From a373695c4bb1df4f93008eaf7abe5a077ce812b1 Mon Sep 17 00:00:00 2001
From: Razvalyaev <wot890089@mail.ru>
Date: Fri, 12 Sep 2025 14:51:32 +0300
Subject: [PATCH] =?UTF-8?q?=D0=B4=D0=BE=D1=80=D0=B0=D0=B1=D0=BE=D1=82?=
 =?UTF-8?q?=D0=B0=D0=BD=20bit=20stuff?=
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(он другой стмкой определялся как form error, а не stuff error)
---
 Core/CANEmu/canConfig.h |  2 +-
 Core/CANEmu/canform.c   | 41 ++++++++++++++++++++++-------------------
 MDK-ARM/CANEmu.uvoptx   | 17 +++++++++++++++++
 3 files changed, 40 insertions(+), 20 deletions(-)

diff --git a/Core/CANEmu/canConfig.h b/Core/CANEmu/canConfig.h
index 1871b71..5aca7c2 100644
--- a/Core/CANEmu/canConfig.h
+++ b/Core/CANEmu/canConfig.h
@@ -2,7 +2,7 @@
 #define CANCONFIG_H
 
 #define CAN_ONLY_EMULATING
-//#define CAN_ERROR_WITH_CORRECT_CRC
+#define CAN_ERROR_WITH_CORRECT_CRC
 
 
 // Настройки GPIO и таймера
diff --git a/Core/CANEmu/canform.c b/Core/CANEmu/canform.c
index 1c1a3eb..07ca72c 100644
--- a/Core/CANEmu/canform.c
+++ b/Core/CANEmu/canform.c
@@ -36,29 +36,32 @@ uint16_t compute_crc15(const uint8_t *bits, uint32_t len) {
     }
     return crc;
 }
+int stuff_to_skip = 1;
 void apply_bit_stuffing_with_error(const uint8_t *src, uint32_t src_len, uint8_t *dst, uint32_t *dst_len, uint8_t skip_stuff) {
-    *dst_len = 0;
-    uint8_t last_bit = src[0];
-    uint8_t count = 1;
-    append_bit(dst, dst_len, last_bit);
+  *dst_len = 0;
+  uint8_t last_bit = src[0];
+  uint8_t count = 1;
+  append_bit(dst, dst_len, last_bit);
 
-    for (uint32_t i = 1; i < src_len; i++) {
-        uint8_t bit = src[i];
-        append_bit(dst, dst_len, bit);
+  for (uint32_t i = 1; i < src_len; i++) {
+    uint8_t bit = src[i];
+    append_bit(dst, dst_len, bit);
 
-        if (bit == last_bit) {
-            count++;
-            if (count == 5) {
-                if (!skip_stuff) {
-                    append_bit(dst, dst_len, !bit); // вставляем противоположный бит
-                }
-                count = 0;
-            }
-        } else {
-            count = 1;
-            last_bit = bit;
-        }
+    if (bit == last_bit) {
+      count++;
+      if (count == 5) {
+        if(skip_stuff != stuff_to_skip)
+          append_bit(dst, dst_len, !bit); // вставляем противоположный бит
+        count = 0;
+        if (skip_stuff) {
+          skip_stuff++;
+        }        
+      }
+    } else {
+      count = 1;
+      last_bit = bit;
     }
+  }
 }
 
 // Вспомогательная функция для инверсии бита
diff --git a/MDK-ARM/CANEmu.uvoptx b/MDK-ARM/CANEmu.uvoptx
index a646347..ed67492 100644
--- a/MDK-ARM/CANEmu.uvoptx
+++ b/MDK-ARM/CANEmu.uvoptx
@@ -180,7 +180,24 @@
           <WinNumber>1</WinNumber>
           <ItemText>raw_bits</ItemText>
         </Ww>
+        <Ww>
+          <count>6</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>can_bits</ItemText>
+        </Ww>
+        <Ww>
+          <count>7</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>stuff_to_skip</ItemText>
+        </Ww>
       </WatchWindow1>
+      <WatchWindow2>
+        <Ww>
+          <count>0</count>
+          <WinNumber>2</WinNumber>
+          <ItemText>stuff_to_skip</ItemText>
+        </Ww>
+      </WatchWindow2>
       <Tracepoint>
         <THDelay>0</THDelay>
       </Tracepoint>