-	if ((nptr - ptr > 3) || (nptr - ptr == 0))
+	if (!nptr || (nptr - ptr > 3) || (nptr - ptr == 0))
 		return 1;
 
 	if (!strncmp(ptr, "AND", 3))
@@ -355,7 +355,7 @@ static int parse_mod(char *optarg, struct modattr *modmsg)
 	ptr = nptr+1;
 	nptr = strchr(ptr, ':');
 
-	if ((nptr - ptr > 3) || (nptr - ptr == 0))
+	if (!nptr || (nptr - ptr > 3) || (nptr - ptr == 0))
 		return 3;
 
 	modmsg->modtype = 0;
@@ -406,7 +406,7 @@ static int parse_fdmod(char *optarg, struct fdmodattr *modmsg)
 	ptr = optarg;
 	nptr = strchr(ptr, ':');
 
-	if ((nptr - ptr > 3) || (nptr - ptr == 0))
+	if (!nptr || (nptr - ptr > 3) || (nptr - ptr == 0))
 		return 1;
 
 	if (!strncmp(ptr, "AND", 3))
@@ -423,7 +423,7 @@ static int parse_fdmod(char *optarg, struct fdmodattr *modmsg)
 	ptr = nptr+1;
 	nptr = strchr(ptr, ':');
 
-	if ((nptr - ptr > 4) || (nptr - ptr == 0))
+	if (!nptr || (nptr - ptr > 4) || (nptr - ptr == 0))
 		return 3;
 
 	modmsg->modtype = 0;

canlogserver.c

@@ -177,7 +177,8 @@ int main(int argc, char **argv)
 	sigset_t sigset;
 	fd_set rdfs;
 	int s[MAXDEV];
-	int socki, accsocket;
+	int socki;
+	int accsocket = -1;
 	canid_t mask[MAXDEV] = {0};
 	canid_t value[MAXDEV] = {0};
 	int inv_filter[MAXDEV] = {0};
@@ -191,7 +192,7 @@ int main(int argc, char **argv)
 		.rx_vcid_mask = 0,
 	};
 	struct can_filter rfilter;
-	static cu_t cu; /* union for CAN CC/FD/XL frames */
+	static union cfu cu; /* union for CAN CC/FD/XL frames */
 	const int canfx_on = 1;
 	int nbytes, i, j;
 	struct ifreq ifr;
@@ -286,7 +287,7 @@ int main(int argc, char **argv)
 	inaddr.sin_addr.s_addr = htonl(INADDR_ANY);
 	inaddr.sin_port = htons(port);
 
-	while(bind(socki, (struct sockaddr*)&inaddr, sizeof(inaddr)) < 0) {
+	while(running && bind(socki, (struct sockaddr*)&inaddr, sizeof(inaddr)) < 0) {
 		struct timespec f = {
 			.tv_nsec = 100 * 1000 * 1000,
 		};
@@ -295,18 +296,28 @@ int main(int argc, char **argv)
 		nanosleep(&f, NULL);
 	}
 
+	/*
+	 * Check if loop exited due to signal (during nanosleep) rather than
+	 * successful bind.
+	 */
+	if (!running) {
+		close(socki);
+		return 128 + signal_num;
+	}
+
 	if (listen(socki, 3) != 0) {
 		perror("listen");
 		exit(1);
 	}
 
-	while(1) {
+	while(running) {
 		accsocket = accept(socki, (struct sockaddr*)&clientaddr, &sin_size);
 		if (accsocket > 0) {
 			//printf("accepted\n");
 			if (!fork())
 				break;
 			close(accsocket);
+			accsocket = -1;
 		}
 		else if (errno != EINTR) {
 			perror("accept");
@@ -314,6 +325,17 @@ int main(int argc, char **argv)
 		}
 	}
 
+	/*
+	 * Check if loop exited due to signal (accept returned EINTR) rather
+	 * than successful fork
+	 */
+	if (!running) {
+		if (accsocket > 0)
+			close(accsocket);
+		close(socki);
+		return 128 + signal_num;
+	}
+
 	for (i=0; i<currmax; i++) {
 
 		pr_debug("open %d '%s' m%08X v%08X i%d e%d.\n",

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 */
@@ -261,7 +261,7 @@ int main(int argc, char **argv)
 	struct can_raw_vcid_options vcid_opts = {
 		.flags = CAN_RAW_XL_VCID_TX_PASS,
 	};
-	static cu_t cu;
+	static union cfu cu;
 	static struct timeval today_tv, log_tv, last_log_tv, diff_tv;
 	struct timespec sleep_ts;
 	int s; /* CAN_RAW socket */
@@ -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)
@@ -113,7 +117,7 @@ int main(int argc, char **argv)
 	struct can_raw_vcid_options vcid_opts = {
 		.flags = CAN_RAW_XL_VCID_TX_PASS,
 	};
-	static cu_t cu;
+	static union cfu cu;
 	struct ifreq ifr;
 
 	/* check command line options */

isobusfs/isobusfs_cli.c

@@ -671,6 +671,10 @@ int main(int argc, char *argv[])
 
 	while (1) {
 		ret = isobusfs_cli_process_events_and_tasks(priv);
+		if (ret == ISOBUSFS_CLI_RET_EXIT) {
+			ret = 0;
+			break;
+		}
 		if (ret)
 			break;
 	}

isobusfs/isobusfs_cli.h

@@ -13,6 +13,9 @@
 #define ISOBUSFS_CLI_MAX_EPOLL_EVENTS		10
 #define ISOBUSFS_CLI_DEFAULT_WAIT_TIMEOUT_MS	1000 /* ms */
 
+/* internal return codes, not errno values */
+#define ISOBUSFS_CLI_RET_EXIT			1
+
 enum isobusfs_cli_state {
 	ISOBUSFS_CLI_STATE_CONNECTING,
 	ISOBUSFS_CLI_STATE_IDLE,

isobusfs/isobusfs_cli_dh.c

@@ -43,7 +43,7 @@ int isobusfs_cli_ccd_req(struct isobusfs_priv *priv, const char *name,
 	req->tan = isobusfs_cli_get_next_tan(priv);
 
 	memcpy(&req->name[0], name, name_len);
-	req->name_len = name_len;
+	req->name_len = htole16(name_len);
 
 	if (padding_size) {
 		/* Fill the rest of the res structure with 0xff */

isobusfs/isobusfs_cli_fa.c

@@ -308,7 +308,7 @@ int isobusfs_cli_fa_of_req(struct isobusfs_priv *priv, const char *name,
 	req->tan = isobusfs_cli_get_next_tan(priv);
 	req->flags = flags;
 	memcpy(&req->name[0], name, name_len);
-	req->name_len = name_len;
+	req->name_len = htole16(name_len);
 
 	if (padding_size) {
 		/* Fill the rest of the res structure with 0xff */

isobusfs/isobusfs_cli_int.c

@@ -16,6 +16,12 @@
 #define MAX_COMMAND_LENGTH 256
 
 #define MAX_DISPLAY_FILENAME_LENGTH 100
+/*
+ * ISO 11783-13:2021 B.21 minimal directory entry payload size in bytes:
+ * 1 (name length) + 1 (min name byte) + 1 (attributes) +
+ * 2 (date) + 2 (time) + 4 (size).
+ */
+#define ISOBUSFS_MIN_DIR_ENTRY_SIZE (1 + 1 + 1 + 2 + 2 + 4)
 
 struct command_mapping {
 	const char *command;
@@ -66,8 +72,8 @@ static int cmd_help(struct isobusfs_priv *priv, const char *options)
 static int cmd_exit(struct isobusfs_priv *priv, const char *options)
 {
 	pr_int("exit interactive mode\n");
-	/* Return -EINTR to indicate the program should exit */
-	return -EINTR;
+
+	return ISOBUSFS_CLI_RET_EXIT;
 }
 
 static int cmd_dmesg(struct isobusfs_priv *priv, const char *options)
@@ -510,8 +516,12 @@ isobusfs_cli_ls_handle_open_dir_sent(struct isobusfs_priv *priv,
 
 	ctx->handle = res->handle;
 
+	ctx->offset = 0;
+	ctx->entry_count = 0;
+
 	ret = isobusfs_cli_send_and_register_fa_sf_event(priv, ctx->handle,
-							 0, ctx->entry_count,
+							 ISOBUSFS_FA_SEEK_SET,
+							 ctx->offset,
 							 cb, ctx);
 	if (ret)
 		pr_int("Failed to send seek file request: %i\n", ret);
@@ -530,7 +540,7 @@ isobusfs_cli_ls_handle_seek_dir_sent(struct isobusfs_priv *priv,
 {
 	isobusfs_event_callback cb = isobusfs_cli_ls_event_callback;
 	struct isobusfs_fa_seekf_res *res =
-		(struct isobusfs_fa_seekf_res *)msg;
+		(struct isobusfs_fa_seekf_res *)msg->buf;
 	uint16_t count;
 	int ret;
 
