zencan-cli

Command line utilities for zencan

zencandump

Monitor a bus, and print messages on stdout.

Usage: zencandump vcan0

zencan-cli

An interactive shell for controlling a bus.

Usage: zencan-cli vcan0

Type help to get a list of available commands.

Creating virtual socketcan adapters on linux

It's useful for testing to connect local nodes and the CLI tools over a virtual CAN bus.

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

Loading configuration to devices

Often devices need to be configured by writing to various objects. For example, a generic device may be configured to work in a specific system by setting up the correct PDO mappings. To support this, a TOML schema for node configuration is defined, and it can be loaded using the zencan-cli load-config command.

Example node configuration file

This file configures TPDO0 to transmit the 16-bit value from object 0x2000sub0 using CAN ID 0x200, and it sets object 0x2001sub1 to a value of 42, presumably for reasons.

[tpdo.0]
enabled = true
cob = 0x200
transmission_type = 254
mappings = [
    { index=0x2000, sub=0, size=16 },
]

[[store]]
index = 0x2001
sub = 1
type = "u16"
value = 42

Once configured, the written values can be persisted using the save command, assuming the application has implemented the storage callback.