I am currently working on a internal project that involves understanding and demonstrating CAN bus-off attacks. I need some assistance in configuring and implementing a bus-off attack using MCP2515.

Can someone say how to configure the CAN controller to intentionally induce errors leading to a bus-off state?

Also, How to configure two or more devices to send frames with the same ID at the same time? and

What is the tolerance level or time interface between IDs when two devices send frames with the same ID simultaneously? How precisely do the timings need to be synchronized to ensure the frames collide and cause a bus-off condition?

I appreciate any guidance, code examples, or references that the community can provide.