diff --git a/canerrsim.c b/canerrsim.c new file mode 100644 index 00000000..3f742093 --- /dev/null +++ b/canerrsim.c @@ -0,0 +1,574 @@ +//////////////////////////////////////////////////////////////////////////////////////////////////// +// // +// 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 +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#define can_interface_name argv[1] +#define STR_EQUAL 0 + +void show_help_and_exit() { + printf("\n"); + printf("Usage: canerrsim \n"); + printf("\n"); + printf("CAN interface: ( CAN interface is case sensitive )\n"); + printf(" can0 ( or can1, can2 or virtual ones like vcan0, vcan1...\n"); + printf("\n"); + printf("Options: ( options are not case sensitive )\n"); + printf(" ( ERROR CLASS (MASK) IN CAN ID: )\n"); + printf(" TxTimeout ( TX timeout by netdevice driver )\n"); + printf(" NoAck ( received no ACK on transmission )\n"); + printf(" BusOff ( bus off )\n"); + printf(" BusError ( bus error, may flood! )\n"); + printf(" Restarted ( controller restarted )\n"); + printf(" TxCount=<00..FF> ( TX error counter )\n"); + printf(" RxCount=<00..FF> ( RX error counter )\n"); + printf(" ( ARBITRATIONLOST IN CAN ID + BIT NUMBER IN DATA[0]: )\n"); + printf(" LostArBit=<00..29> ( decimal lost arbitration bit number in bitstream )\n"); + printf(" ( CONTROLLER IN CAN ID + ERROR STATUS IN DATA[1]: )\n"); + printf(" OverflowRX ( RX buffer overflow )\n"); + printf(" OverflowTX ( TX buffer overflow )\n"); + printf(" WarningRX ( reached warning level for RX errors )\n"); + printf(" WarningTX ( reached warning level for TX errors )\n"); + printf(" PassiveRX ( reached error passive status RX, errors > 127 )\n"); + printf(" PassiveTX ( reached error passive status TX, errors > 127 )\n"); + printf(" Active ( recovered to error active state )\n"); + printf(" ( PROTOCOL ERROR IN CAN ID + TYPE IN DATA[2]: )\n"); + printf(" SingleBit ( single bit error )\n"); + printf(" FrameFormat ( frame format error )\n"); + printf(" BitStuffing ( bit stuffing error )\n"); + printf(" Bit0 ( unable to send dominant bit )\n"); + printf(" Bit1 ( unable to send recessive bit )\n"); + printf(" BusOverload ( bus overload )\n"); + printf(" ActiveAnnouncement ( active error announcement )\n"); + printf(" TX ( error occurred on transmission )\n"); + printf(" ( PROTOCOL ERROR IN CAN ID + LOCATION IN DATA[3]: )\n"); + printf(" SOF ( start of frame )\n"); + printf(" ID28_21 ( ID bits 21..28, SFF: 3..10 )\n"); + printf(" ID20_18 ( ID bits 18..20, SFF: 0..2 )\n"); + printf(" SRTR ( substitute RTR, SFF: RTR )\n"); + printf(" IDE ( identifier extension )\n"); + printf(" ID17_13 ( ID bits 13..17 )\n"); + printf(" ID12_05 ( ID bits 5..12 )\n"); + printf(" ID04_00 ( ID bits 0..4 )\n"); + printf(" RTR ( RTR )\n"); + printf(" RES1 ( reserved bit 1 )\n"); + printf(" RES0 ( reserved bit 0 )\n"); + printf(" DLC ( data length code )\n"); + printf(" DATA ( data section )\n"); + printf(" CRC_SEQ ( CRC sequence )\n"); + printf(" CRC_DEL ( CRC delimiter )\n"); + printf(" ACK ( ACK slot )\n"); + printf(" ACK_DEL ( ACK delimiter )\n"); + printf(" EOF ( end of frame )\n"); + printf(" INTERM ( intermission )\n"); + printf(" ( TRANSCEIVER ERROR IN CAN ID + STATUS IN DATA[4]: )\n"); + printf(" ( CANH CANL )\n"); + printf(" TransUnspec ( 0000 0000 )\n"); + printf(" CanHiNoWire ( 0000 0100 )\n"); + printf(" CanHiShortToBAT ( 0000 0101 )\n"); + printf(" CanHiShortToVCC ( 0000 0110 )\n"); + printf(" CanHiShortToGND ( 0000 0111 )\n"); + printf(" CanLoNoWire ( 0100 0000 )\n"); + printf(" CanLoShortToBAT ( 0101 0000 )\n"); + printf(" CanLoShortToVCC ( 0110 0000 )\n"); + printf(" CanLoShortToGND ( 0111 0000 )\n"); + printf(" CanLoShortToCanHi ( 1000 0000 )\n"); + printf(" ( CUSTOM BYTE TO DATA[0..7]: )\n"); + printf(" Data<0..7>=<00..FF> ( write hex number to one of 8 payload bytes )\n"); + printf(" ( DEBUG HELPERS: )\n"); + printf(" ShowBits ( display all frame bits )\n"); + printf("\n"); + printf("Examples:\n"); + printf("\n"); + printf(" ./canerrsim can1 LostArBit=09 Data3=AA Data4=BB ShowBits\n"); + printf(" ( can1: 9th arb. bit lost, custom bytes in Data[3] and Data[4], show debug frame bits )\n"); + printf("\n"); + printf(" ./canerrsim vcan0 NoAck TxTimeout Active\n"); + printf(" ( vcan0: received no ACK on transmission, driver timeout, protocol type active error announcement )\n"); + printf("\n"); + printf(" ./canerrsim vcan0 BusError CanHiNoWire Restarted INTERM\n"); + printf(" ( vcan0: bus error, lost CANH wiring, controller restarted, protocol location intermission )\n"); + printf("\n"); + exit(EXIT_SUCCESS); +} + +void err_exit(const char *msg) { + printf(msg); + exit(EXIT_FAILURE); +} + +void show_custom_format_and_exit(const char *param, const char *format) { + char str_buf[80]; + sprintf(str_buf, format, param); + err_exit(str_buf); +} + +void show_invalid_option(const char *option) { + show_custom_format_and_exit(option, "Error: Invalid option %s\n"); +} + +void show_err_and_exit(const char *err_type) { + show_custom_format_and_exit(err_type, "Error: You can only have one %s parameter!\n"); +} + +void show_loc_err_and_exit() { + show_err_and_exit("protocol location"); +} + +void show_arb_err_and_exit() { + show_err_and_exit("arbitration bit"); +} + +void show_transc_err_and_exit() { + show_err_and_exit("transceiver"); +} + +void print_binary(uint32_t number) { + uint32_t mask = 0x80000000; // start with the most significant bit + for (int i = 0; i < 32; i++) { + putchar((number & mask) ? '1' : '0'); + mask >>= 1; // shift the mask to the right + } +} + + + +int main(int argc, char *argv[]) { + int sock; + struct sockaddr_can addr; + struct ifreq ifr; + struct can_frame frame; + bool show_bits, location_processed, transceiver_processed, arbitration_processed = false; + char tmp_str[256]; + + printf("CAN Sockets Error Messages Simulator\n"); + if (argc < 3) + show_help_and_exit(); + + // initialize CAN frame + memset(&frame, 0, sizeof(frame)); + frame.can_id = CAN_ERR_FLAG; + frame.can_dlc = CAN_ERR_DLC; + + // Parse command line parameters + for (int i = 2; i < argc; i++) { + //printf("strlen(argv[%d]) = %d\n", i, strlen(argv[i])); + + // error class (mask) in can_id + if (strcasecmp(argv[i], "TxTimeout") == STR_EQUAL) + frame.can_id |= CAN_ERR_TX_TIMEOUT; // generate TxTimeout error + else if (strcasecmp(argv[i], "NoAck") == STR_EQUAL) + frame.can_id |= CAN_ERR_ACK; // generate NoAck error + else if (strcasecmp(argv[i], "BusOff") == STR_EQUAL) + frame.can_id |= CAN_ERR_BUSOFF; // generate BusOff error + else if (strcasecmp(argv[i], "BusError") == STR_EQUAL) + frame.can_id |= CAN_ERR_BUSERROR; // generate BusError error + else if (strcasecmp(argv[i], "Restarted") == STR_EQUAL) + frame.can_id |= CAN_ERR_RESTARTED; // generate Restarted error + // error status of CAN controller / data[1] + else if (strcasecmp(argv[i], "OverflowRX") == STR_EQUAL) { + frame.can_id |= CAN_ERR_CRTL; // generate Controller error + frame.data[1] |= CAN_ERR_CRTL_RX_OVERFLOW; // generate RX Overflow suberror + } + else if (strcasecmp(argv[i], "OverflowTX") == STR_EQUAL) { + frame.can_id |= CAN_ERR_CRTL; // generate Controller error + frame.data[1] |= CAN_ERR_CRTL_TX_OVERFLOW; // generate TX Overflow suberror + } + else if (strcasecmp(argv[i], "WarningRX") == STR_EQUAL) { + frame.can_id |= CAN_ERR_CRTL; // generate Controller error + frame.data[1] |= CAN_ERR_CRTL_RX_WARNING; // generate RX Warning suberror + } + else if (strcasecmp(argv[i], "WarningTX") == STR_EQUAL) { + frame.can_id |= CAN_ERR_CRTL; // generate Controller error + frame.data[1] |= CAN_ERR_CRTL_TX_WARNING; // generate TX Warning suberror + } + else if (strcasecmp(argv[i], "PassiveRX") == STR_EQUAL) { + frame.can_id |= CAN_ERR_CRTL; // generate Controller error + frame.data[1] |= CAN_ERR_CRTL_RX_PASSIVE; // generate RX Passive suberror + } + else if (strcasecmp(argv[i], "PassiveTX") == STR_EQUAL) { + frame.can_id |= CAN_ERR_CRTL; // generate Controller error + frame.data[1] |= CAN_ERR_CRTL_TX_PASSIVE; // generate TX Passive suberror + } + else if (strcasecmp(argv[i], "Active") == STR_EQUAL) { + frame.can_id |= CAN_ERR_CRTL; // generate Controller error + frame.data[1] |= CAN_ERR_CRTL_ACTIVE; // generate Active suberror + } + else if (strcasecmp(argv[i], "CtrlUnspec") == STR_EQUAL) { + frame.can_id |= CAN_ERR_CRTL; // generate Controller error + frame.data[1] = CAN_ERR_CRTL_UNSPEC; // generate Unspec suberror + } + // error in CAN protocol (type) / data[2] + else if (strcasecmp(argv[i], "SingleBit") == STR_EQUAL) { + frame.can_id |= CAN_ERR_PROT; // generate Protocol Type error + frame.data[2] = CAN_ERR_PROT_BIT; // generate SingleBit suberror + } + else if (strcasecmp(argv[i], "FrameFormat") == STR_EQUAL) { + frame.can_id |= CAN_ERR_PROT; // generate Protocol Type error + frame.data[2] = CAN_ERR_PROT_FORM; // generate FrameFormat suberror + } + else if (strcasecmp(argv[i], "BitStuffing") == STR_EQUAL) { + frame.can_id |= CAN_ERR_PROT; // generate Protocol Type error + frame.data[2] = CAN_ERR_PROT_STUFF; // generate BitStuffing suberror + } + else if (strcasecmp(argv[i], "Bit0") == STR_EQUAL) { + frame.can_id |= CAN_ERR_PROT; // generate Protocol Type error + frame.data[2] = CAN_ERR_PROT_BIT0; // generate Bit0 suberror + } + else if (strcasecmp(argv[i], "Bit1") == STR_EQUAL) { + frame.can_id |= CAN_ERR_PROT; // generate Protocol Type error + frame.data[2] = CAN_ERR_PROT_BIT1; // generate Bit1 suberror + } + else if (strcasecmp(argv[i], "BusOverload") == STR_EQUAL) { + frame.can_id |= CAN_ERR_PROT; // generate Protocol Type error + frame.data[2] = CAN_ERR_PROT_OVERLOAD; // generate BusOverload suberror + } + else if (strcasecmp(argv[i], "ActiveAnnouncement") == STR_EQUAL) { + frame.can_id |= CAN_ERR_PROT; // generate Protocol Type error + frame.data[2] = CAN_ERR_PROT_ACTIVE; // generate ActiveAnnouncement suberror + } + else if (strcasecmp(argv[i], "TX") == STR_EQUAL) { + frame.can_id |= CAN_ERR_PROT; // generate Protocol Type error + frame.data[2] = CAN_ERR_PROT_TX; // generate TX suberror + } + else if (strcasecmp(argv[i], "ProtUnspec") == STR_EQUAL) { + frame.can_id |= CAN_ERR_PROT; // generate Protocol Type error + frame.data[2] = CAN_ERR_PROT_UNSPEC; // generate Unspec