linux-can / Can Utils

SocketCAN userspace utilities and tools

This repository contains some userspace utilities for Linux CAN subsystem (aka SocketCAN):

Basic tools to display, record, generate and replay CAN traffic

• candump : display, filter and log CAN data to files
• canplayer : replay CAN logfiles
• cansend : send a single frame
• cangen : generate (random) CAN traffic
• cansequence : send and check sequence of CAN frames with incrementing payload
• cansniffer : display CAN data content differences

CAN access via IP sockets

• canlogserver : log CAN frames from a remote/local host
• bcmserver : interactive BCM configuration (remote/local)
• socketcand : use RAW/BCM/ISO-TP sockets via TCP/IP sockets
• cannelloni : UDP/SCTP based SocketCAN tunnel

CAN in-kernel gateway configuration

• cangw : CAN gateway userspace tool for netlink configuration

CAN bus measurement and testing

• canbusload : calculate and display the CAN busload
• can-calc-bit-timing : userspace version of in-kernel bitrate calculation
• canfdtest : Full-duplex test program (DUT and host part)

ISO-TP tools ISO15765-2:2016 for Linux

• isotpsend : send a single ISO-TP PDU
• isotprecv : receive ISO-TP PDU(s)
• isotpsniffer : 'wiretap' ISO-TP PDU(s)
• isotpdump : 'wiretap' and interpret CAN messages (CAN_RAW)
• isotpserver : IP server for simple TCP/IP <-> ISO 15765-2 bridging (ASCII HEX)
• isotpperf : ISO15765-2 protocol performance visualisation
• isotptun : create a bi-directional IP tunnel on CAN via ISO-TP

J1939/ISOBus tools

• j1939acd : address claim daemon
• j1939cat : take a file and send and receive it over CAN
• j1939spy : spy on J1939 messages using SOC_J1939
• j1939sr : send/recv from stdin or to stdout
• testj1939 : send/receive test packet

Follow the link to see examples on how this tools can be used: Kickstart guide to can-j1939 on linux

Log file converters

• asc2log : convert ASC logfile to compact CAN frame logfile
• log2asc : convert compact CAN frame logfile to ASC logfile
• log2long : convert compact CAN frame representation into user readable

Serial Line Discipline configuration (for slcan driver)

• slcan_attach : userspace tool for serial line CAN interface configuration
• slcand : daemon for serial line CAN interface configuration
• slcanpty : creates a pty for applications using the slcan ASCII protocol

CMake Project Generator

• Place your build folder anywhere, passing CMake the path. Relative or absolute.
• Some examples using a build folder under the source tree root:
• Android : cmake -DCMAKE_TOOLCHAIN_FILE=~/Android/Sdk/ndk-bundle/build/cmake/android.toolchain.cmake -DANDROID_PLATFORM=android-21 -DANDROID_ABI=armeabi-v7a .. && make
• Android Studio : Copy repo under your project's app folder, add add_subdirectory(can-utils) to your CMakeLists.txt file after cmake_minimum_required(). Generating project will build Debug/Release for all supported EABI types. ie. arm64-v8a, armeabi-v7a, x86, x86_64.
• Raspberry Pi : cmake -DCMAKE_TOOLCHAIN_FILE=~/rpi/tools/build/cmake/rpi.toolchain.cmake .. && make
• Linux : cmake -GNinja .. && ninja
• Linux Eclipse Photon (Debug) : CC=clang cmake -G"Eclipse CDT4 - Unix Makefiles" ../can-utils/ -DCMAKE_BUILD_TYPE=Debug -DCMAKE_ECLIPSE_VERSION=4.8.0
• To override the base installation directory use: CMAKE_INSTALL_PREFIX ie. CC=clang cmake -DCMAKE_INSTALL_PREFIX=./out .. && make install

Additional Information:

• SocketCAN Documentation (Linux Kernel)
• Elinux.org CAN Bus Page
• Debian Package Description