@@ -543,8 +553,10 @@ isobusfs_cli_ls_handle_seek_dir_sent(struct isobusfs_priv *priv,
 		goto error;
 	}
 
-	/* set max possible number fitting in to 16bits */
-	count = UINT16_MAX;
+	/* ISO 11783-13:2021 C.3.5.2: count is number of directory entries. */
+	count = ISOBUSFS_MAX_DATA_LENGH / ISOBUSFS_MIN_DIR_ENTRY_SIZE;
+	if (!count)
+		count = 1;
 	ctx->request_count = count;
 
 	ret = isobusfs_cli_send_and_register_fa_rf_event(priv, ctx->handle,
@@ -616,8 +628,8 @@ static bool isobusfs_cli_extract_directory_entry(const uint8_t *buffer,
 						 uint16_t *file_time,
 						 uint32_t *file_size)
 {
+	size_t entry_total_len, copy_len;
 	uint8_t filename_length;
-	size_t entry_total_len;
 
 	if (*pos + 2 > buffer_length) {
 		pr_int("Error: Incomplete data in buffer\n");
@@ -633,8 +645,14 @@ static bool isobusfs_cli_extract_directory_entry(const uint8_t *buffer,
 	}
 
 	(*pos)++;
-	strncpy(filename, (const char *)buffer + *pos, filename_length);
-	filename[filename_length] = '\0';
+
+	if (filename_length > ISOBUSFS_MAX_DIR_ENTRY_NAME_LENGTH)
+		copy_len = ISOBUSFS_MAX_DIR_ENTRY_NAME_LENGTH;
+	else
+		copy_len = filename_length;
+
+	strncpy(filename, (const char *)buffer + *pos, copy_len);
+	filename[copy_len] = '\0';
 	*pos += filename_length;
 	if (filename_length > MAX_DISPLAY_FILENAME_LENGTH) {
 		/* Truncate the filename and replace the last character
@@ -688,15 +706,17 @@ isobusfs_cli_print_directory_entry(struct isobusfs_cli_ls_context *ctx,
 static void
 isobusfs_cli_print_directory_entries(struct isobusfs_cli_ls_context *ctx,
 				     const uint8_t *buffer,
-				     size_t buffer_length)
+				     size_t buffer_length,
+				     uint16_t max_entries)
 {
 	char filename[ISOBUSFS_MAX_DIR_ENTRY_NAME_LENGTH + 1];
 	uint16_t file_date, file_time;
 	uint32_t file_size;
 	uint8_t attributes;
 	size_t pos = 0;
+	uint16_t entries = 0;
 
-	while (pos < buffer_length) {
+	while (pos < buffer_length && entries < max_entries) {
 		if (!isobusfs_cli_extract_directory_entry(buffer, buffer_length,
 							  &pos, filename,
 							  &attributes,
@@ -709,6 +729,7 @@ isobusfs_cli_print_directory_entries(struct isobusfs_cli_ls_context *ctx,
 						   file_date, file_time,
 						   file_size);
 		ctx->entry_count++;
+		entries++;
 	}
 }
 
@@ -721,26 +742,42 @@ isobusfs_cli_ls_handle_read_dir_sent(struct isobusfs_priv *priv,
 		(struct isobusfs_read_file_response *)msg->buf;
 	size_t buffer_length = msg->len - sizeof(*res);
 	isobusfs_event_callback cb;
+	size_t entries_before;
+	size_t entries_in_message;
 	uint16_t count;
 	int ret;
 
 	pr_debug("< rx: Read File Response. Error code: %i", res->error_code);
+
 	if (isobusfs_cli_int_is_error(priv, 0, res->error_code, res->tan))
 		goto error;
 
 	count = le16toh(res->count);
-	if (count && count != buffer_length) {
-		pr_int("Buffer length mismatch: %u != %zu\n", count,
-		       buffer_length);
-		goto error;
+	if (count && buffer_length) {
+		entries_before = ctx->entry_count;
+		isobusfs_cli_print_directory_entries(ctx, res->data,
+						     buffer_length, count);
+		entries_in_message = ctx->entry_count - entries_before;
+	} else {
+		entries_in_message = 0;
 	}
 
-	if (count)
-		isobusfs_cli_print_directory_entries(ctx, res->data,
-						     buffer_length);
+	if (count != entries_in_message) {
+		pr_warn("Directory entry count mismatch: server sent %u, parsed %zu\n",
+			count, entries_in_message);
+		/* Continue processing if we parsed at least some entries.
+		 * Strict validation would reject valid responses if parsing
+		 * fails partway through due to corruption.
+		 */
+		if (entries_in_message == 0 && count > 0) {
+			pr_int("Error: Failed to parse any directory entries\n");
+			goto error;
+		}
+	}
 
 	cb = isobusfs_cli_ls_event_callback;
-	if (count) {
+
+	if (res->error_code == ISOBUSFS_ERR_END_OF_FILE) {
 		ret = isobusfs_cli_send_and_register_fa_cf_event(priv,
 								 ctx->handle,
 								 cb, ctx);
@@ -750,8 +787,20 @@ isobusfs_cli_ls_handle_read_dir_sent(struct isobusfs_priv *priv,
 		}
 
 		ctx->state = ISOBUSFS_CLI_LS_STATE_CLOSE_DIR_SENT;
-	} else {
+		return;
+	}
+
+	if (!count) {
+		pr_int("Error: zero-length read without EOF\n");
+		goto error;
+	}
+
+	/*
+	 * Directory seek offset is entry index, not byte offset.
+	 * Server side seek rewinds and skips "offset" entries.
+	 */
 	ctx->offset = ctx->entry_count;
+
 	ret = isobusfs_cli_send_and_register_fa_sf_event(priv,
 							 ctx->handle, 0,
 							 ctx->offset,
@@ -760,11 +809,9 @@ isobusfs_cli_ls_handle_read_dir_sent(struct isobusfs_priv *priv,
 		pr_int("Failed to send seek file request: %i\n", ret);
 
 	ctx->state = ISOBUSFS_CLI_LS_STATE_SEEK_DIR_SENT;
-	}
 
 	return;
 error:
-
 	ctx->state = ISOBUSFS_CLI_LS_STATE_ERROR;
 }
 
@@ -1077,7 +1124,7 @@ 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 },
@@ -603,23 +603,24 @@ struct isobusfs_cli_test_rf_path {
 	uint8_t flags;
 	uint32_t offset;
 	uint32_t read_size;
+	uint32_t expected_size;
 	bool expect_pass;
 };
 
 static struct isobusfs_cli_test_rf_path test_rf_patterns[] = {
 	/* expected result \\vol1\dir1\dir2\ */
-	{ "\\\\vol1\\dir1\\dir2\\file1k", 0, 0, 0, true },
-	{ "\\\\vol1\\dir1\\dir2\\file1k", 0, 0, 1, true },
-	{ "\\\\vol1\\dir1\\dir2\\file1k", 0, 1, 1, true },
-	{ "\\\\vol1\\dir1\\dir2\\file1k", 0, 2, 1, true },
-	{ "\\\\vol1\\dir1\\dir2\\file1k", 0, 3, 1, true },
-	{ "\\\\vol1\\dir1\\dir2\\file1m", 0, 0, 8, true },
-	{ "\\\\vol1\\dir1\\dir2\\file1m", 0, 0, 8 * 100, true },
-	{ "\\\\vol1\\dir1\\dir2\\file1m", 0, 100, 8 * 100, true },
-	{ "\\\\vol1\\dir1\\dir2\\file1m", 0, 0, ISOBUSFS_MAX_DATA_LENGH, true },
-	{ "\\\\vol1\\dir1\\dir2\\file1m", 0, 0, (ISOBUSFS_MAX_DATA_LENGH & ~3) + 16, true },
-	{ "\\\\vol1\\dir1\\dir2\\file1m", 0, 0, ISOBUSFS_MAX_DATA_LENGH + 1, true },
-	{ "\\\\vol1\\dir1\\dir2\\file1m", 0, 0, -1, true },
+	{ "\\\\vol1\\dir1\\dir2\\file1k", 0, 0, 0, 0, true },
+	{ "\\\\vol1\\dir1\\dir2\\file1k", 0, 0, 1, 1, true },
+	{ "\\\\vol1\\dir1\\dir2\\file1k", 0, 1, 1, 1, true },
+	{ "\\\\vol1\\dir1\\dir2\\file1k", 0, 2, 1, 1, true },
+	{ "\\\\vol1\\dir1\\dir2\\file1k", 0, 3, 1, 1, true },
+	{ "\\\\vol1\\dir1\\dir2\\file1m", 0, 0, 8, 8, true },
+	{ "\\\\vol1\\dir1\\dir2\\file1m", 0, 0, 8 * 100, 8 * 100, true },
+	{ "\\\\vol1\\dir1\\dir2\\file1m", 0, 100, 8 * 100, 8 * 100, true },
+	{ "\\\\vol1\\dir1\\dir2\\file1m", 0, 0, ISOBUSFS_MAX_DATA_LENGH, ISOBUSFS_MAX_DATA_LENGH, true },
+	{ "\\\\vol1\\dir1\\dir2\\file1m", 0, 0, (ISOBUSFS_MAX_DATA_LENGH & ~3) + 16, (ISOBUSFS_MAX_DATA_LENGH & ~3) + 16, true },
+	{ "\\\\vol1\\dir1\\dir2\\file1m", 0, 0, ISOBUSFS_MAX_DATA_LENGH + 1, ISOBUSFS_MAX_DATA_LENGH + 1, true },
+	{ "\\\\vol1\\dir1\\dir2\\file1m", 0, 0, UINT32_MAX, 1024 * 1024, true },
 };
 