suberror + } + // error in CAN protocol (location) / data[3] + else if (strcasecmp(argv[i], "LocUnspec") == STR_EQUAL) { + if (location_processed) show_loc_err_and_exit; + frame.can_id |= CAN_ERR_PROT; // generate Protocol Location error + frame.data[3] = CAN_ERR_PROT_LOC_UNSPEC; // generate Unspec suberror + location_processed = true; + } + else if (strcasecmp(argv[i], "SOF") == STR_EQUAL) { + if (location_processed) show_loc_err_and_exit; + frame.can_id |= CAN_ERR_PROT; // generate Protocol Location error + frame.data[3] = CAN_ERR_PROT_LOC_SOF; // generate SOF suberror + location_processed = true; + } + else if (strcasecmp(argv[i], "SOF") == STR_EQUAL) { + if (location_processed) show_loc_err_and_exit; + frame.can_id |= CAN_ERR_PROT; // generate Protocol Location error + frame.data[3] = CAN_ERR_PROT_LOC_SOF; // generate SOF suberror + location_processed = true; + } + else if (strcasecmp(argv[i], "ID28_21") == STR_EQUAL) { + if (location_processed) show_loc_err_and_exit; + frame.can_id |= CAN_ERR_PROT; // generate Protocol Location error + frame.data[3] = CAN_ERR_PROT_LOC_ID28_21; // generate ID28_21 suberror + location_processed = true; + } + else if (strcasecmp(argv[i], "ID20_18") == STR_EQUAL) { + if (location_processed) show_loc_err_and_exit; + frame.can_id |= CAN_ERR_PROT; // generate Protocol Location error + frame.data[3] = CAN_ERR_PROT_LOC_ID20_18; // generate ID20_18 suberror + location_processed = true; + } + else if (strcasecmp(argv[i], "SRTR") == STR_EQUAL) { + if (location_processed) show_loc_err_and_exit; + frame.can_id |= CAN_ERR_PROT; // generate Protocol Location error + frame.data[3] = CAN_ERR_PROT_LOC_SRTR; // generate SRTR suberror + location_processed = true; + } + else if (strcasecmp(argv[i], "IDE") == STR_EQUAL) { + if (location_processed) show_loc_err_and_exit; + frame.can_id |= CAN_ERR_PROT; // generate Protocol Location error + frame.data[3] = CAN_ERR_PROT_LOC_IDE; // generate IDE suberror + location_processed = true; + } + else if (strcasecmp(argv[i], "ID17_13") == STR_EQUAL) { + if (location_processed) show_loc_err_and_exit; + frame.can_id |= CAN_ERR_PROT; // generate Protocol Location error + frame.data[3] = CAN_ERR_PROT_LOC_ID17_13; // generate ID17_13 suberror + location_processed = true; + } + else if (strcasecmp(argv[i], "ID12_05") == STR_EQUAL) { + if (location_processed) show_loc_err_and_exit; + frame.can_id |= CAN_ERR_PROT; // generate Protocol Location error + frame.data[3] = CAN_ERR_PROT_LOC_ID12_05; // generate ID12_05 suberror + location_processed = true; + } + else if (strcasecmp(argv[i], "ID04_00") == STR_EQUAL) { + if (location_processed) show_loc_err_and_exit; + frame.can_id |= CAN_ERR_PROT; // generate Protocol Location error + frame.data[3] = CAN_ERR_PROT_LOC_ID04_00; // generate ID04_00 suberror + location_processed = true; + } + else if (strcasecmp(argv[i], "RTR") == STR_EQUAL) { + if (location_processed) show_loc_err_and_exit; + frame.can_id |= CAN_ERR_PROT; // generate Protocol Location error + frame.data[3] = CAN_ERR_PROT_LOC_RTR; // generate RTR suberror + location_processed = true; + } + else if (strcasecmp(argv[i], "RES1") == STR_EQUAL) { + if (location_processed) show_loc_err_and_exit; + frame.can_id |= CAN_ERR_PROT; // generate Protocol Location error + frame.data[3] = CAN_ERR_PROT_LOC_RES1; // generate RES1 suberror + location_processed = true; + } + else if (strcasecmp(argv[i], "RES0") == STR_EQUAL) { + if (location_processed) show_loc_err_and_exit; + frame.can_id |= CAN_ERR_PROT; // generate Protocol Location error + frame.data[3] = CAN_ERR_PROT_LOC_RES0; // generate RES0 suberror + location_processed = true; + } + else if (strcasecmp(argv[i], "DLC") == STR_EQUAL) { + if (location_processed) show_loc_err_and_exit; + frame.can_id |= CAN_ERR_PROT; // generate Protocol Location error + frame.data[3] = CAN_ERR_PROT_LOC_DLC; // generate DLC suberror + location_processed = true; + } + else if (strcasecmp(argv[i], "DATA") == STR_EQUAL) { + if (location_processed) show_loc_err_and_exit; + frame.can_id |= CAN_ERR_PROT; // generate Protocol Location error + frame.data[3] = CAN_ERR_PROT_LOC_DATA; // generate DATA suberror + location_processed = true; + } + else if (strcasecmp(argv[i], "CRC_SEQ") == STR_EQUAL) { + if (location_processed) show_loc_err_and_exit; + frame.can_id |= CAN_ERR_PROT; // generate Protocol Location error + frame.data[3] = CAN_ERR_PROT_LOC_CRC_SEQ; // generate CRC_SEQ suberror + location_processed = true; + } + else if (strcasecmp(argv[i], "CRC_DEL") == STR_EQUAL) { + if (location_processed) show_loc_err_and_exit; + frame.can_id |= CAN_ERR_PROT; // generate Protocol Location error + frame.data[3] = CAN_ERR_PROT_LOC_CRC_DEL; // generate CRC_DEL suberror + location_processed = true; + } + else if (strcasecmp(argv[i], "ACK") == STR_EQUAL) { + if (location_processed) show_loc_err_and_exit; + frame.can_id |= CAN_ERR_PROT; // generate Protocol Location error + frame.data[3] = CAN_ERR_PROT_LOC_ACK; // generate ACK suberror + location_processed = true; + } + else if (strcasecmp(argv[i], "ACK_DEL") == STR_EQUAL) { + if (location_processed) show_loc_err_and_exit; + frame.can_id |= CAN_ERR_PROT; // generate Protocol Location error + frame.data[3] = CAN_ERR_PROT_LOC_ACK_DEL; // generate ACK_DEL suberror + location_processed = true; + } + else if (strcasecmp(argv[i], "EOF") == STR_EQUAL) { + if (location_processed) show_loc_err_and_exit; + frame.can_id |= CAN_ERR_PROT; // generate Protocol Location error + frame.data[3] = CAN_ERR_PROT_LOC_EOF; // generate EOF suberror + location_processed = true; + } + else if (strcasecmp(argv[i], "INTERM") == STR_EQUAL) { + if (location_processed) show_loc_err_and_exit; + frame.can_id |= CAN_ERR_PROT; // generate Protocol Location error + frame.data[3] = CAN_ERR_PROT_LOC_INTERM; // generate INTERM suberror + location_processed = true; + } + // error status of CAN transceiver / data[4] + else if (strcasecmp(argv[i], "TransUnspec") == STR_EQUAL) { + if (transceiver_processed) show_transc_err_and_exit; + frame.can_id |= CAN_ERR_TRX; // generate Transceiver error + frame.data[4] = CAN_ERR_TRX_UNSPEC; // generate EOF suberror + location_processed = true; + } + else if (strcasecmp(argv[i], "CanHiNoWire") == STR_EQUAL) { + if (transceiver_processed) show_transc_err_and_exit; + frame.can_id |= CAN_ERR_TRX; // generate Transceiver error + frame.data[4] = CAN_ERR_TRX_CANH_NO_WIRE; // generate CanHiNoWire suberror + location_processed = true; + } + else if (strcasecmp(argv[i], "CanHiShortToBAT") == STR_EQUAL) { + if (transceiver_processed) show_transc_err_and_exit; + frame.can_id |= CAN_ERR_TRX; // generate Transceiver error + frame.data[4] = CAN_ERR_TRX_CANH_SHORT_TO_BAT; // generate CanHiShortToBAT suberror + location_processed = true; + } + else if (strcasecmp(argv[i], "CanHiShortToVCC") == STR_EQUAL) { + if (transceiver_processed) show_transc_err_and_exit; + frame.can_id |= CAN_ERR_TRX; // generate Transceiver error + frame.data[4] = CAN_ERR_TRX_CANH_SHORT_TO_VCC; // generate CanHiShortToVCC suberror + location_processed = true; + } + else if (strcasecmp(argv[i], "CanHiShortToGND") == STR_EQUAL) { + if (transceiver_processed) show_transc_err_and_exit; + frame.can_id |= CAN_ERR_TRX; // generate Transceiver error + frame.data[4] = CAN_ERR_TRX_CANH_SHORT_TO_GND; // generate CanHiShortToGND suberror + location_processed = true; + } + else if (strcasecmp(argv[i], "CanLoNoWire") == STR_EQUAL) { + if (transceiver_processed) show_transc_err_and_exit; + frame.can_id |= CAN_ERR_TRX; // generate Transceiver error + frame.data[4] = CAN_ERR_TRX_CANL_NO_WIRE; // generate CanLoNoWire suberror + location_processed = true; + } + else if (strcasecmp(argv[i], "CanLoShortToBAT") == STR_EQUAL) { + if (transceiver_processed) show_transc_err_and_exit; + frame.can_id |= CAN_ERR_TRX; // generate Transceiver error + frame.data[4] = CAN_ERR_TRX_CANL_SHORT_TO_BAT; // generate CanLoShortToBAT suberror + location_processed = true; + } + else if (strcasecmp(argv[i], "CanLoShortToVCC") == STR_EQUAL) { + if (transceiver_processed) show_transc_err_and_exit; + frame.can_id |= CAN_ERR_TRX; // generate Transceiver error + frame.data[4] = CAN_ERR_TRX_CANL_SHORT_TO_VCC; // generate CanLoShortToVCC suberror + location_processed = true; + } + else if (strcasecmp(argv[i], "CanLoShortToGND") == STR_EQUAL) { + if (transceiver_processed) show_transc_err_and_exit; + frame.can_id |= CAN_ERR_TRX; // generate Transceiver error + frame.data[4] = CAN_ERR_TRX_CANL_SHORT_TO_GND; // generate CanLoShortToGND suberror + location_processed = true; + } + else if (strcasecmp(argv[i], "CanLoShortToCanHi") == STR_EQUAL) { + if (transceiver_processed) show_transc_err_and_exit; + frame.can_id |= CAN_ERR_TRX; // generate Transceiver error + frame.data[4] = CAN_ERR_TRX_CANL_SHORT_TO_CANH; // generate CanLoShortToCanHi suberror + location_processed = true; + } + // LostArBit=29 (Totallength=12) + else if ((strlen(argv[i]) == 12) && // 'LostArBit=29' + (argv[i][9] == '=') && // '=' + (argv[i][10] >= '0' && argv[i][10] <= '2') && // valid bits are from 00 to 29 (in decimal) + (argv[i][11] >= '0' && argv[i][11] <= '9')) { // valid bits are from 00 to 29 (in decimal) + unsigned char arb_bit_num = (argv[i][10] - '0') * 10 + argv[i][11] - '0'; // convert decimal bitnumber to byte + argv[i][9] = 0; // terminate string for comparison + if (strcasecmp(argv[i], "LostArBit") == STR_EQUAL) { + if (arbitration_processed) show_arb_err_and_exit; + frame.can_id |= CAN_ERR_LOSTARB; // generate LostArbitartionBit error + frame.data[0] = arb_bit_num; // bitnumber + arbitration_processed = true; + } + else { + argv[i][9] = '='; // undo string termination + show_invalid_option(argv[i]); + } + } + // Data1=F4 (Totallength=8) // since this does not set any error bit, has to be combined with other errors + else if ((strlen(argv[i]) == 8) && // 'Data1=F4' + (argv[i][4] >= '0' && argv[i][4] <= '7') && // valid data bytes are from 0 to 7 (in decimal) + (argv[i][5] == '=') && // '=' + ((argv[i][6] >= '0' && argv[i][6] <= '9') || (argv[i][6] >= 'A' && argv[i][6] <= 'F')) && // first hexadecimal digit + ((argv[i][7] >= '0' && argv[i][7] <= '9') || (argv[i][6] >= 'A' && argv[i][6] <= 'F'))) { // second