diff options
Diffstat (limited to 'src/cansequence.c')
| -rw-r--r-- | src/cansequence.c | 16 |
1 files changed, 16 insertions, 0 deletions
diff --git a/src/cansequence.c b/src/cansequence.c index 87347d6..ce25009 100644 --- a/src/cansequence.c +++ b/src/cansequence.c @@ -95,12 +95,19 @@ static void do_receive() uint32_t sequence_delta = 0; uint32_t sequence = 0; unsigned int overflow_old = 0; + can_err_mask_t err_mask = CAN_ERR_MASK; if (setsockopt(s, SOL_SOCKET, SO_RXQ_OVFL, &dropmonitor_on, sizeof(dropmonitor_on)) < 0) { perror("setsockopt() SO_RXQ_OVFL not supported by your Linux Kernel"); } + /* enable recv. of error messages */ + if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_ERR_FILTER, &err_mask, sizeof(err_mask))) { + perror("setsockopt()"); + exit(EXIT_FAILURE); + } + /* enable recv. now */ if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, filter, sizeof(filter))) { perror("setsockopt()"); @@ -120,6 +127,15 @@ static void do_receive() exit(EXIT_FAILURE); } + if (frame.can_id & CAN_ERR_FLAG) { + fprintf(stderr, + "sequence CNT: %6u, ERRORFRAME %7x %02u %02u %02u %02u %02u %02u %02u %02u\n", + sequence, frame.can_id, + frame.data[0], frame.data[1], frame.data[2], frame.data[3], + frame.data[4], frame.data[5], frame.data[6], frame.data[7]); + continue; + } + sequence_rx = frame.data[0]; if (sequence_init) { |