 size_t current_rf_pattern_test;
@@ -678,7 +679,8 @@ static int isobusfs_cli_test_rf_req(struct isobusfs_priv *priv, bool *complete)
 		&test_rf_patterns[current_rf_pattern_test];
 	uint32_t actual_sum, expected_sum;
 	struct timespec current_time;
-	ssize_t remaining_size, read_size;
+	int64_t remaining_size;
+	ssize_t read_size;
 	int ret;
 
 	clock_gettime(CLOCK_MONOTONIC, &current_time);
@@ -801,16 +803,23 @@ static int isobusfs_cli_test_rf_req(struct isobusfs_priv *priv, bool *complete)
 		free(priv->read_data);
 		priv->read_data = NULL;
 
-		remaining_size = (tp->offset + tp->read_size) -
-				(priv->read_offset + priv->read_data_len);
-		pr_debug("remaining_size: %zd, read_offset: %zu, read_data_len: %zu, test read size: %zu, test offset %zu",
-			 remaining_size, priv->read_offset, priv->read_data_len,
+		remaining_size = ((int64_t)tp->offset + tp->read_size) -
+				((int64_t)priv->read_offset + priv->read_data_len);
+		pr_debug("remaining_size: %lld, read_offset: %u, read_data_len: %zu, test read size: %u, test offset %u",
+			 (long long)remaining_size, priv->read_offset, priv->read_data_len,
 			 tp->read_size, tp->offset);
 		if (remaining_size < 0) {
 			pr_err("pattern test failed: %s. Read size is too big",
 			       tp->path_name);
 			ret = -EINVAL;
 			goto test_fail;
+		} else if (remaining_size == 0) {
+			if (tp->read_size > tp->expected_size) {
+				pr_err("read test failed: %s. Server returned more data than expected file size (%u > %u)",
+				       tp->path_name, tp->read_size, tp->expected_size);
+				ret = -EINVAL;
+				goto test_fail;
+			}
 		} else if (remaining_size > 0 && priv->read_data_len != 0) {
 			priv->read_offset += priv->read_data_len;
 
@@ -825,12 +834,21 @@ static int isobusfs_cli_test_rf_req(struct isobusfs_priv *priv, bool *complete)
 				goto test_fail;
 			test_start_time = current_time;
 			break;
-		} else if (remaining_size > 0 && priv->read_data_len == 0 && tp->expect_pass) {
-			pr_err("read test failed: %s. Read size is zero, but expected more data: %zd",
-			       tp->path_name, remaining_size);
+		} else if (remaining_size > 0 && priv->read_data_len == 0) {
+			if (tp->read_size > tp->expected_size &&
+			    tp->read_size - remaining_size == tp->expected_size) {
+				/* this is acceptable case when read size
+				 * is larger than actual file size
+				 */
+				pr_info("read test passed: %s. Reached end of file as expected.",
+					tp->path_name);
+			} else {
+				pr_err("read test failed: %s. Server returned zero bytes, but expected more data: %lld",
+				       tp->path_name, (long long)remaining_size);
 				ret = -EINVAL;
 				goto test_fail;
 			}
+		}
 
 		/* fall troth */
 	case ISOBUSFS_CLI_STATE_TEST_CLEANUP:

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_cm.h

@@ -39,7 +39,7 @@ struct isobusfs_cm_fss {
 	uint8_t status;
 	uint8_t num_open_files;
 	uint8_t reserved[5];
-};
+} __attribute__((__packed__));
 
 /**
  * C.1.3 Client Connection Maintenance
@@ -58,7 +58,7 @@ struct isobusfs_cm_ccm {
 	uint8_t fs_function;
 	uint8_t version;
 	uint8_t reserved[6];
-};
+} __attribute__((__packed__));
 
 /**
  * C.1.4 Get File Server Properties
@@ -75,7 +75,7 @@ struct isobusfs_cm_ccm {
 struct isobusfs_cm_get_fs_props_req {
 	uint8_t fs_function;
 	uint8_t reserved[7];
-};
+} __attribute__((__packed__));
 
 /* File Server Capabilities */
 /* server support removable volumes */
@@ -104,7 +104,7 @@ struct isobusfs_cm_get_fs_props_resp {
 	uint8_t max_open_files;
 	uint8_t fs_capabilities;
 	uint8_t reserved[4];
-};
+} __attribute__((__packed__));
 
 #define ISOBUSFS_VOL_MODE_PREP_TO_REMOVE	BIT(1)
 #define ISOBUSFS_VOL_MODE_USED_BY_CLIENT	BIT(0)
@@ -130,7 +130,7 @@ struct isobusfs_cm_vol_stat_req {
 	uint8_t volume_mode;
 	__le16 name_len;
 	char name[ISOBUSFS_MAX_VOLUME_NAME_LENGTH];
-};
+} __attribute__((__packed__));
 
 
 enum isobusfs_vol_status {
@@ -169,7 +169,7 @@ struct isobusfs_cm_vol_stat_res {
 	uint8_t error_code;
 	__le16 name_len;
 	char name[ISOBUSFS_MAX_VOLUME_NAME_LENGTH];
-};
+} __attribute__((__packed__));
 
 
 #endif /* ISOBUSFS_CMN_CM_H */

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_cmn_dh.h

@@ -23,7 +23,7 @@ struct isobusfs_dh_get_cd_req {
 	uint8_t fs_function;
 	uint8_t tan;
 	uint8_t reserved[6];
-};
+} __attribute__((__packed__));
 
 /**
  * C.2.2.3 Get Current Directory Response
@@ -50,7 +50,7 @@ struct isobusfs_dh_get_cd_res {
 	__le32 free_space;
 	__le16 name_len;
 	uint8_t name[];
-};
+} __attribute__((__packed__));
 
 /**
  * C.2.3.2 Change Current Directory Request
@@ -71,7 +71,7 @@ struct isobusfs_dh_ccd_req {
 	uint8_t tan;
 	__le16 name_len;
 	uint8_t name[];
-};
+} __attribute__((__packed__));
 
 /**
  * C.2.3.3 Change Current Directory Response
@@ -101,7 +101,7 @@ struct isobusfs_dh_ccd_res {
 	uint8_t tan;
 	uint8_t error_code;
 	uint8_t reserved[5];
-};
+} __attribute__((__packed__));
 
 
 #endif /* _ISOBUSFS_CMN_DH_H */

isobusfs/isobusfs_cmn_fa.h

@@ -105,7 +105,7 @@ struct isobusfs_fa_openf_req {
 	uint8_t flags;
 	__le16 name_len;
 	uint8_t name[];
-};
+} __attribute__((__packed__));
 
 /**
  * C.3.3.3 Open File Response
@@ -141,7 +141,7 @@ struct isobusfs_fa_openf_res {
 	uint8_t handle;
 	uint8_t attributes;
 	uint8_t reserved[3];
-};
+} __attribute__((__packed__));
 
 /* B.17 Position mode */
 /* From the beginning of the file */
@@ -168,7 +168,7 @@ struct isobusfs_fa_seekf_req {
 	uint8_t handle;
 	uint8_t position_mode;
 	__le32 offset;
-};
+} __attribute__((__packed__));
 
 /**
  * C.3.4.2 Seek File Response
@@ -195,7 +195,7 @@ struct isobusfs_fa_seekf_res {
 	uint8_t error_code;
 	uint8_t reserved;
 	__le32 position;
-};
+} __attribute__((__packed__));
 
 /**
  * C.3.5.2 Read File Request
@@ -220,7 +220,7 @@ struct isobusfs_fa_readf_req {
 	uint8_t handle;
 	__le16 count;
 	uint8_t reserved[3];
-};
+} __attribute__((__packed__));
 
 /**
  * C.3.5.3 Read File Response (Handle-referenced file)
@@ -250,7 +250,7 @@ struct isobusfs_read_file_response {
 	uint8_t error_code;
 	__le16 count;
 	uint8_t data[];
-};
+} __attribute__((__packed__));
 
 /**
  * C.3.5.4 Read Directory Response (Handle-referenced directory)
@@ -280,7 +280,7 @@ struct isobusfs_read_dir_response {
 	uint8_t error_code;
 	__le16 count;
 	uint8_t data[];
-};
+} __attribute__((__packed__));
 