hexadecimal digit + unsigned char data_byte_value, data_byte_no = 0; + data_byte_no = argv[i][4] - '0'; // convert order number of data byte (Data1 to 1, Data2 to 2...) + data_byte_value = 0; + if (argv[i][6] >= 'A') // convert higher digit hexadecimal char to byte + data_byte_value += (argv[i][6] - 'A' + 10) * 16; + else + data_byte_value += (argv[i][6] - '0' ) * 16; + if (argv[i][7] >= 'A') // convert lower digit hexadecimal char to byte + data_byte_value += (argv[i][7] - 'A' + 10); + else + data_byte_value += (argv[i][7] - '0' ); + argv[i][4] = 0; // terminate string for comparison + if (strcasecmp(argv[i], "Data") == STR_EQUAL) { + if (transceiver_processed) show_transc_err_and_exit; + frame.data[data_byte_no] = data_byte_value; // populate proper data byte + arbitration_processed = true; + } + else { + argv[i][4] = data_byte_no + '0'; // undo string termination + show_invalid_option(argv[i]); + } + } + // RxCount=F4 or TxCount=3A (Totallength=10) + else if ((strlen(argv[i]) == 10) && // 'RxCounter=F4' or 'TxCounter=3A' + (argv[i][7] == '=') && // '=' + ((argv[i][8] >= '0' && argv[i][8] <= '9') || (argv[i][8] >= 'A' && argv[i][8] <= 'F')) && // first hexadecimal digit + ((argv[i][9] >= '0' && argv[i][9] <= '9') || (argv[i][9] >= 'A' && argv[i][9] <= 'F'))) { // second hexadecimal digit + unsigned char counter_value = 0; + if (argv[i][8] >= 'A') // convert higher digit hexadecimal char to byte + counter_value += (argv[i][8] - 'A' + 10) * 16; + else + counter_value += (argv[i][8] - '0' ) * 16; + if (argv[i][9] >= 'A') // convert lower digit hexadecimal char to byte + counter_value += (argv[i][9] - 'A' + 10); + else + counter_value += (argv[i][9] - '0' ); + argv[i][7] = 0; // terminate string for comparison + if (strcasecmp(argv[i], "TxCount") == STR_EQUAL) { + frame.can_id |= CAN_ERR_CNT; // generate TxCounter error + frame.data[6] = counter_value; // populate proper data byte + } + else if (strcasecmp(argv[i], "RxCount") == STR_EQUAL) { + frame.can_id |= CAN_ERR_CNT; // generate RxCounter error + frame.data[7] = counter_value; // populate proper data byte + } + else { + argv[i][7] = '='; // undo string termination + show_invalid_option(argv[i]); + } + } + else if (strcasecmp(argv[i], "ShowBits") == STR_EQUAL) // DEBUG helper + show_bits = true; // Display frame as bits + else + show_invalid_option(argv[i]); + } + + if (show_bits == true) { + printf("CAN ID = "); + print_binary(frame.can_id); + printf("\n"); + // printf("frame.can_dlc = %d\n", frame.can_dlc); + printf("CAN Data = "); + for (size_t i = 0; i < frame.can_dlc; i++) + printf("%02X ", frame.data[i]); + printf("\n"); + } + + // create socket + if ((sock = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) + err_exit("Error while opening socket"); + + // set interface name + strcpy(ifr.ifr_name, can_interface_name); // can0, vcan0... + if (ioctl(sock, SIOCGIFINDEX, &ifr) < 0) { + sprintf(tmp_str, "Error setting CAN interface name %s", can_interface_name); + err_exit(tmp_str); + } + + // bind socket to the CAN interface + addr.can_family = AF_CAN; + addr.can_ifindex = ifr.ifr_ifindex; + if (bind(sock, (struct sockaddr *)&addr, sizeof(addr)) < 0) + err_exit("Error in socket bind"); + + // Send CAN error frame + if (write(sock, &frame, sizeof(frame)) < 0) + err_exit("Error writing to socket"); + else + printf("CAN error frame sent\n"); + + close(sock); + + return 0; +}