/cantools

A collection of CLI tools for the CAN bus network

Primary LanguageC++MIT LicenseMIT

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