 /**
  * C.3.6.2 Write File Request
@@ -303,7 +303,7 @@ struct isobusfs_write_file_request {
 	uint8_t handle;
 	__le16 count;
 	uint8_t data[];
-};
+} __attribute__((__packed__));
 
 /**
  * C.3.6.3 Write File Response
@@ -333,7 +333,7 @@ struct isobusfs_write_file_response {
 	uint8_t error_code;
 	__le16 count;
 	uint8_t reserved[3];
-};
+} __attribute__((__packed__));
 
 /**
  * C.3.7.1 Close File Request
@@ -354,7 +354,7 @@ struct isobusfs_close_file_request {
 	uint8_t tan;
 	uint8_t handle;
 	uint8_t reserved[5];
-};
+} __attribute__((__packed__));
 
 /**
  * C.3.7.2 Close File Response
@@ -378,7 +378,7 @@ struct isobusfs_close_file_res {
 	uint8_t tan;
 	uint8_t error_code;
 	uint8_t reserved[6];
-};
+} __attribute__((__packed__));
 
 
 #endif /* _LINUX_ISOBUS_FS_H */

isobusfs/isobusfs_cmn_fh.h

@@ -32,7 +32,7 @@ struct isobusfs_move_file_request {
 	/* Variable length data follows */
 	/* uint8_t src_path[]; */
 	/* uint8_t dst_path[]; */
-};
+} __attribute__((__packed__));
 
 /**
  * C.4.2.3 Move File Response
@@ -64,7 +64,7 @@ struct isobusfs_move_file_response {
 	uint8_t tan;
 	uint8_t error_code;
 	uint8_t reserved[5];
-};
+} __attribute__((__packed__));
 
 /**
  * C.4.3.1 Delete File Request
@@ -87,7 +87,7 @@ struct isobusfs_delete_file_request {
 	uint8_t mode;
 	__le16 path_len;
 	uint8_t path[];
-};
+} __attribute__((__packed__));
 
 
 /**
@@ -118,7 +118,7 @@ struct isobusfs_delete_file_response {
 	uint8_t tan;
 	uint8_t error_code;
 	uint8_t reserved[5];
-};
+} __attribute__((__packed__));
 
 /**
  * C.4.4.2 Get File Attributes Request
@@ -139,7 +139,7 @@ struct isobusfs_get_file_attributes_request {
 	uint8_t tan;
 	__le16 pathname_len;
 	uint8_t pathname[];
-};
+} __attribute__((__packed__));
 
 /**
  * C.4.4.3 Get File Attributes Response
@@ -171,7 +171,7 @@ struct isobusfs_get_file_attributes_response {
 	uint8_t error_code;
 	uint8_t attributes;
 	__le32 file_size;
-};
+} __attribute__((__packed__));
 
 /**
  * C.4.5.2 Set File Attributes Request
@@ -194,7 +194,7 @@ struct isobusfs_set_file_attributes_request {
 	uint8_t attributes;
 	__le16 name_length;
 	uint8_t name[]; /* Variable length */
-};
+} __attribute__((__packed__));
 
 /**
  * C.4.5.3 Set File Attributes Response
@@ -225,7 +225,7 @@ struct isobusfs_set_file_attributes_response {
 	uint8_t tan;
 	uint8_t error_code;
 	uint8_t reserved[5];
-};
+} __attribute__((__packed__));
 
 /**
  * C.4.6.2 Get File Date & Time Request
@@ -246,7 +246,7 @@ struct isobusfs_get_file_date_time_request {
 	uint8_t tan;
 	__le16 name_length;
 	uint8_t name[]; /* Variable length */
-};
+} __attribute__((__packed__));
 
 /**
  * C.4.6.2 Get File Date & Time Response
@@ -278,6 +278,6 @@ struct isobusfs_get_file_date_time_response {
 	uint8_t error_code;
 	__le16 date;
 	__le16 time;
-};
+} __attribute__((__packed__));
 
 #endif /* _LINUX_ISOBUS_FS_H */

isobusfs/isobusfs_cmn_va.h

@@ -29,7 +29,7 @@ struct isobusfs_va_init_vol_req {
 	uint8_t volume_flags;
 	__le16 name_len;
 	uint8_t name[];
-};
+} __attribute__((__packed__));
 
 /**
  * C.5.2.3 Initialize Volume Response
@@ -62,6 +62,6 @@ struct isobusfs_va_init_vol_res {
 	uint8_t tan;
 	uint8_t error_code;
 	uint8_t reserved[4];
-};
+} __attribute__((__packed__));
 
 #endif /* _ISOBUSFS_CMN_VA_H */

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_cm.c

@@ -20,6 +20,7 @@
  */
 
 #include <errno.h>
+#include <stddef.h>
 #include <stdlib.h>
 #include <string.h>
 #include <time.h>
@@ -473,8 +474,14 @@ static int isobusfs_srv_process_volume_status_request(struct isobusfs_srv_priv *
 
 	req_name_len = le16toh(req->name_len);
 
-	pr_debug("< rx volume status request. mode: %x, length: %d, name: %s",
-		 req->volume_mode, req_name_len, req->name);
+	/* the volume name has to fit into the received message */
+	if (req_name_len > msg->len - offsetof(struct isobusfs_cm_vol_stat_req, name)) {
+		pr_warn("volume name length exceeds message length");
+		return ISOBUSFS_ERR_MALFORMED_REQUEST;
+	}
+
+	pr_debug("< rx volume status request. mode: %x, length: %zu, name: %.*s",
+		 req->volume_mode, req_name_len, (int)req_name_len, req->name);
 
 	client = isobusfs_srv_get_client_by_msg(priv, msg);
 	if (!client) {

isobusfs/isobusfs_srv_dh.c

@@ -170,10 +170,13 @@ static int isobusfs_srv_dh_current_dir_res(struct isobusfs_srv_priv *priv,
 		switch (ret) {
 		case -ENOENT:
 			error_code = ISOBUSFS_ERR_FILE_ORPATH_NOT_FOUND;
+			break;
 		case -ENOMEDIUM:
 			error_code = ISOBUSFS_ERR_VOLUME_NOT_INITIALIZED;
+			break;
 		case -ENOMEM:
 			error_code = ISOBUSFS_ERR_OUT_OF_MEM;
+			break;
 		default:
 			error_code = ISOBUSFS_ERR_OTHER;
 		}
@@ -657,15 +660,22 @@ static int isobusfs_srv_dh_ccd_res(struct isobusfs_srv_priv *priv,
 	uint8_t error_code = ISOBUSFS_ERR_SUCCESS;
 	struct isobusfs_srv_client *client;
 	struct isobusfs_dh_ccd_res res;
+	uint16_t name_len = le16toh(req->name_len);
 	size_t abs_path_len;
 	char *abs_path;
 	int ret;
 
+	/* the path name has to fit into the received message */
+	if (name_len > msg->len - sizeof(*req)) {
+		pr_warn("path name length exceeds message length");
+		return -EINVAL;
+	}
+
 	/*
-	 * 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) {
+	if (name_len > ISOBUSFS_SRV_MAX_PATH_LEN) {
 		pr_warn("path too long");
 		return -EINVAL;
 	}
@@ -684,10 +694,10 @@ static int isobusfs_srv_dh_ccd_res(struct isobusfs_srv_priv *priv,
 	}
 
 	pr_debug("< rx change current directory request from client 0x%2x: %.*s. Current directory: %s",
-		 client->addr, req->name_len, req->name, client->current_dir);
+		 client->addr, name_len, req->name, client->current_dir);
 	/* Normalize provided string and convert it to absolute ISOBUS FS path */
 	ret = isobusfs_convert_relative_to_absolute(priv, client->current_dir,
-						    (char *)req->name, req->name_len,
+						    (char *)req->name, name_len,
 						    abs_path, abs_path_len);
 	if (ret < 0)
 		goto process_error;
@@ -697,7 +707,7 @@ 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

@@ -45,6 +45,9 @@ static int isobusfs_srv_add_file(struct isobusfs_srv_priv *priv,
 	}
 
 	priv->handles[j].path = strdup(path);
+	if (!priv->handles[j].path)
+		return -ENOMEM;
+
 	priv->handles[j].fd = fd;
 	priv->handles[j].dir = dir;
 
@@ -108,6 +111,28 @@ isobusfs_srv_get_handle(struct isobusfs_srv_priv *priv, int handle)
 	return &priv->handles[handle];
 }
 
