Crate automotive

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§The Automotive Crate

Welcome to the automotive crate documentation. The purpose of this crate is to help you with all things automotive related. Most importantly, it provides a fully async CAN interface supporting multiple adapters.

§Async CAN Example

The following adapter opens the first available adapter on the system, and then receives all frames.

use futures_util::stream::StreamExt;
async fn can_example() {
    let adapter = automotive::adapter::get_adapter().unwrap();
    let mut stream = adapter.recv();

    while let Some(frame) = stream.next().await {
        let id: u32 = frame.id.into();
        println!("[{}]\t0x{:x}\t{}", frame.bus, id, hex::encode(frame.data));
    }
}

§UDS Example

The automotive crate also supplies interfaces for various diagnostic protocols such as UDS. The adapter is first wrapped to support the ISO Transport Layer, then a UDS Client is created. All methods are fully async, making it easy to communicate with multiple ECUs in parallel.

async fn uds_example() {
    let adapter = automotive::adapter::get_adapter().unwrap();
    let isotp = automotive::isotp::IsoTPAdapter::from_id(&adapter, 0x7a1);
    let uds = automotive::uds::UDSClient::new(&isotp);

    uds.tester_present().await.unwrap();
    let response = uds.read_data_by_identifier(automotive::uds::constants::DataIdentifier::ApplicationSoftwareIdentification as u16).await.unwrap();

    println!("Application Software Identification: {}", hex::encode(response));
}

§Suported adapters

  • SocketCAN (Linux only, supported using socketcan-rs)
  • comma.ai panda (all platforms)

Modules§

  • adapter
    Convenience functions to get a CAN adapter.
  • async_can
    Async wrapper for Adapters implementing the CanAdapter trait.
  • can
    Generic CAN types and traits
  • error
    Contains the main error type for the library.
  • isotp
    ISO Transport Protocol (ISO-TP) implementation, implements ISO 15765-2
  • panda
    Panda CAN adapter support
  • socketcan
    This module provides a CanAdapter implementation for the socketcan crate.
  • uds
    Unified Diagnostic Services (UDS) Client, implements ISO 14229