can-hal-socketcan 0.4.1

License

Implements Transmit, Receive, TransmitFd, ReceiveFd, and Filterable over SocketCAN sockets. Bitrate is OS-managed (see "Interface setup" below) so the builder intentionally has no timing methods.

Usage

use can_hal::{CanId, CanFrame, Transmit, Receive};
use can_hal_socketcan::SocketCanDriver;

let driver = SocketCanDriver::new();
let mut channel = driver
    .channel_by_name("can0")
    .connect()
    .unwrap();

let id = CanId::new_standard(0x123).unwrap();
let frame = CanFrame::new(id, &[0xDE, 0xAD]).unwrap();
channel.transmit(&frame).unwrap();

let response = channel.receive().unwrap();
println!("{:?}", response.frame());

Interface setup

SocketCAN bitrate is configured at the OS level, not through the socket API:

sudo ip link set can0 type can bitrate 500000
sudo ip link set can0 up

For testing without hardware, use a virtual CAN interface:

sudo modprobe vcan
sudo ip link add vcan0 type vcan
sudo ip link set vcan0 up

License

Licensed under either of Apache License, Version 2.0 or MIT License at your option.