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Is there an open source tool for modeling CAN bus with programmable CAN nodes?

I am looking for a tool that will simplify experiments with the settings Network protocol network (CAN protocol), and also experiment with building protocols on top of it.

In particular, I am looking for a simulation of a CAN bus with programmable nodes, so that each node is able to fully control the bits that it displays on the bus in any given packet, but the usual CAN node behavior (for example, frame spacing) and CAN bus functions (for example, arbitration ) are still available.

However, if something close to such a tool exists and is open source, I will likely modify it to suit my requirements.

I looked at CANOpen Magic and RTaW-Sim, but they do not provide the exact functionality that I am looking for, and I cannot modify them because they are not open source.

If there is no such library, indicate this in the comments.

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For pure simulation, you can use the OpenCores CAN controller . You will need to learn Verilog and speed up the launch of Verilog simulations - you can use Icarus Verilog or CVer to run your simulations.

You will have full access to all aspects of the CAN controller through modifications to the Verilog source.

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