+/*
+ * Return the handle only when it is in use and has been opened by the
+ * requesting client. Otherwise return NULL.
+ */
+static struct isobusfs_srv_handles *
+isobusfs_srv_get_client_handle(struct isobusfs_srv_priv *priv,
+			       struct isobusfs_srv_client *client, int handle)
+{
+	struct isobusfs_srv_handles *hdl = isobusfs_srv_get_handle(priv, handle);
+	unsigned int i;
+
+	if (!hdl || !hdl->path)
+		return NULL;
+
+	for (i = 0; i < ARRAY_SIZE(hdl->clients); i++) {
+		if (hdl->clients[i] == client)
+			return hdl;
+	}
+
+	return NULL;
+}
+
 static int isobusfs_srv_release_handle(struct isobusfs_srv_priv *priv,
 				       struct isobusfs_srv_client *client,
 				       int handle)
@@ -137,6 +162,7 @@ static int isobusfs_srv_release_handle(struct isobusfs_srv_priv *priv,
 					closedir(hdl->dir);
 				else
 					close(hdl->fd);
+				free(hdl->path);
 				memset(hdl, 0, sizeof(*hdl));
 				priv->handles_count--;
 			}
@@ -495,15 +521,119 @@ static int check_access_with_base(const char *base_dir,
 	return access(full_path, mode);
 }
 
+/*
+ * ISO 11783-13:2021 B.21 and B.15:
+ * Filters directory entries that can be returned in a Read File response
+ * for directory handles while collecting the attributes and name length.
+ */
+/**
+ * isobusfs_srv_dir_entry_visible() - Filter visible directory entries.
+ * @handle: Directory handle for access checks.
+ * @entry: Directory entry to inspect.
+ * @file_stat: Stat buffer to fill for the entry.
+ * @entry_name_len: Returns entry name length on success.
+ * @attributes: Returns computed attributes on success.
+ *
+ * ISO 11783-13:2021 B.21 and B.15 define the directory entry layout and
+ * attributes. This helper skips entries that are not readable or too long
+ * and returns attributes for the entry that will be serialized.
+ *
+ * Return: true when the entry should be emitted, false otherwise.
+ */
+static bool isobusfs_srv_dir_entry_visible(struct isobusfs_srv_handles *handle,
+					   const struct dirent *entry,
+					   struct stat *file_stat,
+					   size_t *entry_name_len,
+					   uint8_t *attributes)
+{
+	if (check_access_with_base(handle->path, entry->d_name, R_OK) != 0)
+		return false;
+
+	if (fstatat(handle->fd, entry->d_name, file_stat, 0) < 0)
+		return false;
+
+	*entry_name_len = strlen(entry->d_name);
+	if (*entry_name_len > ISOBUSFS_MAX_DIR_ENTRY_NAME_LENGTH)
+		return false;
+
+	if (S_ISDIR(file_stat->st_mode))
+		*attributes |= ISOBUSFS_ATTR_DIRECTORY;
+	if (check_access_with_base(handle->path, entry->d_name, W_OK) != 0)
+		*attributes |= ISOBUSFS_ATTR_READ_ONLY;
+
+	return true;
+}
+
+/*
+ * ISO 11783-13:2021 C.3.4.2 and C.3.5.2:
+ * Directory offsets/counts are in entries, so advance the directory stream
+ * by visible entries only and report EOF if the entry offset is past the end.
+ */
+/**
+ * isobusfs_srv_dir_skip_entries() - Advance directory stream by entries.
+ * @handle: Directory handle to reposition.
+ * @offset: Entry offset to seek to.
+ *
+ * ISO 11783-13:2021 C.3.4.2 and C.3.5.2 state directory offsets/counts are in
+ * entries. This helper advances by visible entries only.
+ *
+ * Return: ISOBUSFS_ERR_SUCCESS or a protocol error code.
+ */
+static int isobusfs_srv_dir_skip_entries(struct isobusfs_srv_handles *handle,
+					 int32_t offset)
+{
+	struct dirent *entry;
+	int32_t skipped = 0;
+
+	rewinddir(handle->dir);
+
+	while (skipped < offset && (entry = readdir(handle->dir)) != NULL) {
+		struct stat file_stat;
+		size_t entry_name_len = 0;
+		uint8_t attributes = 0;
+
+		if (!isobusfs_srv_dir_entry_visible(handle, entry, &file_stat,
+						    &entry_name_len,
+						    &attributes))
+			continue;
+
+		skipped++;
+	}
+
+	if (offset > 0 && skipped < offset)
+		return ISOBUSFS_ERR_END_OF_FILE;
+
+	return ISOBUSFS_ERR_SUCCESS;
+}
+
+/**
+ * isobusfs_srv_read_directory() - Read directory entries into a response buffer.
+ * @handle: Directory handle to read.
+ * @buffer: Output buffer for directory entries.
+ * @max_bytes: Maximum payload bytes allowed in the response.
+ * @max_entries: Maximum number of entries to return.
+ * @readed_size: Returns payload size in bytes.
+ * @entries_read: Returns number of entries serialized.
+ *
+ * ISO 11783-13:2021 C.3.5.2: directory Count is entry based. This function
+ * encodes up to @max_entries entries while respecting @max_bytes.
+ *
+ * Return: ISOBUSFS_ERR_SUCCESS or a protocol error code.
+ */
 static int isobusfs_srv_read_directory(struct isobusfs_srv_handles *handle,
-				       uint8_t *buffer, size_t count,
-				       ssize_t *readed_size)
+				       uint8_t *buffer, size_t max_bytes,
+				       uint16_t max_entries,
+				       ssize_t *readed_size,
+				       uint16_t *entries_read)
 {
 	DIR *dir = handle->dir;
 	struct dirent *entry;
 	size_t pos = 0;
+	int ret;
 
 	/*
+	 * ISO 11783-13:2021 C.3.5.2:
+	 * Directory offsets are entry indices, not byte positions.
 	 * Position the directory stream to the previously stored offset (handle->dir_pos).
 	 *
 	 * Handling Changes in Directory Contents:
@@ -519,13 +649,18 @@ static int isobusfs_srv_read_directory(struct isobusfs_srv_handles *handle,
 	 *   either returning an error or restarting from the beginning of the directory, depending
 	 *   on the application's requirements.
 	 */
-	for (int i = 0; i < handle->dir_pos &&
-	     (entry = readdir(dir)) != NULL; i++) {
-		/* Iterating to the desired position */
+	if (handle->dir_pos < 0) {
+		pr_err("Directory handle in invalid state (pos=%d)\n",
+		       handle->dir_pos);
+		return ISOBUSFS_ERR_INVALID_HANDLE;
 	}
 
+	ret = isobusfs_srv_dir_skip_entries(handle, handle->dir_pos);
+	if (ret != ISOBUSFS_ERR_SUCCESS)
+		return ret;
+
 	/*
-	 * Directory Entry Layout:
+	 * Directory Entry Layout (ISO 11783-13:2021 B.21):
 	 * This loop reads directory entries and encodes them into a buffer.
 	 * Each entry in the buffer follows the format specified in ISO 11783-13:2021.
 	 *
@@ -550,26 +685,23 @@ static int isobusfs_srv_read_directory(struct isobusfs_srv_handles *handle,
 	 * The handle->dir_pos is incremented after processing each entry, marking
 	 * the current position in the directory stream for subsequent reads.
 	 */
-	while ((entry = readdir(dir)) != NULL) {
+	*entries_read = 0;
+	while ((entry = readdir(dir)) != NULL &&
+	       (*entries_read) < max_entries) {
 		size_t entry_name_len, entry_total_len;
 		__le16 file_date, file_time;
-		uint8_t attributes = 0;
 		struct stat file_stat;
+		uint8_t attributes = 0;
 		__le32 size;
 
-		if (check_access_with_base(handle->path, entry->d_name, R_OK) != 0)
-			continue; /* Skip this entry if it's not readable */
-
-		if (fstatat(handle->fd, entry->d_name, &file_stat, 0) < 0)
-			continue; /* Skip this entry on error */
-
-		entry_name_len = strlen(entry->d_name);
-		if (entry_name_len > ISOBUSFS_MAX_DIR_ENTRY_NAME_LENGTH)
+		if (!isobusfs_srv_dir_entry_visible(handle, entry, &file_stat,
+						    &entry_name_len,
+						    &attributes))
 			continue;
 
 		entry_total_len = 1 + entry_name_len + 1 + 2 + 2 + 4;
 
-		if (pos + entry_total_len > count)
+		if (pos + entry_total_len > max_bytes)
 			break;
 
 		buffer[pos++] = (uint8_t)entry_name_len;
@@ -577,10 +709,6 @@ static int isobusfs_srv_read_directory(struct isobusfs_srv_handles *handle,
 		memcpy(buffer + pos, entry->d_name, entry_name_len);
 		pos += entry_name_len;
 
-		if (S_ISDIR(file_stat.st_mode))
-			attributes |= ISOBUSFS_ATTR_DIRECTORY;
-		if (check_access_with_base(handle->path, entry->d_name, W_OK) != 0)
-			attributes |= ISOBUSFS_ATTR_READ_ONLY;
 		buffer[pos++] = attributes;
 
 		file_date = htole16(convert_to_file_date(file_stat.st_mtime));
@@ -594,9 +722,11 @@ static int isobusfs_srv_read_directory(struct isobusfs_srv_handles *handle,
 		size = htole32(file_stat.st_size);
 		memcpy(buffer + pos, &size, sizeof(size));
 		pos += sizeof(size);
+		(*entries_read)++;
 	}
 
