cantools

A collection of CLI tools for receiving and transmitting CAN frames using Linux SocketCAN

Description

These tools can be used - and were developed - using a Raspberry Pi 3 with a PiCAN2 HAT.

• cantx: one-time or cyclic transmission of a single frame
• canprint: printing frames into the console
• cangw: routing frames between CAN and UDP

Build

Use make to build all tools or make cangw etc.

Usage

Tool	Options	Short	Required	Default	Description
cantx	device id payload cycle realtime	-d -i -p -c -r	✓	can0 00 -1 (send once) false	CAN device Frame ID Hex data string Repetition time in ms Enable realtime scheduling policy
canprint	device	-d		can0	CAN device
cangw	listen send realtime timestamp device ip port	-l -s -r -t -d -i -p	-l ∨ -s -l ∨ -s ✓ ✓	false false can0	Route frames from CAN to UDP Route frames from UDP to CAN Enable realtime scheduling policy Prefix payload with 8-byte timestamp (ms) CAN device IP of remote device UDP port

Examples:

# Send frame each 100 ms
$ ./cantx --device=can0 --id=42 --data=0807060504030201 --cycle=100

# Route frames from CAN to UDP
$ ./cangw --listen --ip=192.168.1.5 --port=30001

# Same but using short options
$ ./cangw -li 192.168.1.5 -p 30001

# Route frames between interfaces and add timestamps to UDP payload
$ ./cangw -lsti 192.168.1.5 -p 30001

Acknowledgements

cxxopts for parsing command line options