CAN development

see also

• can playground repo

Virtual can

A virtual can adapter can be created for testing and development without actual hardware.

create virtual vcan0 interface with

# create a vritual can device
modprobe vcan
ip link add dev vcan0 type vcan
ip link set up vcan0

test vcan0

• terminal 1: candump vcan0
• terminal 2: cansend vcan0 123#1122334455667788

Note

to create vcan0 on system startup, a service can be installed. install/setup_vcan_service.sh is a script that creates a service called create_vcan0. This is an easy way to to create virtial adapter. It can always be disabled by stopping or disabling the service.

References

• python-can

Can viewer

python3 -m can.viewer -c "vcan0" -i "socketcan"

    Shortcuts:
    +---------+-------------------------------+
    |   Key   |       Description             |
    +---------+-------------------------------+
    | ESQ/q   | Exit the viewer               |
    | c       | Clear the stored frames       |
    | s       | Sort the stored frames        |
    | h       | Toggle highlight byte changes |
    | SPACE   | Pause the viewer              |
    | UP/DOWN | Scroll the viewer             |
    +---------+-------------------------------+

data below is generated by tools/gen_dbc_docs.py

Cantools

dump & decode:

candump vcan0 | cantools decode --single-line odrive-cansimple.dbc