 	*readed_size = pos;
+	handle->dir_pos += *entries_read;
 	return 0;
 }
 
@@ -609,13 +739,19 @@ static int isobusfs_srv_fa_rf_req(struct isobusfs_srv_priv *priv,
 	struct isobusfs_srv_client *client;
 	struct isobusfs_fa_readf_req *req;
 	ssize_t readed_size = 0;
+	uint16_t entries_read = 0;
 	uint8_t error_code = 0;
 	ssize_t send_size;
+	bool res_allocated = false;
+	size_t alloc_size;
+	size_t max_bytes = 0;
+	uint16_t count = 0;
 	int ret = 0;
-	int count;
+	bool is_dir = false;
 
 	req = (struct isobusfs_fa_readf_req *)msg->buf;
 	count = le16toh(req->count);
+	res = (struct isobusfs_read_file_response *)&res_fail[0];
 
 	pr_debug("< rx: Read File Request. tan: %d, handle: %d, count: %d",
 		 req->tan, req->handle, count);
@@ -627,17 +763,6 @@ static int isobusfs_srv_fa_rf_req(struct isobusfs_srv_priv *priv,
 	 * TODO: currently we are not able to detect support transport mode,
 	 * so ETP is assumed.
 	 */
-	if (count > ISOBUSFS_MAX_DATA_LENGH)
-		count = ISOBUSFS_MAX_DATA_LENGH;
-
-	res = malloc(sizeof(*res) + count);
-	if (!res) {
-		pr_warn("failed to allocate memory");
-		res = (struct isobusfs_read_file_response *)&res_fail[0];
-		error_code = ISOBUSFS_ERR_OUT_OF_MEM;
-		goto send_response;
-	}
-
 	client = isobusfs_srv_get_client_by_msg(priv, msg);
 	if (!client) {
 		pr_warn("client not found");
@@ -645,16 +770,42 @@ static int isobusfs_srv_fa_rf_req(struct isobusfs_srv_priv *priv,
 		goto send_response;
 	}
 
-	handle = isobusfs_srv_get_handle(priv, req->handle);
+	handle = isobusfs_srv_get_client_handle(priv, client, req->handle);
 	if (!handle) {
 		pr_warn("failed to find file with handle: %x", req->handle);
 		error_code = ISOBUSFS_ERR_FILE_ORPATH_NOT_FOUND;
+		goto send_response;
 	}
 
 	/* Determine whether to read a file or a directory */
 	if (handle->dir) {
-		ret = isobusfs_srv_read_directory(handle, res->data, count,
-						  &readed_size);
+		/* ISO 11783-13:2021 C.3.5.2: count is entry count for directories. */
+		is_dir = true;
+		max_bytes = ISOBUSFS_MAX_DATA_LENGH;
+	} else {
+		if (count > ISOBUSFS_MAX_DATA_LENGH)
+			count = ISOBUSFS_MAX_DATA_LENGH;
+		max_bytes = count;
+	}
+
+	/* the response is padded to ISOBUSFS_MIN_TRANSFER_LENGH (see below) */
+	alloc_size = sizeof(*res) + max_bytes;
+	if (alloc_size < ISOBUSFS_MIN_TRANSFER_LENGH)
+		alloc_size = ISOBUSFS_MIN_TRANSFER_LENGH;
+
+	res = malloc(alloc_size);
+	if (!res) {
+		pr_warn("failed to allocate memory");
+		res = (struct isobusfs_read_file_response *)&res_fail[0];
+		error_code = ISOBUSFS_ERR_OUT_OF_MEM;
+		goto send_response;
+	}
+	res_allocated = true;
+
+	if (is_dir) {
+		ret = isobusfs_srv_read_directory(handle, res->data, max_bytes,
+						  count, &readed_size,
+						  &entries_read);
 	} else {
 		ret = isobusfs_srv_read_file(handle, res->data, count,
 					     &readed_size);
@@ -663,7 +814,10 @@ static int isobusfs_srv_fa_rf_req(struct isobusfs_srv_priv *priv,
 	if (ret < 0) {
 		error_code = ret;
 		readed_size = 0;
-	} else if (count != 0 && readed_size == 0) {
+		entries_read = 0;
+	} else if (count != 0 &&
+		   ((is_dir && entries_read == 0) ||
+		    (!is_dir && readed_size == 0))) {
 		error_code = ISOBUSFS_ERR_END_OF_FILE;
 	}
 
@@ -673,11 +827,18 @@ send_response:
 					    ISOBUSFS_FA_F_READ_FILE_RES);
 	res->tan = req->tan;
 	res->error_code = error_code;
+	if (is_dir)
+		res->count = htole16(entries_read);
+	else
 		res->count = htole16(readed_size);
 
 	send_size = sizeof(*res) + readed_size;
-	if (send_size < ISOBUSFS_MIN_TRANSFER_LENGH)
+	if (send_size < ISOBUSFS_MIN_TRANSFER_LENGH) {
+		/* fill the unused bytes with 0xff */
+		memset((uint8_t *)res + send_size, 0xff,
+		       ISOBUSFS_MIN_TRANSFER_LENGH - send_size);
 		send_size = ISOBUSFS_MIN_TRANSFER_LENGH;
+	}
 
 	/* send to socket */
 	ret = isobusfs_srv_sendto(priv, msg, res, send_size);
@@ -686,10 +847,11 @@ 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:
+	if (res_allocated)
 		free(res);
 	return ret;
 }
@@ -754,19 +916,56 @@ static int isobusfs_srv_seek(struct isobusfs_srv_priv *priv,
 	return ISOBUSFS_ERR_SUCCESS;
 }
 
+/**
+ * isobusfs_srv_seek_directory() - Seek a directory by entry index.
+ * @handle: Directory handle to seek.
+ * @offset: Entry index to seek to.
+ *
+ * ISO 11783-13:2021 C.3.4.2 defines directory offsets as entry indices.
+ *
+ * Return: ISOBUSFS_ERR_SUCCESS or a protocol error code.
+ */
 static int isobusfs_srv_seek_directory(struct isobusfs_srv_handles *handle,
 				       int32_t offset)
 {
-	DIR *dir = fdopendir(handle->fd);
+	int32_t current_pos = handle->dir_pos;
+	int ret;
 
-	if (!dir)
+	if (!handle->dir)
 		return ISOBUSFS_ERR_OTHER;
 
-	rewinddir(dir);
+	/* Check if handle is in valid state */
+	if (current_pos < 0) {
+		pr_err("Cannot seek directory in invalid state (pos=%d)\n",
+		       current_pos);
+		return ISOBUSFS_ERR_INVALID_HANDLE;
+	}
 
-	for (int32_t i = 0; i < offset; i++) {
-		if (readdir(dir) == NULL)
-			return ISOBUSFS_ERR_END_OF_FILE;
+	/* Validate requested offset */
+	if (offset < 0) {
+		pr_err("Invalid seek offset: %d\n", offset);
+		return ISOBUSFS_ERR_INVALID_REQUESTED_LENGHT;
+	}
+
+	/*
+	 * ISO 11783-13:2021 C.3.4.2:
+	 * Directory offsets are entry indices. If we fail to seek, restore
+	 * the previous entry position since the position shall not change on error.
+	 */
+	ret = isobusfs_srv_dir_skip_entries(handle, offset);
+	if (ret != ISOBUSFS_ERR_SUCCESS) {
+		int restore_ret;
+
+		restore_ret = isobusfs_srv_dir_skip_entries(handle, current_pos);
+		if (restore_ret != ISOBUSFS_ERR_SUCCESS) {
+			pr_warn("Failed to restore directory position after seek failure: %d -> %d",
+				current_pos, restore_ret);
+			/* Directory stream is now in undefined state.
+			 * Mark position as invalid.
+			 */
+			handle->dir_pos = -1;
+		}
+		return ret;
 	}
 
 	handle->dir_pos = offset;
@@ -796,7 +995,7 @@ static int isobusfs_srv_fa_sf_req(struct isobusfs_srv_priv *priv,
 		goto send_response;
 	}
 
-	handle = isobusfs_srv_get_handle(priv, req->handle);
+	handle = isobusfs_srv_get_client_handle(priv, client, req->handle);
 	if (!handle) {
 		pr_warn("failed to find handle: %x", req->handle);
 		error_code = ISOBUSFS_ERR_INVALID_HANDLE;

j1939_timedate/j1939_timedate_srv.c

@@ -41,6 +41,7 @@ static void gmtime_to_j1939_pgn_65254_td(struct j1939_time_date_packet *tdp)
 	utc_tm = gmtime_r(&now, &utc_tm_buf);
 	local_tm = localtime_r(&now, &local_tm_buf);
 
+	if (local_tm) {
 		/* Calculate the offsets */
 		hour_offset = local_tm->tm_hour - utc_tm->tm_hour;
 		minute_offset = local_tm->tm_min - utc_tm->tm_min;
@@ -52,6 +53,11 @@ static void gmtime_to_j1939_pgn_65254_td(struct j1939_time_date_packet *tdp)
 			else
 				hour_offset -= 24;  /* before midnight */
 		}
+	} else {
+		/* The local time offsets cannot be determined at the moment */
+		hour_offset = 0xF9;
+		minute_offset = 0xFF;
+	}		
 
 	/*
 	 * Seconds (spn959):

j1939acd.c

@@ -618,6 +618,12 @@ int main(int argc, char *argv[])
 			}
 			break;
 		case J1939_PGN_ADDRESS_COMMANDED:
+			/* 8 bytes NAME + 1 byte new source address */
+			if (ret < 9)
+				break;
+			/* only accept valid unicast addresses */
+			if (dat[8] > J1939_MAX_UNICAST_ADDR)
+				break;
 			if (!host_is_little_endian())
 				bswap(dat, 8);
 			memcpy(&cmd_name, dat, 8);

lib.c

@@ -83,8 +83,8 @@ static inline void _put_id(char *buf, int end_offset, canid_t id)
 
 /* CAN DLC to real data length conversion helpers */
 
-static const unsigned char dlc2len[] = {0, 1, 2, 3, 4, 5, 6, 7,
-					8, 12, 16, 20, 24, 32, 48, 64};
+static const unsigned char dlc2len[] = {
+	0, 1, 2, 3, 4, 5, 6, 7,	8, 12, 16, 20, 24, 32, 48, 64};
 
 /* get data length from raw data length code (DLC) */
 unsigned char can_fd_dlc2len(unsigned char dlc)
@@ -92,7 +92,8 @@ unsigned char can_fd_dlc2len(unsigned char dlc)
 	return dlc2len[dlc & 0x0F];
 }
 
-static const unsigned char len2dlc[] = {0, 1, 2, 3, 4, 5, 6, 7, 8,		/* 0 - 8 */
+static const unsigned char len2dlc[] = {
+	0, 1, 2, 3, 4, 5, 6, 7, 8,		/* 0 - 8 */
 	9, 9, 9, 9,				/* 9 - 12 */
 	10, 10, 10, 10,				/* 13 - 16 */
 	11, 11, 11, 11,				/* 17 - 20 */
@@ -154,7 +155,7 @@ int hexstring2data(char *arg, unsigned char *data, int maxdlen)
 	return 0;
 }
 
-int parse_canframe(char *cs, cu_t *cu)
+int parse_canframe(char *cs, union cfu *cu)
 {
 	/* documentation see lib.h */
 
@@ -169,21 +170,23 @@ int parse_canframe(char *cs, cu_t *cu)
 
 	memset(cu, 0, sizeof(*cu)); /* init CAN CC/FD/XL frame, e.g. LEN = 0 */
 
-	if (len < 4)
-		return 0;
+	if (len >= 4 && cs[3] == CANID_DELIM) { /* 3 digits SFF CAN ID */
 
-	if (cs[3] == CANID_DELIM) { /* 3 digits SFF */
+		idx = 4; /* start of frame data */
 
-		idx = 4;
+		/* get 3 digits SFF CAN ID value */
 		for (i = 0; i < 3; i++) {
 			if ((tmp = asc2nibble(cs[i])) > 0x0F)
 				return 0;
 			cu->cc.can_id |= tmp << (2 - i) * 4;
 		}
 
-	} else if (cs[5] == CANID_DELIM) { /* 5 digits CAN XL VCID/PRIO*/
+	} else if (len >= 21 && cs[5] == CANID_DELIM && cs[20] == CANID_DELIM) {
+		/* 5 digits CAN XL VCID/PRIO - but also check for 2nd '#' here */
 
-		idx = 6;
+		idx = 6; /* start of CAN XL frame extra content (AF, SDT, etc) */
+
+		/* get 5 digits CAN XL VCID/PRIO */
 		for (i = 0; i < 5; i++) {
 			if ((tmp = asc2nibble(cs[i])) > 0x0F)
 				return 0;
@@ -195,9 +198,11 @@ int parse_canframe(char *cs, cu_t *cu)
 		cu->xl.prio &= CANXL_PRIO_MASK;
 		cu->xl.prio |= tmp;
 
-	} else if (cs[8] == CANID_DELIM) { /* 8 digits EFF */
+	} else if (len >= 9 && cs[8] == CANID_DELIM) { /* 8 digits EFF CAN ID */
 
-		idx = 9;
+		idx = 9; /* start of frame data */
+
+		/* get 8 digits EFF CAN ID value */
 		for (i = 0; i < 8; i++) {
 			if ((tmp = asc2nibble(cs[i])) > 0x0F)
 				return 0;
@@ -238,11 +243,12 @@ int parse_canframe(char *cs, cu_t *cu)
 		cu->fd.flags |= CANFD_FDF; /* dual-use */
 		idx += 2;
 
-	} else if (cs[idx + 14] == CANID_DELIM) { /* CAN XL frame '#80:00:11223344#' */
+	} else if (idx == 6) { /* CAN XL frame extra content '#80:00:11223344#' */
 		maxdlen = CANXL_MAX_DLEN;
 		mtu = CANXL_MTU;
-		data = cu->xl.data; /* fill CAN XL data */
+		data = cu->xl.data; /* overwrite pointer to CAN XL data */
 
+		/* get CAN XL frame extra content */
 		if ((cs[idx + 2] != XL_HDR_DELIM) || (cs[idx + 5] != XL_HDR_DELIM))
 			return 0;
 
@@ -276,6 +282,7 @@ int parse_canframe(char *cs, cu_t *cu)
 		idx++; /* skip CANID_DELIM */
 	}
 
+	/* copy CAN frame data content */
 	for (i = 0, dlen = 0; i < maxdlen; i++) {
 		if (cs[idx] == DATA_SEPERATOR) /* skip (optional) separator */
 			idx++;
@@ -308,7 +315,7 @@ int parse_canframe(char *cs, cu_t *cu)
 	return mtu;
 }
 
-int snprintf_canframe(char *buf, size_t size, cu_t *cu, int sep)
+int snprintf_canframe(char *buf, size_t size, union cfu *cu, int sep)
 {
 	/* documentation see lib.h */
 
@@ -432,7 +439,7 @@ int snprintf_canframe(char *buf, size_t size, cu_t *cu, int sep)
 	return offset;
 }
 
-int snprintf_long_canframe(char *buf, size_t size, cu_t *cu, int view)
+int snprintf_long_canframe(char *buf, size_t size, union cfu *cu, int view)
 {
 	/* documentation see lib.h */
 
@@ -657,6 +664,7 @@ int snprintf_long_canframe(char *buf, size_t size, cu_t *cu, int view)
 	return offset;
 }
 
+/* check CANERR_BUFFSZ in lib.h when changing the error frame strings */
 static const char *error_classes[] = {
 	"tx-timeout",
 	"lost-arbitration",
@@ -837,6 +845,13 @@ int snprintf_can_error_frame(char *buf, size_t len, const struct canfd_frame *cf
 	if (!sep)
 		sep = defsep;
 
+	/* the size of the provided buffer has to fit CANERR_BUFFSZ (see lib.h) */
+	if (len < CANERR_BUFFSZ) {
+		if (len)
+			buf[0] = 0; /* empty terminated string */
+		return 0;
+	}
+
 	for (i = 0; i < (int)ARRAY_SIZE(error_classes); i++) {
 		mask = 1 << i;
 		if (class & mask) {

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
@@ -57,11 +59,11 @@ static inline int pr_debug(const char* fmt, ...) {return 0;}
 #endif
 
 /* CAN CC/FD/XL frame union */
-typedef union {
+union cfu {
 	struct can_frame cc;
 	struct canfd_frame fd;
 	struct canxl_frame xl;
-} cu_t;
+};
 
 /*
  * The buffer size for ASCII CAN frame string representations
@@ -108,7 +110,7 @@ int hexstring2data(char *arg, unsigned char *data, int maxdlen);
  *
  */
 
-int parse_canframe(char *cs, cu_t *cu);
+int parse_canframe(char *cs, union cfu *cu);
 /*
  * Transfers a valid ASCII string describing a CAN frame into the CAN union
  * containing CAN CC/FD/XL structs.
@@ -178,7 +180,7 @@ int parse_canframe(char *cs, cu_t *cu);
  * - CAN FD frames do not have a RTR bit
  */
 
-int snprintf_canframe(char *buf, size_t size, cu_t *cu, int sep);
+int snprintf_canframe(char *buf, size_t size, union cfu *cu, int sep);
 /*
  * Creates a CAN frame hexadecimal output in compact format.
  * The CAN data[] is separated by '.' when sep != 0.
@@ -211,7 +213,7 @@ int snprintf_canframe(char *buf, size_t size, cu_t *cu, int sep);
 
 #define SWAP_DELIMITER '`'
 
-int snprintf_long_canframe(char *buf, size_t size, cu_t *cu, int view);
+int snprintf_long_canframe(char *buf, size_t size, union cfu *cu, int view);
 /*
  * Creates a CAN frame hexadecimal output in user readable format.
  *
@@ -236,11 +238,30 @@ int snprintf_long_canframe(char *buf, size_t size, cu_t *cu, int view);
  * data bytes is limited to 64 to fit terminal output use-cases.
  */
 
-int snprintf_can_error_frame(char *buf, size_t len, const struct canfd_frame *cf,
-			     const char *sep);
 /*
  * Creates a CAN error frame output in user readable format.
+ *
+ * buf: buffer for the output string
+ * len: size of the provided buffer buf in bytes (incl. string termination)
+ * sep: separator string between the error classes (NULL => default ",")
+ *
+ * The buffer size len needs to be at least CANERR_BUFFSZ bytes - otherwise
+ * an empty string is returned.
+ *
+ * Calculation of the required buffer size:
+ * The longest error frame content (all error classes and details set) has
+ * 465 characters plus the string termination = 466 bytes. Additionally up
+ * to 9 separators are inserted which results in 466 + 9 * strlen(sep) bytes,
+ * e.g. 466 + 9 * 2 = 484 bytes for "\n\t" (as used in candump).
+ * With CANERR_BUFFSZ = 800 the separator must not exceed 37 characters.
+ *
+ * When the error frame content (the strings in lib.c) is changed, the current
+ * values have to be re-calculated and CANERR_BUFFSZ has to be adapted if needed.
  */
+#define CANERR_BUFFSZ 800
+
+int snprintf_can_error_frame(char *buf, size_t len, const struct canfd_frame *cf,
+			     const char *sep);
 
 /**
  * timespec_diff_ms - calculate timespec difference in milliseconds

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

@@ -183,7 +183,7 @@ static void canfd_asc(struct canfd_frame *cf, int devno, int mtu,
 	fprintf(outfile, " %8d %4d %8X 0 0 0 0 0", 130000, 130, flags);
 }
 
-static void canxl_asc(cu_t *cu, int devno, int mtu,
+static void canxl_asc(union cfu *cu, int devno, int mtu,
 		      char *extra_info, FILE *outfile)
 {
 	char id[10];
@@ -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 */
@@ -314,7 +314,7 @@ int main(int argc, char **argv)
 {
 	static char buf[BUFSZ], device[DEVSZ], afrbuf[AFRSZ], extra_info[EXTRASZ];
 
-	static cu_t cu;
+	static union cfu cu;
 	static struct timeval tv, start_tv;
 	FILE *infile = stdin;
 	FILE *outfile = stdout;
@@ -407,7 +407,22 @@ int main(int argc, char **argv)
 			}
 		}
 		tv.tv_sec = sec;
+
+		/*
+		 * 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 */
@@ -61,14 +61,14 @@
 #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
 
 int main(void)
 {
 	static char buf[BUFSZ], timestamp[TIMESZ], device[DEVSZ], afrbuf[AFRSZ];
-	static cu_t cu;
+	static union cfu cu;
 	int mtu;
 
 	while (fgets(buf, BUFSZ-1, stdin)) {
@@ -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);

mcp251xfd/mcp251xfd-regmap.c

@@ -72,8 +72,7 @@ int mcp251xfd_regmap_read(struct mcp251xfd_priv *priv,
 		return 0;
 
 	/* maybe it's something like "spi0.0" */
-	tmp = strchr(file_path, '/');
-	if (tmp)
+	if (strchr(file_path, '/'))
 		return -ENOENT;
 
 	/* first try literally */

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) {
+		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);

slcanpty.c

@@ -58,6 +58,7 @@ static int pty2can(int pty, int socket, struct can_filter *fi,
 	static char buf[200];
 	char replybuf[10]; /* for answers to received commands */
 	unsigned int ptr;
+	unsigned int msglen; /* length of the current SLCAN message w/o '\r' */
 	struct can_frame frame;
 	int ret, i;
 	static unsigned int rxoffset = 0; /* points to the end of an received incomplete SLCAN message */
@@ -102,6 +103,7 @@ rx_restart:
 		return 0;
 	}
 
+	msglen = tmp;
 	cmd = buf[0];
 	buf[nbytes] = 0;
 
@@ -112,10 +114,11 @@ rx_restart:
 			pr_debug("%c", buf[tmp]);
 	pr_debug("\n");
 
+	/* terminate the current SLCAN message to not read the following content */
+	buf[msglen] = 0;
+
 	/* check for filter configuration commands */
 	if (cmd == 'm' || cmd == 'M') {
-		buf[9] = 0; /* terminate filter string */
-		ptr = 9;
 #if 0
 		/* the filter is no SocketCAN filter :-( */
 
@@ -140,14 +143,12 @@ rx_restart:
 	/* check for timestamp on/off command */
 	if (cmd == 'Z') {
 		*tstamp = buf[1] & 0x01;
-		ptr = 2;
 		goto rx_out_ack;
 	}
 
 	/* check for 'O'pen command */
 	if (cmd == 'O') {
 		setsockopt(socket, SOL_CAN_RAW, CAN_RAW_FILTER, fi, sizeof(struct can_filter));
-		ptr = 1;
 		*is_open = 1;
 		goto rx_out_ack;
 	}
@@ -155,7 +156,6 @@ rx_restart:
 	/* check for 'C'lose command */
 	if (cmd == 'C') {
 		setsockopt(socket, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0);
-		ptr = 1;
 		*is_open = 0;
 		goto rx_out_ack;
 	}
@@ -164,14 +164,12 @@ rx_restart:
 	if (cmd == 'V') {
 		sprintf(replybuf, "V1013\r");
 		tmp = strlen(replybuf);
-		ptr = 1;
 		goto rx_out;
 	}
 	/* check for 'v'ersion command */
 	if (cmd == 'v') {
 		sprintf(replybuf, "v1014\r");
 		tmp = strlen(replybuf);
-		ptr = 1;
 		goto rx_out;
 	}
 
@@ -179,7 +177,6 @@ rx_restart:
 	if (cmd == 'N') {
 		sprintf(replybuf, "N4242\r");
 		tmp = strlen(replybuf);
-		ptr = 1;
 		goto rx_out;
 	}
 
@@ -187,29 +184,23 @@ rx_restart:
 	if (cmd == 'F') {
 		sprintf(replybuf, "F00\r");
 		tmp = strlen(replybuf);
-		ptr = 1;
 		goto rx_out;
 	}
 
 	/* correctly answer unsupported commands */
 	if (cmd == 'U') {
-		ptr = 2;
 		goto rx_out_ack;
 	}
 	if (cmd == 'S') {
-		ptr = 2;
 		goto rx_out_ack;
 	}
 	if (cmd == 's') {
-		ptr = 5;
 		goto rx_out_ack;
 	}
 	if (cmd == 'P' || cmd == 'A') {
-		ptr = 1;
 		goto rx_out_nack;
 	}
 	if (cmd == 'X') {
-		ptr = 2;
 		if (buf[1] & 0x01)
 			goto rx_out_ack;
 		else
@@ -217,16 +208,18 @@ rx_restart:
 	}
 
 	/* catch unknown commands */
-	if ((cmd != 't') && (cmd != 'T') && (cmd != 'r') && (cmd != 'R')) {
-		ptr = nbytes - 1;
+	if ((cmd != 't') && (cmd != 'T') && (cmd != 'r') && (cmd != 'R'))
 		goto rx_out_nack;
-	}
 
 	if (cmd & 0x20) /* tiny chars 'r' 't' => SFF */
 		ptr = 4; /* dlc position tiiid */
 	else
 		ptr = 9; /* dlc position Tiiiiiiiid */
 
+	/* the CAN ID has to fit into the current SLCAN message */
+	if (ptr > msglen)
+		goto rx_out_nack;
+
 	memset(&frame.data, 0, 8); /* clear data[] */
 
 	if ((cmd | 0x20) == 'r' && buf[ptr] != '0') {
@@ -249,7 +242,6 @@ rx_restart:
 
 		buf[ptr] = frame.can_dlc; /* restore following byte */
 		frame.can_dlc = 0;
-		ptr--; /* we have no dlc component in the violation case */
 
 	} else {
 		if (!(buf[ptr] >= '0' && buf[ptr] < '9'))
@@ -277,9 +269,6 @@ rx_restart:
 				goto rx_out_nack;
 			frame.data[i] |= tmp;
 		}
-		/* point to last real data */
-		if (frame.can_dlc)
-			ptr--;
 	}
 
 	ret = write(socket, &frame, sizeof(frame));
@@ -303,8 +292,8 @@ rx_out:
 	}
 
 	/* check if there is another command in this buffer */
-	if (nbytes > ptr + 1) {
-		for (tmp = 0, ptr++; ptr + tmp < nbytes; tmp++)
+	if (nbytes > msglen + 1) {
+		for (tmp = 0, ptr = msglen + 1; ptr + tmp < nbytes; tmp++)
 			buf[tmp] = buf[ptr + tmp];
 		nbytes = tmp;
 		goto rx_restart;

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)